+ python -m lidar_slam --no-model /working/fcd02fe1-9212-441b-a72c-fc1790df9c53 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/fcd02fe1-9212-441b-a72c-fc1790df9c53 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.03 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: False The Lidar 2D slices will be flipped: True Correction angle of Lidar frames: 0.0 Show the detected centerline?: False Display the final 3D model?: False Making 2D slices out of SLAM model?: False Drop angle of 2D slices: 45.0 The number of points in 2D slices: 360 ===================================================== Adjusted start_distance from 0.0 to 0.014553574 Adjusted end_distance from 9.223372036854776e+18 to 362.274553574 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.014553574 meters Centerline goodness [0,1] 0.7326053834433723 Centerline is valid? [0, False] SLAMing on 0.044553574 meters Centerline goodness [0,1] 0.7358742231177455 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.00 [[ 9.99986170e-01 -5.22370744e-03 -6.10122685e-04 4.15234581e-03] [ 5.22154868e-03 9.99980285e-01 -3.48779561e-03 -1.51609323e-03] [ 6.28329880e-04 3.48456159e-03 9.99993731e-01 5.53546900e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.074553574 meters Centerline goodness [0,1] 0.7362848893166507 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:0.00 [[ 0.9999768 -0.00661041 -0.00164402 0.00881755] [ 0.00660454 0.99997189 -0.00354949 -0.00135712] [ 0.00166744 0.00353855 0.99999235 0.00124318] [ 0. 0. 0. 1. ]] SLAMing on 0.104553574 meters Centerline goodness [0,1] 0.7383980555084506 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:0.00 [[ 9.99971049e-01 -7.30599872e-03 -2.12676567e-03 1.15037808e-02] [ 7.29839205e-03 9.99967020e-01 -3.56269223e-03 -4.98447189e-04] [ 2.15272455e-03 3.54706712e-03 9.99991392e-01 9.23443698e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.134553574 meters Centerline goodness [0,1] 0.7383980555084506 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:0.00 [[ 9.99971049e-01 -7.30599872e-03 -2.12676567e-03 1.15037808e-02] [ 7.29839205e-03 9.99967020e-01 -3.56269223e-03 -4.98447189e-04] [ 2.15272455e-03 3.54706712e-03 9.99991392e-01 9.23443698e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.16455357399999998 meters Centerline goodness [0,1] 0.7410364185167424 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:0.00 [[ 9.99968578e-01 -7.55062606e-03 -2.41480262e-03 1.33719425e-02] [ 7.54170871e-03 9.99964787e-01 -3.68081361e-03 1.03223165e-03] [ 2.44251003e-03 3.66248621e-03 9.99990310e-01 6.34318690e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.194553574 meters Centerline goodness [0,1] 0.7452670723461798 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:0.00 [[ 9.99968966e-01 -6.60165386e-03 -4.29953955e-03 2.17148642e-02] [ 6.60192156e-03 9.99978206e-01 4.80735027e-05 8.31494610e-04] [ 4.29912849e-03 -7.64572336e-05 9.99990756e-01 8.16044987e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.22455357399999998 meters Centerline goodness [0,1] 0.7474699335594741 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.00 [[ 0.9999484 -0.00698172 -0.00737908 0.0386224 ] [ 0.00699784 0.99997318 0.0021612 0.00423283] [ 0.00736379 -0.00221273 0.99997044 -0.00328136] [ 0. 0. 0. 1. ]] SLAMing on 0.254553574 meters Centerline goodness [0,1] 0.7541273089105025 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.00 [[ 0.99993705 -0.00768641 -0.00817348 0.04254714] [ 0.00769865 0.99996929 0.00146722 0.00608529] [ 0.00816195 -0.00153005 0.99996552 -0.00491369] [ 0. 0. 0. 1. ]] SLAMing on 0.28455357400000003 meters Centerline goodness [0,1] 0.775110514240949 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 0.99992789 -0.00804412 -0.00891673 0.04554608] [ 0.00805758 0.99996645 0.00147544 0.00764902] [ 0.00890456 -0.00154718 0.99995916 -0.00257754] [ 0. 0. 0. 1. ]] SLAMing on 0.314553574 meters Centerline goodness [0,1] 0.7911995984607663 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 9.99909014e-01 -9.06460017e-03 -9.98984015e-03 5.04670875e-02] [ 9.07932285e-03 9.99957760e-01 1.42939977e-03 1.02910290e-02] [ 9.97646125e-03 -1.51997070e-03 9.99949079e-01 -6.90132794e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.344553574 meters Centerline goodness [0,1] 0.8002388358142635 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 9.99897029e-01 -9.65497456e-03 -1.06166692e-02 5.34945811e-02] [ 9.66952203e-03 9.99952378e-01 1.31977090e-03 1.20777908e-02] [ 1.06034213e-02 -1.42229312e-03 9.99942771e-01 -6.47704079e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.374553574 meters Centerline goodness [0,1] 0.8031496062992126 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-0.00 [[ 9.99887841e-01 -1.00293359e-02 -1.11228307e-02 5.60962317e-02] [ 1.00431439e-02 9.99948863e-01 1.18625029e-03 1.41662180e-02] [ 1.11103646e-02 -1.29782543e-03 9.99937436e-01 -8.61040193e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.404553574 meters Centerline goodness [0,1] 0.8061820989356422 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:0.00 [[ 9.99899679e-01 -7.08281153e-03 -1.22664814e-02 6.06915842e-02] [ 7.14414123e-03 9.99962163e-01 4.96319820e-03 1.71299673e-02] [ 1.22308639e-02 -5.05033376e-03 9.99912446e-01 8.64440758e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.434553574 meters Centerline goodness [0,1] 0.7966641936636166 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:0.00 [[ 0.99991499 -0.00471414 -0.01215667 0.059181 ] [ 0.00477514 0.99997613 0.00499444 0.02037137] [ 0.01213284 -0.00505207 0.99991363 0.00162098] [ 0. 0. 0. 1. ]] SLAMing on 0.46455357399999997 meters Centerline goodness [0,1] 0.8075275901828365 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:0.00 [[ 0.99992719 -0.00337846 -0.01158431 0.05652088] [ 0.00343869 0.99998065 0.00518324 0.02108832] [ 0.01156657 -0.0052227 0.99991947 0.00254969] [ 0. 0. 0. 1. ]] SLAMing on 0.494553574 meters Centerline goodness [0,1] 0.8051681706316653 Centerline is valid? [False, False] Translation: X:0.07, Y:0.02, Z:-0.00 [[ 9.99976174e-01 2.53160714e-03 -6.42201785e-03 7.36725632e-02] [-2.52673238e-03 9.99996514e-01 7.67069915e-04 2.32555522e-02] [ 6.42393738e-03 -7.50824918e-04 9.99979084e-01 -1.89106367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.524553574 meters Centerline goodness [0,1] 0.8068036118613089 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.00 [[ 0.99997281 0.0042801 -0.00600526 0.07199078] [-0.00427399 0.99999034 0.00103001 0.0252858 ] [ 0.00600961 -0.00100432 0.99998144 -0.00231591] [ 0. 0. 0. 1. ]] SLAMing on 0.554553574 meters Centerline goodness [0,1] 0.8010762916859185 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.01 [[ 0.99992914 0.0101115 -0.00628346 0.073934 ] [-0.01008771 0.99994187 0.00380656 0.02784408] [ 0.00632158 -0.00374291 0.99997301 -0.00696336] [ 0. 0. 0. 1. ]] SLAMing on 0.584553574 meters Centerline goodness [0,1] 0.7982805847096792 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.01 [[ 0.99987914 0.01400404 -0.00675154 0.07628914] [-0.01395233 0.99987343 0.00764541 0.02751174] [ 0.00685775 -0.00755028 0.99994798 -0.00835154] [ 0. 0. 0. 1. ]] SLAMing on 0.614553574 meters Centerline goodness [0,1] 0.7930558562459407 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.01 [[ 0.99977746 0.02011508 -0.006357 0.07560228] [-0.02003944 0.99973019 0.01174639 0.02718862] [ 0.00659156 -0.01161639 0.9999108 -0.00959266] [ 0. 0. 0. 1. ]] SLAMing on 0.644553574 meters Centerline goodness [0,1] 0.7951588420253713 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.01 [[ 0.99975224 0.02144352 -0.00596881 0.07444239] [-0.02137058 0.99969928 0.01202721 0.02695851] [ 0.00622492 -0.01189667 0.99990986 -0.01037824] [ 0. 0. 0. 1. ]] SLAMing on 0.6745535739999999 meters Centerline goodness [0,1] 0.7923574495841713 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.01 [[ 0.99964409 0.02598961 -0.00601931 0.07592897] [-0.02588981 0.99953511 0.01610235 0.02452628] [ 0.00643501 -0.01594078 0.99985223 -0.01110432] [ 0. 0. 0. 1. ]] SLAMing on 0.704553574 meters Centerline goodness [0,1] 0.7870257037943696 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.01 [[ 0.99963235 0.02641745 -0.00610593 0.07730537] [-0.02631665 0.99952501 0.01603721 0.02393591] [ 0.0065267 -0.01587063 0.99985275 -0.01326969] [ 0. 0. 0. 1. ]] SLAMing on 0.734553574 meters Centerline goodness [0,1] 0.7861923886020272 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.02 [[ 0.99955312 0.02901264 -0.00719915 0.08420755] [-0.02886438 0.99938508 0.01990754 0.02051176] [ 0.00777229 -0.01969084 0.99977591 -0.0154116 ] [ 0. 0. 0. 1. ]] SLAMing on 0.764553574 meters Centerline goodness [0,1] 0.7822485531693135 Centerline is valid? [False, False] Translation: X:0.09, Y:0.02, Z:-0.02 [[ 0.99955155 0.02901059 -0.00742146 0.08578436] [-0.0288558 0.99937993 0.02017689 0.01895825] [ 0.0080022 -0.01995369 0.99976888 -0.01614856] [ 0. 0. 0. 1. ]] SLAMing on 0.794553574 meters Centerline goodness [0,1] 0.7923311184939092 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.02 [[ 0.99964994 0.02638478 -0.00196134 0.11644734] [-0.02635183 0.9995362 0.01526346 0.01324726] [ 0.00236316 -0.01520643 0.99988158 -0.01809953] [ 0. 0. 0. 1. ]] SLAMing on 0.824553574 meters Centerline goodness [0,1] 0.7847537377843361 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:-0.02 [[ 0.99971859 0.0236866 -0.00129881 0.11487122] [-0.02367034 0.99965528 0.01135954 0.01161026] [ 0.00156744 -0.0113256 0.99993463 -0.01923679] [ 0. 0. 0. 1. ]] SLAMing on 0.854553574 meters Centerline goodness [0,1] 0.7847537377843361 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:-0.02 [[ 0.99971859 0.0236866 -0.00129881 0.11487122] [-0.02367034 0.99965528 0.01135954 0.01161026] [ 0.00156744 -0.0113256 0.99993463 -0.01923679] [ 0. 0. 0. 1. ]] SLAMing on 0.884553574 meters Centerline goodness [0,1] 0.7840586170390594 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.02 [[ 0.99974115 0.02267163 -0.00190757 0.11960135] [-0.02264855 0.99967897 0.01135794 0.00758728] [ 0.00216446 -0.0113118 0.99993368 -0.02067051] [ 0. 0. 0. 1. ]] SLAMing on 0.9145535739999999 meters Centerline goodness [0,1] 0.7808514208995301 Centerline is valid? [False, False] Translation: X:0.12, Y:0.00, Z:-0.02 [[ 0.99975756 0.02187427 -0.00251584 0.1249211 ] [-0.0218452 0.99970024 0.0110555 0.00474066] [ 0.00275692 -0.01099786 0.99993572 -0.02374116] [ 0. 0. 0. 1. ]] SLAMing on 0.944553574 meters Centerline goodness [0,1] 0.7831517629596437 Centerline is valid? [False, False] Translation: X:0.13, Y:0.00, Z:-0.02 [[ 0.99976198 0.02161967 -0.00292955 0.1270559 ] [-0.02158515 0.99970265 0.01134469 0.00229387] [ 0.00317395 -0.01127876 0.99993136 -0.02462949] [ 0. 0. 0. 1. ]] SLAMing on 0.974553574 meters Centerline goodness [0,1] 0.7824472573839663 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:-0.02 [[ 0.99976392 0.02152088 -0.00299366 0.12918801] [-0.0214844 0.99970041 0.01172651 -0.00211129] [ 0.00324513 -0.01165942 0.99992676 -0.02487856] [ 0. 0. 0. 1. ]] SLAMing on 1.004553574 meters Centerline goodness [0,1] 0.7829123370223311 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:-0.02 [[ 0.99974687 0.02232989 -0.00275236 0.1283395 ] [-0.02229553 0.99968016 0.01193697 -0.00282488] [ 0.00301803 -0.01187259 0.99992496 -0.02487147] [ 0. 0. 0. 1. ]] SLAMing on 1.034553574 meters Centerline goodness [0,1] 0.7965442399300955 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:-0.03 [[ 0.99972317 0.02342818 -0.00216983 0.12814981] [-0.02340054 0.99965424 0.01199215 -0.00479024] [ 0.00245004 -0.01193805 0.99992574 -0.02594576] [ 0. 0. 0. 1. ]] SLAMing on 1.064553574 meters Centerline goodness [0,1] 0.7928001578665465 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:-0.03 [[ 0.99973035 0.0230622 -0.00271272 0.13120156] [-0.02302984 0.99966969 0.01140761 -0.00484932] [ 0.00297491 -0.01134206 0.99993125 -0.02901368] [ 0. 0. 0. 1. ]] SLAMing on 1.094553574 meters Centerline goodness [0,1] 0.7871519860372154 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:-0.03 [[ 0.99970352 0.02393755 -0.00445673 0.14217567] [-0.0238686 0.99960363 0.01492918 -0.0065801 ] [ 0.00481233 -0.01481837 0.99987862 -0.03184263] [ 0. 0. 0. 1. ]] SLAMing on 1.124553574 meters Centerline goodness [0,1] 0.7878148304488533 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:-0.03 [[ 0.99971094 0.02354189 -0.00488079 0.14420882] [-0.02346501 0.99960829 0.0152534 -0.00867334] [ 0.00523797 -0.01513446 0.99987175 -0.032085 ] [ 0. 0. 0. 1. ]] SLAMing on 1.154553574 meters Centerline goodness [0,1] 0.7928698954289115 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:-0.03 [[ 0.99977043 0.02110526 -0.00369508 0.14134525] [-0.02105927 0.99970534 0.01207214 -0.01344805] [ 0.00394878 -0.01199155 0.9999203 -0.03086267] [ 0. 0. 0. 1. ]] SLAMing on 1.184553574 meters Centerline goodness [0,1] 0.7878830914306814 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:-0.03 [[ 0.99978538 0.02027712 -0.00424679 0.14552713] [-0.02022698 0.99972886 0.01153551 -0.01532645] [ 0.00447955 -0.01144714 0.99992445 -0.03284614] [ 0. 0. 0. 1. ]] SLAMing on 1.214553574 meters Centerline goodness [0,1] 0.7998243576305277 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:-0.03 [[ 0.9997779 0.02058721 -0.00450648 0.14666492] [-0.02053635 0.99972799 0.01105466 -0.01453034] [ 0.00473284 -0.01095966 0.99992874 -0.03472962] [ 0. 0. 0. 1. ]] SLAMing on 1.244553574 meters Centerline goodness [0,1] 0.8027941509861709 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:-0.04 [[ 0.99977753 0.0205035 -0.00494983 0.14870198] [-0.02045065 0.99973572 0.01050005 -0.01359781] [ 0.00516381 -0.01039649 0.99993262 -0.03688359] [ 0. 0. 0. 1. ]] SLAMing on 1.274553574 meters Centerline goodness [0,1] 0.7871590171796101 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:-0.04 [[ 0.99976529 0.02104405 -0.00514838 0.15146157] [-0.02099736 0.99973937 0.0089612 -0.01016969] [ 0.00533562 -0.008851 0.99994659 -0.04092116] [ 0. 0. 0. 1. ]] SLAMing on 1.304553574 meters Centerline goodness [0,1] 0.807209590274651 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.01, Z:-0.04 [[ 0.99979196 0.0192544 -0.00673045 0.158967 ] [-0.01920146 0.99978487 0.00784347 -0.00831395] [ 0.00688002 -0.0077126 0.99994659 -0.04354367] [ 0. 0. 0. 1. ]] SLAMing on 1.3345535739999999 meters Centerline goodness [0,1] 0.8051163966190222 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.01, Z:-0.05 [[ 9.99895553e-01 1.44353759e-02 7.09247549e-04 1.55420949e-01] [-1.44410044e-02 9.99857853e-01 8.70238532e-03 -5.76171604e-03] [-5.83524529e-04 -8.71171862e-03 9.99961882e-01 -5.13909612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3645535739999999 meters Centerline goodness [0,1] 0.8142015155767611 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.00, Z:-0.06 [[ 0.99996038 0.00881716 -0.00122557 0.16353905] [-0.00881358 0.99995697 0.00289426 -0.00226048] [ 0.00125103 -0.00288334 0.99999506 -0.05680993] [ 0. 0. 0. 1. ]] SLAMing on 1.394553574 meters Centerline goodness [0,1] 0.8091008433971252 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.00, Z:-0.06 [[ 0.99997018 0.00733436 -0.00241988 0.16847664] [-0.00732912 0.9999708 0.00216472 -0.00177675] [ 0.00243569 -0.00214692 0.99999473 -0.05852025] [ 0. 0. 0. 1. ]] SLAMing on 1.424553574 meters Centerline goodness [0,1] 0.8152317323077787 Centerline is valid? [False, False] Translation: X:0.17, Y:0.00, Z:-0.06 [[ 0.9999888 0.0038412 -0.00276602 0.17001417] [-0.00384863 0.99998898 -0.00268695 0.00104882] [ 0.00275567 0.00269756 0.99999256 -0.05992315] [ 0. 0. 0. 1. ]] SLAMing on 1.454553574 meters Centerline goodness [0,1] 0.8136039925979925 Centerline is valid? [False, False] Translation: X:0.17, Y:0.00, Z:-0.06 [[ 0.99998765 0.00356828 -0.00345817 0.17221003] [-0.00357775 0.99998986 -0.00273497 0.00182274] [ 0.00344837 0.00274731 0.99999028 -0.06029521] [ 0. 0. 0. 1. ]] SLAMing on 1.484553574 meters Centerline goodness [0,1] 0.8065713807157613 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.06 [[ 0.99997892 0.00546746 -0.00350252 0.17228003] [-0.005475 0.99998271 -0.00214752 0.00515457] [ 0.00349072 0.00216665 0.99999156 -0.0597795 ] [ 0. 0. 0. 1. ]] SLAMing on 1.514553574 meters Centerline goodness [0,1] 0.8052262481215562 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.06 [[ 0.99997106 0.00668963 -0.0036231 0.17187442] [-0.00669598 0.99997606 -0.00174279 0.0066943 ] [ 0.00361136 0.001767 0.99999192 -0.05989842] [ 0. 0. 0. 1. ]] SLAMing on 1.544553574 meters Centerline goodness [0,1] 0.8026890942289603 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.06 [[ 0.99992704 0.01159832 -0.0033751 0.17257557] [-0.01159232 0.9999312 0.00179174 0.00902074] [ 0.00339565 -0.00175249 0.9999927 -0.06045495] [ 0. 0. 0. 1. ]] SLAMing on 1.574553574 meters Centerline goodness [0,1] 0.8157705299296749 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.06 [[ 0.99991249 0.01279921 -0.00334509 0.17189286] [-0.01279292 0.99991637 0.00189397 0.00994192] [ 0.00336905 -0.00185101 0.99999261 -0.06091517] [ 0. 0. 0. 1. ]] SLAMing on 1.6045535739999999 meters Centerline goodness [0,1] 0.8092030805752616 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.06 [[ 0.99983209 0.01815374 -0.00249507 0.17059967] [-0.01813715 0.99981426 0.00651873 0.00972677] [ 0.00261294 -0.00647239 0.99997564 -0.05884635] [ 0. 0. 0. 1. ]] SLAMing on 1.634553574 meters Centerline goodness [0,1] 0.8103914002205072 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.06 [[ 0.99980746 0.01950955 -0.00210197 0.16934778] [-0.01949508 0.99978752 0.00669712 0.00993018] [ 0.00223218 -0.00665485 0.99997536 -0.05902942] [ 0. 0. 0. 1. ]] SLAMing on 1.664553574 meters Centerline goodness [0,1] 0.8077209636027485 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.06 [[ 0.99978721 0.02054643 -0.00184051 0.16855422] [-0.02053356 0.99976633 0.00675692 0.01014139] [ 0.00197891 -0.00671769 0.99997548 -0.05958128] [ 0. 0. 0. 1. ]] SLAMing on 1.694553574 meters Centerline goodness [0,1] 0.8089334799340298 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.06 [[ 0.99970547 0.02419849 -0.0018443 0.17150393] [-0.02417769 0.99965181 0.01056913 0.00937759] [ 0.00209941 -0.01052143 0.99994244 -0.06033948] [ 0. 0. 0. 1. ]] SLAMing on 1.724553574 meters Centerline goodness [0,1] 0.8172800618921309 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.06 [[ 0.9997047 0.02422538 -0.00190704 0.17366314] [-0.02420574 0.99965975 0.00971961 0.00954777] [ 0.00214185 -0.00967058 0.99995095 -0.06289141] [ 0. 0. 0. 1. ]] SLAMing on 1.754553574 meters Centerline goodness [0,1] 0.8104738154613467 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.06 [[ 0.99977099 0.0213672 -0.00118366 0.17292176] [-0.02136033 0.99975648 0.00554191 0.00810757] [ 0.00130179 -0.00551536 0.99998394 -0.06436547] [ 0. 0. 0. 1. ]] SLAMing on 1.784553574 meters Centerline goodness [0,1] 0.8069521690767519 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.07 [[ 0.99982965 0.01841965 -0.00117377 0.17240406] [-0.0184176 0.99982887 0.00173649 0.00700768] [ 0.00120556 -0.00171457 0.9999978 -0.06560973] [ 0. 0. 0. 1. ]] SLAMing on 1.8145535739999998 meters Centerline goodness [0,1] 0.8170803041698003 Centerline is valid? [False, False] Translation: X:0.17, Y:0.00, Z:-0.07 [[ 0.99984108 0.01773479 -0.00181406 0.1747553 ] [-0.01773102 0.99984064 0.00207563 0.0046733 ] [ 0.00185058 -0.00204313 0.9999962 -0.06571908] [ 0. 0. 0. 1. ]] SLAMing on 1.8445535739999999 meters Centerline goodness [0,1] 0.8237517851642351 Centerline is valid? [False, False] Translation: X:0.18, Y:0.00, Z:-0.07 [[ 0.99986528 0.0160512 -0.00343175 0.18176723] [-0.01604591 0.99987003 0.00156296 0.00230927] [ 0.00345639 -0.00150768 0.99999289 -0.06946988] [ 0. 0. 0. 1. ]] SLAMing on 1.874553574 meters Centerline goodness [0,1] 0.8203050524308866 Centerline is valid? [False, False] Translation: X:0.19, Y:0.00, Z:-0.07 [[ 0.99987275 0.01533717 -0.00438853 0.18582466] [-0.01533222 0.99988178 0.00115994 0.00196377] [ 0.0044058 -0.00109251 0.9999897 -0.07218664] [ 0. 0. 0. 1. ]] SLAMing on 1.904553574 meters Centerline goodness [0,1] 0.823964538806855 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.00, Z:-0.07 [[ 0.99987704 0.01506491 -0.00435242 0.18771341] [-0.01505914 0.99988569 0.00135481 -0.00135977] [ 0.00437233 -0.0012891 0.99998961 -0.07307589] [ 0. 0. 0. 1. ]] SLAMing on 1.934553574 meters Centerline goodness [0,1] 0.8265364242182605 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.01, Z:-0.07 [[ 0.99986879 0.01585614 -0.00331312 0.18586906] [-0.01584717 0.99987074 0.00271505 -0.00655156] [ 0.00335574 -0.00266219 0.99999083 -0.07037834] [ 0. 0. 0. 1. ]] SLAMing on 1.964553574 meters Centerline goodness [0,1] 0.8260225167450477 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.01, Z:-0.07 [[ 0.99986738 0.01581445 -0.00388917 0.18780702] [-0.01580367 0.99987123 0.00278826 -0.00777865] [ 0.00393276 -0.00272643 0.99998855 -0.07154012] [ 0. 0. 0. 1. ]] SLAMing on 1.994553574 meters Centerline goodness [0,1] 0.8289515181054503 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.01, Z:-0.08 [[ 0.9998673 0.01572534 -0.00425461 0.19142378] [-0.01571737 0.99987467 0.0019014 -0.00913058] [ 0.00428398 -0.00183428 0.99998914 -0.07580907] [ 0. 0. 0. 1. ]] SLAMing on 2.0245535739999996 meters Centerline goodness [0,1] 0.8296070946818586 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.01, Z:-0.08 [[ 0.99986804 0.01547703 -0.00493584 0.19391692] [-0.01546771 0.99987852 0.00192142 -0.01045313] [ 0.00496498 -0.00184482 0.99998597 -0.07735962] [ 0. 0. 0. 1. ]] SLAMing on 2.054553574 meters Centerline goodness [0,1] 0.8285591397849462 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.01, Z:-0.08 [[ 0.99985429 0.01627413 -0.00515259 0.19369153] [-0.01626358 0.99986557 0.00208229 -0.009975 ] [ 0.00518578 -0.00199819 0.99998456 -0.07729557] [ 0. 0. 0. 1. ]] SLAMing on 2.0845535739999996 meters Centerline goodness [0,1] 0.8292592274923521 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.01, Z:-0.08 [[ 0.99981675 0.01879709 -0.00362488 0.18963304] [-0.01879098 0.99982197 0.00171264 -0.00676717] [ 0.00365643 -0.00164421 0.99999196 -0.07675802] [ 0. 0. 0. 1. ]] SLAMing on 2.114553574 meters Centerline goodness [0,1] 0.8274623803009575 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.01, Z:-0.08 [[ 0.9998225 0.01833677 -0.00432766 0.19207317] [-0.01833041 0.99983085 0.00150307 -0.00576926] [ 0.00435449 -0.00142348 0.99998951 -0.07747236] [ 0. 0. 0. 1. ]] SLAMing on 2.1445535739999997 meters Centerline goodness [0,1] 0.8306900864029104 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.00, Z:-0.08 [[ 0.99990747 0.01313156 0.00355211 0.18935821] [-0.01313889 0.99991158 0.00204897 -0.00272083] [-0.00352489 -0.00209545 0.99999159 -0.08472245] [ 0. 0. 0. 1. ]] SLAMing on 2.174553574 meters Centerline goodness [0,1] 0.8289793004996431 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.00, Z:-0.09 [[ 0.99997926 0.00628305 0.0014164 0.19822823] [-0.00627909 0.99997641 -0.00278596 -0.00321198] [-0.00143387 0.00277701 0.99999512 -0.08743818] [ 0. 0. 0. 1. ]] SLAMing on 2.2045535739999997 meters Centerline goodness [0,1] 0.8370056658845075 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.00, Z:-0.09 [[ 9.99987397e-01 5.00760944e-03 3.60169986e-04 2.01686995e-01] [-5.00672914e-03 9.99984575e-01 -2.40484121e-03 -3.93875783e-03] [-3.72206936e-04 2.40300763e-03 9.99997044e-01 -8.61769377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2345535739999995 meters Centerline goodness [0,1] 0.834869211836758 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.00, Z:-0.09 [[ 0.99999535 0.00279257 -0.00122731 0.20776883] [-0.00279506 0.99999403 -0.00202989 -0.0049335 ] [ 0.00122164 0.00203331 0.99999719 -0.08519231] [ 0. 0. 0. 1. ]] SLAMing on 2.264553574 meters Centerline goodness [0,1] 0.7736722931247427 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.01, Z:-0.08 [[ 0.99998421 -0.00241372 -0.00507471 0.26045641] [ 0.00243514 0.99998813 0.00421904 -0.00789075] [ 0.00506447 -0.00423133 0.99997822 -0.08048986] [ 0. 0. 0. 1. ]] SLAMing on 2.2945535739999996 meters Centerline goodness [0,1] 0.8396920444824636 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.00, Z:-0.08 [[ 0.99997256 -0.006157 -0.0041203 0.21422028] [ 0.0062076 0.99990406 0.01238251 -0.00459289] [ 0.00404367 -0.01240775 0.99991484 -0.07874877] [ 0. 0. 0. 1. ]] SLAMing on 2.324553574 meters Centerline goodness [0,1] 0.8404755795056026 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.00, Z:-0.08 [[ 0.99993382 -0.00949433 -0.00649685 0.22352281] [ 0.0095695 0.99988647 0.01163929 -0.00356041] [ 0.00638561 -0.01170069 0.99991115 -0.07975165] [ 0. 0. 0. 1. ]] SLAMing on 2.3545535739999996 meters Centerline goodness [0,1] 0.8407552749815163 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.00, Z:-0.08 [[ 0.99991043 -0.01096678 -0.00767172 0.22770961] [ 0.01105455 0.99987284 0.01149311 -0.00359075] [ 0.0075447 -0.01157688 0.99990452 -0.07973969] [ 0. 0. 0. 1. ]] SLAMing on 2.384553574 meters Centerline goodness [0,1] 0.8409843957973436 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.00, Z:-0.08 [[ 0.99987392 -0.01282814 -0.00935816 0.23398096] [ 0.01292728 0.99986014 0.01061111 -0.00110729] [ 0.00922073 -0.01073075 0.99989991 -0.08119294] [ 0. 0. 0. 1. ]] SLAMing on 2.4145535739999997 meters Centerline goodness [0,1] 0.8372864065289467 Centerline is valid? [False, False] Translation: X:0.24, Y:0.00, Z:-0.08 [[ 9.99857774e-01 -1.35017200e-02 -1.01062018e-02 2.36695990e-01] [ 1.36034544e-02 9.99856797e-01 1.00664050e-02 4.54112628e-04] [ 9.96884081e-03 -1.02024526e-02 9.99898261e-01 -8.22540824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4445535739999995 meters Centerline goodness [0,1] 0.8315825144018977 Centerline is valid? [False, False] Translation: X:0.24, Y:0.00, Z:-0.08 [[ 0.99984135 -0.01424639 -0.01069216 0.2391111 ] [ 0.01435376 0.99984664 0.01003306 0.00126111] [ 0.01054759 -0.01018494 0.9998925 -0.08134265] [ 0. 0. 0. 1. ]] SLAMing on 2.4745535739999998 meters Centerline goodness [0,1] 0.8398667908446928 Centerline is valid? [False, False] Translation: X:0.24, Y:0.00, Z:-0.08 [[ 9.99835916e-01 -1.44156949e-02 -1.09694333e-02 2.39503064e-01] [ 1.45316679e-02 9.99838570e-01 1.05671564e-02 8.15515093e-04] [ 1.08153296e-02 -1.07248266e-02 9.99883997e-01 -7.96601932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5045535739999996 meters Centerline goodness [0,1] 0.836386215461037 Centerline is valid? [False, False] Translation: X:0.24, Y:0.00, Z:-0.08 [[ 0.99981575 -0.01524776 -0.01166041 0.24190971] [ 0.01537343 0.99982388 0.01076442 0.00111266] [ 0.01149422 -0.0109417 0.99987407 -0.0783233 ] [ 0. 0. 0. 1. ]] SLAMing on 2.534553574 meters Centerline goodness [0,1] 0.836405659845538 Centerline is valid? [False, False] Translation: X:0.24, Y:0.00, Z:-0.08 [[ 0.99980266 -0.0157119 -0.0121564 0.2437818 ] [ 0.01583898 0.99982016 0.01042929 0.00201221] [ 0.01199035 -0.01061977 0.99987172 -0.07903498] [ 0. 0. 0. 1. ]] SLAMing on 2.5645535739999996 meters Centerline goodness [0,1] 0.8278444793536804 Centerline is valid? [False, False] Translation: X:0.25, Y:0.00, Z:-0.08 [[ 0.9997894 -0.01598036 -0.01287556 0.2464009 ] [ 0.0161026 0.99982572 0.00944655 0.00486209] [ 0.01272235 -0.00965189 0.99987248 -0.08107929] [ 0. 0. 0. 1. ]] SLAMing on 2.594553574 meters Centerline goodness [0,1] 0.8316139674019403 Centerline is valid? [False, False] Translation: X:0.25, Y:0.01, Z:-0.08 [[ 0.99978111 -0.01614567 -0.01330616 0.24788535] [ 0.01626578 0.99982748 0.00896842 0.006447 ] [ 0.01315907 -0.00918289 0.99987125 -0.08208469] [ 0. 0. 0. 1. ]] SLAMing on 2.6245535739999997 meters Centerline goodness [0,1] 0.8305292138268584 Centerline is valid? [False, False] Translation: X:0.25, Y:0.01, Z:-0.08 [[ 0.99976681 -0.01639754 -0.01405134 0.25024794] [ 0.01651459 0.99982954 0.00825551 0.00899869] [ 0.01391357 -0.00848564 0.99986719 -0.0832229 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6545535739999995 meters Centerline goodness [0,1] 0.8241846546038959 Centerline is valid? [False, False] Translation: X:0.25, Y:0.01, Z:-0.08 [[ 0.99975668 -0.01662416 -0.01449892 0.2515109 ] [ 0.01674378 0.99982645 0.00816833 0.00999892] [ 0.01436062 -0.00840911 0.99986152 -0.08308496] [ 0. 0. 0. 1. ]] SLAMing on 2.6845535739999997 meters Centerline goodness [0,1] 0.8267478040587053 Centerline is valid? [False, False] Translation: X:0.25, Y:0.01, Z:-0.08 [[ 0.9997492 -0.0166605 -0.01496537 0.25265295] [ 0.01677742 0.99982943 0.00772167 0.01310711] [ 0.01483417 -0.00797081 0.9998582 -0.08289008] [ 0. 0. 0. 1. ]] SLAMing on 2.7145535739999995 meters Centerline goodness [0,1] 0.8238907849829351 Centerline is valid? [False, False] Translation: X:0.25, Y:0.02, Z:-0.08 [[ 0.99975827 -0.01601264 -0.01506667 0.25221361] [ 0.01612597 0.99984236 0.00743061 0.01634988] [ 0.01494531 -0.00767178 0.99985888 -0.08245508] [ 0. 0. 0. 1. ]] SLAMing on 2.7445535739999998 meters Centerline goodness [0,1] 0.8238907849829351 Centerline is valid? [False, False] Translation: X:0.25, Y:0.02, Z:-0.08 [[ 0.99975827 -0.01601264 -0.01506667 0.25221361] [ 0.01612597 0.99984236 0.00743061 0.01634988] [ 0.01494531 -0.00767178 0.99985888 -0.08245508] [ 0. 0. 0. 1. ]] SLAMing on 2.7745535739999996 meters Centerline goodness [0,1] 0.8219509542711109 Centerline is valid? [False, False] Translation: X:0.25, Y:0.02, Z:-0.08 [[ 0.99976877 -0.01544104 -0.01496603 0.25142172] [ 0.01555052 0.99985297 0.00722698 0.01788224] [ 0.01485224 -0.00745804 0.99986188 -0.08261575] [ 0. 0. 0. 1. ]] SLAMing on 2.804553574 meters Centerline goodness [0,1] 0.8188597676303702 Centerline is valid? [False, False] Translation: X:0.27, Y:0.02, Z:-0.09 [[ 0.99989532 -0.01046045 -0.00999623 0.26873185] [ 0.01047589 0.99994401 0.00149378 0.02171318] [ 0.00998005 -0.00159834 0.99994892 -0.08942266] [ 0. 0. 0. 1. ]] SLAMing on 2.8345535739999996 meters Centerline goodness [0,1] 0.8211849095272766 Centerline is valid? [False, False] Translation: X:0.27, Y:0.02, Z:-0.09 [[ 0.99991877 -0.00701426 -0.01064247 0.27046695] [ 0.00708018 0.99995591 0.006169 0.02060023] [ 0.01059873 -0.00624385 0.99992434 -0.08787229] [ 0. 0. 0. 1. ]] SLAMing on 2.864553574 meters Centerline goodness [0,1] 0.8157172087012707 Centerline is valid? [False, False] Translation: X:0.27, Y:0.02, Z:-0.09 [[ 0.99994476 -0.00461938 -0.00944122 0.26556566] [ 0.00468184 0.99996723 0.00660396 0.02077921] [ 0.0094104 -0.0066478 0.99993362 -0.08755318] [ 0. 0. 0. 1. ]] SLAMing on 2.8945535739999997 meters Centerline goodness [0,1] 0.8191283292978209 Centerline is valid? [False, False] Translation: X:0.26, Y:0.02, Z:-0.09 [[ 0.99995298 -0.00369275 -0.00896646 0.26388838] [ 0.00375226 0.99997098 0.00662985 0.0208653 ] [ 0.00894172 -0.00666319 0.99993782 -0.08809029] [ 0. 0. 0. 1. ]] SLAMing on 2.9245535739999995 meters Centerline goodness [0,1] 0.8149331471835902 Centerline is valid? [False, False] Translation: X:0.26, Y:0.02, Z:-0.09 [[ 9.99958818e-01 8.19378195e-04 -9.03828759e-03 2.64439301e-01] [-7.23355093e-04 9.99943321e-01 1.06221946e-02 2.07725230e-02] [ 9.04647891e-03 -1.06152193e-02 9.99902734e-01 -8.93948363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9545535739999997 meters Centerline goodness [0,1] 0.8087531098686498 Centerline is valid? [False, False] Translation: X:0.26, Y:0.02, Z:-0.09 [[ 0.99994405 0.00545896 -0.00906056 0.26468104] [-0.00532426 0.99987593 0.01482466 0.02014291] [ 0.00914036 -0.01477559 0.99984906 -0.09027583] [ 0. 0. 0. 1. ]] SLAMing on 2.9845535739999995 meters Centerline goodness [0,1] 0.8078094932649134 Centerline is valid? [False, False] Translation: X:0.26, Y:0.02, Z:-0.09 [[ 0.99996175 0.00459591 -0.00744109 0.25885429] [-0.00452439 0.99994368 0.00960051 0.02120536] [ 0.0074848 -0.00956648 0.99992623 -0.09446109] [ 0. 0. 0. 1. ]] SLAMing on 3.014553574 meters Centerline goodness [0,1] 0.8075573766101605 Centerline is valid? [False, False] Translation: X:0.25, Y:0.02, Z:-0.10 [[ 0.99997676 0.00318147 -0.00603003 0.25374032] [-0.00314828 0.99997988 0.00550631 0.02163884] [ 0.00604743 -0.0054872 0.99996666 -0.09587729] [ 0. 0. 0. 1. ]] SLAMing on 3.0445535739999996 meters Centerline goodness [0,1] 0.8040676331091401 Centerline is valid? [False, False] Translation: X:0.25, Y:0.02, Z:-0.10 [[ 0.9999772 0.00363724 -0.0056898 0.25279378] [-0.00360282 0.99997522 0.00604791 0.0194578 ] [ 0.00571165 -0.00602727 0.99996552 -0.09564847] [ 0. 0. 0. 1. ]] SLAMing on 3.074553574 meters Centerline goodness [0,1] 0.8043664842828022 Centerline is valid? [False, False] Translation: X:0.25, Y:0.02, Z:-0.10 [[ 0.99997688 0.00324629 -0.00597523 0.25418636] [-0.0032108 0.99997721 0.00593946 0.01855371] [ 0.00599437 -0.00592013 0.99996451 -0.09649158] [ 0. 0. 0. 1. ]] SLAMing on 3.1045535739999996 meters Centerline goodness [0,1] 0.8004556419190565 Centerline is valid? [False, False] Translation: X:0.26, Y:0.02, Z:-0.10 [[ 0.99997604 0.00245914 -0.00647089 0.25674473] [-0.002421 0.9999797 0.00589442 0.01694027] [ 0.00648526 -0.00587861 0.99996169 -0.09774973] [ 0. 0. 0. 1. ]] SLAMing on 3.134553574 meters Centerline goodness [0,1] 0.8007614553449339 Centerline is valid? [False, False] Translation: X:0.26, Y:0.02, Z:-0.10 [[ 0.99997384 0.00162969 -0.00704706 0.25931661] [-0.00159021 0.99998303 0.00560385 0.01637816] [ 0.00705608 -0.0055925 0.99995947 -0.09877723] [ 0. 0. 0. 1. ]] SLAMing on 3.1645535739999997 meters Centerline goodness [0,1] 0.8011970583498846 Centerline is valid? [False, False] Translation: X:0.26, Y:0.02, Z:-0.10 [[ 9.99970421e-01 8.11587135e-04 -7.64838082e-03 2.61860721e-01] [-7.69179416e-04 9.99984325e-01 5.54597758e-03 1.50860274e-02] [ 7.65276198e-03 -5.53993056e-03 9.99955371e-01 -9.94544790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1945535739999995 meters Centerline goodness [0,1] 0.7997188657313545 Centerline is valid? [False, False] Translation: X:0.26, Y:0.01, Z:-0.10 [[ 0.99996624 -0.00330842 -0.00752102 0.26177631] [ 0.00332194 0.99999289 0.00178646 0.0120692 ] [ 0.00751505 -0.00181138 0.99997012 -0.0997551 ] [ 0. 0. 0. 1. ]] SLAMing on 3.2245535739999998 meters Centerline goodness [0,1] 0.8009319462505419 Centerline is valid? [False, False] Translation: X:0.26, Y:0.01, Z:-0.10 [[ 0.99996108 -0.00381696 -0.00795418 0.26318274] [ 0.00383653 0.99998965 0.00244571 0.00980853] [ 0.00794476 -0.00247613 0.99996537 -0.09889768] [ 0. 0. 0. 1. ]] SLAMing on 3.2545535739999996 meters Centerline goodness [0,1] 0.7995604276333641 Centerline is valid? [False, False] Translation: X:0.26, Y:0.01, Z:-0.10 [[ 0.99995584 -0.00438318 -0.00831325 0.26456132] [ 0.00440833 0.99998576 0.00300899 0.00737803] [ 0.00829994 -0.0030455 0.99996092 -0.09842827] [ 0. 0. 0. 1. ]] SLAMing on 3.284553574 meters Centerline goodness [0,1] 0.7982207954730943 Centerline is valid? [False, False] Translation: X:0.26, Y:0.01, Z:-0.10 [[ 0.99995669 -0.00426849 -0.00827017 0.26435634] [ 0.00429552 0.99998548 0.00325356 0.00665589] [ 0.00825617 -0.00328894 0.99996051 -0.0981898 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3145535739999996 meters Centerline goodness [0,1] 0.8001578918712909 Centerline is valid? [False, False] Translation: X:0.26, Y:0.00, Z:-0.10 [[ 0.9999605 -0.00386315 -0.00800465 0.26316557] [ 0.00389536 0.99998437 0.00401153 0.00465923] [ 0.00798903 -0.00404255 0.99995992 -0.09711928] [ 0. 0. 0. 1. ]] SLAMing on 3.344553574 meters Centerline goodness [0,1] 0.8008005009938193 Centerline is valid? [False, False] Translation: X:0.26, Y:0.00, Z:-0.10 [[ 0.99995738 -0.00413717 -0.00825315 0.26415066] [ 0.00417146 0.99998272 0.00414178 0.00364099] [ 0.00823588 -0.00417603 0.99995736 -0.09732102] [ 0. 0. 0. 1. ]] SLAMing on 3.3745535739999997 meters Centerline goodness [0,1] 0.8032490974729242 Centerline is valid? [False, False] Translation: X:0.26, Y:0.00, Z:-0.10 [[ 9.99938633e-01 -7.83103793e-03 -7.83617733e-03 2.63798477e-01] [ 7.82936761e-03 9.99969320e-01 -2.43809242e-04 2.66366957e-03] [ 7.83784620e-03 1.82441967e-04 9.99969267e-01 -9.95656547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4045535739999995 meters Centerline goodness [0,1] 0.8024525771220541 Centerline is valid? [False, False] Translation: X:0.27, Y:0.00, Z:-0.10 [[ 9.99926431e-01 -8.67625477e-03 -8.47671887e-03 2.66182857e-01] [ 8.67803331e-03 9.99962330e-01 1.73054932e-04 9.92458870e-04] [ 8.47489809e-03 -2.46603449e-04 9.99964057e-01 -9.91389303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4345535739999997 meters Centerline goodness [0,1] 0.8060070283329672 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.00, Z:-0.10 [[ 9.99879163e-01 -1.19253909e-02 -9.97220125e-03 2.73602260e-01] [ 1.19279272e-02 9.99928841e-01 1.94896078e-04 -1.82191131e-03] [ 9.96916743e-03 -3.13820218e-04 9.99950257e-01 -9.93028977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4645535739999995 meters Centerline goodness [0,1] 0.8046853493365633 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.00, Z:-0.10 [[ 9.99852750e-01 -1.32535079e-02 -1.09005824e-02 2.77272292e-01] [ 1.32573742e-02 9.99912077e-01 2.82500858e-04 -3.11976823e-03] [ 1.08958798e-02 -4.26972359e-04 9.99940547e-01 -9.94465050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4945535739999998 meters Centerline goodness [0,1] 0.8066252587991718 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.01, Z:-0.10 [[ 9.99788660e-01 -1.62929838e-02 -1.25369016e-02 2.84199328e-01] [ 1.63044105e-02 9.99866746e-01 8.09766923e-04 -5.38669627e-03] [ 1.25220375e-02 -1.01400258e-03 9.99921082e-01 -9.79334839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5245535739999996 meters Centerline goodness [0,1] 0.8066386833094001 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.01, Z:-0.10 [[ 9.99765561e-01 -1.71451616e-02 -1.32237290e-02 2.86708499e-01] [ 1.71595297e-02 9.99852290e-01 9.73838674e-04 -6.06258520e-03] [ 1.32050791e-02 -1.20052334e-03 9.99912088e-01 -9.76319765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.554553574 meters Centerline goodness [0,1] 0.8037537496215978 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.01, Z:-0.10 [[ 0.9997948 -0.01424678 -0.01440098 0.28981987] [ 0.01432265 0.99988401 0.00517881 -0.00503877] [ 0.01432553 -0.00538401 0.99988289 -0.09599363] [ 0. 0. 0. 1. ]] SLAMing on 3.5845535739999996 meters Centerline goodness [0,1] 0.8070209145303837 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.00, Z:-0.10 [[ 0.99980781 -0.01361809 -0.01410274 0.28848979] [ 0.01368629 0.99989505 0.00475135 -0.00251203] [ 0.01403655 -0.00494345 0.99988926 -0.09635862] [ 0. 0. 0. 1. ]] SLAMing on 3.6145535739999994 meters Centerline goodness [0,1] 0.8055570733839681 Centerline is valid? [False, False] Translation: X:0.29, Y:0.00, Z:-0.10 [[ 9.99845130e-01 -9.91107487e-03 -1.45425836e-02 2.89367043e-01] [ 1.00385277e-02 9.99911613e-01 8.71744582e-03 2.42934928e-04] [ 1.44548989e-02 -8.86208187e-03 9.99856249e-01 -9.50745664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6445535739999997 meters Centerline goodness [0,1] 0.8070056066626748 Centerline is valid? [False, False] Translation: X:0.29, Y:0.00, Z:-0.10 [[ 0.99986131 -0.008919 -0.01406477 0.28730745] [ 0.00903149 0.99992757 0.00795509 0.00385665] [ 0.0139928 -0.00808101 0.99986944 -0.09599574] [ 0. 0. 0. 1. ]] SLAMing on 3.6745535739999995 meters Centerline goodness [0,1] 0.8079895504517253 Centerline is valid? [False, False] Translation: X:0.29, Y:0.01, Z:-0.10 [[ 0.99986622 -0.00859811 -0.01391436 0.28678536] [ 0.00870321 0.99993392 0.00751067 0.00537898] [ 0.01384886 -0.00763077 0.99987498 -0.09667552] [ 0. 0. 0. 1. ]] SLAMing on 3.7045535739999997 meters Centerline goodness [0,1] 0.8064191486468109 Centerline is valid? [False, False] Translation: X:0.29, Y:0.01, Z:-0.10 [[ 0.99986878 -0.00839425 -0.01385502 0.28648592] [ 0.00849481 0.99993788 0.00721557 0.00627481] [ 0.01379359 -0.00733232 0.99987798 -0.09703705] [ 0. 0. 0. 1. ]] SLAMing on 3.7345535739999995 meters Centerline goodness [0,1] 0.8107579992943794 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:-0.10 [[ 0.99988907 -0.00703025 -0.01313114 0.28313063] [ 0.00712475 0.99994896 0.00716371 0.00806317] [ 0.01308011 -0.00725647 0.99988812 -0.09649552] [ 0. 0. 0. 1. ]] SLAMing on 3.764553574 meters Centerline goodness [0,1] 0.809538002980626 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:-0.10 [[ 0.99989295 -0.00676822 -0.01297219 0.28288823] [ 0.00685248 0.99995564 0.00646223 0.00959567] [ 0.01292788 -0.00655043 0.99989498 -0.09788491] [ 0. 0. 0. 1. ]] SLAMing on 3.7945535739999996 meters Centerline goodness [0,1] 0.8076756522680524 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:-0.10 [[ 0.99990342 -0.00601216 -0.01253005 0.28143971] [ 0.00608518 0.99996468 0.00579804 0.01154944] [ 0.01249475 -0.00587373 0.99990469 -0.09923958] [ 0. 0. 0. 1. ]] SLAMing on 3.824553574 meters Centerline goodness [0,1] 0.8034248245590268 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:-0.10 [[ 0.99990843 -0.00561362 -0.01231325 0.28040708] [ 0.00568752 0.99996597 0.00597507 0.01148609] [ 0.01227929 -0.00604456 0.99990634 -0.0988106 ] [ 0. 0. 0. 1. ]] SLAMing on 3.8545535739999996 meters Centerline goodness [0,1] 0.809283250495668 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:-0.10 [[ 0.99991408 -0.00515443 -0.0120523 0.27923506] [ 0.00523085 0.99996636 0.00631825 0.0105697 ] [ 0.01201933 -0.00638076 0.99990741 -0.09826703] [ 0. 0. 0. 1. ]] SLAMing on 3.8845535739999995 meters Centerline goodness [0,1] 0.805452865064695 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:-0.10 [[ 0.99991388 -0.00514023 -0.01207509 0.27938803] [ 0.00521791 0.99996584 0.00641047 0.00970486] [ 0.01204173 -0.00647292 0.99990654 -0.09842665] [ 0. 0. 0. 1. ]] SLAMing on 3.9145535739999997 meters Centerline goodness [0,1] 0.8067414506643433 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:-0.10 [[ 0.99991499 -0.00500538 -0.01203958 0.27938164] [ 0.00508374 0.99996604 0.00648723 0.00878826] [ 0.0120067 -0.00654788 0.99990648 -0.0988466 ] [ 0. 0. 0. 1. ]] SLAMing on 3.9445535739999995 meters Centerline goodness [0,1] 0.8080979181465494 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:-0.10 [[ 0.99992128 -0.00455867 -0.01168947 0.2793132 ] [ 0.00462816 0.99997174 0.00592496 0.00798708] [ 0.01166213 -0.0059786 0.99991412 -0.10172369] [ 0. 0. 0. 1. ]] SLAMing on 3.9745535739999998 meters Centerline goodness [0,1] 0.8071328786260169 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:-0.10 [[ 0.99993089 -0.00376093 -0.01113842 0.27747141] [ 0.00382891 0.99997414 0.00608736 0.00730899] [ 0.01111524 -0.00612959 0.99991944 -0.10210886] [ 0. 0. 0. 1. ]] SLAMing on 4.004553574 meters Centerline goodness [0,1] 0.8085555921413676 Centerline is valid? [False, False] Translation: X:0.29, Y:0.01, Z:-0.11 [[ 9.99988971e-01 3.69116017e-04 -4.68213816e-03 2.89433712e-01] [-3.73587452e-04 9.99999475e-01 -9.54159817e-04 6.52588472e-03] [ 4.68178351e-03 9.55898481e-04 9.99988584e-01 -1.06844793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.034553573999999 meters Centerline goodness [0,1] 0.8107632201617785 Centerline is valid? [False, False] Translation: X:0.29, Y:0.01, Z:-0.11 [[ 9.99991259e-01 1.35902758e-03 -3.95405473e-03 2.86483886e-01] [-1.36012523e-03 9.99999037e-01 -2.74924780e-04 5.23374370e-03] [ 3.95367729e-03 2.80300387e-04 9.99992145e-01 -1.05694024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.064553574 meters Centerline goodness [0,1] 0.8125448820637463 Centerline is valid? [False, False] Translation: X:0.28, Y:0.00, Z:-0.11 [[ 9.99991230e-01 3.10918547e-03 -2.80581037e-03 2.82200273e-01] [-3.10860885e-03 9.99995146e-01 2.09844647e-04 4.46597927e-03] [ 2.80644919e-03 -2.01120639e-04 9.99996042e-01 -1.05371638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.094553574 meters Centerline goodness [0,1] 0.8144515059408677 Centerline is valid? [False, False] Translation: X:0.28, Y:0.00, Z:-0.11 [[ 9.99991155e-01 3.27549215e-03 -2.63853240e-03 2.81906797e-01] [-3.27523171e-03 9.99994631e-01 1.03023075e-04 4.05266592e-03] [ 2.63885569e-03 -9.43803589e-05 9.99996514e-01 -1.05966458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.124553573999999 meters Centerline goodness [0,1] 0.8111795042422226 Centerline is valid? [False, False] Translation: X:0.28, Y:0.00, Z:-0.11 [[ 9.99992032e-01 2.24681413e-03 -3.29976788e-03 2.84727890e-01] [-2.24559820e-03 9.99997409e-01 3.72145562e-04 1.63342963e-03] [ 3.30059547e-03 -3.64732644e-04 9.99994487e-01 -1.06058426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1545535739999995 meters Centerline goodness [0,1] 0.8150374266076745 Centerline is valid? [False, False] Translation: X:0.28, Y:0.00, Z:-0.11 [[ 0.99999584 -0.00105703 -0.00268419 0.28302693] [ 0.00104567 0.9999905 -0.00423199 0.00219675] [ 0.00268863 0.00422917 0.99998744 -0.10780066] [ 0. 0. 0. 1. ]] SLAMing on 4.184553574 meters Centerline goodness [0,1] 0.8179571892612232 Centerline is valid? [False, False] Translation: X:0.29, Y:0.00, Z:-0.11 [[ 9.99991388e-01 1.99954326e-03 -3.63673210e-03 2.85989684e-01] [-2.00095912e-03 9.99997924e-01 -3.85722737e-04 3.34463049e-03] [ 3.63595328e-03 3.92996368e-04 9.99993313e-01 -1.07068457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.214553574 meters Centerline goodness [0,1] 0.8162778440456047 Centerline is valid? [False, False] Translation: X:0.29, Y:0.00, Z:-0.11 [[ 9.99989923e-01 9.38309249e-04 -4.39019648e-03 2.89413654e-01] [-9.42967254e-04 9.99998995e-01 -1.05905175e-03 4.52436503e-03] [ 4.38919835e-03 1.06318089e-03 9.99989802e-01 -1.08549803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.244553573999999 meters Centerline goodness [0,1] 0.8161171348548293 Centerline is valid? [False, False] Translation: X:0.29, Y:0.01, Z:-0.11 [[ 9.99987057e-01 -7.90918141e-05 -5.08717814e-03 2.92643907e-01] [ 7.02000383e-05 9.99998470e-01 -1.74803460e-03 6.06411261e-03] [ 5.08730861e-03 1.74765486e-03 9.99985532e-01 -1.10009361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.274553574 meters Centerline goodness [0,1] 0.8155358680256617 Centerline is valid? [False, False] Translation: X:0.30, Y:0.01, Z:-0.11 [[ 0.99997363 -0.00276626 -0.00671475 0.29928598] [ 0.00275293 0.99999422 -0.00199304 0.00608776] [ 0.00672023 0.0019745 0.99997547 -0.11017285] [ 0. 0. 0. 1. ]] SLAMing on 4.304553574 meters Centerline goodness [0,1] 0.8162437112599716 Centerline is valid? [False, False] Translation: X:0.30, Y:0.01, Z:-0.11 [[ 0.99996334 -0.00390617 -0.00762002 0.30228228] [ 0.00389448 0.99999122 -0.00154734 0.00524133] [ 0.007626 0.00151761 0.99996977 -0.10902338] [ 0. 0. 0. 1. ]] SLAMing on 4.334553574 meters Centerline goodness [0,1] 0.8180929505083231 Centerline is valid? [False, False] Translation: X:0.31, Y:0.00, Z:-0.11 [[ 0.99993639 -0.00645723 -0.00924807 0.30845111] [ 0.00644506 0.99997833 -0.001345 0.00428579] [ 0.00925656 0.00128531 0.99995633 -0.10802652] [ 0. 0. 0. 1. ]] SLAMing on 4.364553573999999 meters Centerline goodness [0,1] 0.8206647843224959 Centerline is valid? [False, False] Translation: X:0.31, Y:0.00, Z:-0.11 [[ 0.99992951 -0.00693919 -0.00963465 0.30972037] [ 0.00692728 0.9999752 -0.00126961 0.00485111] [ 0.00964323 0.00120278 0.99995278 -0.10744851] [ 0. 0. 0. 1. ]] SLAMing on 4.394553574 meters Centerline goodness [0,1] 0.8197526728638026 Centerline is valid? [False, False] Translation: X:0.31, Y:0.01, Z:-0.11 [[ 0.99992833 -0.00704624 -0.00967888 0.3098821 ] [ 0.00703379 0.99997439 -0.00132055 0.00587496] [ 0.00968794 0.00125237 0.99995229 -0.1071241 ] [ 0. 0. 0. 1. ]] SLAMing on 4.424553574 meters Centerline goodness [0,1] 0.8172402271967925 Centerline is valid? [False, False] Translation: X:0.31, Y:0.01, Z:-0.11 [[ 0.9999237 -0.00742063 -0.0098755 0.31072823] [ 0.00740351 0.99997103 -0.0017692 0.00839609] [ 0.00988834 0.00169596 0.99994967 -0.10711687] [ 0. 0. 0. 1. ]] SLAMing on 4.454553573999999 meters Centerline goodness [0,1] 0.8164233779208525 Centerline is valid? [False, False] Translation: X:0.31, Y:0.01, Z:-0.11 [[ 0.99992468 -0.00733684 -0.00983922 0.31045658] [ 0.00731878 0.99997147 -0.00187084 0.00970404] [ 0.00985266 0.00179868 0.99994984 -0.10669008] [ 0. 0. 0. 1. ]] SLAMing on 4.4845535739999995 meters Centerline goodness [0,1] 0.8191003460207612 Centerline is valid? [False, False] Translation: X:0.31, Y:0.01, Z:-0.11 [[ 0.99992944 -0.00692066 -0.00965457 0.30914665] [ 0.00690311 0.99997446 -0.00185049 0.01163974] [ 0.00966713 0.00178371 0.99995168 -0.10542149] [ 0. 0. 0. 1. ]] SLAMing on 4.514553574 meters Centerline goodness [0,1] 0.8182019119191026 Centerline is valid? [False, False] Translation: X:0.31, Y:0.01, Z:-0.11 [[ 0.99992428 -0.00722691 -0.0099602 0.31019262] [ 0.0072072 0.999972 -0.0020129 0.01262773] [ 0.00997447 0.00194097 0.99994837 -0.10534214] [ 0. 0. 0. 1. ]] SLAMing on 4.544553574 meters Centerline goodness [0,1] 0.8165425971877585 Centerline is valid? [False, False] Translation: X:0.31, Y:0.02, Z:-0.11 [[ 0.99990241 -0.00867626 -0.01094975 0.31489549] [ 0.00864062 0.99995723 -0.00329788 0.01520743] [ 0.0109779 0.00320295 0.99993461 -0.10792642] [ 0. 0. 0. 1. ]] SLAMing on 4.574553573999999 meters Centerline goodness [0,1] 0.8160856134157105 Centerline is valid? [False, False] Translation: X:0.32, Y:0.02, Z:-0.11 [[ 0.99988901 -0.00946916 -0.01150268 0.3174331 ] [ 0.00942798 0.99994897 -0.00362932 0.01583979] [ 0.01153646 0.00352047 0.99992726 -0.108797 ] [ 0. 0. 0. 1. ]] SLAMing on 4.604553574 meters Centerline goodness [0,1] 0.8119797122222835 Centerline is valid? [False, False] Translation: X:0.32, Y:0.01, Z:-0.11 [[ 0.99984727 -0.01175774 -0.01293003 0.32330364] [ 0.01171415 0.99992546 -0.00344253 0.01495357] [ 0.01296954 0.00329054 0.99991048 -0.10836559] [ 0. 0. 0. 1. ]] SLAMing on 4.634553574 meters Centerline goodness [0,1] 0.8130869433504999 Centerline is valid? [False, False] Translation: X:0.33, Y:0.01, Z:-0.11 [[ 0.99981878 -0.01308198 -0.01383031 0.32676462] [ 0.01303795 0.99990966 -0.003269 0.01412268] [ 0.01387182 0.00308809 0.99989901 -0.10793033] [ 0. 0. 0. 1. ]] SLAMing on 4.664553573999999 meters Centerline goodness [0,1] 0.8130869433504999 Centerline is valid? [False, False] Translation: X:0.33, Y:0.01, Z:-0.11 [[ 0.99981878 -0.01308198 -0.01383031 0.32676462] [ 0.01303795 0.99990966 -0.003269 0.01412268] [ 0.01387182 0.00308809 0.99989901 -0.10793033] [ 0. 0. 0. 1. ]] SLAMing on 4.6945535739999995 meters Centerline goodness [0,1] 0.81 Centerline is valid? [False, False] Translation: X:0.33, Y:0.01, Z:-0.10 [[ 0.99974609 -0.01616902 -0.01569476 0.33408302] [ 0.01613972 0.99986776 -0.00199189 0.0124468 ] [ 0.01572489 0.00173807 0.99987485 -0.10463188] [ 0. 0. 0. 1. ]] SLAMing on 4.724553574 meters Centerline goodness [0,1] 0.8148781766507547 Centerline is valid? [False, False] Translation: X:0.34, Y:0.01, Z:-0.10 [[ 0.99972311 -0.017006 -0.01626332 0.33616773] [ 0.01697983 0.99985431 -0.00174601 0.01177744] [ 0.01629065 0.00146938 0.99986622 -0.1039688 ] [ 0. 0. 0. 1. ]] SLAMing on 4.754553574 meters Centerline goodness [0,1] 0.813548084095367 Centerline is valid? [False, False] Translation: X:0.34, Y:0.01, Z:-0.10 [[ 0.9997064 -0.01759652 -0.01665778 0.33748995] [ 0.0175768 0.99984463 -0.00132946 0.01104226] [ 0.01667858 0.00103628 0.99986037 -0.10289674] [ 0. 0. 0. 1. ]] SLAMing on 4.784553573999999 meters Centerline goodness [0,1] 0.8023623998458107 Centerline is valid? [False, False] Translation: X:0.34, Y:0.01, Z:-0.10 [[ 9.99684898e-01 -1.83468947e-02 -1.71317147e-02 3.39109116e-01] [ 1.83338725e-02 9.99831500e-01 -9.16886386e-04 1.07644890e-02] [ 1.71456500e-02 6.02506802e-04 9.99852821e-01 -1.01573892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.814553574 meters Centerline goodness [0,1] 0.7932049518569464 Centerline is valid? [False, False] Translation: X:0.34, Y:0.01, Z:-0.10 [[ 9.99670849e-01 -1.87789040e-02 -1.74798773e-02 3.40525073e-01] [ 1.87641869e-02 9.99823431e-01 -1.00559365e-03 1.13079119e-02] [ 1.74956749e-02 6.77266975e-04 9.99846710e-01 -1.01737981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.844553574 meters Centerline goodness [0,1] 0.8135374653606606 Centerline is valid? [False, False] Translation: X:0.35, Y:0.01, Z:-0.10 [[ 0.99966062 -0.01744624 -0.01934627 0.34738434] [ 0.01750594 0.99984249 0.00292083 0.01163716] [ 0.01929227 -0.00325851 0.99980858 -0.10104059] [ 0. 0. 0. 1. ]] SLAMing on 4.874553573999999 meters Centerline goodness [0,1] 0.8110477860587462 Centerline is valid? [False, False] Translation: X:0.35, Y:0.01, Z:-0.10 [[ 0.99965748 -0.01751406 -0.01944705 0.34789416] [ 0.01757042 0.9998419 0.00273126 0.01235907] [ 0.01939614 -0.00307201 0.99980716 -0.10138646] [ 0. 0. 0. 1. ]] SLAMing on 4.9045535739999995 meters Centerline goodness [0,1] 0.8140561154998638 Centerline is valid? [False, False] Translation: X:0.35, Y:0.01, Z:-0.10 [[ 0.99968403 -0.01455782 -0.02049192 0.35143803] [ 0.01469628 0.99987007 0.00662237 0.01330471] [ 0.02039285 -0.00692143 0.99976809 -0.10126345] [ 0. 0. 0. 1. ]] SLAMing on 4.934553574 meters Centerline goodness [0,1] 0.8124371756907278 Centerline is valid? [False, False] Translation: X:0.35, Y:0.02, Z:-0.10 [[ 0.99968774 -0.01442454 -0.02040459 0.35136605] [ 0.01454943 0.99987624 0.00598546 0.01503255] [ 0.02031573 -0.00628046 0.99977389 -0.10225258] [ 0. 0. 0. 1. ]] SLAMing on 4.964553574 meters Centerline goodness [0,1] 0.8092151651570212 Centerline is valid? [False, False] Translation: X:0.35, Y:0.02, Z:-0.10 [[ 0.9997015 -0.01391449 -0.02008227 0.34984863] [ 0.01403686 0.99988368 0.00596577 0.0158992 ] [ 0.01999693 -0.00624588 0.99978053 -0.10160514] [ 0. 0. 0. 1. ]] SLAMing on 4.994553573999999 meters Centerline goodness [0,1] 0.8143503345161028 Centerline is valid? [False, False] Translation: X:0.35, Y:0.02, Z:-0.10 [[ 0.99970462 -0.01381262 -0.01999691 0.34932379] [ 0.01394025 0.99988325 0.00625713 0.01544568] [ 0.01990815 -0.00653404 0.99978046 -0.10077273] [ 0. 0. 0. 1. ]] SLAMing on 5.024553574 meters Centerline goodness [0,1] 0.8185765066616015 Centerline is valid? [False, False] Translation: X:0.35, Y:0.01, Z:-0.10 [[ 0.99969943 -0.01400707 -0.02012114 0.3498559 ] [ 0.01414091 0.99987872 0.00652508 0.01495879] [ 0.0200273 -0.00680765 0.99977626 -0.10041738] [ 0. 0. 0. 1. ]] SLAMing on 5.054553574 meters Centerline goodness [0,1] 0.816329295721215 Centerline is valid? [False, False] Translation: X:0.35, Y:0.02, Z:-0.10 [[ 0.99970135 -0.01396781 -0.02005248 0.35007232] [ 0.01409493 0.99988137 0.00621171 0.01545065] [ 0.01996334 -0.0064925 0.99977963 -0.10143374] [ 0. 0. 0. 1. ]] SLAMing on 5.084553573999999 meters Centerline goodness [0,1] 0.8150903581863435 Centerline is valid? [False, False] Translation: X:0.35, Y:0.02, Z:-0.10 [[ 0.99971353 -0.01350588 -0.0197599 0.34927996] [ 0.01362917 0.9998884 0.00611803 0.01599968] [ 0.01967507 -0.00638559 0.99978604 -0.10212859] [ 0. 0. 0. 1. ]] SLAMing on 5.114553573999999 meters Centerline goodness [0,1] 0.8177162367223065 Centerline is valid? [False, False] Translation: X:0.35, Y:0.02, Z:-0.10 [[ 0.99972493 -0.01307296 -0.019472 0.34831751] [ 0.01319462 0.99989414 0.00613284 0.0164359 ] [ 0.01938977 -0.00638808 0.99979159 -0.10226654] [ 0. 0. 0. 1. ]] SLAMing on 5.144553574 meters Centerline goodness [0,1] 0.8173095115820201 Centerline is valid? [False, False] Translation: X:0.35, Y:0.02, Z:-0.10 [[ 0.99973404 -0.01274733 -0.0192186 0.34777941] [ 0.01285966 0.99990088 0.00573277 0.01735448] [ 0.01914362 -0.00597839 0.99979887 -0.10317676] [ 0. 0. 0. 1. ]] SLAMing on 5.174553574 meters Centerline goodness [0,1] 0.7520716745587602 Centerline is valid? [False, False] Translation: X:0.34, Y:0.02, Z:-0.10 [[ 0.99976339 -0.01146856 -0.01848345 0.34479926] [ 0.01157566 0.99991676 0.00569807 0.01865694] [ 0.01841656 -0.00591068 0.99981293 -0.10306444] [ 0. 0. 0. 1. ]] SLAMing on 5.204553573999999 meters Centerline goodness [0,1] 0.8166801183750336 Centerline is valid? [False, False] Translation: X:0.34, Y:0.02, Z:-0.10 [[ 0.99977902 -0.01077626 -0.01804952 0.34285593] [ 0.01088666 0.99992256 0.00602901 0.01874169] [ 0.01798315 -0.00622417 0.99981892 -0.102215 ] [ 0. 0. 0. 1. ]] SLAMing on 5.2345535739999995 meters Centerline goodness [0,1] 0.8141223940820443 Centerline is valid? [False, False] Translation: X:0.34, Y:0.02, Z:-0.10 [[ 0.99978424 -0.01045502 -0.01794906 0.34238747] [ 0.01056288 0.99992666 0.00592483 0.01920624] [ 0.0178858 -0.00611315 0.99982135 -0.1025376 ] [ 0. 0. 0. 1. ]] SLAMing on 5.264553574 meters Centerline goodness [0,1] 0.8176664965209682 Centerline is valid? [False, False] Translation: X:0.34, Y:0.02, Z:-0.10 [[ 0.99978234 -0.01050185 -0.01802754 0.34284169] [ 0.01060657 0.99992737 0.00572266 0.01976523] [ 0.01796614 -0.00591263 0.99982111 -0.10310526] [ 0. 0. 0. 1. ]] SLAMing on 5.294553573999999 meters Centerline goodness [0,1] 0.8102617632889032 Centerline is valid? [False, False] Translation: X:0.34, Y:0.02, Z:-0.10 [[ 0.99980836 -0.00939974 -0.01717259 0.33971483] [ 0.00950447 0.99993666 0.00602755 0.02007767] [ 0.01711484 -0.00618961 0.99983437 -0.10260707] [ 0. 0. 0. 1. ]] SLAMing on 5.324553573999999 meters Centerline goodness [0,1] 0.8132436903046796 Centerline is valid? [False, False] Translation: X:0.35, Y:0.02, Z:-0.11 [[ 0.99990292 -0.00846024 -0.01107167 0.35476769] [ 0.00842794 0.9999601 -0.00296109 0.02119787] [ 0.01109628 0.00286749 0.99993432 -0.10880526] [ 0. 0. 0. 1. ]] SLAMing on 5.354553574 meters Centerline goodness [0,1] 0.813988930777252 Centerline is valid? [False, False] Translation: X:0.35, Y:0.02, Z:-0.11 [[ 0.99991267 -0.00783376 -0.01064386 0.35281304] [ 0.0078104 0.999967 -0.00223459 0.02067344] [ 0.01066101 0.00215126 0.99994086 -0.10720316] [ 0. 0. 0. 1. ]] SLAMing on 5.384553574 meters Centerline goodness [0,1] 0.8095301655098772 Centerline is valid? [False, False] Translation: X:0.35, Y:0.02, Z:-0.11 [[ 0.99992909 -0.00426131 -0.01112002 0.35408643] [ 0.00429288 0.99998682 0.00281659 0.01927295] [ 0.01110787 -0.00286413 0.9999342 -0.10507197] [ 0. 0. 0. 1. ]] SLAMing on 5.414553573999999 meters Centerline goodness [0,1] 0.817119275825346 Centerline is valid? [False, False] Translation: X:0.35, Y:0.02, Z:-0.11 [[ 0.99992868 -0.00426105 -0.01115698 0.35461985] [ 0.00428931 0.99998765 0.00251037 0.01987791] [ 0.01114615 -0.00255804 0.99993461 -0.10610193] [ 0. 0. 0. 1. ]] SLAMing on 5.4445535739999995 meters Centerline goodness [0,1] 0.8099318714072812 Centerline is valid? [False, False] Translation: X:0.36, Y:0.02, Z:-0.11 [[ 0.99992696 -0.00442279 -0.01124742 0.35593172] [ 0.00444189 0.99998873 0.00167325 0.02056427] [ 0.01123989 -0.00172309 0.99993535 -0.10880593] [ 0. 0. 0. 1. ]] SLAMing on 5.474553574 meters Centerline goodness [0,1] 0.8130816272268013 Centerline is valid? [False, False] Translation: X:0.36, Y:0.02, Z:-0.11 [[ 0.9999269 -0.00445655 -0.01124002 0.35612049] [ 0.00447658 0.99998843 0.00175801 0.02047896] [ 0.01123206 -0.0018082 0.99993528 -0.10892739] [ 0. 0. 0. 1. ]] SLAMing on 5.504553574 meters Centerline goodness [0,1] 0.8140098548408576 Centerline is valid? [False, False] Translation: X:0.36, Y:0.02, Z:-0.11 [[ 0.99991603 -0.00544564 -0.01175877 0.35784559] [ 0.00547785 0.99998133 0.00270852 0.01805012] [ 0.0117438 -0.00277271 0.99992719 -0.10683666] [ 0. 0. 0. 1. ]] SLAMing on 5.534553573999999 meters Centerline goodness [0,1] 0.817132037229645 Centerline is valid? [False, False] Translation: X:0.36, Y:0.02, Z:-0.11 [[ 0.99990104 -0.00643416 -0.01251053 0.3602247 ] [ 0.00647382 0.99997414 0.00313181 0.01635257] [ 0.01249006 -0.0032125 0.99991684 -0.10586853] [ 0. 0. 0. 1. ]] SLAMing on 5.564553574 meters Centerline goodness [0,1] 0.8192375460515777 Centerline is valid? [False, False] Translation: X:0.36, Y:0.01, Z:-0.11 [[ 0.99987975 -0.00770467 -0.01345803 0.36350958] [ 0.00775074 0.99996427 0.00337447 0.01464755] [ 0.01343155 -0.00347837 0.99990374 -0.105478 ] [ 0. 0. 0. 1. ]] SLAMing on 5.594553574 meters Centerline goodness [0,1] 0.8248231682904044 Centerline is valid? [False, False] Translation: X:0.37, Y:0.01, Z:-0.11 [[ 0.99982991 -0.01073465 -0.01499712 0.37062121] [ 0.01077868 0.99993782 0.00285773 0.01295064] [ 0.01496551 -0.00301889 0.99988345 -0.10672695] [ 0. 0. 0. 1. ]] SLAMing on 5.624553573999999 meters Centerline goodness [0,1] 0.8180581488396905 Centerline is valid? [False, False] Translation: X:0.37, Y:0.01, Z:-0.11 [[ 0.99980793 -0.01166899 -0.01574598 0.3734225 ] [ 0.01171569 0.99992723 0.00287672 0.01216682] [ 0.01571127 -0.00306064 0.99987189 -0.10704625] [ 0. 0. 0. 1. ]] SLAMing on 5.6545535739999995 meters Centerline goodness [0,1] 0.8204165335037819 Centerline is valid? [False, False] Translation: X:0.38, Y:0.01, Z:-0.11 [[ 0.99977063 -0.01326282 -0.01681633 0.37771119] [ 0.01331289 0.99990726 0.00286924 0.01049191] [ 0.01677672 -0.00309245 0.99985448 -0.10749264] [ 0. 0. 0. 1. ]] SLAMing on 5.684553574 meters Centerline goodness [0,1] 0.820085242408098 Centerline is valid? [False, False] Translation: X:0.38, Y:0.01, Z:-0.11 [[ 0.99975458 -0.01386195 -0.01728056 0.37968305] [ 0.01390979 0.99989974 0.00265133 0.01053362] [ 0.01724207 -0.00289104 0.99984716 -0.10816466] [ 0. 0. 0. 1. ]] SLAMing on 5.714553574 meters Centerline goodness [0,1] 0.8211659383992327 Centerline is valid? [False, False] Translation: X:0.38, Y:0.01, Z:-0.11 [[ 0.99972961 -0.01475587 -0.01797127 0.38252543] [ 0.01479741 0.99988813 0.00218068 0.01120496] [ 0.01793708 -0.00244602 0.99983613 -0.10921218] [ 0. 0. 0. 1. ]] SLAMing on 5.744553573999999 meters Centerline goodness [0,1] 0.8228817616084251 Centerline is valid? [False, False] Translation: X:0.38, Y:0.01, Z:-0.11 [[ 0.99972123 -0.01501911 -0.01821763 0.3834023 ] [ 0.0150591 0.99988448 0.00206009 0.01167007] [ 0.01818459 -0.00233386 0.99983192 -0.10925048] [ 0. 0. 0. 1. ]] SLAMing on 5.774553574 meters Centerline goodness [0,1] 0.8230853071749475 Centerline is valid? [False, False] Translation: X:0.38, Y:0.01, Z:-0.11 [[ 0.99972294 -0.01488518 -0.01823403 0.38301258] [ 0.0149219 0.9998869 0.00187942 0.01344975] [ 0.01820399 -0.00215099 0.99983198 -0.10856633] [ 0. 0. 0. 1. ]] SLAMing on 5.804553574 meters Centerline goodness [0,1] 0.8220062146442515 Centerline is valid? [False, False] Translation: X:0.38, Y:0.01, Z:-0.11 [[ 0.99972545 -0.01474536 -0.01820963 0.38275622] [ 0.01477935 0.99988928 0.00173315 0.01469698] [ 0.01818206 -0.0020018 0.99983269 -0.10830711] [ 0. 0. 0. 1. ]] SLAMing on 5.834553573999999 meters Centerline goodness [0,1] 0.8237432984765646 Centerline is valid? [False, False] Translation: X:0.38, Y:0.02, Z:-0.11 [[ 0.99972812 -0.01459148 -0.01818746 0.38250062] [ 0.01462325 0.99989177 0.00161474 0.01568975] [ 0.01816193 -0.00188026 0.99983329 -0.10812144] [ 0. 0. 0. 1. ]] SLAMing on 5.864553573999999 meters Centerline goodness [0,1] 0.8224779887557017 Centerline is valid? [False, False] Translation: X:0.38, Y:0.02, Z:-0.11 [[ 0.99972477 -0.01465429 -0.01832011 0.38295557] [ 0.01467978 0.99989145 0.00125795 0.01730331] [ 0.01829969 -0.00152654 0.99983138 -0.10838297] [ 0. 0. 0. 1. ]] SLAMing on 5.894553574 meters Centerline goodness [0,1] 0.8186243386243386 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:-0.11 [[ 0.99972931 -0.01240873 -0.01968047 0.38763213] [ 0.01251196 0.99990856 0.00513098 0.01712565] [ 0.019615 -0.00537583 0.99979315 -0.10820567] [ 0. 0. 0. 1. ]] SLAMing on 5.924553574 meters Centerline goodness [0,1] 0.8186194128537424 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:-0.11 [[ 0.99972435 -0.01252213 -0.01985985 0.38848099] [ 0.0126133 0.99991045 0.00447186 0.01919539] [ 0.01980207 -0.00472113 0.99979277 -0.10941373] [ 0. 0. 0. 1. ]] SLAMing on 5.954553573999999 meters Centerline goodness [0,1] 0.8191179584921644 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:-0.11 [[ 0.99972693 -0.01240732 -0.01980231 0.38803575] [ 0.01250148 0.9999111 0.00463826 0.01927631] [ 0.019743 -0.00488455 0.99979316 -0.10879193] [ 0. 0. 0. 1. ]] SLAMing on 5.9845535739999995 meters Centerline goodness [0,1] 0.8171997458165643 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:-0.10 [[ 0.99971653 -0.01066607 -0.02128604 0.39325172] [ 0.0108966 0.99988291 0.01074346 0.01665788] [ 0.02116896 -0.01097236 0.9997157 -0.10367718] [ 0. 0. 0. 1. ]] SLAMing on 6.014553574 meters Centerline goodness [0,1] 0.8174535809018568 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.11 [[ 9.99835795e-01 -1.05226255e-02 -1.47532384e-02 4.06752788e-01] [ 1.05336958e-02 9.99944293e-01 6.72857490e-04 1.80291375e-02] [ 1.47453363e-02 -8.28153129e-04 9.99890939e-01 -1.08772466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.044553573999999 meters Centerline goodness [0,1] 0.8231710547226784 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.11 [[ 9.99841500e-01 -1.01692659e-02 -1.46137182e-02 4.06259323e-01] [ 1.01776766e-02 9.99948080e-01 5.01277920e-04 1.91723478e-02] [ 1.46078619e-02 -6.49932165e-04 9.99893088e-01 -1.09081593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.074553573999999 meters Centerline goodness [0,1] 0.8234858894408625 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.11 [[ 0.99986299 -0.00646273 -0.01523931 0.40842352] [ 0.00652837 0.99996961 0.00426155 0.02077762] [ 0.01521131 -0.00436045 0.99987479 -0.10969424] [ 0. 0. 0. 1. ]] SLAMing on 6.104553574 meters Centerline goodness [0,1] 0.823163990523822 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.11 [[ 0.99987327 -0.00580953 -0.01482209 0.40722633] [ 0.00586663 0.99997553 0.00381203 0.02232777] [ 0.01479958 -0.0038985 0.99988288 -0.11060433] [ 0. 0. 0. 1. ]] SLAMing on 6.134553574 meters Centerline goodness [0,1] 0.8214144918394701 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.11 [[ 0.99988676 -0.00485227 -0.01424502 0.40491074] [ 0.00490792 0.99998045 0.00387418 0.0232079 ] [ 0.01422594 -0.00394366 0.99989103 -0.11038644] [ 0. 0. 0. 1. ]] SLAMing on 6.164553573999999 meters Centerline goodness [0,1] 0.8244116411010717 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.11 [[ 0.99990386 -0.00339216 -0.01344512 0.40149941] [ 0.00344558 0.99998625 0.00395217 0.02459199] [ 0.01343153 -0.00399812 0.9999018 -0.10992238] [ 0. 0. 0. 1. ]] SLAMing on 6.1945535739999995 meters Centerline goodness [0,1] 0.8242955804732018 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.11 [[ 0.9999094 -0.00284941 -0.01315601 0.40023262] [ 0.00290162 0.99998798 0.00395118 0.02525854] [ 0.01314459 -0.003989 0.99990565 -0.10974555] [ 0. 0. 0. 1. ]] SLAMing on 6.224553574 meters Centerline goodness [0,1] 0.822097968183966 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.11 [[ 0.99991493 -0.00228958 -0.01284127 0.39937752] [ 0.00233314 0.99999157 0.00337838 0.02660329] [ 0.01283343 -0.00340806 0.99991184 -0.11103042] [ 0. 0. 0. 1. ]] SLAMing on 6.254553574 meters Centerline goodness [0,1] 0.8246846894092351 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.11 [[ 0.99991486 -0.00222667 -0.01285728 0.39961259] [ 0.00226716 0.99999251 0.00313588 0.02721599] [ 0.0128502 -0.00316476 0.99991242 -0.11163743] [ 0. 0. 0. 1. ]] SLAMing on 6.284553573999999 meters Centerline goodness [0,1] 0.8217894543450304 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.11 [[ 0.99990416 -0.0029755 -0.01352109 0.40235386] [ 0.00301176 0.99999192 0.00266235 0.02728758] [ 0.01351306 -0.00270282 0.99990504 -0.11303017] [ 0. 0. 0. 1. ]] SLAMing on 6.314553574 meters Centerline goodness [0,1] 0.819846846135628 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.11 [[ 0.99989586 -0.00349872 -0.01400096 0.40413076] [ 0.00353516 0.99999043 0.00257904 0.02681964] [ 0.01399181 -0.00262827 0.99989866 -0.11344427] [ 0. 0. 0. 1. ]] SLAMing on 6.344553574 meters Centerline goodness [0,1] 0.8240740740740741 Centerline is valid? [False, False] Translation: X:0.41, Y:0.03, Z:-0.11 [[ 0.99988249 -0.00439427 -0.01468677 0.40660667] [ 0.00443304 0.99998677 0.00260849 0.02599753] [ 0.01467511 -0.00267329 0.99988874 -0.11348207] [ 0. 0. 0. 1. ]] SLAMing on 6.374553573999999 meters Centerline goodness [0,1] 0.8265534786849806 Centerline is valid? [False, False] Translation: X:0.41, Y:0.03, Z:-0.11 [[ 0.99987559 -0.00476873 -0.01503524 0.4079464 ] [ 0.0048073 0.99998524 0.00253065 0.02589917] [ 0.01502295 -0.00260261 0.99988376 -0.11384334] [ 0. 0. 0. 1. ]] SLAMing on 6.4045535739999995 meters Centerline goodness [0,1] 0.8253817298039837 Centerline is valid? [False, False] Translation: X:0.41, Y:0.03, Z:-0.11 [[ 0.99986742 -0.00524162 -0.01541617 0.40964421] [ 0.00527729 0.99998349 0.00227459 0.02573164] [ 0.015404 -0.00235564 0.99987858 -0.11475506] [ 0. 0. 0. 1. ]] SLAMing on 6.434553574 meters Centerline goodness [0,1] 0.8280008475474097 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.12 [[ 0.99984855 -0.0063018 -0.01622249 0.41303431] [ 0.00633822 0.9999775 0.00219474 0.02382862] [ 0.0162083 -0.00229723 0.999866 -0.11592134] [ 0. 0. 0. 1. ]] SLAMing on 6.464553574 meters Centerline goodness [0,1] 0.8209550128876253 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.11 [[ 0.99984617 -0.00638269 -0.01633708 0.41310955] [ 0.00643486 0.99997436 0.00314295 0.02060992] [ 0.0163166 -0.0032476 0.9998616 -0.11464735] [ 0. 0. 0. 1. ]] SLAMing on 6.494553573999999 meters Centerline goodness [0,1] 0.8306905098206434 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.11 [[ 0.9998531 -0.00598551 -0.01606061 0.41206625] [ 0.00604237 0.99997564 0.00349391 0.01939698] [ 0.0160393 -0.00359044 0.99986492 -0.11436615] [ 0. 0. 0. 1. ]] SLAMing on 6.524553574 meters Centerline goodness [0,1] 0.832198158888948 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.11 [[ 0.99986606 -0.00520823 -0.01551572 0.41008723] [ 0.00526822 0.99997879 0.00382858 0.01850756] [ 0.01549545 -0.00390981 0.99987229 -0.11419678] [ 0. 0. 0. 1. ]] SLAMing on 6.554553574 meters Centerline goodness [0,1] 0.832198158888948 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.11 [[ 0.99986606 -0.00520823 -0.01551572 0.41008723] [ 0.00526822 0.99997879 0.00382858 0.01850756] [ 0.01549545 -0.00390981 0.99987229 -0.11419678] [ 0. 0. 0. 1. ]] SLAMing on 6.584553573999999 meters Centerline goodness [0,1] 0.8264960682393709 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:-0.12 [[ 9.99952086e-01 7.72029183e-04 -9.75852487e-03 4.24064721e-01] [-7.87290973e-04 9.99998473e-01 -1.56019962e-03 1.79943205e-02] [ 9.75730544e-03 1.56780766e-03 9.99951167e-01 -1.20631170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.614553573999999 meters Centerline goodness [0,1] 0.8292272787935406 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:-0.12 [[ 0.99995907 0.00243252 -0.00871471 0.42022215] [-0.00244308 0.99999629 -0.00120083 0.0180816 ] [ 0.00871176 0.00122207 0.99996131 -0.12047633] [ 0. 0. 0. 1. ]] SLAMing on 6.644553574 meters Centerline goodness [0,1] 0.8212136610414271 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.12 [[ 9.99955380e-01 6.30516696e-03 -7.03444335e-03 4.13426607e-01] [-6.30546340e-03 9.99980120e-01 -1.99642069e-05 1.69656215e-02] [ 7.03417763e-03 6.43187412e-05 9.99975258e-01 -1.20766180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.674553574 meters Centerline goodness [0,1] 0.8237322569435163 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.12 [[ 9.99951606e-01 7.51657245e-03 -6.34718483e-03 4.11103284e-01] [-7.51670652e-03 9.99971749e-01 2.73303821e-06 1.69595556e-02] [ 6.34702606e-03 4.49770197e-05 9.99979856e-01 -1.21485905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.704553573999999 meters Centerline goodness [0,1] 0.8217393625540548 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.12 [[ 9.99945534e-01 8.83020502e-03 -5.56389631e-03 4.08579470e-01] [-8.83160262e-03 9.99960975e-01 -2.26671614e-04 1.75358131e-02] [ 5.56167762e-03 2.75797389e-04 9.99984496e-01 -1.22614690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7345535739999995 meters Centerline goodness [0,1] 0.8159245202330678 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.12 [[ 9.99906863e-01 1.32128360e-02 -3.41858656e-03 3.99192372e-01] [-1.32104171e-02 9.99912473e-01 7.29195206e-04 1.71506800e-02] [ 3.42792208e-03 -6.83966336e-04 9.99993891e-01 -1.21963480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.764553574 meters Centerline goodness [0,1] 0.8172250341447739 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.12 [[ 0.99988978 0.01465082 -0.00240651 0.39519937] [-0.01464699 0.99989145 0.00160036 0.01558949] [ 0.00242969 -0.00156493 0.99999582 -0.12047651] [ 0. 0. 0. 1. ]] SLAMing on 6.794553573999999 meters Centerline goodness [0,1] 0.8183282764546358 Centerline is valid? [False, False] Translation: X:0.39, Y:0.01, Z:-0.12 [[ 0.99986438 0.01642334 -0.00122165 0.3910208 ] [-0.01641973 0.99986095 0.00291167 0.01170868] [ 0.0012693 -0.00289122 0.99999501 -0.11949676] [ 0. 0. 0. 1. ]] SLAMing on 6.824553573999999 meters Centerline goodness [0,1] 0.8177617794014935 Centerline is valid? [False, False] Translation: X:0.39, Y:0.01, Z:-0.12 [[ 0.99986238 0.01655301 -0.00110002 0.391252 ] [-0.0165499 0.99985919 0.00277565 0.01070262] [ 0.00114581 -0.00275706 0.99999554 -0.12095771] [ 0. 0. 0. 1. ]] SLAMing on 6.854553574 meters Centerline goodness [0,1] 0.8164900769106653 Centerline is valid? [False, False] Translation: X:0.39, Y:0.01, Z:-0.12 [[ 9.99856632e-01 1.69156372e-02 -7.59430580e-04 3.90612533e-01] [-1.69134210e-02 9.99852937e-01 2.83560331e-03 9.75942295e-03] [ 8.07284933e-04 -2.82235221e-03 9.99995691e-01 -1.21883461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.884553574 meters Centerline goodness [0,1] 0.8164345103120614 Centerline is valid? [False, False] Translation: X:0.39, Y:0.01, Z:-0.12 [[ 9.99835425e-01 1.81408826e-02 1.78705634e-04 3.87843038e-01] [-1.81414509e-02 9.99827488e-01 3.98529647e-03 5.66819276e-03] [-1.06378010e-04 -3.98788257e-03 9.99992043e-01 -1.21742957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.914553573999999 meters Centerline goodness [0,1] 0.8174723607197052 Centerline is valid? [False, False] Translation: X:0.38, Y:0.01, Z:-0.12 [[ 9.99861835e-01 1.65106022e-02 1.92644854e-03 3.82615965e-01] [-1.65093359e-02 9.99863486e-01 -6.71377908e-04 5.41879878e-03] [-1.93727041e-03 6.39480761e-04 9.99997919e-01 -1.24792650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9445535739999995 meters Centerline goodness [0,1] 0.8182065587154714 Centerline is valid? [False, False] Translation: X:0.38, Y:0.00, Z:-0.12 [[ 9.99857977e-01 1.67204625e-02 2.11011451e-03 3.82317752e-01] [-1.67210935e-02 9.99860153e-01 2.81758463e-04 2.92253032e-04] [-2.10510828e-03 -3.17001869e-04 9.99997734e-01 -1.24804233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.974553574 meters Centerline goodness [0,1] 0.8172773864664127 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.00, Z:-0.13 [[ 0.99989861 0.01387627 0.00319607 0.37902968] [-0.01386462 0.99989725 -0.00364068 -0.00154788] [-0.00324626 0.00359599 0.99998827 -0.12563348] [ 0. 0. 0. 1. ]] SLAMing on 7.004553573999999 meters Centerline goodness [0,1] 0.822579318287767 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.00, Z:-0.13 [[ 0.99993839 0.01044095 0.00376806 0.37709125] [-0.01041241 0.99991755 -0.00751526 -0.00324878] [-0.00384622 0.00747556 0.99996466 -0.12591504] [ 0. 0. 0. 1. ]] SLAMing on 7.034553573999999 meters Centerline goodness [0,1] 0.8195228955305731 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.00, Z:-0.13 [[ 0.99993728 0.01054614 0.00376941 0.37706429] [-0.01051829 0.99991778 -0.00733439 -0.00410698] [-0.00384645 0.00729428 0.999966 -0.12575184] [ 0. 0. 0. 1. ]] SLAMing on 7.064553574 meters Centerline goodness [0,1] 0.8188632619439868 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.00, Z:-0.13 [[ 0.99994674 0.00981056 0.00320386 0.37941323] [-0.00978672 0.99992492 -0.00737458 -0.00431972] [-0.00327597 0.00734283 0.99996767 -0.12616064] [ 0. 0. 0. 1. ]] SLAMing on 7.094553574 meters Centerline goodness [0,1] 0.8158090156494953 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.00, Z:-0.13 [[ 0.99997378 0.00706504 0.00158808 0.38738871] [-0.0070511 0.99993797 -0.0086222 -0.00395329] [-0.0016489 0.00861078 0.99996157 -0.12974543] [ 0. 0. 0. 1. ]] SLAMing on 7.124553573999999 meters Centerline goodness [0,1] 0.8136979510905485 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.00, Z:-0.13 [[ 9.99986406e-01 5.20364125e-03 3.30059775e-04 3.92952779e-01] [-5.20049304e-03 9.99946755e-01 -8.91305492e-03 -4.51772443e-03] [-3.76422542e-04 8.91121728e-03 9.99960223e-01 -1.31092153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1545535739999995 meters Centerline goodness [0,1] 0.8131916655167656 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.01, Z:-0.13 [[ 9.99993950e-01 3.34012955e-03 -9.71034364e-04 3.98217260e-01] [-3.34851267e-03 9.99955992e-01 -8.76369998e-03 -5.68855757e-03] [ 9.41719737e-04 8.76689849e-03 9.99961127e-01 -1.31264438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.184553574 meters Centerline goodness [0,1] 0.8165785320745313 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.01, Z:-0.13 [[ 0.99999478 -0.00111056 -0.00303296 0.40779184] [ 0.00108972 0.99997585 -0.00686384 -0.00890661] [ 0.00304051 0.0068605 0.99997184 -0.1263406 ] [ 0. 0. 0. 1. ]] SLAMing on 7.214553573999999 meters Centerline goodness [0,1] 0.8185622436536969 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.01, Z:-0.12 [[ 0.9999831 -0.00363652 -0.0045352 0.4126851 ] [ 0.00361791 0.99998504 -0.00410314 -0.01056418] [ 0.00455006 0.00408666 0.9999813 -0.11859175] [ 0. 0. 0. 1. ]] SLAMing on 7.244553573999999 meters Centerline goodness [0,1] 0.8187560603961768 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.01, Z:-0.12 [[ 0.99997473 -0.00470389 -0.00533024 0.4153385 ] [ 0.00468268 0.99998109 -0.00398539 -0.01017927] [ 0.00534889 0.00396033 0.99997785 -0.11768466] [ 0. 0. 0. 1. ]] SLAMing on 7.274553574 meters Centerline goodness [0,1] 0.8219637169367123 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.01, Z:-0.12 [[ 0.99996284 -0.00592769 -0.00626014 0.41871772] [ 0.00590238 0.99997436 -0.00405373 -0.00972244] [ 0.00628401 0.00401663 0.99997219 -0.11745526] [ 0. 0. 0. 1. ]] SLAMing on 7.304553574 meters Centerline goodness [0,1] 0.8232655999114113 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.01, Z:-0.12 [[ 0.99994803 -0.00722764 -0.00719054 0.4223591 ] [ 0.00719673 0.99996479 -0.00431535 -0.00922363] [ 0.00722148 0.00426338 0.99996484 -0.11776312] [ 0. 0. 0. 1. ]] SLAMing on 7.334553573999999 meters Centerline goodness [0,1] 0.8176761946927142 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.01, Z:-0.12 [[ 0.99990421 -0.0104053 -0.00912647 0.43007383] [ 0.01036645 0.99993705 -0.004294 -0.00877803] [ 0.00917058 0.00419898 0.99994913 -0.11674073] [ 0. 0. 0. 1. ]] SLAMing on 7.364553573999999 meters Centerline goodness [0,1] 0.8257157903489565 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.01, Z:-0.11 [[ 0.99984908 -0.01335351 -0.01111315 0.43715599] [ 0.01331079 0.99990376 -0.00390962 -0.00878758] [ 0.01116429 0.00376111 0.9999306 -0.11452596] [ 0. 0. 0. 1. ]] SLAMing on 7.394553574 meters Centerline goodness [0,1] 0.8099983391463212 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.01, Z:-0.11 [[ 0.99983261 -0.01405641 -0.01171154 0.43901488] [ 0.01401197 0.99989435 -0.0038682 -0.0085007 ] [ 0.01176468 0.00370345 0.99992394 -0.11382019] [ 0. 0. 0. 1. ]] SLAMing on 7.424553574 meters Centerline goodness [0,1] 0.828381105060947 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.01, Z:-0.11 [[ 0.99981826 -0.01465395 -0.01219493 0.44064038] [ 0.01460725 0.99988567 -0.00390937 -0.00794796] [ 0.01225083 0.00373053 0.999918 -0.11342324] [ 0. 0. 0. 1. ]] SLAMing on 7.454553573999999 meters Centerline goodness [0,1] 0.8346973078724753 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.01, Z:-0.11 [[ 9.99788133e-01 -1.45431890e-02 -1.45665904e-02 4.50307155e-01] [ 1.45453804e-02 9.99894209e-01 4.45003779e-05 -7.25172444e-03] [ 1.45644022e-02 -2.56367548e-04 9.99893901e-01 -1.12182632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4845535739999995 meters Centerline goodness [0,1] 0.8307836489429146 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.01, Z:-0.11 [[ 9.99768508e-01 -1.52843643e-02 -1.51432989e-02 4.53148367e-01] [ 1.52726353e-02 9.99882971e-01 -8.89886496e-04 -5.64547849e-03] [ 1.51551281e-02 6.58402413e-04 9.99884938e-01 -1.14401942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.514553574 meters Centerline goodness [0,1] 0.8301482112904557 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.00, Z:-0.12 [[ 0.99977154 -0.01322401 -0.01679277 0.45923383] [ 0.01327197 0.99990815 0.00274778 -0.0048652 ] [ 0.01675489 -0.00297003 0.99985522 -0.11505248] [ 0. 0. 0. 1. ]] SLAMing on 7.544553573999999 meters Centerline goodness [0,1] 0.8295966589735135 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.00, Z:-0.11 [[ 0.99978174 -0.01272926 -0.01656599 0.45789881] [ 0.01278154 0.99991365 0.00305382 -0.00453657] [ 0.01652569 -0.00326489 0.99985811 -0.11410155] [ 0. 0. 0. 1. ]] SLAMing on 7.574553573999999 meters Centerline goodness [0,1] 0.8287588516221112 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.00, Z:-0.11 [[ 0.99980094 -0.01188015 -0.01602967 0.45534675] [ 0.01193611 0.99992298 0.00339992 -0.00423241] [ 0.01598804 -0.00359057 0.99986574 -0.11279402] [ 0. 0. 0. 1. ]] SLAMing on 7.604553574 meters Centerline goodness [0,1] 0.8295944424613526 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.00, Z:-0.11 [[ 0.99985147 -0.00905559 -0.01466385 0.44857999] [ 0.00911115 0.99995155 0.0037267 -0.00247547] [ 0.01462939 -0.00385975 0.99988554 -0.11178656] [ 0. 0. 0. 1. ]] SLAMing on 7.634553574 meters Centerline goodness [0,1] 0.8273754043533088 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.00, Z:-0.11 [[ 9.99878794e-01 -7.45314973e-03 -1.36692055e-02 4.44741940e-01] [ 7.50217694e-03 9.99965596e-01 3.53892713e-03 -7.56377776e-04] [ 1.36423591e-02 -3.64104699e-03 9.99900309e-01 -1.12140810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.664553573999999 meters Centerline goodness [0,1] 0.8291610930632525 Centerline is valid? [False, False] Translation: X:0.46, Y:0.00, Z:-0.12 [[ 9.99971513e-01 2.93250266e-06 -7.54805279e-03 4.57495330e-01] [-6.77345886e-06 9.99999871e-01 -5.08841649e-04 2.30133979e-03] [ 7.54805032e-03 5.08878280e-04 9.99971384e-01 -1.17369879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6945535739999995 meters Centerline goodness [0,1] 0.8239734052698984 Centerline is valid? [False, False] Translation: X:0.45, Y:0.00, Z:-0.12 [[ 9.99977110e-01 1.93468228e-03 -6.48354770e-03 4.53218715e-01] [-1.93789536e-03 9.99998003e-01 -4.89329174e-04 4.13076213e-03] [ 6.48258806e-03 5.01882410e-04 9.99978862e-01 -1.17447123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.724553574 meters Centerline goodness [0,1] 0.8258749829769849 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:-0.12 [[ 9.99977912e-01 3.79883826e-03 -5.45390554e-03 4.49439849e-01] [-3.80343359e-03 9.99992420e-01 -8.32451436e-04 6.34487013e-03] [ 5.45070185e-03 8.53176616e-04 9.99984781e-01 -1.18427813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.754553573999999 meters Centerline goodness [0,1] 0.8190169087361804 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:-0.12 [[ 0.99993806 0.01013489 -0.00460014 0.44508534] [-0.01011985 0.99994341 0.00328132 0.00927479] [ 0.00463313 -0.00323457 0.99998404 -0.11787947] [ 0. 0. 0. 1. ]] SLAMing on 7.784553573999999 meters Centerline goodness [0,1] 0.8175739693024011 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:-0.12 [[ 0.99992289 0.01183825 -0.00375128 0.44123911] [-0.01182632 0.99992499 0.00318778 0.01120455] [ 0.00378874 -0.00314317 0.99998788 -0.11764447] [ 0. 0. 0. 1. ]] SLAMing on 7.814553574 meters Centerline goodness [0,1] 0.8176178660049628 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:-0.12 [[ 0.99988425 0.01500044 -0.00254403 0.43504416] [-0.01499238 0.99988262 0.0031572 0.01422913] [ 0.00259109 -0.0031187 0.99999178 -0.11762761] [ 0. 0. 0. 1. ]] SLAMing on 7.844553574 meters Centerline goodness [0,1] 0.8173664790325621 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:-0.12 [[ 0.99988234 0.01514554 -0.00243406 0.43500866] [-0.01513963 0.99988244 0.00242663 0.01585645] [ 0.00247052 -0.0023895 0.99999409 -0.11894064] [ 0. 0. 0. 1. ]] SLAMing on 7.874553573999999 meters Centerline goodness [0,1] 0.8165369806951885 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:-0.12 [[ 0.99988596 0.01487735 -0.00259414 0.43601717] [-0.01487276 0.99988781 0.00177773 0.0170129 ] [ 0.0026203 -0.00173895 0.99999506 -0.12011704] [ 0. 0. 0. 1. ]] SLAMing on 7.9045535739999995 meters Centerline goodness [0,1] 0.818015053009253 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:-0.12 [[ 0.99992606 0.01204347 -0.00167943 0.43306927] [-0.01204826 0.9999233 -0.00287095 0.0185759 ] [ 0.00164473 0.00289097 0.99999447 -0.12162963] [ 0. 0. 0. 1. ]] SLAMing on 7.934553574 meters Centerline goodness [0,1] 0.8169625991688705 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:-0.12 [[ 0.99992854 0.01181335 -0.00183561 0.43361126] [-0.01181858 0.99992606 -0.00286384 0.0185534 ] [ 0.00180164 0.00288533 0.99999421 -0.12140903] [ 0. 0. 0. 1. ]] SLAMing on 7.964553573999999 meters Centerline goodness [0,1] 0.8162553720571939 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:-0.12 [[ 0.9999265 0.01199959 -0.00173539 0.43313695] [-0.01200476 0.99992344 -0.00299932 0.01951981] [ 0.00169926 0.00301993 0.999994 -0.12134615] [ 0. 0. 0. 1. ]] SLAMing on 7.994553573999999 meters Centerline goodness [0,1] 0.8147988117742371 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:-0.12 [[ 0.99992677 0.01197391 -0.00175567 0.43338224] [-0.01197959 0.99992292 -0.00326313 0.02030473] [ 0.00171647 0.00328392 0.99999313 -0.12171572] [ 0. 0. 0. 1. ]] SLAMing on 8.024553574 meters Centerline goodness [0,1] 0.8134814454444714 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:-0.12 [[ 0.99992645 0.01201248 -0.00167083 0.43323503] [-0.01201827 0.99992165 -0.00349985 0.02112652] [ 0.00162865 0.00351967 0.99999248 -0.12188191] [ 0. 0. 0. 1. ]] SLAMing on 8.054553574 meters Centerline goodness [0,1] 0.8154871572558795 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:-0.12 [[ 0.99992592 0.01206905 -0.00157995 0.43257246] [-0.012074 0.99992211 -0.00316233 0.02101638] [ 0.00154167 0.00318117 0.99999375 -0.12053255] [ 0. 0. 0. 1. ]] SLAMing on 8.084553574000001 meters Centerline goodness [0,1] 0.8139629388816645 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:-0.12 [[ 0.99993181 0.01151523 -0.00194391 0.4337828 ] [-0.01152096 0.99992926 -0.00295827 0.02047646] [ 0.00190971 0.00298046 0.99999373 -0.11976856] [ 0. 0. 0. 1. ]] SLAMing on 8.114553574 meters Centerline goodness [0,1] 0.8147321428571428 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:-0.12 [[ 0.99997294 0.00705281 -0.00209305 0.43475561] [-0.00706838 0.99994668 -0.00752879 0.0212041 ] [ 0.00203984 0.00754338 0.99996947 -0.12080566] [ 0. 0. 0. 1. ]] SLAMing on 8.144553574 meters Centerline goodness [0,1] 0.8153003379483266 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:-0.12 [[ 0.99997693 0.00619356 -0.0027909 0.43739121] [-0.00621539 0.99994963 -0.00788128 0.02200324] [ 0.00274195 0.00789844 0.99996505 -0.12127864] [ 0. 0. 0. 1. ]] SLAMing on 8.174553574 meters Centerline goodness [0,1] 0.8180754367822348 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:-0.12 [[ 0.99998009 0.00521421 -0.00355451 0.44048238] [-0.00524674 0.99994389 -0.00920289 0.02619102] [ 0.00350632 0.00922136 0.99995133 -0.12270943] [ 0. 0. 0. 1. ]] SLAMing on 8.204553574 meters Centerline goodness [0,1] 0.818518417685334 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:-0.12 [[ 0.99998263 0.00366195 -0.00461789 0.44485887] [-0.00370794 0.99994321 -0.00999109 0.02789903] [ 0.00458104 0.01000804 0.99993942 -0.12391023] [ 0. 0. 0. 1. ]] SLAMing on 8.234553574 meters Centerline goodness [0,1] 0.8175633385038235 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:-0.12 [[ 9.99978435e-01 7.24248953e-04 -6.52725337e-03 4.52399828e-01] [-7.90161620e-04 9.99948670e-01 -1.01011558e-02 2.82246171e-02] [ 6.51960258e-03 1.01060955e-02 9.99927678e-01 -1.23567699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.264553574 meters Centerline goodness [0,1] 0.8240116247189779 Centerline is valid? [False, False] Translation: X:0.46, Y:0.03, Z:-0.12 [[ 0.9998618 -0.01570897 -0.00544111 0.45545328] [ 0.01568562 0.99986769 -0.00430742 0.02629797] [ 0.00550805 0.00422148 0.99997592 -0.12003154] [ 0. 0. 0. 1. ]] SLAMing on 8.294553574 meters Centerline goodness [0,1] 0.8160616786018053 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:-0.12 [[ 0.99972194 -0.02223307 -0.00785691 0.46906233] [ 0.02219777 0.99974323 -0.00455239 0.02457129] [ 0.00795611 0.00437672 0.99995877 -0.11903674] [ 0. 0. 0. 1. ]] SLAMing on 8.324553574000001 meters Centerline goodness [0,1] 0.8150534082149543 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:-0.12 [[ 0.99930374 -0.03550031 -0.01147907 0.49057347] [ 0.03537753 0.99931644 -0.01072788 0.02487789] [ 0.01185207 0.01031431 0.99987656 -0.12238121] [ 0. 0. 0. 1. ]] SLAMing on 8.354553574 meters Centerline goodness [0,1] 0.8260761862820654 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:-0.12 [[ 0.99914589 -0.03903325 -0.01356095 0.49954086] [ 0.03888958 0.99918621 -0.01070143 0.02396875] [ 0.01396763 0.01016491 0.99985078 -0.12206096] [ 0. 0. 0. 1. ]] SLAMing on 8.384553574 meters Centerline goodness [0,1] 0.8188824662813102 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:-0.12 [[ 0.99903961 -0.04117845 -0.0149728 0.50506346] [ 0.04102015 0.99910069 -0.01073094 0.02337405] [ 0.01540122 0.01010645 0.99983032 -0.12176938] [ 0. 0. 0. 1. ]] SLAMing on 8.414553574000001 meters Centerline goodness [0,1] 0.780501224175401 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:-0.12 [[ 0.99899218 -0.04143212 -0.0172627 0.5138503 ] [ 0.04135667 0.99913337 -0.00470522 0.02266001] [ 0.01744269 0.00398655 0.99983992 -0.11521906] [ 0. 0. 0. 1. ]] SLAMing on 8.444553574 meters Centerline goodness [0,1] 0.8208959315714442 Centerline is valid? [False, False] Translation: X:0.52, Y:0.02, Z:-0.11 [[ 9.99093147e-01 -3.84287565e-02 -1.83334365e-02 5.16361460e-01] [ 3.84342065e-02 9.99261131e-01 -5.51129318e-05 2.27571473e-02] [ 1.83220084e-02 -6.49568130e-04 9.99831927e-01 -1.12934206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.474553574 meters Centerline goodness [0,1] 0.8208959315714442 Centerline is valid? [False, False] Translation: X:0.52, Y:0.02, Z:-0.11 [[ 0.99916587 -0.03599597 -0.0192834 0.51917572] [ 0.03606996 0.99934313 0.00350305 0.02113114] [ 0.01914464 -0.00419568 0.99980792 -0.11294205] [ 0. 0. 0. 1. ]] SLAMing on 8.504553574000001 meters Centerline goodness [0,1] 0.8109764401470788 Centerline is valid? [False, False] Translation: X:0.52, Y:0.02, Z:-0.11 [[ 0.99936449 -0.03031501 -0.01875134 0.51538349] [ 0.03046698 0.99950477 0.00787267 0.02418827] [ 0.01850339 -0.00843897 0.99979318 -0.1109738 ] [ 0. 0. 0. 1. ]] SLAMing on 8.534553574 meters Centerline goodness [0,1] 0.8208286977993651 Centerline is valid? [False, False] Translation: X:0.52, Y:0.03, Z:-0.11 [[ 0.9994825 -0.02600836 -0.01892855 0.51508703] [ 0.02624104 0.99958181 0.01214972 0.02527632] [ 0.01860464 -0.01264013 0.99974702 -0.10975378] [ 0. 0. 0. 1. ]] SLAMing on 8.564553574 meters Centerline goodness [0,1] 0.820700654160134 Centerline is valid? [False, False] Translation: X:0.53, Y:0.03, Z:-0.12 [[ 0.99966751 -0.02193134 -0.01356043 0.52881754] [ 0.02198327 0.99975152 0.00369255 0.02885857] [ 0.01347608 -0.00398943 0.99990124 -0.11744517] [ 0. 0. 0. 1. ]] SLAMing on 8.594553574 meters Centerline goodness [0,1] 0.8145248089549026 Centerline is valid? [False, False] Translation: X:0.54, Y:0.03, Z:-0.12 [[ 9.99868497e-01 -1.38195943e-02 -8.48570333e-03 5.41912336e-01] [ 1.38149458e-02 9.99904385e-01 -6.06186498e-04 3.25386580e-02] [ 8.49326922e-03 4.88877251e-04 9.99963812e-01 -1.22522822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.624553574 meters Centerline goodness [0,1] 0.8084934603584693 Centerline is valid? [False, False] Translation: X:0.54, Y:0.03, Z:-0.12 [[ 0.99992044 -0.00938128 -0.00843269 0.54076503] [ 0.00941913 0.99994569 0.00446074 0.03199859] [ 0.00839039 -0.00453981 0.99995449 -0.11993597] [ 0. 0. 0. 1. ]] SLAMing on 8.654553574000001 meters Centerline goodness [0,1] 0.808716187204809 Centerline is valid? [False, False] Translation: X:0.54, Y:0.03, Z:-0.12 [[ 0.99996018 -0.00429189 -0.00782429 0.5379112 ] [ 0.00436484 0.99994694 0.00933136 0.03200674] [ 0.00778382 -0.00936514 0.99992585 -0.11781832] [ 0. 0. 0. 1. ]] SLAMing on 8.684553574 meters Centerline goodness [0,1] 0.8174728661396221 Centerline is valid? [False, False] Translation: X:0.54, Y:0.03, Z:-0.12 [[ 0.99996454 -0.00382133 -0.00750404 0.53700479] [ 0.00388909 0.99995161 0.00903576 0.03287363] [ 0.00746915 -0.00906463 0.99993102 -0.11857258] [ 0. 0. 0. 1. ]] SLAMing on 8.714553574 meters Centerline goodness [0,1] 0.8146996542203876 Centerline is valid? [False, False] Translation: X:0.54, Y:0.03, Z:-0.12 [[ 0.99996566 -0.00372612 -0.00740257 0.53703266] [ 0.00379016 0.99995535 0.00865638 0.03332235] [ 0.00736998 -0.00868414 0.99993513 -0.11958352] [ 0. 0. 0. 1. ]] SLAMing on 8.744553574000001 meters Centerline goodness [0,1] 0.8099810114733492 Centerline is valid? [False, False] Translation: X:0.54, Y:0.03, Z:-0.12 [[ 0.99996188 -0.00417675 -0.0076672 0.53838864] [ 0.00424189 0.99995487 0.00850039 0.03310715] [ 0.00763135 -0.00853259 0.99993448 -0.12013026] [ 0. 0. 0. 1. ]] SLAMing on 8.774553574 meters Centerline goodness [0,1] 0.8178462526079281 Centerline is valid? [False, False] Translation: X:0.54, Y:0.03, Z:-0.12 [[ 0.99995057 -0.00536429 -0.00837167 0.54121161] [ 0.00543569 0.99994885 0.0085297 0.03220709] [ 0.00832549 -0.00857479 0.99992858 -0.11994674] [ 0. 0. 0. 1. ]] SLAMing on 8.804553574 meters Centerline goodness [0,1] 0.8134220654265555 Centerline is valid? [False, False] Translation: X:0.54, Y:0.03, Z:-0.12 [[ 0.99994226 -0.00613253 -0.0088244 0.54305262] [ 0.00620764 0.99994453 0.0085093 0.03158361] [ 0.00877173 -0.00856359 0.99992486 -0.11990391] [ 0. 0. 0. 1. ]] SLAMing on 8.834553574000001 meters Centerline goodness [0,1] 0.8156620381518046 Centerline is valid? [False, False] Translation: X:0.55, Y:0.03, Z:-0.12 [[ 0.99992965 -0.00714957 -0.00946507 0.54547136] [ 0.0072317 0.99993624 0.0086723 0.03042023] [ 0.00940246 -0.00874013 0.9999176 -0.11955702] [ 0. 0. 0. 1. ]] SLAMing on 8.864553574 meters Centerline goodness [0,1] 0.8202942831872638 Centerline is valid? [False, False] Translation: X:0.55, Y:0.03, Z:-0.12 [[ 0.99987868 -0.01210981 -0.00979729 0.54742327] [ 0.01215259 0.99991683 0.00431844 0.02994152] [ 0.00974418 -0.00443698 0.99994268 -0.12040864] [ 0. 0. 0. 1. ]] SLAMing on 8.894553574 meters Centerline goodness [0,1] 0.8188708554287857 Centerline is valid? [False, False] Translation: X:0.55, Y:0.03, Z:-0.12 [[ 0.99985304 -0.01340805 -0.01068307 0.55089896] [ 0.01345401 0.99990049 0.00424167 0.02960664] [ 0.01062514 -0.00438478 0.99993394 -0.12070331] [ 0. 0. 0. 1. ]] SLAMing on 8.924553574 meters Centerline goodness [0,1] 0.8179774679547218 Centerline is valid? [False, False] Translation: X:0.56, Y:0.03, Z:-0.12 [[ 0.99977709 -0.01698257 -0.01254416 0.55961422] [ 0.01702508 0.99984965 0.00329001 0.02937504] [ 0.0124864 -0.00350284 0.99991591 -0.12260892] [ 0. 0. 0. 1. ]] SLAMing on 8.954553574 meters Centerline goodness [0,1] 0.8206088491787491 Centerline is valid? [False, False] Translation: X:0.56, Y:0.03, Z:-0.12 [[ 0.99974196 -0.01830992 -0.01344461 0.56302646] [ 0.0183543 0.99982647 0.00318503 0.02873624] [ 0.01338396 -0.00343097 0.99990454 -0.12269971] [ 0. 0. 0. 1. ]] SLAMing on 8.984553574 meters Centerline goodness [0,1] 0.8184598873088275 Centerline is valid? [False, False] Translation: X:0.57, Y:0.03, Z:-0.12 [[ 0.99971491 -0.01927188 -0.01409567 0.56518573] [ 0.01932229 0.99980736 0.00344932 0.0279247 ] [ 0.01402648 -0.0037207 0.9998947 -0.12174645] [ 0. 0. 0. 1. ]] SLAMing on 9.014553574 meters Centerline goodness [0,1] 0.8223128302797822 Centerline is valid? [False, False] Translation: X:0.57, Y:0.03, Z:-0.12 [[ 0.99967379 -0.02072671 -0.01492385 0.56774201] [ 0.02078685 0.99977638 0.00388562 0.02722247] [ 0.01483998 -0.00419457 0.99988108 -0.11958122] [ 0. 0. 0. 1. ]] SLAMing on 9.044553574 meters Centerline goodness [0,1] 0.8242739535008448 Centerline is valid? [False, False] Translation: X:0.57, Y:0.03, Z:-0.12 [[ 0.99965399 -0.02133427 -0.01538646 0.56946511] [ 0.02139226 0.99976463 0.00361383 0.02812657] [ 0.01530574 -0.00394173 0.99987509 -0.11975782] [ 0. 0. 0. 1. ]] SLAMing on 9.074553574000001 meters Centerline goodness [0,1] 0.823836415705377 Centerline is valid? [False, False] Translation: X:0.57, Y:0.03, Z:-0.12 [[ 0.99960647 -0.02276461 -0.01639143 0.57383374] [ 0.02280667 0.99973705 0.00238355 0.03067558] [ 0.01633286 -0.00275645 0.99986281 -0.12200139] [ 0. 0. 0. 1. ]] SLAMing on 9.104553574 meters Centerline goodness [0,1] 0.8211345166809239 Centerline is valid? [False, False] Translation: X:0.58, Y:0.03, Z:-0.12 [[ 0.9995885 -0.02326649 -0.01677805 0.57550767] [ 0.02330214 0.9997266 0.00193223 0.03192607] [ 0.01672851 -0.0023224 0.99985737 -0.12278157] [ 0. 0. 0. 1. ]] SLAMing on 9.134553574 meters Centerline goodness [0,1] 0.823750800768738 Centerline is valid? [False, False] Translation: X:0.58, Y:0.03, Z:-0.12 [[ 0.9995716 -0.02373629 -0.01712305 0.57695985] [ 0.02376475 0.99971651 0.00146055 0.03349336] [ 0.01708353 -0.00186685 0.99985232 -0.12339278] [ 0. 0. 0. 1. ]] SLAMing on 9.164553574000001 meters Centerline goodness [0,1] 0.8244426751592356 Centerline is valid? [False, False] Translation: X:0.58, Y:0.04, Z:-0.12 [[ 0.99958237 -0.02193669 -0.0188114 0.58212262] [ 0.02203615 0.99974419 0.00509594 0.03558868] [ 0.0186948 -0.00550835 0.99981006 -0.12238166] [ 0. 0. 0. 1. ]] SLAMing on 9.194553574 meters Centerline goodness [0,1] 0.8227938644130659 Centerline is valid? [False, False] Translation: X:0.58, Y:0.04, Z:-0.12 [[ 0.99958127 -0.02196274 -0.01883959 0.5820898 ] [ 0.02205587 0.99974546 0.00474956 0.03768738] [ 0.01873048 -0.0051631 0.99981124 -0.1221661 ] [ 0. 0. 0. 1. ]] SLAMing on 9.224553574 meters Centerline goodness [0,1] 0.8183737563009685 Centerline is valid? [False, False] Translation: X:0.58, Y:0.04, Z:-0.12 [[ 0.99958349 -0.02186737 -0.01883229 0.58146567] [ 0.02194652 0.99975112 0.00400665 0.04209736] [ 0.01873998 -0.00441828 0.99981463 -0.12145058] [ 0. 0. 0. 1. ]] SLAMing on 9.254553574000001 meters Centerline goodness [0,1] 0.8207217389018845 Centerline is valid? [False, False] Translation: X:0.58, Y:0.04, Z:-0.12 [[ 0.99958557 -0.02176114 -0.01884525 0.5812629 ] [ 0.02183292 0.99975511 0.00361126 0.04454478] [ 0.01876205 -0.00402121 0.99981589 -0.12124355] [ 0. 0. 0. 1. ]] SLAMing on 9.284553574 meters Centerline goodness [0,1] 0.8184793423050741 Centerline is valid? [False, False] Translation: X:0.58, Y:0.05, Z:-0.12 [[ 0.99962348 -0.01882819 -0.01995992 0.58389656] [ 0.01896631 0.99979732 0.00675292 0.0482434 ] [ 0.01982873 -0.00712895 0.99977798 -0.12070359] [ 0. 0. 0. 1. ]] SLAMing on 9.314553574 meters Centerline goodness [0,1] 0.8175435849253576 Centerline is valid? [False, False] Translation: X:0.58, Y:0.05, Z:-0.12 [[ 0.99963715 -0.01833172 -0.0197362 0.58294258] [ 0.01845554 0.99981101 0.00611015 0.05116025] [ 0.01962046 -0.00647217 0.99978655 -0.12118653] [ 0. 0. 0. 1. ]] SLAMing on 9.344553574 meters Centerline goodness [0,1] 0.8164092965216034 Centerline is valid? [False, False] Translation: X:0.58, Y:0.05, Z:-0.12 [[ 0.9996574 -0.01755722 -0.01941185 0.58147519] [ 0.01767129 0.99982749 0.00572036 0.05428495] [ 0.01930807 -0.00606143 0.99979521 -0.12131228] [ 0. 0. 0. 1. ]] SLAMing on 9.374553574 meters Centerline goodness [0,1] 0.8251219449247684 Centerline is valid? [False, False] Translation: X:0.58, Y:0.06, Z:-0.12 [[ 0.99973415 -0.0126241 -0.01929385 0.58014998] [ 0.01279947 0.99987764 0.00899323 0.05951565] [ 0.01917796 -0.00923779 0.99977341 -0.12120676] [ 0. 0. 0. 1. ]] SLAMing on 9.404553574 meters Centerline goodness [0,1] 0.827266881028939 Centerline is valid? [False, False] Translation: X:0.58, Y:0.06, Z:-0.12 [[ 0.99975484 -0.01161447 -0.01885091 0.57841575] [ 0.01177415 0.99989555 0.00838164 0.06256836] [ 0.01875159 -0.00860154 0.99978717 -0.12196741] [ 0. 0. 0. 1. ]] SLAMing on 9.434553574 meters Centerline goodness [0,1] 0.8224193631095842 Centerline is valid? [False, False] Translation: X:0.60, Y:0.07, Z:-0.13 [[ 0.99987388 -0.00707002 -0.01422106 0.59585184] [ 0.00710024 0.99997264 0.00207527 0.06785882] [ 0.014206 -0.00217598 0.99989672 -0.12863006] [ 0. 0. 0. 1. ]] SLAMing on 9.464553574 meters Centerline goodness [0,1] 0.8321994884910486 Centerline is valid? [False, False] Translation: X:0.59, Y:0.07, Z:-0.13 [[ 0.99988198 -0.00651208 -0.01391493 0.59452251] [ 0.0065397 0.99997673 0.00194033 0.06981657] [ 0.01390197 -0.0020311 0.9999013 -0.12820825] [ 0. 0. 0. 1. ]] SLAMing on 9.494553574000001 meters Centerline goodness [0,1] 0.8256042972247091 Centerline is valid? [False, False] Translation: X:0.59, Y:0.07, Z:-0.13 [[ 0.99988694 -0.00618041 -0.01370795 0.5935268 ] [ 0.00620647 0.99997901 0.00185923 0.07121834] [ 0.01369617 -0.0019441 0.99990431 -0.12761786] [ 0. 0. 0. 1. ]] SLAMing on 9.524553574 meters Centerline goodness [0,1] 0.8262078465384419 Centerline is valid? [False, False] Translation: X:0.59, Y:0.07, Z:-0.13 [[ 0.99990006 -0.00531962 -0.01309883 0.59087007] [ 0.00534314 0.99998417 0.00176167 0.07480857] [ 0.01308925 -0.00183148 0.99991265 -0.12626432] [ 0. 0. 0. 1. ]] SLAMing on 9.554553574 meters Centerline goodness [0,1] 0.8296136248093544 Centerline is valid? [False, False] Translation: X:0.59, Y:0.08, Z:-0.13 [[ 0.99991 -0.00459199 -0.01260592 0.58874382] [ 0.00461189 0.99998816 0.00155057 0.07848908] [ 0.01259865 -0.00160857 0.99991934 -0.12531031] [ 0. 0. 0. 1. ]] SLAMing on 9.584553574000001 meters Centerline goodness [0,1] 0.8272572315363675 Centerline is valid? [False, False] Translation: X:0.59, Y:0.08, Z:-0.13 [[ 0.99991075 -0.00451361 -0.01257485 0.58853817] [ 0.00453079 0.99998884 0.00133846 0.07991121] [ 0.01256866 -0.00139532 0.99992004 -0.12515363] [ 0. 0. 0. 1. ]] SLAMing on 9.614553574 meters Centerline goodness [0,1] 0.8300520767178966 Centerline is valid? [False, False] Translation: X:0.59, Y:0.08, Z:-0.13 [[ 9.99907688e-01 -4.69500900e-03 -1.27503846e-02 5.89187712e-01] [ 4.70810447e-03 9.99988420e-01 9.97242294e-04 8.11439843e-02] [ 1.27455549e-02 -1.05718038e-03 9.99918213e-01 -1.25427746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.644553574 meters Centerline goodness [0,1] 0.8233652211423786 Centerline is valid? [False, False] Translation: X:0.59, Y:0.08, Z:-0.13 [[ 9.99892006e-01 -5.70523508e-03 -1.35434807e-02 5.92045148e-01] [ 5.70485704e-03 9.99983725e-01 -6.65466712e-05 8.39199381e-02] [ 1.35436400e-02 -1.07241367e-05 9.99908281e-01 -1.26521099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.674553574 meters Centerline goodness [0,1] 0.8276263803059467 Centerline is valid? [False, False] Translation: X:0.59, Y:0.09, Z:-0.13 [[ 9.99880756e-01 -6.40455905e-03 -1.40518765e-02 5.93925644e-01] [ 6.39764215e-03 9.99979391e-01 -5.37136878e-04 8.50547935e-02] [ 1.40550270e-02 4.47173951e-04 9.99901123e-01 -1.26955594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.704553574 meters Centerline goodness [0,1] 0.8223165554881746 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:-0.13 [[ 0.9998422 -0.00867311 -0.01550323 0.59889066] [ 0.00865049 0.99996142 -0.00152568 0.08689236] [ 0.01551587 0.00139133 0.99987865 -0.12735774] [ 0. 0. 0. 1. ]] SLAMing on 9.734553574 meters Centerline goodness [0,1] 0.828524548782027 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:-0.13 [[ 0.99981954 -0.0097816 -0.01628493 0.60157568] [ 0.00975265 0.99995072 -0.00185601 0.08720599] [ 0.01630228 0.00169686 0.99986567 -0.12754053] [ 0. 0. 0. 1. ]] SLAMing on 9.764553574 meters Centerline goodness [0,1] 0.8260004533205731 Centerline is valid? [False, False] Translation: X:0.61, Y:0.09, Z:-0.13 [[ 0.99975436 -0.0128355 -0.01806849 0.6085307 ] [ 0.01278238 0.99991364 -0.00305191 0.08832248] [ 0.0181061 0.0028202 0.99983209 -0.12874991] [ 0. 0. 0. 1. ]] SLAMing on 9.794553574 meters Centerline goodness [0,1] 0.8292547974145519 Centerline is valid? [False, False] Translation: X:0.61, Y:0.09, Z:-0.13 [[ 0.99972625 -0.01389814 -0.01882217 0.61138322] [ 0.01383477 0.99989819 -0.003493 0.0889651 ] [ 0.0188688 0.00323165 0.99981675 -0.12939788] [ 0. 0. 0. 1. ]] SLAMing on 9.824553574000001 meters Centerline goodness [0,1] 0.8279052275291463 Centerline is valid? [False, False] Translation: X:0.61, Y:0.09, Z:-0.13 [[ 0.9997044 -0.01466919 -0.01938889 0.61339397] [ 0.0145973 0.99988606 -0.00384455 0.0898277 ] [ 0.01944308 0.00356038 0.99980463 -0.12968362] [ 0. 0. 0. 1. ]] SLAMing on 9.854553574 meters Centerline goodness [0,1] 0.8246673822420808 Centerline is valid? [False, False] Translation: X:0.61, Y:0.09, Z:-0.13 [[ 0.99968472 -0.01531963 -0.019894 0.61493353] [ 0.01523235 0.99987371 -0.00453135 0.09279573] [ 0.01996091 0.00422689 0.99979183 -0.12973758] [ 0. 0. 0. 1. ]] SLAMing on 9.884553574 meters Centerline goodness [0,1] 0.826708785195503 Centerline is valid? [False, False] Translation: X:0.61, Y:0.09, Z:-0.13 [[ 0.99968831 -0.01517241 -0.01982614 0.61468162] [ 0.01507829 0.99987437 -0.00488816 0.09480054] [ 0.01989781 0.00458769 0.99979149 -0.12975803] [ 0. 0. 0. 1. ]] SLAMing on 9.914553574000001 meters Centerline goodness [0,1] 0.8276665344964313 Centerline is valid? [False, False] Translation: X:0.61, Y:0.10, Z:-0.13 [[ 0.99969815 -0.014755 -0.01964444 0.61367131] [ 0.01465914 0.99987997 -0.00501473 0.09682693] [ 0.01971607 0.00472525 0.99979445 -0.12907646] [ 0. 0. 0. 1. ]] SLAMing on 9.944553574 meters Centerline goodness [0,1] 0.8301854226255054 Centerline is valid? [False, False] Translation: X:0.61, Y:0.10, Z:-0.13 [[ 9.99744884e-01 -1.06983514e-02 -1.98925248e-02 6.13213242e-01] [ 1.06849469e-02 9.99942610e-01 -7.80013698e-04 9.86824906e-02] [ 1.98997281e-02 5.67264133e-04 9.99801820e-01 -1.26612708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.974553574 meters Centerline goodness [0,1] 0.8298243031016883 Centerline is valid? [False, False] Translation: X:0.61, Y:0.10, Z:-0.13 [[ 0.99976691 -0.00712323 -0.02038112 0.61439697] [ 0.00718811 0.99996932 0.0031119 0.09975546] [ 0.02035833 -0.00325768 0.99978744 -0.12592109] [ 0. 0. 0. 1. ]] SLAMing on 10.004553574000001 meters Centerline goodness [0,1] 0.826600554178212 Centerline is valid? [False, False] Translation: X:0.61, Y:0.11, Z:-0.13 [[ 0.9997951 -0.00207334 -0.02013604 0.61320352] [ 0.002204 0.99997665 0.00646876 0.10512045] [ 0.02012216 -0.00651182 0.99977632 -0.12608309] [ 0. 0. 0. 1. ]] SLAMing on 10.034553574 meters Centerline goodness [0,1] 0.8271147890050329 Centerline is valid? [False, False] Translation: X:0.61, Y:0.11, Z:-0.13 [[ 9.99805511e-01 -7.96213721e-04 -1.97054847e-02 6.11370944e-01] [ 9.21028913e-04 9.99979568e-01 6.32576834e-03 1.08370866e-01] [ 1.97000454e-02 -6.34268736e-03 9.99785816e-01 -1.26315077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.064553574 meters Centerline goodness [0,1] 0.8301181577043646 Centerline is valid? [False, False] Translation: X:0.61, Y:0.11, Z:-0.13 [[ 9.99814904e-01 1.60781917e-04 -1.92387922e-02 6.09779234e-01] [-4.82909299e-05 9.99982903e-01 5.84741367e-03 1.11187825e-01] [ 1.92394035e-02 -5.84540228e-03 9.99797818e-01 -1.26927992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.094553574 meters Centerline goodness [0,1] 0.8260110909264748 Centerline is valid? [False, False] Translation: X:0.61, Y:0.11, Z:-0.13 [[ 0.99980655 0.00460905 -0.01912121 0.60906933] [-0.00442603 0.9999441 0.00960288 0.11402732] [ 0.0191644 -0.00951639 0.99977106 -0.12614436] [ 0. 0. 0. 1. ]] SLAMing on 10.124553574 meters Centerline goodness [0,1] 0.825412336733721 Centerline is valid? [False, False] Translation: X:0.61, Y:0.12, Z:-0.13 [[ 0.99980919 0.00502622 -0.01887643 0.60822606] [-0.00485288 0.99994574 0.00921741 0.11601225] [ 0.01892174 -0.00912405 0.99977934 -0.12622497] [ 0. 0. 0. 1. ]] SLAMing on 10.154553574 meters Centerline goodness [0,1] 0.8213398916924823 Centerline is valid? [False, False] Translation: X:0.61, Y:0.12, Z:-0.12 [[ 0.99981538 0.0060283 -0.01824436 0.60551703] [-0.00586352 0.99994166 0.00907185 0.11915369] [ 0.01829798 -0.0089632 0.9997924 -0.12498598] [ 0. 0. 0. 1. ]] SLAMing on 10.184553574 meters Centerline goodness [0,1] 0.8246753246753247 Centerline is valid? [False, False] Translation: X:0.60, Y:0.12, Z:-0.12 [[ 0.99981692 0.00622654 -0.01809303 0.60493721] [-0.00606779 0.99994273 0.00881555 0.12084602] [ 0.01814688 -0.00870415 0.99979744 -0.12477085] [ 0. 0. 0. 1. ]] SLAMing on 10.214553574 meters Centerline goodness [0,1] 0.8242278060089455 Centerline is valid? [False, False] Translation: X:0.61, Y:0.12, Z:-0.13 [[ 0.99981824 0.00611289 -0.01805863 0.60504895] [-0.00596316 0.99994749 0.00833399 0.12257068] [ 0.01810863 -0.00822479 0.9998022 -0.12504166] [ 0. 0. 0. 1. ]] SLAMing on 10.244553574000001 meters Centerline goodness [0,1] 0.8275580826323026 Centerline is valid? [False, False] Translation: X:0.60, Y:0.13, Z:-0.13 [[ 0.99994551 0.00185012 -0.01027361 0.59629975] [-0.00177058 0.99996843 0.00774633 0.12674753] [ 0.01028762 -0.00772772 0.99991722 -0.12918379] [ 0. 0. 0. 1. ]] SLAMing on 10.274553574 meters Centerline goodness [0,1] 0.8260788733703609 Centerline is valid? [False, False] Translation: X:0.60, Y:0.13, Z:-0.13 [[ 0.99994374 0.00136622 -0.0105189 0.59726104] [-0.00128946 0.99997252 0.00730052 0.12777451] [ 0.01052859 -0.00728655 0.99991802 -0.12952071] [ 0. 0. 0. 1. ]] SLAMing on 10.304553574 meters Centerline goodness [0,1] 0.8289109367789571 Centerline is valid? [False, False] Translation: X:0.60, Y:0.13, Z:-0.13 [[ 9.99933166e-01 -2.20200601e-04 -1.15592281e-02 6.00851924e-01] [ 2.88683614e-04 9.99982416e-01 5.92319748e-03 1.30719348e-01] [ 1.15577206e-02 -5.92613857e-03 9.99915646e-01 -1.30846142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.334553574000001 meters Centerline goodness [0,1] 0.8282372444280715 Centerline is valid? [False, False] Translation: X:0.60, Y:0.13, Z:-0.13 [[ 9.99926435e-01 -9.04276934e-04 -1.20957186e-02 6.02565453e-01] [ 9.70023713e-04 9.99984783e-01 5.43077948e-03 1.31846379e-01] [ 1.20906236e-02 -5.44211310e-03 9.99912096e-01 -1.31210312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.364553574 meters Centerline goodness [0,1] 0.8282372444280715 Centerline is valid? [False, False] Translation: X:0.60, Y:0.13, Z:-0.13 [[ 9.99926435e-01 -9.04276934e-04 -1.20957186e-02 6.02565453e-01] [ 9.70023713e-04 9.99984783e-01 5.43077948e-03 1.31846379e-01] [ 1.20906236e-02 -5.44211310e-03 9.99912096e-01 -1.31210312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.394553574 meters Centerline goodness [0,1] 0.8243590921620877 Centerline is valid? [False, False] Translation: X:0.60, Y:0.13, Z:-0.13 [[ 0.99992113 -0.00146745 -0.01247308 0.60381679] [ 0.00152989 0.99998634 0.00499814 0.13271629] [ 0.01246557 -0.00501683 0.99990972 -0.13141435] [ 0. 0. 0. 1. ]] SLAMing on 10.424553574 meters Centerline goodness [0,1] 0.8269878744813991 Centerline is valid? [False, False] Translation: X:0.60, Y:0.14, Z:-0.13 [[ 9.99907981e-01 -5.32850838e-03 -1.24754011e-02 6.03534174e-01] [ 5.33269941e-03 9.99985735e-01 3.02702266e-04 1.35718542e-01] [ 1.24736102e-02 -3.69201976e-04 9.99922133e-01 -1.31651607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.454553574 meters Centerline goodness [0,1] 0.832304385603878 Centerline is valid? [False, False] Translation: X:0.60, Y:0.14, Z:-0.13 [[ 9.99900596e-01 -5.80011712e-03 -1.28513323e-02 6.04768842e-01] [ 5.80013773e-03 9.99983178e-01 -3.56681886e-05 1.36515287e-01] [ 1.28513230e-02 -3.88748542e-05 9.99917418e-01 -1.31895202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.484553574 meters Centerline goodness [0,1] 0.823457238934836 Centerline is valid? [False, False] Translation: X:0.61, Y:0.14, Z:-0.13 [[ 9.99886764e-01 -6.69917368e-03 -1.34751895e-02 6.07053982e-01] [ 6.68731569e-03 9.99977212e-01 -9.24853683e-04 1.38660538e-01] [ 1.34810782e-02 8.34636109e-04 9.99908778e-01 -1.32921631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.514553574 meters Centerline goodness [0,1] 0.8321951219512195 Centerline is valid? [False, False] Translation: X:0.61, Y:0.14, Z:-0.13 [[ 0.99988276 -0.00694982 -0.01364429 0.60782404] [ 0.00693234 0.99997509 -0.00132789 0.13995545] [ 0.01365318 0.00123315 0.99990603 -0.13346375] [ 0. 0. 0. 1. ]] SLAMing on 10.544553574 meters Centerline goodness [0,1] 0.8335635202753187 Centerline is valid? [False, False] Translation: X:0.61, Y:0.14, Z:-0.13 [[ 0.99987944 -0.0071772 -0.01376955 0.60832558] [ 0.00715502 0.99997303 -0.00165941 0.14113005] [ 0.01378109 0.00156068 0.99990382 -0.13362833] [ 0. 0. 0. 1. ]] SLAMing on 10.574553574 meters Centerline goodness [0,1] 0.8307178932178932 Centerline is valid? [False, False] Translation: X:0.61, Y:0.14, Z:-0.13 [[ 0.99987537 -0.00762022 -0.01382657 0.60828708] [ 0.00759383 0.99996925 -0.00196008 0.14253383] [ 0.01384109 0.00185484 0.99990249 -0.13269756] [ 0. 0. 0. 1. ]] SLAMing on 10.604553574 meters Centerline goodness [0,1] 0.8324337696217334 Centerline is valid? [False, False] Translation: X:0.61, Y:0.14, Z:-0.13 [[ 0.99987554 -0.00764519 -0.01380063 0.60800249] [ 0.00761718 0.99996882 -0.00208148 0.1436079 ] [ 0.01381612 0.0019761 0.9999026 -0.1321376 ] [ 0. 0. 0. 1. ]] SLAMing on 10.634553574 meters Centerline goodness [0,1] 0.8294395648490793 Centerline is valid? [False, False] Translation: X:0.61, Y:0.15, Z:-0.13 [[ 0.99988024 -0.00727297 -0.01366078 0.60753735] [ 0.00723379 0.99996959 -0.00291541 0.14835761] [ 0.01368157 0.00281624 0.99990244 -0.13249011] [ 0. 0. 0. 1. ]] SLAMing on 10.664553574000001 meters Centerline goodness [0,1] 0.834841428254602 Centerline is valid? [False, False] Translation: X:0.61, Y:0.15, Z:-0.13 [[ 9.99887223e-01 -4.27542516e-03 -1.43965634e-02 6.09714551e-01] [ 4.28315334e-03 9.99990699e-01 5.06017122e-04 1.49530211e-01] [ 1.43942660e-02 -5.67622743e-04 9.99896236e-01 -1.32625414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.694553574 meters Centerline goodness [0,1] 0.8302630999074523 Centerline is valid? [False, False] Translation: X:0.61, Y:0.15, Z:-0.13 [[ 9.99900638e-01 -2.82833297e-03 -1.38099437e-02 6.06870160e-01] [ 2.83538502e-03 9.99995860e-01 4.91098186e-04 1.53602453e-01] [ 1.38084975e-02 -5.30205897e-04 9.99904518e-01 -1.31251422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.724553574 meters Centerline goodness [0,1] 0.8403580753450205 Centerline is valid? [False, False] Translation: X:0.61, Y:0.16, Z:-0.13 [[ 9.99908081e-01 -2.00662996e-03 -1.34090701e-02 6.05227541e-01] [ 2.01257478e-03 9.99997882e-01 4.29864120e-04 1.55844162e-01] [ 1.34081791e-02 -4.56811364e-04 9.99910002e-01 -1.30655443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.754553574000001 meters Centerline goodness [0,1] 0.8379772285233507 Centerline is valid? [False, False] Translation: X:0.60, Y:0.16, Z:-0.13 [[ 9.99912949e-01 -1.18066798e-03 -1.31415379e-02 6.04019536e-01] [ 1.18454739e-03 9.99999257e-01 2.87422456e-04 1.58490829e-01] [ 1.31411888e-02 -3.02964210e-04 9.99913605e-01 -1.30480776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.784553574 meters Centerline goodness [0,1] 0.8389205098794554 Centerline is valid? [False, False] Translation: X:0.60, Y:0.16, Z:-0.13 [[ 0.99990635 0.00291578 -0.01337129 0.60465056] [-0.00286944 0.99998981 0.00348374 0.16241466] [ 0.01338131 -0.00344505 0.99990453 -0.13086576] [ 0. 0. 0. 1. ]] SLAMing on 10.814553574 meters Centerline goodness [0,1] 0.8353995680345572 Centerline is valid? [False, False] Translation: X:0.60, Y:0.16, Z:-0.13 [[ 0.99990703 0.00341972 -0.01319968 0.60409685] [-0.00337821 0.99998928 0.00316626 0.1643917 ] [ 0.01321036 -0.00312137 0.99990787 -0.13118337] [ 0. 0. 0. 1. ]] SLAMing on 10.844553574 meters Centerline goodness [0,1] 0.839497152680778 Centerline is valid? [False, False] Translation: X:0.60, Y:0.17, Z:-0.13 [[ 0.99990368 0.00495028 -0.01296638 0.60259844] [-0.00490806 0.99998256 0.00328614 0.16755056] [ 0.01298242 -0.00322219 0.99991053 -0.13111438] [ 0. 0. 0. 1. ]] SLAMing on 10.874553574 meters Centerline goodness [0,1] 0.8267326732673268 Centerline is valid? [False, False] Translation: X:0.60, Y:0.17, Z:-0.13 [[ 0.99990484 0.00586658 -0.01248558 0.60094233] [-0.00582688 0.99997786 0.00321377 0.16943609] [ 0.01250416 -0.00314072 0.99991689 -0.13093786] [ 0. 0. 0. 1. ]] SLAMing on 10.904553574 meters Centerline goodness [0,1] 0.8326499394505938 Centerline is valid? [False, False] Translation: X:0.60, Y:0.17, Z:-0.13 [[ 0.99987033 0.0107204 -0.01201675 0.59905913] [-0.01063441 0.99991755 0.00719696 0.1722763 ] [ 0.01209291 -0.00706823 0.9999019 -0.1295795 ] [ 0. 0. 0. 1. ]] SLAMing on 10.934553574 meters Centerline goodness [0,1] 0.8306962698311429 Centerline is valid? [False, False] Translation: X:0.60, Y:0.17, Z:-0.13 [[ 0.99986754 0.01153398 -0.01148317 0.59709169] [-0.01145115 0.99990813 0.00725305 0.17395546] [ 0.01156577 -0.0071206 0.99990776 -0.12873894] [ 0. 0. 0. 1. ]] SLAMing on 10.964553574 meters Centerline goodness [0,1] 0.8345588235294118 Centerline is valid? [False, False] Translation: X:0.59, Y:0.18, Z:-0.13 [[ 0.99986471 0.0122528 -0.01097372 0.59499402] [-0.01217119 0.999898 0.00747285 0.17509155] [ 0.01106416 -0.00733828 0.99991186 -0.12732732] [ 0. 0. 0. 1. ]] SLAMing on 10.994553574000001 meters Centerline goodness [0,1] 0.8369322412509308 Centerline is valid? [False, False] Translation: X:0.59, Y:0.18, Z:-0.12 [[ 0.99985571 0.01393191 -0.00971906 0.58982625] [-0.01384896 0.99986754 0.00854983 0.17567555] [ 0.00983688 -0.008414 0.99991622 -0.1237279 ] [ 0. 0. 0. 1. ]] SLAMing on 11.024553574 meters Centerline goodness [0,1] 0.8353021160873629 Centerline is valid? [False, False] Translation: X:0.59, Y:0.18, Z:-0.12 [[ 0.99988652 0.01204828 -0.00904346 0.58681285] [-0.01199932 0.99991316 0.00544848 0.17731204] [ 0.00910832 -0.00533934 0.99994426 -0.1228055 ] [ 0. 0. 0. 1. ]] SLAMing on 11.054553574 meters Centerline goodness [0,1] 0.835514732398549 Centerline is valid? [False, False] Translation: X:0.58, Y:0.18, Z:-0.12 [[ 0.99987875 0.01311765 -0.00839177 0.58459761] [-0.01307055 0.99989866 0.0056421 0.17895393] [ 0.00846493 -0.00553173 0.99994887 -0.12218704] [ 0. 0. 0. 1. ]] SLAMing on 11.084553574000001 meters Centerline goodness [0,1] 0.8361538787801671 Centerline is valid? [False, False] Translation: X:0.58, Y:0.18, Z:-0.12 [[ 0.99987572 0.01349221 -0.00815475 0.58409739] [-0.01344696 0.99989403 0.00557817 0.17951545] [ 0.00822915 -0.00546782 0.99995119 -0.12249439] [ 0. 0. 0. 1. ]] SLAMing on 11.114553574 meters Centerline goodness [0,1] 0.834937460250159 Centerline is valid? [False, False] Translation: X:0.58, Y:0.18, Z:-0.12 [[ 0.99987187 0.01389505 -0.00794814 0.58353037] [-0.01385002 0.99988787 0.00569384 0.17962248] [ 0.00802637 -0.00558303 0.9999522 -0.12252987] [ 0. 0. 0. 1. ]] SLAMing on 11.144553574 meters Centerline goodness [0,1] 0.8384516954574537 Centerline is valid? [False, False] Translation: X:0.58, Y:0.18, Z:-0.12 [[ 0.99986336 0.01471035 -0.00754145 0.5823609 ] [-0.01466398 0.99987345 0.00616785 0.17895336] [ 0.00763123 -0.00605642 0.99995254 -0.1225146 ] [ 0. 0. 0. 1. ]] SLAMing on 11.174553574 meters Centerline goodness [0,1] 0.8349975411062883 Centerline is valid? [False, False] Translation: X:0.58, Y:0.18, Z:-0.12 [[ 0.99990182 0.01214302 -0.00699248 0.58088021] [-0.01212421 0.99992278 0.0027274 0.17921751] [ 0.00702506 -0.00264236 0.99997183 -0.12308442] [ 0. 0. 0. 1. ]] SLAMing on 11.204553574 meters Centerline goodness [0,1] 0.8300379081588697 Centerline is valid? [False, False] Translation: X:0.58, Y:0.18, Z:-0.12 [[ 0.99994269 0.00826942 -0.00680014 0.5810341 ] [-0.00827676 0.99996519 -0.00105298 0.17674142] [ 0.00679119 0.0011092 0.99997632 -0.12438292] [ 0. 0. 0. 1. ]] SLAMing on 11.234553574 meters Centerline goodness [0,1] 0.82927885031599 Centerline is valid? [False, False] Translation: X:0.58, Y:0.17, Z:-0.13 [[ 0.99994676 0.00686456 -0.00770466 0.5845986 ] [-0.0068759 0.99997531 -0.00144751 0.17415549] [ 0.00769453 0.00150041 0.99996927 -0.12607851] [ 0. 0. 0. 1. ]] SLAMing on 11.264553574 meters Centerline goodness [0,1] 0.8357516212288807 Centerline is valid? [False, False] Translation: X:0.59, Y:0.17, Z:-0.13 [[ 0.99994801 0.00568415 -0.0084662 0.58760407] [-0.00569856 0.99998235 -0.00167921 0.17176694] [ 0.0084565 0.00172737 0.99996275 -0.12754052] [ 0. 0. 0. 1. ]] SLAMing on 11.294553574 meters Centerline goodness [0,1] 0.8355214376063157 Centerline is valid? [False, False] Translation: X:0.59, Y:0.17, Z:-0.13 [[ 0.99995048 0.00248777 -0.00963545 0.59361525] [-0.00252146 0.99999075 -0.0034853 0.16897305] [ 0.00962669 0.00350942 0.9999475 -0.13128288] [ 0. 0. 0. 1. ]] SLAMing on 11.324553574 meters Centerline goodness [0,1] 0.8276954678554259 Centerline is valid? [False, False] Translation: X:0.60, Y:0.17, Z:-0.13 [[ 0.99994708 0.00190272 -0.0101107 0.59522806] [-0.00193709 0.99999238 -0.00339056 0.1676034 ] [ 0.01010417 0.00340996 0.99994314 -0.13174182] [ 0. 0. 0. 1. ]] SLAMing on 11.354553574 meters Centerline goodness [0,1] 0.83384527622976 Centerline is valid? [False, False] Translation: X:0.60, Y:0.17, Z:-0.13 [[ 9.99940171e-01 5.49274886e-04 -1.09248960e-02 5.98088295e-01] [-5.87037867e-04 9.99993864e-01 -3.45369239e-03 1.65219363e-01] [ 1.09229319e-02 3.45989908e-03 9.99934357e-01 -1.32233723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.384553574 meters Centerline goodness [0,1] 0.837800430598884 Centerline is valid? [False, False] Translation: X:0.60, Y:0.16, Z:-0.13 [[ 9.99936290e-01 1.84058311e-04 -1.12864097e-02 5.99055016e-01] [-2.21009459e-04 9.99994620e-01 -3.27279080e-03 1.64122594e-01] [ 1.12857466e-02 3.27507670e-03 9.99930951e-01 -1.32136773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.414553574000001 meters Centerline goodness [0,1] 0.8425326818962102 Centerline is valid? [False, False] Translation: X:0.60, Y:0.16, Z:-0.13 [[ 9.99934409e-01 -2.86811674e-05 -1.14532859e-02 5.99490743e-01] [-6.37242453e-06 9.99995317e-01 -3.06052254e-03 1.63132391e-01] [ 1.14533200e-02 3.06039478e-03 9.99929725e-01 -1.31914575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.444553574 meters Centerline goodness [0,1] 0.8367827733497732 Centerline is valid? [False, False] Translation: X:0.60, Y:0.16, Z:-0.13 [[ 9.99933666e-01 -1.72603754e-04 -1.15167174e-02 5.99569433e-01] [ 1.39421155e-04 9.99995837e-01 -2.88199557e-03 1.62360066e-01] [ 1.15171669e-02 2.88019872e-03 9.99929527e-01 -1.31495945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.474553574 meters Centerline goodness [0,1] 0.8410306057338995 Centerline is valid? [False, False] Translation: X:0.60, Y:0.16, Z:-0.13 [[ 9.99934349e-01 -4.73896387e-05 -1.14583877e-02 5.99285560e-01] [ 1.50240623e-05 9.99996010e-01 -2.82468831e-03 1.62701360e-01] [ 1.14584758e-02 2.82433072e-03 9.99930361e-01 -1.31296913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.504553574000001 meters Centerline goodness [0,1] 0.8321195185812669 Centerline is valid? [False, False] Translation: X:0.60, Y:0.16, Z:-0.13 [[ 9.99935586e-01 2.21046998e-04 -1.13479169e-02 5.98634692e-01] [-2.50982225e-04 9.99996493e-01 -2.63659282e-03 1.63334501e-01] [ 1.13472942e-02 2.63927111e-03 9.99932134e-01 -1.30668303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.534553574 meters Centerline goodness [0,1] 0.836798451147339 Centerline is valid? [False, False] Translation: X:0.60, Y:0.16, Z:-0.13 [[ 9.99937140e-01 4.50999826e-04 -1.12032035e-02 5.97843292e-01] [-4.76976320e-04 9.99997204e-01 -2.31610292e-03 1.63113710e-01] [ 1.12021276e-02 2.32130099e-03 9.99934560e-01 -1.29833037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.564553574 meters Centerline goodness [0,1] 0.8425858692542962 Centerline is valid? [False, False] Translation: X:0.60, Y:0.16, Z:-0.13 [[ 9.99937932e-01 5.74458891e-04 -1.11266667e-02 5.97234749e-01] [-5.95967878e-04 9.99997960e-01 -1.92988328e-03 1.62363161e-01] [ 1.11255354e-02 1.93639464e-03 9.99936234e-01 -1.28959213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.594553574 meters Centerline goodness [0,1] 0.8343922347231414 Centerline is valid? [False, False] Translation: X:0.60, Y:0.16, Z:-0.13 [[ 9.99937741e-01 5.17180307e-04 -1.11466035e-02 5.97160251e-01] [-5.36639610e-04 9.99998337e-01 -1.74284056e-03 1.61686987e-01] [ 1.11456836e-02 1.74871377e-03 9.99936356e-01 -1.28545930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.624553574 meters Centerline goodness [0,1] 0.8342746205435934 Centerline is valid? [False, False] Translation: X:0.60, Y:0.16, Z:-0.13 [[ 9.99937302e-01 5.85322066e-04 -1.11825463e-02 5.97342374e-01] [-6.05524298e-04 9.99998191e-01 -1.80328575e-03 1.62008956e-01] [ 1.11814706e-02 1.80994399e-03 9.99935847e-01 -1.28841097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.654553574 meters Centerline goodness [0,1] 0.8298632554036172 Centerline is valid? [False, False] Translation: X:0.60, Y:0.16, Z:-0.13 [[ 9.99936900e-01 6.27472756e-04 -1.12161265e-02 5.97577008e-01] [-6.48167108e-04 9.99998094e-01 -1.84151352e-03 1.62233802e-01] [ 1.12149496e-02 1.84866724e-03 9.99935402e-01 -1.29152683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.684553574 meters Centerline goodness [0,1] 0.8286947331336973 Centerline is valid? [False, False] Translation: X:0.60, Y:0.16, Z:-0.13 [[ 0.99993953 0.00115624 -0.01093637 0.59646862] [-0.00117592 0.9999977 -0.00179287 0.16367033] [ 0.01093427 0.00180562 0.99993859 -0.12867392] [ 0. 0. 0. 1. ]] SLAMing on 11.714553574 meters Centerline goodness [0,1] 0.8280474412475292 Centerline is valid? [False, False] Translation: X:0.60, Y:0.16, Z:-0.13 [[ 0.99994193 0.00162405 -0.0106533 0.59538485] [-0.00164197 0.99999725 -0.00167359 0.16454898] [ 0.01065056 0.00169098 0.99994185 -0.12819988] [ 0. 0. 0. 1. ]] SLAMing on 11.744553574000001 meters Centerline goodness [0,1] 0.8237060086777402 Centerline is valid? [False, False] Translation: X:0.59, Y:0.17, Z:-0.13 [[ 0.99994401 0.0021459 -0.0103616 0.59411833] [-0.00216257 0.99999638 -0.00159817 0.16578374] [ 0.01035813 0.00162048 0.99994504 -0.12744129] [ 0. 0. 0. 1. ]] SLAMing on 11.774553574 meters Centerline goodness [0,1] 0.823748412246507 Centerline is valid? [False, False] Translation: X:0.59, Y:0.17, Z:-0.13 [[ 0.99994245 0.00202353 -0.01053595 0.5946732 ] [-0.00204181 0.99999643 -0.0017237 0.16615235] [ 0.01053243 0.00174511 0.99994301 -0.12765432] [ 0. 0. 0. 1. ]] SLAMing on 11.804553574 meters Centerline goodness [0,1] 0.8224260199614779 Centerline is valid? [False, False] Translation: X:0.60, Y:0.17, Z:-0.13 [[ 0.99993972 0.00166801 -0.0108527 0.59589268] [-0.00169025 0.99999649 -0.00204047 0.16667497] [ 0.01084926 0.00205869 0.99993903 -0.12834281] [ 0. 0. 0. 1. ]] SLAMing on 11.834553574000001 meters Centerline goodness [0,1] 0.8303214387168674 Centerline is valid? [False, False] Translation: X:0.60, Y:0.17, Z:-0.13 [[ 9.99933010e-01 7.82357138e-04 -1.15482790e-02 5.98442725e-01] [-8.11918546e-04 9.99996405e-01 -2.55534444e-03 1.67040030e-01] [ 1.15462383e-02 2.56454952e-03 9.99930051e-01 -1.29549136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.864553574 meters Centerline goodness [0,1] 0.8204775022956841 Centerline is valid? [False, False] Translation: X:0.60, Y:0.17, Z:-0.13 [[ 9.99930996e-01 5.50475508e-04 -1.17345879e-02 5.98898757e-01] [-5.79896550e-04 9.99996697e-01 -2.50395200e-03 1.66770609e-01] [ 1.17331707e-02 2.51058407e-03 9.99928012e-01 -1.29350562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.894553574 meters Centerline goodness [0,1] 0.8201511335012595 Centerline is valid? [False, False] Translation: X:0.60, Y:0.17, Z:-0.13 [[ 9.99932681e-01 8.65427769e-04 -1.15708187e-02 5.97799734e-01] [-8.87651800e-04 9.99997771e-01 -1.91569893e-03 1.65504931e-01] [ 1.15691351e-02 1.92584083e-03 9.99931221e-01 -1.28073510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.924553574 meters Centerline goodness [0,1] 0.828278625703462 Centerline is valid? [False, False] Translation: X:0.60, Y:0.17, Z:-0.13 [[ 0.99993522 0.00140647 -0.01129514 0.59673263] [-0.00142484 0.99999768 -0.00161777 0.16543277] [ 0.01129284 0.00163376 0.9999349 -0.12762059] [ 0. 0. 0. 1. ]] SLAMing on 11.954553574 meters Centerline goodness [0,1] 0.8239130434782609 Centerline is valid? [False, False] Translation: X:0.60, Y:0.17, Z:-0.13 [[ 0.99993686 0.00188 -0.01107931 0.59635926] [-0.00189825 0.99999686 -0.00163725 0.16581965] [ 0.0110762 0.00165818 0.99993728 -0.12824827] [ 0. 0. 0. 1. ]] SLAMing on 11.984553574 meters Centerline goodness [0,1] 0.8291462799218905 Centerline is valid? [False, False] Translation: X:0.60, Y:0.17, Z:-0.13 [[ 0.99991725 0.00581013 -0.01147801 0.59841687] [-0.00578795 0.99998132 0.0019648 0.1659417 ] [ 0.01148921 -0.00189821 0.9999322 -0.13029158] [ 0. 0. 0. 1. ]] SLAMing on 12.014553574 meters Centerline goodness [0,1] 0.8231311954634372 Centerline is valid? [False, False] Translation: X:0.60, Y:0.17, Z:-0.13 [[ 0.99991709 0.00652528 -0.01110085 0.59741904] [-0.0065028 0.99997673 0.00206034 0.16613788] [ 0.01111404 -0.00198798 0.99993626 -0.1306425 ] [ 0. 0. 0. 1. ]] SLAMing on 12.044553574 meters Centerline goodness [0,1] 0.8292057881365293 Centerline is valid? [False, False] Translation: X:0.59, Y:0.16, Z:-0.13 [[ 0.99991448 0.0082873 -0.01011733 0.59398726] [-0.00825499 0.99996071 0.00323113 0.16420069] [ 0.01014371 -0.00314734 0.9999436 -0.12944623] [ 0. 0. 0. 1. ]] SLAMing on 12.074553574 meters Centerline goodness [0,1] 0.8227210159406776 Centerline is valid? [False, False] Translation: X:0.59, Y:0.16, Z:-0.13 [[ 0.99991349 0.00855341 -0.00999218 0.59365333] [-0.0085178 0.99995724 0.0036012 0.16280102] [ 0.01002256 -0.00351578 0.99994359 -0.12937425] [ 0. 0. 0. 1. ]] SLAMing on 12.104553574 meters Centerline goodness [0,1] 0.8225060854418366 Centerline is valid? [False, False] Translation: X:0.59, Y:0.16, Z:-0.13 [[ 0.99991101 0.00901368 -0.00983488 0.59339182] [-0.00897096 0.99995017 0.0043794 0.15969719] [ 0.00987386 -0.00429079 0.99994205 -0.12961327] [ 0. 0. 0. 1. ]] SLAMing on 12.134553574 meters Centerline goodness [0,1] 0.8177533385703064 Centerline is valid? [False, False] Translation: X:0.59, Y:0.16, Z:-0.13 [[ 0.99993587 0.0068811 -0.00899506 0.59087534] [-0.00686813 0.99997533 0.0014713 0.15877408] [ 0.00900496 -0.00140942 0.99995846 -0.12961643] [ 0. 0. 0. 1. ]] SLAMing on 12.164553574000001 meters Centerline goodness [0,1] 0.817221258476581 Centerline is valid? [False, False] Translation: X:0.59, Y:0.16, Z:-0.13 [[ 0.99993558 0.00680966 -0.00908063 0.59130013] [-0.00679252 0.99997509 0.00191718 0.15640515] [ 0.00909345 -0.00185538 0.99995693 -0.12982688] [ 0. 0. 0. 1. ]] SLAMing on 12.194553574 meters Centerline goodness [0,1] 0.8187485779294653 Centerline is valid? [False, False] Translation: X:0.59, Y:0.15, Z:-0.13 [[ 9.99958556e-01 3.93784233e-03 -8.20854568e-03 5.89552840e-01] [-3.94497561e-03 9.99991855e-01 -8.52997072e-04 1.52326160e-01] [ 8.20511985e-03 8.85344233e-04 9.99965946e-01 -1.30416314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.224553574 meters Centerline goodness [0,1] 0.8191795856770476 Centerline is valid? [False, False] Translation: X:0.59, Y:0.15, Z:-0.13 [[ 9.99958138e-01 3.43114896e-03 -8.48229892e-03 5.90632229e-01] [-3.43481151e-03 9.99994014e-01 -4.17257737e-04 1.49152457e-01] [ 8.48081647e-03 4.46375367e-04 9.99963938e-01 -1.30547157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.254553574000001 meters Centerline goodness [0,1] 0.8239027214823393 Centerline is valid? [False, False] Translation: X:0.59, Y:0.14, Z:-0.13 [[ 9.99971882e-01 5.53677880e-04 -7.47852061e-03 5.87321397e-01] [-5.73160903e-04 9.99996447e-01 -2.60330546e-03 1.43702473e-01] [ 7.47705265e-03 2.60751866e-03 9.99968647e-01 -1.28826143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.284553574 meters Centerline goodness [0,1] 0.8239027214823393 Centerline is valid? [False, False] Translation: X:0.59, Y:0.14, Z:-0.13 [[ 9.99971882e-01 5.53677880e-04 -7.47852061e-03 5.87321397e-01] [-5.73160903e-04 9.99996447e-01 -2.60330546e-03 1.43702473e-01] [ 7.47705265e-03 2.60751866e-03 9.99968647e-01 -1.28826143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.314553574 meters Centerline goodness [0,1] 0.8208490258985447 Centerline is valid? [False, False] Translation: X:0.59, Y:0.14, Z:-0.13 [[ 9.99971046e-01 1.86605776e-04 -7.60732627e-03 5.87753907e-01] [-2.00972480e-04 9.99998198e-01 -1.88781451e-03 1.40548499e-01] [ 7.60696028e-03 1.88928871e-03 9.99969282e-01 -1.28223349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.344553574 meters Centerline goodness [0,1] 0.816310316625774 Centerline is valid? [False, False] Translation: X:0.59, Y:0.14, Z:-0.13 [[ 9.99968358e-01 -3.80282288e-04 -7.94596394e-03 5.88974746e-01] [ 3.69054593e-04 9.99998932e-01 -1.41442456e-03 1.37877676e-01] [ 7.94649333e-03 1.41144731e-03 9.99967430e-01 -1.28219554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.374553574 meters Centerline goodness [0,1] 0.8157628037427231 Centerline is valid? [False, False] Translation: X:0.59, Y:0.13, Z:-0.13 [[ 0.99996051 -0.00437419 -0.00773616 0.58897933] [ 0.00433747 0.99997928 -0.00475747 0.13425914] [ 0.00775681 0.00472373 0.99995876 -0.12885361] [ 0. 0. 0. 1. ]] SLAMing on 12.404553574 meters Centerline goodness [0,1] 0.8143474870631602 Centerline is valid? [False, False] Translation: X:0.59, Y:0.13, Z:-0.13 [[ 0.99995929 -0.00453046 -0.00780338 0.5890137 ] [ 0.00449921 0.99998181 -0.00401759 0.13176515] [ 0.00782144 0.00398232 0.99996148 -0.12795299] [ 0. 0. 0. 1. ]] SLAMing on 12.434553574 meters Centerline goodness [0,1] 0.8170092704554615 Centerline is valid? [False, False] Translation: X:0.59, Y:0.13, Z:-0.13 [[ 0.9999626 -0.00430657 -0.00750048 0.58769275] [ 0.0042865 0.9999872 -0.00268989 0.1277912 ] [ 0.00751197 0.00265764 0.99996825 -0.12621244] [ 0. 0. 0. 1. ]] SLAMing on 12.464553574 meters Centerline goodness [0,1] 0.8144290854004923 Centerline is valid? [False, False] Translation: X:0.59, Y:0.13, Z:-0.13 [[ 0.99996392 -0.00419251 -0.0073886 0.58731404] [ 0.00417538 0.99998856 -0.00233225 0.12679187] [ 0.0073983 0.00230132 0.99996998 -0.12593838] [ 0. 0. 0. 1. ]] SLAMing on 12.494553574000001 meters Centerline goodness [0,1] 0.8154931584948688 Centerline is valid? [False, False] Translation: X:0.59, Y:0.13, Z:-0.13 [[ 0.99996214 -0.00435216 -0.00753455 0.58819174] [ 0.0043358 0.99998821 -0.00218541 0.12568093] [ 0.00754397 0.00215266 0.99996923 -0.12673441] [ 0. 0. 0. 1. ]] SLAMing on 12.524553574 meters Centerline goodness [0,1] 0.8207473216618761 Centerline is valid? [False, False] Translation: X:0.59, Y:0.12, Z:-0.13 [[ 0.99996001 -0.00449746 -0.00772957 0.5889334 ] [ 0.00448161 0.99998782 -0.00206607 0.1249281 ] [ 0.00773876 0.00203135 0.99996799 -0.12707827] [ 0. 0. 0. 1. ]] SLAMing on 12.554553574 meters Centerline goodness [0,1] 0.8187729243081027 Centerline is valid? [False, False] Translation: X:0.59, Y:0.12, Z:-0.13 [[ 0.99995898 -0.00453718 -0.00783944 0.58919624] [ 0.0045238 0.99998828 -0.00172405 0.12363188] [ 0.00784717 0.00168851 0.99996778 -0.12692667] [ 0. 0. 0. 1. ]] SLAMing on 12.584553574000001 meters Centerline goodness [0,1] 0.8157523267220135 Centerline is valid? [False, False] Translation: X:0.59, Y:0.12, Z:-0.13 [[ 0.99995118 -0.00529057 -0.00834513 0.59122112] [ 0.00527915 0.9999851 -0.00138991 0.12059072] [ 0.00835236 0.00134579 0.99996421 -0.12737656] [ 0. 0. 0. 1. ]] SLAMing on 12.614553574 meters Centerline goodness [0,1] 0.8147296293634251 Centerline is valid? [False, False] Translation: X:0.59, Y:0.12, Z:-0.13 [[ 9.99949495e-01 -5.41035312e-03 -8.46974010e-03 5.91547881e-01] [ 5.40231885e-03 9.99984936e-01 -9.71175987e-04 1.19157667e-01] [ 8.47486692e-03 9.25370700e-04 9.99963659e-01 -1.27062741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.644553574 meters Centerline goodness [0,1] 0.8186205075264686 Centerline is valid? [False, False] Translation: X:0.59, Y:0.12, Z:-0.13 [[ 9.99944390e-01 -5.81605474e-03 -8.79722853e-03 5.92670319e-01] [ 5.81175852e-03 9.99982980e-01 -5.13846248e-04 1.16983330e-01] [ 8.80006735e-03 4.62690305e-04 9.99961172e-01 -1.27020745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.674553574 meters Centerline goodness [0,1] 0.8217572015472214 Centerline is valid? [False, False] Translation: X:0.59, Y:0.12, Z:-0.13 [[ 9.99941665e-01 -5.94988066e-03 -9.01470239e-03 5.93354200e-01] [ 5.94730843e-03 9.99982266e-01 -3.12117514e-04 1.16199660e-01] [ 9.01639959e-03 2.58486091e-04 9.99959318e-01 -1.27098522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.704553574 meters Centerline goodness [0,1] 0.8239722897072619 Centerline is valid? [False, False] Translation: X:0.59, Y:0.12, Z:-0.13 [[ 9.99938562e-01 -6.10595872e-03 -9.25149305e-03 5.94251256e-01] [ 6.10310662e-03 9.99981319e-01 -3.36485563e-04 1.15995604e-01] [ 9.25337479e-03 2.80002042e-04 9.99957147e-01 -1.27596055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.734553574 meters Centerline goodness [0,1] 0.8242530755711774 Centerline is valid? [False, False] Translation: X:0.60, Y:0.12, Z:-0.13 [[ 9.99936167e-01 -6.21283332e-03 -9.43728905e-03 5.95301390e-01] [ 6.20800024e-03 9.99980584e-01 -5.41333791e-04 1.16250738e-01] [ 9.44046903e-03 4.82712544e-04 9.99955321e-01 -1.28801250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.764553574 meters Centerline goodness [0,1] 0.8226815534915058 Centerline is valid? [False, False] Translation: X:0.60, Y:0.12, Z:-0.13 [[ 9.99933068e-01 -6.44539918e-03 -9.60809817e-03 5.96039182e-01] [ 6.43943202e-03 9.99979054e-01 -6.51861797e-04 1.16408514e-01] [ 9.61209843e-03 5.89947472e-04 9.99953629e-01 -1.29136366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.794553574 meters Centerline goodness [0,1] 0.8207115690144914 Centerline is valid? [False, False] Translation: X:0.60, Y:0.12, Z:-0.13 [[ 9.99927516e-01 -6.89283048e-03 -9.87178747e-03 5.96709726e-01] [ 6.88787228e-03 9.99976135e-01 -5.36171017e-04 1.16246542e-01] [ 9.87524761e-03 4.68136542e-04 9.99951129e-01 -1.28475153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.824553574 meters Centerline goodness [0,1] 0.821493054719661 Centerline is valid? [False, False] Translation: X:0.60, Y:0.12, Z:-0.13 [[ 9.99926505e-01 -7.00089479e-03 -9.89807252e-03 5.96634826e-01] [ 6.99686152e-03 9.99975424e-01 -4.42050895e-04 1.16496173e-01] [ 9.90092401e-03 3.72762964e-04 9.99950915e-01 -1.27842945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.854553574 meters Centerline goodness [0,1] 0.8259575693577805 Centerline is valid? [False, False] Translation: X:0.60, Y:0.12, Z:-0.13 [[ 9.99926700e-01 -7.04140277e-03 -9.84948640e-03 5.96397325e-01] [ 7.03717168e-03 9.99975131e-01 -4.64166784e-04 1.16995025e-01] [ 9.85250983e-03 3.94820235e-04 9.99951385e-01 -1.27456094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.884553574 meters Centerline goodness [0,1] 0.8317844535696275 Centerline is valid? [False, False] Translation: X:0.60, Y:0.12, Z:-0.13 [[ 9.99927571e-01 -6.99528306e-03 -9.79384318e-03 5.96028284e-01] [ 6.99110614e-03 9.99975456e-01 -4.60656283e-04 1.17728139e-01] [ 9.79682521e-03 3.92153121e-04 9.99951933e-01 -1.26929649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.914553574000001 meters Centerline goodness [0,1] 0.8351116119596231 Centerline is valid? [False, False] Translation: X:0.60, Y:0.12, Z:-0.13 [[ 9.99929156e-01 -6.89030303e-03 -9.70596551e-03 5.95723401e-01] [ 6.88593092e-03 9.99976175e-01 -4.83801966e-04 1.18303286e-01] [ 9.70906780e-03 4.16933084e-04 9.99952779e-01 -1.26726437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.944553574 meters Centerline goodness [0,1] 0.8334969472045972 Centerline is valid? [False, False] Translation: X:0.60, Y:0.12, Z:-0.13 [[ 0.99993934 -0.00357272 -0.01041928 0.5977936 ] [ 0.00360746 0.99998799 0.00331765 0.11892079] [ 0.01040731 -0.00335503 0.99994021 -0.12666781] [ 0. 0. 0. 1. ]] SLAMing on 12.974553574 meters Centerline goodness [0,1] 0.8203788529439833 Centerline is valid? [False, False] Translation: X:0.60, Y:0.12, Z:-0.13 [[ 0.99994639 -0.00277641 -0.00997503 0.59641198] [ 0.0028071 0.99999137 0.00306424 0.12071547] [ 0.00996644 -0.00309207 0.99994555 -0.12712996] [ 0. 0. 0. 1. ]] SLAMing on 13.004553574000001 meters Centerline goodness [0,1] 0.8315739306564994 Centerline is valid? [False, False] Translation: X:0.59, Y:0.12, Z:-0.13 [[ 0.99995443 -0.00169298 -0.00939509 0.59423956] [ 0.0017218 0.99999383 0.00306096 0.12233121] [ 0.00938985 -0.003077 0.99995118 -0.12692783] [ 0. 0. 0. 1. ]] SLAMing on 13.034553574 meters Centerline goodness [0,1] 0.8082133079395311 Centerline is valid? [False, False] Translation: X:0.59, Y:0.12, Z:-0.13 [[ 0.999966 0.00135907 -0.00813358 0.58894386] [-0.00132826 0.99999193 0.00379117 0.12397073] [ 0.00813867 -0.00378023 0.99995974 -0.12624009] [ 0. 0. 0. 1. ]] SLAMing on 13.064553574 meters Centerline goodness [0,1] 0.8287366442186421 Centerline is valid? [False, False] Translation: X:0.59, Y:0.13, Z:-0.13 [[ 0.99996887 0.00242977 -0.0075064 0.58710387] [-0.00240158 0.99999004 0.00376147 0.12520575] [ 0.00751546 -0.00374332 0.99996475 -0.12664672] [ 0. 0. 0. 1. ]] SLAMing on 13.094553574 meters Centerline goodness [0,1] 0.8153973509933775 Centerline is valid? [False, False] Translation: X:0.59, Y:0.13, Z:-0.13 [[ 0.99994888 0.00717293 -0.00712651 0.58630978] [-0.00711879 0.99994582 0.00759457 0.12714391] [ 0.0071806 -0.00754345 0.99994577 -0.12737145] [ 0. 0. 0. 1. ]] SLAMing on 13.124553574 meters Centerline goodness [0,1] 0.8165890336462298 Centerline is valid? [False, False] Translation: X:0.59, Y:0.13, Z:-0.13 [[ 0.999947 0.00777412 -0.00675044 0.5851396 ] [-0.00772247 0.99994097 0.00764346 0.1276337 ] [ 0.00680946 -0.00759092 0.999948 -0.1273891 ] [ 0. 0. 0. 1. ]] SLAMing on 13.154553574 meters Centerline goodness [0,1] 0.8160783291055215 Centerline is valid? [False, False] Translation: X:0.58, Y:0.13, Z:-0.13 [[ 0.9999644 0.00632501 -0.00558496 0.58051766] [-0.00629985 0.99996998 0.00451142 0.12799145] [ 0.00561333 -0.00447607 0.99997423 -0.12662392] [ 0. 0. 0. 1. ]] SLAMing on 13.184553574 meters Centerline goodness [0,1] 0.8130694013832578 Centerline is valid? [False, False] Translation: X:0.57, Y:0.13, Z:-0.12 [[ 0.99997609 0.00600702 -0.00342527 0.57211609] [-0.00599949 0.99997957 0.00220599 0.12585435] [ 0.00343845 -0.00218539 0.9999917 -0.12441498] [ 0. 0. 0. 1. ]] SLAMing on 13.214553574 meters Centerline goodness [0,1] 0.817038403488177 Centerline is valid? [False, False] Translation: X:0.57, Y:0.12, Z:-0.12 [[ 0.99997546 0.00622479 -0.00321512 0.57184928] [-0.00621618 0.99997709 0.00267973 0.12361935] [ 0.00323172 -0.00265968 0.99999124 -0.12476869] [ 0. 0. 0. 1. ]] SLAMing on 13.244553574 meters Centerline goodness [0,1] 0.8140918029641709 Centerline is valid? [False, False] Translation: X:0.57, Y:0.12, Z:-0.13 [[ 0.9999776 0.0056305 -0.00361963 0.57392693] [-0.00562201 0.99998144 0.00234954 0.12265396] [ 0.0036328 -0.00232914 0.99999069 -0.12645944] [ 0. 0. 0. 1. ]] SLAMing on 13.274553574 meters Centerline goodness [0,1] 0.8110304370822715 Centerline is valid? [False, False] Translation: X:0.58, Y:0.12, Z:-0.13 [[ 0.99997906 0.00510489 -0.00397656 0.57574854] [-0.005096 0.9999845 0.00224083 0.12111105] [ 0.00398794 -0.00222051 0.99998958 -0.12786807] [ 0. 0. 0. 1. ]] SLAMing on 13.304553574 meters Centerline goodness [0,1] 0.8146785437645236 Centerline is valid? [False, False] Translation: X:0.57, Y:0.12, Z:-0.13 [[ 9.99992813e-01 2.50566621e-03 -2.84519295e-03 5.73005679e-01] [-2.50834099e-03 9.99996415e-01 -9.36926367e-04 1.17842409e-01] [ 2.84283512e-03 9.44056348e-04 9.99995514e-01 -1.28543047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.334553574000001 meters Centerline goodness [0,1] 0.8128717438275351 Centerline is valid? [False, False] Translation: X:0.57, Y:0.12, Z:-0.13 [[ 9.99992775e-01 2.60762964e-03 -2.76588290e-03 5.72737884e-01] [-2.60876128e-03 9.99996515e-01 -4.05616260e-04 1.15468430e-01] [ 2.76481557e-03 4.12828858e-04 9.99996093e-01 -1.28208168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.364553574 meters Centerline goodness [0,1] 0.8094970703125 Centerline is valid? [False, False] Translation: X:0.57, Y:0.11, Z:-0.13 [[ 9.99991653e-01 3.44008057e-03 -2.20448171e-03 5.70919919e-01] [-3.43849204e-03 9.99993826e-01 7.23976280e-04 1.11549604e-01] [ 2.20695864e-03 -7.16390144e-04 9.99997308e-01 -1.27487076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.394553574 meters Centerline goodness [0,1] 0.8084950209194783 Centerline is valid? [False, False] Translation: X:0.57, Y:0.11, Z:-0.13 [[ 9.99991039e-01 3.72003043e-03 -2.02048515e-03 5.70772245e-01] [-3.71830477e-03 9.99992720e-01 8.57169886e-04 1.10306931e-01] [ 2.02365914e-03 -8.49649426e-04 9.99997591e-01 -1.28217579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.424553574 meters Centerline goodness [0,1] 0.8064531947236797 Centerline is valid? [False, False] Translation: X:0.57, Y:0.11, Z:-0.13 [[ 9.99989827e-01 4.16666890e-03 -1.72768662e-03 5.70291482e-01] [-4.16498923e-03 9.99990851e-01 9.74668415e-04 1.09268039e-01] [ 1.73173193e-03 -9.67462704e-04 9.99998033e-01 -1.29087914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.454553574 meters Centerline goodness [0,1] 0.8047855841662154 Centerline is valid? [False, False] Translation: X:0.57, Y:0.11, Z:-0.13 [[ 9.99982516e-01 5.89521667e-03 -4.62611789e-04 5.67405575e-01] [-5.89440536e-03 9.99981121e-01 1.73595995e-03 1.06711065e-01] [ 4.72836916e-04 -1.73320278e-03 9.99998386e-01 -1.30304783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.484553574 meters Centerline goodness [0,1] 0.803729557731679 Centerline is valid? [False, False] Translation: X:0.57, Y:0.10, Z:-0.13 [[ 9.99979847e-01 6.34656801e-03 -1.64936283e-04 5.66632139e-01] [-6.34619485e-03 9.99977503e-01 2.17224785e-03 1.04991475e-01] [ 1.78718892e-04 -2.17115736e-03 9.99997627e-01 -1.30448901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.514553574 meters Centerline goodness [0,1] 0.8102247664362006 Centerline is valid? [False, False] Translation: X:0.57, Y:0.10, Z:-0.13 [[ 9.99975848e-01 6.94361486e-03 2.98860191e-04 5.65538397e-01] [-6.94453343e-03 9.99970795e-01 3.19089719e-03 1.00495645e-01] [-2.76695102e-04 -3.19289557e-03 9.99994864e-01 -1.30439996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.544553574 meters Centerline goodness [0,1] 0.8042067576639069 Centerline is valid? [False, False] Translation: X:0.56, Y:0.10, Z:-0.13 [[ 9.99989479e-01 4.34145655e-03 1.48096816e-03 5.62886107e-01] [-4.34040163e-03 9.99990325e-01 -7.14789681e-04 9.93235625e-02] [-1.48405706e-03 7.08354164e-04 9.99998648e-01 -1.32005863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.574553574 meters Centerline goodness [0,1] 0.8010673582882366 Centerline is valid? [False, False] Translation: X:0.56, Y:0.10, Z:-0.13 [[ 9.99990806e-01 4.06737715e-03 1.35797552e-03 5.63528112e-01] [-4.06703863e-03 9.99991698e-01 -2.51954661e-04 9.66314703e-02] [-1.35898904e-03 2.46429406e-04 9.99999046e-01 -1.32067154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.604553574 meters Centerline goodness [0,1] 0.807107235044984 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:-0.13 [[ 9.99997149e-01 8.00922527e-04 2.24971896e-03 5.61690796e-01] [-7.93627437e-04 9.99994431e-01 -3.24169021e-03 9.21273219e-02] [-2.25230277e-03 3.23989553e-03 9.99992215e-01 -1.32432078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.634553574 meters Centerline goodness [0,1] 0.8070303457299582 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:-0.13 [[ 9.99998304e-01 2.68980710e-04 1.82199947e-03 5.62984377e-01] [-2.64808882e-04 9.99997344e-01 -2.28955254e-03 8.86066102e-02] [-1.82261048e-03 2.28906617e-03 9.99995719e-01 -1.31569732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.664553574000001 meters Centerline goodness [0,1] 0.8141987829614604 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:-0.13 [[ 0.99998938 -0.00430047 0.00165879 0.56465836] [ 0.0043093 0.99997638 -0.00535385 0.0821445 ] [-0.00163573 0.00536094 0.99998429 -0.13248755] [ 0. 0. 0. 1. ]] SLAMing on 13.694553574 meters Centerline goodness [0,1] 0.8129318477346319 Centerline is valid? [False, False] Translation: X:0.57, Y:0.08, Z:-0.13 [[ 9.99984646e-01 -5.46716440e-03 9.04168868e-04 5.67611206e-01] [ 5.47134078e-03 9.99974067e-01 -4.68292450e-03 7.80507383e-02] [-8.78543102e-04 4.68779962e-03 9.99988626e-01 -1.32533115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.724553574 meters Centerline goodness [0,1] 0.8145646221949285 Centerline is valid? [False, False] Translation: X:0.57, Y:0.07, Z:-0.13 [[ 9.99977843e-01 -6.65491840e-03 1.58825000e-04 5.70541303e-01] [ 6.65550255e-03 9.99969790e-01 -4.01531252e-03 7.41385166e-02] [-1.32098625e-04 4.01628061e-03 9.99991926e-01 -1.32508063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.754553574000001 meters Centerline goodness [0,1] 0.8151912483513073 Centerline is valid? [False, False] Translation: X:0.57, Y:0.07, Z:-0.13 [[ 9.99932662e-01 -1.16044939e-02 -8.62979045e-05 5.72697063e-01] [ 1.16036066e-02 9.99908216e-01 -6.99398239e-03 6.77171198e-02] [ 1.67451610e-04 6.99251006e-03 9.99975538e-01 -1.33226897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.784553574 meters Centerline goodness [0,1] 0.8140376454661425 Centerline is valid? [False, False] Translation: X:0.58, Y:0.06, Z:-0.13 [[ 9.99903504e-01 -1.38710814e-02 -7.58878703e-04 5.76698444e-01] [ 1.38665355e-02 9.99887612e-01 -5.69934865e-03 6.10351767e-02] [ 8.37849543e-04 5.68827567e-03 9.99983471e-01 -1.32107402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.814553574 meters Centerline goodness [0,1] 0.8071325930764206 Centerline is valid? [False, False] Translation: X:0.58, Y:0.06, Z:-0.13 [[ 0.99989778 -0.0142554 -0.00110218 0.57786172] [ 0.01424965 0.99988566 -0.00506153 0.05861324] [ 0.00117421 0.0050453 0.99998658 -0.13171163] [ 0. 0. 0. 1. ]] SLAMing on 13.844553574 meters Centerline goodness [0,1] 0.8107888387705864 Centerline is valid? [False, False] Translation: X:0.58, Y:0.06, Z:-0.13 [[ 0.99989345 -0.01453366 -0.00136131 0.57884511] [ 0.01452731 0.99988405 -0.0045651 0.05645156] [ 0.00142749 0.00454484 0.99998865 -0.1315973 ] [ 0. 0. 0. 1. ]] SLAMing on 13.874553574 meters Centerline goodness [0,1] 0.8105979045768453 Centerline is valid? [False, False] Translation: X:0.58, Y:0.05, Z:-0.13 [[ 0.99988968 -0.01476848 -0.0015902 0.57965331] [ 0.01476181 0.9998825 -0.00413144 0.05460343] [ 0.00165103 0.00410751 0.9999902 -0.13142192] [ 0. 0. 0. 1. ]] SLAMing on 13.904553574 meters Centerline goodness [0,1] 0.8121815349684505 Centerline is valid? [False, False] Translation: X:0.58, Y:0.05, Z:-0.13 [[ 0.99988044 -0.01532555 -0.0020569 0.58171287] [ 0.01531764 0.99987542 -0.00380924 0.05208913] [ 0.00211502 0.00377728 0.99999063 -0.13211954] [ 0. 0. 0. 1. ]] SLAMing on 13.934553574 meters Centerline goodness [0,1] 0.8071613688052044 Centerline is valid? [False, False] Translation: X:0.58, Y:0.05, Z:-0.13 [[ 0.99987089 -0.01587271 -0.002503 0.58361752] [ 0.01586424 0.99986848 -0.00336888 0.04957 ] [ 0.00255614 0.00332874 0.99999119 -0.13250697] [ 0. 0. 0. 1. ]] SLAMing on 13.964553574 meters Centerline goodness [0,1] 0.8037380699893956 Centerline is valid? [False, False] Translation: X:0.58, Y:0.05, Z:-0.13 [[ 0.99986437 -0.01623075 -0.00279295 0.58483757] [ 0.01622174 0.99986324 -0.00321965 0.04845822] [ 0.00284482 0.00317391 0.99999092 -0.13284198] [ 0. 0. 0. 1. ]] SLAMing on 13.994553574 meters Centerline goodness [0,1] 0.8112897235927635 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.13 [[ 0.99988759 -0.01445036 -0.00400056 0.58939659] [ 0.01445504 0.99989487 0.00114332 0.04611668] [ 0.00398361 -0.00120102 0.99999134 -0.13183119] [ 0. 0. 0. 1. ]] SLAMing on 14.024553574 meters Centerline goodness [0,1] 0.8184523018887974 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.13 [[ 0.99988109 -0.01480539 -0.00431292 0.59048514] [ 0.01481171 0.99988927 0.00143803 0.04502326] [ 0.00429115 -0.00150174 0.99998967 -0.13166642] [ 0. 0. 0. 1. ]] SLAMing on 14.054553574 meters Centerline goodness [0,1] 0.8145953448644032 Centerline is valid? [False, False] Translation: X:0.59, Y:0.04, Z:-0.13 [[ 0.99986408 -0.01569557 -0.00504598 0.59315293] [ 0.0157049 0.99987502 0.00181409 0.04267774] [ 0.00501688 -0.00189309 0.99998562 -0.13168987] [ 0. 0. 0. 1. ]] SLAMing on 14.084553574000001 meters Centerline goodness [0,1] 0.8183420574724922 Centerline is valid? [False, False] Translation: X:0.59, Y:0.04, Z:-0.13 [[ 0.99987023 -0.01535266 -0.00488021 0.59191932] [ 0.01536669 0.99987786 0.0028496 0.04059603] [ 0.00483587 -0.00292422 0.99998403 -0.12979546] [ 0. 0. 0. 1. ]] SLAMing on 14.114553574 meters Centerline goodness [0,1] 0.8122462064543706 Centerline is valid? [False, False] Translation: X:0.59, Y:0.04, Z:-0.13 [[ 0.99987898 -0.01487472 -0.00455705 0.59068575] [ 0.01488909 0.99988424 0.0031343 0.04052214] [ 0.0045099 -0.00320177 0.9999847 -0.12944437] [ 0. 0. 0. 1. ]] SLAMing on 14.144553574 meters Centerline goodness [0,1] 0.8103706077112036 Centerline is valid? [False, False] Translation: X:0.59, Y:0.04, Z:-0.13 [[ 0.99991949 -0.01154878 -0.00525683 0.59258349] [ 0.01158968 0.99990228 0.00781732 0.03930491] [ 0.00516604 -0.00787761 0.99995563 -0.12814058] [ 0. 0. 0. 1. ]] SLAMing on 14.174553574 meters Centerline goodness [0,1] 0.8089024097350093 Centerline is valid? [False, False] Translation: X:0.59, Y:0.04, Z:-0.13 [[ 0.99994587 -0.00959951 -0.00401334 0.58787271] [ 0.00963222 0.99991988 0.00821321 0.03943116] [ 0.00393418 -0.00825143 0.99995822 -0.12776382] [ 0. 0. 0. 1. ]] SLAMing on 14.204553574 meters Centerline goodness [0,1] 0.8089024097350093 Centerline is valid? [False, False] Translation: X:0.59, Y:0.04, Z:-0.13 [[ 0.99994587 -0.00959951 -0.00401334 0.58787271] [ 0.00963222 0.99991988 0.00821321 0.03943116] [ 0.00393418 -0.00825143 0.99995822 -0.12776382] [ 0. 0. 0. 1. ]] SLAMing on 14.234553574 meters Centerline goodness [0,1] 0.8204 Centerline is valid? [False, False] Translation: X:0.59, Y:0.04, Z:-0.13 [[ 0.99995703 -0.00866655 -0.00328943 0.58531634] [ 0.00869363 0.99992768 0.00831038 0.03963669] [ 0.00321717 -0.00833862 0.99996006 -0.12753991] [ 0. 0. 0. 1. ]] SLAMing on 14.264553574 meters Centerline goodness [0,1] 0.8216085090501959 Centerline is valid? [False, False] Translation: X:0.58, Y:0.04, Z:-0.13 [[ 0.99998174 -0.00580828 -0.00167008 0.57872986] [ 0.00582235 0.99994656 0.00854259 0.04068589] [ 0.00162037 -0.00855216 0.99996212 -0.12746458] [ 0. 0. 0. 1. ]] SLAMing on 14.294553574 meters Centerline goodness [0,1] 0.8216207576322659 Centerline is valid? [False, False] Translation: X:0.58, Y:0.04, Z:-0.13 [[ 0.9999874 -0.00490195 -0.00108526 0.57669308] [ 0.0049109 0.99995261 0.00840591 0.04122527] [ 0.00104401 -0.00841114 0.99996408 -0.12788312] [ 0. 0. 0. 1. ]] SLAMing on 14.324553574 meters Centerline goodness [0,1] 0.8185379633824588 Centerline is valid? [False, False] Translation: X:0.58, Y:0.04, Z:-0.13 [[ 9.99991112e-01 -4.17609961e-03 -5.79073295e-04 5.75085059e-01] [ 4.18068876e-03 9.99957933e-01 8.16418998e-03 4.16729027e-02] [ 5.44954464e-04 -8.16653834e-03 9.99966505e-01 -1.28569653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.354553574 meters Centerline goodness [0,1] 0.8117038853061878 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:-0.13 [[ 0.99999863 -0.00129472 0.00102877 0.56925625] [ 0.00128856 0.99998136 0.00596845 0.04380323] [-0.00103648 -0.00596712 0.99998166 -0.13411249] [ 0. 0. 0. 1. ]] SLAMing on 14.384553574 meters Centerline goodness [0,1] 0.8037385662624974 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:-0.14 [[ 9.99998458e-01 -2.23068627e-04 1.74205817e-03 5.67279306e-01] [ 2.13991055e-04 9.99986409e-01 5.20928085e-03 4.55890280e-02] [-1.74319652e-03 -5.20890004e-03 9.99984914e-01 -1.36042573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.414553574 meters Centerline goodness [0,1] 0.8097146648971466 Centerline is valid? [False, False] Translation: X:0.56, Y:0.05, Z:-0.14 [[ 0.9999913 0.00273465 0.00314919 0.5618543 ] [-0.00274817 0.999987 0.00429569 0.04748433] [-0.0031374 -0.00430431 0.99998581 -0.13895067] [ 0. 0. 0. 1. ]] SLAMing on 14.444553574 meters Centerline goodness [0,1] 0.808515161984745 Centerline is valid? [False, False] Translation: X:0.56, Y:0.05, Z:-0.14 [[ 0.99998652 0.00359617 0.00374624 0.5595938 ] [-0.00361278 0.99998364 0.00443489 0.04739315] [-0.00373023 -0.00444837 0.99998315 -0.13859111] [ 0. 0. 0. 1. ]] SLAMing on 14.474553574 meters Centerline goodness [0,1] 0.8031579786809857 Centerline is valid? [False, False] Translation: X:0.56, Y:0.05, Z:-0.14 [[ 0.99997978 0.00456887 0.00442311 0.55696062] [-0.00459012 0.99997792 0.00480504 0.04710395] [-0.00440106 -0.00482524 0.99997867 -0.13781696] [ 0. 0. 0. 1. ]] SLAMing on 14.504553574000001 meters Centerline goodness [0,1] 0.8032242643153086 Centerline is valid? [False, False] Translation: X:0.55, Y:0.05, Z:-0.14 [[ 0.99997164 0.00550591 0.0051383 0.55446389] [-0.00553212 0.99997169 0.00510043 0.04677224] [-0.00511007 -0.00512871 0.99997379 -0.13744403] [ 0. 0. 0. 1. ]] SLAMing on 14.534553574 meters Centerline goodness [0,1] 0.8028468238793287 Centerline is valid? [False, False] Translation: X:0.55, Y:0.05, Z:-0.14 [[ 0.99995181 0.00736784 0.00648735 0.54978494] [-0.00740392 0.99995716 0.00555493 0.04648752] [-0.00644614 -0.00560269 0.99996353 -0.13718654] [ 0. 0. 0. 1. ]] SLAMing on 14.564553574 meters Centerline goodness [0,1] 0.803217986627241 Centerline is valid? [False, False] Translation: X:0.55, Y:0.04, Z:-0.14 [[ 0.99993688 0.00850473 0.00734213 0.54698396] [-0.0085497 0.99994475 0.00611493 0.04496839] [-0.00728972 -0.00617731 0.99995435 -0.13699517] [ 0. 0. 0. 1. ]] SLAMing on 14.594553574 meters Centerline goodness [0,1] 0.8031644728094668 Centerline is valid? [False, False] Translation: X:0.55, Y:0.04, Z:-0.14 [[ 0.99993603 0.00858722 0.00736136 0.54678745] [-0.00863552 0.99994123 0.00655429 0.04307704] [-0.00730465 -0.00661744 0.99995142 -0.13665197] [ 0. 0. 0. 1. ]] SLAMing on 14.624553574 meters Centerline goodness [0,1] 0.8025300915423417 Centerline is valid? [False, False] Translation: X:0.54, Y:0.04, Z:-0.14 [[ 0.99994782 0.00577423 0.00842714 0.54404023] [-0.00579247 0.99998093 0.00214145 0.04237752] [-0.00841461 -0.00219015 0.9999622 -0.13857988] [ 0. 0. 0. 1. ]] SLAMing on 14.654553574 meters Centerline goodness [0,1] 0.8007348405610535 Centerline is valid? [False, False] Translation: X:0.55, Y:0.04, Z:-0.14 [[ 0.9999561 0.00495171 0.00795485 0.54654585] [-0.00497055 0.99998489 0.00234966 0.03848165] [-0.0079431 -0.0023891 0.9999656 -0.13991266] [ 0. 0. 0. 1. ]] SLAMing on 14.684553574 meters Centerline goodness [0,1] 0.8033372742906277 Centerline is valid? [False, False] Translation: X:0.55, Y:0.04, Z:-0.14 [[ 0.99995935 0.00460544 0.00775194 0.54778204] [-0.00462357 0.99998661 0.00232235 0.03682226] [-0.00774114 -0.00235809 0.99996726 -0.14099646] [ 0. 0. 0. 1. ]] SLAMing on 14.714553574 meters Centerline goodness [0,1] 0.8066542640675133 Centerline is valid? [False, False] Translation: X:0.55, Y:0.03, Z:-0.14 [[ 0.99996915 0.00347157 0.0070462 0.55177275] [-0.0034861 0.99999182 0.0020507 0.03317453] [-0.00703903 -0.0020752 0.99997307 -0.1439779 ] [ 0. 0. 0. 1. ]] SLAMing on 14.744553574 meters Centerline goodness [0,1] 0.8043713481930318 Centerline is valid? [False, False] Translation: X:0.55, Y:0.03, Z:-0.15 [[ 0.99997363 0.00294671 0.00663733 0.55376934] [-0.00296031 0.99999354 0.00203943 0.0311037 ] [-0.00663128 -0.00205903 0.99997589 -0.14520051] [ 0. 0. 0. 1. ]] SLAMing on 14.774553574 meters Centerline goodness [0,1] 0.8029801324503312 Centerline is valid? [False, False] Translation: X:0.56, Y:0.03, Z:-0.15 [[ 0.99997642 0.00259662 0.00635708 0.5550121 ] [-0.0026114 0.9999939 0.00231803 0.02866182] [-0.00635103 -0.00233457 0.99997711 -0.14560055] [ 0. 0. 0. 1. ]] SLAMing on 14.804553574 meters Centerline goodness [0,1] 0.8066856485790943 Centerline is valid? [False, False] Translation: X:0.55, Y:0.02, Z:-0.15 [[ 9.99973588e-01 -4.96833677e-04 7.25095962e-03 5.53298721e-01] [ 5.05794154e-04 9.99999111e-01 -1.23398280e-03 2.41101837e-02] [-7.25034008e-03 1.23761770e-03 9.99972950e-01 -1.47182361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.834553574000001 meters Centerline goodness [0,1] 0.8081214358522273 Centerline is valid? [False, False] Translation: X:0.56, Y:0.02, Z:-0.15 [[ 9.99976203e-01 -1.74722276e-03 6.67387669e-03 5.56524148e-01] [ 1.75239389e-03 9.99998169e-01 -7.69062724e-04 1.86935157e-02] [-6.67252075e-03 7.80739684e-04 9.99977434e-01 -1.48195535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.864553574 meters Centerline goodness [0,1] 0.8081941833462347 Centerline is valid? [False, False] Translation: X:0.56, Y:0.02, Z:-0.15 [[ 9.99976941e-01 -1.93951949e-03 6.50808769e-03 5.57302283e-01] [ 1.94197204e-03 9.99998046e-01 -3.70547922e-04 1.64774699e-02] [-6.50735628e-03 3.83177902e-04 9.99978754e-01 -1.48424233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.894553574 meters Centerline goodness [0,1] 0.8051908481524569 Centerline is valid? [False, False] Translation: X:0.56, Y:0.01, Z:-0.15 [[ 9.99977664e-01 -2.23491627e-03 6.29890634e-03 5.58486961e-01] [ 2.23632978e-03 9.99997476e-01 -2.17370885e-04 1.46564943e-02] [-6.29840464e-03 2.31452461e-04 9.99980138e-01 -1.49234005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.924553574 meters Centerline goodness [0,1] 0.805743384255781 Centerline is valid? [False, False] Translation: X:0.56, Y:0.01, Z:-0.15 [[ 9.99978534e-01 -2.98477557e-03 5.83287274e-03 5.60901608e-01] [ 2.98385555e-03 9.99995534e-01 1.66426668e-04 1.09272510e-02] [-5.83334343e-03 -1.49018646e-04 9.99982975e-01 -1.50202312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.954553574 meters Centerline goodness [0,1] 0.8060563773374267 Centerline is valid? [False, False] Translation: X:0.56, Y:0.01, Z:-0.15 [[ 9.99978870e-01 -3.46228763e-03 5.50206117e-03 5.62310814e-01] [ 3.45961741e-03 9.99993893e-01 4.94756484e-04 8.60159083e-03] [-5.50374056e-03 -4.75711003e-04 9.99984741e-01 -1.50272686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.984553574 meters Centerline goodness [0,1] 0.8065832122499161 Centerline is valid? [False, False] Translation: X:0.56, Y:0.01, Z:-0.15 [[ 0.99997741 -0.0019168 0.00644201 0.55778859] [ 0.00190687 0.99999698 0.00154803 0.00699445] [-0.00644496 -0.00153571 0.99997805 -0.14782624] [ 0. 0. 0. 1. ]] SLAMing on 15.014553574 meters Centerline goodness [0,1] 0.8074289387629615 Centerline is valid? [False, False] Translation: X:0.56, Y:0.01, Z:-0.15 [[ 0.99997765 -0.00200525 0.00637767 0.55812756] [ 0.00199517 0.99999675 0.00158523 0.00618277] [-0.00638083 -0.00157247 0.99997841 -0.14796667] [ 0. 0. 0. 1. ]] SLAMing on 15.044553574 meters Centerline goodness [0,1] 0.8076396839136626 Centerline is valid? [False, False] Translation: X:0.56, Y:0.01, Z:-0.15 [[ 0.99997916 -0.00265532 0.0058839 0.56049702] [ 0.00264913 0.99999593 0.0010596 0.00625259] [-0.00588669 -0.00104399 0.99998213 -0.14954916] [ 0. 0. 0. 1. ]] SLAMing on 15.074553574 meters Centerline goodness [0,1] 0.8056641716009385 Centerline is valid? [False, False] Translation: X:0.56, Y:0.01, Z:-0.15 [[ 9.99979888e-01 -3.83592039e-03 5.05071299e-03 5.64178466e-01] [ 3.83240527e-03 9.99992407e-01 7.05460107e-04 6.19290200e-03] [-5.05338073e-03 -6.86089540e-04 9.99986996e-01 -1.50821190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.104553574 meters Centerline goodness [0,1] 0.8089382965583066 Centerline is valid? [False, False] Translation: X:0.57, Y:0.00, Z:-0.15 [[ 0.99995138 -0.00862386 0.004782 0.56533065] [ 0.00863443 0.99996031 -0.00219574 0.00306587] [-0.00476288 0.00223693 0.99998616 -0.14888425] [ 0. 0. 0. 1. ]] SLAMing on 15.134553574 meters Centerline goodness [0,1] 0.8077161537594408 Centerline is valid? [False, False] Translation: X:0.57, Y:0.00, Z:-0.15 [[ 9.99937694e-01 -1.06188180e-02 3.44220171e-03 5.70427315e-01] [ 1.06236883e-02 9.99942587e-01 -1.39968843e-03 6.50216507e-04] [-3.42714105e-03 1.43617009e-03 9.99993096e-01 -1.47538216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.164553574 meters Centerline goodness [0,1] 0.8102724480883554 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.00, Z:-0.14 [[ 9.99929068e-01 -1.15983822e-02 2.70862925e-03 5.72464530e-01] [ 1.15994246e-02 9.99932656e-01 -3.69452360e-04 -6.14987420e-04] [-2.70416179e-03 4.00844695e-04 9.99996263e-01 -1.44717814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.194553574 meters Centerline goodness [0,1] 0.8117099322799097 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.00, Z:-0.14 [[ 9.99917326e-01 -1.27188301e-02 1.89003982e-03 5.75085452e-01] [ 1.27187267e-02 9.99919111e-01 6.67531824e-05 -9.35581521e-04] [-1.89073596e-03 -4.27087638e-05 9.99998212e-01 -1.43115824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.224553574 meters Centerline goodness [0,1] 0.8184346555792785 Centerline is valid? [False, False] Translation: X:0.58, Y:0.00, Z:-0.14 [[ 9.99872302e-01 -1.59794002e-02 -1.93808303e-04 5.84022699e-01] [ 1.59792334e-02 9.99871976e-01 -8.33642503e-04 1.21374980e-03] [ 2.07104598e-04 8.30439141e-04 9.99999634e-01 -1.44494486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.254553574000001 meters Centerline goodness [0,1] 0.8157702877011945 Centerline is valid? [False, False] Translation: X:0.59, Y:0.01, Z:-0.15 [[ 0.99983117 -0.01828465 -0.00181835 0.59135314] [ 0.01827938 0.99982877 -0.00287839 0.00516457] [ 0.00187067 0.00284467 0.9999942 -0.14842447] [ 0. 0. 0. 1. ]] SLAMing on 15.284553574 meters Centerline goodness [0,1] 0.8119299423647249 Centerline is valid? [False, False] Translation: X:0.60, Y:0.00, Z:-0.15 [[ 0.99983406 -0.01774068 -0.00413722 0.60012013] [ 0.01774855 0.99984072 0.00187477 0.00474868] [ 0.0041033 -0.00194788 0.99998968 -0.14588299] [ 0. 0. 0. 1. ]] SLAMing on 15.314553574 meters Centerline goodness [0,1] 0.8178565438586682 Centerline is valid? [False, False] Translation: X:0.60, Y:0.01, Z:-0.15 [[ 0.99981431 -0.01864664 -0.004863 0.60282444] [ 0.0186551 0.99982454 0.00169895 0.00545855] [ 0.00483047 -0.00178935 0.99998673 -0.14585136] [ 0. 0. 0. 1. ]] SLAMing on 15.344553574 meters Centerline goodness [0,1] 0.8129808364806267 Centerline is valid? [False, False] Translation: X:0.60, Y:0.01, Z:-0.15 [[ 0.99979747 -0.01937419 -0.00544599 0.60471886] [ 0.01938427 0.99981048 0.00180547 0.00592077] [ 0.00540998 -0.00191067 0.99998354 -0.14505849] [ 0. 0. 0. 1. ]] SLAMing on 15.374553574 meters Centerline goodness [0,1] 0.8147651006711409 Centerline is valid? [False, False] Translation: X:0.61, Y:0.01, Z:-0.14 [[ 0.99976424 -0.02072392 -0.00647981 0.60750429] [ 0.02073933 0.99978222 0.00232068 0.00707425] [ 0.0064303 -0.00245451 0.99997631 -0.14211501] [ 0. 0. 0. 1. ]] SLAMing on 15.404553574 meters Centerline goodness [0,1] 0.8153700664756766 Centerline is valid? [False, False] Translation: X:0.61, Y:0.01, Z:-0.14 [[ 0.99974567 -0.02143859 -0.00699819 0.60879882] [ 0.02145381 0.99976762 0.00210648 0.00986294] [ 0.00695141 -0.00225608 0.99997329 -0.14079209] [ 0. 0. 0. 1. ]] SLAMing on 15.434553574 meters Centerline goodness [0,1] 0.821838601173102 Centerline is valid? [False, False] Translation: X:0.62, Y:0.01, Z:-0.14 [[ 0.99974661 -0.02064381 -0.00897455 0.61627374] [ 0.02070136 0.99976542 0.00636822 0.00994253] [ 0.00884098 -0.0065524 0.99993945 -0.13890177] [ 0. 0. 0. 1. ]] SLAMing on 15.464553574 meters Centerline goodness [0,1] 0.8169162215272204 Centerline is valid? [False, False] Translation: X:0.62, Y:0.01, Z:-0.14 [[ 0.99972485 -0.02142998 -0.00953873 0.61858484] [ 0.02148659 0.99975189 0.00587189 0.01152055] [ 0.00941053 -0.00607523 0.99993726 -0.13950862] [ 0. 0. 0. 1. ]] SLAMing on 15.494553574 meters Centerline goodness [0,1] 0.820827121638783 Centerline is valid? [False, False] Translation: X:0.62, Y:0.01, Z:-0.14 [[ 0.9997023 -0.02222866 -0.01005943 0.62047875] [ 0.02228093 0.99973867 0.00511434 0.01465149] [ 0.00994312 -0.00533695 0.99993632 -0.13969989] [ 0. 0. 0. 1. ]] SLAMing on 15.524553574 meters Centerline goodness [0,1] 0.8238595718923678 Centerline is valid? [False, False] Translation: X:0.62, Y:0.02, Z:-0.14 [[ 0.99968362 -0.02285215 -0.01050867 0.62224659] [ 0.02290421 0.99972585 0.00486003 0.01580233] [ 0.01039473 -0.00509919 0.99993297 -0.13981817] [ 0. 0. 0. 1. ]] SLAMing on 15.554553574 meters Centerline goodness [0,1] 0.8225855116987135 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.14 [[ 0.99963449 -0.02443679 -0.01156375 0.62648355] [ 0.02448295 0.99969277 0.00386734 0.01828052] [ 0.01146569 -0.00414904 0.99992566 -0.1408844 ] [ 0. 0. 0. 1. ]] SLAMing on 15.584553574000001 meters Centerline goodness [0,1] 0.8253698630136986 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.14 [[ 0.99961592 -0.02497768 -0.01200565 0.62814895] [ 0.02502127 0.99968081 0.00349427 0.01943056] [ 0.01191454 -0.00379332 0.99992182 -0.14125232] [ 0. 0. 0. 1. ]] SLAMing on 15.614553574 meters Centerline goodness [0,1] 0.8213093218019596 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.14 [[ 0.99959487 -0.02557227 -0.01249623 0.6300878 ] [ 0.02561117 0.99966759 0.00296303 0.02069465] [ 0.01241631 -0.00328187 0.99991753 -0.14197341] [ 0. 0. 0. 1. ]] SLAMing on 15.644553574 meters Centerline goodness [0,1] 0.8197112091404772 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.14 [[ 0.99957845 -0.02601053 -0.01289824 0.63160518] [ 0.02604579 0.99965744 0.00257313 0.02191126] [ 0.0128269 -0.00290799 0.9999135 -0.14239221] [ 0. 0. 0. 1. ]] SLAMing on 15.674553574 meters Centerline goodness [0,1] 0.8197648988518316 Centerline is valid? [False, False] Translation: X:0.64, Y:0.02, Z:-0.14 [[ 0.99959575 -0.02434813 -0.01467995 0.63771969] [ 0.02444566 0.99968002 0.00650111 0.02275335] [ 0.01451696 -0.00685734 0.99987111 -0.14130091] [ 0. 0. 0. 1. ]] SLAMing on 15.704553574 meters Centerline goodness [0,1] 0.8212162530679029 Centerline is valid? [False, False] Translation: X:0.64, Y:0.02, Z:-0.14 [[ 0.99960877 -0.02392164 -0.01449342 0.63664793] [ 0.02401588 0.99969133 0.00636313 0.02476775] [ 0.01433673 -0.00670871 0.99987472 -0.14088122] [ 0. 0. 0. 1. ]] SLAMing on 15.734553574 meters Centerline goodness [0,1] 0.8218077865505037 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.14 [[ 0.99961783 -0.02367654 -0.0142696 0.63603484] [ 0.02376559 0.99969893 0.0061034 0.02591906] [ 0.0141208 -0.0064402 0.99987956 -0.14122508] [ 0. 0. 0. 1. ]] SLAMing on 15.764553574 meters Centerline goodness [0,1] 0.8248969184027778 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.14 [[ 0.99962863 -0.02334068 -0.0140649 0.63542989] [ 0.02342494 0.99970845 0.00585624 0.0273544 ] [ 0.01392411 -0.00618353 0.99988393 -0.14165148] [ 0. 0. 0. 1. ]] SLAMing on 15.794553574 meters Centerline goodness [0,1] 0.8251151449471688 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.14 [[ 0.99968297 -0.02027779 -0.01492552 0.63817435] [ 0.02042669 0.99974241 0.00989264 0.02847849] [ 0.01472108 -0.01019438 0.99983967 -0.14087817] [ 0. 0. 0. 1. ]] SLAMing on 15.824553574 meters Centerline goodness [0,1] 0.8167014387514564 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.14 [[ 0.99968955 -0.02007008 -0.0147645 0.63751811] [ 0.02021602 0.99974758 0.00980286 0.02910836] [ 0.01456403 -0.0100983 0.99984294 -0.14075982] [ 0. 0. 0. 1. ]] SLAMing on 15.854553574 meters Centerline goodness [0,1] 0.8201052460261488 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.14 [[ 0.99968727 -0.02017943 -0.01477024 0.6373283 ] [ 0.02032565 0.99974522 0.00981695 0.02960644] [ 0.01456838 -0.01011409 0.99984272 -0.13985816] [ 0. 0. 0. 1. ]] SLAMing on 15.884553574 meters Centerline goodness [0,1] 0.8217840579317078 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.14 [[ 0.99967977 -0.02043695 -0.01492301 0.63793245] [ 0.02058172 0.99974196 0.0096125 0.03012043] [ 0.01472271 -0.00991657 0.99984244 -0.13991288] [ 0. 0. 0. 1. ]] SLAMing on 15.914553574 meters Centerline goodness [0,1] 0.8190776079698145 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.14 [[ 0.99966958 -0.02076112 -0.01515577 0.63887381] [ 0.02090537 0.99973706 0.00942218 0.03053188] [ 0.01495617 -0.0097359 0.99984075 -0.14011232] [ 0. 0. 0. 1. ]] SLAMing on 15.944553574 meters Centerline goodness [0,1] 0.818368838480903 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.14 [[ 0.99964405 -0.02158835 -0.01567559 0.64116552] [ 0.02173173 0.99972302 0.00903444 0.03166791] [ 0.0154762 -0.00937188 0.99983631 -0.14060068] [ 0. 0. 0. 1. ]] SLAMing on 15.974553574 meters Centerline goodness [0,1] 0.8238743851683693 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.14 [[ 0.99960861 -0.02265312 -0.01641531 0.64431222] [ 0.0227945 0.99970423 0.00847725 0.03241407] [ 0.01621842 -0.00884811 0.99982932 -0.14164544] [ 0. 0. 0. 1. ]] SLAMing on 16.004553574 meters Centerline goodness [0,1] 0.8253981106612686 Centerline is valid? [False, False] Translation: X:0.65, Y:0.03, Z:-0.14 [[ 0.99959575 -0.0230347 -0.01666558 0.64538533] [ 0.02317501 0.99969717 0.00827532 0.03278878] [ 0.01646991 -0.0086582 0.99982687 -0.14190317] [ 0. 0. 0. 1. ]] SLAMing on 16.034553574 meters Centerline goodness [0,1] 0.8219063319190336 Centerline is valid? [False, False] Translation: X:0.65, Y:0.03, Z:-0.14 [[ 0.99958386 -0.0233608 -0.01692255 0.64647311] [ 0.02349721 0.99969263 0.00790759 0.03346406] [ 0.01673262 -0.00830194 0.99982553 -0.142494 ] [ 0. 0. 0. 1. ]] SLAMing on 16.064553574 meters Centerline goodness [0,1] 0.8247506066325155 Centerline is valid? [False, False] Translation: X:0.65, Y:0.03, Z:-0.14 [[ 0.99957553 -0.02359389 -0.01709056 0.64746822] [ 0.02372 0.99969261 0.00721428 0.03498121] [ 0.01691509 -0.00761661 0.99982792 -0.14374365] [ 0. 0. 0. 1. ]] SLAMing on 16.094553574 meters Centerline goodness [0,1] 0.8247506066325155 Centerline is valid? [False, False] Translation: X:0.65, Y:0.03, Z:-0.14 [[ 0.99957553 -0.02359389 -0.01709056 0.64746822] [ 0.02372 0.99969261 0.00721428 0.03498121] [ 0.01691509 -0.00761661 0.99982792 -0.14374365] [ 0. 0. 0. 1. ]] SLAMing on 16.124553574 meters Centerline goodness [0,1] 0.8197230629134639 Centerline is valid? [False, False] Translation: X:0.65, Y:0.04, Z:-0.14 [[ 0.99962631 -0.02047055 -0.01811619 0.65071366] [ 0.02066547 0.99972984 0.01063844 0.0374564 ] [ 0.01789352 -0.01100884 0.99977929 -0.14424559] [ 0. 0. 0. 1. ]] SLAMing on 16.154553574 meters Centerline goodness [0,1] 0.8236709808535672 Centerline is valid? [False, False] Translation: X:0.65, Y:0.04, Z:-0.14 [[ 0.9996737 -0.01876921 -0.01732676 0.64652565] [ 0.01895695 0.99976267 0.01073533 0.03929673] [ 0.01712115 -0.01106029 0.99979225 -0.14308691] [ 0. 0. 0. 1. ]] SLAMing on 16.184553574 meters Centerline goodness [0,1] 0.8271548965222957 Centerline is valid? [False, False] Translation: X:0.66, Y:0.04, Z:-0.15 [[ 0.99978751 -0.01678774 -0.01196234 0.66091079] [ 0.01680415 0.99985799 0.00127252 0.04126587] [ 0.01193928 -0.00147327 0.99992764 -0.14951545] [ 0. 0. 0. 1. ]] SLAMing on 16.214553574 meters Centerline goodness [0,1] 0.8056969277092382 Centerline is valid? [False, False] Translation: X:0.66, Y:0.04, Z:-0.15 [[ 0.99982979 -0.01338258 -0.01270041 0.66253532] [ 0.01346062 0.99989092 0.00607924 0.04073447] [ 0.01261767 -0.00624916 0.99990087 -0.14720155] [ 0. 0. 0. 1. ]] SLAMing on 16.244553574 meters Centerline goodness [0,1] 0.8167601925480705 Centerline is valid? [False, False] Translation: X:0.66, Y:0.04, Z:-0.15 [[ 0.99986991 -0.00945609 -0.01306697 0.66361739] [ 0.00958769 0.99990357 0.01004615 0.04230157] [ 0.01297071 -0.01017012 0.99986416 -0.14710743] [ 0. 0. 0. 1. ]] SLAMing on 16.274553574 meters Centerline goodness [0,1] 0.8287295744061018 Centerline is valid? [False, False] Translation: X:0.66, Y:0.04, Z:-0.15 [[ 0.99987746 -0.00907581 -0.01275513 0.66305432] [ 0.00919773 0.99991227 0.00953223 0.04358398] [ 0.0126675 -0.00964838 0.99987321 -0.14846697] [ 0. 0. 0. 1. ]] SLAMing on 16.304553574 meters Centerline goodness [0,1] 0.8295998518949512 Centerline is valid? [False, False] Translation: X:0.66, Y:0.04, Z:-0.15 [[ 0.99988877 -0.00849771 -0.01225717 0.66197133] [ 0.00860628 0.99992396 0.00883226 0.04487462] [ 0.01218119 -0.00893676 0.99988587 -0.15031031] [ 0. 0. 0. 1. ]] SLAMing on 16.334553574 meters Centerline goodness [0,1] 0.8276425765285944 Centerline is valid? [False, False] Translation: X:0.66, Y:0.05, Z:-0.15 [[ 0.9998887 -0.00849065 -0.01226789 0.66203639] [ 0.0085973 0.99992548 0.00866681 0.04516331] [ 0.01219339 -0.00877132 0.99988719 -0.15050871] [ 0. 0. 0. 1. ]] SLAMing on 16.364553574 meters Centerline goodness [0,1] 0.8279498836963417 Centerline is valid? [False, False] Translation: X:0.66, Y:0.05, Z:-0.15 [[ 0.99988841 -0.00850422 -0.0122822 0.66196893] [ 0.00861074 0.99992555 0.00864597 0.04520625] [ 0.01220776 -0.00875076 0.99988719 -0.15025183] [ 0. 0. 0. 1. ]] SLAMing on 16.394553574 meters Centerline goodness [0,1] 0.8303943825563592 Centerline is valid? [False, False] Translation: X:0.66, Y:0.04, Z:-0.15 [[ 0.99988491 -0.00864225 -0.01246918 0.66234065] [ 0.00875138 0.99992365 0.00872393 0.04488213] [ 0.01239283 -0.00883205 0.9998842 -0.14966578] [ 0. 0. 0. 1. ]] SLAMing on 16.424553574 meters Centerline goodness [0,1] 0.829491382045046 Centerline is valid? [False, False] Translation: X:0.66, Y:0.05, Z:-0.15 [[ 0.99988344 -0.00873107 -0.01252488 0.66271086] [ 0.00883775 0.99992493 0.00848751 0.04505631] [ 0.01244984 -0.00859721 0.99988554 -0.15011643] [ 0. 0. 0. 1. ]] SLAMing on 16.454553574 meters Centerline goodness [0,1] 0.8299942004534191 Centerline is valid? [False, False] Translation: X:0.66, Y:0.05, Z:-0.15 [[ 0.99987863 -0.00897611 -0.01273419 0.66360745] [ 0.00908038 0.99992553 0.0081536 0.04590114] [ 0.01266005 -0.00826824 0.99988567 -0.15063943] [ 0. 0. 0. 1. ]] SLAMing on 16.484553574 meters Centerline goodness [0,1] 0.825221529804633 Centerline is valid? [False, False] Translation: X:0.67, Y:0.05, Z:-0.15 [[ 0.99986892 -0.00949252 -0.01311601 0.66531003] [ 0.00959437 0.99992414 0.00772463 0.04647954] [ 0.01304169 -0.00784946 0.99988414 -0.15155558] [ 0. 0. 0. 1. ]] SLAMing on 16.514553574 meters Centerline goodness [0,1] 0.8307777426493835 Centerline is valid? [False, False] Translation: X:0.67, Y:0.05, Z:-0.15 [[ 0.99983856 -0.01105263 -0.01416655 0.66969428] [ 0.01115339 0.99991293 0.00705292 0.04678308] [ 0.01408736 -0.00720978 0.99987477 -0.15299669] [ 0. 0. 0. 1. ]] SLAMing on 16.544553574000002 meters Centerline goodness [0,1] 0.8341862305460301 Centerline is valid? [False, False] Translation: X:0.67, Y:0.05, Z:-0.15 [[ 0.99982005 -0.01189904 -0.01477444 0.67176446] [ 0.01200603 0.99990219 0.00717387 0.0461758 ] [ 0.01468763 -0.00734996 0.99986512 -0.1525358 ] [ 0. 0. 0. 1. ]] SLAMing on 16.574553574 meters Centerline goodness [0,1] 0.832587097628825 Centerline is valid? [False, False] Translation: X:0.67, Y:0.05, Z:-0.15 [[ 0.99979935 -0.01283561 -0.01537866 0.67387833] [ 0.01295037 0.99988886 0.00738587 0.0454111 ] [ 0.01528215 -0.00758355 0.99985446 -0.15181372] [ 0. 0. 0. 1. ]] SLAMing on 16.604553574 meters Centerline goodness [0,1] 0.8358343020183874 Centerline is valid? [False, False] Translation: X:0.67, Y:0.05, Z:-0.15 [[ 0.99972723 -0.01749561 -0.01547176 0.67432993] [ 0.01754745 0.99984084 0.00322107 0.04624517] [ 0.01541294 -0.00349168 0.99987512 -0.15103963] [ 0. 0. 0. 1. ]] SLAMing on 16.634553574 meters Centerline goodness [0,1] 0.8008850730052733 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:-0.15 [[ 0.9997028 -0.01836498 -0.0160324 0.67594551] [ 0.01842859 0.99982285 0.0038289 0.04536637] [ 0.01595924 -0.00412321 0.99986414 -0.14914961] [ 0. 0. 0. 1. ]] SLAMing on 16.664553574 meters Centerline goodness [0,1] 0.8190056070792697 Centerline is valid? [False, False] Translation: X:0.68, Y:0.04, Z:-0.15 [[ 0.99965801 -0.01992494 -0.01693712 0.67889997] [ 0.02000177 0.99979035 0.00437902 0.04395079] [ 0.01684632 -0.00471629 0.99984697 -0.14708416] [ 0. 0. 0. 1. ]] SLAMing on 16.694553574 meters Centerline goodness [0,1] 0.7823677581863979 Centerline is valid? [False, False] Translation: X:0.68, Y:0.04, Z:-0.15 [[ 0.99963845 -0.02048976 -0.0174109 0.6808928 ] [ 0.02056297 0.99978041 0.00403634 0.0441894 ] [ 0.01732437 -0.0043929 0.99984027 -0.14798949] [ 0. 0. 0. 1. ]] SLAMing on 16.724553574 meters Centerline goodness [0,1] 0.8163860532944451 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:-0.15 [[ 0.99962468 -0.02088214 -0.0177324 0.68256836] [ 0.02094755 0.99977441 0.00351083 0.0451949 ] [ 0.01765509 -0.00388097 0.9998366 -0.149362 ] [ 0. 0. 0. 1. ]] SLAMing on 16.754553574 meters Centerline goodness [0,1] 0.79142403388036 Centerline is valid? [False, False] Translation: X:0.69, Y:0.05, Z:-0.15 [[ 0.99965157 -0.01830655 -0.01901578 0.68748895] [ 0.01844415 0.99980478 0.00708625 0.04555408] [ 0.01888235 -0.00743451 0.99979407 -0.15072009] [ 0. 0. 0. 1. ]] SLAMing on 16.784553574 meters Centerline goodness [0,1] 0.7985921829103707 Centerline is valid? [False, False] Translation: X:0.69, Y:0.05, Z:-0.15 [[ 0.99965605 -0.01814426 -0.01893613 0.68745716] [ 0.01827688 0.99980947 0.00685441 0.04583361] [ 0.01880815 -0.00719815 0.9997972 -0.15146224] [ 0. 0. 0. 1. ]] SLAMing on 16.814553574 meters Centerline goodness [0,1] 0.8307741268199539 Centerline is valid? [False, False] Translation: X:0.70, Y:0.05, Z:-0.16 [[ 0.99977074 -0.01529757 -0.01498191 0.70382078] [ 0.0152641 0.99988074 -0.00234595 0.04601325] [ 0.01501601 0.00211673 0.99988501 -0.15850143] [ 0. 0. 0. 1. ]] SLAMing on 16.844553574 meters Centerline goodness [0,1] 0.8316455359753343 Centerline is valid? [False, False] Translation: X:0.71, Y:0.04, Z:-0.16 [[ 0.99980541 -0.01186321 -0.01576075 0.70591439] [ 0.01190119 0.99992649 0.00231828 0.04464871] [ 0.01573209 -0.0025054 0.9998731 -0.15719904] [ 0. 0. 0. 1. ]] SLAMing on 16.874553574 meters Centerline goodness [0,1] 0.8387653272466691 Centerline is valid? [False, False] Translation: X:0.70, Y:0.05, Z:-0.16 [[ 0.99982491 -0.01082725 -0.01526198 0.70395796] [ 0.01086551 0.99993803 0.00242589 0.04534662] [ 0.01523477 -0.00259129 0.99988059 -0.15733861] [ 0. 0. 0. 1. ]] SLAMing on 16.904553574 meters Centerline goodness [0,1] 0.8364641177564631 Centerline is valid? [False, False] Translation: X:0.70, Y:0.05, Z:-0.16 [[ 0.9998611 -0.00640915 -0.01538512 0.70440628] [ 0.00650908 0.99995799 0.00645407 0.04551715] [ 0.01534311 -0.00655332 0.99986081 -0.15806467] [ 0. 0. 0. 1. ]] SLAMing on 16.934553574 meters Centerline goodness [0,1] 0.8349908505052113 Centerline is valid? [False, False] Translation: X:0.70, Y:0.05, Z:-0.16 [[ 0.9998774 -0.00530855 -0.01473115 0.70245945] [ 0.00539992 0.99996639 0.00617006 0.04629203] [ 0.01469791 -0.00624886 0.99987245 -0.15929026] [ 0. 0. 0. 1. ]] SLAMing on 16.964553574 meters Centerline goodness [0,1] 0.8347752242449976 Centerline is valid? [False, False] Translation: X:0.69, Y:0.05, Z:-0.16 [[ 9.99917953e-01 -8.34155169e-04 -1.27824709e-02 6.94039754e-01] [ 9.00571603e-04 9.99986121e-01 5.19102467e-03 4.80406378e-02] [ 1.27779634e-02 -5.20211030e-03 9.99904826e-01 -1.63181274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.994553574 meters Centerline goodness [0,1] 0.833147439983004 Centerline is valid? [False, False] Translation: X:0.69, Y:0.05, Z:-0.16 [[ 9.99929872e-01 6.91049322e-04 -1.18225863e-02 6.90650340e-01] [-6.28690436e-04 9.99985876e-01 5.27745907e-03 4.88537802e-02] [ 1.18260663e-02 -5.26965623e-03 9.99916184e-01 -1.63368266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.024553574 meters Centerline goodness [0,1] 0.8321529932893027 Centerline is valid? [False, False] Translation: X:0.69, Y:0.05, Z:-0.16 [[ 0.99993862 0.00209759 -0.01087926 0.68741396] [-0.00204045 0.99998408 0.00526107 0.04985891] [ 0.01089012 -0.00523855 0.99992698 -0.16364394] [ 0. 0. 0. 1. ]] SLAMing on 17.054553574 meters Centerline goodness [0,1] 0.8319738555145203 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:-0.16 [[ 0.99994371 0.00524988 -0.00922036 0.68010158] [-0.00519274 0.99996723 0.00621074 0.05056807] [ 0.00925266 -0.00616251 0.9999382 -0.16183979] [ 0. 0. 0. 1. ]] SLAMing on 17.084553574 meters Centerline goodness [0,1] 0.8339710486179862 Centerline is valid? [False, False] Translation: X:0.67, Y:0.05, Z:-0.16 [[ 0.99994817 0.00718511 -0.00721338 0.66887714] [-0.00714877 0.99996169 0.00505033 0.04968262] [ 0.00724939 -0.00499851 0.99996123 -0.15876459] [ 0. 0. 0. 1. ]] SLAMing on 17.114553574 meters Centerline goodness [0,1] 0.8342240244917689 Centerline is valid? [False, False] Translation: X:0.67, Y:0.05, Z:-0.16 [[ 0.99994797 0.0074251 -0.00699479 0.66811555] [-0.00738829 0.9999588 0.00527349 0.04903807] [ 0.00703366 -0.00522153 0.99996163 -0.15834472] [ 0. 0. 0. 1. ]] SLAMing on 17.144553574 meters Centerline goodness [0,1] 0.8333736982320175 Centerline is valid? [False, False] Translation: X:0.67, Y:0.05, Z:-0.16 [[ 0.99994877 0.00713245 -0.00718289 0.66906832] [-0.0070948 0.99996103 0.0052538 0.04843119] [ 0.00722009 -0.00520257 0.9999604 -0.15872125] [ 0. 0. 0. 1. ]] SLAMing on 17.174553574 meters Centerline goodness [0,1] 0.8324870354364736 Centerline is valid? [False, False] Translation: X:0.67, Y:0.05, Z:-0.16 [[ 9.99971374e-01 3.87378358e-03 -6.49962437e-03 6.67823621e-01] [-3.87054317e-03 9.99992379e-01 5.11057972e-04 4.92724335e-02] [ 6.50155456e-03 -4.85886266e-04 9.99978747e-01 -1.61298880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.204553574 meters Centerline goodness [0,1] 0.8312780726827276 Centerline is valid? [False, False] Translation: X:0.67, Y:0.05, Z:-0.16 [[ 9.99979685e-01 -3.60206601e-04 -6.36394478e-03 6.68353651e-01] [ 3.38708709e-04 9.99994234e-01 -3.37883147e-03 4.65412342e-02] [ 6.36512516e-03 3.37660731e-03 9.99974042e-01 -1.62600616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.234553574 meters Centerline goodness [0,1] 0.83293444471954 Centerline is valid? [False, False] Translation: X:0.67, Y:0.04, Z:-0.16 [[ 0.99997301 -0.00422034 -0.00601426 0.66754463] [ 0.00418245 0.99997141 -0.00629933 0.04204901] [ 0.00604068 0.00627401 0.99996207 -0.16195094] [ 0. 0. 0. 1. ]] SLAMing on 17.264553574 meters Centerline goodness [0,1] 0.8304542193277775 Centerline is valid? [False, False] Translation: X:0.67, Y:0.04, Z:-0.16 [[ 0.99996565 -0.00500402 -0.00660806 0.6699488 ] [ 0.00496589 0.999971 -0.00577408 0.03965739] [ 0.00663677 0.00574106 0.9999615 -0.1618753 ] [ 0. 0. 0. 1. ]] SLAMing on 17.294553574000002 meters Centerline goodness [0,1] 0.8321218510709133 Centerline is valid? [False, False] Translation: X:0.67, Y:0.04, Z:-0.16 [[ 0.99996053 -0.00548403 -0.00699021 0.67171034] [ 0.00544605 0.99997036 -0.00544202 0.03801768] [ 0.00701984 0.00540374 0.99996076 -0.16220539] [ 0. 0. 0. 1. ]] SLAMing on 17.324553574 meters Centerline goodness [0,1] 0.8308850377777154 Centerline is valid? [False, False] Translation: X:0.67, Y:0.03, Z:-0.16 [[ 0.99995682 -0.00583661 -0.00723181 0.67307349] [ 0.00580189 0.99997159 -0.00481314 0.03412862] [ 0.0072597 0.00477097 0.99996227 -0.16256785] [ 0. 0. 0. 1. ]] SLAMing on 17.354553574 meters Centerline goodness [0,1] 0.8252743243622485 Centerline is valid? [False, False] Translation: X:0.67, Y:0.03, Z:-0.16 [[ 0.99996144 -0.00533112 -0.00697889 0.67231463] [ 0.00530559 0.99997918 -0.00367202 0.03057521] [ 0.00699832 0.00363486 0.99996891 -0.16197824] [ 0. 0. 0. 1. ]] SLAMing on 17.384553574 meters Centerline goodness [0,1] 0.8255813953488372 Centerline is valid? [False, False] Translation: X:0.67, Y:0.03, Z:-0.16 [[ 0.99996144 -0.00529941 -0.00700241 0.67280715] [ 0.00527467 0.9999798 -0.00354572 0.02942521] [ 0.00702106 0.00350865 0.9999692 -0.16275872] [ 0. 0. 0. 1. ]] SLAMing on 17.414553574 meters Centerline goodness [0,1] 0.8211418626845562 Centerline is valid? [False, False] Translation: X:0.67, Y:0.03, Z:-0.16 [[ 0.99996064 -0.00531351 -0.00710476 0.67359034] [ 0.00528992 0.99998045 -0.00333492 0.02830349] [ 0.00712234 0.00329721 0.9999692 -0.16340979] [ 0. 0. 0. 1. ]] SLAMing on 17.444553574 meters Centerline goodness [0,1] 0.8223326036931021 Centerline is valid? [False, False] Translation: X:0.67, Y:0.03, Z:-0.16 [[ 0.99995976 -0.00536176 -0.00719303 0.67435436] [ 0.00533894 0.99998067 -0.00318729 0.02696778] [ 0.00720998 0.00314876 0.99996905 -0.1641422 ] [ 0. 0. 0. 1. ]] SLAMing on 17.474553574 meters Centerline goodness [0,1] 0.8195638734333727 Centerline is valid? [False, False] Translation: X:0.68, Y:0.02, Z:-0.17 [[ 0.9999545 -0.00581458 -0.00756238 0.67652883] [ 0.00579301 0.9999791 -0.0028706 0.02408988] [ 0.00757892 0.00282666 0.99996728 -0.16542015] [ 0. 0. 0. 1. ]] SLAMing on 17.504553574 meters Centerline goodness [0,1] 0.8183224572457246 Centerline is valid? [False, False] Translation: X:0.68, Y:0.02, Z:-0.17 [[ 0.99993581 -0.00741785 -0.0085648 0.68099547] [ 0.00739867 0.99997006 -0.00226885 0.02074174] [ 0.00858137 0.00220534 0.99996075 -0.16532673] [ 0. 0. 0. 1. ]] SLAMing on 17.534553574 meters Centerline goodness [0,1] 0.8178673865361903 Centerline is valid? [False, False] Translation: X:0.68, Y:0.02, Z:-0.16 [[ 0.99993767 -0.00721141 -0.00852406 0.68025738] [ 0.00719738 0.99997269 -0.00167585 0.0204088 ] [ 0.00853592 0.0016144 0.99996227 -0.16367081] [ 0. 0. 0. 1. ]] SLAMing on 17.564553574 meters Centerline goodness [0,1] 0.8151914379617405 Centerline is valid? [False, False] Translation: X:0.68, Y:0.02, Z:-0.16 [[ 0.99993562 -0.00736003 -0.00863655 0.68040047] [ 0.00734967 0.99997223 -0.00123106 0.02039333] [ 0.00864537 0.00116751 0.99996195 -0.16221926] [ 0. 0. 0. 1. ]] SLAMing on 17.594553574 meters Centerline goodness [0,1] 0.8183217213688128 Centerline is valid? [False, False] Translation: X:0.68, Y:0.02, Z:-0.16 [[ 9.99917541e-01 -8.64444030e-03 -9.49661091e-03 6.83329362e-01] [ 8.64263927e-03 9.99962625e-01 -2.30672818e-04 2.04012171e-02] [ 9.49825002e-03 1.48578015e-04 9.99954880e-01 -1.59160491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.624553574 meters Centerline goodness [0,1] 0.8201702795048451 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.16 [[ 9.99893068e-01 -1.01711123e-02 -1.05071974e-02 6.87320432e-01] [ 1.01687418e-02 9.99948258e-01 -2.79006508e-04 2.04134439e-02] [ 1.05094916e-02 1.72131695e-04 9.99944759e-01 -1.59010992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.654553574 meters Centerline goodness [0,1] 0.8221505677835412 Centerline is valid? [False, False] Translation: X:0.70, Y:0.02, Z:-0.16 [[ 9.99773710e-01 -1.69826037e-02 -1.28109121e-02 7.01100961e-01] [ 1.69727840e-02 9.99855569e-01 -8.74853846e-04 1.97665476e-02] [ 1.28239191e-02 6.57219033e-04 9.99917554e-01 -1.58102256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.684553574 meters Centerline goodness [0,1] 0.8183219802091217 Centerline is valid? [False, False] Translation: X:0.71, Y:0.02, Z:-0.16 [[ 9.99705039e-01 -1.96162402e-02 -1.43191543e-02 7.07453049e-01] [ 1.96092628e-02 9.99807523e-01 -6.27529708e-04 1.86795745e-02] [ 1.43287080e-02 3.46556551e-04 9.99897279e-01 -1.57268420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.714553574 meters Centerline goodness [0,1] 0.8054358541050557 Centerline is valid? [False, False] Translation: X:0.71, Y:0.02, Z:-0.15 [[ 0.99951006 -0.0269664 -0.01588847 0.71462439] [ 0.02691064 0.99963095 -0.00371335 0.01722681] [ 0.01598274 0.00328397 0.99986687 -0.15439982] [ 0. 0. 0. 1. ]] SLAMing on 17.744553574 meters Centerline goodness [0,1] 0.8189528854824166 Centerline is valid? [False, False] Translation: X:0.72, Y:0.02, Z:-0.15 [[ 0.99943428 -0.02891976 -0.01716874 0.71925743] [ 0.02887193 0.99957853 -0.00302747 0.01625921] [ 0.01724906 0.00253006 0.99984802 -0.15222474] [ 0. 0. 0. 1. ]] SLAMing on 17.774553574 meters Centerline goodness [0,1] 0.8293219097006933 Centerline is valid? [False, False] Translation: X:0.72, Y:0.02, Z:-0.15 [[ 0.99937379 -0.03035445 -0.01818326 0.72305181] [ 0.03030321 0.99953599 -0.00308712 0.01621232] [ 0.01826853 0.00253417 0.9998299 -0.15185297] [ 0. 0. 0. 1. ]] SLAMing on 17.804553574 meters Centerline goodness [0,1] 0.8256294837529892 Centerline is valid? [False, False] Translation: X:0.73, Y:0.02, Z:-0.15 [[ 9.99285009e-01 -3.16683691e-02 -2.06539548e-02 7.34913801e-01] [ 3.16782653e-02 9.99498106e-01 1.52061754e-04 1.71188722e-02] [ 2.06387732e-02 -8.06234490e-04 9.99786673e-01 -1.51249132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.834553574 meters Centerline goodness [0,1] 0.8048144095614848 Centerline is valid? [False, False] Translation: X:0.74, Y:0.02, Z:-0.15 [[ 0.99928943 -0.03021092 -0.02253728 0.7413665 ] [ 0.03031854 0.99953039 0.00444882 0.01705281] [ 0.02239229 -0.00512896 0.9997361 -0.14963355] [ 0. 0. 0. 1. ]] SLAMing on 17.864553574 meters Centerline goodness [0,1] 0.8295403837572513 Centerline is valid? [False, False] Translation: X:0.75, Y:0.02, Z:-0.15 [[ 0.99930664 -0.0282503 -0.02425193 0.7468041 ] [ 0.02846006 0.99956007 0.00834804 0.01884565] [ 0.02400543 -0.00903247 0.99967102 -0.14841844] [ 0. 0. 0. 1. ]] SLAMing on 17.894553574 meters Centerline goodness [0,1] 0.8268850449848193 Centerline is valid? [False, False] Translation: X:0.75, Y:0.02, Z:-0.15 [[ 0.99931246 -0.02803291 -0.02426441 0.74676808] [ 0.02822913 0.99957118 0.00778237 0.02112927] [ 0.02403584 -0.00846198 0.99967528 -0.14922189] [ 0. 0. 0. 1. ]] SLAMing on 17.924553574 meters Centerline goodness [0,1] 0.8277928852877519 Centerline is valid? [False, False] Translation: X:0.75, Y:0.02, Z:-0.15 [[ 0.99931903 -0.02779021 -0.02427299 0.74677242] [ 0.02797282 0.99958263 0.00721654 0.02363938] [ 0.02406231 -0.00789061 0.99967932 -0.15002921] [ 0. 0. 0. 1. ]] SLAMing on 17.954553574 meters Centerline goodness [0,1] 0.829387417218543 Centerline is valid? [False, False] Translation: X:0.75, Y:0.03, Z:-0.15 [[ 0.99937973 -0.02453056 -0.02526653 0.74899426] [ 0.02481647 0.99963079 0.01106496 0.02629488] [ 0.02498577 -0.01168513 0.99961951 -0.14866303] [ 0. 0. 0. 1. ]] SLAMing on 17.984553574 meters Centerline goodness [0,1] 0.829387417218543 Centerline is valid? [False, False] Translation: X:0.75, Y:0.03, Z:-0.15 [[ 0.99937973 -0.02453056 -0.02526653 0.74899426] [ 0.02481647 0.99963079 0.01106496 0.02629488] [ 0.02498577 -0.01168513 0.99961951 -0.14866303] [ 0. 0. 0. 1. ]] SLAMing on 18.014553574 meters Centerline goodness [0,1] 0.8281451768002858 Centerline is valid? [False, False] Translation: X:0.75, Y:0.03, Z:-0.15 [[ 0.99939794 -0.02408551 -0.02497297 0.74793335] [ 0.02435237 0.99964895 0.01043751 0.0286397 ] [ 0.02471281 -0.01103938 0.99963364 -0.14928242] [ 0. 0. 0. 1. ]] SLAMing on 18.044553574 meters Centerline goodness [0,1] 0.8282844867690118 Centerline is valid? [False, False] Translation: X:0.74, Y:0.03, Z:-0.15 [[ 0.99945639 -0.02221545 -0.02435973 0.74430352] [ 0.02246494 0.99969745 0.01001664 0.03347726] [ 0.02412983 -0.01055844 0.99965308 -0.14936556] [ 0. 0. 0. 1. ]] SLAMing on 18.074553574 meters Centerline goodness [0,1] 0.8266917600850994 Centerline is valid? [False, False] Translation: X:0.74, Y:0.04, Z:-0.15 [[ 0.99948661 -0.02132343 -0.02391293 0.74239524] [ 0.0215519 0.99972412 0.00933776 0.03682021] [ 0.02370722 -0.00984834 0.99967043 -0.15007274] [ 0. 0. 0. 1. ]] SLAMing on 18.104553574 meters Centerline goodness [0,1] 0.8283807877248905 Centerline is valid? [False, False] Translation: X:0.76, Y:0.04, Z:-0.16 [[ 0.99967965 -0.01633119 -0.01933603 0.76030043] [ 0.01640711 0.99985827 0.00377396 0.04281779] [ 0.01927166 -0.00409 0.99980592 -0.1560039 ] [ 0. 0. 0. 1. ]] SLAMing on 18.134553574 meters Centerline goodness [0,1] 0.8218989528230595 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:-0.16 [[ 0.99971124 -0.0151061 -0.01868822 0.75746328] [ 0.01517722 0.99987808 0.00366981 0.04518537] [ 0.0186305 -0.00395238 0.99981863 -0.1556257 ] [ 0. 0. 0. 1. ]] SLAMing on 18.164553574 meters Centerline goodness [0,1] 0.8263251168036088 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:-0.15 [[ 0.99977547 -0.01033957 -0.01849612 0.75537257] [ 0.010491 0.99991209 0.00810892 0.04742516] [ 0.01841065 -0.00830114 0.99979605 -0.15301864] [ 0. 0. 0. 1. ]] SLAMing on 18.194553574 meters Centerline goodness [0,1] 0.8198128134302342 Centerline is valid? [False, False] Translation: X:0.75, Y:0.05, Z:-0.15 [[ 0.9997869 -0.00979475 -0.01817209 0.75420741] [ 0.0099341 0.99992182 0.00759424 0.04944806] [ 0.01809629 -0.00777315 0.99980603 -0.15360634] [ 0. 0. 0. 1. ]] SLAMing on 18.224553574 meters Centerline goodness [0,1] 0.8274024687391223 Centerline is valid? [False, False] Translation: X:0.75, Y:0.05, Z:-0.15 [[ 0.99979317 -0.00946766 -0.01799947 0.75365674] [ 0.00959916 0.99992777 0.00723316 0.05126739] [ 0.01792969 -0.00740444 0.99981183 -0.15405022] [ 0. 0. 0. 1. ]] SLAMing on 18.254553574 meters Centerline goodness [0,1] 0.8235670658522924 Centerline is valid? [False, False] Translation: X:0.75, Y:0.05, Z:-0.16 [[ 0.99980153 -0.00899722 -0.01777487 0.75288992] [ 0.00911404 0.99993732 0.00650243 0.0542588 ] [ 0.01771525 -0.00666314 0.99982087 -0.1550691 ] [ 0. 0. 0. 1. ]] SLAMing on 18.284553574 meters Centerline goodness [0,1] 0.8218878977499667 Centerline is valid? [False, False] Translation: X:0.75, Y:0.06, Z:-0.16 [[ 0.99980262 -0.00891198 -0.01775674 0.75275628] [ 0.00902655 0.99993889 0.00638297 0.05518063] [ 0.01769877 -0.00654199 0.99982196 -0.15501223] [ 0. 0. 0. 1. ]] SLAMing on 18.314553574 meters Centerline goodness [0,1] 0.815203774288989 Centerline is valid? [False, False] Translation: X:0.75, Y:0.06, Z:-0.15 [[ 0.99979522 -0.00929893 -0.01797356 0.75353581] [ 0.00941262 0.99993616 0.0062513 0.05563869] [ 0.01791428 -0.0064192 0.99981892 -0.15476946] [ 0. 0. 0. 1. ]] SLAMing on 18.344553574 meters Centerline goodness [0,1] 0.8153854341289481 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.16 [[ 0.99978104 -0.00990766 -0.01843149 0.75529434] [ 0.01002091 0.99993141 0.00606233 0.05569173] [ 0.01837016 -0.0062457 0.99981175 -0.15507051] [ 0. 0. 0. 1. ]] SLAMing on 18.374553574 meters Centerline goodness [0,1] 0.8245581345826235 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.16 [[ 0.99976981 -0.01037207 -0.01878174 0.75670698] [ 0.01048205 0.99992843 0.00576668 0.0561413 ] [ 0.01872058 -0.00596223 0.99980698 -0.15557287] [ 0. 0. 0. 1. ]] SLAMing on 18.404553574 meters Centerline goodness [0,1] 0.8253875557443193 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.16 [[ 0.99975588 -0.01095369 -0.01918845 0.75815701] [ 0.01106077 0.99992379 0.00548372 0.0574855 ] [ 0.01912692 -0.00569462 0.99980085 -0.15553849] [ 0. 0. 0. 1. ]] SLAMing on 18.434553574 meters Centerline goodness [0,1] 0.8251010208421948 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.15 [[ 0.99974793 -0.01122228 -0.01944576 0.7587686 ] [ 0.01133438 0.99991972 0.00566411 0.05747814] [ 0.01938064 -0.00588309 0.99979487 -0.15481423] [ 0. 0. 0. 1. ]] SLAMing on 18.464553574 meters Centerline goodness [0,1] 0.8247343251859723 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.15 [[ 0.99971741 -0.01239168 -0.02028654 0.76188712] [ 0.01250781 0.99990605 0.00560772 0.05649851] [ 0.02021515 -0.00585987 0.99977848 -0.15494004] [ 0. 0. 0. 1. ]] SLAMing on 18.494553574 meters Centerline goodness [0,1] 0.8295807144562017 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.16 [[ 0.99969923 -0.01301517 -0.02078586 0.76388114] [ 0.01312872 0.99989958 0.0053357 0.05670037] [ 0.02071432 -0.00560698 0.99976971 -0.15562304] [ 0. 0. 0. 1. ]] SLAMing on 18.524553574 meters Centerline goodness [0,1] 0.8300911692992685 Centerline is valid? [False, False] Translation: X:0.77, Y:0.06, Z:-0.16 [[ 0.99968189 -0.0135974 -0.02124209 0.76597989] [ 0.01370206 0.99989465 0.00478908 0.05763177] [ 0.02117473 -0.00507862 0.99976289 -0.15693591] [ 0. 0. 0. 1. ]] SLAMing on 18.554553574 meters Centerline goodness [0,1] 0.8269956458635703 Centerline is valid? [False, False] Translation: X:0.77, Y:0.06, Z:-0.16 [[ 0.99967621 -0.01367196 -0.02146058 0.76699316] [ 0.01376405 0.99989666 0.00414955 0.06005571] [ 0.02140163 -0.00444359 0.99976108 -0.15817268] [ 0. 0. 0. 1. ]] SLAMing on 18.584553574 meters Centerline goodness [0,1] 0.8273187717632162 Centerline is valid? [False, False] Translation: X:0.77, Y:0.06, Z:-0.16 [[ 0.99968036 -0.0135466 -0.02134628 0.76647607] [ 0.01363875 0.99989826 0.00417725 0.06030213] [ 0.02128752 -0.00446705 0.99976342 -0.15769972] [ 0. 0. 0. 1. ]] SLAMing on 18.614553574 meters Centerline goodness [0,1] 0.8294430199053636 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.16 [[ 0.99969205 -0.01312361 -0.02106134 0.76481001] [ 0.01323035 0.99990029 0.00493674 0.05930333] [ 0.02099445 -0.00521387 0.999766 -0.15572178] [ 0. 0. 0. 1. ]] SLAMing on 18.644553574 meters Centerline goodness [0,1] 0.8342402789518174 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.15 [[ 0.9996906 -0.013168 -0.02110216 0.76446697] [ 0.01328537 0.99989699 0.00543143 0.05851709] [ 0.02102846 -0.0057101 0.99976257 -0.15415952] [ 0. 0. 0. 1. ]] SLAMing on 18.674553574 meters Centerline goodness [0,1] 0.8279527351374163 Centerline is valid? [False, False] Translation: X:0.77, Y:0.06, Z:-0.16 [[ 0.99967343 -0.01371241 -0.02156393 0.76648849] [ 0.01382315 0.99989198 0.00499473 0.05910697] [ 0.02149311 -0.00529118 0.99975499 -0.15530538] [ 0. 0. 0. 1. ]] SLAMing on 18.704553574 meters Centerline goodness [0,1] 0.8314293235061858 Centerline is valid? [False, False] Translation: X:0.77, Y:0.06, Z:-0.16 [[ 0.99964129 -0.0147375 -0.02236297 0.77008711] [ 0.01483318 0.9998815 0.00411859 0.06027664] [ 0.02229963 -0.00444882 0.99974143 -0.15758462] [ 0. 0. 0. 1. ]] SLAMing on 18.734553574 meters Centerline goodness [0,1] 0.8342678143673169 Centerline is valid? [False, False] Translation: X:0.77, Y:0.06, Z:-0.16 [[ 0.99962987 -0.01506177 -0.02265555 0.77131567] [ 0.01515478 0.9998774 0.00393921 0.06063805] [ 0.02259344 -0.0042811 0.99973557 -0.15809788] [ 0. 0. 0. 1. ]] SLAMing on 18.764553574 meters Centerline goodness [0,1] 0.8300079176563737 Centerline is valid? [False, False] Translation: X:0.77, Y:0.06, Z:-0.16 [[ 0.99960426 -0.01586927 -0.02322678 0.7734745 ] [ 0.01596333 0.99986509 0.00386964 0.05999899] [ 0.02316224 -0.00423889 0.99972273 -0.15823434] [ 0. 0. 0. 1. ]] SLAMing on 18.794553574 meters Centerline goodness [0,1] 0.8335800771955797 Centerline is valid? [False, False] Translation: X:0.77, Y:0.06, Z:-0.16 [[ 0.99959469 -0.01616021 -0.02343731 0.77393482] [ 0.01626387 0.99985875 0.00423932 0.05892339] [ 0.02336549 -0.00461879 0.99971632 -0.15730469] [ 0. 0. 0. 1. ]] SLAMing on 18.824553574 meters Centerline goodness [0,1] 0.836415588538773 Centerline is valid? [False, False] Translation: X:0.77, Y:0.06, Z:-0.16 [[ 0.99957871 -0.01669466 -0.02374198 0.77486678] [ 0.01680688 0.99984847 0.00453468 0.05820457] [ 0.02366268 -0.0049318 0.99970783 -0.15629134] [ 0. 0. 0. 1. ]] SLAMing on 18.854553574 meters Centerline goodness [0,1] 0.8388214446295855 Centerline is valid? [False, False] Translation: X:0.78, Y:0.06, Z:-0.16 [[ 0.99956856 -0.01700291 -0.02394972 0.77599172] [ 0.0171068 0.9998451 0.00413969 0.05884416] [ 0.02387563 -0.00454761 0.99970459 -0.15719872] [ 0. 0. 0. 1. ]] SLAMing on 18.884553574 meters Centerline goodness [0,1] 0.8240659950820972 Centerline is valid? [False, False] Translation: X:0.78, Y:0.06, Z:-0.16 [[ 0.99955773 -0.01727608 -0.02420508 0.7771196 ] [ 0.01737489 0.99984152 0.00387791 0.05956078] [ 0.02413425 -0.00429676 0.99969949 -0.15778045] [ 0. 0. 0. 1. ]] SLAMing on 18.914553574 meters Centerline goodness [0,1] 0.8381810950550179 Centerline is valid? [False, False] Translation: X:0.78, Y:0.06, Z:-0.16 [[ 0.99955409 -0.01737249 -0.0242863 0.77739784] [ 0.01747234 0.99983972 0.00390534 0.05948687] [ 0.02421456 -0.00432794 0.99969742 -0.1575929 ] [ 0. 0. 0. 1. ]] SLAMing on 18.944553574 meters Centerline goodness [0,1] 0.83645443196005 Centerline is valid? [False, False] Translation: X:0.78, Y:0.06, Z:-0.16 [[ 0.99955387 -0.01737765 -0.02429142 0.7775127 ] [ 0.01747404 0.99984024 0.0037615 0.06014601] [ 0.02422218 -0.00418429 0.99969784 -0.15771636] [ 0. 0. 0. 1. ]] SLAMing on 18.974553574 meters Centerline goodness [0,1] 0.8140035048590091 Centerline is valid? [False, False] Translation: X:0.78, Y:0.06, Z:-0.16 [[ 0.99953916 -0.01581659 -0.02590945 0.78357898] [ 0.0160094 0.99984555 0.00725128 0.06085372] [ 0.02579076 -0.00766274 0.99963799 -0.15771774] [ 0. 0. 0. 1. ]] SLAMing on 19.004553574 meters Centerline goodness [0,1] 0.8326713406019246 Centerline is valid? [False, False] Translation: X:0.79, Y:0.06, Z:-0.16 [[ 0.99951837 -0.01642139 -0.02633173 0.78520016] [ 0.01661149 0.9998374 0.00701698 0.06109077] [ 0.02621222 -0.00745101 0.99962863 -0.15795895] [ 0. 0. 0. 1. ]] SLAMing on 19.034553574 meters Centerline goodness [0,1] 0.823166002513974 Centerline is valid? [False, False] Translation: X:0.79, Y:0.06, Z:-0.16 [[ 0.99945053 -0.01861703 -0.02742344 0.78966942] [ 0.01879925 0.99980278 0.00640199 0.06043468] [ 0.02729884 -0.00691401 0.99960341 -0.158178 ] [ 0. 0. 0. 1. ]] SLAMing on 19.064553574 meters Centerline goodness [0,1] 0.8239800701829578 Centerline is valid? [False, False] Translation: X:0.79, Y:0.06, Z:-0.16 [[ 0.99942049 -0.0194814 -0.0279135 0.79160765] [ 0.01965973 0.99978795 0.00612848 0.06077036] [ 0.02778819 -0.0066737 0.99959156 -0.15819146] [ 0. 0. 0. 1. ]] SLAMing on 19.094553574 meters Centerline goodness [0,1] 0.8098352777851937 Centerline is valid? [False, False] Translation: X:0.79, Y:0.06, Z:-0.16 [[ 0.99939675 -0.02016554 -0.02827505 0.7931284 ] [ 0.02034196 0.99977528 0.0059657 0.06141694] [ 0.0281484 -0.00653727 0.99958238 -0.15800049] [ 0. 0. 0. 1. ]] SLAMing on 19.124553574 meters Centerline goodness [0,1] 0.8266119359223818 Centerline is valid? [False, False] Translation: X:0.80, Y:0.06, Z:-0.16 [[ 0.99936384 -0.02101858 -0.02881203 0.79500107] [ 0.02118256 0.99976105 0.00539799 0.06403023] [ 0.02869169 -0.00600487 0.99957027 -0.15798168] [ 0. 0. 0. 1. ]] SLAMing on 19.154553574 meters Centerline goodness [0,1] 0.808725994193325 Centerline is valid? [False, False] Translation: X:0.80, Y:0.07, Z:-0.16 [[ 0.99935835 -0.02110104 -0.02894192 0.79540666] [ 0.02125715 0.99976105 0.0050966 0.06552164] [ 0.02882746 -0.00570855 0.9995681 -0.15809155] [ 0. 0. 0. 1. ]] SLAMing on 19.184553574 meters Centerline goodness [0,1] 0.790024646860838 Centerline is valid? [False, False] Translation: X:0.80, Y:0.07, Z:-0.16 [[ 0.99936567 -0.01879255 -0.03025055 0.79983381] [ 0.01904947 0.99978469 0.00822736 0.06753555] [ 0.03008942 -0.0087984 0.99950849 -0.15832395] [ 0. 0. 0. 1. ]] SLAMing on 19.214553574 meters Centerline goodness [0,1] 0.7914529010419421 Centerline is valid? [False, False] Translation: X:0.80, Y:0.07, Z:-0.16 [[ 0.9993727 -0.01854024 -0.030174 0.79968264] [ 0.01877557 0.99979533 0.00753445 0.0698618 ] [ 0.03002814 -0.00809625 0.99951626 -0.15930056] [ 0. 0. 0. 1. ]] SLAMing on 19.244553574 meters Centerline goodness [0,1] 0.7829810783745322 Centerline is valid? [False, False] Translation: X:0.80, Y:0.07, Z:-0.16 [[ 0.99938597 -0.01804331 -0.03003546 0.79917513] [ 0.0182594 0.99980923 0.00693583 0.07274979] [ 0.02990458 -0.00748 0.99952477 -0.16008814] [ 0. 0. 0. 1. ]] SLAMing on 19.274553574 meters Centerline goodness [0,1] 0.8161591894291533 Centerline is valid? [False, False] Translation: X:0.80, Y:0.08, Z:-0.16 [[ 0.99943367 -0.0141987 -0.03050799 0.80028246] [ 0.0145093 0.99984489 0.00998402 0.07750769] [ 0.0303615 -0.01042102 0.99948466 -0.16019557] [ 0. 0. 0. 1. ]] SLAMing on 19.304553574 meters Centerline goodness [0,1] 0.8184277613027418 Centerline is valid? [False, False] Translation: X:0.80, Y:0.08, Z:-0.16 [[ 0.99944857 -0.01363063 -0.03027811 0.79931946] [ 0.01392135 0.9998588 0.00941172 0.08008142] [ 0.03014555 -0.00982804 0.9994972 -0.16067288] [ 0. 0. 0. 1. ]] SLAMing on 19.334553574 meters Centerline goodness [0,1] 0.8170245795601552 Centerline is valid? [False, False] Translation: X:0.82, Y:0.08, Z:-0.17 [[ 0.99961 -0.00999617 -0.02607551 0.81762602] [ 0.0100673 0.99994595 0.00259806 0.08493988] [ 0.02604813 -0.00285955 0.9996566 -0.166734 ] [ 0. 0. 0. 1. ]] SLAMing on 19.364553574 meters Centerline goodness [0,1] 0.8102131392888476 Centerline is valid? [False, False] Translation: X:0.82, Y:0.09, Z:-0.17 [[ 0.99962309 -0.00933787 -0.02581626 0.8165367 ] [ 0.00939904 0.9999533 0.0022488 0.08725616] [ 0.02579405 -0.0024906 0.99966418 -0.16698418] [ 0. 0. 0. 1. ]] SLAMing on 19.394553574 meters Centerline goodness [0,1] 0.8114027195846079 Centerline is valid? [False, False] Translation: X:0.82, Y:0.09, Z:-0.17 [[ 0.99964878 -0.00526248 -0.02597364 0.81673587] [ 0.00541746 0.99996792 0.00589999 0.08971608] [ 0.02594176 -0.00603863 0.99964522 -0.16651655] [ 0. 0. 0. 1. ]] SLAMing on 19.424553574 meters Centerline goodness [0,1] 0.8089397516165452 Centerline is valid? [False, False] Translation: X:0.82, Y:0.09, Z:-0.17 [[ 0.9996418 -0.00207796 -0.02668248 0.81920286] [ 0.00233599 0.99995078 0.00964285 0.09055018] [ 0.02666113 -0.00970173 0.99959745 -0.16641991] [ 0. 0. 0. 1. ]] SLAMing on 19.454553574 meters Centerline goodness [0,1] 0.8106848332735748 Centerline is valid? [False, False] Translation: X:0.82, Y:0.09, Z:-0.17 [[ 9.99622289e-01 9.43371602e-04 -2.74661444e-02 8.22215578e-01] [-5.80402684e-04 9.99912442e-01 1.32201133e-02 9.15012880e-02] [ 2.74762110e-02 -1.31991785e-02 9.99535312e-01 -1.66814646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.484553574 meters Centerline goodness [0,1] 0.7981395824282538 Centerline is valid? [False, False] Translation: X:0.84, Y:0.09, Z:-0.17 [[ 0.99974756 0.00315746 -0.02224524 0.8409971 ] [-0.00301292 0.99997415 0.0065282 0.09476064] [ 0.02226527 -0.00645953 0.99973123 -0.1731708 ] [ 0. 0. 0. 1. ]] SLAMing on 19.514553574 meters Centerline goodness [0,1] 0.8067647659922338 Centerline is valid? [False, False] Translation: X:0.84, Y:0.10, Z:-0.17 [[ 0.99974647 0.00308672 -0.0223041 0.84122111] [-0.00294803 0.99997613 0.00624842 0.09547521] [ 0.02232285 -0.00618108 0.99973171 -0.17334709] [ 0. 0. 0. 1. ]] SLAMing on 19.544553574 meters Centerline goodness [0,1] 0.8049407869603973 Centerline is valid? [False, False] Translation: X:0.84, Y:0.10, Z:-0.17 [[ 0.99974 0.00275151 -0.02263522 0.84232812] [-0.00262502 0.99998078 0.00561611 0.09746676] [ 0.02265024 -0.00555523 0.99972802 -0.17368767] [ 0. 0. 0. 1. ]] SLAMing on 19.574553574 meters Centerline goodness [0,1] 0.8028794880910061 Centerline is valid? [False, False] Translation: X:0.84, Y:0.10, Z:-0.17 [[ 0.99973682 0.00256373 -0.02279723 0.84302352] [-0.00244643 0.99998363 0.00517165 0.09867593] [ 0.02281011 -0.00511452 0.99972673 -0.1741985 ] [ 0. 0. 0. 1. ]] SLAMing on 19.604553574 meters Centerline goodness [0,1] 0.802464430894309 Centerline is valid? [False, False] Translation: X:0.84, Y:0.10, Z:-0.17 [[ 0.99973561 0.00252805 -0.02285437 0.84314082] [-0.00241519 0.99998476 0.00496452 0.09978392] [ 0.02286658 -0.00490801 0.99972648 -0.17406905] [ 0. 0. 0. 1. ]] SLAMing on 19.634553574 meters Centerline goodness [0,1] 0.8059236362715042 Centerline is valid? [False, False] Translation: X:0.84, Y:0.10, Z:-0.17 [[ 0.9997328 0.00242653 -0.02298778 0.84370156] [-0.0023246 0.99998735 0.00445975 0.10166064] [ 0.02299831 -0.00440513 0.9997258 -0.17449094] [ 0. 0. 0. 1. ]] SLAMing on 19.664553574 meters Centerline goodness [0,1] 0.8006675601183402 Centerline is valid? [False, False] Translation: X:0.84, Y:0.10, Z:-0.18 [[ 0.99972826 0.00220002 -0.02320717 0.84474391] [-0.00210796 0.99998982 0.00399062 0.10285799] [ 0.02321571 -0.00394061 0.99972271 -0.17535276] [ 0. 0. 0. 1. ]] SLAMing on 19.694553574 meters Centerline goodness [0,1] 0.8061375927556282 Centerline is valid? [False, False] Translation: X:0.84, Y:0.11, Z:-0.18 [[ 0.99988972 -0.0017136 -0.01475177 0.83663055] [ 0.00179203 0.99998432 0.00530509 0.10693364] [ 0.01474245 -0.00533094 0.99987711 -0.18186664] [ 0. 0. 0. 1. ]] SLAMing on 19.724553574 meters Centerline goodness [0,1] 0.8024483857210948 Centerline is valid? [False, False] Translation: X:0.84, Y:0.11, Z:-0.18 [[ 0.99988457 -0.00215759 -0.01503976 0.83772601] [ 0.00223298 0.99998502 0.0049976 0.10786699] [ 0.01502875 -0.00503061 0.99987441 -0.18205703] [ 0. 0. 0. 1. ]] SLAMing on 19.754553574 meters Centerline goodness [0,1] 0.8021496216866262 Centerline is valid? [False, False] Translation: X:0.84, Y:0.11, Z:-0.18 [[ 0.99987956 -0.00261082 -0.01529837 0.83868898] [ 0.00268454 0.99998487 0.00480035 0.10848358] [ 0.01528561 -0.00484084 0.99987145 -0.18202602] [ 0. 0. 0. 1. ]] SLAMing on 19.784553574 meters Centerline goodness [0,1] 0.8068882839231749 Centerline is valid? [False, False] Translation: X:0.84, Y:0.11, Z:-0.18 [[ 0.99987019 -0.0034052 -0.01574808 0.83995163] [ 0.00347506 0.99998423 0.00441108 0.11001129] [ 0.01573281 -0.00446523 0.99986626 -0.18133703] [ 0. 0. 0. 1. ]] SLAMing on 19.814553574 meters Centerline goodness [0,1] 0.8059255570770572 Centerline is valid? [False, False] Translation: X:0.84, Y:0.11, Z:-0.18 [[ 0.99986929 -0.00348036 -0.0157889 0.84009583] [ 0.00354499 0.99998545 0.00406713 0.11146489] [ 0.01577452 -0.00412257 0.99986708 -0.18133954] [ 0. 0. 0. 1. ]] SLAMing on 19.844553574 meters Centerline goodness [0,1] 0.8089118453896151 Centerline is valid? [False, False] Translation: X:0.84, Y:0.12, Z:-0.18 [[ 0.99986867 -0.00331509 -0.01586379 0.84016656] [ 0.00336753 0.99998895 0.00328014 0.11618143] [ 0.01585275 -0.00333313 0.99986878 -0.18147926] [ 0. 0. 0. 1. ]] SLAMing on 19.874553574 meters Centerline goodness [0,1] 0.8108662351139002 Centerline is valid? [False, False] Translation: X:0.84, Y:0.12, Z:-0.18 [[ 0.99987065 -0.00312966 -0.01577619 0.83990417] [ 0.00317502 0.9999909 0.00285088 0.11859141] [ 0.01576712 -0.0029006 0.99987148 -0.18161197] [ 0. 0. 0. 1. ]] SLAMing on 19.904553574 meters Centerline goodness [0,1] 0.8108662351139002 Centerline is valid? [False, False] Translation: X:0.84, Y:0.12, Z:-0.18 [[ 0.99987065 -0.00312966 -0.01577619 0.83990417] [ 0.00317502 0.9999909 0.00285088 0.11859141] [ 0.01576712 -0.0029006 0.99987148 -0.18161197] [ 0. 0. 0. 1. ]] SLAMing on 19.934553574 meters Centerline goodness [0,1] 0.8110741971207087 Centerline is valid? [False, False] Translation: X:0.84, Y:0.12, Z:-0.18 [[ 0.99987181 -0.00303983 -0.01571993 0.83963125] [ 0.00308051 0.99999197 0.00256475 0.12031704] [ 0.01571201 -0.00261284 0.99987314 -0.18141429] [ 0. 0. 0. 1. ]] SLAMing on 19.964553574 meters Centerline goodness [0,1] 0.8111408046681541 Centerline is valid? [False, False] Translation: X:0.84, Y:0.12, Z:-0.18 [[ 0.99988145 -0.00244076 -0.01520311 0.83723345] [ 0.00248082 0.9999935 0.00261698 0.12267012] [ 0.01519662 -0.00265438 0.999881 -0.17952863] [ 0. 0. 0. 1. ]] SLAMing on 19.994553574 meters Centerline goodness [0,1] 0.8097867246475948 Centerline is valid? [False, False] Translation: X:0.84, Y:0.12, Z:-0.18 [[ 0.99988319 -0.00225303 -0.01511748 0.83705352] [ 0.00228815 0.99999472 0.00230616 0.12444722] [ 0.01511221 -0.00234048 0.99988306 -0.17976016] [ 0. 0. 0. 1. ]] SLAMing on 20.024553574 meters Centerline goodness [0,1] 0.8171230720805791 Centerline is valid? [False, False] Translation: X:0.84, Y:0.13, Z:-0.18 [[ 9.99865852e-01 2.89175128e-04 -1.63766151e-02 8.41679471e-01] [-2.06393478e-04 9.99987195e-01 5.05633389e-03 1.27544921e-01] [ 1.63778676e-02 -5.05227557e-03 9.99853109e-01 -1.81560141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.054553574 meters Centerline goodness [0,1] 0.8094653474880239 Centerline is valid? [False, False] Translation: X:0.84, Y:0.13, Z:-0.18 [[ 9.99859394e-01 -1.41282815e-05 -1.67688106e-02 8.43373022e-01] [ 8.78073938e-05 9.99990346e-01 4.39309049e-03 1.29153915e-01] [ 1.67685867e-02 -4.39394521e-03 9.99849743e-01 -1.82979754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.084553574 meters Centerline goodness [0,1] 0.8139970689282368 Centerline is valid? [False, False] Translation: X:0.84, Y:0.13, Z:-0.18 [[ 9.99853093e-01 -3.44572551e-04 -1.71368927e-02 8.44934657e-01] [ 4.12170059e-04 9.99992149e-01 3.94118492e-03 1.29947716e-01] [ 1.71354001e-02 -3.94766925e-03 9.99845385e-01 -1.84031757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.114553574 meters Centerline goodness [0,1] 0.8131920694520842 Centerline is valid? [False, False] Translation: X:0.85, Y:0.13, Z:-0.18 [[ 9.99849023e-01 -3.48146699e-04 -1.73726753e-02 8.45691745e-01] [ 4.12215240e-04 9.99993127e-01 3.68444683e-03 1.30801069e-01] [ 1.73712732e-02 -3.69105185e-03 9.99842295e-01 -1.84499046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.144553574 meters Centerline goodness [0,1] 0.8158089375611386 Centerline is valid? [False, False] Translation: X:0.85, Y:0.13, Z:-0.18 [[ 9.99852313e-01 -9.72977268e-05 -1.71855418e-02 8.45165613e-01] [ 1.58905970e-04 9.99993566e-01 3.58355885e-03 1.31672925e-01] [ 1.71850825e-02 -3.58576049e-03 9.99845896e-01 -1.84544241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.174553574 meters Centerline goodness [0,1] 0.8145981930575369 Centerline is valid? [False, False] Translation: X:0.84, Y:0.13, Z:-0.18 [[ 9.99860751e-01 5.81655266e-04 -1.66775168e-02 8.43230736e-01] [-5.18784143e-04 9.99992744e-01 3.77389170e-03 1.33190551e-01] [ 1.66795909e-02 -3.76471416e-03 9.99853798e-01 -1.83502707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.204553574 meters Centerline goodness [0,1] 0.814414371598983 Centerline is valid? [False, False] Translation: X:0.84, Y:0.13, Z:-0.18 [[ 9.99862166e-01 6.35068054e-04 -1.65905297e-02 8.43036269e-01] [-5.73172871e-04 9.99992860e-01 3.73524248e-03 1.33503443e-01] [ 1.65927833e-02 -3.72521839e-03 9.99855391e-01 -1.83529785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.234553574 meters Centerline goodness [0,1] 0.8124258389102472 Centerline is valid? [False, False] Translation: X:0.84, Y:0.13, Z:-0.18 [[ 9.99861560e-01 5.66803668e-04 -1.66294883e-02 8.43430766e-01] [-5.06920344e-04 9.99993373e-01 3.60502648e-03 1.33729710e-01] [ 1.66314215e-02 -3.59609757e-03 9.99855221e-01 -1.83969734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.264553574 meters Centerline goodness [0,1] 0.8135914508447266 Centerline is valid? [False, False] Translation: X:0.84, Y:0.13, Z:-0.18 [[ 9.99861634e-01 3.40315156e-04 -1.66311999e-02 8.43910123e-01] [-2.82634339e-04 9.99993938e-01 3.47045682e-03 1.33393455e-01] [ 1.66322801e-02 -3.46527608e-03 9.99855669e-01 -1.84423482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.294553574 meters Centerline goodness [0,1] 0.8156265566071301 Centerline is valid? [False, False] Translation: X:0.84, Y:0.13, Z:-0.18 [[ 9.99860032e-01 1.91975785e-04 -1.67296079e-02 8.44384050e-01] [-1.35348936e-04 9.99994259e-01 3.38589473e-03 1.33311793e-01] [ 1.67301619e-02 -3.38315648e-03 9.99854317e-01 -1.84637954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.324553574 meters Centerline goodness [0,1] 0.8167163755148417 Centerline is valid? [False, False] Translation: X:0.85, Y:0.13, Z:-0.19 [[ 9.99857278e-01 4.83107908e-05 -1.68943915e-02 8.45189220e-01] [ 4.62750190e-06 9.99995091e-01 3.13343011e-03 1.34103950e-01] [ 1.68944600e-02 -3.13306108e-03 9.99852370e-01 -1.85213684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.354553574 meters Centerline goodness [0,1] 0.8077733829137159 Centerline is valid? [False, False] Translation: X:0.85, Y:0.13, Z:-0.19 [[ 9.99859173e-01 1.67913060e-04 -1.67811157e-02 8.45055256e-01] [-1.18276511e-04 9.99995616e-01 2.95883004e-03 1.34821151e-01] [ 1.67815390e-02 -2.95642855e-03 9.99854809e-01 -1.85582086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.384553574 meters Centerline goodness [0,1] 0.8142222432291912 Centerline is valid? [False, False] Translation: X:0.84, Y:0.14, Z:-0.19 [[ 9.99860463e-01 3.95882721e-04 -1.67002386e-02 8.44788471e-01] [-3.47230820e-04 9.99995688e-01 2.91604490e-03 1.35518317e-01] [ 1.67013210e-02 -2.90983917e-03 9.99856289e-01 -1.85685257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.414553574 meters Centerline goodness [0,1] 0.8143120219095288 Centerline is valid? [False, False] Translation: X:0.84, Y:0.14, Z:-0.19 [[ 9.99864886e-01 7.69412888e-04 -1.64200301e-02 8.44147697e-01] [-7.26078356e-04 9.99996239e-01 2.64492460e-03 1.36895673e-01] [ 1.64220034e-02 -2.63264500e-03 9.99861684e-01 -1.86089882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.444553574 meters Centerline goodness [0,1] 0.8136988245311133 Centerline is valid? [False, False] Translation: X:0.84, Y:0.14, Z:-0.19 [[ 9.99867389e-01 9.58447350e-04 -1.62568580e-02 8.43746119e-01] [-9.15659324e-04 9.99996098e-01 2.63923770e-03 1.37287208e-01] [ 1.62593241e-02 -2.62400197e-03 9.99864365e-01 -1.86135257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.474553574 meters Centerline goodness [0,1] 0.8156607235263678 Centerline is valid? [False, False] Translation: X:0.84, Y:0.14, Z:-0.19 [[ 9.99867102e-01 7.98353073e-04 -1.62831648e-02 8.44259429e-01] [-7.60483081e-04 9.99996992e-01 2.33177384e-03 1.38465309e-01] [ 1.62849774e-02 -2.31908088e-03 9.99864702e-01 -1.86536917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.504553574 meters Centerline goodness [0,1] 0.8114453584018801 Centerline is valid? [False, False] Translation: X:0.85, Y:0.14, Z:-0.19 [[ 9.99864046e-01 4.70459204e-04 -1.64823352e-02 8.45207168e-01] [-4.36605932e-04 9.99997788e-01 2.05745057e-03 1.39057151e-01] [ 1.64832667e-02 -2.04997456e-03 9.99862040e-01 -1.86985777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.534553574 meters Centerline goodness [0,1] 0.8223701169357673 Centerline is valid? [False, False] Translation: X:0.85, Y:0.14, Z:-0.19 [[ 9.99860373e-01 9.53405781e-05 -1.67100517e-02 8.46267848e-01] [-6.61226289e-05 9.99998468e-01 1.74906914e-03 1.39883208e-01] [ 1.67101928e-02 -1.74772001e-03 9.99858848e-01 -1.87466769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.564553574 meters Centerline goodness [0,1] 0.824184028182815 Centerline is valid? [False, False] Translation: X:0.84, Y:0.14, Z:-0.19 [[ 0.99995033 -0.00397335 -0.00914008 0.8389944 ] [ 0.00400526 0.99998594 0.00347561 0.14275439] [ 0.00912615 -0.00351204 0.99995219 -0.19051463] [ 0. 0. 0. 1. ]] SLAMing on 20.594553574 meters Centerline goodness [0,1] 0.8269131997945557 Centerline is valid? [False, False] Translation: X:0.84, Y:0.14, Z:-0.19 [[ 0.99994667 -0.00441646 -0.00933601 0.83944828] [ 0.00444937 0.99998395 0.0035076 0.14289245] [ 0.00932037 -0.00354895 0.99995027 -0.18973029] [ 0. 0. 0. 1. ]] SLAMing on 20.624553574 meters Centerline goodness [0,1] 0.8297749032153372 Centerline is valid? [False, False] Translation: X:0.84, Y:0.15, Z:-0.19 [[ 0.99993613 -0.00552839 -0.00985777 0.84122581] [ 0.00555644 0.99998059 0.00282015 0.1450095 ] [ 0.00984198 -0.00287475 0.99994743 -0.18943231] [ 0. 0. 0. 1. ]] SLAMing on 20.654553574 meters Centerline goodness [0,1] 0.8164858000461788 Centerline is valid? [False, False] Translation: X:0.84, Y:0.15, Z:-0.19 [[ 0.99992858 -0.00612994 -0.01025999 0.84303897] [ 0.00615256 0.99997871 0.00217494 0.14663449] [ 0.01024644 -0.00223791 0.999945 -0.19045611] [ 0. 0. 0. 1. ]] SLAMing on 20.684553574 meters Centerline goodness [0,1] 0.8307784513957723 Centerline is valid? [False, False] Translation: X:0.84, Y:0.15, Z:-0.19 [[ 0.99992029 -0.00672753 -0.01068384 0.84498999] [ 0.00674334 0.99997622 0.00144453 0.14833299] [ 0.01067386 -0.00151646 0.99994188 -0.19172583] [ 0. 0. 0. 1. ]] SLAMing on 20.714553574 meters Centerline goodness [0,1] 0.826472887825967 Centerline is valid? [False, False] Translation: X:0.85, Y:0.15, Z:-0.19 [[ 9.99908436e-01 -7.45826737e-03 -1.12912930e-02 8.47467826e-01] [ 7.46345077e-03 9.99972061e-01 4.16993947e-04 1.50795296e-01] [ 1.12878675e-02 -5.01227775e-04 9.99936164e-01 -1.93230284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.744553574 meters Centerline goodness [0,1] 0.8320343931765409 Centerline is valid? [False, False] Translation: X:0.85, Y:0.15, Z:-0.19 [[ 9.99905010e-01 -7.65503774e-03 -1.14616982e-02 8.48316055e-01] [ 7.65492635e-03 9.99970699e-01 -5.35897769e-05 1.52179482e-01] [ 1.14617726e-02 -3.41537691e-05 9.99934311e-01 -1.93871084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.774553574 meters Centerline goodness [0,1] 0.8262748685113195 Centerline is valid? [False, False] Translation: X:0.85, Y:0.16, Z:-0.20 [[ 0.99989703 -0.00807889 -0.01186009 0.85023696] [ 0.00806599 0.99996683 -0.00113462 0.15552924] [ 0.01186886 0.00103884 0.99992902 -0.19549674] [ 0. 0. 0. 1. ]] SLAMing on 20.804553574 meters Centerline goodness [0,1] 0.8200812933869199 Centerline is valid? [False, False] Translation: X:0.85, Y:0.16, Z:-0.20 [[ 0.99989129 -0.00837371 -0.01213637 0.85137101] [ 0.00835541 0.99996388 -0.00155787 0.15672644] [ 0.01214898 0.00145629 0.99992514 -0.19609281] [ 0. 0. 0. 1. ]] SLAMing on 20.834553574 meters Centerline goodness [0,1] 0.8328056308512335 Centerline is valid? [False, False] Translation: X:0.85, Y:0.16, Z:-0.20 [[ 0.99988415 -0.00874907 -0.01245514 0.8526261 ] [ 0.00872533 0.99996001 -0.0019591 0.15776375] [ 0.01247179 0.00185019 0.99992051 -0.19660364] [ 0. 0. 0. 1. ]] SLAMing on 20.864553574 meters Centerline goodness [0,1] 0.8325974231823019 Centerline is valid? [False, False] Translation: X:0.85, Y:0.16, Z:-0.20 [[ 0.99987118 -0.0094123 -0.01300108 0.85480046] [ 0.00937519 0.99995181 -0.00291252 0.16041187] [ 0.01302787 0.00279026 0.99991124 -0.19777573] [ 0. 0. 0. 1. ]] SLAMing on 20.894553574 meters Centerline goodness [0,1] 0.8296924565232063 Centerline is valid? [False, False] Translation: X:0.86, Y:0.16, Z:-0.20 [[ 9.99878696e-01 -6.79142930e-03 -1.40167769e-02 8.58142406e-01] [ 6.79481212e-03 9.99976896e-01 1.93731715e-04 1.62141207e-01] [ 1.40151374e-02 -2.88949580e-04 9.99901741e-01 -1.98311813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.924553574 meters Centerline goodness [0,1] 0.8292070889252348 Centerline is valid? [False, False] Translation: X:0.86, Y:0.16, Z:-0.20 [[ 9.99883063e-01 -6.38535116e-03 -1.38955744e-02 8.57715289e-01] [ 6.38494539e-03 9.99979613e-01 -7.35650007e-05 1.64342926e-01] [ 1.38957609e-02 -1.51660856e-05 9.99903449e-01 -1.98413944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.954553574 meters Centerline goodness [0,1] 0.8246087907672388 Centerline is valid? [False, False] Translation: X:0.86, Y:0.17, Z:-0.20 [[ 9.99891643e-01 -5.61580760e-03 -1.36075637e-02 8.56605392e-01] [ 5.61329404e-03 9.99984220e-01 -2.22904958e-04 1.67228497e-01] [ 1.36086007e-02 1.46497549e-04 9.99907388e-01 -1.98309655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.984553574 meters Centerline goodness [0,1] 0.8335397134264992 Centerline is valid? [False, False] Translation: X:0.86, Y:0.17, Z:-0.20 [[ 0.99990994 -0.00108598 -0.01337663 0.85536723] [ 0.00113274 0.99999327 0.00348915 0.1713402 ] [ 0.01337275 -0.00350399 0.99990444 -0.19702247] [ 0. 0. 0. 1. ]] SLAMing on 21.014553574 meters Centerline goodness [0,1] 0.8311467819107887 Centerline is valid? [False, False] Translation: X:0.85, Y:0.17, Z:-0.20 [[ 9.99917108e-01 -3.66614359e-04 -1.28702168e-02 8.53370030e-01] [ 4.11916014e-04 9.99993729e-01 3.51740842e-03 1.73509067e-01] [ 1.28688465e-02 -3.52241830e-03 9.99910989e-01 -1.95966461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.044553574 meters Centerline goodness [0,1] 0.8348643967463989 Centerline is valid? [False, False] Translation: X:0.85, Y:0.18, Z:-0.19 [[ 9.99924209e-01 1.24006346e-04 -1.23110469e-02 8.51060263e-01] [-8.23041034e-05 9.99994258e-01 3.38783275e-03 1.76722347e-01] [ 1.23113964e-02 -3.38656274e-03 9.99918477e-01 -1.94028378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.074553574 meters Centerline goodness [0,1] 0.8352609986033519 Centerline is valid? [False, False] Translation: X:0.85, Y:0.18, Z:-0.19 [[ 9.99922259e-01 -3.13295005e-04 -1.24650427e-02 8.51794327e-01] [ 3.48823686e-04 9.99995883e-01 2.84819349e-03 1.78351697e-01] [ 1.24640991e-02 -2.85232017e-03 9.99918252e-01 -1.94180371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.104553574 meters Centerline goodness [0,1] 0.8361632280366111 Centerline is valid? [False, False] Translation: X:0.85, Y:0.18, Z:-0.19 [[ 9.99918323e-01 -9.41230554e-04 -1.27460713e-02 8.53008387e-01] [ 9.69981548e-04 9.99996999e-01 2.24968091e-03 1.79804422e-01] [ 1.27439156e-02 -2.26186062e-03 9.99916235e-01 -1.94589030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.134553573999998 meters Centerline goodness [0,1] 0.8367532074819647 Centerline is valid? [False, False] Translation: X:0.86, Y:0.18, Z:-0.20 [[ 9.99906447e-01 -2.34251999e-03 -1.34762911e-02 8.55740980e-01] [ 2.35261983e-03 9.99996963e-01 7.33648427e-04 1.83328661e-01] [ 1.34745315e-02 -7.65284381e-04 9.99908922e-01 -1.95697452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.164553574 meters Centerline goodness [0,1] 0.8373186228213274 Centerline is valid? [False, False] Translation: X:0.86, Y:0.19, Z:-0.20 [[ 9.99900529e-01 -2.80293451e-03 -1.38230331e-02 8.57271755e-01] [ 2.80044184e-03 9.99996059e-01 -1.99679786e-04 1.86040900e-01] [ 1.38235383e-02 1.60949324e-04 9.99904437e-01 -1.96744509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.194553574 meters Centerline goodness [0,1] 0.8375340020401224 Centerline is valid? [False, False] Translation: X:0.85, Y:0.19, Z:-0.20 [[ 0.9999653 -0.00335365 -0.00762597 0.85243594] [ 0.00338065 0.99998805 0.00353058 0.19321309] [ 0.00761403 -0.00355624 0.99996469 -0.20133972] [ 0. 0. 0. 1. ]] SLAMing on 21.224553574 meters Centerline goodness [0,1] 0.8414520303814657 Centerline is valid? [False, False] Translation: X:0.85, Y:0.20, Z:-0.20 [[ 0.99996738 -0.00285766 -0.00755456 0.85209195] [ 0.00288055 0.99999129 0.00302124 0.19700498] [ 0.00754586 -0.00304291 0.9999669 -0.20153849] [ 0. 0. 0. 1. ]] SLAMing on 21.254553574 meters Centerline goodness [0,1] 0.8382111078311475 Centerline is valid? [False, False] Translation: X:0.85, Y:0.20, Z:-0.20 [[ 0.99996933 -0.00246457 -0.0074338 0.85175053] [ 0.00248263 0.99999399 0.00242168 0.20045264] [ 0.00742779 -0.00244007 0.99996944 -0.20184527] [ 0. 0. 0. 1. ]] SLAMing on 21.284553574 meters Centerline goodness [0,1] 0.8410425767614907 Centerline is valid? [False, False] Translation: X:0.85, Y:0.21, Z:-0.20 [[ 0.99997453 -0.00137748 -0.00700234 0.84967903] [ 0.00139126 0.99999711 0.00196322 0.20654282] [ 0.00699962 -0.00197291 0.99997356 -0.20062822] [ 0. 0. 0. 1. ]] SLAMing on 21.314553574 meters Centerline goodness [0,1] 0.8421468362850253 Centerline is valid? [False, False] Translation: X:0.85, Y:0.21, Z:-0.20 [[ 0.99997586 -0.00113191 -0.00685506 0.84920665] [ 0.00114155 0.99999836 0.0014028 0.20969533] [ 0.00685346 -0.0014106 0.99997552 -0.20051315] [ 0. 0. 0. 1. ]] SLAMing on 21.344553574 meters Centerline goodness [0,1] 0.8432999856200826 Centerline is valid? [False, False] Translation: X:0.85, Y:0.22, Z:-0.20 [[ 9.99973734e-01 -1.05926258e-03 -7.17005816e-03 8.50503971e-01] [ 1.05932400e-03 9.99999439e-01 4.76875682e-06 2.16162050e-01] [ 7.17004908e-03 -1.23640463e-05 9.99974295e-01 -2.02034416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.374553574 meters Centerline goodness [0,1] 0.8429440091413647 Centerline is valid? [False, False] Translation: X:0.85, Y:0.22, Z:-0.20 [[ 0.99997005 -0.00147449 -0.00759769 0.85244777] [ 0.00146645 0.99999836 -0.00106271 0.21920479] [ 0.00759925 0.00105154 0.99997057 -0.20372583] [ 0. 0. 0. 1. ]] SLAMing on 21.404553574 meters Centerline goodness [0,1] 0.8410096804834178 Centerline is valid? [False, False] Translation: X:0.86, Y:0.22, Z:-0.21 [[ 0.99996242 -0.00235698 -0.00834263 0.85534981] [ 0.00233523 0.99999385 -0.00261521 0.22321747] [ 0.00834874 0.00259563 0.99996178 -0.20574701] [ 0. 0. 0. 1. ]] SLAMing on 21.434553574 meters Centerline goodness [0,1] 0.8426409238396582 Centerline is valid? [False, False] Translation: X:0.86, Y:0.22, Z:-0.21 [[ 0.99996204 -0.00237875 -0.00838154 0.85532509] [ 0.00235514 0.99999323 -0.00282616 0.2242606 ] [ 0.0083882 0.00280632 0.99996088 -0.20546167] [ 0. 0. 0. 1. ]] SLAMing on 21.464553574 meters Centerline goodness [0,1] 0.8449959807073955 Centerline is valid? [False, False] Translation: X:0.85, Y:0.23, Z:-0.20 [[ 0.99996436 -0.00200449 -0.00820129 0.85444055] [ 0.0019793 0.9999933 -0.00307857 0.22689567] [ 0.00820741 0.00306223 0.99996163 -0.2048195 ] [ 0. 0. 0. 1. ]] SLAMing on 21.494553574 meters Centerline goodness [0,1] 0.8451507906210444 Centerline is valid? [False, False] Translation: X:0.85, Y:0.23, Z:-0.20 [[ 0.99996512 -0.00166231 -0.00818481 0.85426275] [ 0.00163673 0.99999376 -0.00313101 0.22828519] [ 0.00818997 0.00311751 0.9999616 -0.20480972] [ 0. 0. 0. 1. ]] SLAMing on 21.524553574 meters Centerline goodness [0,1] 0.8452283237572822 Centerline is valid? [False, False] Translation: X:0.86, Y:0.23, Z:-0.21 [[ 9.99960407e-01 1.37239543e-03 -8.79210294e-03 8.56599557e-01] [-1.37040752e-03 9.99999034e-01 2.32122532e-04 2.28373986e-01] [ 8.79241301e-03 -2.20064577e-04 9.99961322e-01 -2.05710057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.554553574 meters Centerline goodness [0,1] 0.8441916095442941 Centerline is valid? [False, False] Translation: X:0.86, Y:0.23, Z:-0.20 [[ 9.99961771e-01 2.28931537e-03 -8.43887285e-03 8.55071237e-01] [-2.28368511e-03 9.99997163e-01 6.76756859e-04 2.29292255e-01] [ 8.44039823e-03 -6.57459259e-04 9.99964163e-01 -2.04967957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.584553574 meters Centerline goodness [0,1] 0.8471628858535412 Centerline is valid? [False, False] Translation: X:0.85, Y:0.23, Z:-0.20 [[ 0.99995877 0.00420263 -0.00805022 0.85351197] [-0.00419001 0.99998997 0.00158462 0.2301319 ] [ 0.0080568 -0.00155083 0.99996634 -0.20485274] [ 0. 0. 0. 1. ]] SLAMing on 21.614553574 meters Centerline goodness [0,1] 0.8451300786895777 Centerline is valid? [False, False] Translation: X:0.85, Y:0.23, Z:-0.20 [[ 0.9999545 0.00609302 -0.00733971 0.8508493 ] [-0.00607245 0.99997758 0.00282211 0.22964718] [ 0.00735674 -0.00277741 0.99996908 -0.20366949] [ 0. 0. 0. 1. ]] SLAMing on 21.644553574 meters Centerline goodness [0,1] 0.8470890858302687 Centerline is valid? [False, False] Translation: X:0.85, Y:0.23, Z:-0.20 [[ 0.9999531 0.00648919 -0.00718919 0.85052089] [-0.00646736 0.99997442 0.00305491 0.22935456] [ 0.00720883 -0.00300827 0.99996949 -0.20369522] [ 0. 0. 0. 1. ]] SLAMing on 21.674553574 meters Centerline goodness [0,1] 0.843549328663164 Centerline is valid? [False, False] Translation: X:0.85, Y:0.23, Z:-0.20 [[ 0.99995158 0.00670586 -0.0072019 0.85074286] [-0.00668316 0.99997264 0.00317146 0.2289048 ] [ 0.00722297 -0.00312318 0.99996904 -0.20405008] [ 0. 0. 0. 1. ]] SLAMing on 21.704553574 meters Centerline goodness [0,1] 0.8462236563476858 Centerline is valid? [False, False] Translation: X:0.85, Y:0.23, Z:-0.20 [[ 0.9999483 0.00730755 -0.00707097 0.85029282] [-0.00728222 0.999967 0.00360217 0.22802738] [ 0.00709706 -0.00355049 0.99996851 -0.20401427] [ 0. 0. 0. 1. ]] SLAMing on 21.734553574 meters Centerline goodness [0,1] 0.8433105340677521 Centerline is valid? [False, False] Translation: X:0.85, Y:0.23, Z:-0.20 [[ 0.99994663 0.00759524 -0.00700292 0.85008492] [-0.00756906 0.99996429 0.00375775 0.22787882] [ 0.00703121 -0.00370454 0.99996842 -0.20396218] [ 0. 0. 0. 1. ]] SLAMing on 21.764553574 meters Centerline goodness [0,1] 0.8389823669450833 Centerline is valid? [False, False] Translation: X:0.85, Y:0.23, Z:-0.20 [[ 0.99994008 0.00880715 -0.00650203 0.84822643] [-0.00877727 0.99995085 0.00461062 0.22728604] [ 0.00654232 -0.00455328 0.99996823 -0.20291352] [ 0. 0. 0. 1. ]] SLAMing on 21.794553574 meters Centerline goodness [0,1] 0.8389823669450833 Centerline is valid? [False, False] Translation: X:0.85, Y:0.23, Z:-0.20 [[ 0.99994008 0.00880715 -0.00650203 0.84822643] [-0.00877727 0.99995085 0.00461062 0.22728604] [ 0.00654232 -0.00455328 0.99996823 -0.20291352] [ 0. 0. 0. 1. ]] SLAMing on 21.824553574 meters Centerline goodness [0,1] 0.840453479912699 Centerline is valid? [False, False] Translation: X:0.85, Y:0.23, Z:-0.20 [[ 0.99993817 0.00900711 -0.00652207 0.84838381] [-0.00897692 0.99994892 0.0046438 0.22727442] [ 0.00656356 -0.00458497 0.99996795 -0.2031885 ] [ 0. 0. 0. 1. ]] SLAMing on 21.854553574 meters Centerline goodness [0,1] 0.8393225271837988 Centerline is valid? [False, False] Translation: X:0.85, Y:0.23, Z:-0.20 [[ 0.99993662 0.00903991 -0.0067104 0.84927131] [-0.00900927 0.99994892 0.00458187 0.22710569] [ 0.00675147 -0.00452113 0.99996699 -0.20407171] [ 0. 0. 0. 1. ]] SLAMing on 21.884553573999998 meters Centerline goodness [0,1] 0.8378257873616797 Centerline is valid? [False, False] Translation: X:0.85, Y:0.23, Z:-0.21 [[ 0.99993524 0.0089349 -0.0070488 0.85087011] [-0.00890159 0.99994913 0.0047438 0.22531078] [ 0.00709082 -0.00468075 0.9999639 -0.20542278] [ 0. 0. 0. 1. ]] SLAMing on 21.914553574 meters Centerline goodness [0,1] 0.840894750768354 Centerline is valid? [False, False] Translation: X:0.85, Y:0.22, Z:-0.21 [[ 0.9999577 0.0063038 -0.00669806 0.84997621] [-0.00629369 0.99997903 0.00152854 0.22474128] [ 0.00670756 -0.00148632 0.9999764 -0.20595381] [ 0. 0. 0. 1. ]] SLAMing on 21.944553574 meters Centerline goodness [0,1] 0.8410889975250057 Centerline is valid? [False, False] Translation: X:0.85, Y:0.22, Z:-0.21 [[ 0.99995818 0.00600601 -0.00689702 0.85070262] [-0.0059905 0.99997949 0.00226719 0.22049043] [ 0.00691049 -0.00222578 0.99997365 -0.20582372] [ 0. 0. 0. 1. ]] SLAMing on 21.974553574 meters Centerline goodness [0,1] 0.8441148109394555 Centerline is valid? [False, False] Translation: X:0.85, Y:0.22, Z:-0.21 [[ 0.99995795 0.00586837 -0.00704759 0.85131173] [-0.00584968 0.99997933 0.00267001 0.21836381] [ 0.00706312 -0.00262867 0.9999716 -0.20595321] [ 0. 0. 0. 1. ]] SLAMing on 22.004553574 meters Centerline goodness [0,1] 0.8427675542304924 Centerline is valid? [False, False] Translation: X:0.85, Y:0.22, Z:-0.21 [[ 0.99995754 0.00544104 -0.00743742 0.85303591] [-0.00542131 0.99998174 0.00267066 0.21681587] [ 0.00745182 -0.00263023 0.99996878 -0.20704194] [ 0. 0. 0. 1. ]] SLAMing on 22.034553574 meters Centerline goodness [0,1] 0.8393351228577328 Centerline is valid? [False, False] Translation: X:0.85, Y:0.21, Z:-0.21 [[ 0.99995539 0.0058295 -0.00743226 0.85336585] [-0.0058044 0.99997739 0.00339507 0.21433869] [ 0.00745188 -0.00335178 0.99996662 -0.20759917] [ 0. 0. 0. 1. ]] SLAMing on 22.064553574 meters Centerline goodness [0,1] 0.8396531912671055 Centerline is valid? [False, False] Translation: X:0.85, Y:0.21, Z:-0.21 [[ 0.99995269 0.00680382 -0.00695189 0.8515481 ] [-0.00677002 0.9999652 0.00487467 0.21033549] [ 0.00698481 -0.00482737 0.99996395 -0.20628903] [ 0. 0. 0. 1. ]] SLAMing on 22.094553574 meters Centerline goodness [0,1] 0.8391372631138101 Centerline is valid? [False, False] Translation: X:0.85, Y:0.21, Z:-0.21 [[ 0.9999712 0.0043391 -0.00622595 0.84946411] [-0.00432746 0.99998887 0.00188176 0.20899056] [ 0.00623404 -0.00185477 0.99997885 -0.20604576] [ 0. 0. 0. 1. ]] SLAMing on 22.124553574 meters Centerline goodness [0,1] 0.8403577064702787 Centerline is valid? [False, False] Translation: X:0.85, Y:0.21, Z:-0.21 [[ 0.99997115 0.00389899 -0.00651897 0.850723 ] [-0.00388535 0.99999024 0.00210368 0.20668875] [ 0.00652711 -0.00207829 0.99997654 -0.20657696] [ 0. 0. 0. 1. ]] SLAMing on 22.154553574 meters Centerline goodness [0,1] 0.8395382761463817 Centerline is valid? [False, False] Translation: X:0.86, Y:0.20, Z:-0.21 [[ 0.99997021 0.0015507 -0.00756115 0.85602422] [-0.00154105 0.99999799 0.00128166 0.20267286] [ 0.00756312 -0.00126997 0.99997059 -0.20990656] [ 0. 0. 0. 1. ]] SLAMing on 22.184553574 meters Centerline goodness [0,1] 0.8399533700720645 Centerline is valid? [False, False] Translation: X:0.86, Y:0.20, Z:-0.21 [[ 9.99965580e-01 3.58243763e-04 -8.28914123e-03 8.59070381e-01] [-3.49468439e-04 9.99999377e-01 1.06007721e-03 2.00392233e-01] [ 8.28951583e-03 -1.05714393e-03 9.99965083e-01 -2.11410077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.214553574 meters Centerline goodness [0,1] 0.8395899323688041 Centerline is valid? [False, False] Translation: X:0.86, Y:0.20, Z:-0.21 [[ 0.99995058 -0.00460563 -0.00881018 0.86153039] [ 0.00458314 0.99998619 -0.00257075 0.19630936] [ 0.0088219 0.00253025 0.99995789 -0.21265861] [ 0. 0. 0. 1. ]] SLAMing on 22.244553574 meters Centerline goodness [0,1] 0.8421651809687467 Centerline is valid? [False, False] Translation: X:0.86, Y:0.19, Z:-0.21 [[ 0.99993949 -0.00570952 -0.00940316 0.86378461] [ 0.00568687 0.99998087 -0.00243389 0.19341147] [ 0.00941688 0.00238027 0.99995283 -0.21291642] [ 0. 0. 0. 1. ]] SLAMing on 22.274553574 meters Centerline goodness [0,1] 0.8434039246162813 Centerline is valid? [False, False] Translation: X:0.87, Y:0.19, Z:-0.21 [[ 0.99992421 -0.00696148 -0.01015455 0.86653999] [ 0.00693669 0.99997288 -0.00247432 0.19086378] [ 0.0101715 0.0024037 0.99994538 -0.21346702] [ 0. 0. 0. 1. ]] SLAMing on 22.304553574 meters Centerline goodness [0,1] 0.8411257474651183 Centerline is valid? [False, False] Translation: X:0.87, Y:0.19, Z:-0.21 [[ 0.9998953 -0.00912183 -0.01123341 0.87126511] [ 0.00908961 0.99995444 -0.00291614 0.18796033] [ 0.01125949 0.00281373 0.99993265 -0.21499395] [ 0. 0. 0. 1. ]] SLAMing on 22.334553574 meters Centerline goodness [0,1] 0.840674362089915 Centerline is valid? [False, False] Translation: X:0.87, Y:0.19, Z:-0.22 [[ 0.99988288 -0.00979439 -0.01175984 0.87336627] [ 0.00975864 0.9999476 -0.00309323 0.18732084] [ 0.01178952 0.00297811 0.99992607 -0.21596196] [ 0. 0. 0. 1. ]] SLAMing on 22.364553574 meters Centerline goodness [0,1] 0.8420846990383989 Centerline is valid? [False, False] Translation: X:0.88, Y:0.19, Z:-0.22 [[ 0.99986949 -0.01052392 -0.01225788 0.87544079] [ 0.01048332 0.99993936 -0.00337164 0.18709194] [ 0.01229262 0.00324269 0.99991918 -0.21691338] [ 0. 0. 0. 1. ]] SLAMing on 22.394553574 meters Centerline goodness [0,1] 0.8432173913043478 Centerline is valid? [False, False] Translation: X:0.88, Y:0.19, Z:-0.22 [[ 0.99983805 -0.01240183 -0.01304122 0.87915323] [ 0.01235248 0.99991626 -0.00385801 0.18558158] [ 0.01308798 0.0036963 0.99990752 -0.21799609] [ 0. 0. 0. 1. ]] SLAMing on 22.424553574 meters Centerline goodness [0,1] 0.8444019055491505 Centerline is valid? [False, False] Translation: X:0.88, Y:0.18, Z:-0.22 [[ 0.99982464 -0.01307383 -0.01340766 0.88046785] [ 0.01302367 0.99990788 -0.00382202 0.18441666] [ 0.0134564 0.00364673 0.99990281 -0.21792116] [ 0. 0. 0. 1. ]] SLAMing on 22.454553574 meters Centerline goodness [0,1] 0.8437056292186373 Centerline is valid? [False, False] Translation: X:0.88, Y:0.18, Z:-0.22 [[ 0.9998019 -0.01424003 -0.01390621 0.88241253] [ 0.01418724 0.9998918 -0.00388735 0.18287583] [ 0.01396006 0.00368929 0.99989575 -0.21764897] [ 0. 0. 0. 1. ]] SLAMing on 22.484553574 meters Centerline goodness [0,1] 0.8437117369249607 Centerline is valid? [False, False] Translation: X:0.88, Y:0.18, Z:-0.22 [[ 0.99979988 -0.01431731 -0.01397192 0.88247968] [ 0.01426643 0.99989125 -0.00373461 0.18279962] [ 0.01402387 0.00353453 0.99989541 -0.21714678] [ 0. 0. 0. 1. ]] SLAMing on 22.514553574 meters Centerline goodness [0,1] 0.8454650428113902 Centerline is valid? [False, False] Translation: X:0.88, Y:0.18, Z:-0.22 [[ 9.99827387e-01 -1.15010288e-02 -1.45918672e-02 8.84666242e-01] [ 1.15036529e-02 9.99933826e-01 9.59070010e-05 1.82236016e-01] [ 1.45897986e-02 -2.63750221e-04 9.99893528e-01 -2.17020456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.544553574 meters Centerline goodness [0,1] 0.8405809668328637 Centerline is valid? [False, False] Translation: X:0.89, Y:0.18, Z:-0.22 [[ 0.99984583 -0.00855332 -0.01533451 0.88754404] [ 0.00860689 0.99995707 0.00343095 0.18373579] [ 0.01530451 -0.0035624 0.99987653 -0.21802171] [ 0. 0. 0. 1. ]] SLAMing on 22.574553574 meters Centerline goodness [0,1] 0.8407487556805886 Centerline is valid? [False, False] Translation: X:0.89, Y:0.18, Z:-0.22 [[ 0.99984544 -0.00848188 -0.0154001 0.88777882] [ 0.00853407 0.99995805 0.00332627 0.18425203] [ 0.01537124 -0.00345718 0.99987588 -0.21822762] [ 0. 0. 0. 1. ]] SLAMing on 22.604553574 meters Centerline goodness [0,1] 0.8428002424452333 Centerline is valid? [False, False] Translation: X:0.89, Y:0.18, Z:-0.22 [[ 0.99985448 -0.00799139 -0.01507157 0.88662052] [ 0.00804356 0.99996186 0.00340404 0.18444938] [ 0.01504379 -0.00352477 0.99988062 -0.21760781] [ 0. 0. 0. 1. ]] SLAMing on 22.634553573999998 meters Centerline goodness [0,1] 0.8371575490450264 Centerline is valid? [False, False] Translation: X:0.89, Y:0.19, Z:-0.22 [[ 0.99985935 -0.00761794 -0.01494152 0.88597714] [ 0.00767061 0.99996456 0.00347069 0.18515493] [ 0.01491455 -0.00358481 0.99988235 -0.21727788] [ 0. 0. 0. 1. ]] SLAMing on 22.664553574 meters Centerline goodness [0,1] 0.8419543945859735 Centerline is valid? [False, False] Translation: X:0.89, Y:0.19, Z:-0.22 [[ 0.99986263 -0.007339 -0.01486143 0.88566904] [ 0.00738916 0.99996718 0.00332316 0.1863699 ] [ 0.01483655 -0.00343251 0.99988404 -0.21739856] [ 0. 0. 0. 1. ]] SLAMing on 22.694553574 meters Centerline goodness [0,1] 0.8405320611999312 Centerline is valid? [False, False] Translation: X:0.89, Y:0.19, Z:-0.22 [[ 0.99986536 -0.0068652 -0.01490436 0.88581176] [ 0.00690764 0.99997223 0.0027982 0.19010514] [ 0.01488474 -0.00290078 0.99988501 -0.21817597] [ 0. 0. 0. 1. ]] SLAMing on 22.724553574 meters Centerline goodness [0,1] 0.8402838825875341 Centerline is valid? [False, False] Translation: X:0.89, Y:0.19, Z:-0.22 [[ 0.99986025 -0.0070666 -0.01515048 0.88689346] [ 0.00709979 0.99997251 0.0021378 0.19203816] [ 0.01513495 -0.00224507 0.99988294 -0.21906716] [ 0. 0. 0. 1. ]] SLAMing on 22.754553574 meters Centerline goodness [0,1] 0.8377829553470277 Centerline is valid? [False, False] Translation: X:0.89, Y:0.19, Z:-0.22 [[ 0.99986491 -0.00655127 -0.01507427 0.8862916 ] [ 0.00657961 0.99997668 0.00183155 0.19475076] [ 0.01506192 -0.00193048 0.9998847 -0.21885336] [ 0. 0. 0. 1. ]] SLAMing on 22.784553574 meters Centerline goodness [0,1] 0.8345911277391769 Centerline is valid? [False, False] Translation: X:0.89, Y:0.20, Z:-0.22 [[ 0.99986683 -0.00636696 -0.01502644 0.88606838] [ 0.00639281 0.99997817 0.00167346 0.19560583] [ 0.01501546 -0.0017693 0.9998857 -0.21878664] [ 0. 0. 0. 1. ]] SLAMing on 22.814553574 meters Centerline goodness [0,1] 0.8425441395447777 Centerline is valid? [False, False] Translation: X:0.89, Y:0.20, Z:-0.22 [[ 0.9998742 -0.00559324 -0.01484224 0.88509223] [ 0.0056134 0.99998338 0.00131742 0.19897577] [ 0.01483462 -0.00140057 0.99988898 -0.21865637] [ 0. 0. 0. 1. ]] SLAMing on 22.844553574 meters Centerline goodness [0,1] 0.8407049652601254 Centerline is valid? [False, False] Translation: X:0.88, Y:0.20, Z:-0.22 [[ 0.9998817 -0.00491641 -0.01457424 0.88403676] [ 0.00493405 0.99998714 0.00117522 0.20175891] [ 0.01456827 -0.00124699 0.9998931 -0.21852288] [ 0. 0. 0. 1. ]] SLAMing on 22.874553574 meters Centerline goodness [0,1] 0.8431611966063872 Centerline is valid? [False, False] Translation: X:0.88, Y:0.21, Z:-0.22 [[ 0.99988886 -0.00121106 -0.01485962 0.88461414] [ 0.0012759 0.99998971 0.00435431 0.20594881] [ 0.01485419 -0.00437279 0.99988011 -0.21828575] [ 0. 0. 0. 1. ]] SLAMing on 22.904553574 meters Centerline goodness [0,1] 0.841357156354322 Centerline is valid? [False, False] Translation: X:0.88, Y:0.21, Z:-0.22 [[ 9.99891544e-01 -7.76849044e-04 -1.47070532e-02 8.83903012e-01] [ 8.38131750e-04 9.99990991e-01 4.16118734e-03 2.07606658e-01] [ 1.47036881e-02 -4.17306248e-03 9.99883187e-01 -2.18063223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.934553574 meters Centerline goodness [0,1] 0.8394924263114771 Centerline is valid? [False, False] Translation: X:0.88, Y:0.21, Z:-0.22 [[ 9.99893783e-01 -4.53934889e-04 -1.45676499e-02 8.83287001e-01] [ 5.12370887e-04 9.99991837e-01 4.00787238e-03 2.08906201e-01] [ 1.45657117e-02 -4.01491071e-03 9.99885854e-01 -2.17795169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.964553574 meters Centerline goodness [0,1] 0.8372214230616882 Centerline is valid? [False, False] Translation: X:0.88, Y:0.21, Z:-0.22 [[ 9.99897622e-01 5.79429664e-04 -1.42971735e-02 8.81903580e-01] [-5.25354185e-04 9.99992696e-01 3.78571549e-03 2.12745115e-01] [ 1.42992626e-02 -3.77781684e-03 9.99890624e-01 -2.17418962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.994553574 meters Centerline goodness [0,1] 0.8393457594752791 Centerline is valid? [False, False] Translation: X:0.88, Y:0.21, Z:-0.22 [[ 9.99897198e-01 7.79208164e-04 -1.43173070e-02 8.82068396e-01] [-7.31900035e-04 9.99994257e-01 3.30920427e-03 2.14855073e-01] [ 1.43198034e-02 -3.29838524e-03 9.99892026e-01 -2.17949916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.024553574 meters Centerline goodness [0,1] 0.8442034235092004 Centerline is valid? [False, False] Translation: X:0.88, Y:0.22, Z:-0.22 [[ 0.99989775 0.00147595 -0.01422344 0.88163994] [-0.00143351 0.99999449 0.00299308 0.21814222] [ 0.01422778 -0.00297239 0.99989436 -0.21839435] [ 0. 0. 0. 1. ]] SLAMing on 23.054553574 meters Centerline goodness [0,1] 0.8398589719799592 Centerline is valid? [False, False] Translation: X:0.88, Y:0.22, Z:-0.22 [[ 0.99989769 0.00178206 -0.01419254 0.88150024] [-0.00174244 0.99999455 0.00280353 0.21973192] [ 0.01419746 -0.00277851 0.99989535 -0.21850867] [ 0. 0. 0. 1. ]] SLAMing on 23.084553574 meters Centerline goodness [0,1] 0.8412319347799234 Centerline is valid? [False, False] Translation: X:0.88, Y:0.22, Z:-0.22 [[ 0.99990136 0.00247672 -0.01382548 0.88000153] [-0.00243595 0.99999264 0.00296484 0.22081784] [ 0.01383272 -0.00293087 0.99990003 -0.2177254 ] [ 0. 0. 0. 1. ]] SLAMing on 23.114553574 meters Centerline goodness [0,1] 0.8415811024918208 Centerline is valid? [False, False] Translation: X:0.88, Y:0.22, Z:-0.22 [[ 0.99988177 0.00633295 -0.01401228 0.88052945] [-0.00623386 0.99995533 0.0071043 0.22009515] [ 0.01405665 -0.00701611 0.99987658 -0.21701195] [ 0. 0. 0. 1. ]] SLAMing on 23.144553574 meters Centerline goodness [0,1] 0.8409712933429365 Centerline is valid? [False, False] Translation: X:0.88, Y:0.22, Z:-0.22 [[ 0.99987995 0.00664049 -0.0139993 0.88044924] [-0.00654046 0.99995284 0.00717898 0.22001501] [ 0.01404632 -0.00708655 0.99987623 -0.21716507] [ 0. 0. 0. 1. ]] SLAMing on 23.174553574 meters Centerline goodness [0,1] 0.8405830013006048 Centerline is valid? [False, False] Translation: X:0.88, Y:0.22, Z:-0.22 [[ 0.99987636 0.00783641 -0.01363262 0.87913519] [-0.00773031 0.99993955 0.00781864 0.21947656] [ 0.01369307 -0.00771229 0.9998765 -0.21700731] [ 0. 0. 0. 1. ]] SLAMing on 23.204553574 meters Centerline goodness [0,1] 0.8432016185639374 Centerline is valid? [False, False] Translation: X:0.88, Y:0.22, Z:-0.22 [[ 0.99987425 0.00826801 -0.0135321 0.87912317] [-0.00816305 0.99993631 0.0077931 0.21986301] [ 0.01359567 -0.00768166 0.99987807 -0.21774633] [ 0. 0. 0. 1. ]] SLAMing on 23.234553574 meters Centerline goodness [0,1] 0.8423441077579983 Centerline is valid? [False, False] Translation: X:0.88, Y:0.22, Z:-0.22 [[ 0.99986183 0.01037072 -0.01299147 0.87719415] [-0.01025647 0.99990841 0.00883048 0.22018835] [ 0.01308186 -0.00869602 0.99987661 -0.2178082 ] [ 0. 0. 0. 1. ]] SLAMing on 23.264553574 meters Centerline goodness [0,1] 0.842861270483345 Centerline is valid? [False, False] Translation: X:0.88, Y:0.22, Z:-0.22 [[ 0.99985735 0.01111904 -0.01271405 0.87624794] [-0.01100262 0.99989724 0.00919 0.22008172] [ 0.01281493 -0.0090488 0.99987694 -0.21757806] [ 0. 0. 0. 1. ]] SLAMing on 23.294553574 meters Centerline goodness [0,1] 0.842386373009981 Centerline is valid? [False, False] Translation: X:0.88, Y:0.22, Z:-0.22 [[ 0.99985281 0.01191047 -0.01234909 0.87508709] [-0.01179225 0.99988436 0.00960222 0.21979808] [ 0.01246203 -0.00945519 0.99987764 -0.21733241] [ 0. 0. 0. 1. ]] SLAMing on 23.324553574 meters Centerline goodness [0,1] 0.8430753353973168 Centerline is valid? [False, False] Translation: X:0.89, Y:0.22, Z:-0.22 [[ 0.99980743 0.01775687 -0.00835421 0.88929304] [-0.01772716 0.99983632 0.00361656 0.21840553] [ 0.00841706 -0.00346777 0.99995856 -0.22188437] [ 0. 0. 0. 1. ]] SLAMing on 23.354553574 meters Centerline goodness [0,1] 0.8381779731298723 Centerline is valid? [False, False] Translation: X:0.89, Y:0.22, Z:-0.22 [[ 0.99979801 0.01841595 -0.00804931 0.88845178] [-0.01838378 0.99982279 0.00405313 0.2175102 ] [ 0.00812252 -0.00390434 0.99995939 -0.22190371] [ 0. 0. 0. 1. ]] SLAMing on 23.384553573999998 meters Centerline goodness [0,1] 0.837478371448227 Centerline is valid? [False, False] Translation: X:0.89, Y:0.21, Z:-0.22 [[ 0.99977108 0.02009623 -0.00734419 0.88659817] [-0.02005675 0.9997842 0.00541106 0.21497627] [ 0.00745135 -0.00526252 0.99995839 -0.22186481] [ 0. 0. 0. 1. ]] SLAMing on 23.414553574 meters Centerline goodness [0,1] 0.8351696598440342 Centerline is valid? [False, False] Translation: X:0.89, Y:0.21, Z:-0.22 [[ 0.99976565 0.02041016 -0.00721591 0.88637255] [-0.02036742 0.99977487 0.00594824 0.21317024] [ 0.00733569 -0.00579988 0.99995627 -0.22196751] [ 0. 0. 0. 1. ]] SLAMing on 23.444553574 meters Centerline goodness [0,1] 0.8342625443487075 Centerline is valid? [False, False] Translation: X:0.89, Y:0.21, Z:-0.22 [[ 0.99976101 0.02059721 -0.00732681 0.88715912] [-0.02054542 0.99976389 0.00707526 0.20833868] [ 0.00747081 -0.00692304 0.99994813 -0.22252787] [ 0. 0. 0. 1. ]] SLAMing on 23.474553574 meters Centerline goodness [0,1] 0.8348729056507613 Centerline is valid? [False, False] Translation: X:0.89, Y:0.21, Z:-0.22 [[ 0.99981889 0.01780265 -0.00672685 0.88593121] [-0.01777728 0.9998347 0.00381256 0.20651048] [ 0.00679361 -0.00369229 0.99997011 -0.22341302] [ 0. 0. 0. 1. ]] SLAMing on 23.504553574 meters Centerline goodness [0,1] 0.8328595550045953 Centerline is valid? [False, False] Translation: X:0.88, Y:0.20, Z:-0.22 [[ 9.99870246e-01 1.48780202e-02 -6.17547930e-03 8.84727761e-01] [-1.48745023e-02 9.99889179e-01 6.15204046e-04 2.03918627e-01] [ 6.18394795e-03 -5.23267040e-04 9.99980742e-01 -2.24033291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.534553574 meters Centerline goodness [0,1] 0.8292513461872503 Centerline is valid? [False, False] Translation: X:0.88, Y:0.20, Z:-0.22 [[ 0.99990686 0.01267794 -0.00505421 0.88297499] [-0.01268403 0.99991886 -0.00117478 0.19647339] [ 0.00503891 0.00123878 0.99998654 -0.22499546] [ 0. 0. 0. 1. ]] SLAMing on 23.564553574 meters Centerline goodness [0,1] 0.8264946988741939 Centerline is valid? [False, False] Translation: X:0.88, Y:0.19, Z:-0.23 [[ 9.99910573e-01 1.22025362e-02 -5.47218457e-03 8.84694701e-01] [-1.22060425e-02 9.99925319e-01 -6.07804446e-04 1.92606722e-01] [ 5.46435915e-03 6.74543809e-04 9.99984843e-01 -2.25732504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.594553574 meters Centerline goodness [0,1] 0.824554789204054 Centerline is valid? [False, False] Translation: X:0.88, Y:0.19, Z:-0.23 [[ 0.99994719 0.00904418 -0.00487985 0.88485648] [-0.00905751 0.99995529 -0.00271663 0.1854211 ] [ 0.00485506 0.00276069 0.9999844 -0.22726273] [ 0. 0. 0. 1. ]] SLAMing on 23.624553574 meters Centerline goodness [0,1] 0.8256291272532572 Centerline is valid? [False, False] Translation: X:0.89, Y:0.18, Z:-0.23 [[ 0.9999509 0.008386 -0.00528 0.88635113] [-0.00839675 0.99996271 -0.00201765 0.18108421] [ 0.00526288 0.00206188 0.99998403 -0.22723981] [ 0. 0. 0. 1. ]] SLAMing on 23.654553574 meters Centerline goodness [0,1] 0.820619446906174 Centerline is valid? [False, False] Translation: X:0.89, Y:0.17, Z:-0.23 [[ 0.99997717 0.00470809 -0.00484639 0.88575356] [-0.00472609 0.99998196 -0.00370774 0.17165705] [ 0.00482885 0.00373056 0.99998138 -0.22648261] [ 0. 0. 0. 1. ]] SLAMing on 23.684553574 meters Centerline goodness [0,1] 0.8213007159904535 Centerline is valid? [False, False] Translation: X:0.88, Y:0.17, Z:-0.23 [[ 0.99998962 0.00126122 -0.00437794 0.88485422] [-0.00129055 0.99997669 -0.00670503 0.16755122] [ 0.00436938 0.00671061 0.99996794 -0.22674725] [ 0. 0. 0. 1. ]] SLAMing on 23.714553574 meters Centerline goodness [0,1] 0.8213007159904535 Centerline is valid? [False, False] Translation: X:0.88, Y:0.17, Z:-0.23 [[ 0.99998962 0.00126122 -0.00437794 0.88485422] [-0.00129055 0.99997669 -0.00670503 0.16755122] [ 0.00436938 0.00671061 0.99996794 -0.22674725] [ 0. 0. 0. 1. ]] SLAMing on 23.744553574 meters Centerline goodness [0,1] 0.8208541836378448 Centerline is valid? [False, False] Translation: X:0.89, Y:0.16, Z:-0.23 [[ 0.99998788 -0.00252723 -0.00422444 0.88636735] [ 0.00249169 0.99996163 -0.00839878 0.15801958] [ 0.0042455 0.00838815 0.99995581 -0.22761142] [ 0. 0. 0. 1. ]] SLAMing on 23.774553574 meters Centerline goodness [0,1] 0.8208566806555224 Centerline is valid? [False, False] Translation: X:0.89, Y:0.15, Z:-0.23 [[ 0.99998671 -0.0026298 -0.00443526 0.88679767] [ 0.00259792 0.99997087 -0.00717756 0.15371298] [ 0.004454 0.00716594 0.9999644 -0.22683053] [ 0. 0. 0. 1. ]] SLAMing on 23.804553574 meters Centerline goodness [0,1] 0.8233102212159804 Centerline is valid? [False, False] Translation: X:0.89, Y:0.15, Z:-0.23 [[ 0.99998817 -0.00225506 -0.00430882 0.88620002] [ 0.00222979 0.99998034 -0.005861 0.1495863 ] [ 0.00432196 0.00585132 0.99997354 -0.22599446] [ 0. 0. 0. 1. ]] SLAMing on 23.834553574 meters Centerline goodness [0,1] 0.8224098454493417 Centerline is valid? [False, False] Translation: X:0.88, Y:0.14, Z:-0.22 [[ 9.99993939e-01 -8.44672868e-04 -3.37768270e-03 8.83518869e-01] [ 8.33565102e-04 9.99994245e-01 -3.28863244e-03 1.41048460e-01] [ 3.38044108e-03 3.28579699e-03 9.99988888e-01 -2.24561024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.864553574 meters Centerline goodness [0,1] 0.8171510081717519 Centerline is valid? [False, False] Translation: X:0.88, Y:0.13, Z:-0.23 [[ 9.99997019e-01 6.09662947e-04 -2.36428941e-03 8.82092881e-01] [-6.12621032e-04 9.99999030e-01 -1.25062939e-03 1.32315868e-01] [ 2.36352465e-03 1.25207408e-03 9.99996423e-01 -2.25537029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.894553574 meters Centerline goodness [0,1] 0.815739570164349 Centerline is valid? [False, False] Translation: X:0.88, Y:0.13, Z:-0.23 [[ 9.99997042e-01 8.08485530e-04 -2.29387532e-03 8.82774948e-01] [-8.10119907e-04 9.99999419e-01 -7.11656312e-04 1.28495440e-01] [ 2.29329862e-03 7.13512521e-04 9.99997116e-01 -2.26900560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.924553574 meters Centerline goodness [0,1] 0.8159489711129576 Centerline is valid? [False, False] Translation: X:0.88, Y:0.13, Z:-0.23 [[ 9.99997078e-01 9.06176474e-04 -2.24102621e-03 8.83685711e-01] [-9.07037365e-04 9.99999515e-01 -3.83163998e-04 1.25084293e-01] [ 2.24067791e-03 3.85195573e-04 9.99997415e-01 -2.28609749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.954553574 meters Centerline goodness [0,1] 0.8150601962868655 Centerline is valid? [False, False] Translation: X:0.89, Y:0.12, Z:-0.23 [[ 0.99999735 0.00148394 -0.00176161 0.88514977] [-0.0014819 0.99999823 0.00115944 0.11634457] [ 0.00176332 -0.00115683 0.99999778 -0.23144057] [ 0. 0. 0. 1. ]] SLAMing on 23.984553574 meters Centerline goodness [0,1] 0.8148664806695894 Centerline is valid? [False, False] Translation: X:0.89, Y:0.11, Z:-0.23 [[ 0.99999708 0.00143005 -0.00194565 0.88604751] [-0.00142615 0.99999697 0.00200477 0.11170438] [ 0.00194851 -0.00200199 0.9999961 -0.23185792] [ 0. 0. 0. 1. ]] SLAMing on 24.014553574 meters Centerline goodness [0,1] 0.8146963246592942 Centerline is valid? [False, False] Translation: X:0.89, Y:0.10, Z:-0.23 [[ 0.99999681 0.00206504 -0.00145294 0.8860048 ] [-0.00205926 0.99999 0.00396887 0.10200375] [ 0.00146112 -0.00396587 0.99999107 -0.23259585] [ 0. 0. 0. 1. ]] SLAMing on 24.044553574 meters Centerline goodness [0,1] 0.81635242469612 Centerline is valid? [False, False] Translation: X:0.89, Y:0.10, Z:-0.23 [[ 0.99999639 0.00234041 -0.00132319 0.88583905] [-0.00233391 0.99998532 0.00489026 0.09761627] [ 0.00133462 -0.00488715 0.99998717 -0.23264315] [ 0. 0. 0. 1. ]] SLAMing on 24.074553574 meters Centerline goodness [0,1] 0.8169003274662301 Centerline is valid? [False, False] Translation: X:0.88, Y:0.09, Z:-0.23 [[ 9.99991412e-01 4.14418057e-03 -3.16252828e-05 8.82327271e-01] [-4.14383238e-03 9.99963951e-01 7.41120130e-03 8.86380743e-02] [ 6.23374992e-05 -7.41100660e-03 9.99972536e-01 -2.31586658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.104553574 meters Centerline goodness [0,1] 0.8176189497482274 Centerline is valid? [False, False] Translation: X:0.88, Y:0.08, Z:-0.23 [[ 9.99988211e-01 4.83339117e-03 4.63998524e-04 8.80931302e-01] [-4.83711356e-03 9.99953122e-01 8.38784447e-03 8.49498086e-02] [-4.23435039e-04 -8.38999001e-03 9.99964714e-01 -2.31350540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.134553573999998 meters Centerline goodness [0,1] 0.8157015157403809 Centerline is valid? [False, False] Translation: X:0.87, Y:0.08, Z:-0.23 [[ 0.99998221 0.00484596 0.00347671 0.87232866] [-0.00486798 0.99996797 0.00635381 0.07785447] [-0.00344581 -0.00637062 0.99997377 -0.23253644] [ 0. 0. 0. 1. ]] SLAMing on 24.164553574 meters Centerline goodness [0,1] 0.8164263779732472 Centerline is valid? [False, False] Translation: X:0.87, Y:0.07, Z:-0.23 [[ 0.99998312 0.00280152 0.00509014 0.86783516] [-0.00281789 0.99999088 0.00321056 0.0744261 ] [-0.0050811 -0.00322484 0.99998189 -0.23305571] [ 0. 0. 0. 1. ]] SLAMing on 24.194553574 meters Centerline goodness [0,1] 0.8153321976149914 Centerline is valid? [False, False] Translation: X:0.87, Y:0.07, Z:-0.23 [[ 0.99998531 0.00236746 0.00487512 0.86874016] [-0.00238821 0.9999881 0.00425499 0.06904314] [-0.00486499 -0.00426657 0.99997906 -0.23242711] [ 0. 0. 0. 1. ]] SLAMing on 24.224553574 meters Centerline goodness [0,1] 0.8170521228857439 Centerline is valid? [False, False] Translation: X:0.87, Y:0.06, Z:-0.24 [[ 9.99977750e-01 -3.33260244e-03 5.77865428e-03 8.69194351e-01] [ 3.33676655e-03 9.99994180e-01 -7.11110832e-04 6.01869077e-02] [-5.77625079e-03 7.30377031e-04 9.99983051e-01 -2.35565170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.254553574 meters Centerline goodness [0,1] 0.8204969278861701 Centerline is valid? [False, False] Translation: X:0.87, Y:0.05, Z:-0.24 [[ 0.99994397 -0.00887321 0.00577247 0.87188498] [ 0.0088957 0.99995289 -0.00388305 0.05044717] [-0.00573774 0.00393419 0.9999758 -0.23705101] [ 0. 0. 0. 1. ]] SLAMing on 24.284553574 meters Centerline goodness [0,1] 0.8206754485824254 Centerline is valid? [False, False] Translation: X:0.88, Y:0.04, Z:-0.24 [[ 0.99993464 -0.01028264 0.00499863 0.87541669] [ 0.01029686 0.99994299 -0.00282744 0.04494302] [-0.00496928 0.00287872 0.99998351 -0.23671771] [ 0. 0. 0. 1. ]] SLAMing on 24.314553574 meters Centerline goodness [0,1] 0.8215308264936056 Centerline is valid? [False, False] Translation: X:0.88, Y:0.04, Z:-0.24 [[ 0.99992513 -0.01145008 0.00431733 0.87855533] [ 0.01145848 0.99993249 -0.00192674 0.04001891] [-0.00429498 0.00197607 0.99998882 -0.23664582] [ 0. 0. 0. 1. ]] SLAMing on 24.344553574 meters Centerline goodness [0,1] 0.8201870187018702 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.24 [[ 0.99988078 -0.01469937 0.00472865 0.88127747] [ 0.01471769 0.99988422 -0.00386478 0.03304304] [-0.0046713 0.00393391 0.99998135 -0.23956375] [ 0. 0. 0. 1. ]] SLAMing on 24.374553574 meters Centerline goodness [0,1] 0.8246043086392614 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.23 [[ 0.99997327 -0.0059592 -0.00423709 0.88761889] [ 0.00595085 0.99998033 -0.00197981 0.03068986] [ 0.00424881 0.00195454 0.99998906 -0.22885937] [ 0. 0. 0. 1. ]] SLAMing on 24.404553574 meters Centerline goodness [0,1] 0.8233923578751166 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.23 [[ 0.9999864 -0.00224439 -0.00470869 0.88885663] [ 0.00225694 0.99999391 0.00266226 0.03049105] [ 0.00470269 -0.00267285 0.99998537 -0.22731639] [ 0. 0. 0. 1. ]] SLAMing on 24.434553574 meters Centerline goodness [0,1] 0.8200367495817678 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.23 [[ 0.99998155 -0.00304501 -0.00525626 0.89178031] [ 0.00305453 0.99999371 0.00180421 0.03181117] [ 0.00525074 -0.00182023 0.99998456 -0.22959969] [ 0. 0. 0. 1. ]] SLAMing on 24.464553574 meters Centerline goodness [0,1] 0.8212496920929468 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.23 [[ 0.9999786 -0.00343629 -0.0055673 0.89334862] [ 0.00344281 0.9999934 0.00116198 0.03358018] [ 0.00556327 -0.00118113 0.99998383 -0.23084936] [ 0. 0. 0. 1. ]] SLAMing on 24.494553574 meters Centerline goodness [0,1] 0.820367789709539 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.23 [[ 9.99960556e-01 -5.41883359e-03 -7.03718725e-03 8.98677762e-01] [ 5.42300037e-03 9.99985131e-01 5.73161392e-04 3.52198217e-02] [ 7.03397675e-03 -6.11301453e-04 9.99975074e-01 -2.31015319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.524553574 meters Centerline goodness [0,1] 0.8247072983915089 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:-0.23 [[ 9.99910658e-01 -9.48751433e-03 -9.41606815e-03 9.08026713e-01] [ 9.49324539e-03 9.99954779e-01 5.64137395e-04 3.55888158e-02] [ 9.41029009e-03 -6.53476040e-04 9.99955509e-01 -2.29202007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.554553574 meters Centerline goodness [0,1] 0.8219350599572907 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:-0.23 [[ 9.99873017e-01 -1.16010367e-02 -1.09254793e-02 9.13292363e-01] [ 1.16084581e-02 9.99932430e-01 6.16098288e-04 3.53529882e-02] [ 1.09175937e-02 -7.42848023e-04 9.99940125e-01 -2.28345208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.584553574 meters Centerline goodness [0,1] 0.8261796708403959 Centerline is valid? [False, False] Translation: X:0.92, Y:0.04, Z:-0.23 [[ 9.99833608e-01 -1.34712234e-02 -1.22997115e-02 9.18064573e-01] [ 1.34776029e-02 9.99909078e-01 4.35921177e-04 3.58924040e-02] [ 1.22927208e-02 -6.01619270e-04 9.99924261e-01 -2.27912688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.614553574 meters Centerline goodness [0,1] 0.8265900675234154 Centerline is valid? [False, False] Translation: X:0.92, Y:0.04, Z:-0.23 [[ 9.99775028e-01 -1.59292633e-02 -1.40053966e-02 9.24273647e-01] [ 1.59241230e-02 9.99873089e-01 -4.78466024e-04 3.87989839e-02] [ 1.40112408e-02 2.55334723e-04 9.99901805e-01 -2.28296275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.644553574 meters Centerline goodness [0,1] 0.8264417845484222 Centerline is valid? [False, False] Translation: X:0.93, Y:0.04, Z:-0.23 [[ 9.99748731e-01 -1.69321938e-02 -1.46893357e-02 9.26882342e-01] [ 1.69232447e-02 9.99856523e-01 -7.33326187e-04 3.97105416e-02] [ 1.46996449e-02 4.84550703e-04 9.99891837e-01 -2.28315790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.674553574 meters Centerline goodness [0,1] 0.8255049956559514 Centerline is valid? [False, False] Translation: X:0.93, Y:0.04, Z:-0.23 [[ 9.99686946e-01 -1.91280740e-02 -1.61284263e-02 9.32160065e-01] [ 1.91154005e-02 9.99816843e-01 -9.39596973e-04 4.05391226e-02] [ 1.61434449e-02 6.31001502e-04 9.99869487e-01 -2.27747605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.704553574 meters Centerline goodness [0,1] 0.8279426927877571 Centerline is valid? [False, False] Translation: X:0.93, Y:0.04, Z:-0.23 [[ 9.99666803e-01 -1.97623852e-02 -1.66051546e-02 9.33940379e-01] [ 1.97467614e-02 9.99804404e-01 -1.10434928e-03 4.12548115e-02] [ 1.66237313e-02 7.76083283e-04 9.99861515e-01 -2.27732497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.734553574 meters Centerline goodness [0,1] 0.8314896155306111 Centerline is valid? [False, False] Translation: X:0.94, Y:0.04, Z:-0.23 [[ 0.99967634 -0.01786856 -0.01810862 0.9388869 ] [ 0.01792743 0.9998345 0.00309409 0.04074469] [ 0.01805033 -0.00341773 0.99983124 -0.22631421] [ 0. 0. 0. 1. ]] SLAMing on 24.764553574 meters Centerline goodness [0,1] 0.8292162162162162 Centerline is valid? [False, False] Translation: X:0.94, Y:0.04, Z:-0.23 [[ 0.99971641 -0.01444243 -0.01893437 0.94104758] [ 0.01458049 0.99986797 0.00717352 0.04175832] [ 0.01882827 -0.00744756 0.99979499 -0.22536623] [ 0. 0. 0. 1. ]] SLAMing on 24.794553574 meters Centerline goodness [0,1] 0.82318340033998 Centerline is valid? [False, False] Translation: X:0.94, Y:0.04, Z:-0.23 [[ 0.99974619 -0.0132631 -0.01821104 0.93821153] [ 0.01338922 0.99988709 0.00682143 0.04343886] [ 0.01811851 -0.00706353 0.9998109 -0.22576422] [ 0. 0. 0. 1. ]] SLAMing on 24.824553574 meters Centerline goodness [0,1] 0.8251458686241295 Centerline is valid? [False, False] Translation: X:0.96, Y:0.05, Z:-0.23 [[ 9.99834936e-01 -5.62004921e-03 -1.72775997e-02 9.56137965e-01] [ 5.62602872e-03 9.99984130e-01 2.97497811e-04 4.70743472e-02] [ 1.72756535e-02 -3.94652977e-04 9.99850687e-01 -2.30963823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.854553574 meters Centerline goodness [0,1] 0.8264429530201343 Centerline is valid? [False, False] Translation: X:0.96, Y:0.05, Z:-0.23 [[ 0.99984855 -0.0013241 -0.0173532 0.95584774] [ 0.00140709 0.99998763 0.00477132 0.04746128] [ 0.01734666 -0.00479501 0.99983804 -0.229636 ] [ 0. 0. 0. 1. ]] SLAMing on 24.884553573999998 meters Centerline goodness [0,1] 0.8228176780790749 Centerline is valid? [False, False] Translation: X:0.97, Y:0.05, Z:-0.24 [[ 9.99922254e-01 6.25330600e-03 -1.07880826e-02 9.68212152e-01] [-6.24304723e-03 9.99980028e-01 9.84350322e-04 5.09194426e-02] [ 1.07940226e-02 -9.16923283e-04 9.99941322e-01 -2.35169306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.914553574 meters Centerline goodness [0,1] 0.8206808032729898 Centerline is valid? [False, False] Translation: X:0.96, Y:0.05, Z:-0.23 [[ 0.99992059 0.00812467 -0.00963384 0.96372727] [-0.0081139 0.99996641 0.00115574 0.0520018 ] [ 0.0096429 -0.00107748 0.99995293 -0.23490439] [ 0. 0. 0. 1. ]] SLAMing on 24.944553574 meters Centerline goodness [0,1] 0.818821013233525 Centerline is valid? [False, False] Translation: X:0.96, Y:0.05, Z:-0.23 [[ 0.99991549 0.00981833 -0.0085212 0.9595231 ] [-0.00980842 0.99995117 0.00120426 0.05313253] [ 0.00853261 -0.00112057 0.99996297 -0.23478363] [ 0. 0. 0. 1. ]] SLAMing on 24.974553574 meters Centerline goodness [0,1] 0.8205128205128205 Centerline is valid? [False, False] Translation: X:0.96, Y:0.05, Z:-0.23 [[ 0.99985258 0.01538625 -0.00762098 0.95586407] [-0.01533998 0.99986377 0.00609284 0.05336045] [ 0.00771368 -0.00597503 0.9999524 -0.23290563] [ 0. 0. 0. 1. ]] SLAMing on 25.004553574 meters Centerline goodness [0,1] 0.8199362041467304 Centerline is valid? [False, False] Translation: X:0.95, Y:0.05, Z:-0.23 [[ 0.99984332 0.01627019 -0.00697323 0.95367273] [-0.01622819 0.99985008 0.0060379 0.05357866] [ 0.00707042 -0.00592379 0.99995746 -0.23320321] [ 0. 0. 0. 1. ]] SLAMing on 25.034553574 meters Centerline goodness [0,1] 0.8198152498932081 Centerline is valid? [False, False] Translation: X:0.95, Y:0.05, Z:-0.23 [[ 0.99985141 0.01648214 -0.00504914 0.94541167] [-0.01646676 0.99985969 0.00307334 0.05301956] [ 0.00509909 -0.00298974 0.99998253 -0.23339682] [ 0. 0. 0. 1. ]] SLAMing on 25.064553574 meters Centerline goodness [0,1] 0.8198152498932081 Centerline is valid? [False, False] Translation: X:0.95, Y:0.05, Z:-0.23 [[ 0.99985141 0.01648214 -0.00504914 0.94541167] [-0.01646676 0.99985969 0.00307334 0.05301956] [ 0.00509909 -0.00298974 0.99998253 -0.23339682] [ 0. 0. 0. 1. ]] SLAMing on 25.094553574 meters Centerline goodness [0,1] 0.8172830269345874 Centerline is valid? [False, False] Translation: X:0.94, Y:0.05, Z:-0.23 [[ 0.99984671 0.01687828 -0.00465523 0.94406964] [-0.01686136 0.99985117 0.00365011 0.05097223] [ 0.00471615 -0.00357106 0.9999825 -0.2328358 ] [ 0. 0. 0. 1. ]] SLAMing on 25.124553574 meters Centerline goodness [0,1] 0.8161849401301867 Centerline is valid? [False, False] Translation: X:0.93, Y:0.05, Z:-0.24 [[ 0.9999148 0.01216471 0.00473458 0.93452774] [-0.01218753 0.99991411 0.00481998 0.05138847] [-0.00467554 -0.00487727 0.99997718 -0.24044696] [ 0. 0. 0. 1. ]] SLAMing on 25.154553574 meters Centerline goodness [0,1] 0.8159219972141862 Centerline is valid? [False, False] Translation: X:0.93, Y:0.05, Z:-0.24 [[ 9.99940719e-01 9.25404640e-03 5.73772060e-03 9.32053697e-01] [-9.25347838e-03 9.99957178e-01 -1.25536017e-04 5.19931837e-02] [-5.73863661e-03 7.24347011e-05 9.99983531e-01 -2.43238994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.184553574 meters Centerline goodness [0,1] 0.8150841136540474 Centerline is valid? [False, False] Translation: X:0.93, Y:0.05, Z:-0.24 [[ 0.999957 0.00641643 0.00669574 0.92948232] [-0.00638624 0.9999694 -0.00451914 0.05212783] [-0.00672453 0.00447619 0.99996737 -0.2449115 ] [ 0. 0. 0. 1. ]] SLAMing on 25.214553574 meters Centerline goodness [0,1] 0.8170153116238947 Centerline is valid? [False, False] Translation: X:0.93, Y:0.05, Z:-0.25 [[ 0.99996974 0.00505317 0.00591425 0.93304383] [-0.00502901 0.99997897 -0.00409376 0.0488017 ] [-0.00593482 0.00406389 0.99997413 -0.24511461] [ 0. 0. 0. 1. ]] SLAMing on 25.244553574 meters Centerline goodness [0,1] 0.814389933013316 Centerline is valid? [False, False] Translation: X:0.94, Y:0.05, Z:-0.25 [[ 0.99998011 0.0036674 0.00513053 0.93660836] [-0.00364739 0.99998572 -0.00390539 0.04628851] [-0.00514478 0.0038866 0.99997921 -0.2456516 ] [ 0. 0. 0. 1. ]] SLAMing on 25.274553574 meters Centerline goodness [0,1] 0.8141857057578553 Centerline is valid? [False, False] Translation: X:0.94, Y:0.05, Z:-0.25 [[ 0.99998454 0.00301279 0.00467278 0.93875297] [-0.00299396 0.99998739 -0.0040308 0.0455155 ] [-0.00468486 0.00401675 0.99998096 -0.24654325] [ 0. 0. 0. 1. ]] SLAMing on 25.304553574 meters Centerline goodness [0,1] 0.8145612605270307 Centerline is valid? [False, False] Translation: X:0.94, Y:0.04, Z:-0.25 [[ 0.99998856 0.00238323 0.00414779 0.94092726] [-0.00236633 0.99998889 -0.00407589 0.04494294] [-0.00415746 0.00406602 0.99998309 -0.24713656] [ 0. 0. 0. 1. ]] SLAMing on 25.334553574 meters Centerline goodness [0,1] 0.8131067961165048 Centerline is valid? [False, False] Translation: X:0.94, Y:0.04, Z:-0.25 [[ 0.99999357 0.00128992 0.00334683 0.94457268] [-0.00127605 0.99999061 -0.00414238 0.04274498] [-0.00335215 0.00413808 0.99998582 -0.24857508] [ 0. 0. 0. 1. ]] SLAMing on 25.364553574 meters Centerline goodness [0,1] 0.8112546529450405 Centerline is valid? [False, False] Translation: X:0.95, Y:0.04, Z:-0.25 [[ 9.99995471e-01 8.12000638e-04 2.89800755e-03 9.46091337e-01] [-8.01699492e-04 9.99993363e-01 -3.55395465e-03 4.07551354e-02] [-2.90087413e-03 3.55161523e-03 9.99989485e-01 -2.47933523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.394553574 meters Centerline goodness [0,1] 0.8117896359083028 Centerline is valid? [False, False] Translation: X:0.95, Y:0.04, Z:-0.25 [[ 9.99997137e-01 1.70098776e-05 2.39291352e-03 9.47976889e-01] [-1.11257284e-05 9.99996977e-01 -2.45898131e-03 3.67501356e-02] [-2.39294811e-03 2.45894764e-03 9.99994114e-01 -2.46564124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.424553574 meters Centerline goodness [0,1] 0.8127775785495572 Centerline is valid? [False, False] Translation: X:0.95, Y:0.04, Z:-0.25 [[ 9.99997582e-01 -3.16441447e-04 2.17630255e-03 9.49049844e-01] [ 3.21179989e-04 9.99997578e-01 -2.17733158e-03 3.54244201e-02] [-2.17560829e-03 2.17802530e-03 9.99995261e-01 -2.46723729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.454553574 meters Centerline goodness [0,1] 0.811443433029909 Centerline is valid? [False, False] Translation: X:0.95, Y:0.03, Z:-0.25 [[ 0.99999785 -0.0012073 0.00168662 0.95148157] [ 0.00121012 0.99999787 -0.00167446 0.03241682] [-0.00168459 0.0016765 0.99999718 -0.24706629] [ 0. 0. 0. 1. ]] SLAMing on 25.484553574 meters Centerline goodness [0,1] 0.8111117281208352 Centerline is valid? [False, False] Translation: X:0.95, Y:0.03, Z:-0.25 [[ 0.99999758 -0.00179685 0.00127102 0.95299462] [ 0.00179824 0.99999779 -0.00109315 0.03023766] [-0.00126905 0.00109543 0.99999859 -0.2464303 ] [ 0. 0. 0. 1. ]] SLAMing on 25.514553574 meters Centerline goodness [0,1] 0.8105386156243045 Centerline is valid? [False, False] Translation: X:0.95, Y:0.03, Z:-0.25 [[ 9.99996884e-01 -2.34900301e-03 8.45029456e-04 9.54429749e-01] [ 2.34931108e-03 9.99997174e-01 -3.63763795e-04 2.78435431e-02] [-8.44172586e-04 3.65747899e-04 9.99999577e-01 -2.45456913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.544553574 meters Centerline goodness [0,1] 0.8134464130769445 Centerline is valid? [False, False] Translation: X:0.95, Y:0.03, Z:-0.25 [[ 0.99998169 -0.00585703 0.00152279 0.952472 ] [ 0.005863 0.99997504 -0.00394183 0.0253933 ] [-0.00149966 0.00395069 0.99999107 -0.24546279] [ 0. 0. 0. 1. ]] SLAMing on 25.574553574 meters Centerline goodness [0,1] 0.8125263069281926 Centerline is valid? [False, False] Translation: X:0.95, Y:0.02, Z:-0.24 [[ 0.99997853 -0.00646007 0.00109612 0.95371414] [ 0.00646312 0.99997517 -0.00280671 0.02279946] [-0.00107796 0.00281374 0.99999546 -0.2433264 ] [ 0. 0. 0. 1. ]] SLAMing on 25.604553574 meters Centerline goodness [0,1] 0.8125263069281926 Centerline is valid? [False, False] Translation: X:0.95, Y:0.02, Z:-0.24 [[ 0.99997853 -0.00646007 0.00109612 0.95371414] [ 0.00646312 0.99997517 -0.00280671 0.02279946] [-0.00107796 0.00281374 0.99999546 -0.2433264 ] [ 0. 0. 0. 1. ]] SLAMing on 25.634553573999998 meters Centerline goodness [0,1] 0.8183562881011515 Centerline is valid? [False, False] Translation: X:0.95, Y:0.02, Z:-0.24 [[ 9.99937091e-01 -1.11746482e-02 9.69762443e-04 9.54818787e-01] [ 1.11805526e-02 9.99917567e-01 -6.31310314e-03 1.93319136e-02] [-8.99135795e-04 6.32354847e-03 9.99979602e-01 -2.43103940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.664553574 meters Centerline goodness [0,1] 0.8156646909398815 Centerline is valid? [False, False] Translation: X:0.96, Y:0.02, Z:-0.24 [[ 9.99936453e-01 -1.12387950e-02 -8.82770816e-04 9.63724028e-01] [ 1.12373903e-02 9.99935610e-01 -1.58040402e-03 1.71839555e-02] [ 9.00475811e-04 1.57038355e-03 9.99998362e-01 -2.40902400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.694553574 meters Centerline goodness [0,1] 0.8160906579466651 Centerline is valid? [False, False] Translation: X:0.97, Y:0.02, Z:-0.24 [[ 0.99995464 -0.00922112 -0.00238517 0.96901872] [ 0.00922769 0.99995363 0.00275527 0.0167969 ] [ 0.00235965 -0.00277716 0.99999336 -0.23980088] [ 0. 0. 0. 1. ]] SLAMing on 25.724553573999998 meters Centerline goodness [0,1] 0.8128486897717667 Centerline is valid? [False, False] Translation: X:0.97, Y:0.02, Z:-0.24 [[ 0.99993666 -0.0107196 -0.00342977 0.97337015] [ 0.01072711 0.99994009 0.00217921 0.01727272] [ 0.00340621 -0.00221587 0.99999174 -0.24088192] [ 0. 0. 0. 1. ]] SLAMing on 25.754553574 meters Centerline goodness [0,1] 0.8138386432260067 Centerline is valid? [False, False] Translation: X:0.98, Y:0.02, Z:-0.24 [[ 0.99992209 -0.01175219 -0.00420712 0.97619759] [ 0.01176216 0.99992805 0.00235349 0.01664465] [ 0.00417916 -0.00240279 0.99998838 -0.24044521] [ 0. 0. 0. 1. ]] SLAMing on 25.784553574 meters Centerline goodness [0,1] 0.8147195204704818 Centerline is valid? [False, False] Translation: X:0.99, Y:0.01, Z:-0.24 [[ 0.99985052 -0.01617232 -0.00611502 0.98567633] [ 0.01618892 0.99986537 0.00267443 0.0148855 ] [ 0.00607095 -0.00277303 0.99997773 -0.23870737] [ 0. 0. 0. 1. ]] SLAMing on 25.814553574 meters Centerline goodness [0,1] 0.8247101182207354 Centerline is valid? [False, False] Translation: X:0.99, Y:0.01, Z:-0.24 [[ 0.99970897 -0.02291165 -0.00755235 0.99261058] [ 0.02289628 0.99973561 -0.00211462 0.01437496] [ 0.0075988 0.00194108 0.99996924 -0.24044591] [ 0. 0. 0. 1. ]] SLAMing on 25.844553574 meters Centerline goodness [0,1] 0.8199274951852271 Centerline is valid? [False, False] Translation: X:1.00, Y:0.01, Z:-0.24 [[ 0.99966615 -0.0243836 -0.0085452 0.99647727] [ 0.02436764 0.99970113 -0.00196642 0.01356462] [ 0.00859059 0.00175753 0.99996156 -0.24009474] [ 0. 0. 0. 1. ]] SLAMing on 25.874553574 meters Centerline goodness [0,1] 0.8239354929975952 Centerline is valid? [False, False] Translation: X:1.00, Y:0.01, Z:-0.24 [[ 0.99963395 -0.02541878 -0.00926561 0.99925308] [ 0.02540452 0.99967588 -0.00165436 0.01315036] [ 0.00930465 0.00141836 0.9999557 -0.23937742] [ 0. 0. 0. 1. ]] SLAMing on 25.904553574 meters Centerline goodness [0,1] 0.8228980828590038 Centerline is valid? [False, False] Translation: X:1.00, Y:0.01, Z:-0.24 [[ 0.99958473 -0.02692224 -0.0102745 1.00345355] [ 0.02690119 0.99963572 -0.00218107 0.01410586] [ 0.01032948 0.00190377 0.99994484 -0.24024209] [ 0. 0. 0. 1. ]] SLAMing on 25.934553574 meters Centerline goodness [0,1] 0.8223622848421469 Centerline is valid? [False, False] Translation: X:1.01, Y:0.01, Z:-0.24 [[ 0.9996061 -0.02533556 -0.01207278 1.00938648] [ 0.02536506 0.99967562 0.00229623 0.01437345] [ 0.01201069 -0.00260155 0.99992448 -0.2379795 ] [ 0. 0. 0. 1. ]] SLAMing on 25.964553574 meters Centerline goodness [0,1] 0.8257937067870749 Centerline is valid? [False, False] Translation: X:1.01, Y:0.01, Z:-0.24 [[ 0.99961314 -0.02511656 -0.01194713 1.00864735] [ 0.0251478 0.99968069 0.00247146 0.01489083] [ 0.01188124 -0.00277094 0.99992558 -0.23718416] [ 0. 0. 0. 1. ]] SLAMing on 25.994553574 meters Centerline goodness [0,1] 0.8262820693742767 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.24 [[ 0.99962 -0.02489301 -0.01184015 1.00783988] [ 0.02492778 0.99968534 0.00279837 0.0153778 ] [ 0.01176676 -0.00309245 0.99992599 -0.23592265] [ 0. 0. 0. 1. ]] SLAMing on 26.024553574 meters Centerline goodness [0,1] 0.8244940585396144 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.24 [[ 0.99963187 -0.02452086 -0.01161297 1.00679633] [ 0.02455589 0.9996943 0.00288277 0.01614686] [ 0.01153874 -0.00316688 0.99992841 -0.23536259] [ 0. 0. 0. 1. ]] SLAMing on 26.054553574 meters Centerline goodness [0,1] 0.8238512960821369 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.24 [[ 0.99963834 -0.02430471 -0.01150964 1.00645949] [ 0.02433663 0.99970033 0.00264187 0.01749499] [ 0.01144198 -0.00292102 0.99993027 -0.23563592] [ 0. 0. 0. 1. ]] SLAMing on 26.084553574 meters Centerline goodness [0,1] 0.821455658866822 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.24 [[ 0.99969579 -0.02124656 -0.01252664 1.00986948] [ 0.02132713 0.99975249 0.0063338 0.01902401] [ 0.01238897 -0.00659903 0.99990148 -0.23602654] [ 0. 0. 0. 1. ]] SLAMing on 26.114553574 meters Centerline goodness [0,1] 0.8187823652904129 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.24 [[ 0.99973875 -0.01835741 -0.01361728 1.01349424] [ 0.0184967 0.99977715 0.01017453 0.02001485] [ 0.01342747 -0.01042375 0.99985551 -0.23610765] [ 0. 0. 0. 1. ]] SLAMing on 26.144553574 meters Centerline goodness [0,1] 0.8216512427656779 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.24 [[ 0.99973889 -0.01837992 -0.0135771 1.01368867] [ 0.0185117 0.99978212 0.00964558 0.02114566] [ 0.01339686 -0.00989439 0.9998613 -0.23707196] [ 0. 0. 0. 1. ]] SLAMing on 26.174553574 meters Centerline goodness [0,1] 0.8195324936464937 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.24 [[ 0.99974473 -0.01814997 -0.01345598 1.01306785] [ 0.01827938 0.99978723 0.00955775 0.02189986] [ 0.01327965 -0.00980128 0.99986378 -0.23694604] [ 0. 0. 0. 1. ]] SLAMing on 26.204553574 meters Centerline goodness [0,1] 0.8256647785931527 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.24 [[ 0.99975452 -0.01778107 -0.01321878 1.01163025] [ 0.01791013 0.99979245 0.00970994 0.02308528] [ 0.01304338 -0.0099443 0.99986548 -0.23556621] [ 0. 0. 0. 1. ]] SLAMing on 26.234553574 meters Centerline goodness [0,1] 0.822839471778013 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.23 [[ 0.99976172 -0.01753449 -0.0130017 1.0101815 ] [ 0.01766663 0.99979273 0.01011899 0.02340259] [ 0.01282157 -0.01034627 0.99986427 -0.23357687] [ 0. 0. 0. 1. ]] SLAMing on 26.264553574 meters Centerline goodness [0,1] 0.8083110665775997 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.23 [[ 0.99976019 -0.01762436 -0.0129976 1.01017611] [ 0.01775711 0.99979061 0.0101696 0.02351966] [ 0.01281564 -0.01039797 0.99986381 -0.23315733] [ 0. 0. 0. 1. ]] SLAMing on 26.294553574 meters Centerline goodness [0,1] 0.8305471335985091 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.23 [[ 0.99975793 -0.01773087 -0.01302687 1.01046684] [ 0.01786038 0.99979153 0.00989412 0.02426426] [ 0.01284873 -0.01012439 0.99986619 -0.23357276] [ 0. 0. 0. 1. ]] SLAMing on 26.324553574 meters Centerline goodness [0,1] 0.774988209837157 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:-0.24 [[ 0.99975594 -0.01783309 -0.0130399 1.01120684] [ 0.01794959 0.99979953 0.00887162 0.0267125 ] [ 0.01287908 -0.00910352 0.99987562 -0.23573369] [ 0. 0. 0. 1. ]] SLAMing on 26.354553574 meters Centerline goodness [0,1] 0.8260616798626875 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:-0.24 [[ 0.99976331 -0.01758207 -0.01281348 1.01056253] [ 0.01769219 0.99980708 0.00853207 0.02790472] [ 0.01266099 -0.00875675 0.9998815 -0.23629595] [ 0. 0. 0. 1. ]] SLAMing on 26.384553573999998 meters Centerline goodness [0,1] 0.8243168492089833 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:-0.24 [[ 0.9997838 -0.01679124 -0.01226424 1.00815763] [ 0.01689833 0.99981953 0.00868039 0.02884727] [ 0.01211627 -0.00888576 0.99988711 -0.23539728] [ 0. 0. 0. 1. ]] SLAMing on 26.414553574 meters Centerline goodness [0,1] 0.8280874347141238 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:-0.24 [[ 0.99979168 -0.01646854 -0.01205758 1.00730027] [ 0.01657241 0.99982598 0.00856534 0.02941011] [ 0.01191442 -0.00876338 0.99989062 -0.23535312] [ 0. 0. 0. 1. ]] SLAMing on 26.444553574 meters Centerline goodness [0,1] 0.8236577551922227 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:-0.24 [[ 0.99980223 -0.01602816 -0.01177302 1.00620381] [ 0.01612662 0.99983537 0.00831628 0.03038052] [ 0.01163779 -0.0085045 0.99989611 -0.23564075] [ 0. 0. 0. 1. ]] SLAMing on 26.474553573999998 meters Centerline goodness [0,1] 0.8225021314045269 Centerline is valid? [False, False] Translation: X:1.00, Y:0.03, Z:-0.24 [[ 0.99982595 -0.01490026 -0.01122708 1.00422177] [ 0.01498438 0.99986 0.00744607 0.03307974] [ 0.01111456 -0.00761301 0.99990925 -0.23746381] [ 0. 0. 0. 1. ]] SLAMing on 26.504553574 meters Centerline goodness [0,1] 0.8220152738860502 Centerline is valid? [False, False] Translation: X:1.00, Y:0.03, Z:-0.24 [[ 0.9998376 -0.0143775 -0.01086558 1.00311995] [ 0.01445457 0.99987069 0.00704752 0.03429292] [ 0.01076285 -0.00720343 0.99991613 -0.23826969] [ 0. 0. 0. 1. ]] SLAMing on 26.534553574 meters Centerline goodness [0,1] 0.8170151960649611 Centerline is valid? [False, False] Translation: X:1.00, Y:0.04, Z:-0.24 [[ 0.99984429 -0.01405988 -0.0106638 1.00271648] [ 0.01412956 0.99987913 0.00648701 0.03514733] [ 0.01057131 -0.00663667 0.9999221 -0.23970946] [ 0. 0. 0. 1. ]] SLAMing on 26.564553574 meters Centerline goodness [0,1] 0.8214599341383095 Centerline is valid? [False, False] Translation: X:1.00, Y:0.04, Z:-0.24 [[ 0.99984656 -0.01393867 -0.01061036 1.00234397] [ 0.01401006 0.99987952 0.00668371 0.03514761] [ 0.01051592 -0.00683133 0.99992137 -0.23921519] [ 0. 0. 0. 1. ]] SLAMing on 26.594553574 meters Centerline goodness [0,1] 0.8088631243474916 Centerline is valid? [False, False] Translation: X:1.00, Y:0.03, Z:-0.24 [[ 0.99984498 -0.01401153 -0.0106629 1.00242594] [ 0.01408515 0.99987727 0.00686005 0.03494725] [ 0.01056547 -0.00700917 0.99991962 -0.23874842] [ 0. 0. 0. 1. ]] SLAMing on 26.624553574 meters Centerline goodness [0,1] 0.8236167638323617 Centerline is valid? [False, False] Translation: X:1.00, Y:0.03, Z:-0.24 [[ 0.99983042 -0.01468538 -0.01111169 1.00424841] [ 0.014761 0.99986824 0.00675434 0.03468911] [ 0.01101104 -0.00691722 0.99991545 -0.23902271] [ 0. 0. 0. 1. ]] SLAMing on 26.654553574 meters Centerline goodness [0,1] 0.8242489211401556 Centerline is valid? [False, False] Translation: X:1.01, Y:0.04, Z:-0.24 [[ 0.9998204 -0.01511413 -0.01143374 1.00570733] [ 0.01518851 0.99986386 0.00644707 0.03503806] [ 0.01133474 -0.00661957 0.99991385 -0.23979092] [ 0. 0. 0. 1. ]] SLAMing on 26.684553574 meters Centerline goodness [0,1] 0.8171324923736499 Centerline is valid? [False, False] Translation: X:1.01, Y:0.04, Z:-0.24 [[ 0.99981348 -0.01540281 -0.01165159 1.00690363] [ 0.01547401 0.999862 0.00604526 0.03545619] [ 0.01155687 -0.00622443 0.99991384 -0.24092909] [ 0. 0. 0. 1. ]] SLAMing on 26.714553574 meters Centerline goodness [0,1] 0.8216005061758961 Centerline is valid? [False, False] Translation: X:1.01, Y:0.04, Z:-0.24 [[ 0.99981386 -0.01536886 -0.01166371 1.00716619] [ 0.01543585 0.99986475 0.00567596 0.03634113] [ 0.0115749 -0.00585495 0.99991587 -0.24181614] [ 0. 0. 0. 1. ]] SLAMing on 26.744553574 meters Centerline goodness [0,1] 0.8200351686998572 Centerline is valid? [False, False] Translation: X:1.01, Y:0.04, Z:-0.24 [[ 0.9998199 -0.01510991 -0.01148329 1.00648641] [ 0.01517609 0.9998686 0.00569799 0.03665868] [ 0.01139569 -0.00587124 0.99991783 -0.24167518] [ 0. 0. 0. 1. ]] SLAMing on 26.774553574 meters Centerline goodness [0,1] 0.8204387990762125 Centerline is valid? [False, False] Translation: X:1.00, Y:0.04, Z:-0.24 [[ 0.99984637 -0.01384965 -0.01074346 1.0032216 ] [ 0.01391261 0.99988635 0.00580742 0.03758702] [ 0.01066181 -0.005956 0.99992542 -0.24107231] [ 0. 0. 0. 1. ]] SLAMing on 26.804553574 meters Centerline goodness [0,1] 0.821296016275809 Centerline is valid? [False, False] Translation: X:1.00, Y:0.04, Z:-0.24 [[ 0.99988948 -0.01151492 -0.00940399 0.9972779 ] [ 0.0115744 0.9999132 0.00629484 0.03852496] [ 0.00933069 -0.00640299 0.99993597 -0.23992734] [ 0. 0. 0. 1. ]] SLAMing on 26.834553574 meters Centerline goodness [0,1] 0.8156982502476064 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:-0.24 [[ 0.99990569 -0.01056981 -0.00876857 0.99490536] [ 0.01062527 0.99992369 0.00630223 0.03893728] [ 0.00870128 -0.0063948 0.9999417 -0.24001922] [ 0. 0. 0. 1. ]] SLAMing on 26.864553574 meters Centerline goodness [0,1] 0.8205128205128205 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:-0.24 [[ 0.99992119 -0.00958582 -0.00810763 0.99302352] [ 0.00963282 0.99993691 0.00577793 0.03993113] [ 0.00805174 -0.00585558 0.99995044 -0.24185845] [ 0. 0. 0. 1. ]] SLAMing on 26.894553574 meters Centerline goodness [0,1] 0.8115786578657866 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:-0.24 [[ 0.99992273 -0.00949194 -0.00802698 0.99291405] [ 0.00953813 0.99993806 0.0057361 0.03969995] [ 0.00797204 -0.00581222 0.99995133 -0.24231808] [ 0. 0. 0. 1. ]] SLAMing on 26.924553574 meters Centerline goodness [0,1] 0.8136898866512601 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:-0.24 [[ 0.99991864 -0.00974969 -0.00822593 0.99355728] [ 0.00980034 0.99993312 0.00614059 0.03847746] [ 0.00816551 -0.00622071 0.99994731 -0.24179987] [ 0. 0. 0. 1. ]] SLAMing on 26.954553574 meters Centerline goodness [0,1] 0.816692904686939 Centerline is valid? [False, False] Translation: X:1.00, Y:0.03, Z:-0.24 [[ 0.99989506 -0.01142291 -0.00891018 0.9966708 ] [ 0.01148434 0.99991042 0.0068743 0.03425149] [ 0.00883085 -0.0069759 0.99993667 -0.24053291] [ 0. 0. 0. 1. ]] SLAMing on 26.984553574 meters Centerline goodness [0,1] 0.8183901698191357 Centerline is valid? [False, False] Translation: X:1.00, Y:0.03, Z:-0.24 [[ 0.99988826 -0.01177707 -0.00920675 0.99758755] [ 0.01184331 0.99990413 0.00717378 0.03332175] [ 0.00912138 -0.00728202 0.99993188 -0.23998519] [ 0. 0. 0. 1. ]] SLAMing on 27.014553574 meters Centerline goodness [0,1] 0.8144800132691988 Centerline is valid? [False, False] Translation: X:1.00, Y:0.03, Z:-0.24 [[ 0.99988144 -0.01212962 -0.00948545 0.99891173] [ 0.01219484 0.99990218 0.00684888 0.03310649] [ 0.00940144 -0.00696374 0.99993156 -0.2409856 ] [ 0. 0. 0. 1. ]] SLAMing on 27.044553574 meters Centerline goodness [0,1] 0.8149653094507561 Centerline is valid? [False, False] Translation: X:1.00, Y:0.03, Z:-0.24 [[ 0.9998716 -0.01256212 -0.00994883 1.0011389 ] [ 0.01262305 0.99990181 0.00608474 0.03297366] [ 0.00987142 -0.00620954 0.999932 -0.24342415] [ 0. 0. 0. 1. ]] SLAMing on 27.074553574 meters Centerline goodness [0,1] 0.8141715297176204 Centerline is valid? [False, False] Translation: X:1.00, Y:0.03, Z:-0.24 [[ 0.9998747 -0.01238897 -0.00985383 1.00082146] [ 0.01245005 0.99990351 0.00616196 0.03262663] [ 0.00977654 -0.00628386 0.99993246 -0.24353347] [ 0. 0. 0. 1. ]] SLAMing on 27.104553574 meters Centerline goodness [0,1] 0.813374331698939 Centerline is valid? [False, False] Translation: X:1.00, Y:0.03, Z:-0.24 [[ 0.99987911 -0.01217875 -0.00966663 1.00008071] [ 0.01224356 0.99990278 0.00667313 0.03126343] [ 0.00958442 -0.00679067 0.99993101 -0.24288145] [ 0. 0. 0. 1. ]] SLAMing on 27.134553573999998 meters Centerline goodness [0,1] 0.8119901556839864 Centerline is valid? [False, False] Translation: X:1.00, Y:0.03, Z:-0.24 [[ 0.99987548 -0.01236214 -0.00980805 1.00073924] [ 0.01242695 0.99990117 0.00657476 0.03092567] [ 0.0097258 -0.00669582 0.99993028 -0.2433511 ] [ 0. 0. 0. 1. ]] SLAMing on 27.164553574 meters Centerline goodness [0,1] 0.8122386819880936 Centerline is valid? [False, False] Translation: X:1.00, Y:0.03, Z:-0.24 [[ 0.99987193 -0.0125167 -0.00997267 1.00138476] [ 0.01258378 0.99989843 0.0066917 0.03040042] [ 0.0098879 -0.00681634 0.99992788 -0.24344198] [ 0. 0. 0. 1. ]] SLAMing on 27.194553574 meters Centerline goodness [0,1] 0.8140633685380767 Centerline is valid? [False, False] Translation: X:1.00, Y:0.03, Z:-0.24 [[ 0.99986693 -0.01273756 -0.01019215 1.00191783] [ 0.01281281 0.99989088 0.00735192 0.02813946] [ 0.01009739 -0.00748153 0.99992103 -0.24248656] [ 0. 0. 0. 1. ]] SLAMing on 27.224553573999998 meters Centerline goodness [0,1] 0.821353919901898 Centerline is valid? [False, False] Translation: X:1.00, Y:0.03, Z:-0.24 [[ 0.99986093 -0.01301043 -0.01043349 1.0026024 ] [ 0.01309209 0.9998839 0.00779696 0.0265932 ] [ 0.01033083 -0.00793247 0.99991517 -0.24176038] [ 0. 0. 0. 1. ]] SLAMing on 27.254553574 meters Centerline goodness [0,1] 0.8271798022677763 Centerline is valid? [False, False] Translation: X:1.00, Y:0.02, Z:-0.24 [[ 0.99984566 -0.01379781 -0.01087581 1.00457247] [ 0.01388649 0.9998706 0.00812091 0.02432078] [ 0.01076235 -0.00827068 0.99990788 -0.241806 ] [ 0. 0. 0. 1. ]] SLAMing on 27.284553574 meters Centerline goodness [0,1] 0.821456495029599 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.24 [[ 0.99983898 -0.0141044 -0.01109432 1.00551977] [ 0.01419659 0.99986498 0.00827568 0.02353985] [ 0.0109761 -0.00843185 0.99990421 -0.24187158] [ 0. 0. 0. 1. ]] SLAMing on 27.314553574 meters Centerline goodness [0,1] 0.8162019930578883 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.24 [[ 0.99983064 -0.01445957 -0.01138449 1.00665947] [ 0.01455566 0.99985875 0.00840317 0.02229062] [ 0.01126137 -0.00856745 0.99989989 -0.24216628] [ 0. 0. 0. 1. ]] SLAMing on 27.344553574 meters Centerline goodness [0,1] 0.8244563239945143 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.24 [[ 0.99983043 -0.01446868 -0.01139133 1.00699648] [ 0.0145615 0.9998611 0.00810876 0.02235561] [ 0.01127243 -0.00827326 0.99990224 -0.24309823] [ 0. 0. 0. 1. ]] SLAMing on 27.374553574 meters Centerline goodness [0,1] 0.8219553072625698 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.25 [[ 0.99983149 -0.01437532 -0.01141692 1.00751706] [ 0.0144604 0.99986802 0.00740489 0.02321092] [ 0.01130897 -0.00756873 0.99990741 -0.24502288] [ 0. 0. 0. 1. ]] SLAMing on 27.404553574 meters Centerline goodness [0,1] 0.8226643598615917 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.24 [[ 0.99983781 -0.01403109 -0.01129058 1.00673858] [ 0.01411425 0.9998736 0.00731989 0.02399803] [ 0.01118645 -0.00747806 0.99990947 -0.24483333] [ 0. 0. 0. 1. ]] SLAMing on 27.434553574 meters Centerline goodness [0,1] 0.8077629893634795 Centerline is valid? [False, False] Translation: X:1.00, Y:0.03, Z:-0.24 [[ 0.99986623 -0.0125917 -0.01043926 1.00282956] [ 0.01266716 0.99989389 0.0071935 0.02592404] [ 0.01034757 -0.00732477 0.99991963 -0.24419983] [ 0. 0. 0. 1. ]] SLAMing on 27.464553574 meters Centerline goodness [0,1] 0.8095754441571441 Centerline is valid? [False, False] Translation: X:1.00, Y:0.03, Z:-0.24 [[ 0.99988332 -0.01166111 -0.00986687 1.00029935] [ 0.01173163 0.99990583 0.00712041 0.02771643] [ 0.00978291 -0.00723534 0.99992597 -0.24369634] [ 0. 0. 0. 1. ]] SLAMing on 27.494553574 meters Centerline goodness [0,1] 0.8122095596370879 Centerline is valid? [False, False] Translation: X:1.00, Y:0.03, Z:-0.24 [[ 0.99990599 -0.00856948 -0.01070377 1.00242195] [ 0.00868347 0.99990559 0.01064901 0.03097839] [ 0.01061151 -0.01074096 0.99988601 -0.24291675] [ 0. 0. 0. 1. ]] SLAMing on 27.524553574 meters Centerline goodness [0,1] 0.8122095596370879 Centerline is valid? [False, False] Translation: X:1.00, Y:0.03, Z:-0.24 [[ 0.99990599 -0.00856948 -0.01070377 1.00242195] [ 0.00868347 0.99990559 0.01064901 0.03097839] [ 0.01061151 -0.01074096 0.99988601 -0.24291675] [ 0. 0. 0. 1. ]] SLAMing on 27.554553574 meters Centerline goodness [0,1] 0.8059372068642057 Centerline is valid? [False, False] Translation: X:1.01, Y:0.04, Z:-0.25 [[ 0.99988543 -0.00975695 -0.01157301 1.0062842 ] [ 0.00986093 0.99991122 0.00896215 0.03510006] [ 0.01148454 -0.00907525 0.99989287 -0.24572119] [ 0. 0. 0. 1. ]] SLAMing on 27.584553574 meters Centerline goodness [0,1] 0.8194888178913737 Centerline is valid? [False, False] Translation: X:1.01, Y:0.04, Z:-0.25 [[ 0.99986736 -0.01071068 -0.01226969 1.00900397] [ 0.01081423 0.9999062 0.00840491 0.03636786] [ 0.01217852 -0.00853648 0.9998894 -0.24646822] [ 0. 0. 0. 1. ]] SLAMing on 27.614553574 meters Centerline goodness [0,1] 0.8111358819805686 Centerline is valid? [False, False] Translation: X:1.01, Y:0.04, Z:-0.25 [[ 0.99984781 -0.01164932 -0.01298661 1.01134354] [ 0.0117573 0.99989669 0.00826924 0.03699463] [ 0.01288893 -0.00842067 0.99988148 -0.24604213] [ 0. 0. 0. 1. ]] SLAMing on 27.644553574 meters Centerline goodness [0,1] 0.8109545993329107 Centerline is valid? [False, False] Translation: X:1.01, Y:0.04, Z:-0.25 [[ 0.99976878 -0.01676319 -0.013468 1.01342235] [ 0.01681074 0.99985282 0.00342502 0.03882058] [ 0.0134086 -0.00365064 0.99990344 -0.24647334] [ 0. 0. 0. 1. ]] SLAMing on 27.674553574 meters Centerline goodness [0,1] 0.8088915821947995 Centerline is valid? [False, False] Translation: X:1.02, Y:0.04, Z:-0.25 [[ 0.99973108 -0.01813706 -0.01445025 1.01692635] [ 0.01818635 0.99982921 0.00328644 0.03900581] [ 0.01438818 -0.00354836 0.99989019 -0.24623602] [ 0. 0. 0. 1. ]] SLAMing on 27.704553574 meters Centerline goodness [0,1] 0.8230836810893916 Centerline is valid? [False, False] Translation: X:1.02, Y:0.04, Z:-0.25 [[ 0.9996701 -0.02022493 -0.0158315 1.02184968] [ 0.02027209 0.99979051 0.00282415 0.04031426] [ 0.01577107 -0.00314416 0.99987069 -0.24596712] [ 0. 0. 0. 1. ]] SLAMing on 27.734553574 meters Centerline goodness [0,1] 0.8191705575391376 Centerline is valid? [False, False] Translation: X:1.02, Y:0.04, Z:-0.25 [[ 0.99965702 -0.02061879 -0.01614653 1.02301547] [ 0.02066338 0.99978311 0.00260005 0.04135901] [ 0.01608942 -0.0029328 0.99986626 -0.24607279] [ 0. 0. 0. 1. ]] SLAMing on 27.764553574 meters Centerline goodness [0,1] 0.8225220550077841 Centerline is valid? [False, False] Translation: X:1.03, Y:0.04, Z:-0.25 [[ 0.99968018 -0.01818861 -0.01757024 1.02768697] [ 0.01829864 0.99981382 0.00612209 0.04333426] [ 0.01745562 -0.00644165 0.99982689 -0.2462322 ] [ 0. 0. 0. 1. ]] SLAMing on 27.794553574 meters Centerline goodness [0,1] 0.8240586743735856 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:-0.25 [[ 0.99968386 -0.01801117 -0.01754366 1.02783119] [ 0.01810919 0.99982119 0.00544476 0.04542885] [ 0.01744246 -0.00576074 0.99983127 -0.24750182] [ 0. 0. 0. 1. ]] SLAMing on 27.824553574 meters Centerline goodness [0,1] 0.8255975201892487 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:-0.25 [[ 0.99971063 -0.0170146 -0.0170049 1.02514136] [ 0.01711084 0.99983831 0.00552973 0.04724321] [ 0.01690807 -0.00581909 0.99984011 -0.24642056] [ 0. 0. 0. 1. ]] SLAMing on 27.854553574 meters Centerline goodness [0,1] 0.827186998940131 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:-0.24 [[ 0.99972985 -0.01631647 -0.01655277 1.02287896] [ 0.01641632 0.99984775 0.00591444 0.04763723] [ 0.01645375 -0.00618457 0.9998455 -0.24496128] [ 0. 0. 0. 1. ]] SLAMing on 27.884553573999998 meters Centerline goodness [0,1] 0.8273906436557039 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:-0.24 [[ 0.99975311 -0.01543659 -0.01598197 1.02039433] [ 0.01553576 0.99986071 0.00609974 0.04867048] [ 0.01588558 -0.00634653 0.99985367 -0.24409312] [ 0. 0. 0. 1. ]] SLAMing on 27.914553574 meters Centerline goodness [0,1] 0.8198633651067966 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:-0.24 [[ 0.99979456 -0.01173133 -0.01652896 1.02223593] [ 0.01188932 0.99988426 0.00949256 0.05119256] [ 0.01641568 -0.00968713 0.99981833 -0.24493541] [ 0. 0. 0. 1. ]] SLAMing on 27.944553574 meters Centerline goodness [0,1] 0.8197994176641863 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:-0.25 [[ 0.99980386 -0.01125705 -0.0162945 1.02170901] [ 0.01140067 0.99989674 0.00874829 0.05293586] [ 0.01619434 -0.00893234 0.99982896 -0.24661257] [ 0. 0. 0. 1. ]] SLAMing on 27.974553573999998 meters Centerline goodness [0,1] 0.8086947176097588 Centerline is valid? [False, False] Translation: X:1.02, Y:0.06, Z:-0.25 [[ 0.99983524 -0.0096153 -0.01539627 1.01823771] [ 0.00974332 0.9999184 0.0082619 0.05513345] [ 0.01531557 -0.00841055 0.99984734 -0.24759469] [ 0. 0. 0. 1. ]] SLAMing on 28.004553574 meters Centerline goodness [0,1] 0.8214927936874312 Centerline is valid? [False, False] Translation: X:1.02, Y:0.06, Z:-0.25 [[ 0.99985551 -0.00854398 -0.01469539 1.01549628] [ 0.00866606 0.9999283 0.00826378 0.05635524] [ 0.01462373 -0.00838994 0.99985787 -0.24726097] [ 0. 0. 0. 1. ]] SLAMing on 28.034553574 meters Centerline goodness [0,1] 0.8132226980728051 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:-0.25 [[ 0.99990172 -0.00530178 -0.01297849 1.00793247] [ 0.00541257 0.99994909 0.00851561 0.05792285] [ 0.01293268 -0.00858502 0.99987951 -0.24670146] [ 0. 0. 0. 1. ]] SLAMing on 28.064553574 meters Centerline goodness [0,1] 0.8118311215753424 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:-0.25 [[ 0.99991491 -0.00427947 -0.01232274 1.00563983] [ 0.00438252 0.99995556 0.00834735 0.05883568] [ 0.01228647 -0.00840065 0.99988923 -0.24714523] [ 0. 0. 0. 1. ]] SLAMing on 28.094553574 meters Centerline goodness [0,1] 0.8045830002664535 Centerline is valid? [False, False] Translation: X:1.00, Y:0.06, Z:-0.25 [[ 0.99992269 -0.00361407 -0.01189758 1.00465329] [ 0.00370591 0.99996344 0.00770585 0.06025326] [ 0.0118693 -0.00774935 0.99989953 -0.2488807 ] [ 0. 0. 0. 1. ]] SLAMing on 28.124553574 meters Centerline goodness [0,1] 0.805885636813143 Centerline is valid? [False, False] Translation: X:1.00, Y:0.06, Z:-0.25 [[ 0.99993759 -0.00217361 -0.01095897 1.00210353] [ 0.00224483 0.99997641 0.00649107 0.0626545 ] [ 0.0109446 -0.00651526 0.99991888 -0.25220892] [ 0. 0. 0. 1. ]] SLAMing on 28.154553574 meters Centerline goodness [0,1] 0.8020018101474737 Centerline is valid? [False, False] Translation: X:1.00, Y:0.06, Z:-0.25 [[ 0.99994309 -0.00160119 -0.01054812 1.00060946] [ 0.00166933 0.99997778 0.00645441 0.06281393] [ 0.01053755 -0.00647165 0.99992354 -0.25228871] [ 0. 0. 0. 1. ]] SLAMing on 28.184553574 meters Centerline goodness [0,1] 0.804420272467941 Centerline is valid? [False, False] Translation: X:1.00, Y:0.06, Z:-0.25 [[ 9.99953060e-01 -4.14841872e-04 -9.68013364e-03 9.96706029e-01] [ 4.88222787e-04 9.99971156e-01 7.57943708e-03 6.10260101e-02] [ 9.67671016e-03 -7.58380737e-03 9.99924421e-01 -2.49769364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.214553574 meters Centerline goodness [0,1] 0.8028594334580439 Centerline is valid? [False, False] Translation: X:1.00, Y:0.06, Z:-0.25 [[ 9.99954499e-01 -2.92717882e-04 -9.53487205e-03 9.96072324e-01] [ 3.67690059e-04 9.99969025e-01 7.86214158e-03 6.02005575e-02] [ 9.53227532e-03 -7.86528972e-03 9.99923634e-01 -2.49152898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.244553574 meters Centerline goodness [0,1] 0.8060826340264045 Centerline is valid? [False, False] Translation: X:1.00, Y:0.06, Z:-0.25 [[ 9.99956220e-01 -5.98715057e-05 -9.35701175e-03 9.95526904e-01] [ 1.36402220e-04 9.99966546e-01 8.17854540e-03 5.87780328e-02] [ 9.35620906e-03 -8.17946367e-03 9.99922776e-01 -2.49075654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.274553574 meters Centerline goodness [0,1] 0.8063903743315508 Centerline is valid? [False, False] Translation: X:1.00, Y:0.06, Z:-0.25 [[ 9.99956075e-01 -1.24010939e-04 -9.37192292e-03 9.96122037e-01] [ 1.99117442e-04 9.99967872e-01 8.01348251e-03 5.81981999e-02] [ 9.37062805e-03 -8.01499663e-03 9.99923973e-01 -2.50133166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.304553574 meters Centerline goodness [0,1] 0.8093094300184902 Centerline is valid? [False, False] Translation: X:1.00, Y:0.06, Z:-0.25 [[ 9.99955700e-01 -1.54651076e-04 -9.41142331e-03 9.96786580e-01] [ 2.26907516e-04 9.99970506e-01 7.67694191e-03 5.81868762e-02] [ 9.40995848e-03 -7.67873734e-03 9.99926242e-01 -2.51427828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.334553574 meters Centerline goodness [0,1] 0.8095442704836587 Centerline is valid? [False, False] Translation: X:1.00, Y:0.06, Z:-0.25 [[ 9.99956710e-01 5.29803687e-05 -9.30457869e-03 9.97203447e-01] [ 1.62564473e-05 9.99972316e-01 7.44092213e-03 5.73322294e-02] [ 9.30471532e-03 -7.44075127e-03 9.99929026e-01 -2.53266476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.364553574 meters Centerline goodness [0,1] 0.8073952474501467 Centerline is valid? [False, False] Translation: X:1.00, Y:0.06, Z:-0.25 [[ 9.99956534e-01 -2.28084942e-05 -9.32357227e-03 9.97612742e-01] [ 9.17110607e-05 9.99972691e-01 7.38978593e-03 5.63381734e-02] [ 9.32314910e-03 -7.39031980e-03 9.99929229e-01 -2.53932587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.394553574 meters Centerline goodness [0,1] 0.8141188557832694 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:-0.25 [[ 0.99996903 -0.00190576 -0.00763554 0.99168439] [ 0.00193639 0.9999901 0.00400609 0.05466465] [ 0.00762783 -0.00402075 0.99996282 -0.25347189] [ 0. 0. 0. 1. ]] SLAMing on 28.424553574 meters Centerline goodness [0,1] 0.8135496803554014 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:-0.25 [[ 0.99997141 -0.00159025 -0.00739191 0.99050549] [ 0.00162401 0.99998827 0.00456343 0.05311595] [ 0.00738457 -0.0045753 0.99996227 -0.25244712] [ 0. 0. 0. 1. ]] SLAMing on 28.454553574 meters Centerline goodness [0,1] 0.8090502641918439 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:-0.25 [[ 0.99997295 -0.00137487 -0.00722601 0.98988578] [ 0.00141038 0.99998694 0.00491143 0.05181656] [ 0.00721917 -0.00492149 0.99996183 -0.25207766] [ 0. 0. 0. 1. ]] SLAMing on 28.484553574 meters Centerline goodness [0,1] 0.8084465782407031 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:-0.25 [[ 9.99979746e-01 -1.71857570e-04 -6.36227505e-03 9.87179012e-01] [ 2.03749639e-04 9.99987417e-01 5.01237443e-03 5.11897116e-02] [ 6.36133358e-03 -5.01356922e-03 9.99967198e-01 -2.52802425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.514553574 meters Centerline goodness [0,1] 0.8072370921331234 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:-0.25 [[ 9.99981576e-01 1.99278852e-04 -6.06689637e-03 9.86726151e-01] [-1.70658399e-04 9.99988857e-01 4.71763059e-03 5.11481801e-02] [ 6.06776889e-03 -4.71650830e-03 9.99970468e-01 -2.54174412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.544553574 meters Centerline goodness [0,1] 0.8061196785403997 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:-0.26 [[ 9.99982183e-01 3.07317260e-04 -5.96146124e-03 9.86956615e-01] [-2.81232786e-04 9.99990386e-01 4.37586171e-03 5.08906868e-02] [ 5.96274871e-03 -4.37410719e-03 9.99972656e-01 -2.55590245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.574553574 meters Centerline goodness [0,1] 0.8045167953038374 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:-0.26 [[ 9.99983400e-01 5.63163781e-04 -5.73439833e-03 9.86735149e-01] [-5.36658055e-04 9.99989171e-01 4.62272315e-03 4.85882609e-02] [ 5.73693958e-03 -4.61956900e-03 9.99972873e-01 -2.56477927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.604553574 meters Centerline goodness [0,1] 0.8096706415259094 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:-0.26 [[ 9.99983872e-01 -2.79151487e-03 -4.94602826e-03 9.85026611e-01] [ 2.79509397e-03 9.99995837e-01 7.16866672e-04 4.60708004e-02] [ 4.94400653e-03 -7.30679724e-04 9.99987511e-01 -2.57848440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.634553573999998 meters Centerline goodness [0,1] 0.8120346035917652 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:-0.26 [[ 0.99997961 -0.00340781 -0.00540079 0.98651428] [ 0.0034159 0.99999305 0.00149065 0.04351077] [ 0.00539567 -0.00150907 0.9999843 -0.25679411] [ 0. 0. 0. 1. ]] SLAMing on 28.664553574 meters Centerline goodness [0,1] 0.8091490003565258 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:-0.26 [[ 0.99997274 -0.00431609 -0.00599117 0.98875999] [ 0.00432887 0.99998838 0.00212153 0.04095346] [ 0.00598194 -0.00214741 0.9999798 -0.25603602] [ 0. 0. 0. 1. ]] SLAMing on 28.694553574 meters Centerline goodness [0,1] 0.8134375602102888 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:-0.26 [[ 0.99992639 -0.01006297 -0.00677878 0.99343506] [ 0.0100487 0.99994723 -0.00213681 0.03773401] [ 0.00679993 0.00206853 0.99997474 -0.25841444] [ 0. 0. 0. 1. ]] SLAMing on 28.724553573999998 meters Centerline goodness [0,1] 0.8108197717790733 Centerline is valid? [False, False] Translation: X:1.00, Y:0.04, Z:-0.26 [[ 0.99990143 -0.01164277 -0.00784764 0.99790519] [ 0.01162796 0.99993053 -0.00193015 0.03551965] [ 0.00786957 0.00183871 0.99996734 -0.25881335] [ 0. 0. 0. 1. ]] SLAMing on 28.754553574 meters Centerline goodness [0,1] 0.8127706829539145 Centerline is valid? [False, False] Translation: X:1.00, Y:0.03, Z:-0.26 [[ 0.99981114 -0.01739077 -0.00867448 1.0023843 ] [ 0.01733611 0.99982964 -0.00633694 0.03335882] [ 0.0087832 0.00618536 0.9999423 -0.26064702] [ 0. 0. 0. 1. ]] SLAMing on 28.784553574 meters Centerline goodness [0,1] 0.8194683868097647 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:-0.26 [[ 0.99977871 -0.01874718 -0.00954326 1.00583369] [ 0.01869155 0.99980798 -0.00588532 0.03131055] [ 0.00965176 0.00570564 0.99993714 -0.26000409] [ 0. 0. 0. 1. ]] SLAMing on 28.814553573999998 meters Centerline goodness [0,1] 0.8257313532827155 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:-0.26 [[ 0.99969344 -0.02207636 -0.01120999 1.01327022] [ 0.02203278 0.99974926 -0.00399637 0.02732411] [ 0.0112954 0.00374816 0.99992918 -0.25584131] [ 0. 0. 0. 1. ]] SLAMing on 28.844553574 meters Centerline goodness [0,1] 0.8148148148148149 Centerline is valid? [False, False] Translation: X:1.02, Y:0.03, Z:-0.26 [[ 0.999665 -0.02299383 -0.01188168 1.01593646] [ 0.02294874 0.99972897 -0.00391772 0.02688446] [ 0.01196855 0.00364374 0.99992174 -0.25576106] [ 0. 0. 0. 1. ]] SLAMing on 28.874553574 meters Centerline goodness [0,1] 0.8195385945825313 Centerline is valid? [False, False] Translation: X:1.02, Y:0.03, Z:-0.26 [[ 0.99961268 -0.02462991 -0.01295636 1.02032292] [ 0.02458319 0.99969074 -0.003753 0.02612417] [ 0.01304479 0.00343304 0.99990902 -0.25551581] [ 0. 0. 0. 1. ]] SLAMing on 28.904553574 meters Centerline goodness [0,1] 0.8147733944697626 Centerline is valid? [False, False] Translation: X:1.02, Y:0.03, Z:-0.25 [[ 0.99958647 -0.02539505 -0.01349003 1.02229992] [ 0.02535214 0.99967299 -0.00334252 0.02514603] [ 0.0135705 0.00299914 0.99990342 -0.25476846] [ 0. 0. 0. 1. ]] SLAMing on 28.934553574 meters Centerline goodness [0,1] 0.8236808236808237 Centerline is valid? [False, False] Translation: X:1.02, Y:0.02, Z:-0.25 [[ 0.99955433 -0.02629 -0.01414156 1.02475444] [ 0.02624905 0.99965071 -0.00307364 0.02437592] [ 0.01421742 0.00270107 0.99989528 -0.25433604] [ 0. 0. 0. 1. ]] SLAMing on 28.964553574 meters Centerline goodness [0,1] 0.8323920823082085 Centerline is valid? [False, False] Translation: X:1.03, Y:0.02, Z:-0.25 [[ 0.99950831 -0.02758197 -0.01491207 1.02786937] [ 0.0275412 0.99961637 -0.00293279 0.02423218] [ 0.01498724 0.00252065 0.99988451 -0.25384949] [ 0. 0. 0. 1. ]] SLAMing on 28.994553574 meters Centerline goodness [0,1] 0.8338597422925343 Centerline is valid? [False, False] Translation: X:1.03, Y:0.02, Z:-0.25 [[ 0.99952135 -0.02615163 -0.01652746 1.03360029] [ 0.02619697 0.99965359 0.00253275 0.02236782] [ 0.0164555 -0.0029645 0.9998602 -0.24989389] [ 0. 0. 0. 1. ]] SLAMing on 29.024553574 meters Centerline goodness [0,1] 0.8474950403755344 Centerline is valid? [False, False] Translation: X:1.04, Y:0.02, Z:-0.25 [[ 0.99949449 -0.02683935 -0.01704164 1.03527397] [ 0.02688983 0.99963465 0.00274031 0.02227116] [ 0.01696187 -0.00319717 0.99985103 -0.24904812] [ 0. 0. 0. 1. ]] SLAMing on 29.054553574 meters Centerline goodness [0,1] 0.8375934814153365 Centerline is valid? [False, False] Translation: X:1.03, Y:0.02, Z:-0.25 [[ 0.99950309 -0.0265787 -0.0169451 1.0346303 ] [ 0.02663075 0.99964127 0.00285312 0.02301276] [ 0.01686319 -0.00330296 0.99985235 -0.24843211] [ 0. 0. 0. 1. ]] SLAMing on 29.084553574 meters Centerline goodness [0,1] 0.8426388888888889 Centerline is valid? [False, False] Translation: X:1.03, Y:0.02, Z:-0.25 [[ 0.99959792 -0.02247585 -0.01728668 1.03445025] [ 0.02260641 0.99971709 0.00739498 0.02418374] [ 0.01711558 -0.00778279 0.99982323 -0.24607105] [ 0. 0. 0. 1. ]] SLAMing on 29.114553574 meters Centerline goodness [0,1] 0.8398361835187338 Centerline is valid? [False, False] Translation: X:1.03, Y:0.03, Z:-0.25 [[ 0.9996239 -0.02164422 -0.01684005 1.03275512] [ 0.02176097 0.99974021 0.00678059 0.02660749] [ 0.01668891 -0.00714449 0.9998352 -0.24705048] [ 0. 0. 0. 1. ]] SLAMing on 29.144553574 meters Centerline goodness [0,1] 0.8324602999558888 Centerline is valid? [False, False] Translation: X:1.03, Y:0.03, Z:-0.25 [[ 0.99968608 -0.01796559 -0.01746393 1.03434703] [ 0.01815787 0.99977556 0.01091471 0.02751949] [ 0.01726392 -0.01122839 0.99978792 -0.24644624] [ 0. 0. 0. 1. ]] SLAMing on 29.174553574 meters Centerline goodness [0,1] 0.8328396686961769 Centerline is valid? [False, False] Translation: X:1.04, Y:0.03, Z:-0.25 [[ 0.99974772 -0.01381483 -0.01770983 1.03515588] [ 0.01406282 0.99980372 0.01395576 0.03100465] [ 0.01751356 -0.01420129 0.99974577 -0.2478427 ] [ 0. 0. 0. 1. ]] SLAMing on 29.204553574 meters Centerline goodness [0,1] 0.8323942891526721 Centerline is valid? [False, False] Translation: X:1.03, Y:0.03, Z:-0.25 [[ 0.99976154 -0.0132203 -0.01738049 1.03404725] [ 0.01345116 0.99982195 0.01323409 0.03299651] [ 0.01720243 -0.01346472 0.99976136 -0.24908104] [ 0. 0. 0. 1. ]] SLAMing on 29.234553574 meters Centerline goodness [0,1] 0.8248310442555047 Centerline is valid? [False, False] Translation: X:1.03, Y:0.04, Z:-0.25 [[ 0.99978653 -0.01202678 -0.0168005 1.03167932] [ 0.0122346 0.99984923 0.01232224 0.03625466] [ 0.01664977 -0.01252516 0.99978293 -0.25052297] [ 0. 0. 0. 1. ]] SLAMing on 29.264553574 meters Centerline goodness [0,1] 0.8220857228277119 Centerline is valid? [False, False] Translation: X:1.03, Y:0.04, Z:-0.25 [[ 0.99979855 -0.01149656 -0.0164528 1.03050604] [ 0.01169111 0.99986229 0.01177773 0.03818296] [ 0.01631513 -0.0119677 0.99979527 -0.25130128] [ 0. 0. 0. 1. ]] SLAMing on 29.294553574 meters Centerline goodness [0,1] 0.8231480728022351 Centerline is valid? [False, False] Translation: X:1.03, Y:0.04, Z:-0.25 [[ 0.99981382 -0.01081665 -0.0159792 1.02881143] [ 0.01099813 0.99987552 0.01131282 0.04019379] [ 0.01585484 -0.01148645 0.99980832 -0.25178571] [ 0. 0. 0. 1. ]] SLAMing on 29.324553574 meters Centerline goodness [0,1] 0.8263362908461371 Centerline is valid? [False, False] Translation: X:1.02, Y:0.04, Z:-0.25 [[ 0.99984708 -0.0089828 -0.01500449 1.02429347] [ 0.00914901 0.99989714 0.01104559 0.04366157] [ 0.01490372 -0.01118118 0.99982642 -0.25130431] [ 0. 0. 0. 1. ]] SLAMing on 29.354553574 meters Centerline goodness [0,1] 0.8233630511487596 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:-0.25 [[ 0.99985497 -0.00858066 -0.01471094 1.02357435] [ 0.00873057 0.99991031 0.01015637 0.0462028 ] [ 0.01462248 -0.01028333 0.99984021 -0.25273109] [ 0. 0. 0. 1. ]] SLAMing on 29.384553573999998 meters Centerline goodness [0,1] 0.8139067524115755 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:-0.25 [[ 0.99986416 -0.00794618 -0.01444047 1.02255905] [ 0.00807743 0.99992639 0.00905355 0.05033307] [ 0.01436747 -0.00916896 0.99985474 -0.25413642] [ 0. 0. 0. 1. ]] SLAMing on 29.414553574 meters Centerline goodness [0,1] 0.8139067524115755 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:-0.25 [[ 0.99986416 -0.00794618 -0.01444047 1.02255905] [ 0.00807743 0.99992639 0.00905355 0.05033307] [ 0.01436747 -0.00916896 0.99985474 -0.25413642] [ 0. 0. 0. 1. ]] SLAMing on 29.444553574 meters Centerline goodness [0,1] 0.8257596055945555 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:-0.25 [[ 0.99987059 -0.00753952 -0.01421119 1.02116726] [ 0.00767176 0.99992757 0.00927337 0.05084273] [ 0.01414025 -0.0093812 0.99985601 -0.25300078] [ 0. 0. 0. 1. ]] SLAMing on 29.474553573999998 meters Centerline goodness [0,1] 0.8261847992070084 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:-0.25 [[ 0.99987514 -0.00731716 -0.0140059 1.01999927] [ 0.00745025 0.99992737 0.00947392 0.0510416 ] [ 0.01393556 -0.00957708 0.99985703 -0.25182657] [ 0. 0. 0. 1. ]] SLAMing on 29.504553574 meters Centerline goodness [0,1] 0.8301704986483232 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:-0.25 [[ 0.9998727 -0.00748628 -0.01409022 1.02016025] [ 0.0076178 0.9999277 0.0093039 0.05211052] [ 0.01401955 -0.00941005 0.99985744 -0.2514562 ] [ 0. 0. 0. 1. ]] SLAMing on 29.534553574 meters Centerline goodness [0,1] 0.8285142170604726 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:-0.25 [[ 0.99986239 -0.0080478 -0.01450643 1.02228962] [ 0.00816879 0.99993219 0.00830019 0.05375875] [ 0.01443865 -0.00841755 0.99986033 -0.25355913] [ 0. 0. 0. 1. ]] SLAMing on 29.564553573999998 meters Centerline goodness [0,1] 0.8199225530778476 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:-0.25 [[ 0.99986024 -0.00812998 -0.0146085 1.0228629 ] [ 0.00824851 0.9999334 0.00807197 0.05420399] [ 0.0145419 -0.00819134 0.99986071 -0.25419805] [ 0. 0. 0. 1. ]] SLAMing on 29.594553574 meters Centerline goodness [0,1] 0.8261147855771283 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:-0.25 [[ 0.99985804 -0.00823835 -0.01469768 1.02338855] [ 0.00835383 0.99993458 0.00781318 0.0546335 ] [ 0.01463235 -0.00793485 0.99986146 -0.25470976] [ 0. 0. 0. 1. ]] SLAMing on 29.624553574 meters Centerline goodness [0,1] 0.8339832273916992 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:-0.25 [[ 0.99985896 -0.00816766 -0.0146751 1.02319708] [ 0.0082852 0.99993394 0.00796696 0.05443218] [ 0.01460906 -0.00808742 0.99986057 -0.25433361] [ 0. 0. 0. 1. ]] SLAMing on 29.654553574 meters Centerline goodness [0,1] 0.8414238614737181 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:-0.25 [[ 0.99985665 -0.00830504 -0.01475491 1.02320335] [ 0.008432 0.99992779 0.00856292 0.05236458] [ 0.01468273 -0.00868611 0.99985447 -0.25311721] [ 0. 0. 0. 1. ]] SLAMing on 29.684553574 meters Centerline goodness [0,1] 0.8395558416478919 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:-0.25 [[ 0.99984603 -0.00883922 -0.0151585 1.02499341] [ 0.00896998 0.99992296 0.00857986 0.05113399] [ 0.01508149 -0.00871451 0.99984829 -0.253739 ] [ 0. 0. 0. 1. ]] SLAMing on 29.714553574 meters Centerline goodness [0,1] 0.822610047718621 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:-0.25 [[ 0.99984435 -0.00895008 -0.01520431 1.0255717 ] [ 0.00907789 0.99992387 0.00835756 0.05084951] [ 0.01512835 -0.00849428 0.99984948 -0.25469527] [ 0. 0. 0. 1. ]] SLAMing on 29.744553574 meters Centerline goodness [0,1] 0.8391942276226496 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:-0.26 [[ 0.99984422 -0.00897412 -0.01519888 1.02586247] [ 0.00910017 0.99992461 0.00824445 0.05053028] [ 0.01512375 -0.00838148 0.9998505 -0.25535701] [ 0. 0. 0. 1. ]] SLAMing on 29.774553574 meters Centerline goodness [0,1] 0.8345488307005032 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:-0.25 [[ 0.9998473 -0.008824 -0.01508367 1.02531538] [ 0.00895855 0.99992048 0.0088761 0.04854401] [ 0.01500414 -0.00900988 0.99984684 -0.25445836] [ 0. 0. 0. 1. ]] SLAMing on 29.804553574 meters Centerline goodness [0,1] 0.8287877971217593 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:-0.25 [[ 0.99985099 -0.00865266 -0.01493748 1.02471628] [ 0.00879233 0.999918 0.00931026 0.04710494] [ 0.0148557 -0.00944021 0.99984508 -0.2538303 ] [ 0. 0. 0. 1. ]] SLAMing on 29.834553574 meters Centerline goodness [0,1] 0.8331349743034893 Centerline is valid? [False, False] Translation: X:1.02, Y:0.04, Z:-0.25 [[ 0.99986428 -0.00787481 -0.01447066 1.02242498] [ 0.00802265 0.99991592 0.01018734 0.04496492] [ 0.01438922 -0.01030205 0.9998434 -0.25228283] [ 0. 0. 0. 1. ]] SLAMing on 29.864553574 meters Centerline goodness [0,1] 0.8311979673478214 Centerline is valid? [False, False] Translation: X:1.02, Y:0.04, Z:-0.25 [[ 0.99986714 -0.00773207 -0.01435003 1.02233099] [ 0.00787631 0.99991875 0.01002266 0.04464509] [ 0.01427137 -0.01013436 0.9998468 -0.25302962] [ 0. 0. 0. 1. ]] SLAMing on 29.894553574 meters Centerline goodness [0,1] 0.8342430957142085 Centerline is valid? [False, False] Translation: X:1.02, Y:0.04, Z:-0.25 [[ 0.99986661 -0.00778048 -0.01436034 1.0230531 ] [ 0.00791776 0.99992327 0.00952749 0.04461836] [ 0.01428511 -0.00963992 0.99985149 -0.25473653] [ 0. 0. 0. 1. ]] SLAMing on 29.924553574 meters Centerline goodness [0,1] 0.8292551180251715 Centerline is valid? [False, False] Translation: X:1.02, Y:0.04, Z:-0.26 [[ 0.99986753 -0.00768361 -0.01434901 1.0239775 ] [ 0.00781682 0.99992666 0.00925102 0.04328114] [ 0.01427687 -0.00936196 0.99985425 -0.25696656] [ 0. 0. 0. 1. ]] SLAMing on 29.954553574 meters Centerline goodness [0,1] 0.8297981710946377 Centerline is valid? [False, False] Translation: X:1.02, Y:0.04, Z:-0.26 [[ 0.99986528 -0.00781057 -0.01443644 1.02454186] [ 0.00794676 0.99992423 0.00940117 0.0419218 ] [ 0.01436192 -0.00951463 0.99985159 -0.25724866] [ 0. 0. 0. 1. ]] SLAMing on 29.984553574 meters Centerline goodness [0,1] 0.8312459336369551 Centerline is valid? [False, False] Translation: X:1.03, Y:0.04, Z:-0.26 [[ 0.99985612 -0.00840225 -0.01473573 1.0259999 ] [ 0.00855113 0.99991274 0.01006937 0.03818017] [ 0.01464983 -0.01019393 0.99984072 -0.25687596] [ 0. 0. 0. 1. ]] SLAMing on 30.014553574 meters Centerline goodness [0,1] 0.8312522103430453 Centerline is valid? [False, False] Translation: X:1.03, Y:0.04, Z:-0.26 [[ 0.99984478 -0.00896213 -0.015169 1.02777095] [ 0.0091185 0.99990568 0.01027102 0.03633893] [ 0.01507552 -0.01040775 0.99983219 -0.25712188] [ 0. 0. 0. 1. ]] SLAMing on 30.044553574 meters Centerline goodness [0,1] 0.8354520159310382 Centerline is valid? [False, False] Translation: X:1.03, Y:0.03, Z:-0.26 [[ 0.99982849 -0.00976798 -0.01573481 1.0301972 ] [ 0.00993225 0.99989663 0.01039588 0.03436402] [ 0.01563164 -0.01055038 0.99982215 -0.2576349 ] [ 0. 0. 0. 1. ]] SLAMing on 30.074553574 meters Centerline goodness [0,1] 0.8431447957585914 Centerline is valid? [False, False] Translation: X:1.03, Y:0.03, Z:-0.26 [[ 0.99977348 -0.01434101 -0.01572662 1.03191496] [ 0.01443246 0.9998795 0.00571694 0.03203421] [ 0.01564274 -0.00594262 0.99985999 -0.26081343] [ 0. 0. 0. 1. ]] SLAMing on 30.104553574 meters Centerline goodness [0,1] 0.8379812981298129 Centerline is valid? [False, False] Translation: X:1.03, Y:0.03, Z:-0.26 [[ 0.9997508 -0.01520106 -0.01634854 1.03441175] [ 0.01530186 0.99986456 0.00605887 0.03007431] [ 0.01625423 -0.00630752 0.999848 -0.26075572] [ 0. 0. 0. 1. ]] SLAMing on 30.134553573999998 meters Centerline goodness [0,1] 0.8381755355908777 Centerline is valid? [False, False] Translation: X:1.04, Y:0.03, Z:-0.26 [[ 0.99967442 -0.01963119 -0.01629931 1.03517662] [ 0.01967229 0.99980369 0.00236483 0.02694027] [ 0.01624969 -0.0026847 0.99986436 -0.26133567] [ 0. 0. 0. 1. ]] SLAMing on 30.164553574 meters Centerline goodness [0,1] 0.8430840007759887 Centerline is valid? [False, False] Translation: X:1.04, Y:0.02, Z:-0.26 [[ 0.9996492 -0.02041633 -0.01687148 1.03718823] [ 0.02047269 0.99978537 0.00317497 0.02443075] [ 0.01680304 -0.00351926 0.99985263 -0.26008784] [ 0. 0. 0. 1. ]] SLAMing on 30.194553574 meters Centerline goodness [0,1] 0.8473367506128817 Centerline is valid? [False, False] Translation: X:1.04, Y:0.02, Z:-0.26 [[ 0.99963132 -0.02101304 -0.01719538 1.03834254] [ 0.02108963 0.99976841 0.00428506 0.02135184] [ 0.01710135 -0.00464613 0.99984297 -0.25828173] [ 0. 0. 0. 1. ]] SLAMing on 30.224553573999998 meters Centerline goodness [0,1] 0.8396302586518919 Centerline is valid? [False, False] Translation: X:1.04, Y:0.02, Z:-0.26 [[ 0.99964479 -0.02057353 -0.01694174 1.03718166] [ 0.02065077 0.99977708 0.00439689 0.02161413] [ 0.01684751 -0.00474519 0.99984681 -0.25790686] [ 0. 0. 0. 1. ]] SLAMing on 30.254553574 meters Centerline goodness [0,1] 0.8413534877270836 Centerline is valid? [False, False] Translation: X:1.04, Y:0.02, Z:-0.26 [[ 0.99968435 -0.01757225 -0.01795577 1.04008567] [ 0.01773133 0.9998046 0.00873897 0.02149202] [ 0.0177987 -0.00905459 0.99980059 -0.25646024] [ 0. 0. 0. 1. ]] SLAMing on 30.284553574 meters Centerline goodness [0,1] 0.8398454746136865 Centerline is valid? [False, False] Translation: X:1.04, Y:0.02, Z:-0.26 [[ 0.99971708 -0.01447438 -0.01887446 1.04381646] [ 0.01469291 0.99982602 0.01149148 0.02496439] [ 0.01870484 -0.01176555 0.99975582 -0.25863864] [ 0. 0. 0. 1. ]] SLAMing on 30.314553573999998 meters Centerline goodness [0,1] 0.8450247388675096 Centerline is valid? [False, False] Translation: X:1.04, Y:0.03, Z:-0.26 [[ 0.99973617 -0.01370313 -0.01843422 1.04235208] [ 0.01389658 0.99984928 0.01040706 0.02875356] [ 0.01828884 -0.01066048 0.99977591 -0.26043565] [ 0. 0. 0. 1. ]] SLAMing on 30.344553574 meters Centerline goodness [0,1] 0.8355575041788836 Centerline is valid? [False, False] Translation: X:1.04, Y:0.03, Z:-0.26 [[ 0.99973616 -0.01371826 -0.01842337 1.04248783] [ 0.01390488 0.99985291 0.01004027 0.0297455 ] [ 0.01828293 -0.01029379 0.99977986 -0.2609745 ] [ 0. 0. 0. 1. ]] SLAMing on 30.374553574 meters Centerline goodness [0,1] 0.8443174360096259 Centerline is valid? [False, False] Translation: X:1.04, Y:0.03, Z:-0.26 [[ 0.99977235 -0.01202986 -0.01762211 1.03816661] [ 0.01220195 0.9998786 0.00969048 0.03361506] [ 0.0175034 -0.0099033 0.99979776 -0.26011189] [ 0. 0. 0. 1. ]] SLAMing on 30.404553574 meters Centerline goodness [0,1] 0.8392492304339535 Centerline is valid? [False, False] Translation: X:1.04, Y:0.04, Z:-0.26 [[ 0.99978958 -0.01130912 -0.01711451 1.03603799] [ 0.01147058 0.99989035 0.00936543 0.0360299 ] [ 0.01700672 -0.00955977 0.99980967 -0.25977978] [ 0. 0. 0. 1. ]] SLAMing on 30.434553574 meters Centerline goodness [0,1] 0.8414501576258289 Centerline is valid? [False, False] Translation: X:1.03, Y:0.04, Z:-0.26 [[ 0.99980026 -0.01084588 -0.01678712 1.03475994] [ 0.01099532 0.99990051 0.00883551 0.03871352] [ 0.01668963 -0.00901833 0.99982005 -0.25994488] [ 0. 0. 0. 1. ]] SLAMing on 30.464553574 meters Centerline goodness [0,1] 0.836868878186049 Centerline is valid? [False, False] Translation: X:1.04, Y:0.04, Z:-0.26 [[ 0.9997979 -0.01088233 -0.01690395 1.03555281] [ 0.01101079 0.99991106 0.00752508 0.04357846] [ 0.01682056 -0.00770969 0.9998288 -0.26183885] [ 0. 0. 0. 1. ]] SLAMing on 30.494553574 meters Centerline goodness [0,1] 0.838908403134288 Centerline is valid? [False, False] Translation: X:1.04, Y:0.05, Z:-0.26 [[ 0.99979289 -0.0110603 -0.01708329 1.03638541] [ 0.01118055 0.99991327 0.00695985 0.04551302] [ 0.01700483 -0.00714941 0.99982985 -0.26259277] [ 0. 0. 0. 1. ]] SLAMing on 30.524553574 meters Centerline goodness [0,1] 0.8342201215395003 Centerline is valid? [False, False] Translation: X:1.04, Y:0.05, Z:-0.26 [[ 0.99979123 -0.01110831 -0.01714951 1.03659605] [ 0.01122619 0.99991391 0.00679277 0.04667697] [ 0.01707257 -0.00698387 0.99982986 -0.26252447] [ 0. 0. 0. 1. ]] SLAMing on 30.554553574 meters Centerline goodness [0,1] 0.8446329966329966 Centerline is valid? [False, False] Translation: X:1.04, Y:0.05, Z:-0.26 [[ 0.99978962 -0.01114011 -0.01722242 1.03645358] [ 0.01125581 0.99991463 0.00663577 0.04832495] [ 0.01714703 -0.00682823 0.99982966 -0.26187546] [ 0. 0. 0. 1. ]] SLAMing on 30.584553574 meters Centerline goodness [0,1] 0.8433709013637464 Centerline is valid? [False, False] Translation: X:1.04, Y:0.05, Z:-0.26 [[ 0.99978966 -0.01113224 -0.01722509 1.03631504] [ 0.01124671 0.99991521 0.00656342 0.04907328] [ 0.01715056 -0.00675577 0.99983009 -0.26152707] [ 0. 0. 0. 1. ]] SLAMing on 30.614553574 meters Centerline goodness [0,1] 0.8407948159500954 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:-0.26 [[ 0.99980126 -0.01061645 -0.01687427 1.03445566] [ 0.01073603 0.99991778 0.00701223 0.04974074] [ 0.01679844 -0.00719199 0.99983303 -0.259847 ] [ 0. 0. 0. 1. ]] SLAMing on 30.644553574 meters Centerline goodness [0,1] 0.8458661788049181 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:-0.26 [[ 0.99980942 -0.01027937 -0.01659666 1.03337399] [ 0.01039749 0.99992111 0.00704706 0.04994771] [ 0.01652291 -0.00721828 0.99983743 -0.25954654] [ 0. 0. 0. 1. ]] SLAMing on 30.674553574 meters Centerline goodness [0,1] 0.8427205387205388 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:-0.26 [[ 0.99982025 -0.00980191 -0.01622948 1.03209421] [ 0.00991864 0.99992541 0.00712739 0.04995749] [ 0.01615841 -0.00728708 0.99984289 -0.25939102] [ 0. 0. 0. 1. ]] SLAMing on 30.704553574 meters Centerline goodness [0,1] 0.840701055352143 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:-0.26 [[ 0.99985228 -0.00815837 -0.01512837 1.0289334 ] [ 0.00824104 0.9999514 0.00541059 0.05180134] [ 0.0150835 -0.00553446 0.99987092 -0.26391928] [ 0. 0. 0. 1. ]] SLAMing on 30.734553574 meters Centerline goodness [0,1] 0.8420557228915663 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:-0.27 [[ 0.99986647 -0.00738313 -0.0145785 1.0275467 ] [ 0.00745632 0.99995984 0.00497182 0.05242911] [ 0.0145412 -0.00507986 0.99988137 -0.26556035] [ 0. 0. 0. 1. ]] SLAMing on 30.764553574 meters Centerline goodness [0,1] 0.8350243561105579 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:-0.27 [[ 0.99988887 -0.00599282 -0.01365047 1.02495022] [ 0.00605877 0.99997015 0.00479492 0.05216813] [ 0.01362133 -0.00487709 0.99989533 -0.26725152] [ 0. 0. 0. 1. ]] SLAMing on 30.794553574 meters Centerline goodness [0,1] 0.8362459546925567 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:-0.27 [[ 0.99989624 -0.00548317 -0.0133205 1.02365536] [ 0.00555255 0.99997118 0.00517706 0.05102695] [ 0.01329172 -0.00525049 0.99989788 -0.26688414] [ 0. 0. 0. 1. ]] SLAMing on 30.824553574 meters Centerline goodness [0,1] 0.8354389287163533 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:-0.27 [[ 0.99989 -0.00598334 -0.01357131 1.0250089 ] [ 0.00605946 0.9999661 0.00557472 0.04804456] [ 0.01353749 -0.00565634 0.99989237 -0.26701671] [ 0. 0. 0. 1. ]] SLAMing on 30.854553574 meters Centerline goodness [0,1] 0.8345919808758013 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:-0.27 [[ 0.99987867 -0.0066909 -0.0140668 1.02706836] [ 0.00677205 0.99996066 0.00572931 0.04620342] [ 0.01402792 -0.00582388 0.99988464 -0.26731698] [ 0. 0. 0. 1. ]] SLAMing on 30.884553573999998 meters Centerline goodness [0,1] 0.8368887072605912 Centerline is valid? [False, False] Translation: X:1.03, Y:0.04, Z:-0.27 [[ 0.99985999 -0.00775049 -0.01482986 1.0302529 ] [ 0.00783797 0.99995217 0.00585001 0.04417961] [ 0.01478381 -0.00596543 0.99987292 -0.26786724] [ 0. 0. 0. 1. ]] SLAMing on 30.914553574 meters Centerline goodness [0,1] 0.835657941425335 Centerline is valid? [False, False] Translation: X:1.04, Y:0.04, Z:-0.27 [[ 0.99981537 -0.0104877 -0.0161006 1.03709508] [ 0.01057831 0.99992863 0.00555321 0.04075345] [ 0.01604121 -0.00572251 0.99985496 -0.26962389] [ 0. 0. 0. 1. ]] SLAMing on 30.944553574 meters Centerline goodness [0,1] 0.8369265240320245 Centerline is valid? [False, False] Translation: X:1.04, Y:0.04, Z:-0.27 [[ 0.99979773 -0.01125876 -0.01666546 1.03960629] [ 0.0113512 0.99992065 0.00546262 0.03970489] [ 0.01660264 -0.00565069 0.9998462 -0.27043494] [ 0. 0. 0. 1. ]] SLAMing on 30.974553573999998 meters Centerline goodness [0,1] 0.8400252144599446 Centerline is valid? [False, False] Translation: X:1.04, Y:0.04, Z:-0.27 [[ 0.9998059 -0.01084611 -0.01644743 1.03805069] [ 0.01095414 0.99991892 0.00649246 0.03836651] [ 0.01637568 -0.00667137 0.99984365 -0.26801165] [ 0. 0. 0. 1. ]] SLAMing on 31.004553574 meters Centerline goodness [0,1] 0.8473674102120887 Centerline is valid? [False, False] Translation: X:1.04, Y:0.04, Z:-0.27 [[ 0.99979876 -0.01119339 -0.01664772 1.03878449] [ 0.01130805 0.99991288 0.00680917 0.03729639] [ 0.01657005 -0.00699606 0.99983823 -0.26738436] [ 0. 0. 0. 1. ]] SLAMing on 31.034553574 meters Centerline goodness [0,1] 0.8406083025071928 Centerline is valid? [False, False] Translation: X:1.04, Y:0.04, Z:-0.27 [[ 0.99976457 -0.01279146 -0.0175269 1.0425702 ] [ 0.01291554 0.99989219 0.00698482 0.03614302] [ 0.01743566 -0.00720954 0.99982199 -0.2670249 ] [ 0. 0. 0. 1. ]] SLAMing on 31.064553573999998 meters Centerline goodness [0,1] 0.8465365585486531 Centerline is valid? [False, False] Translation: X:1.04, Y:0.04, Z:-0.27 [[ 0.99974548 -0.0135211 -0.01805956 1.04466606] [ 0.01365067 0.99988183 0.00707056 0.03556654] [ 0.01796183 -0.00731529 0.99981191 -0.26703851] [ 0. 0. 0. 1. ]] SLAMing on 31.094553574 meters Centerline goodness [0,1] 0.8405801082209465 Centerline is valid? [False, False] Translation: X:1.05, Y:0.03, Z:-0.27 [[ 0.99972736 -0.01419799 -0.01853707 1.04658855] [ 0.01433181 0.99987204 0.00710646 0.03498062] [ 0.0184338 -0.00737019 0.99980292 -0.26714862] [ 0. 0. 0. 1. ]] SLAMing on 31.124553574 meters Centerline goodness [0,1] 0.8465729301378533 Centerline is valid? [False, False] Translation: X:1.05, Y:0.03, Z:-0.27 [[ 0.99970197 -0.0151275 -0.0191606 1.04948957] [ 0.01525859 0.99986104 0.00671426 0.03494159] [ 0.01905637 -0.00700463 0.99979387 -0.26839343] [ 0. 0. 0. 1. ]] SLAMing on 31.154553574 meters Centerline goodness [0,1] 0.8481956210804269 Centerline is valid? [False, False] Translation: X:1.05, Y:0.04, Z:-0.27 [[ 0.99969958 -0.01521383 -0.01921667 1.04991458] [ 0.01534027 0.99986153 0.00644919 0.03555158] [ 0.01911589 -0.00674204 0.99979454 -0.268965 ] [ 0. 0. 0. 1. ]] SLAMing on 31.184553574 meters Centerline goodness [0,1] 0.8520028651716348 Centerline is valid? [False, False] Translation: X:1.05, Y:0.03, Z:-0.27 [[ 0.99970865 -0.01492587 -0.01896916 1.04857307] [ 0.01506079 0.99986215 0.00698949 0.03496264] [ 0.01886222 -0.00727315 0.99979564 -0.26727661] [ 0. 0. 0. 1. ]] SLAMing on 31.214553574 meters Centerline goodness [0,1] 0.8491693986060223 Centerline is valid? [False, False] Translation: X:1.05, Y:0.03, Z:-0.27 [[ 0.99971789 -0.01461926 -0.0187195 1.04734878] [ 0.01476333 0.99986227 0.00758157 0.03401382] [ 0.01860608 -0.00785579 0.99979603 -0.26590351] [ 0. 0. 0. 1. ]] SLAMing on 31.244553574 meters Centerline goodness [0,1] 0.8553422692922941 Centerline is valid? [False, False] Translation: X:1.05, Y:0.03, Z:-0.27 [[ 0.9997113 -0.01485148 -0.01888787 1.04830319] [ 0.01499218 0.99986075 0.00732947 0.0337122 ] [ 0.01877638 -0.00761052 0.99979474 -0.26685708] [ 0. 0. 0. 1. ]] SLAMing on 31.274553574 meters Centerline goodness [0,1] 0.8508771929824561 Centerline is valid? [False, False] Translation: X:1.05, Y:0.03, Z:-0.27 [[ 0.99969915 -0.01526627 -0.01919764 1.05008468] [ 0.01539816 0.99985872 0.00674079 0.03387651] [ 0.01909202 -0.00703437 0.99979298 -0.26866305] [ 0. 0. 0. 1. ]] SLAMing on 31.304553574 meters Centerline goodness [0,1] 0.8454763811048839 Centerline is valid? [False, False] Translation: X:1.05, Y:0.03, Z:-0.27 [[ 0.9996721 -0.01617863 -0.01984825 1.05352845] [ 0.01630417 0.99984798 0.00617939 0.03275918] [ 0.01974526 -0.00650097 0.99978391 -0.27113677] [ 0. 0. 0. 1. ]] SLAMing on 31.334553574 meters Centerline goodness [0,1] 0.8454763811048839 Centerline is valid? [False, False] Translation: X:1.05, Y:0.03, Z:-0.27 [[ 0.9996721 -0.01617863 -0.01984825 1.05352845] [ 0.01630417 0.99984798 0.00617939 0.03275918] [ 0.01974526 -0.00650097 0.99978391 -0.27113677] [ 0. 0. 0. 1. ]] SLAMing on 31.364553574 meters Centerline goodness [0,1] 0.8481464075415365 Centerline is valid? [False, False] Translation: X:1.06, Y:0.03, Z:-0.27 [[ 0.99965241 -0.01679362 -0.02032313 1.05564758] [ 0.01692154 0.99983798 0.00613874 0.03150481] [ 0.02021675 -0.0064805 0.99977462 -0.27188881] [ 0. 0. 0. 1. ]] SLAMing on 31.394553574 meters Centerline goodness [0,1] 0.841913791202734 Centerline is valid? [False, False] Translation: X:1.05, Y:0.03, Z:-0.27 [[ 0.99968923 -0.01544556 -0.01956732 1.0526601 ] [ 0.01555559 0.99986397 0.00548338 0.03423547] [ 0.01947996 -0.00578606 0.99979351 -0.27299351] [ 0. 0. 0. 1. ]] SLAMing on 31.424553574 meters Centerline goodness [0,1] 0.8387238482236011 Centerline is valid? [False, False] Translation: X:1.05, Y:0.04, Z:-0.27 [[ 0.99968127 -0.01563766 -0.0198196 1.05362223] [ 0.01573974 0.9998636 0.00500507 0.03593601] [ 0.01973863 -0.00531543 0.99979104 -0.27358888] [ 0. 0. 0. 1. ]] SLAMing on 31.454553574 meters Centerline goodness [0,1] 0.8423101170408135 Centerline is valid? [False, False] Translation: X:1.06, Y:0.04, Z:-0.27 [[ 0.99965795 -0.01641441 -0.02036059 1.05601805] [ 0.01650852 0.99985377 0.00446241 0.03683598] [ 0.02028437 -0.00479701 0.99978274 -0.27455532] [ 0. 0. 0. 1. ]] SLAMing on 31.484553574 meters Centerline goodness [0,1] 0.8388767123287671 Centerline is valid? [False, False] Translation: X:1.06, Y:0.04, Z:-0.27 [[ 0.99963185 -0.01722356 -0.02096472 1.05839654] [ 0.01731605 0.99984108 0.0042381 0.03726009] [ 0.02088839 -0.00459957 0.99977123 -0.27482622] [ 0. 0. 0. 1. ]] SLAMing on 31.514553574 meters Centerline goodness [0,1] 0.845245919596889 Centerline is valid? [False, False] Translation: X:1.06, Y:0.04, Z:-0.27 [[ 0.99961534 -0.01769251 -0.02135771 1.05959687] [ 0.01778844 0.99983248 0.00430987 0.03754717] [ 0.02127788 -0.00468814 0.99976261 -0.27426727] [ 0. 0. 0. 1. ]] SLAMing on 31.544553574 meters Centerline goodness [0,1] 0.8436678352322524 Centerline is valid? [False, False] Translation: X:1.06, Y:0.04, Z:-0.27 [[ 0.99960192 -0.0180462 -0.02168742 1.06055159] [ 0.01814753 0.99982526 0.00448426 0.0377386 ] [ 0.02160271 -0.00487605 0.99975474 -0.2735945 ] [ 0. 0. 0. 1. ]] SLAMing on 31.574553574 meters Centerline goodness [0,1] 0.8439890710382514 Centerline is valid? [False, False] Translation: X:1.06, Y:0.04, Z:-0.27 [[ 0.99957416 -0.01881621 -0.0223034 1.06311652] [ 0.01890685 0.9998138 0.0038602 0.03936542] [ 0.02222661 -0.00428024 0.9997438 -0.27467756] [ 0. 0. 0. 1. ]] SLAMing on 31.604553574 meters Centerline goodness [0,1] 0.8414877615205798 Centerline is valid? [False, False] Translation: X:1.06, Y:0.04, Z:-0.27 [[ 0.99957343 -0.01878417 -0.02236329 1.06328184] [ 0.01887243 0.9998149 0.00374205 0.04043214] [ 0.02228886 -0.0041625 0.99974291 -0.2747475 ] [ 0. 0. 0. 1. ]] SLAMing on 31.634553573999998 meters Centerline goodness [0,1] 0.8523167603558369 Centerline is valid? [False, False] Translation: X:1.06, Y:0.04, Z:-0.27 [[ 0.99958249 -0.01849237 -0.02220106 1.06245372] [ 0.01858315 0.99981975 0.00388959 0.04133023] [ 0.02212513 -0.00430053 0.99974596 -0.27406873] [ 0. 0. 0. 1. ]] SLAMing on 31.664553574 meters Centerline goodness [0,1] 0.8516724274011376 Centerline is valid? [False, False] Translation: X:1.08, Y:0.04, Z:-0.28 [[ 0.9997304 -0.01689512 -0.01592768 1.07819353] [ 0.01684168 0.9998521 -0.00348356 0.04412357] [ 0.01598418 0.00321437 0.99986708 -0.27849398] [ 0. 0. 0. 1. ]] SLAMing on 31.694553574 meters Centerline goodness [0,1] 0.8420106742184947 Centerline is valid? [False, False] Translation: X:1.08, Y:0.04, Z:-0.27 [[ 0.99980601 -0.01193559 -0.01566784 1.07524244] [ 0.01197649 0.99992511 0.00251895 0.04384572] [ 0.0156366 -0.0027061 0.99987408 -0.27315972] [ 0. 0. 0. 1. ]] SLAMing on 31.724553573999998 meters Centerline goodness [0,1] 0.842795943820834 Centerline is valid? [False, False] Translation: X:1.07, Y:0.05, Z:-0.27 [[ 0.99982866 -0.01078411 -0.01504519 1.07261318] [ 0.01082293 0.9999383 0.00250149 0.0452904 ] [ 0.01501729 -0.0026639 0.99988369 -0.27300134] [ 0. 0. 0. 1. ]] SLAMing on 31.754553574 meters Centerline goodness [0,1] 0.8431468360615686 Centerline is valid? [False, False] Translation: X:1.07, Y:0.05, Z:-0.27 [[ 0.99985873 -0.00910011 -0.01413195 1.06882316] [ 0.00913834 0.99995475 0.00264284 0.0470549 ] [ 0.01410726 -0.00277161 0.99989665 -0.27278036] [ 0. 0. 0. 1. ]] SLAMing on 31.784553574 meters Centerline goodness [0,1] 0.8338325373053779 Centerline is valid? [False, False] Translation: X:1.07, Y:0.05, Z:-0.27 [[ 0.99990124 -0.00364367 -0.01357348 1.0663116 ] [ 0.00373126 0.99997234 0.00643383 0.04952821] [ 0.01354966 -0.00648384 0.99988718 -0.27315174] [ 0. 0. 0. 1. ]] SLAMing on 31.814553573999998 meters Centerline goodness [0,1] 0.8307999137559293 Centerline is valid? [False, False] Translation: X:1.06, Y:0.05, Z:-0.27 [[ 0.99991999 -0.00191279 -0.01250437 1.06226026] [ 0.00199102 0.99997851 0.00624678 0.05089825] [ 0.01249215 -0.00627118 0.9999023 -0.27368397] [ 0. 0. 0. 1. ]] SLAMing on 31.844553574 meters Centerline goodness [0,1] 0.837981908248977 Centerline is valid? [False, False] Translation: X:1.05, Y:0.05, Z:-0.27 [[ 0.9999417 0.003289 -0.01028528 1.05123523] [-0.00322262 0.99997391 0.00646435 0.05213946] [ 0.01030627 -0.00643083 0.99992621 -0.27456302] [ 0. 0. 0. 1. ]] SLAMing on 31.874553574 meters Centerline goodness [0,1] 0.8342725272366232 Centerline is valid? [False, False] Translation: X:1.05, Y:0.05, Z:-0.28 [[ 0.99994381 0.00426956 -0.00970247 1.04948407] [-0.00421261 0.99997382 0.00588268 0.05362966] [ 0.00972734 -0.00584148 0.99993563 -0.27620917] [ 0. 0. 0. 1. ]] SLAMing on 31.904553574 meters Centerline goodness [0,1] 0.8331768304134359 Centerline is valid? [False, False] Translation: X:1.05, Y:0.06, Z:-0.28 [[ 0.99994541 0.0050042 -0.0091728 1.04822106] [-0.00495766 0.99997476 0.00508912 0.05519699] [ 0.00919804 -0.00504337 0.99994498 -0.27827177] [ 0. 0. 0. 1. ]] SLAMing on 31.934553574 meters Centerline goodness [0,1] 0.8319127264929773 Centerline is valid? [False, False] Translation: X:1.04, Y:0.06, Z:-0.28 [[ 0.99994329 0.00711901 -0.00792014 1.04331856] [-0.00707459 0.99995917 0.0056223 0.05523777] [ 0.00795984 -0.00556595 0.99995283 -0.27776231] [ 0. 0. 0. 1. ]] SLAMing on 31.964553574 meters Centerline goodness [0,1] 0.8294446974364469 Centerline is valid? [False, False] Translation: X:1.04, Y:0.05, Z:-0.28 [[ 0.99994256 0.00756473 -0.0075931 1.04202581] [-0.00752013 0.99995441 0.00588502 0.05426745] [ 0.00763727 -0.00582758 0.99995385 -0.27735992] [ 0. 0. 0. 1. ]] SLAMing on 31.994553574 meters Centerline goodness [0,1] 0.8290056657984479 Centerline is valid? [False, False] Translation: X:1.04, Y:0.05, Z:-0.28 [[ 0.99996707 0.00512134 -0.00629469 1.03794152] [-0.00510817 0.99998473 0.00210728 0.05281947] [ 0.00630539 -0.00207506 0.99997797 -0.27802082] [ 0. 0. 0. 1. ]] SLAMing on 32.024553573999995 meters Centerline goodness [0,1] 0.8301912200377053 Centerline is valid? [False, False] Translation: X:1.04, Y:0.05, Z:-0.28 [[ 9.99982141e-01 2.92385381e-03 -5.21235393e-03 1.03696737e+00] [-2.92635088e-03 9.99995607e-01 -4.71505552e-04 5.20179477e-02] [ 5.21095242e-03 4.86750308e-04 9.99986304e-01 -2.79544966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.054553573999996 meters Centerline goodness [0,1] 0.8340247844827586 Centerline is valid? [False, False] Translation: X:1.04, Y:0.05, Z:-0.28 [[ 9.99981861e-01 2.47961114e-03 -5.48892919e-03 1.03824514e+00] [-2.48140439e-03 9.99996870e-01 -3.19917948e-04 5.07167820e-02] [ 5.48811874e-03 3.33532398e-04 9.99984885e-01 -2.79762025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.084553574 meters Centerline goodness [0,1] 0.832274288186464 Centerline is valid? [False, False] Translation: X:1.04, Y:0.05, Z:-0.28 [[ 9.99980450e-01 1.67886607e-03 -6.02334696e-03 1.04123711e+00] [-1.68257679e-03 9.99998398e-01 -6.11040617e-04 4.88853400e-02] [ 6.02231145e-03 6.21163415e-04 9.99981673e-01 -2.82052166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.114553574 meters Centerline goodness [0,1] 0.8313344343070634 Centerline is valid? [False, False] Translation: X:1.04, Y:0.05, Z:-0.28 [[ 9.99979283e-01 1.24960404e-03 -6.31440541e-03 1.04311592e+00] [-1.25532798e-03 9.99998805e-01 -9.02607602e-04 4.77833282e-02] [ 6.31326996e-03 9.10515552e-04 9.99979657e-01 -2.83854658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.14455357399999 meters Centerline goodness [0,1] 0.832049473798416 Centerline is valid? [False, False] Translation: X:1.05, Y:0.04, Z:-0.29 [[ 9.99976456e-01 4.89239550e-04 -6.84462061e-03 1.04595888e+00] [-4.96430834e-04 9.99999327e-01 -1.04898805e-03 4.49026920e-02] [ 6.84410279e-03 1.05236123e-03 9.99976025e-01 -2.85894924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.174553573999994 meters Centerline goodness [0,1] 0.8288143881764833 Centerline is valid? [False, False] Translation: X:1.05, Y:0.04, Z:-0.29 [[ 9.99974191e-01 1.73022252e-04 -7.18242506e-03 1.04729666e+00] [-1.78301596e-04 9.99999714e-01 -7.34402560e-04 4.33185099e-02] [ 7.18229594e-03 7.35664244e-04 9.99973936e-01 -2.86061358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.204553573999995 meters Centerline goodness [0,1] 0.8251419040701584 Centerline is valid? [False, False] Translation: X:1.04, Y:0.05, Z:-0.29 [[ 0.99995328 0.00733717 -0.00629327 1.04155685] [-0.00731568 0.99996735 0.00343144 0.04653737] [ 0.00631824 -0.00338524 0.99997431 -0.28518506] [ 0. 0. 0. 1. ]] SLAMing on 32.234553573999996 meters Centerline goodness [0,1] 0.827616676038236 Centerline is valid? [False, False] Translation: X:1.04, Y:0.05, Z:-0.29 [[ 0.99994255 0.00933734 -0.00526351 1.03728489] [-0.00932069 0.99995151 0.00317828 0.04928392] [ 0.00529293 -0.00312903 0.9999811 -0.28553042] [ 0. 0. 0. 1. ]] SLAMing on 32.264553574 meters Centerline goodness [0,1] 0.8279567018575438 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:-0.29 [[ 0.99997466 0.00560724 0.0043859 1.0257836 ] [-0.00563283 0.99996706 0.00584384 0.05390613] [-0.00435298 -0.00586839 0.99997331 -0.29081972] [ 0. 0. 0. 1. ]] SLAMing on 32.294553574 meters Centerline goodness [0,1] 0.8237904303662122 Centerline is valid? [False, False] Translation: X:1.02, Y:0.06, Z:-0.29 [[ 9.99986771e-01 1.79586348e-03 4.82011270e-03 1.02493773e+00] [-1.80029696e-03 9.99997960e-01 9.15607660e-04 5.55354584e-02] [-4.81845856e-03 -9.24273181e-04 9.99987964e-01 -2.92636311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.324553574 meters Centerline goodness [0,1] 0.826532538633728 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:-0.29 [[ 0.9999773 -0.00602088 0.00302359 1.03324643] [ 0.00603023 0.99997704 -0.00309147 0.05370689] [-0.00300491 0.00310963 0.99999065 -0.2923673 ] [ 0. 0. 0. 1. ]] SLAMing on 32.35455357399999 meters Centerline goodness [0,1] 0.8313566911824573 Centerline is valid? [False, False] Translation: X:1.05, Y:0.05, Z:-0.29 [[ 9.99832862e-01 -1.82695504e-02 6.86235141e-04 1.04896397e+00] [ 1.82738428e-02 9.99809348e-01 -6.88006644e-03 4.88767715e-02] [-5.60408588e-04 6.89145667e-03 9.99976097e-01 -2.89764642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.384553573999995 meters Centerline goodness [0,1] 0.8313566911824573 Centerline is valid? [False, False] Translation: X:1.05, Y:0.05, Z:-0.29 [[ 9.99875399e-01 -1.57823858e-02 -3.19064064e-04 1.05175299e+00] [ 1.57812726e-02 9.99870240e-01 -3.23329005e-03 4.72156186e-02] [ 3.70051693e-04 3.22785194e-03 9.99994722e-01 -2.89659356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.414553573999996 meters Centerline goodness [0,1] 0.8386552334286104 Centerline is valid? [False, False] Translation: X:1.06, Y:0.04, Z:-0.29 [[ 0.99981272 -0.01922183 -0.00224835 1.05961746] [ 0.0192176 0.99981354 -0.00189099 0.04406869] [ 0.00228428 0.00184743 0.99999568 -0.28647157] [ 0. 0. 0. 1. ]] SLAMing on 32.444553574 meters Centerline goodness [0,1] 0.8407101433417223 Centerline is valid? [False, False] Translation: X:1.07, Y:0.04, Z:-0.29 [[ 0.99965265 -0.02598947 -0.00437413 1.07259381] [ 0.02597404 0.99965632 -0.00354727 0.04168761] [ 0.00446482 0.00343242 0.99998414 -0.28735124] [ 0. 0. 0. 1. ]] SLAMing on 32.474553574 meters Centerline goodness [0,1] 0.8379983036471585 Centerline is valid? [False, False] Translation: X:1.08, Y:0.04, Z:-0.29 [[ 0.99961469 -0.02724092 -0.00533022 1.07651391] [ 0.02722096 0.99962229 -0.00378144 0.04113884] [ 0.00543121 0.00363489 0.99997864 -0.28828854] [ 0. 0. 0. 1. ]] SLAMing on 32.504553574 meters Centerline goodness [0,1] 0.8386231804749917 Centerline is valid? [False, False] Translation: X:1.08, Y:0.04, Z:-0.29 [[ 9.99631317e-01 -2.61958721e-02 -7.14193154e-03 1.08355751e+00] [ 2.62020714e-02 9.99656366e-01 7.75828653e-04 3.94333433e-02] [ 7.11915382e-03 -9.62676018e-04 9.99974195e-01 -2.86746334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.53455357399999 meters Centerline goodness [0,1] 0.8386065573770491 Centerline is valid? [False, False] Translation: X:1.09, Y:0.04, Z:-0.28 [[ 0.99968655 -0.0236012 -0.00835401 1.08728572] [ 0.02364896 0.99970427 0.00566564 0.0378531 ] [ 0.00821782 -0.00586142 0.99994905 -0.28478506] [ 0. 0. 0. 1. ]] SLAMing on 32.564553573999994 meters Centerline goodness [0,1] 0.832754898477851 Centerline is valid? [False, False] Translation: X:1.09, Y:0.04, Z:-0.29 [[ 0.99968367 -0.02367784 -0.00848014 1.08791892] [ 0.02372589 0.99970276 0.00561098 0.03801288] [ 0.00834476 -0.00581041 0.9999483 -0.28519785] [ 0. 0. 0. 1. ]] SLAMing on 32.594553573999995 meters Centerline goodness [0,1] 0.8350667431004832 Centerline is valid? [False, False] Translation: X:1.10, Y:0.04, Z:-0.28 [[ 0.99967417 -0.01840598 -0.01768516 1.09675064] [ 0.01848555 0.99981968 0.00434642 0.03744432] [ 0.01760197 -0.00467192 0.99983416 -0.27820337] [ 0. 0. 0. 1. ]] SLAMing on 32.624553574 meters Centerline goodness [0,1] 0.8370600076165606 Centerline is valid? [False, False] Translation: X:1.09, Y:0.04, Z:-0.28 [[ 0.99969819 -0.01757008 -0.01717063 1.09452521] [ 0.01764707 0.99983485 0.00434238 0.0386057 ] [ 0.0170915 -0.00464408 0.99984314 -0.27771242] [ 0. 0. 0. 1. ]] SLAMing on 32.654553574 meters Centerline goodness [0,1] 0.8401603814477676 Centerline is valid? [False, False] Translation: X:1.10, Y:0.04, Z:-0.28 [[ 0.99974244 -0.01401784 -0.01784833 1.09576315] [ 0.01417976 0.99985915 0.00897804 0.03943047] [ 0.01771996 -0.00922882 0.9998004 -0.27522004] [ 0. 0. 0. 1. ]] SLAMing on 32.684553574 meters Centerline goodness [0,1] 0.8473852144286409 Centerline is valid? [False, False] Translation: X:1.10, Y:0.04, Z:-0.28 [[ 0.99973836 -0.01415551 -0.01796767 1.0965847 ] [ 0.01430395 0.9998644 0.00815998 0.04125058] [ 0.01784972 -0.00841485 0.99980527 -0.27675511] [ 0. 0. 0. 1. ]] SLAMing on 32.71455357399999 meters Centerline goodness [0,1] 0.8404392764857881 Centerline is valid? [False, False] Translation: X:1.10, Y:0.04, Z:-0.28 [[ 0.99974075 -0.01403094 -0.01793249 1.09703763] [ 0.01415396 0.99987703 0.00675154 0.04440364] [ 0.01783555 -0.00700361 0.9998164 -0.27943718] [ 0. 0. 0. 1. ]] SLAMing on 32.744553573999994 meters Centerline goodness [0,1] 0.8406183512428967 Centerline is valid? [False, False] Translation: X:1.10, Y:0.04, Z:-0.28 [[ 0.99973693 -0.01413414 -0.01806395 1.09743396] [ 0.01425628 0.99987625 0.00665083 0.04492879] [ 0.01796771 -0.0069066 0.99981471 -0.27938355] [ 0. 0. 0. 1. ]] SLAMing on 32.774553573999995 meters Centerline goodness [0,1] 0.8428755919070168 Centerline is valid? [False, False] Translation: X:1.10, Y:0.05, Z:-0.28 [[ 0.99972353 -0.01461053 -0.01842274 1.09896708] [ 0.01472874 0.9998717 0.00629681 0.04542224] [ 0.01832838 -0.00656641 0.99981046 -0.28002345] [ 0. 0. 0. 1. ]] SLAMing on 32.804553573999996 meters Centerline goodness [0,1] 0.8361670074249435 Centerline is valid? [False, False] Translation: X:1.10, Y:0.05, Z:-0.28 [[ 0.9997125 -0.01495111 -0.0187454 1.10026821] [ 0.01505866 0.99987088 0.00560922 0.04751595] [ 0.01865912 -0.00588988 0.99980856 -0.28100116] [ 0. 0. 0. 1. ]] SLAMing on 32.834553574 meters Centerline goodness [0,1] 0.8407766468834761 Centerline is valid? [False, False] Translation: X:1.10, Y:0.05, Z:-0.28 [[ 0.99970361 -0.01521527 -0.01900483 1.10095946] [ 0.01532541 0.99986652 0.00566321 0.04790899] [ 0.01891612 -0.00595278 0.99980335 -0.2804879 ] [ 0. 0. 0. 1. ]] SLAMing on 32.864553574 meters Centerline goodness [0,1] 0.8393821356615178 Centerline is valid? [False, False] Translation: X:1.10, Y:0.05, Z:-0.28 [[ 0.99968398 -0.01586514 -0.01949962 1.10209349] [ 0.01598803 0.99985319 0.0061623 0.04761157] [ 0.01939899 -0.00647212 0.99979087 -0.27846663] [ 0. 0. 0. 1. ]] SLAMing on 32.89455357399999 meters Centerline goodness [0,1] 0.8346094946401226 Centerline is valid? [False, False] Translation: X:1.10, Y:0.05, Z:-0.28 [[ 0.99966682 -0.01637316 -0.01995394 1.10359401] [ 0.01649967 0.9998447 0.00619212 0.04783994] [ 0.01984945 -0.00651929 0.99978173 -0.27816488] [ 0. 0. 0. 1. ]] SLAMing on 32.924553573999994 meters Centerline goodness [0,1] 0.8403603119118043 Centerline is valid? [False, False] Translation: X:1.11, Y:0.05, Z:-0.28 [[ 0.99964243 -0.01711817 -0.02054197 1.10601618] [ 0.01724111 0.99983441 0.00582274 0.04857008] [ 0.02043889 -0.00617482 0.99977204 -0.27891303] [ 0. 0. 0. 1. ]] SLAMing on 32.954553573999995 meters Centerline goodness [0,1] 0.8344232418524872 Centerline is valid? [False, False] Translation: X:1.11, Y:0.05, Z:-0.28 [[ 0.99959135 -0.01864456 -0.02166847 1.11056099] [ 0.01875855 0.99981119 0.00506931 0.04999783] [ 0.02156986 -0.0054737 0.99975236 -0.28014889] [ 0. 0. 0. 1. ]] SLAMing on 32.984553573999996 meters Centerline goodness [0,1] 0.8493555316863588 Centerline is valid? [False, False] Translation: X:1.11, Y:0.05, Z:-0.28 [[ 0.99958536 -0.0187842 -0.02182344 1.11091976] [ 0.018901 0.99980806 0.00515792 0.05072988] [ 0.02172236 -0.00556826 0.99974854 -0.27957756] [ 0. 0. 0. 1. ]] SLAMing on 33.014553574 meters Centerline goodness [0,1] 0.8451940106263082 Centerline is valid? [False, False] Translation: X:1.11, Y:0.05, Z:-0.28 [[ 0.99957695 -0.01903109 -0.02199391 1.11153155] [ 0.01914527 0.99980425 0.00499232 0.05188164] [ 0.0218946 -0.00541129 0.99974564 -0.27948363] [ 0. 0. 0. 1. ]] SLAMing on 33.044553574 meters Centerline goodness [0,1] 0.8521860565044581 Centerline is valid? [False, False] Translation: X:1.11, Y:0.05, Z:-0.28 [[ 0.99953817 -0.02010818 -0.02278413 1.11430521] [ 0.02021948 0.99978468 0.00466508 0.05304512] [ 0.02268541 -0.00512361 0.99972952 -0.27929701] [ 0. 0. 0. 1. ]] SLAMing on 33.074553574 meters Centerline goodness [0,1] 0.8445011413992212 Centerline is valid? [False, False] Translation: X:1.12, Y:0.05, Z:-0.28 [[ 0.99951953 -0.0205762 -0.0231804 1.11548484] [ 0.02069476 0.9997739 0.00488664 0.05271678] [ 0.02307461 -0.005364 0.99971936 -0.27849169] [ 0. 0. 0. 1. ]] SLAMing on 33.10455357399999 meters Centerline goodness [0,1] 0.8394485570217788 Centerline is valid? [False, False] Translation: X:1.14, Y:0.06, Z:-0.28 [[ 0.99960682 -0.02143967 -0.01807054 1.13651939] [ 0.02137446 0.99976434 -0.00379444 0.05548464] [ 0.01814764 0.0034067 0.99982951 -0.2838908 ] [ 0. 0. 0. 1. ]] SLAMing on 33.134553573999995 meters Centerline goodness [0,1] 0.8518916595012898 Centerline is valid? [False, False] Translation: X:1.14, Y:0.05, Z:-0.28 [[ 9.99641332e-01 -1.86745719e-02 -1.91954952e-02 1.13968416e+00] [ 1.86982190e-02 9.99824618e-01 1.05315201e-03 5.44082803e-02] [ 1.91724615e-02 -1.41169585e-03 9.99815195e-01 -2.81633768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.164553573999996 meters Centerline goodness [0,1] 0.8541599397266172 Centerline is valid? [False, False] Translation: X:1.14, Y:0.06, Z:-0.28 [[ 9.99648265e-01 -1.83968595e-02 -1.91024203e-02 1.13925923e+00] [ 1.84183942e-02 9.99829914e-01 9.51989226e-04 5.53381032e-02] [ 1.90816576e-02 -1.30349028e-03 9.99817079e-01 -2.81760844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.194553574 meters Centerline goodness [0,1] 0.8491952789699571 Centerline is valid? [False, False] Translation: X:1.14, Y:0.05, Z:-0.28 [[ 0.9996931 -0.01485983 -0.01982134 1.14152824] [ 0.01496575 0.99987445 0.00520619 0.05499916] [ 0.01974149 -0.00550124 0.99978998 -0.28145768] [ 0. 0. 0. 1. ]] SLAMing on 33.224553574 meters Centerline goodness [0,1] 0.8491952789699571 Centerline is valid? [False, False] Translation: X:1.14, Y:0.05, Z:-0.28 [[ 0.9996931 -0.01485983 -0.01982134 1.14152824] [ 0.01496575 0.99987445 0.00520619 0.05499916] [ 0.01974149 -0.00550124 0.99978998 -0.28145768] [ 0. 0. 0. 1. ]] SLAMing on 33.254553574 meters Centerline goodness [0,1] 0.8537168974324506 Centerline is valid? [False, False] Translation: X:1.14, Y:0.06, Z:-0.28 [[ 0.99970134 -0.01448572 -0.01968213 1.14129623] [ 0.01458268 0.99988219 0.00479163 0.05603423] [ 0.0196104 -0.00507722 0.99979481 -0.28268268] [ 0. 0. 0. 1. ]] SLAMing on 33.28455357399999 meters Centerline goodness [0,1] 0.8435226786478391 Centerline is valid? [False, False] Translation: X:1.14, Y:0.06, Z:-0.28 [[ 0.99972691 -0.01124416 -0.02048573 1.1444698 ] [ 0.01142164 0.99989807 0.0085671 0.05611893] [ 0.02038732 -0.00879874 0.99975344 -0.28346084] [ 0. 0. 0. 1. ]] SLAMing on 33.314553573999994 meters Centerline goodness [0,1] 0.8404668219170749 Centerline is valid? [False, False] Translation: X:1.14, Y:0.06, Z:-0.28 [[ 0.99973252 -0.01103794 -0.02032364 1.14411514] [ 0.01120551 0.99990401 0.00814941 0.05676961] [ 0.02023174 -0.00837496 0.99976024 -0.28428609] [ 0. 0. 0. 1. ]] SLAMing on 33.344553573999995 meters Centerline goodness [0,1] 0.8488194871520629 Centerline is valid? [False, False] Translation: X:1.16, Y:0.06, Z:-0.29 [[ 0.99984067 -0.01028093 -0.0145922 1.15993147] [ 0.01025435 0.99994563 -0.00189503 0.05860382] [ 0.01461089 0.00174509 0.99989173 -0.29197508] [ 0. 0. 0. 1. ]] SLAMing on 33.374553574 meters Centerline goodness [0,1] 0.8466663099315068 Centerline is valid? [False, False] Translation: X:1.16, Y:0.06, Z:-0.29 [[ 0.99986448 -0.00666625 -0.01505293 1.16077738] [ 0.00671921 0.99997141 0.00347008 0.05649703] [ 0.01502937 -0.00357075 0.99988068 -0.28881082] [ 0. 0. 0. 1. ]] SLAMing on 33.404553574 meters Centerline goodness [0,1] 0.8464793636339288 Centerline is valid? [False, False] Translation: X:1.16, Y:0.06, Z:-0.29 [[ 0.99987491 -0.0060025 -0.01463358 1.1592248 ] [ 0.006055 0.99997538 0.00354534 0.05678723] [ 0.01461194 -0.00363351 0.99988664 -0.28883163] [ 0. 0. 0. 1. ]] SLAMing on 33.434553574 meters Centerline goodness [0,1] 0.8417100868403473 Centerline is valid? [False, False] Translation: X:1.16, Y:0.06, Z:-0.29 [[ 0.99989016 -0.00166426 -0.01472757 1.15946461] [ 0.00177524 0.99997011 0.00752539 0.05783457] [ 0.01471461 -0.0075507 0.99986322 -0.28904438] [ 0. 0. 0. 1. ]] SLAMing on 33.46455357399999 meters Centerline goodness [0,1] 0.8419183422788326 Centerline is valid? [False, False] Translation: X:1.16, Y:0.06, Z:-0.29 [[ 9.99902861e-01 -4.57131559e-04 -1.39305519e-02 1.15705119e+00] [ 5.55096616e-04 9.99975140e-01 7.02933390e-03 5.92965727e-02] [ 1.39269922e-02 -7.03638388e-03 9.99878257e-01 -2.90578781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.494553573999994 meters Centerline goodness [0,1] 0.839643771331058 Centerline is valid? [False, False] Translation: X:1.15, Y:0.06, Z:-0.29 [[ 9.99913985e-01 9.09216212e-04 -1.30842161e-02 1.15413678e+00] [-8.19390426e-04 9.99976073e-01 6.86892597e-03 6.04045387e-02] [ 1.30901484e-02 -6.85761406e-03 9.99890805e-01 -2.91273547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.524553573999995 meters Centerline goodness [0,1] 0.8355398098079433 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:-0.30 [[ 9.99932325e-01 7.35289678e-03 -9.01555264e-03 1.16997779e+00] [-7.34966010e-03 9.99972914e-01 3.92090022e-04 6.22326447e-02] [ 9.01819144e-03 -3.25802240e-04 9.99959282e-01 -2.98354395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.554553573999996 meters Centerline goodness [0,1] 0.8356931445484361 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:-0.30 [[ 9.99930110e-01 8.35936036e-03 -8.36033963e-03 1.16789885e+00] [-8.35919250e-03 9.99965060e-01 5.50219697e-05 6.31554099e-02] [ 8.36050747e-03 1.48675641e-05 9.99965050e-01 -2.99405901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.584553574 meters Centerline goodness [0,1] 0.8347461026285531 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:-0.30 [[ 9.99926773e-01 9.25745720e-03 -7.79408913e-03 1.16592721e+00] [-9.25739810e-03 9.99957148e-01 4.36601359e-05 6.33891930e-02] [ 7.79415932e-03 2.84960471e-05 9.99969625e-01 -2.99777987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.614553574 meters Centerline goodness [0,1] 0.8360445548521516 Centerline is valid? [False, False] Translation: X:1.16, Y:0.06, Z:-0.30 [[ 9.99918431e-01 1.08113070e-02 -6.80055419e-03 1.16200268e+00] [-1.08048389e-02 9.99941139e-01 9.87133363e-04 6.15334700e-02] [ 6.81082610e-03 -9.13573950e-04 9.99976389e-01 -2.98464374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.64455357399999 meters Centerline goodness [0,1] 0.8346788252648518 Centerline is valid? [False, False] Translation: X:1.16, Y:0.06, Z:-0.30 [[ 9.99915828e-01 1.12391948e-02 -6.48213505e-03 1.16105062e+00] [-1.12328011e-02 9.99936388e-01 1.02192545e-03 6.09636013e-02] [ 6.49320833e-03 -9.49026901e-04 9.99978469e-01 -2.98807405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.674553573999994 meters Centerline goodness [0,1] 0.8333959126749987 Centerline is valid? [False, False] Translation: X:1.16, Y:0.06, Z:-0.30 [[ 9.99915231e-01 1.13386519e-02 -6.40049339e-03 1.16163062e+00] [-1.13329715e-02 9.99935354e-01 9.23060202e-04 5.95889310e-02] [ 6.41054588e-03 -8.50445346e-04 9.99979091e-01 -3.00472176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.704553573999995 meters Centerline goodness [0,1] 0.8339480414591466 Centerline is valid? [False, False] Translation: X:1.16, Y:0.06, Z:-0.30 [[ 0.99991597 0.01121654 -0.00649888 1.16201728] [-0.01120789 0.99993626 0.00136523 0.05789339] [ 0.00651378 -0.00129228 0.99997795 -0.30018095] [ 0. 0. 0. 1. ]] SLAMing on 33.734553573999996 meters Centerline goodness [0,1] 0.835875484272981 Centerline is valid? [False, False] Translation: X:1.16, Y:0.06, Z:-0.30 [[ 0.99994511 0.00924571 -0.00492828 1.15708078] [-0.00925482 0.9999555 -0.00182813 0.05516249] [ 0.00491116 0.00187364 0.99998618 -0.3004892 ] [ 0. 0. 0. 1. ]] SLAMing on 33.764553574 meters Centerline goodness [0,1] 0.8356450693520805 Centerline is valid? [False, False] Translation: X:1.16, Y:0.05, Z:-0.30 [[ 0.99994615 0.00915423 -0.00488858 1.15709062] [-0.0091603 0.9999573 -0.00122055 0.05271401] [ 0.00487719 0.00126527 0.99998731 -0.29984811] [ 0. 0. 0. 1. ]] SLAMing on 33.794553574 meters Centerline goodness [0,1] 0.8365815868873848 Centerline is valid? [False, False] Translation: X:1.16, Y:0.05, Z:-0.30 [[ 9.99943591e-01 9.58013984e-03 -4.58650513e-03 1.15569176e+00] [-9.58328881e-03 9.99953858e-01 -6.65090476e-04 5.17372764e-02] [ 4.57992184e-03 7.09006763e-04 9.99989261e-01 -2.98672821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.824553574 meters Centerline goodness [0,1] 0.8365603644646925 Centerline is valid? [False, False] Translation: X:1.15, Y:0.05, Z:-0.29 [[ 9.99929252e-01 1.13301824e-02 -3.62200643e-03 1.15028349e+00] [-1.13281152e-02 9.99935660e-01 5.90741046e-04 5.23516206e-02] [ 3.62846660e-03 -5.49668746e-04 9.99993266e-01 -2.94360467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.85455357399999 meters Centerline goodness [0,1] 0.8378276039271901 Centerline is valid? [False, False] Translation: X:1.15, Y:0.05, Z:-0.30 [[ 9.99928476e-01 1.14386638e-02 -3.49281466e-03 1.15028170e+00] [-1.14381876e-02 9.99934570e-01 1.56295947e-04 5.30093463e-02] [ 3.49437394e-03 -1.16333299e-04 9.99993888e-01 -2.95354870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.884553573999995 meters Centerline goodness [0,1] 0.8353029651912334 Centerline is valid? [False, False] Translation: X:1.15, Y:0.06, Z:-0.30 [[ 0.99988617 0.01447333 -0.00426189 1.15477203] [-0.01446451 0.9998932 0.00209191 0.0571046 ] [ 0.00429172 -0.00203003 0.99998873 -0.30006368] [ 0. 0. 0. 1. ]] SLAMing on 33.914553573999996 meters Centerline goodness [0,1] 0.8309829059829059 Centerline is valid? [False, False] Translation: X:1.16, Y:0.06, Z:-0.30 [[ 9.99885779e-01 1.45281232e-02 -4.16689739e-03 1.15548644e+00] [-1.45254433e-02 9.99894274e-01 6.72683287e-04 6.03360030e-02] [ 4.17622967e-03 -6.12080420e-04 9.99991092e-01 -3.03067445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.944553574 meters Centerline goodness [0,1] 0.8320153879033981 Centerline is valid? [False, False] Translation: X:1.15, Y:0.06, Z:-0.31 [[ 0.99992834 0.01093596 0.00487038 1.14597266] [-0.01094722 0.99993745 0.00229228 0.06267681] [-0.00484501 -0.00234544 0.99998551 -0.3101751 ] [ 0. 0. 0. 1. ]] SLAMing on 33.974553574 meters Centerline goodness [0,1] 0.8318898690189789 Centerline is valid? [False, False] Translation: X:1.14, Y:0.06, Z:-0.31 [[ 0.99995718 0.00757631 0.00531317 1.14442427] [-0.00756386 0.99996861 -0.00235957 0.06388356] [-0.00533088 0.00231928 0.9999831 -0.31126132] [ 0. 0. 0. 1. ]] SLAMing on 34.004553574 meters Centerline goodness [0,1] 0.8328747361953357 Centerline is valid? [False, False] Translation: X:1.15, Y:0.06, Z:-0.31 [[ 0.9999669 0.00669447 0.00462346 1.14699908] [-0.00668359 0.99997487 -0.00236594 0.06367301] [-0.00463918 0.00233496 0.99998651 -0.31113571] [ 0. 0. 0. 1. ]] SLAMing on 34.03455357399999 meters Centerline goodness [0,1] 0.8333110510976229 Centerline is valid? [False, False] Translation: X:1.15, Y:0.06, Z:-0.31 [[ 0.99998481 0.00454905 0.00311335 1.15311809] [-0.00453946 0.99998495 -0.00307975 0.06418211] [-0.00312731 0.00306557 0.99999041 -0.31255216] [ 0. 0. 0. 1. ]] SLAMing on 34.064553573999994 meters Centerline goodness [0,1] 0.8361607620678583 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:-0.31 [[ 0.99998948 0.00381444 0.00254566 1.15547454] [-0.0038056 0.99998675 -0.00346736 0.06514991] [-0.00255885 0.00345764 0.99999075 -0.31314576] [ 0. 0. 0. 1. ]] SLAMing on 34.094553573999995 meters Centerline goodness [0,1] 0.8374832663989291 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:-0.31 [[ 0.99999452 0.0028058 0.00175843 1.15832883] [-0.00279929 0.99998927 -0.0036922 0.06634074] [-0.00176877 0.00368726 0.99999164 -0.31301024] [ 0. 0. 0. 1. ]] SLAMing on 34.124553574 meters Centerline goodness [0,1] 0.8372641509433962 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:-0.31 [[ 0.99999531 0.00262719 0.00157338 1.15876236] [-0.00262163 0.99999035 -0.00352637 0.0668688 ] [-0.00158263 0.00352223 0.99999254 -0.3122508 ] [ 0. 0. 0. 1. ]] SLAMing on 34.154553574 meters Centerline goodness [0,1] 0.8374973193223247 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:-0.31 [[ 0.99999655 0.00228092 0.00130107 1.15967116] [-0.00227669 0.99999216 -0.00324101 0.06720023] [-0.00130845 0.00323804 0.9999939 -0.31139864] [ 0. 0. 0. 1. ]] SLAMing on 34.184553574 meters Centerline goodness [0,1] 0.8353155469838208 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:-0.31 [[ 0.99999558 0.00258258 0.00147557 1.15828978] [-0.00257885 0.99999349 -0.00252528 0.06881248] [-0.00148208 0.00252146 0.99999572 -0.30850924] [ 0. 0. 0. 1. ]] SLAMing on 34.21455357399999 meters Centerline goodness [0,1] 0.8367193580419205 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:-0.31 [[ 0.99999662 0.0022785 0.0012549 1.15884896] [-0.00227585 0.99999519 -0.00210856 0.06855394] [-0.0012597 0.0021057 0.99999699 -0.30735887] [ 0. 0. 0. 1. ]] SLAMing on 34.244553573999994 meters Centerline goodness [0,1] 0.8375100617118325 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:-0.31 [[ 9.99999533e-01 8.86818572e-04 3.83052200e-04 1.16222030e+00] [-8.86209381e-04 9.99998347e-01 -1.58761202e-03 6.71448902e-02] [-3.84459491e-04 1.58727182e-03 9.99998666e-01 -3.06328596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.274553573999995 meters Centerline goodness [0,1] 0.8377964187772221 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:-0.31 [[ 9.99999936e-01 3.52270646e-04 -5.97623616e-05 1.16368424e+00] [-3.52338377e-04 9.99999291e-01 -1.13715152e-03 6.57966154e-02] [ 5.93617342e-05 1.13717250e-03 9.99999352e-01 -3.05624744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.304553573999996 meters Centerline goodness [0,1] 0.8411907327586207 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:-0.31 [[ 9.99999890e-01 -8.99975347e-05 -4.59380768e-04 1.16502795e+00] [ 8.96810688e-05 9.99999759e-01 -6.88870839e-04 6.40820184e-02] [ 4.59442654e-04 6.88829566e-04 9.99999657e-01 -3.05159313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.334553574 meters Centerline goodness [0,1] 0.8371966924223939 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:-0.31 [[ 9.99999428e-01 -6.81608469e-04 -8.24495175e-04 1.16692322e+00] [ 6.81297557e-04 9.99999697e-01 -3.77316100e-04 6.09889710e-02] [ 8.24752107e-04 3.76754158e-04 9.99999589e-01 -3.05814859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.364553574 meters Centerline goodness [0,1] 0.8372522400217214 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:-0.31 [[ 9.99999479e-01 -6.25503193e-04 -8.07063799e-04 1.16714274e+00] [ 6.25378499e-04 9.99999792e-01 -1.54746976e-04 5.95989126e-02] [ 8.07160426e-04 1.54242175e-04 9.99999662e-01 -3.06279425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.39455357399999 meters Centerline goodness [0,1] 0.83595572676469 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:-0.31 [[ 9.99999243e-01 -8.23639186e-04 -9.14146872e-04 1.16846627e+00] [ 8.23058065e-04 9.99999459e-01 -6.35891033e-04 5.90867122e-02] [ 9.14670122e-04 6.35138156e-04 9.99999380e-01 -3.08403377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.424553573999994 meters Centerline goodness [0,1] 0.8351809985563696 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:-0.31 [[ 9.99999736e-01 -4.31160960e-04 -5.85164358e-04 1.16863110e+00] [ 4.30654942e-04 9.99999534e-01 -8.64596209e-04 5.78901877e-02] [ 5.85536865e-04 8.64343977e-04 9.99999455e-01 -3.11027753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.454553573999995 meters Centerline goodness [0,1] 0.8316053694204955 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:-0.31 [[ 9.99999569e-01 -6.09679828e-04 -6.99705126e-04 1.16943069e+00] [ 6.09158400e-04 9.99999537e-01 -7.45182776e-04 5.66348266e-02] [ 7.00159125e-04 7.44756223e-04 9.99999478e-01 -3.11450184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.484553573999996 meters Centerline goodness [0,1] 0.834418706894183 Centerline is valid? [False, False] Translation: X:1.17, Y:0.05, Z:-0.31 [[ 9.99999381e-01 -8.31105568e-04 -7.40052666e-04 1.16922645e+00] [ 8.31971434e-04 9.99998969e-01 1.17046802e-03 5.08574178e-02] [ 7.39079121e-04 -1.17108300e-03 9.99999041e-01 -3.08203192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.514553574 meters Centerline goodness [0,1] 0.8323321944230133 Centerline is valid? [False, False] Translation: X:1.17, Y:0.05, Z:-0.31 [[ 9.99998967e-01 -1.11962679e-03 -9.01188625e-04 1.16962032e+00] [ 1.12150962e-03 9.99997184e-01 2.09149467e-03 4.78812136e-02] [ 8.98844394e-04 -2.09250320e-03 9.99997407e-01 -3.06711130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.544553574 meters Centerline goodness [0,1] 0.8385954232269847 Centerline is valid? [False, False] Translation: X:1.17, Y:0.04, Z:-0.31 [[ 0.99999449 -0.00290297 -0.00160755 1.1734569 ] [ 0.00290741 0.99999195 0.00276646 0.04350055] [ 0.0015995 -0.00277112 0.99999488 -0.30629329] [ 0. 0. 0. 1. ]] SLAMing on 34.574553574 meters Centerline goodness [0,1] 0.8358171745152354 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:-0.31 [[ 0.99999191 -0.00347378 -0.00202998 1.17544568] [ 0.00347864 0.99999108 0.00239541 0.04351655] [ 0.00202164 -0.00240245 0.99999507 -0.30752073] [ 0. 0. 0. 1. ]] SLAMing on 34.60455357399999 meters Centerline goodness [0,1] 0.8362293176913287 Centerline is valid? [False, False] Translation: X:1.17, Y:0.05, Z:-0.31 [[ 0.9999961 -0.00245059 -0.00133804 1.17265769] [ 0.0024538 0.99999411 0.00240163 0.04515987] [ 0.00133215 -0.0024049 0.99999622 -0.30706212] [ 0. 0. 0. 1. ]] SLAMing on 34.634553573999995 meters Centerline goodness [0,1] 0.8382535693573776 Centerline is valid? [False, False] Translation: X:1.17, Y:0.05, Z:-0.31 [[ 0.99999415 -0.00298633 -0.00167033 1.17409366] [ 0.0029896 0.9999936 0.0019633 0.04697013] [ 0.00166446 -0.00196828 0.99999668 -0.30729748] [ 0. 0. 0. 1. ]] SLAMing on 34.664553573999996 meters Centerline goodness [0,1] 0.8366074384725748 Centerline is valid? [False, False] Translation: X:1.18, Y:0.05, Z:-0.31 [[ 0.99998866 -0.00405513 -0.00249862 1.17724595] [ 0.00405935 0.99999034 0.00168613 0.04758882] [ 0.00249176 -0.00169626 0.99999546 -0.30763629] [ 0. 0. 0. 1. ]] SLAMing on 34.694553574 meters Centerline goodness [0,1] 0.8351827315888263 Centerline is valid? [False, False] Translation: X:1.19, Y:0.05, Z:-0.31 [[ 0.99995615 -0.00810447 -0.00469175 1.18651214] [ 0.00811329 0.99996535 0.00186431 0.04737212] [ 0.00467648 -0.00190229 0.99998726 -0.30581325] [ 0. 0. 0. 1. ]] SLAMing on 34.724553574 meters Centerline goodness [0,1] 0.8380815797457183 Centerline is valid? [False, False] Translation: X:1.19, Y:0.05, Z:-0.30 [[ 0.99994103 -0.00931504 -0.0055821 1.18961323] [ 0.00932601 0.99995463 0.00194175 0.04781657] [ 0.00556376 -0.00199369 0.99998253 -0.30499868] [ 0. 0. 0. 1. ]] SLAMing on 34.754553574 meters Centerline goodness [0,1] 0.8376157917953242 Centerline is valid? [False, False] Translation: X:1.19, Y:0.05, Z:-0.30 [[ 0.9999208 -0.01071893 -0.0065956 1.19330142] [ 0.01073046 0.99994096 0.00171493 0.04868111] [ 0.00657682 -0.00178557 0.99997678 -0.30478705] [ 0. 0. 0. 1. ]] SLAMing on 34.78455357399999 meters Centerline goodness [0,1] 0.8473557032236806 Centerline is valid? [False, False] Translation: X:1.20, Y:0.05, Z:-0.31 [[ 9.99869544e-01 -1.37323025e-02 -8.50402638e-03 1.20069071e+00] [ 1.37359532e-02 9.99905589e-01 3.71023057e-04 5.25160277e-02] [ 8.49812850e-03 -4.87785563e-04 9.99963771e-01 -3.05691352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.814553573999994 meters Centerline goodness [0,1] 0.8406567802417697 Centerline is valid? [False, False] Translation: X:1.20, Y:0.05, Z:-0.31 [[ 9.99846094e-01 -1.48726126e-02 -9.30558451e-03 1.20376617e+00] [ 1.48718620e-02 9.99889397e-01 -1.49857305e-04 5.41651157e-02] [ 9.30678404e-03 1.14428723e-05 9.99956691e-01 -3.06105262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.844553573999995 meters Centerline goodness [0,1] 0.8347614224314928 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.31 [[ 9.99820559e-01 -1.59995902e-02 -1.01421155e-02 1.20665287e+00] [ 1.59975679e-02 9.99871991e-01 -2.80498385e-04 5.52582112e-02] [ 1.01453050e-02 1.18198871e-04 9.99948528e-01 -3.05585968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.874553574 meters Centerline goodness [0,1] 0.842213002893171 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.30 [[ 9.99756714e-01 -1.86004043e-02 -1.18548597e-02 1.21249215e+00] [ 1.85991136e-02 9.99826998e-01 -2.19122870e-04 5.61801629e-02] [ 1.18568845e-02 -1.42032228e-06 9.99929705e-01 -3.03599775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.904553574 meters Centerline goodness [0,1] 0.8435734366896853 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.30 [[ 9.99733982e-01 -1.93989215e-02 -1.24758942e-02 1.21452135e+00] [ 1.93983865e-02 9.99811820e-01 -1.63899516e-04 5.65409730e-02] [ 1.24767260e-02 -7.81563016e-05 9.99922160e-01 -3.02892349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.934553574 meters Centerline goodness [0,1] 0.8398799781778505 Centerline is valid? [False, False] Translation: X:1.22, Y:0.06, Z:-0.30 [[ 0.99973484 -0.01817638 -0.01413743 1.22067085] [ 0.01823605 0.99982529 0.00410334 0.0558116 ] [ 0.01406038 -0.00436006 0.99989164 -0.30114785] [ 0. 0. 0. 1. ]] SLAMing on 34.96455357399999 meters Centerline goodness [0,1] 0.8413223140495868 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:-0.30 [[ 0.99974611 -0.01613313 -0.01572989 1.22618921] [ 0.01625132 0.99984044 0.0074151 0.05792121] [ 0.01560775 -0.00766885 0.99984878 -0.30164602] [ 0. 0. 0. 1. ]] SLAMing on 34.994553573999994 meters Centerline goodness [0,1] 0.8358043095270362 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:-0.30 [[ 0.99975861 -0.01561079 -0.01546051 1.22538877] [ 0.01571812 0.99985303 0.00684485 0.06020312] [ 0.01535139 -0.00708621 0.99985705 -0.30273098] [ 0. 0. 0. 1. ]] SLAMing on 35.024553573999995 meters Centerline goodness [0,1] 0.835322066843043 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.31 [[ 9.99877159e-01 -1.20576004e-02 -1.00140055e-02 1.24084513e+00] [ 1.20448508e-02 9.99926570e-01 -1.33251300e-03 6.41256259e-02] [ 1.00293370e-02 1.21173211e-03 9.99948971e-01 -3.10824660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.054553573999996 meters Centerline goodness [0,1] 0.8368012506064363 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.31 [[ 0.99990566 -0.00860825 -0.01070387 1.24229105] [ 0.00864867 0.99995562 0.00373568 0.06302204] [ 0.01067124 -0.0038279 0.99993573 -0.30812538] [ 0. 0. 0. 1. ]] SLAMing on 35.084553574 meters Centerline goodness [0,1] 0.8351336753983256 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.31 [[ 0.99991851 -0.0077506 -0.01014406 1.24005786] [ 0.00779065 0.99996199 0.00391422 0.06368772] [ 0.01011333 -0.00399293 0.99994089 -0.30766288] [ 0. 0. 0. 1. ]] SLAMing on 35.114553574 meters Centerline goodness [0,1] 0.8347320852162685 Centerline is valid? [False, False] Translation: X:1.24, Y:0.07, Z:-0.31 [[ 0.99993216 -0.00662091 -0.00958371 1.23779888] [ 0.00665903 0.99997002 0.00395092 0.06537787] [ 0.00955726 -0.00401447 0.99994627 -0.30763225] [ 0. 0. 0. 1. ]] SLAMing on 35.14455357399999 meters Centerline goodness [0,1] 0.8347320852162685 Centerline is valid? [False, False] Translation: X:1.24, Y:0.07, Z:-0.31 [[ 0.99993216 -0.00662091 -0.00958371 1.23779888] [ 0.00665903 0.99997002 0.00395092 0.06537787] [ 0.00955726 -0.00401447 0.99994627 -0.30763225] [ 0. 0. 0. 1. ]] SLAMing on 35.174553573999994 meters Centerline goodness [0,1] 0.8333827293547084 Centerline is valid? [False, False] Translation: X:1.24, Y:0.07, Z:-0.31 [[ 0.99993408 -0.00644025 -0.00950573 1.23746775] [ 0.00647805 0.99997121 0.00395052 0.06530927] [ 0.00948001 -0.00401184 0.99994702 -0.30772796] [ 0. 0. 0. 1. ]] SLAMing on 35.204553573999995 meters Centerline goodness [0,1] 0.8335536788711113 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.31 [[ 0.99993115 -0.00662523 -0.00968483 1.23810609] [ 0.00666577 0.99996913 0.00415895 0.0643124 ] [ 0.00965698 -0.00422322 0.99994445 -0.30754233] [ 0. 0. 0. 1. ]] SLAMing on 35.234553573999996 meters Centerline goodness [0,1] 0.8339401785473475 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.31 [[ 0.9999302 -0.00665886 -0.00975952 1.2385766 ] [ 0.00669717 0.99996998 0.00389826 0.06451491] [ 0.00973327 -0.00396335 0.99994478 -0.30832405] [ 0. 0. 0. 1. ]] SLAMing on 35.264553574 meters Centerline goodness [0,1] 0.8343064115039464 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.31 [[ 0.99993226 -0.00645369 -0.00968603 1.23833729] [ 0.00649097 0.99997163 0.00382297 0.06467361] [ 0.00966109 -0.00388558 0.99994578 -0.3087458 ] [ 0. 0. 0. 1. ]] SLAMing on 35.294553574 meters Centerline goodness [0,1] 0.8336178167926522 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.31 [[ 0.99993732 -0.0060707 -0.00940714 1.23752373] [ 0.00610922 0.99997305 0.00407142 0.06325329] [ 0.00938217 -0.00412864 0.99994746 -0.30896822] [ 0. 0. 0. 1. ]] SLAMing on 35.32455357399999 meters Centerline goodness [0,1] 0.8296680892706663 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.31 [[ 0.99993724 -0.00605243 -0.00942782 1.23817858] [ 0.00608754 0.99997463 0.00369977 0.06284244] [ 0.00940519 -0.00375693 0.99994871 -0.31073979] [ 0. 0. 0. 1. ]] SLAMing on 35.35455357399999 meters Centerline goodness [0,1] 0.8328662004408283 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.31 [[ 0.99993363 -0.00633387 -0.00962417 1.23919935] [ 0.00636913 0.9999731 0.00363668 0.06221185] [ 0.00960088 -0.00369774 0.99994707 -0.31141928] [ 0. 0. 0. 1. ]] SLAMing on 35.384553573999995 meters Centerline goodness [0,1] 0.8318090260765421 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.31 [[ 0.99992667 -0.00685697 -0.00998154 1.24045219] [ 0.00689891 0.99996749 0.00417374 0.06039107] [ 0.00995259 -0.0042423 0.99994147 -0.31062769] [ 0. 0. 0. 1. ]] SLAMing on 35.414553573999996 meters Centerline goodness [0,1] 0.8327227993439038 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.31 [[ 0.99992466 -0.00698084 -0.0100968 1.24047522] [ 0.0070314 0.99996287 0.00498153 0.05831064] [ 0.01006165 -0.00505215 0.99993662 -0.30908484] [ 0. 0. 0. 1. ]] SLAMing on 35.444553574 meters Centerline goodness [0,1] 0.8333698090496252 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:-0.31 [[ 0.99995974 -0.00347964 -0.00827141 1.23127724] [ 0.00352693 0.99997749 0.00570872 0.05947691] [ 0.00825136 -0.00573766 0.9999495 -0.30663911] [ 0. 0. 0. 1. ]] SLAMing on 35.474553574 meters Centerline goodness [0,1] 0.8344166484596898 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:-0.31 [[ 0.9999631 -0.00306594 -0.00802512 1.23045265] [ 0.0031079 0.99998154 0.00522026 0.06089279] [ 0.00800897 -0.00524501 0.99995417 -0.30742411] [ 0. 0. 0. 1. ]] SLAMing on 35.504553574 meters Centerline goodness [0,1] 0.8317290649796854 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:-0.31 [[ 0.99996023 -0.00329835 -0.00828605 1.23206388] [ 0.00333332 0.99998558 0.00420968 0.06321475] [ 0.00827205 -0.00423713 0.99995681 -0.3098844 ] [ 0. 0. 0. 1. ]] SLAMing on 35.53455357399999 meters Centerline goodness [0,1] 0.8320388084920829 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:-0.31 [[ 0.99995492 -0.003827 -0.00868947 1.23415611] [ 0.00385785 0.99998631 0.00353592 0.06451322] [ 0.00867582 -0.00356928 0.99995599 -0.31157499] [ 0. 0. 0. 1. ]] SLAMing on 35.564553573999994 meters Centerline goodness [0,1] 0.833455772317906 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.31 [[ 0.99994885 -0.00437877 -0.009117 1.23609929] [ 0.00440811 0.99998516 0.00320037 0.06491093] [ 0.00910285 -0.00324039 0.99995332 -0.31251512] [ 0. 0. 0. 1. ]] SLAMing on 35.594553573999995 meters Centerline goodness [0,1] 0.8271362271362271 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.31 [[ 0.99993345 -0.00590633 -0.00991028 1.23923398] [ 0.00594378 0.99997529 0.00375407 0.06291132] [ 0.00988786 -0.00381273 0.99994385 -0.31096139] [ 0. 0. 0. 1. ]] SLAMing on 35.624553574 meters Centerline goodness [0,1] 0.8257269348491474 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.31 [[ 0.99992748 -0.00639879 -0.01020254 1.23990378] [ 0.00644434 0.99996939 0.00443822 0.06145007] [ 0.01017383 -0.00450364 0.9999381 -0.30913838] [ 0. 0. 0. 1. ]] SLAMing on 35.654553574 meters Centerline goodness [0,1] 0.8250239824585446 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.31 [[ 0.99990812 -0.00790311 -0.0110133 1.24313345] [ 0.00795893 0.99995566 0.00503371 0.05971378] [ 0.01097303 -0.0051209 0.99992668 -0.30770393] [ 0. 0. 0. 1. ]] SLAMing on 35.684553574 meters Centerline goodness [0,1] 0.825035014967182 Centerline is valid? [False, False] Translation: X:1.25, Y:0.06, Z:-0.31 [[ 0.99989645 -0.00866764 -0.01148777 1.24536817] [ 0.00872469 0.99994981 0.00492516 0.05918046] [ 0.0114445 -0.00502487 0.99992188 -0.30833754] [ 0. 0. 0. 1. ]] SLAMing on 35.71455357399999 meters Centerline goodness [0,1] 0.8380155738381532 Centerline is valid? [False, False] Translation: X:1.25, Y:0.06, Z:-0.31 [[ 0.99988689 -0.00924011 -0.01186693 1.24704882] [ 0.0092997 0.99994437 0.00497626 0.05848551] [ 0.01182029 -0.00508605 0.9999172 -0.30870873] [ 0. 0. 0. 1. ]] SLAMing on 35.744553573999994 meters Centerline goodness [0,1] 0.835605121850475 Centerline is valid? [False, False] Translation: X:1.25, Y:0.06, Z:-0.31 [[ 0.99987483 -0.0099493 -0.0123022 1.24919421] [ 0.01001237 0.99993699 0.00507583 0.05734908] [ 0.01225093 -0.00519837 0.99991144 -0.30925017] [ 0. 0. 0. 1. ]] SLAMing on 35.774553573999995 meters Centerline goodness [0,1] 0.830529938059188 Centerline is valid? [False, False] Translation: X:1.25, Y:0.06, Z:-0.31 [[ 0.99987059 -0.0101704 -0.01246499 1.24997238] [ 0.01023592 0.99993407 0.00520385 0.05636163] [ 0.01241124 -0.00533077 0.99990877 -0.3094815 ] [ 0. 0. 0. 1. ]] SLAMing on 35.804553573999996 meters Centerline goodness [0,1] 0.8283308021538036 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.31 [[ 0.99986191 -0.01062298 -0.01277932 1.25162879] [ 0.01068831 0.9999301 0.00505487 0.05497159] [ 0.01272473 -0.00519076 0.99990556 -0.31056115] [ 0. 0. 0. 1. ]] SLAMing on 35.834553574 meters Centerline goodness [0,1] 0.8324724470347762 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.31 [[ 0.99986171 -0.0105998 -0.01281412 1.25195564] [ 0.01066444 0.9999307 0.00498685 0.05454575] [ 0.01276037 -0.00512281 0.99990546 -0.31116844] [ 0. 0. 0. 1. ]] SLAMing on 35.864553574 meters Centerline goodness [0,1] 0.8249543214661426 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.31 [[ 0.99986522 -0.01037924 -0.01272088 1.25165979] [ 0.01044483 0.99993244 0.00510078 0.05386129] [ 0.01266708 -0.00523296 0.99990608 -0.31133117] [ 0. 0. 0. 1. ]] SLAMing on 35.89455357399999 meters Centerline goodness [0,1] 0.8302989996397595 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.31 [[ 0.99988352 -0.00929077 -0.0121093 1.24964361] [ 0.00935532 0.99994228 0.00528431 0.05249821] [ 0.01205951 -0.00539698 0.99991272 -0.3121868 ] [ 0. 0. 0. 1. ]] SLAMing on 35.924553573999994 meters Centerline goodness [0,1] 0.8247654471770388 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.31 [[ 0.99989057 -0.00883064 -0.01186888 1.24917162] [ 0.00888929 0.99994849 0.00489806 0.05271333] [ 0.01182501 -0.00500303 0.99991757 -0.3137002 ] [ 0. 0. 0. 1. ]] SLAMing on 35.954553573999995 meters Centerline goodness [0,1] 0.8267435094621928 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.32 [[ 0.99991701 -0.00700506 -0.01081173 1.24594966] [ 0.00705384 0.99996508 0.00448081 0.05293038] [ 0.01077997 -0.0045567 0.99993151 -0.31626594] [ 0. 0. 0. 1. ]] SLAMing on 35.984553573999996 meters Centerline goodness [0,1] 0.8237972293939646 Centerline is valid? [False, False] Translation: X:1.24, Y:0.05, Z:-0.32 [[ 0.99993415 -0.00573308 -0.00994085 1.24255341] [ 0.00578282 0.99997087 0.00498186 0.05230934] [ 0.009912 -0.00503902 0.99993818 -0.31563708] [ 0. 0. 0. 1. ]] SLAMing on 36.014553574 meters Centerline goodness [0,1] 0.831282806121032 Centerline is valid? [False, False] Translation: X:1.24, Y:0.05, Z:-0.31 [[ 0.99996056 -0.0031548 -0.00830188 1.23613459] [ 0.00320537 0.99997635 0.00608496 0.05047167] [ 0.00828248 -0.00611133 0.99994702 -0.31443126] [ 0. 0. 0. 1. ]] SLAMing on 36.044553574 meters Centerline goodness [0,1] 0.8319236547771409 Centerline is valid? [False, False] Translation: X:1.23, Y:0.05, Z:-0.31 [[ 0.9999669 -0.00239398 -0.00777642 1.23413581] [ 0.00244479 0.99997569 0.00653041 0.04941002] [ 0.00776059 -0.0065492 0.99994844 -0.31401931] [ 0. 0. 0. 1. ]] SLAMing on 36.07455357399999 meters Centerline goodness [0,1] 0.8284964839825874 Centerline is valid? [False, False] Translation: X:1.23, Y:0.05, Z:-0.31 [[ 0.9999718 -0.00185573 -0.00727659 1.23236799] [ 0.00191184 0.99996844 0.00771129 0.04600643] [ 0.00726205 -0.00772499 0.99994379 -0.3124517 ] [ 0. 0. 0. 1. ]] SLAMing on 36.10455357399999 meters Centerline goodness [0,1] 0.8291623462152846 Centerline is valid? [False, False] Translation: X:1.23, Y:0.05, Z:-0.31 [[ 0.99997547 -0.0039324 -0.00579551 1.22752338] [ 0.00395006 0.99998758 0.0030379 0.04613197] [ 0.00578349 -0.00306072 0.99997859 -0.31475728] [ 0. 0. 0. 1. ]] SLAMing on 36.134553573999995 meters Centerline goodness [0,1] 0.8272030007837868 Centerline is valid? [False, False] Translation: X:1.23, Y:0.04, Z:-0.31 [[ 0.999978 -0.00361239 -0.00556274 1.22661959] [ 0.00363177 0.99998736 0.0034772 0.04486651] [ 0.0055501 -0.00349733 0.99997848 -0.31425458] [ 0. 0. 0. 1. ]] SLAMing on 36.164553573999996 meters Centerline goodness [0,1] 0.8259200089688612 Centerline is valid? [False, False] Translation: X:1.22, Y:0.04, Z:-0.31 [[ 0.99998605 -0.00234444 -0.00473236 1.22337118] [ 0.00236247 0.99998996 0.0038081 0.04448973] [ 0.00472339 -0.00381923 0.99998155 -0.31389691] [ 0. 0. 0. 1. ]] SLAMing on 36.194553574 meters Centerline goodness [0,1] 0.8245997088791849 Centerline is valid? [False, False] Translation: X:1.22, Y:0.04, Z:-0.31 [[ 0.99998718 -0.00216561 -0.0045778 1.2231143 ] [ 0.00218185 0.99999133 0.00354606 0.04466432] [ 0.00457008 -0.003556 0.99998323 -0.31465415] [ 0. 0. 0. 1. ]] SLAMing on 36.224553574 meters Centerline goodness [0,1] 0.824260752688172 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.32 [[ 0.99998744 -0.00205407 -0.00457123 1.22377459] [ 0.00206535 0.99999483 0.00246441 0.0462982 ] [ 0.00456614 -0.00247382 0.99998652 -0.317386 ] [ 0. 0. 0. 1. ]] SLAMing on 36.254553574 meters Centerline goodness [0,1] 0.8250084090144635 Centerline is valid? [False, False] Translation: X:1.23, Y:0.05, Z:-0.32 [[ 0.99998482 -0.0024877 -0.00491632 1.22543515] [ 0.00249813 0.99999464 0.00211678 0.04658678] [ 0.00491103 -0.00212903 0.99998567 -0.31842293] [ 0. 0. 0. 1. ]] SLAMing on 36.28455357399999 meters Centerline goodness [0,1] 0.8243334080215102 Centerline is valid? [False, False] Translation: X:1.23, Y:0.05, Z:-0.32 [[ 0.99998318 -0.00272786 -0.0051189 1.2261755 ] [ 0.00273895 0.99999392 0.00216034 0.04647971] [ 0.00511297 -0.00217433 0.99998456 -0.318337 ] [ 0. 0. 0. 1. ]] SLAMing on 36.314553573999994 meters Centerline goodness [0,1] 0.8299424722884804 Centerline is valid? [False, False] Translation: X:1.23, Y:0.04, Z:-0.32 [[ 0.9999757 -0.00384073 -0.005818 1.22876125] [ 0.00385709 0.99998863 0.00280412 0.04456442] [ 0.00580716 -0.00282649 0.99997914 -0.31695459] [ 0. 0. 0. 1. ]] SLAMing on 36.344553573999995 meters Centerline goodness [0,1] 0.8251599147121536 Centerline is valid? [False, False] Translation: X:1.23, Y:0.04, Z:-0.32 [[ 0.99997053 -0.00440719 -0.00628627 1.23054325] [ 0.00442593 0.99998579 0.00297004 0.04403465] [ 0.00627309 -0.00299778 0.99997583 -0.31678571] [ 0. 0. 0. 1. ]] SLAMing on 36.374553574 meters Centerline goodness [0,1] 0.823616669931988 Centerline is valid? [False, False] Translation: X:1.23, Y:0.05, Z:-0.32 [[ 0.99997007 -0.00440242 -0.00636283 1.23113147] [ 0.00441783 0.99998734 0.00241008 0.04553202] [ 0.00635213 -0.00243812 0.99997685 -0.31796181] [ 0. 0. 0. 1. ]] SLAMing on 36.404553574 meters Centerline goodness [0,1] 0.8232382550335571 Centerline is valid? [False, False] Translation: X:1.23, Y:0.05, Z:-0.32 [[ 0.99997195 -0.00413056 -0.00624833 1.23106395] [ 0.00414188 0.9999898 0.00179972 0.04730677] [ 0.00624083 -0.00182555 0.99997886 -0.31940463] [ 0. 0. 0. 1. ]] SLAMing on 36.434553574 meters Centerline goodness [0,1] 0.8147219436086036 Centerline is valid? [False, False] Translation: X:1.23, Y:0.05, Z:-0.32 [[ 9.99973048e-01 -3.97446127e-03 -6.17302715e-03 1.23137615e+00] [ 3.98058952e-03 9.99991596e-01 9.80777659e-04 4.94189186e-02] [ 6.16907722e-03 -1.00532351e-03 9.99980466e-01 -3.21278267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.46455357399999 meters Centerline goodness [0,1] 0.8192378405482199 Centerline is valid? [False, False] Translation: X:1.23, Y:0.05, Z:-0.32 [[ 9.99969588e-01 -4.35487153e-03 -6.46972142e-03 1.23307728e+00] [ 4.35544354e-03 9.99990512e-01 7.43256851e-05 5.14568235e-02] [ 6.46933636e-03 -1.02501931e-04 9.99979068e-01 -3.23127993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.494553573999994 meters Centerline goodness [0,1] 0.8198974187433796 Centerline is valid? [False, False] Translation: X:1.23, Y:0.05, Z:-0.32 [[ 9.99966457e-01 -4.64358159e-03 -6.74697885e-03 1.23385620e+00] [ 4.64693814e-03 9.99989087e-01 4.81897953e-04 5.09985834e-02] [ 6.74466749e-03 -5.13234582e-04 9.99977123e-01 -3.22103693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.524553573999995 meters Centerline goodness [0,1] 0.821335646140503 Centerline is valid? [False, False] Translation: X:1.23, Y:0.05, Z:-0.32 [[ 0.99996134 -0.00517301 -0.00710976 1.23460359] [ 0.00518396 0.9999854 0.00152325 0.05007794] [ 0.00710177 -0.00156005 0.99997357 -0.31912109] [ 0. 0. 0. 1. ]] SLAMing on 36.554553573999996 meters Centerline goodness [0,1] 0.8241592351346062 Centerline is valid? [False, False] Translation: X:1.23, Y:0.05, Z:-0.32 [[ 0.99996008 -0.00529644 -0.00719635 1.23481 ] [ 0.00530838 0.99998456 0.00164156 0.05070844] [ 0.00718755 -0.0016797 0.99997276 -0.31847514] [ 0. 0. 0. 1. ]] SLAMing on 36.584553574 meters Centerline goodness [0,1] 0.8247324746444638 Centerline is valid? [False, False] Translation: X:1.24, Y:0.05, Z:-0.32 [[ 0.9999582 -0.00544589 -0.00734407 1.2354028 ] [ 0.00545775 0.99998383 0.00159682 0.05160418] [ 0.00733526 -0.00163684 0.99997176 -0.31839178] [ 0. 0. 0. 1. ]] SLAMing on 36.614553574 meters Centerline goodness [0,1] 0.8234333028717011 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.32 [[ 0.99996614 -0.00185235 -0.00801828 1.23722888] [ 0.00189203 0.99998599 0.00494417 0.05597111] [ 0.00800901 -0.00495917 0.99995563 -0.31824106] [ 0. 0. 0. 1. ]] SLAMing on 36.64455357399999 meters Centerline goodness [0,1] 0.8182216621925162 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.32 [[ 9.99960198e-01 1.28453736e-03 -8.82904162e-03 1.24003128e+00] [-1.21545610e-03 9.99968644e-01 7.82523824e-03 6.12057892e-02] [ 8.83881658e-03 -7.81419547e-03 9.99930404e-01 -3.18867242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.674553573999994 meters Centerline goodness [0,1] 0.8135334242837653 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.32 [[ 9.99959703e-01 1.12822841e-03 -8.90610059e-03 1.24030137e+00] [-1.06074707e-03 9.99970723e-01 7.57807028e-03 6.26266510e-02] [ 8.91438964e-03 -7.56831779e-03 9.99931625e-01 -3.18692460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.704553573999995 meters Centerline goodness [0,1] 0.8167857727347116 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.32 [[ 0.9999637 -0.00207611 -0.00826428 1.23805218] [ 0.00210286 0.99999257 0.00322991 0.06439592] [ 0.00825752 -0.00324717 0.99996063 -0.3190737 ] [ 0. 0. 0. 1. ]] SLAMing on 36.734553573999996 meters Centerline goodness [0,1] 0.8199291166848419 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.32 [[ 9.99936806e-01 -7.14678246e-03 -8.67796570e-03 1.24009759e+00] [ 7.13858925e-03 9.99974045e-01 -9.74748578e-04 6.47225954e-02] [ 8.68470678e-03 9.12738547e-04 9.99961871e-01 -3.18905730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.764553574 meters Centerline goodness [0,1] 0.8193758020915818 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.32 [[ 9.99914766e-01 -8.74008197e-03 -9.69905984e-03 1.24438720e+00] [ 8.72847863e-03 9.99961140e-01 -1.23802342e-03 6.45238817e-02] [ 9.70950336e-03 1.15325986e-03 9.99952197e-01 -3.19446825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.794553574 meters Centerline goodness [0,1] 0.8155058269956776 Centerline is valid? [False, False] Translation: X:1.25, Y:0.06, Z:-0.32 [[ 0.99986849 -0.01164244 -0.01128936 1.25195987] [ 0.01162228 0.99993075 -0.00184975 0.06463281] [ 0.01131012 0.0017183 0.99993456 -0.32076028] [ 0. 0. 0. 1. ]] SLAMing on 36.82455357399999 meters Centerline goodness [0,1] 0.8187211241422674 Centerline is valid? [False, False] Translation: X:1.25, Y:0.06, Z:-0.32 [[ 0.99985875 -0.0121315 -0.01163213 1.25354821] [ 0.01211029 0.99992488 -0.00189245 0.06472533] [ 0.01165422 0.00175131 0.99993055 -0.32107208] [ 0. 0. 0. 1. ]] SLAMing on 36.85455357399999 meters Centerline goodness [0,1] 0.819789335807455 Centerline is valid? [False, False] Translation: X:1.25, Y:0.07, Z:-0.32 [[ 0.99986243 -0.01188485 -0.01156988 1.25333313] [ 0.01186458 0.99992796 -0.00181876 0.06504518] [ 0.01159067 0.00168124 0.99993141 -0.32101983] [ 0. 0. 0. 1. ]] SLAMing on 36.884553573999995 meters Centerline goodness [0,1] 0.8225410506791774 Centerline is valid? [False, False] Translation: X:1.26, Y:0.06, Z:-0.32 [[ 0.99988347 -0.00882992 -0.01245336 1.25594732] [ 0.008869 0.99995591 0.00308661 0.06320972] [ 0.01242556 -0.0031967 0.99991769 -0.31898164] [ 0. 0. 0. 1. ]] SLAMing on 36.914553573999996 meters Centerline goodness [0,1] 0.8233177009488494 Centerline is valid? [False, False] Translation: X:1.25, Y:0.06, Z:-0.32 [[ 0.99989761 -0.0078988 -0.01193245 1.253812 ] [ 0.00793957 0.99996279 0.00337319 0.06324256] [ 0.01190537 -0.00346758 0.99992312 -0.31854231] [ 0. 0. 0. 1. ]] SLAMing on 36.944553574 meters Centerline goodness [0,1] 0.8188506498814682 Centerline is valid? [False, False] Translation: X:1.25, Y:0.07, Z:-0.32 [[ 0.99992724 -0.00529522 -0.01083833 1.24930812] [ 0.00531924 0.99998346 0.00218784 0.06534748] [ 0.01082656 -0.00224534 0.99993887 -0.32223166] [ 0. 0. 0. 1. ]] SLAMing on 36.974553574 meters Centerline goodness [0,1] 0.8162849457983535 Centerline is valid? [False, False] Translation: X:1.25, Y:0.07, Z:-0.32 [[ 0.99993676 -0.00434264 -0.01037364 1.2480779 ] [ 0.00436082 0.99998899 0.00173056 0.06700555] [ 0.01036601 -0.00177569 0.99994469 -0.3239591 ] [ 0. 0. 0. 1. ]] SLAMing on 37.004553574 meters Centerline goodness [0,1] 0.8154727949365713 Centerline is valid? [False, False] Translation: X:1.25, Y:0.07, Z:-0.33 [[ 0.9999466 -0.00326415 -0.00980505 1.24632532] [ 0.00327857 0.99999357 0.00145567 0.0680874 ] [ 0.00980024 -0.00148774 0.99995087 -0.32531048] [ 0. 0. 0. 1. ]] SLAMing on 37.03455357399999 meters Centerline goodness [0,1] 0.8154727949365713 Centerline is valid? [False, False] Translation: X:1.25, Y:0.07, Z:-0.33 [[ 0.9999466 -0.00326415 -0.00980505 1.24632532] [ 0.00327857 0.99999357 0.00145567 0.0680874 ] [ 0.00980024 -0.00148774 0.99995087 -0.32531048] [ 0. 0. 0. 1. ]] SLAMing on 37.064553573999994 meters Centerline goodness [0,1] 0.8142624728850325 Centerline is valid? [False, False] Translation: X:1.24, Y:0.07, Z:-0.33 [[ 0.99995907 -0.00159071 -0.00890669 1.24317272] [ 0.00160547 0.99999735 0.00165009 0.06849633] [ 0.00890404 -0.00166432 0.99995897 -0.32579529] [ 0. 0. 0. 1. ]] SLAMing on 37.094553573999995 meters Centerline goodness [0,1] 0.8152823018458197 Centerline is valid? [False, False] Translation: X:1.24, Y:0.07, Z:-0.33 [[ 9.99962243e-01 -1.13089758e-03 -8.61586934e-03 1.24194257e+00] [ 1.14853968e-03 9.99997254e-01 2.04295664e-03 6.79127121e-02] [ 8.61353531e-03 -2.05277517e-03 9.99960796e-01 -3.25149947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.124553574 meters Centerline goodness [0,1] 0.8186838472158307 Centerline is valid? [False, False] Translation: X:1.24, Y:0.07, Z:-0.32 [[ 0.99995959 -0.00186013 -0.00879516 1.2428773 ] [ 0.00188719 0.99999351 0.00306954 0.0650022 ] [ 0.00878939 -0.00308601 0.99995661 -0.322886 ] [ 0. 0. 0. 1. ]] SLAMing on 37.154553574 meters Centerline goodness [0,1] 0.8204136127081005 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.32 [[ 0.99995264 -0.00276342 -0.00933205 1.24489689] [ 0.00279802 0.99998926 0.00369588 0.06316616] [ 0.00932173 -0.00372181 0.99994963 -0.32166182] [ 0. 0. 0. 1. ]] SLAMing on 37.184553574 meters Centerline goodness [0,1] 0.822071826219845 Centerline is valid? [False, False] Translation: X:1.25, Y:0.06, Z:-0.32 [[ 0.99994289 -0.00387771 -0.00995855 1.24738774] [ 0.00391945 0.9999836 0.00417546 0.06148469] [ 0.0099422 -0.00421426 0.99994169 -0.32071696] [ 0. 0. 0. 1. ]] SLAMing on 37.21455357399999 meters Centerline goodness [0,1] 0.8237175107272677 Centerline is valid? [False, False] Translation: X:1.26, Y:0.06, Z:-0.32 [[ 0.99990696 -0.00785746 -0.01114996 1.25527676] [ 0.00790306 0.99996056 0.00405121 0.05923514] [ 0.01111769 -0.00413896 0.99992963 -0.32040863] [ 0. 0. 0. 1. ]] SLAMing on 37.244553573999994 meters Centerline goodness [0,1] 0.82609645529521 Centerline is valid? [False, False] Translation: X:1.26, Y:0.06, Z:-0.32 [[ 0.99988763 -0.00909493 -0.01191678 1.25856852] [ 0.00914421 0.99994984 0.00408721 0.05847605] [ 0.01187901 -0.00419572 0.99992064 -0.32057335] [ 0. 0. 0. 1. ]] SLAMing on 37.274553573999995 meters Centerline goodness [0,1] 0.8253699557691258 Centerline is valid? [False, False] Translation: X:1.27, Y:0.06, Z:-0.32 [[ 0.99983931 -0.01197748 -0.01333733 1.26588829] [ 0.01202775 0.99992083 0.0036959 0.05726241] [ 0.01329201 -0.00385573 0.99990422 -0.32180153] [ 0. 0. 0. 1. ]] SLAMing on 37.304553573999996 meters Centerline goodness [0,1] 0.80503385018563 Centerline is valid? [False, False] Translation: X:1.27, Y:0.06, Z:-0.32 [[ 0.99981531 -0.01304486 -0.01411332 1.26916041] [ 0.0130957 0.99990807 0.00351533 0.05687874] [ 0.01406617 -0.0036995 0.99989422 -0.32245959] [ 0. 0. 0. 1. ]] SLAMing on 37.334553574 meters Centerline goodness [0,1] 0.804084307087474 Centerline is valid? [False, False] Translation: X:1.27, Y:0.06, Z:-0.32 [[ 0.99978926 -0.01411025 -0.01491122 1.27240114] [ 0.01416503 0.99989328 0.00357482 0.05604568] [ 0.01485919 -0.00378528 0.99988243 -0.32262743] [ 0. 0. 0. 1. ]] SLAMing on 37.364553574 meters Centerline goodness [0,1] 0.8156731994253341 Centerline is valid? [False, False] Translation: X:1.28, Y:0.05, Z:-0.32 [[ 0.99974748 -0.0158638 -0.01591605 1.27683308] [ 0.01592522 0.99986619 0.00373978 0.05478849] [ 0.01585459 -0.0039923 0.99986634 -0.32207361] [ 0. 0. 0. 1. ]] SLAMing on 37.39455357399999 meters Centerline goodness [0,1] 0.8166412380122058 Centerline is valid? [False, False] Translation: X:1.28, Y:0.06, Z:-0.32 [[ 0.99972548 -0.01668466 -0.01644964 1.27914683] [ 0.01674657 0.99985317 0.0036328 0.05507081] [ 0.01638662 -0.00390728 0.9998581 -0.32204967] [ 0. 0. 0. 1. ]] SLAMing on 37.424553573999994 meters Centerline goodness [0,1] 0.8167814277549466 Centerline is valid? [False, False] Translation: X:1.28, Y:0.06, Z:-0.32 [[ 0.99971514 -0.01703862 -0.016713 1.28047569] [ 0.01709689 0.99984823 0.00334991 0.05582763] [ 0.01665338 -0.00363469 0.99985472 -0.32271287] [ 0. 0. 0. 1. ]] SLAMing on 37.454553573999995 meters Centerline goodness [0,1] 0.8137732205510376 Centerline is valid? [False, False] Translation: X:1.28, Y:0.06, Z:-0.32 [[ 0.99970183 -0.01747878 -0.01705106 1.28227499] [ 0.01752853 0.99984252 0.00277274 0.05704892] [ 0.01699991 -0.00307079 0.99985078 -0.32406485] [ 0. 0. 0. 1. ]] SLAMing on 37.484553573999996 meters Centerline goodness [0,1] 0.8146412805026677 Centerline is valid? [False, False] Translation: X:1.29, Y:0.06, Z:-0.33 [[ 0.99969041 -0.0161964 -0.01888787 1.29047072] [ 0.01631305 0.9998487 0.00603855 0.05829723] [ 0.01878721 -0.0063448 0.99980337 -0.32558099] [ 0. 0. 0. 1. ]] SLAMing on 37.514553574 meters Centerline goodness [0,1] 0.8079952364197364 Centerline is valid? [False, False] Translation: X:1.29, Y:0.06, Z:-0.33 [[ 0.99968286 -0.01643723 -0.01907862 1.29158485] [ 0.01654524 0.99984789 0.00551762 0.05953277] [ 0.01898502 -0.00583153 0.99980276 -0.3266326 ] [ 0. 0. 0. 1. ]] SLAMing on 37.544553574 meters Centerline goodness [0,1] 0.8164160910199106 Centerline is valid? [False, False] Translation: X:1.31, Y:0.06, Z:-0.33 [[ 0.99975027 -0.01727899 -0.01417142 1.31112745] [ 0.01721711 0.99984175 -0.00447699 0.06146035] [ 0.01424653 0.00423188 0.99988956 -0.33219606] [ 0. 0. 0. 1. ]] SLAMing on 37.57455357399999 meters Centerline goodness [0,1] 0.8143390307226309 Centerline is valid? [False, False] Translation: X:1.31, Y:0.06, Z:-0.33 [[ 0.99974464 -0.01745304 -0.01435456 1.31132175] [ 0.01740216 0.99984187 -0.0036616 0.06060192] [ 0.0144162 0.00341086 0.99989026 -0.33016188] [ 0. 0. 0. 1. ]] SLAMing on 37.60455357399999 meters Centerline goodness [0,1] 0.8180142074724798 Centerline is valid? [False, False] Translation: X:1.32, Y:0.06, Z:-0.33 [[ 0.99974523 -0.01613662 -0.01578216 1.31690654] [ 0.01616221 0.99986826 0.00149527 0.05847749] [ 0.01575595 -0.00174997 0.99987434 -0.32678969] [ 0. 0. 0. 1. ]] SLAMing on 37.634553573999995 meters Centerline goodness [0,1] 0.8169208679868881 Centerline is valid? [False, False] Translation: X:1.32, Y:0.06, Z:-0.33 [[ 9.99710447e-01 -1.74104626e-02 -1.66101552e-02 1.32098408e+00] [ 1.74238348e-02 9.99847975e-01 6.60673693e-04 6.02503716e-02] [ 1.65961274e-02 -9.49894993e-04 9.99861824e-01 -3.28673659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.664553573999996 meters Centerline goodness [0,1] 0.8132624419734427 Centerline is valid? [False, False] Translation: X:1.33, Y:0.06, Z:-0.33 [[ 0.9997203 -0.0153031 -0.01803173 1.32682771] [ 0.01538486 0.99987195 0.00440439 0.06066697] [ 0.01796202 -0.00468058 0.99982771 -0.32946696] [ 0. 0. 0. 1. ]] SLAMing on 37.694553574 meters Centerline goodness [0,1] 0.8148497253043198 Centerline is valid? [False, False] Translation: X:1.33, Y:0.06, Z:-0.33 [[ 0.99972831 -0.01494075 -0.01789062 1.32634961] [ 0.01501904 0.99987818 0.00424936 0.0616505 ] [ 0.01782495 -0.0045169 0.99983092 -0.32978349] [ 0. 0. 0. 1. ]] SLAMing on 37.724553574 meters Centerline goodness [0,1] 0.815054284867588 Centerline is valid? [False, False] Translation: X:1.33, Y:0.06, Z:-0.33 [[ 0.99974286 -0.01435132 -0.01755718 1.32511003] [ 0.01443094 0.99988612 0.00441612 0.06204941] [ 0.01749181 -0.00466835 0.99983611 -0.3295298 ] [ 0. 0. 0. 1. ]] SLAMing on 37.754553574 meters Centerline goodness [0,1] 0.8191077667293738 Centerline is valid? [False, False] Translation: X:1.34, Y:0.06, Z:-0.34 [[ 0.99985391 -0.01155585 -0.01259477 1.34165823] [ 0.01151383 0.99992792 -0.00340336 0.0636183 ] [ 0.01263319 0.00325785 0.99991489 -0.33525132] [ 0. 0. 0. 1. ]] SLAMing on 37.78455357399999 meters Centerline goodness [0,1] 0.8186382430328089 Centerline is valid? [False, False] Translation: X:1.34, Y:0.06, Z:-0.33 [[ 0.9998782 -0.00815142 -0.0133091 1.3433812 ] [ 0.00817494 0.99996512 0.001714 0.06215029] [ 0.01329467 -0.00182259 0.99990996 -0.33268273] [ 0. 0. 0. 1. ]] SLAMing on 37.814553573999994 meters Centerline goodness [0,1] 0.8197063307389874 Centerline is valid? [False, False] Translation: X:1.34, Y:0.06, Z:-0.33 [[ 0.99989678 -0.00442913 -0.01366821 1.34470527] [ 0.00451148 0.99997182 0.00600048 0.06226671] [ 0.01364124 -0.00606152 0.99988858 -0.33214785] [ 0. 0. 0. 1. ]] SLAMing on 37.844553573999995 meters Centerline goodness [0,1] 0.820247493065927 Centerline is valid? [False, False] Translation: X:1.35, Y:0.06, Z:-0.33 [[ 0.99989803 -0.00432577 -0.01360965 1.34513799] [ 0.0043968 0.99997685 0.0051935 0.06383284] [ 0.01358687 -0.00525281 0.9998939 -0.33407014] [ 0. 0. 0. 1. ]] SLAMing on 37.874553574 meters Centerline goodness [0,1] 0.8195344882559252 Centerline is valid? [False, False] Translation: X:1.35, Y:0.07, Z:-0.34 [[ 0.99989829 -0.00429997 -0.01359874 1.34569997] [ 0.0043626 0.99998 0.00457949 0.06508195] [ 0.01357877 -0.00463835 0.99989705 -0.3356462 ] [ 0. 0. 0. 1. ]] SLAMing on 37.904553574 meters Centerline goodness [0,1] 0.819366655164176 Centerline is valid? [False, False] Translation: X:1.35, Y:0.07, Z:-0.34 [[ 0.99989931 -0.00420756 -0.01355244 1.34632746] [ 0.00425762 0.99998421 0.00366702 0.06644646] [ 0.01353679 -0.00372435 0.99990144 -0.33804285] [ 0. 0. 0. 1. ]] SLAMing on 37.934553574 meters Centerline goodness [0,1] 0.7947968430283543 Centerline is valid? [False, False] Translation: X:1.35, Y:0.07, Z:-0.34 [[ 0.99990003 -0.00406357 -0.01354321 1.34623608] [ 0.00411248 0.99998512 0.00358517 0.0670948 ] [ 0.01352844 -0.0036405 0.99990186 -0.33808159] [ 0. 0. 0. 1. ]] SLAMing on 37.96455357399999 meters Centerline goodness [0,1] 0.8221491635071718 Centerline is valid? [False, False] Translation: X:1.35, Y:0.07, Z:-0.34 [[ 0.99990229 -0.00377038 -0.01346053 1.34568093] [ 0.00382067 0.99998581 0.00371244 0.06748984] [ 0.01344634 -0.00376351 0.99990251 -0.33741146] [ 0. 0. 0. 1. ]] SLAMing on 37.994553573999994 meters Centerline goodness [0,1] 0.8216920545618598 Centerline is valid? [False, False] Translation: X:1.35, Y:0.07, Z:-0.34 [[ 0.99990203 -0.00369043 -0.01350211 1.34557851] [ 0.00374276 0.99998558 0.00385223 0.0675492 ] [ 0.0134877 -0.00390239 0.99990142 -0.33694175] [ 0. 0. 0. 1. ]] SLAMing on 38.024553573999995 meters Centerline goodness [0,1] 0.8231658797941754 Centerline is valid? [False, False] Translation: X:1.35, Y:0.07, Z:-0.34 [[ 0.999895 -0.00413447 -0.01388854 1.34746899] [ 0.00417945 0.99998611 0.00321082 0.06889271] [ 0.01387507 -0.00326853 0.99989839 -0.33841985] [ 0. 0. 0. 1. ]] SLAMing on 38.054553573999996 meters Centerline goodness [0,1] 0.8221314519123654 Centerline is valid? [False, False] Translation: X:1.35, Y:0.07, Z:-0.34 [[ 0.99989281 -0.00420915 -0.0140231 1.34808851] [ 0.00425445 0.99998582 0.00320232 0.06897791] [ 0.01400942 -0.00326164 0.99989654 -0.3387343 ] [ 0. 0. 0. 1. ]] SLAMing on 38.084553574 meters Centerline goodness [0,1] 0.8143039049235994 Centerline is valid? [False, False] Translation: X:1.35, Y:0.07, Z:-0.34 [[ 0.99989125 -0.00425814 -0.01411901 1.34858481] [ 0.00430268 0.99998586 0.00312546 0.06888161] [ 0.0141055 -0.00318587 0.99989544 -0.33913048] [ 0. 0. 0. 1. ]] SLAMing on 38.114553574 meters Centerline goodness [0,1] 0.8229108579622401 Centerline is valid? [False, False] Translation: X:1.35, Y:0.07, Z:-0.34 [[ 0.99989377 -0.00388064 -0.01404936 1.34834154] [ 0.00392575 0.99998722 0.00318462 0.0686922 ] [ 0.01403682 -0.00323944 0.99989623 -0.33948707] [ 0. 0. 0. 1. ]] SLAMing on 38.14455357399999 meters Centerline goodness [0,1] 0.8229238708304517 Centerline is valid? [False, False] Translation: X:1.35, Y:0.07, Z:-0.34 [[ 0.99989848 -0.00340658 -0.01383567 1.34751611] [ 0.00345312 0.99998846 0.00334113 0.06882044] [ 0.01382413 -0.00338857 0.9998987 -0.33938738] [ 0. 0. 0. 1. ]] SLAMing on 38.174553573999994 meters Centerline goodness [0,1] 0.826782145236509 Centerline is valid? [False, False] Translation: X:1.34, Y:0.07, Z:-0.34 [[ 0.99991462 -0.00181195 -0.01294106 1.3441673 ] [ 0.00185618 0.99999248 0.00340627 0.0693673 ] [ 0.01293479 -0.00343 0.99991046 -0.33969419] [ 0. 0. 0. 1. ]] SLAMing on 38.204553573999995 meters Centerline goodness [0,1] 0.8237632744543466 Centerline is valid? [False, False] Translation: X:1.34, Y:0.07, Z:-0.34 [[ 9.99919963e-01 -1.21809464e-03 -1.25929740e-02 1.34311353e+00] [ 1.25921949e-03 9.99993899e-01 3.25828530e-03 6.99161669e-02] [ 1.25889283e-02 -3.27388184e-03 9.99915397e-01 -3.40239020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.234553573999996 meters Centerline goodness [0,1] 0.8229230645979652 Centerline is valid? [False, False] Translation: X:1.34, Y:0.07, Z:-0.34 [[ 9.99925665e-01 -5.53829054e-04 -1.21802321e-02 1.34175130e+00] [ 5.93116180e-04 9.99994633e-01 3.22210681e-03 7.01623270e-02] [ 1.21783823e-02 -3.22909159e-03 9.99920627e-01 -3.40641059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.264553574 meters Centerline goodness [0,1] 0.8224419258902018 Centerline is valid? [False, False] Translation: X:1.34, Y:0.07, Z:-0.34 [[ 9.99931627e-01 4.19381120e-04 -1.16861113e-02 1.34000197e+00] [-3.82664825e-04 9.99994985e-01 3.14393339e-03 7.03346376e-02] [ 1.16873712e-02 -3.13924657e-03 9.99926773e-01 -3.41364278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.294553574 meters Centerline goodness [0,1] 0.8245769302974226 Centerline is valid? [False, False] Translation: X:1.34, Y:0.07, Z:-0.34 [[ 9.99932498e-01 6.13272993e-04 -1.16026997e-02 1.33988158e+00] [-5.78031778e-04 9.99995211e-01 3.04043862e-03 7.01695439e-02] [ 1.16045087e-02 -3.03352666e-03 9.99928064e-01 -3.41847689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.32455357399999 meters Centerline goodness [0,1] 0.8236253744116389 Centerline is valid? [False, False] Translation: X:1.34, Y:0.07, Z:-0.34 [[ 9.99933045e-01 8.71012660e-04 -1.15389051e-02 1.33934895e+00] [-8.26923104e-04 9.99992342e-01 3.82516819e-03 6.78360668e-02] [ 1.15421485e-02 -3.81537029e-03 9.99926108e-01 -3.40684012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.35455357399999 meters Centerline goodness [0,1] 0.8264773888261547 Centerline is valid? [False, False] Translation: X:1.34, Y:0.07, Z:-0.34 [[ 9.99931784e-01 8.27263157e-04 -1.16509192e-02 1.33965497e+00] [-7.78693098e-04 9.99990991e-01 4.17269444e-03 6.66179568e-02] [ 1.16542662e-02 -4.16333730e-03 9.99923419e-01 -3.40387718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.384553573999995 meters Centerline goodness [0,1] 0.8263335295061794 Centerline is valid? [False, False] Translation: X:1.34, Y:0.07, Z:-0.34 [[ 9.99928245e-01 3.42611180e-04 -1.19744869e-02 1.34140921e+00] [-2.96032554e-04 9.99992385e-01 3.89137827e-03 6.60910919e-02] [ 1.19757290e-02 -3.88755420e-03 9.99920731e-01 -3.41515855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.414553573999996 meters Centerline goodness [0,1] 0.8223434408257126 Centerline is valid? [False, False] Translation: X:1.34, Y:0.07, Z:-0.34 [[ 9.99926529e-01 3.36441504e-04 -1.21170454e-02 1.34218137e+00] [-2.91321177e-04 9.99993019e-01 3.72527964e-03 6.59219496e-02] [ 1.21182141e-02 -3.72147599e-03 9.99919647e-01 -3.42507035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.444553574 meters Centerline goodness [0,1] 0.8235341473232256 Centerline is valid? [False, False] Translation: X:1.34, Y:0.07, Z:-0.34 [[ 9.99929040e-01 7.91623582e-04 -1.18864471e-02 1.34135446e+00] [-7.49396730e-04 9.99993395e-01 3.55655473e-03 6.68034567e-02] [ 1.18891840e-02 -3.54739469e-03 9.99923029e-01 -3.42813239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.474553574 meters Centerline goodness [0,1] 0.8226746528430608 Centerline is valid? [False, False] Translation: X:1.34, Y:0.07, Z:-0.34 [[ 9.99921502e-01 8.30976105e-05 -1.25292738e-02 1.34417601e+00] [-4.65948996e-05 9.99995754e-01 2.91365774e-03 6.70174131e-02] [ 1.25294627e-02 -2.91284523e-03 9.99917261e-01 -3.44586055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.504553574 meters Centerline goodness [0,1] 0.8224901323738689 Centerline is valid? [False, False] Translation: X:1.35, Y:0.07, Z:-0.34 [[ 9.99915387e-01 -5.00046713e-04 -1.29987701e-02 1.34609774e+00] [ 5.38067719e-04 9.99995587e-01 2.92163683e-03 6.64173079e-02] [ 1.29972518e-02 -2.92838384e-03 9.99911244e-01 -3.44887091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.53455357399999 meters Centerline goodness [0,1] 0.8198903048878852 Centerline is valid? [False, False] Translation: X:1.35, Y:0.07, Z:-0.35 [[ 9.99907620e-01 -1.25129982e-03 -1.35345913e-02 1.34835246e+00] [ 1.29050203e-03 9.99994997e-01 2.88810007e-03 6.56277097e-02] [ 1.35309097e-02 -2.90529969e-03 9.99904232e-01 -3.45324999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.564553573999994 meters Centerline goodness [0,1] 0.8261796206868643 Centerline is valid? [False, False] Translation: X:1.35, Y:0.06, Z:-0.35 [[ 0.99988562 -0.00307521 -0.01480851 1.35346981] [ 0.00311537 0.99999153 0.00268956 0.06440793] [ 0.01480011 -0.00273539 0.99988673 -0.34612421] [ 0. 0. 0. 1. ]] SLAMing on 38.594553573999995 meters Centerline goodness [0,1] 0.8274668829413355 Centerline is valid? [False, False] Translation: X:1.36, Y:0.06, Z:-0.34 [[ 0.99987027 -0.00417689 -0.01555626 1.35587064] [ 0.0042301 0.99998531 0.00338909 0.06251485] [ 0.01554188 -0.00345445 0.99987325 -0.34432372] [ 0. 0. 0. 1. ]] SLAMing on 38.624553574 meters Centerline goodness [0,1] 0.8289683936841535 Centerline is valid? [False, False] Translation: X:1.36, Y:0.06, Z:-0.34 [[ 0.99986405 -0.00448014 -0.01586838 1.35650596] [ 0.00454468 0.99998154 0.00403317 0.06128203] [ 0.01585002 -0.00410474 0.99986596 -0.34279865] [ 0. 0. 0. 1. ]] SLAMing on 38.654553574 meters Centerline goodness [0,1] 0.8287040808014987 Centerline is valid? [False, False] Translation: X:1.36, Y:0.06, Z:-0.34 [[ 0.99985508 -0.00490784 -0.01630104 1.3575447 ] [ 0.00498181 0.99997746 0.0045004 0.06043608] [ 0.01627859 -0.00458095 0.999857 -0.34158511] [ 0. 0. 0. 1. ]] SLAMing on 38.684553574 meters Centerline goodness [0,1] 0.8321157934907049 Centerline is valid? [False, False] Translation: X:1.36, Y:0.06, Z:-0.34 [[ 0.99983754 -0.00594669 -0.01701555 1.36015629] [ 0.00602056 0.99997266 0.00429312 0.06084964] [ 0.01698955 -0.00439487 0.99984601 -0.3414418 ] [ 0. 0. 0. 1. ]] SLAMing on 38.71455357399999 meters Centerline goodness [0,1] 0.8295934782015977 Centerline is valid? [False, False] Translation: X:1.36, Y:0.06, Z:-0.34 [[ 0.9998295 -0.00631622 -0.01735144 1.36112812] [ 0.00639476 0.99996954 0.00447498 0.06075842] [ 0.01732265 -0.00458517 0.99983944 -0.3407907 ] [ 0. 0. 0. 1. ]] SLAMing on 38.744553573999994 meters Centerline goodness [0,1] 0.8353445451567107 Centerline is valid? [False, False] Translation: X:1.36, Y:0.06, Z:-0.34 [[ 0.99984233 -0.0053231 -0.01694072 1.35848275] [ 0.00540132 0.99997495 0.0045754 0.06282588] [ 0.01691594 -0.00466618 0.99984603 -0.3393211 ] [ 0. 0. 0. 1. ]] SLAMing on 38.774553573999995 meters Centerline goodness [0,1] 0.8250400847895208 Centerline is valid? [False, False] Translation: X:1.36, Y:0.06, Z:-0.34 [[ 0.99982798 -0.00300117 -0.01830312 1.36332132] [ 0.00315935 0.99995786 0.00861952 0.06296263] [ 0.01827648 -0.00867587 0.99979533 -0.33854219] [ 0. 0. 0. 1. ]] SLAMing on 38.804553573999996 meters Centerline goodness [0,1] 0.8220972760521863 Centerline is valid? [False, False] Translation: X:1.37, Y:0.06, Z:-0.34 [[ 0.99981971 -0.00337231 -0.01868617 1.36511644] [ 0.00351762 0.99996379 0.00774844 0.06478886] [ 0.01865936 -0.00781277 0.99979537 -0.34025382] [ 0. 0. 0. 1. ]] SLAMing on 38.834553574 meters Centerline goodness [0,1] 0.820635136976966 Centerline is valid? [False, False] Translation: X:1.37, Y:0.07, Z:-0.34 [[ 0.99978998 -0.00489278 -0.01990103 1.37031639] [ 0.0050103 0.99997028 0.00585969 0.06800437] [ 0.01987177 -0.00595817 0.99978478 -0.3438068 ] [ 0. 0. 0. 1. ]] SLAMing on 38.864553574 meters Centerline goodness [0,1] 0.8132635253054101 Centerline is valid? [False, False] Translation: X:1.37, Y:0.07, Z:-0.34 [[ 0.99975866 -0.00645688 -0.02099835 1.37428926] [ 0.00658096 0.99996126 0.00584504 0.06773838] [ 0.0209598 -0.00598182 0.99976242 -0.34324644] [ 0. 0. 0. 1. ]] SLAMing on 38.89455357399999 meters Centerline goodness [0,1] 0.8139097231692349 Centerline is valid? [False, False] Translation: X:1.38, Y:0.07, Z:-0.34 [[ 0.99973892 -0.00726377 -0.02166416 1.37653293] [ 0.0073971 0.99995416 0.00608036 0.06722037] [ 0.021619 -0.00623902 0.99974681 -0.34256772] [ 0. 0. 0. 1. ]] SLAMing on 38.924553573999994 meters Centerline goodness [0,1] 0.811268758526603 Centerline is valid? [False, False] Translation: X:1.38, Y:0.07, Z:-0.34 [[ 0.9997199 -0.00800702 -0.02227106 1.37877794] [ 0.00814196 0.999949 0.00597517 0.06698066] [ 0.02222208 -0.00615483 0.99973411 -0.34273247] [ 0. 0. 0. 1. ]] SLAMing on 38.954553573999995 meters Centerline goodness [0,1] 0.811268758526603 Centerline is valid? [False, False] Translation: X:1.38, Y:0.07, Z:-0.34 [[ 0.9997199 -0.00800702 -0.02227106 1.37877794] [ 0.00814196 0.999949 0.00597517 0.06698066] [ 0.02222208 -0.00615483 0.99973411 -0.34273247] [ 0. 0. 0. 1. ]] SLAMing on 38.984553573999996 meters Centerline goodness [0,1] 0.807723754496893 Centerline is valid? [False, False] Translation: X:1.38, Y:0.07, Z:-0.34 [[ 0.9996723 -0.0098689 -0.02361993 1.38422447] [ 0.00999603 0.99993615 0.00527035 0.06776577] [ 0.02356641 -0.00550473 0.99970712 -0.34393437] [ 0. 0. 0. 1. ]] SLAMing on 39.014553574 meters Centerline goodness [0,1] 0.8092535773439409 Centerline is valid? [False, False] Translation: X:1.39, Y:0.07, Z:-0.34 [[ 0.99963325 -0.0096525 -0.02530203 1.39233964] [ 0.0098811 0.99991135 0.00892542 0.06679791] [ 0.02521363 -0.00917216 0.99964001 -0.34317637] [ 0. 0. 0. 1. ]] SLAMing on 39.044553574 meters Centerline goodness [0,1] 0.8089722275217356 Centerline is valid? [False, False] Translation: X:1.38, Y:0.07, Z:-0.35 [[ 0.99976306 -0.0133667 -0.01718037 1.38379018] [ 0.01351821 0.99987048 0.00873348 0.06877047] [ 0.01706141 -0.00896365 0.99981426 -0.34899261] [ 0. 0. 0. 1. ]] SLAMing on 39.07455357399999 meters Centerline goodness [0,1] 0.7994766110565914 Centerline is valid? [False, False] Translation: X:1.39, Y:0.07, Z:-0.35 [[ 0.99974779 -0.01394769 -0.0176016 1.38552402] [ 0.01409928 0.99986432 0.00851753 0.06893038] [ 0.01748041 -0.00876355 0.9998088 -0.34921351] [ 0. 0. 0. 1. ]] SLAMing on 39.10455357399999 meters Centerline goodness [0,1] 0.8159636175485417 Centerline is valid? [False, False] Translation: X:1.39, Y:0.07, Z:-0.35 [[ 0.99974253 -0.01408732 -0.01778805 1.38593766] [ 0.01424297 0.99986111 0.00865422 0.06910627] [ 0.01766366 -0.00890535 0.99980433 -0.34865666] [ 0. 0. 0. 1. ]] SLAMing on 39.134553573999995 meters Centerline goodness [0,1] 0.8102275201393425 Centerline is valid? [False, False] Translation: X:1.39, Y:0.07, Z:-0.35 [[ 0.99973597 -0.0143218 -0.01796894 1.38670716] [ 0.01447303 0.99986069 0.00831457 0.06976766] [ 0.01784736 -0.00857244 0.99980397 -0.34904709] [ 0. 0. 0. 1. ]] SLAMing on 39.164553573999996 meters Centerline goodness [0,1] 0.8116995875841111 Centerline is valid? [False, False] Translation: X:1.39, Y:0.07, Z:-0.35 [[ 0.99974007 -0.01404821 -0.0179567 1.38653602] [ 0.01418562 0.99987089 0.00754827 0.07216851] [ 0.01784834 -0.00780104 0.99981027 -0.35005836] [ 0. 0. 0. 1. ]] SLAMing on 39.194553574 meters Centerline goodness [0,1] 0.8007775587893842 Centerline is valid? [False, False] Translation: X:1.39, Y:0.08, Z:-0.35 [[ 0.99975708 -0.01313515 -0.01769873 1.38523286] [ 0.0132551 0.99988985 0.00667699 0.07533948] [ 0.01760908 -0.00690997 0.99982107 -0.35154325] [ 0. 0. 0. 1. ]] SLAMing on 39.224553574 meters Centerline goodness [0,1] 0.8148108398175476 Centerline is valid? [False, False] Translation: X:1.40, Y:0.08, Z:-0.36 [[ 0.99984986 -0.01134385 -0.01309838 1.40292252] [ 0.01131433 0.99993329 -0.00232552 0.07833819] [ 0.01312389 0.00217697 0.99991151 -0.35940807] [ 0. 0. 0. 1. ]] SLAMing on 39.254553574 meters Centerline goodness [0,1] 0.793429754287865 Centerline is valid? [False, False] Translation: X:1.40, Y:0.08, Z:-0.36 [[ 0.99986308 -0.01058249 -0.01272121 1.40130356] [ 0.01055275 0.99994143 -0.00240241 0.07982836] [ 0.01274589 0.00226784 0.9999162 -0.35934016] [ 0. 0. 0. 1. ]] SLAMing on 39.28455357399999 meters Centerline goodness [0,1] 0.8060765191297825 Centerline is valid? [False, False] Translation: X:1.40, Y:0.08, Z:-0.36 [[ 0.99990379 -0.00592773 -0.01254093 1.39968506] [ 0.00595763 0.9999795 0.00234834 0.08090388] [ 0.01252675 -0.00242283 0.9999186 -0.35700596] [ 0. 0. 0. 1. ]] SLAMing on 39.314553573999994 meters Centerline goodness [0,1] 0.8072485880243048 Centerline is valid? [False, False] Translation: X:1.40, Y:0.08, Z:-0.36 [[ 0.99991226 -0.00517046 -0.01219622 1.39819344] [ 0.00519837 0.99998394 0.00225797 0.08226823] [ 0.01218435 -0.00232117 0.99992307 -0.35703137] [ 0. 0. 0. 1. ]] SLAMing on 39.344553573999995 meters Centerline goodness [0,1] 0.8148316287018986 Centerline is valid? [False, False] Translation: X:1.39, Y:0.08, Z:-0.36 [[ 0.9999311 -0.00332072 -0.01125957 1.39379668] [ 0.00334888 0.99999131 0.00248299 0.08384974] [ 0.01125123 -0.00252053 0.99993353 -0.35621938] [ 0. 0. 0. 1. ]] SLAMing on 39.374553574 meters Centerline goodness [0,1] 0.7907162651886591 Centerline is valid? [False, False] Translation: X:1.39, Y:0.08, Z:-0.36 [[ 0.99993402 -0.00296124 -0.01109881 1.39319478] [ 0.00298692 0.9999929 0.00229802 0.08484414] [ 0.01109193 -0.00233102 0.99993577 -0.35641078] [ 0. 0. 0. 1. ]] SLAMing on 39.404553574 meters Centerline goodness [0,1] 0.8276128550871396 Centerline is valid? [False, False] Translation: X:1.39, Y:0.09, Z:-0.36 [[ 0.99993949 -0.00238314 -0.01073964 1.39177463] [ 0.00240814 0.99999442 0.00231579 0.08562643] [ 0.01073406 -0.00234151 0.99993965 -0.35624849] [ 0. 0. 0. 1. ]] SLAMing on 39.434553574 meters Centerline goodness [0,1] 0.7957915510987839 Centerline is valid? [False, False] Translation: X:1.39, Y:0.09, Z:-0.36 [[ 0.99994361 -0.00189714 -0.0104486 1.39059283] [ 0.00192147 0.99999547 0.00231877 0.08606928] [ 0.01044415 -0.00233872 0.99994272 -0.35613595] [ 0. 0. 0. 1. ]] SLAMing on 39.46455357399999 meters Centerline goodness [0,1] 0.7999518793776399 Centerline is valid? [False, False] Translation: X:1.39, Y:0.09, Z:-0.35 [[ 9.99951446e-01 -8.78938964e-04 -9.81496299e-03 1.38777946e+00] [ 9.06474958e-04 9.99995665e-01 2.80141558e-03 8.58037589e-02] [ 9.81245817e-03 -2.81017657e-03 9.99947908e-01 -3.54979460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.494553573999994 meters Centerline goodness [0,1] 0.8249511522710848 Centerline is valid? [False, False] Translation: X:1.39, Y:0.09, Z:-0.36 [[ 9.99955046e-01 -1.58659666e-04 -9.48057020e-03 1.38647724e+00] [ 1.83965308e-04 9.99996423e-01 2.66839852e-03 8.58789268e-02] [ 9.48011291e-03 -2.67002266e-03 9.99951498e-01 -3.55533221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.524553573999995 meters Centerline goodness [0,1] 0.8138581495672678 Centerline is valid? [False, False] Translation: X:1.39, Y:0.09, Z:-0.36 [[ 9.99957003e-01 2.34290691e-04 -9.27027068e-03 1.38589235e+00] [-2.09511009e-04 9.99996403e-01 2.67390772e-03 8.56301372e-02] [ 9.27086381e-03 -2.67185052e-03 9.99953455e-01 -3.56028373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.554553573999996 meters Centerline goodness [0,1] 0.8141540769313189 Centerline is valid? [False, False] Translation: X:1.39, Y:0.09, Z:-0.36 [[ 9.99958048e-01 4.39741630e-04 -9.14927781e-03 1.38589591e+00] [-4.16336270e-04 9.99996637e-01 2.55991216e-03 8.52342678e-02] [ 9.15037274e-03 -2.55599559e-03 9.99954868e-01 -3.56894239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.584553574 meters Centerline goodness [0,1] 0.8242841453941553 Centerline is valid? [False, False] Translation: X:1.39, Y:0.08, Z:-0.36 [[ 9.99959907e-01 7.93394169e-04 -8.91936270e-03 1.38554940e+00] [-7.72446593e-04 9.99996936e-01 2.35175041e-03 8.49374422e-02] [ 8.92120124e-03 -2.34476639e-03 9.99957456e-01 -3.58098726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.614553574 meters Centerline goodness [0,1] 0.8172080443456605 Centerline is valid? [False, False] Translation: X:1.38, Y:0.09, Z:-0.36 [[ 9.99965842e-01 2.14106039e-03 -7.98315266e-03 1.38332630e+00] [-2.13032069e-03 9.99996815e-01 1.35355577e-03 8.57484062e-02] [ 7.98602528e-03 -1.33650286e-03 9.99967218e-01 -3.61760414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.64455357399999 meters Centerline goodness [0,1] 0.8144233592227828 Centerline is valid? [False, False] Translation: X:1.38, Y:0.09, Z:-0.36 [[ 9.99966691e-01 2.45091551e-03 -7.78518367e-03 1.38294547e+00] [-2.44011631e-03 9.99996048e-01 1.39634352e-03 8.52208809e-02] [ 7.78857523e-03 -1.37730026e-03 9.99968720e-01 -3.62273615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.674553573999994 meters Centerline goodness [0,1] 0.7895459686540637 Centerline is valid? [False, False] Translation: X:1.37, Y:0.08, Z:-0.36 [[ 0.99998318 0.00185885 -0.00549438 1.37423062] [-0.0018701 0.99999617 -0.0020421 0.08314913] [ 0.00549056 0.00205234 0.99998282 -0.36270015] [ 0. 0. 0. 1. ]] SLAMing on 39.704553573999995 meters Centerline goodness [0,1] 0.801190380005925 Centerline is valid? [False, False] Translation: X:1.37, Y:0.08, Z:-0.36 [[ 9.99983225e-01 1.92354185e-03 -5.46351295e-03 1.37396438e+00] [-1.93064716e-03 9.99997297e-01 -1.29552582e-03 8.13241272e-02] [ 5.46100618e-03 1.30605220e-03 9.99984236e-01 -3.61616949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.734553573999996 meters Centerline goodness [0,1] 0.79792829974913 Centerline is valid? [False, False] Translation: X:1.38, Y:0.08, Z:-0.36 [[ 9.99982730e-01 1.03589423e-03 -5.78496868e-03 1.37599231e+00] [-1.03977520e-03 9.99999236e-01 -6.67903541e-04 7.80104155e-02] [ 5.78427238e-03 6.73907074e-04 9.99983044e-01 -3.61586444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.764553574 meters Centerline goodness [0,1] 0.7947880097218472 Centerline is valid? [False, False] Translation: X:1.38, Y:0.08, Z:-0.36 [[ 9.99979381e-01 -1.20742597e-04 -6.42052841e-03 1.37890067e+00] [ 1.19660417e-04 9.99999979e-01 -1.68933915e-04 7.55988045e-02] [ 6.42054867e-03 1.68162148e-04 9.99979374e-01 -3.61299060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.794553574 meters Centerline goodness [0,1] 0.7987895893831248 Centerline is valid? [False, False] Translation: X:1.38, Y:0.07, Z:-0.36 [[ 9.99973013e-01 -1.53757564e-03 -7.18393910e-03 1.38239092e+00] [ 1.53996599e-03 9.99998761e-01 3.27215641e-04 7.26703222e-02] [ 7.18342707e-03 -3.38269833e-04 9.99974142e-01 -3.61113591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.82455357399999 meters Centerline goodness [0,1] 0.8094535922011961 Centerline is valid? [False, False] Translation: X:1.39, Y:0.07, Z:-0.36 [[ 0.99994386 -0.00721142 -0.00776294 1.3863077 ] [ 0.0071824 0.99996714 -0.00375966 0.06946967] [ 0.0077898 0.00370369 0.9999628 -0.36287416] [ 0. 0. 0. 1. ]] SLAMing on 39.85455357399999 meters Centerline goodness [0,1] 0.7974648964650604 Centerline is valid? [False, False] Translation: X:1.39, Y:0.07, Z:-0.36 [[ 0.99992554 -0.00863933 -0.00861806 1.3899996 ] [ 0.00861214 0.99995783 -0.00318767 0.06709955] [ 0.00864524 0.00311321 0.99995778 -0.3624043 ] [ 0. 0. 0. 1. ]] SLAMing on 39.884553573999995 meters Centerline goodness [0,1] 0.8084712543554007 Centerline is valid? [False, False] Translation: X:1.39, Y:0.07, Z:-0.36 [[ 0.99992982 -0.00832819 -0.00842542 1.38859311] [ 0.00830788 0.9999625 -0.00244365 0.0669535 ] [ 0.00844546 0.00237348 0.99996152 -0.36004096] [ 0. 0. 0. 1. ]] SLAMing on 39.914553573999996 meters Centerline goodness [0,1] 0.790167147601677 Centerline is valid? [False, False] Translation: X:1.39, Y:0.07, Z:-0.36 [[ 0.99993006 -0.00829377 -0.00843125 1.38843229] [ 0.00827469 0.99996313 -0.00229537 0.0673229 ] [ 0.00844997 0.00222544 0.99996182 -0.35937346] [ 0. 0. 0. 1. ]] SLAMing on 39.944553574 meters Centerline goodness [0,1] 0.7906281427523035 Centerline is valid? [False, False] Translation: X:1.39, Y:0.07, Z:-0.36 [[ 0.99992166 -0.00884762 -0.00885412 1.39014355] [ 0.00882662 0.99995814 -0.00240914 0.0680142 ] [ 0.00887507 0.0023308 0.9999579 -0.35945138] [ 0. 0. 0. 1. ]] SLAMing on 39.974553574 meters Centerline goodness [0,1] 0.8015287794073954 Centerline is valid? [False, False] Translation: X:1.39, Y:0.07, Z:-0.36 [[ 9.99929500e-01 -6.16522413e-03 -1.01481792e-02 1.39424022e+00] [ 6.17050914e-03 9.99980842e-01 4.89555610e-04 7.27707265e-02] [ 1.01449666e-02 -5.52140529e-04 9.99948386e-01 -3.59785617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.004553574 meters Centerline goodness [0,1] 0.7969593864765608 Centerline is valid? [False, False] Translation: X:1.40, Y:0.08, Z:-0.36 [[ 9.99924298e-01 -6.53433423e-03 -1.04259474e-02 1.39549302e+00] [ 6.53144457e-03 9.99978621e-01 -3.11185994e-04 7.56507343e-02] [ 1.04277579e-02 2.43065939e-04 9.99945600e-01 -3.60666917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.03455357399999 meters Centerline goodness [0,1] 0.8069179695866353 Centerline is valid? [False, False] Translation: X:1.40, Y:0.08, Z:-0.36 [[ 0.99989524 -0.00854336 -0.01168412 1.40054466] [ 0.00852225 0.99996196 -0.00185476 0.08077863] [ 0.01169952 0.00175499 0.99993002 -0.36213899] [ 0. 0. 0. 1. ]] SLAMing on 40.064553573999994 meters Centerline goodness [0,1] 0.8083971920047157 Centerline is valid? [False, False] Translation: X:1.40, Y:0.08, Z:-0.36 [[ 0.99987034 -0.00992608 -0.01267953 1.40430738] [ 0.00989555 0.99994799 -0.00246792 0.08241103] [ 0.01270337 0.00234213 0.99991657 -0.36275338] [ 0. 0. 0. 1. ]] SLAMing on 40.094553573999995 meters Centerline goodness [0,1] 0.809386049501768 Centerline is valid? [False, False] Translation: X:1.41, Y:0.08, Z:-0.36 [[ 0.99978383 -0.01422843 -0.01516077 1.41441604] [ 0.01418235 0.99989449 -0.00314291 0.08445167] [ 0.01520389 0.00292722 0.99988013 -0.36210575] [ 0. 0. 0. 1. ]] SLAMing on 40.124553574 meters Centerline goodness [0,1] 0.810979698018076 Centerline is valid? [False, False] Translation: X:1.42, Y:0.08, Z:-0.36 [[ 0.99975026 -0.01550309 -0.01609592 1.41745934] [ 0.01545607 0.99987592 -0.00304159 0.08458323] [ 0.01614108 0.00279205 0.99986583 -0.36112005] [ 0. 0. 0. 1. ]] SLAMing on 40.154553574 meters Centerline goodness [0,1] 0.8133639936896708 Centerline is valid? [False, False] Translation: X:1.42, Y:0.08, Z:-0.36 [[ 0.99972547 -0.01639278 -0.01674103 1.41937949] [ 0.01635091 0.99986284 -0.00263492 0.08449445] [ 0.01678192 0.00236046 0.99985639 -0.35951075] [ 0. 0. 0. 1. ]] SLAMing on 40.184553574 meters Centerline goodness [0,1] 0.7943404813535726 Centerline is valid? [False, False] Translation: X:1.42, Y:0.08, Z:-0.36 [[ 0.99967378 -0.01817932 -0.01794021 1.42360143] [ 0.01813293 0.99983182 -0.00274498 0.08482152] [ 0.0179871 0.00241878 0.99983529 -0.35878231] [ 0. 0. 0. 1. ]] SLAMing on 40.21455357399999 meters Centerline goodness [0,1] 0.8038885323063757 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:-0.36 [[ 0.99965241 -0.01878591 -0.01849711 1.42570771] [ 0.01873222 0.99981982 -0.00307163 0.08581687] [ 0.01855148 0.00272407 0.9998242 -0.35937704] [ 0. 0. 0. 1. ]] SLAMing on 40.244553573999994 meters Centerline goodness [0,1] 0.8200833466901747 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:-0.36 [[ 9.99664871e-01 -1.64597248e-02 -1.99805771e-02 1.43074334e+00] [ 1.64814967e-02 9.99863743e-01 9.25459859e-04 8.62392157e-02] [ 1.99626218e-02 -1.25445953e-03 9.99799940e-01 -3.59091953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.274553573999995 meters Centerline goodness [0,1] 0.8227500533162722 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:-0.36 [[ 9.99679433e-01 -1.59081412e-02 -1.96967633e-02 1.42964281e+00] [ 1.59316368e-02 9.99872546e-01 1.03651691e-03 8.66792660e-02] [ 1.96777638e-02 -1.34998632e-03 9.99805463e-01 -3.58936817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.304553573999996 meters Centerline goodness [0,1] 0.8239129277768907 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:-0.36 [[ 0.99971876 -0.01233678 -0.02025338 1.43107315] [ 0.01245525 0.99990599 0.00573393 0.08529435] [ 0.02018074 -0.00598458 0.99977844 -0.35736301] [ 0. 0. 0. 1. ]] SLAMing on 40.334553574 meters Centerline goodness [0,1] 0.831436170212766 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.36 [[ 9.99857612e-01 -5.51213810e-03 -1.59490203e-02 1.44658942e+00] [ 5.51575964e-03 9.99984771e-01 1.83089794e-04 8.78500372e-02] [ 1.59477682e-02 -2.71034687e-04 9.99872790e-01 -3.63456904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.364553574 meters Centerline goodness [0,1] 0.8351058201058201 Centerline is valid? [False, False] Translation: X:1.44, Y:0.09, Z:-0.36 [[ 9.99883360e-01 1.33437589e-04 -1.52724696e-02 1.44359955e+00] [-6.52794833e-05 9.99990038e-01 4.46321993e-03 8.90560565e-02] [ 1.52729130e-02 -4.46170236e-03 9.99873408e-01 -3.63045453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.39455357399999 meters Centerline goodness [0,1] 0.8370918704560476 Centerline is valid? [False, False] Translation: X:1.44, Y:0.09, Z:-0.36 [[ 9.99894437e-01 1.47115118e-03 -1.44551505e-02 1.44065102e+00] [-1.40838301e-03 9.99989540e-01 4.35149095e-03 9.03225811e-02] [ 1.44614010e-02 -4.33067320e-03 9.99886050e-01 -3.63344276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.424553573999994 meters Centerline goodness [0,1] 0.8362294691740062 Centerline is valid? [False, False] Translation: X:1.44, Y:0.09, Z:-0.36 [[ 0.99990219 0.0026039 -0.01374126 1.43808627] [-0.00254467 0.9999874 0.00432633 0.09113518] [ 0.01375235 -0.00429094 0.99989622 -0.36348074] [ 0. 0. 0. 1. ]] SLAMing on 40.454553573999995 meters Centerline goodness [0,1] 0.838288634137301 Centerline is valid? [False, False] Translation: X:1.44, Y:0.09, Z:-0.36 [[ 0.99990736 0.00355366 -0.01313908 1.43567954] [-0.00349294 0.99998313 0.00464161 0.09122888] [ 0.01315535 -0.00459529 0.99990291 -0.36277082] [ 0. 0. 0. 1. ]] SLAMing on 40.484553573999996 meters Centerline goodness [0,1] 0.8371976338861308 Centerline is valid? [False, False] Translation: X:1.44, Y:0.09, Z:-0.36 [[ 0.99990132 0.0023131 -0.01385626 1.43893861] [-0.0022562 0.99998897 0.00412025 0.09129452] [ 0.01386564 -0.00408858 0.99989551 -0.36390253] [ 0. 0. 0. 1. ]] SLAMing on 40.514553574 meters Centerline goodness [0,1] 0.8371785374113663 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:-0.37 [[ 0.99998004 -0.00216861 -0.00593379 1.43096149] [ 0.00218744 0.99999259 0.00316869 0.09305081] [ 0.00592687 -0.00318161 0.99997737 -0.36957662] [ 0. 0. 0. 1. ]] SLAMing on 40.544553574 meters Centerline goodness [0,1] 0.8394593878362263 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:-0.37 [[ 0.99997185 -0.00337213 -0.00670321 1.43387638] [ 0.00339489 0.9999885 0.00338709 0.09169285] [ 0.00669171 -0.00340975 0.9999718 -0.36915152] [ 0. 0. 0. 1. ]] SLAMing on 40.57455357399999 meters Centerline goodness [0,1] 0.8395980647562338 Centerline is valid? [False, False] Translation: X:1.44, Y:0.09, Z:-0.37 [[ 9.99940890e-01 -8.24238231e-03 -7.09086373e-03 1.43560519e+00] [ 8.23870040e-03 9.99965911e-01 -5.48301356e-04 9.01990203e-02] [ 7.09514132e-03 4.89849444e-04 9.99974709e-01 -3.69156193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.60455357399999 meters Centerline goodness [0,1] 0.844467502061883 Centerline is valid? [False, False] Translation: X:1.44, Y:0.09, Z:-0.37 [[ 9.99926323e-01 -9.26273014e-03 -7.84544684e-03 1.43853606e+00] [ 9.25912378e-03 9.99957010e-01 -4.95873083e-04 8.96416289e-02] [ 7.84970271e-03 4.23194585e-04 9.99969101e-01 -3.69261165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.634553573999995 meters Centerline goodness [0,1] 0.8417679616535579 Centerline is valid? [False, False] Translation: X:1.44, Y:0.09, Z:-0.37 [[ 9.99900464e-01 -1.08581896e-02 -9.00902797e-03 1.44327670e+00] [ 1.08480233e-02 9.99940466e-01 -1.17655838e-03 9.08510350e-02] [ 9.02126692e-03 1.07871113e-03 9.99958726e-01 -3.70577954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.664553573999996 meters Centerline goodness [0,1] 0.8456564371654212 Centerline is valid? [False, False] Translation: X:1.44, Y:0.09, Z:-0.37 [[ 9.99896938e-01 -1.10364643e-02 -9.18201963e-03 1.44397100e+00] [ 1.10266902e-02 9.99938583e-01 -1.11443110e-03 9.11398763e-02] [ 9.19375508e-03 1.01306896e-03 9.99957223e-01 -3.70440572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.694553574 meters Centerline goodness [0,1] 0.8432451014094191 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.37 [[ 0.99990906 -0.00860648 -0.01038274 1.44783802] [ 0.00864622 0.99995544 0.00378942 0.08954171] [ 0.01034967 -0.00387885 0.99993892 -0.3681727 ] [ 0. 0. 0. 1. ]] SLAMing on 40.724553574 meters Centerline goodness [0,1] 0.8442566675468709 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.37 [[ 0.99990313 -0.00889352 -0.01070679 1.44915486] [ 0.00893054 0.99995429 0.00341489 0.09048963] [ 0.01067593 -0.00351018 0.99993685 -0.36885854] [ 0. 0. 0. 1. ]] SLAMing on 40.754553574 meters Centerline goodness [0,1] 0.842207826407542 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.37 [[ 0.99989235 -0.00931248 -0.01133839 1.45149225] [ 0.00934194 0.99995312 0.00254771 0.09223071] [ 0.01131414 -0.00265336 0.99993247 -0.37067419] [ 0. 0. 0. 1. ]] SLAMing on 40.78455357399999 meters Centerline goodness [0,1] 0.8419375230469367 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.37 [[ 0.99989018 -0.00936555 -0.01148556 1.45203774] [ 0.00939461 0.9999528 0.00247905 0.09283193] [ 0.0114618 -0.00258668 0.99993097 -0.37077865] [ 0. 0. 0. 1. ]] SLAMing on 40.814553573999994 meters Centerline goodness [0,1] 0.8472411981082502 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.37 [[ 0.99989048 -0.00922091 -0.0115758 1.45220325] [ 0.00924614 0.99995499 0.00212743 0.09462814] [ 0.01155566 -0.00223423 0.99993074 -0.37116526] [ 0. 0. 0. 1. ]] SLAMing on 40.844553573999995 meters Centerline goodness [0,1] 0.8472411981082502 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.37 [[ 0.99989048 -0.00922091 -0.0115758 1.45220325] [ 0.00924614 0.99995499 0.00212743 0.09462814] [ 0.01155566 -0.00223423 0.99993074 -0.37116526] [ 0. 0. 0. 1. ]] SLAMing on 40.874553574 meters Centerline goodness [0,1] 0.8445843168109101 Centerline is valid? [False, False] Translation: X:1.45, Y:0.10, Z:-0.37 [[ 0.99989063 -0.00913541 -0.01163066 1.45230893] [ 0.00916123 0.99995569 0.00216792 0.09555473] [ 0.01161034 -0.00227423 0.99993001 -0.37095119] [ 0. 0. 0. 1. ]] SLAMing on 40.904553574 meters Centerline goodness [0,1] 0.8480109163430251 Centerline is valid? [False, False] Translation: X:1.45, Y:0.10, Z:-0.37 [[ 0.99989231 -0.00897543 -0.01161045 1.45204824] [ 0.0090016 0.99995706 0.00220359 0.09634984] [ 0.01159017 -0.00230786 0.99993017 -0.37064949] [ 0. 0. 0. 1. ]] SLAMing on 40.934553574 meters Centerline goodness [0,1] 0.8496562221172519 Centerline is valid? [False, False] Translation: X:1.45, Y:0.10, Z:-0.37 [[ 0.99990358 -0.00813858 -0.01125169 1.44996877] [ 0.00816627 0.99996373 0.00241709 0.09787003] [ 0.01123161 -0.00250875 0.99993378 -0.36946532] [ 0. 0. 0. 1. ]] SLAMing on 40.96455357399999 meters Centerline goodness [0,1] 0.850040579103071 Centerline is valid? [False, False] Translation: X:1.45, Y:0.10, Z:-0.37 [[ 0.99992356 -0.00659145 -0.01046112 1.44593033] [ 0.00662379 0.99997338 0.00305941 0.0987104 ] [ 0.01044068 -0.00312847 0.9999406 -0.36735044] [ 0. 0. 0. 1. ]] SLAMing on 40.994553573999994 meters Centerline goodness [0,1] 0.8521645927010353 Centerline is valid? [False, False] Translation: X:1.44, Y:0.10, Z:-0.37 [[ 0.99993902 -0.00533394 -0.00967003 1.44265088] [ 0.00536682 0.99997989 0.00337744 0.09965438] [ 0.00965182 -0.00342913 0.99994754 -0.36638991] [ 0. 0. 0. 1. ]] SLAMing on 41.024553573999995 meters Centerline goodness [0,1] 0.8513142408787759 Centerline is valid? [False, False] Translation: X:1.44, Y:0.10, Z:-0.37 [[ 0.99995015 -0.00425199 -0.00903452 1.44020595] [ 0.00428162 0.99998551 0.0032629 0.10125624] [ 0.00902052 -0.00330142 0.99995386 -0.36649554] [ 0. 0. 0. 1. ]] SLAMing on 41.054553573999996 meters Centerline goodness [0,1] 0.8488660385729572 Centerline is valid? [False, False] Translation: X:1.44, Y:0.10, Z:-0.37 [[ 0.99996609 -0.00195393 -0.00800005 1.43595621] [ 0.00197707 0.99999388 0.00288513 0.10344525] [ 0.00799436 -0.00290085 0.99996384 -0.36773609] [ 0. 0. 0. 1. ]] SLAMing on 41.084553574 meters Centerline goodness [0,1] 0.8494797506975774 Centerline is valid? [False, False] Translation: X:1.43, Y:0.10, Z:-0.37 [[ 9.99971261e-01 -1.04757594e-03 -7.50861347e-03 1.43415743e+00] [ 1.06968430e-03 9.99995103e-01 2.94098902e-03 1.03886287e-01] [ 7.50549579e-03 -2.94893635e-03 9.99967485e-01 -3.67895856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.114553574 meters Centerline goodness [0,1] 0.8479171545286602 Centerline is valid? [False, False] Translation: X:1.43, Y:0.10, Z:-0.37 [[ 9.99977917e-01 7.16761000e-04 -6.60701403e-03 1.43135056e+00] [-7.01538996e-04 9.99997095e-01 2.30594560e-03 1.04717518e-01] [ 6.60864765e-03 -2.30125959e-03 9.99975515e-01 -3.70383767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.14455357399999 meters Centerline goodness [0,1] 0.8487221656616284 Centerline is valid? [False, False] Translation: X:1.43, Y:0.10, Z:-0.37 [[ 9.99979065e-01 1.12115698e-03 -6.37274203e-03 1.43083381e+00] [-1.10803902e-03 9.99997261e-01 2.06160658e-03 1.04739963e-01] [ 6.37503596e-03 -2.05450217e-03 9.99977569e-01 -3.71284769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.174553573999994 meters Centerline goodness [0,1] 0.845894174909719 Centerline is valid? [False, False] Translation: X:1.43, Y:0.10, Z:-0.37 [[ 0.99997965 0.00147229 -0.0062078 1.43050166] [-0.00146003 0.99999698 0.00197891 0.10435279] [ 0.00621069 -0.0019698 0.99997877 -0.3720102 ] [ 0. 0. 0. 1. ]] SLAMing on 41.204553573999995 meters Centerline goodness [0,1] 0.8504320502749411 Centerline is valid? [False, False] Translation: X:1.43, Y:0.10, Z:-0.37 [[ 9.99979833e-01 1.83168175e-03 -6.08103223e-03 1.43102147e+00] [-1.82387961e-03 9.99997507e-01 1.28832825e-03 1.03974786e-01] [ 6.08337687e-03 -1.27721120e-03 9.99980680e-01 -3.74970392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.234553573999996 meters Centerline goodness [0,1] 0.8461317076999555 Centerline is valid? [False, False] Translation: X:1.43, Y:0.10, Z:-0.38 [[ 9.99979208e-01 1.71683866e-03 -6.21577994e-03 1.43217924e+00] [-1.71229809e-03 9.99998263e-01 7.35738823e-04 1.04103554e-01] [ 6.21703229e-03 -7.25080257e-04 9.99980411e-01 -3.76807814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.264553574 meters Centerline goodness [0,1] 0.8474642903944437 Centerline is valid? [False, False] Translation: X:1.43, Y:0.10, Z:-0.38 [[ 9.99979022e-01 1.75587678e-03 -6.23475540e-03 1.43267899e+00] [-1.75267128e-03 9.99998329e-01 5.19560302e-04 1.03890772e-01] [ 6.23565727e-03 -5.08621926e-04 9.99980429e-01 -3.77863816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.294553574 meters Centerline goodness [0,1] 0.8480807446919778 Centerline is valid? [False, False] Translation: X:1.43, Y:0.10, Z:-0.38 [[ 9.99979158e-01 2.18256769e-03 -6.07619805e-03 1.43227099e+00] [-2.17824309e-03 9.99997370e-01 7.18254069e-04 1.03066264e-01] [ 6.07774970e-03 -7.05003663e-04 9.99981282e-01 -3.78261348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.32455357399999 meters Centerline goodness [0,1] 0.8460612405129547 Centerline is valid? [False, False] Translation: X:1.43, Y:0.10, Z:-0.38 [[ 9.99978945e-01 2.14623944e-03 -6.12396371e-03 1.43234566e+00] [-2.13995792e-03 9.99997178e-01 1.03209615e-03 1.02076233e-01] [ 6.12616155e-03 -1.01896940e-03 9.99980716e-01 -3.77743779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.35455357399999 meters Centerline goodness [0,1] 0.8470018680769332 Centerline is valid? [False, False] Translation: X:1.43, Y:0.10, Z:-0.38 [[ 9.99983781e-01 -1.27421211e-03 -5.55111149e-03 1.43032545e+00] [ 1.26078008e-03 9.99996271e-01 -2.42252745e-03 1.00260520e-01] [ 5.55417760e-03 2.41548943e-03 9.99981658e-01 -3.77017147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.384553573999995 meters Centerline goodness [0,1] 0.851148561331329 Centerline is valid? [False, False] Translation: X:1.43, Y:0.10, Z:-0.38 [[ 0.99998035 -0.00181517 -0.00599996 1.4318015 ] [ 0.00180387 0.99999659 -0.00188782 0.09889764] [ 0.00600337 0.00187696 0.99998022 -0.37617773] [ 0. 0. 0. 1. ]] SLAMing on 41.414553573999996 meters Centerline goodness [0,1] 0.851767630027235 Centerline is valid? [False, False] Translation: X:1.43, Y:0.10, Z:-0.38 [[ 9.99974224e-01 -2.72518306e-03 -6.64269391e-03 1.43429826e+00] [ 2.71591194e-03 9.99995326e-01 -1.40430861e-03 9.69020479e-02] [ 6.64648986e-03 1.38623144e-03 9.99976951e-01 -3.75847898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.444553574 meters Centerline goodness [0,1] 0.8500808011232681 Centerline is valid? [False, False] Translation: X:1.44, Y:0.10, Z:-0.38 [[ 9.99970913e-01 -3.09625609e-03 -6.97032243e-03 1.43538991e+00] [ 3.08933345e-03 9.99994724e-01 -1.00370711e-03 9.61123132e-02] [ 6.97339339e-03 9.82144265e-04 9.99975203e-01 -3.75238572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.474553574 meters Centerline goodness [0,1] 0.8510485987750882 Centerline is valid? [False, False] Translation: X:1.44, Y:0.09, Z:-0.37 [[ 9.99967415e-01 -3.44677840e-03 -7.29990158e-03 1.43632952e+00] [ 3.44501105e-03 9.99994034e-01 -2.54666439e-04 9.45157471e-02] [ 7.30073581e-03 2.29509899e-04 9.99973323e-01 -3.73981339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.504553574 meters Centerline goodness [0,1] 0.850331090604473 Centerline is valid? [False, False] Translation: X:1.44, Y:0.09, Z:-0.37 [[ 9.99955162e-01 -4.96850250e-03 -8.06146671e-03 1.43952740e+00] [ 4.97254159e-03 9.99987521e-01 4.81070450e-04 9.15875467e-02] [ 8.05897592e-03 -5.21134859e-04 9.99967390e-01 -3.72737070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.53455357399999 meters Centerline goodness [0,1] 0.8527226734123285 Centerline is valid? [False, False] Translation: X:1.44, Y:0.09, Z:-0.37 [[ 9.99942238e-01 -6.07175382e-03 -8.86873978e-03 1.44247051e+00] [ 6.07981057e-03 9.99981129e-01 8.81765228e-04 9.01357091e-02] [ 8.86321855e-03 -9.35634554e-04 9.99960283e-01 -3.72182928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.564553573999994 meters Centerline goodness [0,1] 0.8544108574953733 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.37 [[ 0.99989144 -0.01129603 -0.00946039 1.44519152] [ 0.01126804 0.99993199 -0.00300644 0.08764729] [ 0.00949371 0.00289951 0.99995073 -0.37248831] [ 0. 0. 0. 1. ]] SLAMing on 41.594553573999995 meters Centerline goodness [0,1] 0.8525577269428242 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.37 [[ 0.99986815 -0.01251033 -0.01035208 1.44822212] [ 0.0124898 0.99991991 -0.00204498 0.0852718 ] [ 0.01037683 0.00191542 0.99994432 -0.37065289] [ 0. 0. 0. 1. ]] SLAMing on 41.624553574 meters Centerline goodness [0,1] 0.8543559593800107 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.37 [[ 0.99988444 -0.00986132 -0.01156961 1.4514963 ] [ 0.00989505 0.99994695 0.00286113 0.08547701] [ 0.01154079 -0.00297529 0.99992898 -0.36762961] [ 0. 0. 0. 1. ]] SLAMing on 41.654553574 meters Centerline goodness [0,1] 0.8570628101819734 Centerline is valid? [False, False] Translation: X:1.46, Y:0.09, Z:-0.37 [[ 0.99989106 -0.00733411 -0.01280953 1.45554453] [ 0.00742294 0.99994863 0.00690143 0.08598321] [ 0.01275826 -0.00699576 0.99989414 -0.36679617] [ 0. 0. 0. 1. ]] SLAMing on 41.684553574 meters Centerline goodness [0,1] 0.8529935425579974 Centerline is valid? [False, False] Translation: X:1.46, Y:0.09, Z:-0.37 [[ 0.999892 -0.00716908 -0.01282965 1.45596428] [ 0.00723983 0.9999588 0.00547654 0.08958394] [ 0.01278986 -0.00556883 0.9999027 -0.36929639] [ 0. 0. 0. 1. ]] SLAMing on 41.71455357399999 meters Centerline goodness [0,1] 0.8542550933786078 Centerline is valid? [False, False] Translation: X:1.46, Y:0.09, Z:-0.37 [[ 0.99989783 -0.00669255 -0.01263078 1.45532141] [ 0.00674872 0.9999675 0.0044096 0.09334407] [ 0.01260085 -0.00449439 0.99991051 -0.37075898] [ 0. 0. 0. 1. ]] SLAMing on 41.744553573999994 meters Centerline goodness [0,1] 0.8551419190849396 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.37 [[ 0.99989464 -0.00676656 -0.01284212 1.455181 ] [ 0.00681857 0.99996871 0.00401053 0.09625565] [ 0.01281458 -0.00409767 0.99990949 -0.36980784] [ 0. 0. 0. 1. ]] SLAMing on 41.774553573999995 meters Centerline goodness [0,1] 0.8520892687559354 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.37 [[ 0.9998658 -0.00845814 -0.01403004 1.45863994] [ 0.0085187 0.99995463 0.00426243 0.0962725 ] [ 0.01399335 -0.00438137 0.99989249 -0.36772504] [ 0. 0. 0. 1. ]] SLAMing on 41.804553573999996 meters Centerline goodness [0,1] 0.8569729644018076 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.37 [[ 0.99984097 -0.00970523 -0.01496123 1.46232538] [ 0.00976304 0.99994513 0.00379605 0.09677599] [ 0.01492357 -0.00394151 0.99988087 -0.3685645 ] [ 0. 0. 0. 1. ]] SLAMing on 41.834553574 meters Centerline goodness [0,1] 0.8566069635969779 Centerline is valid? [False, False] Translation: X:1.47, Y:0.10, Z:-0.37 [[ 0.99981754 -0.01075378 -0.01578742 1.46548619] [ 0.01081125 0.99993522 0.00355924 0.09680684] [ 0.01574812 -0.00372927 0.99986904 -0.3691353 ] [ 0. 0. 0. 1. ]] SLAMing on 41.864553574 meters Centerline goodness [0,1] 0.852482419499815 Centerline is valid? [False, False] Translation: X:1.47, Y:0.10, Z:-0.37 [[ 0.99979487 -0.01177947 -0.01647589 1.46824515] [ 0.01183582 0.99992442 0.00332705 0.09690395] [ 0.01643545 -0.00352137 0.99985873 -0.3695236 ] [ 0. 0. 0. 1. ]] SLAMing on 41.89455357399999 meters Centerline goodness [0,1] 0.8534651371781995 Centerline is valid? [False, False] Translation: X:1.47, Y:0.10, Z:-0.37 [[ 0.99979463 -0.01172338 -0.01653089 1.46844681] [ 0.01177804 0.99992547 0.00321318 0.09746708] [ 0.01649198 -0.00340722 0.99985819 -0.36977851] [ 0. 0. 0. 1. ]] SLAMing on 41.924553573999994 meters Centerline goodness [0,1] 0.853977392774139 Centerline is valid? [False, False] Translation: X:1.47, Y:0.10, Z:-0.37 [[ 0.9998115 -0.01066662 -0.01622317 1.46706023] [ 0.01071207 0.99993893 0.00271731 0.0995744 ] [ 0.0161932 -0.00289058 0.9998647 -0.3711306 ] [ 0. 0. 0. 1. ]] SLAMing on 41.954553573999995 meters Centerline goodness [0,1] 0.8529334247008592 Centerline is valid? [False, False] Translation: X:1.47, Y:0.10, Z:-0.37 [[ 0.99982568 -0.00984368 -0.01586555 1.46564359] [ 0.00988773 0.99994747 0.00270055 0.10038818] [ 0.01583814 -0.00285696 0.99987049 -0.37143341] [ 0. 0. 0. 1. ]] SLAMing on 41.984553573999996 meters Centerline goodness [0,1] 0.8486271199852293 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.37 [[ 0.99983709 -0.00913011 -0.01557019 1.4645573 ] [ 0.00916992 0.99995486 0.00248738 0.10106119] [ 0.01554678 -0.00262975 0.99987568 -0.37207827] [ 0. 0. 0. 1. ]] SLAMing on 42.014553574 meters Centerline goodness [0,1] 0.8472053623264897 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.37 [[ 0.99986885 -0.00711237 -0.01455009 1.46044185] [ 0.00714601 0.99997191 0.00226169 0.10180032] [ 0.0145336 -0.00236537 0.99989158 -0.37314944] [ 0. 0. 0. 1. ]] SLAMing on 42.044553574 meters Centerline goodness [0,1] 0.8493020555716811 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.37 [[ 0.99988187 -0.00613911 -0.01409106 1.45852273] [ 0.00617471 0.99997785 0.00248466 0.10228421] [ 0.01407549 -0.00257138 0.99989763 -0.37305272] [ 0. 0. 0. 1. ]] SLAMing on 42.07455357399999 meters Centerline goodness [0,1] 0.8439183330267757 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.37 [[ 0.99989725 -0.00194802 -0.01420212 1.45895459] [ 0.00204349 0.99997539 0.00671126 0.10183284] [ 0.0141887 -0.00673959 0.99987662 -0.37313831] [ 0. 0. 0. 1. ]] SLAMing on 42.10455357399999 meters Centerline goodness [0,1] 0.8446801231611358 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.37 [[ 0.99990027 -0.00158199 -0.01403371 1.45845607] [ 0.00167362 0.99997734 0.00652001 0.10184909] [ 0.01402308 -0.00654285 0.99988027 -0.37384047] [ 0. 0. 0. 1. ]] SLAMing on 42.134553573999995 meters Centerline goodness [0,1] 0.8357461171320835 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.37 [[ 0.99989849 -0.00172521 -0.01414307 1.45887283] [ 0.0018253 0.99997336 0.00706699 0.09965393] [ 0.01413051 -0.00709209 0.99987501 -0.37324425] [ 0. 0. 0. 1. ]] SLAMing on 42.164553573999996 meters Centerline goodness [0,1] 0.8447359373760347 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.37 [[ 0.99989449 -0.00208092 -0.01437638 1.45969729] [ 0.00218883 0.99996952 0.00749413 0.09834587] [ 0.01436035 -0.00752481 0.99986857 -0.3725183 ] [ 0. 0. 0. 1. ]] SLAMing on 42.194553574 meters Centerline goodness [0,1] 0.8437202412443128 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.37 [[ 0.99988847 -0.00268051 -0.01469228 1.46084658] [ 0.00279788 0.99996429 0.007974 0.09681877] [ 0.01467038 -0.00801422 0.99986027 -0.37146222] [ 0. 0. 0. 1. ]] SLAMing on 42.224553574 meters Centerline goodness [0,1] 0.8467332002661344 Centerline is valid? [False, False] Translation: X:1.46, Y:0.09, Z:-0.37 [[ 0.99988263 -0.00625864 -0.01398409 1.45819923] [ 0.00632947 0.99996734 0.00502646 0.09408 ] [ 0.01395217 -0.00511438 0.99988958 -0.36934467] [ 0. 0. 0. 1. ]] SLAMing on 42.25455357399999 meters Centerline goodness [0,1] 0.8486885989487446 Centerline is valid? [False, False] Translation: X:1.46, Y:0.09, Z:-0.37 [[ 0.99986794 -0.00724817 -0.01454563 1.46041945] [ 0.00732949 0.99995776 0.00554533 0.09196881] [ 0.01450483 -0.00565121 0.99987883 -0.36846346] [ 0. 0. 0. 1. ]] SLAMing on 42.28455357399999 meters Centerline goodness [0,1] 0.84691172927097 Centerline is valid? [False, False] Translation: X:1.46, Y:0.09, Z:-0.37 [[ 9.99818640e-01 -1.20266436e-02 -1.47664306e-02 1.46214029e+00] [ 1.20487401e-02 9.99926420e-01 1.40834780e-03 9.03379849e-02] [ 1.47484064e-02 -1.58600927e-03 9.99889978e-01 -3.69514955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.314553573999994 meters Centerline goodness [0,1] 0.8424585805966542 Centerline is valid? [False, False] Translation: X:1.47, Y:0.09, Z:-0.37 [[ 0.99979167 -0.0132152 -0.0155556 1.46517431] [ 0.01324943 0.99991002 0.00209912 0.08800132] [ 0.01552646 -0.00230479 0.9998768 -0.36850912] [ 0. 0. 0. 1. ]] SLAMing on 42.344553573999995 meters Centerline goodness [0,1] 0.8490398340919497 Centerline is valid? [False, False] Translation: X:1.47, Y:0.08, Z:-0.37 [[ 0.99975014 -0.01514427 -0.01644113 1.46915444] [ 0.01519324 0.99988049 0.00285786 0.08459941] [ 0.01639588 -0.00310694 0.99986075 -0.36718494] [ 0. 0. 0. 1. ]] SLAMing on 42.374553574 meters Centerline goodness [0,1] 0.8479560510583293 Centerline is valid? [False, False] Translation: X:1.47, Y:0.09, Z:-0.37 [[ 0.99977142 -0.01425235 -0.01593675 1.46692428] [ 0.01430262 0.99989308 0.0030448 0.08550246] [ 0.01589165 -0.00327204 0.99986837 -0.36654475] [ 0. 0. 0. 1. ]] SLAMing on 42.404553574 meters Centerline goodness [0,1] 0.8478494046980586 Centerline is valid? [False, False] Translation: X:1.47, Y:0.09, Z:-0.36 [[ 0.99979464 -0.01128234 -0.01683403 1.46971189] [ 0.01141012 0.99990667 0.00751371 0.08512532] [ 0.01674768 -0.00770425 0.99983007 -0.36497888] [ 0. 0. 0. 1. ]] SLAMing on 42.434553574 meters Centerline goodness [0,1] 0.8453619274273337 Centerline is valid? [False, False] Translation: X:1.47, Y:0.09, Z:-0.37 [[ 0.99979842 -0.01103061 -0.01677615 1.46971925] [ 0.01114246 0.99991622 0.00658816 0.0879413 ] [ 0.01670208 -0.00677376 0.99983757 -0.36666201] [ 0. 0. 0. 1. ]] SLAMing on 42.46455357399999 meters Centerline goodness [0,1] 0.8459978655282817 Centerline is valid? [False, False] Translation: X:1.47, Y:0.09, Z:-0.37 [[ 0.99979097 -0.01135228 -0.01700436 1.4710617 ] [ 0.01145236 0.9999176 0.0058 0.08952549] [ 0.01693711 -0.00599353 0.99983859 -0.36826821] [ 0. 0. 0. 1. ]] SLAMing on 42.494553573999994 meters Centerline goodness [0,1] 0.8481791076562666 Centerline is valid? [False, False] Translation: X:1.47, Y:0.09, Z:-0.37 [[ 0.99977897 -0.01181804 -0.01738827 1.47261968] [ 0.01191639 0.99991352 0.00556336 0.08977825] [ 0.01732102 -0.00576934 0.99983333 -0.36871944] [ 0. 0. 0. 1. ]] SLAMing on 42.524553573999995 meters Centerline goodness [0,1] 0.8387311919752427 Centerline is valid? [False, False] Translation: X:1.47, Y:0.09, Z:-0.37 [[ 0.99976735 -0.01222923 -0.01776756 1.47382563] [ 0.01233123 0.99990805 0.00564254 0.08939729] [ 0.01769693 -0.00586032 0.99982622 -0.3684215 ] [ 0. 0. 0. 1. ]] SLAMing on 42.554553573999996 meters Centerline goodness [0,1] 0.84650902103128 Centerline is valid? [False, False] Translation: X:1.48, Y:0.09, Z:-0.37 [[ 0.99975256 -0.01277554 -0.01821016 1.47572372] [ 0.0128717 0.99990377 0.0051734 0.08999148] [ 0.01814231 -0.00540651 0.9998208 -0.36939057] [ 0. 0. 0. 1. ]] SLAMing on 42.584553574 meters Centerline goodness [0,1] 0.8477013021525379 Centerline is valid? [False, False] Translation: X:1.48, Y:0.09, Z:-0.37 [[ 0.99973537 -0.01118122 -0.0201041 1.48331975] [ 0.01133974 0.99990537 0.00778825 0.09187493] [ 0.02001512 -0.00801416 0.99976756 -0.37204917] [ 0. 0. 0. 1. ]] SLAMing on 42.614553574 meters Centerline goodness [0,1] 0.8478203083466241 Centerline is valid? [False, False] Translation: X:1.48, Y:0.09, Z:-0.37 [[ 0.99972638 -0.01144791 -0.02039897 1.48467037] [ 0.01159478 0.9999076 0.0070958 0.0929714 ] [ 0.02031585 -0.00733038 0.99976674 -0.3734244 ] [ 0. 0. 0. 1. ]] SLAMing on 42.64455357399999 meters Centerline goodness [0,1] 0.847037145832777 Centerline is valid? [False, False] Translation: X:1.48, Y:0.09, Z:-0.37 [[ 0.99973837 -0.01089716 -0.02011071 1.48309651] [ 0.01105047 0.9999106 0.00752823 0.09247517] [ 0.02002688 -0.00774849 0.99976942 -0.37218306] [ 0. 0. 0. 1. ]] SLAMing on 42.674553573999994 meters Centerline goodness [0,1] 0.8448239060832444 Centerline is valid? [False, False] Translation: X:1.48, Y:0.09, Z:-0.37 [[ 0.99974657 -0.01055114 -0.01988643 1.48230495] [ 0.01070153 0.99991483 0.00747121 0.0926465 ] [ 0.01980591 -0.00768213 0.99977433 -0.37233659] [ 0. 0. 0. 1. ]] SLAMing on 42.704553573999995 meters Centerline goodness [0,1] 0.8443451431003298 Centerline is valid? [False, False] Translation: X:1.48, Y:0.09, Z:-0.37 [[ 0.99977479 -0.00918671 -0.01913067 1.47962881] [ 0.00932561 0.99993071 0.00718392 0.09416862] [ 0.01906335 -0.00736071 0.99979118 -0.37342135] [ 0. 0. 0. 1. ]] SLAMing on 42.734553573999996 meters Centerline goodness [0,1] 0.8426867812275902 Centerline is valid? [False, False] Translation: X:1.49, Y:0.10, Z:-0.38 [[ 9.99892020e-01 -6.89562904e-03 -1.29768477e-02 1.49479792e+00] [ 6.88283291e-03 9.99975782e-01 -1.03047713e-03 9.64164727e-02] [ 1.29836392e-02 9.41048389e-04 9.99915266e-01 -3.80844389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.764553574 meters Centerline goodness [0,1] 0.8426867812275902 Centerline is valid? [False, False] Translation: X:1.49, Y:0.10, Z:-0.38 [[ 9.99892020e-01 -6.89562904e-03 -1.29768477e-02 1.49479792e+00] [ 6.88283291e-03 9.99975782e-01 -1.03047713e-03 9.64164727e-02] [ 1.29836392e-02 9.41048389e-04 9.99915266e-01 -3.80844389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.794553574 meters Centerline goodness [0,1] 0.840953746481865 Centerline is valid? [False, False] Translation: X:1.49, Y:0.10, Z:-0.38 [[ 9.99911100e-01 -5.51228980e-03 -1.21411180e-02 1.49145058e+00] [ 5.50868647e-03 9.99984773e-01 -3.30209602e-04 9.62823732e-02] [ 1.21427533e-02 2.63298634e-04 9.99926239e-01 -3.79683151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.82455357399999 meters Centerline goodness [0,1] 0.8417504843289721 Centerline is valid? [False, False] Translation: X:1.49, Y:0.09, Z:-0.38 [[ 9.99938886e-01 3.23130719e-04 -1.10507620e-02 1.48666871e+00] [-2.61564866e-04 9.99984441e-01 5.57217772e-03 9.40504455e-02] [ 1.10523906e-02 -5.56894670e-03 9.99923413e-01 -3.76074752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.85455357399999 meters Centerline goodness [0,1] 0.8397429087432274 Centerline is valid? [False, False] Translation: X:1.48, Y:0.09, Z:-0.38 [[ 0.9999473 0.00161918 -0.01013758 1.48334499] [-0.00155853 0.99998086 0.00598791 0.09376579] [ 0.01014708 -0.0059718 0.99993068 -0.37549565] [ 0. 0. 0. 1. ]] SLAMing on 42.884553573999995 meters Centerline goodness [0,1] 0.8419960632015747 Centerline is valid? [False, False] Translation: X:1.48, Y:0.09, Z:-0.37 [[ 0.99995544 0.00478702 -0.00813625 1.47566783] [-0.00472947 0.99996377 0.00707794 0.09205306] [ 0.00816983 -0.00703914 0.99994185 -0.37446133] [ 0. 0. 0. 1. ]] SLAMing on 42.914553573999996 meters Centerline goodness [0,1] 0.8400627726353868 Centerline is valid? [False, False] Translation: X:1.47, Y:0.09, Z:-0.38 [[ 0.99995544 0.00555015 -0.00763626 1.47429024] [-0.00549599 0.99995972 0.00709616 0.09145214] [ 0.00767533 -0.00705388 0.99994566 -0.37527952] [ 0. 0. 0. 1. ]] SLAMing on 42.944553574 meters Centerline goodness [0,1] 0.8362450066577896 Centerline is valid? [False, False] Translation: X:1.47, Y:0.09, Z:-0.38 [[ 0.99995481 0.00610926 -0.00728443 1.47369243] [-0.00605947 0.99995827 0.00683722 0.09097689] [ 0.0073259 -0.00679277 0.99995009 -0.3767997 ] [ 0. 0. 0. 1. ]] SLAMing on 42.974553574 meters Centerline goodness [0,1] 0.8375915811908885 Centerline is valid? [False, False] Translation: X:1.47, Y:0.09, Z:-0.38 [[ 0.99994493 0.00885159 -0.00563878 1.46841639] [-0.00881562 0.99994084 0.00637219 0.08987356] [ 0.00569485 -0.00632213 0.9999638 -0.37992824] [ 0. 0. 0. 1. ]] SLAMing on 43.00455357399999 meters Centerline goodness [0,1] 0.8355821689953427 Centerline is valid? [False, False] Translation: X:1.47, Y:0.09, Z:-0.38 [[ 0.99993646 0.01022009 -0.00475754 1.46565235] [-0.01018932 0.9999273 0.00644715 0.08962749] [ 0.00482308 -0.00639826 0.9999679 -0.38076793] [ 0. 0. 0. 1. ]] SLAMing on 43.03455357399999 meters Centerline goodness [0,1] 0.833751066552901 Centerline is valid? [False, False] Translation: X:1.46, Y:0.09, Z:-0.39 [[ 0.99990129 0.01378508 -0.00271571 1.45861112] [-0.01377016 0.99989039 0.00544018 0.08955893] [ 0.00279041 -0.00540225 0.99998151 -0.38522802] [ 0. 0. 0. 1. ]] SLAMing on 43.064553573999994 meters Centerline goodness [0,1] 0.8327104799530191 Centerline is valid? [False, False] Translation: X:1.46, Y:0.09, Z:-0.39 [[ 0.99988926 0.01473342 -0.0020939 1.45694541] [-0.01472218 0.99987765 0.00528665 0.08901596] [ 0.00217154 -0.00525524 0.99998383 -0.38660228] [ 0. 0. 0. 1. ]] SLAMing on 43.094553573999995 meters Centerline goodness [0,1] 0.8308286703970157 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.39 [[ 9.99871700e-01 1.59578601e-02 -1.38912155e-03 1.45453969e+00] [-1.59503912e-02 9.99859099e-01 5.23131808e-03 8.91290797e-02] [ 1.47240647e-03 -5.20848987e-03 9.99985352e-01 -3.87297399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.124553574 meters Centerline goodness [0,1] 0.8324997339576461 Centerline is valid? [False, False] Translation: X:1.44, Y:0.09, Z:-0.39 [[ 9.99776598e-01 2.11273643e-02 6.24096593e-04 1.44349476e+00] [-2.11308734e-02 9.99756954e-01 6.28639940e-03 9.04912428e-02] [-4.91129859e-04 -6.29818271e-03 9.99980046e-01 -3.85299765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.154553574 meters Centerline goodness [0,1] 0.8294575703617083 Centerline is valid? [False, False] Translation: X:1.44, Y:0.09, Z:-0.39 [[ 9.99749093e-01 2.23570930e-02 1.38233034e-03 1.44154586e+00] [-2.23623791e-02 9.99742187e-01 3.93480092e-03 9.46567298e-02] [-1.29400324e-03 -3.96472585e-03 9.99991303e-01 -3.90471322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.184553574 meters Centerline goodness [0,1] 0.8295565980228459 Centerline is valid? [False, False] Translation: X:1.44, Y:0.10, Z:-0.39 [[ 9.99759145e-01 2.19159186e-02 1.15974513e-03 1.44332760e+00] [-2.19193237e-02 9.99755213e-01 3.00964147e-03 9.61188481e-02] [-1.09350218e-03 -3.03433741e-03 9.99994799e-01 -3.92719981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.21455357399999 meters Centerline goodness [0,1] 0.828560793384914 Centerline is valid? [False, False] Translation: X:1.44, Y:0.10, Z:-0.39 [[ 9.99769443e-01 2.14565453e-02 8.22700383e-04 1.44490527e+00] [-2.14586259e-02 9.99766331e-01 2.60956185e-03 9.63369570e-02] [-7.66515962e-04 -2.62661421e-03 9.99996257e-01 -3.93720264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.244553573999994 meters Centerline goodness [0,1] 0.8286982877804956 Centerline is valid? [False, False] Translation: X:1.44, Y:0.10, Z:-0.39 [[ 0.99981885 0.01895452 0.00172807 1.44160283] [-0.01895127 0.99981864 -0.00187805 0.09759709] [-0.00176336 0.00184496 0.99999674 -0.39498322] [ 0. 0. 0. 1. ]] SLAMing on 43.274553573999995 meters Centerline goodness [0,1] 0.8292409821642805 Centerline is valid? [False, False] Translation: X:1.44, Y:0.10, Z:-0.39 [[ 0.9998852 0.0150301 0.00191786 1.4406259 ] [-0.01501961 0.99987278 -0.00536969 0.09602468] [-0.00199833 0.00534027 0.99998374 -0.39379763] [ 0. 0. 0. 1. ]] SLAMing on 43.304553573999996 meters Centerline goodness [0,1] 0.8303919995721696 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.39 [[ 9.99915005e-01 1.30201307e-02 6.78079782e-04 1.44540624e+00] [-1.30170248e-02 9.99905597e-01 -4.39937160e-03 9.36622992e-02] [-7.35296162e-04 4.39017109e-03 9.99990093e-01 -3.91551148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.334553574 meters Centerline goodness [0,1] 0.8267689090275357 Centerline is valid? [False, False] Translation: X:1.44, Y:0.10, Z:-0.40 [[ 0.99991668 0.00839132 0.00980947 1.43556267] [-0.00837106 0.99996275 -0.00210425 0.09553291] [-0.00982676 0.00202196 0.99994967 -0.39780621] [ 0. 0. 0. 1. ]] SLAMing on 43.364553574 meters Centerline goodness [0,1] 0.8276322108970596 Centerline is valid? [False, False] Translation: X:1.44, Y:0.10, Z:-0.40 [[ 0.99992159 0.00808145 0.00956626 1.43713503] [-0.00805331 0.99996314 -0.00297661 0.09733525] [-0.00958996 0.00289934 0.99994981 -0.39979256] [ 0. 0. 0. 1. ]] SLAMing on 43.39455357399999 meters Centerline goodness [0,1] 0.8285210137953161 Centerline is valid? [False, False] Translation: X:1.44, Y:0.10, Z:-0.40 [[ 0.99992848 0.00760702 0.00922853 1.43924203] [-0.00756734 0.99996201 -0.00432697 0.10022918] [-0.0092611 0.00425683 0.99994805 -0.40263257] [ 0. 0. 0. 1. ]] SLAMing on 43.424553573999994 meters Centerline goodness [0,1] 0.8264272928855761 Centerline is valid? [False, False] Translation: X:1.44, Y:0.10, Z:-0.40 [[ 0.99993395 0.0072343 0.0089307 1.44041185] [-0.00719787 0.99996567 -0.0041048 0.10010963] [-0.00896009 0.00404024 0.9999517 -0.40221044] [ 0. 0. 0. 1. ]] SLAMing on 43.454553573999995 meters Centerline goodness [0,1] 0.824844753604648 Centerline is valid? [False, False] Translation: X:1.44, Y:0.10, Z:-0.40 [[ 0.99993561 0.00713553 0.00882411 1.44085015] [-0.00709707 0.99996521 -0.00438194 0.10158791] [-0.00885507 0.00431903 0.99995147 -0.40227497] [ 0. 0. 0. 1. ]] SLAMing on 43.484553573999996 meters Centerline goodness [0,1] 0.8249846384013251 Centerline is valid? [False, False] Translation: X:1.44, Y:0.10, Z:-0.40 [[ 0.99994735 0.00622836 0.00815515 1.44355945] [-0.00619192 0.99997077 -0.00448603 0.10154515] [-0.00818286 0.0044353 0.99995668 -0.40260732] [ 0. 0. 0. 1. ]] SLAMing on 43.514553574 meters Centerline goodness [0,1] 0.8261844388095556 Centerline is valid? [False, False] Translation: X:1.45, Y:0.10, Z:-0.40 [[ 0.99995698 0.00541321 0.00753182 1.44588643] [-0.00538128 0.99997648 -0.004252 0.10071726] [-0.00755465 0.00421129 0.9999626 -0.40224853] [ 0. 0. 0. 1. ]] SLAMing on 43.544553574 meters Centerline goodness [0,1] 0.8262817589139592 Centerline is valid? [False, False] Translation: X:1.45, Y:0.10, Z:-0.40 [[ 0.99997344 0.00359238 0.00634197 1.45057531] [-0.00356939 0.99998703 -0.00363325 0.09782484] [-0.00635494 0.00361052 0.99997329 -0.40130067] [ 0. 0. 0. 1. ]] SLAMing on 43.57455357399999 meters Centerline goodness [0,1] 0.8282630292940956 Centerline is valid? [False, False] Translation: X:1.45, Y:0.10, Z:-0.40 [[ 0.99998086 0.00265159 0.00559086 1.45364055] [-0.00263256 0.99999073 -0.00340801 0.09640135] [-0.00559984 0.00339323 0.99997856 -0.40162036] [ 0. 0. 0. 1. ]] SLAMing on 43.60455357399999 meters Centerline goodness [0,1] 0.8256680161943319 Centerline is valid? [False, False] Translation: X:1.46, Y:0.09, Z:-0.40 [[ 0.99998643 0.00178016 0.00489676 1.45665854] [-0.00176517 0.99999375 -0.00306356 0.09392951] [-0.00490219 0.00305488 0.99998332 -0.40228262] [ 0. 0. 0. 1. ]] SLAMing on 43.634553573999995 meters Centerline goodness [0,1] 0.826305410735028 Centerline is valid? [False, False] Translation: X:1.46, Y:0.09, Z:-0.40 [[ 0.99998715 0.0016784 0.00478383 1.4572073 ] [-0.00166632 0.99999542 -0.00252824 0.09237629] [-0.00478805 0.00252023 0.99998536 -0.4018654 ] [ 0. 0. 0. 1. ]] SLAMing on 43.664553573999996 meters Centerline goodness [0,1] 0.8259975096096583 Centerline is valid? [False, False] Translation: X:1.46, Y:0.09, Z:-0.40 [[ 0.99998527 0.0020429 0.00502952 1.4564213 ] [-0.00203155 0.99999538 -0.0022599 0.09147893] [-0.00503412 0.00224965 0.9999848 -0.40175573] [ 0. 0. 0. 1. ]] SLAMing on 43.694553574 meters Centerline goodness [0,1] 0.8249433473616057 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.40 [[ 9.99967126e-01 4.92847926e-03 6.43870062e-03 1.44975647e+00] [-4.92184014e-03 9.99987340e-01 -1.04656727e-03 9.12017333e-02] [-6.44377709e-03 1.01484261e-03 9.99978724e-01 -3.99561687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.724553574 meters Centerline goodness [0,1] 0.8282923670506974 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.40 [[ 9.99958664e-01 5.78439480e-03 7.01506273e-03 1.44762217e+00] [-5.77848666e-03 9.99982933e-01 -8.62184615e-04 9.13080419e-02] [-7.01993021e-03 8.21612530e-04 9.99975022e-01 -3.99303199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.75455357399999 meters Centerline goodness [0,1] 0.8252270216377893 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.40 [[ 9.99948647e-01 6.69401441e-03 7.60883449e-03 1.44563950e+00] [-6.68810884e-03 9.99977313e-01 -8.01326407e-04 9.12638064e-02] [-7.61402596e-03 7.50396543e-04 9.99970731e-01 -3.99792600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.78455357399999 meters Centerline goodness [0,1] 0.8196385217156731 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.40 [[ 9.99948539e-01 6.64888038e-03 7.66234123e-03 1.44602465e+00] [-6.64110872e-03 9.99977408e-01 -1.03926415e-03 9.11456431e-02] [-7.66907807e-03 9.88324232e-04 9.99970104e-01 -4.00754375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.814553573999994 meters Centerline goodness [0,1] 0.8214585079631183 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.40 [[ 9.99950937e-01 6.39398297e-03 7.56578719e-03 1.44705603e+00] [-6.38759625e-03 9.99979222e-01 -8.68021801e-04 8.94555350e-02] [-7.57118011e-03 8.19652019e-04 9.99971002e-01 -4.01536365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.844553573999995 meters Centerline goodness [0,1] 0.8203573362208988 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.40 [[ 9.99958891e-01 5.64202853e-03 7.09820172e-03 1.44925060e+00] [-5.63757667e-03 9.99983899e-01 -6.47032910e-04 8.78448435e-02] [-7.10173801e-03 6.06989655e-04 9.99974598e-01 -4.01634445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.874553574 meters Centerline goodness [0,1] 0.8180236509446785 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.40 [[ 0.99996759 0.00227647 0.00772233 1.44780516] [-0.00223675 0.99998424 -0.00514932 0.08751514] [-0.00773393 0.00513188 0.99995692 -0.40348946] [ 0. 0. 0. 1. ]] SLAMing on 43.904553574 meters Centerline goodness [0,1] 0.8181370537546163 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.40 [[ 0.99996975 -0.00290463 0.0072158 1.45041363] [ 0.00296948 0.99995516 -0.00899271 0.08516457] [-0.00718936 0.00901387 0.99993353 -0.40373192] [ 0. 0. 0. 1. ]] SLAMing on 43.934553574 meters Centerline goodness [0,1] 0.8169365222870606 Centerline is valid? [False, False] Translation: X:1.46, Y:0.08, Z:-0.41 [[ 0.99994585 -0.00906517 0.00511091 1.46370005] [ 0.0091159 0.99990852 -0.00999213 0.08290993] [-0.00501986 0.01003818 0.99993702 -0.40528601] [ 0. 0. 0. 1. ]] SLAMing on 43.96455357399999 meters Centerline goodness [0,1] 0.8175521534782728 Centerline is valid? [False, False] Translation: X:1.47, Y:0.08, Z:-0.41 [[ 0.99993567 -0.01058526 0.00407593 1.4680884 ] [ 0.01062651 0.99989117 -0.01023362 0.08265746] [-0.00396717 0.01027628 0.99993933 -0.40611165] [ 0. 0. 0. 1. ]] SLAMing on 43.994553573999994 meters Centerline goodness [0,1] 0.8155382541472943 Centerline is valid? [False, False] Translation: X:1.47, Y:0.08, Z:-0.41 [[ 0.99992159 -0.01215379 0.00301563 1.47247808] [ 0.01218373 0.99987459 -0.0101173 0.08189046] [-0.00289229 0.01015324 0.99994427 -0.40616194] [ 0. 0. 0. 1. ]] SLAMing on 44.024553573999995 meters Centerline goodness [0,1] 0.8158213224777203 Centerline is valid? [False, False] Translation: X:1.48, Y:0.08, Z:-0.40 [[ 0.9998961 -0.01430897 0.00174492 1.47758181] [ 0.01432544 0.99984918 -0.00981856 0.08149741] [-0.00160417 0.00984254 0.99995027 -0.40498441] [ 0. 0. 0. 1. ]] SLAMing on 44.054553573999996 meters Centerline goodness [0,1] 0.8124603896282825 Centerline is valid? [False, False] Translation: X:1.48, Y:0.08, Z:-0.40 [[ 9.99877851e-01 -1.56067206e-02 8.44169530e-04 1.48100176e+00] [ 1.56140241e-02 9.99833185e-01 -9.47650879e-03 8.05682387e-02] [-6.96131486e-04 9.48853213e-03 9.99954741e-01 -4.04265202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.084553574 meters Centerline goodness [0,1] 0.8130530365485024 Centerline is valid? [False, False] Translation: X:1.49, Y:0.08, Z:-0.40 [[ 9.99820492e-01 -1.89119949e-02 -1.14860611e-03 1.48946473e+00] [ 1.89010658e-02 9.99781936e-01 -8.87859487e-03 7.99795718e-02] [ 1.31626758e-03 8.85529122e-03 9.99959925e-01 -4.02729569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.114553574 meters Centerline goodness [0,1] 0.8120984128727552 Centerline is valid? [False, False] Translation: X:1.50, Y:0.08, Z:-0.40 [[ 0.99982744 -0.01827233 -0.00334993 1.49778491] [ 0.01826095 0.99982748 -0.00339691 0.07894838] [ 0.00341142 0.00333515 0.99998862 -0.39880673] [ 0. 0. 0. 1. ]] SLAMing on 44.14455357399999 meters Centerline goodness [0,1] 0.8093451288652735 Centerline is valid? [False, False] Translation: X:1.50, Y:0.08, Z:-0.40 [[ 0.99978765 -0.02007691 -0.0046453 1.50300457] [ 0.02005713 0.99978974 -0.00426438 0.08066638] [ 0.00472993 0.0041703 0.99998012 -0.40015403] [ 0. 0. 0. 1. ]] SLAMing on 44.174553573999994 meters Centerline goodness [0,1] 0.8120851390641286 Centerline is valid? [False, False] Translation: X:1.50, Y:0.08, Z:-0.40 [[ 0.99977796 -0.02047743 -0.00497117 1.50416741] [ 0.0204561 0.99978148 -0.00430592 0.081184 ] [ 0.00505826 0.00420327 0.99997837 -0.40001151] [ 0. 0. 0. 1. ]] SLAMing on 44.204553573999995 meters Centerline goodness [0,1] 0.8103330696418343 Centerline is valid? [False, False] Translation: X:1.51, Y:0.08, Z:-0.39 [[ 0.99977682 -0.01992224 -0.00702924 1.51172649] [ 0.01993613 0.99979943 0.00191062 0.07980673] [ 0.00698977 -0.00205033 0.99997347 -0.39376305] [ 0. 0. 0. 1. ]] SLAMing on 44.234553573999996 meters Centerline goodness [0,1] 0.8095003960774673 Centerline is valid? [False, False] Translation: X:1.51, Y:0.08, Z:-0.39 [[ 0.9997722 -0.02008572 -0.0072195 1.51215613] [ 0.02010074 0.99979593 0.00201413 0.08031292] [ 0.00717757 -0.00215879 0.99997191 -0.39320622] [ 0. 0. 0. 1. ]] SLAMing on 44.264553574 meters Centerline goodness [0,1] 0.8104829917139119 Centerline is valid? [False, False] Translation: X:1.52, Y:0.08, Z:-0.39 [[ 0.99980452 -0.01781529 -0.00857531 1.5163485 ] [ 0.01787129 0.99981918 0.00649804 0.07987563] [ 0.008458 -0.00665002 0.99994212 -0.39131834] [ 0. 0. 0. 1. ]] SLAMing on 44.294553574 meters Centerline goodness [0,1] 0.8093896459242002 Centerline is valid? [False, False] Translation: X:1.52, Y:0.08, Z:-0.39 [[ 0.99982916 -0.01553599 -0.01001382 1.52144276] [ 0.0156331 0.9998308 0.00969431 0.08189228] [ 0.00986151 -0.00984921 0.99990287 -0.3923381 ] [ 0. 0. 0. 1. ]] SLAMing on 44.32455357399999 meters Centerline goodness [0,1] 0.8100596346366604 Centerline is valid? [False, False] Translation: X:1.52, Y:0.08, Z:-0.39 [[ 0.99982816 -0.01556238 -0.01007297 1.52196107] [ 0.01565211 0.99983797 0.00889113 0.0838354 ] [ 0.00993297 -0.00904726 0.99990974 -0.39379509] [ 0. 0. 0. 1. ]] SLAMing on 44.35455357399999 meters Centerline goodness [0,1] 0.8089149686414902 Centerline is valid? [False, False] Translation: X:1.52, Y:0.09, Z:-0.40 [[ 0.99984145 -0.01490399 -0.00974413 1.52071271] [ 0.01498314 0.99985493 0.00810142 0.08654224] [ 0.00962198 -0.00824613 0.99991971 -0.39504789] [ 0. 0. 0. 1. ]] SLAMing on 44.384553573999995 meters Centerline goodness [0,1] 0.8076685882826116 Centerline is valid? [False, False] Translation: X:1.52, Y:0.09, Z:-0.40 [[ 0.99984778 -0.01458619 -0.00957373 1.52015262] [ 0.0146602 0.99986284 0.00770572 0.08791075] [ 0.00946002 -0.0078449 0.99992448 -0.39565781] [ 0. 0. 0. 1. ]] SLAMing on 44.414553573999996 meters Centerline goodness [0,1] 0.8068467504680396 Centerline is valid? [False, False] Translation: X:1.52, Y:0.09, Z:-0.40 [[ 0.99986887 -0.01347617 -0.00897986 1.51727073] [ 0.01354176 0.99988177 0.00728407 0.09043047] [ 0.00888064 -0.00740472 0.99993315 -0.39543277] [ 0. 0. 0. 1. ]] SLAMing on 44.444553574 meters Centerline goodness [0,1] 0.8072282710467885 Centerline is valid? [False, False] Translation: X:1.52, Y:0.09, Z:-0.40 [[ 0.99986872 -0.0134313 -0.00906293 1.51756773] [ 0.01349503 0.99988439 0.00700716 0.09125358] [ 0.00896777 -0.00712855 0.99993438 -0.39595357] [ 0. 0. 0. 1. ]] SLAMing on 44.474553574 meters Centerline goodness [0,1] 0.8080670199668112 Centerline is valid? [False, False] Translation: X:1.52, Y:0.09, Z:-0.40 [[ 0.99986505 -0.01356243 -0.00927094 1.51857559] [ 0.01362284 0.99988618 0.00648437 0.09219082] [ 0.00918194 -0.00660979 0.999936 -0.39719063] [ 0. 0. 0. 1. ]] SLAMing on 44.50455357399999 meters Centerline goodness [0,1] 0.806711229946524 Centerline is valid? [False, False] Translation: X:1.52, Y:0.09, Z:-0.40 [[ 0.99986138 -0.01374259 -0.00939994 1.5194088 ] [ 0.01380053 0.99988599 0.00612761 0.09223901] [ 0.00931465 -0.00625648 0.99993704 -0.39827832] [ 0. 0. 0. 1. ]] SLAMing on 44.53455357399999 meters Centerline goodness [0,1] 0.8039875154711296 Centerline is valid? [False, False] Translation: X:1.52, Y:0.09, Z:-0.40 [[ 0.99985041 -0.01427531 -0.00976574 1.52062753] [ 0.01434206 0.99987403 0.00679905 0.09004022] [ 0.00966745 -0.0069381 0.9999292 -0.39725452] [ 0. 0. 0. 1. ]] SLAMing on 44.564553573999994 meters Centerline goodness [0,1] 0.805031785367956 Centerline is valid? [False, False] Translation: X:1.52, Y:0.09, Z:-0.40 [[ 0.99984356 -0.01458117 -0.01001244 1.5213303 ] [ 0.01465553 0.99986526 0.00739378 0.08805383] [ 0.00990328 -0.00753936 0.99992254 -0.39635396] [ 0. 0. 0. 1. ]] SLAMing on 44.594553573999995 meters Centerline goodness [0,1] 0.8033119571393782 Centerline is valid? [False, False] Translation: X:1.52, Y:0.09, Z:-0.39 [[ 0.99984026 -0.01471739 -0.01014166 1.521449 ] [ 0.01480133 0.9998564 0.00825174 0.08557458] [ 0.01001876 -0.00840053 0.99991452 -0.39493424] [ 0. 0. 0. 1. ]] SLAMing on 44.624553574 meters Centerline goodness [0,1] 0.8030935095893379 Centerline is valid? [False, False] Translation: X:1.52, Y:0.08, Z:-0.39 [[ 0.99983715 -0.01484387 -0.01026272 1.5217271 ] [ 0.01493562 0.99984865 0.00892261 0.08320099] [ 0.01012872 -0.00907443 0.99990753 -0.39399484] [ 0. 0. 0. 1. ]] SLAMing on 44.654553574 meters Centerline goodness [0,1] 0.8030935095893379 Centerline is valid? [False, False] Translation: X:1.52, Y:0.08, Z:-0.39 [[ 0.99983715 -0.01484387 -0.01026272 1.5217271 ] [ 0.01493562 0.99984865 0.00892261 0.08320099] [ 0.01012872 -0.00907443 0.99990753 -0.39399484] [ 0. 0. 0. 1. ]] SLAMing on 44.684553574 meters Centerline goodness [0,1] 0.8055276245346088 Centerline is valid? [False, False] Translation: X:1.52, Y:0.08, Z:-0.40 [[ 0.99983078 -0.01509424 -0.0105156 1.52354102] [ 0.01518509 0.99984759 0.0086143 0.08131821] [ 0.01038397 -0.00877253 0.9999076 -0.39635853] [ 0. 0. 0. 1. ]] SLAMing on 44.71455357399999 meters Centerline goodness [0,1] 0.799576570218772 Centerline is valid? [False, False] Translation: X:1.52, Y:0.08, Z:-0.40 [[ 0.99986414 -0.01340647 -0.00959005 1.52089366] [ 0.01346968 0.99988778 0.0065572 0.08218696] [ 0.00950107 -0.00668548 0.99993251 -0.4024441 ] [ 0. 0. 0. 1. ]] SLAMing on 44.744553573999994 meters Centerline goodness [0,1] 0.7977506826353781 Centerline is valid? [False, False] Translation: X:1.53, Y:0.09, Z:-0.41 [[ 0.99995545 -0.00841344 -0.00427937 1.53320139] [ 0.00840286 0.99996161 -0.00248568 0.08580276] [ 0.00430012 0.00244961 0.99998775 -0.41010821] [ 0. 0. 0. 1. ]] SLAMing on 44.774553573999995 meters Centerline goodness [0,1] 0.7978688879273041 Centerline is valid? [False, False] Translation: X:1.53, Y:0.08, Z:-0.41 [[ 0.99998433 -0.00370583 -0.00419654 1.53165943] [ 0.00371743 0.99998928 0.00275873 0.08484768] [ 0.00418627 -0.00277429 0.99998739 -0.40730121] [ 0. 0. 0. 1. ]] SLAMing on 44.804553573999996 meters Centerline goodness [0,1] 0.7973894986650846 Centerline is valid? [False, False] Translation: X:1.53, Y:0.08, Z:-0.41 [[ 9.99989701e-01 2.74485117e-04 -4.53008259e-03 1.53239761e+00] [-2.42017543e-04 9.99974294e-01 7.16609682e-03 8.47217629e-02] [ 4.53193312e-03 -7.16492666e-03 9.99964062e-01 -4.06374142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.834553574 meters Centerline goodness [0,1] 0.7963918214619805 Centerline is valid? [False, False] Translation: X:1.53, Y:0.09, Z:-0.41 [[ 0.99997701 0.0052025 -0.0043489 1.53079624] [-0.00515461 0.99992676 0.01095047 0.08818606] [ 0.00440555 -0.01092781 0.99993058 -0.40555264] [ 0. 0. 0. 1. ]] SLAMing on 44.864553574 meters Centerline goodness [0,1] 0.7955991658200097 Centerline is valid? [False, False] Translation: X:1.53, Y:0.09, Z:-0.41 [[ 0.99998922 0.00283681 -0.00367695 1.52815167] [-0.00282297 0.99998893 0.00376458 0.09284318] [ 0.00368759 -0.00375416 0.99998615 -0.41233266] [ 0. 0. 0. 1. ]] SLAMing on 44.89455357399999 meters Centerline goodness [0,1] 0.7948546340418696 Centerline is valid? [False, False] Translation: X:1.53, Y:0.09, Z:-0.41 [[ 9.99988154e-01 1.54726847e-03 -4.61500507e-03 1.53188283e+00] [-1.53155277e-03 9.99993024e-01 3.40694051e-03 9.30843377e-02] [ 4.62024432e-03 -3.39983202e-03 9.99983547e-01 -4.13019850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.924553573999994 meters Centerline goodness [0,1] 0.7969201154956689 Centerline is valid? [False, False] Translation: X:1.54, Y:0.09, Z:-0.41 [[ 9.99982180e-01 -3.29045379e-04 -5.96078389e-03 1.53713421e+00] [ 3.47594373e-04 9.99995100e-01 3.11106938e-03 9.26568228e-02] [ 5.95973100e-03 -3.11308587e-03 9.99977395e-01 -4.13709159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.954553573999995 meters Centerline goodness [0,1] 0.8002252795880602 Centerline is valid? [False, False] Translation: X:1.54, Y:0.09, Z:-0.41 [[ 9.99945944e-01 -7.15816033e-03 -7.54116069e-03 1.54336817e+00] [ 7.14819601e-03 9.99973543e-01 -1.34745042e-03 9.22553576e-02] [ 7.55060644e-03 1.29347188e-03 9.99970657e-01 -4.13625512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.984553573999996 meters Centerline goodness [0,1] 0.802099878853143 Centerline is valid? [False, False] Translation: X:1.55, Y:0.09, Z:-0.41 [[ 9.99913091e-01 -9.61170829e-03 -9.02363109e-03 1.54893154e+00] [ 9.60251732e-03 9.99953332e-01 -1.06131920e-03 9.08670738e-02] [ 9.03341106e-03 9.74577392e-04 9.99958723e-01 -4.12359512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.014553574 meters Centerline goodness [0,1] 0.8052461662631154 Centerline is valid? [False, False] Translation: X:1.56, Y:0.09, Z:-0.41 [[ 0.99979443 -0.01704696 -0.01097739 1.55741153] [ 0.01698016 0.99983691 -0.00614983 0.09205973] [ 0.01108044 0.00596216 0.99992084 -0.41357267] [ 0. 0. 0. 1. ]] SLAMing on 45.044553574 meters Centerline goodness [0,1] 0.8056928034371643 Centerline is valid? [False, False] Translation: X:1.56, Y:0.09, Z:-0.41 [[ 0.99973672 -0.01923142 -0.01251578 1.56317824] [ 0.01915339 0.99979655 -0.00632489 0.09219626] [ 0.01263487 0.00608351 0.99990167 -0.41332965] [ 0. 0. 0. 1. ]] SLAMing on 45.07455357399999 meters Centerline goodness [0,1] 0.8056528533706957 Centerline is valid? [False, False] Translation: X:1.57, Y:0.09, Z:-0.41 [[ 0.99969272 -0.02070046 -0.01363656 1.56722688] [ 0.02061292 0.99976621 -0.00652944 0.09289964] [ 0.01376853 0.00624635 0.9998857 -0.41320105] [ 0. 0. 0. 1. ]] SLAMing on 45.10455357399999 meters Centerline goodness [0,1] 0.808152831965559 Centerline is valid? [False, False] Translation: X:1.57, Y:0.10, Z:-0.41 [[ 0.99962324 -0.0228787 -0.01516369 1.57254275] [ 0.02276851 0.99971337 -0.00740019 0.09592314] [ 0.01532865 0.00705214 0.99985764 -0.41321146] [ 0. 0. 0. 1. ]] SLAMing on 45.134553573999995 meters Centerline goodness [0,1] 0.8071662286112751 Centerline is valid? [False, False] Translation: X:1.58, Y:0.10, Z:-0.41 [[ 0.99964554 -0.02063954 -0.01681666 1.57699915] [ 0.02060655 0.99978539 -0.00213251 0.09591914] [ 0.01685706 0.00178522 0.99985632 -0.40919522] [ 0. 0. 0. 1. ]] SLAMing on 45.164553573999996 meters Centerline goodness [0,1] 0.8060646540208389 Centerline is valid? [False, False] Translation: X:1.58, Y:0.10, Z:-0.41 [[ 9.99658878e-01 -1.84650960e-02 -1.84707276e-02 1.58182213e+00] [ 1.84931279e-02 9.99828079e-01 1.34796745e-03 9.90773378e-02] [ 1.84426618e-02 -1.68908916e-03 9.99828493e-01 -4.08305474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.194553574 meters Centerline goodness [0,1] 0.8063941271909993 Centerline is valid? [False, False] Translation: X:1.59, Y:0.10, Z:-0.41 [[ 0.99966288 -0.0163854 -0.02014041 1.58724491] [ 0.01649504 0.99984995 0.00528991 0.10009532] [ 0.02005071 -0.00562034 0.99978317 -0.40752331] [ 0. 0. 0. 1. ]] SLAMing on 45.224553574 meters Centerline goodness [0,1] 0.8070840066760272 Centerline is valid? [False, False] Translation: X:1.59, Y:0.10, Z:-0.41 [[ 0.99964272 -0.01695839 -0.02066032 1.5894117 ] [ 0.01705362 0.99984471 0.00444185 0.10239699] [ 0.02058179 -0.0047926 0.99977669 -0.40883546] [ 0. 0. 0. 1. ]] SLAMing on 45.25455357399999 meters Centerline goodness [0,1] 0.8103201526555709 Centerline is valid? [False, False] Translation: X:1.59, Y:0.10, Z:-0.41 [[ 0.9996126 -0.01781989 -0.02137991 1.59187159] [ 0.01790602 0.99983229 0.0038438 0.10439762] [ 0.02130783 -0.00422514 0.99976403 -0.40909306] [ 0. 0. 0. 1. ]] SLAMing on 45.28455357399999 meters Centerline goodness [0,1] 0.8072499867507552 Centerline is valid? [False, False] Translation: X:1.59, Y:0.11, Z:-0.41 [[ 0.9995751 -0.01882898 -0.0222507 1.59453086] [ 0.01891683 0.99981405 0.00374427 0.1051763 ] [ 0.02217607 -0.00416359 0.99974541 -0.40840311] [ 0. 0. 0. 1. ]] SLAMing on 45.314553573999994 meters Centerline goodness [0,1] 0.8019557958339959 Centerline is valid? [False, False] Translation: X:1.60, Y:0.11, Z:-0.41 [[ 0.99955055 -0.01946135 -0.02280229 1.59645487] [ 0.01954907 0.99980231 0.00363021 0.10551247] [ 0.02272713 -0.00407434 0.9997334 -0.40836851] [ 0. 0. 0. 1. ]] SLAMing on 45.344553573999995 meters Centerline goodness [0,1] 0.8155945831570038 Centerline is valid? [False, False] Translation: X:1.60, Y:0.11, Z:-0.41 [[ 0.99952411 -0.020093 -0.02340571 1.59857464] [ 0.02018006 0.99979027 0.00348942 0.10616649] [ 0.02333069 -0.00396009 0.99971996 -0.40847512] [ 0. 0. 0. 1. ]] SLAMing on 45.374553574 meters Centerline goodness [0,1] 0.7999630733521483 Centerline is valid? [False, False] Translation: X:1.60, Y:0.11, Z:-0.41 [[ 0.99947779 -0.02123239 -0.02435861 1.60244116] [ 0.02130085 0.99976985 0.00255428 0.10841778] [ 0.02429877 -0.00307181 0.99970002 -0.41021751] [ 0. 0. 0. 1. ]] SLAMing on 45.404553574 meters Centerline goodness [0,1] 0.8108756392008013 Centerline is valid? [False, False] Translation: X:1.60, Y:0.11, Z:-0.41 [[ 0.99947462 -0.0212532 -0.02447 1.60277439] [ 0.02132264 0.99976932 0.00258047 0.10904225] [ 0.02440951 -0.00310088 0.99969723 -0.41008323] [ 0. 0. 0. 1. ]] SLAMing on 45.434553574 meters Centerline goodness [0,1] 0.8008272518902969 Centerline is valid? [False, False] Translation: X:1.60, Y:0.11, Z:-0.41 [[ 0.99950642 -0.0203029 -0.02397297 1.59984359] [ 0.02039132 0.99978612 0.00344982 0.10955371] [ 0.02389781 -0.00393695 0.99970665 -0.40735901] [ 0. 0. 0. 1. ]] SLAMing on 45.46455357399999 meters Centerline goodness [0,1] 0.8154218515692826 Centerline is valid? [False, False] Translation: X:1.60, Y:0.11, Z:-0.41 [[ 0.99953471 -0.01942259 -0.02351868 1.5974469 ] [ 0.01952243 0.99980133 0.00402308 0.10997357] [ 0.02343587 -0.00448035 0.9997153 -0.40564953] [ 0. 0. 0. 1. ]] SLAMing on 45.494553573999994 meters Centerline goodness [0,1] 0.8134770748085196 Centerline is valid? [False, False] Translation: X:1.61, Y:0.11, Z:-0.41 [[ 0.99970062 -0.01739401 -0.01720824 1.61321678] [ 0.01734794 0.99984553 -0.00282297 0.11266141] [ 0.01725468 0.0025236 0.99984794 -0.41064793] [ 0. 0. 0. 1. ]] SLAMing on 45.524553573999995 meters Centerline goodness [0,1] 0.8109668486637582 Centerline is valid? [False, False] Translation: X:1.61, Y:0.11, Z:-0.41 [[ 0.99978022 -0.0123202 -0.01696215 1.61067081] [ 0.01236071 0.99992099 0.00228521 0.11378308] [ 0.01693266 -0.00249437 0.99985352 -0.40739619] [ 0. 0. 0. 1. ]] SLAMing on 45.554553573999996 meters Centerline goodness [0,1] 0.803076923076923 Centerline is valid? [False, False] Translation: X:1.61, Y:0.11, Z:-0.41 [[ 0.99980675 -0.0088153 -0.01757145 1.61230359] [ 0.00893298 0.99993812 0.00662996 0.11365824] [ 0.01751192 -0.00678564 0.99982363 -0.40628603] [ 0. 0. 0. 1. ]] SLAMing on 45.584553574 meters Centerline goodness [0,1] 0.8123324396782842 Centerline is valid? [False, False] Translation: X:1.61, Y:0.12, Z:-0.41 [[ 0.99983022 -0.00725606 -0.01693748 1.60980666] [ 0.00735648 0.99995569 0.00587412 0.11624528] [ 0.01689411 -0.00599773 0.9998393 -0.40801212] [ 0. 0. 0. 1. ]] SLAMing on 45.614553574 meters Centerline goodness [0,1] 0.8193055808034903 Centerline is valid? [False, False] Translation: X:1.61, Y:0.12, Z:-0.41 [[ 0.99983441 -0.00700986 -0.01679336 1.6097258 ] [ 0.00710103 0.99996034 0.00537564 0.11726987] [ 0.01675501 -0.005494 0.99984453 -0.40922094] [ 0. 0. 0. 1. ]] SLAMing on 45.64455357399999 meters Centerline goodness [0,1] 0.8059182349123946 Centerline is valid? [False, False] Translation: X:1.61, Y:0.12, Z:-0.41 [[ 0.9998296 -0.00725128 -0.01697615 1.61042535] [ 0.00733946 0.99995987 0.00513772 0.11802611] [ 0.01693821 -0.00526144 0.99984269 -0.40935865] [ 0. 0. 0. 1. ]] SLAMing on 45.674553573999994 meters Centerline goodness [0,1] 0.8125745707319604 Centerline is valid? [False, False] Translation: X:1.61, Y:0.12, Z:-0.41 [[ 0.99981807 -0.00777668 -0.01741713 1.61173718] [ 0.00787062 0.99995481 0.0053317 0.11761658] [ 0.01737488 -0.00546782 0.99983409 -0.40868753] [ 0. 0. 0. 1. ]] SLAMing on 45.704553573999995 meters Centerline goodness [0,1] 0.8129263168815001 Centerline is valid? [False, False] Translation: X:1.61, Y:0.12, Z:-0.41 [[ 0.99980359 -0.00843236 -0.01793524 1.61344467] [ 0.00853347 0.99994808 0.00556868 0.1167593 ] [ 0.01788735 -0.00572064 0.99982364 -0.4081747 ] [ 0. 0. 0. 1. ]] SLAMing on 45.734553573999996 meters Centerline goodness [0,1] 0.8161292836914443 Centerline is valid? [False, False] Translation: X:1.62, Y:0.12, Z:-0.41 [[ 0.99976776 -0.0100775 -0.01904922 1.61778712] [ 0.01017858 0.99993459 0.0052171 0.11617209] [ 0.0189954 -0.00540978 0.99980494 -0.40885549] [ 0. 0. 0. 1. ]] SLAMing on 45.764553574 meters Centerline goodness [0,1] 0.8219711725749903 Centerline is valid? [False, False] Translation: X:1.62, Y:0.12, Z:-0.41 [[ 0.99974532 -0.01093124 -0.0197432 1.62065758] [ 0.01102929 0.99992734 0.00486436 0.11630027] [ 0.01968859 -0.00508087 0.99979325 -0.40985604] [ 0. 0. 0. 1. ]] SLAMing on 45.794553574 meters Centerline goodness [0,1] 0.8127291162935808 Centerline is valid? [False, False] Translation: X:1.62, Y:0.12, Z:-0.41 [[ 0.99971461 -0.0120395 -0.02063374 1.62457952] [ 0.01212537 0.99991832 0.00404151 0.11739526] [ 0.0205834 -0.00429055 0.99977893 -0.41197761] [ 0. 0. 0. 1. ]] SLAMing on 45.82455357399999 meters Centerline goodness [0,1] 0.8115093753237336 Centerline is valid? [False, False] Translation: X:1.63, Y:0.12, Z:-0.41 [[ 0.99970842 -0.01222466 -0.02082393 1.62561461] [ 0.01230435 0.99991744 0.00370294 0.11846605] [ 0.02077694 -0.00395809 0.9997763 -0.41272246] [ 0. 0. 0. 1. ]] SLAMing on 45.85455357399999 meters Centerline goodness [0,1] 0.8149423799041823 Centerline is valid? [False, False] Translation: X:1.63, Y:0.12, Z:-0.41 [[ 0.99970969 -0.01213408 -0.0208159 1.62541621] [ 0.01221622 0.99991807 0.00382335 0.11890171] [ 0.02076781 -0.00407653 0.99977601 -0.41215839] [ 0. 0. 0. 1. ]] SLAMing on 45.884553573999995 meters Centerline goodness [0,1] 0.8098722656047991 Centerline is valid? [False, False] Translation: X:1.62, Y:0.12, Z:-0.41 [[ 0.99972241 -0.01160083 -0.02050643 1.62317691] [ 0.01170529 0.99991908 0.004981 0.11828136] [ 0.02044699 -0.00521966 0.99977731 -0.40882119] [ 0. 0. 0. 1. ]] SLAMing on 45.914553573999996 meters Centerline goodness [0,1] 0.8177052397799758 Centerline is valid? [False, False] Translation: X:1.62, Y:0.12, Z:-0.41 [[ 0.99971396 -0.0119124 -0.0207388 1.62408109] [ 0.01201506 0.99991614 0.00483283 0.11869034] [ 0.02067949 -0.00508063 0.99977325 -0.4089059 ] [ 0. 0. 0. 1. ]] SLAMing on 45.944553574 meters Centerline goodness [0,1] 0.8122836923394803 Centerline is valid? [False, False] Translation: X:1.63, Y:0.12, Z:-0.41 [[ 0.9996934 -0.01265343 -0.02128379 1.62605886] [ 0.01275151 0.99990866 0.00447906 0.11981085] [ 0.02122517 -0.00474909 0.99976344 -0.40911255] [ 0. 0. 0. 1. ]] SLAMing on 45.974553574 meters Centerline goodness [0,1] 0.8207238114891531 Centerline is valid? [False, False] Translation: X:1.63, Y:0.12, Z:-0.41 [[ 0.99968315 -0.01298655 -0.02156283 1.6268825 ] [ 0.01308869 0.99990375 0.00460278 0.11986152] [ 0.02150098 -0.00488355 0.9997569 -0.4085613 ] [ 0. 0. 0. 1. ]] SLAMing on 46.00455357399999 meters Centerline goodness [0,1] 0.8046009583183059 Centerline is valid? [False, False] Translation: X:1.63, Y:0.12, Z:-0.41 [[ 0.99967082 -0.01340935 -0.02187327 1.62788118] [ 0.0135139 0.99989792 0.00463886 0.11996396] [ 0.02180883 -0.00493293 0.99974999 -0.40817798] [ 0. 0. 0. 1. ]] SLAMing on 46.03455357399999 meters Centerline goodness [0,1] 0.8261228065654874 Centerline is valid? [False, False] Translation: X:1.63, Y:0.12, Z:-0.41 [[ 0.99963289 -0.01485828 -0.02265631 1.63076389] [ 0.01496464 0.99987775 0.0045325 0.12012965] [ 0.0225862 -0.00486988 0.99973304 -0.40754021] [ 0. 0. 0. 1. ]] SLAMing on 46.064553573999994 meters Centerline goodness [0,1] 0.8126013852769266 Centerline is valid? [False, False] Translation: X:1.63, Y:0.12, Z:-0.41 [[ 0.99960677 -0.01567297 -0.02325222 1.63280861] [ 0.01578235 0.9998652 0.00452795 0.12013418] [ 0.02317812 -0.00489314 0.99971938 -0.40724103] [ 0. 0. 0. 1. ]] SLAMing on 46.094553573999995 meters Centerline goodness [0,1] 0.8243177073937582 Centerline is valid? [False, False] Translation: X:1.64, Y:0.12, Z:-0.41 [[ 0.99954223 -0.01768811 -0.02454501 1.63799648] [ 0.01778363 0.99983509 0.00367884 0.12110958] [ 0.02447589 -0.00411366 0.99969196 -0.40847219] [ 0. 0. 0. 1. ]] SLAMing on 46.124553574 meters Centerline goodness [0,1] 0.8265227249304339 Centerline is valid? [False, False] Translation: X:1.64, Y:0.12, Z:-0.41 [[ 0.9995146 -0.01839907 -0.02514054 1.64016171] [ 0.01849254 0.99982291 0.00349043 0.12139045] [ 0.02507187 -0.00395364 0.99967783 -0.40875991] [ 0. 0. 0. 1. ]] SLAMing on 46.154553574 meters Centerline goodness [0,1] 0.8291650535552975 Centerline is valid? [False, False] Translation: X:1.64, Y:0.12, Z:-0.41 [[ 0.99949451 -0.01896107 -0.02551877 1.64151894] [ 0.01904881 0.99981344 0.00319949 0.12220972] [ 0.02545335 -0.00368397 0.99966922 -0.40876825] [ 0. 0. 0. 1. ]] SLAMing on 46.184553574 meters Centerline goodness [0,1] 0.8218130311614731 Centerline is valid? [False, False] Translation: X:1.64, Y:0.12, Z:-0.41 [[ 0.99948067 -0.01929405 -0.02580965 1.64280685] [ 0.01937355 0.9998083 0.00283384 0.12313762] [ 0.02575002 -0.00333239 0.99966286 -0.40928333] [ 0. 0. 0. 1. ]] SLAMing on 46.21455357399999 meters Centerline goodness [0,1] 0.820871269763483 Centerline is valid? [False, False] Translation: X:1.64, Y:0.12, Z:-0.41 [[ 0.99948223 -0.01918905 -0.02582735 1.64301183] [ 0.01926254 0.99981108 0.0025997 0.12414257] [ 0.02577258 -0.00309586 0.99966304 -0.40979699] [ 0. 0. 0. 1. ]] SLAMing on 46.244553573999994 meters Centerline goodness [0,1] 0.8296229802513465 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:-0.41 [[ 0.99951235 -0.01604448 -0.0267887 1.6465408 ] [ 0.01620082 0.99985291 0.00562915 0.12612229] [ 0.02669445 -0.00606041 0.99962527 -0.41161785] [ 0. 0. 0. 1. ]] SLAMing on 46.274553573999995 meters Centerline goodness [0,1] 0.8291901588928754 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:-0.41 [[ 0.99951985 -0.01568771 -0.02672012 1.64658893] [ 0.01582815 0.99986196 0.00505262 0.12784918] [ 0.02663717 -0.00547312 0.99963018 -0.41290895] [ 0. 0. 0. 1. ]] SLAMing on 46.304553573999996 meters Centerline goodness [0,1] 0.8276011967167003 Centerline is valid? [False, False] Translation: X:1.66, Y:0.13, Z:-0.42 [[ 0.99967355 -0.01137386 -0.0228787 1.6638321 ] [ 0.01132449 0.99993326 -0.00228625 0.1304338 ] [ 0.02290317 0.00202642 0.99973563 -0.41945551] [ 0. 0. 0. 1. ]] SLAMing on 46.334553574 meters Centerline goodness [0,1] 0.8305396096440872 Centerline is valid? [False, False] Translation: X:1.66, Y:0.13, Z:-0.42 [[ 0.99969643 -0.00776139 -0.02338409 1.66486044] [ 0.00781984 0.99996652 0.00240888 0.12913733] [ 0.02336461 -0.00259101 0.99972365 -0.41764194] [ 0. 0. 0. 1. ]] SLAMing on 46.364553574 meters Centerline goodness [0,1] 0.8286880020400357 Centerline is valid? [False, False] Translation: X:1.66, Y:0.13, Z:-0.42 [[ 0.99971595 -0.00679807 -0.02284318 1.66260083] [ 0.00686068 0.99997292 0.00266359 0.12995005] [ 0.02282445 -0.00281955 0.99973551 -0.41691753] [ 0. 0. 0. 1. ]] SLAMing on 46.39455357399999 meters Centerline goodness [0,1] 0.8276816784779903 Centerline is valid? [False, False] Translation: X:1.68, Y:0.13, Z:-0.42 [[ 0.99986419 -0.00371403 -0.01605653 1.67605968] [ 0.0036536 0.99998614 -0.00379165 0.13237642] [ 0.01607039 0.00373247 0.9998639 -0.42157372] [ 0. 0. 0. 1. ]] SLAMing on 46.424553573999994 meters Centerline goodness [0,1] 0.8188591918215802 Centerline is valid? [False, False] Translation: X:1.68, Y:0.13, Z:-0.42 [[ 0.99986515 -0.00354812 -0.01603437 1.67575671] [ 0.00349288 0.99998787 -0.00347183 0.13237588] [ 0.0160465 0.00341535 0.99986541 -0.42092296] [ 0. 0. 0. 1. ]] SLAMing on 46.454553573999995 meters Centerline goodness [0,1] 0.8187576003242805 Centerline is valid? [False, False] Translation: X:1.68, Y:0.13, Z:-0.42 [[ 0.99984939 -0.00469275 -0.01670874 1.67861627] [ 0.00462927 0.99998193 -0.00383566 0.13255262] [ 0.01672644 0.00375773 0.99985304 -0.42165726] [ 0. 0. 0. 1. ]] SLAMing on 46.484553573999996 meters Centerline goodness [0,1] 0.8348268529769137 Centerline is valid? [False, False] Translation: X:1.67, Y:0.13, Z:-0.43 [[ 0.99992543 -0.00846593 -0.00880116 1.67114281] [ 0.00844574 0.99996162 -0.00232862 0.13367218] [ 0.00882054 0.00225412 0.99995856 -0.42628461] [ 0. 0. 0. 1. ]] SLAMing on 46.514553574 meters Centerline goodness [0,1] 0.823852560694666 Centerline is valid? [False, False] Translation: X:1.67, Y:0.13, Z:-0.43 [[ 0.99991052 -0.00947997 -0.00943851 1.67334381] [ 0.00945947 0.99995281 -0.00221406 0.13324797] [ 0.00945905 0.00212458 0.99995301 -0.4256784 ] [ 0. 0. 0. 1. ]] SLAMing on 46.544553574 meters Centerline goodness [0,1] 0.8200984371828699 Centerline is valid? [False, False] Translation: X:1.68, Y:0.13, Z:-0.42 [[ 0.99987246 -0.01187884 -0.01067503 1.6776871 ] [ 0.01185693 0.99992747 -0.0021139 0.13230968] [ 0.01069936 0.00198706 0.99994079 -0.42409098] [ 0. 0. 0. 1. ]] SLAMing on 46.57455357399999 meters Centerline goodness [0,1] 0.8200984371828699 Centerline is valid? [False, False] Translation: X:1.68, Y:0.13, Z:-0.42 [[ 0.99987246 -0.01187884 -0.01067503 1.6776871 ] [ 0.01185693 0.99992747 -0.0021139 0.13230968] [ 0.01069936 0.00198706 0.99994079 -0.42409098] [ 0. 0. 0. 1. ]] SLAMing on 46.60455357399999 meters Centerline goodness [0,1] 0.8173992534470937 Centerline is valid? [False, False] Translation: X:1.68, Y:0.13, Z:-0.42 [[ 0.99985665 -0.01269271 -0.01120621 1.67928012] [ 0.0126729 0.99991801 -0.00183776 0.13157317] [ 0.01122862 0.00169548 0.99993552 -0.42307615] [ 0. 0. 0. 1. ]] SLAMing on 46.634553573999995 meters Centerline goodness [0,1] 0.8276710729962196 Centerline is valid? [False, False] Translation: X:1.68, Y:0.13, Z:-0.42 [[ 0.99982689 -0.0141183 -0.01211845 1.68237008] [ 0.01409208 0.99989818 -0.002247 0.13265828] [ 0.01214894 0.00207584 0.99992404 -0.42279086] [ 0. 0. 0. 1. ]] SLAMing on 46.664553573999996 meters Centerline goodness [0,1] 0.7824626111560227 Centerline is valid? [False, False] Translation: X:1.69, Y:0.13, Z:-0.42 [[ 9.99831620e-01 -1.22993666e-02 -1.36182404e-02 1.68762377e+00] [ 1.23208907e-02 9.99922973e-01 1.49776520e-03 1.32597912e-01] [ 1.35987699e-02 -1.66530186e-03 9.99906146e-01 -4.22574372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.694553574 meters Centerline goodness [0,1] 0.835041914958085 Centerline is valid? [False, False] Translation: X:1.69, Y:0.13, Z:-0.42 [[ 9.99824052e-01 -1.25633981e-02 -1.39293144e-02 1.68884832e+00] [ 1.25775321e-02 9.99920469e-01 9.27558615e-04 1.34604748e-01] [ 1.39165533e-02 -1.10259181e-03 9.99902552e-01 -4.23455368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.724553574 meters Centerline goodness [0,1] 0.828385993157577 Centerline is valid? [False, False] Translation: X:1.69, Y:0.14, Z:-0.42 [[ 9.99835940e-01 -1.17747856e-02 -1.37639613e-02 1.68749953e+00] [ 1.17837051e-02 9.99930409e-01 5.67110418e-04 1.38009274e-01] [ 1.37563258e-02 -7.29207839e-04 9.99905111e-01 -4.23176473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.75455357399999 meters Centerline goodness [0,1] 0.8123352000200899 Centerline is valid? [False, False] Translation: X:1.69, Y:0.14, Z:-0.42 [[ 0.9998609 -0.00832748 -0.01445107 1.68889689] [ 0.00839999 0.9999524 0.00496421 0.13799698] [ 0.01440904 -0.00508491 0.99988325 -0.42143447] [ 0. 0. 0. 1. ]] SLAMing on 46.78455357399999 meters Centerline goodness [0,1] 0.712060992375953 Centerline is valid? [False, False] Translation: X:1.69, Y:0.14, Z:-0.42 [[ 0.99988613 -0.00395927 -0.01456206 1.68861143] [ 0.00408073 0.99995706 0.00832071 0.14180474] [ 0.01452849 -0.00837919 0.99985935 -0.42124367] [ 0. 0. 0. 1. ]] SLAMing on 46.814553573999994 meters Centerline goodness [0,1] 0.8363201911589009 Centerline is valid? [False, False] Translation: X:1.69, Y:0.14, Z:-0.42 [[ 0.99989037 -0.00336393 -0.01441966 1.68807438] [ 0.00347226 0.99996589 0.00749406 0.14477893] [ 0.01439396 -0.00754331 0.99986795 -0.42255338] [ 0. 0. 0. 1. ]] SLAMing on 46.844553573999995 meters Centerline goodness [0,1] 0.8363528216312672 Centerline is valid? [False, False] Translation: X:1.69, Y:0.15, Z:-0.42 [[ 0.99989938 -0.00221683 -0.01401149 1.68624834] [ 0.00231018 0.99997522 0.00664949 0.14860762] [ 0.0139964 -0.00668119 0.99987972 -0.42357387] [ 0. 0. 0. 1. ]] SLAMing on 46.874553574 meters Centerline goodness [0,1] 0.8360355454342929 Centerline is valid? [False, False] Translation: X:1.69, Y:0.15, Z:-0.42 [[ 0.99990235 -0.00191194 -0.01384288 1.68550428] [ 0.00199998 0.99997785 0.00634872 0.1501229 ] [ 0.01383044 -0.00637578 0.99988403 -0.42357314] [ 0. 0. 0. 1. ]] SLAMing on 46.904553574 meters Centerline goodness [0,1] 0.8340522022034358 Centerline is valid? [False, False] Translation: X:1.69, Y:0.15, Z:-0.42 [[ 9.99904058e-01 -1.68445025e-03 -1.37490773e-02 1.68511651e+00] [ 1.76262502e-03 9.99982340e-01 5.67568294e-03 1.53031889e-01] [ 1.37392741e-02 -5.69937287e-03 9.99889369e-01 -4.24129198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.934553574 meters Centerline goodness [0,1] 0.8335180942527036 Centerline is valid? [False, False] Translation: X:1.69, Y:0.15, Z:-0.42 [[ 0.9998986 -0.00202805 -0.01409546 1.68637545] [ 0.00210442 0.99998317 0.00540599 0.15361702] [ 0.01408426 -0.00543511 0.99988604 -0.42462161] [ 0. 0. 0. 1. ]] SLAMing on 46.96455357399999 meters Centerline goodness [0,1] 0.831242451876864 Centerline is valid? [False, False] Translation: X:1.69, Y:0.15, Z:-0.43 [[ 0.99989109 -0.00258306 -0.01453053 1.68799154] [ 0.00265684 0.99998366 0.00506077 0.1538348 ] [ 0.01451722 -0.00509883 0.99988162 -0.42514518] [ 0. 0. 0. 1. ]] SLAMing on 46.994553573999994 meters Centerline goodness [0,1] 0.8251318968492678 Centerline is valid? [False, False] Translation: X:1.69, Y:0.15, Z:-0.43 [[ 0.999876 -0.0038026 -0.01528174 1.69093692] [ 0.00387302 0.99998201 0.00458112 0.15391075] [ 0.01526404 -0.00463974 0.99987273 -0.42589866] [ 0. 0. 0. 1. ]] SLAMing on 47.024553573999995 meters Centerline goodness [0,1] 0.8323764937784897 Centerline is valid? [False, False] Translation: X:1.69, Y:0.15, Z:-0.43 [[ 0.99986684 -0.00440004 -0.01571415 1.69246144] [ 0.00446914 0.99998049 0.00436465 0.15443596] [ 0.01569464 -0.00443429 0.999867 -0.42602721] [ 0. 0. 0. 1. ]] SLAMing on 47.054553573999996 meters Centerline goodness [0,1] 0.8288700356571991 Centerline is valid? [False, False] Translation: X:1.69, Y:0.16, Z:-0.42 [[ 0.9998506 -0.00553033 -0.01637665 1.69434081] [ 0.00560131 0.9999751 0.00429182 0.1551322 ] [ 0.01635251 -0.00438291 0.99985668 -0.4249089 ] [ 0. 0. 0. 1. ]] SLAMing on 47.084553574 meters Centerline goodness [0,1] 0.8268054907546104 Centerline is valid? [False, False] Translation: X:1.70, Y:0.16, Z:-0.42 [[ 0.99983949 -0.00614097 -0.01683076 1.69566929] [ 0.00621159 0.99997211 0.00414684 0.15581394] [ 0.01680483 -0.00425072 0.99984975 -0.42448028] [ 0. 0. 0. 1. ]] SLAMing on 47.114553574 meters Centerline goodness [0,1] 0.8229100191448628 Centerline is valid? [False, False] Translation: X:1.70, Y:0.16, Z:-0.42 [[ 0.99982619 -0.00683429 -0.01734621 1.69735729] [ 0.00690129 0.99996894 0.00380562 0.15671733] [ 0.01731966 -0.00392467 0.9998423 -0.42457723] [ 0. 0. 0. 1. ]] SLAMing on 47.14455357399999 meters Centerline goodness [0,1] 0.7703676470588235 Centerline is valid? [False, False] Translation: X:1.70, Y:0.16, Z:-0.42 [[ 0.99981358 -0.00741916 -0.01782558 1.69892457] [ 0.00748115 0.99996619 0.00341371 0.15785572] [ 0.01779965 -0.00354643 0.99983528 -0.42479447] [ 0. 0. 0. 1. ]] SLAMing on 47.174553573999994 meters Centerline goodness [0,1] 0.7541180507892931 Centerline is valid? [False, False] Translation: X:1.70, Y:0.16, Z:-0.42 [[ 0.99980694 -0.00775567 -0.01805373 1.69899026] [ 0.00781357 0.99996455 0.00313854 0.15995932] [ 0.01802875 -0.00327899 0.99983209 -0.42355274] [ 0. 0. 0. 1. ]] SLAMing on 47.204553573999995 meters Centerline goodness [0,1] 0.8209548424851263 Centerline is valid? [False, False] Translation: X:1.70, Y:0.16, Z:-0.42 [[ 0.99981784 -0.00715772 -0.01769316 1.69678158] [ 0.00721508 0.99996891 0.00318018 0.16274777] [ 0.01766985 -0.00330726 0.99983841 -0.42161878] [ 0. 0. 0. 1. ]] SLAMing on 47.234553573999996 meters Centerline goodness [0,1] 0.7878207768919476 Centerline is valid? [False, False] Translation: X:1.70, Y:0.16, Z:-0.42 [[ 0.99981558 -0.0071796 -0.01781189 1.69710763] [ 0.00722882 0.99997023 0.0027005 0.16476167] [ 0.01779198 -0.00282876 0.99983771 -0.42187949] [ 0. 0. 0. 1. ]] SLAMing on 47.264553574 meters Centerline goodness [0,1] 0.8195514217894686 Centerline is valid? [False, False] Translation: X:1.70, Y:0.17, Z:-0.42 [[ 0.99981685 -0.00700455 -0.01781006 1.69703729] [ 0.00704721 0.99997245 0.00233347 0.16680339] [ 0.01779322 -0.00245855 0.99983867 -0.42214414] [ 0. 0. 0. 1. ]] SLAMing on 47.294553574 meters Centerline goodness [0,1] 0.8122914416036491 Centerline is valid? [False, False] Translation: X:1.70, Y:0.17, Z:-0.42 [[ 0.99981122 -0.00433684 -0.01893991 1.70064422] [ 0.00443873 0.99997589 0.00534068 0.16961235] [ 0.01891629 -0.00542375 0.99980636 -0.42282076] [ 0. 0. 0. 1. ]] SLAMing on 47.32455357399999 meters Centerline goodness [0,1] 0.8113397369870889 Centerline is valid? [False, False] Translation: X:1.70, Y:0.17, Z:-0.42 [[ 0.99980838 -0.00427501 -0.01910284 1.70131186] [ 0.00436513 0.99997953 0.00467833 0.17176798] [ 0.01908244 -0.00476082 0.99980658 -0.42375104] [ 0. 0. 0. 1. ]] SLAMing on 47.35455357399999 meters Centerline goodness [0,1] 0.8176494393791511 Centerline is valid? [False, False] Translation: X:1.70, Y:0.17, Z:-0.42 [[ 0.99981986 -0.00280119 -0.0187725 1.69915257] [ 0.00288736 0.99998541 0.00456487 0.17475225] [ 0.01875943 -0.00461825 0.99981336 -0.4234891 ] [ 0. 0. 0. 1. ]] SLAMing on 47.384553573999995 meters Centerline goodness [0,1] 0.8144031162415087 Centerline is valid? [False, False] Translation: X:1.70, Y:0.18, Z:-0.42 [[ 0.9998273 -0.00208004 -0.01846756 1.69797174] [ 0.00216003 0.99998837 0.00431255 0.17674799] [ 0.01845837 -0.0043517 0.99982016 -0.4236939 ] [ 0. 0. 0. 1. ]] SLAMing on 47.414553573999996 meters Centerline goodness [0,1] 0.8178461538461539 Centerline is valid? [False, False] Translation: X:1.70, Y:0.18, Z:-0.42 [[ 9.99830891e-01 -1.46628735e-03 -1.83313856e-02 1.69733261e+00] [ 1.53867391e-03 9.99991073e-01 3.93529697e-03 1.79041872e-01] [ 1.83254517e-02 -3.96283750e-03 9.99824221e-01 -4.24211074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.444553574 meters Centerline goodness [0,1] 0.8173737183708023 Centerline is valid? [False, False] Translation: X:1.70, Y:0.18, Z:-0.42 [[ 9.99832357e-01 -1.03097805e-03 -1.82809811e-02 1.69715820e+00] [ 1.09742269e-03 9.99992828e-01 3.62497265e-03 1.80812786e-01] [ 1.82771127e-02 -3.64442692e-03 9.99826318e-01 -4.24866115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.474553574 meters Centerline goodness [0,1] 0.8210565825279159 Centerline is valid? [False, False] Translation: X:1.70, Y:0.18, Z:-0.43 [[ 9.99830534e-01 -9.58063405e-04 -1.83843992e-02 1.69786458e+00] [ 1.01414534e-03 9.99994861e-01 3.04143736e-03 1.82514590e-01] [ 1.83813908e-02 -3.05956640e-03 9.99826367e-01 -4.26202879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.50455357399999 meters Centerline goodness [0,1] 0.8183979858261843 Centerline is valid? [False, False] Translation: X:1.69, Y:0.19, Z:-0.43 [[ 0.99993727 -0.00447937 -0.01026573 1.69070535] [ 0.00453881 0.99997303 0.0057747 0.18631045] [ 0.01023958 -0.00582093 0.99993063 -0.43380306] [ 0. 0. 0. 1. ]] SLAMing on 47.53455357399999 meters Centerline goodness [0,1] 0.8187131779335398 Centerline is valid? [False, False] Translation: X:1.69, Y:0.19, Z:-0.43 [[ 0.99993174 -0.00488415 -0.010614 1.69205066] [ 0.00494083 0.99997364 0.00532116 0.18756315] [ 0.01058773 -0.00537324 0.99992951 -0.43451014] [ 0. 0. 0. 1. ]] SLAMing on 47.564553573999994 meters Centerline goodness [0,1] 0.8081608928156243 Centerline is valid? [False, False] Translation: X:1.69, Y:0.19, Z:-0.43 [[ 0.9999293 -0.00512791 -0.01072801 1.69216424] [ 0.00518592 0.99997204 0.0053871 0.18775381] [ 0.01070009 -0.00544236 0.99992794 -0.4337954 ] [ 0. 0. 0. 1. ]] SLAMing on 47.594553573999995 meters Centerline goodness [0,1] 0.818399516414024 Centerline is valid? [False, False] Translation: X:1.69, Y:0.19, Z:-0.43 [[ 0.99991113 -0.00869488 -0.01010584 1.68921581] [ 0.00871506 0.99996011 0.00195499 0.1878703 ] [ 0.01008844 -0.00204289 0.99994702 -0.43098263] [ 0. 0. 0. 1. ]] SLAMing on 47.624553574 meters Centerline goodness [0,1] 0.8167809806284179 Centerline is valid? [False, False] Translation: X:1.69, Y:0.19, Z:-0.43 [[ 0.9999019 -0.00936004 -0.01041973 1.68996981] [ 0.00937992 0.99995428 0.00186062 0.18840951] [ 0.01040183 -0.00195817 0.99994398 -0.43002415] [ 0. 0. 0. 1. ]] SLAMing on 47.654553574 meters Centerline goodness [0,1] 0.8235891986787092 Centerline is valid? [False, False] Translation: X:1.69, Y:0.19, Z:-0.43 [[ 9.99901165e-01 -9.31094805e-03 -1.05340615e-02 1.69036575e+00] [ 9.32833869e-03 9.99955205e-01 1.60296694e-03 1.89967821e-01] [ 1.05186645e-02 -1.70107380e-03 9.99943230e-01 -4.30443962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.684553574 meters Centerline goodness [0,1] 0.8264331576646031 Centerline is valid? [False, False] Translation: X:1.69, Y:0.19, Z:-0.43 [[ 9.99901644e-01 -9.22432945e-03 -1.05647097e-02 1.69069392e+00] [ 9.23685969e-03 9.99956692e-01 1.13786595e-03 1.91998157e-01] [ 1.05537562e-02 -1.23533878e-03 9.99943544e-01 -4.31218975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.71455357399999 meters Centerline goodness [0,1] 0.829536348025186 Centerline is valid? [False, False] Translation: X:1.69, Y:0.19, Z:-0.43 [[ 0.99991595 -0.00632478 -0.01131725 1.69318895] [ 0.00638235 0.99996684 0.00505773 0.19175236] [ 0.01128489 -0.00512953 0.99992317 -0.43094493] [ 0. 0. 0. 1. ]] SLAMing on 47.744553573999994 meters Centerline goodness [0,1] 0.8276977761574917 Centerline is valid? [False, False] Translation: X:1.69, Y:0.19, Z:-0.43 [[ 0.99992048 -0.00590964 -0.01114064 1.69235028] [ 0.00596243 0.99997113 0.00471149 0.19436905] [ 0.01111247 -0.00477754 0.99992684 -0.43093243] [ 0. 0. 0. 1. ]] SLAMing on 47.774553573999995 meters Centerline goodness [0,1] 0.8288454109573478 Centerline is valid? [False, False] Translation: X:1.69, Y:0.20, Z:-0.43 [[ 0.9999186 -0.00604574 -0.01123568 1.69282906] [ 0.00609497 0.99997195 0.0043532 0.19550235] [ 0.01120905 -0.00442132 0.9999274 -0.43142119] [ 0. 0. 0. 1. ]] SLAMing on 47.804553573999996 meters Centerline goodness [0,1] 0.8329746505674739 Centerline is valid? [False, False] Translation: X:1.70, Y:0.20, Z:-0.43 [[ 0.99990266 -0.00722506 -0.01193643 1.69508914] [ 0.00727028 0.99996654 0.00374968 0.19694371] [ 0.01190893 -0.0038361 0.99992173 -0.43129726] [ 0. 0. 0. 1. ]] SLAMing on 47.834553574 meters Centerline goodness [0,1] 0.8346090451353609 Centerline is valid? [False, False] Translation: X:1.70, Y:0.20, Z:-0.43 [[ 0.99989311 -0.00780286 -0.0123646 1.69626564] [ 0.00784883 0.99996245 0.00367372 0.19715428] [ 0.01233547 -0.00377037 0.99991681 -0.43086581] [ 0. 0. 0. 1. ]] SLAMing on 47.864553574 meters Centerline goodness [0,1] 0.8353478740405609 Centerline is valid? [False, False] Translation: X:1.70, Y:0.20, Z:-0.43 [[ 0.9998855 -0.00827111 -0.01267155 1.69720549] [ 0.00831588 0.99995935 0.00348466 0.19784956] [ 0.01264222 -0.00358964 0.99991364 -0.43064721] [ 0. 0. 0. 1. ]] SLAMing on 47.89455357399999 meters Centerline goodness [0,1] 0.7818457829173551 Centerline is valid? [False, False] Translation: X:1.70, Y:0.20, Z:-0.43 [[ 0.99988146 -0.00837783 -0.01291777 1.69742473] [ 0.008417 0.99996013 0.00298058 0.20090588] [ 0.01289229 -0.00308896 0.99991212 -0.43020278] [ 0. 0. 0. 1. ]] SLAMing on 47.924553573999994 meters Centerline goodness [0,1] 0.817583199857626 Centerline is valid? [False, False] Translation: X:1.70, Y:0.20, Z:-0.43 [[ 0.99988109 -0.0082334 -0.01303872 1.69763126] [ 0.00826986 0.99996204 0.00274517 0.20241808] [ 0.01301562 -0.00285267 0.99991122 -0.43034375] [ 0. 0. 0. 1. ]] SLAMing on 47.954553573999995 meters Centerline goodness [0,1] 0.8306494543518765 Centerline is valid? [False, False] Translation: X:1.70, Y:0.20, Z:-0.43 [[ 0.99988359 -0.00795366 -0.01302086 1.69750001] [ 0.00798745 0.99996486 0.00254535 0.20387524] [ 0.01300016 -0.00264906 0.99991199 -0.43055067] [ 0. 0. 0. 1. ]] SLAMing on 47.984553573999996 meters Centerline goodness [0,1] 0.8376339817387852 Centerline is valid? [False, False] Translation: X:1.70, Y:0.21, Z:-0.43 [[ 0.99990018 -0.00417548 -0.01349801 1.69877144] [ 0.00425923 0.99997182 0.0061816 0.20579937] [ 0.01347182 -0.00623847 0.99988979 -0.43075583] [ 0. 0. 0. 1. ]] SLAMing on 48.014553574 meters Centerline goodness [0,1] 0.8460980435260497 Centerline is valid? [False, False] Translation: X:1.70, Y:0.21, Z:-0.43 [[ 0.99990218 -0.00386798 -0.0134416 1.69882604] [ 0.00394491 0.99997597 0.00570135 0.20729436] [ 0.01341922 -0.00575382 0.9998934 -0.43176139] [ 0. 0. 0. 1. ]] SLAMing on 48.044553574 meters Centerline goodness [0,1] 0.8467100347237484 Centerline is valid? [False, False] Translation: X:1.70, Y:0.21, Z:-0.43 [[ 0.99990755 -0.00311271 -0.01323631 1.69794572] [ 0.00318415 0.99998046 0.00537914 0.20926903] [ 0.01321931 -0.00542079 0.99989793 -0.4321769 ] [ 0. 0. 0. 1. ]] SLAMing on 48.07455357399999 meters Centerline goodness [0,1] 0.851459701689256 Centerline is valid? [False, False] Translation: X:1.70, Y:0.21, Z:-0.43 [[ 0.99990805 -0.00294705 -0.01323683 1.69784058] [ 0.00301632 0.99998185 0.00521568 0.21009726] [ 0.01322122 -0.00525513 0.99989879 -0.43228554] [ 0. 0. 0. 1. ]] SLAMing on 48.10455357399999 meters Centerline goodness [0,1] 0.8556877928591856 Centerline is valid? [False, False] Translation: X:1.70, Y:0.21, Z:-0.43 [[ 0.9999098 -0.0027277 -0.01315091 1.697134 ] [ 0.0027962 0.99998261 0.00519303 0.21071075] [ 0.01313652 -0.00522934 0.99990004 -0.43154634] [ 0. 0. 0. 1. ]] SLAMing on 48.134553573999995 meters Centerline goodness [0,1] 0.8442061692243334 Centerline is valid? [False, False] Translation: X:1.70, Y:0.21, Z:-0.43 [[ 0.99990977 -0.00270671 -0.01315738 1.69698632] [ 0.00277595 0.99998238 0.0052473 0.21054762] [ 0.01314295 -0.00528335 0.99989967 -0.43117299] [ 0. 0. 0. 1. ]] SLAMing on 48.164553573999996 meters Centerline goodness [0,1] 0.8525727118606751 Centerline is valid? [False, False] Translation: X:1.70, Y:0.21, Z:-0.43 [[ 0.99991114 -0.00254955 -0.01308494 1.69680812] [ 0.00261612 0.99998371 0.00507321 0.21121544] [ 0.01307179 -0.00510699 0.99990152 -0.43136874] [ 0. 0. 0. 1. ]] SLAMing on 48.194553574 meters Centerline goodness [0,1] 0.8525738118757547 Centerline is valid? [False, False] Translation: X:1.70, Y:0.21, Z:-0.43 [[ 0.99991166 -0.00220059 -0.01310803 1.69714129] [ 0.00225596 0.99998859 0.00421038 0.21457668] [ 0.01309861 -0.00423958 0.99990522 -0.43299771] [ 0. 0. 0. 1. ]] SLAMing on 48.224553574 meters Centerline goodness [0,1] 0.854797647265385 Centerline is valid? [False, False] Translation: X:1.70, Y:0.22, Z:-0.43 [[ 0.99991015 -0.00224054 -0.0132164 1.69782823] [ 0.00229005 0.99999041 0.00373211 0.21577332] [ 0.01320791 -0.00376204 0.99990569 -0.4340636 ] [ 0. 0. 0. 1. ]] SLAMing on 48.25455357399999 meters Centerline goodness [0,1] 0.8577595652364465 Centerline is valid? [False, False] Translation: X:1.70, Y:0.22, Z:-0.43 [[ 0.99990926 -0.00225418 -0.01328147 1.69803623] [ 0.00230283 0.99999069 0.00364868 0.2159759 ] [ 0.01327312 -0.00367893 0.99990514 -0.43416265] [ 0. 0. 0. 1. ]] SLAMing on 48.28455357399999 meters Centerline goodness [0,1] 0.8608771737941594 Centerline is valid? [False, False] Translation: X:1.70, Y:0.22, Z:-0.43 [[ 0.99991162 -0.00214358 -0.01312058 1.69694206] [ 0.00219815 0.99998899 0.00414606 0.21547575] [ 0.01311155 -0.00417454 0.99990533 -0.43243051] [ 0. 0. 0. 1. ]] SLAMing on 48.314553573999994 meters Centerline goodness [0,1] 0.8619765567127108 Centerline is valid? [False, False] Translation: X:1.70, Y:0.22, Z:-0.43 [[ 0.99990724 -0.00252811 -0.01338368 1.69753315] [ 0.00258088 0.99998896 0.00392707 0.21607812] [ 0.01337361 -0.00396125 0.99990272 -0.43208011] [ 0. 0. 0. 1. ]] SLAMing on 48.344553573999995 meters Centerline goodness [0,1] 0.8625456442357851 Centerline is valid? [False, False] Translation: X:1.70, Y:0.22, Z:-0.43 [[ 0.99990085 -0.00294128 -0.01377065 1.69885297] [ 0.00299123 0.99998902 0.00360803 0.21686252] [ 0.01375989 -0.00364886 0.99989867 -0.43253617] [ 0. 0. 0. 1. ]] SLAMing on 48.374553574 meters Centerline goodness [0,1] 0.8650354656081213 Centerline is valid? [False, False] Translation: X:1.70, Y:0.22, Z:-0.43 [[ 0.99989307 -0.00348043 -0.01420342 1.70049807] [ 0.00352592 0.99998873 0.00317846 0.21766601] [ 0.0141922 -0.0032282 0.99989407 -0.43326303] [ 0. 0. 0. 1. ]] SLAMing on 48.404553574 meters Centerline goodness [0,1] 0.8674367793713631 Centerline is valid? [False, False] Translation: X:1.70, Y:0.22, Z:-0.43 [[ 0.99988326 -0.00416122 -0.01470222 1.70188427] [ 0.00420148 0.99998751 0.00270858 0.21881338] [ 0.01469077 -0.00277003 0.99988825 -0.43331561] [ 0. 0. 0. 1. ]] SLAMing on 48.434553574 meters Centerline goodness [0,1] 0.8632268101380696 Centerline is valid? [False, False] Translation: X:1.70, Y:0.22, Z:-0.43 [[ 0.99987707 -0.00451932 -0.01501373 1.70287745] [ 0.00455617 0.99998669 0.00242116 0.21942615] [ 0.01500259 -0.00248927 0.99988436 -0.43354732] [ 0. 0. 0. 1. ]] SLAMing on 48.46455357399999 meters Centerline goodness [0,1] 0.8632268101380696 Centerline is valid? [False, False] Translation: X:1.70, Y:0.22, Z:-0.43 [[ 0.99987707 -0.00451932 -0.01501373 1.70287745] [ 0.00455617 0.99998669 0.00242116 0.21942615] [ 0.01500259 -0.00248927 0.99988436 -0.43354732] [ 0. 0. 0. 1. ]] SLAMing on 48.494553573999994 meters Centerline goodness [0,1] 0.8614942900934741 Centerline is valid? [False, False] Translation: X:1.70, Y:0.22, Z:-0.43 [[ 0.99986102 -0.00558062 -0.01570978 1.70492107] [ 0.00561063 0.99998252 0.00186657 0.22034816] [ 0.01569909 -0.00195445 0.99987485 -0.43343085] [ 0. 0. 0. 1. ]] SLAMing on 48.524553573999995 meters Centerline goodness [0,1] 0.8725878704341833 Centerline is valid? [False, False] Translation: X:1.71, Y:0.22, Z:-0.43 [[ 9.99850573e-01 -6.20775785e-03 -1.61336756e-02 1.70623521e+00] [ 6.23476494e-03 9.99979245e-01 1.62419885e-03 2.20760258e-01] [ 1.61232581e-02 -1.72454582e-03 9.99868525e-01 -4.33350869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.554553573999996 meters Centerline goodness [0,1] 0.8751770006436387 Centerline is valid? [False, False] Translation: X:1.71, Y:0.22, Z:-0.43 [[ 9.99838172e-01 -6.86306169e-03 -1.66291338e-02 1.70775582e+00] [ 6.88474138e-03 9.99975523e-01 1.24681978e-03 2.21529502e-01] [ 1.66201698e-02 -1.36110530e-03 9.99860949e-01 -4.33531771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.584553574 meters Centerline goodness [0,1] 0.8685655676403342 Centerline is valid? [False, False] Translation: X:1.70, Y:0.23, Z:-0.44 [[ 0.99989087 -0.01171455 -0.0090011 1.70031312] [ 0.01174432 0.99992571 0.00326188 0.22520204] [ 0.00896221 -0.00336724 0.99995417 -0.43803007] [ 0. 0. 0. 1. ]] SLAMing on 48.614553574 meters Centerline goodness [0,1] 0.8612227538543328 Centerline is valid? [False, False] Translation: X:1.70, Y:0.23, Z:-0.44 [[ 0.9998819 -0.01221105 -0.00933133 1.70146024] [ 0.01223708 0.99992138 0.00273734 0.22707212] [ 0.00929717 -0.0028512 0.99995272 -0.43828691] [ 0. 0. 0. 1. ]] SLAMing on 48.64455357399999 meters Centerline goodness [0,1] 0.8708021299616013 Centerline is valid? [False, False] Translation: X:1.70, Y:0.23, Z:-0.44 [[ 0.99987148 -0.01274306 -0.00972816 1.70218349] [ 0.01276531 0.99991604 0.00222782 0.22912043] [ 0.00969896 -0.00235171 0.9999502 -0.43765209] [ 0. 0. 0. 1. ]] SLAMing on 48.674553573999994 meters Centerline goodness [0,1] 0.8609236497493071 Centerline is valid? [False, False] Translation: X:1.70, Y:0.23, Z:-0.44 [[ 0.99986953 -0.01279145 -0.00986434 1.70235934] [ 0.01281344 0.99991555 0.00216948 0.22994133] [ 0.00983576 -0.00229559 0.99994899 -0.43718987] [ 0. 0. 0. 1. ]] SLAMing on 48.704553573999995 meters Centerline goodness [0,1] 0.8326471147146386 Centerline is valid? [False, False] Translation: X:1.70, Y:0.23, Z:-0.44 [[ 0.9998708 -0.01264958 -0.00991799 1.70229241] [ 0.01267075 0.99991757 0.00207444 0.23102234] [ 0.00989093 -0.00219984 0.99994866 -0.43688697] [ 0. 0. 0. 1. ]] SLAMing on 48.734553573999996 meters Centerline goodness [0,1] 0.8784264226359525 Centerline is valid? [False, False] Translation: X:1.70, Y:0.23, Z:-0.44 [[ 0.99992096 -0.00791039 -0.00977278 1.70087724] [ 0.00796966 0.99995 0.00604064 0.23381004] [ 0.0097245 -0.00611805 0.999934 -0.43566728] [ 0. 0. 0. 1. ]] SLAMing on 48.764553574 meters Centerline goodness [0,1] 0.8751414086395441 Centerline is valid? [False, False] Translation: X:1.70, Y:0.24, Z:-0.44 [[ 0.99993354 -0.00661974 -0.00943869 1.69931225] [ 0.00667595 0.9999601 0.00593616 0.23695102] [ 0.00939902 -0.00599878 0.99993783 -0.43568503] [ 0. 0. 0. 1. ]] SLAMing on 48.794553574 meters Centerline goodness [0,1] 0.8711897533995925 Centerline is valid? [False, False] Translation: X:1.70, Y:0.24, Z:-0.44 [[ 9.99955442e-01 -1.24729193e-03 -9.35724017e-03 1.69836746e+00] [ 1.33363193e-03 9.99956545e-01 9.22652090e-03 2.41977694e-01] [ 9.34532539e-03 -9.23858890e-03 9.99913653e-01 -4.36424044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.82455357399999 meters Centerline goodness [0,1] 0.8857900076609313 Centerline is valid? [False, False] Translation: X:1.70, Y:0.24, Z:-0.44 [[ 9.99958348e-01 -1.63068799e-04 -9.12555834e-03 1.69729993e+00] [ 2.44641102e-04 9.99960021e-01 8.93848133e-03 2.44987996e-01] [ 9.12373593e-03 -8.94034152e-03 9.99918411e-01 -4.36758052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.85455357399999 meters Centerline goodness [0,1] 0.8787120522789312 Centerline is valid? [False, False] Translation: X:1.70, Y:0.25, Z:-0.44 [[ 9.99959784e-01 4.81432977e-04 -8.95534369e-03 1.69666971e+00] [-4.04403972e-04 9.99962927e-01 8.60128022e-03 2.46991275e-01] [ 8.95915263e-03 -8.59731273e-03 9.99922907e-01 -4.36975300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.884553573999995 meters Centerline goodness [0,1] 0.8753280026446828 Centerline is valid? [False, False] Translation: X:1.70, Y:0.25, Z:-0.44 [[ 9.99960217e-01 1.36987427e-03 -8.81407880e-03 1.69588192e+00] [-1.29728491e-03 9.99965242e-01 8.23606782e-03 2.49027457e-01] [ 8.82505481e-03 -8.22430580e-03 9.99927237e-01 -4.37378518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.914553573999996 meters Centerline goodness [0,1] 0.8853668590272052 Centerline is valid? [False, False] Translation: X:1.70, Y:0.25, Z:-0.44 [[ 9.99958125e-01 1.07754354e-03 -9.08773327e-03 1.69739635e+00] [-1.01065648e-03 9.99972393e-01 7.36153172e-03 2.50854443e-01] [ 9.09541476e-03 -7.35203888e-03 9.99931608e-01 -4.38994465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.944553574 meters Centerline goodness [0,1] 0.880821693360095 Centerline is valid? [False, False] Translation: X:1.70, Y:0.25, Z:-0.44 [[ 9.99954973e-01 7.50017162e-04 -9.45985787e-03 1.69892504e+00] [-6.89661179e-04 9.99979398e-01 6.38187013e-03 2.53634430e-01] [ 9.46444949e-03 -6.37505867e-03 9.99934889e-01 -4.40528308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.974553574 meters Centerline goodness [0,1] 0.8846987163764206 Centerline is valid? [False, False] Translation: X:1.70, Y:0.25, Z:-0.44 [[ 9.99953260e-01 4.75670499e-04 -9.65664798e-03 1.69981724e+00] [-4.18448498e-04 9.99982349e-01 5.92681466e-03 2.54542463e-01] [ 9.65929674e-03 -5.92249683e-03 9.99935809e-01 -4.41166885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.00455357399999 meters Centerline goodness [0,1] 0.8839486487591479 Centerline is valid? [False, False] Translation: X:1.70, Y:0.26, Z:-0.44 [[ 9.99953313e-01 4.86406541e-04 -9.65061876e-03 1.69981228e+00] [-4.31247527e-04 9.99983566e-01 5.71685144e-03 2.55303665e-01] [ 9.65324087e-03 -5.71242274e-03 9.99937090e-01 -4.41154372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.03455357399999 meters Centerline goodness [0,1] 0.8848239314140732 Centerline is valid? [False, False] Translation: X:1.70, Y:0.26, Z:-0.44 [[ 9.99954759e-01 1.13223421e-03 -9.44446368e-03 1.69857039e+00] [-1.07527574e-03 9.99981218e-01 6.03378363e-03 2.55389957e-01] [ 9.45111796e-03 -6.02335526e-03 9.99937196e-01 -4.40155861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.064553573999994 meters Centerline goodness [0,1] 0.890679977088618 Centerline is valid? [False, False] Translation: X:1.70, Y:0.26, Z:-0.44 [[ 9.99955328e-01 1.49036921e-03 -9.33380932e-03 1.69805728e+00] [-1.43321363e-03 9.99980201e-01 6.12719807e-03 2.55614747e-01] [ 9.34275632e-03 -6.11354701e-03 9.99937667e-01 -4.39781922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.094553573999995 meters Centerline goodness [0,1] 0.8857727737973388 Centerline is valid? [False, False] Translation: X:1.70, Y:0.26, Z:-0.44 [[ 0.99995734 0.00322372 -0.00865595 1.69518652] [-0.00316469 0.99997171 0.00682389 0.25687266] [ 0.0086777 -0.00679621 0.99993925 -0.4386982 ] [ 0. 0. 0. 1. ]] SLAMing on 49.124553574 meters Centerline goodness [0,1] 0.8905766986713616 Centerline is valid? [False, False] Translation: X:1.69, Y:0.26, Z:-0.44 [[ 0.99995633 0.00377654 -0.00854844 1.69484074] [-0.00371788 0.9999695 0.00686797 0.25756737] [ 0.00857412 -0.00683588 0.99993988 -0.43890024] [ 0. 0. 0. 1. ]] SLAMing on 49.154553574 meters Centerline goodness [0,1] 0.8903871337371092 Centerline is valid? [False, False] Translation: X:1.69, Y:0.26, Z:-0.44 [[ 0.99995559 0.00422287 -0.00842515 1.69466327] [-0.00416514 0.9999678 0.00685871 0.2580497 ] [ 0.00845384 -0.00682331 0.99994099 -0.43934338] [ 0. 0. 0. 1. ]] SLAMing on 49.184553574 meters Centerline goodness [0,1] 0.8834228765943485 Centerline is valid? [False, False] Translation: X:1.69, Y:0.26, Z:-0.44 [[ 0.99995146 0.00595903 -0.00784702 1.69266607] [-0.00590038 0.99995464 0.00747689 0.25818966] [ 0.00789122 -0.00743022 0.99994126 -0.43957259] [ 0. 0. 0. 1. ]] SLAMing on 49.21455357399999 meters Centerline goodness [0,1] 0.8845229042931421 Centerline is valid? [False, False] Translation: X:1.69, Y:0.26, Z:-0.44 [[ 0.99994954 0.00653509 -0.00763018 1.69194484] [-0.00647579 0.99994884 0.00777104 0.25800697] [ 0.00768057 -0.00772123 0.99994069 -0.439429 ] [ 0. 0. 0. 1. ]] SLAMing on 49.244553573999994 meters Centerline goodness [0,1] 0.884220066324744 Centerline is valid? [False, False] Translation: X:1.69, Y:0.26, Z:-0.44 [[ 0.999941 0.00816972 -0.00715939 1.69012166] [-0.00810699 0.99992888 0.00874735 0.25715706] [ 0.00723034 -0.0086888 0.99993611 -0.43910164] [ 0. 0. 0. 1. ]] SLAMing on 49.274553573999995 meters Centerline goodness [0,1] 0.8835888113043837 Centerline is valid? [False, False] Translation: X:1.69, Y:0.26, Z:-0.44 [[ 0.99993894 0.00853141 -0.00702316 1.68966043] [-0.00846739 0.99992279 0.00909511 0.25625242] [ 0.00710021 -0.00903508 0.99993397 -0.43892889] [ 0. 0. 0. 1. ]] SLAMing on 49.304553573999996 meters Centerline goodness [0,1] 0.8815139309886642 Centerline is valid? [False, False] Translation: X:1.69, Y:0.26, Z:-0.44 [[ 0.99996029 0.00617362 -0.00642633 1.68746102] [-0.00613549 0.99996356 0.00593592 0.25565525] [ 0.00646275 -0.00589625 0.99996173 -0.43864931] [ 0. 0. 0. 1. ]] SLAMing on 49.334553574 meters Centerline goodness [0,1] 0.8808870646870354 Centerline is valid? [False, False] Translation: X:1.68, Y:0.25, Z:-0.44 [[ 0.99997706 0.00451642 -0.00504763 1.68337136] [-0.00449669 0.99998223 0.00391473 0.2512806 ] [ 0.00506522 -0.00389194 0.9999796 -0.43783574] [ 0. 0. 0. 1. ]] SLAMing on 49.364553574 meters Centerline goodness [0,1] 0.8797964718992451 Centerline is valid? [False, False] Translation: X:1.68, Y:0.25, Z:-0.44 [[ 0.99997666 0.00433561 -0.00528032 1.68447202] [-0.00431311 0.9999816 0.00426582 0.24913533] [ 0.00529871 -0.00424295 0.99997696 -0.4383671 ] [ 0. 0. 0. 1. ]] SLAMing on 49.39455357399999 meters Centerline goodness [0,1] 0.875187906248015 Centerline is valid? [False, False] Translation: X:1.69, Y:0.24, Z:-0.44 [[ 0.9999761 0.00439741 -0.0053358 1.68575033] [-0.00436999 0.99997724 0.00514018 0.24462323] [ 0.00535828 -0.00511674 0.99997255 -0.43974526] [ 0. 0. 0. 1. ]] SLAMing on 49.424553573999994 meters Centerline goodness [0,1] 0.8751806511944232 Centerline is valid? [False, False] Translation: X:1.69, Y:0.24, Z:-0.44 [[ 0.99997566 0.00441113 -0.00540619 1.68633207] [-0.00438071 0.99997458 0.00562503 0.24226943] [ 0.00543086 -0.00560121 0.99996957 -0.44008716] [ 0. 0. 0. 1. ]] SLAMing on 49.454553573999995 meters Centerline goodness [0,1] 0.873856 Centerline is valid? [False, False] Translation: X:1.68, Y:0.24, Z:-0.44 [[ 0.99998625 0.00230502 -0.00470943 1.68462012] [-0.00229249 0.99999383 0.0026631 0.24105781] [ 0.00471554 -0.00265227 0.99998536 -0.44080828] [ 0. 0. 0. 1. ]] SLAMing on 49.484553573999996 meters Centerline goodness [0,1] 0.8688506958635376 Centerline is valid? [False, False] Translation: X:1.68, Y:0.24, Z:-0.44 [[ 0.99998597 0.00331494 -0.00413058 1.68285354] [-0.00329692 0.99998506 0.00436095 0.2359586 ] [ 0.00414498 -0.00434727 0.99998196 -0.43975853] [ 0. 0. 0. 1. ]] SLAMing on 49.514553574 meters Centerline goodness [0,1] 0.8701551224992439 Centerline is valid? [False, False] Translation: X:1.68, Y:0.23, Z:-0.44 [[ 0.99998553 0.00372211 -0.00388523 1.68220137] [-0.00370237 0.99998026 0.00507592 0.2335223 ] [ 0.00390404 -0.00506146 0.99997957 -0.43938196] [ 0. 0. 0. 1. ]] SLAMing on 49.544553574 meters Centerline goodness [0,1] 0.8682899231890681 Centerline is valid? [False, False] Translation: X:1.68, Y:0.23, Z:-0.44 [[ 0.99998297 0.00484844 -0.00324903 1.68030458] [-0.00482695 0.99996666 0.00658704 0.22948739] [ 0.00328085 -0.00657124 0.99997303 -0.43851225] [ 0. 0. 0. 1. ]] SLAMing on 49.57455357399999 meters Centerline goodness [0,1] 0.8646513150714832 Centerline is valid? [False, False] Translation: X:1.68, Y:0.23, Z:-0.44 [[ 0.99998289 0.00472741 -0.00344663 1.6815222 ] [-0.00470386 0.99996575 0.00680985 0.22754025] [ 0.00347871 -0.00679352 0.99997087 -0.43941006] [ 0. 0. 0. 1. ]] SLAMing on 49.60455357399999 meters Centerline goodness [0,1] 0.8669009444322424 Centerline is valid? [False, False] Translation: X:1.68, Y:0.23, Z:-0.44 [[ 0.99999421 0.00203359 -0.00272759 1.68011165] [-0.00202487 0.99999284 0.00319617 0.22622074] [ 0.00273407 -0.00319063 0.99999117 -0.440847 ] [ 0. 0. 0. 1. ]] SLAMing on 49.634553573999995 meters Centerline goodness [0,1] 0.8608610393083163 Centerline is valid? [False, False] Translation: X:1.68, Y:0.22, Z:-0.44 [[ 9.99994592e-01 -1.87431719e-03 -2.70256202e-03 1.68249390e+00] [ 1.87564185e-03 9.99998122e-01 4.87697423e-04 2.19475361e-01] [ 2.70164284e-03 -4.92763824e-04 9.99996229e-01 -4.43325233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.664553573999996 meters Centerline goodness [0,1] 0.8599464362073234 Centerline is valid? [False, False] Translation: X:1.69, Y:0.21, Z:-0.45 [[ 9.99983884e-01 -4.79385735e-03 -3.04158071e-03 1.68582705e+00] [ 4.79044986e-03 9.99987891e-01 -1.12659984e-03 2.14876532e-01] [ 3.04694463e-03 1.11201115e-03 9.99994740e-01 -4.45348702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.694553574 meters Centerline goodness [0,1] 0.8550900395853831 Centerline is valid? [False, False] Translation: X:1.69, Y:0.21, Z:-0.45 [[ 0.99992123 -0.01217648 -0.00304448 1.68914259] [ 0.01215628 0.99990453 -0.006569 0.20677478] [ 0.00312418 0.00653147 0.99997379 -0.44811348] [ 0. 0. 0. 1. ]] SLAMing on 49.724553574 meters Centerline goodness [0,1] 0.8547874545203334 Centerline is valid? [False, False] Translation: X:1.69, Y:0.20, Z:-0.45 [[ 0.99989967 -0.01362612 -0.00387012 1.69251296] [ 0.01360356 0.99989067 -0.0057959 0.20224155] [ 0.00394867 0.00574267 0.99997571 -0.44799087] [ 0. 0. 0. 1. ]] SLAMing on 49.75455357399999 meters Centerline goodness [0,1] 0.8521347479859773 Centerline is valid? [False, False] Translation: X:1.70, Y:0.20, Z:-0.45 [[ 0.99988039 -0.01478819 -0.00452968 1.69521933] [ 0.01476588 0.99987888 -0.0049194 0.19777269] [ 0.00460188 0.00485193 0.99997764 -0.44760681] [ 0. 0. 0. 1. ]] SLAMing on 49.78455357399999 meters Centerline goodness [0,1] 0.8523811762493536 Centerline is valid? [False, False] Translation: X:1.70, Y:0.19, Z:-0.45 [[ 0.99980714 -0.01909442 -0.00459303 1.69616964] [ 0.0190634 0.99979579 -0.00670543 0.18992235] [ 0.00472013 0.00661657 0.99996697 -0.44622246] [ 0. 0. 0. 1. ]] SLAMing on 49.814553573999994 meters Centerline goodness [0,1] 0.8505325443786982 Centerline is valid? [False, False] Translation: X:1.70, Y:0.19, Z:-0.45 [[ 0.99979214 -0.01974008 -0.00509909 1.69791159] [ 0.01971137 0.99978991 -0.00562142 0.1856718 ] [ 0.00520899 0.00551974 0.9999712 -0.44542886] [ 0. 0. 0. 1. ]] SLAMing on 49.844553573999995 meters Centerline goodness [0,1] 0.8546975854649773 Centerline is valid? [False, False] Translation: X:1.70, Y:0.18, Z:-0.44 [[ 0.99975907 -0.02124195 -0.00553072 1.70050489] [ 0.02121935 0.99976638 -0.00411344 0.17778797] [ 0.0056168 0.00399509 0.99997625 -0.44437432] [ 0. 0. 0. 1. ]] SLAMing on 49.874553574 meters Centerline goodness [0,1] 0.852747622249976 Centerline is valid? [False, False] Translation: X:1.70, Y:0.17, Z:-0.44 [[ 0.999745 -0.0217927 -0.00591751 1.70200632] [ 0.02177462 0.99975809 -0.00310218 0.17397779] [ 0.00598369 0.00297254 0.99997768 -0.44370514] [ 0. 0. 0. 1. ]] SLAMing on 49.904553574 meters Centerline goodness [0,1] 0.8487616924344497 Centerline is valid? [False, False] Translation: X:1.71, Y:0.17, Z:-0.44 [[ 0.99971208 -0.02309617 -0.00650581 1.70506005] [ 0.02308443 0.99973176 -0.00187327 0.16768484] [ 0.00654733 0.00172255 0.99997708 -0.44357226] [ 0. 0. 0. 1. ]] SLAMing on 49.934553574 meters Centerline goodness [0,1] 0.8488601250577845 Centerline is valid? [False, False] Translation: X:1.71, Y:0.16, Z:-0.44 [[ 9.99693352e-01 -2.37524397e-02 -7.00168144e-03 1.70704534e+00] [ 2.37449065e-02 9.99717380e-01 -1.15709017e-03 1.64643485e-01] [ 7.02718634e-03 9.90481082e-04 9.99974818e-01 -4.43431276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.96455357399999 meters Centerline goodness [0,1] 0.8490755479368189 Centerline is valid? [False, False] Translation: X:1.71, Y:0.16, Z:-0.44 [[ 9.99653382e-01 -2.51867826e-02 -7.66431794e-03 1.71016504e+00] [ 2.51892261e-02 9.99682676e-01 2.22427917e-04 1.57743970e-01] [ 7.65628363e-03 -4.15409057e-04 9.99970604e-01 -4.42510604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.994553573999994 meters Centerline goodness [0,1] 0.8501675206937327 Centerline is valid? [False, False] Translation: X:1.71, Y:0.15, Z:-0.44 [[ 9.99635979e-01 -2.57250083e-02 -8.13227981e-03 1.71181461e+00] [ 2.57347697e-02 9.99668203e-01 1.09795257e-03 1.54385422e-01] [ 8.10133671e-03 -1.30683524e-03 9.99966330e-01 -4.41917934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.024553573999995 meters Centerline goodness [0,1] 0.8474496727182907 Centerline is valid? [False, False] Translation: X:1.71, Y:0.15, Z:-0.44 [[ 9.99611158e-01 -2.64797136e-02 -8.73823906e-03 1.71424947e+00] [ 2.64945400e-02 9.99647701e-01 1.58532627e-03 1.51710705e-01] [ 8.69318160e-03 -1.81622546e-03 9.99960564e-01 -4.42069712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.054553573999996 meters Centerline goodness [0,1] 0.8501327905880016 Centerline is valid? [False, False] Translation: X:1.72, Y:0.15, Z:-0.44 [[ 0.99957767 -0.02749287 -0.0094136 1.71725322] [ 0.02751383 0.99961921 0.00210455 0.14811637] [ 0.00935216 -0.00236267 0.99995348 -0.44265119] [ 0. 0. 0. 1. ]] SLAMing on 50.084553574 meters Centerline goodness [0,1] 0.8538948937756243 Centerline is valid? [False, False] Translation: X:1.72, Y:0.15, Z:-0.44 [[ 0.99955685 -0.02808254 -0.00987313 1.71939291] [ 0.02810429 0.99960285 0.00207147 0.14737959] [ 0.00981103 -0.00234803 0.99994911 -0.44345577] [ 0. 0. 0. 1. ]] SLAMing on 50.114553574 meters Centerline goodness [0,1] 0.8538380914354162 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:-0.44 [[ 0.99954252 -0.02845963 -0.01023705 1.72086163] [ 0.02848663 0.99959104 0.00250143 0.14494677] [ 0.01016168 -0.0027919 0.99994447 -0.44372499] [ 0. 0. 0. 1. ]] SLAMing on 50.14455357399999 meters Centerline goodness [0,1] 0.8478021703255488 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:-0.44 [[ 0.99953183 -0.02873069 -0.01051953 1.72186249] [ 0.02876282 0.99958201 0.00291658 0.14365054] [ 0.01043134 -0.00321779 0.99994041 -0.44332118] [ 0. 0. 0. 1. ]] SLAMing on 50.174553573999994 meters Centerline goodness [0,1] 0.8490698314930268 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:-0.44 [[ 9.99479201e-01 -2.55542960e-02 -1.97054392e-02 1.73295085e+00] [ 2.55911487e-02 9.99671180e-01 1.62024882e-03 1.40850561e-01] [ 1.96575554e-02 -2.12368982e-03 9.99804516e-01 -4.36522721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.204553573999995 meters Centerline goodness [0,1] 0.8549725488229838 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:-0.44 [[ 0.99949463 -0.02514662 -0.01944581 1.73175216] [ 0.0251937 0.99968021 0.00217994 0.14024734] [ 0.01938478 -0.00266875 0.99980854 -0.43548057] [ 0. 0. 0. 1. ]] SLAMing on 50.234553573999996 meters Centerline goodness [0,1] 0.8537323133843308 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:-0.43 [[ 0.99949954 -0.02499938 -0.01938294 1.73127421] [ 0.02505705 0.99968227 0.00273819 0.14006182] [ 0.01930833 -0.0032225 0.99980838 -0.43429693] [ 0. 0. 0. 1. ]] SLAMing on 50.264553574 meters Centerline goodness [0,1] 0.8479648842777334 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:-0.43 [[ 0.99948552 -0.02542549 -0.01955083 1.73156836] [ 0.02549738 0.99966898 0.00343651 0.13916597] [ 0.01945699 -0.00393323 0.99980296 -0.43242104] [ 0. 0. 0. 1. ]] SLAMing on 50.294553574 meters Centerline goodness [0,1] 0.8559967910148416 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:-0.43 [[ 0.99945921 -0.02611216 -0.01998587 1.73289269] [ 0.02619596 0.99964905 0.00394268 0.13795794] [ 0.0198759 -0.0044641 0.99979249 -0.43108845] [ 0. 0. 0. 1. ]] SLAMing on 50.32455357399999 meters Centerline goodness [0,1] 0.8522354003159399 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:-0.43 [[ 0.99942423 -0.02697287 -0.02058332 1.73474072] [ 0.02706844 0.99962399 0.00437847 0.13670137] [ 0.02045748 -0.00493311 0.99977855 -0.42991621] [ 0. 0. 0. 1. ]] SLAMing on 50.35455357399999 meters Centerline goodness [0,1] 0.8626120486754469 Centerline is valid? [False, False] Translation: X:1.74, Y:0.14, Z:-0.43 [[ 0.99933573 -0.02915986 -0.02185859 1.73978042] [ 0.02924958 0.99956493 0.00379576 0.13654297] [ 0.02173839 -0.0044326 0.99975387 -0.43065073] [ 0. 0. 0. 1. ]] SLAMing on 50.384553573999995 meters Centerline goodness [0,1] 0.8626120486754469 Centerline is valid? [False, False] Translation: X:1.74, Y:0.14, Z:-0.43 [[ 0.99933573 -0.02915986 -0.02185859 1.73978042] [ 0.02924958 0.99956493 0.00379576 0.13654297] [ 0.02173839 -0.0044326 0.99975387 -0.43065073] [ 0. 0. 0. 1. ]] SLAMing on 50.414553573999996 meters Centerline goodness [0,1] 0.865510250056319 Centerline is valid? [False, False] Translation: X:1.74, Y:0.14, Z:-0.43 [[ 0.99928991 -0.03011577 -0.02264329 1.74269512] [ 0.03020545 0.99953712 0.00362869 0.1364961 ] [ 0.02252353 -0.00431006 0.99973702 -0.43108619] [ 0. 0. 0. 1. ]] SLAMing on 50.444553574 meters Centerline goodness [0,1] 0.861838803573221 Centerline is valid? [False, False] Translation: X:1.75, Y:0.14, Z:-0.43 [[ 0.9992432 -0.03111375 -0.02334435 1.74505139] [ 0.03121177 0.99950539 0.00384614 0.13541033] [ 0.02321314 -0.00457185 0.99972008 -0.43046403] [ 0. 0. 0. 1. ]] SLAMing on 50.474553574 meters Centerline goodness [0,1] 0.8597432554407782 Centerline is valid? [False, False] Translation: X:1.75, Y:0.14, Z:-0.43 [[ 0.99924096 -0.0311297 -0.02341892 1.74512993] [ 0.03123662 0.99950314 0.00421372 0.13502101] [ 0.02327611 -0.00494205 0.99971686 -0.42974561] [ 0. 0. 0. 1. ]] SLAMing on 50.50455357399999 meters Centerline goodness [0,1] 0.8645877829987185 Centerline is valid? [False, False] Translation: X:1.74, Y:0.13, Z:-0.43 [[ 0.99924513 -0.03100158 -0.02341083 1.74499323] [ 0.03111339 0.99950606 0.00442687 0.13448429] [ 0.02326202 -0.00515192 0.99971613 -0.42946941] [ 0. 0. 0. 1. ]] SLAMing on 50.53455357399999 meters Centerline goodness [0,1] 0.859789156626506 Centerline is valid? [False, False] Translation: X:1.75, Y:0.13, Z:-0.43 [[ 0.99928974 -0.02854889 -0.02459641 1.74904695] [ 0.02875981 0.99955219 0.00826451 0.13333724] [ 0.02434945 -0.00896603 0.9996633 -0.42951155] [ 0. 0. 0. 1. ]] SLAMing on 50.564553573999994 meters Centerline goodness [0,1] 0.8609898107714702 Centerline is valid? [False, False] Translation: X:1.75, Y:0.13, Z:-0.43 [[ 0.99929271 -0.02842734 -0.02461622 1.7494125 ] [ 0.02862719 0.99955969 0.00780468 0.13422751] [ 0.02438351 -0.00850385 0.99966651 -0.43080161] [ 0. 0. 0. 1. ]] SLAMing on 50.594553573999995 meters Centerline goodness [0,1] 0.8575048292817541 Centerline is valid? [False, False] Translation: X:1.75, Y:0.14, Z:-0.43 [[ 0.99929423 -0.02836737 -0.02462386 1.75001959] [ 0.02854902 0.99956748 0.00705702 0.13538648] [ 0.02441302 -0.00775503 0.99967188 -0.43272165] [ 0. 0. 0. 1. ]] SLAMing on 50.624553574 meters Centerline goodness [0,1] 0.8558486209752303 Centerline is valid? [False, False] Translation: X:1.75, Y:0.14, Z:-0.43 [[ 0.99929833 -0.02825623 -0.02458516 1.75051684] [ 0.02842474 0.9995746 0.00653167 0.13531305] [ 0.02439014 -0.00722591 0.9996764 -0.43445258] [ 0. 0. 0. 1. ]] SLAMing on 50.654553574 meters Centerline goodness [0,1] 0.8533474490824763 Centerline is valid? [False, False] Translation: X:1.77, Y:0.14, Z:-0.44 [[ 0.99943086 -0.0274363 -0.01962678 1.76683708] [ 0.02737321 0.99961924 -0.00347596 0.13550535] [ 0.01971468 0.00293673 0.99980133 -0.44131725] [ 0. 0. 0. 1. ]] SLAMing on 50.68455357399999 meters Centerline goodness [0,1] 0.8551821576344737 Centerline is valid? [False, False] Translation: X:1.77, Y:0.13, Z:-0.44 [[ 9.99493453e-01 -2.43584058e-02 -2.04818230e-02 1.76922436e+00] [ 2.43897195e-02 9.99701707e-01 1.28041013e-03 1.33918653e-01] [ 2.04445246e-02 -1.77930746e-03 9.99789406e-01 -4.39678692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.71455357399999 meters Centerline goodness [0,1] 0.8447719014937425 Centerline is valid? [False, False] Translation: X:1.77, Y:0.13, Z:-0.44 [[ 0.99955097 -0.02112236 -0.02125333 1.7714426 ] [ 0.02125002 0.99975737 0.00579896 0.13267517] [ 0.02112568 -0.00624799 0.9997573 -0.43859032] [ 0. 0. 0. 1. ]] SLAMing on 50.744553573999994 meters Centerline goodness [0,1] 0.8523783074126439 Centerline is valid? [False, False] Translation: X:1.79, Y:0.13, Z:-0.45 [[ 9.99718424e-01 -1.81826322e-02 -1.52467935e-02 1.78629180e+00] [ 1.81570832e-02 9.99833504e-01 -1.81246551e-03 1.33874939e-01] [ 1.52772104e-02 1.53511787e-03 9.99882118e-01 -4.45340832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.774553573999995 meters Centerline goodness [0,1] 0.8441427090444764 Centerline is valid? [False, False] Translation: X:1.79, Y:0.13, Z:-0.44 [[ 0.99975756 -0.01502294 -0.01609748 1.78856348] [ 0.01507608 0.99988128 0.00318467 0.13151574] [ 0.01604773 -0.00342658 0.99986536 -0.44343273] [ 0. 0. 0. 1. ]] SLAMing on 50.804553573999996 meters Centerline goodness [0,1] 0.8473527331514601 Centerline is valid? [False, False] Translation: X:1.79, Y:0.13, Z:-0.45 [[ 0.99976198 -0.01479021 -0.01603821 1.7890904 ] [ 0.01483418 0.99988652 0.00262622 0.13194088] [ 0.01599754 -0.00286351 0.99986793 -0.44555993] [ 0. 0. 0. 1. ]] SLAMing on 50.834553574 meters Centerline goodness [0,1] 0.8474516340859726 Centerline is valid? [False, False] Translation: X:1.79, Y:0.13, Z:-0.45 [[ 0.99975638 -0.01497659 -0.01621349 1.79012101] [ 0.01501595 0.99988459 0.00230875 0.13229721] [ 0.01617704 -0.00255165 0.99986589 -0.44663554] [ 0. 0. 0. 1. ]] SLAMing on 50.864553574 meters Centerline goodness [0,1] 0.8443361692459166 Centerline is valid? [False, False] Translation: X:1.79, Y:0.13, Z:-0.45 [[ 0.99975542 -0.01500392 -0.01624732 1.79029671] [ 0.0150459 0.99988377 0.00246449 0.13218458] [ 0.01620846 -0.00270834 0.99986497 -0.44649534] [ 0. 0. 0. 1. ]] SLAMing on 50.89455357399999 meters Centerline goodness [0,1] 0.8443849862432794 Centerline is valid? [False, False] Translation: X:1.79, Y:0.13, Z:-0.44 [[ 0.99975588 -0.01499549 -0.01622699 1.78986862] [ 0.01504829 0.99988185 0.0031368 0.13134623] [ 0.01617803 -0.00338022 0.99986341 -0.44490053] [ 0. 0. 0. 1. ]] SLAMing on 50.924553573999994 meters Centerline goodness [0,1] 0.84850863422292 Centerline is valid? [False, False] Translation: X:1.79, Y:0.13, Z:-0.44 [[ 0.99976648 -0.01470579 -0.01583446 1.78747405] [ 0.0147874 0.99987791 0.0050494 0.12854791] [ 0.01575827 -0.00528237 0.99986188 -0.44018741] [ 0. 0. 0. 1. ]] SLAMing on 50.954553573999995 meters Centerline goodness [0,1] 0.8474028433625413 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:-0.45 [[ 0.9998427 -0.01442539 -0.0103186 1.80504987] [ 0.01438623 0.99988906 -0.00385948 0.13027035] [ 0.01037313 0.00371043 0.99993931 -0.4463638 ] [ 0. 0. 0. 1. ]] SLAMing on 50.984553573999996 meters Centerline goodness [0,1] 0.8465637865279216 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:-0.45 [[ 9.99867132e-01 -1.16521008e-02 -1.13994295e-02 1.80836948e+00] [ 1.16601981e-02 9.99931810e-01 6.44117266e-04 1.29359459e-01] [ 1.13911469e-02 -7.76951290e-04 9.99934817e-01 -4.45183174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.014553574 meters Centerline goodness [0,1] 0.8458841040389515 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:-0.45 [[ 9.99872021e-01 -1.12906055e-02 -1.13341945e-02 1.80814505e+00] [ 1.12958545e-02 9.99936120e-01 3.99203209e-04 1.30872472e-01] [ 1.13289632e-02 -5.27181531e-04 9.99935686e-01 -4.45758992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.044553574 meters Centerline goodness [0,1] 0.8460049764998617 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:-0.44 [[ 0.99990484 -0.00733637 -0.01168253 1.8087424 ] [ 0.00739457 0.99996043 0.00494655 0.13108587] [ 0.01164578 -0.00503247 0.99991952 -0.4443235 ] [ 0. 0. 0. 1. ]] SLAMing on 51.07455357399999 meters Centerline goodness [0,1] 0.8442079903633808 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:-0.44 [[ 0.99991062 -0.00692866 -0.01143401 1.80776504] [ 0.0069852 0.99996354 0.00491255 0.13133306] [ 0.01139956 -0.00499198 0.99992256 -0.44420177] [ 0. 0. 0. 1. ]] SLAMing on 51.10455357399999 meters Centerline goodness [0,1] 0.846080257791652 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:-0.44 [[ 0.99991913 -0.00622539 -0.01108972 1.80636194] [ 0.00628071 0.99996797 0.0049604 0.13185271] [ 0.01105848 -0.00502965 0.9999262 -0.44403678] [ 0. 0. 0. 1. ]] SLAMing on 51.134553573999995 meters Centerline goodness [0,1] 0.8446594621764263 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:-0.44 [[ 0.99992328 -0.00584052 -0.01092357 1.805982 ] [ 0.00589091 0.99997213 0.00458707 0.13313074] [ 0.01089647 -0.00465107 0.99992981 -0.44491059] [ 0. 0. 0. 1. ]] SLAMing on 51.164553573999996 meters Centerline goodness [0,1] 0.8420550900607094 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:-0.45 [[ 0.99992658 -0.00548702 -0.01080375 1.80564455] [ 0.00553321 0.99997566 0.00424984 0.13445908] [ 0.01078017 -0.0043093 0.99993261 -0.44566718] [ 0. 0. 0. 1. ]] SLAMing on 51.194553574 meters Centerline goodness [0,1] 0.8438715831220663 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:-0.45 [[ 0.99992719 -0.00540885 -0.01078734 1.80566243] [ 0.00545192 0.99997727 0.00396752 0.13483881] [ 0.01076564 -0.00402604 0.99993394 -0.44614631] [ 0. 0. 0. 1. ]] SLAMing on 51.224553574 meters Centerline goodness [0,1] 0.8415667345450889 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:-0.45 [[ 0.99992198 -0.00589414 -0.01101318 1.80662899] [ 0.00594111 0.99997338 0.00423687 0.13295309] [ 0.01098791 -0.00430197 0.99993038 -0.44589726] [ 0. 0. 0. 1. ]] SLAMing on 51.25455357399999 meters Centerline goodness [0,1] 0.842252245452487 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:-0.45 [[ 0.99991689 -0.00624158 -0.01128052 1.80743761] [ 0.00629439 0.99996937 0.00465217 0.13173226] [ 0.01125113 -0.00472278 0.99992555 -0.44523273] [ 0. 0. 0. 1. ]] SLAMing on 51.28455357399999 meters Centerline goodness [0,1] 0.8442329960227559 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:-0.44 [[ 0.99991222 -0.00658595 -0.01149685 1.80817317] [ 0.00664313 0.99996572 0.00494283 0.13065876] [ 0.0114639 -0.00501877 0.99992169 -0.44480244] [ 0. 0. 0. 1. ]] SLAMing on 51.314553573999994 meters Centerline goodness [0,1] 0.8411723234968275 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:-0.44 [[ 0.99990738 -0.0069376 -0.01170919 1.80900342] [ 0.00699783 0.99996245 0.00511083 0.13006697] [ 0.01167329 -0.0051923 0.99991838 -0.44460314] [ 0. 0. 0. 1. ]] SLAMing on 51.344553573999995 meters Centerline goodness [0,1] 0.8423686195624843 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:-0.44 [[ 0.99990033 -0.00746917 -0.01198047 1.80989991] [ 0.00753522 0.9999566 0.00547811 0.12934048] [ 0.01193904 -0.00556784 0.99991323 -0.44360598] [ 0. 0. 0. 1. ]] SLAMing on 51.374553574 meters Centerline goodness [0,1] 0.8414806585193415 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:-0.44 [[ 0.99988934 -0.00827675 -0.01236147 1.81129831] [ 0.00835137 0.99994714 0.00599731 0.1275238 ] [ 0.01231118 -0.00609988 0.99990561 -0.44234674] [ 0. 0. 0. 1. ]] SLAMing on 51.404553574 meters Centerline goodness [0,1] 0.8431531280831794 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:-0.44 [[ 0.99988121 -0.00876267 -0.01268024 1.81240447] [ 0.00884213 0.99994154 0.0062242 0.12637259] [ 0.01262495 -0.00633559 0.99990023 -0.44201212] [ 0. 0. 0. 1. ]] SLAMing on 51.43455357399999 meters Centerline goodness [0,1] 0.844087657890732 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:-0.44 [[ 0.99986577 -0.00960411 -0.01327447 1.81465089] [ 0.00968735 0.99993373 0.00622081 0.12546493] [ 0.01321385 -0.00634857 0.99989254 -0.44219547] [ 0. 0. 0. 1. ]] SLAMing on 51.46455357399999 meters Centerline goodness [0,1] 0.844047619047619 Centerline is valid? [False, False] Translation: X:1.82, Y:0.12, Z:-0.44 [[ 0.99984599 -0.01059445 -0.01399156 1.81746865] [ 0.01067969 0.99992478 0.00603113 0.12489957] [ 0.01392661 -0.00617963 0.99988392 -0.44279369] [ 0. 0. 0. 1. ]] SLAMing on 51.494553573999994 meters Centerline goodness [0,1] 0.8449649781748045 Centerline is valid? [False, False] Translation: X:1.82, Y:0.12, Z:-0.44 [[ 0.99980179 -0.01284777 -0.01520898 1.82295485] [ 0.01292779 0.99990304 0.0051751 0.12454465] [ 0.01514102 -0.00537069 0.99987094 -0.4446719 ] [ 0. 0. 0. 1. ]] SLAMing on 51.524553573999995 meters Centerline goodness [0,1] 0.8050247158946134 Centerline is valid? [False, False] Translation: X:1.83, Y:0.12, Z:-0.44 [[ 0.99976905 -0.01429553 -0.01604634 1.82609601] [ 0.01437849 0.99988379 0.00506632 0.12388512] [ 0.01597205 -0.00529588 0.99985841 -0.4444909 ] [ 0. 0. 0. 1. ]] SLAMing on 51.554553573999996 meters Centerline goodness [0,1] 0.8410397273513404 Centerline is valid? [False, False] Translation: X:1.83, Y:0.12, Z:-0.44 [[ 0.99975951 -0.01464561 -0.01632278 1.82688364] [ 0.01473419 0.99987729 0.00531999 0.12348103] [ 0.01624287 -0.00555921 0.99985262 -0.44372755] [ 0. 0. 0. 1. ]] SLAMing on 51.584553574 meters Centerline goodness [0,1] 0.8436237004651636 Centerline is valid? [False, False] Translation: X:1.83, Y:0.12, Z:-0.44 [[ 0.9997486 -0.01501261 -0.01665431 1.82797571] [ 0.01510228 0.99987206 0.00527202 0.12345335] [ 0.01657303 -0.00552222 0.99984741 -0.44368283] [ 0. 0. 0. 1. ]] SLAMing on 51.614553574 meters Centerline goodness [0,1] 0.8279755410651308 Centerline is valid? [False, False] Translation: X:1.83, Y:0.12, Z:-0.45 [[ 0.99972172 -0.01588988 -0.01743548 1.83094136] [ 0.01597137 0.99986212 0.00454456 0.12419791] [ 0.01736087 -0.00482177 0.99983766 -0.44509612] [ 0. 0. 0. 1. ]] SLAMing on 51.64455357399999 meters Centerline goodness [0,1] 0.8347583407332234 Centerline is valid? [False, False] Translation: X:1.83, Y:0.12, Z:-0.45 [[ 0.9997103 -0.01620337 -0.01779814 1.83233442] [ 0.01628041 0.99985868 0.00419194 0.12486446] [ 0.0177277 -0.00448049 0.99983281 -0.44589967] [ 0. 0. 0. 1. ]] SLAMing on 51.674553573999994 meters Centerline goodness [0,1] 0.841145437021255 Centerline is valid? [False, False] Translation: X:1.83, Y:0.13, Z:-0.45 [[ 0.99971368 -0.01594983 -0.01783688 1.8323919 ] [ 0.01601764 0.99986499 0.0036649 0.12708634] [ 0.01777602 -0.00394955 0.99983419 -0.44681147] [ 0. 0. 0. 1. ]] SLAMing on 51.704553573999995 meters Centerline goodness [0,1] 0.8262775202047072 Centerline is valid? [False, False] Translation: X:1.83, Y:0.13, Z:-0.45 [[ 0.99971793 -0.0157501 -0.01777625 1.83217485] [ 0.01581281 0.99986921 0.00339289 0.12825881] [ 0.01772049 -0.00367302 0.99983623 -0.44716628] [ 0. 0. 0. 1. ]] SLAMing on 51.734553573999996 meters Centerline goodness [0,1] 0.8372658843804648 Centerline is valid? [False, False] Translation: X:1.83, Y:0.13, Z:-0.45 [[ 0.99972462 -0.01543771 -0.01767394 1.8315407 ] [ 0.01550097 0.99987391 0.00344761 0.12900229] [ 0.01761849 -0.00372063 0.99983786 -0.44682685] [ 0. 0. 0. 1. ]] SLAMing on 51.764553574 meters Centerline goodness [0,1] 0.8361900903866116 Centerline is valid? [False, False] Translation: X:1.83, Y:0.13, Z:-0.45 [[ 0.99975146 -0.01429 -0.01711178 1.8287143 ] [ 0.01435199 0.99989086 0.00350537 0.13123448] [ 0.01705983 -0.00375008 0.99984744 -0.44586067] [ 0. 0. 0. 1. ]] SLAMing on 51.794553574 meters Centerline goodness [0,1] 0.8342485512564213 Centerline is valid? [False, False] Translation: X:1.83, Y:0.13, Z:-0.45 [[ 0.99976364 -0.0137673 -0.01682629 1.82741735] [ 0.0138254 0.99989884 0.00334168 0.13276243] [ 0.01677858 -0.00357353 0.99985284 -0.44558972] [ 0. 0. 0. 1. ]] SLAMing on 51.82455357399999 meters Centerline goodness [0,1] 0.8309660521809208 Centerline is valid? [False, False] Translation: X:1.84, Y:0.14, Z:-0.45 [[ 0.99987352 -0.01180976 -0.01065215 1.84234877] [ 0.01176849 0.99992303 -0.00392882 0.1362058 ] [ 0.01069772 0.00380296 0.99993555 -0.4505103 ] [ 0. 0. 0. 1. ]] SLAMing on 51.85455357399999 meters Centerline goodness [0,1] 0.8317778169102664 Centerline is valid? [False, False] Translation: X:1.84, Y:0.14, Z:-0.45 [[ 0.9998757 -0.01163848 -0.0106359 1.84196966] [ 0.01159844 0.99992544 -0.00381929 0.13697491] [ 0.01067956 0.00369546 0.99993614 -0.44989568] [ 0. 0. 0. 1. ]] SLAMing on 51.884553573999995 meters Centerline goodness [0,1] 0.8253046865184068 Centerline is valid? [False, False] Translation: X:1.85, Y:0.14, Z:-0.45 [[ 9.99882863e-01 -9.49209432e-03 -1.20066912e-02 1.84599467e+00] [ 9.49647520e-03 9.99954860e-01 3.07908083e-04 1.37707373e-01] [ 1.20032266e-02 -4.21893262e-04 9.99927870e-01 -4.48139142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.914553573999996 meters Centerline goodness [0,1] 0.82898041185334 Centerline is valid? [False, False] Translation: X:1.85, Y:0.14, Z:-0.45 [[ 9.99876300e-01 -9.77559453e-03 -1.23216376e-02 1.84709395e+00] [ 9.77654656e-03 9.99952208e-01 1.70320691e-05 1.38895101e-01] [ 1.23208823e-02 -1.37493026e-04 9.99924086e-01 -4.48456694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.944553574 meters Centerline goodness [0,1] 0.816463797214205 Centerline is valid? [False, False] Translation: X:1.85, Y:0.14, Z:-0.45 [[ 9.99844950e-01 -1.13553718e-02 -1.34585216e-02 1.85125263e+00] [ 1.13486025e-02 9.99935435e-01 -5.79245313e-04 1.39776658e-01] [ 1.34642302e-02 4.26420089e-04 9.99909262e-01 -4.49109319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.974553574 meters Centerline goodness [0,1] 0.8269607596844697 Centerline is valid? [False, False] Translation: X:1.85, Y:0.14, Z:-0.45 [[ 9.99825380e-01 -1.22800409e-02 -1.40858437e-02 1.85343211e+00] [ 1.22753363e-02 9.99924567e-01 -4.20405062e-04 1.38925136e-01] [ 1.40899438e-02 2.47423182e-04 9.99900701e-01 -4.48631373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.00455357399999 meters Centerline goodness [0,1] 0.8217403335765138 Centerline is valid? [False, False] Translation: X:1.86, Y:0.14, Z:-0.45 [[ 9.99801829e-01 -1.33247253e-02 -1.47903286e-02 1.85594998e+00] [ 1.33206194e-02 9.99911206e-01 -3.76089005e-04 1.38031273e-01] [ 1.47940266e-02 1.78998138e-04 9.99890546e-01 -4.48438971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.03455357399999 meters Centerline goodness [0,1] 0.8163588788808936 Centerline is valid? [False, False] Translation: X:1.86, Y:0.14, Z:-0.45 [[ 9.99764135e-01 -1.50044879e-02 -1.57015752e-02 1.85956425e+00] [ 1.49986281e-02 9.99887394e-01 -4.90898881e-04 1.37444455e-01] [ 1.57071727e-02 2.55281009e-04 9.99876602e-01 -4.48379180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.064553573999994 meters Centerline goodness [0,1] 0.817242159796796 Centerline is valid? [False, False] Translation: X:1.86, Y:0.14, Z:-0.45 [[ 9.99757869e-01 -1.52440090e-02 -1.58689710e-02 1.86012354e+00] [ 1.52398753e-02 9.99883794e-01 -3.81397957e-04 1.37749758e-01] [ 1.58729409e-02 1.39464471e-04 9.99874007e-01 -4.47971115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.094553573999995 meters Centerline goodness [0,1] 0.8001710734861254 Centerline is valid? [False, False] Translation: X:1.87, Y:0.14, Z:-0.45 [[ 0.99986821 -0.0132229 -0.00941896 1.87419709] [ 0.01316069 0.99989137 -0.00663637 0.13938373] [ 0.00950569 0.00651154 0.99993362 -0.45068459] [ 0. 0. 0. 1. ]] SLAMing on 52.124553574 meters Centerline goodness [0,1] 0.8111736354689747 Centerline is valid? [False, False] Translation: X:1.88, Y:0.14, Z:-0.45 [[ 9.99902934e-01 -9.88446265e-03 -9.81939335e-03 1.87503109e+00] [ 9.87184715e-03 9.99950384e-01 -1.33239402e-03 1.37279115e-01] [ 9.83207616e-03 1.23532914e-03 9.99950901e-01 -4.47473409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.154553574 meters Centerline goodness [0,1] 0.8190279214064116 Centerline is valid? [False, False] Translation: X:1.88, Y:0.14, Z:-0.45 [[ 0.99992488 -0.00654713 -0.01036234 1.87636022] [ 0.00658188 0.99997282 0.00332285 0.1360219 ] [ 0.0103403 -0.0033908 0.99994079 -0.44561732] [ 0. 0. 0. 1. ]] SLAMing on 52.18455357399999 meters Centerline goodness [0,1] 0.8043221213112279 Centerline is valid? [False, False] Translation: X:1.87, Y:0.14, Z:-0.45 [[ 0.99994444 -0.00429545 -0.00962589 1.87288133] [ 0.00432526 0.99998591 0.00307841 0.13851573] [ 0.00961253 -0.00311987 0.99994893 -0.44670083] [ 0. 0. 0. 1. ]] SLAMing on 52.21455357399999 meters Centerline goodness [0,1] 0.8137094952435933 Centerline is valid? [False, False] Translation: X:1.87, Y:0.14, Z:-0.45 [[ 0.99995557 -0.00294787 -0.00895385 1.87021516] [ 0.00297357 0.9999915 0.00285765 0.14043145] [ 0.00894535 -0.00288415 0.99995583 -0.44710577] [ 0. 0. 0. 1. ]] SLAMing on 52.244553573999994 meters Centerline goodness [0,1] 0.8097712059146768 Centerline is valid? [False, False] Translation: X:1.87, Y:0.14, Z:-0.45 [[ 0.99996309 0.0031373 -0.0079982 1.86576058] [-0.00307833 0.99996807 0.00737426 0.14328508] [ 0.00802108 -0.00734937 0.99994082 -0.44521938] [ 0. 0. 0. 1. ]] SLAMing on 52.274553573999995 meters Centerline goodness [0,1] 0.8097712059146768 Centerline is valid? [False, False] Translation: X:1.87, Y:0.14, Z:-0.45 [[ 0.99996309 0.0031373 -0.0079982 1.86576058] [-0.00307833 0.99996807 0.00737426 0.14328508] [ 0.00802108 -0.00734937 0.99994082 -0.44521938] [ 0. 0. 0. 1. ]] SLAMing on 52.304553573999996 meters Centerline goodness [0,1] 0.8058879250174494 Centerline is valid? [False, False] Translation: X:1.86, Y:0.15, Z:-0.45 [[ 0.99996274 0.00484189 -0.00714733 1.86248875] [-0.00478929 0.99996146 0.00735756 0.14547518] [ 0.00718268 -0.00732306 0.99994739 -0.44532011] [ 0. 0. 0. 1. ]] SLAMing on 52.334553574 meters Centerline goodness [0,1] 0.8086820317744462 Centerline is valid? [False, False] Translation: X:1.86, Y:0.15, Z:-0.45 [[ 0.99996054 0.00604572 -0.00650865 1.86017503] [-0.0059996 0.99995692 0.00708213 0.14753126] [ 0.00655119 -0.0070428 0.99995374 -0.44571394] [ 0. 0. 0. 1. ]] SLAMing on 52.364553574 meters Centerline goodness [0,1] 0.8006285261803425 Centerline is valid? [False, False] Translation: X:1.86, Y:0.15, Z:-0.45 [[ 0.99994803 0.00841594 -0.00575488 1.85662471] [-0.00837676 0.9999418 0.00679868 0.15067209] [ 0.00581176 -0.00675012 0.99996033 -0.44662992] [ 0. 0. 0. 1. ]] SLAMing on 52.39455357399999 meters Centerline goodness [0,1] 0.8047908032366291 Centerline is valid? [False, False] Translation: X:1.86, Y:0.15, Z:-0.45 [[ 0.99994627 0.00870645 -0.005626 1.85634621] [-0.00867076 0.99994232 0.0063379 0.15196295] [ 0.00568085 -0.00628877 0.99996409 -0.44745049] [ 0. 0. 0. 1. ]] SLAMing on 52.424553573999994 meters Centerline goodness [0,1] 0.80395864541637 Centerline is valid? [False, False] Translation: X:1.85, Y:0.15, Z:-0.45 [[ 0.99996646 0.00646544 -0.00502704 1.85368865] [-0.00645382 0.99997648 0.00232309 0.15495416] [ 0.00504194 -0.00229057 0.99998467 -0.4480118 ] [ 0. 0. 0. 1. ]] SLAMing on 52.454553573999995 meters Centerline goodness [0,1] 0.8033669374571792 Centerline is valid? [False, False] Translation: X:1.86, Y:0.16, Z:-0.45 [[ 9.99968686e-01 5.72477839e-03 -5.46390935e-03 1.85558233e+00] [-5.71540912e-03 9.99982172e-01 1.72883296e-03 1.55656720e-01] [ 5.47370913e-03 -1.69755035e-03 9.99983578e-01 -4.48926536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.484553573999996 meters Centerline goodness [0,1] 0.7961030431292417 Centerline is valid? [False, False] Translation: X:1.85, Y:0.16, Z:-0.45 [[ 9.99998652e-01 1.11488309e-03 1.20517506e-03 1.85013897e+00] [-1.11562551e-03 9.99999188e-01 6.15523370e-04 1.58924679e-01] [-1.20448785e-03 -6.16867064e-04 9.99999084e-01 -4.53916613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.514553574 meters Centerline goodness [0,1] 0.7986353923853924 Centerline is valid? [False, False] Translation: X:1.85, Y:0.16, Z:-0.45 [[ 9.99999702e-01 3.00615316e-04 7.10645035e-04 1.85201795e+00] [-3.00833158e-04 9.99999908e-01 3.06455123e-04 1.59478322e-01] [-7.10552844e-04 -3.06668817e-04 9.99999701e-01 -4.54204308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.544553574 meters Centerline goodness [0,1] 0.8017060145470363 Centerline is valid? [False, False] Translation: X:1.85, Y:0.16, Z:-0.45 [[ 9.99999330e-01 -1.15038946e-03 1.28739985e-04 1.85418361e+00] [ 1.15039575e-03 9.99999337e-01 -4.88371350e-05 1.60487738e-01] [-1.28683717e-04 4.89852042e-05 9.99999991e-01 -4.53542339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.57455357399999 meters Centerline goodness [0,1] 0.8026363264618863 Centerline is valid? [False, False] Translation: X:1.85, Y:0.16, Z:-0.45 [[ 9.99998954e-01 -1.44340422e-03 9.78470332e-05 1.85419050e+00] [ 1.44340878e-03 9.99998957e-01 -4.65660980e-05 1.61103718e-01] [-9.77797175e-05 4.67072825e-05 9.99999994e-01 -4.52739666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.60455357399999 meters Centerline goodness [0,1] 0.8010303102911226 Centerline is valid? [False, False] Translation: X:1.85, Y:0.16, Z:-0.45 [[ 9.99998543e-01 -1.70714555e-03 -1.24718540e-05 1.85447344e+00] [ 1.70714304e-03 9.99998523e-01 -1.99150642e-04 1.62257500e-01] [ 1.28118147e-05 1.99129061e-04 9.99999980e-01 -4.52292234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.634553573999995 meters Centerline goodness [0,1] 0.7995631840087363 Centerline is valid? [False, False] Translation: X:1.86, Y:0.17, Z:-0.45 [[ 9.99995142e-01 -3.00865436e-03 -8.15003076e-04 1.85763549e+00] [ 3.00733630e-03 9.99994176e-01 -1.61366966e-03 1.66005667e-01] [ 8.19853304e-04 1.61121083e-03 9.99998366e-01 -4.53919181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.664553573999996 meters Centerline goodness [0,1] 0.7992440349633829 Centerline is valid? [False, False] Translation: X:1.86, Y:0.17, Z:-0.45 [[ 9.99992565e-01 -3.63962078e-03 -1.27429728e-03 1.85926761e+00] [ 3.63696914e-03 9.99991229e-01 -2.07703797e-03 1.67159475e-01] [ 1.28184574e-03 2.07238794e-03 9.99997031e-01 -4.54364312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.694553574 meters Centerline goodness [0,1] 0.8033747528946625 Centerline is valid? [False, False] Translation: X:1.86, Y:0.17, Z:-0.45 [[ 0.99998234 -0.00548283 -0.00229178 1.86289601] [ 0.00547588 0.99998043 -0.00302453 0.16824892] [ 0.00230832 0.00301193 0.9999928 -0.45489959] [ 0. 0. 0. 1. ]] SLAMing on 52.724553574 meters Centerline goodness [0,1] 0.8042102787251558 Centerline is valid? [False, False] Translation: X:1.87, Y:0.17, Z:-0.46 [[ 0.99997566 -0.00634916 -0.00289148 1.86503935] [ 0.00633896 0.99997371 -0.00352229 0.16894884] [ 0.00291376 0.00350388 0.99998962 -0.45547205] [ 0. 0. 0. 1. ]] SLAMing on 52.75455357399999 meters Centerline goodness [0,1] 0.7999060371153395 Centerline is valid? [False, False] Translation: X:1.87, Y:0.17, Z:-0.46 [[ 0.9999696 -0.00702639 -0.00338204 1.86677449] [ 0.00701239 0.99996687 -0.00413431 0.17044553] [ 0.00341098 0.00411047 0.99998573 -0.45610479] [ 0. 0. 0. 1. ]] SLAMing on 52.78455357399999 meters Centerline goodness [0,1] 0.8060807179079713 Centerline is valid? [False, False] Translation: X:1.87, Y:0.17, Z:-0.46 [[ 9.99978783e-01 -4.62953435e-03 -4.58276725e-03 1.87049354e+00] [ 4.62412148e-03 9.99988599e-01 -1.19102800e-03 1.73351528e-01] [ 4.58822891e-03 1.16981146e-03 9.99988790e-01 -4.56548339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.814553573999994 meters Centerline goodness [0,1] 0.8001027269331341 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.46 [[ 9.99979815e-01 -4.31805177e-03 -4.66096463e-03 1.87056082e+00] [ 4.31097302e-03 9.99989541e-01 -1.52770899e-03 1.75362264e-01] [ 4.66751261e-03 1.50758486e-03 9.99987971e-01 -4.57028400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.844553573999995 meters Centerline goodness [0,1] 0.80636019419731 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.46 [[ 9.99985695e-01 -7.66146544e-04 -5.29362591e-03 1.87259705e+00] [ 7.75937554e-04 9.99997992e-01 1.84777851e-03 1.77558866e-01] [ 5.29219961e-03 -1.85185960e-03 9.99984281e-01 -4.57712126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.874553574 meters Centerline goodness [0,1] 0.8099129425420778 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.46 [[ 9.99986273e-01 -4.65714557e-04 -5.21895141e-03 1.87247162e+00] [ 4.72389044e-04 9.99999072e-01 1.27773464e-03 1.79389552e-01] [ 5.21835150e-03 -1.28018248e-03 9.99985565e-01 -4.58621894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.904553574 meters Centerline goodness [0,1] 0.8059663554857196 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.46 [[ 9.99988198e-01 7.62458329e-04 -4.79824145e-03 1.87065488e+00] [-7.57316988e-04 9.99999137e-01 1.07323095e-03 1.82935887e-01] [ 4.79905561e-03 -1.06958449e-03 9.99987912e-01 -4.58740774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93455357399999 meters Centerline goodness [0,1] 0.805999445778681 Centerline is valid? [False, False] Translation: X:1.87, Y:0.19, Z:-0.46 [[ 9.99988236e-01 9.66901031e-04 -4.75312895e-03 1.87074250e+00] [-9.65232934e-04 9.99999472e-01 3.53228585e-04 1.85329002e-01] [ 4.75346798e-03 -3.48636553e-04 9.99988641e-01 -4.59813233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.96455357399999 meters Centerline goodness [0,1] 0.8041560840452551 Centerline is valid? [False, False] Translation: X:1.87, Y:0.19, Z:-0.46 [[ 9.99988449e-01 1.26910124e-03 -4.63584508e-03 1.87044960e+00] [-1.26947751e-03 9.99999191e-01 -7.82232005e-05 1.87370132e-01] [ 4.63574205e-03 8.41073980e-05 9.99989251e-01 -4.60287417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.994553573999994 meters Centerline goodness [0,1] 0.801136888806729 Centerline is valid? [False, False] Translation: X:1.87, Y:0.19, Z:-0.46 [[ 9.99987747e-01 1.68012670e-03 -4.65657056e-03 1.87025266e+00] [-1.68344485e-03 9.99998332e-01 -7.08746769e-04 1.90182117e-01] [ 4.65537201e-03 7.16577164e-04 9.99988907e-01 -4.60755369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.024553573999995 meters Centerline goodness [0,1] 0.8022234549068552 Centerline is valid? [False, False] Translation: X:1.87, Y:0.19, Z:-0.46 [[ 9.99987537e-01 1.69131797e-03 -4.69740184e-03 1.87034812e+00] [-1.69585037e-03 9.99998100e-01 -9.61058207e-04 1.90915808e-01] [ 4.69576746e-03 9.69012320e-04 9.99988505e-01 -4.60844962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.054553573999996 meters Centerline goodness [0,1] 0.8023083684137484 Centerline is valid? [False, False] Translation: X:1.87, Y:0.19, Z:-0.46 [[ 9.99987976e-01 2.08764085e-03 -4.43718928e-03 1.86921452e+00] [-2.09222082e-03 9.99997283e-01 -1.02778633e-03 1.92260542e-01] [ 4.43503157e-03 1.03705756e-03 9.99989627e-01 -4.60162246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.084553574 meters Centerline goodness [0,1] 0.8056466134170552 Centerline is valid? [False, False] Translation: X:1.87, Y:0.19, Z:-0.46 [[ 9.99987600e-01 2.19731502e-03 -4.46903911e-03 1.86929200e+00] [-2.20312325e-03 9.99996734e-01 -1.29515260e-03 1.93533135e-01] [ 4.46617866e-03 1.30498238e-03 9.99989175e-01 -4.60351928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.114553574 meters Centerline goodness [0,1] 0.8007377521613833 Centerline is valid? [False, False] Translation: X:1.87, Y:0.19, Z:-0.46 [[ 9.99987461e-01 2.69411904e-03 -4.22139886e-03 1.86829453e+00] [-2.69946573e-03 9.99995561e-01 -1.26138327e-03 1.94841465e-01] [ 4.21798180e-03 1.27276297e-03 9.99990294e-01 -4.59988691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.14455357399999 meters Centerline goodness [0,1] 0.8009704272639471 Centerline is valid? [False, False] Translation: X:1.87, Y:0.20, Z:-0.46 [[ 9.99984918e-01 3.72884322e-03 -4.03231080e-03 1.86706030e+00] [-3.73486067e-03 9.99991922e-01 -1.48580850e-03 1.97884555e-01] [ 4.02673788e-03 1.50084621e-03 9.99990766e-01 -4.59990762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.174553573999994 meters Centerline goodness [0,1] 0.8068056576047025 Centerline is valid? [False, False] Translation: X:1.87, Y:0.20, Z:-0.46 [[ 9.99980858e-01 4.92178904e-03 -3.74964168e-03 1.86527561e+00] [-4.92722649e-03 9.99986821e-01 -1.44227089e-03 1.99668233e-01] [ 3.74249371e-03 1.46071862e-03 9.99991930e-01 -4.59455336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.204553573999995 meters Centerline goodness [0,1] 0.8037359614943846 Centerline is valid? [False, False] Translation: X:1.86, Y:0.20, Z:-0.46 [[ 9.99979196e-01 5.35310568e-03 -3.59876121e-03 1.86455308e+00] [-5.35836242e-03 9.99984589e-01 -1.45265570e-03 2.00543363e-01] [ 3.59092953e-03 1.47190895e-03 9.99992469e-01 -4.59156844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.234553573999996 meters Centerline goodness [0,1] 0.7958055115761455 Centerline is valid? [False, False] Translation: X:1.86, Y:0.20, Z:-0.46 [[ 9.99978303e-01 5.62114337e-03 -3.43462167e-03 1.86406195e+00] [-5.62708297e-03 9.99982685e-01 -1.72212226e-03 2.01899538e-01] [ 3.42488190e-03 1.74141179e-03 9.99992619e-01 -4.59353265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.264553574 meters Centerline goodness [0,1] 0.8137330842484166 Centerline is valid? [False, False] Translation: X:1.86, Y:0.20, Z:-0.46 [[ 0.99997823 0.00556253 -0.00354943 1.86448415] [-0.00556994 0.99998232 -0.00208029 0.20397931] [ 0.00353779 0.00210001 0.99999154 -0.45959895] [ 0. 0. 0. 1. ]] SLAMing on 53.294553574 meters Centerline goodness [0,1] 0.8088662790697674 Centerline is valid? [False, False] Translation: X:1.86, Y:0.20, Z:-0.46 [[ 0.99997837 0.00545885 -0.00366786 1.86464188] [-0.00546635 0.99998298 -0.00203715 0.20455076] [ 0.00365668 0.00205716 0.9999912 -0.45908775] [ 0. 0. 0. 1. ]] SLAMing on 53.32455357399999 meters Centerline goodness [0,1] 0.8129172911840851 Centerline is valid? [False, False] Translation: X:1.87, Y:0.20, Z:-0.46 [[ 0.99998088 0.00481978 -0.00387422 1.86512769] [-0.00482742 0.99998642 -0.00196321 0.20418607] [ 0.0038647 0.00198187 0.99999057 -0.45793174] [ 0. 0. 0. 1. ]] SLAMing on 53.35455357399999 meters Centerline goodness [0,1] 0.8093234792495736 Centerline is valid? [False, False] Translation: X:1.87, Y:0.20, Z:-0.46 [[ 0.99998194 0.00436826 -0.00412722 1.86575373] [-0.00437601 0.99998868 -0.00186961 0.20376306] [ 0.004119 0.00188764 0.99998974 -0.45728144] [ 0. 0. 0. 1. ]] SLAMing on 53.384553573999995 meters Centerline goodness [0,1] 0.8189192874022905 Centerline is valid? [False, False] Translation: X:1.87, Y:0.20, Z:-0.46 [[ 0.99998265 0.00360448 -0.00465961 1.86738796] [-0.00361379 0.99999149 -0.00199181 0.20340371] [ 0.00465239 0.00200861 0.99998716 -0.45712796] [ 0. 0. 0. 1. ]] SLAMing on 53.414553573999996 meters Centerline goodness [0,1] 0.8167957897589954 Centerline is valid? [False, False] Translation: X:1.87, Y:0.20, Z:-0.46 [[ 9.99982016e-01 1.51512273e-03 -5.80269642e-03 1.87161427e+00] [-1.53212592e-03 9.99994543e-01 -2.92689830e-03 2.03951795e-01] [ 5.79823015e-03 2.93573612e-03 9.99978881e-01 -4.58305388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.444553574 meters Centerline goodness [0,1] 0.7984557379269862 Centerline is valid? [False, False] Translation: X:1.87, Y:0.20, Z:-0.46 [[ 9.99978632e-01 5.90158449e-04 -6.51049821e-03 1.87412993e+00] [-6.12344747e-04 9.99994011e-01 -3.40630578e-03 2.04523576e-01] [ 6.50844896e-03 3.41021967e-03 9.99973005e-01 -4.59186318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.474553574 meters Centerline goodness [0,1] 0.8212098009188361 Centerline is valid? [False, False] Translation: X:1.88, Y:0.21, Z:-0.46 [[ 9.99971032e-01 -1.00334325e-03 -7.54507624e-03 1.87774569e+00] [ 9.71340790e-04 9.99990523e-01 -4.24397214e-03 2.05134938e-01] [ 7.54926289e-03 4.23652036e-03 9.99962530e-01 -4.60281151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.50455357399999 meters Centerline goodness [0,1] 0.7942512707480545 Centerline is valid? [False, False] Translation: X:1.88, Y:0.21, Z:-0.46 [[ 9.99967625e-01 -1.42078204e-03 -7.92027584e-03 1.87882143e+00] [ 1.38514998e-03 9.99988904e-01 -4.50251285e-03 2.05580766e-01] [ 7.92658505e-03 4.49139631e-03 9.99958497e-01 -4.60311885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.53455357399999 meters Centerline goodness [0,1] 0.8200508406546849 Centerline is valid? [False, False] Translation: X:1.88, Y:0.21, Z:-0.46 [[ 9.99963802e-01 -1.72872214e-03 -8.33099750e-03 1.88016685e+00] [ 1.68360780e-03 9.99983899e-01 -5.41921358e-03 2.08467537e-01] [ 8.34023168e-03 5.40499129e-03 9.99950612e-01 -4.61197552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.564553573999994 meters Centerline goodness [0,1] 0.8183148558758315 Centerline is valid? [False, False] Translation: X:1.88, Y:0.21, Z:-0.46 [[ 9.99961203e-01 -1.87121624e-03 -8.60760329e-03 1.88111605e+00] [ 1.81907070e-03 9.99979972e-01 -6.06192367e-03 2.10767416e-01] [ 8.61877406e-03 6.04603065e-03 9.99944580e-01 -4.61951365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.594553573999995 meters Centerline goodness [0,1] 0.8189299503585218 Centerline is valid? [False, False] Translation: X:1.88, Y:0.21, Z:-0.46 [[ 0.99995189 -0.00274696 -0.00941673 1.88418632] [ 0.00267424 0.99996657 -0.0077265 0.214951 ] [ 0.00943764 0.00770094 0.99992581 -0.4642375 ] [ 0. 0. 0. 1. ]] SLAMing on 53.624553574 meters Centerline goodness [0,1] 0.8273235591951745 Centerline is valid? [False, False] Translation: X:1.89, Y:0.22, Z:-0.46 [[ 0.99994744 -0.00310589 -0.00977107 1.88534478] [ 0.00302526 0.99996135 -0.0082552 0.21637409] [ 0.00979633 0.00822521 0.99991819 -0.46476341] [ 0. 0. 0. 1. ]] SLAMing on 53.654553574 meters Centerline goodness [0,1] 0.8283480476127729 Centerline is valid? [False, False] Translation: X:1.89, Y:0.22, Z:-0.46 [[ 0.99994403 -0.00337925 -0.0100259 1.88611445] [ 0.00329273 0.99995731 -0.00863357 0.21771229] [ 0.01005464 0.00860007 0.99991247 -0.46492899] [ 0. 0. 0. 1. ]] SLAMing on 53.68455357399999 meters Centerline goodness [0,1] 0.8313179510643397 Centerline is valid? [False, False] Translation: X:1.89, Y:0.22, Z:-0.47 [[ 0.99993944 -0.00380876 -0.01032508 1.88701015] [ 0.00371059 0.99994789 -0.00950999 0.22074896] [ 0.01036076 0.00947111 0.99990147 -0.46522226] [ 0. 0. 0. 1. ]] SLAMing on 53.71455357399999 meters Centerline goodness [0,1] 0.8312650772607741 Centerline is valid? [False, False] Translation: X:1.89, Y:0.22, Z:-0.47 [[ 0.99993749 -0.00388759 -0.01048322 1.88741653] [ 0.00378472 0.99994467 -0.00981516 0.22213138] [ 0.0105208 0.00977487 0.99989688 -0.46528129] [ 0. 0. 0. 1. ]] SLAMing on 53.744553573999994 meters Centerline goodness [0,1] 0.8297817104039115 Centerline is valid? [False, False] Translation: X:1.89, Y:0.22, Z:-0.47 [[ 9.99934907e-01 -1.00952371e-03 -1.13649382e-02 1.88976697e+00] [ 9.34739276e-04 9.99977891e-01 -6.58366632e-03 2.24267262e-01] [ 1.13713333e-02 6.57261452e-03 9.99913743e-01 -4.65153239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.774553573999995 meters Centerline goodness [0,1] 0.8284133638760427 Centerline is valid? [False, False] Translation: X:1.89, Y:0.23, Z:-0.46 [[ 9.99937936e-01 -4.87909876e-04 -1.11304381e-02 1.88869581e+00] [ 4.14579463e-04 9.99978202e-01 -6.58963356e-03 2.25984595e-01] [ 1.11334106e-02 6.58461012e-03 9.99916342e-01 -4.64584070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.804553573999996 meters Centerline goodness [0,1] 0.8291098395215764 Centerline is valid? [False, False] Translation: X:1.89, Y:0.23, Z:-0.46 [[ 0.99993175 0.00401029 -0.01097287 1.88721926] [-0.00403523 0.99998932 -0.00225112 0.22751377] [ 0.01096372 0.00229524 0.99993726 -0.46236384] [ 0. 0. 0. 1. ]] SLAMing on 53.834553574 meters Centerline goodness [0,1] 0.8350393785274361 Centerline is valid? [False, False] Translation: X:1.88, Y:0.23, Z:-0.46 [[ 0.99993108 0.00530445 -0.01047392 1.88492368] [-0.00532462 0.99998402 -0.00189866 0.22943267] [ 0.01046368 0.0019543 0.99994334 -0.46132136] [ 0. 0. 0. 1. ]] SLAMing on 53.864553574 meters Centerline goodness [0,1] 0.8338353735392766 Centerline is valid? [False, False] Translation: X:1.88, Y:0.23, Z:-0.46 [[ 9.99926605e-01 6.96627164e-03 -9.91236874e-03 1.88225263e+00] [-6.98062519e-03 9.99974635e-01 -1.41418269e-03 2.31907651e-01] [ 9.90226573e-03 1.48327343e-03 9.99949871e-01 -4.60256401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.89455357399999 meters Centerline goodness [0,1] 0.8322503928313586 Centerline is valid? [False, False] Translation: X:1.88, Y:0.24, Z:-0.46 [[ 0.99987049 0.01310477 -0.00934206 1.87957259] [-0.01307944 0.99991063 0.00276778 0.23614191] [ 0.0093775 -0.00264524 0.99995253 -0.45948622] [ 0. 0. 0. 1. ]] SLAMing on 53.924553573999994 meters Centerline goodness [0,1] 0.8341395407786063 Centerline is valid? [False, False] Translation: X:1.88, Y:0.24, Z:-0.46 [[ 0.99985404 0.01459861 -0.00887566 1.87766651] [-0.01457329 0.99988957 0.00291001 0.2387283 ] [ 0.00891716 -0.00278024 0.99995638 -0.45930273] [ 0. 0. 0. 1. ]] SLAMing on 53.954553573999995 meters Centerline goodness [0,1] 0.8312346275936009 Centerline is valid? [False, False] Translation: X:1.88, Y:0.24, Z:-0.46 [[ 0.99982692 0.01657826 -0.00844309 1.87546235] [-0.01655137 0.99985775 0.00324464 0.24137131] [ 0.00849568 -0.00310434 0.99995909 -0.4590053 ] [ 0. 0. 0. 1. ]] SLAMing on 53.984553573999996 meters Centerline goodness [0,1] 0.8311582039446076 Centerline is valid? [False, False] Translation: X:1.87, Y:0.24, Z:-0.46 [[ 0.9998209 0.0170769 -0.0081579 1.87449756] [-0.01705045 0.99984918 0.00330058 0.2419402 ] [ 0.00821303 -0.0031609 0.99996128 -0.45879055] [ 0. 0. 0. 1. ]] SLAMing on 54.014553574 meters Centerline goodness [0,1] 0.8294863186167534 Centerline is valid? [False, False] Translation: X:1.87, Y:0.24, Z:-0.46 [[ 0.99981453 0.01754068 -0.00795237 1.87351278] [-0.01751154 0.99983975 0.00371821 0.24113248] [ 0.00801632 -0.00357826 0.99996147 -0.45803333] [ 0. 0. 0. 1. ]] SLAMing on 54.044553574 meters Centerline goodness [0,1] 0.8306239616411852 Centerline is valid? [False, False] Translation: X:1.87, Y:0.24, Z:-0.46 [[ 0.99981438 0.01752605 -0.00800259 1.87364469] [-0.01749556 0.99983948 0.00386359 0.24043643] [ 0.00806901 -0.00372286 0.99996051 -0.45793264] [ 0. 0. 0. 1. ]] SLAMing on 54.07455357399999 meters Centerline goodness [0,1] 0.8384213189407994 Centerline is valid? [False, False] Translation: X:1.88, Y:0.24, Z:-0.46 [[ 0.99981928 0.01707325 -0.00836149 1.87513022] [-0.01704203 0.99984759 0.00379063 0.23918427] [ 0.00842493 -0.00364744 0.99995786 -0.4588768 ] [ 0. 0. 0. 1. ]] SLAMing on 54.10455357399999 meters Centerline goodness [0,1] 0.829304401158979 Centerline is valid? [False, False] Translation: X:1.88, Y:0.24, Z:-0.46 [[ 0.99982266 0.01669385 -0.00871521 1.87646256] [-0.0166625 0.99985448 0.00365832 0.23857175] [ 0.00877501 -0.00351245 0.99995533 -0.45956392] [ 0. 0. 0. 1. ]] SLAMing on 54.134553573999995 meters Centerline goodness [0,1] 0.8259552014240608 Centerline is valid? [False, False] Translation: X:1.88, Y:0.24, Z:-0.46 [[ 0.99982297 0.01664821 -0.00876731 1.87670455] [-0.01661554 0.99985479 0.00378583 0.23781067] [ 0.00882907 -0.00363948 0.9999544 -0.45965623] [ 0. 0. 0. 1. ]] SLAMing on 54.164553573999996 meters Centerline goodness [0,1] 0.8288284456542543 Centerline is valid? [False, False] Translation: X:1.88, Y:0.24, Z:-0.46 [[ 0.99981699 0.01720959 -0.00835578 1.87510684] [-0.01717176 0.99984207 0.00457882 0.23588785] [ 0.00843326 -0.0044345 0.99995461 -0.45850108] [ 0. 0. 0. 1. ]] SLAMing on 54.194553574 meters Centerline goodness [0,1] 0.8288284456542543 Centerline is valid? [False, False] Translation: X:1.88, Y:0.24, Z:-0.46 [[ 0.99981699 0.01720959 -0.00835578 1.87510684] [-0.01717176 0.99984207 0.00457882 0.23588785] [ 0.00843326 -0.0044345 0.99995461 -0.45850108] [ 0. 0. 0. 1. ]] SLAMing on 54.224553574 meters Centerline goodness [0,1] 0.8261351760615949 Centerline is valid? [False, False] Translation: X:1.88, Y:0.23, Z:-0.46 [[ 0.99981536 0.0173047 -0.00835382 1.87508745] [-0.01726435 0.99983906 0.00487747 0.23459123] [ 0.00843687 -0.00473235 0.99995321 -0.45838878] [ 0. 0. 0. 1. ]] SLAMing on 54.25455357399999 meters Centerline goodness [0,1] 0.833372427764154 Centerline is valid? [False, False] Translation: X:1.87, Y:0.23, Z:-0.46 [[ 0.99980625 0.01794274 -0.00809418 1.87438337] [-0.01789872 0.9998248 0.00547767 0.23242962] [ 0.00819105 -0.00533173 0.99995224 -0.45849177] [ 0. 0. 0. 1. ]] SLAMing on 54.28455357399999 meters Centerline goodness [0,1] 0.8298846639419681 Centerline is valid? [False, False] Translation: X:1.87, Y:0.23, Z:-0.46 [[ 0.99980073 0.0183192 -0.00793116 1.87406412] [-0.01827534 0.99981749 0.00556762 0.23224809] [ 0.0080317 -0.00542156 0.99995305 -0.45892966] [ 0. 0. 0. 1. ]] SLAMing on 54.314553573999994 meters Centerline goodness [0,1] 0.8302636098231152 Centerline is valid? [False, False] Translation: X:1.87, Y:0.23, Z:-0.46 [[ 0.99977992 0.01965865 -0.00732455 1.87241107] [-0.01961432 0.99978916 0.00607564 0.23173489] [ 0.00744245 -0.00593064 0.99995472 -0.45942516] [ 0. 0. 0. 1. ]] SLAMing on 54.344553573999995 meters Centerline goodness [0,1] 0.8302369586719993 Centerline is valid? [False, False] Translation: X:1.87, Y:0.23, Z:-0.46 [[ 0.99977106 0.02017597 -0.00712499 1.87197241] [-0.02013156 0.9997778 0.00625017 0.23140471] [ 0.00724951 -0.0061053 0.99995508 -0.45984341] [ 0. 0. 0. 1. ]] SLAMing on 54.374553574 meters Centerline goodness [0,1] 0.8261656468154788 Centerline is valid? [False, False] Translation: X:1.87, Y:0.23, Z:-0.46 [[ 0.99976213 0.02067227 -0.00695255 1.87170462] [-0.02062796 0.99976683 0.00638484 0.23114179] [ 0.00708292 -0.0062399 0.99995545 -0.46045245] [ 0. 0. 0. 1. ]] SLAMing on 54.404553574 meters Centerline goodness [0,1] 0.8253629655427613 Centerline is valid? [False, False] Translation: X:1.87, Y:0.23, Z:-0.46 [[ 0.99973763 0.02205835 -0.00617222 1.86924533] [-0.02201151 0.99972916 0.00755655 0.22840523] [ 0.00633723 -0.00741871 0.9999524 -0.45980854] [ 0. 0. 0. 1. ]] SLAMing on 54.43455357399999 meters Centerline goodness [0,1] 0.8235216327610148 Centerline is valid? [False, False] Translation: X:1.86, Y:0.22, Z:-0.46 [[ 0.99976096 0.02148916 -0.00403018 1.86209569] [-0.02146628 0.99975368 0.0056371 0.22358549] [ 0.00415032 -0.00554924 0.99997599 -0.45855745] [ 0. 0. 0. 1. ]] SLAMing on 54.46455357399999 meters Centerline goodness [0,1] 0.819740397820405 Centerline is valid? [False, False] Translation: X:1.86, Y:0.22, Z:-0.46 [[ 0.99981121 0.01917363 -0.00315053 1.85978654] [-0.01916652 0.99981373 0.00227134 0.22257233] [ 0.00319349 -0.00221052 0.99999246 -0.45940773] [ 0. 0. 0. 1. ]] SLAMing on 54.494553573999994 meters Centerline goodness [0,1] 0.8219309178313896 Centerline is valid? [False, False] Translation: X:1.86, Y:0.22, Z:-0.46 [[ 0.99981464 0.01896077 -0.00334243 1.86101984] [-0.01895287 0.99981755 0.00237933 0.22088145] [ 0.00338694 -0.00231554 0.99999158 -0.46062192] [ 0. 0. 0. 1. ]] SLAMing on 54.524553573999995 meters Centerline goodness [0,1] 0.8194162181477098 Centerline is valid? [False, False] Translation: X:1.86, Y:0.22, Z:-0.46 [[ 0.99981871 0.01869633 -0.00360495 1.86231836] [-0.01868722 0.99982214 0.0025438 0.21918198] [ 0.00365187 -0.00247597 0.99999027 -0.46169903] [ 0. 0. 0. 1. ]] SLAMing on 54.554553573999996 meters Centerline goodness [0,1] 0.8172443361314198 Centerline is valid? [False, False] Translation: X:1.86, Y:0.21, Z:-0.46 [[ 9.99881330e-01 1.50576275e-02 -3.25483357e-03 1.86232774e+00] [-1.50594467e-02 9.99886457e-01 -5.35131124e-04 2.14094421e-01] [ 3.24640620e-03 5.84083613e-04 9.99994560e-01 -4.63092991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.584553574 meters Centerline goodness [0,1] 0.8169017309277407 Centerline is valid? [False, False] Translation: X:1.86, Y:0.21, Z:-0.46 [[ 0.99993797 0.01063522 -0.00330782 1.86269872] [-0.01064566 0.99993836 -0.00315337 0.20595855] [ 0.00327408 0.00318839 0.99998956 -0.46275297] [ 0. 0. 0. 1. ]] SLAMing on 54.614553574 meters Centerline goodness [0,1] 0.817955629276384 Centerline is valid? [False, False] Translation: X:1.86, Y:0.20, Z:-0.46 [[ 0.99997003 0.00718022 -0.00289463 1.86168175] [-0.00719915 0.99995242 -0.00658235 0.20339415] [ 0.00284723 0.00660299 0.99997415 -0.46311334] [ 0. 0. 0. 1. ]] SLAMing on 54.64455357399999 meters Centerline goodness [0,1] 0.8164480697038513 Centerline is valid? [False, False] Translation: X:1.86, Y:0.20, Z:-0.46 [[ 0.99997344 0.00645056 -0.00339307 1.86339766] [-0.00647096 0.99996085 -0.00603559 0.19999788] [ 0.003354 0.00605739 0.99997603 -0.46307979] [ 0. 0. 0. 1. ]] SLAMing on 54.674553573999994 meters Centerline goodness [0,1] 0.8287135417882914 Centerline is valid? [False, False] Translation: X:1.87, Y:0.19, Z:-0.46 [[ 0.999986 0.00383425 -0.00364687 1.86646419] [-0.00385907 0.99996928 -0.00682295 0.19456169] [ 0.0036206 0.00683693 0.99997007 -0.4646453 ] [ 0. 0. 0. 1. ]] SLAMing on 54.704553573999995 meters Centerline goodness [0,1] 0.8271450784526222 Centerline is valid? [False, False] Translation: X:1.87, Y:0.19, Z:-0.47 [[ 9.99992843e-01 -6.52749329e-04 -3.72659517e-03 1.86747178e+00] [ 6.14832376e-04 9.99948128e-01 -1.01667856e-02 1.90251173e-01] [ 3.73303823e-03 1.01644216e-02 9.99941373e-01 -4.65383307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.734553573999996 meters Centerline goodness [0,1] 0.8217617318236844 Centerline is valid? [False, False] Translation: X:1.87, Y:0.19, Z:-0.46 [[ 9.99989366e-01 -1.74584898e-03 -4.26846118e-03 1.86941235e+00] [ 1.70578726e-03 9.99954634e-01 -9.37121195e-03 1.85900096e-01] [ 4.28462826e-03 9.36383121e-03 9.99946979e-01 -4.64595081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.764553574 meters Centerline goodness [0,1] 0.8267118708814822 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.46 [[ 0.99998132 -0.00345167 -0.00504405 1.87260224] [ 0.00340684 0.99995487 -0.00886842 0.18134969] [ 0.00507443 0.00885107 0.99994795 -0.46426359] [ 0. 0. 0. 1. ]] SLAMing on 54.794553574 meters Centerline goodness [0,1] 0.8268234500373485 Centerline is valid? [False, False] Translation: X:1.88, Y:0.18, Z:-0.47 [[ 0.99993279 -0.00988335 -0.00606059 1.87760651] [ 0.00980402 0.99986766 -0.01298256 0.17664808] [ 0.0061881 0.01292227 0.99989736 -0.46594438] [ 0. 0. 0. 1. ]] SLAMing on 54.82455357399999 meters Centerline goodness [0,1] 0.8226436006168081 Centerline is valid? [False, False] Translation: X:1.88, Y:0.18, Z:-0.47 [[ 0.99991105 -0.01132657 -0.00704236 1.88135887] [ 0.0112339 0.99985158 -0.01306189 0.17508222] [ 0.00718926 0.01298162 0.99988989 -0.46671888] [ 0. 0. 0. 1. ]] SLAMing on 54.85455357399999 meters Centerline goodness [0,1] 0.8244533043373203 Centerline is valid? [False, False] Translation: X:1.89, Y:0.17, Z:-0.47 [[ 0.99987371 -0.01363242 -0.00816886 1.88612346] [ 0.01352437 0.9998222 -0.01313966 0.17286907] [ 0.00834654 0.01302752 0.9998803 -0.46702529] [ 0. 0. 0. 1. ]] SLAMing on 54.884553573999995 meters Centerline goodness [0,1] 0.8294637453092846 Centerline is valid? [False, False] Translation: X:1.89, Y:0.17, Z:-0.46 [[ 0.99986692 -0.01293906 -0.00993592 1.89297117] [ 0.01286459 0.99988894 -0.00752339 0.16960475] [ 0.01003217 0.00739457 0.99992233 -0.46347312] [ 0. 0. 0. 1. ]] SLAMing on 54.914553573999996 meters Centerline goodness [0,1] 0.8264942987871305 Centerline is valid? [False, False] Translation: X:1.90, Y:0.17, Z:-0.46 [[ 0.99983051 -0.0147681 -0.01099353 1.89715091] [ 0.01468017 0.99985994 -0.0080364 0.16852845] [ 0.01111067 0.00787365 0.99990728 -0.46439121] [ 0. 0. 0. 1. ]] SLAMing on 54.944553574 meters Centerline goodness [0,1] 0.834266056157182 Centerline is valid? [False, False] Translation: X:1.90, Y:0.17, Z:-0.46 [[ 0.99983797 -0.01345907 -0.01195324 1.90130442] [ 0.01340214 0.99989852 -0.00482991 0.16715185] [ 0.01201703 0.00466893 0.99991689 -0.46447868] [ 0. 0. 0. 1. ]] SLAMing on 54.974553574 meters Centerline goodness [0,1] 0.8334341796355011 Centerline is valid? [False, False] Translation: X:1.91, Y:0.17, Z:-0.46 [[ 9.99842802e-01 -1.19689965e-02 -1.30810450e-02 1.90543522e+00] [ 1.19526216e-02 9.99927681e-01 -1.32927394e-03 1.66220020e-01] [ 1.30960090e-02 1.17271220e-03 9.99913556e-01 -4.63927992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.00455357399999 meters Centerline goodness [0,1] 0.8330106954459662 Centerline is valid? [False, False] Translation: X:1.91, Y:0.17, Z:-0.46 [[ 9.99823076e-01 -1.28648040e-02 -1.37227232e-02 1.90737286e+00] [ 1.28419554e-02 9.99916004e-01 -1.75183978e-03 1.67523270e-01] [ 1.37441076e-02 1.57530323e-03 9.99904304e-01 -4.63761146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.03455357399999 meters Centerline goodness [0,1] 0.8339139691295302 Centerline is valid? [False, False] Translation: X:1.91, Y:0.17, Z:-0.46 [[ 9.99817643e-01 -1.30895086e-02 -1.39048554e-02 1.90792383e+00] [ 1.30641226e-02 9.99912827e-01 -1.91495885e-03 1.68570868e-01] [ 1.39287091e-02 1.73295491e-03 9.99901489e-01 -4.63622611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.064553573999994 meters Centerline goodness [0,1] 0.8314903846153846 Centerline is valid? [False, False] Translation: X:1.91, Y:0.17, Z:-0.46 [[ 9.99834438e-01 -1.03310680e-02 -1.49788370e-02 1.91098612e+00] [ 1.03551435e-02 9.99945213e-01 1.53063028e-03 1.70881974e-01] [ 1.49622033e-02 -1.68548487e-03 9.99886639e-01 -4.63417810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.094553573999995 meters Centerline goodness [0,1] 0.8285632170143462 Centerline is valid? [False, False] Translation: X:1.91, Y:0.17, Z:-0.46 [[ 9.99834649e-01 -1.02293025e-02 -1.50345204e-02 1.91108809e+00] [ 1.02475311e-02 9.99946847e-01 1.13591044e-03 1.72959038e-01] [ 1.50221017e-02 -1.28978933e-03 9.99886330e-01 -4.63670571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.124553574 meters Centerline goodness [0,1] 0.8269001667857994 Centerline is valid? [False, False] Translation: X:1.91, Y:0.18, Z:-0.46 [[ 0.99984996 -0.00692965 -0.01587562 1.91336102] [ 0.00700058 0.99996574 0.00441683 0.17595168] [ 0.01584446 -0.0045273 0.99986422 -0.46372837] [ 0. 0. 0. 1. ]] SLAMing on 55.154553574 meters Centerline goodness [0,1] 0.829074241200779 Centerline is valid? [False, False] Translation: X:1.91, Y:0.18, Z:-0.46 [[ 0.9998536 -0.00660601 -0.0157844 1.91288579] [ 0.0066702 0.99996968 0.00401761 0.17819857] [ 0.01575738 -0.00412231 0.99986735 -0.46387903] [ 0. 0. 0. 1. ]] SLAMing on 55.18455357399999 meters Centerline goodness [0,1] 0.8232760660703299 Centerline is valid? [False, False] Translation: X:1.91, Y:0.18, Z:-0.46 [[ 0.99985981 -0.00616036 -0.0155693 1.91192608] [ 0.00621968 0.99997357 0.00376461 0.18040112] [ 0.0155457 -0.00386092 0.9998717 -0.46364334] [ 0. 0. 0. 1. ]] SLAMing on 55.21455357399999 meters Centerline goodness [0,1] 0.8192790927485766 Centerline is valid? [False, False] Translation: X:1.91, Y:0.18, Z:-0.46 [[ 0.99987343 -0.00520013 -0.01503573 1.90907028] [ 0.00525816 0.99997887 0.00382266 0.18356613] [ 0.01501553 -0.00390124 0.99987965 -0.46173351] [ 0. 0. 0. 1. ]] SLAMing on 55.244553573999994 meters Centerline goodness [0,1] 0.8270234834117675 Centerline is valid? [False, False] Translation: X:1.91, Y:0.19, Z:-0.46 [[ 0.99987366 -0.00501393 -0.01508408 1.90894459] [ 0.00506228 0.99998217 0.00316865 0.18697142] [ 0.01506793 -0.00324461 0.99988121 -0.46190189] [ 0. 0. 0. 1. ]] SLAMing on 55.274553573999995 meters Centerline goodness [0,1] 0.827051721324849 Centerline is valid? [False, False] Translation: X:1.91, Y:0.19, Z:-0.46 [[ 0.99987142 -0.00501638 -0.01523095 1.90952793] [ 0.00505894 0.9999834 0.00275704 0.18869965] [ 0.01521687 -0.00283374 0.9998802 -0.46253575] [ 0. 0. 0. 1. ]] SLAMing on 55.304553573999996 meters Centerline goodness [0,1] 0.8236362366417546 Centerline is valid? [False, False] Translation: X:1.91, Y:0.19, Z:-0.46 [[ 0.99987056 -0.00499205 -0.01529528 1.90983905] [ 0.00502917 0.9999845 0.00238934 0.19012757] [ 0.01528311 -0.00246596 0.99988017 -0.46306157] [ 0. 0. 0. 1. ]] SLAMing on 55.334553574 meters Centerline goodness [0,1] 0.8275502157071949 Centerline is valid? [False, False] Translation: X:1.91, Y:0.19, Z:-0.46 [[ 0.99988168 -0.00404225 -0.01484192 1.90779038] [ 0.0040765 0.9999891 0.00227758 0.19304884] [ 0.01483255 -0.00233781 0.99988726 -0.46240414] [ 0. 0. 0. 1. ]] SLAMing on 55.364553574 meters Centerline goodness [0,1] 0.827597395072887 Centerline is valid? [False, False] Translation: X:1.91, Y:0.19, Z:-0.46 [[ 0.99988713 -0.00362061 -0.01458159 1.90674775] [ 0.00365153 0.99999114 0.00209473 0.19434276] [ 0.01457387 -0.00214773 0.99989149 -0.46211979] [ 0. 0. 0. 1. ]] SLAMing on 55.39455357399999 meters Centerline goodness [0,1] 0.8262158406669755 Centerline is valid? [False, False] Translation: X:1.90, Y:0.20, Z:-0.46 [[ 0.9998977 -0.00266546 -0.01405301 1.90416199] [ 0.00269875 0.9999936 0.00235037 0.19617457] [ 0.01404666 -0.00238806 0.99989849 -0.46044137] [ 0. 0. 0. 1. ]] SLAMing on 55.424553573999994 meters Centerline goodness [0,1] 0.8344840326044288 Centerline is valid? [False, False] Translation: X:1.90, Y:0.20, Z:-0.46 [[ 0.99990043 -0.00237561 -0.01390996 1.90351395] [ 0.00240804 0.99999442 0.00231471 0.19716686] [ 0.01390438 -0.00234797 0.99990057 -0.46010381] [ 0. 0. 0. 1. ]] SLAMing on 55.454553573999995 meters Centerline goodness [0,1] 0.8288153877935134 Centerline is valid? [False, False] Translation: X:1.90, Y:0.20, Z:-0.46 [[ 9.99902053e-01 -2.08062860e-03 -1.38403872e-02 1.90337820e+00] [ 2.10557332e-03 9.99996185e-01 1.78798663e-03 2.00354674e-01] [ 1.38366143e-02 -1.81695345e-03 9.99902619e-01 -4.60745594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.484553573999996 meters Centerline goodness [0,1] 0.8428816466552316 Centerline is valid? [False, False] Translation: X:1.90, Y:0.20, Z:-0.46 [[ 9.99900483e-01 -2.22320258e-03 -1.39313182e-02 1.90379237e+00] [ 2.24410934e-03 9.99996379e-01 1.48524961e-03 2.01821643e-01] [ 1.39279657e-02 -1.51636521e-03 9.99901851e-01 -4.60975293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.514553574 meters Centerline goodness [0,1] 0.8429042904290429 Centerline is valid? [False, False] Translation: X:1.91, Y:0.20, Z:-0.46 [[ 9.99889045e-01 -3.30914165e-03 -1.45240067e-02 1.90578217e+00] [ 3.32144826e-03 9.99994145e-01 8.23288941e-04 2.03254924e-01] [ 1.45211972e-02 -8.71438329e-04 9.99894182e-01 -4.61183175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.544553574 meters Centerline goodness [0,1] 0.8413268204021356 Centerline is valid? [False, False] Translation: X:1.91, Y:0.20, Z:-0.46 [[ 9.99880423e-01 -3.99528953e-03 -1.49391024e-02 1.90718920e+00] [ 4.00316883e-03 9.99991864e-01 4.97561732e-04 2.03688747e-01] [ 1.49369929e-02 -5.57305984e-04 9.99888282e-01 -4.61306944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.57455357399999 meters Centerline goodness [0,1] 0.8384096669080376 Centerline is valid? [False, False] Translation: X:1.90, Y:0.21, Z:-0.47 [[ 9.99919203e-01 -1.04202218e-02 -7.28054087e-03 1.89961412e+00] [ 1.04262125e-02 9.99945337e-01 7.85363846e-04 2.07438198e-01] [ 7.27195923e-03 -8.61208857e-04 9.99973188e-01 -4.65548450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.60455357399999 meters Centerline goodness [0,1] 0.842074421330208 Centerline is valid? [False, False] Translation: X:1.90, Y:0.21, Z:-0.47 [[ 9.99904056e-01 -1.13568116e-02 -7.93101223e-03 1.90176892e+00] [ 1.13582428e-02 9.99935484e-01 1.35440762e-04 2.08638846e-01] [ 7.92896238e-03 -2.25510130e-04 9.99968540e-01 -4.66101232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.634553573999995 meters Centerline goodness [0,1] 0.8414159371694758 Centerline is valid? [False, False] Translation: X:1.91, Y:0.21, Z:-0.47 [[ 9.99875421e-01 -1.29947552e-02 -8.95980965e-03 1.90510252e+00] [ 1.29874378e-02 9.99915277e-01 -8.74388434e-04 2.10289071e-01] [ 8.97041302e-03 7.57914533e-04 9.99959478e-01 -4.66677383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.664553573999996 meters Centerline goodness [0,1] 0.8427120320014383 Centerline is valid? [False, False] Translation: X:1.91, Y:0.21, Z:-0.47 [[ 9.99870737e-01 -1.32493563e-02 -9.10841899e-03 1.90545512e+00] [ 1.32402334e-02 9.99911781e-01 -1.06116070e-03 2.11234043e-01] [ 9.12167516e-03 9.40425934e-04 9.99957954e-01 -4.66323977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.694553574 meters Centerline goodness [0,1] 0.8378887419000426 Centerline is valid? [False, False] Translation: X:1.91, Y:0.21, Z:-0.47 [[ 0.99989617 -0.01051946 -0.00984875 1.90742395] [ 0.01054718 0.99994055 0.0027661 0.21112577] [ 0.00981906 -0.00286969 0.99994767 -0.46541285] [ 0. 0. 0. 1. ]] SLAMing on 55.724553574 meters Centerline goodness [0,1] 0.843523454752292 Centerline is valid? [False, False] Translation: X:1.91, Y:0.21, Z:-0.47 [[ 0.99991656 -0.00733459 -0.01063397 1.90967669] [ 0.00739689 0.99995564 0.00583168 0.21437875] [ 0.01059072 -0.00590986 0.99992645 -0.46589567] [ 0. 0. 0. 1. ]] SLAMing on 55.75455357399999 meters Centerline goodness [0,1] 0.8422628951747089 Centerline is valid? [False, False] Translation: X:1.91, Y:0.22, Z:-0.47 [[ 0.99992375 -0.00653215 -0.01047988 1.90897875] [ 0.00658855 0.99996395 0.00535664 0.21814333] [ 0.01044452 -0.00542528 0.99993074 -0.46658293] [ 0. 0. 0. 1. ]] SLAMing on 55.78455357399999 meters Centerline goodness [0,1] 0.8403662858526492 Centerline is valid? [False, False] Translation: X:1.91, Y:0.22, Z:-0.47 [[ 0.99994113 -0.00216954 -0.01063117 1.90937022] [ 0.00225837 0.99996259 0.00835003 0.22285202] [ 0.01061265 -0.00837354 0.99990862 -0.4675248 ] [ 0. 0. 0. 1. ]] SLAMing on 55.814553573999994 meters Centerline goodness [0,1] 0.8398727232828616 Centerline is valid? [False, False] Translation: X:1.91, Y:0.22, Z:-0.47 [[ 9.99943840e-01 -1.79494192e-03 -1.04449029e-02 1.90865357e+00] [ 1.87817548e-03 9.99966519e-01 7.96447579e-03 2.24536931e-01] [ 1.04302574e-02 -7.98364586e-03 9.99913732e-01 -4.67474809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.844553573999995 meters Centerline goodness [0,1] 0.8419608359676853 Centerline is valid? [False, False] Translation: X:1.91, Y:0.23, Z:-0.47 [[ 9.99948229e-01 -1.25828326e-03 -1.00973087e-02 1.90723765e+00] [ 1.33759603e-03 9.99968278e-01 7.85193693e-03 2.25838919e-01] [ 1.00871084e-02 -7.86503655e-03 9.99918192e-01 -4.66835089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.874553574 meters Centerline goodness [0,1] 0.8436600680212785 Centerline is valid? [False, False] Translation: X:1.91, Y:0.23, Z:-0.47 [[ 9.99953492e-01 -2.75774636e-04 -9.64040597e-03 1.90528145e+00] [ 3.47421893e-04 9.99972329e-01 7.43109052e-03 2.29745647e-01] [ 9.63808990e-03 -7.43409420e-03 9.99925918e-01 -4.66419547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.904553574 meters Centerline goodness [0,1] 0.8431879398731428 Centerline is valid? [False, False] Translation: X:1.90, Y:0.23, Z:-0.47 [[ 9.99956755e-01 9.02656696e-04 -9.25603462e-03 1.90339444e+00] [-8.36099352e-04 9.99973787e-01 7.19204750e-03 2.33395122e-01] [ 9.26228395e-03 -7.18399751e-03 9.99931298e-01 -4.65978973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93455357399999 meters Centerline goodness [0,1] 0.8440603721212647 Centerline is valid? [False, False] Translation: X:1.90, Y:0.23, Z:-0.47 [[ 9.99958156e-01 1.35208080e-03 -9.04750419e-03 1.90273608e+00] [-1.28950886e-03 9.99975238e-01 6.91819695e-03 2.34863818e-01] [ 9.05663411e-03 -6.90624063e-03 9.99935139e-01 -4.66153893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.96455357399999 meters Centerline goodness [0,1] 0.844563056443945 Centerline is valid? [False, False] Translation: X:1.90, Y:0.24, Z:-0.47 [[ 0.99995805 0.00264037 -0.0087707 1.90151377] [-0.00258158 0.99997417 0.00670793 0.23787898] [ 0.00878818 -0.006685 0.99993904 -0.46667351] [ 0. 0. 0. 1. ]] SLAMing on 55.994553573999994 meters Centerline goodness [0,1] 0.8434340167733868 Centerline is valid? [False, False] Translation: X:1.90, Y:0.24, Z:-0.47 [[ 0.99995812 0.00286411 -0.00869274 1.90152194] [-0.00280863 0.99997565 0.00638823 0.23880553] [ 0.00871082 -0.00636355 0.99994181 -0.46732624] [ 0. 0. 0. 1. ]] SLAMing on 56.024553573999995 meters Centerline goodness [0,1] 0.8447649549685102 Centerline is valid? [False, False] Translation: X:1.90, Y:0.24, Z:-0.47 [[ 0.99995857 0.00436689 -0.00798634 1.89873627] [-0.00431301 0.9999679 0.00675212 0.24038823] [ 0.00801557 -0.0067174 0.99994531 -0.46637625] [ 0. 0. 0. 1. ]] SLAMing on 56.054553573999996 meters Centerline goodness [0,1] 0.845964144793275 Centerline is valid? [False, False] Translation: X:1.90, Y:0.24, Z:-0.47 [[ 0.99995831 0.00487399 -0.00772115 1.89799196] [-0.00482391 0.99996729 0.00649267 0.2419584 ] [ 0.00775255 -0.00645515 0.99994911 -0.4666609 ] [ 0. 0. 0. 1. ]] SLAMing on 56.084553574 meters Centerline goodness [0,1] 0.845964144793275 Centerline is valid? [False, False] Translation: X:1.90, Y:0.24, Z:-0.47 [[ 0.99995831 0.00487399 -0.00772115 1.89799196] [-0.00482391 0.99996729 0.00649267 0.2419584 ] [ 0.00775255 -0.00645515 0.99994911 -0.4666609 ] [ 0. 0. 0. 1. ]] SLAMing on 56.114553574 meters Centerline goodness [0,1] 0.8463333690183064 Centerline is valid? [False, False] Translation: X:1.90, Y:0.24, Z:-0.47 [[ 0.9999559 0.00606109 -0.00717296 1.89594952] [-0.00601359 0.99995997 0.00662567 0.24358155] [ 0.00721283 -0.00658224 0.99995232 -0.46618279] [ 0. 0. 0. 1. ]] SLAMing on 56.14455357399999 meters Centerline goodness [0,1] 0.8468782774341302 Centerline is valid? [False, False] Translation: X:1.89, Y:0.25, Z:-0.47 [[ 0.99997139 0.00386122 -0.00650503 1.8933463 ] [-0.0038414 0.99998795 0.00305551 0.24526409] [ 0.00651675 -0.00303043 0.99997417 -0.46595229] [ 0. 0. 0. 1. ]] SLAMing on 56.174553573999994 meters Centerline goodness [0,1] 0.8484259120733506 Centerline is valid? [False, False] Translation: X:1.89, Y:0.25, Z:-0.47 [[ 0.99997183 0.00378787 -0.00647954 1.8934406 ] [-0.00376904 0.99998865 0.00291516 0.24535108] [ 0.0064905 -0.00289066 0.99997476 -0.46600948] [ 0. 0. 0. 1. ]] SLAMing on 56.204553573999995 meters Centerline goodness [0,1] 0.8482680319616118 Centerline is valid? [False, False] Translation: X:1.89, Y:0.25, Z:-0.47 [[ 0.99997246 0.00339384 -0.00659937 1.89405882] [-0.00337572 0.99999051 0.00275434 0.2453024 ] [ 0.00660865 -0.00273199 0.99997443 -0.46616294] [ 0. 0. 0. 1. ]] SLAMing on 56.234553573999996 meters Centerline goodness [0,1] 0.8483153292181069 Centerline is valid? [False, False] Translation: X:1.90, Y:0.24, Z:-0.47 [[ 0.99997263 0.00287725 -0.00681551 1.89517055] [-0.00286001 0.99999269 0.00253836 0.24473836] [ 0.00682276 -0.00251879 0.99997355 -0.46674574] [ 0. 0. 0. 1. ]] SLAMing on 56.264553574 meters Centerline goodness [0,1] 0.8464299531444783 Centerline is valid? [False, False] Translation: X:1.89, Y:0.24, Z:-0.47 [[ 9.99977053e-01 -1.10963073e-03 -6.68298497e-03 1.89484695e+00] [ 1.10226948e-03 9.99998782e-01 -1.10507374e-03 2.43344364e-01] [ 6.68420306e-03 1.09768193e-03 9.99977058e-01 -4.66732659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.294553574 meters Centerline goodness [0,1] 0.8488625336927224 Centerline is valid? [False, False] Translation: X:1.90, Y:0.24, Z:-0.47 [[ 9.99972978e-01 -1.83888991e-03 -7.11776859e-03 1.89630659e+00] [ 1.83242701e-03 9.99997903e-01 -9.14411298e-04 2.41582918e-01] [ 7.11943516e-03 9.01343797e-04 9.99974250e-01 -4.66756802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.32455357399999 meters Centerline goodness [0,1] 0.8508217993079585 Centerline is valid? [False, False] Translation: X:1.90, Y:0.24, Z:-0.47 [[ 9.99964967e-01 -3.75063798e-03 -7.48311847e-03 1.89830228e+00] [ 3.74351256e-03 9.99992526e-01 -9.65977842e-04 2.38009871e-01] [ 7.48668558e-03 9.37930853e-04 9.99971535e-01 -4.66419430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.35455357399999 meters Centerline goodness [0,1] 0.846683313429595 Centerline is valid? [False, False] Translation: X:1.90, Y:0.24, Z:-0.47 [[ 9.99961912e-01 -4.08403909e-03 -7.71333900e-03 1.89879512e+00] [ 4.08053135e-03 9.99991564e-01 -4.70445856e-04 2.36089819e-01] [ 7.71519525e-03 4.38953416e-04 9.99970141e-01 -4.65673167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.384553573999995 meters Centerline goodness [0,1] 0.8473382045929019 Centerline is valid? [False, False] Translation: X:1.90, Y:0.23, Z:-0.47 [[ 9.99957252e-01 -4.60455950e-03 -8.01825019e-03 1.89976280e+00] [ 4.60473348e-03 9.99989398e-01 3.23750953e-06 2.33794926e-01] [ 8.01815027e-03 -4.01592762e-05 9.99967853e-01 -4.65257579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.414553573999996 meters Centerline goodness [0,1] 0.8489117909247059 Centerline is valid? [False, False] Translation: X:1.90, Y:0.23, Z:-0.47 [[ 9.99954780e-01 -4.78054692e-03 -8.22098343e-03 1.90052631e+00] [ 4.78194180e-03 9.99988555e-01 1.50023878e-04 2.33196368e-01] [ 8.22017215e-03 -1.89329359e-04 9.99966196e-01 -4.65569732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.444553574 meters Centerline goodness [0,1] 0.8476698606271778 Centerline is valid? [False, False] Translation: X:1.90, Y:0.23, Z:-0.47 [[ 9.99947662e-01 -5.44522537e-03 -8.66161757e-03 1.90261222e+00] [ 5.44689202e-03 9.99985151e-01 1.68839676e-04 2.31333286e-01] [ 8.66056958e-03 -2.16009734e-04 9.99962473e-01 -4.66879010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.474553574 meters Centerline goodness [0,1] 0.8479334148898986 Centerline is valid? [False, False] Translation: X:1.90, Y:0.23, Z:-0.47 [[ 9.99942267e-01 -5.84374961e-03 -9.01737794e-03 1.90376365e+00] [ 5.84831214e-03 9.99982783e-01 4.79685187e-04 2.29510368e-01] [ 9.01441953e-03 -5.32393934e-04 9.99959228e-01 -4.66954828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.50455357399999 meters Centerline goodness [0,1] 0.8477523046267709 Centerline is valid? [False, False] Translation: X:1.90, Y:0.23, Z:-0.47 [[ 9.99937071e-01 -6.21162670e-03 -9.34188032e-03 1.90485566e+00] [ 6.21952147e-03 9.99980325e-01 8.16280157e-04 2.27561912e-01] [ 9.33662610e-03 -8.74330814e-04 9.99956031e-01 -4.67081358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.53455357399999 meters Centerline goodness [0,1] 0.8435609713333918 Centerline is valid? [False, False] Translation: X:1.91, Y:0.23, Z:-0.47 [[ 9.99929605e-01 -6.70379750e-03 -9.79000568e-03 1.90676478e+00] [ 6.71071234e-03 9.99977256e-01 6.73637463e-04 2.26924177e-01] [ 9.78526709e-03 -7.39287954e-04 9.99951850e-01 -4.68314095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.564553573999994 meters Centerline goodness [0,1] 0.8434035294889457 Centerline is valid? [False, False] Translation: X:1.91, Y:0.23, Z:-0.47 [[ 9.99925555e-01 -6.90399402e-03 -1.00608098e-02 1.90784548e+00] [ 6.90843445e-03 9.99976054e-01 4.06672543e-04 2.27556440e-01] [ 1.00577612e-02 -4.76146713e-04 9.99949306e-01 -4.69105179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.594553573999995 meters Centerline goodness [0,1] 0.8448887526278906 Centerline is valid? [False, False] Translation: X:1.91, Y:0.23, Z:-0.47 [[ 9.99915766e-01 -7.54229389e-03 -1.05628631e-02 1.90952146e+00] [ 7.54576724e-03 9.99971489e-01 2.89011028e-04 2.27070548e-01] [ 1.05603821e-02 -3.68691590e-04 9.99944170e-01 -4.69478674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.624553574 meters Centerline goodness [0,1] 0.8441643835616438 Centerline is valid? [False, False] Translation: X:1.91, Y:0.23, Z:-0.47 [[ 9.99910168e-01 -7.91609564e-03 -1.08162990e-02 1.91019872e+00] [ 7.92227462e-03 9.99968479e-01 5.28538137e-04 2.25813478e-01] [ 1.08117741e-02 -6.14180349e-04 9.99941362e-01 -4.69078817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.654553574 meters Centerline goodness [0,1] 0.844064452482736 Centerline is valid? [False, False] Translation: X:1.91, Y:0.23, Z:-0.47 [[ 9.99894959e-01 -8.98884072e-03 -1.13697367e-02 1.91246104e+00] [ 8.99061212e-03 9.99959578e-01 1.04695864e-04 2.25410904e-01] [ 1.13683360e-02 -2.06905759e-04 9.99935357e-01 -4.69886876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.68455357399999 meters Centerline goodness [0,1] 0.8423182951910033 Centerline is valid? [False, False] Translation: X:1.91, Y:0.23, Z:-0.47 [[ 9.99887056e-01 -9.45020503e-03 -1.16863090e-02 1.91379712e+00] [ 9.44770624e-03 9.99955333e-01 -2.69010437e-04 2.26036492e-01] [ 1.16883292e-02 1.58571240e-04 9.99931677e-01 -4.70654288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.71455357399999 meters Centerline goodness [0,1] 0.8455488256568914 Centerline is valid? [False, False] Translation: X:1.92, Y:0.23, Z:-0.47 [[ 9.99869248e-01 -1.03809713e-02 -1.23985006e-02 1.91669678e+00] [ 1.03670552e-02 9.99945557e-01 -1.18615053e-03 2.27456353e-01] [ 1.24101390e-02 1.05745950e-03 9.99922432e-01 -4.72517280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.744553573999994 meters Centerline goodness [0,1] 0.8450802208791687 Centerline is valid? [False, False] Translation: X:1.92, Y:0.23, Z:-0.47 [[ 9.99863002e-01 -1.06229799e-02 -1.26937137e-02 1.91783611e+00] [ 1.06044453e-02 9.99942606e-01 -1.52655755e-03 2.28205970e-01] [ 1.27092018e-02 1.39173862e-03 9.99918266e-01 -4.73289677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.774553573999995 meters Centerline goodness [0,1] 0.84570932000869 Centerline is valid? [False, False] Translation: X:1.92, Y:0.23, Z:-0.47 [[ 9.99870308e-01 -1.01947354e-02 -1.24673650e-02 1.91652981e+00] [ 1.01774361e-02 9.99947157e-01 -1.45023134e-03 2.29381053e-01] [ 1.24814909e-02 1.32315745e-03 9.99921228e-01 -4.72216323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.804553573999996 meters Centerline goodness [0,1] 0.8477640959170447 Centerline is valid? [False, False] Translation: X:1.91, Y:0.23, Z:-0.47 [[ 0.99990974 -0.00574136 -0.01214733 1.9142641 ] [ 0.00577998 0.99997835 0.00314658 0.23043338] [ 0.012129 -0.0032165 0.99992127 -0.46920142] [ 0. 0. 0. 1. ]] SLAMing on 56.834553574 meters Centerline goodness [0,1] 0.8465195319222165 Centerline is valid? [False, False] Translation: X:1.91, Y:0.23, Z:-0.47 [[ 0.99992523 -0.00449175 -0.01137342 1.91121065] [ 0.00453108 0.99998384 0.00343403 0.23280823] [ 0.01135782 -0.00348531 0.99992942 -0.46784085] [ 0. 0. 0. 1. ]] SLAMing on 56.864553574 meters Centerline goodness [0,1] 0.8474285958977433 Centerline is valid? [False, False] Translation: X:1.91, Y:0.24, Z:-0.47 [[ 0.99994286 -0.00249154 -0.01039557 1.9068442 ] [ 0.00253328 0.99998877 0.00400431 0.23674147] [ 0.01038548 -0.00403042 0.99993795 -0.46559487] [ 0. 0. 0. 1. ]] SLAMing on 56.89455357399999 meters Centerline goodness [0,1] 0.8483797782629168 Centerline is valid? [False, False] Translation: X:1.91, Y:0.24, Z:-0.47 [[ 0.99994607 -0.00220639 -0.01014848 1.90609361] [ 0.00224589 0.99998994 0.00388225 0.23761292] [ 0.01013982 -0.00390483 0.99994097 -0.46543186] [ 0. 0. 0. 1. ]] SLAMing on 56.924553573999994 meters Centerline goodness [0,1] 0.8486348122866894 Centerline is valid? [False, False] Translation: X:1.91, Y:0.24, Z:-0.47 [[ 0.99994673 -0.00205394 -0.01011568 1.90589955] [ 0.00209092 0.99999117 0.00364618 0.23883157] [ 0.0101081 -0.00366714 0.99994219 -0.46545758] [ 0. 0. 0. 1. ]] SLAMing on 56.954553573999995 meters Centerline goodness [0,1] 0.8381908048915591 Centerline is valid? [False, False] Translation: X:1.91, Y:0.24, Z:-0.47 [[ 0.99994584 -0.00213339 -0.01018626 1.90643094] [ 0.00216663 0.99999236 0.00325362 0.23976122] [ 0.01017924 -0.00327552 0.99994283 -0.46625915] [ 0. 0. 0. 1. ]] SLAMing on 56.984553573999996 meters Centerline goodness [0,1] 0.8498028742210353 Centerline is valid? [False, False] Translation: X:1.91, Y:0.24, Z:-0.47 [[ 0.99994502 -0.0020645 -0.01028123 1.90696281] [ 0.00209035 0.99999468 0.00250338 0.24294546] [ 0.010276 -0.00252473 0.99994401 -0.46735737] [ 0. 0. 0. 1. ]] SLAMing on 57.014553574 meters Centerline goodness [0,1] 0.8486596538853071 Centerline is valid? [False, False] Translation: X:1.91, Y:0.24, Z:-0.47 [[ 0.99994427 -0.00199388 -0.01036769 1.90714529] [ 0.00201772 0.99999534 0.00228947 0.24406842] [ 0.01036308 -0.00231026 0.99994363 -0.46751349] [ 0. 0. 0. 1. ]] SLAMing on 57.044553574 meters Centerline goodness [0,1] 0.8400697382688751 Centerline is valid? [False, False] Translation: X:1.91, Y:0.24, Z:-0.47 [[ 9.99944216e-01 -1.86550184e-03 -1.03964121e-02 1.90702785e+00] [ 1.88741394e-03 9.99996018e-01 2.09824684e-03 2.44680880e-01] [ 1.03924565e-02 -2.11775212e-03 9.99943754e-01 -4.67279032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.07455357399999 meters Centerline goodness [0,1] 0.8470423074468764 Centerline is valid? [False, False] Translation: X:1.91, Y:0.25, Z:-0.47 [[ 9.99948305e-01 -1.30407758e-03 -1.00839642e-02 1.90569763e+00] [ 1.32576203e-03 9.99996823e-01 2.14400412e-03 2.45642432e-01] [ 1.00811362e-02 -2.15726223e-03 9.99946857e-01 -4.66597977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.10455357399999 meters Centerline goodness [0,1] 0.8467653043920638 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:-0.47 [[ 9.99953193e-01 -6.42812731e-04 -9.65396701e-03 1.90422198e+00] [ 6.63048548e-04 9.99997590e-01 2.09305983e-03 2.46988720e-01] [ 9.65259830e-03 -2.09936291e-03 9.99951209e-01 -4.66245676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.134553573999995 meters Centerline goodness [0,1] 0.8459830397360797 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:-0.47 [[ 9.99958795e-01 8.75722543e-04 -9.03551990e-03 1.90198985e+00] [-8.56222747e-04 9.99997297e-01 2.16176926e-03 2.49527876e-01] [ 9.03738858e-03 -2.15394376e-03 9.99956842e-01 -4.66293598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.164553573999996 meters Centerline goodness [0,1] 0.847510176533862 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:-0.47 [[ 0.99996159 0.00224307 -0.00847255 1.90033954] [-0.0022234 0.99999481 0.00233019 0.25113955] [ 0.00847773 -0.00231126 0.99996139 -0.46683686] [ 0. 0. 0. 1. ]] SLAMing on 57.194553574 meters Centerline goodness [0,1] 0.8461911488751608 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:-0.47 [[ 0.999962 0.00253772 -0.00833961 1.90015463] [-0.00251869 0.9999942 0.0022911 0.2512377 ] [ 0.00834538 -0.00227001 0.9999626 -0.46727749] [ 0. 0. 0. 1. ]] SLAMing on 57.224553574 meters Centerline goodness [0,1] 0.8470496238059008 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:-0.47 [[ 0.99996372 0.00369819 -0.00767376 1.89825406] [-0.00367636 0.99998916 0.00285736 0.25076736] [ 0.00768425 -0.00282904 0.99996647 -0.46720951] [ 0. 0. 0. 1. ]] SLAMing on 57.25455357399999 meters Centerline goodness [0,1] 0.8459048988916151 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:-0.47 [[ 0.99996435 0.00422473 -0.00731063 1.89729866] [-0.00420296 0.9999867 0.00299078 0.25081502] [ 0.00732317 -0.00295995 0.9999688 -0.46732975] [ 0. 0. 0. 1. ]] SLAMing on 57.28455357399999 meters Centerline goodness [0,1] 0.8445587083941684 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:-0.47 [[ 0.99996342 0.00482966 -0.0070587 1.89641782] [-0.00480613 0.99998285 0.00334704 0.25041623] [ 0.00707474 -0.00331299 0.99996949 -0.4670785 ] [ 0. 0. 0. 1. ]] SLAMing on 57.314553573999994 meters Centerline goodness [0,1] 0.8432865987277408 Centerline is valid? [False, False] Translation: X:1.89, Y:0.25, Z:-0.46 [[ 0.99995732 0.00727669 -0.0056927 1.8913385 ] [-0.00724566 0.99995889 0.00545164 0.24682098] [ 0.00573214 -0.00541016 0.99996894 -0.46449542] [ 0. 0. 0. 1. ]] SLAMing on 57.344553573999995 meters Centerline goodness [0,1] 0.8405403672274117 Centerline is valid? [False, False] Translation: X:1.89, Y:0.24, Z:-0.46 [[ 0.99994069 0.01006885 -0.00415145 1.88626683] [-0.01003694 0.99992046 0.00763711 0.24325258] [ 0.00422802 -0.00759499 0.99996222 -0.46278149] [ 0. 0. 0. 1. ]] SLAMing on 57.374553574 meters Centerline goodness [0,1] 0.8405462094944566 Centerline is valid? [False, False] Translation: X:1.89, Y:0.24, Z:-0.46 [[ 0.99993267 0.01100262 -0.00368636 1.88503592] [-0.01097236 0.99990674 0.00813098 0.24252194] [ 0.00377548 -0.00808999 0.99996015 -0.46299746] [ 0. 0. 0. 1. ]] SLAMing on 57.404553574 meters Centerline goodness [0,1] 0.8394663223585108 Centerline is valid? [False, False] Translation: X:1.88, Y:0.24, Z:-0.46 [[ 0.99986589 0.01607088 -0.00315243 1.88373295] [-0.01602677 0.99977975 0.0135495 0.23889738] [ 0.00336948 -0.01349716 0.99990323 -0.46261155] [ 0. 0. 0. 1. ]] SLAMing on 57.43455357399999 meters Centerline goodness [0,1] 0.8386393088552916 Centerline is valid? [False, False] Translation: X:1.88, Y:0.24, Z:-0.46 [[ 0.99985639 0.01671446 -0.00279728 1.88317879] [-0.01667375 0.99976302 0.01399617 0.23742051] [ 0.00303056 -0.01394752 0.99989814 -0.46326979] [ 0. 0. 0. 1. ]] SLAMing on 57.46455357399999 meters Centerline goodness [0,1] 0.8373709164122881 Centerline is valid? [False, False] Translation: X:1.88, Y:0.24, Z:-0.46 [[ 0.99984985 0.01712984 -0.00261466 1.88306686] [-0.01709048 0.99975026 0.01439891 0.2356939 ] [ 0.00286065 -0.01435206 0.99989291 -0.46394683] [ 0. 0. 0. 1. ]] SLAMing on 57.494553573999994 meters Centerline goodness [0,1] 0.8338843518052241 Centerline is valid? [False, False] Translation: X:1.88, Y:0.23, Z:-0.46 [[ 0.99983269 0.01818559 -0.00196905 1.88162875] [-0.01815197 0.99970846 0.01592186 0.2298809 ] [ 0.00225803 -0.01588346 0.9998713 -0.46379756] [ 0. 0. 0. 1. ]] SLAMing on 57.524553573999995 meters Centerline goodness [0,1] 0.8295224762793592 Centerline is valid? [False, False] Translation: X:1.89, Y:0.23, Z:-0.47 [[ 9.99773618e-01 2.12356013e-02 1.32713153e-03 1.89469734e+00] [-2.12431403e-02 9.99756626e-01 5.95128749e-03 2.25039985e-01] [-1.20042937e-03 -5.97813267e-03 9.99981410e-01 -4.68271421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.554553573999996 meters Centerline goodness [0,1] 0.828374569370498 Centerline is valid? [False, False] Translation: X:1.89, Y:0.22, Z:-0.47 [[ 9.99757648e-01 2.19340232e-02 1.88244112e-03 1.89310215e+00] [-2.19461518e-02 9.99736809e-01 6.68425574e-03 2.23000701e-01] [-1.73533306e-03 -6.72394814e-03 9.99975888e-01 -4.67912719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.584553574 meters Centerline goodness [0,1] 0.826611815484219 Centerline is valid? [False, False] Translation: X:1.89, Y:0.22, Z:-0.47 [[ 0.99971561 0.0236407 0.00313463 1.89009825] [-0.02366555 0.99968675 0.00814505 0.21936831] [-0.0029411 -0.00821692 0.99996192 -0.46801368] [ 0. 0. 0. 1. ]] SLAMing on 57.61455357399999 meters Centerline goodness [0,1] 0.8235333965587319 Centerline is valid? [False, False] Translation: X:1.89, Y:0.22, Z:-0.47 [[ 0.99975338 0.02176048 0.00443372 1.88662747] [-0.02178359 0.99974902 0.00523232 0.21733488] [-0.00431875 -0.00532761 0.99997648 -0.46846391] [ 0. 0. 0. 1. ]] SLAMing on 57.64455357399999 meters Centerline goodness [0,1] 0.8202122100288551 Centerline is valid? [False, False] Translation: X:1.88, Y:0.21, Z:-0.47 [[ 0.99979078 0.01963032 0.00574909 1.88325616] [-0.01964287 0.99980478 0.00213512 0.21474209] [-0.00570605 -0.0022476 0.99998119 -0.4690882 ] [ 0. 0. 0. 1. ]] SLAMing on 57.674553573999994 meters Centerline goodness [0,1] 0.8191879366396901 Centerline is valid? [False, False] Translation: X:1.88, Y:0.21, Z:-0.47 [[ 9.99817206e-01 1.76300372e-02 7.39840461e-03 1.87919732e+00] [-1.76326059e-02 9.99844494e-01 2.82100597e-04 2.07067194e-01] [-7.39228067e-03 -4.12502183e-04 9.99972592e-01 -4.69003808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.704553573999995 meters Centerline goodness [0,1] 0.8178187762727698 Centerline is valid? [False, False] Translation: X:1.88, Y:0.20, Z:-0.47 [[ 0.99985857 0.01461384 0.00832361 1.87780396] [-0.01459759 0.99989143 -0.00200893 0.19944701] [-0.00835206 0.00188714 0.99996334 -0.4699062 ] [ 0. 0. 0. 1. ]] SLAMing on 57.734553573999996 meters Centerline goodness [0,1] 0.817090644305076 Centerline is valid? [False, False] Translation: X:1.88, Y:0.20, Z:-0.47 [[ 0.99989326 0.01146046 0.00906268 1.87614755] [-0.0114118 0.99992029 -0.00540317 0.19671038] [-0.00912388 0.00529918 0.99994434 -0.47059884] [ 0. 0. 0. 1. ]] SLAMing on 57.764553574 meters Centerline goodness [0,1] 0.8173400472519867 Centerline is valid? [False, False] Translation: X:1.88, Y:0.19, Z:-0.47 [[ 0.99991863 0.00819922 0.00977314 1.8756439 ] [-0.00813006 0.99994178 -0.00709517 0.18701415] [-0.00983075 0.00701513 0.99992707 -0.47115993] [ 0. 0. 0. 1. ]] SLAMing on 57.794553574 meters Centerline goodness [0,1] 0.8160457901445372 Centerline is valid? [False, False] Translation: X:1.88, Y:0.18, Z:-0.47 [[ 0.99993093 0.00725307 0.0092484 1.87797375] [-0.00719416 0.99995372 -0.00638698 0.18099137] [-0.0092943 0.00632001 0.99993683 -0.47186867] [ 0. 0. 0. 1. ]] SLAMing on 57.82455357399999 meters Centerline goodness [0,1] 0.8137362236333114 Centerline is valid? [False, False] Translation: X:1.88, Y:0.17, Z:-0.47 [[ 0.99993889 0.0043766 0.01015223 1.87819234] [-0.00429639 0.99995949 -0.00790957 0.17083473] [-0.01018644 0.00786547 0.99991718 -0.47416571] [ 0. 0. 0. 1. ]] SLAMing on 57.85455357399999 meters Centerline goodness [0,1] 0.8134599342460376 Centerline is valid? [False, False] Translation: X:1.88, Y:0.17, Z:-0.47 [[ 0.99994274 0.00411741 0.00987722 1.87957083] [-0.00404759 0.99996675 -0.00707862 0.1663321 ] [-0.00990604 0.00703824 0.99992616 -0.47488881] [ 0. 0. 0. 1. ]] SLAMing on 57.884553573999995 meters Centerline goodness [0,1] 0.8112396940498658 Centerline is valid? [False, False] Translation: X:1.88, Y:0.16, Z:-0.48 [[ 0.99993767 0.0045321 0.01020384 1.88093858] [-0.00448011 0.9999769 -0.00511205 0.15686979] [-0.01022677 0.00506601 0.99993487 -0.47687964] [ 0. 0. 0. 1. ]] SLAMing on 57.914553573999996 meters Centerline goodness [0,1] 0.8115153179695888 Centerline is valid? [False, False] Translation: X:1.88, Y:0.15, Z:-0.48 [[ 0.99993934 0.00439913 0.01009766 1.88159063] [-0.00435779 0.99998205 -0.00411245 0.15167573] [-0.01011557 0.00406819 0.99994056 -0.4769393 ] [ 0. 0. 0. 1. ]] SLAMing on 57.944553574 meters Centerline goodness [0,1] 0.8127911687259469 Centerline is valid? [False, False] Translation: X:1.88, Y:0.14, Z:-0.48 [[ 0.99992225 0.00296564 0.01211156 1.87584076] [-0.00290367 0.99998262 -0.00513094 0.14149537] [-0.01212657 0.00509537 0.99991349 -0.47555475] [ 0. 0. 0. 1. ]] SLAMing on 57.974553574 meters Centerline goodness [0,1] 0.8111439339920545 Centerline is valid? [False, False] Translation: X:1.88, Y:0.14, Z:-0.48 [[ 0.99991879 0.00325408 0.01232136 1.87539805] [-0.00320321 0.99998628 -0.00414564 0.13720756] [-0.01233468 0.00410584 0.9999155 -0.47538281] [ 0. 0. 0. 1. ]] SLAMing on 58.00455357399999 meters Centerline goodness [0,1] 0.8111439339920545 Centerline is valid? [False, False] Translation: X:1.88, Y:0.14, Z:-0.48 [[ 0.99991879 0.00325408 0.01232136 1.87539805] [-0.00320321 0.99998628 -0.00414564 0.13720756] [-0.01233468 0.00410584 0.9999155 -0.47538281] [ 0. 0. 0. 1. ]] SLAMing on 58.03455357399999 meters Centerline goodness [0,1] 0.8110954516335682 Centerline is valid? [False, False] Translation: X:1.87, Y:0.13, Z:-0.48 [[ 0.99990191 0.00443728 0.01328434 1.87470772] [-0.0043997 0.99998624 -0.00285636 0.130505 ] [-0.01329684 0.00279763 0.99990768 -0.47782179] [ 0. 0. 0. 1. ]] SLAMing on 58.064553573999994 meters Centerline goodness [0,1] 0.8116716325901572 Centerline is valid? [False, False] Translation: X:1.87, Y:0.13, Z:-0.48 [[ 0.99989585 0.00477292 0.01362015 1.87440089] [-0.00473893 0.99998558 -0.0025269 0.12787637] [-0.01363201 0.00246209 0.99990405 -0.47903784] [ 0. 0. 0. 1. ]] SLAMing on 58.094553573999995 meters Centerline goodness [0,1] 0.8116831016900898 Centerline is valid? [False, False] Translation: X:1.87, Y:0.12, Z:-0.48 [[ 9.99880233e-01 5.65841132e-03 1.44049590e-02 1.87295668e+00] [-5.64775832e-03 9.99983747e-01 -7.80110059e-04 1.20742661e-01] [-1.44091391e-02 6.98660900e-04 9.99895939e-01 -4.79109199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.124553574 meters Centerline goodness [0,1] 0.8112690037093151 Centerline is valid? [False, False] Translation: X:1.88, Y:0.11, Z:-0.47 [[ 0.99994934 0.00782536 0.00633145 1.88183202] [-0.00780125 0.99996226 -0.00382335 0.11248932] [-0.00636113 0.00377376 0.99997265 -0.47455504] [ 0. 0. 0. 1. ]] SLAMing on 58.154553574 meters Centerline goodness [0,1] 0.812401595465519 Centerline is valid? [False, False] Translation: X:1.88, Y:0.11, Z:-0.47 [[ 0.99995611 0.00723977 0.00594642 1.88336414] [-0.00722097 0.99996888 -0.00317667 0.10879049] [-0.00596924 0.00313359 0.99997727 -0.47434653] [ 0. 0. 0. 1. ]] SLAMing on 58.18455357399999 meters Centerline goodness [0,1] 0.8146048155278356 Centerline is valid? [False, False] Translation: X:1.89, Y:0.10, Z:-0.47 [[ 0.99996334 0.00657624 0.00548425 1.8851003 ] [-0.00656265 0.99997536 -0.00249192 0.10493077] [-0.00550051 0.00245583 0.99998186 -0.4740434 ] [ 0. 0. 0. 1. ]] SLAMing on 58.21455357399999 meters Centerline goodness [0,1] 0.8140648697549424 Centerline is valid? [False, False] Translation: X:1.88, Y:0.10, Z:-0.48 [[ 0.99997386 0.00341663 0.00637241 1.88358065] [-0.00338162 0.99997918 -0.00549567 0.09947453] [-0.00639106 0.00547398 0.99996459 -0.47506772] [ 0. 0. 0. 1. ]] SLAMing on 58.244553573999994 meters Centerline goodness [0,1] 0.8151260504201681 Centerline is valid? [False, False] Translation: X:1.89, Y:0.10, Z:-0.47 [[ 0.99997788 0.00294574 0.00596368 1.88509133] [-0.00291767 0.99998465 -0.00470953 0.09659501] [-0.00597746 0.00469203 0.99997113 -0.47463256] [ 0. 0. 0. 1. ]] SLAMing on 58.274553573999995 meters Centerline goodness [0,1] 0.8144742855606635 Centerline is valid? [False, False] Translation: X:1.89, Y:0.09, Z:-0.47 [[ 9.99984617e-01 1.61687086e-03 5.30584682e-03 1.88834394e+00] [-1.59826916e-03 9.99992569e-01 -3.50825557e-03 9.08256229e-02] [-5.31147979e-03 3.49972143e-03 9.99979770e-01 -4.74186206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.304553573999996 meters Centerline goodness [0,1] 0.815573001795236 Centerline is valid? [False, False] Translation: X:1.88, Y:0.09, Z:-0.47 [[ 0.99997541 0.00332211 0.00617559 1.88436003] [-0.00330253 0.9999895 -0.0031771 0.09213521] [-0.00618608 0.00315662 0.99997588 -0.47318282] [ 0. 0. 0. 1. ]] SLAMing on 58.334553574 meters Centerline goodness [0,1] 0.8134656953006164 Centerline is valid? [False, False] Translation: X:1.88, Y:0.09, Z:-0.47 [[ 0.99995109 0.00636399 0.00757057 1.87793107] [-0.0063462 0.99997705 -0.00237104 0.09349914] [-0.00758548 0.00232288 0.99996853 -0.47186126] [ 0. 0. 0. 1. ]] SLAMing on 58.36455357399999 meters Centerline goodness [0,1] 0.8130009618467458 Centerline is valid? [False, False] Translation: X:1.88, Y:0.09, Z:-0.47 [[ 0.99995361 0.00613453 0.0074256 1.87881629] [-0.00611486 0.99997774 -0.0026686 0.093874 ] [-0.0074418 0.00262307 0.99996887 -0.47267498] [ 0. 0. 0. 1. ]] SLAMing on 58.39455357399999 meters Centerline goodness [0,1] 0.8129044284078503 Centerline is valid? [False, False] Translation: X:1.88, Y:0.10, Z:-0.47 [[ 0.99995015 0.0064587 0.00761449 1.87825323] [-0.00643502 0.99997439 -0.00313087 0.09565385] [-0.00763452 0.00308172 0.99996611 -0.47338266] [ 0. 0. 0. 1. ]] SLAMing on 58.424553573999994 meters Centerline goodness [0,1] 0.8115841266445609 Centerline is valid? [False, False] Translation: X:1.88, Y:0.10, Z:-0.47 [[ 0.99996006 0.0055725 0.00698729 1.8808083 ] [-0.00555 0.99997936 -0.00323581 0.09510493] [-0.00700518 0.0031969 0.99997035 -0.47383379] [ 0. 0. 0. 1. ]] SLAMing on 58.454553573999995 meters Centerline goodness [0,1] 0.8087184564746179 Centerline is valid? [False, False] Translation: X:1.89, Y:0.09, Z:-0.47 [[ 0.99998484 0.00209304 0.00509262 1.88967625] [-0.00207608 0.99999229 -0.00333273 0.09306223] [-0.00509956 0.0033221 0.99998148 -0.47464037] [ 0. 0. 0. 1. ]] SLAMing on 58.484553573999996 meters Centerline goodness [0,1] 0.8095493706218632 Centerline is valid? [False, False] Translation: X:1.89, Y:0.09, Z:-0.47 [[ 9.99991461e-01 7.27519627e-04 4.06811885e-03 1.89351632e+00] [-7.14440478e-04 9.99994575e-01 -3.21556548e-03 9.18209312e-02] [-4.07043617e-03 3.21263159e-03 9.99986555e-01 -4.74804784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.514553574 meters Centerline goodness [0,1] 0.814839879808343 Centerline is valid? [False, False] Translation: X:1.90, Y:0.09, Z:-0.48 [[ 0.99998332 -0.00477701 0.00324563 1.89704099] [ 0.00480013 0.99996289 -0.00715326 0.08884238] [-0.00321134 0.00716872 0.99996915 -0.47533526] [ 0. 0. 0. 1. ]] SLAMing on 58.544553574 meters Centerline goodness [0,1] 0.8139207620697121 Centerline is valid? [False, False] Translation: X:1.90, Y:0.09, Z:-0.47 [[ 0.9999805 -0.00571982 0.00250662 1.89953514] [ 0.00573599 0.99996249 -0.00648916 0.08662141] [-0.00246941 0.00650341 0.9999758 -0.47435271] [ 0. 0. 0. 1. ]] SLAMing on 58.57455357399999 meters Centerline goodness [0,1] 0.8141780691493703 Centerline is valid? [False, False] Translation: X:1.90, Y:0.08, Z:-0.48 [[ 9.99973979e-01 -7.03505368e-03 1.59675476e-03 1.90336253e+00] [ 7.04503202e-03 9.99955136e-01 -6.33199533e-03 8.45464613e-02] [-1.55213720e-03 6.34307975e-03 9.99978678e-01 -4.75015501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.60455357399999 meters Centerline goodness [0,1] 0.8132056479038007 Centerline is valid? [False, False] Translation: X:1.91, Y:0.08, Z:-0.47 [[ 9.99989456e-01 -4.58361347e-03 2.78379446e-04 1.90765070e+00] [ 4.58409191e-03 9.99987974e-01 -1.74306480e-03 8.34661437e-02] [-2.70386563e-04 1.74432254e-03 9.99998442e-01 -4.73679930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.634553573999995 meters Centerline goodness [0,1] 0.8105163043478261 Centerline is valid? [False, False] Translation: X:1.91, Y:0.08, Z:-0.47 [[ 9.99991313e-01 -4.13376199e-03 5.35487190e-04 1.90658159e+00] [ 4.13474660e-03 9.99989739e-01 -1.85083694e-03 8.46276060e-02] [-5.27830776e-04 1.85303497e-03 9.99998144e-01 -4.73594827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.664553573999996 meters Centerline goodness [0,1] 0.8117418204414665 Centerline is valid? [False, False] Translation: X:1.91, Y:0.08, Z:-0.47 [[ 9.99997057e-01 -2.25799923e-03 -8.87376680e-04 1.91193234e+00] [ 2.25979292e-03 9.99995395e-01 2.02556001e-03 8.42225570e-02] [ 8.82798881e-04 -2.02755933e-03 9.99997555e-01 -4.73385255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.694553574 meters Centerline goodness [0,1] 0.8101365049330991 Centerline is valid? [False, False] Translation: X:1.92, Y:0.09, Z:-0.48 [[ 9.99993882e-01 -3.11051419e-03 -1.59989734e-03 1.91513510e+00] [ 3.11164111e-03 9.99994912e-01 7.02361265e-04 8.71161766e-02] [ 1.59770449e-03 -7.07335275e-04 9.99998474e-01 -4.75978375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.724553574 meters Centerline goodness [0,1] 0.8102034209248368 Centerline is valid? [False, False] Translation: X:1.92, Y:0.09, Z:-0.48 [[ 9.99989829e-01 -3.92229957e-03 -2.22644129e-03 1.91770567e+00] [ 3.92260701e-03 9.99992298e-01 1.33739918e-04 8.82876305e-02] [ 2.22589958e-03 -1.42472012e-04 9.99997513e-01 -4.77037033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.75455357399999 meters Centerline goodness [0,1] 0.8075635696161529 Centerline is valid? [False, False] Translation: X:1.92, Y:0.09, Z:-0.48 [[ 9.99986682e-01 -4.42868685e-03 -2.64992824e-03 1.91907836e+00] [ 4.42852100e-03 9.99990192e-01 -6.84525043e-05 8.94066581e-02] [ 2.65020541e-03 5.67163298e-05 9.99996487e-01 -4.76880574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.78455357399999 meters Centerline goodness [0,1] 0.8096380993473923 Centerline is valid? [False, False] Translation: X:1.92, Y:0.09, Z:-0.47 [[ 9.99965600e-01 -7.10524085e-03 -4.27953534e-03 1.92445342e+00] [ 7.10748243e-03 9.99974612e-01 5.08809632e-04 8.93352347e-02] [ 4.27581147e-03 -5.39208851e-04 9.99990713e-01 -4.73753476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.814553573999994 meters Centerline goodness [0,1] 0.8097609561752988 Centerline is valid? [False, False] Translation: X:1.93, Y:0.09, Z:-0.47 [[ 9.99951317e-01 -8.35591042e-03 -5.24811203e-03 1.92752866e+00] [ 8.35914201e-03 9.99964885e-01 5.94130843e-04 8.94981553e-02] [ 5.24296324e-03 -6.37971633e-04 9.99986052e-01 -4.72827657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.844553573999995 meters Centerline goodness [0,1] 0.814944227926354 Centerline is valid? [False, False] Translation: X:1.94, Y:0.09, Z:-0.47 [[ 9.99896469e-01 -1.22378064e-02 -7.56885872e-03 1.93630664e+00] [ 1.22415836e-02 9.99924966e-01 4.52912490e-04 9.03385747e-02] [ 7.56274815e-03 -5.45520416e-04 9.99971253e-01 -4.71158901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.874553574 meters Centerline goodness [0,1] 0.8145141782018546 Centerline is valid? [False, False] Translation: X:1.94, Y:0.09, Z:-0.47 [[ 9.99875293e-01 -1.33795888e-02 -8.38955500e-03 1.93918867e+00] [ 1.33822715e-02 9.99910419e-01 2.63717679e-04 9.10632439e-02] [ 8.38527502e-03 -3.75956095e-04 9.99964772e-01 -4.71006713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.904553574 meters Centerline goodness [0,1] 0.815102631437912 Centerline is valid? [False, False] Translation: X:1.95, Y:0.09, Z:-0.47 [[ 9.99815893e-01 -1.62879274e-02 -1.01431237e-02 1.94608149e+00] [ 1.62822975e-02 9.99867231e-01 -6.37384568e-04 9.32626059e-02] [ 1.01521587e-02 4.72113864e-04 9.99948354e-01 -4.71569405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93455357399999 meters Centerline goodness [0,1] 0.8106588109266203 Centerline is valid? [False, False] Translation: X:1.95, Y:0.09, Z:-0.47 [[ 9.99787634e-01 -1.74622384e-02 -1.09433501e-02 1.94889932e+00] [ 1.74570420e-02 9.99847452e-01 -5.70192460e-04 9.31758091e-02] [ 1.09516376e-02 3.79032847e-04 9.99939957e-01 -4.70982674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.96455357399999 meters Centerline goodness [0,1] 0.8121127591663762 Centerline is valid? [False, False] Translation: X:1.96, Y:0.09, Z:-0.47 [[ 9.99683758e-01 -2.15742385e-02 -1.29203707e-02 1.95689101e+00] [ 2.15917518e-02 9.99766130e-01 1.21750357e-03 9.12046968e-02] [ 1.28910823e-02 -1.49609198e-03 9.99915787e-01 -4.65113429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.994553573999994 meters Centerline goodness [0,1] 0.8120282575411641 Centerline is valid? [False, False] Translation: X:1.96, Y:0.09, Z:-0.46 [[ 9.99641697e-01 -2.28744828e-02 -1.39009353e-02 1.96026296e+00] [ 2.28912873e-02 9.99737408e-01 1.05095138e-03 9.13248829e-02] [ 1.38732450e-02 -1.36878513e-03 9.99902825e-01 -4.64966598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.024553573999995 meters Centerline goodness [0,1] 0.8134140461777468 Centerline is valid? [False, False] Translation: X:1.97, Y:0.09, Z:-0.47 [[ 9.99565899e-01 -2.50805947e-02 -1.54589153e-02 1.96629076e+00] [ 2.50818801e-02 9.99685394e-01 -1.10752587e-04 9.32562074e-02] [ 1.54568296e-02 -2.77034152e-04 9.99880498e-01 -4.66607813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.054553573999996 meters Centerline goodness [0,1] 0.8170816599732262 Centerline is valid? [False, False] Translation: X:1.97, Y:0.09, Z:-0.47 [[ 0.99957792 -0.02357089 -0.01698219 1.97170988] [ 0.02363959 0.99971311 0.00385596 0.09243303] [ 0.01688643 -0.00425578 0.99984836 -0.4655995 ] [ 0. 0. 0. 1. ]] SLAMing on 59.084553574 meters Centerline goodness [0,1] 0.804517113115149 Centerline is valid? [False, False] Translation: X:1.97, Y:0.09, Z:-0.47 [[ 0.99956805 -0.02380774 -0.01723117 1.97258911] [ 0.02387498 0.99970808 0.00370704 0.09300403] [ 0.01713788 -0.00411684 0.99984466 -0.46576778] [ 0. 0. 0. 1. ]] SLAMing on 59.11455357399999 meters Centerline goodness [0,1] 0.8134260739793199 Centerline is valid? [False, False] Translation: X:1.98, Y:0.09, Z:-0.47 [[ 0.99959398 -0.02150756 -0.01868971 1.97729856] [ 0.02164586 0.99973956 0.00722925 0.09474233] [ 0.01852936 -0.00763087 0.9997992 -0.4658064 ] [ 0. 0. 0. 1. ]] SLAMing on 59.14455357399999 meters Centerline goodness [0,1] 0.8117946947770903 Centerline is valid? [False, False] Translation: X:1.98, Y:0.10, Z:-0.47 [[ 0.99959752 -0.02134679 -0.01868443 1.97740758] [ 0.02147295 0.99974779 0.00657785 0.09700357] [ 0.0185393 -0.00697641 0.99980379 -0.46688649] [ 0. 0. 0. 1. ]] SLAMing on 59.174553573999994 meters Centerline goodness [0,1] 0.8139061467283543 Centerline is valid? [False, False] Translation: X:1.98, Y:0.10, Z:-0.47 [[ 0.99961542 -0.02060526 -0.01855919 1.97642375] [ 0.02071625 0.99976852 0.0058083 0.10092616] [ 0.01843521 -0.00619055 0.99981089 -0.46769942] [ 0. 0. 0. 1. ]] SLAMing on 59.204553573999995 meters Centerline goodness [0,1] 0.8113366950920083 Centerline is valid? [False, False] Translation: X:1.98, Y:0.10, Z:-0.47 [[ 0.99962742 -0.02020567 -0.01835074 1.97543755] [ 0.02031063 0.99977831 0.00555102 0.10247174] [ 0.01823451 -0.00592167 0.9998162 -0.46763082] [ 0. 0. 0. 1. ]] SLAMing on 59.234553573999996 meters Centerline goodness [0,1] 0.8141858932102835 Centerline is valid? [False, False] Translation: X:1.97, Y:0.10, Z:-0.47 [[ 0.99964182 -0.01972825 -0.01808388 1.97401081] [ 0.01983243 0.99978764 0.00559958 0.10371101] [ 0.01796957 -0.00595622 0.99982079 -0.46678471] [ 0. 0. 0. 1. ]] SLAMing on 59.264553574 meters Centerline goodness [0,1] 0.8167178115246413 Centerline is valid? [False, False] Translation: X:1.97, Y:0.11, Z:-0.47 [[ 0.99967044 -0.01874851 -0.01753586 1.97127477] [ 0.01884678 0.9998075 0.00545581 0.10658634] [ 0.01743019 -0.0057845 0.99983135 -0.46580664] [ 0. 0. 0. 1. ]] SLAMing on 59.294553574 meters Centerline goodness [0,1] 0.8158853279526218 Centerline is valid? [False, False] Translation: X:1.97, Y:0.11, Z:-0.47 [[ 0.99968302 -0.01831805 -0.01727179 1.97028506] [ 0.01840997 0.99981711 0.00517838 0.10863644] [ 0.01717378 -0.00549471 0.99983742 -0.46587376] [ 0. 0. 0. 1. ]] SLAMing on 59.32455357399999 meters Centerline goodness [0,1] 0.8160255910119373 Centerline is valid? [False, False] Translation: X:1.97, Y:0.11, Z:-0.47 [[ 0.99970978 -0.01546996 -0.01846714 1.97369617] [ 0.01562977 0.99984137 0.0085409 0.11147429] [ 0.01833209 -0.00882706 0.99979299 -0.46590304] [ 0. 0. 0. 1. ]] SLAMing on 59.35455357399999 meters Centerline goodness [0,1] 0.8152289808337451 Centerline is valid? [False, False] Translation: X:1.97, Y:0.11, Z:-0.47 [[ 0.99970946 -0.01544966 -0.01850132 1.97391887] [ 0.01560129 0.99984565 0.00807957 0.11291292] [ 0.01837364 -0.00836587 0.99979619 -0.46656631] [ 0. 0. 0. 1. ]] SLAMing on 59.384553573999995 meters Centerline goodness [0,1] 0.81221180249728 Centerline is valid? [False, False] Translation: X:1.99, Y:0.12, Z:-0.47 [[ 9.99793611e-01 -1.51179742e-02 -1.35713966e-02 1.99140864e+00] [ 1.50913377e-02 9.99883991e-01 -2.06296846e-03 1.16381375e-01] [ 1.36010101e-02 1.85773216e-03 9.99905776e-01 -4.73732955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.414553573999996 meters Centerline goodness [0,1] 0.8182194938741679 Centerline is valid? [False, False] Translation: X:1.99, Y:0.12, Z:-0.47 [[ 9.99798629e-01 -1.48538548e-02 -1.34931559e-02 1.99062186e+00] [ 1.48308200e-02 9.99888387e-01 -1.80560864e-03 1.16879707e-01] [ 1.35184701e-02 1.60513047e-03 9.99907333e-01 -4.72665336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.444553574 meters Centerline goodness [0,1] 0.8213815364751452 Centerline is valid? [False, False] Translation: X:1.99, Y:0.12, Z:-0.47 [[ 0.99982285 -0.01193249 -0.01455606 1.99310448] [ 0.01197609 0.99992404 0.00291188 0.11622585] [ 0.01452021 -0.00308569 0.99988981 -0.47017944] [ 0. 0. 0. 1. ]] SLAMing on 59.474553574 meters Centerline goodness [0,1] 0.8238015247447991 Centerline is valid? [False, False] Translation: X:1.99, Y:0.12, Z:-0.47 [[ 0.99982596 -0.01173132 -0.01450574 1.99289733] [ 0.01177338 0.99992672 0.00281746 0.11697396] [ 0.01447163 -0.00298775 0.99989082 -0.47034522] [ 0. 0. 0. 1. ]] SLAMing on 59.50455357399999 meters Centerline goodness [0,1] 0.8180176927243185 Centerline is valid? [False, False] Translation: X:1.99, Y:0.12, Z:-0.47 [[ 0.99986056 -0.00772753 -0.01480371 1.9937535 ] [ 0.00783103 0.99994521 0.00694636 0.1178239 ] [ 0.01474922 -0.00706132 0.99986629 -0.47020253] [ 0. 0. 0. 1. ]] SLAMing on 59.53455357399999 meters Centerline goodness [0,1] 0.8219238105056962 Centerline is valid? [False, False] Translation: X:1.99, Y:0.12, Z:-0.47 [[ 0.9998777 -0.00668808 -0.01413725 1.99136377] [ 0.00678702 0.99995273 0.00696268 0.11864773] [ 0.01409001 -0.00705777 0.99987582 -0.4703157 ] [ 0. 0. 0. 1. ]] SLAMing on 59.564553573999994 meters Centerline goodness [0,1] 0.8158239724442845 Centerline is valid? [False, False] Translation: X:1.99, Y:0.12, Z:-0.47 [[ 0.99989109 -0.00583215 -0.01355715 1.98927546] [ 0.00592876 0.99995724 0.00709677 0.11893796] [ 0.01351518 -0.00717638 0.99988291 -0.47008228] [ 0. 0. 0. 1. ]] SLAMing on 59.594553573999995 meters Centerline goodness [0,1] 0.8198432078139056 Centerline is valid? [False, False] Translation: X:2.00, Y:0.12, Z:-0.48 [[ 9.99978035e-01 -9.60235975e-04 -6.55794396e-03 2.00010331e+00] [ 9.60416694e-04 9.99999539e-01 2.44080931e-05 1.21115641e-01] [ 6.55791749e-03 -3.07059158e-05 9.99978496e-01 -4.76051636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.624553574 meters Centerline goodness [0,1] 0.8158118228375839 Centerline is valid? [False, False] Translation: X:1.99, Y:0.12, Z:-0.48 [[ 9.99983376e-01 2.69479862e-03 -5.09759766e-03 1.99359579e+00] [-2.69120970e-03 9.99996126e-01 7.10768465e-04 1.22613038e-01] [ 5.09949329e-03 -6.97037945e-04 9.99986755e-01 -4.75963730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.654553574 meters Centerline goodness [0,1] 0.8164509738338437 Centerline is valid? [False, False] Translation: X:1.99, Y:0.12, Z:-0.48 [[ 9.99982292e-01 4.07715389e-03 -4.33502588e-03 1.99080357e+00] [-4.07346880e-03 9.99991335e-01 8.58564065e-04 1.22914799e-01] [ 4.33848881e-03 -8.40890269e-04 9.99990235e-01 -4.76017283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.68455357399999 meters Centerline goodness [0,1] 0.8141843242131248 Centerline is valid? [False, False] Translation: X:1.99, Y:0.12, Z:-0.48 [[ 9.99978990e-01 5.43836648e-03 -3.52749668e-03 1.98799556e+00] [-5.43541172e-03 9.99984870e-01 8.46683891e-04 1.23434221e-01] [ 3.53204788e-03 -8.27492705e-04 9.99993420e-01 -4.76401012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.71455357399999 meters Centerline goodness [0,1] 0.811645153840232 Centerline is valid? [False, False] Translation: X:1.99, Y:0.12, Z:-0.48 [[ 0.99993639 0.01092629 -0.00279964 1.98538433] [-0.01091144 0.9999266 0.00526592 0.12365834] [ 0.00285697 -0.00523504 0.99998222 -0.4762891 ] [ 0. 0. 0. 1. ]] SLAMing on 59.744553573999994 meters Centerline goodness [0,1] 0.8115402393302861 Centerline is valid? [False, False] Translation: X:1.98, Y:0.12, Z:-0.48 [[ 0.99992944 0.01165443 -0.00229886 1.98415418] [-0.01164297 0.99992004 0.00493597 0.12424492] [ 0.0023562 -0.00490885 0.99998518 -0.47749798] [ 0. 0. 0. 1. ]] SLAMing on 59.774553573999995 meters Centerline goodness [0,1] 0.8099354274394793 Centerline is valid? [False, False] Translation: X:1.98, Y:0.12, Z:-0.48 [[ 9.99923584e-01 1.22165782e-02 -1.89267958e-03 1.98326306e+00] [-1.22064091e-02 9.99911483e-01 5.29433658e-03 1.22096872e-01] [ 1.95719073e-03 -5.27082918e-03 9.99984194e-01 -4.78197469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.804553573999996 meters Centerline goodness [0,1] 0.8112493239588967 Centerline is valid? [False, False] Translation: X:1.98, Y:0.12, Z:-0.48 [[ 9.99956496e-01 9.27419613e-03 -9.97492007e-04 1.98115177e+00] [-9.27335138e-03 9.99956642e-01 8.48191654e-04 1.22181908e-01] [ 1.00531505e-03 -8.38904661e-04 9.99999143e-01 -4.80274578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.834553574 meters Centerline goodness [0,1] 0.8148503304392899 Centerline is valid? [False, False] Translation: X:1.98, Y:0.12, Z:-0.48 [[ 9.99988180e-01 4.75130613e-03 -1.03156082e-03 1.98255554e+00] [-4.75477308e-03 9.99982967e-01 -3.38484816e-03 1.19493288e-01] [ 1.01546080e-03 3.38971299e-03 9.99993739e-01 -4.82440586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.86455357399999 meters Centerline goodness [0,1] 0.8156613646421784 Centerline is valid? [False, False] Translation: X:1.98, Y:0.12, Z:-0.48 [[ 9.99999344e-01 8.62435365e-04 -7.54150320e-04 1.98197782e+00] [-8.67889622e-04 9.99973254e-01 -7.26215296e-03 1.17988024e-01] [ 7.47867011e-04 7.26280271e-03 9.99973346e-01 -4.83003522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.89455357399999 meters Centerline goodness [0,1] 0.8156613646421784 Centerline is valid? [False, False] Translation: X:1.98, Y:0.12, Z:-0.48 [[ 9.99999344e-01 8.62435365e-04 -7.54150320e-04 1.98197782e+00] [-8.67889622e-04 9.99973254e-01 -7.26215296e-03 1.17988024e-01] [ 7.47867011e-04 7.26280271e-03 9.99973346e-01 -4.83003522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.924553573999994 meters Centerline goodness [0,1] 0.8157193605683837 Centerline is valid? [False, False] Translation: X:1.99, Y:0.11, Z:-0.48 [[ 9.99997958e-01 -9.34204710e-04 -1.79215776e-03 1.98602522e+00] [ 9.22965978e-04 9.99979970e-01 -6.26167263e-03 1.14121983e-01] [ 1.79797154e-03 6.26000574e-03 9.99978790e-01 -4.81606269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.954553573999995 meters Centerline goodness [0,1] 0.8197072191100306 Centerline is valid? [False, False] Translation: X:1.99, Y:0.11, Z:-0.48 [[ 0.9999687 -0.00747387 -0.00259577 1.99072767] [ 0.00744801 0.99992391 -0.00983373 0.10829531] [ 0.00266907 0.00981409 0.99994828 -0.4819458 ] [ 0. 0. 0. 1. ]] SLAMing on 59.984553573999996 meters Centerline goodness [0,1] 0.8189192064251901 Centerline is valid? [False, False] Translation: X:2.00, Y:0.10, Z:-0.48 [[ 0.99994731 -0.00956365 -0.00373041 1.99548812] [ 0.00953063 0.9999161 -0.00877226 0.10395268] [ 0.00381399 0.00873624 0.99995456 -0.48062738] [ 0. 0. 0. 1. ]] SLAMing on 60.014553574 meters Centerline goodness [0,1] 0.827082383850299 Centerline is valid? [False, False] Translation: X:2.00, Y:0.10, Z:-0.48 [[ 0.99985528 -0.0163361 -0.00474881 2.00148687] [ 0.01627635 0.99979114 -0.01235929 0.09805211] [ 0.00494972 0.0122802 0.99991234 -0.48154311] [ 0. 0. 0. 1. ]] SLAMing on 60.044553574 meters Centerline goodness [0,1] 0.8204078334186353 Centerline is valid? [False, False] Translation: X:2.01, Y:0.09, Z:-0.48 [[ 0.99982249 -0.01793747 -0.0057655 2.00575943] [ 0.01786844 0.99977061 -0.01180897 0.0947327 ] [ 0.005976 0.01170385 0.99991365 -0.48161612] [ 0. 0. 0. 1. ]] SLAMing on 60.07455357399999 meters Centerline goodness [0,1] 0.8214817018744421 Centerline is valid? [False, False] Translation: X:2.01, Y:0.09, Z:-0.48 [[ 0.99979619 -0.0190907 -0.00656756 2.00901959] [ 0.01901687 0.99975725 -0.01112628 0.09169832] [ 0.00677837 0.01099912 0.99991653 -0.48144068] [ 0. 0. 0. 1. ]] SLAMing on 60.10455357399999 meters Centerline goodness [0,1] 0.8210640903524289 Centerline is valid? [False, False] Translation: X:2.01, Y:0.09, Z:-0.48 [[ 0.99977774 -0.01988745 -0.00699685 2.01097699] [ 0.01981831 0.99975542 -0.0098149 0.08644416] [ 0.00719034 0.00967406 0.99992735 -0.48045757] [ 0. 0. 0. 1. ]] SLAMing on 60.134553573999995 meters Centerline goodness [0,1] 0.8229953376775636 Centerline is valid? [False, False] Translation: X:2.02, Y:0.08, Z:-0.48 [[ 0.99981274 -0.01753141 -0.0081935 2.01519224] [ 0.01749853 0.99983862 -0.00406747 0.08253356] [ 0.00826348 0.00392333 0.99995816 -0.47743638] [ 0. 0. 0. 1. ]] SLAMing on 60.164553573999996 meters Centerline goodness [0,1] 0.8193001118293648 Centerline is valid? [False, False] Translation: X:2.02, Y:0.08, Z:-0.48 [[ 9.99859313e-01 -1.42274958e-02 -8.88441321e-03 2.01763380e+00] [ 1.42385104e-02 9.99897934e-01 1.17774331e-03 7.86544769e-02] [ 8.86675007e-03 -1.30407843e-03 9.99959839e-01 -4.76267130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.194553574 meters Centerline goodness [0,1] 0.8223260133289632 Centerline is valid? [False, False] Translation: X:2.02, Y:0.08, Z:-0.48 [[ 9.99865606e-01 -1.38866052e-02 -8.71390356e-03 2.01718964e+00] [ 1.38981853e-02 9.99902609e-01 1.26978277e-03 7.79382033e-02] [ 8.69542193e-03 -1.39071957e-03 9.99961227e-01 -4.76847794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.224553574 meters Centerline goodness [0,1] 0.8168937329700272 Centerline is valid? [False, False] Translation: X:2.02, Y:0.08, Z:-0.47 [[ 0.99990484 -0.01019934 -0.00928874 2.0183213 ] [ 0.01025811 0.99992753 0.00630072 0.07651626] [ 0.00922381 -0.0063954 0.99993701 -0.47455952] [ 0. 0. 0. 1. ]] SLAMing on 60.25455357399999 meters Centerline goodness [0,1] 0.821108782625262 Centerline is valid? [False, False] Translation: X:2.01, Y:0.08, Z:-0.47 [[ 0.99994059 -0.00765522 -0.00775945 2.01171773] [ 0.00770681 0.99994826 0.00664011 0.07713787] [ 0.00770822 -0.00669952 0.99994785 -0.47368563] [ 0. 0. 0. 1. ]] SLAMing on 60.28455357399999 meters Centerline goodness [0,1] 0.8192032132001736 Centerline is valid? [False, False] Translation: X:2.01, Y:0.08, Z:-0.47 [[ 0.99994834 -0.00704763 -0.00732466 2.0101683 ] [ 0.00709553 0.99995347 0.0065351 0.07742869] [ 0.00727826 -0.00658673 0.99995182 -0.47400482] [ 0. 0. 0. 1. ]] SLAMing on 60.314553573999994 meters Centerline goodness [0,1] 0.8170870011340929 Centerline is valid? [False, False] Translation: X:2.01, Y:0.08, Z:-0.48 [[ 0.99996055 -0.00578581 -0.00674022 2.00815367] [ 0.00582648 0.99996485 0.00602986 0.07981398] [ 0.0067051 -0.00606889 0.9999591 -0.47568986] [ 0. 0. 0. 1. ]] SLAMing on 60.344553573999995 meters Centerline goodness [0,1] 0.8158221694036301 Centerline is valid? [False, False] Translation: X:2.01, Y:0.08, Z:-0.48 [[ 0.99996308 -0.00550091 -0.0066011 2.00788383] [ 0.00553812 0.99996881 0.00563141 0.08041109] [ 0.00656992 -0.00566776 0.99996236 -0.47679542] [ 0. 0. 0. 1. ]] SLAMing on 60.374553574 meters Centerline goodness [0,1] 0.8129907979598996 Centerline is valid? [False, False] Translation: X:2.01, Y:0.08, Z:-0.48 [[ 0.99997148 -0.00463873 -0.00595978 2.005979 ] [ 0.00467057 0.99997484 0.00533938 0.0803312 ] [ 0.00593487 -0.00536706 0.99996799 -0.47806285] [ 0. 0. 0. 1. ]] SLAMing on 60.404553574 meters Centerline goodness [0,1] 0.8143061439248807 Centerline is valid? [False, False] Translation: X:2.01, Y:0.08, Z:-0.48 [[ 0.99997467 -0.00425311 -0.00570684 2.00510781] [ 0.0042839 0.99997628 0.00539355 0.08004055] [ 0.00568376 -0.00541786 0.99996917 -0.47822551] [ 0. 0. 0. 1. ]] SLAMing on 60.43455357399999 meters Centerline goodness [0,1] 0.8129140415866749 Centerline is valid? [False, False] Translation: X:2.00, Y:0.08, Z:-0.48 [[ 0.99998288 -0.00316411 -0.00492162 2.00206427] [ 0.0031936 0.99997692 0.00599706 0.07867139] [ 0.00490253 -0.00601267 0.99996991 -0.47748496] [ 0. 0. 0. 1. ]] SLAMing on 60.46455357399999 meters Centerline goodness [0,1] 0.813102328099621 Centerline is valid? [False, False] Translation: X:2.00, Y:0.08, Z:-0.48 [[ 0.99998458 -0.00289212 -0.00474039 2.00159525] [ 0.00292019 0.99997819 0.00592416 0.07822328] [ 0.00472316 -0.00593791 0.99997122 -0.47804194] [ 0. 0. 0. 1. ]] SLAMing on 60.494553573999994 meters Centerline goodness [0,1] 0.8116366000325045 Centerline is valid? [False, False] Translation: X:2.00, Y:0.08, Z:-0.48 [[ 0.99998659 -0.00254485 -0.00450931 2.00088139] [ 0.00257129 0.99997948 0.00586799 0.0778836 ] [ 0.00449428 -0.00587951 0.99997262 -0.47845142] [ 0. 0. 0. 1. ]] SLAMing on 60.524553573999995 meters Centerline goodness [0,1] 0.8120880015191384 Centerline is valid? [False, False] Translation: X:2.00, Y:0.08, Z:-0.48 [[ 9.99992996e-01 -1.16670770e-03 -3.55622110e-03 1.99731984e+00] [ 1.18937480e-03 9.99978950e-01 6.37849271e-03 7.64016174e-02] [ 3.54870441e-03 -6.38267771e-03 9.99973334e-01 -4.78055957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.554553573999996 meters Centerline goodness [0,1] 0.8132400577074883 Centerline is valid? [False, False] Translation: X:2.00, Y:0.08, Z:-0.48 [[ 9.99994903e-01 -5.99436112e-04 -3.13597337e-03 1.99573469e+00] [ 6.20540379e-04 9.99977140e-01 6.73309524e-03 7.50493596e-02] [ 3.13186562e-03 -6.73500692e-03 9.99972415e-01 -4.77753692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.584553574 meters Centerline goodness [0,1] 0.8106971153846154 Centerline is valid? [False, False] Translation: X:1.99, Y:0.07, Z:-0.48 [[ 9.99996154e-01 -2.01959008e-04 -2.76599498e-03 1.99476104e+00] [ 2.21898219e-04 9.99973981e-01 7.21028509e-03 7.24587841e-02] [ 2.76446683e-03 -7.21087113e-03 9.99970180e-01 -4.77926122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61455357399999 meters Centerline goodness [0,1] 0.8121271821813605 Centerline is valid? [False, False] Translation: X:2.00, Y:0.07, Z:-0.48 [[ 9.99995852e-01 -4.01565072e-04 -2.85200764e-03 1.99523470e+00] [ 4.22906373e-04 9.99971888e-01 7.48624752e-03 7.09669041e-02] [ 2.84892125e-03 -7.48742261e-03 9.99967911e-01 -4.77783284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.64455357399999 meters Centerline goodness [0,1] 0.8138501862325838 Centerline is valid? [False, False] Translation: X:1.99, Y:0.07, Z:-0.48 [[ 0.99999058 -0.00378644 -0.00212046 1.99305574] [ 0.0037947 0.99998518 0.00390423 0.06771895] [ 0.00210565 -0.00391224 0.99999013 -0.47801358] [ 0. 0. 0. 1. ]] SLAMing on 60.674553573999994 meters Centerline goodness [0,1] 0.8135072271141386 Centerline is valid? [False, False] Translation: X:2.00, Y:0.07, Z:-0.48 [[ 0.99998629 -0.00454417 -0.00260193 1.99520877] [ 0.00455407 0.99998237 0.0038118 0.06619953] [ 0.00258457 -0.0038236 0.99998935 -0.47872087] [ 0. 0. 0. 1. ]] SLAMing on 60.704553573999995 meters Centerline goodness [0,1] 0.8144475138121547 Centerline is valid? [False, False] Translation: X:1.99, Y:0.07, Z:-0.48 [[ 9.99992573e-01 -3.35184876e-03 -1.90260224e-03 1.99210955e+00] [ 3.35869752e-03 9.99987851e-01 3.60797533e-03 6.75855686e-02] [ 1.89048573e-03 -3.61433880e-03 9.99991681e-01 -4.78585217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.734553573999996 meters Centerline goodness [0,1] 0.8130923517743002 Centerline is valid? [False, False] Translation: X:1.99, Y:0.07, Z:-0.48 [[ 0.99999171 -0.00352774 -0.00203207 1.99285883] [ 0.00353386 0.99998919 0.00302023 0.06879194] [ 0.0020214 -0.00302738 0.99999337 -0.47972773] [ 0. 0. 0. 1. ]] SLAMing on 60.764553574 meters Centerline goodness [0,1] 0.8099055174503484 Centerline is valid? [False, False] Translation: X:1.99, Y:0.07, Z:-0.48 [[ 0.9999899 -0.00385985 -0.00230139 1.99404394] [ 0.00386611 0.99998882 0.00272386 0.06954655] [ 0.00229085 -0.00273273 0.99999364 -0.48034813] [ 0. 0. 0. 1. ]] SLAMing on 60.794553574 meters Centerline goodness [0,1] 0.8077325837742504 Centerline is valid? [False, False] Translation: X:2.00, Y:0.07, Z:-0.48 [[ 0.9999814 -0.00519423 -0.00319687 1.9973083 ] [ 0.00520287 0.99998282 0.0026998 0.06976048] [ 0.00318279 -0.00271639 0.99999125 -0.47978032] [ 0. 0. 0. 1. ]] SLAMing on 60.82455357399999 meters Centerline goodness [0,1] 0.8098822621115614 Centerline is valid? [False, False] Translation: X:2.00, Y:0.07, Z:-0.48 [[ 0.99997512 -0.00594881 -0.00379066 1.99934351] [ 0.00595936 0.99997838 0.00278007 0.06978866] [ 0.00377404 -0.00280259 0.99998895 -0.47930676] [ 0. 0. 0. 1. ]] SLAMing on 60.85455357399999 meters Centerline goodness [0,1] 0.8077473707394968 Centerline is valid? [False, False] Translation: X:2.00, Y:0.07, Z:-0.48 [[ 0.999972 -0.00628662 -0.00405948 2.00009111] [ 0.00629807 0.99997621 0.00281486 0.07053998] [ 0.00404169 -0.00284035 0.9999878 -0.478574 ] [ 0. 0. 0. 1. ]] SLAMing on 60.884553573999995 meters Centerline goodness [0,1] 0.8141729250914693 Centerline is valid? [False, False] Translation: X:2.01, Y:0.07, Z:-0.48 [[ 0.99994597 -0.00868885 -0.00570592 2.0061341 ] [ 0.00870363 0.99995882 0.00257061 0.07081718] [ 0.00568335 -0.00262014 0.99998042 -0.47818391] [ 0. 0. 0. 1. ]] SLAMing on 60.914553573999996 meters Centerline goodness [0,1] 0.8136009041541472 Centerline is valid? [False, False] Translation: X:2.01, Y:0.07, Z:-0.48 [[ 0.99991962 -0.01056393 -0.00701062 2.01147427] [ 0.01057906 0.99994178 0.00212508 0.07091403] [ 0.00698777 -0.00219907 0.99997317 -0.47920001] [ 0. 0. 0. 1. ]] SLAMing on 60.944553574 meters Centerline goodness [0,1] 0.8121949201621577 Centerline is valid? [False, False] Translation: X:2.02, Y:0.07, Z:-0.48 [[ 9.99887678e-01 -1.24585953e-02 -8.33151809e-03 2.01697951e+00] [ 1.24715730e-02 9.99921090e-01 1.50753212e-03 7.14191077e-02] [ 8.31207892e-03 -1.61126993e-03 9.99964156e-01 -4.80579836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.974553574 meters Centerline goodness [0,1] 0.8115597345132743 Centerline is valid? [False, False] Translation: X:2.03, Y:0.07, Z:-0.48 [[ 9.99808703e-01 -1.65254789e-02 -1.04626405e-02 2.02627092e+00] [ 1.65401232e-02 9.99862338e-01 1.31468455e-03 7.08786343e-02] [ 1.04394744e-02 -1.48748642e-03 9.99944401e-01 -4.79861283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.00455357399999 meters Centerline goodness [0,1] 0.8129388996405862 Centerline is valid? [False, False] Translation: X:2.03, Y:0.07, Z:-0.48 [[ 0.99978527 -0.01747538 -0.01113686 2.02836657] [ 0.01749907 0.99984481 0.00203324 0.06959096] [ 0.0110996 -0.00222769 0.99993592 -0.47796911] [ 0. 0. 0. 1. ]] SLAMing on 61.03455357399999 meters Centerline goodness [0,1] 0.8121792204189208 Centerline is valid? [False, False] Translation: X:2.03, Y:0.07, Z:-0.48 [[ 0.9997702 -0.01803127 -0.01159439 2.02958 ] [ 0.01806346 0.99983326 0.00267703 0.06858178] [ 0.01154419 -0.00288585 0.9999292 -0.47625596] [ 0. 0. 0. 1. ]] SLAMing on 61.064553573999994 meters Centerline goodness [0,1] 0.8151106673323348 Centerline is valid? [False, False] Translation: X:2.03, Y:0.07, Z:-0.48 [[ 0.99975689 -0.01847181 -0.01203961 2.03076347] [ 0.01850782 0.99982455 0.00288582 0.0688066 ] [ 0.0119842 -0.00310795 0.99992336 -0.4753403 ] [ 0. 0. 0. 1. ]] SLAMing on 61.094553573999995 meters Centerline goodness [0,1] 0.8156148485437432 Centerline is valid? [False, False] Translation: X:2.03, Y:0.07, Z:-0.47 [[ 0.9997969 -0.01540699 -0.01299175 2.03330151] [ 0.01550644 0.99985097 0.00758896 0.06830669] [ 0.01287289 -0.00778888 0.9998868 -0.47321544] [ 0. 0. 0. 1. ]] SLAMing on 61.124553574 meters Centerline goodness [0,1] 0.8150276181752575 Centerline is valid? [False, False] Translation: X:2.03, Y:0.07, Z:-0.47 [[ 0.9998151 -0.01461223 -0.01249965 2.03132165] [ 0.01470366 0.99986558 0.00725444 0.06989443] [ 0.01239197 -0.00743689 0.99989556 -0.47359958] [ 0. 0. 0. 1. ]] SLAMing on 61.154553574 meters Centerline goodness [0,1] 0.8122142030742108 Centerline is valid? [False, False] Translation: X:2.03, Y:0.07, Z:-0.47 [[ 0.99986735 -0.01034736 -0.01257866 2.03140161] [ 0.01048363 0.99988655 0.01081609 0.07234505] [ 0.01246531 -0.01094653 0.99986239 -0.47412723] [ 0. 0. 0. 1. ]] SLAMing on 61.18455357399999 meters Centerline goodness [0,1] 0.8214737768972539 Centerline is valid? [False, False] Translation: X:2.03, Y:0.07, Z:-0.47 [[ 0.99990364 -0.00802537 -0.01132751 2.02566613] [ 0.00814917 0.99990711 0.01092563 0.07409202] [ 0.01123877 -0.01101689 0.99987615 -0.47349734] [ 0. 0. 0. 1. ]] SLAMing on 61.21455357399999 meters Centerline goodness [0,1] 0.8194181678593951 Centerline is valid? [False, False] Translation: X:2.02, Y:0.07, Z:-0.47 [[ 0.9999165 -0.00714534 -0.0107671 2.0233872 ] [ 0.00726117 0.99991578 0.01075697 0.07477229] [ 0.01068933 -0.01083425 0.99988417 -0.47364156] [ 0. 0. 0. 1. ]] SLAMing on 61.244553573999994 meters Centerline goodness [0,1] 0.8147274920495668 Centerline is valid? [False, False] Translation: X:2.02, Y:0.08, Z:-0.47 [[ 0.99992795 -0.00629645 -0.01021991 2.02146076] [ 0.00640205 0.99992612 0.01033256 0.0759201 ] [ 0.0101541 -0.01039724 0.99989439 -0.47455252] [ 0. 0. 0. 1. ]] SLAMing on 61.274553573999995 meters Centerline goodness [0,1] 0.8111530467126136 Centerline is valid? [False, False] Translation: X:2.02, Y:0.08, Z:-0.48 [[ 0.99994485 -0.00485812 -0.00931057 2.01839587] [ 0.00494554 0.99994369 0.00938923 0.07746948] [ 0.00926443 -0.00943475 0.99991257 -0.47699246] [ 0. 0. 0. 1. ]] SLAMing on 61.304553573999996 meters Centerline goodness [0,1] 0.8111257333991336 Centerline is valid? [False, False] Translation: X:2.02, Y:0.08, Z:-0.48 [[ 0.99994804 -0.00462354 -0.00908483 2.01768873] [ 0.00470863 0.99994503 0.00936811 0.0770523 ] [ 0.00904101 -0.0094104 0.99991485 -0.47724407] [ 0. 0. 0. 1. ]] SLAMing on 61.334553574 meters Centerline goodness [0,1] 0.8167496082043386 Centerline is valid? [False, False] Translation: X:2.02, Y:0.08, Z:-0.48 [[ 0.99994601 -0.00487684 -0.00917599 2.01809908] [ 0.00496703 0.99993933 0.00983164 0.07529481] [ 0.00912748 -0.00987669 0.99990957 -0.47664823] [ 0. 0. 0. 1. ]] SLAMing on 61.36455357399999 meters Centerline goodness [0,1] 0.8148829798923195 Centerline is valid? [False, False] Translation: X:2.02, Y:0.07, Z:-0.48 [[ 0.99994388 -0.00510249 -0.00928412 2.01868365] [ 0.00519456 0.9999373 0.0099201 0.07449257] [ 0.00923292 -0.00996777 0.99990769 -0.47677791] [ 0. 0. 0. 1. ]] SLAMing on 61.39455357399999 meters Centerline goodness [0,1] 0.8144355370085657 Centerline is valid? [False, False] Translation: X:2.02, Y:0.07, Z:-0.48 [[ 0.99994162 -0.00533438 -0.00939679 2.01935525] [ 0.00542741 0.99993624 0.00990275 0.07357986] [ 0.00934337 -0.00995317 0.99990681 -0.47721829] [ 0. 0. 0. 1. ]] SLAMing on 61.424553573999994 meters Centerline goodness [0,1] 0.814945054945055 Centerline is valid? [False, False] Translation: X:2.02, Y:0.07, Z:-0.48 [[ 0.99994448 -0.00517332 -0.00918054 2.01874008] [ 0.00526837 0.99993246 0.01035969 0.07170603] [ 0.00912633 -0.01040748 0.99990419 -0.47695547] [ 0. 0. 0. 1. ]] SLAMing on 61.454553573999995 meters Centerline goodness [0,1] 0.8189863676341249 Centerline is valid? [False, False] Translation: X:2.02, Y:0.07, Z:-0.48 [[ 0.99994133 -0.00549273 -0.00933661 2.0198696 ] [ 0.00558526 0.99993526 0.00991342 0.07141458] [ 0.00928156 -0.00996499 0.99990727 -0.4783947 ] [ 0. 0. 0. 1. ]] SLAMing on 61.484553573999996 meters Centerline goodness [0,1] 0.8166377625457648 Centerline is valid? [False, False] Translation: X:2.02, Y:0.07, Z:-0.48 [[ 0.99994271 -0.00546055 -0.00920594 2.01990069] [ 0.00555097 0.99993632 0.00982564 0.0704342 ] [ 0.0091517 -0.00987618 0.99990935 -0.4793684 ] [ 0. 0. 0. 1. ]] SLAMing on 61.514553574 meters Centerline goodness [0,1] 0.8173401829620065 Centerline is valid? [False, False] Translation: X:2.02, Y:0.07, Z:-0.48 [[ 0.99994511 -0.00530777 -0.00903375 2.01925347] [ 0.00539809 0.9999354 0.01000308 0.06941171] [ 0.00898008 -0.0100513 0.99990916 -0.47911219] [ 0. 0. 0. 1. ]] SLAMing on 61.544553574 meters Centerline goodness [0,1] 0.8154120879120879 Centerline is valid? [False, False] Translation: X:2.02, Y:0.07, Z:-0.48 [[ 0.99994906 -0.00499004 -0.00877397 2.01811505] [ 0.00508146 0.99993271 0.01042807 0.06830788] [ 0.00872134 -0.01047212 0.99990713 -0.47833643] [ 0. 0. 0. 1. ]] SLAMing on 61.57455357399999 meters Centerline goodness [0,1] 0.8211384337645997 Centerline is valid? [False, False] Translation: X:2.02, Y:0.07, Z:-0.48 [[ 0.9999529 -0.00467438 -0.00850591 2.01734765] [ 0.00476267 0.99993468 0.01038963 0.06763431] [ 0.00845679 -0.01042965 0.99990985 -0.47884363] [ 0. 0. 0. 1. ]] SLAMing on 61.60455357399999 meters Centerline goodness [0,1] 0.8201807228915663 Centerline is valid? [False, False] Translation: X:2.02, Y:0.07, Z:-0.48 [[ 0.99995585 -0.0044321 -0.00828546 2.01685499] [ 0.00451572 0.99993878 0.01010133 0.06763708] [ 0.00824018 -0.0101383 0.99991465 -0.47973447] [ 0. 0. 0. 1. ]] SLAMing on 61.634553573999995 meters Centerline goodness [0,1] 0.8178169706235667 Centerline is valid? [False, False] Translation: X:2.02, Y:0.07, Z:-0.48 [[ 0.9999623 -0.00380379 -0.00780619 2.01554196] [ 0.00387898 0.99994602 0.00963907 0.06768617] [ 0.00776911 -0.00966899 0.99992307 -0.48126567] [ 0. 0. 0. 1. ]] SLAMing on 61.664553573999996 meters Centerline goodness [0,1] 0.8158175112689523 Centerline is valid? [False, False] Translation: X:2.02, Y:0.07, Z:-0.48 [[ 0.99996432 -0.00362024 -0.00763295 2.01544325] [ 0.00368928 0.99995223 0.00905114 0.06824154] [ 0.00759982 -0.00907897 0.99992991 -0.48287604] [ 0. 0. 0. 1. ]] SLAMing on 61.694553574 meters Centerline goodness [0,1] 0.8225648021828104 Centerline is valid? [False, False] Translation: X:2.01, Y:0.07, Z:-0.49 [[ 0.99996976 -0.00294068 -0.00719946 2.01420597] [ 0.00299947 0.99996214 0.00816823 0.06946101] [ 0.00717517 -0.00818958 0.99994072 -0.48501976] [ 0. 0. 0. 1. ]] SLAMing on 61.724553574 meters Centerline goodness [0,1] 0.8214227309893705 Centerline is valid? [False, False] Translation: X:2.01, Y:0.07, Z:-0.49 [[ 0.99997411 -0.00246455 -0.00675988 2.01278029] [ 0.00251869 0.99996473 0.00801233 0.06958072] [ 0.00673989 -0.00802915 0.99994505 -0.48527641] [ 0. 0. 0. 1. ]] SLAMing on 61.75455357399999 meters Centerline goodness [0,1] 0.8232313601569098 Centerline is valid? [False, False] Translation: X:2.01, Y:0.07, Z:-0.48 [[ 9.99982937e-01 -1.05072317e-03 -5.74647796e-03 2.00869246e+00] [ 1.09742616e-03 9.99966348e-01 8.13013330e-03 7.00039311e-02] [ 5.73774206e-03 -8.13630091e-03 9.99950438e-01 -4.84749895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.78455357399999 meters Centerline goodness [0,1] 0.8256618368013945 Centerline is valid? [False, False] Translation: X:2.01, Y:0.07, Z:-0.49 [[ 9.99986002e-01 -4.25745902e-04 -5.27404348e-03 2.00706543e+00] [ 4.67386636e-04 9.99968711e-01 7.89669475e-03 7.05857421e-02] [ 5.27051648e-03 -7.89904923e-03 9.99954912e-01 -4.85246490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.814553573999994 meters Centerline goodness [0,1] 0.8256618368013945 Centerline is valid? [False, False] Translation: X:2.01, Y:0.07, Z:-0.49 [[ 9.99986002e-01 -4.25745902e-04 -5.27404348e-03 2.00706543e+00] [ 4.67386636e-04 9.99968711e-01 7.89669475e-03 7.05857421e-02] [ 5.27051648e-03 -7.89904923e-03 9.99954912e-01 -4.85246490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.844553573999995 meters Centerline goodness [0,1] 0.8257412802570316 Centerline is valid? [False, False] Translation: X:2.00, Y:0.07, Z:-0.49 [[ 9.99990868e-01 1.16477856e-03 -4.11182629e-03 2.00270877e+00] [-1.13153521e-03 9.99966733e-01 8.07790436e-03 7.06230875e-02] [ 4.12109847e-03 -8.07317792e-03 9.99958919e-01 -4.85008705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.874553574 meters Centerline goodness [0,1] 0.8275439980415091 Centerline is valid? [False, False] Translation: X:2.00, Y:0.07, Z:-0.49 [[ 9.99991703e-01 1.59063050e-03 -3.75010766e-03 2.00154849e+00] [-1.56038354e-03 9.99966342e-01 8.05479835e-03 7.04391467e-02] [ 3.76279365e-03 -8.04887991e-03 9.99960528e-01 -4.85230645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.904553574 meters Centerline goodness [0,1] 0.826555316775931 Centerline is valid? [False, False] Translation: X:2.00, Y:0.07, Z:-0.49 [[ 0.999992 0.00290859 -0.002746 1.9982198 ] [-0.00288632 0.99996318 0.00808077 0.06983 ] [ 0.00276941 -0.00807278 0.99996358 -0.48585929] [ 0. 0. 0. 1. ]] SLAMing on 61.93455357399999 meters Centerline goodness [0,1] 0.8262467334494774 Centerline is valid? [False, False] Translation: X:2.00, Y:0.07, Z:-0.49 [[ 0.99999133 0.00346597 -0.00230601 1.99679123] [-0.00344716 0.99996118 0.0081094 0.0693013 ] [ 0.00233403 -0.00810138 0.99996446 -0.48618446] [ 0. 0. 0. 1. ]] SLAMing on 61.96455357399999 meters Centerline goodness [0,1] 0.8267346994460968 Centerline is valid? [False, False] Translation: X:1.99, Y:0.07, Z:-0.49 [[ 9.99996948e-01 2.41574649e-03 -5.17391485e-04 1.99045918e+00] [-2.41459295e-03 9.99994624e-01 2.21865162e-03 7.08565319e-02] [ 5.22748403e-04 -2.21739556e-03 9.99997405e-01 -4.91444259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.994553573999994 meters Centerline goodness [0,1] 0.8282136621562637 Centerline is valid? [False, False] Translation: X:1.99, Y:0.07, Z:-0.49 [[ 9.99990021e-01 4.39289679e-03 8.12783544e-04 1.98609624e+00] [-4.39474660e-03 9.99987725e-01 2.28828833e-03 6.97804280e-02] [-8.02721353e-04 -2.29183747e-03 9.99997052e-01 -4.92703247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.024553573999995 meters Centerline goodness [0,1] 0.8270305641137498 Centerline is valid? [False, False] Translation: X:1.98, Y:0.07, Z:-0.49 [[ 9.99983892e-01 5.46128634e-03 1.54605193e-03 1.98353069e+00] [-5.46461401e-03 9.99982744e-01 2.15638814e-03 7.01746690e-02] [-1.53424860e-03 -2.16480198e-03 9.99996480e-01 -4.93150462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.054553573999996 meters Centerline goodness [0,1] 0.8279101429543907 Centerline is valid? [False, False] Translation: X:1.98, Y:0.07, Z:-0.49 [[ 9.99984433e-01 5.38288121e-03 1.46938262e-03 1.98353292e+00] [-5.38557044e-03 9.99983819e-01 1.83239543e-03 7.17700617e-02] [-1.45949528e-03 -1.84028037e-03 9.99997242e-01 -4.92676818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.084553574 meters Centerline goodness [0,1] 0.8269821841425269 Centerline is valid? [False, False] Translation: X:1.98, Y:0.07, Z:-0.49 [[ 9.99986724e-01 4.99730406e-03 1.25681293e-03 1.98499557e+00] [-4.99850124e-03 9.99987055e-01 9.51228664e-04 7.32386264e-02] [-1.25204308e-03 -9.57498216e-04 9.99998758e-01 -4.94528149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11455357399999 meters Centerline goodness [0,1] 0.822023777210792 Centerline is valid? [False, False] Translation: X:1.99, Y:0.08, Z:-0.50 [[ 9.99992826e-01 3.76651118e-03 4.01552787e-04 1.98953259e+00] [-3.76621005e-03 9.99992628e-01 -7.48048053e-04 7.60829462e-02] [-4.04367358e-04 7.46530354e-04 9.99999640e-01 -4.98569756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.14455357399999 meters Centerline goodness [0,1] 0.8197887534280051 Centerline is valid? [False, False] Translation: X:1.99, Y:0.08, Z:-0.50 [[ 9.99995048e-01 3.14250591e-03 -1.71732529e-04 1.99188357e+00] [-3.14275621e-03 9.99993970e-01 -1.47725258e-03 7.78580476e-02] [ 1.67089218e-04 1.47778497e-03 9.99998894e-01 -4.99809346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.174553573999994 meters Centerline goodness [0,1] 0.8192793966031797 Centerline is valid? [False, False] Translation: X:1.99, Y:0.08, Z:-0.50 [[ 9.99995712e-01 2.90231922e-03 -3.89922458e-04 1.99285473e+00] [-2.90310064e-03 9.99993749e-01 -2.01864897e-03 7.91808985e-02] [ 3.84061257e-04 2.01977230e-03 9.99997887e-01 -5.00558465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.204553573999995 meters Centerline goodness [0,1] 0.8223175266686572 Centerline is valid? [False, False] Translation: X:1.99, Y:0.08, Z:-0.50 [[ 9.99996393e-01 2.59529207e-03 -6.92239596e-04 1.99370664e+00] [-2.59675547e-03 9.99994378e-01 -2.12154438e-03 8.03476555e-02] [ 6.86729677e-04 2.12333431e-03 9.99997510e-01 -5.00059616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.234553573999996 meters Centerline goodness [0,1] 0.8231695712460237 Centerline is valid? [False, False] Translation: X:1.99, Y:0.08, Z:-0.50 [[ 9.99997031e-01 2.21399018e-03 -1.01756166e-03 1.99486883e+00] [-2.21620146e-03 9.99995174e-01 -2.17714914e-03 8.08176276e-02] [ 1.01273657e-03 2.17939780e-03 9.99997112e-01 -4.99990927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.264553574 meters Centerline goodness [0,1] 0.8220863917919612 Centerline is valid? [False, False] Translation: X:2.00, Y:0.08, Z:-0.50 [[ 9.99997658e-01 4.01916469e-04 -2.12646858e-03 1.99932970e+00] [-4.06477607e-04 9.99997617e-01 -2.14493861e-03 7.95338501e-02] [ 2.12560143e-03 2.14579794e-03 9.99995439e-01 -4.99945630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.294553574 meters Centerline goodness [0,1] 0.8249068799298861 Centerline is valid? [False, False] Translation: X:2.00, Y:0.08, Z:-0.50 [[ 9.99995099e-01 -8.14240011e-04 -3.02304583e-03 2.00266964e+00] [ 8.09037396e-04 9.99998190e-01 -1.72180884e-03 7.75752138e-02] [ 3.02444232e-03 1.71935465e-03 9.99993948e-01 -4.99509037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.32455357399999 meters Centerline goodness [0,1] 0.8282648564311719 Centerline is valid? [False, False] Translation: X:2.00, Y:0.08, Z:-0.50 [[ 9.99993048e-01 -1.29610061e-03 -3.49638989e-03 2.00380870e+00] [ 1.29199020e-03 9.99998472e-01 -1.17761866e-03 7.69544610e-02] [ 3.49791086e-03 1.17309318e-03 9.99993194e-01 -4.97959186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.35455357399999 meters Centerline goodness [0,1] 0.8313306019193225 Centerline is valid? [False, False] Translation: X:2.01, Y:0.08, Z:-0.49 [[ 9.99989256e-01 -2.06229171e-03 -4.15145034e-03 2.00518300e+00] [ 2.06158433e-03 9.99997860e-01 -1.74664187e-04 7.56839610e-02] [ 4.15180167e-03 1.66103745e-04 9.99991367e-01 -4.94943316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.384553573999995 meters Centerline goodness [0,1] 0.831428885348569 Centerline is valid? [False, False] Translation: X:2.01, Y:0.08, Z:-0.50 [[ 9.99983013e-01 -3.08371183e-03 -4.94619910e-03 2.00839035e+00] [ 3.08162772e-03 9.99995160e-01 -4.28921469e-04 7.56001604e-02] [ 4.94749783e-03 4.13671839e-04 9.99987675e-01 -4.95737591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.414553573999996 meters Centerline goodness [0,1] 0.8308897807628253 Centerline is valid? [False, False] Translation: X:2.01, Y:0.08, Z:-0.50 [[ 9.99969481e-01 -4.81934548e-03 -6.14907341e-03 2.01368375e+00] [ 4.80864308e-03 9.99986900e-01 -1.75408878e-03 7.78771765e-02] [ 6.15744641e-03 1.72446655e-03 9.99979556e-01 -4.98397718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.444553574 meters Centerline goodness [0,1] 0.8318286277084701 Centerline is valid? [False, False] Translation: X:2.02, Y:0.08, Z:-0.50 [[ 9.99964587e-01 -5.32631987e-03 -6.51580740e-03 2.01514190e+00] [ 5.31382054e-03 9.99984011e-01 -1.93411968e-03 7.85931806e-02] [ 6.52600496e-03 1.89942735e-03 9.99976901e-01 -4.98526936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.474553574 meters Centerline goodness [0,1] 0.833447136263076 Centerline is valid? [False, False] Translation: X:2.02, Y:0.08, Z:-0.50 [[ 0.99994692 -0.00684603 -0.00769964 2.01929435] [ 0.00682807 0.99997391 -0.00235651 0.07972556] [ 0.00771557 0.00230382 0.99996758 -0.49855332] [ 0. 0. 0. 1. ]] SLAMing on 62.50455357399999 meters Centerline goodness [0,1] 0.8339565988808516 Centerline is valid? [False, False] Translation: X:2.02, Y:0.08, Z:-0.50 [[ 0.99993356 -0.00778213 -0.00850391 2.02220765] [ 0.00776068 0.99996663 -0.00255181 0.08022834] [ 0.00852349 0.00248564 0.99996059 -0.49870923] [ 0. 0. 0. 1. ]] SLAMing on 62.53455357399999 meters Centerline goodness [0,1] 0.8350625238901327 Centerline is valid? [False, False] Translation: X:2.03, Y:0.08, Z:-0.50 [[ 0.99991743 -0.00881922 -0.00934647 2.02517527] [ 0.0087934 0.99995742 -0.00280009 0.08086961] [ 0.00937077 0.00271767 0.9999524 -0.49880978] [ 0. 0. 0. 1. ]] SLAMing on 62.564553573999994 meters Centerline goodness [0,1] 0.8346126626381404 Centerline is valid? [False, False] Translation: X:2.03, Y:0.08, Z:-0.50 [[ 0.99987531 -0.01124583 -0.01108627 2.03156769] [ 0.01120583 0.9999305 -0.00366385 0.08281392] [ 0.0111267 0.00353916 0.99993183 -0.49943263] [ 0. 0. 0. 1. ]] SLAMing on 62.594553573999995 meters Centerline goodness [0,1] 0.8373732444010629 Centerline is valid? [False, False] Translation: X:2.04, Y:0.08, Z:-0.50 [[ 9.99860078e-01 -1.05792311e-02 -1.29577731e-02 2.03847636e+00] [ 1.05914161e-02 9.99943529e-01 8.72094332e-04 8.20083840e-02] [ 1.29478153e-02 -1.00921347e-03 9.99915664e-01 -4.96466275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.624553574 meters Centerline goodness [0,1] 0.8376750244220124 Centerline is valid? [False, False] Translation: X:2.04, Y:0.08, Z:-0.50 [[ 9.99820919e-01 -1.24489901e-02 -1.42531258e-02 2.04272715e+00] [ 1.24554656e-02 9.99922361e-01 3.65637881e-04 8.41124004e-02] [ 1.42474673e-02 -5.43101720e-04 9.99898352e-01 -4.95795387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.654553574 meters Centerline goodness [0,1] 0.8389281828073993 Centerline is valid? [False, False] Translation: X:2.05, Y:0.09, Z:-0.50 [[ 9.99798429e-01 -1.33999183e-02 -1.49513910e-02 2.04526051e+00] [ 1.34017936e-02 9.99910192e-01 2.52303079e-05 8.53267631e-02] [ 1.49497101e-02 -2.25600677e-04 9.99888221e-01 -4.95831682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.68455357399999 meters Centerline goodness [0,1] 0.8390239952495344 Centerline is valid? [False, False] Translation: X:2.05, Y:0.09, Z:-0.49 [[ 0.99979591 -0.01132027 -0.01673296 2.04950575] [ 0.01138609 0.99992779 0.00384318 0.08807444] [ 0.01668824 -0.00403291 0.99985261 -0.49333734] [ 0. 0. 0. 1. ]] SLAMing on 62.71455357399999 meters Centerline goodness [0,1] 0.8404706009336463 Centerline is valid? [False, False] Translation: X:2.05, Y:0.09, Z:-0.49 [[ 0.99978599 -0.01166791 -0.01708331 2.05053161] [ 0.01173027 0.99992488 0.00355446 0.0894241 ] [ 0.01704055 -0.00375409 0.99984775 -0.4932137 ] [ 0. 0. 0. 1. ]] SLAMing on 62.744553573999994 meters Centerline goodness [0,1] 0.8409977665958077 Centerline is valid? [False, False] Translation: X:2.05, Y:0.09, Z:-0.49 [[ 0.99977023 -0.01228013 -0.01756934 2.05243949] [ 0.01233585 0.99991921 0.00306643 0.09071001] [ 0.01753026 -0.00328246 0.99984094 -0.49383169] [ 0. 0. 0. 1. ]] SLAMing on 62.774553573999995 meters Centerline goodness [0,1] 0.8370171673819742 Centerline is valid? [False, False] Translation: X:2.06, Y:0.09, Z:-0.50 [[ 9.99730025e-01 -1.38827065e-02 -1.86318779e-02 2.05703364e+00] [ 1.39180274e-02 9.99901578e-01 1.76738443e-03 9.32220185e-02] [ 1.86055080e-02 -2.02622626e-03 9.99824849e-01 -4.96053646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.804553573999996 meters Centerline goodness [0,1] 0.8374238888441834 Centerline is valid? [False, False] Translation: X:2.06, Y:0.09, Z:-0.50 [[ 9.99715686e-01 -1.43739539e-02 -1.90246494e-02 2.05846843e+00] [ 1.44090901e-02 9.99894720e-01 1.71108586e-03 9.36673522e-02] [ 1.89980514e-02 -1.98472726e-03 9.99817551e-01 -4.96028732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.834553574 meters Centerline goodness [0,1] 0.8378798019006827 Centerline is valid? [False, False] Translation: X:2.06, Y:0.09, Z:-0.50 [[ 9.99708603e-01 -1.46101408e-02 -1.92159532e-02 2.05886277e+00] [ 1.46504048e-02 9.99890763e-01 1.95623309e-03 9.37650229e-02] [ 1.91852732e-02 -2.23718454e-03 9.99813443e-01 -4.95117178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.86455357399999 meters Centerline goodness [0,1] 0.8391234633885623 Centerline is valid? [False, False] Translation: X:2.06, Y:0.09, Z:-0.49 [[ 9.99702602e-01 -1.47767553e-02 -1.93998561e-02 2.05945982e+00] [ 1.48181355e-02 9.99888223e-01 1.99099577e-03 9.39383748e-02] [ 1.93682672e-02 -2.27787335e-03 9.99809823e-01 -4.94989079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.89455357399999 meters Centerline goodness [0,1] 0.8392795104091504 Centerline is valid? [False, False] Translation: X:2.06, Y:0.09, Z:-0.50 [[ 9.99696265e-01 -1.49552218e-02 -1.95887389e-02 2.06032881e+00] [ 1.49927491e-02 9.99886035e-01 1.77029268e-03 9.44630650e-02] [ 1.95600314e-02 -2.06344403e-03 9.99806555e-01 -4.95563172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.924553573999994 meters Centerline goodness [0,1] 0.8269568456340126 Centerline is valid? [False, False] Translation: X:2.07, Y:0.09, Z:-0.50 [[ 0.99970371 -0.01243315 -0.02092605 2.06521883] [ 0.0125474 0.99990703 0.00533742 0.09494227] [ 0.02085774 -0.0055984 0.99976678 -0.49642154] [ 0. 0. 0. 1. ]] SLAMing on 62.954553573999995 meters Centerline goodness [0,1] 0.8385036981854946 Centerline is valid? [False, False] Translation: X:2.07, Y:0.10, Z:-0.50 [[ 0.99970704 -0.01231216 -0.0208385 2.06501132] [ 0.01242072 0.99990992 0.00508798 0.09532993] [ 0.02077398 -0.00534532 0.99976991 -0.49687032] [ 0. 0. 0. 1. ]] SLAMing on 62.984553573999996 meters Centerline goodness [0,1] 0.8409290446164898 Centerline is valid? [False, False] Translation: X:2.06, Y:0.09, Z:-0.50 [[ 0.99972924 -0.01146779 -0.02024689 2.06221248] [ 0.01158649 0.99991631 0.00575528 0.09477342] [ 0.02017919 -0.00598831 0.99977845 -0.49508932] [ 0. 0. 0. 1. ]] SLAMing on 63.014553574 meters Centerline goodness [0,1] 0.8376372968804021 Centerline is valid? [False, False] Translation: X:2.06, Y:0.10, Z:-0.50 [[ 0.99973504 -0.01122158 -0.02009797 2.06157965] [ 0.01133787 0.99991958 0.00568181 0.09529679] [ 0.02003259 -0.00590817 0.99978187 -0.49506408] [ 0. 0. 0. 1. ]] SLAMing on 63.044553574 meters Centerline goodness [0,1] 0.8344142036997662 Centerline is valid? [False, False] Translation: X:2.06, Y:0.10, Z:-0.50 [[ 0.99973619 -0.01119802 -0.02005371 2.06174024] [ 0.01130542 0.99992231 0.00525027 0.09637993] [ 0.01999336 -0.0054756 0.99978512 -0.49594531] [ 0. 0. 0. 1. ]] SLAMing on 63.07455357399999 meters Centerline goodness [0,1] 0.8378950152056063 Centerline is valid? [False, False] Translation: X:2.06, Y:0.10, Z:-0.50 [[ 0.99972709 -0.01155088 -0.02030597 2.06329863] [ 0.01164325 0.99992237 0.00443665 0.09810575] [ 0.02025314 -0.00467187 0.99978397 -0.49780105] [ 0. 0. 0. 1. ]] SLAMing on 63.10455357399999 meters Centerline goodness [0,1] 0.8374768579740809 Centerline is valid? [False, False] Translation: X:2.06, Y:0.10, Z:-0.50 [[ 0.99973678 -0.01119878 -0.02002393 2.06205256] [ 0.01129585 0.99992496 0.00474102 0.09801479] [ 0.01996934 -0.00496596 0.99978826 -0.49690029] [ 0. 0. 0. 1. ]] SLAMing on 63.134553573999995 meters Centerline goodness [0,1] 0.837607741526096 Centerline is valid? [False, False] Translation: X:2.06, Y:0.10, Z:-0.50 [[ 0.99974565 -0.01081298 -0.01979186 2.06070561] [ 0.01091766 0.99992694 0.00518885 0.09782527] [ 0.01973431 -0.00540362 0.99979066 -0.4955355 ] [ 0. 0. 0. 1. ]] SLAMing on 63.164553573999996 meters Centerline goodness [0,1] 0.83807584492516 Centerline is valid? [False, False] Translation: X:2.06, Y:0.10, Z:-0.49 [[ 0.99975738 -0.01029222 -0.01947413 2.05903377] [ 0.01040354 0.99993007 0.00562367 0.09783497] [ 0.01941489 -0.00582491 0.99979455 -0.49426891] [ 0. 0. 0. 1. ]] SLAMing on 63.194553574 meters Centerline goodness [0,1] 0.8375894578392795 Centerline is valid? [False, False] Translation: X:2.06, Y:0.10, Z:-0.49 [[ 0.99977185 -0.00963603 -0.01906299 2.05735403] [ 0.00974267 0.99993736 0.00550946 0.09891196] [ 0.01900871 -0.00569393 0.9998031 -0.49407691] [ 0. 0. 0. 1. ]] SLAMing on 63.224553574 meters Centerline goodness [0,1] 0.8395765472312704 Centerline is valid? [False, False] Translation: X:2.07, Y:0.10, Z:-0.50 [[ 9.99879194e-01 -7.92457616e-03 -1.33715654e-02 2.07477532e+00] [ 7.89707452e-03 9.99966595e-01 -2.10827511e-03 1.01526103e-01] [ 1.33878259e-02 2.00242416e-03 9.99908374e-01 -5.00795814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.25455357399999 meters Centerline goodness [0,1] 0.8313733725325494 Centerline is valid? [False, False] Translation: X:2.08, Y:0.10, Z:-0.50 [[ 9.99901117e-01 -3.70439466e-03 -1.35659293e-02 2.07511847e+00] [ 3.73228651e-03 9.99990972e-01 2.03128220e-03 1.02855693e-01] [ 1.35582822e-02 -2.08171327e-03 9.99905915e-01 -5.00432452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.28455357399999 meters Centerline goodness [0,1] 0.8379432160146539 Centerline is valid? [False, False] Translation: X:2.07, Y:0.10, Z:-0.50 [[ 9.99906205e-01 -3.16254126e-03 -1.33258604e-02 2.07439344e+00] [ 3.18552662e-03 9.99993474e-01 1.70399587e-03 1.04646153e-01] [ 1.33203845e-02 -1.74628593e-03 9.99909755e-01 -5.01223452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.314553573999994 meters Centerline goodness [0,1] 0.8391319144480223 Centerline is valid? [False, False] Translation: X:2.07, Y:0.11, Z:-0.50 [[ 9.99907607e-01 -3.00964466e-03 -1.32559417e-02 2.07435077e+00] [ 3.02702068e-03 9.99994585e-01 1.29094141e-03 1.05966410e-01] [ 1.32519846e-02 -1.33094815e-03 9.99911303e-01 -5.02048814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.344553573999995 meters Centerline goodness [0,1] 0.8387501306301599 Centerline is valid? [False, False] Translation: X:2.07, Y:0.11, Z:-0.50 [[ 9.99906094e-01 -3.08642713e-03 -1.33520227e-02 2.07403914e+00] [ 3.11200851e-03 9.99993361e-01 1.89556567e-03 1.05683869e-01] [ 1.33460835e-02 -1.93693927e-03 9.99909061e-01 -5.00073559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.374553574 meters Centerline goodness [0,1] 0.8424494493708965 Centerline is valid? [False, False] Translation: X:2.07, Y:0.10, Z:-0.50 [[ 0.99990257 -0.00331333 -0.01356022 2.07414916] [ 0.00334714 0.99999135 0.00247081 0.10497341] [ 0.01355191 -0.00251596 0.999905 -0.49837936] [ 0. 0. 0. 1. ]] SLAMing on 63.404553574 meters Centerline goodness [0,1] 0.844297728523147 Centerline is valid? [False, False] Translation: X:2.08, Y:0.10, Z:-0.50 [[ 0.99988437 -0.00473828 -0.01444974 2.07705811] [ 0.00477607 0.99998526 0.00258189 0.10452081] [ 0.01443729 -0.0026506 0.99989226 -0.49730126] [ 0. 0. 0. 1. ]] SLAMing on 63.43455357399999 meters Centerline goodness [0,1] 0.8408442221582131 Centerline is valid? [False, False] Translation: X:2.08, Y:0.10, Z:-0.50 [[ 0.99986558 -0.00588002 -0.01530527 2.08032966] [ 0.00591525 0.99997996 0.00225745 0.1044688 ] [ 0.01529168 -0.00234768 0.99988032 -0.49799456] [ 0. 0. 0. 1. ]] SLAMing on 63.46455357399999 meters Centerline goodness [0,1] 0.8417333961375413 Centerline is valid? [False, False] Translation: X:2.08, Y:0.10, Z:-0.50 [[ 9.99839708e-01 -7.30496048e-03 -1.63461370e-02 2.08436834e+00] [ 7.33630286e-03 9.99971362e-01 1.85827537e-03 1.04321365e-01] [ 1.63320942e-02 -1.97789771e-03 9.99864666e-01 -4.98927975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.494553573999994 meters Centerline goodness [0,1] 0.8443499041466425 Centerline is valid? [False, False] Translation: X:2.09, Y:0.10, Z:-0.50 [[ 9.99791725e-01 -9.94675828e-03 -1.78204574e-02 2.09039619e+00] [ 9.96897360e-03 9.99949638e-01 1.15821801e-03 1.04024780e-01] [ 1.78080394e-02 -1.33562845e-03 9.99840532e-01 -4.99730013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.524553573999995 meters Centerline goodness [0,1] 0.8375727697068234 Centerline is valid? [False, False] Translation: X:2.09, Y:0.10, Z:-0.50 [[ 9.99775753e-01 -1.06460066e-02 -1.83059219e-02 2.09214605e+00] [ 1.06690086e-02 9.99942412e-01 1.15932537e-03 1.03832384e-01] [ 1.82925255e-02 -1.35437143e-03 9.99831760e-01 -4.99523534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.554553573999996 meters Centerline goodness [0,1] 0.8412485889055157 Centerline is valid? [False, False] Translation: X:2.10, Y:0.10, Z:-0.50 [[ 9.99743964e-01 -1.19594239e-02 -1.92088354e-02 2.09552018e+00] [ 1.19743268e-02 9.99928087e-01 6.61002496e-04 1.04780471e-01] [ 1.91995489e-02 -8.90846128e-04 9.99815275e-01 -4.99993549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.584553574 meters Centerline goodness [0,1] 0.8435705859221392 Centerline is valid? [False, False] Translation: X:2.10, Y:0.11, Z:-0.50 [[ 9.99729409e-01 -1.25055807e-02 -1.96142662e-02 2.09715838e+00] [ 1.25134610e-02 9.99921665e-01 2.79078957e-04 1.05599828e-01] [ 1.96092396e-02 -5.24445795e-04 9.99807583e-01 -5.00589727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61455357399999 meters Centerline goodness [0,1] 0.844555648710962 Centerline is valid? [False, False] Translation: X:2.10, Y:0.11, Z:-0.50 [[ 9.99714810e-01 -1.29769476e-02 -2.00473808e-02 2.09880917e+00] [ 1.29781833e-02 9.99915777e-01 -6.84639222e-05 1.06355672e-01] [ 2.00465808e-02 -1.91734187e-04 9.99799029e-01 -5.01179998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.64455357399999 meters Centerline goodness [0,1] 0.8399171668982148 Centerline is valid? [False, False] Translation: X:2.10, Y:0.11, Z:-0.50 [[ 9.99703617e-01 -1.33242581e-02 -2.03750282e-02 2.10006243e+00] [ 1.33118373e-02 9.99911116e-01 -7.45122012e-04 1.08434816e-01] [ 2.03831454e-02 4.73672110e-04 9.99792130e-01 -5.02010900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.674553573999994 meters Centerline goodness [0,1] 0.8397305342315525 Centerline is valid? [False, False] Translation: X:2.10, Y:0.11, Z:-0.50 [[ 9.99705484e-01 -1.32095189e-02 -2.03581546e-02 2.09968339e+00] [ 1.31966032e-02 9.99912626e-01 -7.68644107e-04 1.09676532e-01] [ 2.03665292e-02 4.99759242e-04 9.99792456e-01 -5.01438607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.704553573999995 meters Centerline goodness [0,1] 0.8397305342315525 Centerline is valid? [False, False] Translation: X:2.10, Y:0.11, Z:-0.50 [[ 9.99705484e-01 -1.32095189e-02 -2.03581546e-02 2.09968339e+00] [ 1.31966032e-02 9.99912626e-01 -7.68644107e-04 1.09676532e-01] [ 2.03665292e-02 4.99759242e-04 9.99792456e-01 -5.01438607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.734553573999996 meters Centerline goodness [0,1] 0.8464292246988424 Centerline is valid? [False, False] Translation: X:2.10, Y:0.11, Z:-0.50 [[ 9.99716170e-01 -1.27624244e-02 -2.01171700e-02 2.09826644e+00] [ 1.27472010e-02 9.99918360e-01 -8.84794514e-04 1.12126099e-01] [ 2.01268197e-02 6.28105775e-04 9.99797238e-01 -5.00501887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.764553574 meters Centerline goodness [0,1] 0.8467949886698096 Centerline is valid? [False, False] Translation: X:2.10, Y:0.11, Z:-0.50 [[ 9.99716394e-01 -1.26983575e-02 -2.01465550e-02 2.09837621e+00] [ 1.26775305e-02 9.99918963e-01 -1.16115780e-03 1.13598460e-01] [ 2.01596672e-02 9.05419923e-04 9.99796363e-01 -5.00765838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.794553574 meters Centerline goodness [0,1] 0.84840681493042 Centerline is valid? [False, False] Translation: X:2.10, Y:0.12, Z:-0.50 [[ 9.99716463e-01 -1.26206903e-02 -2.01918947e-02 2.09848231e+00] [ 1.25943269e-02 9.99919663e-01 -1.43227905e-03 1.15073136e-01] [ 2.02083488e-02 1.17756962e-03 9.99795097e-01 -5.01014140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.82455357399999 meters Centerline goodness [0,1] 0.8493739004449964 Centerline is valid? [False, False] Translation: X:2.10, Y:0.12, Z:-0.50 [[ 0.99973168 -0.00950094 -0.02112568 2.10116376] [ 0.00955494 0.99995133 0.0024568 0.11645724] [ 0.02110131 -0.002658 0.99977381 -0.50034322] [ 0. 0. 0. 1. ]] SLAMing on 63.85455357399999 meters Centerline goodness [0,1] 0.8462868795333109 Centerline is valid? [False, False] Translation: X:2.10, Y:0.12, Z:-0.50 [[ 9.99737713e-01 -9.18096859e-03 -2.09813188e-02 2.10070131e+00] [ 9.22510338e-03 9.99955432e-01 2.00770680e-03 1.18648325e-01] [ 2.09619510e-02 -2.20073504e-03 9.99777852e-01 -5.00874555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.884553573999995 meters Centerline goodness [0,1] 0.8436979099884601 Centerline is valid? [False, False] Translation: X:2.12, Y:0.12, Z:-0.51 [[ 0.9998664 -0.0063335 -0.01506888 2.11786937] [ 0.00626619 0.9999702 -0.00450972 0.1236664 ] [ 0.015097 0.00441469 0.99987629 -0.50711178] [ 0. 0. 0. 1. ]] SLAMing on 63.914553573999996 meters Centerline goodness [0,1] 0.8441947373809767 Centerline is valid? [False, False] Translation: X:2.12, Y:0.13, Z:-0.51 [[ 0.99987853 -0.00553071 -0.01457183 2.11553452] [ 0.0054677 0.99997555 -0.00436002 0.12559631] [ 0.01459559 0.00427982 0.99988432 -0.5058657 ] [ 0. 0. 0. 1. ]] SLAMing on 63.944553574 meters Centerline goodness [0,1] 0.8455344629889158 Centerline is valid? [False, False] Translation: X:2.11, Y:0.13, Z:-0.50 [[ 0.9998937 -0.00437938 -0.01390691 2.11213834] [ 0.00432097 0.99998173 -0.00422682 0.12848332] [ 0.01392517 0.00416628 0.99989436 -0.50393472] [ 0. 0. 0. 1. ]] SLAMing on 63.974553574 meters Centerline goodness [0,1] 0.8480761400651466 Centerline is valid? [False, False] Translation: X:2.11, Y:0.13, Z:-0.50 [[ 0.99989857 -0.003915 -0.01369376 2.11112622] [ 0.00385583 0.99998313 -0.00434414 0.13011281] [ 0.01371054 0.0042909 0.9998968 -0.50363167] [ 0. 0. 0. 1. ]] SLAMing on 64.004553574 meters Centerline goodness [0,1] 0.8458660870004803 Centerline is valid? [False, False] Translation: X:2.11, Y:0.13, Z:-0.50 [[ 9.99901467e-01 3.82130751e-05 -1.40376417e-02 2.11187189e+00] [-4.90131319e-05 9.99999703e-01 -7.69020822e-04 1.33367108e-01] [ 1.40376081e-02 7.69633077e-04 9.99901172e-01 -5.03400888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.034553574 meters Centerline goodness [0,1] 0.8445654640344906 Centerline is valid? [False, False] Translation: X:2.11, Y:0.14, Z:-0.50 [[ 9.99908792e-01 1.04387598e-03 -1.34654263e-02 2.10961127e+00] [-1.05553145e-03 9.99999074e-01 -8.58507107e-04 1.35974343e-01] [ 1.34645177e-02 8.72641985e-04 9.99908968e-01 -5.03104049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.064553574 meters Centerline goodness [0,1] 0.8479611601640128 Centerline is valid? [False, False] Translation: X:2.11, Y:0.14, Z:-0.50 [[ 9.99913376e-01 1.79820733e-03 -1.30387023e-02 2.10784202e+00] [-1.81061036e-03 9.99997920e-01 -9.39504999e-04 1.37889485e-01] [ 1.30369858e-02 9.63031624e-04 9.99914551e-01 -5.02746210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.094553574 meters Centerline goodness [0,1] 0.8444918980027635 Centerline is valid? [False, False] Translation: X:2.11, Y:0.14, Z:-0.50 [[ 9.99917201e-01 2.42102422e-03 -1.26384084e-02 2.10613811e+00] [-2.43176632e-03 9.99996695e-01 -8.34658421e-04 1.38870360e-01] [ 1.26363459e-02 8.65322968e-04 9.99919784e-01 -5.02009211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.124553574 meters Centerline goodness [0,1] 0.8463508322663252 Centerline is valid? [False, False] Translation: X:2.10, Y:0.14, Z:-0.50 [[ 9.99921442e-01 3.53541714e-03 -1.20253791e-02 2.10339591e+00] [-3.54228632e-03 9.99993575e-01 -5.49972143e-04 1.39683624e-01] [ 1.20233575e-02 5.92526275e-04 9.99927541e-01 -5.00976445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.154553574 meters Centerline goodness [0,1] 0.842918799558366 Centerline is valid? [False, False] Translation: X:2.10, Y:0.14, Z:-0.50 [[ 9.99922731e-01 3.97105006e-03 -1.17797871e-02 2.10255142e+00] [-3.97872892e-03 9.99991887e-01 -6.28504503e-04 1.40428162e-01] [ 1.17771957e-02 6.75324519e-04 9.99930418e-01 -5.01113354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.184553574 meters Centerline goodness [0,1] 0.8493987975951904 Centerline is valid? [False, False] Translation: X:2.10, Y:0.14, Z:-0.50 [[ 9.99923354e-01 4.56056332e-03 -1.15103080e-02 2.10168345e+00] [-4.57135159e-03 9.99989136e-01 -9.11134678e-04 1.42068078e-01] [ 1.15060277e-02 9.63682508e-04 9.99933339e-01 -5.01778823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.214553574 meters Centerline goodness [0,1] 0.841607979749881 Centerline is valid? [False, False] Translation: X:2.10, Y:0.14, Z:-0.50 [[ 9.99923993e-01 4.75307267e-03 -1.13761252e-02 2.10128344e+00] [-4.76339054e-03 9.99988268e-01 -8.80052289e-04 1.42378313e-01] [ 1.13718088e-02 9.34174326e-04 9.99934903e-01 -5.01800820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.24455357400001 meters Centerline goodness [0,1] 0.8447237693813037 Centerline is valid? [False, False] Translation: X:2.09, Y:0.14, Z:-0.51 [[ 9.99995619e-01 1.02628404e-03 -2.77661035e-03 2.09197862e+00] [-1.02485878e-03 9.99999342e-01 5.14683844e-04 1.44012780e-01] [ 2.77713674e-03 -5.11835955e-04 9.99996013e-01 -5.06546100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.274553574 meters Centerline goodness [0,1] 0.8423988141597367 Centerline is valid? [False, False] Translation: X:2.09, Y:0.14, Z:-0.51 [[ 9.99995077e-01 5.22813910e-04 -3.09394570e-03 2.09296639e+00] [-5.20562376e-04 9.99999599e-01 7.28483093e-04 1.43134895e-01] [ 3.09432532e-03 -7.26868915e-04 9.99994948e-01 -5.06030321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.304553574 meters Centerline goodness [0,1] 0.8446046429561667 Centerline is valid? [False, False] Translation: X:2.10, Y:0.14, Z:-0.51 [[ 9.99990403e-01 -1.77204728e-03 -4.00663104e-03 2.09655697e+00] [ 1.77431551e-03 9.99998268e-01 5.62633545e-04 1.40584301e-01] [ 4.00562708e-03 -5.69737174e-04 9.99991815e-01 -5.05319688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.334553574 meters Centerline goodness [0,1] 0.8438637282652649 Centerline is valid? [False, False] Translation: X:2.10, Y:0.14, Z:-0.51 [[ 9.99983796e-01 -3.01788083e-03 -4.82704460e-03 2.09965920e+00] [ 3.01997672e-03 9.99995349e-01 4.26967663e-04 1.39751158e-01] [ 4.82573361e-03 -4.41538307e-04 9.99988259e-01 -5.05693632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.364553574 meters Centerline goodness [0,1] 0.8453292883327013 Centerline is valid? [False, False] Translation: X:2.10, Y:0.14, Z:-0.51 [[ 9.99975421e-01 -4.17559153e-03 -5.63215728e-03 2.10262722e+00] [ 4.17717593e-03 9.99991239e-01 2.69577882e-04 1.39192929e-01] [ 5.63098229e-03 -2.93097768e-04 9.99984103e-01 -5.06092967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.394553574 meters Centerline goodness [0,1] 0.8451148699823277 Centerline is valid? [False, False] Translation: X:2.11, Y:0.14, Z:-0.51 [[ 9.99956452e-01 -6.29335938e-03 -6.89110428e-03 2.10741292e+00] [ 6.29214807e-03 9.99980185e-01 -1.97446047e-04 1.38903229e-01] [ 6.89221033e-03 1.54077600e-04 9.99976237e-01 -5.06667980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.424553574 meters Centerline goodness [0,1] 0.8421624352658835 Centerline is valid? [False, False] Translation: X:2.11, Y:0.14, Z:-0.51 [[ 9.99946786e-01 -7.08702390e-03 -7.49662345e-03 2.10937260e+00] [ 7.08628014e-03 9.99974884e-01 -1.25770401e-04 1.38458313e-01] [ 7.49732650e-03 7.26405341e-05 9.99971892e-01 -5.06333519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.454553574 meters Centerline goodness [0,1] 0.8460680706556172 Centerline is valid? [False, False] Translation: X:2.11, Y:0.14, Z:-0.51 [[ 9.99925264e-01 -8.75004332e-03 -8.53837577e-03 2.11308276e+00] [ 8.75060341e-03 9.99961712e-01 2.82402116e-05 1.36499866e-01] [ 8.53780175e-03 -1.02954041e-04 9.99963547e-01 -5.05872439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.484553574 meters Centerline goodness [0,1] 0.8492184328055217 Centerline is valid? [False, False] Translation: X:2.12, Y:0.14, Z:-0.51 [[ 9.99911583e-01 -9.60148680e-03 -9.19992459e-03 2.11551524e+00] [ 9.60158517e-03 9.99953903e-01 -3.34760682e-05 1.35815158e-01] [ 9.19982193e-03 -5.48607512e-05 9.99957679e-01 -5.06247748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.514553574 meters Centerline goodness [0,1] 0.8415270112905675 Centerline is valid? [False, False] Translation: X:2.12, Y:0.14, Z:-0.51 [[ 9.99884452e-01 -1.11389604e-02 -1.03443831e-02 2.12020138e+00] [ 1.11308653e-02 9.99937697e-01 -8.39802511e-04 1.36352862e-01] [ 1.03530931e-02 7.24563539e-04 9.99946143e-01 -5.08381521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.544553574 meters Centerline goodness [0,1] 0.8512277323062108 Centerline is valid? [False, False] Translation: X:2.12, Y:0.14, Z:-0.51 [[ 9.99878158e-01 -1.14182163e-02 -1.06439086e-02 2.12151747e+00] [ 1.14063039e-02 9.99934251e-01 -1.17922064e-03 1.37089851e-01] [ 1.06566734e-02 1.05766931e-03 9.99942657e-01 -5.09388271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.574553574 meters Centerline goodness [0,1] 0.8477534911961142 Centerline is valid? [False, False] Translation: X:2.13, Y:0.14, Z:-0.51 [[ 0.99989024 -0.0089922 -0.01177463 2.12538148] [ 0.00902646 0.99995517 0.00286007 0.1363608 ] [ 0.01174839 -0.00296604 0.99992659 -0.50907082] [ 0. 0. 0. 1. ]] SLAMing on 64.60455357400001 meters Centerline goodness [0,1] 0.8497689335589282 Centerline is valid? [False, False] Translation: X:2.13, Y:0.14, Z:-0.51 [[ 0.99989115 -0.00888483 -0.01177876 2.12538377] [ 0.00891859 0.99995626 0.00281698 0.13678326] [ 0.01175321 -0.00292172 0.99992666 -0.5092157 ] [ 0. 0. 0. 1. ]] SLAMing on 64.63455357400001 meters Centerline goodness [0,1] 0.8139587696500215 Centerline is valid? [False, False] Translation: X:2.12, Y:0.14, Z:-0.51 [[ 0.99990452 -0.00794984 -0.01130238 2.12287018] [ 0.00798834 0.99996243 0.00336549 0.13699292] [ 0.0112752 -0.00345545 0.99993046 -0.50755893] [ 0. 0. 0. 1. ]] SLAMing on 64.664553574 meters Centerline goodness [0,1] 0.8429394450174847 Centerline is valid? [False, False] Translation: X:2.12, Y:0.14, Z:-0.51 [[ 0.99991738 -0.00688809 -0.01085275 2.1206812 ] [ 0.00692487 0.99997039 0.00335499 0.13885392] [ 0.01082931 -0.00342987 0.99993548 -0.50703901] [ 0. 0. 0. 1. ]] SLAMing on 64.694553574 meters Centerline goodness [0,1] 0.8502293175609634 Centerline is valid? [False, False] Translation: X:2.12, Y:0.14, Z:-0.51 [[ 0.9999224 -0.0064542 -0.01065545 2.120094 ] [ 0.00648582 0.99997466 0.00293537 0.14078137] [ 0.01063624 -0.00300425 0.99993892 -0.50770588] [ 0. 0. 0. 1. ]] SLAMing on 64.724553574 meters Centerline goodness [0,1] 0.8492366889038803 Centerline is valid? [False, False] Translation: X:2.12, Y:0.14, Z:-0.51 [[ 0.99992562 -0.00608667 -0.01056885 2.11974399] [ 0.00611414 0.99997801 0.00256892 0.1427186 ] [ 0.01055298 -0.00263335 0.99994085 -0.50824001] [ 0. 0. 0. 1. ]] SLAMing on 64.754553574 meters Centerline goodness [0,1] 0.8491323426747781 Centerline is valid? [False, False] Translation: X:2.12, Y:0.14, Z:-0.51 [[ 0.99993178 -0.00552464 -0.0102913 2.11865643] [ 0.00554924 0.99998181 0.00236368 0.14468198] [ 0.01027805 -0.00242063 0.99994425 -0.50827523] [ 0. 0. 0. 1. ]] SLAMing on 64.784553574 meters Centerline goodness [0,1] 0.8360720845951447 Centerline is valid? [False, False] Translation: X:2.12, Y:0.15, Z:-0.51 [[ 0.99994243 -0.004382 -0.00979438 2.11639437] [ 0.00440346 0.99998795 0.00217017 0.1477681 ] [ 0.00978476 -0.00221317 0.99994968 -0.50802993] [ 0. 0. 0. 1. ]] SLAMing on 64.814553574 meters Centerline goodness [0,1] 0.8498514851485148 Centerline is valid? [False, False] Translation: X:2.12, Y:0.15, Z:-0.51 [[ 0.99994384 -0.00421372 -0.00972441 2.11573709] [ 0.00423584 0.99998849 0.00225543 0.14877092] [ 0.0097148 -0.00229649 0.99995017 -0.50702382] [ 0. 0. 0. 1. ]] SLAMing on 64.844553574 meters Centerline goodness [0,1] 0.8489329607557061 Centerline is valid? [False, False] Translation: X:2.12, Y:0.15, Z:-0.51 [[ 0.99994084 -0.00441301 -0.00994201 2.11632865] [ 0.00443492 0.99998778 0.00218318 0.14929857] [ 0.00993225 -0.00222714 0.99994819 -0.50689498] [ 0. 0. 0. 1. ]] SLAMing on 64.874553574 meters Centerline goodness [0,1] 0.8494163616579286 Centerline is valid? [False, False] Translation: X:2.12, Y:0.15, Z:-0.51 [[ 9.99936454e-01 -4.71856964e-03 -1.02382910e-02 2.11752002e+00] [ 4.73707940e-03 9.99987188e-01 1.78439882e-03 1.50366787e-01] [ 1.02297401e-02 -1.83278503e-03 9.99945995e-01 -5.07624970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.904553574 meters Centerline goodness [0,1] 0.8504216600088771 Centerline is valid? [False, False] Translation: X:2.12, Y:0.15, Z:-0.51 [[ 9.99932671e-01 -4.97101425e-03 -1.04853252e-02 2.11853564e+00] [ 4.98701433e-03 9.99986439e-01 1.50035601e-03 1.51204818e-01] [ 1.04777247e-02 -1.55254546e-03 9.99943902e-01 -5.08203748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.934553574 meters Centerline goodness [0,1] 0.8345913039174442 Centerline is valid? [False, False] Translation: X:2.12, Y:0.15, Z:-0.51 [[ 9.99928313e-01 -5.30450363e-03 -1.07345508e-02 2.11916683e+00] [ 5.32371414e-03 9.99984277e-01 1.76181353e-03 1.50357525e-01] [ 1.07250364e-02 -1.81883491e-03 9.99940831e-01 -5.07601080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.964553574 meters Centerline goodness [0,1] 0.8483349002919491 Centerline is valid? [False, False] Translation: X:2.12, Y:0.15, Z:-0.51 [[ 0.99993166 -0.0050704 -0.01053401 2.11816536] [ 0.00509388 0.9999846 0.00220326 0.15020955] [ 0.01052268 -0.00225677 0.99994209 -0.50644648] [ 0. 0. 0. 1. ]] SLAMing on 64.99455357400001 meters Centerline goodness [0,1] 0.8481772377000593 Centerline is valid? [False, False] Translation: X:2.12, Y:0.15, Z:-0.51 [[ 0.99993417 -0.00487057 -0.01038867 2.11764613] [ 0.00489414 0.9999855 0.00224488 0.15068552] [ 0.01037759 -0.00229558 0.99994352 -0.50629337] [ 0. 0. 0. 1. ]] SLAMing on 65.024553574 meters Centerline goodness [0,1] 0.846813452936961 Centerline is valid? [False, False] Translation: X:2.12, Y:0.15, Z:-0.51 [[ 0.99993829 -0.00450638 -0.01015464 2.11651808] [ 0.00453273 0.99998641 0.0025738 0.15088407] [ 0.0101429 -0.00261967 0.99994513 -0.5053518 ] [ 0. 0. 0. 1. ]] SLAMing on 65.054553574 meters Centerline goodness [0,1] 0.840455419192666 Centerline is valid? [False, False] Translation: X:2.12, Y:0.15, Z:-0.50 [[ 0.99994289 -0.00412097 -0.00986043 2.11526958] [ 0.00414836 0.99998759 0.00275906 0.15100387] [ 0.00984894 -0.00279981 0.99994758 -0.50458753] [ 0. 0. 0. 1. ]] SLAMing on 65.084553574 meters Centerline goodness [0,1] 0.84634206623826 Centerline is valid? [False, False] Translation: X:2.11, Y:0.15, Z:-0.50 [[ 0.9999574 -0.00255723 -0.00886864 2.11086998] [ 0.00259004 0.99998983 0.00369103 0.15125647] [ 0.00885911 -0.00371384 0.99995386 -0.50214505] [ 0. 0. 0. 1. ]] SLAMing on 65.114553574 meters Centerline goodness [0,1] 0.8479673196180726 Centerline is valid? [False, False] Translation: X:2.11, Y:0.15, Z:-0.50 [[ 9.99964068e-01 -1.67154355e-03 -8.31077835e-03 2.10925242e+00] [ 1.70008232e-03 9.99992679e-01 3.42806864e-03 1.52499520e-01] [ 8.30498734e-03 -3.44207447e-03 9.99959589e-01 -5.02937559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.144553574 meters Centerline goodness [0,1] 0.8469883658141476 Centerline is valid? [False, False] Translation: X:2.11, Y:0.15, Z:-0.50 [[ 9.99966873e-01 -1.27240436e-03 -8.03957096e-03 2.10851701e+00] [ 1.29742432e-03 9.99994330e-01 3.10765283e-03 1.53509335e-01] [ 8.03557118e-03 -3.11798062e-03 9.99962853e-01 -5.03549574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.174553574 meters Centerline goodness [0,1] 0.8466812473889858 Centerline is valid? [False, False] Translation: X:2.11, Y:0.15, Z:-0.50 [[ 9.99969241e-01 -8.74974149e-04 -7.79429355e-03 2.10766681e+00] [ 8.98714839e-04 9.99994966e-01 3.04292505e-03 1.54324981e-01] [ 7.79159184e-03 -3.04983630e-03 9.99964994e-01 -5.03524153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.204553574 meters Centerline goodness [0,1] 0.8453755096026327 Centerline is valid? [False, False] Translation: X:2.11, Y:0.16, Z:-0.50 [[ 9.99973455e-01 -1.73099236e-04 -7.28423601e-03 2.10571548e+00] [ 1.95422705e-04 9.99995287e-01 3.06402718e-03 1.55847922e-01] [ 7.28367129e-03 -3.06536935e-03 9.99968775e-01 -5.02891914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.234553574 meters Centerline goodness [0,1] 0.8477228207639569 Centerline is valid? [False, False] Translation: X:2.11, Y:0.16, Z:-0.50 [[ 9.99973547e-01 -1.77569580e-04 -7.27150081e-03 2.10567875e+00] [ 1.98567237e-04 9.99995813e-01 2.88704467e-03 1.56698054e-01] [ 7.27095771e-03 -2.88841218e-03 9.99969395e-01 -5.02842696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.264553574 meters Centerline goodness [0,1] 0.8458732218495213 Centerline is valid? [False, False] Translation: X:2.11, Y:0.16, Z:-0.50 [[ 9.99968836e-01 -8.71713299e-04 -7.84653596e-03 2.10789263e+00] [ 8.88896321e-04 9.99997214e-01 2.18666542e-03 1.57992936e-01] [ 7.84460795e-03 -2.19357203e-03 9.99966825e-01 -5.03986667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.294553574 meters Centerline goodness [0,1] 0.8464941222474767 Centerline is valid? [False, False] Translation: X:2.11, Y:0.16, Z:-0.50 [[ 9.99965370e-01 -1.34051112e-03 -8.21352302e-03 2.10935004e+00] [ 1.35534504e-03 9.99997460e-01 1.80073677e-03 1.58633600e-01] [ 8.21108826e-03 -1.81180657e-03 9.99964647e-01 -5.04660680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.324553574 meters Centerline goodness [0,1] 0.8434073314284318 Centerline is valid? [False, False] Translation: X:2.11, Y:0.16, Z:-0.51 [[ 9.99961389e-01 -1.79564755e-03 -8.60213415e-03 2.11084801e+00] [ 1.80775146e-03 9.99997387e-01 1.39951403e-03 1.59374095e-01] [ 8.59959864e-03 -1.41501052e-03 9.99962022e-01 -5.05321703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.35455357400001 meters Centerline goodness [0,1] 0.8446658708309986 Centerline is valid? [False, False] Translation: X:2.11, Y:0.16, Z:-0.51 [[ 9.99960521e-01 -1.93494649e-03 -8.67246466e-03 2.11102220e+00] [ 1.94658639e-03 9.99997216e-01 1.33392741e-03 1.59976721e-01] [ 8.66985944e-03 -1.35075645e-03 9.99961504e-01 -5.05037016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.38455357400001 meters Centerline goodness [0,1] 0.8346727060198714 Centerline is valid? [False, False] Translation: X:2.11, Y:0.16, Z:-0.50 [[ 9.99955977e-01 -2.50861484e-03 -9.04163870e-03 2.11196447e+00] [ 2.51994385e-03 9.99996054e-01 1.24180794e-03 1.60700638e-01] [ 9.03848780e-03 -1.26453769e-03 9.99958352e-01 -5.04213578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.414553574 meters Centerline goodness [0,1] 0.8452135529092188 Centerline is valid? [False, False] Translation: X:2.12, Y:0.16, Z:-0.51 [[ 9.99942572e-01 -3.86036636e-03 -9.99751693e-03 2.11569868e+00] [ 3.86219896e-03 9.99992528e-01 1.64005162e-04 1.62726613e-01] [ 9.99680911e-03 -2.02608143e-04 9.99950010e-01 -5.05883019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.444553574 meters Centerline goodness [0,1] 0.8394314356975083 Centerline is valid? [False, False] Translation: X:2.12, Y:0.16, Z:-0.51 [[ 9.99934601e-01 -4.50798597e-03 -1.05105847e-02 2.11756454e+00] [ 4.50572141e-03 9.99989821e-01 -2.39124941e-04 1.63598702e-01] [ 1.05115557e-02 1.91751536e-04 9.99944734e-01 -5.06488046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.474553574 meters Centerline goodness [0,1] 0.845322958702849 Centerline is valid? [False, False] Translation: X:2.12, Y:0.16, Z:-0.51 [[ 9.99925019e-01 -5.25108666e-03 -1.10626312e-02 2.11944896e+00] [ 5.24526923e-03 9.99986090e-01 -5.54811944e-04 1.64144579e-01] [ 1.10653907e-02 4.96743864e-04 9.99938653e-01 -5.06771067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.504553574 meters Centerline goodness [0,1] 0.8438988995041722 Centerline is valid? [False, False] Translation: X:2.12, Y:0.16, Z:-0.51 [[ 9.99917023e-01 -5.84375682e-03 -1.14803017e-02 2.12064424e+00] [ 5.83798543e-03 9.99982815e-01 -5.36169480e-04 1.64025168e-01] [ 1.14832376e-02 4.69103156e-04 9.99933955e-01 -5.06291797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.534553574 meters Centerline goodness [0,1] 0.8472900449644636 Centerline is valid? [False, False] Translation: X:2.12, Y:0.16, Z:-0.51 [[ 9.99905017e-01 -6.75418566e-03 -1.20141099e-02 2.12212515e+00] [ 6.74658700e-03 9.99977015e-01 -6.72894802e-04 1.64660936e-01] [ 1.20183786e-02 5.91776651e-04 9.99927602e-01 -5.05443929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.564553574 meters Centerline goodness [0,1] 0.8460277670651755 Centerline is valid? [False, False] Translation: X:2.12, Y:0.17, Z:-0.51 [[ 9.99901703e-01 -6.95927446e-03 -1.21718045e-02 2.12274712e+00] [ 6.94723063e-03 9.99975336e-01 -1.03148846e-03 1.66149772e-01] [ 1.21786827e-02 9.46826736e-04 9.99925389e-01 -5.05759334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.594553574 meters Centerline goodness [0,1] 0.8370224705628433 Centerline is valid? [False, False] Translation: X:2.12, Y:0.17, Z:-0.51 [[ 9.99901599e-01 -6.84181794e-03 -1.22467212e-02 2.12284516e+00] [ 6.82096536e-03 9.99975217e-01 -1.74366770e-03 1.69832031e-01] [ 1.22583476e-02 1.65996166e-03 9.99923486e-01 -5.06133648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.624553574 meters Centerline goodness [0,1] 0.8430320308569512 Centerline is valid? [False, False] Translation: X:2.12, Y:0.17, Z:-0.51 [[ 9.99904305e-01 -6.61378289e-03 -1.21506282e-02 2.12236923e+00] [ 6.59085858e-03 9.99976426e-01 -1.92575289e-03 1.71203711e-01] [ 1.21630783e-02 1.84548553e-03 9.99924324e-01 -5.05988453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.654553574 meters Centerline goodness [0,1] 0.8430320308569512 Centerline is valid? [False, False] Translation: X:2.12, Y:0.17, Z:-0.51 [[ 9.99904305e-01 -6.61378289e-03 -1.21506282e-02 2.12236923e+00] [ 6.59085858e-03 9.99976426e-01 -1.92575289e-03 1.71203711e-01] [ 1.21630783e-02 1.84548553e-03 9.99924324e-01 -5.05988453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.684553574 meters Centerline goodness [0,1] 0.845977614967902 Centerline is valid? [False, False] Translation: X:2.12, Y:0.17, Z:-0.51 [[ 0.99991349 -0.00583212 -0.01178963 2.12078691] [ 0.00580553 0.99998053 -0.00228836 0.17469039] [ 0.01180275 0.00221972 0.99992788 -0.50571513] [ 0. 0. 0. 1. ]] SLAMing on 65.714553574 meters Centerline goodness [0,1] 0.8429742221375137 Centerline is valid? [False, False] Translation: X:2.12, Y:0.18, Z:-0.51 [[ 0.99991419 -0.00570958 -0.01179081 2.12089216] [ 0.00567808 0.99998023 -0.00270332 0.17654203] [ 0.01180601 0.00263614 0.99992683 -0.50624399] [ 0. 0. 0. 1. ]] SLAMing on 65.74455357400001 meters Centerline goodness [0,1] 0.8449680530153678 Centerline is valid? [False, False] Translation: X:2.12, Y:0.18, Z:-0.51 [[ 0.99991398 -0.00570965 -0.01180783 2.1210259 ] [ 0.00567335 0.99997908 -0.00310562 0.17825665] [ 0.01182532 0.00303836 0.99992546 -0.50651518] [ 0. 0. 0. 1. ]] SLAMing on 65.774553574 meters Centerline goodness [0,1] 0.8444075829383886 Centerline is valid? [False, False] Translation: X:2.12, Y:0.18, Z:-0.51 [[ 0.99991523 -0.00563173 -0.01173944 2.12027976] [ 0.0055951 0.99997938 -0.00315078 0.17978887] [ 0.01175694 0.00308483 0.99992613 -0.50533555] [ 0. 0. 0. 1. ]] SLAMing on 65.804553574 meters Centerline goodness [0,1] 0.8455983330965573 Centerline is valid? [False, False] Translation: X:2.12, Y:0.18, Z:-0.50 [[ 0.99991759 -0.00544 -0.01162841 2.11967061] [ 0.00540355 0.9999804 -0.00316406 0.18079518] [ 0.01164539 0.00310096 0.99992738 -0.50474974] [ 0. 0. 0. 1. ]] SLAMing on 65.834553574 meters Centerline goodness [0,1] 0.8460740146708494 Centerline is valid? [False, False] Translation: X:2.12, Y:0.18, Z:-0.50 [[ 0.99992413 -0.00492341 -0.01129169 2.11821338] [ 0.00488387 0.99998185 -0.00352717 0.1842513 ] [ 0.01130886 0.00347176 0.99993003 -0.50414305] [ 0. 0. 0. 1. ]] SLAMing on 65.864553574 meters Centerline goodness [0,1] 0.8471193850927297 Centerline is valid? [False, False] Translation: X:2.12, Y:0.19, Z:-0.50 [[ 0.99992707 -0.00466302 -0.01114032 2.11771222] [ 0.00462026 0.99998188 -0.00386033 0.18630201] [ 0.01115812 0.00380858 0.99993049 -0.50424684] [ 0. 0. 0. 1. ]] SLAMing on 65.894553574 meters Centerline goodness [0,1] 0.8462796020365266 Centerline is valid? [False, False] Translation: X:2.12, Y:0.19, Z:-0.50 [[ 9.99928477e-01 -1.48208828e-03 -1.18677525e-02 2.11976518e+00] [ 1.47712622e-03 9.99998818e-01 -4.26866703e-04 1.88317044e-01] [ 1.18683711e-02 4.09306004e-04 9.99929485e-01 -5.04105718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.924553574 meters Centerline goodness [0,1] 0.8217865634761528 Centerline is valid? [False, False] Translation: X:2.12, Y:0.19, Z:-0.50 [[ 9.99933593e-01 -7.74622820e-04 -1.14982027e-02 2.11817149e+00] [ 7.69961473e-04 9.99999620e-01 -4.09819109e-04 1.89966815e-01] [ 1.14985158e-02 4.00938721e-04 9.99933810e-01 -5.03518508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.954553574 meters Centerline goodness [0,1] 0.8415873752610814 Centerline is valid? [False, False] Translation: X:2.12, Y:0.19, Z:-0.50 [[ 0.99992839 0.00361525 -0.01140853 2.11723368] [-0.00357462 0.9999872 0.00357962 0.19182883] [ 0.01142133 -0.00353858 0.99992851 -0.50216599] [ 0. 0. 0. 1. ]] SLAMing on 65.984553574 meters Centerline goodness [0,1] 0.8224582349946782 Centerline is valid? [False, False] Translation: X:2.12, Y:0.19, Z:-0.50 [[ 0.99992969 0.00421025 -0.01108539 2.11618915] [-0.0041731 0.99998561 0.00337181 0.19324028] [ 0.01109943 -0.00332531 0.99993287 -0.50242616] [ 0. 0. 0. 1. ]] SLAMing on 66.014553574 meters Centerline goodness [0,1] 0.8453185161275447 Centerline is valid? [False, False] Translation: X:2.12, Y:0.20, Z:-0.50 [[ 0.99992757 0.00536309 -0.01077495 2.11514607] [-0.00533495 0.99998229 0.00263888 0.19672545] [ 0.01078891 -0.0025812 0.99993847 -0.50401427] [ 0. 0. 0. 1. ]] SLAMing on 66.044553574 meters Centerline goodness [0,1] 0.8474931484765436 Centerline is valid? [False, False] Translation: X:2.12, Y:0.20, Z:-0.50 [[ 0.99992703 0.00568139 -0.01066108 2.11500169] [-0.00565752 0.99998142 0.00226795 0.19786477] [ 0.01067376 -0.00220747 0.9999406 -0.50487396] [ 0. 0. 0. 1. ]] SLAMing on 66.074553574 meters Centerline goodness [0,1] 0.845184331797235 Centerline is valid? [False, False] Translation: X:2.12, Y:0.20, Z:-0.51 [[ 9.99926350e-01 5.91919716e-03 -1.05952093e-02 2.11501431e+00] [-5.89735649e-03 9.99980423e-01 2.09142949e-03 1.98108301e-01] [ 1.06073814e-02 -2.02879173e-03 9.99941682e-01 -5.05568771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.10455357400001 meters Centerline goodness [0,1] 0.8331377556890085 Centerline is valid? [False, False] Translation: X:2.11, Y:0.20, Z:-0.51 [[ 0.99992437 0.00721439 -0.00996041 2.11303032] [-0.00719142 0.9999714 0.00234003 0.1986595 ] [ 0.009977 -0.00226823 0.99994766 -0.50601386] [ 0. 0. 0. 1. ]] SLAMing on 66.13455357400001 meters Centerline goodness [0,1] 0.8422044926769825 Centerline is valid? [False, False] Translation: X:2.11, Y:0.20, Z:-0.51 [[ 0.99992255 0.00793569 -0.00958771 2.11194775] [-0.0079136 0.99996595 0.00233998 0.19965241] [ 0.00960596 -0.00226393 0.9999513 -0.50642851] [ 0. 0. 0. 1. ]] SLAMing on 66.164553574 meters Centerline goodness [0,1] 0.8458632762115349 Centerline is valid? [False, False] Translation: X:2.11, Y:0.20, Z:-0.50 [[ 0.99990602 0.01101376 -0.00816349 2.10602422] [-0.01098102 0.99993152 0.0040453 0.19958402] [ 0.00820748 -0.00395528 0.9999585 -0.5041496 ] [ 0. 0. 0. 1. ]] SLAMing on 66.194553574 meters Centerline goodness [0,1] 0.8405142620155753 Centerline is valid? [False, False] Translation: X:2.10, Y:0.20, Z:-0.50 [[ 0.99989917 0.01208967 -0.00744906 2.10328456] [-0.01205474 0.99991622 0.00471556 0.19911513] [ 0.00750545 -0.00462528 0.99996114 -0.50281765] [ 0. 0. 0. 1. ]] SLAMing on 66.224553574 meters Centerline goodness [0,1] 0.8420456384528241 Centerline is valid? [False, False] Translation: X:2.10, Y:0.20, Z:-0.50 [[ 0.99989245 0.01296017 -0.00686461 2.10112098] [-0.0129253 0.99990347 0.00509861 0.19899215] [ 0.00693002 -0.00500933 0.99996344 -0.50203287] [ 0. 0. 0. 1. ]] SLAMing on 66.254553574 meters Centerline goodness [0,1] 0.8399313925458929 Centerline is valid? [False, False] Translation: X:2.10, Y:0.20, Z:-0.50 [[ 0.99987136 0.01503105 -0.00559743 2.09616147] [-0.01499451 0.99986636 0.00651331 0.1972218 ] [ 0.00569458 -0.00642854 0.99996312 -0.49975253] [ 0. 0. 0. 1. ]] SLAMing on 66.284553574 meters Centerline goodness [0,1] 0.8404764115898959 Centerline is valid? [False, False] Translation: X:2.09, Y:0.20, Z:-0.50 [[ 0.99986342 0.01572632 -0.00508204 2.09433089] [-0.01569094 0.99985289 0.00692747 0.19651433] [ 0.00519023 -0.00684678 0.99996309 -0.49917403] [ 0. 0. 0. 1. ]] SLAMing on 66.314553574 meters Centerline goodness [0,1] 0.8347249680195372 Centerline is valid? [False, False] Translation: X:2.09, Y:0.20, Z:-0.50 [[ 0.99984129 0.01736227 -0.00399399 2.09079947] [-0.01733048 0.99981893 0.00785899 0.19534242] [ 0.00412972 -0.00778853 0.99996114 -0.49844294] [ 0. 0. 0. 1. ]] SLAMing on 66.344553574 meters Centerline goodness [0,1] 0.8374615886022907 Centerline is valid? [False, False] Translation: X:2.09, Y:0.19, Z:-0.50 [[ 0.99983318 0.01790427 -0.00361235 2.08964351] [-0.01787405 0.99980636 0.00823126 0.19431427] [ 0.00375903 -0.00816531 0.9999596 -0.4984003 ] [ 0. 0. 0. 1. ]] SLAMing on 66.374553574 meters Centerline goodness [0,1] 0.8377714913613729 Centerline is valid? [False, False] Translation: X:2.09, Y:0.19, Z:-0.50 [[ 0.9998687 0.01601237 -0.00248766 2.0865889 ] [-0.0160006 0.99986103 0.00467935 0.19382139] [ 0.00256224 -0.00463893 0.99998596 -0.4997424 ] [ 0. 0. 0. 1. ]] SLAMing on 66.404553574 meters Centerline goodness [0,1] 0.8305056788727084 Centerline is valid? [False, False] Translation: X:2.08, Y:0.19, Z:-0.50 [[ 9.99855528e-01 1.68948793e-02 -1.86723283e-03 2.08498367e+00] [-1.68835607e-02 9.99839938e-01 5.91977203e-03 1.88987803e-01] [ 1.96694779e-03 -5.88739125e-03 9.99980735e-01 -4.99668724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.434553574 meters Centerline goodness [0,1] 0.834606019054824 Centerline is valid? [False, False] Translation: X:2.08, Y:0.19, Z:-0.50 [[ 9.99888570e-01 1.49141444e-02 -6.45270465e-04 2.08143853e+00] [-1.49124430e-02 9.99885512e-01 2.56572182e-03 1.87877866e-01] [ 6.83462135e-04 -2.55581336e-03 9.99996500e-01 -5.00319470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.464553574 meters Centerline goodness [0,1] 0.8274337335076667 Centerline is valid? [False, False] Translation: X:2.08, Y:0.18, Z:-0.50 [[ 9.99869515e-01 1.61518701e-02 2.64915155e-04 2.07959345e+00] [-1.61526932e-02 9.99863506e-01 3.47283737e-03 1.84085558e-01] [-2.08786178e-04 -3.47666331e-03 9.99993935e-01 -5.01431663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.49455357400001 meters Centerline goodness [0,1] 0.8251639833035183 Centerline is valid? [False, False] Translation: X:2.08, Y:0.18, Z:-0.50 [[ 9.99863523e-01 1.65139831e-02 4.73665336e-04 2.07948747e+00] [-1.65156766e-02 9.99856282e-01 3.82721125e-03 1.82044652e-01] [-4.10394760e-04 -3.83451183e-03 9.99992564e-01 -5.02377265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.524553574 meters Centerline goodness [0,1] 0.8288886757158617 Centerline is valid? [False, False] Translation: X:2.08, Y:0.18, Z:-0.50 [[ 9.99856576e-01 1.69202937e-02 7.29234793e-04 2.07901804e+00] [-1.69233265e-02 9.99847217e-01 4.37536612e-03 1.79347596e-01] [-6.55090898e-04 -4.38707967e-03 9.99990162e-01 -5.02827415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.554553574 meters Centerline goodness [0,1] 0.8280939694841366 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:-0.50 [[ 0.99987187 0.01581221 0.00249497 2.07531918] [-0.01581783 0.99987237 0.00224603 0.17407485] [-0.00245914 -0.00228521 0.99999437 -0.50475636] [ 0. 0. 0. 1. ]] SLAMing on 66.584553574 meters Centerline goodness [0,1] 0.8256662127990664 Centerline is valid? [False, False] Translation: X:2.07, Y:0.17, Z:-0.51 [[ 9.99905720e-01 1.32551049e-02 3.58527968e-03 2.07258009e+00] [-1.32502048e-02 9.99911250e-01 -1.38704341e-03 1.72357223e-01] [-3.60334689e-03 1.33940694e-03 9.99992611e-01 -5.05916305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.614553574 meters Centerline goodness [0,1] 0.8232762860234091 Centerline is valid? [False, False] Translation: X:2.07, Y:0.17, Z:-0.51 [[ 0.99993406 0.01047292 0.00471052 2.07101684] [-0.01045315 0.99993653 -0.00420335 0.16591124] [-0.00475425 0.00415383 0.99998007 -0.50785595] [ 0. 0. 0. 1. ]] SLAMing on 66.644553574 meters Centerline goodness [0,1] 0.8235105147404058 Centerline is valid? [False, False] Translation: X:2.07, Y:0.16, Z:-0.51 [[ 0.99993949 0.01007414 0.0044201 2.0721104 ] [-0.01005896 0.99994347 -0.0034445 0.16172616] [-0.00445455 0.00339983 0.9999843 -0.50776402] [ 0. 0. 0. 1. ]] SLAMing on 66.674553574 meters Centerline goodness [0,1] 0.821747728353651 Centerline is valid? [False, False] Translation: X:2.07, Y:0.15, Z:-0.51 [[ 0.99995397 0.00758235 0.00587856 2.06868932] [-0.00754997 0.99995631 -0.00551132 0.15381451] [-0.00592009 0.00546669 0.99996753 -0.507773 ] [ 0. 0. 0. 1. ]] SLAMing on 66.704553574 meters Centerline goodness [0,1] 0.8247148097894367 Centerline is valid? [False, False] Translation: X:2.07, Y:0.15, Z:-0.51 [[ 0.99995941 0.00711845 0.00552301 2.07009945] [-0.00709205 0.9999634 -0.00478484 0.14998063] [-0.00555687 0.00474548 0.9999733 -0.50779941] [ 0. 0. 0. 1. ]] SLAMing on 66.734553574 meters Centerline goodness [0,1] 0.8249766585076586 Centerline is valid? [False, False] Translation: X:2.07, Y:0.15, Z:-0.51 [[ 0.99996422 0.00668431 0.00518431 2.07160399] [-0.00666276 0.99996913 -0.00416465 0.14652625] [-0.00521199 0.00412996 0.99997789 -0.50817172] [ 0. 0. 0. 1. ]] SLAMing on 66.764553574 meters Centerline goodness [0,1] 0.8233719892952721 Centerline is valid? [False, False] Translation: X:2.07, Y:0.14, Z:-0.51 [[ 0.99997138 0.00450701 0.0060764 2.07181421] [-0.00447145 0.99997287 -0.00585391 0.13983857] [-0.00610262 0.00582657 0.9999644 -0.51093005] [ 0. 0. 0. 1. ]] SLAMing on 66.794553574 meters Centerline goodness [0,1] 0.8228887013883562 Centerline is valid? [False, False] Translation: X:2.07, Y:0.14, Z:-0.51 [[ 0.99997385 0.00420993 0.00588077 2.07269307] [-0.00418085 0.99997902 -0.00494852 0.13536636] [-0.00590148 0.00492381 0.99997046 -0.51071351] [ 0. 0. 0. 1. ]] SLAMing on 66.824553574 meters Centerline goodness [0,1] 0.8235126966495312 Centerline is valid? [False, False] Translation: X:2.07, Y:0.13, Z:-0.51 [[ 0.99996596 0.0025316 0.00785257 2.06699617] [-0.00247714 0.99997287 -0.00693746 0.12899378] [-0.00786992 0.00691777 0.9999451 -0.50996708] [ 0. 0. 0. 1. ]] SLAMing on 66.85455357400001 meters Centerline goodness [0,1] 0.8295245259526342 Centerline is valid? [False, False] Translation: X:2.07, Y:0.13, Z:-0.51 [[ 0.99996712 0.00236536 0.00775678 2.06732668] [-0.00232013 0.99998029 -0.00583432 0.12573216] [-0.00777042 0.00581613 0.9999529 -0.5088234 ] [ 0. 0. 0. 1. ]] SLAMing on 66.88455357400001 meters Centerline goodness [0,1] 0.8265749928379822 Centerline is valid? [False, False] Translation: X:2.07, Y:0.12, Z:-0.51 [[ 9.99970336e-01 1.88850375e-03 7.46735639e-03 2.06831589e+00] [-1.85251037e-03 9.99986648e-01 -4.82407812e-03 1.21991451e-01] [-7.47636698e-03 4.81010167e-03 9.99960483e-01 -5.07813321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.914553574 meters Centerline goodness [0,1] 0.827019074142189 Centerline is valid? [False, False] Translation: X:2.07, Y:0.11, Z:-0.51 [[ 0.99996803 -0.00245783 0.00760952 2.06840537] [ 0.00251156 0.99997193 -0.00705969 0.11486614] [-0.00759196 0.00707857 0.99994613 -0.50643772] [ 0. 0. 0. 1. ]] SLAMing on 66.944553574 meters Centerline goodness [0,1] 0.8305895965918056 Centerline is valid? [False, False] Translation: X:2.07, Y:0.11, Z:-0.51 [[ 0.99996975 -0.00372404 0.00682831 2.07159615] [ 0.00376784 0.99997235 -0.00641169 0.11122833] [-0.00680425 0.00643722 0.99995613 -0.50630721] [ 0. 0. 0. 1. ]] SLAMing on 66.974553574 meters Centerline goodness [0,1] 0.8333997608609007 Centerline is valid? [False, False] Translation: X:2.08, Y:0.11, Z:-0.51 [[ 0.99993706 -0.00936852 0.00617306 2.0758496 ] [ 0.0094333 0.99989985 -0.01055009 0.10642105] [-0.0060736 0.01060766 0.99992529 -0.50909139] [ 0. 0. 0. 1. ]] SLAMing on 67.004553574 meters Centerline goodness [0,1] 0.8296593719254395 Centerline is valid? [False, False] Translation: X:2.08, Y:0.10, Z:-0.51 [[ 0.99992807 -0.01082401 0.00516615 2.07992073] [ 0.01087632 0.99988876 -0.01020645 0.10325056] [-0.0050551 0.01026191 0.99993457 -0.50957003] [ 0. 0. 0. 1. ]] SLAMing on 67.034553574 meters Centerline goodness [0,1] 0.8310995550313622 Centerline is valid? [False, False] Translation: X:2.08, Y:0.10, Z:-0.51 [[ 0.99986491 -0.01568713 0.00490623 2.08219795] [ 0.01575486 0.99977666 -0.01408599 0.09920757] [-0.00468417 0.01416138 0.99988875 -0.51118525] [ 0. 0. 0. 1. ]] SLAMing on 67.064553574 meters Centerline goodness [0,1] 0.8330456359909375 Centerline is valid? [False, False] Translation: X:2.09, Y:0.10, Z:-0.51 [[ 0.99985245 -0.01667291 0.00413532 2.0851135 ] [ 0.01672764 0.99976794 -0.01357386 0.09642408] [-0.00390805 0.01364104 0.99989932 -0.51112455] [ 0. 0. 0. 1. ]] SLAMing on 67.094553574 meters Centerline goodness [0,1] 0.8296722595984978 Centerline is valid? [False, False] Translation: X:2.09, Y:0.09, Z:-0.51 [[ 0.9998218 -0.01865645 0.00288014 2.09086498] [ 0.01869383 0.99973348 -0.01354644 0.0929841 ] [-0.00262664 0.01359786 0.99990409 -0.51270471] [ 0. 0. 0. 1. ]] SLAMing on 67.124553574 meters Centerline goodness [0,1] 0.8342514450082765 Centerline is valid? [False, False] Translation: X:2.10, Y:0.09, Z:-0.51 [[ 9.99854161e-01 -1.70290391e-02 1.29168108e-03 2.09690792e+00] [ 1.70393922e-02 9.99818863e-01 -8.47938360e-03 9.01456267e-02] [-1.14705136e-03 8.50015644e-03 9.99963215e-01 -5.10950081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.154553574 meters Centerline goodness [0,1] 0.8351150423268938 Centerline is valid? [False, False] Translation: X:2.10, Y:0.09, Z:-0.51 [[ 9.99886270e-01 -1.50802078e-02 -1.87845642e-04 2.10229195e+00] [ 1.50794738e-02 9.99880396e-01 -3.43551057e-03 8.73882876e-02] [ 2.39631388e-04 3.43228724e-03 9.99994081e-01 -5.09193914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.184553574 meters Centerline goodness [0,1] 0.8341006292734752 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:-0.51 [[ 9.99886044e-01 -1.50923254e-02 -3.48633294e-04 2.10251389e+00] [ 1.50915021e-02 9.99883575e-01 -2.25441039e-03 8.40809591e-02] [ 3.82617000e-04 2.24889208e-03 9.99997398e-01 -5.07749353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.214553574 meters Centerline goodness [0,1] 0.8354672272119243 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:-0.51 [[ 9.99891163e-01 -1.47515417e-02 -2.32199932e-04 2.10150786e+00] [ 1.47512616e-02 9.99890516e-01 -1.16478493e-03 8.19175218e-02] [ 2.49356883e-04 1.16123292e-03 9.99999295e-01 -5.05904959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.24455357400001 meters Centerline goodness [0,1] 0.8379593059679132 Centerline is valid? [False, False] Translation: X:2.11, Y:0.08, Z:-0.50 [[ 9.99940629e-01 -5.32425287e-03 -9.50744966e-03 2.11020248e+00] [ 5.33123699e-03 9.99985537e-01 7.09401348e-04 7.95194153e-02] [ 9.50353512e-03 -7.60045697e-04 9.99954552e-01 -4.98113640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.274553574 meters Centerline goodness [0,1] 0.836380978334923 Centerline is valid? [False, False] Translation: X:2.11, Y:0.08, Z:-0.50 [[ 9.99957663e-01 -3.44932430e-03 -8.53077248e-03 2.10632098e+00] [ 3.45596233e-03 9.99993737e-01 7.63508793e-04 8.12450730e-02] [ 8.52808546e-03 -7.92958497e-04 9.99963321e-01 -4.98508546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.304553574 meters Centerline goodness [0,1] 0.8318463714503319 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:-0.50 [[ 9.99970079e-01 -1.63197325e-03 -7.56159316e-03 2.10281977e+00] [ 1.63601914e-03 9.99998522e-01 5.28904416e-04 8.34523576e-02] [ 7.56071882e-03 -5.41259502e-04 9.99971271e-01 -4.99658274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.334553574 meters Centerline goodness [0,1] 0.8262377713341102 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:-0.50 [[ 0.9999694 0.00379046 -0.00684266 2.09991772] [-0.00375773 0.99998147 0.00478956 0.08483375] [ 0.00686069 -0.0047637 0.99996512 -0.49926594] [ 0. 0. 0. 1. ]] SLAMing on 67.364553574 meters Centerline goodness [0,1] 0.8251300954032957 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:-0.50 [[ 0.99996961 0.00483137 -0.00611807 2.0971054 ] [-0.00480031 0.99997557 0.00508144 0.08482875] [ 0.00614247 -0.00505192 0.99996837 -0.49864889] [ 0. 0. 0. 1. ]] SLAMing on 67.394553574 meters Centerline goodness [0,1] 0.8267071649400661 Centerline is valid? [False, False] Translation: X:2.09, Y:0.08, Z:-0.50 [[ 0.99996698 0.00628634 -0.00514906 2.09270462] [-0.0062532 0.9999598 0.00642648 0.08269378] [ 0.00518926 -0.00639407 0.99996609 -0.49589043] [ 0. 0. 0. 1. ]] SLAMing on 67.424553574 meters Centerline goodness [0,1] 0.8298835004063939 Centerline is valid? [False, False] Translation: X:2.09, Y:0.08, Z:-0.50 [[ 0.99996696 0.00640507 -0.00500565 2.09220526] [-0.00637226 0.9999583 0.00654232 0.08216139] [ 0.00504735 -0.00651021 0.99996607 -0.49563283] [ 0. 0. 0. 1. ]] SLAMing on 67.454553574 meters Centerline goodness [0,1] 0.8289312956377752 Centerline is valid? [False, False] Translation: X:2.09, Y:0.08, Z:-0.50 [[ 9.99985295e-01 3.70263401e-03 -3.96238477e-03 2.08910767e+00] [-3.69643116e-03 9.99991933e-01 1.57161301e-03 8.36246153e-02] [ 3.96817192e-03 -1.55694322e-03 9.99990915e-01 -4.98126821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.484553574 meters Centerline goodness [0,1] 0.8282888659457697 Centerline is valid? [False, False] Translation: X:2.09, Y:0.08, Z:-0.50 [[ 9.99986495e-01 2.63040796e-03 -4.48218500e-03 2.09192627e+00] [-2.62542938e-03 9.99995931e-01 1.11627076e-03 8.27153724e-02] [ 4.48510301e-03 -1.10448802e-03 9.99989332e-01 -4.99721782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.514553574 meters Centerline goodness [0,1] 0.8286197859794715 Centerline is valid? [False, False] Translation: X:2.09, Y:0.08, Z:-0.50 [[ 0.9999842 -0.00258836 -0.00498987 2.09497842] [ 0.00257037 0.99999018 -0.00360905 0.08144489] [ 0.00499916 0.00359616 0.99998104 -0.50215654] [ 0. 0. 0. 1. ]] SLAMing on 67.544553574 meters Centerline goodness [0,1] 0.8286197859794715 Centerline is valid? [False, False] Translation: X:2.09, Y:0.08, Z:-0.50 [[ 0.9999842 -0.00258836 -0.00498987 2.09497842] [ 0.00257037 0.99999018 -0.00360905 0.08144489] [ 0.00499916 0.00359616 0.99998104 -0.50215654] [ 0. 0. 0. 1. ]] SLAMing on 67.574553574 meters Centerline goodness [0,1] 0.8315754869462784 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:-0.50 [[ 0.99997331 -0.00412142 -0.00603202 2.09878496] [ 0.00410342 0.9999871 -0.00299375 0.07891546] [ 0.00604428 0.00296892 0.99997733 -0.50108984] [ 0. 0. 0. 1. ]] SLAMing on 67.60455357400001 meters Centerline goodness [0,1] 0.8333012617862936 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:-0.50 [[ 0.99995914 -0.0056586 -0.00704927 2.10253534] [ 0.0056426 0.99998146 -0.00228791 0.07609278] [ 0.00706209 0.00224804 0.99997254 -0.49993867] [ 0. 0. 0. 1. ]] SLAMing on 67.63455357400001 meters Centerline goodness [0,1] 0.8310201153389807 Centerline is valid? [False, False] Translation: X:2.11, Y:0.07, Z:-0.50 [[ 0.99989626 -0.01184476 -0.00819532 2.10850358] [ 0.01178634 0.99990504 -0.00714064 0.07395044] [ 0.00827912 0.00704331 0.99994092 -0.50294946] [ 0. 0. 0. 1. ]] SLAMing on 67.664553574 meters Centerline goodness [0,1] 0.8357966586849421 Centerline is valid? [False, False] Translation: X:2.11, Y:0.07, Z:-0.50 [[ 9.99910400e-01 -9.26826225e-03 -9.65873613e-03 2.11219377e+00] [ 9.24787272e-03 9.99954919e-01 -2.15352342e-03 7.42444473e-02] [ 9.67826012e-03 2.06400770e-03 9.99951034e-01 -4.99441153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.694553574 meters Centerline goodness [0,1] 0.8356480844861253 Centerline is valid? [False, False] Translation: X:2.11, Y:0.08, Z:-0.50 [[ 0.99991058 -0.00925838 -0.00964939 2.1121879 ] [ 0.00923501 0.99995432 -0.0024633 0.07586423] [ 0.00967175 0.00237396 0.99995041 -0.49955031] [ 0. 0. 0. 1. ]] SLAMing on 67.724553574 meters Centerline goodness [0,1] 0.8321628442883793 Centerline is valid? [False, False] Translation: X:2.11, Y:0.08, Z:-0.50 [[ 0.99990236 -0.00972988 -0.01002979 2.11382514] [ 0.00970045 0.99994851 -0.00297885 0.07753449] [ 0.01005826 0.00288127 0.99994526 -0.50039843] [ 0. 0. 0. 1. ]] SLAMing on 67.754553574 meters Centerline goodness [0,1] 0.8315542329847935 Centerline is valid? [False, False] Translation: X:2.12, Y:0.08, Z:-0.50 [[ 9.99893823e-01 -8.42820627e-03 -1.18873240e-02 2.12075972e+00] [ 8.43923712e-03 9.99964003e-01 8.78093557e-04 7.78576475e-02] [ 1.18794953e-02 -9.78320269e-04 9.99928958e-01 -4.99930924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.784553574 meters Centerline goodness [0,1] 0.8326362105491879 Centerline is valid? [False, False] Translation: X:2.13, Y:0.08, Z:-0.50 [[ 9.99863764e-01 -1.00878632e-02 -1.30647508e-02 2.12525828e+00] [ 1.00870730e-02 9.99949116e-01 -1.26380850e-04 8.01166916e-02] [ 1.30653609e-02 -5.42146201e-06 9.99914645e-01 -5.01082575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.814553574 meters Centerline goodness [0,1] 0.8376598639455782 Centerline is valid? [False, False] Translation: X:2.13, Y:0.08, Z:-0.50 [[ 9.99823771e-01 -1.21194187e-02 -1.43369181e-02 2.12950706e+00] [ 1.21235092e-02 9.99926488e-01 1.98434163e-04 7.95455694e-02] [ 1.43334593e-02 -3.72212951e-04 9.99897201e-01 -4.99133160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.844553574 meters Centerline goodness [0,1] 0.8390826486751184 Centerline is valid? [False, False] Translation: X:2.13, Y:0.08, Z:-0.50 [[ 9.99807973e-01 -1.28087885e-02 -1.48308076e-02 2.13094466e+00] [ 1.28192719e-02 9.99917642e-01 6.12015193e-04 7.90708537e-02] [ 1.48217470e-02 -8.02017824e-04 9.99889830e-01 -4.97734657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.874553574 meters Centerline goodness [0,1] 0.8425805047867712 Centerline is valid? [False, False] Translation: X:2.13, Y:0.08, Z:-0.50 [[ 9.99799272e-01 -1.31226752e-02 -1.51396935e-02 2.13164037e+00] [ 1.31338143e-02 9.99913545e-01 6.36557651e-04 7.99565147e-02] [ 1.51300313e-02 -8.35271800e-04 9.99885186e-01 -4.96908962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.904553574 meters Centerline goodness [0,1] 0.8456841820883425 Centerline is valid? [False, False] Translation: X:2.14, Y:0.08, Z:-0.50 [[ 0.99979824 -0.01101781 -0.0167956 2.13674202] [ 0.01109164 0.9999292 0.00430886 0.08182994] [ 0.01674694 -0.00449428 0.99984966 -0.49607623] [ 0. 0. 0. 1. ]] SLAMing on 67.934553574 meters Centerline goodness [0,1] 0.8423319158098724 Centerline is valid? [False, False] Translation: X:2.14, Y:0.08, Z:-0.50 [[ 0.99980306 -0.01067401 -0.01673061 2.13670141] [ 0.01073406 0.99993625 0.00350347 0.08456009] [ 0.01669214 -0.00368237 0.9998539 -0.49763646] [ 0. 0. 0. 1. ]] SLAMing on 67.964553574 meters Centerline goodness [0,1] 0.8364736109624238 Centerline is valid? [False, False] Translation: X:2.14, Y:0.09, Z:-0.50 [[ 0.99982886 -0.00674489 -0.01722666 2.13826299] [ 0.00686047 0.99995429 0.00665903 0.08832475] [ 0.01718096 -0.00677608 0.99982944 -0.49874983] [ 0. 0. 0. 1. ]] SLAMing on 67.99455357400001 meters Centerline goodness [0,1] 0.8381420969596491 Centerline is valid? [False, False] Translation: X:2.15, Y:0.09, Z:-0.51 [[ 9.99930024e-01 -4.17521278e-03 -1.10686170e-02 2.15241451e+00] [ 4.15432932e-03 9.99989548e-01 -1.90904818e-03 9.18568464e-02] [ 1.10764720e-02 1.86293192e-03 9.99936919e-01 -5.06108412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.024553574 meters Centerline goodness [0,1] 0.8358292624329302 Centerline is valid? [False, False] Translation: X:2.15, Y:0.09, Z:-0.50 [[ 9.99941158e-01 -3.04757149e-03 -1.04111888e-02 2.14941254e+00] [ 3.03228420e-03 9.99994302e-01 -1.48382237e-03 9.28138799e-02] [ 1.04156516e-02 1.45216537e-03 9.99944701e-01 -5.04740529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.054553574 meters Centerline goodness [0,1] 0.8350603340347886 Centerline is valid? [False, False] Translation: X:2.14, Y:0.09, Z:-0.50 [[ 9.99955285e-01 -1.06125586e-03 -9.39688557e-03 2.14469059e+00] [ 1.05307130e-03 9.99999062e-01 -8.75891129e-04 9.48392553e-02] [ 9.39780630e-03 8.65956373e-04 9.99955465e-01 -5.02997552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.084553574 meters Centerline goodness [0,1] 0.8329028994382173 Centerline is valid? [False, False] Translation: X:2.14, Y:0.10, Z:-0.50 [[ 9.99959577e-01 -4.28276460e-04 -8.98116319e-03 2.14318984e+00] [ 4.19605133e-04 9.99999444e-01 -9.67363673e-04 9.60118833e-02] [ 8.98157250e-03 9.63556027e-04 9.99959201e-01 -5.03002485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.114553574 meters Centerline goodness [0,1] 0.829264409298376 Centerline is valid? [False, False] Translation: X:2.14, Y:0.10, Z:-0.50 [[ 9.99965273e-01 8.90481042e-04 -8.28608212e-03 2.14066328e+00] [-9.00018595e-04 9.99998937e-01 -1.14737520e-03 9.78083839e-02] [ 8.28505160e-03 1.15479298e-03 9.99965012e-01 -5.03618865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.144553574 meters Centerline goodness [0,1] 0.8266716275114276 Centerline is valid? [False, False] Translation: X:2.14, Y:0.10, Z:-0.50 [[ 9.99966655e-01 1.32231992e-03 -8.05860993e-03 2.13981506e+00] [-1.33222491e-03 9.99998364e-01 -1.22387508e-03 9.86551796e-02] [ 8.05697839e-03 1.23457015e-03 9.99966780e-01 -5.03742643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.174553574 meters Centerline goodness [0,1] 0.8287627551020408 Centerline is valid? [False, False] Translation: X:2.14, Y:0.10, Z:-0.50 [[ 9.99968228e-01 1.77581315e-03 -7.77105871e-03 2.13883037e+00] [-1.78538985e-03 9.99997655e-01 -1.22559085e-03 9.90170548e-02] [ 7.76886406e-03 1.23942628e-03 9.99969054e-01 -5.03826981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.204553574 meters Centerline goodness [0,1] 0.8257126916230506 Centerline is valid? [False, False] Translation: X:2.14, Y:0.10, Z:-0.50 [[ 9.99970524e-01 2.76717660e-03 -7.16197940e-03 2.13622192e+00] [-2.77206499e-03 9.99995932e-01 -6.72710045e-04 9.81299095e-02] [ 7.16008875e-03 6.92543688e-04 9.99974126e-01 -5.02746771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.234553574 meters Centerline goodness [0,1] 0.8302022543768487 Centerline is valid? [False, False] Translation: X:2.13, Y:0.10, Z:-0.50 [[ 9.99971905e-01 3.28429207e-03 -6.73807708e-03 2.13491454e+00] [-3.28657287e-03 9.99994546e-01 -3.27448408e-04 9.65952110e-02] [ 6.73696489e-03 3.49584390e-04 9.99977245e-01 -5.02739056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.264553574 meters Centerline goodness [0,1] 0.8263399530215674 Centerline is valid? [False, False] Translation: X:2.13, Y:0.10, Z:-0.50 [[ 9.99972187e-01 3.41860364e-03 -6.62852998e-03 2.13481158e+00] [-3.42127802e-03 9.99994071e-01 -3.92167726e-04 9.63963151e-02] [ 6.62715001e-03 4.14834862e-04 9.99977954e-01 -5.03336296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.294553574 meters Centerline goodness [0,1] 0.8272785383263197 Centerline is valid? [False, False] Translation: X:2.14, Y:0.10, Z:-0.50 [[ 9.99972431e-01 3.48206828e-03 -6.55843882e-03 2.13512664e+00] [-3.48660968e-03 9.99993690e-01 -6.81145058e-04 9.62969615e-02] [ 6.55602564e-03 7.03992996e-04 9.99978261e-01 -5.04619373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.324553574 meters Centerline goodness [0,1] 0.8251596867733918 Centerline is valid? [False, False] Translation: X:2.13, Y:0.10, Z:-0.50 [[ 9.99972946e-01 3.86688581e-03 -6.25734759e-03 2.13426289e+00] [-3.87060251e-03 9.99992340e-01 -5.81972369e-04 9.59116058e-02] [ 6.25504924e-03 6.06176330e-04 9.99980253e-01 -5.04921570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.35455357400001 meters Centerline goodness [0,1] 0.8253730143848277 Centerline is valid? [False, False] Translation: X:2.13, Y:0.09, Z:-0.50 [[ 9.99972808e-01 4.77948666e-03 -5.61604668e-03 2.13205112e+00] [-4.77917820e-03 9.99988577e-01 6.83431309e-05 9.41088842e-02] [ 5.61630917e-03 -4.15011847e-05 9.99984228e-01 -5.04394462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.38455357400001 meters Centerline goodness [0,1] 0.8273352312402643 Centerline is valid? [False, False] Translation: X:2.13, Y:0.09, Z:-0.50 [[ 9.99972114e-01 5.35793669e-03 -5.20226203e-03 2.13057241e+00] [-5.35386725e-03 9.99985351e-01 7.95854691e-04 9.14272817e-02] [ 5.20644997e-03 -7.67980278e-04 9.99986151e-01 -5.03797741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.414553574 meters Centerline goodness [0,1] 0.8294388125520987 Centerline is valid? [False, False] Translation: X:2.13, Y:0.09, Z:-0.50 [[ 9.99972108e-01 5.35004450e-03 -5.21149347e-03 2.13089574e+00] [-5.34563053e-03 9.99985342e-01 8.60529963e-04 9.01479735e-02] [ 5.21602095e-03 -8.32647243e-04 9.99986050e-01 -5.04391174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.444553574 meters Centerline goodness [0,1] 0.8251152508559567 Centerline is valid? [False, False] Translation: X:2.13, Y:0.09, Z:-0.51 [[ 9.99972400e-01 5.22952882e-03 -5.27736657e-03 2.13149265e+00] [-5.22476802e-03 9.99985932e-01 9.15500539e-04 8.88348544e-02] [ 5.28207997e-03 -8.87902255e-04 9.99985656e-01 -5.05074562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.474553574 meters Centerline goodness [0,1] 0.8225037903400476 Centerline is valid? [False, False] Translation: X:2.13, Y:0.08, Z:-0.51 [[ 9.99974093e-01 4.47785164e-03 -5.63580061e-03 2.13393896e+00] [-4.47171265e-03 9.99989395e-01 1.10141403e-03 8.49211179e-02] [ 5.64067281e-03 -1.07618381e-03 9.99983512e-01 -5.06800846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.504553574 meters Centerline goodness [0,1] 0.8244914564686737 Centerline is valid? [False, False] Translation: X:2.13, Y:0.08, Z:-0.51 [[ 9.99974229e-01 4.23094226e-03 -5.79995801e-03 2.13466512e+00] [-4.22211567e-03 9.99989911e-01 1.53323822e-03 8.26209838e-02] [ 5.80638654e-03 -1.50871061e-03 9.99982005e-01 -5.06750755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.534553574 meters Centerline goodness [0,1] 0.8236448903915368 Centerline is valid? [False, False] Translation: X:2.13, Y:0.08, Z:-0.51 [[ 0.99997383 0.00475834 -0.00544867 2.13318471] [-0.00474253 0.99998451 0.00291213 0.07831324] [ 0.00546245 -0.00288621 0.99998092 -0.50521312] [ 0. 0. 0. 1. ]] SLAMing on 68.564553574 meters Centerline goodness [0,1] 0.8247098976109215 Centerline is valid? [False, False] Translation: X:2.13, Y:0.08, Z:-0.50 [[ 0.99996451 0.00738842 -0.0040477 2.12686431] [-0.00737449 0.99996688 0.00344464 0.07958699] [ 0.00407301 -0.00341467 0.99998588 -0.50385194] [ 0. 0. 0. 1. ]] SLAMing on 68.594553574 meters Centerline goodness [0,1] 0.8275383988038603 Centerline is valid? [False, False] Translation: X:2.12, Y:0.08, Z:-0.50 [[ 0.99995139 0.00948385 -0.00269855 2.12153698] [-0.00947356 0.9999479 0.00380023 0.08019143] [ 0.00273445 -0.00377448 0.99998914 -0.50311432] [ 0. 0. 0. 1. ]] SLAMing on 68.624553574 meters Centerline goodness [0,1] 0.8231870719757464 Centerline is valid? [False, False] Translation: X:2.12, Y:0.08, Z:-0.50 [[ 0.99989383 0.01439071 -0.00228678 2.12004045] [-0.0143728 0.99986733 0.00766427 0.08190217] [ 0.00239677 -0.00763059 0.99996801 -0.5033415 ] [ 0. 0. 0. 1. ]] SLAMing on 68.654553574 meters Centerline goodness [0,1] 0.82175863373507 Centerline is valid? [False, False] Translation: X:2.12, Y:0.09, Z:-0.51 [[ 9.99879701e-01 1.54298839e-02 -1.58197754e-03 2.11777682e+00] [-1.54191701e-02 9.99859502e-01 6.57456348e-03 8.52847170e-02] [ 1.68320003e-03 -6.54937978e-03 9.99977136e-01 -5.05131034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.684553574 meters Centerline goodness [0,1] 0.8212132629992464 Centerline is valid? [False, False] Translation: X:2.12, Y:0.09, Z:-0.51 [[ 9.99861610e-01 1.66142173e-02 -8.53704792e-04 2.11531099e+00] [-1.66090665e-02 9.99845683e-01 5.72264138e-03 8.85497926e-02] [ 9.48650258e-04 -5.70767018e-03 9.99983261e-01 -5.06627376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.714553574 meters Centerline goodness [0,1] 0.8188240350264578 Centerline is valid? [False, False] Translation: X:2.11, Y:0.09, Z:-0.51 [[ 9.99858678e-01 1.67980962e-02 -6.69260408e-04 2.11492068e+00] [-1.67942830e-02 9.99844677e-01 5.34549470e-03 8.92865074e-02] [ 7.58950591e-04 -5.33349951e-03 9.99985489e-01 -5.07347616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.74455357400001 meters Centerline goodness [0,1] 0.8187552000858853 Centerline is valid? [False, False] Translation: X:2.11, Y:0.09, Z:-0.51 [[ 9.99898360e-01 1.42557862e-02 2.05208968e-04 2.11192950e+00] [-1.42558779e-02 9.99898278e-01 4.52235578e-04 9.15471148e-02] [-1.98741120e-04 -4.55115047e-04 9.99999877e-01 -5.09523948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.774553574 meters Centerline goodness [0,1] 0.8196743336199483 Centerline is valid? [False, False] Translation: X:2.11, Y:0.09, Z:-0.51 [[ 9.99939646e-01 1.09527943e-02 8.60335560e-04 2.11018267e+00] [-1.09489090e-02 9.99930387e-01 -4.39797761e-03 9.30792606e-02] [-9.08445814e-04 4.38829244e-03 9.99989959e-01 -5.11405948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.804553574 meters Centerline goodness [0,1] 0.8213171204132143 Centerline is valid? [False, False] Translation: X:2.11, Y:0.09, Z:-0.51 [[ 9.99949064e-01 1.00914897e-02 1.76472712e-04 2.11273858e+00] [-1.00905884e-02 9.99938859e-01 -4.52308210e-03 9.30279841e-02] [-2.22106558e-04 4.52107100e-03 9.99989755e-01 -5.11584166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.834553574 meters Centerline goodness [0,1] 0.8198559062315178 Centerline is valid? [False, False] Translation: X:2.12, Y:0.09, Z:-0.51 [[ 9.99963025e-01 8.54729922e-03 -9.45126190e-04 2.11723071e+00] [-8.55179823e-03 9.99951606e-01 -4.86331174e-03 9.31996467e-02] [ 9.03512271e-04 4.87121444e-03 9.99987727e-01 -5.12249581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.864553574 meters Centerline goodness [0,1] 0.8214141631478443 Centerline is valid? [False, False] Translation: X:2.12, Y:0.09, Z:-0.51 [[ 9.99967134e-01 7.98783578e-03 -1.38745835e-03 2.11882049e+00] [-7.99452057e-03 9.99956130e-01 -4.88121354e-03 9.31934858e-02] [ 1.34840715e-03 4.89214518e-03 9.99987124e-01 -5.12098959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.894553574 meters Centerline goodness [0,1] 0.8215247844827587 Centerline is valid? [False, False] Translation: X:2.12, Y:0.09, Z:-0.51 [[ 9.99971371e-01 7.30885552e-03 -1.95885558e-03 2.12022143e+00] [-7.31723396e-03 9.99963963e-01 -4.30473094e-03 9.31534043e-02] [ 1.92732233e-03 4.31894110e-03 9.99988816e-01 -5.10018903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.924553574 meters Centerline goodness [0,1] 0.8198552167711726 Centerline is valid? [False, False] Translation: X:2.12, Y:0.09, Z:-0.51 [[ 0.99997287 0.00700924 -0.00226345 2.12126588] [-0.00701921 0.99996555 -0.00443029 0.09409662] [ 0.00223232 0.00444606 0.99998762 -0.51000846] [ 0. 0. 0. 1. ]] SLAMing on 68.954553574 meters Centerline goodness [0,1] 0.8186570164857258 Centerline is valid? [False, False] Translation: X:2.12, Y:0.10, Z:-0.51 [[ 0.9999749 0.00660467 -0.00256576 2.12275915] [-0.00661724 0.99996601 -0.00491881 0.09508423] [ 0.00253318 0.00493567 0.99998461 -0.5109962 ] [ 0. 0. 0. 1. ]] SLAMing on 68.984553574 meters Centerline goodness [0,1] 0.8198599447291459 Centerline is valid? [False, False] Translation: X:2.12, Y:0.10, Z:-0.51 [[ 0.99997497 0.00653371 -0.00271627 2.12333841] [-0.00654826 0.99996407 -0.00538384 0.09699527] [ 0.00268099 0.00540149 0.99998182 -0.51152925] [ 0. 0. 0. 1. ]] SLAMing on 69.014553574 meters Centerline goodness [0,1] 0.8169172932330827 Centerline is valid? [False, False] Translation: X:2.12, Y:0.10, Z:-0.51 [[ 0.99997582 0.00632513 -0.00289012 2.12410626] [-0.00634133 0.99996404 -0.00563151 0.09801185] [ 0.00285439 0.0056497 0.99997997 -0.51183419] [ 0. 0. 0. 1. ]] SLAMing on 69.044553574 meters Centerline goodness [0,1] 0.8186232428372143 Centerline is valid? [False, False] Translation: X:2.13, Y:0.10, Z:-0.51 [[ 0.9999798 0.00511471 -0.00377224 2.12767359] [-0.00513689 0.99996943 -0.00589463 0.09812527] [ 0.00374197 0.00591389 0.99997551 -0.51243638] [ 0. 0. 0. 1. ]] SLAMing on 69.074553574 meters Centerline goodness [0,1] 0.813678293843961 Centerline is valid? [False, False] Translation: X:2.13, Y:0.10, Z:-0.51 [[ 0.99998078 0.00446831 -0.00429851 2.12937848] [-0.00449226 0.99997435 -0.00557769 0.09729089] [ 0.00427347 0.00559689 0.99997521 -0.51170396] [ 0. 0. 0. 1. ]] SLAMing on 69.10455357400001 meters Centerline goodness [0,1] 0.8167536450207133 Centerline is valid? [False, False] Translation: X:2.13, Y:0.10, Z:-0.51 [[ 0.99998111 0.00368848 -0.00491641 2.13136853] [-0.0037133 0.99998036 -0.0050497 0.09591667] [ 0.00489769 0.00506786 0.99997516 -0.51064868] [ 0. 0. 0. 1. ]] SLAMing on 69.13455357400001 meters Centerline goodness [0,1] 0.8158022428294156 Centerline is valid? [False, False] Translation: X:2.13, Y:0.09, Z:-0.51 [[ 9.99981404e-01 2.09541445e-03 -5.72722886e-03 2.13463779e+00] [-2.11970715e-03 9.99988769e-01 -4.23884224e-03 9.34081847e-02] [ 5.71828241e-03 4.25090346e-03 9.99974615e-01 -5.09035080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.164553574 meters Centerline goodness [0,1] 0.8148878148878149 Centerline is valid? [False, False] Translation: X:2.14, Y:0.09, Z:-0.51 [[ 9.99978950e-01 1.26428070e-03 -6.36401777e-03 2.13715845e+00] [-1.29005329e-03 9.99990978e-01 -4.04726120e-03 9.25138335e-02] [ 6.35884348e-03 4.05538593e-03 9.99971559e-01 -5.09120744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.194553574 meters Centerline goodness [0,1] 0.8114188256314464 Centerline is valid? [False, False] Translation: X:2.14, Y:0.09, Z:-0.51 [[ 9.99971221e-01 -6.00877371e-04 -7.56274937e-03 2.14251000e+00] [ 5.69330040e-04 9.99991131e-01 -4.17287220e-03 9.01919881e-02] [ 7.56518968e-03 4.16844641e-03 9.99962695e-01 -5.10557714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.224553574 meters Centerline goodness [0,1] 0.8131336468157974 Centerline is valid? [False, False] Translation: X:2.14, Y:0.09, Z:-0.51 [[ 9.99967306e-01 -1.08188633e-03 -8.01355997e-03 2.14419504e+00] [ 1.05079884e-03 9.99991911e-01 -3.88255668e-03 8.85665009e-02] [ 8.01769563e-03 3.87400910e-03 9.99960354e-01 -5.10610707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.254553574 meters Centerline goodness [0,1] 0.8126838035072432 Centerline is valid? [False, False] Translation: X:2.14, Y:0.09, Z:-0.51 [[ 9.99965058e-01 -1.24870817e-03 -8.26578124e-03 2.14484391e+00] [ 1.22200142e-03 9.99994020e-01 -3.23526473e-03 8.66402397e-02] [ 8.26977172e-03 3.22505089e-03 9.99960604e-01 -5.09792583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.284553574 meters Centerline goodness [0,1] 0.8172175629008387 Centerline is valid? [False, False] Translation: X:2.15, Y:0.08, Z:-0.51 [[ 9.99961217e-01 -1.77374592e-03 -8.62660051e-03 2.14599962e+00] [ 1.75639912e-03 9.99996421e-01 -2.01801048e-03 8.27387385e-02] [ 8.63014907e-03 2.00278047e-03 9.99960754e-01 -5.08131966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.314553574 meters Centerline goodness [0,1] 0.8164492654126048 Centerline is valid? [False, False] Translation: X:2.15, Y:0.08, Z:-0.51 [[ 9.99956413e-01 -2.48946215e-03 -8.99854449e-03 2.14770769e+00] [ 2.47933887e-03 9.99996281e-01 -1.13597048e-03 7.88104718e-02] [ 9.00133899e-03 1.11361053e-03 9.99958867e-01 -5.07470402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.344553574 meters Centerline goodness [0,1] 0.8176660148180792 Centerline is valid? [False, False] Translation: X:2.14, Y:0.08, Z:-0.51 [[ 9.99965768e-01 -1.23093144e-03 -8.18216598e-03 2.14425787e+00] [ 1.22428098e-03 9.99998916e-01 -8.17757815e-04 7.93150320e-02] [ 8.18316372e-03 8.07712551e-04 9.99966191e-01 -5.06662430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.374553574 meters Centerline goodness [0,1] 0.8208326449694366 Centerline is valid? [False, False] Translation: X:2.14, Y:0.08, Z:-0.51 [[ 9.99972062e-01 -1.75386375e-04 -7.47284835e-03 2.14159877e+00] [ 1.70450870e-04 9.99999767e-01 -6.61090160e-04 7.98682376e-02] [ 7.47296255e-03 6.59797938e-04 9.99971859e-01 -5.06504665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.404553574 meters Centerline goodness [0,1] 0.8179174895764758 Centerline is valid? [False, False] Translation: X:2.14, Y:0.08, Z:-0.51 [[ 9.99976015e-01 7.90850596e-04 -6.88068655e-03 2.13981207e+00] [-7.98524239e-04 9.99999062e-01 -1.11256808e-03 8.11356418e-02] [ 6.87980022e-03 1.11803579e-03 9.99975709e-01 -5.07997291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.434553574 meters Centerline goodness [0,1] 0.8125772346560484 Centerline is valid? [False, False] Translation: X:2.14, Y:0.08, Z:-0.51 [[ 9.99977044e-01 9.86069547e-04 -6.70372309e-03 2.13926071e+00] [-9.91755304e-04 9.99999151e-01 -8.44877890e-04 8.07150168e-02] [ 6.70288430e-03 8.51506948e-04 9.99977173e-01 -5.07722616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.464553574 meters Centerline goodness [0,1] 0.8125772346560484 Centerline is valid? [False, False] Translation: X:2.14, Y:0.08, Z:-0.51 [[ 9.99977044e-01 9.86069547e-04 -6.70372309e-03 2.13926071e+00] [-9.91755304e-04 9.99999151e-01 -8.44877890e-04 8.07150168e-02] [ 6.70288430e-03 8.51506948e-04 9.99977173e-01 -5.07722616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.49455357400001 meters Centerline goodness [0,1] 0.8133131618759455 Centerline is valid? [False, False] Translation: X:2.14, Y:0.08, Z:-0.51 [[ 9.99976502e-01 9.29807027e-04 -6.79203338e-03 2.13927533e+00] [-9.30522616e-04 9.99999562e-01 -1.02197766e-04 7.89367334e-02] [ 6.79193538e-03 1.08515506e-04 9.99976929e-01 -5.06463693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.524553574 meters Centerline goodness [0,1] 0.81505228398459 Centerline is valid? [False, False] Translation: X:2.14, Y:0.08, Z:-0.51 [[ 9.99974796e-01 6.55534624e-04 -7.06946271e-03 2.13988652e+00] [-6.50720766e-04 9.99999555e-01 6.83215547e-04 7.70541725e-02] [ 7.06990743e-03 -6.78598081e-04 9.99974778e-01 -5.05052698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.554553574 meters Centerline goodness [0,1] 0.81511746680286 Centerline is valid? [False, False] Translation: X:2.14, Y:0.07, Z:-0.50 [[ 9.99970604e-01 -2.12237803e-04 -7.66463044e-03 2.14219549e+00] [ 2.20753772e-04 9.99999359e-01 1.11024473e-03 7.48696086e-02] [ 7.66438989e-03 -1.11190409e-03 9.99970010e-01 -5.04704821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.584553574 meters Centerline goodness [0,1] 0.8143701004747709 Centerline is valid? [False, False] Translation: X:2.14, Y:0.07, Z:-0.50 [[ 9.99969657e-01 -3.27512559e-04 -7.78320153e-03 2.14269497e+00] [ 3.36330954e-04 9.99999303e-01 1.13172172e-03 7.46935622e-02] [ 7.78282545e-03 -1.13430511e-03 9.99969070e-01 -5.04852184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.614553574 meters Centerline goodness [0,1] 0.813072474195423 Centerline is valid? [False, False] Translation: X:2.14, Y:0.08, Z:-0.50 [[ 9.99976486e-01 1.43734994e-03 -6.70535228e-03 2.13821156e+00] [-1.43144027e-03 9.99998583e-01 8.86052031e-04 7.63658036e-02] [ 6.70661635e-03 -8.76432885e-04 9.99977126e-01 -5.04963374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.644553574 meters Centerline goodness [0,1] 0.8116990720282811 Centerline is valid? [False, False] Translation: X:2.14, Y:0.08, Z:-0.51 [[ 9.99978067e-01 2.05508489e-03 -6.29619240e-03 2.13683916e+00] [-2.05202747e-03 9.99997774e-01 4.92019568e-04 7.77073034e-02] [ 6.29718953e-03 -4.79088817e-04 9.99980058e-01 -5.05646596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.674553574 meters Centerline goodness [0,1] 0.8142297938030654 Centerline is valid? [False, False] Translation: X:2.13, Y:0.08, Z:-0.51 [[ 9.99979535e-01 2.93804810e-03 -5.68316933e-03 2.13480858e+00] [-2.93890188e-03 9.99995671e-01 -1.41883929e-04 7.97456524e-02] [ 5.68272787e-03 1.58583302e-04 9.99983841e-01 -5.06822275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.704553574 meters Centerline goodness [0,1] 0.8113197143881123 Centerline is valid? [False, False] Translation: X:2.13, Y:0.08, Z:-0.51 [[ 9.99978127e-01 4.55952438e-03 -4.79127208e-03 2.13161334e+00] [-4.56334421e-03 9.99989279e-01 -7.86619827e-04 8.20096677e-02] [ 4.78763410e-03 8.08466845e-04 9.99988212e-01 -5.08532982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.734553574 meters Centerline goodness [0,1] 0.8109441764300482 Centerline is valid? [False, False] Translation: X:2.13, Y:0.08, Z:-0.51 [[ 9.99977281e-01 5.06493775e-03 -4.44787206e-03 2.13038768e+00] [-5.06800779e-03 9.99986927e-01 -6.79228041e-04 8.18202582e-02] [ 4.44437367e-03 7.01754460e-04 9.99989877e-01 -5.08525809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.764553574 meters Centerline goodness [0,1] 0.8110951168198428 Centerline is valid? [False, False] Translation: X:2.13, Y:0.08, Z:-0.51 [[ 9.99976770e-01 5.35561480e-03 -4.21615116e-03 2.12950280e+00] [-5.35646792e-03 9.99985636e-01 -1.91079036e-04 7.97129321e-02] [ 4.21506725e-03 2.13658275e-04 9.99991094e-01 -5.08083520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.794553574 meters Centerline goodness [0,1] 0.81031190324634 Centerline is valid? [False, False] Translation: X:2.13, Y:0.08, Z:-0.51 [[ 9.99976907e-01 5.15659428e-03 -4.42662584e-03 2.13015120e+00] [-5.15615136e-03 9.99986701e-01 1.11465645e-04 7.84844512e-02] [ 4.42714176e-03 -8.86387185e-05 9.99990196e-01 -5.07684065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.824553574 meters Centerline goodness [0,1] 0.8075553577389563 Centerline is valid? [False, False] Translation: X:2.13, Y:0.08, Z:-0.51 [[ 9.99976568e-01 5.41265554e-03 -4.19131664e-03 2.12973864e+00] [-5.41127783e-03 9.99985301e-01 3.39976061e-04 7.61536979e-02] [ 4.19309521e-03 -3.17287716e-04 9.99991159e-01 -5.08446477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.85455357400001 meters Centerline goodness [0,1] 0.8107859787844196 Centerline is valid? [False, False] Translation: X:2.13, Y:0.08, Z:-0.51 [[ 9.99976569e-01 5.45587130e-03 -4.13459768e-03 2.12997908e+00] [-5.45463822e-03 9.99985075e-01 3.09451158e-04 7.52333300e-02] [ 4.13622429e-03 -2.86891172e-04 9.99991405e-01 -5.09300176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.884553574 meters Centerline goodness [0,1] 0.8094973464114035 Centerline is valid? [False, False] Translation: X:2.13, Y:0.07, Z:-0.51 [[ 9.99976449e-01 5.64620823e-03 -3.90145403e-03 2.12971070e+00] [-5.64548853e-03 9.99984045e-01 1.95458282e-04 7.42977136e-02] [ 3.90249538e-03 -1.73428065e-04 9.99992370e-01 -5.10395533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.914553574 meters Centerline goodness [0,1] 0.8104575163398693 Centerline is valid? [False, False] Translation: X:2.13, Y:0.07, Z:-0.51 [[ 9.99970884e-01 7.05227803e-03 -2.91486741e-03 2.12631571e+00] [-7.04981374e-03 9.99974784e-01 8.54834234e-04 7.19542609e-02] [ 2.92082243e-03 -8.34260072e-04 9.99995386e-01 -5.10391820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.944553574 meters Centerline goodness [0,1] 0.8122936950431333 Centerline is valid? [False, False] Translation: X:2.12, Y:0.07, Z:-0.51 [[ 9.99957936e-01 9.00848348e-03 -1.72426113e-03 2.12134506e+00] [-9.00659283e-03 9.99958834e-01 1.10114210e-03 7.24347137e-02] [ 1.73410977e-03 -1.08556607e-03 9.99997907e-01 -5.09935410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.974553574 meters Centerline goodness [0,1] 0.8120131940017186 Centerline is valid? [False, False] Translation: X:2.11, Y:0.07, Z:-0.51 [[ 9.99910080e-01 1.33978497e-02 5.73267239e-04 2.11099922e+00] [-1.33989238e-02 9.99908401e-01 1.91267096e-03 7.19483292e-02] [-5.47589050e-04 -1.92018014e-03 9.99998007e-01 -5.09430026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.004553574 meters Centerline goodness [0,1] 0.8118842108184618 Centerline is valid? [False, False] Translation: X:2.11, Y:0.07, Z:-0.51 [[ 9.99893818e-01 1.45066451e-02 1.38184135e-03 2.10799084e+00] [-1.45094262e-02 9.99892684e-01 2.02431157e-03 7.18046103e-02] [-1.35232709e-03 -2.04414635e-03 9.99996996e-01 -5.09421184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.034553574 meters Centerline goodness [0,1] 0.8108048328679256 Centerline is valid? [False, False] Translation: X:2.11, Y:0.07, Z:-0.51 [[ 9.99882333e-01 1.52171845e-02 1.93844990e-03 2.10616311e+00] [-1.52210777e-02 9.99882133e-01 2.00970611e-03 7.15133038e-02] [-1.90763935e-03 -2.03897493e-03 9.99996102e-01 -5.09824220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.064553574 meters Centerline goodness [0,1] 0.8123979069187962 Centerline is valid? [False, False] Translation: X:2.10, Y:0.07, Z:-0.51 [[ 9.99854274e-01 1.68011434e-02 3.02514423e-03 2.10219077e+00] [-1.68064862e-02 9.99857230e-01 1.74947465e-03 7.17724601e-02] [-2.99531916e-03 -1.80006175e-03 9.99993894e-01 -5.10757848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.094553574 meters Centerline goodness [0,1] 0.8134563332044412 Centerline is valid? [False, False] Translation: X:2.10, Y:0.07, Z:-0.51 [[ 9.99848614e-01 1.70869025e-02 3.28436721e-03 2.10165729e+00] [-1.70904754e-02 9.99853382e-01 1.06288121e-03 7.30245852e-02] [-3.26572432e-03 -1.11885170e-03 9.99994042e-01 -5.12108341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.124553574 meters Centerline goodness [0,1] 0.8090858878762772 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:-0.52 [[ 9.99846822e-01 1.71654537e-02 3.41743210e-03 2.10202476e+00] [-1.71641988e-02 9.99852606e-01 -3.96203360e-04 7.55177684e-02] [-3.42372940e-03 3.37485187e-04 9.99994082e-01 -5.15196010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.154553574 meters Centerline goodness [0,1] 0.8081329542003699 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:-0.52 [[ 9.99850919e-01 1.69418740e-02 3.33371673e-03 2.10302175e+00] [-1.69377384e-02 9.99855746e-01 -1.26490375e-03 7.67892749e-02] [-3.35466567e-03 1.20824955e-03 9.99993643e-01 -5.17122658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.184553574 meters Centerline goodness [0,1] 0.8057631324968979 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:-0.52 [[ 9.99855663e-01 1.66814140e-02 3.22245666e-03 2.10407829e+00] [-1.66749589e-02 9.99858923e-01 -2.01976466e-03 7.79208883e-02] [-3.25569457e-03 1.96573880e-03 9.99992768e-01 -5.18776548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.214553574 meters Centerline goodness [0,1] 0.802216326756204 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:-0.52 [[ 0.9998927 0.01406483 0.00409525 2.10089683] [-0.01403659 0.99987806 -0.00684347 0.07922374] [-0.004191 0.00678526 0.9999682 -0.52087955] [ 0. 0. 0. 1. ]] SLAMing on 70.24455357400001 meters Centerline goodness [0,1] 0.8022719106713468 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:-0.52 [[ 0.99989772 0.01376977 0.0038663 2.10173426] [-0.01374394 0.99988357 -0.0066294 0.07878844] [-0.00395714 0.00657558 0.99997055 -0.52036218] [ 0. 0. 0. 1. ]] SLAMing on 70.274553574 meters Centerline goodness [0,1] 0.8054067487711934 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:-0.52 [[ 0.9998976 0.01378014 0.0038591 2.10185337] [-0.01375406 0.99988294 -0.00670337 0.07926421] [-0.00395102 0.0066496 0.99997009 -0.52040216] [ 0. 0. 0. 1. ]] SLAMing on 70.304553574 meters Centerline goodness [0,1] 0.8068636376175895 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:-0.52 [[ 0.99990045 0.01360286 0.00374867 2.10252912] [-0.01357713 0.99988466 -0.00680674 0.0795973 ] [-0.00384082 0.00675517 0.99996981 -0.52070469] [ 0. 0. 0. 1. ]] SLAMing on 70.334553574 meters Centerline goodness [0,1] 0.8053009660639088 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:-0.52 [[ 0.99990358 0.01340677 0.00361843 2.10327712] [-0.01338131 0.99988617 -0.0069698 0.0802263 ] [-0.00371146 0.00692071 0.99996916 -0.52102848] [ 0. 0. 0. 1. ]] SLAMing on 70.364553574 meters Centerline goodness [0,1] 0.8051358269341921 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:-0.52 [[ 0.99990858 0.01307707 0.00343822 2.10419456] [-0.01305328 0.99989132 -0.00685203 0.08056447] [-0.00352745 0.00680652 0.99997061 -0.52068965] [ 0. 0. 0. 1. ]] SLAMing on 70.394553574 meters Centerline goodness [0,1] 0.8002422640678339 Centerline is valid? [False, False] Translation: X:2.11, Y:0.08, Z:-0.52 [[ 0.99991744 0.01249399 0.00300086 2.10534492] [-0.01247601 0.99990453 -0.0059397 0.07942454] [-0.00307478 0.00590177 0.99997786 -0.51833273] [ 0. 0. 0. 1. ]] SLAMing on 70.424553574 meters Centerline goodness [0,1] 0.8069948542967997 Centerline is valid? [False, False] Translation: X:2.11, Y:0.08, Z:-0.52 [[ 0.99992645 0.01185929 0.00254089 2.10704528] [-0.01184445 0.99991316 -0.005778 0.07933493] [-0.00260919 0.00574748 0.99998008 -0.51775513] [ 0. 0. 0. 1. ]] SLAMing on 70.454553574 meters Centerline goodness [0,1] 0.8023259018381239 Centerline is valid? [False, False] Translation: X:2.11, Y:0.08, Z:-0.52 [[ 9.99936970e-01 1.10556355e-02 1.95668274e-03 2.10937092e+00] [-1.10443645e-02 9.99922875e-01 -5.68028701e-03 7.91946849e-02] [-2.01933101e-03 5.65831866e-03 9.99981953e-01 -5.17555925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.484553574 meters Centerline goodness [0,1] 0.802217758577993 Centerline is valid? [False, False] Translation: X:2.11, Y:0.08, Z:-0.52 [[ 9.99958881e-01 9.04593231e-03 6.38738494e-04 2.11492033e+00] [-9.04191515e-03 9.99940913e-01 -6.03448198e-03 7.99357826e-02] [-6.93288268e-04 6.02845842e-03 9.99981588e-01 -5.18116726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.514553574 meters Centerline goodness [0,1] 0.8020444053638163 Centerline is valid? [False, False] Translation: X:2.12, Y:0.08, Z:-0.52 [[ 9.99968534e-01 7.93137452e-03 -1.54920039e-04 2.11803083e+00] [-7.93216489e-03 9.99950340e-01 -6.03311364e-03 8.01389164e-02] [ 1.07061462e-04 6.03415265e-03 9.99981789e-01 -5.17870318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.544553574 meters Centerline goodness [0,1] 0.8058812223717087 Centerline is valid? [False, False] Translation: X:2.11, Y:0.08, Z:-0.52 [[ 9.99957195e-01 -5.04592343e-04 9.23866745e-03 2.10728465e+00] [ 5.59078688e-04 9.99982462e-01 -5.89600868e-03 8.24425169e-02] [-9.23553034e-03 5.90092145e-03 9.99939940e-01 -5.21918962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.574553574 meters Centerline goodness [0,1] 0.8062448418156809 Centerline is valid? [False, False] Translation: X:2.11, Y:0.08, Z:-0.52 [[ 0.9999654 -0.00225871 0.00800586 2.11162812] [ 0.00230122 0.99998328 -0.00530521 0.08179911] [-0.00799374 0.00532345 0.99995388 -0.52012797] [ 0. 0. 0. 1. ]] SLAMing on 70.60455357400001 meters Centerline goodness [0,1] 0.8091571566066272 Centerline is valid? [False, False] Translation: X:2.11, Y:0.08, Z:-0.52 [[ 0.99996869 -0.00343211 0.00713018 2.11471822] [ 0.00347083 0.99997925 -0.00542637 0.08250444] [-0.00711141 0.00545095 0.99995986 -0.51981934] [ 0. 0. 0. 1. ]] SLAMing on 70.634553574 meters Centerline goodness [0,1] 0.8069065615072845 Centerline is valid? [False, False] Translation: X:2.13, Y:0.08, Z:-0.52 [[ 0.99995811 -0.007965 0.00450886 2.12599375] [ 0.00799073 0.99995173 -0.00571675 0.08366365] [-0.00446311 0.00575254 0.99997349 -0.51904481] [ 0. 0. 0. 1. ]] SLAMing on 70.664553574 meters Centerline goodness [0,1] 0.8057954327384379 Centerline is valid? [False, False] Translation: X:2.13, Y:0.08, Z:-0.52 [[ 0.99993574 -0.01106576 0.00246396 2.13440725] [ 0.01108098 0.99991907 -0.00624996 0.08367885] [-0.0023946 0.00627686 0.99997743 -0.51998017] [ 0. 0. 0. 1. ]] SLAMing on 70.694553574 meters Centerline goodness [0,1] 0.807096135876436 Centerline is valid? [False, False] Translation: X:2.16, Y:0.08, Z:-0.52 [[ 9.99772422e-01 -2.12802039e-02 -1.50265724e-03 2.15755570e+00] [ 2.12682345e-02 9.99745096e-01 -7.57664333e-03 8.25908716e-02] [ 1.66350672e-03 7.54296018e-03 9.99970168e-01 -5.20826516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.724553574 meters Centerline goodness [0,1] 0.807825656265478 Centerline is valid? [False, False] Translation: X:2.17, Y:0.08, Z:-0.52 [[ 0.99967566 -0.02518243 -0.00379748 2.16760235] [ 0.02515599 0.99966003 -0.00685608 0.08075735] [ 0.00396884 0.00675833 0.99996929 -0.51934075] [ 0. 0. 0. 1. ]] SLAMing on 70.754553574 meters Centerline goodness [0,1] 0.8125534084957411 Centerline is valid? [False, False] Translation: X:2.18, Y:0.08, Z:-0.52 [[ 0.99958681 -0.02819245 -0.00560288 2.17532099] [ 0.02815676 0.99958335 -0.00634963 0.0788802 ] [ 0.00577956 0.00618924 0.99996414 -0.51835096] [ 0. 0. 0. 1. ]] SLAMing on 70.784553574 meters Centerline goodness [0,1] 0.8116534910719222 Centerline is valid? [False, False] Translation: X:2.19, Y:0.08, Z:-0.51 [[ 0.99944459 -0.03241355 -0.00773724 2.18515295] [ 0.03237996 0.99946582 -0.00442802 0.07574777] [ 0.00787664 0.00417503 0.99996026 -0.51382217] [ 0. 0. 0. 1. ]] SLAMing on 70.814553574 meters Centerline goodness [0,1] 0.8109202896540244 Centerline is valid? [False, False] Translation: X:2.19, Y:0.08, Z:-0.51 [[ 0.99943017 -0.03278098 -0.00804622 2.18615897] [ 0.03274818 0.99945492 -0.00417477 0.07539356] [ 0.00817868 0.00390889 0.99995891 -0.51322979] [ 0. 0. 0. 1. ]] SLAMing on 70.844553574 meters Centerline goodness [0,1] 0.8136745522883042 Centerline is valid? [False, False] Translation: X:2.19, Y:0.08, Z:-0.51 [[ 9.99542205e-01 -2.89883205e-02 -8.66363701e-03 2.18739946e+00] [ 2.89932025e-02 9.99579513e-01 4.38407789e-04 7.59242827e-02] [ 8.64728536e-03 -6.89393670e-04 9.99962374e-01 -5.11796442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.874553574 meters Centerline goodness [0,1] 0.807101145879242 Centerline is valid? [False, False] Translation: X:2.19, Y:0.08, Z:-0.51 [[ 0.99964262 -0.02511093 -0.00916934 2.18832897] [ 0.02515861 0.99967035 0.00512288 0.07593296] [ 0.00903768 -0.00535174 0.99994484 -0.51027532] [ 0. 0. 0. 1. ]] SLAMing on 70.904553574 meters Centerline goodness [0,1] 0.8127880184331797 Centerline is valid? [False, False] Translation: X:2.20, Y:0.08, Z:-0.50 [[ 0.99966308 -0.01829463 -0.01841299 2.19761274] [ 0.01840132 0.99981477 0.00564143 0.07509749] [ 0.01830637 -0.00597835 0.99981455 -0.5037465 ] [ 0. 0. 0. 1. ]] SLAMing on 70.934553574 meters Centerline goodness [0,1] 0.8105835130928651 Centerline is valid? [False, False] Translation: X:2.21, Y:0.08, Z:-0.51 [[ 9.99856815e-01 -1.15075817e-02 -1.24066557e-02 2.21091907e+00] [ 1.15205557e-02 9.99933161e-01 9.74769874e-04 7.83895054e-02] [ 1.23946092e-02 -1.11756187e-03 9.99922559e-01 -5.08973849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.964553574 meters Centerline goodness [0,1] 0.8149694389871207 Centerline is valid? [False, False] Translation: X:2.21, Y:0.08, Z:-0.51 [[ 9.99887388e-01 -9.78432084e-03 -1.13788935e-02 2.20651091e+00] [ 9.80094736e-03 9.99950981e-01 1.40632665e-03 7.94185538e-02] [ 1.13645757e-02 -1.51769221e-03 9.99934269e-01 -5.07931880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.99455357400001 meters Centerline goodness [0,1] 0.8079054404498676 Centerline is valid? [False, False] Translation: X:2.20, Y:0.08, Z:-0.51 [[ 0.99992733 -0.00483934 -0.01104195 2.20427494] [ 0.00490916 0.99996808 0.00630441 0.07911266] [ 0.01101109 -0.00635816 0.99991916 -0.5056695 ] [ 0. 0. 0. 1. ]] SLAMing on 71.024553574 meters Centerline goodness [0,1] 0.8075950055765622 Centerline is valid? [False, False] Translation: X:2.20, Y:0.08, Z:-0.51 [[ 0.99993293 -0.0043639 -0.01072794 2.20345209] [ 0.00442565 0.99997373 0.00573963 0.08027246] [ 0.01070261 -0.00578672 0.99992598 -0.50696919] [ 0. 0. 0. 1. ]] SLAMing on 71.054553574 meters Centerline goodness [0,1] 0.8071722036296357 Centerline is valid? [False, False] Translation: X:2.20, Y:0.08, Z:-0.51 [[ 0.99993834 -0.00389531 -0.01039936 2.20266041] [ 0.00394948 0.99997871 0.00519402 0.08121952] [ 0.01037891 -0.00523477 0.99993244 -0.50843578] [ 0. 0. 0. 1. ]] SLAMing on 71.084553574 meters Centerline goodness [0,1] 0.8054187862136504 Centerline is valid? [False, False] Translation: X:2.20, Y:0.08, Z:-0.51 [[ 0.99995057 -0.00248816 -0.00962592 2.19998532] [ 0.00252961 0.99998757 0.00429635 0.08251471] [ 0.00961511 -0.00432048 0.99994444 -0.51103311] [ 0. 0. 0. 1. ]] SLAMing on 71.114553574 meters Centerline goodness [0,1] 0.807234482008914 Centerline is valid? [False, False] Translation: X:2.20, Y:0.08, Z:-0.51 [[ 9.99961670e-01 -9.57136448e-04 -8.70301410e-03 2.19659882e+00] [ 9.93511627e-04 9.99990786e-01 4.17624469e-03 8.28104655e-02] [ 8.69893668e-03 -4.18473116e-03 9.99953407e-01 -5.11835889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.144553574 meters Centerline goodness [0,1] 0.8091582345441228 Centerline is valid? [False, False] Translation: X:2.20, Y:0.08, Z:-0.51 [[ 9.99965497e-01 -4.06925353e-04 -8.29693489e-03 2.19533019e+00] [ 4.39835554e-04 9.99992042e-01 3.96511039e-03 8.31722167e-02] [ 8.29525536e-03 -3.96862287e-03 9.99957718e-01 -5.12498072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.174553574 meters Centerline goodness [0,1] 0.8084385670153379 Centerline is valid? [False, False] Translation: X:2.19, Y:0.08, Z:-0.51 [[ 9.99968770e-01 1.10615329e-04 -7.90233454e-03 2.19426246e+00] [-8.20517149e-05 9.99993463e-01 3.61481197e-03 8.35656530e-02] [ 7.90268274e-03 -3.61405068e-03 9.99962242e-01 -5.13630751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.204553574 meters Centerline goodness [0,1] 0.8053426816674819 Centerline is valid? [False, False] Translation: X:2.19, Y:0.08, Z:-0.51 [[ 9.99973287e-01 1.12351202e-03 -7.22233647e-03 2.19207987e+00] [-1.09715293e-03 9.99992727e-01 3.65258946e-03 8.30908401e-02] [ 7.22638767e-03 -3.64456788e-03 9.99967248e-01 -5.14386524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.234553574 meters Centerline goodness [0,1] 0.8035791874864219 Centerline is valid? [False, False] Translation: X:2.19, Y:0.08, Z:-0.51 [[ 9.99974443e-01 1.39759114e-03 -7.01139705e-03 2.19134730e+00] [-1.37129536e-03 9.99992014e-01 3.75384121e-03 8.24086430e-02] [ 7.01658740e-03 -3.74413058e-03 9.99968374e-01 -5.14421631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.264553574 meters Centerline goodness [0,1] 0.8081488523699579 Centerline is valid? [False, False] Translation: X:2.19, Y:0.08, Z:-0.51 [[ 9.99975559e-01 1.79790000e-03 -6.75640945e-03 2.18967350e+00] [-1.76126943e-03 9.99983741e-01 5.42364756e-03 7.83537989e-02] [ 6.76605077e-03 -5.41161515e-03 9.99962467e-01 -5.11343588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.294553574 meters Centerline goodness [0,1] 0.8093193859529955 Centerline is valid? [False, False] Translation: X:2.19, Y:0.08, Z:-0.51 [[ 0.99997677 0.00248127 -0.00634921 2.18734539] [-0.00244224 0.99997812 0.00614751 0.07731425] [ 0.00636433 -0.00613186 0.99996095 -0.50932773] [ 0. 0. 0. 1. ]] SLAMing on 71.324553574 meters Centerline goodness [0,1] 0.8107432854465959 Centerline is valid? [False, False] Translation: X:2.19, Y:0.08, Z:-0.51 [[ 0.99997754 0.00314457 -0.00591887 2.18518679] [-0.00310667 0.99997468 0.00640247 0.07761673] [ 0.00593885 -0.00638394 0.99996199 -0.5080569 ] [ 0. 0. 0. 1. ]] SLAMing on 71.35455357400001 meters Centerline goodness [0,1] 0.8107432854465959 Centerline is valid? [False, False] Translation: X:2.19, Y:0.08, Z:-0.51 [[ 0.99997754 0.00314457 -0.00591887 2.18518679] [-0.00310667 0.99997468 0.00640247 0.07761673] [ 0.00593885 -0.00638394 0.99996199 -0.5080569 ] [ 0. 0. 0. 1. ]] SLAMing on 71.384553574 meters Centerline goodness [0,1] 0.8081281856631601 Centerline is valid? [False, False] Translation: X:2.19, Y:0.08, Z:-0.51 [[ 0.99997677 0.00252103 -0.00633205 2.18780664] [-0.00249351 0.99998743 0.00435052 0.08107787] [ 0.00634294 -0.00433463 0.99997049 -0.51243436] [ 0. 0. 0. 1. ]] SLAMing on 71.414553574 meters Centerline goodness [0,1] 0.8087027027027027 Centerline is valid? [False, False] Translation: X:2.19, Y:0.08, Z:-0.52 [[ 9.99975477e-01 1.96717950e-03 -6.72127143e-03 2.19018417e+00] [-1.94682701e-03 9.99993505e-01 3.03327301e-03 8.36746598e-02] [ 6.72719477e-03 -3.02011348e-03 9.99972812e-01 -5.15401899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.444553574 meters Centerline goodness [0,1] 0.8092075064128528 Centerline is valid? [False, False] Translation: X:2.20, Y:0.09, Z:-0.52 [[ 9.99966386e-01 -1.00466650e-04 -8.19861244e-03 2.19628602e+00] [ 1.13908885e-04 9.99998650e-01 1.63912401e-03 8.59394318e-02] [ 8.19843670e-03 -1.64000281e-03 9.99965047e-01 -5.17940840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.474553574 meters Centerline goodness [0,1] 0.8093989838936331 Centerline is valid? [False, False] Translation: X:2.20, Y:0.09, Z:-0.52 [[ 9.99954891e-01 -1.61944964e-03 -9.35918289e-03 2.20053354e+00] [ 1.63316388e-03 9.99997604e-01 1.45786794e-03 8.59828311e-02] [ 9.35679952e-03 -1.47308726e-03 9.99955139e-01 -5.17999424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.504553574 meters Centerline goodness [0,1] 0.8110153230819123 Centerline is valid? [False, False] Translation: X:2.21, Y:0.09, Z:-0.52 [[ 0.9999117 -0.00786352 -0.01071216 2.20602025] [ 0.00782596 0.9999631 -0.00354317 0.08659309] [ 0.01073962 0.00345903 0.99993635 -0.51931718] [ 0. 0. 0. 1. ]] SLAMing on 71.534553574 meters Centerline goodness [0,1] 0.8140347077456209 Centerline is valid? [False, False] Translation: X:2.21, Y:0.09, Z:-0.52 [[ 0.99988397 -0.00944654 -0.01195039 2.21023433] [ 0.00940511 0.99994958 -0.00351771 0.08613113] [ 0.01198302 0.00340491 0.9999224 -0.51873683] [ 0. 0. 0. 1. ]] SLAMing on 71.564553574 meters Centerline goodness [0,1] 0.8172939043857038 Centerline is valid? [False, False] Translation: X:2.21, Y:0.09, Z:-0.52 [[ 0.99986083 -0.01056119 -0.0129142 2.21343364] [ 0.01051704 0.99993863 -0.00348184 0.08592684] [ 0.01295018 0.00334554 0.99991055 -0.51835562] [ 0. 0. 0. 1. ]] SLAMing on 71.594553574 meters Centerline goodness [0,1] 0.8200264072646924 Centerline is valid? [False, False] Translation: X:2.22, Y:0.09, Z:-0.52 [[ 0.9998475 -0.0111276 -0.01345953 2.21501299] [ 0.01107678 0.99993126 -0.00384444 0.08797269] [ 0.01350138 0.00369476 0.99990203 -0.51802219] [ 0. 0. 0. 1. ]] SLAMing on 71.624553574 meters Centerline goodness [0,1] 0.8136927223719677 Centerline is valid? [False, False] Translation: X:2.22, Y:0.09, Z:-0.52 [[ 0.99983753 -0.01156893 -0.0138232 2.21650094] [ 0.01151259 0.99992512 -0.00414837 0.08892003] [ 0.01387016 0.00398856 0.99989585 -0.5185109 ] [ 0. 0. 0. 1. ]] SLAMing on 71.654553574 meters Centerline goodness [0,1] 0.8194604751040129 Centerline is valid? [False, False] Translation: X:2.22, Y:0.09, Z:-0.52 [[ 9.99851124e-01 -8.63846591e-03 -1.49367441e-02 2.22051157e+00] [ 8.62822812e-03 9.99962495e-01 -7.49717521e-04 9.12836602e-02] [ 1.49426603e-02 6.20728270e-04 9.99888160e-01 -5.19487439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.684553574 meters Centerline goodness [0,1] 0.8193264928871862 Centerline is valid? [False, False] Translation: X:2.22, Y:0.09, Z:-0.52 [[ 0.99985606 -0.00556578 -0.01602743 2.22396734] [ 0.00562196 0.9999782 0.00346252 0.0914525 ] [ 0.01600781 -0.00355212 0.99986556 -0.51894111] [ 0. 0. 0. 1. ]] SLAMing on 71.714553574 meters Centerline goodness [0,1] 0.821650256849315 Centerline is valid? [False, False] Translation: X:2.22, Y:0.09, Z:-0.52 [[ 9.99864656e-01 -1.40732776e-03 -1.63917444e-02 2.22489535e+00] [ 1.52408263e-03 9.99973545e-01 7.11247240e-03 9.32420447e-02] [ 1.63813012e-02 -7.13649215e-03 9.99840349e-01 -5.19361741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.74455357400001 meters Centerline goodness [0,1] 0.8204017224317313 Centerline is valid? [False, False] Translation: X:2.22, Y:0.09, Z:-0.52 [[ 9.99872115e-01 -6.58557480e-04 -1.59787092e-02 2.22311159e+00] [ 7.68812113e-04 9.99975934e-01 6.89493505e-03 9.43082351e-02] [ 1.59737840e-02 -6.90633792e-03 9.99848559e-01 -5.19467510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.774553574 meters Centerline goodness [0,1] 0.8222417981367289 Centerline is valid? [False, False] Translation: X:2.24, Y:0.10, Z:-0.52 [[ 9.99946457e-01 2.98252129e-03 -9.90896771e-03 2.23539636e+00] [-2.99403327e-03 9.99994860e-01 -1.14714274e-03 9.74037708e-02] [ 9.90549540e-03 1.17674910e-03 9.99950247e-01 -5.24197960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.804553574 meters Centerline goodness [0,1] 0.8226744186046512 Centerline is valid? [False, False] Translation: X:2.23, Y:0.10, Z:-0.52 [[ 9.99948329e-01 3.69410396e-03 -9.47063704e-03 2.23349330e+00] [-3.70311069e-03 9.99992708e-01 -9.33657252e-04 9.81530514e-02] [ 9.46711895e-03 9.68679826e-04 9.99954717e-01 -5.23398517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.834553574 meters Centerline goodness [0,1] 0.8203131251166884 Centerline is valid? [False, False] Translation: X:2.23, Y:0.10, Z:-0.52 [[ 9.99949693e-01 4.19293707e-03 -9.11214851e-03 2.23225106e+00] [-4.20359275e-03 9.99990503e-01 -1.15055509e-03 9.95914833e-02] [ 9.10723777e-03 1.18880097e-03 9.99957822e-01 -5.23555702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.864553574 meters Centerline goodness [0,1] 0.8221440750213129 Centerline is valid? [False, False] Translation: X:2.24, Y:0.10, Z:-0.53 [[ 9.99945433e-01 2.82926523e-03 -1.00562023e-02 2.23664170e+00] [-2.85152974e-03 9.99993514e-01 -2.20035944e-03 1.01215370e-01] [ 1.00499117e-02 2.22891493e-03 9.99947014e-01 -5.26019537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.894553574 meters Centerline goodness [0,1] 0.8215020438697267 Centerline is valid? [False, False] Translation: X:2.23, Y:0.10, Z:-0.53 [[ 9.99996521e-01 -1.00310666e-03 -2.43962678e-03 2.22985990e+00] [ 9.99091611e-04 9.99998146e-01 -1.64642545e-03 1.01601625e-01] [ 2.44127380e-03 1.64398231e-03 9.99995669e-01 -5.31320232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.924553574 meters Centerline goodness [0,1] 0.8234376680649672 Centerline is valid? [False, False] Translation: X:2.23, Y:0.10, Z:-0.53 [[ 0.99997592 -0.00621768 -0.00308351 2.23233114] [ 0.006202 0.99996792 -0.0050689 0.0982643 ] [ 0.00311493 0.00504965 0.9999824 -0.5305793 ] [ 0. 0. 0. 1. ]] SLAMing on 71.954553574 meters Centerline goodness [0,1] 0.8259908926791151 Centerline is valid? [False, False] Translation: X:2.24, Y:0.10, Z:-0.53 [[ 0.9999609 -0.00779513 -0.00417532 2.23619917] [ 0.00777798 0.99996131 -0.004109 0.09509601] [ 0.00420719 0.00407636 0.99998284 -0.5288445 ] [ 0. 0. 0. 1. ]] SLAMing on 71.984553574 meters Centerline goodness [0,1] 0.8270113225990388 Centerline is valid? [False, False] Translation: X:2.24, Y:0.09, Z:-0.53 [[ 0.99994401 -0.00922251 -0.00518794 2.23993689] [ 0.00920463 0.99995165 -0.00346044 0.09221868] [ 0.00521961 0.00341249 0.99998056 -0.528057 ] [ 0. 0. 0. 1. ]] SLAMing on 72.014553574 meters Centerline goodness [0,1] 0.8292256884740304 Centerline is valid? [False, False] Translation: X:2.25, Y:0.09, Z:-0.53 [[ 0.99990372 -0.01226352 -0.00649262 2.2467136 ] [ 0.01224345 0.99992017 -0.00312182 0.08768363] [ 0.00653039 0.00304202 0.99997405 -0.52817107] [ 0. 0. 0. 1. ]] SLAMing on 72.044553574 meters Centerline goodness [0,1] 0.8270949111910211 Centerline is valid? [False, False] Translation: X:2.25, Y:0.09, Z:-0.52 [[ 0.99993304 -0.00890772 -0.00738638 2.24854538] [ 0.00892708 0.99995679 0.00259282 0.08565885] [ 0.00736297 -0.00265858 0.99996936 -0.5242503 ] [ 0. 0. 0. 1. ]] SLAMing on 72.074553574 meters Centerline goodness [0,1] 0.8289114532154165 Centerline is valid? [False, False] Translation: X:2.25, Y:0.09, Z:-0.52 [[ 0.99993687 -0.00862091 -0.00720673 2.24791362] [ 0.00863922 0.99995952 0.00251321 0.08587128] [ 0.00718477 -0.00257531 0.99997087 -0.52453241] [ 0. 0. 0. 1. ]] SLAMing on 72.10455357400001 meters Centerline goodness [0,1] 0.8277223947268072 Centerline is valid? [False, False] Translation: X:2.25, Y:0.09, Z:-0.52 [[ 0.99993554 -0.00870175 -0.00729362 2.24825216] [ 0.0087214 0.99995841 0.00266723 0.08567788] [ 0.00727011 -0.00273066 0.99996984 -0.52440451] [ 0. 0. 0. 1. ]] SLAMing on 72.134553574 meters Centerline goodness [0,1] 0.824029059922434 Centerline is valid? [False, False] Translation: X:2.25, Y:0.08, Z:-0.52 [[ 0.99992321 -0.00957202 -0.0078704 2.25060902] [ 0.00959484 0.99994986 0.00286764 0.08473968] [ 0.00784256 -0.00294294 0.99996492 -0.52435556] [ 0. 0. 0. 1. ]] SLAMing on 72.164553574 meters Centerline goodness [0,1] 0.8296557569791922 Centerline is valid? [False, False] Translation: X:2.25, Y:0.08, Z:-0.52 [[ 0.99991391 -0.01015381 -0.00831143 2.25240036] [ 0.01017875 0.9999438 0.00296419 0.08401176] [ 0.00828087 -0.00304854 0.99996107 -0.52455615] [ 0. 0. 0. 1. ]] SLAMing on 72.194553574 meters Centerline goodness [0,1] 0.829239573920425 Centerline is valid? [False, False] Translation: X:2.26, Y:0.08, Z:-0.52 [[ 0.99989322 -0.01136038 -0.00919194 2.25596617] [ 0.01139 0.99993009 0.00317626 0.08191282] [ 0.00915522 -0.00328061 0.99995271 -0.52491483] [ 0. 0. 0. 1. ]] SLAMing on 72.224553574 meters Centerline goodness [0,1] 0.8284190371991247 Centerline is valid? [False, False] Translation: X:2.25, Y:0.08, Z:-0.52 [[ 0.99990329 -0.01071278 -0.00886846 2.25411809] [ 0.01074486 0.99993587 0.00357707 0.08237336] [ 0.00882957 -0.00367201 0.99995428 -0.52356926] [ 0. 0. 0. 1. ]] SLAMing on 72.254553574 meters Centerline goodness [0,1] 0.8320373250388803 Centerline is valid? [False, False] Translation: X:2.25, Y:0.08, Z:-0.52 [[ 0.9999233 -0.00940755 -0.00805601 2.2500306 ] [ 0.00944129 0.99994678 0.00416026 0.08311943] [ 0.00801644 -0.004236 0.9999589 -0.52127229] [ 0. 0. 0. 1. ]] SLAMing on 72.284553574 meters Centerline goodness [0,1] 0.8290339311549696 Centerline is valid? [False, False] Translation: X:2.25, Y:0.08, Z:-0.52 [[ 0.99991759 -0.00975184 -0.00835006 2.25124449] [ 0.00978425 0.99994472 0.00385036 0.08423005] [ 0.00831205 -0.00393175 0.99995772 -0.5217174 ] [ 0. 0. 0. 1. ]] SLAMing on 72.314553574 meters Centerline goodness [0,1] 0.8276631040765821 Centerline is valid? [False, False] Translation: X:2.25, Y:0.09, Z:-0.52 [[ 0.99990536 -0.01049655 -0.0088933 2.25383764] [ 0.01052432 0.99993987 0.00308148 0.08567698] [ 0.00886042 -0.00317478 0.99995571 -0.52344412] [ 0. 0. 0. 1. ]] SLAMing on 72.344553574 meters Centerline goodness [0,1] 0.8295204156578984 Centerline is valid? [False, False] Translation: X:2.26, Y:0.09, Z:-0.53 [[ 9.99865237e-01 -1.27248060e-02 -1.03723851e-02 2.26015655e+00] [ 1.27483252e-02 9.99916307e-01 2.20452551e-03 8.64624293e-02] [ 1.03434648e-02 -2.33645896e-03 9.99943775e-01 -5.25278317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.374553574 meters Centerline goodness [0,1] 0.8310035354908893 Centerline is valid? [False, False] Translation: X:2.26, Y:0.09, Z:-0.52 [[ 0.9998426 -0.01376809 -0.01118964 2.26292222] [ 0.01379724 0.99990161 0.00253174 0.08537166] [ 0.01115368 -0.00268573 0.99993419 -0.52448196] [ 0. 0. 0. 1. ]] SLAMing on 72.404553574 meters Centerline goodness [0,1] 0.835145075602779 Centerline is valid? [False, False] Translation: X:2.26, Y:0.08, Z:-0.52 [[ 0.99982204 -0.01463556 -0.01190309 2.26430295] [ 0.01468013 0.99988552 0.00366526 0.08428515] [ 0.01184808 -0.00383935 0.99992244 -0.52085114] [ 0. 0. 0. 1. ]] SLAMing on 72.434553574 meters Centerline goodness [0,1] 0.8321362498639677 Centerline is valid? [False, False] Translation: X:2.26, Y:0.08, Z:-0.52 [[ 0.9998277 -0.01436143 -0.01176092 2.26318907] [ 0.0144104 0.9998878 0.00409016 0.08460778] [ 0.01170086 -0.00425894 0.99992247 -0.51925746] [ 0. 0. 0. 1. ]] SLAMing on 72.464553574 meters Centerline goodness [0,1] 0.8357670176962327 Centerline is valid? [False, False] Translation: X:2.26, Y:0.09, Z:-0.52 [[ 0.9998285 -0.01429375 -0.01177577 2.26301935] [ 0.0143437 0.99988844 0.00416819 0.08536338] [ 0.01171488 -0.00433638 0.99992198 -0.51871284] [ 0. 0. 0. 1. ]] SLAMing on 72.49455357400001 meters Centerline goodness [0,1] 0.8344241899713312 Centerline is valid? [False, False] Translation: X:2.26, Y:0.09, Z:-0.52 [[ 0.99982709 -0.01430066 -0.0118861 2.2640353 ] [ 0.01433853 0.99989237 0.00310739 0.08875257] [ 0.01184039 -0.00327728 0.99992453 -0.52105834] [ 0. 0. 0. 1. ]] SLAMing on 72.524553574 meters Centerline goodness [0,1] 0.834365618153788 Centerline is valid? [False, False] Translation: X:2.27, Y:0.09, Z:-0.52 [[ 0.99984525 -0.01168839 -0.01314766 2.2682637 ] [ 0.0117833 0.9999049 0.00716498 0.08901795] [ 0.01306266 -0.00731879 0.99988789 -0.52072131] [ 0. 0. 0. 1. ]] SLAMing on 72.554553574 meters Centerline goodness [0,1] 0.8331890019484737 Centerline is valid? [False, False] Translation: X:2.27, Y:0.09, Z:-0.52 [[ 0.99985643 -0.0110457 -0.01284978 2.26718181] [ 0.01112972 0.99991703 0.00648558 0.09076433] [ 0.01277708 -0.00662767 0.9998964 -0.52207327] [ 0. 0. 0. 1. ]] SLAMing on 72.584553574 meters Centerline goodness [0,1] 0.8351149983803046 Centerline is valid? [False, False] Translation: X:2.28, Y:0.09, Z:-0.53 [[ 0.99992568 -0.00938903 -0.00777654 2.28310423] [ 0.00936309 0.9999505 -0.00336529 0.09270672] [ 0.00780775 0.00329223 0.9999641 -0.52946143] [ 0. 0. 0. 1. ]] SLAMing on 72.614553574 meters Centerline goodness [0,1] 0.8317115363823115 Centerline is valid? [False, False] Translation: X:2.28, Y:0.09, Z:-0.52 [[ 0.99996112 -0.00447927 -0.00759577 2.28035416] [ 0.00450099 0.99998582 0.00284481 0.09070517] [ 0.00758292 -0.00287888 0.99996711 -0.5240083 ] [ 0. 0. 0. 1. ]] SLAMing on 72.644553574 meters Centerline goodness [0,1] 0.8343384082857839 Centerline is valid? [False, False] Translation: X:2.28, Y:0.09, Z:-0.52 [[ 0.99996632 -0.00389476 -0.00722478 2.27888399] [ 0.00391497 0.99998845 0.00278641 0.09120907] [ 0.00721385 -0.0028146 0.99997002 -0.52408221] [ 0. 0. 0. 1. ]] SLAMing on 72.674553574 meters Centerline goodness [0,1] 0.8336705787130716 Centerline is valid? [False, False] Translation: X:2.28, Y:0.09, Z:-0.53 [[ 9.99969460e-01 -3.50166603e-03 -6.98694538e-03 2.27860492e+00] [ 3.51595923e-03 9.99991749e-01 2.03446729e-03 9.26437720e-02] [ 6.97976371e-03 -2.05897097e-03 9.99973521e-01 -5.26218553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.704553574 meters Centerline goodness [0,1] 0.8320662137388116 Centerline is valid? [False, False] Translation: X:2.28, Y:0.09, Z:-0.53 [[ 9.99970676e-01 -3.34023703e-03 -6.89128142e-03 2.27857357e+00] [ 3.35158545e-03 9.99993045e-01 1.63588848e-03 9.33222259e-02] [ 6.88576924e-03 -1.65893723e-03 9.99974917e-01 -5.27340999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.734553574 meters Centerline goodness [0,1] 0.8320053835800807 Centerline is valid? [False, False] Translation: X:2.28, Y:0.09, Z:-0.53 [[ 9.99972100e-01 -3.10225319e-03 -6.79517606e-03 2.27806929e+00] [ 3.11533643e-03 9.99993312e-01 1.91563365e-03 9.29087427e-02] [ 6.78918784e-03 -1.93674947e-03 9.99975078e-01 -5.26961130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.764553574 meters Centerline goodness [0,1] 0.8320188633222213 Centerline is valid? [False, False] Translation: X:2.27, Y:0.09, Z:-0.53 [[ 9.99967994e-01 -5.70772279e-03 -5.60655083e-03 2.27340613e+00] [ 5.70175812e-03 9.99983162e-01 -1.07928477e-03 9.04512224e-02] [ 5.61261668e-03 1.04728303e-03 9.99983701e-01 -5.25166106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.794553574 meters Centerline goodness [0,1] 0.8303182214472538 Centerline is valid? [False, False] Translation: X:2.27, Y:0.09, Z:-0.52 [[ 9.99964171e-01 -6.07337593e-03 -5.89674509e-03 2.27401530e+00] [ 6.07377911e-03 9.99981553e-01 5.04686702e-05 8.80791520e-02] [ 5.89632980e-03 -8.62823891e-05 9.99982613e-01 -5.22974608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.824553574 meters Centerline goodness [0,1] 0.8301130944270336 Centerline is valid? [False, False] Translation: X:2.28, Y:0.09, Z:-0.52 [[ 9.99956037e-01 -6.90114128e-03 -6.34814238e-03 2.27602334e+00] [ 6.90537146e-03 9.99975950e-01 6.44688435e-04 8.59448282e-02] [ 6.34354062e-03 -6.88496373e-04 9.99979643e-01 -5.22462773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.85455357400001 meters Centerline goodness [0,1] 0.8302659603517012 Centerline is valid? [False, False] Translation: X:2.28, Y:0.09, Z:-0.52 [[ 9.99955963e-01 -6.91522807e-03 -6.34436636e-03 2.27612382e+00] [ 6.92110591e-03 9.99975639e-01 9.04978622e-04 8.51789178e-02] [ 6.33795367e-03 -9.48848801e-04 9.99979465e-01 -5.22387566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.884553574 meters Centerline goodness [0,1] 0.8323274802698053 Centerline is valid? [False, False] Translation: X:2.27, Y:0.08, Z:-0.52 [[ 9.99963566e-01 -6.22024191e-03 -5.84602293e-03 2.27435307e+00] [ 6.22893290e-03 9.99979520e-01 1.46961944e-03 8.34566259e-02] [ 5.83676182e-03 -1.50598038e-03 9.99981832e-01 -5.22177241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.914553574 meters Centerline goodness [0,1] 0.8328228408904447 Centerline is valid? [False, False] Translation: X:2.27, Y:0.08, Z:-0.52 [[ 9.99966821e-01 -5.89393244e-03 -5.62311301e-03 2.27377343e+00] [ 5.90231539e-03 9.99981493e-01 1.47537361e-03 8.28309388e-02] [ 5.61431319e-03 -1.50851404e-03 9.99983102e-01 -5.22752788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.944553574 meters Centerline goodness [0,1] 0.831170608848007 Centerline is valid? [False, False] Translation: X:2.27, Y:0.08, Z:-0.52 [[ 9.99970965e-01 -5.43685353e-03 -5.33949025e-03 2.27282942e+00] [ 5.44546510e-03 9.99983894e-01 1.59959606e-03 8.22597701e-02] [ 5.33070748e-03 -1.62862563e-03 9.99984465e-01 -5.23049272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.974553574 meters Centerline goodness [0,1] 0.8341810783316379 Centerline is valid? [False, False] Translation: X:2.27, Y:0.08, Z:-0.52 [[ 9.99984209e-01 -3.70993871e-03 -4.22121557e-03 2.26867326e+00] [ 3.71838890e-03 9.99991095e-01 1.99575406e-03 8.07335618e-02] [ 4.21377386e-03 -2.01141867e-03 9.99989099e-01 -5.23241563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.004553574 meters Centerline goodness [0,1] 0.8331637843336724 Centerline is valid? [False, False] Translation: X:2.26, Y:0.08, Z:-0.53 [[ 9.99996340e-01 -8.48926867e-04 -2.56886042e-03 2.26239646e+00] [ 8.51912754e-04 9.99998963e-01 1.16146804e-03 8.18006221e-02] [ 2.56787176e-03 -1.16365224e-03 9.99996026e-01 -5.26047891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.034553574 meters Centerline goodness [0,1] 0.827480161454186 Centerline is valid? [False, False] Translation: X:2.26, Y:0.08, Z:-0.53 [[ 9.99998039e-01 7.44800539e-05 -1.97886365e-03 2.26062233e+00] [-7.29273534e-05 9.99999689e-01 7.84703055e-04 8.26902014e-02] [ 1.97892148e-03 -7.84557203e-04 9.99997734e-01 -5.27340326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.064553574 meters Centerline goodness [0,1] 0.8295513787899574 Centerline is valid? [False, False] Translation: X:2.26, Y:0.08, Z:-0.53 [[ 9.99998525e-01 7.67595411e-04 -1.53640532e-03 2.25934876e+00] [-7.66989819e-04 9.99999628e-01 3.94711559e-04 8.32285348e-02] [ 1.53670772e-03 -3.93532570e-04 9.99998742e-01 -5.28606531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.094553574 meters Centerline goodness [0,1] 0.8299865764457716 Centerline is valid? [False, False] Translation: X:2.25, Y:0.08, Z:-0.53 [[ 9.99991978e-01 4.00537586e-03 8.02188496e-06 2.25220894e+00] [-4.00538191e-03 9.99991469e-01 1.00910703e-03 8.40596533e-02] [-3.97996359e-06 -1.00913107e-03 9.99999491e-01 -5.27847973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.124553574 meters Centerline goodness [0,1] 0.8282385195339274 Centerline is valid? [False, False] Translation: X:2.25, Y:0.08, Z:-0.53 [[ 9.99982621e-01 5.78216431e-03 1.15096568e-03 2.24749068e+00] [-5.78397019e-03 9.99982037e-01 1.57191422e-03 8.42032373e-02] [-1.14185594e-03 -1.57854406e-03 9.99998102e-01 -5.26614778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.154553574 meters Centerline goodness [0,1] 0.8310796014453082 Centerline is valid? [False, False] Translation: X:2.25, Y:0.08, Z:-0.53 [[ 9.99980157e-01 6.14241370e-03 1.39890838e-03 2.24663215e+00] [-6.14452854e-03 9.99979978e-01 1.51253191e-03 8.44330531e-02] [-1.38958977e-03 -1.52109753e-03 9.99997878e-01 -5.26756954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.184553574 meters Centerline goodness [0,1] 0.8311927109061968 Centerline is valid? [False, False] Translation: X:2.25, Y:0.09, Z:-0.53 [[ 9.99978560e-01 6.35167101e-03 1.59221768e-03 2.24629698e+00] [-6.35347320e-03 9.99979179e-01 1.12938264e-03 8.50344062e-02] [-1.58501106e-03 -1.13947454e-03 9.99998095e-01 -5.27685998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.214553574 meters Centerline goodness [0,1] 0.8280066708587364 Centerline is valid? [False, False] Translation: X:2.25, Y:0.09, Z:-0.53 [[ 9.99976456e-01 6.63362979e-03 1.75585651e-03 2.24661954e+00] [-6.63352534e-03 9.99977996e-01 -6.53020408e-05 8.67042366e-02] [-1.75625106e-03 5.36529846e-05 9.99998456e-01 -5.30954223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.24455357400001 meters Centerline goodness [0,1] 0.8286701867073104 Centerline is valid? [False, False] Translation: X:2.24, Y:0.09, Z:-0.53 [[ 9.99968437e-01 7.59643965e-03 2.32803761e-03 2.24426457e+00] [-7.59559733e-03 9.99971084e-01 -3.70443553e-04 8.82882344e-02] [-2.33078435e-03 3.52749024e-04 9.99997222e-01 -5.31131433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.274553574 meters Centerline goodness [0,1] 0.8286701867073104 Centerline is valid? [False, False] Translation: X:2.24, Y:0.09, Z:-0.53 [[ 9.99968437e-01 7.59643965e-03 2.32803761e-03 2.24426457e+00] [-7.59559733e-03 9.99971084e-01 -3.70443553e-04 8.82882344e-02] [-2.33078435e-03 3.52749024e-04 9.99997222e-01 -5.31131433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.304553574 meters Centerline goodness [0,1] 0.8260312090790047 Centerline is valid? [False, False] Translation: X:2.24, Y:0.09, Z:-0.53 [[ 9.99950085e-01 9.36288952e-03 3.48756582e-03 2.23950285e+00] [-9.36221769e-03 9.99956152e-01 -2.08911721e-04 8.94078828e-02] [-3.48936892e-03 1.76249943e-04 9.99993897e-01 -5.30236820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.334553574 meters Centerline goodness [0,1] 0.8253153497515426 Centerline is valid? [False, False] Translation: X:2.24, Y:0.09, Z:-0.53 [[ 9.99943789e-01 9.86659586e-03 3.88195050e-03 2.23788352e+00] [-9.86640237e-03 9.99951323e-01 -6.89919856e-05 8.98062860e-02] [-3.88244225e-03 3.06872219e-05 9.99992463e-01 -5.29536182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.364553574 meters Centerline goodness [0,1] 0.8265192469642226 Centerline is valid? [False, False] Translation: X:2.23, Y:0.09, Z:-0.53 [[ 9.99920772e-01 1.15630619e-02 4.97451921e-03 2.23342003e+00] [-1.15625987e-02 9.99933143e-01 -1.21876319e-04 9.21214378e-02] [-4.97559589e-03 6.43482936e-05 9.99987620e-01 -5.29084560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.394553574 meters Centerline goodness [0,1] 0.8255757114925049 Centerline is valid? [False, False] Translation: X:2.23, Y:0.09, Z:-0.53 [[ 9.99912302e-01 1.20719544e-02 5.44572665e-03 2.23219488e+00] [-1.20677308e-02 9.99926856e-01 -8.07764314e-04 9.42194709e-02] [-5.45507962e-03 7.41975912e-04 9.99984846e-01 -5.30262297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.424553574 meters Centerline goodness [0,1] 0.8229971009780812 Centerline is valid? [False, False] Translation: X:2.23, Y:0.10, Z:-0.53 [[ 9.99905981e-01 1.24415685e-02 5.76519305e-03 2.23163465e+00] [-1.24317846e-02 9.99921226e-01 -1.72980716e-03 9.64194867e-02] [-5.78626042e-03 1.65797289e-03 9.99981885e-01 -5.32111609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.454553574 meters Centerline goodness [0,1] 0.8220042805667687 Centerline is valid? [False, False] Translation: X:2.23, Y:0.10, Z:-0.53 [[ 0.99990216 0.01262786 0.00601699 2.23139774] [-0.01261198 0.9999169 -0.00267028 0.09863169] [-0.00605021 0.00259413 0.99997833 -0.53390432] [ 0. 0. 0. 1. ]] SLAMing on 73.484553574 meters Centerline goodness [0,1] 0.8221771467207573 Centerline is valid? [False, False] Translation: X:2.23, Y:0.10, Z:-0.53 [[ 0.99991071 0.01209847 0.00567528 2.23280694] [-0.0120834 0.9999234 -0.00268156 0.09838486] [-0.00570729 0.00261274 0.9999803 -0.53385807] [ 0. 0. 0. 1. ]] SLAMing on 73.514553574 meters Centerline goodness [0,1] 0.8254453063761926 Centerline is valid? [False, False] Translation: X:2.23, Y:0.10, Z:-0.53 [[ 0.99994845 0.00822476 0.00595419 2.23202307] [-0.00818238 0.99994126 -0.00710787 0.09829778] [-0.00601231 0.00705878 0.99995701 -0.53465135] [ 0. 0. 0. 1. ]] SLAMing on 73.544553574 meters Centerline goodness [0,1] 0.823988046726433 Centerline is valid? [False, False] Translation: X:2.23, Y:0.10, Z:-0.53 [[ 0.99995674 0.00758808 0.00538007 2.23382372] [-0.00755176 0.99994877 -0.00674078 0.09754571] [-0.00543094 0.00669986 0.99996281 -0.53381815] [ 0. 0. 0. 1. ]] SLAMing on 73.574553574 meters Centerline goodness [0,1] 0.824568533420033 Centerline is valid? [False, False] Translation: X:2.24, Y:0.10, Z:-0.54 [[ 0.9999635 0.00700565 0.00489141 2.23620361] [-0.00696674 0.9999443 -0.00792864 0.10005302] [-0.00494668 0.00789427 0.9999566 -0.5361693 ] [ 0. 0. 0. 1. ]] SLAMing on 73.60455357400001 meters Centerline goodness [0,1] 0.823211438146977 Centerline is valid? [False, False] Translation: X:2.24, Y:0.10, Z:-0.54 [[ 0.99996565 0.00678362 0.00476203 2.23744572] [-0.00674148 0.99993845 -0.00881179 0.10195422] [-0.00482151 0.00877938 0.99994984 -0.53819333] [ 0. 0. 0. 1. ]] SLAMing on 73.634553574 meters Centerline goodness [0,1] 0.8210677428966116 Centerline is valid? [False, False] Translation: X:2.24, Y:0.10, Z:-0.54 [[ 0.99996506 0.00687662 0.00475241 2.23809082] [-0.00683079 0.99993065 -0.00959346 0.10389244] [-0.00481805 0.00956067 0.99994269 -0.54024798] [ 0. 0. 0. 1. ]] SLAMing on 73.664553574 meters Centerline goodness [0,1] 0.8223751686909582 Centerline is valid? [False, False] Translation: X:2.24, Y:0.10, Z:-0.54 [[ 0.99996383 0.00701991 0.0048022 2.23786872] [-0.00697452 0.99993146 -0.00940426 0.1039147 ] [-0.00486788 0.00937043 0.99994425 -0.53991611] [ 0. 0. 0. 1. ]] SLAMing on 73.694553574 meters Centerline goodness [0,1] 0.8201563387519948 Centerline is valid? [False, False] Translation: X:2.24, Y:0.10, Z:-0.54 [[ 0.99995848 0.0075466 0.00510741 2.23631519] [-0.00750022 0.99993101 -0.00904 0.10428149] [-0.00517527 0.00900132 0.99994609 -0.53875879] [ 0. 0. 0. 1. ]] SLAMing on 73.724553574 meters Centerline goodness [0,1] 0.8242943056834805 Centerline is valid? [False, False] Translation: X:2.24, Y:0.10, Z:-0.54 [[ 0.99995538 0.00783552 0.00527674 2.2351356 ] [-0.00779165 0.99993533 -0.00828413 0.10367508] [-0.00534131 0.00824264 0.99995176 -0.53677985] [ 0. 0. 0. 1. ]] SLAMing on 73.754553574 meters Centerline goodness [0,1] 0.8227669613319595 Centerline is valid? [False, False] Translation: X:2.24, Y:0.10, Z:-0.54 [[ 0.99995898 0.00753829 0.00502161 2.2358987 ] [-0.00749866 0.99994097 -0.00786306 0.10296999] [-0.00508059 0.00782508 0.99995648 -0.53596352] [ 0. 0. 0. 1. ]] SLAMing on 73.784553574 meters Centerline goodness [0,1] 0.8209145366329655 Centerline is valid? [False, False] Translation: X:2.24, Y:0.10, Z:-0.54 [[ 0.99996465 0.00703057 0.00461293 2.23742962] [-0.00699437 0.99994499 -0.00781661 0.1032402 ] [-0.00466763 0.00778407 0.99995881 -0.53577827] [ 0. 0. 0. 1. ]] SLAMing on 73.814553574 meters Centerline goodness [0,1] 0.8237189031157792 Centerline is valid? [False, False] Translation: X:2.24, Y:0.10, Z:-0.54 [[ 0.99996832 0.0066733 0.00433924 2.23861784] [-0.0066388 0.99994663 -0.00791631 0.10355594] [-0.00439184 0.00788725 0.99995925 -0.53602677] [ 0. 0. 0. 1. ]] SLAMing on 73.844553574 meters Centerline goodness [0,1] 0.8201190508548286 Centerline is valid? [False, False] Translation: X:2.24, Y:0.10, Z:-0.53 [[ 0.99998048 0.00530389 0.00330428 2.24209163] [-0.00527999 0.99996013 -0.0072017 0.1020139 ] [-0.00334235 0.00718412 0.99996861 -0.53446261] [ 0. 0. 0. 1. ]] SLAMing on 73.874553574 meters Centerline goodness [0,1] 0.820482781168265 Centerline is valid? [False, False] Translation: X:2.24, Y:0.10, Z:-0.53 [[ 0.99998588 0.00457857 0.00269821 2.24408578] [-0.00456012 0.99996643 -0.00680806 0.10096878] [-0.00272929 0.00679566 0.99997318 -0.53368869] [ 0. 0. 0. 1. ]] SLAMing on 73.904553574 meters Centerline goodness [0,1] 0.8208098773489978 Centerline is valid? [False, False] Translation: X:2.25, Y:0.10, Z:-0.53 [[ 9.99991802e-01 3.58167343e-03 1.88887101e-03 2.24713691e+00] [-3.56876101e-03 9.99970541e-01 -6.79568366e-03 1.00451816e-01] [-1.91315528e-03 6.78888702e-03 9.99975125e-01 -5.33856890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.934553574 meters Centerline goodness [0,1] 0.8196081641562978 Centerline is valid? [False, False] Translation: X:2.25, Y:0.10, Z:-0.54 [[ 9.99997078e-01 2.24240098e-03 9.03359121e-04 2.25145781e+00] [-2.23557093e-03 9.99969435e-01 -7.49209183e-03 1.00977771e-01] [-9.20131784e-04 7.49005042e-03 9.99971526e-01 -5.35766924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.964553574 meters Centerline goodness [0,1] 0.8202256376716808 Centerline is valid? [False, False] Translation: X:2.25, Y:0.10, Z:-0.54 [[ 9.99998988e-01 1.38795992e-03 3.11531611e-04 2.25400002e+00] [-1.38557996e-03 9.99970810e-01 -7.51398398e-03 1.00597376e-01] [-3.21951626e-04 7.51354473e-03 9.99971721e-01 -5.36207794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.99455357400001 meters Centerline goodness [0,1] 0.8188009408675674 Centerline is valid? [False, False] Translation: X:2.26, Y:0.10, Z:-0.53 [[ 9.99999559e-01 -4.24654452e-04 -8.37974105e-04 2.25837295e+00] [ 4.19182860e-04 9.99978664e-01 -6.51895595e-03 9.85553110e-02] [ 8.40724529e-04 6.51860181e-03 9.99978400e-01 -5.34338898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.024553574 meters Centerline goodness [0,1] 0.8187728008338591 Centerline is valid? [False, False] Translation: X:2.26, Y:0.10, Z:-0.53 [[ 9.99997473e-01 -1.50935861e-03 -1.66611185e-03 2.26125309e+00] [ 1.49918049e-03 9.99980312e-01 -6.09334227e-03 9.72152821e-02] [ 1.67527609e-03 6.09082907e-03 9.99980047e-01 -5.33581513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.054553574 meters Centerline goodness [0,1] 0.8196143250688706 Centerline is valid? [False, False] Translation: X:2.27, Y:0.09, Z:-0.53 [[ 0.99998513 -0.00448389 -0.00310426 2.26749458] [ 0.00447285 0.99998367 -0.00355693 0.09233877] [ 0.00312016 0.00354299 0.99998886 -0.5282049 ] [ 0. 0. 0. 1. ]] SLAMing on 74.084553574 meters Centerline goodness [0,1] 0.8255833149900946 Centerline is valid? [False, False] Translation: X:2.27, Y:0.09, Z:-0.53 [[ 0.99998136 -0.00497722 -0.00353681 2.26839147] [ 0.00496806 0.99998429 -0.00259455 0.09092465] [ 0.00354967 0.00257693 0.99999038 -0.52579996] [ 0. 0. 0. 1. ]] SLAMing on 74.114553574 meters Centerline goodness [0,1] 0.8317777655050533 Centerline is valid? [False, False] Translation: X:2.27, Y:0.09, Z:-0.52 [[ 9.99976039e-01 -5.66418914e-03 -3.97965836e-03 2.26923959e+00] [ 5.65731970e-03 9.99982492e-01 -1.73528004e-03 9.04950458e-02] [ 3.98941764e-03 1.71272426e-03 9.99990576e-01 -5.22897816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.144553574 meters Centerline goodness [0,1] 0.8274263000993707 Centerline is valid? [False, False] Translation: X:2.27, Y:0.09, Z:-0.52 [[ 9.99972609e-01 -6.05077006e-03 -4.26248708e-03 2.27044203e+00] [ 6.04221177e-03 9.99979710e-01 -2.01784019e-03 9.16891801e-02] [ 4.27461008e-03 1.99203007e-03 9.99988880e-01 -5.23237179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.174553574 meters Centerline goodness [0,1] 0.8268542481140906 Centerline is valid? [False, False] Translation: X:2.28, Y:0.09, Z:-0.52 [[ 9.99963717e-01 -5.33620327e-03 -6.64006574e-03 2.27941216e+00] [ 5.34599171e-03 9.99984648e-01 1.45727180e-03 9.36370007e-02] [ 6.63218751e-03 -1.49271667e-03 9.99976893e-01 -5.23335681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.204553574 meters Centerline goodness [0,1] 0.8217465377005935 Centerline is valid? [False, False] Translation: X:2.28, Y:0.09, Z:-0.52 [[ 9.99958147e-01 -5.84791315e-03 -7.03608403e-03 2.28120852e+00] [ 5.85396063e-03 9.99982513e-01 8.39207771e-04 9.49545185e-02] [ 7.03105338e-03 -8.80361607e-04 9.99974894e-01 -5.24494296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.234553574 meters Centerline goodness [0,1] 0.8271929824561404 Centerline is valid? [False, False] Translation: X:2.28, Y:0.10, Z:-0.53 [[ 9.99946145e-01 -6.84015874e-03 -7.80508502e-03 2.28415755e+00] [ 6.84150117e-03 9.99976586e-01 1.45307350e-04 9.65378439e-02] [ 7.80390835e-03 -1.98698023e-04 9.99969529e-01 -5.25414006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.264553574 meters Centerline goodness [0,1] 0.8230872263073012 Centerline is valid? [False, False] Translation: X:2.29, Y:0.10, Z:-0.53 [[ 9.99940062e-01 -7.27291359e-03 -8.18398369e-03 2.28549540e+00] [ 7.27280254e-03 9.99973552e-01 -4.33309808e-05 9.71842030e-02] [ 8.18408238e-03 -1.61921137e-05 9.99966510e-01 -5.25510975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.294553574 meters Centerline goodness [0,1] 0.8255581973709383 Centerline is valid? [False, False] Translation: X:2.29, Y:0.10, Z:-0.53 [[ 9.99935640e-01 -7.55594698e-03 -8.46302157e-03 2.28642732e+00] [ 7.55499143e-03 9.99971450e-01 -1.44872431e-04 9.76314489e-02] [ 8.46387460e-03 8.09250512e-05 9.99964177e-01 -5.25491624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.324553574 meters Centerline goodness [0,1] 0.8238234974459298 Centerline is valid? [False, False] Translation: X:2.29, Y:0.10, Z:-0.52 [[ 0.99994763 -0.00429793 -0.00928758 2.28822348] [ 0.0043413 0.99997974 0.00465501 0.09724256] [ 0.00926738 -0.00469509 0.99994603 -0.52282298] [ 0. 0. 0. 1. ]] SLAMing on 74.35455357400001 meters Centerline goodness [0,1] 0.8287667516683848 Centerline is valid? [False, False] Translation: X:2.29, Y:0.10, Z:-0.52 [[ 0.99995608 -0.00347605 -0.00870404 2.28603129] [ 0.00351419 0.99998427 0.00437042 0.09859943] [ 0.00868872 -0.00440081 0.99995257 -0.52313699] [ 0. 0. 0. 1. ]] SLAMing on 74.384553574 meters Centerline goodness [0,1] 0.8220915173753507 Centerline is valid? [False, False] Translation: X:2.29, Y:0.10, Z:-0.52 [[ 9.99962249e-01 9.75677165e-04 -8.63410267e-03 2.28542488e+00] [-9.04333083e-04 9.99965451e-01 8.26310688e-03 1.00676201e-01] [ 8.64186650e-03 -8.25498684e-03 9.99928584e-01 -5.22834695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.414553574 meters Centerline goodness [0,1] 0.8236896765665884 Centerline is valid? [False, False] Translation: X:2.28, Y:0.10, Z:-0.52 [[ 9.99966046e-01 1.75561981e-03 -8.05133844e-03 2.28356143e+00] [-1.69394164e-03 9.99969219e-01 7.66104248e-03 1.02548903e-01] [ 8.06454049e-03 -7.64714386e-03 9.99938240e-01 -5.23925425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.444553574 meters Centerline goodness [0,1] 0.8214026894274902 Centerline is valid? [False, False] Translation: X:2.28, Y:0.11, Z:-0.53 [[ 0.99996606 0.004636 -0.00681059 2.27782191] [-0.00459274 0.99996927 0.00635374 0.10580269] [ 0.00683984 -0.00632225 0.99995662 -0.52690132] [ 0. 0. 0. 1. ]] SLAMing on 74.474553574 meters Centerline goodness [0,1] 0.8205245092781294 Centerline is valid? [False, False] Translation: X:2.28, Y:0.11, Z:-0.53 [[ 0.9999653 0.00564896 -0.00612204 2.27559698] [-0.00561321 0.99996719 0.00584109 0.10722516] [ 0.00615483 -0.00580653 0.9999642 -0.52800603] [ 0. 0. 0. 1. ]] SLAMing on 74.504553574 meters Centerline goodness [0,1] 0.8189694482444141 Centerline is valid? [False, False] Translation: X:2.27, Y:0.11, Z:-0.53 [[ 0.99996393 0.00640854 -0.00557365 2.27409859] [-0.00637841 0.99996503 0.00540807 0.1077534 ] [ 0.00560812 -0.00537233 0.99996984 -0.52936017] [ 0. 0. 0. 1. ]] SLAMing on 74.534553574 meters Centerline goodness [0,1] 0.8193135575069608 Centerline is valid? [False, False] Translation: X:2.27, Y:0.11, Z:-0.53 [[ 0.99996448 0.00628556 -0.0056156 2.27442062] [-0.00625525 0.99996586 0.00539922 0.10696149] [ 0.00564934 -0.0053639 0.99996966 -0.52960332] [ 0. 0. 0. 1. ]] SLAMing on 74.564553574 meters Centerline goodness [0,1] 0.8233131139621022 Centerline is valid? [False, False] Translation: X:2.27, Y:0.11, Z:-0.53 [[ 0.99996175 0.00717889 -0.0049959 2.27141707] [-0.0071478 0.99995515 0.00621411 0.10591049] [ 0.00504028 -0.00617816 0.99996821 -0.52750145] [ 0. 0. 0. 1. ]] SLAMing on 74.594553574 meters Centerline goodness [0,1] 0.8212025316455696 Centerline is valid? [False, False] Translation: X:2.27, Y:0.11, Z:-0.53 [[ 0.99995493 0.00853495 -0.00415941 2.26845449] [-0.00851285 0.99994971 0.00530186 0.10897295] [ 0.00420445 -0.00526622 0.99997729 -0.52916413] [ 0. 0. 0. 1. ]] SLAMing on 74.624553574 meters Centerline goodness [0,1] 0.8220814624759462 Centerline is valid? [False, False] Translation: X:2.27, Y:0.11, Z:-0.53 [[ 0.99995256 0.00893068 -0.00388972 2.26778851] [-0.00891273 0.99994966 0.00460845 0.11081828] [ 0.00393068 -0.00457356 0.99998182 -0.53042576] [ 0. 0. 0. 1. ]] SLAMing on 74.654553574 meters Centerline goodness [0,1] 0.8202838889037397 Centerline is valid? [False, False] Translation: X:2.27, Y:0.11, Z:-0.53 [[ 0.99994835 0.00958778 -0.00337199 2.26622626] [-0.00957418 0.99994606 0.00402564 0.11235972] [ 0.00341041 -0.00399314 0.99998621 -0.53145813] [ 0. 0. 0. 1. ]] SLAMing on 74.684553574 meters Centerline goodness [0,1] 0.8191899582480121 Centerline is valid? [False, False] Translation: X:2.26, Y:0.11, Z:-0.53 [[ 0.99994262 0.01032167 -0.00286871 2.26452291] [-0.01031182 0.99994095 0.00342846 0.11485787] [ 0.00290393 -0.00339868 0.99999001 -0.53227671] [ 0. 0. 0. 1. ]] SLAMing on 74.714553574 meters Centerline goodness [0,1] 0.8177363515312916 Centerline is valid? [False, False] Translation: X:2.26, Y:0.12, Z:-0.53 [[ 0.99994108 0.01052445 -0.00265793 2.26389213] [-0.01051582 0.99993945 0.00324166 0.1153561 ] [ 0.00269189 -0.00321351 0.99999121 -0.53248882] [ 0. 0. 0. 1. ]] SLAMing on 74.74455357400001 meters Centerline goodness [0,1] 0.8192954363490792 Centerline is valid? [False, False] Translation: X:2.26, Y:0.12, Z:-0.53 [[ 9.99957608e-01 9.09250322e-03 -1.45220836e-03 2.25901732e+00] [-9.09375023e-03 9.99958286e-01 -8.54418141e-04 1.16964851e-01] [ 1.44437899e-03 8.67587940e-04 9.99998581e-01 -5.33660232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.774553574 meters Centerline goodness [0,1] 0.8191520506746865 Centerline is valid? [False, False] Translation: X:2.26, Y:0.12, Z:-0.53 [[ 9.99954898e-01 9.41512683e-03 -1.24800440e-03 2.25832523e+00] [-9.41642205e-03 9.99955128e-01 -1.03605528e-03 1.17697971e-01] [ 1.23819381e-03 1.04776029e-03 9.99998685e-01 -5.33916441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.804553574 meters Centerline goodness [0,1] 0.8197166595654026 Centerline is valid? [False, False] Translation: X:2.26, Y:0.12, Z:-0.54 [[ 9.99955189e-01 9.38910881e-03 -1.21020881e-03 2.25866122e+00] [-9.39099732e-03 9.99954680e-01 -1.56435509e-03 1.18600965e-01] [ 1.19546607e-03 1.57565006e-03 9.99998044e-01 -5.35050621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.834553574 meters Centerline goodness [0,1] 0.8186915391156463 Centerline is valid? [False, False] Translation: X:2.26, Y:0.12, Z:-0.54 [[ 9.99953438e-01 9.58872260e-03 -1.08547497e-03 2.25835975e+00] [-9.59076039e-03 9.99952225e-01 -1.88794456e-03 1.19628146e-01] [ 1.06732013e-03 1.89826719e-03 9.99997629e-01 -5.35561996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.864553574 meters Centerline goodness [0,1] 0.8197453414497993 Centerline is valid? [False, False] Translation: X:2.26, Y:0.12, Z:-0.54 [[ 9.99949998e-01 9.96937202e-03 -7.82722530e-04 2.25738236e+00] [-9.97095182e-03 9.99948206e-01 -2.04106550e-03 1.20035333e-01] [ 7.62333848e-04 2.04876793e-03 9.99997611e-01 -5.35857847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.894553574 meters Centerline goodness [0,1] 0.8213782281443656 Centerline is valid? [False, False] Translation: X:2.26, Y:0.12, Z:-0.54 [[ 9.99951154e-01 9.84224829e-03 -9.05866450e-04 2.25804434e+00] [-9.84448911e-03 9.99948408e-01 -2.50338148e-03 1.21030277e-01] [ 8.81180813e-04 2.51217699e-03 9.99996456e-01 -5.36701849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.924553574 meters Centerline goodness [0,1] 0.8207522076816682 Centerline is valid? [False, False] Translation: X:2.26, Y:0.12, Z:-0.54 [[ 9.99957403e-01 9.11680303e-03 -1.44064331e-03 2.26039766e+00] [-9.12121476e-03 9.99953639e-01 -3.08602275e-03 1.21599149e-01] [ 1.41244186e-03 3.09903172e-03 9.99994200e-01 -5.38003779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.954553574 meters Centerline goodness [0,1] 0.8213552908572495 Centerline is valid? [False, False] Translation: X:2.27, Y:0.12, Z:-0.54 [[ 0.99997135 0.00699299 -0.00289946 2.26690454] [-0.00700506 0.99996676 -0.00417169 0.12219512] [ 0.00287019 0.00419188 0.99998709 -0.54070768] [ 0. 0. 0. 1. ]] SLAMing on 74.984553574 meters Centerline goodness [0,1] 0.8177276734432186 Centerline is valid? [False, False] Translation: X:2.27, Y:0.12, Z:-0.54 [[ 0.99997531 0.00600374 -0.00365117 2.26965651] [-0.0060185 0.99997371 -0.0040446 0.12113845] [ 0.0036268 0.00406648 0.99998515 -0.54064115] [ 0. 0. 0. 1. ]] SLAMing on 75.014553574 meters Centerline goodness [0,1] 0.8206217728055077 Centerline is valid? [False, False] Translation: X:2.27, Y:0.12, Z:-0.54 [[ 9.99991929e-01 1.62944564e-03 -3.67242023e-03 2.27022225e+00] [-1.66014803e-03 9.99963570e-01 -8.37277369e-03 1.20543950e-01] [ 3.65864347e-03 8.37880288e-03 9.99958204e-01 -5.41649705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.044553574 meters Centerline goodness [0,1] 0.8251033282575593 Centerline is valid? [False, False] Translation: X:2.28, Y:0.12, Z:-0.54 [[ 0.9999586 -0.00727818 -0.00546216 2.28011452] [ 0.00721529 0.99990845 -0.01144677 0.11584381] [ 0.00554497 0.01140688 0.99991956 -0.53954863] [ 0. 0. 0. 1. ]] SLAMing on 75.074553574 meters Centerline goodness [0,1] 0.823325792471858 Centerline is valid? [False, False] Translation: X:2.29, Y:0.11, Z:-0.54 [[ 0.99991732 -0.01057635 -0.00731379 2.28806555] [ 0.01050642 0.99989936 -0.00953357 0.11200978] [ 0.00741388 0.00945594 0.99992781 -0.53591288] [ 0. 0. 0. 1. ]] SLAMing on 75.10455357400001 meters Centerline goodness [0,1] 0.827571043808058 Centerline is valid? [False, False] Translation: X:2.30, Y:0.11, Z:-0.54 [[ 0.99979052 -0.01842392 -0.00891494 2.29685615] [ 0.01830142 0.99973957 -0.01363254 0.10847441] [ 0.00916379 0.01346653 0.99986733 -0.53685898] [ 0. 0. 0. 1. ]] SLAMing on 75.134553574 meters Centerline goodness [0,1] 0.827571043808058 Centerline is valid? [False, False] Translation: X:2.30, Y:0.11, Z:-0.54 [[ 0.99982424 -0.01587922 -0.00996662 2.29991249] [ 0.01578131 0.99982718 -0.00982664 0.10673705] [ 0.01012094 0.00966763 0.99990205 -0.53666673] [ 0. 0. 0. 1. ]] SLAMing on 75.164553574 meters Centerline goodness [0,1] 0.8303448655189484 Centerline is valid? [False, False] Translation: X:2.30, Y:0.11, Z:-0.54 [[ 0.99980385 -0.01670072 -0.0106461 2.30225889] [ 0.01660057 0.99981776 -0.00942721 0.1058323 ] [ 0.0108016 0.00924863 0.99989889 -0.53601291] [ 0. 0. 0. 1. ]] SLAMing on 75.194553574 meters Centerline goodness [0,1] 0.8286741104496447 Centerline is valid? [False, False] Translation: X:2.31, Y:0.10, Z:-0.53 [[ 0.99983094 -0.01405368 -0.01185708 2.30518208] [ 0.01401907 0.99989723 -0.00299772 0.10470391] [ 0.01189799 0.00283099 0.99992521 -0.52967292] [ 0. 0. 0. 1. ]] SLAMing on 75.224553574 meters Centerline goodness [0,1] 0.8261812590945282 Centerline is valid? [False, False] Translation: X:2.31, Y:0.11, Z:-0.53 [[ 0.99982375 -0.01436328 -0.01209015 2.30596758] [ 0.01432889 0.99989305 -0.00292654 0.10533861] [ 0.01213089 0.00275279 0.99992263 -0.52917977] [ 0. 0. 0. 1. ]] SLAMing on 75.254553574 meters Centerline goodness [0,1] 0.8267651888341543 Centerline is valid? [False, False] Translation: X:2.31, Y:0.11, Z:-0.53 [[ 0.99980654 -0.01510166 -0.01260253 2.30780932] [ 0.01506766 0.99988259 -0.00278891 0.10551757] [ 0.01264317 0.00259848 0.9999167 -0.52858637] [ 0. 0. 0. 1. ]] SLAMing on 75.284553574 meters Centerline goodness [0,1] 0.8269917092186899 Centerline is valid? [False, False] Translation: X:2.31, Y:0.10, Z:-0.53 [[ 9.99735050e-01 -1.80109198e-02 -1.43330576e-02 2.31459502e+00] [ 1.79800748e-02 9.99835750e-01 -2.27799067e-03 1.04004730e-01] [ 1.43717321e-02 2.01967767e-03 9.99894682e-01 -5.26858080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.314553574 meters Centerline goodness [0,1] 0.8273270379649258 Centerline is valid? [False, False] Translation: X:2.32, Y:0.10, Z:-0.53 [[ 9.99695987e-01 -1.92976744e-02 -1.53470953e-02 2.31830985e+00] [ 1.92675952e-02 9.99812146e-01 -2.10539487e-03 1.02946259e-01] [ 1.53848415e-02 1.80905318e-03 9.99880010e-01 -5.26629957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.344553574 meters Centerline goodness [0,1] 0.8255170324677112 Centerline is valid? [False, False] Translation: X:2.33, Y:0.10, Z:-0.53 [[ 9.99612192e-01 -2.20013949e-02 -1.70705568e-02 2.32590380e+00] [ 2.19589168e-02 9.99755304e-01 -2.67187094e-03 1.02097531e-01] [ 1.71251646e-02 2.29598384e-03 9.99850717e-01 -5.28296459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.374553574 meters Centerline goodness [0,1] 0.8259192948629666 Centerline is valid? [False, False] Translation: X:2.33, Y:0.10, Z:-0.53 [[ 0.99958699 -0.02268289 -0.0176448 2.32826962] [ 0.0226369 0.99973983 -0.00280199 0.1019803 ] [ 0.01770377 0.00240141 0.99984039 -0.52891664] [ 0. 0. 0. 1. ]] SLAMing on 75.404553574 meters Centerline goodness [0,1] 0.8241420053306955 Centerline is valid? [False, False] Translation: X:2.33, Y:0.10, Z:-0.53 [[ 0.9995695 -0.02309917 -0.01808995 2.32999433] [ 0.02305232 0.99973035 -0.00279432 0.10135685] [ 0.01814962 0.0023761 0.99983246 -0.52942081] [ 0. 0. 0. 1. ]] SLAMing on 75.434553574 meters Centerline goodness [0,1] 0.8248474184857315 Centerline is valid? [False, False] Translation: X:2.33, Y:0.10, Z:-0.53 [[ 0.99960261 -0.02046967 -0.01938061 2.33384106] [ 0.02051952 0.99978663 0.00237649 0.09915007] [ 0.01932783 -0.00277323 0.99980935 -0.52695398] [ 0. 0. 0. 1. ]] SLAMing on 75.464553574 meters Centerline goodness [0,1] 0.8206469637623599 Centerline is valid? [False, False] Translation: X:2.33, Y:0.10, Z:-0.53 [[ 0.99962402 -0.01976176 -0.01900742 2.33234522] [ 0.01981315 0.99980053 0.00251909 0.0989601 ] [ 0.01895384 -0.00289474 0.99981617 -0.52702392] [ 0. 0. 0. 1. ]] SLAMing on 75.49455357400001 meters Centerline goodness [0,1] 0.8219106672519754 Centerline is valid? [False, False] Translation: X:2.33, Y:0.10, Z:-0.53 [[ 0.99964448 -0.01907952 -0.01862487 2.33060385] [ 0.01913643 0.99981273 0.00288168 0.09846301] [ 0.0185664 -0.00323707 0.99982239 -0.52643165] [ 0. 0. 0. 1. ]] SLAMing on 75.524553574 meters Centerline goodness [0,1] 0.82168370150566 Centerline is valid? [False, False] Translation: X:2.32, Y:0.10, Z:-0.53 [[ 0.99971571 -0.01646864 -0.01724165 2.3246889 ] [ 0.01652582 0.99985839 0.00317889 0.09826977] [ 0.01718686 -0.00346292 0.9998463 -0.52674768] [ 0. 0. 0. 1. ]] SLAMing on 75.554553574 meters Centerline goodness [0,1] 0.8224050459344577 Centerline is valid? [False, False] Translation: X:2.32, Y:0.10, Z:-0.53 [[ 0.99974957 -0.01521981 -0.016406 2.32162984] [ 0.01527522 0.99987802 0.00325747 0.09858114] [ 0.01635442 -0.00350726 0.99986011 -0.52693995] [ 0. 0. 0. 1. ]] SLAMing on 75.584553574 meters Centerline goodness [0,1] 0.8191719937446844 Centerline is valid? [False, False] Translation: X:2.31, Y:0.10, Z:-0.53 [[ 0.99985656 -0.0088181 -0.01446043 2.3097724 ] [ 0.00889826 0.99994535 0.0054884 0.09945939] [ 0.01441125 -0.00561628 0.99988038 -0.52516155] [ 0. 0. 0. 1. ]] SLAMing on 75.614553574 meters Centerline goodness [0,1] 0.8177782649202608 Centerline is valid? [False, False] Translation: X:2.30, Y:0.10, Z:-0.52 [[ 0.99988983 -0.00674876 -0.01322036 2.30446179] [ 0.0068273 0.99995926 0.00590427 0.10030902] [ 0.01317997 -0.00599388 0.99989518 -0.52417159] [ 0. 0. 0. 1. ]] SLAMing on 75.644553574 meters Centerline goodness [0,1] 0.8187597195318255 Centerline is valid? [False, False] Translation: X:2.32, Y:0.10, Z:-0.53 [[ 9.99981809e-01 -2.26778706e-03 -5.58915639e-03 2.31507064e+00] [ 2.26169581e-03 9.99996842e-01 -1.09591296e-03 1.03595265e-01] [ 5.59162403e-03 1.08325205e-03 9.99983780e-01 -5.30425520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.674553574 meters Centerline goodness [0,1] 0.8192520964790079 Centerline is valid? [False, False] Translation: X:2.31, Y:0.10, Z:-0.53 [[ 9.99986210e-01 -1.46760666e-03 -5.04241313e-03 2.31288235e+00] [ 1.46354865e-03 9.99998602e-01 -8.08371844e-04 1.03884233e-01] [ 5.04359246e-03 8.00980880e-04 9.99986960e-01 -5.29815678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.704553574 meters Centerline goodness [0,1] 0.8170475905091394 Centerline is valid? [False, False] Translation: X:2.31, Y:0.10, Z:-0.53 [[ 9.99989997e-01 -4.53368340e-04 -4.44967252e-03 2.31064500e+00] [ 4.49747082e-04 9.99999567e-01 -8.14792593e-04 1.04801006e-01] [ 4.45004000e-03 8.12783215e-04 9.99989768e-01 -5.29995403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.734553574 meters Centerline goodness [0,1] 0.8179883206898434 Centerline is valid? [False, False] Translation: X:2.31, Y:0.10, Z:-0.53 [[ 9.99991196e-01 -6.70737026e-05 -4.19566560e-03 2.30966026e+00] [ 6.42726695e-05 9.99999775e-01 -6.67732881e-04 1.04761978e-01] [ 4.19570945e-03 6.67457336e-04 9.99990975e-01 -5.29770975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.764553574 meters Centerline goodness [0,1] 0.819819083428696 Centerline is valid? [False, False] Translation: X:2.31, Y:0.10, Z:-0.53 [[ 9.99991148e-01 -7.46032440e-05 -4.20705152e-03 2.30982738e+00] [ 7.13085766e-05 9.99999691e-01 -7.83274369e-04 1.04802016e-01] [ 4.20710865e-03 7.82967436e-04 9.99990844e-01 -5.29982026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.794553574 meters Centerline goodness [0,1] 0.8212746221421946 Centerline is valid? [False, False] Translation: X:2.31, Y:0.11, Z:-0.53 [[ 9.99991986e-01 4.44641619e-04 -3.97864107e-03 2.30857776e+00] [-4.47354719e-04 9.99999668e-01 -6.81052252e-04 1.05338270e-01] [ 3.97833692e-03 6.82826659e-04 9.99991853e-01 -5.29495193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.824553574 meters Centerline goodness [0,1] 0.8206136041052516 Centerline is valid? [False, False] Translation: X:2.31, Y:0.11, Z:-0.53 [[ 9.99991567e-01 3.25344416e-04 -4.09388957e-03 2.30917419e+00] [-3.29128466e-04 9.99999519e-01 -9.23676877e-04 1.05938914e-01] [ 4.09358709e-03 9.25016503e-04 9.99991193e-01 -5.30060979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.85455357400001 meters Centerline goodness [0,1] 0.8202657083741697 Centerline is valid? [False, False] Translation: X:2.31, Y:0.11, Z:-0.53 [[ 9.99990109e-01 -4.41596917e-05 -4.44757804e-03 2.31077512e+00] [ 3.77997163e-05 9.99998977e-01 -1.43006015e-03 1.06984809e-01] [ 4.44763664e-03 1.42987789e-03 9.99989087e-01 -5.31261598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.884553574 meters Centerline goodness [0,1] 0.8166417809148907 Centerline is valid? [False, False] Translation: X:2.31, Y:0.11, Z:-0.53 [[ 9.99988488e-01 -3.78463155e-04 -4.78327038e-03 2.31277836e+00] [ 3.65449896e-04 9.99996231e-01 -2.72115915e-03 1.09837690e-01] [ 4.78428221e-03 2.71937978e-03 9.99984858e-01 -5.34191054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.914553574 meters Centerline goodness [0,1] 0.816194464081788 Centerline is valid? [False, False] Translation: X:2.31, Y:0.11, Z:-0.53 [[ 9.99989606e-01 8.31998266e-05 -4.55872094e-03 2.31139094e+00] [-9.32789850e-05 9.99997552e-01 -2.21079390e-03 1.10202741e-01] [ 4.55852584e-03 2.21119615e-03 9.99987165e-01 -5.32693353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.944553574 meters Centerline goodness [0,1] 0.819047619047619 Centerline is valid? [False, False] Translation: X:2.31, Y:0.11, Z:-0.53 [[ 9.99989841e-01 2.24644089e-04 -4.50202240e-03 2.31062154e+00] [-2.31267763e-04 9.99998892e-01 -1.47079984e-03 1.09454047e-01] [ 4.50168700e-03 1.47182607e-03 9.99988784e-01 -5.30775169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.974553574 meters Centerline goodness [0,1] 0.8192039638462376 Centerline is valid? [False, False] Translation: X:2.31, Y:0.11, Z:-0.53 [[ 9.99990250e-01 4.78283860e-04 -4.38994917e-03 2.30975846e+00] [-4.82313270e-04 9.99999463e-01 -9.16859055e-04 1.08599534e-01] [ 4.38950829e-03 9.18967446e-04 9.99989944e-01 -5.29484369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.004553574 meters Centerline goodness [0,1] 0.8181446446582885 Centerline is valid? [False, False] Translation: X:2.31, Y:0.11, Z:-0.53 [[ 9.99990594e-01 6.95537664e-04 -4.28106300e-03 2.30945929e+00] [-6.98786967e-04 9.99999469e-01 -7.57545469e-04 1.08033469e-01] [ 4.28053383e-03 7.60529894e-04 9.99990549e-01 -5.29614825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.034553574 meters Centerline goodness [0,1] 0.8165953153546206 Centerline is valid? [False, False] Translation: X:2.31, Y:0.11, Z:-0.53 [[ 9.99991132e-01 8.05949729e-04 -4.13353611e-03 2.30946589e+00] [-8.10115570e-04 9.99999166e-01 -1.00624009e-03 1.07876582e-01] [ 4.13272168e-03 1.00957981e-03 9.99990951e-01 -5.30700066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.064553574 meters Centerline goodness [0,1] 0.8168782386971184 Centerline is valid? [False, False] Translation: X:2.31, Y:0.11, Z:-0.53 [[ 9.99992102e-01 1.28181757e-03 -3.76209564e-03 2.30810835e+00] [-1.28488109e-03 9.99998845e-01 -8.12007722e-04 1.07217346e-01] [ 3.76105045e-03 8.16835154e-04 9.99992594e-01 -5.30576213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.094553574 meters Centerline goodness [0,1] 0.8152794553640057 Centerline is valid? [False, False] Translation: X:2.31, Y:0.10, Z:-0.53 [[ 9.99992726e-01 2.14796586e-03 -3.15190090e-03 2.30541227e+00] [-2.14741749e-03 9.99997679e-01 1.77353770e-04 1.04521944e-01] [ 3.15227453e-03 -1.70584033e-04 9.99995017e-01 -5.29029649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.124553574 meters Centerline goodness [0,1] 0.8179244764469851 Centerline is valid? [False, False] Translation: X:2.30, Y:0.10, Z:-0.53 [[ 9.99992561e-01 2.65941515e-03 -2.79370901e-03 2.30376824e+00] [-2.65781117e-03 9.99996301e-01 5.77696377e-04 1.03674433e-01] [ 2.79523501e-03 -5.70266929e-04 9.99995931e-01 -5.28154503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.154553574 meters Centerline goodness [0,1] 0.8164661282347123 Centerline is valid? [False, False] Translation: X:2.30, Y:0.10, Z:-0.53 [[ 9.99991600e-01 3.46768806e-03 -2.18505736e-03 2.30125800e+00] [-3.46560104e-03 9.99993536e-01 9.58196289e-04 1.03568721e-01] [ 2.18836596e-03 -9.50615703e-04 9.99997154e-01 -5.27200843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.184553574 meters Centerline goodness [0,1] 0.8136651063480331 Centerline is valid? [False, False] Translation: X:2.30, Y:0.10, Z:-0.53 [[ 9.99992650e-01 2.93854505e-03 -2.46290403e-03 2.30291253e+00] [-2.93702163e-03 9.99995494e-01 6.21932787e-04 1.03670965e-01] [ 2.46472051e-03 -6.14694613e-04 9.99996774e-01 -5.28250735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.214553574 meters Centerline goodness [0,1] 0.8116535260020329 Centerline is valid? [False, False] Translation: X:2.30, Y:0.11, Z:-0.53 [[ 9.99997544e-01 -7.98593332e-04 -2.06721962e-03 2.30254143e+00] [ 7.89093042e-04 9.99989143e-01 -4.59242778e-03 1.05080986e-01] [ 2.07086466e-03 4.59078528e-03 9.99987318e-01 -5.31556095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.24455357400001 meters Centerline goodness [0,1] 0.811404835914505 Centerline is valid? [False, False] Translation: X:2.30, Y:0.10, Z:-0.53 [[ 9.99996156e-01 -1.30859213e-03 -2.44463200e-03 2.30394350e+00] [ 1.29780231e-03 9.99989433e-01 -4.41006199e-03 1.04654206e-01] [ 2.45037715e-03 4.40687239e-03 9.99987287e-01 -5.31178230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.274553574 meters Centerline goodness [0,1] 0.8115898141775637 Centerline is valid? [False, False] Translation: X:2.31, Y:0.11, Z:-0.53 [[ 9.99993518e-01 -1.99590715e-03 -2.99687692e-03 2.30587698e+00] [ 1.98255562e-03 9.99988127e-01 -4.45153175e-03 1.05073973e-01] [ 3.00572618e-03 4.44556142e-03 9.99985601e-01 -5.30946083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.304553574 meters Centerline goodness [0,1] 0.8139823155111148 Centerline is valid? [False, False] Translation: X:2.31, Y:0.10, Z:-0.53 [[ 0.99997526 -0.00518052 -0.0047587 2.31306985] [ 0.00516366 0.99998037 -0.00354895 0.10365289] [ 0.00477699 0.00352429 0.99998238 -0.52825584] [ 0. 0. 0. 1. ]] SLAMing on 76.334553574 meters Centerline goodness [0,1] 0.8125533849502659 Centerline is valid? [False, False] Translation: X:2.32, Y:0.10, Z:-0.53 [[ 0.99995424 -0.00728898 -0.00619657 2.31859007] [ 0.00726801 0.99996781 -0.0034004 0.10276369] [ 0.00622116 0.00335521 0.99997502 -0.52779476] [ 0. 0. 0. 1. ]] SLAMing on 76.364553574 meters Centerline goodness [0,1] 0.8130657981894458 Centerline is valid? [False, False] Translation: X:2.33, Y:0.10, Z:-0.53 [[ 0.9998426 -0.01559353 -0.00846264 2.32968407] [ 0.01551905 0.99984087 -0.0087972 0.1029858 ] [ 0.00859847 0.00866449 0.99992549 -0.53066888] [ 0. 0. 0. 1. ]] SLAMing on 76.394553574 meters Centerline goodness [0,1] 0.8128240485383342 Centerline is valid? [False, False] Translation: X:2.34, Y:0.10, Z:-0.53 [[ 0.99977333 -0.01856504 -0.01042226 2.33783072] [ 0.0184785 0.99979448 -0.00833898 0.10169507] [ 0.01057493 0.00814451 0.99991091 -0.52983571] [ 0. 0. 0. 1. ]] SLAMing on 76.424553574 meters Centerline goodness [0,1] 0.8128510944461356 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.53 [[ 0.99957351 -0.02619221 -0.01291355 2.35328076] [ 0.02607652 0.99961901 -0.00904723 0.09913091] [ 0.0131456 0.00870663 0.99987569 -0.52898651] [ 0. 0. 0. 1. ]] SLAMing on 76.454553574 meters Centerline goodness [0,1] 0.8067538066156354 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:-0.52 [[ 0.99956642 -0.02531945 -0.01503015 2.36088133] [ 0.02527868 0.99967625 -0.002896 0.09751489] [ 0.01509861 0.00251481 0.99988285 -0.52338257] [ 0. 0. 0. 1. ]] SLAMing on 76.484553574 meters Centerline goodness [0,1] 0.8189681377290188 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:-0.52 [[ 9.99535436e-01 -2.61812633e-02 -1.56030181e-02 2.36226214e+00] [ 2.61532164e-02 9.99655948e-01 -1.99891319e-03 9.72663598e-02] [ 1.56499839e-02 1.58991545e-03 9.99876267e-01 -5.20369371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.514553574 meters Centerline goodness [0,1] 0.8204283816692495 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:-0.52 [[ 9.99513990e-01 -2.67286890e-02 -1.60424617e-02 2.36371068e+00] [ 2.67035728e-02 9.99641815e-01 -1.77782186e-03 9.73852758e-02] [ 1.60842344e-02 1.34856678e-03 9.99869731e-01 -5.19670179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.544553574 meters Centerline goodness [0,1] 0.8154219793564056 Centerline is valid? [False, False] Translation: X:2.37, Y:0.10, Z:-0.52 [[ 9.99461281e-01 -2.70882160e-02 -1.85304107e-02 2.37457068e+00] [ 2.71255471e-02 9.99630474e-01 1.76617375e-03 9.82569161e-02] [ 1.84757207e-02 -2.26786981e-03 9.99826737e-01 -5.19541573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.574553574 meters Centerline goodness [0,1] 0.8186501377410469 Centerline is valid? [False, False] Translation: X:2.38, Y:0.10, Z:-0.52 [[ 9.99437820e-01 -2.76361366e-02 -1.89812312e-02 2.37630751e+00] [ 2.76725570e-02 9.99615665e-01 1.65874284e-03 9.85253862e-02] [ 1.89280948e-02 -2.18306953e-03 9.99818464e-01 -5.19739621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.60455357400001 meters Centerline goodness [0,1] 0.8102945224332507 Centerline is valid? [False, False] Translation: X:2.38, Y:0.10, Z:-0.52 [[ 9.99432801e-01 -2.77501386e-02 -1.90789538e-02 2.37639311e+00] [ 2.77960730e-02 9.99611310e-01 2.14659161e-03 9.78289440e-02] [ 1.90119698e-02 -2.67569405e-03 9.99815676e-01 -5.18547081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.634553574 meters Centerline goodness [0,1] 0.8045423262216105 Centerline is valid? [False, False] Translation: X:2.37, Y:0.10, Z:-0.52 [[ 0.99945226 -0.02725417 -0.01877185 2.37429877] [ 0.0273187 0.99962168 0.00319002 0.09709665] [ 0.01867781 -0.00370109 0.9998187 -0.51565818] [ 0. 0. 0. 1. ]] SLAMing on 76.664553574 meters Centerline goodness [0,1] 0.8231225024114648 Centerline is valid? [False, False] Translation: X:2.37, Y:0.10, Z:-0.51 [[ 0.99946174 -0.02699673 -0.01863864 2.37352366] [ 0.02706593 0.99962763 0.00347051 0.09724702] [ 0.018538 -0.00397312 0.99982026 -0.51489694] [ 0. 0. 0. 1. ]] SLAMing on 76.694553574 meters Centerline goodness [0,1] 0.8168127730907692 Centerline is valid? [False, False] Translation: X:2.38, Y:0.10, Z:-0.51 [[ 0.99952919 -0.02369788 -0.01948853 2.37582221] [ 0.02385506 0.99968443 0.00787294 0.09749186] [ 0.01929581 -0.00833413 0.99977908 -0.51359629] [ 0. 0. 0. 1. ]] SLAMing on 76.724553574 meters Centerline goodness [0,1] 0.8193859121011439 Centerline is valid? [False, False] Translation: X:2.37, Y:0.10, Z:-0.52 [[ 0.99960495 -0.02120403 -0.01844828 2.37069238] [ 0.02133181 0.99974961 0.00675743 0.10192327] [ 0.01830037 -0.00714829 0.99980698 -0.5155242 ] [ 0. 0. 0. 1. ]] SLAMing on 76.754553574 meters Centerline goodness [0,1] 0.8199689178504239 Centerline is valid? [False, False] Translation: X:2.37, Y:0.10, Z:-0.52 [[ 0.99961907 -0.02078674 -0.01815547 2.36960702] [ 0.02090918 0.99975972 0.00658051 0.10313055] [ 0.01801432 -0.00695761 0.99981352 -0.51568909] [ 0. 0. 0. 1. ]] SLAMing on 76.784553574 meters Centerline goodness [0,1] 0.8182511577226914 Centerline is valid? [False, False] Translation: X:2.37, Y:0.10, Z:-0.52 [[ 0.99961464 -0.02091884 -0.0182478 2.37027542] [ 0.02103228 0.99976051 0.00604672 0.1046517 ] [ 0.01811694 -0.00642818 0.99981521 -0.51668972] [ 0. 0. 0. 1. ]] SLAMing on 76.814553574 meters Centerline goodness [0,1] 0.8177305156932425 Centerline is valid? [False, False] Translation: X:2.37, Y:0.11, Z:-0.52 [[ 0.99961461 -0.02083597 -0.01834402 2.37100063] [ 0.02093233 0.99976801 0.0050765 0.10767832] [ 0.01823399 -0.00545853 0.99981885 -0.51866308] [ 0. 0. 0. 1. ]] SLAMing on 76.844553574 meters Centerline goodness [0,1] 0.8197664947054032 Centerline is valid? [False, False] Translation: X:2.37, Y:0.11, Z:-0.52 [[ 0.99961084 -0.02088782 -0.01848943 2.37149284] [ 0.0209817 0.99976786 0.00489796 0.10814529] [ 0.01838283 -0.00528399 0.99981706 -0.51898847] [ 0. 0. 0. 1. ]] SLAMing on 76.874553574 meters Centerline goodness [0,1] 0.8175338753387533 Centerline is valid? [False, False] Translation: X:2.37, Y:0.11, Z:-0.52 [[ 0.9996106 -0.02085185 -0.01854337 2.37149029] [ 0.02094892 0.99976776 0.0050561 0.10801164] [ 0.01843363 -0.00544259 0.99981527 -0.51852125] [ 0. 0. 0. 1. ]] SLAMing on 76.904553574 meters Centerline goodness [0,1] 0.8189110816011274 Centerline is valid? [False, False] Translation: X:2.37, Y:0.11, Z:-0.52 [[ 0.99960774 -0.02094332 -0.0185943 2.37140195] [ 0.02104538 0.99976442 0.00531009 0.10794503] [ 0.01847871 -0.00569934 0.99981301 -0.51753186] [ 0. 0. 0. 1. ]] SLAMing on 76.934553574 meters Centerline goodness [0,1] 0.8191357023094813 Centerline is valid? [False, False] Translation: X:2.37, Y:0.11, Z:-0.52 [[ 0.99960951 -0.02089754 -0.01855068 2.37099371] [ 0.02100316 0.99976419 0.0055171 0.10844355] [ 0.01843101 -0.00590457 0.9998127 -0.51671109] [ 0. 0. 0. 1. ]] SLAMing on 76.964553574 meters Centerline goodness [0,1] 0.7992536909848034 Centerline is valid? [False, False] Translation: X:2.37, Y:0.11, Z:-0.51 [[ 0.99960688 -0.02107316 -0.01849363 2.37032685] [ 0.0211879 0.99975732 0.00603039 0.10874036] [ 0.01836206 -0.00641986 0.99981079 -0.514473 ] [ 0. 0. 0. 1. ]] SLAMing on 76.99455357400001 meters Centerline goodness [0,1] 0.8237091931950342 Centerline is valid? [False, False] Translation: X:2.37, Y:0.11, Z:-0.51 [[ 0.99960948 -0.02098536 -0.01845269 2.36974743] [ 0.02110787 0.99975627 0.00646997 0.10863084] [ 0.01831242 -0.00685694 0.9998088 -0.51311094] [ 0. 0. 0. 1. ]] SLAMing on 77.024553574 meters Centerline goodness [0,1] 0.824085357597422 Centerline is valid? [False, False] Translation: X:2.37, Y:0.11, Z:-0.51 [[ 0.99960817 -0.02100589 -0.0185002 2.36968762] [ 0.02113018 0.99975528 0.00654877 0.10908425] [ 0.01835811 -0.00693711 0.99980741 -0.51256857] [ 0. 0. 0. 1. ]] SLAMing on 77.054553574 meters Centerline goodness [0,1] 0.824085357597422 Centerline is valid? [False, False] Translation: X:2.37, Y:0.11, Z:-0.51 [[ 0.99960817 -0.02100589 -0.0185002 2.36968762] [ 0.02113018 0.99975528 0.00654877 0.10908425] [ 0.01835811 -0.00693711 0.99980741 -0.51256857] [ 0. 0. 0. 1. ]] SLAMing on 77.084553574 meters Centerline goodness [0,1] 0.8049104000866223 Centerline is valid? [False, False] Translation: X:2.37, Y:0.11, Z:-0.51 [[ 0.99959438 -0.02143374 -0.01875304 2.37083919] [ 0.02154661 0.9997508 0.00583753 0.1114086 ] [ 0.01862324 -0.00623922 0.9998071 -0.51335151] [ 0. 0. 0. 1. ]] SLAMing on 77.114553574 meters Centerline goodness [0,1] 0.8150625575475274 Centerline is valid? [False, False] Translation: X:2.37, Y:0.11, Z:-0.51 [[ 0.99959082 -0.021547 -0.01881293 2.37096481] [ 0.02166088 0.99974814 0.00587046 0.11198088] [ 0.0186817 -0.00627556 0.99980579 -0.51289791] [ 0. 0. 0. 1. ]] SLAMing on 77.144553574 meters Centerline goodness [0,1] 0.8197307473521684 Centerline is valid? [False, False] Translation: X:2.37, Y:0.11, Z:-0.51 [[ 0.99957874 -0.02193046 -0.01901071 2.37130568] [ 0.0220535 0.99973703 0.00628678 0.11169657] [ 0.01886784 -0.00670338 0.99979951 -0.51129995] [ 0. 0. 0. 1. ]] SLAMing on 77.174553574 meters Centerline goodness [0,1] 0.8171470286054183 Centerline is valid? [False, False] Translation: X:2.37, Y:0.11, Z:-0.51 [[ 0.9995616 -0.02242116 -0.01933649 2.37273159] [ 0.02254466 0.99972666 0.00619272 0.11192086] [ 0.01919236 -0.00662594 0.99979385 -0.51147323] [ 0. 0. 0. 1. ]] SLAMing on 77.204553574 meters Centerline goodness [0,1] 0.8202134846642346 Centerline is valid? [False, False] Translation: X:2.37, Y:0.11, Z:-0.51 [[ 0.99954333 -0.02292729 -0.01968409 2.37440703] [ 0.02304377 0.99971814 0.00571117 0.11276817] [ 0.0195476 -0.00616215 0.99978994 -0.51257213] [ 0. 0. 0. 1. ]] SLAMing on 77.234553574 meters Centerline goodness [0,1] 0.7888006461165702 Centerline is valid? [False, False] Translation: X:2.38, Y:0.11, Z:-0.51 [[ 0.99951161 -0.0237387 -0.02032284 2.37740452] [ 0.02383997 0.99970448 0.00475498 0.11448901] [ 0.02020395 -0.00523715 0.99978216 -0.51476916] [ 0. 0. 0. 1. ]] SLAMing on 77.264553574 meters Centerline goodness [0,1] 0.8010719383770099 Centerline is valid? [False, False] Translation: X:2.38, Y:0.11, Z:-0.51 [[ 0.99951518 -0.02359864 -0.02031042 2.37730326] [ 0.02369691 0.99970855 0.00461126 0.11498622] [ 0.02019568 -0.00509032 0.99978309 -0.51497267] [ 0. 0. 0. 1. ]] SLAMing on 77.294553574 meters Centerline goodness [0,1] 0.7717373769962897 Centerline is valid? [False, False] Translation: X:2.37, Y:0.12, Z:-0.52 [[ 0.99955226 -0.02241781 -0.01981722 2.37495432] [ 0.02251157 0.99973636 0.00452095 0.11609505] [ 0.01971065 -0.00496504 0.9997934 -0.51502423] [ 0. 0. 0. 1. ]] SLAMing on 77.324553574 meters Centerline goodness [0,1] 0.8158862203139675 Centerline is valid? [False, False] Translation: X:2.37, Y:0.12, Z:-0.52 [[ 0.99957078 -0.02182582 -0.01954184 2.37400148] [ 0.02191257 0.99975092 0.00423596 0.1171734 ] [ 0.01944452 -0.00466236 0.99980007 -0.51574776] [ 0. 0. 0. 1. ]] SLAMing on 77.35455357400001 meters Centerline goodness [0,1] 0.8158725065511525 Centerline is valid? [False, False] Translation: X:2.38, Y:0.12, Z:-0.52 [[ 0.99964778 -0.01762532 -0.01984108 2.37511578] [ 0.01778087 0.99981233 0.00769083 0.11883383] [ 0.01970181 -0.00804091 0.99977357 -0.51716111] [ 0. 0. 0. 1. ]] SLAMing on 77.384553574 meters Centerline goodness [0,1] 0.8136864870637865 Centerline is valid? [False, False] Translation: X:2.37, Y:0.12, Z:-0.52 [[ 0.99968764 -0.01616271 -0.0190628 2.37222557] [ 0.01630249 0.99984118 0.00720022 0.12111006] [ 0.0189434 -0.00750874 0.99979236 -0.51843529] [ 0. 0. 0. 1. ]] SLAMing on 77.414553574 meters Centerline goodness [0,1] 0.8148335417941825 Centerline is valid? [False, False] Translation: X:2.39, Y:0.12, Z:-0.52 [[ 0.99986861 -0.00862877 -0.01372234 2.38646229] [ 0.00866729 0.99995866 0.00275014 0.12439879] [ 0.01369804 -0.00286872 0.99990206 -0.52436795] [ 0. 0. 0. 1. ]] SLAMing on 77.444553574 meters Centerline goodness [0,1] 0.8126979058566829 Centerline is valid? [False, False] Translation: X:2.40, Y:0.13, Z:-0.53 [[ 0.99996626 -0.00269816 -0.00775816 2.39673993] [ 0.00266897 0.99998933 -0.00377023 0.12548572] [ 0.00776825 0.0037494 0.9999628 -0.5276594 ] [ 0. 0. 0. 1. ]] SLAMing on 77.474553574 meters Centerline goodness [0,1] 0.8176506520064802 Centerline is valid? [False, False] Translation: X:2.40, Y:0.12, Z:-0.53 [[ 9.99966676e-01 1.32643120e-03 -8.05530322e-03 2.39713630e+00] [-1.31806755e-03 9.99998587e-01 1.04349799e-03 1.24628896e-01] [ 8.05667597e-03 -1.03284578e-03 9.99967011e-01 -5.25963473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.504553574 meters Centerline goodness [0,1] 0.8132442252101731 Centerline is valid? [False, False] Translation: X:2.39, Y:0.13, Z:-0.53 [[ 9.99970423e-01 2.48316019e-03 -7.27916351e-03 2.39480421e+00] [-2.47825594e-03 9.99996696e-01 6.82680707e-04 1.26152799e-01] [ 7.28083466e-03 -6.64620885e-04 9.99973274e-01 -5.27141179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.534553574 meters Centerline goodness [0,1] 0.8097128490141591 Centerline is valid? [False, False] Translation: X:2.39, Y:0.13, Z:-0.53 [[ 9.99972141e-01 3.31657552e-03 -6.68711899e-03 2.39328973e+00] [-3.31531175e-03 9.99994484e-01 2.00062052e-04 1.27752357e-01] [ 6.68774562e-03 -1.77886595e-04 9.99977621e-01 -5.28527452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.564553574 meters Centerline goodness [0,1] 0.811498636159 Centerline is valid? [False, False] Translation: X:2.39, Y:0.13, Z:-0.53 [[ 9.99972911e-01 4.52963775e-03 -5.80174564e-03 2.39058163e+00] [-4.52774574e-03 9.99989692e-01 3.39203821e-04 1.27062919e-01] [ 5.80322231e-03 -3.12925803e-04 9.99983112e-01 -5.29065747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.594553574 meters Centerline goodness [0,1] 0.8142402545743834 Centerline is valid? [False, False] Translation: X:2.39, Y:0.13, Z:-0.53 [[ 9.99972688e-01 4.77390991e-03 -5.64213498e-03 2.38980357e+00] [-4.76937554e-03 9.99988293e-01 8.16844270e-04 1.25720619e-01] [ 5.64596846e-03 -7.89912499e-04 9.99983749e-01 -5.28210666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.624553574 meters Centerline goodness [0,1] 0.8119639908379055 Centerline is valid? [False, False] Translation: X:2.39, Y:0.12, Z:-0.53 [[ 9.99972669e-01 5.17380341e-03 -5.28146836e-03 2.38861530e+00] [-5.16536603e-03 9.99985363e-01 1.60993731e-03 1.22985931e-01] [ 5.28972055e-03 -1.58261259e-03 9.99984757e-01 -5.27484484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.654553574 meters Centerline goodness [0,1] 0.8126999360204734 Centerline is valid? [False, False] Translation: X:2.39, Y:0.12, Z:-0.53 [[ 9.99973031e-01 4.97587923e-03 -5.40156588e-03 2.38936770e+00] [-4.96689008e-03 9.99986260e-01 1.67631740e-03 1.22031811e-01] [ 5.40983282e-03 -1.64944321e-03 9.99984006e-01 -5.27847987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.684553574 meters Centerline goodness [0,1] 0.8122280069416633 Centerline is valid? [False, False] Translation: X:2.39, Y:0.12, Z:-0.53 [[ 9.99973601e-01 4.71187370e-03 -5.53137687e-03 2.39030708e+00] [-4.70270721e-03 9.99987549e-01 1.66901986e-03 1.20805088e-01] [ 5.53917221e-03 -1.64296335e-03 9.99983309e-01 -5.28548862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.714553574 meters Centerline goodness [0,1] 0.8095998722146793 Centerline is valid? [False, False] Translation: X:2.39, Y:0.12, Z:-0.53 [[ 9.99968768e-01 6.42826700e-03 -4.59780443e-03 2.38707126e+00] [-6.42382925e-03 9.99978887e-01 9.79305209e-04 1.22950470e-01] [ 4.60400259e-03 -9.49739113e-04 9.99988951e-01 -5.30416017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.74455357400001 meters Centerline goodness [0,1] 0.8081060264003612 Centerline is valid? [False, False] Translation: X:2.38, Y:0.12, Z:-0.53 [[ 9.99964937e-01 7.41517879e-03 -3.89091828e-03 2.38475797e+00] [-7.41264533e-03 9.99972305e-01 6.65138379e-04 1.24219634e-01] [ 3.89574264e-03 -6.36273060e-04 9.99992209e-01 -5.30968954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.774553574 meters Centerline goodness [0,1] 0.8066781502583809 Centerline is valid? [False, False] Translation: X:2.38, Y:0.12, Z:-0.53 [[ 9.99962962e-01 7.77759116e-03 -3.68572414e-03 2.38410846e+00] [-7.77611527e-03 9.99969680e-01 4.14594440e-04 1.24986044e-01] [ 3.68883694e-03 -3.85918469e-04 9.99993122e-01 -5.31286981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.804553574 meters Centerline goodness [0,1] 0.805506287227002 Centerline is valid? [False, False] Translation: X:2.38, Y:0.13, Z:-0.53 [[ 9.99963621e-01 7.66648494e-03 -3.73929374e-03 2.38457925e+00] [-7.66618318e-03 9.99970610e-01 9.50245622e-05 1.25634411e-01] [ 3.73991235e-03 -6.63549945e-05 9.99993004e-01 -5.31813709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.834553574 meters Centerline goodness [0,1] 0.806420877114046 Centerline is valid? [False, False] Translation: X:2.39, Y:0.13, Z:-0.53 [[ 9.99965934e-01 7.20605667e-03 -4.02538427e-03 2.38590487e+00] [-7.20715005e-03 9.99973995e-01 -2.57182063e-04 1.26286809e-01] [ 4.02342633e-03 2.86184850e-04 9.99991865e-01 -5.32332087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.864553574 meters Centerline goodness [0,1] 0.8059997356944628 Centerline is valid? [False, False] Translation: X:2.39, Y:0.13, Z:-0.53 [[ 9.99966055e-01 7.21793316e-03 -3.97376093e-03 2.38594217e+00] [-7.22094668e-03 9.99973651e-01 -7.44532555e-04 1.27650086e-01] [ 3.96828224e-03 7.73201597e-04 9.99991827e-01 -5.32918617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.894553574 meters Centerline goodness [0,1] 0.8059311291855921 Centerline is valid? [False, False] Translation: X:2.39, Y:0.13, Z:-0.53 [[ 9.99967268e-01 6.88653455e-03 -4.24725311e-03 2.38741176e+00] [-6.89342874e-03 9.99974943e-01 -1.61071587e-03 1.29745210e-01] [ 4.23605444e-03 1.63994129e-03 9.99989683e-01 -5.34450126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.924553574 meters Centerline goodness [0,1] 0.8060402861743974 Centerline is valid? [False, False] Translation: X:2.39, Y:0.13, Z:-0.54 [[ 9.99968740e-01 6.43481443e-03 -4.59477982e-03 2.38900595e+00] [-6.44466261e-03 9.99976961e-01 -2.13176303e-03 1.30837109e-01] [ 4.58095646e-03 2.16130819e-03 9.99987172e-01 -5.35492550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.954553574 meters Centerline goodness [0,1] 0.8068746222374057 Centerline is valid? [False, False] Translation: X:2.40, Y:0.13, Z:-0.54 [[ 0.99997261 0.00415789 -0.00612321 2.39536221] [-0.00417263 0.99998842 -0.00239574 0.13050112] [ 0.00611318 0.00242123 0.99997838 -0.53619701] [ 0. 0. 0. 1. ]] SLAMing on 77.984553574 meters Centerline goodness [0,1] 0.8071666050978943 Centerline is valid? [False, False] Translation: X:2.40, Y:0.13, Z:-0.54 [[ 9.99971895e-01 3.35265442e-03 -6.70595267e-03 2.39725441e+00] [-3.36671199e-03 9.99992157e-01 -2.08609328e-03 1.29210605e-01] [ 6.69890612e-03 2.10861166e-03 9.99975339e-01 -5.35412246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.014553574 meters Centerline goodness [0,1] 0.8062513210737687 Centerline is valid? [False, False] Translation: X:2.40, Y:0.13, Z:-0.53 [[ 9.99969310e-01 2.26825862e-03 -7.49894553e-03 2.39986649e+00] [-2.27964186e-03 9.99996262e-01 -1.50977987e-03 1.27155469e-01] [ 7.49549293e-03 1.52682845e-03 9.99970743e-01 -5.34314195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.044553574 meters Centerline goodness [0,1] 0.8060384747691249 Centerline is valid? [False, False] Translation: X:2.41, Y:0.12, Z:-0.53 [[ 9.99961621e-01 -5.65002563e-04 -8.74282322e-03 2.40580226e+00] [ 5.50162578e-04 9.99998404e-01 -1.69970239e-03 1.24346524e-01] [ 8.74376960e-03 1.69482719e-03 9.99960336e-01 -5.34741098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.074553574 meters Centerline goodness [0,1] 0.803658891742342 Centerline is valid? [False, False] Translation: X:2.41, Y:0.12, Z:-0.54 [[ 9.99954367e-01 -1.52166440e-03 -9.43119889e-03 2.40870542e+00] [ 1.50663956e-03 9.99997585e-01 -1.59999974e-03 1.22743470e-01] [ 9.43361078e-03 1.58571731e-03 9.99954245e-01 -5.35366435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.10455357400001 meters Centerline goodness [0,1] 0.8018200202224469 Centerline is valid? [False, False] Translation: X:2.41, Y:0.12, Z:-0.54 [[ 9.99945027e-01 -2.78173915e-03 -1.01096267e-02 2.41202680e+00] [ 2.77034318e-03 9.99995512e-01 -1.14106914e-03 1.19275746e-01] [ 1.01127555e-02 1.11299928e-03 9.99948245e-01 -5.35847766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.134553574 meters Centerline goodness [0,1] 0.80291717775052 Centerline is valid? [False, False] Translation: X:2.41, Y:0.12, Z:-0.54 [[ 9.99942749e-01 -2.97053649e-03 -1.02798594e-02 2.41289365e+00] [ 2.96266900e-03 9.99995307e-01 -7.80474225e-04 1.17576648e-01] [ 1.02821296e-02 7.49973721e-04 9.99946856e-01 -5.36019948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.164553574 meters Centerline goodness [0,1] 0.8040238649436819 Centerline is valid? [False, False] Translation: X:2.41, Y:0.12, Z:-0.54 [[ 9.99941703e-01 -3.01569786e-03 -1.03680535e-02 2.41328568e+00] [ 3.01264284e-03 9.99995414e-01 -3.10262595e-04 1.15814607e-01] [ 1.03689416e-02 2.79009265e-04 9.99946202e-01 -5.35861961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.194553574 meters Centerline goodness [0,1] 0.8049948867000377 Centerline is valid? [False, False] Translation: X:2.41, Y:0.11, Z:-0.53 [[ 9.99941928e-01 -2.99632011e-03 -1.03519672e-02 2.41322050e+00] [ 3.00569460e-03 9.99995087e-01 8.90135712e-04 1.11753419e-01] [ 1.03492492e-02 -9.21198872e-04 9.99946021e-01 -5.34598488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.224553574 meters Centerline goodness [0,1] 0.8066515126914542 Centerline is valid? [False, False] Translation: X:2.41, Y:0.11, Z:-0.53 [[ 9.99947704e-01 -2.36800680e-03 -9.94895883e-03 2.41149285e+00] [ 2.39134049e-03 9.99994417e-01 2.33409869e-03 1.07456651e-01] [ 9.94337612e-03 -2.35776797e-03 9.99947784e-01 -5.32829196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.254553574 meters Centerline goodness [0,1] 0.808155749911998 Centerline is valid? [False, False] Translation: X:2.41, Y:0.11, Z:-0.53 [[ 9.99950725e-01 -2.03266302e-03 -9.71680206e-03 2.41062545e+00] [ 2.06140787e-03 9.99993526e-01 2.94916281e-03 1.05568848e-01] [ 9.71074450e-03 -2.96904778e-03 9.99948442e-01 -5.32216236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.284553574 meters Centerline goodness [0,1] 0.809758876020505 Centerline is valid? [False, False] Translation: X:2.41, Y:0.10, Z:-0.53 [[ 9.99954018e-01 -1.65391151e-03 -9.44596017e-03 2.40972891e+00] [ 1.68641779e-03 9.99992681e-01 3.43436055e-03 1.04120528e-01] [ 9.44021090e-03 -3.45013247e-03 9.99949488e-01 -5.31935798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.314553574 meters Centerline goodness [0,1] 0.8090737240075614 Centerline is valid? [False, False] Translation: X:2.40, Y:0.10, Z:-0.53 [[ 0.99995515 0.0051049 -0.00797712 2.40230899] [-0.00503405 0.99994793 0.00887669 0.10478588] [ 0.00802202 -0.00883613 0.99992878 -0.52799507] [ 0. 0. 0. 1. ]] SLAMing on 78.344553574 meters Centerline goodness [0,1] 0.8071179758593687 Centerline is valid? [False, False] Translation: X:2.40, Y:0.11, Z:-0.53 [[ 0.9999553 0.00600141 -0.00730594 2.39979569] [-0.00593643 0.99994292 0.00888392 0.1053108 ] [ 0.00735884 -0.00884015 0.99993385 -0.52777104] [ 0. 0. 0. 1. ]] SLAMing on 78.374553574 meters Centerline goodness [0,1] 0.8090901721295971 Centerline is valid? [False, False] Translation: X:2.40, Y:0.11, Z:-0.53 [[ 0.99997473 0.00250562 -0.00665318 2.39871417] [-0.00248309 0.99999116 0.00339248 0.10709499] [ 0.00666162 -0.00337588 0.99997211 -0.53135822] [ 0. 0. 0. 1. ]] SLAMing on 78.404553574 meters Centerline goodness [0,1] 0.8088938088938089 Centerline is valid? [False, False] Translation: X:2.40, Y:0.11, Z:-0.53 [[ 9.99971956e-01 1.53668305e-03 -7.32979889e-03 2.40137269e+00] [-1.51473634e-03 9.99994356e-01 2.99878946e-03 1.07237963e-01] [ 7.33436571e-03 -2.98760265e-03 9.99968640e-01 -5.31968360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.434553574 meters Centerline goodness [0,1] 0.8107048196029643 Centerline is valid? [False, False] Translation: X:2.41, Y:0.11, Z:-0.53 [[ 9.99965669e-01 1.44373772e-04 -8.28488456e-03 2.40507861e+00] [-1.22303419e-04 9.99996443e-01 2.66437487e-03 1.07150035e-01] [ 8.28523975e-03 -2.66327013e-03 9.99962130e-01 -5.32495247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.464553574 meters Centerline goodness [0,1] 0.8120701372842192 Centerline is valid? [False, False] Translation: X:2.41, Y:0.11, Z:-0.54 [[ 0.99991575 -0.00806552 -0.0101702 2.41489463] [ 0.00803623 0.99996345 -0.00291806 0.10691563] [ 0.01019336 0.00283608 0.99994402 -0.53563119] [ 0. 0. 0. 1. ]] SLAMing on 78.49455357400001 meters Centerline goodness [0,1] 0.812801307367561 Centerline is valid? [False, False] Translation: X:2.42, Y:0.11, Z:-0.54 [[ 0.99985014 -0.01227144 -0.01221092 2.42452331] [ 0.01223696 0.99992094 -0.00289392 0.10501096] [ 0.01224546 0.00274406 0.99992126 -0.53505828] [ 0. 0. 0. 1. ]] SLAMing on 78.524553574 meters Centerline goodness [0,1] 0.8054785496665111 Centerline is valid? [False, False] Translation: X:2.44, Y:0.10, Z:-0.54 [[ 0.99965336 -0.02199368 -0.01447218 2.43706726] [ 0.02188251 0.99973016 -0.0077951 0.10358813] [ 0.01463972 0.00747571 0.99986489 -0.53601762] [ 0. 0. 0. 1. ]] SLAMing on 78.554553574 meters Centerline goodness [0,1] 0.8168225837425585 Centerline is valid? [False, False] Translation: X:2.44, Y:0.10, Z:-0.54 [[ 0.99958753 -0.02395046 -0.01584743 2.44230591] [ 0.0238315 0.99968669 -0.00765362 0.102664 ] [ 0.01602577 0.0072728 0.99984513 -0.53556526] [ 0. 0. 0. 1. ]] SLAMing on 78.584553574 meters Centerline goodness [0,1] 0.8187949021442924 Centerline is valid? [False, False] Translation: X:2.45, Y:0.10, Z:-0.54 [[ 0.99950382 -0.02632878 -0.01728909 2.44825772] [ 0.02619599 0.9996259 -0.00786292 0.10240088] [ 0.01748965 0.00740611 0.99981961 -0.53560447] [ 0. 0. 0. 1. ]] SLAMing on 78.614553574 meters Centerline goodness [0,1] 0.7784554520728592 Centerline is valid? [False, False] Translation: X:2.45, Y:0.10, Z:-0.53 [[ 9.99524860e-01 -2.43152677e-02 -1.89426188e-02 2.45361283e+00] [ 2.42727364e-02 9.99702317e-01 -2.47199610e-03 1.00710005e-01] [ 1.89970872e-02 2.01103236e-03 9.99817517e-01 -5.32348530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.644553574 meters Centerline goodness [0,1] 0.818079684331671 Centerline is valid? [False, False] Translation: X:2.45, Y:0.10, Z:-0.53 [[ 9.99596128e-01 -2.05884636e-02 -1.95881387e-02 2.45494576e+00] [ 2.06312394e-02 9.99785184e-01 1.98416570e-03 1.01166027e-01] [ 1.95430800e-02 -2.38749193e-03 9.99806165e-01 -5.30842729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.674553574 meters Centerline goodness [0,1] 0.8218860092306852 Centerline is valid? [False, False] Translation: X:2.46, Y:0.10, Z:-0.53 [[ 0.9996569 -0.01680191 -0.02009416 2.45578669] [ 0.01693935 0.99983414 0.00668965 0.10084475] [ 0.01997843 -0.00702774 0.99977571 -0.52887265] [ 0. 0. 0. 1. ]] SLAMing on 78.704553574 meters Centerline goodness [0,1] 0.8035257630991893 Centerline is valid? [False, False] Translation: X:2.47, Y:0.10, Z:-0.54 [[ 9.99815357e-01 -1.30988507e-02 -1.40596196e-02 2.47027853e+00] [ 1.30847703e-02 9.99913793e-01 -1.09300100e-03 1.04613789e-01] [ 1.40727246e-02 9.08832293e-04 9.99900561e-01 -5.36366661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.734553574 meters Centerline goodness [0,1] 0.8222645099904853 Centerline is valid? [False, False] Translation: X:2.47, Y:0.11, Z:-0.54 [[ 9.99837993e-01 -1.19888673e-02 -1.34258997e-02 2.46738647e+00] [ 1.19796723e-02 9.99927948e-01 -7.65090369e-04 1.05533881e-01] [ 1.34341049e-02 6.04128541e-04 9.99909576e-01 -5.35355921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.764553574 meters Centerline goodness [0,1] 0.819819329560296 Centerline is valid? [False, False] Translation: X:2.47, Y:0.11, Z:-0.53 [[ 0.99988148 -0.00749387 -0.01344834 2.46624449] [ 0.00755055 0.99996281 0.00416834 0.10584839] [ 0.0134166 -0.00426939 0.99990088 -0.53268934] [ 0. 0. 0. 1. ]] SLAMing on 78.794553574 meters Centerline goodness [0,1] 0.8199330666884336 Centerline is valid? [False, False] Translation: X:2.47, Y:0.11, Z:-0.53 [[ 0.99988506 -0.00726349 -0.01330785 2.46602272] [ 0.00731303 0.99996649 0.00367822 0.10723375] [ 0.01328069 -0.00377512 0.99990468 -0.5337224 ] [ 0. 0. 0. 1. ]] SLAMing on 78.824553574 meters Centerline goodness [0,1] 0.8191709280818191 Centerline is valid? [False, False] Translation: X:2.47, Y:0.11, Z:-0.53 [[ 0.99988026 -0.00749242 -0.01354028 2.46679688] [ 0.00754018 0.99996552 0.00347937 0.10778337] [ 0.01351374 -0.00358105 0.99990227 -0.53387053] [ 0. 0. 0. 1. ]] SLAMing on 78.85455357400001 meters Centerline goodness [0,1] 0.8177262079860543 Centerline is valid? [False, False] Translation: X:2.47, Y:0.11, Z:-0.53 [[ 0.999873 -0.00787692 -0.01385417 2.46780124] [ 0.00792964 0.99996151 0.00375411 0.10735933] [ 0.01382406 -0.00386349 0.99989698 -0.53320109] [ 0. 0. 0. 1. ]] SLAMing on 78.884553574 meters Centerline goodness [0,1] 0.8184477432406572 Centerline is valid? [False, False] Translation: X:2.47, Y:0.11, Z:-0.53 [[ 0.99986551 -0.00824788 -0.01417526 2.46879578] [ 0.00830485 0.99995765 0.00396497 0.10722865] [ 0.01414196 -0.00408216 0.99989166 -0.53262147] [ 0. 0. 0. 1. ]] SLAMing on 78.914553574 meters Centerline goodness [0,1] 0.8162842096646566 Centerline is valid? [False, False] Translation: X:2.47, Y:0.11, Z:-0.53 [[ 0.99986057 -0.00850231 -0.01437217 2.46934166] [ 0.00856145 0.99995512 0.00405796 0.10724742] [ 0.01433702 -0.00418044 0.99988848 -0.53215378] [ 0. 0. 0. 1. ]] SLAMing on 78.944553574 meters Centerline goodness [0,1] 0.8162842096646566 Centerline is valid? [False, False] Translation: X:2.47, Y:0.11, Z:-0.53 [[ 0.99986057 -0.00850231 -0.01437217 2.46934166] [ 0.00856145 0.99995512 0.00405796 0.10724742] [ 0.01433702 -0.00418044 0.99988848 -0.53215378] [ 0. 0. 0. 1. ]] SLAMing on 78.974553574 meters Centerline goodness [0,1] 0.8170484990978184 Centerline is valid? [False, False] Translation: X:2.47, Y:0.11, Z:-0.53 [[ 0.99985059 -0.00898771 -0.01476557 2.47009394] [ 0.00905847 0.99994777 0.00473261 0.10654395] [ 0.01472227 -0.00486565 0.99987978 -0.53008658] [ 0. 0. 0. 1. ]] SLAMing on 79.004553574 meters Centerline goodness [0,1] 0.8129158939674921 Centerline is valid? [False, False] Translation: X:2.47, Y:0.11, Z:-0.53 [[ 0.99985023 -0.00900398 -0.01478019 2.46986496] [ 0.00907944 0.99994605 0.00504622 0.10657255] [ 0.01473396 -0.00517966 0.99987803 -0.52911992] [ 0. 0. 0. 1. ]] SLAMing on 79.034553574 meters Centerline goodness [0,1] 0.8190639736146319 Centerline is valid? [False, False] Translation: X:2.47, Y:0.11, Z:-0.53 [[ 0.99985377 -0.00881823 -0.01465154 2.46931573] [ 0.00889529 0.9999469 0.00520264 0.10675273] [ 0.01460488 -0.00533221 0.99987913 -0.52869397] [ 0. 0. 0. 1. ]] SLAMing on 79.064553574 meters Centerline goodness [0,1] 0.8189276855561916 Centerline is valid? [False, False] Translation: X:2.47, Y:0.11, Z:-0.53 [[ 0.99986436 -0.00824658 -0.01425706 2.46800972] [ 0.00831889 0.9999528 0.00501953 0.10746259] [ 0.01421499 -0.00513746 0.99988576 -0.52926874] [ 0. 0. 0. 1. ]] SLAMing on 79.094553574 meters Centerline goodness [0,1] 0.8164419312744672 Centerline is valid? [False, False] Translation: X:2.47, Y:0.11, Z:-0.53 [[ 0.99986897 -0.00799325 -0.0140768 2.46759137] [ 0.00805917 0.99995679 0.00463235 0.10816127] [ 0.01403917 -0.00474519 0.99989019 -0.53013718] [ 0. 0. 0. 1. ]] SLAMing on 79.124553574 meters Centerline goodness [0,1] 0.8166883539362394 Centerline is valid? [False, False] Translation: X:2.47, Y:0.11, Z:-0.53 [[ 0.99987717 -0.00747011 -0.01377823 2.4665469 ] [ 0.00753304 0.99996141 0.00452115 0.10843338] [ 0.01374392 -0.00462439 0.99989485 -0.5306169 ] [ 0. 0. 0. 1. ]] SLAMing on 79.154553574 meters Centerline goodness [0,1] 0.8115054084094667 Centerline is valid? [False, False] Translation: X:2.46, Y:0.11, Z:-0.53 [[ 0.99989787 -0.00611846 -0.01291548 2.46352288] [ 0.00617404 0.99997183 0.00426811 0.10881752] [ 0.012889 -0.00434742 0.99990748 -0.53173854] [ 0. 0. 0. 1. ]] SLAMing on 79.184553574 meters Centerline goodness [0,1] 0.8141801987726063 Centerline is valid? [False, False] Translation: X:2.46, Y:0.11, Z:-0.53 [[ 0.99990775 -0.0054654 -0.01243427 2.46194967] [ 0.00551667 0.99997641 0.00409245 0.10872433] [ 0.01241161 -0.00416067 0.99991432 -0.53239948] [ 0. 0. 0. 1. ]] SLAMing on 79.214553574 meters Centerline goodness [0,1] 0.8106253728914683 Centerline is valid? [False, False] Translation: X:2.46, Y:0.11, Z:-0.53 [[ 0.99992618 -0.0039582 -0.01148759 2.45905525] [ 0.00400143 0.99998499 0.00374244 0.10880005] [ 0.01147261 -0.00378813 0.99992701 -0.53436389] [ 0. 0. 0. 1. ]] SLAMing on 79.24455357400001 meters Centerline goodness [0,1] 0.8125866144941714 Centerline is valid? [False, False] Translation: X:2.46, Y:0.11, Z:-0.54 [[ 0.99993532 -0.00310864 -0.01094012 2.45742936] [ 0.00314593 0.99998929 0.00339311 0.10963121] [ 0.01092945 -0.00342731 0.9999344 -0.53564563] [ 0. 0. 0. 1. ]] SLAMing on 79.274553574 meters Centerline goodness [0,1] 0.8123373101952278 Centerline is valid? [False, False] Translation: X:2.46, Y:0.11, Z:-0.54 [[ 9.99944562e-01 -2.11899976e-03 -1.03142194e-02 2.45556651e+00] [ 2.14973125e-03 9.99993281e-01 2.96935213e-03 1.10464318e-01] [ 1.03078580e-02 -2.99136031e-03 9.99942398e-01 -5.37182781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.304553574 meters Centerline goodness [0,1] 0.812310606060606 Centerline is valid? [False, False] Translation: X:2.45, Y:0.11, Z:-0.54 [[ 9.99961697e-01 8.61802906e-04 -8.70988972e-03 2.44906374e+00] [-8.30743150e-04 9.99993286e-01 3.56902220e-03 1.10316746e-01] [ 8.71290703e-03 -3.56164982e-03 9.99955699e-01 -5.37096905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.334553574 meters Centerline goodness [0,1] 0.8039220997318454 Centerline is valid? [False, False] Translation: X:2.45, Y:0.11, Z:-0.54 [[ 9.99966150e-01 1.81564583e-03 -8.02516145e-03 2.44636267e+00] [-1.78404228e-03 9.99990633e-01 3.94346402e-03 1.09766412e-01] [ 8.03224621e-03 -3.92901331e-03 9.99960022e-01 -5.36433722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.364553574 meters Centerline goodness [0,1] 0.8043395920134192 Centerline is valid? [False, False] Translation: X:2.44, Y:0.11, Z:-0.54 [[ 0.99997027 0.00382954 -0.00669313 2.4411121 ] [-0.00379893 0.9999823 0.00457925 0.1093729 ] [ 0.00671055 -0.00455369 0.99996712 -0.5355306 ] [ 0. 0. 0. 1. ]] SLAMing on 79.394553574 meters Centerline goodness [0,1] 0.8045728493824491 Centerline is valid? [False, False] Translation: X:2.44, Y:0.11, Z:-0.54 [[ 0.99997095 0.0045307 -0.00612943 2.43939468] [-0.00450337 0.99997989 0.00446553 0.10975579] [ 0.00614954 -0.0044378 0.99997124 -0.5360583 ] [ 0. 0. 0. 1. ]] SLAMing on 79.424553574 meters Centerline goodness [0,1] 0.8034811751668964 Centerline is valid? [False, False] Translation: X:2.44, Y:0.11, Z:-0.54 [[ 0.99997047 0.00523165 -0.00562996 2.43776008] [-0.00520675 0.99997664 0.00442877 0.11005975] [ 0.005653 -0.00439933 0.99997434 -0.5363579 ] [ 0. 0. 0. 1. ]] SLAMing on 79.454553574 meters Centerline goodness [0,1] 0.8052668615351304 Centerline is valid? [False, False] Translation: X:2.43, Y:0.11, Z:-0.54 [[ 0.99996211 0.0077042 -0.0040537 2.43157685] [-0.00768353 0.99995753 0.00509006 0.10969344] [ 0.00409274 -0.00505872 0.99997883 -0.53555191] [ 0. 0. 0. 1. ]] SLAMing on 79.484553574 meters Centerline goodness [0,1] 0.8015438179806214 Centerline is valid? [False, False] Translation: X:2.43, Y:0.11, Z:-0.54 [[ 0.99994917 0.00970592 -0.00273016 2.4269207 ] [-0.00969123 0.99993875 0.00534572 0.10925553] [ 0.00278187 -0.00531899 0.99998198 -0.53600654] [ 0. 0. 0. 1. ]] SLAMing on 79.514553574 meters Centerline goodness [0,1] 0.7998758501565367 Centerline is valid? [False, False] Translation: X:2.43, Y:0.11, Z:-0.54 [[ 9.99945754e-01 1.01480514e-02 -2.34671968e-03 2.42597371e+00] [-1.01357860e-02 9.99935211e-01 5.18075831e-03 1.08956860e-01] [ 2.39914224e-03 -5.15669142e-03 9.99983826e-01 -5.36847287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.544553574 meters Centerline goodness [0,1] 0.8010489605017708 Centerline is valid? [False, False] Translation: X:2.42, Y:0.11, Z:-0.54 [[ 9.99930613e-01 1.17258632e-02 -1.12855467e-03 2.42225537e+00] [-1.17195575e-02 9.99916523e-01 5.44058844e-03 1.07644938e-01] [ 1.19225605e-03 -5.42698478e-03 9.99984563e-01 -5.37742055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.574553574 meters Centerline goodness [0,1] 0.7988583486635645 Centerline is valid? [False, False] Translation: X:2.42, Y:0.11, Z:-0.54 [[ 9.99928202e-01 1.19532836e-02 -8.42621926e-04 2.42188544e+00] [-1.19486554e-02 9.99914572e-01 5.29887128e-03 1.07074826e-01] [ 9.05888853e-04 -5.28842263e-03 9.99985606e-01 -5.38807442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.60455357400001 meters Centerline goodness [0,1] 0.7983059534406949 Centerline is valid? [False, False] Translation: X:2.42, Y:0.11, Z:-0.54 [[ 9.99912052e-01 1.32621715e-02 4.60028216e-05 2.41931613e+00] [-1.32622433e-02 9.99901622e-01 4.56713265e-03 1.07644477e-01] [ 1.45718004e-05 -4.56734109e-03 9.99989570e-01 -5.41353614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.634553574 meters Centerline goodness [0,1] 0.7989253699103575 Centerline is valid? [False, False] Translation: X:2.42, Y:0.11, Z:-0.54 [[ 9.99898012e-01 1.42621424e-02 7.46691658e-04 2.41682541e+00] [-1.42653385e-02 9.99888271e-01 4.46604073e-03 1.08126514e-01] [-6.82912922e-04 -4.47623706e-03 9.99989748e-01 -5.41574718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.664553574 meters Centerline goodness [0,1] 0.7983043525218706 Centerline is valid? [False, False] Translation: X:2.41, Y:0.11, Z:-0.54 [[ 9.99923127e-01 1.22510203e-02 1.91138247e-03 2.41307422e+00] [-1.22508068e-02 9.99924948e-01 -1.23374654e-04 1.08627298e-01] [-1.91275048e-03 9.99491925e-05 9.99998166e-01 -5.44146722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.694553574 meters Centerline goodness [0,1] 0.8016011605727642 Centerline is valid? [False, False] Translation: X:2.41, Y:0.11, Z:-0.54 [[ 9.99915430e-01 1.28094434e-02 2.24748316e-03 2.41203333e+00] [-1.28083661e-02 9.99917848e-01 -4.93086665e-04 1.09564338e-01] [-2.25361469e-03 4.64258377e-04 9.99997353e-01 -5.44944461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.724553574 meters Centerline goodness [0,1] 0.8025842153333691 Centerline is valid? [False, False] Translation: X:2.41, Y:0.11, Z:-0.55 [[ 9.99915546e-01 1.27918953e-02 2.29548928e-03 2.41244751e+00] [-1.27895263e-02 9.99917666e-01 -1.04376915e-03 1.10184521e-01] [-2.30865207e-03 1.01432278e-03 9.99996821e-01 -5.46378283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.754553574 meters Centerline goodness [0,1] 0.804641440668882 Centerline is valid? [False, False] Translation: X:2.41, Y:0.11, Z:-0.55 [[ 9.99917048e-01 1.26713652e-02 2.30926983e-03 2.41345266e+00] [-1.26666102e-02 9.99917649e-01 -2.06218657e-03 1.11886333e-01] [-2.33521038e-03 2.03276489e-03 9.99995207e-01 -5.48944477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.784553574 meters Centerline goodness [0,1] 0.8041459900752361 Centerline is valid? [False, False] Translation: X:2.41, Y:0.11, Z:-0.55 [[ 9.99917809e-01 1.26169722e-02 2.27745736e-03 2.41415816e+00] [-1.26112180e-02 9.99917291e-01 -2.52353895e-03 1.12851960e-01] [-2.30910841e-03 2.49461003e-03 9.99994222e-01 -5.50200688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.814553574 meters Centerline goodness [0,1] 0.8042174295539974 Centerline is valid? [False, False] Translation: X:2.41, Y:0.12, Z:-0.55 [[ 9.99914573e-01 1.28543937e-02 2.36901252e-03 2.41470639e+00] [-1.28451067e-02 9.99909914e-01 -3.89454520e-03 1.15329147e-01] [-2.41886112e-03 3.86378228e-03 9.99989610e-01 -5.53448601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.844553574 meters Centerline goodness [0,1] 0.8042036282266443 Centerline is valid? [False, False] Translation: X:2.42, Y:0.12, Z:-0.55 [[ 9.99919597e-01 1.25056626e-02 2.09965166e-03 2.41612298e+00] [-1.24965670e-02 9.99912709e-01 -4.29059409e-03 1.15552435e-01] [-2.15312510e-03 4.26401067e-03 9.99988591e-01 -5.54534352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.874553574 meters Centerline goodness [0,1] 0.8041137972485641 Centerline is valid? [False, False] Translation: X:2.41, Y:0.12, Z:-0.56 [[ 0.99994984 0.00960848 0.00282595 2.41398189] [-0.00958322 0.99991519 -0.00881936 0.11636131] [-0.00291045 0.00879183 0.99995712 -0.55636362] [ 0. 0. 0. 1. ]] SLAMing on 79.904553574 meters Centerline goodness [0,1] 0.8064239139184801 Centerline is valid? [False, False] Translation: X:2.42, Y:0.11, Z:-0.55 [[ 9.99962045e-01 8.49574218e-03 1.93131689e-03 2.41702823e+00] [-8.48039901e-03 9.99933475e-01 -7.81842960e-03 1.12999914e-01] [-1.99761177e-03 7.80175452e-03 9.99967571e-01 -5.54829386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.934553574 meters Centerline goodness [0,1] 0.8074205421670562 Centerline is valid? [False, False] Translation: X:2.42, Y:0.11, Z:-0.55 [[ 9.99961691e-01 8.54997662e-03 1.87466376e-03 2.41710518e+00] [-8.53533339e-03 9.99934044e-01 -7.68473421e-03 1.12896359e-01] [-1.94024441e-03 7.66843893e-03 9.99968715e-01 -5.54574357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.964553574 meters Centerline goodness [0,1] 0.8051163664671301 Centerline is valid? [False, False] Translation: X:2.42, Y:0.11, Z:-0.55 [[ 9.99959767e-01 8.74163775e-03 2.01177986e-03 2.41685761e+00] [-8.72575967e-03 9.99931738e-01 -7.77044743e-03 1.13350658e-01] [-2.07956897e-03 7.75258049e-03 9.99967786e-01 -5.54882109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.99455357400001 meters Centerline goodness [0,1] 0.8066103700516352 Centerline is valid? [False, False] Translation: X:2.42, Y:0.11, Z:-0.56 [[ 9.99963761e-01 8.32199336e-03 1.79500912e-03 2.41860435e+00] [-8.30660981e-03 9.99930101e-01 -8.41381934e-03 1.14030296e-01] [-1.86490340e-03 8.39860399e-03 9.99962992e-01 -5.57069392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.024553574 meters Centerline goodness [0,1] 0.8061353658865038 Centerline is valid? [False, False] Translation: X:2.42, Y:0.11, Z:-0.56 [[ 9.99968925e-01 7.76204957e-03 1.37794566e-03 2.42056220e+00] [-7.74999259e-03 9.99933418e-01 -8.54968267e-03 1.13941471e-01] [-1.44421697e-03 8.53873793e-03 9.99962501e-01 -5.57831978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.054553574 meters Centerline goodness [0,1] 0.8055675558915649 Centerline is valid? [False, False] Translation: X:2.42, Y:0.11, Z:-0.56 [[ 9.99980825e-01 6.18972093e-03 1.90649406e-04 2.42492212e+00] [-6.18808581e-03 9.99951730e-01 -7.63182045e-03 1.10924140e-01] [-2.37879043e-04 7.63049436e-03 9.99970859e-01 -5.56568659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.084553574 meters Centerline goodness [0,1] 0.8076331344975572 Centerline is valid? [False, False] Translation: X:2.42, Y:0.11, Z:-0.55 [[ 9.99980958e-01 6.17112283e-03 -2.87755057e-05 2.42491130e+00] [-6.17117602e-03 9.99957941e-01 -6.78474679e-03 1.09789002e-01] [-1.30952104e-05 6.78479517e-03 9.99976983e-01 -5.54523728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.114553574 meters Centerline goodness [0,1] 0.8087347358730674 Centerline is valid? [False, False] Translation: X:2.43, Y:0.11, Z:-0.55 [[ 9.99987434e-01 4.88638978e-03 -1.12056612e-03 2.42834216e+00] [-4.89282601e-03 9.99971124e-01 -5.81478241e-03 1.07726926e-01] [ 1.09212047e-03 5.82019208e-03 9.99982466e-01 -5.52395307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.144553574 meters Centerline goodness [0,1] 0.8097746798508673 Centerline is valid? [False, False] Translation: X:2.43, Y:0.11, Z:-0.55 [[ 9.99986025e-01 5.19648330e-03 -9.72698157e-04 2.42757794e+00] [-5.20197806e-03 9.99970028e-01 -5.73437266e-03 1.08819102e-01] [ 9.42870431e-04 5.73935248e-03 9.99983085e-01 -5.51824671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.174553574 meters Centerline goodness [0,1] 0.8112044969326812 Centerline is valid? [False, False] Translation: X:2.43, Y:0.11, Z:-0.55 [[ 9.99987650e-01 4.80875036e-03 -1.25504436e-03 2.42901650e+00] [-4.81635279e-03 9.99969634e-01 -6.12644826e-03 1.10018494e-01] [ 1.22554569e-03 6.13241734e-03 9.99980446e-01 -5.52645897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.204553574 meters Centerline goodness [0,1] 0.8097609831361827 Centerline is valid? [False, False] Translation: X:2.43, Y:0.11, Z:-0.55 [[ 9.99991655e-01 3.37315419e-03 -2.30462224e-03 2.43338306e+00] [-3.38921331e-03 9.99969755e-01 -7.00022017e-03 1.11561157e-01] [ 2.28093972e-03 7.00797261e-03 9.99972842e-01 -5.54372772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.234553574 meters Centerline goodness [0,1] 0.8120670451767135 Centerline is valid? [False, False] Translation: X:2.44, Y:0.11, Z:-0.55 [[ 9.99992174e-01 2.19688099e-03 -3.29015556e-03 2.43683495e+00] [-2.21937479e-03 9.99974084e-01 -6.84872289e-03 1.11217323e-01] [ 3.27502446e-03 6.85597139e-03 9.99971135e-01 -5.54008938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.264553574 meters Centerline goodness [0,1] 0.8124131163627443 Centerline is valid? [False, False] Translation: X:2.45, Y:0.11, Z:-0.55 [[ 0.99997644 -0.00410704 -0.00550096 2.44928249] [ 0.00406613 0.99996414 -0.00742827 0.10914931] [ 0.00553127 0.00740572 0.99995728 -0.5531254 ] [ 0. 0. 0. 1. ]] SLAMing on 80.294553574 meters Centerline goodness [0,1] 0.8139306200491669 Centerline is valid? [False, False] Translation: X:2.46, Y:0.11, Z:-0.55 [[ 0.9999514 -0.00667974 -0.00725078 2.45588503] [ 0.00663333 0.99995748 -0.00640677 0.10678686] [ 0.00729327 0.00635836 0.99995319 -0.55093092] [ 0. 0. 0. 1. ]] SLAMing on 80.324553574 meters Centerline goodness [0,1] 0.8220963484381874 Centerline is valid? [False, False] Translation: X:2.46, Y:0.10, Z:-0.55 [[ 0.99987016 -0.01349282 -0.00880891 2.46260387] [ 0.01340247 0.99985778 -0.01023682 0.10416594] [ 0.00894578 0.01011743 0.9999088 -0.55069198] [ 0. 0. 0. 1. ]] SLAMing on 80.35455357400001 meters Centerline goodness [0,1] 0.8228450409813521 Centerline is valid? [False, False] Translation: X:2.47, Y:0.10, Z:-0.55 [[ 0.99985771 -0.0128014 -0.01098536 2.47042425] [ 0.01275727 0.9999103 -0.00407871 0.10203241] [ 0.01103659 0.00393799 0.99993134 -0.54503958] [ 0. 0. 0. 1. ]] SLAMing on 80.384553574 meters Centerline goodness [0,1] 0.8220885850015103 Centerline is valid? [False, False] Translation: X:2.48, Y:0.10, Z:-0.54 [[ 9.99857299e-01 -1.09855453e-02 -1.28335423e-02 2.47619949e+00] [ 1.10030586e-02 9.99938626e-01 1.29484049e-03 1.00707658e-01] [ 1.28185301e-02 -1.43586393e-03 9.99916808e-01 -5.41422649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.414553574 meters Centerline goodness [0,1] 0.8231089445144328 Centerline is valid? [False, False] Translation: X:2.48, Y:0.10, Z:-0.54 [[ 9.99838681e-01 -1.17998901e-02 -1.35415956e-02 2.47928638e+00] [ 1.18049898e-02 9.99930275e-01 2.96717514e-04 1.02813951e-01] [ 1.35371501e-02 -4.56528045e-04 9.99908264e-01 -5.43554792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.444553574 meters Centerline goodness [0,1] 0.8249528340579115 Centerline is valid? [False, False] Translation: X:2.48, Y:0.10, Z:-0.54 [[ 0.99984004 -0.00959864 -0.01509148 2.48453466] [ 0.00966918 0.99994263 0.00460831 0.10233132] [ 0.01504638 -0.00475349 0.9998755 -0.54261001] [ 0. 0. 0. 1. ]] SLAMing on 80.474553574 meters Centerline goodness [0,1] 0.8312849162011173 Centerline is valid? [False, False] Translation: X:2.49, Y:0.10, Z:-0.54 [[ 0.99983172 -0.00994116 -0.015418 2.48580862] [ 0.01001082 0.99994 0.00444766 0.10266444] [ 0.01537286 -0.00460126 0.99987124 -0.54294938] [ 0. 0. 0. 1. ]] SLAMing on 80.504553574 meters Centerline goodness [0,1] 0.8292936193469054 Centerline is valid? [False, False] Translation: X:2.49, Y:0.10, Z:-0.54 [[ 0.99982871 -0.00998533 -0.01558371 2.48544088] [ 0.01007198 0.9999342 0.00549135 0.10144627] [ 0.01552785 -0.00564737 0.99986349 -0.54027274] [ 0. 0. 0. 1. ]] SLAMing on 80.534553574 meters Centerline goodness [0,1] 0.8284253410986246 Centerline is valid? [False, False] Translation: X:2.48, Y:0.10, Z:-0.54 [[ 0.99983032 -0.00983356 -0.01557683 2.48488966] [ 0.00992692 0.99993316 0.005928 0.10116831] [ 0.0155175 -0.00608162 0.9998611 -0.5390969 ] [ 0. 0. 0. 1. ]] SLAMing on 80.564553574 meters Centerline goodness [0,1] 0.8366342020784592 Centerline is valid? [False, False] Translation: X:2.48, Y:0.10, Z:-0.54 [[ 0.9998361 -0.00944461 -0.01544608 2.48412194] [ 0.00952997 0.99993967 0.00546177 0.10324671] [ 0.01539357 -0.00560808 0.99986578 -0.53944264] [ 0. 0. 0. 1. ]] SLAMing on 80.594553574 meters Centerline goodness [0,1] 0.8302545772053808 Centerline is valid? [False, False] Translation: X:2.48, Y:0.10, Z:-0.54 [[ 0.99983566 -0.00940827 -0.01549605 2.48454339] [ 0.00948565 0.99994287 0.00492766 0.10443348] [ 0.0154488 -0.00507384 0.99986779 -0.54059543] [ 0. 0. 0. 1. ]] SLAMing on 80.624553574 meters Centerline goodness [0,1] 0.8290963527490474 Centerline is valid? [False, False] Translation: X:2.49, Y:0.11, Z:-0.54 [[ 0.99983331 -0.0094644 -0.01561331 2.48526208] [ 0.00953376 0.99994499 0.004374 0.10577031] [ 0.01557105 -0.00452213 0.99986854 -0.54177718] [ 0. 0. 0. 1. ]] SLAMing on 80.654553574 meters Centerline goodness [0,1] 0.8332564012055717 Centerline is valid? [False, False] Translation: X:2.48, Y:0.11, Z:-0.54 [[ 0.99984372 -0.0088144 -0.01532458 2.48397113] [ 0.0088785 0.9999521 0.00411922 0.10695118] [ 0.01528754 -0.00425463 0.99987409 -0.54210324] [ 0. 0. 0. 1. ]] SLAMing on 80.684553574 meters Centerline goodness [0,1] 0.8324199674443842 Centerline is valid? [False, False] Translation: X:2.48, Y:0.11, Z:-0.54 [[ 0.99985113 -0.00836544 -0.015091 2.48283119] [ 0.00843196 0.99995499 0.00434943 0.10703513] [ 0.01505394 -0.00447603 0.99987666 -0.54151212] [ 0. 0. 0. 1. ]] SLAMing on 80.714553574 meters Centerline goodness [0,1] 0.835018295161946 Centerline is valid? [False, False] Translation: X:2.48, Y:0.11, Z:-0.54 [[ 0.99986283 -0.00760607 -0.01471296 2.48124935] [ 0.0076699 0.9999614 0.00428693 0.10807428] [ 0.01467979 -0.00439919 0.99988257 -0.54163624] [ 0. 0. 0. 1. ]] SLAMing on 80.74455357400001 meters Centerline goodness [0,1] 0.8317782285327924 Centerline is valid? [False, False] Translation: X:2.48, Y:0.11, Z:-0.54 [[ 0.99987405 -0.00684565 -0.01431869 2.47964623] [ 0.00690436 0.99996794 0.00405474 0.10973853] [ 0.01429047 -0.00415309 0.99988926 -0.54192724] [ 0. 0. 0. 1. ]] SLAMing on 80.774553574 meters Centerline goodness [0,1] 0.835134916570073 Centerline is valid? [False, False] Translation: X:2.48, Y:0.11, Z:-0.54 [[ 0.99988788 -0.00583942 -0.01378861 2.47751767] [ 0.00589122 0.99997573 0.00371968 0.11176044] [ 0.01376656 -0.00380049 0.99989801 -0.5423018 ] [ 0. 0. 0. 1. ]] SLAMing on 80.804553574 meters Centerline goodness [0,1] 0.8338300443012485 Centerline is valid? [False, False] Translation: X:2.47, Y:0.11, Z:-0.54 [[ 0.99990879 -0.00394857 -0.01291597 2.4738905 ] [ 0.00399017 0.99998693 0.00319668 0.11467448] [ 0.01290318 -0.00324792 0.99991148 -0.54357906] [ 0. 0. 0. 1. ]] SLAMing on 80.834553574 meters Centerline goodness [0,1] 0.8332885617579111 Centerline is valid? [False, False] Translation: X:2.47, Y:0.12, Z:-0.54 [[ 0.99991376 -0.00349178 -0.01266021 2.47305093] [ 0.00352758 0.99998984 0.00280637 0.11602251] [ 0.01265029 -0.00285078 0.99991592 -0.54429358] [ 0. 0. 0. 1. ]] SLAMing on 80.864553574 meters Centerline goodness [0,1] 0.8332885617579111 Centerline is valid? [False, False] Translation: X:2.47, Y:0.12, Z:-0.54 [[ 0.99991376 -0.00349178 -0.01266021 2.47305093] [ 0.00352758 0.99998984 0.00280637 0.11602251] [ 0.01265029 -0.00285078 0.99991592 -0.54429358] [ 0. 0. 0. 1. ]] SLAMing on 80.894553574 meters Centerline goodness [0,1] 0.8337003222341568 Centerline is valid? [False, False] Translation: X:2.47, Y:0.12, Z:-0.54 [[ 0.99991995 -0.00283541 -0.01233122 2.47174729] [ 0.00287202 0.99999152 0.00295275 0.115944 ] [ 0.01232275 -0.00298792 0.99991961 -0.54442499] [ 0. 0. 0. 1. ]] SLAMing on 80.924553574 meters Centerline goodness [0,1] 0.8336600166474237 Centerline is valid? [False, False] Translation: X:2.47, Y:0.11, Z:-0.54 [[ 0.99992115 -0.00265612 -0.01227361 2.47119674] [ 0.00269807 0.99999057 0.00340208 0.11485297] [ 0.01226446 -0.00343493 0.99991889 -0.54357432] [ 0. 0. 0. 1. ]] SLAMing on 80.954553574 meters Centerline goodness [0,1] 0.834920634920635 Centerline is valid? [False, False] Translation: X:2.47, Y:0.11, Z:-0.54 [[ 9.99923447e-01 -2.40982368e-03 -1.21364140e-02 2.47038450e+00] [ 2.45927318e-03 9.99988729e-01 4.06119964e-03 1.13317477e-01] [ 1.21264904e-02 -4.09073550e-03 9.99918104e-01 -5.42496466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.984553574 meters Centerline goodness [0,1] 0.836100251700316 Centerline is valid? [False, False] Translation: X:2.47, Y:0.11, Z:-0.54 [[ 9.99937993e-01 -7.43233930e-04 -1.11111910e-02 2.46607068e+00] [ 7.91684549e-04 9.99990196e-01 4.35676202e-03 1.14206713e-01] [ 1.11078440e-02 -4.36528842e-03 9.99928777e-01 -5.41585672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.014553574 meters Centerline goodness [0,1] 0.8353885248094155 Centerline is valid? [False, False] Translation: X:2.46, Y:0.12, Z:-0.54 [[ 9.99945016e-01 1.28032781e-04 -1.04856611e-02 2.46393363e+00] [-8.39599407e-05 9.99991162e-01 4.20348559e-03 1.15177989e-01] [ 1.04861066e-02 -4.20237409e-03 9.99936189e-01 -5.41845665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.044553574 meters Centerline goodness [0,1] 0.8348494144636808 Centerline is valid? [False, False] Translation: X:2.46, Y:0.12, Z:-0.54 [[ 9.99951389e-01 1.11302285e-03 -9.79702105e-03 2.46211072e+00] [-1.08113641e-03 9.99994104e-01 3.25940154e-03 1.17255843e-01] [ 9.80059107e-03 -3.24865118e-03 9.99946696e-01 -5.44152507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.074553574 meters Centerline goodness [0,1] 0.8352605776404135 Centerline is valid? [False, False] Translation: X:2.46, Y:0.12, Z:-0.55 [[ 9.99952333e-01 1.18946416e-03 -9.69106627e-03 2.46261356e+00] [-1.16632455e-03 9.99996457e-01 2.39302850e-03 1.18397748e-01] [ 9.69387835e-03 -2.38161150e-03 9.99950177e-01 -5.46432729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.10455357400001 meters Centerline goodness [0,1] 0.8344552348011175 Centerline is valid? [False, False] Translation: X:2.46, Y:0.12, Z:-0.55 [[ 9.99951508e-01 1.04134249e-03 -9.79271695e-03 2.46377315e+00] [-1.02459150e-03 9.99998004e-01 1.71541806e-03 1.18725350e-01] [ 9.79448374e-03 -1.70530134e-03 9.99950579e-01 -5.48485864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.134553574 meters Centerline goodness [0,1] 0.8330261013598355 Centerline is valid? [False, False] Translation: X:2.47, Y:0.12, Z:-0.55 [[ 9.99946113e-01 3.03274166e-04 -1.03768783e-02 2.46625537e+00] [-2.84381824e-04 9.99998300e-01 1.82204611e-03 1.16365806e-01] [ 1.03774132e-02 -1.81899693e-03 9.99944499e-01 -5.49252254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.164553574 meters Centerline goodness [0,1] 0.8364093510939924 Centerline is valid? [False, False] Translation: X:2.47, Y:0.11, Z:-0.55 [[ 9.99941956e-01 -5.12523664e-05 -1.07741345e-02 2.46725476e+00] [ 7.68709292e-05 9.99997171e-01 2.37738314e-03 1.14583211e-01] [ 1.07739822e-02 -2.37807337e-03 9.99939131e-01 -5.48298833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.194553574 meters Centerline goodness [0,1] 0.8373095563231316 Centerline is valid? [False, False] Translation: X:2.47, Y:0.11, Z:-0.55 [[ 9.99934188e-01 -9.24618879e-04 -1.14351997e-02 2.46907765e+00] [ 9.57326090e-04 9.99995466e-01 2.85507908e-03 1.13196826e-01] [ 1.14325079e-02 -2.86583840e-03 9.99930540e-01 -5.46767441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.224553574 meters Centerline goodness [0,1] 0.8408299866131191 Centerline is valid? [False, False] Translation: X:2.47, Y:0.11, Z:-0.55 [[ 9.99928624e-01 -1.45087809e-03 -1.18592239e-02 2.47050251e+00] [ 1.48406558e-03 9.99995006e-01 2.79013234e-03 1.13672882e-01] [ 1.18551165e-02 -2.80753306e-03 9.99925784e-01 -5.46537466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.254553574 meters Centerline goodness [0,1] 0.8409649497755931 Centerline is valid? [False, False] Translation: X:2.47, Y:0.11, Z:-0.55 [[ 9.99918985e-01 -2.31673446e-03 -1.25162503e-02 2.47299524e+00] [ 2.34824993e-03 9.99994108e-01 2.50385539e-03 1.14424114e-01] [ 1.25103758e-02 -2.53304382e-03 9.99918534e-01 -5.46816257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.284553574 meters Centerline goodness [0,1] 0.8386976347297406 Centerline is valid? [False, False] Translation: X:2.48, Y:0.12, Z:-0.55 [[ 9.99883683e-01 -5.12160041e-03 -1.43662699e-02 2.48005375e+00] [ 5.14230245e-03 9.99985792e-01 1.40444754e-03 1.16553539e-01] [ 1.43588727e-02 -1.47815989e-03 9.99895813e-01 -5.47784684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.314553574 meters Centerline goodness [0,1] 0.8386786401539448 Centerline is valid? [False, False] Translation: X:2.48, Y:0.12, Z:-0.55 [[ 9.99853653e-01 -6.90370095e-03 -1.56528585e-02 2.48464005e+00] [ 6.92127095e-03 9.99975477e-01 1.06858385e-03 1.17139418e-01] [ 1.56450974e-02 -1.17676514e-03 9.99876916e-01 -5.47722548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.344553574 meters Centerline goodness [0,1] 0.843649335782552 Centerline is valid? [False, False] Translation: X:2.49, Y:0.12, Z:-0.55 [[ 0.9997795 -0.01276988 -0.01666994 2.48831513] [ 0.01270484 0.99991128 -0.00400206 0.12000745] [ 0.01671956 0.00378939 0.99985304 -0.54787681] [ 0. 0. 0. 1. ]] SLAMing on 81.374553574 meters Centerline goodness [0,1] 0.8419353978288122 Centerline is valid? [False, False] Translation: X:2.49, Y:0.12, Z:-0.54 [[ 0.9997063 -0.01558871 -0.01855526 2.49476473] [ 0.01553087 0.99987408 -0.00325743 0.11918986] [ 0.0186037 0.0029683 0.99982253 -0.54497074] [ 0. 0. 0. 1. ]] SLAMing on 81.404553574 meters Centerline goodness [0,1] 0.8486184597295708 Centerline is valid? [False, False] Translation: X:2.50, Y:0.12, Z:-0.54 [[ 9.99595790e-01 -1.94377146e-02 -2.07468490e-02 2.50355430e+00] [ 1.93884554e-02 9.99808716e-01 -2.57283047e-03 1.18157230e-01] [ 2.07928904e-02 2.16954115e-03 9.99781451e-01 -5.42208846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.434553574 meters Centerline goodness [0,1] 0.8538206867090298 Centerline is valid? [False, False] Translation: X:2.51, Y:0.12, Z:-0.54 [[ 0.99914497 -0.03499621 -0.02201357 2.50558125] [ 0.03507957 0.9993787 0.00341182 0.11826481] [ 0.02188049 -0.00418113 0.99975185 -0.53867612] [ 0. 0. 0. 1. ]] SLAMing on 81.464553574 meters Centerline goodness [0,1] 0.8189837213653738 Centerline is valid? [False, False] Translation: X:2.52, Y:0.12, Z:-0.54 [[ 0.99893437 -0.03924081 -0.02429576 2.51557922] [ 0.03932793 0.99922149 0.00311813 0.11758319] [ 0.02415449 -0.00407031 0.99969995 -0.53822171] [ 0. 0. 0. 1. ]] SLAMing on 81.49455357400001 meters Centerline goodness [0,1] 0.8524436843652299 Centerline is valid? [False, False] Translation: X:2.53, Y:0.12, Z:-0.54 [[ 9.98526760e-01 -4.74215780e-02 -2.63724042e-02 2.52530089e+00] [ 4.73958923e-02 9.98874904e-01 -1.59854270e-03 1.18110113e-01] [ 2.64185382e-02 3.46244030e-04 9.99650910e-01 -5.38241280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.524553574 meters Centerline goodness [0,1] 0.7817725305838987 Centerline is valid? [False, False] Translation: X:2.53, Y:0.12, Z:-0.53 [[ 0.99848318 -0.04716137 -0.02841042 2.53310001] [ 0.04727081 0.99887701 0.00319257 0.11710601] [ 0.02822795 -0.00453071 0.99959124 -0.53464076] [ 0. 0. 0. 1. ]] SLAMing on 81.554553574 meters Centerline goodness [0,1] 0.7146406625701309 Centerline is valid? [False, False] Translation: X:2.54, Y:0.12, Z:-0.53 [[ 0.99851903 -0.04527045 -0.03017177 2.53825793] [ 0.04552089 0.99893398 0.00766542 0.11698765] [ 0.02979259 -0.00902751 0.99951534 -0.53240626] [ 0. 0. 0. 1. ]] SLAMing on 81.584553574 meters Centerline goodness [0,1] 0.7237041165697906 Centerline is valid? [False, False] Translation: X:2.54, Y:0.12, Z:-0.53 [[ 0.99858925 -0.04264165 -0.03164174 2.5423505 ] [ 0.04301119 0.99901302 0.01109123 0.11960997] [ 0.03113756 -0.01243653 0.99943773 -0.53216465] [ 0. 0. 0. 1. ]] SLAMing on 81.614553574 meters Centerline goodness [0,1] 0.7229235175559563 Centerline is valid? [False, False] Translation: X:2.54, Y:0.12, Z:-0.53 [[ 0.99860895 -0.04229245 -0.03148826 2.54191531] [ 0.0426335 0.99903831 0.01023939 0.12240633] [ 0.03102493 -0.0115676 0.99945167 -0.53348938] [ 0. 0. 0. 1. ]] SLAMing on 81.644553574 meters Centerline goodness [0,1] 0.8262960418538287 Centerline is valid? [False, False] Translation: X:2.54, Y:0.12, Z:-0.53 [[ 0.99870718 -0.03905294 -0.03253977 2.544749 ] [ 0.03952774 0.9991193 0.01407799 0.12332392] [ 0.03196133 -0.01534602 0.99937129 -0.5331437 ] [ 0. 0. 0. 1. ]] SLAMing on 81.674553574 meters Centerline goodness [0,1] 0.7855720871751886 Centerline is valid? [False, False] Translation: X:2.55, Y:0.13, Z:-0.53 [[ 0.99882793 -0.03520845 -0.0332134 2.54616831] [ 0.03579315 0.99921159 0.01717704 0.1268136 ] [ 0.03258244 -0.01834572 0.99930067 -0.53372158] [ 0. 0. 0. 1. ]] SLAMing on 81.704553574 meters Centerline goodness [0,1] 0.8619652755987868 Centerline is valid? [False, False] Translation: X:2.55, Y:0.13, Z:-0.53 [[ 0.99883923 -0.03498125 -0.03311336 2.54571307] [ 0.03554296 0.99923145 0.01652895 0.1290352 ] [ 0.03250971 -0.01768671 0.99931491 -0.53435184] [ 0. 0. 0. 1. ]] SLAMing on 81.734553574 meters Centerline goodness [0,1] 0.8667326835878459 Centerline is valid? [False, False] Translation: X:2.56, Y:0.13, Z:-0.54 [[ 0.99903467 -0.03417628 -0.0275991 2.5619322 ] [ 0.03434515 0.99939396 0.00566812 0.13309239] [ 0.02738866 -0.00661055 0.999603 -0.5430663 ] [ 0. 0. 0. 1. ]] SLAMing on 81.764553574 meters Centerline goodness [0,1] 0.8655173311804996 Centerline is valid? [False, False] Translation: X:2.56, Y:0.14, Z:-0.54 [[ 0.99908379 -0.03318081 -0.02703 2.55894896] [ 0.03334633 0.99942762 0.00569607 0.13605298] [ 0.02682553 -0.0065922 0.99961839 -0.54174989] [ 0. 0. 0. 1. ]] SLAMing on 81.794553574 meters Centerline goodness [0,1] 0.8657398986618163 Centerline is valid? [False, False] Translation: X:2.56, Y:0.14, Z:-0.54 [[ 0.99913812 -0.0304342 -0.0282274 2.56238344] [ 0.03072082 0.99948019 0.00977631 0.13641273] [ 0.0279152 -0.01063505 0.99955372 -0.54069476] [ 0. 0. 0. 1. ]] SLAMing on 81.824553574 meters Centerline goodness [0,1] 0.8648062015503876 Centerline is valid? [False, False] Translation: X:2.56, Y:0.14, Z:-0.54 [[ 0.99917876 -0.02863363 -0.02866903 2.56242023] [ 0.02896366 0.99951813 0.01116304 0.14059218] [ 0.02833558 -0.01198423 0.99952662 -0.54010516] [ 0. 0. 0. 1. ]] SLAMing on 81.85455357400001 meters Centerline goodness [0,1] 0.8141277387350144 Centerline is valid? [False, False] Translation: X:2.56, Y:0.14, Z:-0.54 [[ 0.99919141 -0.02834995 -0.02850984 2.56165704] [ 0.028665 0.99953177 0.01070312 0.14270349] [ 0.02819306 -0.0115117 0.99953621 -0.54029132] [ 0. 0. 0. 1. ]] SLAMing on 81.884553574 meters Centerline goodness [0,1] 0.8611576208752995 Centerline is valid? [False, False] Translation: X:2.56, Y:0.14, Z:-0.54 [[ 0.99920416 -0.02807783 -0.02833169 2.5609397 ] [ 0.02837767 0.99954485 0.01023707 0.14455611] [ 0.02803136 -0.01103291 0.99954616 -0.54058002] [ 0. 0. 0. 1. ]] SLAMing on 81.914553574 meters Centerline goodness [0,1] 0.8548709793259118 Centerline is valid? [False, False] Translation: X:2.58, Y:0.15, Z:-0.55 [[ 9.99432158e-01 -2.53124047e-02 -2.22406061e-02 2.57569487e+00] [ 2.53661618e-02 9.99675940e-01 2.13824285e-03 1.50285470e-01] [ 2.21792748e-02 -2.70118748e-03 9.99750361e-01 -5.47295258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.944553574 meters Centerline goodness [0,1] 0.8670681701691441 Centerline is valid? [False, False] Translation: X:2.57, Y:0.15, Z:-0.55 [[ 9.99456820e-01 -2.46479138e-02 -2.18756742e-02 2.57385168e+00] [ 2.47028644e-02 9.99692316e-01 2.24524327e-03 1.51854676e-01] [ 2.18136029e-02 -2.78441552e-03 9.99758178e-01 -5.46355206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.974553574 meters Centerline goodness [0,1] 0.8665046059365404 Centerline is valid? [False, False] Translation: X:2.57, Y:0.15, Z:-0.55 [[ 9.99476375e-01 -2.40944977e-02 -2.15970163e-02 2.57228526e+00] [ 2.41550286e-02 9.99704982e-01 2.54623173e-03 1.52626439e-01] [ 2.15292947e-02 -3.06657501e-03 9.99763515e-01 -5.45177782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.004553574 meters Centerline goodness [0,1] 0.8604341593282818 Centerline is valid? [False, False] Translation: X:2.57, Y:0.15, Z:-0.54 [[ 0.99951626 -0.02297953 -0.02095696 2.56917695] [ 0.0230435 0.9997305 0.00281611 0.15431164] [ 0.0208866 -0.00329767 0.99977641 -0.54379064] [ 0. 0. 0. 1. ]] SLAMing on 82.034553574 meters Centerline goodness [0,1] 0.8657273633876288 Centerline is valid? [False, False] Translation: X:2.57, Y:0.16, Z:-0.54 [[ 0.99956578 -0.019808 -0.02181506 2.57178452] [ 0.01995341 0.99977999 0.00646844 0.15635545] [ 0.02168213 -0.00690092 0.9997411 -0.54381358] [ 0. 0. 0. 1. ]] SLAMing on 82.064553574 meters Centerline goodness [0,1] 0.8657771201142974 Centerline is valid? [False, False] Translation: X:2.57, Y:0.16, Z:-0.54 [[ 0.99956506 -0.01985557 -0.02180487 2.57202713] [ 0.01998896 0.99978269 0.00591649 0.15767485] [ 0.02168265 -0.00634977 0.99974474 -0.54465118] [ 0. 0. 0. 1. ]] SLAMing on 82.094553574 meters Centerline goodness [0,1] 0.8617726554133306 Centerline is valid? [False, False] Translation: X:2.57, Y:0.16, Z:-0.54 [[ 0.99957525 -0.01958937 -0.02157699 2.57118801] [ 0.01972296 0.99978751 0.00599569 0.15775119] [ 0.02145495 -0.00641871 0.99974921 -0.54429771] [ 0. 0. 0. 1. ]] SLAMing on 82.124553574 meters Centerline goodness [0,1] 0.8603598998006237 Centerline is valid? [False, False] Translation: X:2.57, Y:0.16, Z:-0.54 [[ 0.99960566 -0.01867493 -0.0209705 2.56868532] [ 0.0188113 0.99980305 0.00632466 0.15819413] [ 0.02084826 -0.00671665 0.99976009 -0.54348351] [ 0. 0. 0. 1. ]] SLAMing on 82.154553574 meters Centerline goodness [0,1] 0.8582753682487725 Centerline is valid? [False, False] Translation: X:2.57, Y:0.16, Z:-0.54 [[ 0.99960347 -0.01874092 -0.02101632 2.5691921 ] [ 0.01886686 0.99980512 0.00581021 0.1591694 ] [ 0.02090334 -0.00620441 0.99976225 -0.54445606] [ 0. 0. 0. 1. ]] SLAMing on 82.184553574 meters Centerline goodness [0,1] 0.8570369613005471 Centerline is valid? [False, False] Translation: X:2.57, Y:0.16, Z:-0.55 [[ 0.99961303 -0.01842441 -0.02084053 2.56894407] [ 0.01854177 0.99981322 0.00545228 0.15939616] [ 0.02073618 -0.00583659 0.99976795 -0.54565058] [ 0. 0. 0. 1. ]] SLAMing on 82.214553574 meters Centerline goodness [0,1] 0.8541767755446025 Centerline is valid? [False, False] Translation: X:2.57, Y:0.16, Z:-0.55 [[ 0.99961841 -0.01825579 -0.0207308 2.56885813] [ 0.01836602 0.99981812 0.00513938 0.15963527] [ 0.0206332 -0.00551816 0.99977188 -0.54653627] [ 0. 0. 0. 1. ]] SLAMing on 82.24455357400001 meters Centerline goodness [0,1] 0.8550431464932271 Centerline is valid? [False, False] Translation: X:2.57, Y:0.16, Z:-0.55 [[ 0.99963113 -0.01785574 -0.02046383 2.56785174] [ 0.01796637 0.99982489 0.00523476 0.15989281] [ 0.02036677 -0.00560049 0.99977689 -0.54640451] [ 0. 0. 0. 1. ]] SLAMing on 82.274553574 meters Centerline goodness [0,1] 0.8544479897894065 Centerline is valid? [False, False] Translation: X:2.57, Y:0.16, Z:-0.55 [[ 0.999643 -0.01748165 -0.02020536 2.56706278] [ 0.01759191 0.99983125 0.00529209 0.1597175 ] [ 0.02010943 -0.00564566 0.99978184 -0.54652563] [ 0. 0. 0. 1. ]] SLAMing on 82.304553574 meters Centerline goodness [0,1] 0.8537800950774421 Centerline is valid? [False, False] Translation: X:2.57, Y:0.16, Z:-0.55 [[ 0.99964495 -0.01741649 -0.0201651 2.56706323] [ 0.0175264 0.99983242 0.00528664 0.15973478] [ 0.02006965 -0.00563819 0.99978269 -0.54673608] [ 0. 0. 0. 1. ]] SLAMing on 82.334553574 meters Centerline goodness [0,1] 0.8562392768431026 Centerline is valid? [False, False] Translation: X:2.57, Y:0.16, Z:-0.55 [[ 0.99963945 -0.01761903 -0.02026171 2.56742745] [ 0.0177371 0.99982665 0.00566253 0.15850866] [ 0.02015843 -0.00601987 0.99977867 -0.54628276] [ 0. 0. 0. 1. ]] SLAMing on 82.364553574 meters Centerline goodness [0,1] 0.8515287194575925 Centerline is valid? [False, False] Translation: X:2.57, Y:0.16, Z:-0.55 [[ 0.99962532 -0.01806631 -0.02056291 2.56857972] [ 0.01819002 0.99981746 0.00584493 0.15721478] [ 0.02045356 -0.00621677 0.99977148 -0.54615734] [ 0. 0. 0. 1. ]] SLAMing on 82.394553574 meters Centerline goodness [0,1] 0.8510725966367078 Centerline is valid? [False, False] Translation: X:2.57, Y:0.15, Z:-0.55 [[ 0.99958374 -0.01947323 -0.02128721 2.57150622] [ 0.01961179 0.9997877 0.00631988 0.15412326] [ 0.02115962 -0.00673473 0.99975343 -0.54546337] [ 0. 0. 0. 1. ]] SLAMing on 82.424553574 meters Centerline goodness [0,1] 0.8561030379681491 Centerline is valid? [False, False] Translation: X:2.57, Y:0.15, Z:-0.54 [[ 0.99954994 -0.02046288 -0.02193611 2.57385678] [ 0.02061313 0.99976544 0.00664519 0.15233042] [ 0.02179498 -0.00709437 0.99973729 -0.54499698] [ 0. 0. 0. 1. ]] SLAMing on 82.454553574 meters Centerline goodness [0,1] 0.8490019650429207 Centerline is valid? [False, False] Translation: X:2.58, Y:0.15, Z:-0.55 [[ 0.99942414 -0.02559334 -0.02227944 2.57607851] [ 0.02566012 0.99966703 0.00271682 0.14983734] [ 0.02220249 -0.00328695 0.99974809 -0.54559442] [ 0. 0. 0. 1. ]] SLAMing on 82.484553574 meters Centerline goodness [0,1] 0.8501700547810058 Centerline is valid? [False, False] Translation: X:2.58, Y:0.15, Z:-0.55 [[ 0.99936765 -0.02693307 -0.02321456 2.5797313 ] [ 0.02700754 0.99963102 0.00290029 0.14797622] [ 0.02312788 -0.00352543 0.9997263 -0.54574439] [ 0. 0. 0. 1. ]] SLAMing on 82.514553574 meters Centerline goodness [0,1] 0.8589853602725122 Centerline is valid? [False, False] Translation: X:2.58, Y:0.15, Z:-0.55 [[ 0.99931455 -0.02811367 -0.02408422 2.5832388 ] [ 0.02819275 0.99959815 0.00295025 0.14644657] [ 0.0239916 -0.00362723 0.99970558 -0.54636239] [ 0. 0. 0. 1. ]] SLAMing on 82.544553574 meters Centerline goodness [0,1] 0.8599697570132443 Centerline is valid? [False, False] Translation: X:2.59, Y:0.14, Z:-0.55 [[ 0.9992568 -0.02940875 -0.02491927 2.58680195] [ 0.02949506 0.99956011 0.0031034 0.14425791] [ 0.02481704 -0.00383609 0.99968465 -0.54681805] [ 0. 0. 0. 1. ]] SLAMing on 82.574553574 meters Centerline goodness [0,1] 0.8557306067087485 Centerline is valid? [False, False] Translation: X:2.59, Y:0.14, Z:-0.55 [[ 0.99925487 -0.02940519 -0.02500085 2.58703446] [ 0.02949825 0.99955918 0.00336166 0.14364786] [ 0.02489098 -0.00409663 0.99968178 -0.54660432] [ 0. 0. 0. 1. ]] SLAMing on 82.60455357400001 meters Centerline goodness [0,1] 0.8599661061139356 Centerline is valid? [False, False] Translation: X:2.59, Y:0.14, Z:-0.55 [[ 0.99931382 -0.02638519 -0.0259946 2.59006598] [ 0.02658992 0.99961782 0.00756195 0.14298259] [ 0.02578515 -0.00824796 0.99963348 -0.54610631] [ 0. 0. 0. 1. ]] SLAMing on 82.634553574 meters Centerline goodness [0,1] 0.8466157205240175 Centerline is valid? [False, False] Translation: X:2.59, Y:0.14, Z:-0.55 [[ 0.99932135 -0.02622593 -0.02586582 2.58990686] [ 0.02641539 0.99962647 0.00701043 0.14415134] [ 0.0256723 -0.00768893 0.99964084 -0.54720539] [ 0. 0. 0. 1. ]] SLAMing on 82.664553574 meters Centerline goodness [0,1] 0.8553457481442897 Centerline is valid? [False, False] Translation: X:2.59, Y:0.14, Z:-0.55 [[ 0.9993283 -0.02601315 -0.02581207 2.58944974] [ 0.02620202 0.99963212 0.00700602 0.14453876] [ 0.02562032 -0.00767764 0.99964226 -0.54699405] [ 0. 0. 0. 1. ]] SLAMing on 82.694553574 meters Centerline goodness [0,1] 0.8567713074462275 Centerline is valid? [False, False] Translation: X:2.61, Y:0.15, Z:-0.55 [[ 9.99468646e-01 -2.53628628e-02 -2.04731548e-02 2.60536211e+00] [ 2.53154387e-02 9.99676203e-01 -2.57230230e-03 1.46346958e-01] [ 2.05317666e-02 2.05264860e-03 9.99787094e-01 -5.52127918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.724553574 meters Centerline goodness [0,1] 0.8572951608289778 Centerline is valid? [False, False] Translation: X:2.61, Y:0.14, Z:-0.55 [[ 0.99950991 -0.02276267 -0.02148934 2.60797038] [ 0.02282759 0.99973555 0.00278059 0.14425712] [ 0.02142036 -0.00326978 0.99976521 -0.54846783] [ 0. 0. 0. 1. ]] SLAMing on 82.754553574 meters Centerline goodness [0,1] 0.8572951608289778 Centerline is valid? [False, False] Translation: X:2.61, Y:0.14, Z:-0.55 [[ 0.99950991 -0.02276267 -0.02148934 2.60797038] [ 0.02282759 0.99973555 0.00278059 0.14425712] [ 0.02142036 -0.00326978 0.99976521 -0.54846783] [ 0. 0. 0. 1. ]] SLAMing on 82.784553574 meters Centerline goodness [0,1] 0.8596107815589551 Centerline is valid? [False, False] Translation: X:2.61, Y:0.15, Z:-0.55 [[ 9.99492770e-01 -2.32281558e-02 -2.17866012e-02 2.60918203e+00] [ 2.32875640e-02 9.99725739e-01 2.47705362e-03 1.45295341e-01] [ 2.17230886e-02 -2.98315405e-03 9.99759575e-01 -5.48804807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.814553574 meters Centerline goodness [0,1] 0.8562210542748608 Centerline is valid? [False, False] Translation: X:2.61, Y:0.15, Z:-0.55 [[ 9.99481231e-01 -2.35009378e-02 -2.20221583e-02 2.60996941e+00] [ 2.35628755e-02 9.99719086e-01 2.55722890e-03 1.45519146e-01] [ 2.19558747e-02 -3.07480766e-03 9.99754212e-01 -5.48549126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.844553574 meters Centerline goodness [0,1] 0.7942056901892391 Centerline is valid? [False, False] Translation: X:2.61, Y:0.15, Z:-0.55 [[ 0.99946831 -0.02387093 -0.02220983 2.61020174] [ 0.02394273 0.99970891 0.00297254 0.1453893 ] [ 0.02213241 -0.00350272 0.99974891 -0.54691655] [ 0. 0. 0. 1. ]] SLAMing on 82.874553574 meters Centerline goodness [0,1] 0.8493200551236382 Centerline is valid? [False, False] Translation: X:2.61, Y:0.15, Z:-0.55 [[ 0.99945013 -0.02428025 -0.02258106 2.61129574] [ 0.02435415 0.99969888 0.00300341 0.14574367] [ 0.02250134 -0.0035517 0.9997405 -0.54648803] [ 0. 0. 0. 1. ]] SLAMing on 82.904553574 meters Centerline goodness [0,1] 0.8521320852834113 Centerline is valid? [False, False] Translation: X:2.61, Y:0.15, Z:-0.55 [[ 0.99942862 -0.02476684 -0.02300101 2.6128031 ] [ 0.02483883 0.99968741 0.00284911 0.14614623] [ 0.02292326 -0.0034188 0.99973138 -0.5466634 ] [ 0. 0. 0. 1. ]] SLAMing on 82.934553574 meters Centerline goodness [0,1] 0.8547359663035282 Centerline is valid? [False, False] Translation: X:2.61, Y:0.15, Z:-0.55 [[ 9.99396566e-01 -2.55207322e-02 -2.35626098e-02 2.61449714e+00] [ 2.55873371e-02 9.99669390e-01 2.52951773e-03 1.47348122e-01] [ 2.34902646e-02 -3.13089577e-03 9.99719163e-01 -5.46369443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.964553574 meters Centerline goodness [0,1] 0.8558388008609735 Centerline is valid? [False, False] Translation: X:2.61, Y:0.15, Z:-0.55 [[ 9.99386713e-01 -2.57478049e-02 -2.37328404e-02 2.61495017e+00] [ 2.58147760e-02 9.99663567e-01 2.51978572e-03 1.48024027e-01] [ 2.36599770e-02 -3.13089832e-03 9.99715161e-01 -5.45891088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.99455357400001 meters Centerline goodness [0,1] 0.8546627626771695 Centerline is valid? [False, False] Translation: X:2.62, Y:0.15, Z:-0.55 [[ 9.99362602e-01 -2.63358999e-02 -2.41000224e-02 2.61629719e+00] [ 2.63919431e-02 9.99649651e-01 2.01028217e-03 1.49918394e-01] [ 2.40386364e-02 -2.64504724e-03 9.99707531e-01 -5.46164215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.024553574 meters Centerline goodness [0,1] 0.8520455722423614 Centerline is valid? [False, False] Translation: X:2.62, Y:0.15, Z:-0.55 [[ 9.99354104e-01 -2.64982546e-02 -2.42738014e-02 2.61676844e+00] [ 2.65521006e-02 9.99645628e-01 1.89860532e-03 1.50939366e-01] [ 2.42148897e-02 -2.54189943e-03 9.99703545e-01 -5.45995057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.054553574 meters Centerline goodness [0,1] 0.8559479553903346 Centerline is valid? [False, False] Translation: X:2.62, Y:0.15, Z:-0.55 [[ 9.99341370e-01 -2.67657196e-02 -2.45035320e-02 2.61766384e+00] [ 2.68119068e-02 9.99639282e-01 1.55826216e-03 1.52085246e-01] [ 2.44529852e-02 -2.21422226e-03 9.99698529e-01 -5.46376278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.084553574 meters Centerline goodness [0,1] 0.8522899683698922 Centerline is valid? [False, False] Translation: X:2.62, Y:0.15, Z:-0.55 [[ 0.9993686 -0.02431046 -0.02591147 2.62219347] [ 0.02444811 0.99968855 0.00500882 0.15376086] [ 0.02578164 -0.00563915 0.99965169 -0.54668174] [ 0. 0. 0. 1. ]] SLAMing on 83.114553574 meters Centerline goodness [0,1] 0.8487763583192243 Centerline is valid? [False, False] Translation: X:2.62, Y:0.16, Z:-0.55 [[ 0.9993732 -0.02415578 -0.02587863 2.62217796] [ 0.02427967 0.99969515 0.00448358 0.15577077] [ 0.02576244 -0.00510909 0.99965504 -0.54743837] [ 0. 0. 0. 1. ]] SLAMing on 83.144553574 meters Centerline goodness [0,1] 0.8541458541458542 Centerline is valid? [False, False] Translation: X:2.64, Y:0.16, Z:-0.55 [[ 0.99955595 -0.02197476 -0.02012497 2.6381016 ] [ 0.02190646 0.99975351 -0.00360816 0.15990116] [ 0.0201993 0.00316569 0.99979096 -0.55388575] [ 0. 0. 0. 1. ]] SLAMing on 83.174553574 meters Centerline goodness [0,1] 0.8439112882620471 Centerline is valid? [False, False] Translation: X:2.64, Y:0.16, Z:-0.55 [[ 9.99609695e-01 -1.86536593e-02 -2.07966071e-02 2.63933253e+00] [ 1.86852871e-02 9.99824533e-01 1.32751795e-03 1.58655546e-01] [ 2.07681949e-02 -1.71559039e-03 9.99782846e-01 -5.51154811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.204553574 meters Centerline goodness [0,1] 0.7973624467515241 Centerline is valid? [False, False] Translation: X:2.64, Y:0.16, Z:-0.55 [[ 9.99633431e-01 -1.78871646e-02 -2.03236993e-02 2.63714061e+00] [ 1.79235919e-02 9.99838061e-01 1.61160421e-03 1.59769872e-01] [ 2.02915811e-02 -1.97528714e-03 9.99792153e-01 -5.49987451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.234553574 meters Centerline goodness [0,1] 0.852391221616136 Centerline is valid? [False, False] Translation: X:2.64, Y:0.16, Z:-0.55 [[ 0.99969124 -0.01389099 -0.02060271 2.63768071] [ 0.014003 0.99988789 0.00530238 0.16182571] [ 0.02052675 -0.00558924 0.99977368 -0.54975901] [ 0. 0. 0. 1. ]] SLAMing on 83.264553574 meters Centerline goodness [0,1] 0.857251405703865 Centerline is valid? [False, False] Translation: X:2.64, Y:0.16, Z:-0.55 [[ 0.99971518 -0.01290619 -0.02007435 2.63573507] [ 0.01300713 0.99990337 0.00490588 0.16412467] [ 0.0200091 -0.00516559 0.99978645 -0.55046016] [ 0. 0. 0. 1. ]] SLAMing on 83.294553574 meters Centerline goodness [0,1] 0.850867871059157 Centerline is valid? [False, False] Translation: X:2.63, Y:0.17, Z:-0.55 [[ 0.99973289 -0.01208263 -0.01970171 2.6343531 ] [ 0.01217235 0.99991606 0.0044402 0.16606358] [ 0.01964641 -0.00467883 0.99979604 -0.55129226] [ 0. 0. 0. 1. ]] SLAMing on 83.324553574 meters Centerline goodness [0,1] 0.8549870254200993 Centerline is valid? [False, False] Translation: X:2.63, Y:0.17, Z:-0.55 [[ 0.99977168 -0.01027002 -0.01873783 2.63037741] [ 0.01035695 0.99993602 0.00454787 0.16777329] [ 0.01868992 -0.0047409 0.99981409 -0.55096687] [ 0. 0. 0. 1. ]] SLAMing on 83.35455357400001 meters Centerline goodness [0,1] 0.8550990646686111 Centerline is valid? [False, False] Translation: X:2.65, Y:0.17, Z:-0.56 [[ 0.99988562 -0.00827712 -0.01265808 2.64620365] [ 0.00823864 0.99996129 -0.00308859 0.16973217] [ 0.01268316 0.00298395 0.99991511 -0.55745598] [ 0. 0. 0. 1. ]] SLAMing on 83.384553574 meters Centerline goodness [0,1] 0.8522573193391252 Centerline is valid? [False, False] Translation: X:2.64, Y:0.17, Z:-0.56 [[ 9.99899669e-01 -7.42698604e-03 -1.20619771e-02 2.64375682e+00] [ 7.39573381e-03 9.99969183e-01 -2.63351331e-03 1.70792721e-01] [ 1.20811644e-02 2.54404191e-03 9.99923784e-01 -5.56178090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.414553574 meters Centerline goodness [0,1] 0.8496613995485327 Centerline is valid? [False, False] Translation: X:2.64, Y:0.17, Z:-0.56 [[ 9.99900308e-01 -7.36743401e-03 -1.20455122e-02 2.64358782e+00] [ 7.33911154e-03 9.99970203e-01 -2.39380376e-03 1.70777975e-01] [ 1.20627895e-02 2.30516176e-03 9.99924585e-01 -5.55713210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.444553574 meters Centerline goodness [0,1] 0.8449688379573783 Centerline is valid? [False, False] Translation: X:2.64, Y:0.17, Z:-0.55 [[ 9.99895968e-01 -7.60463193e-03 -1.22565049e-02 2.64409287e+00] [ 7.58166134e-03 9.99969416e-01 -1.91953134e-03 1.69487857e-01] [ 1.22707274e-02 1.82640698e-03 9.99923044e-01 -5.54893723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.474553574 meters Centerline goodness [0,1] 0.8509252740621542 Centerline is valid? [False, False] Translation: X:2.64, Y:0.17, Z:-0.55 [[ 9.99896058e-01 -7.58755112e-03 -1.22597879e-02 2.64385314e+00] [ 7.57156890e-03 9.99970425e-01 -1.34951949e-03 1.68338166e-01] [ 1.22696649e-02 1.25655339e-03 9.99923935e-01 -5.53827514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.504553574 meters Centerline goodness [0,1] 0.8546333115216187 Centerline is valid? [False, False] Translation: X:2.64, Y:0.17, Z:-0.55 [[ 9.99896558e-01 -7.55542374e-03 -1.22387962e-02 2.64369046e+00] [ 7.54421060e-03 9.99971079e-01 -9.62105978e-04 1.67563778e-01] [ 1.22457113e-02 8.69674400e-04 9.99924640e-01 -5.53209648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.534553574 meters Centerline goodness [0,1] 0.849071343968146 Centerline is valid? [False, False] Translation: X:2.64, Y:0.17, Z:-0.55 [[ 9.99902457e-01 -7.18575894e-03 -1.19766791e-02 2.64266041e+00] [ 7.17823347e-03 9.99974011e-01 -6.71213010e-04 1.67398061e-01] [ 1.19811910e-02 5.85176140e-04 9.99928052e-01 -5.52743603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.564553574 meters Centerline goodness [0,1] 0.8509337091659536 Centerline is valid? [False, False] Translation: X:2.64, Y:0.17, Z:-0.55 [[ 9.99905462e-01 -6.93176451e-03 -1.18751005e-02 2.64216958e+00] [ 6.92743040e-03 9.99975923e-01 -4.06070069e-04 1.67264239e-01] [ 1.18776294e-02 3.23767748e-04 9.99929406e-01 -5.52373023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.594553574 meters Centerline goodness [0,1] 0.8520187273459525 Centerline is valid? [False, False] Translation: X:2.64, Y:0.17, Z:-0.55 [[ 9.99907620e-01 -6.72302559e-03 -1.18132201e-02 2.64197792e+00] [ 6.72055194e-03 9.99977386e-01 -2.49082280e-04 1.67052132e-01] [ 1.18146276e-02 1.69667910e-04 9.99930190e-01 -5.52449859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.624553574 meters Centerline goodness [0,1] 0.8485451568207583 Centerline is valid? [False, False] Translation: X:2.64, Y:0.17, Z:-0.55 [[ 9.99903805e-01 -6.92821969e-03 -1.20158796e-02 2.64282723e+00] [ 6.92514948e-03 9.99975977e-01 -2.97102263e-04 1.66936002e-01] [ 1.20176493e-02 2.13861921e-04 9.99927763e-01 -5.52831474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.654553574 meters Centerline goodness [0,1] 0.8543386349909402 Centerline is valid? [False, False] Translation: X:2.64, Y:0.17, Z:-0.55 [[ 9.99897994e-01 -7.22937607e-03 -1.23181493e-02 2.64402539e+00] [ 7.22606670e-03 9.99973843e-01 -3.13144605e-04 1.66630926e-01] [ 1.23200909e-02 2.24100894e-04 9.99924080e-01 -5.53195330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.684553574 meters Centerline goodness [0,1] 0.8551845785561295 Centerline is valid? [False, False] Translation: X:2.65, Y:0.17, Z:-0.55 [[ 9.99889319e-01 -7.72206740e-03 -1.27168951e-02 2.64534517e+00] [ 7.72175715e-03 9.99970184e-01 -7.34976911e-05 1.65544884e-01] [ 1.27170835e-02 -2.47072197e-05 9.99919134e-01 -5.52927073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.714553574 meters Centerline goodness [0,1] 0.8554560363315251 Centerline is valid? [False, False] Translation: X:2.65, Y:0.16, Z:-0.55 [[ 9.99889073e-01 -7.75088770e-03 -1.27187038e-02 2.64515994e+00] [ 7.75734352e-03 9.99969806e-01 4.58329018e-04 1.64625638e-01] [ 1.27147673e-02 -5.56941531e-04 9.99919009e-01 -5.51926987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.74455357400001 meters Centerline goodness [0,1] 0.8551178714910175 Centerline is valid? [False, False] Translation: X:2.65, Y:0.16, Z:-0.55 [[ 9.99879795e-01 -8.42911737e-03 -1.30132819e-02 2.64651711e+00] [ 8.43852032e-03 9.99964172e-01 6.67825412e-04 1.63489445e-01] [ 1.30071865e-02 -7.77557980e-04 9.99915101e-01 -5.51770866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.774553574 meters Centerline goodness [0,1] 0.8484295845997973 Centerline is valid? [False, False] Translation: X:2.65, Y:0.16, Z:-0.55 [[ 9.99867584e-01 -9.09025748e-03 -1.34974947e-02 2.64844862e+00] [ 9.09903061e-03 9.99958430e-01 5.88713886e-04 1.63223336e-01] [ 1.34915821e-02 -7.11450048e-04 9.99908731e-01 -5.52221167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.804553574 meters Centerline goodness [0,1] 0.8514483595369293 Centerline is valid? [False, False] Translation: X:2.65, Y:0.16, Z:-0.55 [[ 9.99851238e-01 -9.92453284e-03 -1.41069141e-02 2.65093255e+00] [ 9.93225018e-03 9.99950560e-01 4.77104578e-04 1.62710555e-01] [ 1.41014817e-02 -6.17147003e-04 9.99900379e-01 -5.52878871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.834553574 meters Centerline goodness [0,1] 0.8518574716131806 Centerline is valid? [False, False] Translation: X:2.65, Y:0.16, Z:-0.55 [[ 9.99827008e-01 -1.12895427e-02 -1.47817671e-02 2.65344101e+00] [ 1.13048859e-02 9.99935642e-01 9.54828290e-04 1.60183986e-01] [ 1.47700362e-02 -1.12176930e-03 9.99890288e-01 -5.51747314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.864553574 meters Centerline goodness [0,1] 0.8538621599675194 Centerline is valid? [False, False] Translation: X:2.65, Y:0.16, Z:-0.55 [[ 9.99824244e-01 -1.14443015e-02 -1.48495334e-02 2.65333427e+00] [ 1.14689382e-02 9.99932989e-01 1.57499558e-03 1.58934297e-01] [ 1.48305136e-02 -1.74502715e-03 9.99888499e-01 -5.50280672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.894553574 meters Centerline goodness [0,1] 0.8514997458057956 Centerline is valid? [False, False] Translation: X:2.65, Y:0.16, Z:-0.55 [[ 9.99818500e-01 -1.17867291e-02 -1.49679441e-02 2.65345897e+00] [ 1.18212065e-02 9.99927669e-01 2.21702855e-03 1.57777593e-01] [ 1.49407300e-02 -2.39356531e-03 9.99885516e-01 -5.48639801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.924553574 meters Centerline goodness [0,1] 0.8045311388804226 Centerline is valid? [False, False] Translation: X:2.65, Y:0.16, Z:-0.55 [[ 9.99810925e-01 -1.20913767e-02 -1.52286964e-02 2.65449492e+00] [ 1.21250498e-02 9.99924240e-01 2.12077018e-03 1.57900925e-01] [ 1.52018996e-02 -2.30501789e-03 9.99881788e-01 -5.49011877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.954553574 meters Centerline goodness [0,1] 0.8345265295760345 Centerline is valid? [False, False] Translation: X:2.66, Y:0.16, Z:-0.55 [[ 9.99802088e-01 -1.24339467e-02 -1.55299996e-02 2.65598490e+00] [ 1.24620272e-02 9.99920879e-01 1.71267776e-03 1.58427138e-01] [ 1.55074755e-02 -1.90587408e-03 9.99877935e-01 -5.50286699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.984553574 meters Centerline goodness [0,1] 0.8489986547199025 Centerline is valid? [False, False] Translation: X:2.66, Y:0.16, Z:-0.55 [[ 9.99781990e-01 -1.31579943e-02 -1.62123394e-02 2.65906865e+00] [ 1.31730700e-02 9.99912892e-01 8.23446002e-04 1.59330487e-01] [ 1.62000923e-02 -1.03683276e-03 9.99868232e-01 -5.52930101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.014553574 meters Centerline goodness [0,1] 0.8496381871270788 Centerline is valid? [False, False] Translation: X:2.66, Y:0.16, Z:-0.55 [[ 9.99779213e-01 -1.32370910e-02 -1.63188244e-02 2.65947982e+00] [ 1.32543230e-02 9.99911708e-01 9.48253250e-04 1.58877459e-01] [ 1.63048315e-02 -1.16433886e-03 9.99866389e-01 -5.52945965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.044553574 meters Centerline goodness [0,1] 0.7493905535804977 Centerline is valid? [False, False] Translation: X:2.66, Y:0.16, Z:-0.55 [[ 9.99777091e-01 -1.33751516e-02 -1.63362495e-02 2.65915812e+00] [ 1.34024991e-02 9.99908957e-01 1.56570127e-03 1.57785406e-01] [ 1.63138207e-02 -1.78429883e-03 9.99865329e-01 -5.51258420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.074553574 meters Centerline goodness [0,1] 0.8479315336363867 Centerline is valid? [False, False] Translation: X:2.66, Y:0.16, Z:-0.55 [[ 9.99782141e-01 -1.31526560e-02 -1.62073352e-02 2.65828422e+00] [ 1.31877383e-02 9.99910917e-01 2.05962126e-03 1.57450718e-01] [ 1.61788019e-02 -2.27291065e-03 9.99866531e-01 -5.49937159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.10455357400001 meters Centerline goodness [0,1] 0.8523116764414654 Centerline is valid? [False, False] Translation: X:2.66, Y:0.16, Z:-0.55 [[ 9.99784352e-01 -1.30245228e-02 -1.61743985e-02 2.65807269e+00] [ 1.30606966e-02 9.99912431e-01 2.13286607e-03 1.57833438e-01] [ 1.61452025e-02 -2.34365503e-03 9.99866911e-01 -5.49711213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.134553574 meters Centerline goodness [0,1] 0.834079583111988 Centerline is valid? [False, False] Translation: X:2.66, Y:0.16, Z:-0.55 [[ 9.99776673e-01 -1.31327679e-02 -1.65569909e-02 2.65964386e+00] [ 1.31545432e-02 9.99912747e-01 1.20694523e-03 1.60077114e-01] [ 1.65396958e-02 -1.42447534e-03 9.99862195e-01 -5.51768210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.164553574 meters Centerline goodness [0,1] 0.8008583690987124 Centerline is valid? [False, False] Translation: X:2.66, Y:0.16, Z:-0.55 [[ 0.99979487 -0.01003995 -0.01759046 2.66313958] [ 0.01012588 0.9999372 0.00480266 0.1606086 ] [ 0.01754114 -0.00497979 0.99983374 -0.55265184] [ 0. 0. 0. 1. ]] SLAMing on 84.194553574 meters Centerline goodness [0,1] 0.8530670829975826 Centerline is valid? [False, False] Translation: X:2.66, Y:0.16, Z:-0.55 [[ 0.99980248 -0.00958718 -0.01740926 2.66281453] [ 0.00966166 0.99994451 0.00419915 0.16231937] [ 0.01736803 -0.00436653 0.99983963 -0.55406154] [ 0. 0. 0. 1. ]] SLAMing on 84.224553574 meters Centerline goodness [0,1] 0.8508745476477684 Centerline is valid? [False, False] Translation: X:2.66, Y:0.16, Z:-0.55 [[ 0.99983518 -0.00754582 -0.01651288 2.65864448] [ 0.00762446 0.99995987 0.00470443 0.16453871] [ 0.01647671 -0.00482955 0.99985259 -0.55310921] [ 0. 0. 0. 1. ]] SLAMing on 84.254553574 meters Centerline goodness [0,1] 0.8496986972720226 Centerline is valid? [False, False] Translation: X:2.67, Y:0.17, Z:-0.56 [[ 0.99993473 -0.00493797 -0.01030335 2.67269911] [ 0.00490543 0.99998291 -0.00318112 0.167096 ] [ 0.01031888 0.00313037 0.99994186 -0.55948265] [ 0. 0. 0. 1. ]] SLAMing on 84.284553574 meters Centerline goodness [0,1] 0.8496517512652202 Centerline is valid? [False, False] Translation: X:2.67, Y:0.17, Z:-0.56 [[ 0.99994629 -0.00376683 -0.0096559 2.66987715] [ 0.0037401 0.99998913 -0.00278479 0.16823044] [ 0.00966629 0.00274852 0.9999495 -0.55839574] [ 0. 0. 0. 1. ]] SLAMing on 84.314553574 meters Centerline goodness [0,1] 0.8527682569863151 Centerline is valid? [False, False] Translation: X:2.67, Y:0.17, Z:-0.56 [[ 9.99955770e-01 1.08323020e-03 -9.34261781e-03 2.66797602e+00] [-1.06479777e-03 9.99997477e-01 1.97768951e-03 1.68528453e-01] [ 9.34473654e-03 -1.96765404e-03 9.99954401e-01 -5.56362509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.344553574 meters Centerline goodness [0,1] 0.8511769551434063 Centerline is valid? [False, False] Translation: X:2.67, Y:0.17, Z:-0.56 [[ 9.99958185e-01 1.98102496e-03 -8.92769980e-03 2.66630517e+00] [-1.96389655e-03 9.99996215e-01 1.92692705e-03 1.69613140e-01] [ 8.93148330e-03 -1.90931340e-03 9.99958291e-01 -5.56422838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.374553574 meters Centerline goodness [0,1] 0.8482916625161869 Centerline is valid? [False, False] Translation: X:2.66, Y:0.17, Z:-0.55 [[ 0.99993821 0.00767058 -0.00804606 2.66227422] [-0.00761567 0.99994765 0.00683296 0.17079514] [ 0.00809806 -0.00677126 0.99994428 -0.55400617] [ 0. 0. 0. 1. ]] SLAMing on 84.404553574 meters Centerline goodness [0,1] 0.8455470674596263 Centerline is valid? [False, False] Translation: X:2.66, Y:0.17, Z:-0.55 [[ 0.99993198 0.0091597 -0.00722023 2.65897865] [-0.00910908 0.99993392 0.00701342 0.17246484] [ 0.007284 -0.00694717 0.99994934 -0.55334346] [ 0. 0. 0. 1. ]] SLAMing on 84.434553574 meters Centerline goodness [0,1] 0.8421235425452741 Centerline is valid? [False, False] Translation: X:2.65, Y:0.17, Z:-0.55 [[ 0.99986896 0.01492681 -0.00626544 2.654651 ] [-0.01484959 0.99981536 0.01219603 0.17307514] [ 0.00644633 -0.0121014 0.999906 -0.55039701] [ 0. 0. 0. 1. ]] SLAMing on 84.464553574 meters Centerline goodness [0,1] 0.8388422590309242 Centerline is valid? [False, False] Translation: X:2.65, Y:0.17, Z:-0.55 [[ 0.99986194 0.01553772 -0.00588849 2.65349022] [-0.01546672 0.99980935 0.01191812 0.17402335] [ 0.00607255 -0.0118254 0.99991164 -0.55098196] [ 0. 0. 0. 1. ]] SLAMing on 84.494553574 meters Centerline goodness [0,1] 0.83792420113946 Centerline is valid? [False, False] Translation: X:2.65, Y:0.18, Z:-0.55 [[ 0.99990054 0.01321147 -0.00493595 2.65015802] [-0.0131751 0.99988634 0.00732912 0.17597145] [ 0.00503221 -0.00726336 0.99996096 -0.55255129] [ 0. 0. 0. 1. ]] SLAMing on 84.524553574 meters Centerline goodness [0,1] 0.8362265648249182 Centerline is valid? [False, False] Translation: X:2.65, Y:0.18, Z:-0.55 [[ 0.99993855 0.0102553 -0.00420907 2.64791669] [-0.0102435 0.99994357 0.00281638 0.17737446] [ 0.00423771 -0.00277309 0.99998718 -0.55385381] [ 0. 0. 0. 1. ]] SLAMing on 84.554553574 meters Centerline goodness [0,1] 0.8414159204226924 Centerline is valid? [False, False] Translation: X:2.65, Y:0.18, Z:-0.55 [[ 9.99971993e-01 6.44262686e-03 -3.80866177e-03 2.64694264e+00] [-6.44883183e-03 9.99977895e-01 -1.61914257e-03 1.77833559e-01] [ 3.79814605e-03 1.64365864e-03 9.99991436e-01 -5.54749475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.584553574 meters Centerline goodness [0,1] 0.8349915431300368 Centerline is valid? [False, False] Translation: X:2.65, Y:0.18, Z:-0.56 [[ 0.99999016 0.00283564 -0.00341171 2.64577751] [-0.00285488 0.99997998 -0.00564751 0.1772766 ] [ 0.00339563 0.0056572 0.99997823 -0.55528117] [ 0. 0. 0. 1. ]] SLAMing on 84.614553574 meters Centerline goodness [0,1] 0.8415037145625761 Centerline is valid? [False, False] Translation: X:2.65, Y:0.18, Z:-0.55 [[ 9.99990018e-01 2.55827145e-03 -3.66326733e-03 2.64652831e+00] [-2.57793188e-03 9.99982246e-01 -5.37228514e-03 1.76527900e-01] [ 3.64945852e-03 5.38167517e-03 9.99978859e-01 -5.54916949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.644553574 meters Centerline goodness [0,1] 0.8347236704900939 Centerline is valid? [False, False] Translation: X:2.65, Y:0.18, Z:-0.56 [[ 9.99989648e-01 2.12778045e-03 -4.02189307e-03 2.64791505e+00] [-2.14988132e-03 9.99982570e-01 -5.49882863e-03 1.76556747e-01] [ 4.01012267e-03 5.50741830e-03 9.99976793e-01 -5.55393277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.674553574 meters Centerline goodness [0,1] 0.8347236704900939 Centerline is valid? [False, False] Translation: X:2.65, Y:0.18, Z:-0.56 [[ 9.99989648e-01 2.12778045e-03 -4.02189307e-03 2.64791505e+00] [-2.14988132e-03 9.99982570e-01 -5.49882863e-03 1.76556747e-01] [ 4.01012267e-03 5.50741830e-03 9.99976793e-01 -5.55393277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.704553574 meters Centerline goodness [0,1] 0.8371446306641838 Centerline is valid? [False, False] Translation: X:2.65, Y:0.18, Z:-0.56 [[ 9.99988952e-01 1.67867500e-03 -4.39061036e-03 2.64945907e+00] [-1.70390557e-03 9.99982022e-01 -5.74906914e-03 1.76813576e-01] [ 4.38088061e-03 5.75648681e-03 9.99973835e-01 -5.56206027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.734553574 meters Centerline goodness [0,1] 0.8375921498306436 Centerline is valid? [False, False] Translation: X:2.65, Y:0.17, Z:-0.56 [[ 9.99985803e-01 3.34156631e-04 -5.31810286e-03 2.65278488e+00] [-3.64572229e-04 9.99983578e-01 -5.71931570e-03 1.74782641e-01] [ 5.31610438e-03 5.72117333e-03 9.99969503e-01 -5.56483333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.764553574 meters Centerline goodness [0,1] 0.8404569086182764 Centerline is valid? [False, False] Translation: X:2.66, Y:0.17, Z:-0.56 [[ 9.99979299e-01 -1.63987322e-03 -6.22187962e-03 2.65647058e+00] [ 1.60660746e-03 9.99984410e-01 -5.34781427e-03 1.71221865e-01] [ 6.23055236e-03 5.33770745e-03 9.99966344e-01 -5.55852669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.794553574 meters Centerline goodness [0,1] 0.8400550412809608 Centerline is valid? [False, False] Translation: X:2.66, Y:0.17, Z:-0.56 [[ 9.99973993e-01 -2.42102883e-03 -6.79356865e-03 2.65838052e+00] [ 2.38578302e-03 9.99983678e-01 -5.19143138e-03 1.70383526e-01] [ 6.80602638e-03 5.17508839e-03 9.99963448e-01 -5.55610018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.824553574 meters Centerline goodness [0,1] 0.8389726661164878 Centerline is valid? [False, False] Translation: X:2.66, Y:0.17, Z:-0.56 [[ 0.99996698 -0.00328136 -0.00743449 2.66075004] [ 0.0032427 0.99998118 -0.00520733 0.16980423] [ 0.00745143 0.00518305 0.99995881 -0.55595819] [ 0. 0. 0. 1. ]] SLAMing on 84.85455357400001 meters Centerline goodness [0,1] 0.8366214859437751 Centerline is valid? [False, False] Translation: X:2.67, Y:0.17, Z:-0.56 [[ 0.99994521 -0.00572304 -0.00876501 2.6664147 ] [ 0.00567247 0.99996718 -0.00578394 0.16841807] [ 0.00879782 0.0057339 0.99994486 -0.55735002] [ 0. 0. 0. 1. ]] SLAMing on 84.884553574 meters Centerline goodness [0,1] 0.8409056565758324 Centerline is valid? [False, False] Translation: X:2.67, Y:0.17, Z:-0.56 [[ 0.9999318 -0.00678585 -0.00950538 2.66885494] [ 0.00673396 0.9999623 -0.00548128 0.16665413] [ 0.00954222 0.00541689 0.9999398 -0.55677758] [ 0. 0. 0. 1. ]] SLAMing on 84.914553574 meters Centerline goodness [0,1] 0.8442660088602497 Centerline is valid? [False, False] Translation: X:2.67, Y:0.16, Z:-0.56 [[ 0.99991992 -0.00761732 -0.01010624 2.67051202] [ 0.0075685 0.99995955 -0.00486038 0.16467826] [ 0.01014285 0.0047835 0.99993712 -0.55539471] [ 0. 0. 0. 1. ]] SLAMing on 84.944553574 meters Centerline goodness [0,1] 0.8388177786736545 Centerline is valid? [False, False] Translation: X:2.67, Y:0.16, Z:-0.55 [[ 0.99989132 -0.00969103 -0.01111029 2.67441119] [ 0.00963604 0.99994111 -0.0049926 0.16339555] [ 0.01115802 0.004885 0.99992581 -0.55498372] [ 0. 0. 0. 1. ]] SLAMing on 84.974553574 meters Centerline goodness [0,1] 0.8468543254597137 Centerline is valid? [False, False] Translation: X:2.68, Y:0.16, Z:-0.56 [[ 0.99987489 -0.01057813 -0.01176008 2.67691917] [ 0.01051604 0.9999305 -0.005329 0.16368632] [ 0.01181564 0.00520466 0.99991665 -0.55564791] [ 0. 0. 0. 1. ]] SLAMing on 85.004553574 meters Centerline goodness [0,1] 0.8445338024629304 Centerline is valid? [False, False] Translation: X:2.68, Y:0.16, Z:-0.56 [[ 9.99869921e-01 -9.12874203e-03 -1.32969146e-02 2.68251910e+00] [ 9.10259705e-03 9.99956519e-01 -2.02544027e-03 1.63998522e-01] [ 1.33148261e-02 1.90414035e-03 9.99909541e-01 -5.55926832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.034553574 meters Centerline goodness [0,1] 0.8473420260782347 Centerline is valid? [False, False] Translation: X:2.68, Y:0.17, Z:-0.56 [[ 9.99872308e-01 -8.94011787e-03 -1.32454752e-02 2.68214419e+00] [ 8.91373942e-03 9.99958172e-01 -2.04920675e-03 1.65032401e-01] [ 1.32632413e-02 1.93087837e-03 9.99910175e-01 -5.55589384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.064553574 meters Centerline goodness [0,1] 0.8470755991394406 Centerline is valid? [False, False] Translation: X:2.68, Y:0.16, Z:-0.55 [[ 9.99885573e-01 -5.89915249e-03 -1.39298386e-02 2.68377408e+00] [ 5.93347124e-03 9.99979460e-01 2.42364438e-03 1.64165417e-01] [ 1.39152550e-02 -2.50601934e-03 9.99900038e-01 -5.53562402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.094553574 meters Centerline goodness [0,1] 0.8483924196209811 Centerline is valid? [False, False] Translation: X:2.68, Y:0.17, Z:-0.55 [[ 0.99990224 -0.00450108 -0.01323851 2.68012228] [ 0.00453869 0.99998574 0.00281271 0.16645736] [ 0.01322566 -0.00287252 0.99990841 -0.55150318] [ 0. 0. 0. 1. ]] SLAMing on 85.124553574 meters Centerline goodness [0,1] 0.8432532255246936 Centerline is valid? [False, False] Translation: X:2.68, Y:0.17, Z:-0.55 [[ 9.99910689e-01 -3.77672611e-03 -1.28199490e-02 2.67851916e+00] [ 3.81041866e-03 9.99989348e-01 2.60472664e-03 1.68131688e-01] [ 1.28099751e-02 -2.65334338e-03 9.99914428e-01 -5.51541093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.154553574 meters Centerline goodness [0,1] 0.8466606991894177 Centerline is valid? [False, False] Translation: X:2.68, Y:0.17, Z:-0.55 [[ 9.99915146e-01 3.76487917e-04 -1.30214728e-02 2.67890968e+00] [-2.92063416e-04 9.99978931e-01 6.48477729e-03 1.69871730e-01] [ 1.30236399e-02 -6.48042393e-03 9.99894189e-01 -5.51451602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.184553574 meters Centerline goodness [0,1] 0.8341648670787103 Centerline is valid? [False, False] Translation: X:2.68, Y:0.17, Z:-0.55 [[ 9.99915950e-01 7.02462281e-04 -1.29460309e-02 2.67906055e+00] [-6.29718526e-04 9.99983997e-01 5.62222057e-03 1.72103446e-01] [ 1.29497731e-02 -5.61359567e-03 9.99900390e-01 -5.53303048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.214553574 meters Centerline goodness [0,1] 0.8501188354129531 Centerline is valid? [False, False] Translation: X:2.68, Y:0.17, Z:-0.55 [[ 9.99918054e-01 1.23760768e-03 -1.27417805e-02 2.67863285e+00] [-1.17492908e-03 9.99987180e-01 4.92545091e-03 1.74099067e-01] [ 1.27477129e-02 -4.91007660e-03 9.99906689e-01 -5.54845095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.244553574 meters Centerline goodness [0,1] 0.8387924230465666 Centerline is valid? [False, False] Translation: X:2.68, Y:0.18, Z:-0.56 [[ 9.99919636e-01 1.94619509e-03 -1.25273197e-02 2.67774371e+00] [-1.89073991e-03 9.99988369e-01 4.43706126e-03 1.75951336e-01] [ 1.25358093e-02 -4.41301878e-03 9.99911685e-01 -5.55641756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.274553574 meters Centerline goodness [0,1] 0.8441394658753709 Centerline is valid? [False, False] Translation: X:2.68, Y:0.18, Z:-0.55 [[ 9.99919378e-01 2.02691910e-03 -1.25351010e-02 2.67735187e+00] [-1.96934213e-03 9.99987463e-01 4.60389762e-03 1.75844411e-01] [ 1.25442756e-02 -4.57884054e-03 9.99910834e-01 -5.54878811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.304553574 meters Centerline goodness [0,1] 0.8472572587426423 Centerline is valid? [False, False] Translation: X:2.68, Y:0.18, Z:-0.55 [[ 9.99916213e-01 1.44781993e-03 -1.28635685e-02 2.67838606e+00] [-1.39072238e-03 9.99989147e-01 4.44653895e-03 1.75712951e-01] [ 1.28698667e-02 -4.42827673e-03 9.99907374e-01 -5.54633291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.334553574 meters Centerline goodness [0,1] 0.8424699760795048 Centerline is valid? [False, False] Translation: X:2.68, Y:0.18, Z:-0.56 [[ 9.99911928e-01 8.44463178e-04 -1.32447164e-02 2.68005164e+00] [-7.91578987e-04 9.99991696e-01 3.99758614e-03 1.76455418e-01] [ 1.32479822e-02 -3.98674983e-03 9.99904294e-01 -5.55462182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.364553574 meters Centerline goodness [0,1] 0.8441609711564558 Centerline is valid? [False, False] Translation: X:2.68, Y:0.18, Z:-0.56 [[ 9.99904438e-01 2.61692132e-05 -1.38244328e-02 2.68226502e+00] [ 2.35157611e-05 9.99993542e-01 3.59382253e-03 1.76983147e-01] [ 1.38244376e-02 -3.59380419e-03 9.99897980e-01 -5.56169460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.394553574 meters Centerline goodness [0,1] 0.8492562717383261 Centerline is valid? [False, False] Translation: X:2.68, Y:0.18, Z:-0.56 [[ 9.99889484e-01 -4.66434413e-03 -1.41160815e-02 2.68336421e+00] [ 4.65148939e-03 9.99988737e-01 -9.43339725e-04 1.77940304e-01] [ 1.41203225e-02 8.77574668e-04 9.99899918e-01 -5.56648263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.424553574 meters Centerline goodness [0,1] 0.8438658952677645 Centerline is valid? [False, False] Translation: X:2.69, Y:0.18, Z:-0.56 [[ 9.99874032e-01 -5.72061920e-03 -1.48051944e-02 2.68529482e+00] [ 5.71050889e-03 9.99983432e-01 -7.25075011e-04 1.77053295e-01] [ 1.48090970e-02 6.40438481e-04 9.99890134e-01 -5.55452260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.454553574 meters Centerline goodness [0,1] 0.8554977436934382 Centerline is valid? [False, False] Translation: X:2.69, Y:0.18, Z:-0.55 [[ 0.99983443 -0.01036868 -0.01495323 2.68559872] [ 0.01029367 0.99993409 -0.00508455 0.17829058] [ 0.01500496 0.00492978 0.99987527 -0.55476259] [ 0. 0. 0. 1. ]] SLAMing on 85.484553574 meters Centerline goodness [0,1] 0.8462810325255417 Centerline is valid? [False, False] Translation: X:2.69, Y:0.18, Z:-0.55 [[ 0.99981989 -0.01108232 -0.0154065 2.68710913] [ 0.0110005 0.99992499 -0.00538504 0.17925671] [ 0.01546502 0.00521459 0.99986681 -0.55465957] [ 0. 0. 0. 1. ]] SLAMing on 85.514553574 meters Centerline goodness [0,1] 0.8399155123293054 Centerline is valid? [False, False] Translation: X:2.69, Y:0.18, Z:-0.55 [[ 0.99981089 -0.01150946 -0.01567527 2.68798739] [ 0.0114215 0.99991859 -0.00568932 0.18061254] [ 0.01573948 0.00550921 0.99986095 -0.55459062] [ 0. 0. 0. 1. ]] SLAMing on 85.544553574 meters Centerline goodness [0,1] 0.8549805285458865 Centerline is valid? [False, False] Translation: X:2.69, Y:0.18, Z:-0.55 [[ 0.99980313 -0.01186785 -0.0159012 2.68845762] [ 0.01177007 0.99991133 -0.00622861 0.1834008 ] [ 0.01597371 0.00604023 0.99985417 -0.55424265] [ 0. 0. 0. 1. ]] SLAMing on 85.574553574 meters Centerline goodness [0,1] 0.8556362841105144 Centerline is valid? [False, False] Translation: X:2.69, Y:0.18, Z:-0.55 [[ 9.99813782e-01 -9.22174843e-03 -1.69516907e-02 2.69099255e+00] [ 9.18455844e-03 9.99955244e-01 -2.27042703e-03 1.84363532e-01] [ 1.69718693e-02 2.11431044e-03 9.99853732e-01 -5.52486497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.60455357400001 meters Centerline goodness [0,1] 0.8509967502546443 Centerline is valid? [False, False] Translation: X:2.69, Y:0.19, Z:-0.55 [[ 9.99813494e-01 -9.15717097e-03 -1.70036198e-02 2.69108297e+00] [ 9.11371876e-03 9.99955007e-01 -2.63120261e-03 1.86139755e-01] [ 1.70269492e-02 2.47574566e-03 9.99851966e-01 -5.52684158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.634553574 meters Centerline goodness [0,1] 0.8495575221238938 Centerline is valid? [False, False] Translation: X:2.69, Y:0.19, Z:-0.55 [[ 9.99820908e-01 -6.21757990e-03 -1.78743951e-02 2.69369536e+00] [ 6.24201020e-03 9.99979659e-01 1.31131020e-03 1.86482168e-01] [ 1.78658783e-02 -1.42264751e-03 9.99839380e-01 -5.52084137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.664553574 meters Centerline goodness [0,1] 0.8585415259959487 Centerline is valid? [False, False] Translation: X:2.69, Y:0.19, Z:-0.55 [[ 9.99821154e-01 -6.07979475e-03 -1.79080155e-02 2.69386814e+00] [ 6.09404155e-03 9.99981157e-01 7.41090738e-04 1.88842258e-01] [ 1.79031723e-02 -8.50090387e-04 9.99839364e-01 -5.52764625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.694553574 meters Centerline goodness [0,1] 0.8459547546012269 Centerline is valid? [False, False] Translation: X:2.70, Y:0.19, Z:-0.55 [[ 0.9998199 -0.00283179 -0.01876553 2.69617044] [ 0.00290563 0.99998814 0.00390876 0.19212796] [ 0.01875424 -0.00396258 0.99981627 -0.55288803] [ 0. 0. 0. 1. ]] SLAMing on 85.724553574 meters Centerline goodness [0,1] 0.8442022938076731 Centerline is valid? [False, False] Translation: X:2.70, Y:0.19, Z:-0.55 [[ 0.99981874 -0.00270838 -0.0188454 2.69657522] [ 0.00276892 0.99999109 0.00318715 0.1948439 ] [ 0.0188366 -0.00323875 0.99981733 -0.553758 ] [ 0. 0. 0. 1. ]] SLAMing on 85.754553574 meters Centerline goodness [0,1] 0.8575729559301141 Centerline is valid? [False, False] Translation: X:2.70, Y:0.20, Z:-0.55 [[ 9.99819804e-01 -2.01920634e-03 -1.88754689e-02 2.69598865e+00] [ 2.06676912e-03 9.99994738e-01 2.50065203e-03 1.99902277e-01] [ 1.88703203e-02 -2.53921265e-03 9.99818715e-01 -5.53921175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.784553574 meters Centerline goodness [0,1] 0.8585595607204564 Centerline is valid? [False, False] Translation: X:2.70, Y:0.20, Z:-0.55 [[ 9.99821075e-01 -1.77044495e-03 -1.88330205e-02 2.69564091e+00] [ 1.81091399e-03 9.99996088e-01 2.13199719e-03 2.02033121e-01] [ 1.88291722e-02 -2.16572070e-03 9.99820370e-01 -5.53878368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.814553574 meters Centerline goodness [0,1] 0.8450907200907201 Centerline is valid? [False, False] Translation: X:2.69, Y:0.20, Z:-0.55 [[ 9.99825352e-01 -1.27384619e-03 -1.86451762e-02 2.69462327e+00] [ 1.31094472e-03 9.99997185e-01 1.97762444e-03 2.03811981e-01] [ 1.86426046e-02 -2.00172185e-03 9.99824208e-01 -5.53476034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.844553574 meters Centerline goodness [0,1] 0.8577032391421793 Centerline is valid? [False, False] Translation: X:2.69, Y:0.21, Z:-0.55 [[ 9.99817260e-01 2.56315699e-03 -1.89440549e-02 2.69499188e+00] [-2.45798008e-03 9.99981449e-01 5.57317484e-03 2.06638372e-01] [ 1.89579884e-02 -5.52559229e-03 9.99805012e-01 -5.52604174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.874553574 meters Centerline goodness [0,1] 0.8605020061584399 Centerline is valid? [False, False] Translation: X:2.69, Y:0.21, Z:-0.56 [[ 9.99941120e-01 8.53722769e-04 -1.08178906e-02 2.68561378e+00] [-7.66246894e-04 9.99967000e-01 8.08778915e-03 2.12965452e-01] [ 1.08244384e-02 -8.07902377e-03 9.99908776e-01 -5.57805106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.904553574 meters Centerline goodness [0,1] 0.859772251917267 Centerline is valid? [False, False] Translation: X:2.69, Y:0.22, Z:-0.56 [[ 9.99938522e-01 4.87049842e-04 -1.10777136e-02 2.68687283e+00] [-4.09797215e-04 9.99975591e-01 6.97489891e-03 2.15780225e-01] [ 1.10808403e-02 -6.96993049e-03 9.99914314e-01 -5.59211732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.934553574 meters Centerline goodness [0,1] 0.8603811155618328 Centerline is valid? [False, False] Translation: X:2.69, Y:0.22, Z:-0.56 [[ 9.99935263e-01 1.32153869e-04 -1.13776846e-02 2.68786492e+00] [-6.01372834e-05 9.99979965e-01 6.32974402e-03 2.17838864e-01] [ 1.13782931e-02 -6.32865003e-03 9.99915238e-01 -5.59573282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.964553574 meters Centerline goodness [0,1] 0.818125201826821 Centerline is valid? [False, False] Translation: X:2.68, Y:0.22, Z:-0.56 [[ 9.99936866e-01 -1.39267864e-03 -1.11501076e-02 2.68498763e+00] [ 1.43828229e-03 9.99990630e-01 4.08300069e-03 2.22215776e-01] [ 1.11443168e-02 -4.09877992e-03 9.99929500e-01 -5.56844606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.994553574 meters Centerline goodness [0,1] 0.8596677189667489 Centerline is valid? [False, False] Translation: X:2.68, Y:0.22, Z:-0.56 [[ 9.99938466e-01 -1.32683301e-03 -1.10137643e-02 2.68406464e+00] [ 1.36963647e-03 9.99991536e-01 3.87972789e-03 2.24049283e-01] [ 1.10085234e-02 -3.89457401e-03 9.99931820e-01 -5.55713476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.024553574 meters Centerline goodness [0,1] 0.8527266491368469 Centerline is valid? [False, False] Translation: X:2.68, Y:0.23, Z:-0.55 [[ 9.99941331e-01 -1.14201502e-03 -1.07717571e-02 2.68248338e+00] [ 1.17687292e-03 9.99994090e-01 3.23026298e-03 2.29021551e-01] [ 1.07680045e-02 -3.24275045e-03 9.99936765e-01 -5.54272590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.054553574 meters Centerline goodness [0,1] 0.8620626987732849 Centerline is valid? [False, False] Translation: X:2.68, Y:0.23, Z:-0.55 [[ 9.99943107e-01 -9.42424029e-04 -1.06251860e-02 2.68191983e+00] [ 9.71435794e-04 9.99995814e-01 2.72564105e-03 2.32101817e-01] [ 1.06225728e-02 -2.73580767e-03 9.99939836e-01 -5.54203457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.084553574 meters Centerline goodness [0,1] 0.8627141212846149 Centerline is valid? [False, False] Translation: X:2.68, Y:0.24, Z:-0.55 [[ 9.99943964e-01 -8.36079027e-04 -1.05531640e-02 2.68162934e+00] [ 8.59329725e-04 9.99997213e-01 2.19885481e-03 2.35084832e-01] [ 1.05512962e-02 -2.20780024e-03 9.99941896e-01 -5.54198031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.114553574 meters Centerline goodness [0,1] 0.8478665858640271 Centerline is valid? [False, False] Translation: X:2.68, Y:0.24, Z:-0.55 [[ 9.99941195e-01 -1.13919677e-03 -1.07846445e-02 2.68224165e+00] [ 1.15221799e-03 9.99998615e-01 1.20124900e-03 2.39020922e-01] [ 1.07832611e-02 -1.21360462e-03 9.99941122e-01 -5.54456648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.144553574 meters Centerline goodness [0,1] 0.8287380109931682 Centerline is valid? [False, False] Translation: X:2.68, Y:0.24, Z:-0.56 [[ 9.99934827e-01 -1.80530587e-03 -1.12731015e-02 2.68411336e+00] [ 1.80419597e-03 9.99998367e-01 -1.08624716e-04 2.42778836e-01] [ 1.12732792e-02 8.82787522e-05 9.99936451e-01 -5.55776539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.174553574 meters Centerline goodness [0,1] 0.8355213553909611 Centerline is valid? [False, False] Translation: X:2.69, Y:0.25, Z:-0.56 [[ 9.99930644e-01 -2.11683248e-03 -1.15856418e-02 2.68543672e+00] [ 2.10675195e-03 9.99997392e-01 -8.82223298e-04 2.45118661e-01] [ 1.15874791e-02 8.57754037e-04 9.99932495e-01 -5.56885026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.204553574 meters Centerline goodness [0,1] 0.8401317680351971 Centerline is valid? [False, False] Translation: X:2.69, Y:0.25, Z:-0.56 [[ 9.99925916e-01 -2.39288193e-03 -1.19346809e-02 2.68664087e+00] [ 2.37539338e-03 9.99996085e-01 -1.47931530e-03 2.47057244e-01] [ 1.19381740e-02 1.45085614e-03 9.99927685e-01 -5.57624733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.234553574 meters Centerline goodness [0,1] 0.8483205501190161 Centerline is valid? [False, False] Translation: X:2.69, Y:0.25, Z:-0.56 [[ 9.99921421e-01 -2.58418271e-03 -1.22667855e-02 2.68770101e+00] [ 2.56061269e-03 9.99994846e-01 -1.93676762e-03 2.48590155e-01] [ 1.22717273e-02 1.90520494e-03 9.99922884e-01 -5.58135356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.264553574 meters Centerline goodness [0,1] 0.8575288303130149 Centerline is valid? [False, False] Translation: X:2.69, Y:0.25, Z:-0.56 [[ 9.99923350e-01 -2.12237331e-03 -1.21978972e-02 2.68702258e+00] [ 2.09346473e-03 9.99994971e-01 -2.38224400e-03 2.52063263e-01] [ 1.22028918e-02 2.35652553e-03 9.99922765e-01 -5.57842722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.294553574 meters Centerline goodness [0,1] 0.8642648960182324 Centerline is valid? [False, False] Translation: X:2.68, Y:0.26, Z:-0.56 [[ 9.99933145e-01 -5.28585885e-04 -1.15509952e-02 2.68374712e+00] [ 5.06108727e-04 9.99997973e-01 -1.94874313e-03 2.55931475e-01] [ 1.15520019e-02 1.94276679e-03 9.99931386e-01 -5.55823076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.324553574 meters Centerline goodness [0,1] 0.8646951059931955 Centerline is valid? [False, False] Translation: X:2.68, Y:0.26, Z:-0.56 [[ 9.99935877e-01 8.04247739e-05 -1.13240854e-02 2.68269684e+00] [-1.03331136e-04 9.99997950e-01 -2.02222961e-03 2.57859532e-01] [ 1.13238996e-02 2.02327007e-03 9.99933836e-01 -5.55441730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.35455357400001 meters Centerline goodness [0,1] 0.864508943195964 Centerline is valid? [False, False] Translation: X:2.68, Y:0.26, Z:-0.55 [[ 9.99938947e-01 7.86186299e-04 -1.10219888e-02 2.68144247e+00] [-8.08197802e-04 9.99997688e-01 -1.99274184e-03 2.59663933e-01] [ 1.10203967e-02 2.00152813e-03 9.99937270e-01 -5.54980812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.384553574 meters Centerline goodness [0,1] 0.861738789042052 Centerline is valid? [False, False] Translation: X:2.68, Y:0.26, Z:-0.55 [[ 9.99941285e-01 1.39536787e-03 -1.07461736e-02 2.68030334e+00] [-1.41789808e-03 9.99996812e-01 -2.08924722e-03 2.61798630e-01] [ 1.07432241e-02 2.10436153e-03 9.99940076e-01 -5.54562399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.414553574 meters Centerline goodness [0,1] 0.8574525745257453 Centerline is valid? [False, False] Translation: X:2.68, Y:0.27, Z:-0.55 [[ 9.99942523e-01 2.22168197e-03 -1.04888304e-02 2.67914244e+00] [-2.24692150e-03 9.99994607e-01 -2.39515468e-03 2.66155633e-01] [ 1.04834525e-02 2.41858459e-03 9.99942122e-01 -5.54337904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.444553574 meters Centerline goodness [0,1] 0.8566867989646247 Centerline is valid? [False, False] Translation: X:2.68, Y:0.27, Z:-0.56 [[ 9.99939764e-01 1.97691250e-03 -1.07962786e-02 2.68021484e+00] [-2.01314633e-03 9.99992375e-01 -3.34630505e-03 2.69535769e-01] [ 1.07895809e-02 3.36783797e-03 9.99936119e-01 -5.55167240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.474553574 meters Centerline goodness [0,1] 0.8577857204375161 Centerline is valid? [False, False] Translation: X:2.68, Y:0.27, Z:-0.56 [[ 9.99937039e-01 1.64498755e-03 -1.11001208e-02 2.68118220e+00] [-1.68599961e-03 9.99991784e-01 -3.68639422e-03 2.70350463e-01] [ 1.10939655e-02 3.70487692e-03 9.99931597e-01 -5.55448728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.504553574 meters Centerline goodness [0,1] 0.863739851368186 Centerline is valid? [False, False] Translation: X:2.68, Y:0.27, Z:-0.56 [[ 9.99936130e-01 1.44788108e-03 -1.12088687e-02 2.68142967e+00] [-1.49014491e-03 9.99991809e-01 -3.76313731e-03 2.70592350e-01] [ 1.12033283e-02 3.77959980e-03 9.99930098e-01 -5.55106311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.534553574 meters Centerline goodness [0,1] 0.8630321710653053 Centerline is valid? [False, False] Translation: X:2.68, Y:0.27, Z:-0.55 [[ 9.99937435e-01 1.44237563e-03 -1.10926331e-02 2.68082069e+00] [-1.48439634e-03 9.99991751e-01 -3.78086386e-03 2.71196278e-01] [ 1.10870881e-02 3.79709317e-03 9.99931327e-01 -5.54250246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.564553574 meters Centerline goodness [0,1] 0.8630321710653053 Centerline is valid? [False, False] Translation: X:2.68, Y:0.27, Z:-0.55 [[ 9.99937435e-01 1.44237563e-03 -1.10926331e-02 2.68082069e+00] [-1.48439634e-03 9.99991751e-01 -3.78086386e-03 2.71196278e-01] [ 1.10870881e-02 3.79709317e-03 9.99931327e-01 -5.54250246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.594553574 meters Centerline goodness [0,1] 0.8576019409210862 Centerline is valid? [False, False] Translation: X:2.67, Y:0.27, Z:-0.55 [[ 9.99996886e-01 -3.02231322e-04 -2.47715942e-03 2.66884500e+00] [ 3.04109570e-04 9.99999667e-01 7.57884870e-04 2.74583493e-01] [ 2.47692953e-03 -7.58635838e-04 9.99996645e-01 -5.54241462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.624553574 meters Centerline goodness [0,1] 0.8625102958879807 Centerline is valid? [False, False] Translation: X:2.67, Y:0.28, Z:-0.55 [[ 9.99997581e-01 3.94507521e-04 -2.16388198e-03 2.66754582e+00] [-3.93602668e-04 9.99999835e-01 4.18572051e-04 2.78289770e-01] [ 2.16404675e-03 -4.17719329e-04 9.99997571e-01 -5.53866801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.654553574 meters Centerline goodness [0,1] 0.8597937709550219 Centerline is valid? [False, False] Translation: X:2.67, Y:0.28, Z:-0.55 [[ 9.99997599e-01 5.80941101e-04 -2.11316697e-03 2.66737426e+00] [-5.80499605e-04 9.99999810e-01 2.09533636e-04 2.79707132e-01] [ 2.11328830e-03 -2.08306440e-04 9.99997745e-01 -5.53916147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.684553574 meters Centerline goodness [0,1] 0.8593503626616209 Centerline is valid? [False, False] Translation: X:2.67, Y:0.28, Z:-0.55 [[ 9.99997555e-01 7.54387858e-04 -2.07871312e-03 2.66727694e+00] [-7.54359824e-04 9.99999715e-01 1.42706967e-05 2.81017415e-01] [ 2.07872329e-03 -1.27025641e-05 9.99997839e-01 -5.54036424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.714553574 meters Centerline goodness [0,1] 0.8555131485131905 Centerline is valid? [False, False] Translation: X:2.67, Y:0.28, Z:-0.55 [[ 9.99997476e-01 1.13248090e-03 -1.94053496e-03 2.66689072e+00] [-1.13326116e-03 9.99999277e-01 -4.01035727e-04 2.83402850e-01] [ 1.94007940e-03 4.03233848e-04 9.99998037e-01 -5.54214603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.744553574 meters Centerline goodness [0,1] 0.8562413518386516 Centerline is valid? [False, False] Translation: X:2.67, Y:0.28, Z:-0.55 [[ 9.99997408e-01 1.20246806e-03 -1.93319593e-03 2.66706688e+00] [-1.20374230e-03 9.99999059e-01 -6.58109373e-04 2.84258468e-01] [ 1.93240276e-03 6.60434737e-04 9.99997915e-01 -5.54495237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.774553574 meters Centerline goodness [0,1] 0.8596835469461028 Centerline is valid? [False, False] Translation: X:2.67, Y:0.29, Z:-0.55 [[ 9.99996398e-01 2.14900060e-03 -1.60773613e-03 2.66593523e+00] [-2.15011237e-03 9.99997450e-01 -6.90105719e-04 2.86826407e-01] [ 1.60624900e-03 6.93560047e-04 9.99998469e-01 -5.54586315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.804553574 meters Centerline goodness [0,1] 0.8585763953948327 Centerline is valid? [False, False] Translation: X:2.67, Y:0.29, Z:-0.55 [[ 9.99995766e-01 2.46338574e-03 -1.54912766e-03 2.66582452e+00] [-2.46485821e-03 9.99996512e-01 -9.49327108e-04 2.88627739e-01] [ 1.54678370e-03 9.53141468e-04 9.99998349e-01 -5.54882345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.834553574 meters Centerline goodness [0,1] 0.857297612599475 Centerline is valid? [False, False] Translation: X:2.67, Y:0.29, Z:-0.56 [[ 9.99995116e-01 2.75786648e-03 -1.47059466e-03 2.66566144e+00] [-2.75954726e-03 9.99995540e-01 -1.14212960e-03 2.89898645e-01] [ 1.46743826e-03 1.14618220e-03 9.99998266e-01 -5.55056272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.864553574 meters Centerline goodness [0,1] 0.8579099631610715 Centerline is valid? [False, False] Translation: X:2.66, Y:0.29, Z:-0.55 [[ 9.99991390e-01 4.03109079e-03 -9.84833154e-04 2.66373902e+00] [-4.03199690e-03 9.99991448e-01 -9.19821808e-04 2.91354336e-01] [ 9.81116847e-04 9.23784733e-04 9.99999092e-01 -5.54423130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.894553574 meters Centerline goodness [0,1] 0.8592791331295107 Centerline is valid? [False, False] Translation: X:2.66, Y:0.29, Z:-0.55 [[ 9.99990142e-01 4.37633907e-03 -7.50923312e-04 2.66333087e+00] [-4.37721740e-03 9.99989733e-01 -1.17204152e-03 2.92479258e-01] [ 7.45786352e-04 1.17531692e-03 9.99999031e-01 -5.54797624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.924553574 meters Centerline goodness [0,1] 0.8559555638458828 Centerline is valid? [False, False] Translation: X:2.66, Y:0.29, Z:-0.55 [[ 9.99985394e-01 5.39300911e-03 -3.56737481e-04 2.66187073e+00] [-5.39337772e-03 9.99984914e-01 -1.04051096e-03 2.94974719e-01] [ 3.51120615e-04 1.04241979e-03 9.99999395e-01 -5.54409192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.954553574 meters Centerline goodness [0,1] 0.8545574882624253 Centerline is valid? [False, False] Translation: X:2.66, Y:0.30, Z:-0.55 [[ 9.99985130e-01 5.44003684e-03 -3.81935194e-04 2.66207065e+00] [-5.44050410e-03 9.99984440e-01 -1.23320643e-03 2.95772841e-01] [ 3.75220562e-04 1.23526601e-03 9.99999167e-01 -5.54598365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.984553574 meters Centerline goodness [0,1] 0.8558590271882054 Centerline is valid? [False, False] Translation: X:2.66, Y:0.30, Z:-0.55 [[ 9.99984881e-01 5.48900066e-03 -3.30747267e-04 2.66194908e+00] [-5.48940217e-03 9.99984182e-01 -1.22550386e-03 2.95791646e-01] [ 3.24015244e-04 1.22730093e-03 9.99999194e-01 -5.54458597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.014553574 meters Centerline goodness [0,1] 0.8529283985352836 Centerline is valid? [False, False] Translation: X:2.66, Y:0.30, Z:-0.55 [[ 9.99987404e-01 4.98354021e-03 -5.96323153e-04 2.66300485e+00] [-4.98438139e-03 9.99986573e-01 -1.41755438e-03 2.95673123e-01] [ 5.89250707e-04 1.42050882e-03 9.99998817e-01 -5.54576839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.044553574 meters Centerline goodness [0,1] 0.8545394369401982 Centerline is valid? [False, False] Translation: X:2.66, Y:0.30, Z:-0.55 [[ 9.99989332e-01 4.52409711e-03 -9.31559382e-04 2.66418451e+00] [-4.52564535e-03 9.99988370e-01 -1.66664035e-03 2.95709324e-01] [ 9.24008506e-04 1.67083848e-03 9.99998177e-01 -5.54931021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.074553574 meters Centerline goodness [0,1] 0.8502734731084777 Centerline is valid? [False, False] Translation: X:2.66, Y:0.29, Z:-0.55 [[ 9.99990620e-01 4.20369289e-03 -1.04372603e-03 2.66462055e+00] [-4.20534698e-03 9.99989897e-01 -1.58768750e-03 2.94854013e-01] [ 1.03704134e-03 1.59206184e-03 9.99998195e-01 -5.54767456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.10455357400001 meters Centerline goodness [0,1] 0.8458290209066446 Centerline is valid? [False, False] Translation: X:2.67, Y:0.29, Z:-0.56 [[ 9.99991581e-01 3.89624792e-03 -1.28725065e-03 2.66577318e+00] [-3.89865530e-03 9.99990646e-01 -1.87298418e-03 2.94908973e-01] [ 1.27994100e-03 1.87798696e-03 9.99997417e-01 -5.55549186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.134553574 meters Centerline goodness [0,1] 0.8406027782371424 Centerline is valid? [False, False] Translation: X:2.67, Y:0.30, Z:-0.56 [[ 9.99990522e-01 4.16506673e-03 -1.26793796e-03 2.66592766e+00] [-4.16731548e-03 9.99989739e-01 -1.77610009e-03 2.95212769e-01] [ 1.26052738e-03 1.78136715e-03 9.99997619e-01 -5.55866717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.164553574 meters Centerline goodness [0,1] 0.8456036323678809 Centerline is valid? [False, False] Translation: X:2.67, Y:0.30, Z:-0.56 [[ 9.99990178e-01 4.23268788e-03 -1.31446761e-03 2.66644816e+00] [-4.23516907e-03 9.99989244e-01 -1.89059213e-03 2.95230976e-01] [ 1.30645118e-03 1.89614055e-03 9.99997349e-01 -5.56568788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.194553574 meters Centerline goodness [0,1] 0.8410232983097304 Centerline is valid? [False, False] Translation: X:2.67, Y:0.30, Z:-0.56 [[ 9.99989212e-01 4.44631481e-03 -1.34384244e-03 2.66675717e+00] [-4.44881912e-03 9.99988362e-01 -1.86633423e-03 2.95115946e-01] [ 1.33552849e-03 1.87229261e-03 9.99997355e-01 -5.57051108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.224553574 meters Centerline goodness [0,1] 0.839686238608464 Centerline is valid? [False, False] Translation: X:2.67, Y:0.29, Z:-0.56 [[ 9.99983629e-01 5.65274308e-03 -8.87366851e-04 2.66526167e+00] [-5.65358056e-03 9.99983573e-01 -9.44121126e-04 2.93376939e-01] [ 8.82015400e-04 9.49122470e-04 9.99999161e-01 -5.56667654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.254553574 meters Centerline goodness [0,1] 0.8383048798282366 Centerline is valid? [False, False] Translation: X:2.67, Y:0.29, Z:-0.56 [[ 9.99982697e-01 5.81661301e-03 -8.79001943e-04 2.66552060e+00] [-5.81733054e-03 9.99982746e-01 -8.15970629e-04 2.92715285e-01] [ 8.74240591e-04 8.21069956e-04 9.99999281e-01 -5.57061244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.284553574 meters Centerline goodness [0,1] 0.8312917478066043 Centerline is valid? [False, False] Translation: X:2.67, Y:0.29, Z:-0.56 [[ 9.99981727e-01 5.96888963e-03 -9.57769987e-04 2.66662395e+00] [-5.96931350e-03 9.99982087e-01 -4.40311520e-04 2.90443499e-01] [ 9.55124659e-04 4.46020703e-04 9.99999444e-01 -5.58437903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.314553574 meters Centerline goodness [0,1] 0.8317240223697715 Centerline is valid? [False, False] Translation: X:2.67, Y:0.29, Z:-0.56 [[ 9.99983348e-01 5.65102488e-03 -1.17057762e-03 2.66772367e+00] [-5.65129521e-03 9.99984005e-01 -2.27762229e-04 2.88548814e-01] [ 1.16927181e-03 2.34373716e-04 9.99999289e-01 -5.59035206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.344553574 meters Centerline goodness [0,1] 0.8238822361612705 Centerline is valid? [False, False] Translation: X:2.67, Y:0.29, Z:-0.56 [[ 9.99997177e-01 2.27286355e-03 -6.93012694e-04 2.66639713e+00] [-2.27516075e-03 9.99991860e-01 -3.33222432e-03 2.85949001e-01] [ 6.85433362e-04 3.33379163e-03 9.99994208e-01 -5.58621770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.374553574 meters Centerline goodness [0,1] 0.8231948040922019 Centerline is valid? [False, False] Translation: X:2.67, Y:0.28, Z:-0.56 [[ 9.99998411e-01 1.35376703e-03 -1.15947137e-03 2.66817816e+00] [-1.35744500e-03 9.99994031e-01 -3.17721763e-03 2.83453405e-01] [ 1.15516323e-03 3.17878650e-03 9.99994280e-01 -5.58815282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.404553574 meters Centerline goodness [0,1] 0.8221109809351369 Centerline is valid? [False, False] Translation: X:2.67, Y:0.28, Z:-0.56 [[ 9.99998554e-01 3.05028360e-04 -1.67276087e-03 2.67018696e+00] [-3.09911727e-04 9.99995689e-01 -2.91986419e-03 2.80614405e-01] [ 1.67186302e-03 2.92037837e-03 9.99994338e-01 -5.58968795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.434553574 meters Centerline goodness [0,1] 0.8177296601993783 Centerline is valid? [False, False] Translation: X:2.67, Y:0.28, Z:-0.56 [[ 9.99984757e-01 -5.05535352e-03 -2.22019396e-03 2.67262621e+00] [ 5.04093359e-03 9.99966472e-01 -6.45316479e-03 2.76563243e-01] [ 2.25274255e-03 6.44187458e-03 9.99976713e-01 -5.59347002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.464553574 meters Centerline goodness [0,1] 0.8197675672179219 Centerline is valid? [False, False] Translation: X:2.68, Y:0.27, Z:-0.56 [[ 0.99997402 -0.00658522 -0.00293027 2.67562301] [ 0.0065659 0.99995697 -0.00655337 0.27407243] [ 0.0029733 0.00653396 0.99997423 -0.56005516] [ 0. 0. 0. 1. ]] SLAMing on 87.494553574 meters Centerline goodness [0,1] 0.8236403442221403 Centerline is valid? [False, False] Translation: X:2.68, Y:0.27, Z:-0.56 [[ 0.9999204 -0.01210829 -0.00354846 2.67855002] [ 0.01207023 0.99987142 -0.01055728 0.2713817 ] [ 0.00367584 0.01051361 0.99993797 -0.56080952] [ 0. 0. 0. 1. ]] SLAMing on 87.524553574 meters Centerline goodness [0,1] 0.8208027133973996 Centerline is valid? [False, False] Translation: X:2.68, Y:0.27, Z:-0.56 [[ 0.9999045 -0.01320925 -0.00406385 2.68056749] [ 0.01316591 0.99985806 -0.01051292 0.26947969] [ 0.00420214 0.01045841 0.99993648 -0.56087965] [ 0. 0. 0. 1. ]] SLAMing on 87.554553574 meters Centerline goodness [0,1] 0.8175137916748436 Centerline is valid? [False, False] Translation: X:2.68, Y:0.27, Z:-0.56 [[ 0.99988962 -0.01416154 -0.00449523 2.68221076] [ 0.0141143 0.9998466 -0.01037145 0.26757945] [ 0.00464141 0.01030686 0.99993611 -0.56069552] [ 0. 0. 0. 1. ]] SLAMing on 87.584553574 meters Centerline goodness [0,1] 0.768385645326868 Centerline is valid? [False, False] Translation: X:2.69, Y:0.27, Z:-0.56 [[ 0.99985052 -0.01641415 -0.00543328 2.68643032] [ 0.01635377 0.99980601 -0.01097737 0.26615913] [ 0.00561241 0.01088687 0.99992499 -0.5615578 ] [ 0. 0. 0. 1. ]] SLAMing on 87.614553574 meters Centerline goodness [0,1] 0.8053344383137417 Centerline is valid? [False, False] Translation: X:2.69, Y:0.27, Z:-0.56 [[ 0.9998444 -0.01613382 -0.00713327 2.69423071] [ 0.01606916 0.9998301 -0.0090302 0.267312 ] [ 0.00727775 0.00891417 0.99993378 -0.56468648] [ 0. 0. 0. 1. ]] SLAMing on 87.644553574 meters Centerline goodness [0,1] 0.7522145080201101 Centerline is valid? [False, False] Translation: X:2.70, Y:0.27, Z:-0.57 [[ 0.99986891 -0.01391414 -0.00828033 2.69843978] [ 0.0138671 0.99988753 -0.00571218 0.26728369] [ 0.00835888 0.00559661 0.9999494 -0.56566683] [ 0. 0. 0. 1. ]] SLAMing on 87.674553574 meters Centerline goodness [0,1] 0.7984652402939455 Centerline is valid? [False, False] Translation: X:2.70, Y:0.27, Z:-0.57 [[ 9.99891652e-01 -1.14940216e-02 -9.19629822e-03 2.70183802e+00] [ 1.14733137e-02 9.99931531e-01 -2.30137119e-03 2.67071113e-01] [ 9.22212057e-03 2.19560982e-03 9.99955065e-01 -5.66275121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.704553574 meters Centerline goodness [0,1] 0.8070167839740119 Centerline is valid? [False, False] Translation: X:2.70, Y:0.27, Z:-0.57 [[ 9.99909655e-01 -8.89898195e-03 -1.00742519e-02 2.70497046e+00] [ 8.91186027e-03 9.99959527e-01 1.23417041e-03 2.66799714e-01] [ 1.00628613e-02 -1.32383923e-03 9.99948492e-01 -5.66681472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.734553574 meters Centerline goodness [0,1] 0.7911242348478317 Centerline is valid? [False, False] Translation: X:2.71, Y:0.27, Z:-0.57 [[ 9.99912548e-01 -8.56596022e-03 -1.00757671e-02 2.70500511e+00] [ 8.57383988e-03 9.99962971e-01 7.39104674e-04 2.69446114e-01] [ 1.00690628e-02 -8.25428051e-04 9.99948965e-01 -5.67088829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.764553574 meters Centerline goodness [0,1] 0.7982109914625252 Centerline is valid? [False, False] Translation: X:2.71, Y:0.27, Z:-0.57 [[ 0.99993148 -0.00514345 -0.01051545 2.70648483] [ 0.00518846 0.99997748 0.00425699 0.27128312] [ 0.01049332 -0.00431125 0.99993565 -0.56699789] [ 0. 0. 0. 1. ]] SLAMing on 87.794553574 meters Centerline goodness [0,1] 0.8031224006654296 Centerline is valid? [False, False] Translation: X:2.71, Y:0.27, Z:-0.57 [[ 0.99993714 -0.00456351 -0.01024148 2.70550329] [ 0.00460618 0.99998079 0.00414669 0.27345602] [ 0.01022236 -0.00419361 0.99993896 -0.56673855] [ 0. 0. 0. 1. ]] SLAMing on 87.824553574 meters Centerline goodness [0,1] 0.7796797584366428 Centerline is valid? [False, False] Translation: X:2.70, Y:0.28, Z:-0.57 [[ 0.99994212 -0.00404554 -0.00996906 2.70471553] [ 0.00408372 0.99998439 0.00381291 0.27611013] [ 0.00995348 -0.0038534 0.99994304 -0.56677903] [ 0. 0. 0. 1. ]] SLAMing on 87.85455357400001 meters Centerline goodness [0,1] 0.7749782981516377 Centerline is valid? [False, False] Translation: X:2.70, Y:0.28, Z:-0.57 [[ 0.99994861 -0.00336845 -0.00956216 2.70332457] [ 0.00340356 0.99998752 0.00365794 0.27859796] [ 0.00954972 -0.00369029 0.99994759 -0.56638495] [ 0. 0. 0. 1. ]] SLAMing on 87.884553574 meters Centerline goodness [0,1] 0.8110905419050825 Centerline is valid? [False, False] Translation: X:2.70, Y:0.28, Z:-0.57 [[ 9.99956061e-01 -2.43792338e-03 -9.05170540e-03 2.70113260e+00] [ 2.47031708e-03 9.99990579e-01 3.56928497e-03 2.81698394e-01] [ 9.04291848e-03 -3.59148872e-03 9.99952662e-01 -5.65138010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.914553574 meters Centerline goodness [0,1] 0.7951754109718461 Centerline is valid? [False, False] Translation: X:2.70, Y:0.28, Z:-0.56 [[ 9.99955745e-01 -2.54465574e-03 -9.05715377e-03 2.70123802e+00] [ 2.57495922e-03 9.99991121e-01 3.33571890e-03 2.82719463e-01] [ 9.04858510e-03 -3.35889308e-03 9.99953419e-01 -5.64925705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.944553574 meters Centerline goodness [0,1] 0.8058673788757669 Centerline is valid? [False, False] Translation: X:2.70, Y:0.29, Z:-0.56 [[ 9.99957740e-01 -2.55605193e-03 -8.83088421e-03 2.70076017e+00] [ 2.58011566e-03 9.99992987e-01 2.71463369e-03 2.86160992e-01] [ 8.82388353e-03 -2.73730368e-03 9.99957322e-01 -5.64569348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.974553574 meters Centerline goodness [0,1] 0.8059475388063418 Centerline is valid? [False, False] Translation: X:2.70, Y:0.29, Z:-0.56 [[ 9.99958145e-01 -2.53952641e-03 -8.78972858e-03 2.70076241e+00] [ 2.56053862e-03 9.99993889e-01 2.38011432e-03 2.88211174e-01] [ 8.78363051e-03 -2.40252114e-03 9.99958537e-01 -5.64498654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.004553574 meters Centerline goodness [0,1] 0.8058457274062429 Centerline is valid? [False, False] Translation: X:2.70, Y:0.29, Z:-0.56 [[ 9.99958980e-01 -2.47387797e-03 -8.71314789e-03 2.70073004e+00] [ 2.49112230e-03 9.99994959e-01 1.96881902e-03 2.90340540e-01] [ 8.70823334e-03 -1.99044377e-03 9.99960102e-01 -5.64573716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.034553574 meters Centerline goodness [0,1] 0.8125051216913873 Centerline is valid? [False, False] Translation: X:2.70, Y:0.29, Z:-0.56 [[ 9.99964126e-01 -1.61943907e-03 -8.31408146e-03 2.69922508e+00] [ 1.63305009e-03 9.99997337e-01 1.63057599e-03 2.94612769e-01] [ 8.31141871e-03 -1.64409481e-03 9.99964108e-01 -5.64044505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.064553574 meters Centerline goodness [0,1] 0.8095034246575342 Centerline is valid? [False, False] Translation: X:2.70, Y:0.30, Z:-0.56 [[ 9.99964866e-01 -1.57892288e-03 -8.23254068e-03 2.69912162e+00] [ 1.58975381e-03 9.99997879e-01 1.30924681e-03 2.96463361e-01] [ 8.23045602e-03 -1.32228852e-03 9.99965255e-01 -5.63938848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.094553574 meters Centerline goodness [0,1] 0.7997734123692569 Centerline is valid? [False, False] Translation: X:2.70, Y:0.30, Z:-0.56 [[ 9.99961611e-01 -2.32240687e-03 -8.44886309e-03 2.70051844e+00] [ 2.32401561e-03 9.99997283e-01 1.80595923e-04 2.99892384e-01] [ 8.44842071e-03 -2.00224280e-04 9.99964291e-01 -5.64699394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.124553574 meters Centerline goodness [0,1] 0.8144182294817504 Centerline is valid? [False, False] Translation: X:2.70, Y:0.30, Z:-0.57 [[ 9.99958564e-01 -2.87256870e-03 -8.63823700e-03 2.70182640e+00] [ 2.86768029e-03 9.99995721e-01 -5.78236133e-04 3.01833378e-01] [ 8.63986106e-03 5.53440471e-04 9.99962523e-01 -5.65687842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.154553574 meters Centerline goodness [0,1] 0.8173647889584337 Centerline is valid? [False, False] Translation: X:2.70, Y:0.30, Z:-0.57 [[ 9.99952721e-01 -3.55688774e-03 -9.05006056e-03 2.70376938e+00] [ 3.54450418e-03 9.99992760e-01 -1.38401168e-03 3.03890416e-01] [ 9.05491782e-03 1.35186827e-03 9.99958090e-01 -5.66862242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.184553574 meters Centerline goodness [0,1] 0.819216757741348 Centerline is valid? [False, False] Translation: X:2.71, Y:0.31, Z:-0.57 [[ 0.99993735 -0.00514386 -0.00994208 2.70756181] [ 0.00511337 0.99998215 -0.00309022 0.30789184] [ 0.0099578 0.00303919 0.9999458 -0.56891551] [ 0. 0. 0. 1. ]] SLAMing on 88.214553574 meters Centerline goodness [0,1] 0.8016211855903359 Centerline is valid? [False, False] Translation: X:2.71, Y:0.31, Z:-0.57 [[ 0.99992648 -0.00613716 -0.01045767 2.70949157] [ 0.00609382 0.99997273 -0.00417073 0.3105734 ] [ 0.01048298 0.00410669 0.99993662 -0.5694199 ] [ 0. 0. 0. 1. ]] SLAMing on 88.244553574 meters Centerline goodness [0,1] 0.7990825508223717 Centerline is valid? [False, False] Translation: X:2.71, Y:0.31, Z:-0.57 [[ 9.99929158e-01 -4.10208011e-03 -1.11736873e-02 2.71227340e+00] [ 4.08649156e-03 9.99990645e-01 -1.41758618e-03 3.10951925e-01] [ 1.11793979e-02 1.37182457e-03 9.99936568e-01 -5.70034532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.274553574 meters Centerline goodness [0,1] 0.8154635768026907 Centerline is valid? [False, False] Translation: X:2.71, Y:0.31, Z:-0.57 [[ 9.99927469e-01 -4.20709581e-03 -1.12852396e-02 2.71291625e+00] [ 4.18510756e-03 9.99989299e-01 -1.97131608e-03 3.12959821e-01] [ 1.12934124e-02 1.92394315e-03 9.99934376e-01 -5.70656074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.304553574 meters Centerline goodness [0,1] 0.8182045848584087 Centerline is valid? [False, False] Translation: X:2.71, Y:0.32, Z:-0.57 [[ 9.99931242e-01 -7.52698179e-04 -1.17023220e-02 2.71433138e+00] [ 7.65341101e-04 9.99999128e-01 1.07593643e-03 3.16721567e-01] [ 1.17015020e-02 -1.08481872e-03 9.99930947e-01 -5.70956728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.334553574 meters Centerline goodness [0,1] 0.8283998776197032 Centerline is valid? [False, False] Translation: X:2.71, Y:0.32, Z:-0.57 [[ 9.99934507e-01 1.73314261e-04 -1.14434534e-02 2.71321024e+00] [-1.60425912e-04 9.99999352e-01 1.12717231e-03 3.19624875e-01] [ 1.14436414e-02 -1.12526266e-03 9.99933886e-01 -5.70566807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.364553574 meters Centerline goodness [0,1] 0.8124455554293073 Centerline is valid? [False, False] Translation: X:2.71, Y:0.32, Z:-0.57 [[ 0.99992473 0.00419132 -0.01153079 2.71353341] [-0.00414134 0.99998194 0.00435517 0.32337463] [ 0.01154884 -0.00430709 0.99992403 -0.5705732 ] [ 0. 0. 0. 1. ]] SLAMing on 88.394553574 meters Centerline goodness [0,1] 0.8307773664727658 Centerline is valid? [False, False] Translation: X:2.71, Y:0.33, Z:-0.57 [[ 0.99992324 0.00412997 -0.01168132 2.71433708] [-0.00408847 0.99998526 0.00357383 0.32558554] [ 0.01169591 -0.0035258 0.99992538 -0.57148599] [ 0. 0. 0. 1. ]] SLAMing on 88.424553574 meters Centerline goodness [0,1] 0.8185263396055658 Centerline is valid? [False, False] Translation: X:2.71, Y:0.33, Z:-0.57 [[ 0.99992176 0.00409386 -0.01182014 2.71494349] [-0.00405758 0.99998699 0.00309174 0.32712141] [ 0.01183264 -0.00304354 0.99992536 -0.57200004] [ 0. 0. 0. 1. ]] SLAMing on 88.454553574 meters Centerline goodness [0,1] 0.8419732754426021 Centerline is valid? [False, False] Translation: X:2.72, Y:0.33, Z:-0.57 [[ 9.99919812e-01 4.06063077e-03 -1.19950740e-02 2.71556524e+00] [-4.03326158e-03 9.99989210e-01 2.30501268e-03 3.30167434e-01] [ 1.20043044e-02 -2.25644858e-03 9.99925400e-01 -5.72535471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.484553574 meters Centerline goodness [0,1] 0.8419732754426021 Centerline is valid? [False, False] Translation: X:2.72, Y:0.33, Z:-0.57 [[ 9.99919812e-01 4.06063077e-03 -1.19950740e-02 2.71556524e+00] [-4.03326158e-03 9.99989210e-01 2.30501268e-03 3.30167434e-01] [ 1.20043044e-02 -2.25644858e-03 9.99925400e-01 -5.72535471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.514553574 meters Centerline goodness [0,1] 0.8466412000372683 Centerline is valid? [False, False] Translation: X:2.72, Y:0.33, Z:-0.57 [[ 9.99919148e-01 3.95007040e-03 -1.20869121e-02 2.71617414e+00] [-3.92943615e-03 9.99990783e-01 1.73042914e-03 3.32078705e-01] [ 1.20936360e-02 -1.68279448e-03 9.99925453e-01 -5.73227217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.544553574 meters Centerline goodness [0,1] 0.8418928425963639 Centerline is valid? [False, False] Translation: X:2.72, Y:0.34, Z:-0.57 [[ 9.99917686e-01 3.95614757e-03 -1.22053624e-02 2.71669292e+00] [-3.94386167e-03 9.99991692e-01 1.03050408e-03 3.35630925e-01] [ 1.22093378e-02 -9.82282994e-04 9.99924981e-01 -5.73767434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.574553574 meters Centerline goodness [0,1] 0.8508106911626363 Centerline is valid? [False, False] Translation: X:2.72, Y:0.34, Z:-0.57 [[ 9.99915804e-01 3.66842447e-03 -1.24469885e-02 2.71771577e+00] [-3.66271271e-03 9.99993176e-01 4.81651486e-04 3.37047016e-01] [ 1.24486704e-02 -4.36021190e-04 9.99922417e-01 -5.74438253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.60455357400001 meters Centerline goodness [0,1] 0.8549958559720048 Centerline is valid? [False, False] Translation: X:2.72, Y:0.34, Z:-0.57 [[ 9.99913290e-01 3.55401806e-03 -1.26799965e-02 2.71854507e+00] [-3.55345579e-03 9.99993684e-01 6.68732226e-05 3.38407116e-01] [ 1.26801540e-02 -2.18096172e-05 9.99919603e-01 -5.74996946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.634553574 meters Centerline goodness [0,1] 0.8546685503550263 Centerline is valid? [False, False] Translation: X:2.72, Y:0.34, Z:-0.58 [[ 9.99909817e-01 3.72381073e-03 -1.29031813e-02 2.71910824e+00] [-3.73148797e-03 9.99992875e-01 -5.70964225e-04 3.41213111e-01] [ 1.29009632e-02 6.19060799e-04 9.99916587e-01 -5.75473618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.664553574 meters Centerline goodness [0,1] 0.845392077607114 Centerline is valid? [False, False] Translation: X:2.72, Y:0.34, Z:-0.58 [[ 9.99908082e-01 3.82898062e-03 -1.30064066e-02 2.71929909e+00] [-3.83860043e-03 9.99992377e-01 -7.14737325e-04 3.42266105e-01] [ 1.30035708e-02 7.64598026e-04 9.99915158e-01 -5.75416947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.694553574 meters Centerline goodness [0,1] 0.8507552870090634 Centerline is valid? [False, False] Translation: X:2.72, Y:0.34, Z:-0.58 [[ 9.99903356e-01 3.77316294e-03 -1.33806687e-02 2.72050882e+00] [-3.79126757e-03 9.99991931e-01 -1.32793571e-03 3.44407093e-01] [ 1.33755502e-02 1.37853707e-03 9.99909593e-01 -5.76300400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.724553574 meters Centerline goodness [0,1] 0.8696495917395921 Centerline is valid? [False, False] Translation: X:2.72, Y:0.35, Z:-0.58 [[ 9.99900974e-01 3.73526206e-03 -1.35679908e-02 2.72134222e+00] [-3.76054766e-03 9.99991239e-01 -1.83858718e-03 3.46333507e-01] [ 1.35610043e-02 1.88942819e-03 9.99906260e-01 -5.77042666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.754553574 meters Centerline goodness [0,1] 0.8659982101437365 Centerline is valid? [False, False] Translation: X:2.72, Y:0.35, Z:-0.58 [[ 9.99898166e-01 3.89504052e-03 -1.37290602e-02 2.72165226e+00] [-3.92369544e-03 9.99990179e-01 -2.06085474e-03 3.47984774e-01] [ 1.37208983e-02 2.11451353e-03 9.99903628e-01 -5.77108252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.784553574 meters Centerline goodness [0,1] 0.8626859706806663 Centerline is valid? [False, False] Translation: X:2.72, Y:0.35, Z:-0.58 [[ 9.99873251e-01 6.83988569e-03 -1.43769897e-02 2.72378358e+00] [-6.83082991e-03 9.99976439e-01 6.78892322e-04 3.50017585e-01] [ 1.43812946e-02 -5.80599501e-04 9.99896415e-01 -5.77712164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.814553574 meters Centerline goodness [0,1] 0.8587011853683368 Centerline is valid? [False, False] Translation: X:2.72, Y:0.35, Z:-0.58 [[ 9.99870296e-01 7.05812673e-03 -1.44766568e-02 2.72403919e+00] [-7.05345756e-03 9.99975054e-01 3.73564430e-04 3.51514736e-01] [ 1.44789323e-02 -2.71405493e-04 9.99895138e-01 -5.78000790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.844553574 meters Centerline goodness [0,1] 0.8732786351971663 Centerline is valid? [False, False] Translation: X:2.72, Y:0.35, Z:-0.58 [[ 9.99863363e-01 7.32226048e-03 -1.48202538e-02 2.72499934e+00] [-7.32969868e-03 9.99973037e-01 -4.47638459e-04 3.54682941e-01] [ 1.48165765e-02 5.56205290e-04 9.99890074e-01 -5.78924206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.874553574 meters Centerline goodness [0,1] 0.8705852582872429 Centerline is valid? [False, False] Translation: X:2.72, Y:0.36, Z:-0.58 [[ 9.99861150e-01 7.54487857e-03 -1.48578731e-02 2.72496584e+00] [-7.55586351e-03 9.99971221e-01 -6.83337543e-04 3.56557859e-01] [ 1.48522898e-02 7.95506722e-04 9.99889382e-01 -5.78866216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.904553574 meters Centerline goodness [0,1] 0.8606156787073271 Centerline is valid? [False, False] Translation: X:2.73, Y:0.36, Z:-0.58 [[ 9.99858126e-01 7.39734039e-03 -1.51329565e-02 2.72596286e+00] [-7.41713984e-03 9.99971708e-01 -1.25265952e-03 3.58541279e-01] [ 1.51232620e-02 1.36472506e-03 9.99884706e-01 -5.79396347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.934553574 meters Centerline goodness [0,1] 0.8630265266797529 Centerline is valid? [False, False] Translation: X:2.73, Y:0.36, Z:-0.58 [[ 9.99852634e-01 7.51222141e-03 -1.54362346e-02 2.72663283e+00] [-7.54173598e-03 9.99969841e-01 -1.85470995e-03 3.61378264e-01] [ 1.54218360e-02 1.97085263e-03 9.99879134e-01 -5.79726547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.964553574 meters Centerline goodness [0,1] 0.8702792051457113 Centerline is valid? [False, False] Translation: X:2.73, Y:0.36, Z:-0.58 [[ 9.99848642e-01 7.06895895e-03 -1.58972898e-02 2.72841266e+00] [-7.10918440e-03 9.99971666e-01 -2.47524627e-03 3.62567703e-01] [ 1.58793420e-02 2.58788838e-03 9.99870566e-01 -5.80769070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.994553574 meters Centerline goodness [0,1] 0.8731634075715868 Centerline is valid? [False, False] Translation: X:2.73, Y:0.36, Z:-0.58 [[ 9.99965285e-01 1.18969380e-03 -8.24707193e-03 2.72933781e+00] [-1.17763380e-03 9.99998230e-01 1.46703829e-03 3.62579581e-01] [ 8.24880267e-03 -1.45727533e-03 9.99964916e-01 -5.82207835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.024553574 meters Centerline goodness [0,1] 0.8644031565634074 Centerline is valid? [False, False] Translation: X:2.73, Y:0.36, Z:-0.58 [[ 9.99960213e-01 -2.88513371e-04 -8.91566593e-03 2.73224695e+00] [ 2.93252146e-04 9.99999816e-01 5.30208276e-04 3.62035864e-01] [ 8.91551132e-03 -5.32801719e-04 9.99960114e-01 -5.83665513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.054553574 meters Centerline goodness [0,1] 0.8708336294506431 Centerline is valid? [False, False] Translation: X:2.74, Y:0.36, Z:-0.59 [[ 9.99941140e-01 -3.57548444e-03 -1.02436355e-02 2.73825086e+00] [ 3.55663421e-03 9.99991949e-01 -1.85781625e-03 3.62649775e-01] [ 1.02501957e-02 1.82127403e-03 9.99945807e-01 -5.87333096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.084553574 meters Centerline goodness [0,1] 0.8552533200413003 Centerline is valid? [False, False] Translation: X:2.74, Y:0.36, Z:-0.59 [[ 9.99929382e-01 -4.61323208e-03 -1.09520881e-02 2.74104290e+00] [ 4.58474151e-03 9.99986044e-01 -2.62506589e-03 3.63118188e-01] [ 1.09640452e-02 2.57466802e-03 9.99936578e-01 -5.88898784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.114553574 meters Centerline goodness [0,1] 0.8593571835803877 Centerline is valid? [False, False] Translation: X:2.74, Y:0.36, Z:-0.59 [[ 0.99992259 -0.00507475 -0.01136023 2.74225859] [ 0.00504313 0.99998333 -0.00281034 0.3630661 ] [ 0.01137431 0.00275283 0.99993152 -0.58907504] [ 0. 0. 0. 1. ]] SLAMing on 89.144553574 meters Centerline goodness [0,1] 0.8666820825699497 Centerline is valid? [False, False] Translation: X:2.74, Y:0.36, Z:-0.59 [[ 0.99991706 -0.00532634 -0.01172607 2.74303841] [ 0.00529227 0.99998169 -0.00293426 0.36310239] [ 0.01174148 0.00287196 0.99992694 -0.58888044] [ 0. 0. 0. 1. ]] SLAMing on 89.174553574 meters Centerline goodness [0,1] 0.8742471090775857 Centerline is valid? [False, False] Translation: X:2.74, Y:0.36, Z:-0.59 [[ 0.99991411 -0.00528706 -0.01199268 2.74379473] [ 0.0052502 0.99998141 -0.00310227 0.36398636] [ 0.01200886 0.00303904 0.99992327 -0.58929441] [ 0. 0. 0. 1. ]] SLAMing on 89.204553574 meters Centerline goodness [0,1] 0.8740263897286339 Centerline is valid? [False, False] Translation: X:2.75, Y:0.36, Z:-0.59 [[ 9.99908748e-01 -2.98782080e-03 -1.31745531e-02 2.74834405e+00] [ 2.98015053e-03 9.99995378e-01 -6.01796661e-04 3.64548049e-01] [ 1.31762903e-02 5.62479594e-04 9.99913031e-01 -5.91620637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.234553574 meters Centerline goodness [0,1] 0.8676710965816218 Centerline is valid? [False, False] Translation: X:2.75, Y:0.37, Z:-0.59 [[ 9.99908223e-01 -2.72048889e-03 -1.32719758e-02 2.74838491e+00] [ 2.71420906e-03 9.99996196e-01 -4.91153854e-04 3.65152951e-01] [ 1.32732615e-02 4.55085860e-04 9.99911803e-01 -5.91350836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.264553574 meters Centerline goodness [0,1] 0.8715103603523761 Centerline is valid? [False, False] Translation: X:2.75, Y:0.37, Z:-0.59 [[ 9.99903482e-01 4.10705256e-04 -1.38873574e-02 2.75063893e+00] [-3.72644169e-04 9.99996168e-01 2.74317706e-03 3.65326988e-01] [ 1.38884309e-02 -2.73773725e-03 9.99899803e-01 -5.92088832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.294553574 meters Centerline goodness [0,1] 0.8860483270056417 Centerline is valid? [False, False] Translation: X:2.75, Y:0.37, Z:-0.59 [[ 9.99903834e-01 7.01407992e-04 -1.38503271e-02 2.75053453e+00] [-6.62749596e-04 9.99995873e-01 2.79554666e-03 3.65711070e-01] [ 1.38522308e-02 -2.78609852e-03 9.99900172e-01 -5.92005075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.324553574 meters Centerline goodness [0,1] 0.879771635254694 Centerline is valid? [False, False] Translation: X:2.75, Y:0.37, Z:-0.59 [[ 9.99902577e-01 9.29850103e-04 -1.39273892e-02 2.75078670e+00] [-8.92724449e-04 9.99996033e-01 2.67163766e-03 3.66392475e-01] [ 1.39298182e-02 -2.65894406e-03 9.99899440e-01 -5.92173046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.35455357400001 meters Centerline goodness [0,1] 0.8801696148182319 Centerline is valid? [False, False] Translation: X:2.75, Y:0.37, Z:-0.59 [[ 0.99988643 0.00454043 -0.01437035 2.75253418] [-0.00445396 0.99997182 0.00604402 0.36736899] [ 0.01439739 -0.00597933 0.99987847 -0.59287667] [ 0. 0. 0. 1. ]] SLAMing on 89.384553574 meters Centerline goodness [0,1] 0.8828299677041559 Centerline is valid? [False, False] Translation: X:2.75, Y:0.37, Z:-0.59 [[ 0.99988189 0.00469228 -0.01463534 2.75357666] [-0.00460972 0.9999733 0.00567032 0.3686028 ] [ 0.01466155 -0.00560218 0.99987682 -0.59382574] [ 0. 0. 0. 1. ]] SLAMing on 89.414553574 meters Centerline goodness [0,1] 0.8833511205976521 Centerline is valid? [False, False] Translation: X:2.75, Y:0.37, Z:-0.59 [[ 0.99987762 0.00538908 -0.01468663 2.75346786] [-0.00530346 0.99996875 0.00586276 0.36876292] [ 0.01471776 -0.00578416 0.99987496 -0.59378189] [ 0. 0. 0. 1. ]] SLAMing on 89.444553574 meters Centerline goodness [0,1] 0.888656588399271 Centerline is valid? [False, False] Translation: X:2.75, Y:0.37, Z:-0.59 [[ 0.99987642 0.00572743 -0.01464022 2.7530066 ] [-0.00563903 0.99996566 0.00607235 0.36865697] [ 0.0146745 -0.00598904 0.99987439 -0.59323119] [ 0. 0. 0. 1. ]] SLAMing on 89.474553574 meters Centerline goodness [0,1] 0.8900738457126469 Centerline is valid? [False, False] Translation: X:2.75, Y:0.37, Z:-0.59 [[ 0.99987565 0.00605979 -0.01455922 2.75270062] [-0.00597213 0.99996382 0.00605718 0.36923475] [ 0.0145954 -0.00596948 0.99987566 -0.59308304] [ 0. 0. 0. 1. ]] SLAMing on 89.504553574 meters Centerline goodness [0,1] 0.8978459997137541 Centerline is valid? [False, False] Translation: X:2.75, Y:0.37, Z:-0.59 [[ 0.99984272 0.00978394 -0.0147923 2.75371932] [-0.00964151 0.99990676 0.00966972 0.37013207] [ 0.01488553 -0.00952558 0.99984383 -0.5932003 ] [ 0. 0. 0. 1. ]] SLAMing on 89.534553574 meters Centerline goodness [0,1] 0.8979676184657406 Centerline is valid? [False, False] Translation: X:2.75, Y:0.37, Z:-0.59 [[ 0.99986717 0.00702216 -0.01470843 2.75324409] [-0.00693191 0.99995689 0.006178 0.370865 ] [ 0.01475118 -0.00607522 0.99987274 -0.59354497] [ 0. 0. 0. 1. ]] SLAMing on 89.564553574 meters Centerline goodness [0,1] 0.8914517583408477 Centerline is valid? [False, False] Translation: X:2.76, Y:0.37, Z:-0.60 [[ 0.99986156 0.00642811 -0.01534756 2.75576603] [-0.00633616 0.99996173 0.00603191 0.36872617] [ 0.01538574 -0.00593383 0.99986403 -0.59504892] [ 0. 0. 0. 1. ]] SLAMing on 89.594553574 meters Centerline goodness [0,1] 0.8769089136791942 Centerline is valid? [False, False] Translation: X:2.76, Y:0.37, Z:-0.60 [[ 0.99985751 0.00551334 -0.01595531 2.7584074 ] [-0.00542728 0.99997052 0.00543202 0.36788385] [ 0.01598478 -0.00534465 0.99985795 -0.59671544] [ 0. 0. 0. 1. ]] SLAMing on 89.624553574 meters Centerline goodness [0,1] 0.8924696239325498 Centerline is valid? [False, False] Translation: X:2.76, Y:0.37, Z:-0.60 [[ 0.99985102 0.00436727 -0.01669895 2.76158541] [-0.00429017 0.99997999 0.0046498 0.36720361] [ 0.01671892 -0.00457747 0.99984975 -0.59858126] [ 0. 0. 0. 1. ]] SLAMing on 89.654553574 meters Centerline goodness [0,1] 0.8911255411255411 Centerline is valid? [False, False] Translation: X:2.77, Y:0.37, Z:-0.60 [[ 9.99841815e-01 2.01570779e-03 -1.76715227e-02 2.76621117e+00] [-1.95975847e-03 9.99993014e-01 3.18281823e-03 3.65164456e-01] [ 1.76778149e-02 -3.14768284e-03 9.99838780e-01 -6.01242355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.684553574 meters Centerline goodness [0,1] 0.8961602429676766 Centerline is valid? [False, False] Translation: X:2.77, Y:0.36, Z:-0.60 [[ 9.99835560e-01 1.33529602e-03 -1.80850504e-02 2.76782041e+00] [-1.28249578e-03 9.99994883e-01 2.93083552e-03 3.64477329e-01] [ 1.80888714e-02 -2.90715957e-03 9.99832156e-01 -6.01932221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.714553574 meters Centerline goodness [0,1] 0.8910850133985576 Centerline is valid? [False, False] Translation: X:2.77, Y:0.36, Z:-0.60 [[ 9.99816667e-01 -6.46159731e-04 -1.91367225e-02 2.77241821e+00] [ 6.79059777e-04 9.99998303e-01 1.71276189e-03 3.63491031e-01] [ 1.91355833e-02 -1.72544287e-03 9.99815409e-01 -6.04347658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.744553574 meters Centerline goodness [0,1] 0.884031857003856 Centerline is valid? [False, False] Translation: X:2.77, Y:0.36, Z:-0.60 [[ 9.99812356e-01 -1.01791076e-03 -1.93446804e-02 2.77319882e+00] [ 1.05173699e-03 9.99997936e-01 1.73851320e-03 3.62651253e-01] [ 1.93428708e-02 -1.75853249e-03 9.99811363e-01 -6.04502241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.774553574 meters Centerline goodness [0,1] 0.893437915066231 Centerline is valid? [False, False] Translation: X:2.77, Y:0.36, Z:-0.60 [[ 9.99806375e-01 -1.62865855e-03 -1.96101960e-02 2.77443255e+00] [ 1.65811398e-03 9.99997521e-01 1.48588085e-03 3.61843888e-01] [ 1.96077274e-02 -1.51810909e-03 9.99806597e-01 -6.04821876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.804553574 meters Centerline goodness [0,1] 0.9038347765288012 Centerline is valid? [False, False] Translation: X:2.77, Y:0.36, Z:-0.60 [[ 9.99804847e-01 -1.57144352e-03 -1.96926010e-02 2.77479510e+00] [ 1.60021649e-03 9.99997675e-01 1.44543311e-03 3.62195933e-01] [ 1.96902838e-02 -1.47666345e-03 9.99805037e-01 -6.04926590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.834553574 meters Centerline goodness [0,1] 0.9023953275883692 Centerline is valid? [False, False] Translation: X:2.78, Y:0.36, Z:-0.61 [[ 9.99802757e-01 -1.28203897e-03 -1.98192758e-02 2.77510615e+00] [ 1.31119079e-03 9.99998078e-01 1.45795766e-03 3.62875137e-01] [ 1.98173686e-02 -1.48365694e-03 9.99802516e-01 -6.05010487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.864553574 meters Centerline goodness [0,1] 0.8969729536091707 Centerline is valid? [False, False] Translation: X:2.78, Y:0.36, Z:-0.61 [[ 9.99793550e-01 2.20743148e-03 -2.01986160e-02 2.77709133e+00] [-2.11326329e-03 9.99986805e-01 4.68226859e-03 3.63628822e-01] [ 2.02086853e-02 -4.63861694e-03 9.99785023e-01 -6.06256279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.894553574 meters Centerline goodness [0,1] 0.8889629576246757 Centerline is valid? [False, False] Translation: X:2.78, Y:0.37, Z:-0.61 [[ 0.99979348 0.00291848 -0.02011185 2.77656188] [-0.00282192 0.99998436 0.00482783 0.36503278] [ 0.02012563 -0.00477008 0.99978608 -0.60613291] [ 0. 0. 0. 1. ]] SLAMing on 89.924553574 meters Centerline goodness [0,1] 0.902720379487548 Centerline is valid? [False, False] Translation: X:2.79, Y:0.37, Z:-0.61 [[ 9.99855816e-01 8.50716140e-03 -1.46961146e-02 2.79103637e+00] [-8.50640122e-03 9.99963813e-01 1.14235847e-04 3.67093465e-01] [ 1.46965546e-02 1.07916716e-05 9.99892000e-01 -6.11662389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.954553574 meters Centerline goodness [0,1] 0.9044539200229325 Centerline is valid? [False, False] Translation: X:2.79, Y:0.37, Z:-0.61 [[ 9.99853806e-01 8.82319693e-03 -1.46463967e-02 2.79088884e+00] [-8.82186461e-03 9.99961074e-01 1.55572488e-04 3.67720482e-01] [ 1.46471992e-02 -2.63412153e-05 9.99892724e-01 -6.11626432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.984553574 meters Centerline goodness [0,1] 0.8991676362659984 Centerline is valid? [False, False] Translation: X:2.79, Y:0.37, Z:-0.61 [[ 9.99851749e-01 8.88280795e-03 -1.47504355e-02 2.79130419e+00] [-8.88124585e-03 9.99960546e-01 1.71404259e-04 3.67733660e-01] [ 1.47513760e-02 -4.03766049e-05 9.99891192e-01 -6.11797813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.014553574 meters Centerline goodness [0,1] 0.9024224424804094 Centerline is valid? [False, False] Translation: X:2.79, Y:0.37, Z:-0.61 [[ 9.99851894e-01 8.83709098e-03 -1.47680938e-02 2.79123835e+00] [-8.82996975e-03 9.99960865e-01 5.47339746e-04 3.66080735e-01] [ 1.47723527e-02 -4.16856860e-04 9.99890796e-01 -6.11290312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.044553574 meters Centerline goodness [0,1] 0.8946295037389531 Centerline is valid? [False, False] Translation: X:2.79, Y:0.37, Z:-0.61 [[ 9.99850731e-01 8.42250016e-03 -1.50856676e-02 2.79240229e+00] [-8.41691751e-03 9.99964483e-01 4.33517461e-04 3.65270255e-01] [ 1.50887831e-02 -3.06477930e-04 9.99886111e-01 -6.11770507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.074553574 meters Centerline goodness [0,1] 0.901873740885347 Centerline is valid? [False, False] Translation: X:2.80, Y:0.36, Z:-0.61 [[ 9.99851051e-01 7.36520764e-03 -1.56086227e-02 2.79501697e+00] [-7.36877046e-03 9.99972836e-01 -1.70759406e-04 3.64562459e-01] [ 1.56069410e-02 2.85750329e-04 9.99878163e-01 -6.13435924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.10455357400001 meters Centerline goodness [0,1] 0.9066096561553536 Centerline is valid? [False, False] Translation: X:2.80, Y:0.36, Z:-0.61 [[ 9.99848803e-01 7.01363241e-03 -1.59116116e-02 2.79618205e+00] [-7.01925312e-03 9.99975321e-01 -2.97425182e-04 3.64151196e-01] [ 1.59091329e-02 4.09067841e-04 9.99873358e-01 -6.14082607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.134553574 meters Centerline goodness [0,1] 0.9005820887551845 Centerline is valid? [False, False] Translation: X:2.80, Y:0.36, Z:-0.61 [[ 9.99845833e-01 6.39702275e-03 -1.63520240e-02 2.79793659e+00] [-6.40695407e-03 9.99979321e-01 -5.55029666e-04 3.63402354e-01] [ 1.63481354e-02 6.59710766e-04 9.99866143e-01 -6.14901563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.164553574 meters Centerline goodness [0,1] 0.8968958069295443 Centerline is valid? [False, False] Translation: X:2.80, Y:0.36, Z:-0.61 [[ 9.99848018e-01 5.88115243e-03 -1.64119596e-02 2.79832672e+00] [-5.88758308e-03 9.99982609e-01 -3.43537604e-04 3.61459693e-01] [ 1.64096537e-02 4.40112168e-04 9.99865256e-01 -6.14580954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.194553574 meters Centerline goodness [0,1] 0.8999001319684703 Centerline is valid? [False, False] Translation: X:2.80, Y:0.36, Z:-0.62 [[ 9.99845177e-01 5.49841100e-03 -1.67149670e-02 2.79968417e+00] [-5.50731494e-03 9.99984716e-01 -4.86708205e-04 3.60834604e-01] [ 1.67120355e-02 5.78687439e-04 9.99860177e-01 -6.15333941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.224553574 meters Centerline goodness [0,1] 0.8572908110424627 Centerline is valid? [False, False] Translation: X:2.80, Y:0.36, Z:-0.62 [[ 9.99839713e-01 4.27771465e-03 -1.73853177e-02 2.80293971e+00] [-4.29935161e-03 9.99990029e-01 -1.20736847e-03 3.59738243e-01] [ 1.73799796e-02 1.28192054e-03 9.99848135e-01 -6.17450412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.254553574 meters Centerline goodness [0,1] 0.9041750143102462 Centerline is valid? [False, False] Translation: X:2.80, Y:0.36, Z:-0.62 [[ 9.99837131e-01 3.96858097e-03 -1.76057602e-02 2.80390736e+00] [-3.99180989e-03 9.99991208e-01 -1.28444739e-03 3.59181920e-01] [ 1.76005080e-02 1.35451704e-03 9.99844182e-01 -6.17999733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.284553574 meters Centerline goodness [0,1] 0.9017434352130865 Centerline is valid? [False, False] Translation: X:2.80, Y:0.36, Z:-0.62 [[ 9.99835305e-01 3.79145337e-03 -1.77479180e-02 2.80444320e+00] [-3.81323816e-03 9.99992017e-01 -1.19377571e-03 3.58591797e-01] [ 1.77432502e-02 1.26125613e-03 9.99841781e-01 -6.18062871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.314553574 meters Centerline goodness [0,1] 0.8984748830624205 Centerline is valid? [False, False] Translation: X:2.81, Y:0.36, Z:-0.62 [[ 9.99832592e-01 3.50845715e-03 -1.79576702e-02 2.80541223e+00] [-3.53137264e-03 9.99992990e-01 -1.24453207e-03 3.58217536e-01] [ 1.79531779e-02 1.30773895e-03 9.99837973e-01 -6.18534801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.344553574 meters Centerline goodness [0,1] 0.8980633834357477 Centerline is valid? [False, False] Translation: X:2.81, Y:0.36, Z:-0.62 [[ 9.99830672e-01 3.49517882e-03 -1.80668359e-02 2.80576506e+00] [-3.51510339e-03 9.99993248e-01 -1.07118717e-03 3.57728968e-01] [ 1.80629700e-02 1.13451258e-03 9.99836208e-01 -6.18493583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.374553574 meters Centerline goodness [0,1] 0.8822066794268644 Centerline is valid? [False, False] Translation: X:2.81, Y:0.36, Z:-0.62 [[ 9.99829340e-01 3.48010287e-03 -1.81432907e-02 2.80602000e+00] [-3.49534435e-03 9.99993564e-01 -8.08418226e-04 3.56614878e-01] [ 1.81403606e-02 8.71697310e-04 9.99835070e-01 -6.18233036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.404553574 meters Centerline goodness [0,1] 0.8822066794268644 Centerline is valid? [False, False] Translation: X:2.81, Y:0.36, Z:-0.62 [[ 9.99829340e-01 3.48010287e-03 -1.81432907e-02 2.80602000e+00] [-3.49534435e-03 9.99993564e-01 -8.08418226e-04 3.56614878e-01] [ 1.81403606e-02 8.71697310e-04 9.99835070e-01 -6.18233036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.434553574 meters Centerline goodness [0,1] 0.8970564465437043 Centerline is valid? [False, False] Translation: X:2.81, Y:0.36, Z:-0.62 [[ 9.99830653e-01 3.82741401e-03 -1.80004247e-02 2.80541879e+00] [-3.83753953e-03 9.99992497e-01 -5.28007553e-04 3.56743895e-01] [ 1.79982687e-02 5.96995478e-04 9.99837840e-01 -6.17797399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.464553574 meters Centerline goodness [0,1] 0.8980153271762625 Centerline is valid? [False, False] Translation: X:2.81, Y:0.36, Z:-0.62 [[ 9.99805332e-01 6.33671256e-03 -1.86854035e-02 2.80881123e+00] [-6.29283079e-03 9.99977305e-01 2.40631543e-03 3.56340143e-01] [ 1.87002275e-02 -2.28826291e-03 9.99822517e-01 -6.19543327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.494553574 meters Centerline goodness [0,1] 0.8826729384728631 Centerline is valid? [False, False] Translation: X:2.81, Y:0.36, Z:-0.62 [[ 0.99977274 0.01004063 -0.01880568 2.80962378] [-0.00992643 0.99993178 0.00615601 0.35684468] [ 0.01886621 -0.00596794 0.99980421 -0.61982291] [ 0. 0. 0. 1. ]] SLAMing on 90.524553574 meters Centerline goodness [0,1] 0.8873592215514912 Centerline is valid? [False, False] Translation: X:2.81, Y:0.36, Z:-0.62 [[ 0.99976974 0.01032888 -0.01880915 2.80973634] [-0.01021447 0.9999288 0.00616847 0.35732614] [ 0.01887152 -0.00597492 0.99980406 -0.62014936] [ 0. 0. 0. 1. ]] SLAMing on 90.554553574 meters Centerline goodness [0,1] 0.9101101245908754 Centerline is valid? [False, False] Translation: X:2.81, Y:0.36, Z:-0.62 [[ 0.99976642 0.01101988 -0.01859196 2.80902534] [-0.01090263 0.99992011 0.00639628 0.35788523] [ 0.01866096 -0.00619208 0.99980669 -0.61996353] [ 0. 0. 0. 1. ]] SLAMing on 90.584553574 meters Centerline goodness [0,1] 0.9056109071840588 Centerline is valid? [False, False] Translation: X:2.81, Y:0.36, Z:-0.62 [[ 0.99976383 0.01107846 -0.01869631 2.80946623] [-0.01096414 0.99992063 0.00620631 0.35841654] [ 0.01876359 -0.00599985 0.99980595 -0.62027128] [ 0. 0. 0. 1. ]] SLAMing on 90.614553574 meters Centerline goodness [0,1] 0.9026919602529359 Centerline is valid? [False, False] Translation: X:2.81, Y:0.36, Z:-0.62 [[ 0.99975817 0.01201946 -0.01841569 2.80835469] [-0.01190499 0.9999092 0.00631304 0.35982285] [ 0.01848989 -0.00609227 0.99981049 -0.61993702] [ 0. 0. 0. 1. ]] SLAMing on 90.644553574 meters Centerline goodness [0,1] 0.9044704437944607 Centerline is valid? [False, False] Translation: X:2.81, Y:0.36, Z:-0.62 [[ 0.9997543 0.01226599 -0.01846333 2.80863992] [-0.01215496 0.99990744 0.00611371 0.36087052] [ 0.01853661 -0.00588779 0.99981085 -0.62024254] [ 0. 0. 0. 1. ]] SLAMing on 90.674553574 meters Centerline goodness [0,1] 0.9052275767325838 Centerline is valid? [False, False] Translation: X:2.81, Y:0.36, Z:-0.62 [[ 0.99974957 0.01265207 -0.01845875 2.80862506] [-0.01254285 0.99990321 0.00602073 0.3618297 ] [ 0.01853314 -0.00578769 0.99981149 -0.62041373] [ 0. 0. 0. 1. ]] SLAMing on 90.704553574 meters Centerline goodness [0,1] 0.9071517739221682 Centerline is valid? [False, False] Translation: X:2.81, Y:0.36, Z:-0.62 [[ 0.99973825 0.01365231 -0.01835878 2.8081364 ] [-0.01354011 0.99988897 0.00622185 0.36297917] [ 0.01844168 -0.00597164 0.9998121 -0.62056064] [ 0. 0. 0. 1. ]] SLAMing on 90.734553574 meters Centerline goodness [0,1] 0.9075954876854437 Centerline is valid? [False, False] Translation: X:2.81, Y:0.36, Z:-0.62 [[ 0.99973499 0.01372041 -0.01848491 2.80876799] [-0.01360956 0.99988872 0.0061091 0.3632148 ] [ 0.01856668 -0.00585591 0.99981048 -0.62110155] [ 0. 0. 0. 1. ]] SLAMing on 90.764553574 meters Centerline goodness [0,1] 0.9054533544407446 Centerline is valid? [False, False] Translation: X:2.81, Y:0.36, Z:-0.62 [[ 0.99972798 0.01418822 -0.01851109 2.80908975] [-0.0140725 0.99988071 0.006367 0.36267981] [ 0.01859921 -0.00610477 0.99980838 -0.62158723] [ 0. 0. 0. 1. ]] SLAMing on 90.794553574 meters Centerline goodness [0,1] 0.9041820104276808 Centerline is valid? [False, False] Translation: X:2.81, Y:0.36, Z:-0.62 [[ 0.99972583 0.0141693 -0.01864125 2.80987347] [-0.01405488 0.99988166 0.00625507 0.36263198] [ 0.01872768 -0.00599136 0.99980667 -0.62228764] [ 0. 0. 0. 1. ]] SLAMing on 90.824553574 meters Centerline goodness [0,1] 0.9029942312975002 Centerline is valid? [False, False] Translation: X:2.81, Y:0.36, Z:-0.62 [[ 0.99972356 0.01447622 -0.01852667 2.80980086] [-0.01435663 0.99987534 0.0065715 0.36183643] [ 0.01861949 -0.0063037 0.99980677 -0.62243121] [ 0. 0. 0. 1. ]] SLAMing on 90.85455357400001 meters Centerline goodness [0,1] 0.9028780281741877 Centerline is valid? [False, False] Translation: X:2.81, Y:0.36, Z:-0.62 [[ 0.9997224 0.01429436 -0.01872941 2.81059115] [-0.01416999 0.99987677 0.00675653 0.36023556] [ 0.01882368 -0.00648926 0.99980176 -0.62267666] [ 0. 0. 0. 1. ]] SLAMing on 90.884553574 meters Centerline goodness [0,1] 0.9032258064516129 Centerline is valid? [False, False] Translation: X:2.81, Y:0.36, Z:-0.62 [[ 0.99972089 0.01416837 -0.01890515 2.81121187] [-0.01403708 0.99987655 0.0070596 0.35832138] [ 0.01900284 -0.00679226 0.99979636 -0.62268865] [ 0. 0. 0. 1. ]] SLAMing on 90.914553574 meters Centerline goodness [0,1] 0.9014892870983815 Centerline is valid? [False, False] Translation: X:2.81, Y:0.36, Z:-0.62 [[ 0.99971603 0.0144139 -0.01897642 2.81180678] [-0.01426989 0.99986851 0.00770284 0.35597537] [ 0.01908495 -0.00742986 0.99979026 -0.62314132] [ 0. 0. 0. 1. ]] SLAMing on 90.944553574 meters Centerline goodness [0,1] 0.9024146729282994 Centerline is valid? [False, False] Translation: X:2.81, Y:0.36, Z:-0.62 [[ 0.99970989 0.01459968 -0.01915679 2.81260729] [-0.01445071 0.99986444 0.00789172 0.35542373] [ 0.01926941 -0.0076126 0.99978535 -0.6238312 ] [ 0. 0. 0. 1. ]] SLAMing on 90.974553574 meters Centerline goodness [0,1] 0.8979531075548939 Centerline is valid? [False, False] Translation: X:2.81, Y:0.35, Z:-0.63 [[ 0.99968822 0.01568417 -0.01942834 2.81491303] [-0.0154984 0.99983308 0.00967559 0.35104887] [ 0.01957685 -0.00937146 0.99976443 -0.62554241] [ 0. 0. 0. 1. ]] SLAMing on 91.004553574 meters Centerline goodness [0,1] 0.8985629122984059 Centerline is valid? [False, False] Translation: X:2.82, Y:0.35, Z:-0.63 [[ 0.9996836 0.01548388 -0.01982319 2.81647127] [-0.01528822 0.99983328 0.009984 0.34864485] [ 0.01997447 -0.00967777 0.99975365 -0.62633726] [ 0. 0. 0. 1. ]] SLAMing on 91.034553574 meters Centerline goodness [0,1] 0.8963350192496414 Centerline is valid? [False, False] Translation: X:2.83, Y:0.34, Z:-0.63 [[ 9.99692590e-01 1.82476983e-02 -1.67853213e-02 2.83234833e+00] [-1.82334732e-02 9.99833256e-01 1.00013395e-03 3.44199883e-01] [ 1.68007726e-02 -6.93771791e-04 9.99858616e-01 -6.32167830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.064553574 meters Centerline goodness [0,1] 0.8957788144271248 Centerline is valid? [False, False] Translation: X:2.83, Y:0.34, Z:-0.63 [[ 9.99690800e-01 1.80872775e-02 -1.70632446e-02 2.83352675e+00] [-1.80639599e-02 9.99835678e-01 1.51968935e-03 3.41154940e-01] [ 1.70879278e-02 -1.21098970e-03 9.99853257e-01 -6.32710151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.094553574 meters Centerline goodness [0,1] 0.8947569623640499 Centerline is valid? [False, False] Translation: X:2.84, Y:0.34, Z:-0.63 [[ 9.99691002e-01 1.78600406e-02 -1.72892702e-02 2.83522920e+00] [-1.78195663e-02 9.99838113e-01 2.49225092e-03 3.35579466e-01] [ 1.73309830e-02 -2.18339353e-03 9.99847423e-01 -6.33858249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.124553574 meters Centerline goodness [0,1] 0.894065361480403 Centerline is valid? [False, False] Translation: X:2.84, Y:0.33, Z:-0.63 [[ 9.99692154e-01 1.75523899e-02 -1.75359692e-02 2.83646739e+00] [-1.75069327e-02 9.99842981e-01 2.74239347e-03 3.33517346e-01] [ 1.75813513e-02 -2.43454821e-03 9.99842472e-01 -6.34684164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.154553574 meters Centerline goodness [0,1] 0.8919069481529862 Centerline is valid? [False, False] Translation: X:2.84, Y:0.33, Z:-0.64 [[ 9.99694355e-01 1.70033488e-02 -1.79466375e-02 2.83827312e+00] [-1.69557964e-02 9.99852324e-01 2.79851296e-03 3.31401500e-01] [ 1.79915713e-02 -2.49335808e-03 9.99835030e-01 -6.35769080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.184553574 meters Centerline goodness [0,1] 0.892317832011941 Centerline is valid? [False, False] Translation: X:2.84, Y:0.33, Z:-0.64 [[ 9.99750901e-01 1.31821853e-02 -1.80101704e-02 2.83962469e+00] [-1.31785297e-02 9.99913108e-01 3.21646351e-04 3.25086706e-01] [ 1.80128454e-02 -8.42186626e-05 9.99837752e-01 -6.36681298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.214553574 meters Centerline goodness [0,1] 0.8899170140647524 Centerline is valid? [False, False] Translation: X:2.84, Y:0.32, Z:-0.64 [[ 9.99793916e-01 9.44074244e-03 -1.79721657e-02 2.83955838e+00] [-9.49203604e-03 9.99951110e-01 -2.77089571e-03 3.21751283e-01] [ 1.79451278e-02 2.94091711e-03 9.99834648e-01 -6.36672343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.244553574 meters Centerline goodness [0,1] 0.8839010200672183 Centerline is valid? [False, False] Translation: X:2.83, Y:0.32, Z:-0.64 [[ 9.99954859e-01 1.35639845e-03 -9.40424464e-03 2.83133918e+00] [-1.37113283e-03 9.99997842e-01 -1.56051027e-03 3.15240023e-01] [ 9.40210768e-03 1.57333430e-03 9.99954561e-01 -6.40615873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.274553574 meters Centerline goodness [0,1] 0.8832105283896134 Centerline is valid? [False, False] Translation: X:2.83, Y:0.31, Z:-0.64 [[ 9.99950081e-01 1.23147592e-04 -9.99099631e-03 2.83411832e+00] [-1.40602400e-04 9.99998465e-01 -1.74637019e-03 3.12805526e-01] [ 9.99076592e-03 1.74768777e-03 9.99948564e-01 -6.41972627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.304553574 meters Centerline goodness [0,1] 0.8895614503590291 Centerline is valid? [False, False] Translation: X:2.84, Y:0.31, Z:-0.64 [[ 9.99944254e-01 -8.01609154e-04 -1.05283877e-02 2.83625669e+00] [ 7.85604671e-04 9.99998530e-01 -1.52417436e-03 3.10177956e-01] [ 1.05295940e-02 1.51581824e-03 9.99943413e-01 -6.42562396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.334553574 meters Centerline goodness [0,1] 0.8836609925677296 Centerline is valid? [False, False] Translation: X:2.84, Y:0.31, Z:-0.64 [[ 0.99992359 -0.00567935 -0.01098029 2.83862109] [ 0.00562715 0.99997275 -0.00477881 0.30524889] [ 0.01100713 0.00471666 0.9999283 -0.64351622] [ 0. 0. 0. 1. ]] SLAMing on 91.364553574 meters Centerline goodness [0,1] 0.8700154528487427 Centerline is valid? [False, False] Translation: X:2.84, Y:0.30, Z:-0.64 [[ 0.99991338 -0.00648685 -0.01145216 2.84032756] [ 0.00643866 0.99997028 -0.00423994 0.30145869] [ 0.01147932 0.00416584 0.99992543 -0.64353363] [ 0. 0. 0. 1. ]] SLAMing on 91.394553574 meters Centerline goodness [0,1] 0.8784755900420304 Centerline is valid? [False, False] Translation: X:2.84, Y:0.30, Z:-0.64 [[ 0.9998744 -0.0108624 -0.01154063 2.84188054] [ 0.0107781 0.99991496 -0.00734145 0.29637691] [ 0.01161939 0.00721614 0.99990645 -0.6444975 ] [ 0. 0. 0. 1. ]] SLAMing on 91.424553574 meters Centerline goodness [0,1] 0.8770417147367782 Centerline is valid? [False, False] Translation: X:2.84, Y:0.29, Z:-0.65 [[ 0.9998608 -0.01155621 -0.0120351 2.84402777] [ 0.01146834 0.99990726 -0.00734532 0.29488655] [ 0.01211886 0.00720628 0.9999006 -0.64556422] [ 0. 0. 0. 1. ]] SLAMing on 91.454553574 meters Centerline goodness [0,1] 0.8767106648311604 Centerline is valid? [False, False] Translation: X:2.85, Y:0.29, Z:-0.65 [[ 0.99982761 -0.01318056 -0.01307753 2.8491917 ] [ 0.01307371 0.99988072 -0.00822325 0.29433211] [ 0.01318436 0.00805086 0.99988067 -0.6489187 ] [ 0. 0. 0. 1. ]] SLAMing on 91.484553574 meters Centerline goodness [0,1] 0.8812724286843866 Centerline is valid? [False, False] Translation: X:2.85, Y:0.29, Z:-0.65 [[ 0.99984413 -0.011124 -0.0137106 2.85215006] [ 0.01105906 0.99992731 -0.00480329 0.29244489] [ 0.01376304 0.00465092 0.99989447 -0.64950631] [ 0. 0. 0. 1. ]] SLAMing on 91.514553574 meters Centerline goodness [0,1] 0.8647380289701969 Centerline is valid? [False, False] Translation: X:2.85, Y:0.29, Z:-0.65 [[ 0.99984126 -0.01133881 -0.01374366 2.85205046] [ 0.01127975 0.99992684 -0.00436773 0.2910342 ] [ 0.01379218 0.00421201 0.99989601 -0.64850965] [ 0. 0. 0. 1. ]] SLAMing on 91.544553574 meters Centerline goodness [0,1] 0.8845612388549977 Centerline is valid? [False, False] Translation: X:2.85, Y:0.29, Z:-0.64 [[ 9.99831311e-01 -1.24069780e-02 -1.35431210e-02 2.85237963e+00] [ 1.23753714e-02 9.99920506e-01 -2.41509326e-03 2.86915515e-01] [ 1.35720084e-02 2.24708471e-03 9.99905371e-01 -6.44166220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.574553574 meters Centerline goodness [0,1] 0.8788119862105542 Centerline is valid? [False, False] Translation: X:2.85, Y:0.29, Z:-0.64 [[ 9.99826679e-01 -1.27262391e-02 -1.35887639e-02 2.85272449e+00] [ 1.26960432e-02 9.99916743e-01 -2.30608648e-03 2.86437579e-01] [ 1.36169804e-02 2.13316325e-03 9.99905009e-01 -6.43889381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.60455357400001 meters Centerline goodness [0,1] 0.8694324566403387 Centerline is valid? [False, False] Translation: X:2.86, Y:0.29, Z:-0.65 [[ 9.99824684e-01 -1.14804654e-02 -1.47918920e-02 2.85860209e+00] [ 1.14803789e-02 9.99934094e-01 -9.07613342e-05 2.87886912e-01] [ 1.47919591e-02 -7.90711029e-05 9.99890590e-01 -6.46799062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.634553574 meters Centerline goodness [0,1] 0.8810156360907745 Centerline is valid? [False, False] Translation: X:2.86, Y:0.29, Z:-0.65 [[ 0.99983559 -0.00907845 -0.01569653 2.8622207 ] [ 0.00912689 0.9999538 0.00301749 0.28827644] [ 0.01566841 -0.00316025 0.99987225 -0.6482075 ] [ 0. 0. 0. 1. ]] SLAMing on 91.664553574 meters Centerline goodness [0,1] 0.8806635855415851 Centerline is valid? [False, False] Translation: X:2.86, Y:0.29, Z:-0.65 [[ 9.99834662e-01 -9.19243837e-03 -1.56890992e-02 2.86248300e+00] [ 9.23613873e-03 9.99953660e-01 2.71521353e-03 2.90145782e-01] [ 1.56634127e-02 -2.85967130e-03 9.99873232e-01 -6.48349269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.694553574 meters Centerline goodness [0,1] 0.8793364107319237 Centerline is valid? [False, False] Translation: X:2.88, Y:0.29, Z:-0.65 [[ 0.99992467 -0.00763156 -0.00961272 2.87673744] [ 0.00758674 0.99996022 -0.00469075 0.29146473] [ 0.00964814 0.00461747 0.99994279 -0.65273886] [ 0. 0. 0. 1. ]] SLAMing on 91.724553574 meters Centerline goodness [0,1] 0.8636948825233344 Centerline is valid? [False, False] Translation: X:2.88, Y:0.29, Z:-0.65 [[ 0.99992553 -0.00757311 -0.00956989 2.87651212] [ 0.00752737 0.99996012 -0.00480637 0.29249796] [ 0.00960591 0.00473398 0.99994266 -0.65234285] [ 0. 0. 0. 1. ]] SLAMing on 91.754553574 meters Centerline goodness [0,1] 0.8758804226028494 Centerline is valid? [False, False] Translation: X:2.88, Y:0.29, Z:-0.65 [[ 9.99937942e-01 -4.59772315e-03 -1.01475627e-02 2.87848953e+00] [ 4.58266897e-03 9.99988365e-01 -1.50628054e-03 2.93957893e-01] [ 1.01543701e-02 1.45968414e-03 9.99947378e-01 -6.52409434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.784553574 meters Centerline goodness [0,1] 0.8729851193448517 Centerline is valid? [False, False] Translation: X:2.88, Y:0.29, Z:-0.65 [[ 9.99943482e-01 -1.25761697e-03 -1.05570300e-02 2.87986022e+00] [ 1.28016330e-03 9.99996914e-01 2.12918404e-03 2.94353234e-01] [ 1.05543197e-02 -2.14257842e-03 9.99942006e-01 -6.52496003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.814553574 meters Centerline goodness [0,1] 0.8779537730786812 Centerline is valid? [False, False] Translation: X:2.88, Y:0.30, Z:-0.65 [[ 9.99939754e-01 2.87334656e-03 -1.05939672e-02 2.88010513e+00] [-2.81497411e-03 9.99980798e-01 5.52077158e-03 2.97138309e-01] [ 1.06096268e-02 -5.49061723e-03 9.99928642e-01 -6.52607142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.844553574 meters Centerline goodness [0,1] 0.8622322613881789 Centerline is valid? [False, False] Translation: X:2.88, Y:0.30, Z:-0.65 [[ 0.99993908 0.0032509 -0.01054883 2.88013993] [-0.0031986 0.99998253 0.00497125 0.29934058] [ 0.0105648 -0.00493721 0.999932 -0.65337405] [ 0. 0. 0. 1. ]] SLAMing on 91.874553574 meters Centerline goodness [0,1] 0.8753035957585451 Centerline is valid? [False, False] Translation: X:2.88, Y:0.30, Z:-0.65 [[ 0.9999374 0.00353264 -0.01061717 2.88054918] [-0.00348586 0.99998415 0.00442107 0.30160757] [ 0.01063262 -0.00438379 0.99993386 -0.65420161] [ 0. 0. 0. 1. ]] SLAMing on 91.904553574 meters Centerline goodness [0,1] 0.860681724199043 Centerline is valid? [False, False] Translation: X:2.88, Y:0.31, Z:-0.66 [[ 0.99993398 0.00392291 -0.01080064 2.88138107] [-0.00388609 0.99998657 0.00342817 0.30532546] [ 0.01081394 -0.00338597 0.99993579 -0.65595824] [ 0. 0. 0. 1. ]] SLAMing on 91.934553574 meters Centerline goodness [0,1] 0.8792994883903975 Centerline is valid? [False, False] Translation: X:2.88, Y:0.31, Z:-0.66 [[ 0.99993196 0.00373989 -0.01104904 2.88244714] [-0.00370743 0.99998876 0.00295687 0.30641711] [ 0.01105998 -0.00291571 0.99993459 -0.65682148] [ 0. 0. 0. 1. ]] SLAMing on 91.964553574 meters Centerline goodness [0,1] 0.8700772694205776 Centerline is valid? [False, False] Translation: X:2.89, Y:0.31, Z:-0.66 [[ 9.99926300e-01 2.96920471e-03 -1.17719073e-02 2.88536819e+00] [-2.94487378e-03 9.99993493e-01 2.08366002e-03 3.07223970e-01] [ 1.17780175e-02 -2.04883967e-03 9.99928538e-01 -6.58991783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.994553574 meters Centerline goodness [0,1] 0.8812115009938402 Centerline is valid? [False, False] Translation: X:2.89, Y:0.31, Z:-0.66 [[ 9.99924123e-01 2.67715431e-03 -1.20241637e-02 2.88637894e+00] [-2.65380097e-03 9.99994562e-01 1.95773615e-03 3.06992409e-01] [ 1.20293395e-02 -1.92567786e-03 9.99925791e-01 -6.59504751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.024553574 meters Centerline goodness [0,1] 0.8747837370242215 Centerline is valid? [False, False] Translation: X:2.89, Y:0.31, Z:-0.66 [[ 9.99925858e-01 2.76329509e-03 -1.18592782e-02 2.88606448e+00] [-2.74101352e-03 9.99994449e-01 1.89467304e-03 3.07485592e-01] [ 1.18644479e-02 -1.86202613e-03 9.99927881e-01 -6.59341582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.054553574 meters Centerline goodness [0,1] 0.8783406147911993 Centerline is valid? [False, False] Translation: X:2.89, Y:0.31, Z:-0.66 [[ 9.99926378e-01 2.87755448e-03 -1.17880369e-02 2.88597176e+00] [-2.85660980e-03 9.99994312e-01 1.79322624e-03 3.08063698e-01] [ 1.17931300e-02 -1.75942040e-03 9.99928911e-01 -6.59510591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.084553574 meters Centerline goodness [0,1] 0.8769506620428752 Centerline is valid? [False, False] Translation: X:2.89, Y:0.31, Z:-0.66 [[ 9.99925941e-01 2.81646832e-03 -1.18397668e-02 2.88634891e+00] [-2.79703846e-03 9.99994715e-01 1.65730635e-03 3.08157075e-01] [ 1.18443720e-02 -1.62406733e-03 9.99928534e-01 -6.59867268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.114553574 meters Centerline goodness [0,1] 0.8792905952522021 Centerline is valid? [False, False] Translation: X:2.89, Y:0.31, Z:-0.66 [[ 9.99928063e-01 3.12615875e-03 -1.15799758e-02 2.88543957e+00] [-3.10078173e-03 9.99992753e-01 2.20876309e-03 3.06696523e-01] [ 1.15867969e-02 -2.17269722e-03 9.99930510e-01 -6.58975300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.144553574 meters Centerline goodness [0,1] 0.8768604352380764 Centerline is valid? [False, False] Translation: X:2.89, Y:0.31, Z:-0.66 [[ 9.99927142e-01 3.15388996e-03 -1.16517606e-02 2.88561916e+00] [-3.12726949e-03 9.99992460e-01 2.30218693e-03 3.06133564e-01] [ 1.16589336e-02 -2.26558100e-03 9.99929466e-01 -6.58918477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.174553574 meters Centerline goodness [0,1] 0.879201805440076 Centerline is valid? [False, False] Translation: X:2.89, Y:0.31, Z:-0.66 [[ 9.99924708e-01 3.20381316e-03 -1.18454196e-02 2.88657638e+00] [-3.17728170e-03 9.99992403e-01 2.25794860e-03 3.05774835e-01] [ 1.18525637e-02 -2.22014236e-03 9.99927291e-01 -6.59926270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.204553574 meters Centerline goodness [0,1] 0.8765131253095592 Centerline is valid? [False, False] Translation: X:2.89, Y:0.31, Z:-0.66 [[ 9.99923860e-01 3.24293180e-03 -1.19062063e-02 2.88699990e+00] [-3.21658195e-03 9.99992337e-01 2.23160128e-03 3.05927886e-01] [ 1.19133520e-02 -2.19313408e-03 9.99926628e-01 -6.60383082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.234553574 meters Centerline goodness [0,1] 0.8800682715779864 Centerline is valid? [False, False] Translation: X:2.89, Y:0.31, Z:-0.66 [[ 9.99922965e-01 3.09424197e-03 -1.20204283e-02 2.88757017e+00] [-3.06824587e-03 9.99992916e-01 2.18050001e-03 3.05684060e-01] [ 1.20270901e-02 -2.14345040e-03 9.99925375e-01 -6.60731743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.264553574 meters Centerline goodness [0,1] 0.8796811640295779 Centerline is valid? [False, False] Translation: X:2.89, Y:0.30, Z:-0.66 [[ 9.99920990e-01 2.30575700e-03 -1.23570565e-02 2.88905047e+00] [-2.28087926e-03 9.99995345e-01 2.02695702e-03 3.04248196e-01] [ 1.23616726e-02 -1.99861191e-03 9.99921594e-01 -6.61098751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.294553574 meters Centerline goodness [0,1] 0.8680199004975124 Centerline is valid? [False, False] Translation: X:2.89, Y:0.30, Z:-0.66 [[ 9.99917708e-01 1.79505085e-03 -1.27025646e-02 2.89031999e+00] [-1.77054125e-03 9.99996550e-01 1.94048232e-03 3.03343186e-01] [ 1.27060040e-02 -1.91783222e-03 9.99917436e-01 -6.61457412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.324553574 meters Centerline goodness [0,1] 0.8680199004975124 Centerline is valid? [False, False] Translation: X:2.89, Y:0.30, Z:-0.66 [[ 9.99917708e-01 1.79505085e-03 -1.27025646e-02 2.89031999e+00] [-1.77054125e-03 9.99996550e-01 1.94048232e-03 3.03343186e-01] [ 1.27060040e-02 -1.91783222e-03 9.99917436e-01 -6.61457412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.35455357400001 meters Centerline goodness [0,1] 0.874536612588193 Centerline is valid? [False, False] Translation: X:2.89, Y:0.30, Z:-0.66 [[ 9.99910239e-01 6.34648175e-04 -1.33832517e-02 2.89316940e+00] [-6.12338173e-04 9.99998416e-01 1.67104092e-03 3.01552804e-01] [ 1.33842910e-02 -1.66269585e-03 9.99909044e-01 -6.62727959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.384553574 meters Centerline goodness [0,1] 0.871948539693955 Centerline is valid? [False, False] Translation: X:2.90, Y:0.30, Z:-0.66 [[ 9.99902384e-01 -1.11277911e-04 -1.39717501e-02 2.89532115e+00] [ 1.31972474e-04 9.99998896e-01 1.48025862e-03 3.00586799e-01] [ 1.39715699e-02 -1.48195801e-03 9.99901295e-01 -6.63651966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.414553574 meters Centerline goodness [0,1] 0.8736526946107784 Centerline is valid? [False, False] Translation: X:2.90, Y:0.30, Z:-0.67 [[ 9.99891872e-01 -1.05871533e-03 -1.46670973e-02 2.89810002e+00] [ 1.07414947e-03 9.99998878e-01 1.04445907e-03 2.99855360e-01] [ 1.46659751e-02 -1.06010079e-03 9.99891887e-01 -6.65164987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.444553574 meters Centerline goodness [0,1] 0.8717461333760179 Centerline is valid? [False, False] Translation: X:2.90, Y:0.30, Z:-0.67 [[ 9.99869644e-01 -2.79749733e-03 -1.59018719e-02 2.90314046e+00] [ 2.79662538e-03 9.99996086e-01 -7.70697884e-05 2.99590328e-01] [ 1.59020253e-02 3.25881633e-05 9.99873554e-01 -6.68312219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.474553574 meters Centerline goodness [0,1] 0.8674626387275131 Centerline is valid? [False, False] Translation: X:2.90, Y:0.30, Z:-0.67 [[ 9.99863183e-01 -3.16175936e-03 -1.62363255e-02 2.90420454e+00] [ 3.16073763e-03 9.99995001e-01 -8.85898189e-05 2.99109904e-01] [ 1.62365244e-02 3.72589334e-05 9.99868178e-01 -6.68547307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.504553574 meters Centerline goodness [0,1] 0.8708441949067576 Centerline is valid? [False, False] Translation: X:2.90, Y:0.30, Z:-0.67 [[ 9.99859639e-01 -3.40818905e-03 -1.64038313e-02 2.90427243e+00] [ 3.41284282e-03 9.99994144e-01 2.55714389e-04 2.97969188e-01] [ 1.64028637e-02 -3.11662195e-04 9.99865415e-01 -6.67491925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.534553574 meters Centerline goodness [0,1] 0.8677531873947558 Centerline is valid? [False, False] Translation: X:2.90, Y:0.30, Z:-0.67 [[ 9.99861862e-01 -3.13791745e-03 -1.63220541e-02 2.90364592e+00] [ 3.14856214e-03 9.99994847e-01 6.26509715e-04 2.97410509e-01] [ 1.63200041e-02 -6.77814172e-04 9.99866590e-01 -6.66653394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.564553574 meters Centerline goodness [0,1] 0.867343662197961 Centerline is valid? [False, False] Translation: X:2.90, Y:0.30, Z:-0.67 [[ 9.99866618e-01 -2.66315676e-03 -1.61137660e-02 2.90264990e+00] [ 2.68098466e-03 9.99995818e-01 1.08487602e-03 2.96959545e-01] [ 1.61108095e-02 -1.12793208e-03 9.99869576e-01 -6.65793100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.594553574 meters Centerline goodness [0,1] 0.8661790275196355 Centerline is valid? [False, False] Translation: X:2.92, Y:0.30, Z:-0.67 [[ 9.99940760e-01 2.17072851e-03 -1.06660313e-02 2.91766328e+00] [-2.20861104e-03 9.99991291e-01 -3.54120422e-03 2.96985478e-01] [ 1.06582515e-02 3.56455155e-03 9.99936846e-01 -6.70199807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.624553574 meters Centerline goodness [0,1] 0.8688662099818258 Centerline is valid? [False, False] Translation: X:2.92, Y:0.30, Z:-0.67 [[ 0.99994072 0.00307079 -0.01044642 2.91648082] [-0.00310286 0.99999052 -0.00305488 0.2978244 ] [ 0.01043694 0.00308712 0.99994077 -0.66961948] [ 0. 0. 0. 1. ]] SLAMing on 92.654553574 meters Centerline goodness [0,1] 0.8692672430967845 Centerline is valid? [False, False] Translation: X:2.92, Y:0.30, Z:-0.67 [[ 9.99918638e-01 7.01871236e-03 -1.06515448e-02 2.91740310e+00] [-7.00941393e-03 9.99975020e-01 9.10046426e-04 2.98086191e-01] [ 1.06576661e-02 -8.35311296e-04 9.99942857e-01 -6.69897388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.684553574 meters Centerline goodness [0,1] 0.8649170665657793 Centerline is valid? [False, False] Translation: X:2.92, Y:0.30, Z:-0.67 [[ 9.99917373e-01 7.40148114e-03 -1.05102131e-02 2.91688831e+00] [-7.39165798e-03 9.99972208e-01 9.73168842e-04 2.98675432e-01] [ 1.05171238e-02 -8.95400532e-04 9.99944293e-01 -6.69759497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.714553574 meters Centerline goodness [0,1] 0.8711135897384827 Centerline is valid? [False, False] Translation: X:2.92, Y:0.30, Z:-0.67 [[ 9.99916479e-01 7.41011080e-03 -1.05889029e-02 2.91712959e+00] [-7.40030102e-03 9.99972151e-01 9.65303550e-04 2.98637029e-01] [ 1.05957610e-02 -8.86861858e-04 9.99943470e-01 -6.69761711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.744553574 meters Centerline goodness [0,1] 0.8710996728114276 Centerline is valid? [False, False] Translation: X:2.92, Y:0.30, Z:-0.67 [[ 9.99917909e-01 6.69763569e-03 -1.09232121e-02 2.91825457e+00] [-6.69058299e-03 9.99977385e-01 6.82076471e-04 2.98158751e-01] [ 1.09275333e-02 -6.08937822e-04 9.99940107e-01 -6.69812968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.774553574 meters Centerline goodness [0,1] 0.871321040264447 Centerline is valid? [False, False] Translation: X:2.92, Y:0.30, Z:-0.67 [[ 9.99917054e-01 5.71407302e-03 -1.15427602e-02 2.92080578e+00] [-5.71587506e-03 9.99983657e-01 -1.23135089e-04 2.98617010e-01] [ 1.15418679e-02 1.89101850e-04 9.99933373e-01 -6.71279214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.804553574 meters Centerline goodness [0,1] 0.8699651567944251 Centerline is valid? [False, False] Translation: X:2.91, Y:0.30, Z:-0.68 [[ 9.99988415e-01 -1.49226217e-03 -4.57626197e-03 2.91467058e+00] [ 1.49103000e-03 9.99998851e-01 -2.72652327e-04 3.00108519e-01] [ 4.57666358e-03 2.65825825e-04 9.99989492e-01 -6.76437682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.834553574 meters Centerline goodness [0,1] 0.8704355958848228 Centerline is valid? [False, False] Translation: X:2.92, Y:0.30, Z:-0.68 [[ 9.99984341e-01 -2.37921957e-03 -5.06520783e-03 2.91630194e+00] [ 2.37644775e-03 9.99997023e-01 -5.53175072e-04 2.99607711e-01] [ 5.06650887e-03 5.41129208e-04 9.99987019e-01 -6.76642813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.864553574 meters Centerline goodness [0,1] 0.8702958862649834 Centerline is valid? [False, False] Translation: X:2.92, Y:0.30, Z:-0.68 [[ 9.99980356e-01 -3.09680968e-03 -5.44957961e-03 2.91753999e+00] [ 3.09245692e-03 9.99994893e-01 -8.06979214e-04 2.99399262e-01] [ 5.45205084e-03 7.90110772e-04 9.99984825e-01 -6.76697671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.894553574 meters Centerline goodness [0,1] 0.8704113049656588 Centerline is valid? [False, False] Translation: X:2.92, Y:0.30, Z:-0.68 [[ 9.99973412e-01 -4.14169441e-03 -6.00174656e-03 2.91936776e+00] [ 4.13160885e-03 9.99990034e-01 -1.69186310e-03 3.01007350e-01] [ 6.00869392e-03 1.66702124e-03 9.99980558e-01 -6.77170637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.924553574 meters Centerline goodness [0,1] 0.8663397534365276 Centerline is valid? [False, False] Translation: X:2.92, Y:0.30, Z:-0.68 [[ 9.99972639e-01 -4.12046733e-03 -6.14358962e-03 2.91981679e+00] [ 4.10794303e-03 9.99989461e-01 -2.04982389e-03 3.02841568e-01] [ 6.15197110e-03 2.02453029e-03 9.99979027e-01 -6.77555095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.954553574 meters Centerline goodness [0,1] 0.8707959035244629 Centerline is valid? [False, False] Translation: X:2.92, Y:0.31, Z:-0.68 [[ 9.99978513e-01 -3.69300183e-04 -6.54495538e-03 2.92106225e+00] [ 3.75970731e-04 9.99999411e-01 1.01798815e-03 3.06494735e-01] [ 6.54457559e-03 -1.02042699e-03 9.99978063e-01 -6.78201887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.984553574 meters Centerline goodness [0,1] 0.870532121616582 Centerline is valid? [False, False] Translation: X:2.92, Y:0.31, Z:-0.68 [[ 9.99980502e-01 7.24553570e-04 -6.20249444e-03 2.91930721e+00] [-7.17122915e-04 9.99999023e-01 1.20015093e-03 3.08630651e-01] [ 6.20335795e-03 -1.19567958e-03 9.99980044e-01 -6.77334942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.014553574 meters Centerline goodness [0,1] 0.8708806790401127 Centerline is valid? [False, False] Translation: X:2.92, Y:0.31, Z:-0.68 [[ 9.99981229e-01 1.73623886e-03 -5.87600869e-03 2.91764513e+00] [-1.72829394e-03 9.99997586e-01 1.35690137e-03 3.10444691e-01] [ 5.87835041e-03 -1.34672043e-03 9.99981816e-01 -6.76414475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.044553574 meters Centerline goodness [0,1] 0.872702902210653 Centerline is valid? [False, False] Translation: X:2.92, Y:0.31, Z:-0.67 [[ 0.99996187 0.00681493 -0.00545969 2.9157102 ] [-0.00678591 0.99996284 0.00531643 0.313316 ] [ 0.00549572 -0.00527918 0.99997096 -0.67499233] [ 0. 0. 0. 1. ]] SLAMing on 93.074553574 meters Centerline goodness [0,1] 0.8731961750217329 Centerline is valid? [False, False] Translation: X:2.91, Y:0.32, Z:-0.68 [[ 0.99995616 0.00774181 -0.00526632 2.91487798] [-0.00771523 0.99995749 0.00504949 0.31644146] [ 0.00530518 -0.00500864 0.99997338 -0.6750202 ] [ 0. 0. 0. 1. ]] SLAMing on 93.10455357400001 meters Centerline goodness [0,1] 0.8737336914811973 Centerline is valid? [False, False] Translation: X:2.92, Y:0.32, Z:-0.68 [[ 0.99991363 0.01200989 -0.00533732 2.91531295] [-0.01196664 0.99989589 0.00806279 0.32083426] [ 0.0054336 -0.00799822 0.99995325 -0.67569347] [ 0. 0. 0. 1. ]] SLAMing on 93.134553574 meters Centerline goodness [0,1] 0.874297725969807 Centerline is valid? [False, False] Translation: X:2.92, Y:0.32, Z:-0.68 [[ 0.99991321 0.01202542 -0.00538239 2.91564969] [-0.01198454 0.99989958 0.00756321 0.32246903] [ 0.0054728 -0.00749805 0.99995691 -0.67616106] [ 0. 0. 0. 1. ]] SLAMing on 93.164553574 meters Centerline goodness [0,1] 0.8720736904466145 Centerline is valid? [False, False] Translation: X:2.92, Y:0.32, Z:-0.68 [[ 0.99994679 0.00881835 -0.00535323 2.91519594] [-0.00880002 0.99995537 0.00343853 0.32400375] [ 0.00538331 -0.00339124 0.99997976 -0.67644001] [ 0. 0. 0. 1. ]] SLAMing on 93.194553574 meters Centerline goodness [0,1] 0.8718248119293275 Centerline is valid? [False, False] Translation: X:2.92, Y:0.32, Z:-0.68 [[ 9.99972091e-01 5.04664172e-03 -5.50889140e-03 2.91564942e+00] [-5.05167612e-03 9.99986835e-01 -9.00336315e-04 3.24826532e-01] [ 5.50427520e-03 9.28140323e-04 9.99984421e-01 -6.77219033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.224553574 meters Centerline goodness [0,1] 0.8727579011849385 Centerline is valid? [False, False] Translation: X:2.92, Y:0.32, Z:-0.68 [[ 9.99972806e-01 4.47559354e-03 -5.86137097e-03 2.91725508e+00] [-4.48380566e-03 9.99988983e-01 -1.38866855e-03 3.24998856e-01] [ 5.85509128e-03 1.41491203e-03 9.99981858e-01 -6.78365758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.254553574 meters Centerline goodness [0,1] 0.8726535142272145 Centerline is valid? [False, False] Translation: X:2.92, Y:0.33, Z:-0.68 [[ 9.99971731e-01 3.81465646e-03 -6.47961268e-03 2.91961325e+00] [-3.82733134e-03 9.99990785e-01 -1.94484522e-03 3.25790643e-01] [ 6.47213405e-03 1.96958986e-03 9.99977116e-01 -6.79886084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.284553574 meters Centerline goodness [0,1] 0.8713399931105753 Centerline is valid? [False, False] Translation: X:2.92, Y:0.33, Z:-0.68 [[ 9.99970357e-01 3.72532946e-03 -6.73854059e-03 2.92060389e+00] [-3.74024314e-03 9.99990581e-01 -2.20194629e-03 3.26482371e-01] [ 6.73027415e-03 2.22708480e-03 9.99974871e-01 -6.80638318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.314553574 meters Centerline goodness [0,1] 0.8711404263454736 Centerline is valid? [False, False] Translation: X:2.92, Y:0.33, Z:-0.68 [[ 9.99969606e-01 3.72657816e-03 -6.84829530e-03 2.92128825e+00] [-3.74315152e-03 9.99990093e-01 -2.40884994e-03 3.27205722e-01] [ 6.83925069e-03 2.43441093e-03 9.99973649e-01 -6.81237623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.344553574 meters Centerline goodness [0,1] 0.8698177371900195 Centerline is valid? [False, False] Translation: X:2.92, Y:0.33, Z:-0.68 [[ 9.99968450e-01 4.10591137e-03 -6.79997806e-03 2.92107509e+00] [-4.12308337e-03 9.99988342e-01 -2.51321143e-03 3.28243167e-01] [ 6.78957976e-03 2.54116902e-03 9.99973722e-01 -6.81223065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.374553574 meters Centerline goodness [0,1] 0.8699883816162886 Centerline is valid? [False, False] Translation: X:2.92, Y:0.33, Z:-0.68 [[ 9.99967356e-01 4.67370350e-03 -6.59110074e-03 2.92013849e+00] [-4.68927676e-03 9.99986246e-01 -2.34930073e-03 3.29289893e-01] [ 6.58003015e-03 2.38013154e-03 9.99975519e-01 -6.80625744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.404553574 meters Centerline goodness [0,1] 0.8696008383347623 Centerline is valid? [False, False] Translation: X:2.92, Y:0.33, Z:-0.68 [[ 9.99965257e-01 5.80325432e-03 -5.98387700e-03 2.91766764e+00] [-5.81523406e-03 9.99981118e-01 -1.98655114e-03 3.30534900e-01] [ 5.97223555e-03 2.02127977e-03 9.99980123e-01 -6.79184543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.434553574 meters Centerline goodness [0,1] 0.8703643740119236 Centerline is valid? [False, False] Translation: X:2.92, Y:0.33, Z:-0.68 [[ 9.99964428e-01 6.03896953e-03 -5.88846174e-03 2.91726580e+00] [-6.05057167e-03 9.99979785e-01 -1.95449706e-03 3.30657125e-01] [ 5.87653955e-03 1.99005610e-03 9.99980753e-01 -6.78730680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.464553574 meters Centerline goodness [0,1] 0.8708596026742348 Centerline is valid? [False, False] Translation: X:2.92, Y:0.33, Z:-0.68 [[ 9.99962734e-01 6.39841816e-03 -5.79570225e-03 2.91668980e+00] [-6.40921117e-03 9.99977758e-01 -1.84558890e-03 3.30785888e-01] [ 5.78376449e-03 1.88266600e-03 9.99981502e-01 -6.78124790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.494553574 meters Centerline goodness [0,1] 0.8715888099636266 Centerline is valid? [False, False] Translation: X:2.92, Y:0.33, Z:-0.68 [[ 9.99953491e-01 7.93356079e-03 -5.48410788e-03 2.91528506e+00] [-7.94204296e-03 9.99967296e-01 -1.52663866e-03 3.33110672e-01] [ 5.47181685e-03 1.57012268e-03 9.99983797e-01 -6.77983377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.524553574 meters Centerline goodness [0,1] 0.872127530056308 Centerline is valid? [False, False] Translation: X:2.92, Y:0.34, Z:-0.68 [[ 9.99948767e-01 8.47299116e-03 -5.53818608e-03 2.91576935e+00] [-8.48347285e-03 9.99962263e-01 -1.87187764e-03 3.35307680e-01] [ 5.52211668e-03 1.91876479e-03 9.99982912e-01 -6.79134954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.554553574 meters Centerline goodness [0,1] 0.86994126256962 Centerline is valid? [False, False] Translation: X:2.92, Y:0.34, Z:-0.68 [[ 9.99933545e-01 1.00800915e-02 -5.59438918e-03 2.91528689e+00] [-1.00877064e-02 9.99948227e-01 -1.33461336e-03 3.36665023e-01] [ 5.58064652e-03 1.39095923e-03 9.99983461e-01 -6.79372997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.584553574 meters Centerline goodness [0,1] 0.8700667302192564 Centerline is valid? [False, False] Translation: X:2.92, Y:0.34, Z:-0.68 [[ 9.99929845e-01 1.03957788e-02 -5.67733651e-03 2.91542833e+00] [-1.04017834e-02 9.99945370e-01 -1.02915006e-03 3.35810263e-01] [ 5.66632754e-03 1.08813229e-03 9.99983354e-01 -6.79277588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.614553574 meters Centerline goodness [0,1] 0.8688038844602474 Centerline is valid? [False, False] Translation: X:2.92, Y:0.33, Z:-0.68 [[ 9.99928519e-01 1.04785758e-02 -5.75813359e-03 2.91564769e+00] [-1.04831211e-02 9.99944762e-01 -7.59765781e-04 3.34513003e-01] [ 5.74985426e-03 8.20074685e-04 9.99983133e-01 -6.79167593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.644553574 meters Centerline goodness [0,1] 0.8687611622145834 Centerline is valid? [False, False] Translation: X:2.92, Y:0.33, Z:-0.68 [[ 9.99924432e-01 1.08180265e-02 -5.83956268e-03 2.91592971e+00] [-1.08192864e-02 9.99941453e-01 -1.84201520e-04 3.32644829e-01] [ 5.83722809e-03 2.47367501e-04 9.99982933e-01 -6.79301022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.674553574 meters Centerline goodness [0,1] 0.8715837555657915 Centerline is valid? [False, False] Translation: X:2.92, Y:0.33, Z:-0.68 [[ 9.99923478e-01 1.08762183e-02 -5.89459509e-03 2.91635706e+00] [-1.08769674e-02 9.99940840e-01 -9.50456281e-05 3.32215031e-01] [ 5.89321262e-03 1.59153674e-04 9.99982622e-01 -6.79687278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.704553574 meters Centerline goodness [0,1] 0.8695148331273177 Centerline is valid? [False, False] Translation: X:2.92, Y:0.33, Z:-0.68 [[ 9.99920749e-01 1.11416135e-02 -5.86181463e-03 2.91629126e+00] [-1.11389595e-02 9.99937842e-01 4.85205604e-04 3.30702135e-01] [ 5.86685625e-03 -4.19872635e-04 9.99982702e-01 -6.79624203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.734553574 meters Centerline goodness [0,1] 0.8687466171808551 Centerline is valid? [False, False] Translation: X:2.92, Y:0.33, Z:-0.68 [[ 9.99920731e-01 1.10835833e-02 -5.97372373e-03 2.91671247e+00] [-1.10797360e-02 9.99938389e-01 6.76758728e-04 3.29873824e-01] [ 5.98085660e-03 -6.10517801e-04 9.99981928e-01 -6.79674179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.764553574 meters Centerline goodness [0,1] 0.8697956093868282 Centerline is valid? [False, False] Translation: X:2.92, Y:0.33, Z:-0.68 [[ 9.99951282e-01 8.17435357e-03 -5.53292700e-03 2.91507143e+00] [-8.18913322e-03 9.99962947e-01 -2.65385412e-03 3.29496967e-01] [ 5.51102845e-03 2.69903470e-03 9.99981172e-01 -6.79223521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.794553574 meters Centerline goodness [0,1] 0.8691466510447179 Centerline is valid? [False, False] Translation: X:2.91, Y:0.33, Z:-0.68 [[ 0.99997435 0.00517345 -0.00495333 2.91268699] [-0.00519835 0.99997385 -0.00502681 0.32534114] [ 0.00492719 0.00505243 0.9999751 -0.67729572] [ 0. 0. 0. 1. ]] SLAMing on 93.824553574 meters Centerline goodness [0,1] 0.8694001369997064 Centerline is valid? [False, False] Translation: X:2.91, Y:0.32, Z:-0.68 [[ 0.99997335 0.00535453 -0.00496342 2.91267912] [-0.00537721 0.99997512 -0.00456586 0.32414097] [ 0.00493885 0.00459242 0.99997726 -0.67719967] [ 0. 0. 0. 1. ]] SLAMing on 93.85455357400001 meters Centerline goodness [0,1] 0.8674613617171697 Centerline is valid? [False, False] Translation: X:2.91, Y:0.32, Z:-0.68 [[ 0.99997176 0.00528585 -0.00534251 2.91461153] [-0.00530933 0.99997627 -0.00439037 0.32243654] [ 0.00531918 0.00441861 0.99997609 -0.67898291] [ 0. 0. 0. 1. ]] SLAMing on 93.884553574 meters Centerline goodness [0,1] 0.8676276299962534 Centerline is valid? [False, False] Translation: X:2.92, Y:0.32, Z:-0.68 [[ 0.99997102 0.00530232 -0.00546339 2.91508875] [-0.00532388 0.99997806 -0.00394078 0.32050306] [ 0.00544238 0.00396975 0.99997731 -0.67913399] [ 0. 0. 0. 1. ]] SLAMing on 93.914553574 meters Centerline goodness [0,1] 0.8662841313810843 Centerline is valid? [False, False] Translation: X:2.92, Y:0.32, Z:-0.68 [[ 0.99997031 0.00539928 -0.00549782 2.91514622] [-0.00541728 0.99998 -0.00326397 0.31815718] [ 0.00548008 0.00329366 0.99997956 -0.67888376] [ 0. 0. 0. 1. ]] SLAMing on 93.944553574 meters Centerline goodness [0,1] 0.8648891193363114 Centerline is valid? [False, False] Translation: X:2.92, Y:0.31, Z:-0.68 [[ 9.99970165e-01 5.00979317e-03 -5.87966060e-03 2.91664854e+00] [-5.02477632e-03 9.99984159e-01 -2.53630220e-03 3.13805341e-01] [ 5.86686111e-03 2.56577051e-03 9.99979498e-01 -6.79377290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.974553574 meters Centerline goodness [0,1] 0.8642944392158434 Centerline is valid? [False, False] Translation: X:2.92, Y:0.31, Z:-0.68 [[ 9.99970265e-01 4.38978322e-03 -6.34021657e-03 2.91857376e+00] [-4.40545378e-03 9.99987271e-01 -2.45976622e-03 3.11439917e-01] [ 6.32933802e-03 2.48762461e-03 9.99976875e-01 -6.80321570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.004553574 meters Centerline goodness [0,1] 0.8620515309630709 Centerline is valid? [False, False] Translation: X:2.92, Y:0.31, Z:-0.68 [[ 9.99979420e-01 6.25011436e-04 -6.38503625e-03 2.91955399e+00] [-6.58777972e-04 9.99985803e-01 -5.28765218e-03 3.06691766e-01] [ 6.38164076e-03 5.29174968e-03 9.99965635e-01 -6.81273949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.034553574 meters Centerline goodness [0,1] 0.8626869912923458 Centerline is valid? [False, False] Translation: X:2.92, Y:0.30, Z:-0.68 [[ 9.99976386e-01 -3.43855604e-05 -6.87218604e-03 2.92127316e+00] [ 1.42059099e-06 9.99988495e-01 -4.79681533e-03 3.03702627e-01] [ 6.87227192e-03 4.79669229e-03 9.99964881e-01 -6.81558275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.064553574 meters Centerline goodness [0,1] 0.8612650798826215 Centerline is valid? [False, False] Translation: X:2.92, Y:0.30, Z:-0.68 [[ 9.99972019e-01 -8.07631189e-04 -7.43699378e-03 2.92341010e+00] [ 7.73909897e-04 9.99989413e-01 -4.53602577e-03 3.01221222e-01] [ 7.44057848e-03 4.53014329e-03 9.99962057e-01 -6.82267456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.094553574 meters Centerline goodness [0,1] 0.8624635957176259 Centerline is valid? [False, False] Translation: X:2.93, Y:0.30, Z:-0.68 [[ 9.99966093e-01 -2.15304786e-03 -7.94838543e-03 2.92573642e+00] [ 2.12239368e-03 9.99990286e-01 -3.86307683e-03 2.96274751e-01] [ 7.95662561e-03 3.84607624e-03 9.99960949e-01 -6.82324659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.124553574 meters Centerline goodness [0,1] 0.8614426783763168 Centerline is valid? [False, False] Translation: X:2.93, Y:0.29, Z:-0.68 [[ 9.99964202e-01 -2.38854375e-03 -8.11727023e-03 2.92598783e+00] [ 2.36326738e-03 9.99992334e-01 -3.12206686e-03 2.93638225e-01] [ 8.12466519e-03 3.10277181e-03 9.99962181e-01 -6.81438426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.154553574 meters Centerline goodness [0,1] 0.8626995163868075 Centerline is valid? [False, False] Translation: X:2.93, Y:0.29, Z:-0.68 [[ 9.99961368e-01 -3.04671480e-03 -8.24498112e-03 2.92638747e+00] [ 3.02993688e-03 9.99993315e-01 -2.04665207e-03 2.88576295e-01] [ 8.25116158e-03 2.02159123e-03 9.99963915e-01 -6.80088340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.184553574 meters Centerline goodness [0,1] 0.8636032548750286 Centerline is valid? [False, False] Translation: X:2.93, Y:0.29, Z:-0.68 [[ 9.99959953e-01 -3.10700057e-03 -8.39273899e-03 2.92649685e+00] [ 3.09526342e-03 9.99994214e-01 -1.41111507e-03 2.86620522e-01] [ 8.39707476e-03 1.38508083e-03 9.99963785e-01 -6.79300197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.214553574 meters Centerline goodness [0,1] 0.8636032548750286 Centerline is valid? [False, False] Translation: X:2.93, Y:0.29, Z:-0.68 [[ 9.99959953e-01 -3.10700057e-03 -8.39273899e-03 2.92649685e+00] [ 3.09526342e-03 9.99994214e-01 -1.41111507e-03 2.86620522e-01] [ 8.39707476e-03 1.38508083e-03 9.99963785e-01 -6.79300197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.244553574 meters Centerline goodness [0,1] 0.8607415439796472 Centerline is valid? [False, False] Translation: X:2.93, Y:0.28, Z:-0.68 [[ 9.99958678e-01 -3.15373250e-03 -8.52617432e-03 2.92665714e+00] [ 3.14731278e-03 9.99994754e-01 -7.66255406e-04 2.84482657e-01] [ 8.52854615e-03 7.39389206e-04 9.99963358e-01 -6.78640978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.274553574 meters Centerline goodness [0,1] 0.8610144623768602 Centerline is valid? [False, False] Translation: X:2.93, Y:0.28, Z:-0.68 [[ 9.99959014e-01 -2.97397506e-03 -8.55131984e-03 2.92657182e+00] [ 2.97648743e-03 9.99995531e-01 2.81087874e-04 2.80935315e-01] [ 8.55044567e-03 -3.06529249e-04 9.99963397e-01 -6.78044350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.304553574 meters Centerline goodness [0,1] 0.8625597384086526 Centerline is valid? [False, False] Translation: X:2.93, Y:0.28, Z:-0.68 [[ 9.99958008e-01 -2.98696801e-03 -8.66370944e-03 2.92736752e+00] [ 2.98994882e-03 9.99995475e-01 3.31125261e-04 2.80362162e-01] [ 8.66268118e-03 -3.57015405e-04 9.99962415e-01 -6.78851645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.334553574 meters Centerline goodness [0,1] 0.8610806247361756 Centerline is valid? [False, False] Translation: X:2.93, Y:0.28, Z:-0.68 [[ 9.99954618e-01 -3.22380644e-03 -8.96482649e-03 2.92874742e+00] [ 3.22996152e-03 9.99994558e-01 6.72187999e-04 2.77855506e-01] [ 8.96261069e-03 -7.01113539e-04 9.99959589e-01 -6.79749196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.364553574 meters Centerline goodness [0,1] 0.8621092174798904 Centerline is valid? [False, False] Translation: X:2.93, Y:0.28, Z:-0.68 [[ 9.99952432e-01 -3.39032397e-03 -9.14541969e-03 2.92939964e+00] [ 3.40031671e-03 9.99993639e-01 1.07732306e-03 2.75713458e-01] [ 9.14170904e-03 -1.10836914e-03 9.99957599e-01 -6.79806927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.394553574 meters Centerline goodness [0,1] 0.8581679943617453 Centerline is valid? [False, False] Translation: X:2.93, Y:0.27, Z:-0.68 [[ 9.99945055e-01 -4.02461108e-03 -9.67937786e-03 2.93153749e+00] [ 4.03883887e-03 9.99990791e-01 1.45081001e-03 2.72174427e-01] [ 9.67344978e-03 -1.48982374e-03 9.99952101e-01 -6.80603957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.424553574 meters Centerline goodness [0,1] 0.8610843141038009 Centerline is valid? [False, False] Translation: X:2.93, Y:0.27, Z:-0.68 [[ 9.99943059e-01 -4.08515873e-03 -9.85850015e-03 2.93213601e+00] [ 4.10264146e-03 9.99990046e-01 1.75379515e-03 2.71003853e-01] [ 9.85123749e-03 -1.79414118e-03 9.99949866e-01 -6.80810997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.454553574 meters Centerline goodness [0,1] 0.8579196369319033 Centerline is valid? [False, False] Translation: X:2.93, Y:0.27, Z:-0.68 [[ 9.99936624e-01 -4.62621432e-03 -1.02638655e-02 2.93414436e+00] [ 4.64235842e-03 9.99988023e-01 1.54963871e-03 2.69910721e-01] [ 1.02565736e-02 -1.59718904e-03 9.99946124e-01 -6.82175765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.484553574 meters Centerline goodness [0,1] 0.8569419502801878 Centerline is valid? [False, False] Translation: X:2.94, Y:0.27, Z:-0.68 [[ 9.99927398e-01 -5.42121193e-03 -1.07614633e-02 2.93621173e+00] [ 5.44192760e-03 9.99983394e-01 1.89663846e-03 2.66810976e-01] [ 1.07510026e-02 -1.95506387e-03 9.99940295e-01 -6.82783515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.514553574 meters Centerline goodness [0,1] 0.8568080720407942 Centerline is valid? [False, False] Translation: X:2.94, Y:0.27, Z:-0.68 [[ 9.99923554e-01 -5.77492983e-03 -1.09332588e-02 2.93681464e+00] [ 5.79876295e-03 9.99980877e-01 2.14942886e-03 2.65279971e-01] [ 1.09206369e-02 -2.21266392e-03 9.99937920e-01 -6.82586737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.544553574 meters Centerline goodness [0,1] 0.8619524214474172 Centerline is valid? [False, False] Translation: X:2.94, Y:0.26, Z:-0.68 [[ 9.99913180e-01 -7.02709844e-03 -1.11468257e-02 2.93797020e+00] [ 7.05337461e-03 9.99972434e-01 2.31971937e-03 2.61994742e-01] [ 1.11302175e-02 -2.39814070e-03 9.99935181e-01 -6.81859982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.574553574 meters Centerline goodness [0,1] 0.8557417156338059 Centerline is valid? [False, False] Translation: X:2.94, Y:0.26, Z:-0.68 [[ 9.99906781e-01 -7.54028305e-03 -1.13830296e-02 2.93860563e+00] [ 7.57114022e-03 9.99967774e-01 2.67014956e-03 2.60327994e-01] [ 1.13625291e-02 -2.75608316e-03 9.99931646e-01 -6.81089175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.60455357400001 meters Centerline goodness [0,1] 0.8589458054936897 Centerline is valid? [False, False] Translation: X:2.94, Y:0.26, Z:-0.68 [[ 9.99895807e-01 -8.26188354e-03 -1.18370801e-02 2.94009116e+00] [ 8.29439190e-03 9.99961956e-01 2.69985933e-03 2.59279017e-01] [ 1.18143239e-02 -2.79775941e-03 9.99926294e-01 -6.81005432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.634553574 meters Centerline goodness [0,1] 0.863471852788558 Centerline is valid? [False, False] Translation: X:2.94, Y:0.26, Z:-0.68 [[ 9.99860355e-01 -1.05362352e-02 -1.29714396e-02 2.94484773e+00] [ 1.05582915e-02 9.99942926e-01 1.63307135e-03 2.58837428e-01] [ 1.29534929e-02 -1.76979954e-03 9.99914534e-01 -6.82856061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.664553574 meters Centerline goodness [0,1] 0.8604001048309601 Centerline is valid? [False, False] Translation: X:2.95, Y:0.26, Z:-0.68 [[ 9.99845815e-01 -1.12828443e-02 -1.34552693e-02 2.94658113e+00] [ 1.13027115e-02 9.99935140e-01 1.40140622e-03 2.58592741e-01] [ 1.34385848e-02 -1.55327117e-03 9.99908492e-01 -6.83207217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.694553574 meters Centerline goodness [0,1] 0.8635065925683775 Centerline is valid? [False, False] Translation: X:2.95, Y:0.26, Z:-0.68 [[ 9.99827042e-01 -1.23102258e-02 -1.39407376e-02 2.94840727e+00] [ 1.23242655e-02 9.99923629e-01 9.21635877e-04 2.59017029e-01] [ 1.39283274e-02 -1.09328582e-03 9.99902398e-01 -6.83496557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.724553574 meters Centerline goodness [0,1] 0.8643146126071257 Centerline is valid? [False, False] Translation: X:2.95, Y:0.26, Z:-0.68 [[ 9.99823570e-01 -1.24789081e-02 -1.40394040e-02 2.94866650e+00] [ 1.24909296e-02 9.99921690e-01 7.68901273e-04 2.59768144e-01] [ 1.40287095e-02 -9.44130822e-04 9.99901147e-01 -6.83359516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.754553574 meters Centerline goodness [0,1] 0.865021487172809 Centerline is valid? [False, False] Translation: X:2.95, Y:0.26, Z:-0.68 [[ 9.99820603e-01 -1.26131945e-02 -1.41304308e-02 2.94885424e+00] [ 1.26231862e-02 9.99920133e-01 6.18135823e-04 2.60624838e-01] [ 1.41215056e-02 -7.96395991e-04 9.99899969e-01 -6.83136584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.784553574 meters Centerline goodness [0,1] 0.8676454665540614 Centerline is valid? [False, False] Translation: X:2.95, Y:0.26, Z:-0.68 [[ 9.99815855e-01 -1.29009198e-02 -1.42063941e-02 2.94902275e+00] [ 1.29046880e-02 9.99916716e-01 1.73608114e-04 2.62500710e-01] [ 1.42029712e-02 -3.56905228e-04 9.99899069e-01 -6.82872912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.814553574 meters Centerline goodness [0,1] 0.8695135648868153 Centerline is valid? [False, False] Translation: X:2.95, Y:0.26, Z:-0.68 [[ 9.99813807e-01 -1.29586599e-02 -1.42977057e-02 2.94919644e+00] [ 1.29583619e-02 9.99916030e-01 -1.13488404e-04 2.63953497e-01] [ 1.42979758e-02 -7.18075712e-05 9.99897776e-01 -6.82826643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.844553574 meters Centerline goodness [0,1] 0.8688326797948895 Centerline is valid? [False, False] Translation: X:2.95, Y:0.27, Z:-0.68 [[ 9.99831710e-01 -1.21027740e-02 -1.37867477e-02 2.94675283e+00] [ 1.21034414e-02 9.99926750e-01 -3.50335438e-05 2.66584645e-01] [ 1.37861619e-02 -1.31839445e-04 9.99904958e-01 -6.81219154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.874553574 meters Centerline goodness [0,1] 0.8685341123904451 Centerline is valid? [False, False] Translation: X:2.95, Y:0.27, Z:-0.68 [[ 0.99985908 -0.00879928 -0.01429652 2.94802899] [ 0.00885614 0.99995311 0.00391845 0.26644548] [ 0.01426137 -0.00404451 0.99989012 -0.68048754] [ 0. 0. 0. 1. ]] SLAMing on 94.904553574 meters Centerline goodness [0,1] 0.8645177860536792 Centerline is valid? [False, False] Translation: X:2.95, Y:0.27, Z:-0.68 [[ 0.99986429 -0.00836845 -0.01419079 2.94762917] [ 0.00842202 0.99995762 0.00371932 0.26815563] [ 0.01415907 -0.00383833 0.99989239 -0.68072869] [ 0. 0. 0. 1. ]] SLAMing on 94.934553574 meters Centerline goodness [0,1] 0.8664606202707024 Centerline is valid? [False, False] Translation: X:2.95, Y:0.27, Z:-0.68 [[ 0.9998758 -0.0050291 -0.01493609 2.95006545] [ 0.00513252 0.99996307 0.00689389 0.27015855] [ 0.01490087 -0.00696969 0.99986468 -0.68181869] [ 0. 0. 0. 1. ]] SLAMing on 94.964553574 meters Centerline goodness [0,1] 0.8591282912212848 Centerline is valid? [False, False] Translation: X:2.95, Y:0.27, Z:-0.68 [[ 0.99987941 -0.00440662 -0.01489092 2.94986204] [ 0.00450284 0.99996916 0.00643421 0.27276544] [ 0.01486211 -0.00650049 0.99986842 -0.6826731 ] [ 0. 0. 0. 1. ]] SLAMing on 94.994553574 meters Centerline goodness [0,1] 0.8646348451726553 Centerline is valid? [False, False] Translation: X:2.95, Y:0.27, Z:-0.68 [[ 0.99987902 -0.00425482 -0.01496134 2.95013812] [ 0.0043492 0.99997082 0.0062809 0.27354494] [ 0.01493417 -0.00634521 0.99986835 -0.68308652] [ 0. 0. 0. 1. ]] SLAMing on 95.024553574 meters Centerline goodness [0,1] 0.8627754565314216 Centerline is valid? [False, False] Translation: X:2.95, Y:0.27, Z:-0.68 [[ 0.99987489 -0.00442013 -0.01518804 2.95107718] [ 0.00451195 0.99997172 0.0060172 0.2738967 ] [ 0.01516101 -0.00608498 0.99986655 -0.683664 ] [ 0. 0. 0. 1. ]] SLAMing on 95.054553574 meters Centerline goodness [0,1] 0.8592405278480206 Centerline is valid? [False, False] Translation: X:2.95, Y:0.27, Z:-0.68 [[ 0.99986974 -0.00460769 -0.01546864 2.95244225] [ 0.00469421 0.99997352 0.00556166 0.27457375] [ 0.0154426 -0.00563355 0.99986489 -0.68490617] [ 0. 0. 0. 1. ]] SLAMing on 95.084553574 meters Centerline goodness [0,1] 0.8638776810363135 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:-0.69 [[ 0.99987167 -0.00446773 -0.01538438 2.95228381] [ 0.00455109 0.99997513 0.00538782 0.27545814] [ 0.01535993 -0.00545714 0.99986714 -0.68516355] [ 0. 0. 0. 1. ]] SLAMing on 95.114553574 meters Centerline goodness [0,1] 0.8627563246177662 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:-0.69 [[ 0.99987412 -0.00428243 -0.01527735 2.95210866] [ 0.00436 0.99997776 0.00504751 0.27704369] [ 0.01525539 -0.00511349 0.99987055 -0.68551231] [ 0. 0. 0. 1. ]] SLAMing on 95.144553574 meters Centerline goodness [0,1] 0.8576306413301663 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:-0.69 [[ 0.9998754 -0.00420659 -0.0152149 2.95191003] [ 0.00428187 0.99997874 0.00491858 0.27764439] [ 0.01519389 -0.00498312 0.99987215 -0.6854118 ] [ 0. 0. 0. 1. ]] SLAMing on 95.174553574 meters Centerline goodness [0,1] 0.8592119772669438 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:-0.68 [[ 0.99987884 -0.00397758 -0.0150492 2.95117691] [ 0.00405251 0.99997953 0.00495181 0.27812111] [ 0.0150292 -0.00501219 0.99987449 -0.68483256] [ 0. 0. 0. 1. ]] SLAMing on 95.204553574 meters Centerline goodness [0,1] 0.859531418654363 Centerline is valid? [False, False] Translation: X:2.96, Y:0.28, Z:-0.69 [[ 9.99958276e-01 -2.97972983e-03 -8.63524086e-03 2.96387726e+00] [ 2.94437047e-03 9.99987241e-01 -4.10459800e-03 2.79900916e-01] [ 8.64736128e-03 4.07900139e-03 9.99954291e-01 -6.89659435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.234553574 meters Centerline goodness [0,1] 0.8582372235742249 Centerline is valid? [False, False] Translation: X:2.96, Y:0.28, Z:-0.69 [[ 0.99995722 -0.00320235 -0.00867758 2.96402439] [ 0.00316344 0.9999849 -0.00449346 0.28137763] [ 0.00869184 0.00446582 0.99995225 -0.68951818] [ 0. 0. 0. 1. ]] SLAMing on 95.264553574 meters Centerline goodness [0,1] 0.8589551451187335 Centerline is valid? [False, False] Translation: X:2.97, Y:0.28, Z:-0.69 [[ 0.99995355 -0.00350154 -0.0089796 2.96509429] [ 0.00345766 0.99998203 -0.00489799 0.28261968] [ 0.00899659 0.00486671 0.99994769 -0.69009734] [ 0. 0. 0. 1. ]] SLAMing on 95.294553574 meters Centerline goodness [0,1] 0.8564623556192563 Centerline is valid? [False, False] Translation: X:2.97, Y:0.28, Z:-0.69 [[ 0.99995021 -0.00375665 -0.0092445 2.96605443] [ 0.00370955 0.99998008 -0.00510674 0.2832091 ] [ 0.0092635 0.00507219 0.99994423 -0.69052664] [ 0. 0. 0. 1. ]] SLAMing on 95.324553574 meters Centerline goodness [0,1] 0.8593069494413936 Centerline is valid? [False, False] Translation: X:2.97, Y:0.28, Z:-0.69 [[ 0.9999424 -0.00439184 -0.0097928 2.96796459] [ 0.00433809 0.99997545 -0.00550262 0.28345279] [ 0.00981672 0.00545982 0.99993691 -0.69128114] [ 0. 0. 0. 1. ]] SLAMing on 95.35455357400001 meters Centerline goodness [0,1] 0.8613147887471899 Centerline is valid? [False, False] Translation: X:2.97, Y:0.28, Z:-0.69 [[ 0.99993874 -0.00463815 -0.01004972 2.96881012] [ 0.00458193 0.99997376 -0.00561045 0.28362039] [ 0.01007548 0.00556406 0.99993376 -0.69153814] [ 0. 0. 0. 1. ]] SLAMing on 95.384553574 meters Centerline goodness [0,1] 0.8615936555891239 Centerline is valid? [False, False] Translation: X:2.97, Y:0.28, Z:-0.69 [[ 0.99993007 -0.00545687 -0.01049171 2.97032056] [ 0.00539384 0.99996729 -0.00602634 0.28423615] [ 0.01052425 0.00596933 0.9999268 -0.69179627] [ 0. 0. 0. 1. ]] SLAMing on 95.414553574 meters Centerline goodness [0,1] 0.8583109694733311 Centerline is valid? [False, False] Translation: X:2.97, Y:0.28, Z:-0.69 [[ 0.99993189 -0.00369532 -0.01107045 2.9730374 ] [ 0.00366102 0.99998844 -0.00311736 0.283489 ] [ 0.01108185 0.00307661 0.99993386 -0.69228922] [ 0. 0. 0. 1. ]] SLAMing on 95.444553574 meters Centerline goodness [0,1] 0.8603093538732026 Centerline is valid? [False, False] Translation: X:2.97, Y:0.28, Z:-0.69 [[ 0.99992254 -0.00461468 -0.01155893 2.97460669] [ 0.0045749 0.99998353 -0.00346578 0.28371304] [ 0.01157474 0.00341263 0.99992719 -0.6923042 ] [ 0. 0. 0. 1. ]] SLAMing on 95.474553574 meters Centerline goodness [0,1] 0.8583305411291674 Centerline is valid? [False, False] Translation: X:2.97, Y:0.28, Z:-0.69 [[ 0.999919 -0.00490625 -0.01174394 2.9749765 ] [ 0.00486721 0.99998254 -0.00335105 0.28318887] [ 0.01176017 0.00329362 0.99992542 -0.691796 ] [ 0. 0. 0. 1. ]] SLAMing on 95.504553574 meters Centerline goodness [0,1] 0.861807360214603 Centerline is valid? [False, False] Translation: X:2.97, Y:0.28, Z:-0.69 [[ 0.99991785 -0.00506136 -0.01177618 2.97495678] [ 0.00502434 0.99998235 -0.00317093 0.28273622] [ 0.01179202 0.00311151 0.99992563 -0.69126891] [ 0. 0. 0. 1. ]] SLAMing on 95.534553574 meters Centerline goodness [0,1] 0.8599269950490895 Centerline is valid? [False, False] Translation: X:2.98, Y:0.28, Z:-0.69 [[ 0.99991226 -0.00551058 -0.01204577 2.97592088] [ 0.00547031 0.99997935 -0.00337346 0.28301256] [ 0.01206411 0.00330727 0.99992176 -0.69154737] [ 0. 0. 0. 1. ]] SLAMing on 95.564553574 meters Centerline goodness [0,1] 0.8613227291753872 Centerline is valid? [False, False] Translation: X:2.98, Y:0.28, Z:-0.69 [[ 0.99991242 -0.0054197 -0.01207404 2.97589758] [ 0.00537859 0.99997964 -0.0034346 0.28376407] [ 0.01209241 0.00336935 0.99992121 -0.69145619] [ 0. 0. 0. 1. ]] SLAMing on 95.594553574 meters Centerline goodness [0,1] 0.8595018893133755 Centerline is valid? [False, False] Translation: X:2.98, Y:0.28, Z:-0.69 [[ 9.99925133e-01 -1.54690281e-03 -1.21381662e-02 2.97578919e+00] [ 1.55403672e-03 9.99998625e-01 5.78315955e-04 2.84654525e-01] [ 1.21372549e-02 -5.97135814e-04 9.99926163e-01 -6.90456101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.624553574 meters Centerline goodness [0,1] 0.8585597599599933 Centerline is valid? [False, False] Translation: X:2.97, Y:0.29, Z:-0.69 [[ 9.99930645e-01 -6.28398825e-04 -1.17605784e-02 2.97399304e+00] [ 6.38861354e-04 9.99999404e-01 8.85891351e-04 2.86115943e-01] [ 1.17600147e-02 -8.93343289e-04 9.99930450e-01 -6.89478177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.654553574 meters Centerline goodness [0,1] 0.8631277377566484 Centerline is valid? [False, False] Translation: X:2.97, Y:0.29, Z:-0.69 [[ 9.99939452e-01 1.16411719e-03 -1.09424738e-02 2.97034908e+00] [-1.14824746e-03 9.99998280e-01 1.45645811e-03 2.88302732e-01] [ 1.09441504e-02 -1.44380526e-03 9.99939069e-01 -6.87556892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.684553574 meters Centerline goodness [0,1] 0.8634553975034214 Centerline is valid? [False, False] Translation: X:2.97, Y:0.29, Z:-0.69 [[ 9.99941786e-01 1.86413945e-03 -1.06277625e-02 2.96900570e+00] [-1.84682104e-03 9.99996951e-01 1.63912624e-03 2.89356915e-01] [ 1.06307856e-02 -1.61940324e-03 9.99942180e-01 -6.86849694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.714553574 meters Centerline goodness [0,1] 0.8633086093262536 Centerline is valid? [False, False] Translation: X:2.97, Y:0.29, Z:-0.69 [[ 9.99942184e-01 2.33331223e-03 -1.04968246e-02 2.96870298e+00] [-2.31967317e-03 9.99996450e-01 1.31133833e-03 2.91346013e-01] [ 1.04998471e-02 -1.28691331e-03 9.99944047e-01 -6.87339316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.744553574 meters Centerline goodness [0,1] 0.8646151951224519 Centerline is valid? [False, False] Translation: X:2.97, Y:0.29, Z:-0.69 [[ 0.99992214 0.00601508 -0.01093348 2.97060118] [-0.00596844 0.99997297 0.00429328 0.29490053] [ 0.010959 -0.00422769 0.99993101 -0.68893827] [ 0. 0. 0. 1. ]] SLAMing on 95.774553574 meters Centerline goodness [0,1] 0.8633589974608895 Centerline is valid? [False, False] Translation: X:2.97, Y:0.30, Z:-0.69 [[ 0.9999207 0.0056928 -0.01123295 2.97215235] [-0.00565439 0.99997807 0.00344869 0.2967289 ] [ 0.01125234 -0.0033849 0.99993096 -0.69052332] [ 0. 0. 0. 1. ]] SLAMing on 95.804553574 meters Centerline goodness [0,1] 0.8605695307214466 Centerline is valid? [False, False] Translation: X:2.97, Y:0.30, Z:-0.69 [[ 9.99936997e-01 2.75982645e-03 -1.08804614e-02 2.97031391e+00] [-2.76160720e-03 9.99996176e-01 -1.48643779e-04 2.98250620e-01] [ 1.08800095e-02 1.78681974e-04 9.99940795e-01 -6.89665823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.834553574 meters Centerline goodness [0,1] 0.8630165119526821 Centerline is valid? [False, False] Translation: X:2.97, Y:0.30, Z:-0.69 [[ 9.99936610e-01 2.52090241e-03 -1.09736192e-02 2.97037815e+00] [-2.52215940e-03 9.99996814e-01 -1.00709117e-04 2.97941386e-01] [ 1.09733303e-02 1.28379950e-04 9.99939783e-01 -6.89069334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.864553574 meters Centerline goodness [0,1] 0.86230830654573 Centerline is valid? [False, False] Translation: X:2.97, Y:0.30, Z:-0.69 [[ 9.99940112e-01 2.78564244e-03 -1.05836406e-02 2.96854647e+00] [-2.78585767e-03 9.99996119e-01 -5.59290582e-06 2.99487207e-01] [ 1.05835840e-02 3.50770873e-05 9.99943992e-01 -6.87318134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.894553574 meters Centerline goodness [0,1] 0.8650804987042667 Centerline is valid? [False, False] Translation: X:2.97, Y:0.30, Z:-0.69 [[ 9.99941623e-01 3.24051282e-03 -1.03077850e-02 2.96748107e+00] [-3.24161705e-03 9.99994742e-01 -9.04204166e-05 3.01285798e-01] [ 1.03074378e-02 1.23829030e-04 9.99946869e-01 -6.86814635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.924553574 meters Centerline goodness [0,1] 0.8653438722294655 Centerline is valid? [False, False] Translation: X:2.97, Y:0.30, Z:-0.69 [[ 9.99941928e-01 3.73405889e-03 -1.01092641e-02 2.96660007e+00] [-3.73508488e-03 9.99993021e-01 -8.26120677e-05 3.02920007e-01] [ 1.01088850e-02 1.20366230e-04 9.99948897e-01 -6.86420061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.954553574 meters Centerline goodness [0,1] 0.8647853607076199 Centerline is valid? [False, False] Translation: X:2.97, Y:0.31, Z:-0.69 [[ 9.99942350e-01 4.49777448e-03 -9.75024935e-03 2.96530302e+00] [-4.50104574e-03 9.99989821e-01 -3.13587768e-04 3.05792306e-01] [ 9.74873966e-03 3.57456008e-04 9.99952416e-01 -6.86112338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.984553574 meters Centerline goodness [0,1] 0.8652396010702992 Centerline is valid? [False, False] Translation: X:2.96, Y:0.31, Z:-0.68 [[ 9.99942870e-01 5.07331258e-03 -9.40842629e-03 2.96378337e+00] [-5.07354278e-03 9.99987129e-01 -5.99423514e-07 3.06182636e-01] [ 9.40830215e-03 4.83334425e-05 9.99955740e-01 -6.84987814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.014553574 meters Centerline goodness [0,1] 0.8688796680497926 Centerline is valid? [False, False] Translation: X:2.96, Y:0.31, Z:-0.68 [[ 9.99942361e-01 5.99495105e-03 -8.90698128e-03 2.96148946e+00] [-5.99130468e-03 9.99981957e-01 4.36009081e-04 3.06732526e-01] [ 8.90943443e-03 -3.82619511e-04 9.99960237e-01 -6.83354305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.044553574 meters Centerline goodness [0,1] 0.8676176428989958 Centerline is valid? [False, False] Translation: X:2.96, Y:0.31, Z:-0.68 [[ 9.99941137e-01 6.09517931e-03 -8.97620072e-03 2.96189862e+00] [-6.09491152e-03 9.99981424e-01 5.71884258e-05 3.07923040e-01] [ 8.97638256e-03 -2.47591034e-06 9.99959711e-01 -6.84115352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.074553574 meters Centerline goodness [0,1] 0.8673191952147906 Centerline is valid? [False, False] Translation: X:2.96, Y:0.31, Z:-0.69 [[ 9.99939206e-01 6.04461864e-03 -9.22212553e-03 2.96297705e+00] [-6.04854080e-03 9.99981628e-01 -3.97466616e-04 3.09272427e-01] [ 9.21955357e-03 4.53222854e-04 9.99957396e-01 -6.85227796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.10455357400001 meters Centerline goodness [0,1] 0.865356374097246 Centerline is valid? [False, False] Translation: X:2.96, Y:0.31, Z:-0.69 [[ 9.99933930e-01 6.03150233e-03 -9.78556084e-03 2.96481959e+00] [-6.04022377e-03 9.99981386e-01 -8.61946286e-04 3.10909833e-01] [ 9.78017987e-03 9.20996314e-04 9.99951749e-01 -6.86813728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.134553574 meters Centerline goodness [0,1] 0.865356374097246 Centerline is valid? [False, False] Translation: X:2.96, Y:0.31, Z:-0.69 [[ 9.99933930e-01 6.03150233e-03 -9.78556084e-03 2.96481959e+00] [-6.04022377e-03 9.99981386e-01 -8.61946286e-04 3.10909833e-01] [ 9.78017987e-03 9.20996314e-04 9.99951749e-01 -6.86813728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.164553574 meters Centerline goodness [0,1] 0.866117798623133 Centerline is valid? [False, False] Translation: X:2.97, Y:0.31, Z:-0.69 [[ 9.99932619e-01 5.86280173e-03 -1.00192754e-02 2.96569848e+00] [-5.87401610e-03 9.99982154e-01 -1.09021875e-03 3.11241463e-01] [ 1.00127048e-02 1.14899867e-03 9.99949211e-01 -6.87454353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.194553574 meters Centerline goodness [0,1] 0.8642069686971916 Centerline is valid? [False, False] Translation: X:2.97, Y:0.31, Z:-0.69 [[ 9.99932412e-01 5.28862014e-03 -1.03538025e-02 2.96707512e+00] [-5.30320287e-03 9.99984984e-01 -1.38149341e-03 3.11049446e-01] [ 1.03463408e-02 1.43630835e-03 9.99945444e-01 -6.88237383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.224553574 meters Centerline goodness [0,1] 0.8639909917155956 Centerline is valid? [False, False] Translation: X:2.97, Y:0.31, Z:-0.69 [[ 9.99931534e-01 4.84674373e-03 -1.06506960e-02 2.96811660e+00] [-4.86386296e-03 9.99986920e-01 -1.58202070e-03 3.10895520e-01] [ 1.06428890e-02 1.63371591e-03 9.99942028e-01 -6.88603986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.254553574 meters Centerline goodness [0,1] 0.8638073588283812 Centerline is valid? [False, False] Translation: X:2.96, Y:0.31, Z:-0.69 [[ 9.99995287e-01 1.48963997e-04 -3.06660887e-03 2.95939582e+00] [-1.48767114e-04 9.99999987e-01 6.44302398e-05 3.11696098e-01] [ 3.06661843e-03 -6.39737255e-05 9.99995296e-01 -6.91640248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.284553574 meters Centerline goodness [0,1] 0.8635313962127753 Centerline is valid? [False, False] Translation: X:2.96, Y:0.31, Z:-0.69 [[ 9.99994254e-01 -1.56346917e-04 -3.38629545e-03 2.96048729e+00] [ 1.55766672e-04 9.99999973e-01 -1.71613847e-04 3.12130795e-01] [ 3.38632219e-03 1.71085389e-04 9.99994252e-01 -6.92109517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.314553574 meters Centerline goodness [0,1] 0.8642245270527815 Centerline is valid? [False, False] Translation: X:2.96, Y:0.31, Z:-0.69 [[ 9.99993471e-01 -2.53061160e-04 -3.60470997e-03 2.96101822e+00] [ 2.52231526e-04 9.99999942e-01 -2.30605545e-04 3.12415086e-01] [ 3.60476812e-03 2.29694818e-04 9.99993476e-01 -6.92146548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.344553574 meters Centerline goodness [0,1] 0.8644672492583981 Centerline is valid? [False, False] Translation: X:2.96, Y:0.31, Z:-0.69 [[ 9.99994004e-01 3.37618981e-05 -3.46291307e-03 2.96003395e+00] [-3.37204829e-05 9.99999999e-01 1.20180218e-05 3.12796741e-01] [ 3.46291347e-03 -1.19011786e-05 9.99994004e-01 -6.90947799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.374553574 meters Centerline goodness [0,1] 0.8638095620086635 Centerline is valid? [False, False] Translation: X:2.96, Y:0.31, Z:-0.69 [[ 9.99994437e-01 2.04107958e-04 -3.32925608e-03 2.95938644e+00] [-2.03458768e-04 9.99999960e-01 1.95333119e-04 3.12561338e-01] [ 3.32929582e-03 -1.94654666e-04 9.99994439e-01 -6.90185651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.404553574 meters Centerline goodness [0,1] 0.865130919443442 Centerline is valid? [False, False] Translation: X:2.96, Y:0.31, Z:-0.69 [[ 9.99995303e-01 4.89399535e-04 -3.02570676e-03 2.95818916e+00] [-4.88301924e-04 9.99999815e-01 3.63489737e-04 3.12590222e-01] [ 3.02588409e-03 -3.62010571e-04 9.99995356e-01 -6.89025824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.434553574 meters Centerline goodness [0,1] 0.8636827059552605 Centerline is valid? [False, False] Translation: X:2.96, Y:0.31, Z:-0.69 [[ 9.99995169e-01 7.35960291e-04 -3.02015001e-03 2.95811970e+00] [-7.35039681e-04 9.99999683e-01 3.05921143e-04 3.13515827e-01] [ 3.02037420e-03 -3.03699735e-04 9.99995393e-01 -6.89130600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.464553574 meters Centerline goodness [0,1] 0.8644267198404786 Centerline is valid? [False, False] Translation: X:2.96, Y:0.32, Z:-0.69 [[ 9.99994787e-01 1.34244656e-03 -2.93658210e-03 2.95762699e+00] [-1.34129645e-03 9.99999023e-01 3.93584724e-04 3.15098206e-01] [ 2.93710759e-03 -3.89643845e-04 9.99995611e-01 -6.89093267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.494553574 meters Centerline goodness [0,1] 0.8650583192104476 Centerline is valid? [False, False] Translation: X:2.96, Y:0.32, Z:-0.69 [[ 9.99994593e-01 1.20423648e-03 -3.06002005e-03 2.95812816e+00] [-1.20339991e-03 9.99999238e-01 2.75214639e-04 3.15015035e-01] [ 3.06034915e-03 -2.71530723e-04 9.99995280e-01 -6.89401161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.524553574 meters Centerline goodness [0,1] 0.8659329265861148 Centerline is valid? [False, False] Translation: X:2.96, Y:0.31, Z:-0.69 [[ 9.99994461e-01 1.12427221e-03 -3.13284637e-03 2.95831833e+00] [-1.12289521e-03 9.99999272e-01 4.41261298e-04 3.14448841e-01] [ 3.13334019e-03 -4.37740995e-04 9.99994995e-01 -6.89218060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.554553574 meters Centerline goodness [0,1] 0.8660457881301851 Centerline is valid? [False, False] Translation: X:2.96, Y:0.31, Z:-0.69 [[ 9.99994187e-01 8.80844555e-04 -3.29395282e-03 2.95878998e+00] [-8.79314259e-04 9.99999505e-01 4.65996778e-04 3.13837289e-01] [ 3.29436166e-03 -4.63097649e-04 9.99994466e-01 -6.89224267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.584553574 meters Centerline goodness [0,1] 0.8667398025331605 Centerline is valid? [False, False] Translation: X:2.96, Y:0.31, Z:-0.69 [[ 9.99993775e-01 8.06590290e-04 -3.43505131e-03 2.95930254e+00] [-8.05458996e-04 9.99999621e-01 3.30709118e-04 3.14003489e-01] [ 3.43531675e-03 -3.27940266e-04 9.99994046e-01 -6.89568864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.614553574 meters Centerline goodness [0,1] 0.8680548623450258 Centerline is valid? [False, False] Translation: X:2.96, Y:0.31, Z:-0.69 [[ 9.99993589e-01 1.44670010e-03 -3.27554740e-03 2.95850955e+00] [-1.44537410e-03 9.99998873e-01 4.07148227e-04 3.14987873e-01] [ 3.27613273e-03 -4.02411225e-04 9.99994552e-01 -6.89336006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.644553574 meters Centerline goodness [0,1] 0.8667503336719855 Centerline is valid? [False, False] Translation: X:2.96, Y:0.32, Z:-0.69 [[ 9.99993150e-01 2.01647968e-03 -3.10389053e-03 2.95772231e+00] [-2.01468191e-03 9.99997801e-01 5.82216949e-04 3.15492294e-01] [ 3.10505773e-03 -5.75959608e-04 9.99995013e-01 -6.88975446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.674553574 meters Centerline goodness [0,1] 0.8645052212829438 Centerline is valid? [False, False] Translation: X:2.96, Y:0.32, Z:-0.69 [[ 9.99987793e-01 4.21508860e-03 -2.57833296e-03 2.95502133e+00] [-4.21099722e-03 9.99989869e-01 1.59020913e-03 3.16646401e-01] [ 2.58500971e-03 -1.57933237e-03 9.99995412e-01 -6.87689632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.704553574 meters Centerline goodness [0,1] 0.8652232693148834 Centerline is valid? [False, False] Translation: X:2.95, Y:0.32, Z:-0.69 [[ 9.99985203e-01 4.80347113e-03 -2.55338923e-03 2.95494567e+00] [-4.79956113e-03 9.99987304e-01 1.53522465e-03 3.17566281e-01] [ 2.56073122e-03 -1.52294678e-03 9.99995562e-01 -6.88149762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.734553574 meters Centerline goodness [0,1] 0.8663452763559893 Centerline is valid? [False, False] Translation: X:2.96, Y:0.32, Z:-0.69 [[ 9.99983312e-01 5.17456566e-03 -2.56914796e-03 2.95509525e+00] [-5.17102817e-03 9.99985676e-01 1.38165053e-03 3.18380532e-01] [ 2.57626060e-03 -1.36834233e-03 9.99995745e-01 -6.88715846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.764553574 meters Centerline goodness [0,1] 0.8620545988413618 Centerline is valid? [False, False] Translation: X:2.96, Y:0.32, Z:-0.69 [[ 9.99979555e-01 5.86873289e-03 -2.53916636e-03 2.95510476e+00] [-5.86584703e-03 9.99982143e-01 1.14249362e-03 3.20080383e-01] [ 2.54582601e-03 -1.12757590e-03 9.99996124e-01 -6.89673532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.794553574 meters Centerline goodness [0,1] 0.8639985727878211 Centerline is valid? [False, False] Translation: X:2.96, Y:0.32, Z:-0.69 [[ 9.99980063e-01 5.72313303e-03 -2.66821268e-03 2.95582054e+00] [-5.72102308e-03 9.99983317e-01 7.97736675e-04 3.20656894e-01] [ 2.67273372e-03 -7.82455865e-04 9.99996122e-01 -6.90415020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.824553574 meters Centerline goodness [0,1] 0.8634300101104216 Centerline is valid? [False, False] Translation: X:2.96, Y:0.32, Z:-0.69 [[ 9.99994801e-01 2.03963167e-03 -2.49776320e-03 2.95513114e+00] [-2.04746260e-03 9.99992985e-01 -3.13664126e-03 3.21527107e-01] [ 2.49134809e-03 3.14173903e-03 9.99991961e-01 -6.90371034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.85455357400001 meters Centerline goodness [0,1] 0.8634472923186626 Centerline is valid? [False, False] Translation: X:2.96, Y:0.32, Z:-0.69 [[ 9.99994497e-01 1.17659915e-03 -3.10174950e-03 2.95717243e+00] [-1.18738129e-03 9.99993252e-01 -3.47660209e-03 3.21173155e-01] [ 3.09763801e-03 3.48026592e-03 9.99989146e-01 -6.91072704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.884553574 meters Centerline goodness [0,1] 0.8651315789473684 Centerline is valid? [False, False] Translation: X:2.96, Y:0.32, Z:-0.69 [[ 0.99998316 -0.00431904 -0.00387582 2.96053815] [ 0.00428552 0.99995372 -0.00861378 0.32153169] [ 0.00391285 0.00859703 0.99995539 -0.69329786] [ 0. 0. 0. 1. ]] SLAMing on 96.914553574 meters Centerline goodness [0,1] 0.8669441966498166 Centerline is valid? [False, False] Translation: X:2.96, Y:0.32, Z:-0.69 [[ 0.99997782 -0.00518356 -0.00418148 2.96155197] [ 0.00514699 0.99994883 -0.00870838 0.3204994 ] [ 0.0042264 0.00868667 0.99995334 -0.6929922 ] [ 0. 0. 0. 1. ]] SLAMing on 96.944553574 meters Centerline goodness [0,1] 0.8659047165505883 Centerline is valid? [False, False] Translation: X:2.96, Y:0.32, Z:-0.69 [[ 0.99997247 -0.00588884 -0.00451519 2.96251012] [ 0.00584919 0.99994466 -0.00874388 0.31968348] [ 0.00456643 0.00871723 0.99995158 -0.69266366] [ 0. 0. 0. 1. ]] SLAMing on 96.974553574 meters Centerline goodness [0,1] 0.8682852567271002 Centerline is valid? [False, False] Translation: X:2.96, Y:0.32, Z:-0.69 [[ 0.99996388 -0.00697342 -0.00485799 2.96402545] [ 0.0069272 0.99993118 -0.00946827 0.32079721] [ 0.00492368 0.00943427 0.99994337 -0.69321047] [ 0. 0. 0. 1. ]] SLAMing on 97.004553574 meters Centerline goodness [0,1] 0.859153261620448 Centerline is valid? [False, False] Translation: X:2.97, Y:0.32, Z:-0.69 [[ 0.99997463 -0.00470963 -0.00534472 2.9661338 ] [ 0.00467588 0.99996916 -0.00630957 0.32069224] [ 0.00537428 0.00628442 0.99996581 -0.69354528] [ 0. 0. 0. 1. ]] SLAMing on 97.034553574 meters Centerline goodness [0,1] 0.8664814157896812 Centerline is valid? [False, False] Translation: X:2.97, Y:0.32, Z:-0.69 [[ 0.99997367 -0.00485813 -0.00539065 2.96616137] [ 0.00482303 0.99996721 -0.00650559 0.32160848] [ 0.00542208 0.00647942 0.99996431 -0.69320243] [ 0. 0. 0. 1. ]] SLAMing on 97.064553574 meters Centerline goodness [0,1] 0.8644127903540398 Centerline is valid? [False, False] Translation: X:2.97, Y:0.32, Z:-0.69 [[ 9.99978783e-01 -2.70126045e-03 -5.92763043e-03 2.96876336e+00] [ 2.68049009e-03 9.99990250e-01 -3.50914122e-03 3.20788007e-01] [ 5.93705174e-03 3.49317781e-03 9.99976274e-01 -6.94150809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.094553574 meters Centerline goodness [0,1] 0.8618272939057575 Centerline is valid? [False, False] Translation: X:2.97, Y:0.32, Z:-0.70 [[ 0.99997326 -0.00340955 -0.00646889 2.97106936] [ 0.00338181 0.99998506 -0.00429488 0.32193269] [ 0.00648344 0.00427289 0.99996985 -0.69572485] [ 0. 0. 0. 1. ]] SLAMing on 97.124553574 meters Centerline goodness [0,1] 0.8639085571615269 Centerline is valid? [False, False] Translation: X:2.97, Y:0.32, Z:-0.70 [[ 9.99973579e-01 -1.41609889e-03 -7.12992432e-03 2.97394882e+00] [ 1.40561700e-03 9.99997924e-01 -1.47492415e-03 3.21523366e-01] [ 7.13199816e-03 1.46486324e-03 9.99973494e-01 -6.96718722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.154553574 meters Centerline goodness [0,1] 0.8665742404124033 Centerline is valid? [False, False] Translation: X:2.97, Y:0.32, Z:-0.70 [[ 9.99972129e-01 -1.57250209e-03 -7.29849954e-03 2.97447238e+00] [ 1.56010684e-03 9.99997332e-01 -1.70371085e-03 3.22248404e-01] [ 7.30115916e-03 1.69227693e-03 9.99971914e-01 -6.96927534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.184553574 meters Centerline goodness [0,1] 0.866802483507955 Centerline is valid? [False, False] Translation: X:2.98, Y:0.32, Z:-0.70 [[ 9.99965797e-01 -2.42746704e-03 -7.90640970e-03 2.97699128e+00] [ 2.40644776e-03 9.99993548e-01 -2.66694047e-03 3.23784631e-01] [ 7.91283260e-03 2.64782290e-03 9.99965187e-01 -6.98582897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.214553574 meters Centerline goodness [0,1] 0.8659753927106709 Centerline is valid? [False, False] Translation: X:2.98, Y:0.32, Z:-0.70 [[ 9.99963399e-01 -2.64048613e-03 -8.13804953e-03 2.97765547e+00] [ 2.61822481e-03 9.99992805e-01 -2.74490259e-03 3.23846967e-01] [ 8.14523886e-03 2.72349488e-03 9.99963118e-01 -6.98655276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.244553574 meters Centerline goodness [0,1] 0.8662109943882406 Centerline is valid? [False, False] Translation: X:2.98, Y:0.32, Z:-0.70 [[ 9.99960554e-01 -2.89770035e-03 -8.39600258e-03 2.97856000e+00] [ 2.87303562e-03 9.99991527e-01 -2.94824894e-03 3.24083083e-01] [ 8.40447458e-03 2.92401063e-03 9.99960407e-01 -6.99098542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.274553574 meters Centerline goodness [0,1] 0.8680856859349768 Centerline is valid? [False, False] Translation: X:2.98, Y:0.32, Z:-0.70 [[ 9.99961325e-01 -2.67493921e-03 -8.37817603e-03 2.97836526e+00] [ 2.65091985e-03 9.99992349e-01 -2.87668978e-03 3.24608121e-01] [ 8.38580690e-03 2.85436865e-03 9.99960765e-01 -6.98981133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.304553574 meters Centerline goodness [0,1] 0.862358289917852 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:-0.70 [[ 9.99968729e-01 -1.36830230e-03 -7.78906157e-03 2.97584124e+00] [ 1.35195602e-03 9.99996874e-01 -2.10349917e-03 3.25643369e-01] [ 7.79191544e-03 2.09290292e-03 9.99967452e-01 -6.97588657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.334553574 meters Centerline goodness [0,1] 0.8648828254793504 Centerline is valid? [False, False] Translation: X:2.97, Y:0.33, Z:-0.70 [[ 9.99972890e-01 -3.72732913e-04 -7.35386795e-03 2.97389192e+00] [ 3.62214498e-04 9.99998910e-01 -1.43160412e-03 3.26006580e-01] [ 7.35439354e-03 1.42890163e-03 9.99971935e-01 -6.96391902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.364553574 meters Centerline goodness [0,1] 0.8652246905868114 Centerline is valid? [False, False] Translation: X:2.97, Y:0.33, Z:-0.70 [[ 9.99965274e-01 4.24128198e-03 -7.17366417e-03 2.97308086e+00] [-4.22080183e-03 9.99986981e-01 2.86764264e-03 3.26412198e-01] [ 7.18573325e-03 -2.83726444e-03 9.99970157e-01 -6.95493834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.394553574 meters Centerline goodness [0,1] 0.8651170052891465 Centerline is valid? [False, False] Translation: X:2.97, Y:0.33, Z:-0.70 [[ 9.99963123e-01 5.06573464e-03 -6.93482869e-03 2.97220460e+00] [-5.04501076e-03 9.99982766e-01 3.00261464e-03 3.27339598e-01] [ 6.94991962e-03 -2.96751762e-03 9.99971446e-01 -6.95423175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.424553574 meters Centerline goodness [0,1] 0.8652438074466428 Centerline is valid? [False, False] Translation: X:2.97, Y:0.33, Z:-0.70 [[ 0.99996007 0.00590982 -0.00670269 2.97133589] [-0.00588903 0.9999778 0.00311689 0.32850247] [ 0.00672096 -0.0030773 0.99997268 -0.69531383] [ 0. 0. 0. 1. ]] SLAMing on 97.454553574 meters Centerline goodness [0,1] 0.8659264588640209 Centerline is valid? [False, False] Translation: X:2.97, Y:0.33, Z:-0.69 [[ 0.99994839 0.00813623 -0.00608431 2.96832898] [-0.0081111 0.99995851 0.00414476 0.32970608] [ 0.00611778 -0.0040952 0.9999729 -0.69377862] [ 0. 0. 0. 1. ]] SLAMing on 97.484553574 meters Centerline goodness [0,1] 0.8638123966137978 Centerline is valid? [False, False] Translation: X:2.97, Y:0.33, Z:-0.69 [[ 0.99994441 0.00872974 -0.00591279 2.96763132] [-0.00870436 0.99995285 0.00430371 0.33010939] [ 0.00595008 -0.004252 0.99997326 -0.69346227] [ 0. 0. 0. 1. ]] SLAMing on 97.514553574 meters Centerline goodness [0,1] 0.8633456814193801 Centerline is valid? [False, False] Translation: X:2.97, Y:0.33, Z:-0.69 [[ 0.99993925 0.00953737 -0.00552616 2.96652963] [-0.00951155 0.99994382 0.00467932 0.33005227] [ 0.00557047 -0.00462647 0.99997378 -0.69332531] [ 0. 0. 0. 1. ]] SLAMing on 97.544553574 meters Centerline goodness [0,1] 0.8609868099658036 Centerline is valid? [False, False] Translation: X:2.97, Y:0.33, Z:-0.69 [[ 9.99963946e-01 6.61318114e-03 -5.32652232e-03 2.96593046e+00] [-6.60833094e-03 9.99977734e-01 9.27661662e-04 3.31081848e-01] [ 5.33253852e-03 -8.92428794e-04 9.99985384e-01 -6.94043712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.574553574 meters Centerline goodness [0,1] 0.8610383517729387 Centerline is valid? [False, False] Translation: X:2.97, Y:0.33, Z:-0.70 [[ 9.99966206e-01 5.77781057e-03 -5.84846211e-03 2.96833516e+00] [-5.77455621e-03 9.99983163e-01 5.73179898e-04 3.30141700e-01] [ 5.85167536e-03 -5.39388254e-04 9.99982733e-01 -6.95663185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.60455357400001 meters Centerline goodness [0,1] 0.8608687145372725 Centerline is valid? [False, False] Translation: X:2.97, Y:0.33, Z:-0.70 [[ 9.99967611e-01 4.94655919e-03 -6.34893702e-03 2.97048755e+00] [-4.94539982e-03 9.99987752e-01 1.98294919e-04 3.29163749e-01] [ 6.34984014e-03 -1.66890464e-04 9.99979826e-01 -6.96969298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.634553574 meters Centerline goodness [0,1] 0.8613487521387693 Centerline is valid? [False, False] Translation: X:2.97, Y:0.33, Z:-0.70 [[ 9.99978327e-01 7.73749183e-04 -6.53804420e-03 2.97122261e+00] [-7.96852819e-04 9.99993445e-01 -3.53185703e-03 3.27263853e-01] [ 6.53526858e-03 3.53699035e-03 9.99972390e-01 -6.97541217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.664553574 meters Centerline goodness [0,1] 0.857975925451644 Centerline is valid? [False, False] Translation: X:2.97, Y:0.33, Z:-0.70 [[ 9.99977599e-01 5.35229756e-04 -6.67191093e-03 2.97151075e+00] [-5.57125544e-04 9.99994464e-01 -3.28036018e-03 3.26194154e-01] [ 6.67011825e-03 3.28400379e-03 9.99972362e-01 -6.97173045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.694553574 meters Centerline goodness [0,1] 0.860529793487051 Centerline is valid? [False, False] Translation: X:2.97, Y:0.33, Z:-0.70 [[ 9.99976884e-01 3.42331983e-04 -6.79075969e-03 2.97173135e+00] [-3.62668192e-04 9.99995453e-01 -2.99368314e-03 3.25176167e-01] [ 6.78970398e-03 2.99607673e-03 9.99972461e-01 -6.96659845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.724553574 meters Centerline goodness [0,1] 0.8608678461994662 Centerline is valid? [False, False] Translation: X:2.97, Y:0.32, Z:-0.70 [[ 9.99975813e-01 -4.81748397e-04 -6.93836301e-03 2.97211364e+00] [ 4.64104787e-04 9.99996656e-01 -2.54429243e-03 3.22373602e-01] [ 6.93956552e-03 2.54101076e-03 9.99972692e-01 -6.95509341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.754553574 meters Centerline goodness [0,1] 0.8616708441058636 Centerline is valid? [False, False] Translation: X:2.97, Y:0.32, Z:-0.70 [[ 9.99975383e-01 -6.47032395e-04 -6.98669226e-03 2.97218758e+00] [ 6.30393396e-04 9.99996961e-01 -2.38346703e-03 3.21915011e-01] [ 6.98821321e-03 2.37900399e-03 9.99972752e-01 -6.95203220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.784553574 meters Centerline goodness [0,1] 0.8606878537222464 Centerline is valid? [False, False] Translation: X:2.97, Y:0.32, Z:-0.70 [[ 9.99973504e-01 -1.13863106e-03 -7.18992372e-03 2.97298781e+00] [ 1.11952025e-03 9.99995832e-01 -2.66146519e-03 3.22570214e-01] [ 7.19292418e-03 2.65334540e-03 9.99970610e-01 -6.95494458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.814553574 meters Centerline goodness [0,1] 0.8588818844732525 Centerline is valid? [False, False] Translation: X:2.97, Y:0.32, Z:-0.70 [[ 9.99971400e-01 -1.43056883e-03 -7.42651511e-03 2.97377496e+00] [ 1.40935220e-03 9.99994913e-01 -2.86132343e-03 3.22895718e-01] [ 7.43057065e-03 2.85077502e-03 9.99968329e-01 -6.95762302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.844553574 meters Centerline goodness [0,1] 0.8636839920128111 Centerline is valid? [False, False] Translation: X:2.98, Y:0.32, Z:-0.70 [[ 9.99966186e-01 -2.29811017e-03 -7.89595968e-03 2.97571463e+00] [ 2.27144925e-03 9.99991695e-01 -3.38383715e-03 3.22847570e-01] [ 7.90367054e-03 3.36578745e-03 9.99963101e-01 -6.96813507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.874553574 meters Centerline goodness [0,1] 0.8629417571569595 Centerline is valid? [False, False] Translation: X:2.98, Y:0.32, Z:-0.70 [[ 9.99962882e-01 -2.75874788e-03 -8.16235025e-03 2.97664751e+00] [ 2.73037721e-03 9.99990200e-01 -3.48490008e-03 3.22401638e-01] [ 8.17188422e-03 3.46248444e-03 9.99960615e-01 -6.97013386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.904553574 meters Centerline goodness [0,1] 0.8606762865433586 Centerline is valid? [False, False] Translation: X:2.98, Y:0.32, Z:-0.70 [[ 0.99995969 -0.00316682 -0.0084023 2.977506 ] [ 0.00313638 0.99998848 -0.00363348 0.32220027] [ 0.00841371 0.00360698 0.9999581 -0.69726513] [ 0. 0. 0. 1. ]] SLAMing on 97.934553574 meters Centerline goodness [0,1] 0.8462996248827759 Centerline is valid? [False, False] Translation: X:2.98, Y:0.32, Z:-0.70 [[ 0.99994925 -0.00448931 -0.0090195 2.98016692] [ 0.00444549 0.99997825 -0.00487262 0.32418481] [ 0.00904118 0.00483228 0.99994745 -0.69892475] [ 0. 0. 0. 1. ]] SLAMing on 97.964553574 meters Centerline goodness [0,1] 0.8611397753159011 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:-0.70 [[ 0.99994599 -0.00481807 -0.00920927 2.98088835] [ 0.00476892 0.99997431 -0.00535136 0.32554642] [ 0.00923481 0.00530715 0.99994327 -0.6993618 ] [ 0. 0. 0. 1. ]] SLAMing on 97.994553574 meters Centerline goodness [0,1] 0.8611397753159011 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:-0.70 [[ 0.99994599 -0.00481807 -0.00920927 2.98088835] [ 0.00476892 0.99997431 -0.00535136 0.32554642] [ 0.00923481 0.00530715 0.99994327 -0.6993618 ] [ 0. 0. 0. 1. ]] SLAMing on 98.024553574 meters Centerline goodness [0,1] 0.8633979564085629 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:-0.70 [[ 0.99994261 -0.0052211 -0.00935467 2.98078363] [ 0.00516841 0.9999707 -0.00564732 0.32640021] [ 0.00938389 0.00559865 0.9999403 -0.69826945] [ 0. 0. 0. 1. ]] SLAMing on 98.054553574 meters Centerline goodness [0,1] 0.8670240560469122 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:-0.70 [[ 0.99994218 -0.00526457 -0.00937708 2.98066318] [ 0.00521134 0.99997022 -0.00569145 0.32669553] [ 0.00940677 0.00564225 0.99993984 -0.69778234] [ 0. 0. 0. 1. ]] SLAMing on 98.084553574 meters Centerline goodness [0,1] 0.867885350565679 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:-0.70 [[ 0.9999428 -0.00518065 -0.00935759 2.98051588] [ 0.0051246 0.99996885 -0.00600389 0.32812421] [ 0.00938841 0.00595559 0.99993819 -0.69776404] [ 0. 0. 0. 1. ]] SLAMing on 98.114553574 meters Centerline goodness [0,1] 0.864183480575595 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:-0.70 [[ 9.99952832e-01 -1.48465039e-03 -9.59846753e-03 2.98147323e+00] [ 1.45611208e-03 9.99994501e-01 -2.97952005e-03 3.31749582e-01] [ 9.60283829e-03 2.96540307e-03 9.99949495e-01 -6.98524916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.144553574 meters Centerline goodness [0,1] 0.8677582349764715 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:-0.70 [[ 9.99957296e-01 -5.10681727e-04 -9.22742852e-03 2.97970858e+00] [ 4.86074078e-04 9.99996321e-01 -2.66883964e-03 3.33911698e-01] [ 9.22875749e-03 2.66424046e-03 9.99953865e-01 -6.97537021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.174553574 meters Centerline goodness [0,1] 0.8553018791713951 Centerline is valid? [False, False] Translation: X:2.98, Y:0.34, Z:-0.70 [[ 9.99951714e-01 3.61824607e-03 -9.13658059e-03 2.97923305e+00] [-3.60878233e-03 9.99992935e-01 1.05208131e-03 3.36008273e-01] [ 9.14032273e-03 -1.01905858e-03 9.99957707e-01 -6.96857087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.204553574 meters Centerline goodness [0,1] 0.859186530385257 Centerline is valid? [False, False] Translation: X:2.98, Y:0.34, Z:-0.70 [[ 9.99951093e-01 3.74627477e-03 -9.15295766e-03 2.97934149e+00] [-3.73918433e-03 9.99992696e-01 7.91650981e-04 3.36990173e-01] [ 9.15585655e-03 -7.57387668e-04 9.99957797e-01 -6.97063623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.234553574 meters Centerline goodness [0,1] 0.8601094778747512 Centerline is valid? [False, False] Translation: X:2.98, Y:0.34, Z:-0.70 [[ 9.99949218e-01 4.28888561e-03 -9.11960601e-03 2.97902280e+00] [-4.28382740e-03 9.99990660e-01 5.74114360e-04 3.38736588e-01] [ 9.12198314e-03 -5.35018387e-04 9.99958251e-01 -6.97138018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.264553574 meters Centerline goodness [0,1] 0.863466238924534 Centerline is valid? [False, False] Translation: X:2.98, Y:0.34, Z:-0.70 [[ 9.99947499e-01 4.54525570e-03 -9.18362111e-03 2.97914044e+00] [-4.54253559e-03 9.99989632e-01 3.17028684e-04 3.40328258e-01] [ 9.18496687e-03 -2.75295114e-04 9.99957779e-01 -6.97440118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.294553574 meters Centerline goodness [0,1] 0.8710088428259009 Centerline is valid? [False, False] Translation: X:2.98, Y:0.34, Z:-0.70 [[ 9.99945362e-01 5.57189535e-03 -8.84463046e-03 2.97765819e+00] [-5.56866984e-03 9.99984419e-01 3.89270324e-04 3.43134408e-01] [ 8.84666162e-03 -3.39996228e-04 9.99960810e-01 -6.96852571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.324553574 meters Centerline goodness [0,1] 0.8645437983907697 Centerline is valid? [False, False] Translation: X:2.98, Y:0.34, Z:-0.70 [[ 9.99944245e-01 5.33358341e-03 -9.11370041e-03 2.97880895e+00] [-5.33472282e-03 9.99985765e-01 -1.00716435e-04 3.43879355e-01] [ 9.11303350e-03 1.49329885e-04 9.99958464e-01 -6.97787974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.35455357400001 meters Centerline goodness [0,1] 0.8679445815145189 Centerline is valid? [False, False] Translation: X:2.98, Y:0.34, Z:-0.70 [[ 9.99943460e-01 5.33870954e-03 -9.19651572e-03 2.97917812e+00] [-5.34278095e-03 9.99985640e-01 -4.18201491e-04 3.44910608e-01] [ 9.19415100e-03 4.67312814e-04 9.99957624e-01 -6.98219966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.384553574 meters Centerline goodness [0,1] 0.8650274257613013 Centerline is valid? [False, False] Translation: X:2.98, Y:0.35, Z:-0.70 [[ 9.99942770e-01 5.19376984e-03 -9.35320210e-03 2.97977411e+00] [-5.20274188e-03 9.99986028e-01 -9.35171507e-04 3.46667541e-01] [ 9.34821435e-03 9.83780283e-04 9.99955821e-01 -6.98715859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.414553574 meters Centerline goodness [0,1] 0.8696195107184077 Centerline is valid? [False, False] Translation: X:2.98, Y:0.35, Z:-0.70 [[ 9.99942968e-01 5.14313107e-03 -9.35996112e-03 2.97981297e+00] [-5.15262215e-03 9.99986235e-01 -9.90176868e-04 3.46798913e-01] [ 9.35473967e-03 1.03834874e-03 9.99955704e-01 -6.98681188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.444553574 meters Centerline goodness [0,1] 0.8648095896377375 Centerline is valid? [False, False] Translation: X:2.98, Y:0.35, Z:-0.70 [[ 9.99942396e-01 4.84875150e-03 -9.57574245e-03 2.98062017e+00] [-4.85950271e-03 9.99987588e-01 -1.09980626e-03 3.46525816e-01] [ 9.57029090e-03 1.14627626e-03 9.99953547e-01 -6.99143152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.474553574 meters Centerline goodness [0,1] 0.8699125430659145 Centerline is valid? [False, False] Translation: X:2.98, Y:0.35, Z:-0.70 [[ 9.99941876e-01 4.76808500e-03 -9.67010697e-03 2.98094573e+00] [-4.77862070e-03 9.99988013e-01 -1.06669969e-03 3.46396657e-01] [ 9.66490494e-03 1.11284746e-03 9.99952674e-01 -6.99284095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.504553574 meters Centerline goodness [0,1] 0.8629725491677844 Centerline is valid? [False, False] Translation: X:2.98, Y:0.35, Z:-0.70 [[ 9.99942212e-01 4.69263160e-03 -9.67223714e-03 2.98098868e+00] [-4.70304254e-03 9.99988385e-01 -1.05390972e-03 3.45978837e-01] [ 9.66717919e-03 1.09933776e-03 9.99952667e-01 -6.99133865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.534553574 meters Centerline goodness [0,1] 0.874325424627445 Centerline is valid? [False, False] Translation: X:2.98, Y:0.35, Z:-0.70 [[ 9.99943227e-01 5.00447602e-03 -9.40732340e-03 2.97998042e+00] [-5.01208481e-03 9.99987131e-01 -7.85414449e-04 3.45767481e-01] [ 9.40327175e-03 8.32520161e-04 9.99955442e-01 -6.98330933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.564553574 meters Centerline goodness [0,1] 0.8725133568261907 Centerline is valid? [False, False] Translation: X:2.98, Y:0.35, Z:-0.70 [[ 9.99942222e-01 6.38068925e-03 -8.65093338e-03 2.97689055e+00] [-6.37920453e-03 9.99979633e-01 1.99209078e-04 3.45761943e-01] [ 8.65202828e-03 -1.44011495e-04 9.99962560e-01 -6.96126737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.594553574 meters Centerline goodness [0,1] 0.8756653344193359 Centerline is valid? [False, False] Translation: X:2.98, Y:0.35, Z:-0.70 [[ 9.99940296e-01 6.77729097e-03 -8.57157293e-03 2.97657623e+00] [-6.77486530e-03 9.99977002e-01 3.11995815e-04 3.45990052e-01] [ 8.57349029e-03 -2.53905936e-04 9.99963215e-01 -6.96036002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.624553574 meters Centerline goodness [0,1] 0.8761172549613695 Centerline is valid? [False, False] Translation: X:2.98, Y:0.35, Z:-0.70 [[ 9.99937417e-01 7.17154391e-03 -8.58673044e-03 2.97686936e+00] [-7.16964802e-03 9.99974266e-01 2.51554967e-04 3.46704329e-01] [ 8.58831351e-03 -1.89975389e-04 9.99963102e-01 -6.96731027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.654553574 meters Centerline goodness [0,1] 0.868694347933398 Centerline is valid? [False, False] Translation: X:2.98, Y:0.35, Z:-0.70 [[ 9.99936583e-01 7.06451398e-03 -8.77058298e-03 2.97761486e+00] [-7.06341476e-03 9.99975042e-01 1.56299896e-04 3.46533382e-01] [ 8.77146826e-03 -9.43397182e-05 9.99961525e-01 -6.97326848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.684553574 meters Centerline goodness [0,1] 0.8722580399038645 Centerline is valid? [False, False] Translation: X:2.98, Y:0.34, Z:-0.70 [[ 9.99938287e-01 6.41703944e-03 -9.06880630e-03 2.97892892e+00] [-6.41592568e-03 9.99979406e-01 1.51899275e-04 3.44418063e-01] [ 9.06959429e-03 -9.37051140e-05 9.99958866e-01 -6.97911050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.714553574 meters Centerline goodness [0,1] 0.8691565574553444 Centerline is valid? [False, False] Translation: X:2.98, Y:0.34, Z:-0.70 [[ 9.99938636e-01 5.53706304e-03 -9.59511005e-03 2.98099084e+00] [-5.53824248e-03 9.99984659e-01 -9.63543872e-05 3.42584786e-01] [ 9.59442933e-03 1.49488521e-04 9.99953961e-01 -6.98874898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.744553574 meters Centerline goodness [0,1] 0.8644864294619737 Centerline is valid? [False, False] Translation: X:2.98, Y:0.34, Z:-0.70 [[ 9.99937493e-01 4.69836472e-03 -1.01456926e-02 2.98310956e+00] [-4.70105211e-03 9.99988921e-01 -2.41047356e-04 3.40608134e-01] [ 1.01444476e-02 2.88727719e-04 9.99948502e-01 -6.99916620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.774553574 meters Centerline goodness [0,1] 0.8711597357320338 Centerline is valid? [False, False] Translation: X:2.99, Y:0.34, Z:-0.70 [[ 9.99933608e-01 3.87759376e-03 -1.08509667e-02 2.98591670e+00] [-3.88230630e-03 9.99992378e-01 -4.13265839e-04 3.38672377e-01] [ 1.08492815e-02 4.55365178e-04 9.99941041e-01 -7.01750884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.804553574 meters Centerline goodness [0,1] 0.8671010905715832 Centerline is valid? [False, False] Translation: X:2.99, Y:0.34, Z:-0.70 [[ 9.99930474e-01 4.39619532e-03 -1.09417011e-02 2.98615940e+00] [-4.39461687e-03 9.99990329e-01 1.68298856e-04 3.37262007e-01] [ 1.09423352e-02 -1.20202570e-04 9.99940124e-01 -7.02036716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.834553574 meters Centerline goodness [0,1] 0.8645504081909674 Centerline is valid? [False, False] Translation: X:2.99, Y:0.34, Z:-0.70 [[ 9.99929763e-01 5.07571129e-03 -1.07100829e-02 2.98506015e+00] [-5.06654438e-03 9.99986775e-01 8.82873466e-04 3.35936766e-01] [ 1.07144225e-02 -8.28548345e-04 9.99942256e-01 -7.01120306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.864553574 meters Centerline goodness [0,1] 0.8663909438651677 Centerline is valid? [False, False] Translation: X:2.98, Y:0.34, Z:-0.70 [[ 9.99929081e-01 5.86461670e-03 -1.03652459e-02 2.98389640e+00] [-5.84930899e-03 9.99981758e-01 1.50652898e-03 3.35060273e-01] [ 1.03738921e-02 -1.44579261e-03 9.99945145e-01 -7.00481775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.894553574 meters Centerline goodness [0,1] 0.8667093320921573 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:-0.70 [[ 0.9998883 0.01127084 -0.00981571 2.98166884] [-0.01120488 0.99991445 0.00674906 0.33395911] [ 0.00989094 -0.00663832 0.99992905 -0.69880328] [ 0. 0. 0. 1. ]] SLAMing on 98.924553574 meters Centerline goodness [0,1] 0.866045970322956 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:-0.70 [[ 0.99988058 0.01212212 -0.00958501 2.98095359] [-0.01205441 0.9999022 0.00709038 0.33427194] [ 0.00967002 -0.00697399 0.99992892 -0.69881646] [ 0. 0. 0. 1. ]] SLAMing on 98.954553574 meters Centerline goodness [0,1] 0.8665993710447646 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:-0.70 [[ 0.99985442 0.01455433 -0.00890581 2.97806129] [-0.01447629 0.9998568 0.00876476 0.33349917] [ 0.0090321 -0.00863456 0.99992193 -0.69743579] [ 0. 0. 0. 1. ]] SLAMing on 98.984553574 meters Centerline goodness [0,1] 0.8665758224644734 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:-0.70 [[ 0.99984709 0.01517739 -0.00868569 2.97724214] [-0.01509736 0.99984364 0.00920667 0.3330086 ] [ 0.00882406 -0.00907413 0.99991989 -0.69700299] [ 0. 0. 0. 1. ]] SLAMing on 99.014553574 meters Centerline goodness [0,1] 0.8650257651467832 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:-0.70 [[ 0.99982999 0.0165779 -0.00807245 2.97501149] [-0.01649398 0.99981035 0.01035403 0.33170992] [ 0.00824257 -0.01021913 0.99991381 -0.69582009] [ 0. 0. 0. 1. ]] SLAMing on 99.044553574 meters Centerline goodness [0,1] 0.8655932933756415 Centerline is valid? [False, False] Translation: X:2.97, Y:0.33, Z:-0.70 [[ 0.99982659 0.01680901 -0.00801524 2.97492041] [-0.01672389 0.99980427 0.01057029 0.3310928 ] [ 0.00819135 -0.01043441 0.99991201 -0.69595935] [ 0. 0. 0. 1. ]] SLAMing on 99.074553574 meters Centerline goodness [0,1] 0.866038733428633 Centerline is valid? [False, False] Translation: X:2.97, Y:0.33, Z:-0.70 [[ 0.99986949 0.01410868 -0.0078711 2.97431921] [-0.01405238 0.9998756 0.00716281 0.33152277] [ 0.00797118 -0.00705127 0.99994337 -0.69650016] [ 0. 0. 0. 1. ]] SLAMing on 99.10455357400001 meters Centerline goodness [0,1] 0.8657433856701011 Centerline is valid? [False, False] Translation: X:2.97, Y:0.33, Z:-0.70 [[ 0.99991505 0.01041671 -0.00783444 2.97484377] [-0.01038837 0.99993938 0.00364953 0.32934601] [ 0.00787199 -0.00356783 0.99996265 -0.69774488] [ 0. 0. 0. 1. ]] SLAMing on 99.134553574 meters Centerline goodness [0,1] 0.864676755423867 Centerline is valid? [False, False] Translation: X:2.98, Y:0.32, Z:-0.70 [[ 9.99950982e-01 5.84740054e-03 -7.99005844e-03 2.97554803e+00] [-5.84543284e-03 9.99982879e-01 2.69599840e-04 3.24789366e-01] [ 7.99149810e-03 -2.22881275e-04 9.99968043e-01 -6.97818721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.164553574 meters Centerline goodness [0,1] 0.8667878836317136 Centerline is valid? [False, False] Translation: X:2.98, Y:0.32, Z:-0.70 [[ 9.99967133e-01 1.96453591e-03 -7.86601441e-03 2.97515772e+00] [-1.98996121e-03 9.99992817e-01 -3.22577663e-03 3.22900430e-01] [ 7.85962075e-03 3.24132367e-03 9.99963859e-01 -6.97691645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.194553574 meters Centerline goodness [0,1] 0.8631162678657459 Centerline is valid? [False, False] Translation: X:2.98, Y:0.32, Z:-0.70 [[ 9.99964785e-01 7.76826781e-04 -8.35617367e-03 2.97715130e+00] [-8.02760767e-04 9.99994871e-01 -3.10066562e-03 3.19916150e-01] [ 8.35372213e-03 3.10726444e-03 9.99960279e-01 -6.98108267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.224553574 meters Centerline goodness [0,1] 0.8635453534229952 Centerline is valid? [False, False] Translation: X:2.98, Y:0.32, Z:-0.70 [[ 0.99994857 -0.00484067 -0.0089118 2.97992787] [ 0.00477952 0.99996498 -0.00686936 0.31545878] [ 0.00894474 0.00682641 0.99993669 -0.69926063] [ 0. 0. 0. 1. ]] SLAMing on 99.254553574 meters Centerline goodness [0,1] 0.8621082389310337 Centerline is valid? [False, False] Translation: X:2.98, Y:0.31, Z:-0.70 [[ 0.99993209 -0.00658116 -0.0096177 2.98300099] [ 0.0065127 0.99995336 -0.00713148 0.31233086] [ 0.00966418 0.00706836 0.99992832 -0.70028949] [ 0. 0. 0. 1. ]] SLAMing on 99.284553574 meters Centerline goodness [0,1] 0.8608964135279925 Centerline is valid? [False, False] Translation: X:2.99, Y:0.31, Z:-0.70 [[ 0.99987289 -0.0121501 -0.010324 2.98633509] [ 0.01203453 0.99986504 -0.01118378 0.30880439] [ 0.01045849 0.01105811 0.99988416 -0.70201177] [ 0. 0. 0. 1. ]] SLAMing on 99.314553574 meters Centerline goodness [0,1] 0.8645513057024556 Centerline is valid? [False, False] Translation: X:2.99, Y:0.31, Z:-0.70 [[ 0.99985348 -0.01321402 -0.01088186 2.98857969] [ 0.01309142 0.99985089 -0.01126153 0.3070452 ] [ 0.01102905 0.01111742 0.99987737 -0.70272457] [ 0. 0. 0. 1. ]] SLAMing on 99.344553574 meters Centerline goodness [0,1] 0.8584550116358094 Centerline is valid? [False, False] Translation: X:2.99, Y:0.30, Z:-0.70 [[ 0.99977209 -0.01813986 -0.01125661 2.99046945] [ 0.01796732 0.99972235 -0.01524456 0.30447138] [ 0.01153002 0.01503883 0.99982043 -0.70357798] [ 0. 0. 0. 1. ]] SLAMing on 99.374553574 meters Centerline goodness [0,1] 0.8599135268684373 Centerline is valid? [False, False] Translation: X:2.99, Y:0.30, Z:-0.70 [[ 0.99975965 -0.0186602 -0.01150851 2.99141394] [ 0.0184843 0.99971351 -0.01520632 0.30339833] [ 0.01178897 0.01498994 0.99981814 -0.70362675] [ 0. 0. 0. 1. ]] SLAMing on 99.404553574 meters Centerline goodness [0,1] 0.8604277744611648 Centerline is valid? [False, False] Translation: X:2.99, Y:0.30, Z:-0.70 [[ 0.999786 -0.01678133 -0.01209686 2.99442204] [ 0.01663369 0.99978717 -0.01220369 0.30235286] [ 0.01229908 0.01199986 0.99985236 -0.70466795] [ 0. 0. 0. 1. ]] SLAMing on 99.434553574 meters Centerline goodness [0,1] 0.8642170231089421 Centerline is valid? [False, False] Translation: X:3.00, Y:0.30, Z:-0.71 [[ 0.9997723 -0.01736414 -0.01240319 2.99565815] [ 0.01720858 0.99977327 -0.01254061 0.30284625] [ 0.01261813 0.01232431 0.99984443 -0.70505675] [ 0. 0. 0. 1. ]] SLAMing on 99.464553574 meters Centerline goodness [0,1] 0.8655774001107034 Centerline is valid? [False, False] Translation: X:3.00, Y:0.30, Z:-0.70 [[ 0.99980258 -0.0151667 -0.01283639 2.99754937] [ 0.01504759 0.99984329 -0.00932544 0.30115501] [ 0.01297582 0.00913044 0.99987412 -0.70498875] [ 0. 0. 0. 1. ]] SLAMing on 99.494553574 meters Centerline goodness [0,1] 0.8650907452169282 Centerline is valid? [False, False] Translation: X:3.00, Y:0.30, Z:-0.71 [[ 0.99983404 -0.0122071 -0.01352307 2.99998278] [ 0.01213069 0.99991007 -0.00571792 0.30049736] [ 0.01359165 0.00555293 0.99989221 -0.70562879] [ 0. 0. 0. 1. ]] SLAMing on 99.524553574 meters Centerline goodness [0,1] 0.866907061076478 Centerline is valid? [False, False] Translation: X:3.00, Y:0.30, Z:-0.71 [[ 9.99865841e-01 -8.49156595e-03 -1.40069181e-02 3.00172086e+00] [ 8.46036718e-03 9.99961599e-01 -2.28513715e-03 3.02269833e-01] [ 1.40257846e-02 2.16632691e-03 9.99899287e-01 -7.06650151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.554553574 meters Centerline goodness [0,1] 0.8666802402524687 Centerline is valid? [False, False] Translation: X:3.00, Y:0.30, Z:-0.71 [[ 9.99886359e-01 -4.72107962e-03 -1.43171457e-02 3.00248776e+00] [ 4.74627382e-03 9.99987246e-01 1.72625464e-03 3.02325624e-01] [ 1.43088134e-02 -1.79401156e-03 9.99896014e-01 -7.06350945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.584553574 meters Centerline goodness [0,1] 0.8667438224604577 Centerline is valid? [False, False] Translation: X:3.00, Y:0.30, Z:-0.71 [[ 9.99894909e-01 -3.87392797e-03 -1.39700744e-02 3.00114988e+00] [ 3.90142376e-03 9.99990505e-01 1.94147633e-03 3.03518729e-01] [ 1.39624206e-02 -1.99577548e-03 9.99900529e-01 -7.05927178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.614553574 meters Centerline goodness [0,1] 0.8673432108788309 Centerline is valid? [False, False] Translation: X:3.00, Y:0.31, Z:-0.71 [[ 9.99905620e-01 -2.39305171e-03 -1.35286498e-02 2.99930787e+00] [ 2.42415698e-03 9.99994455e-01 2.28328369e-03 3.05274662e-01] [ 1.35231108e-02 -2.31586376e-03 9.99905877e-01 -7.05471313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.644553574 meters Centerline goodness [0,1] 0.8639258478013954 Centerline is valid? [False, False] Translation: X:3.00, Y:0.31, Z:-0.70 [[ 9.99918450e-01 -6.09183391e-04 -1.27562940e-02 2.99613970e+00] [ 6.47144693e-04 9.99995374e-01 2.97197174e-03 3.06969649e-01] [ 1.27544245e-02 -2.97998454e-03 9.99914218e-01 -7.04157270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.674553574 meters Centerline goodness [0,1] 0.8674886621315192 Centerline is valid? [False, False] Translation: X:3.00, Y:0.31, Z:-0.70 [[ 9.99920774e-01 -2.74355330e-05 -1.25875037e-02 2.99556033e+00] [ 6.52819464e-05 9.99995479e-01 3.00626449e-03 3.07925910e-01] [ 1.25873643e-02 -3.00684806e-03 9.99916255e-01 -7.04169281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.704553574 meters Centerline goodness [0,1] 0.8659706031424227 Centerline is valid? [False, False] Translation: X:2.99, Y:0.31, Z:-0.70 [[ 9.99924178e-01 6.25310330e-04 -1.22982424e-02 2.99469529e+00] [-5.86371444e-04 9.99994805e-01 3.16956649e-03 3.08402073e-01] [ 1.23001605e-02 -3.16211483e-03 9.99919350e-01 -7.04152137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.734553574 meters Centerline goodness [0,1] 0.8646579903762207 Centerline is valid? [False, False] Translation: X:2.99, Y:0.31, Z:-0.70 [[ 9.99926853e-01 1.81115357e-03 -1.19586040e-02 2.99333369e+00] [-1.76453060e-03 9.99990807e-01 3.90809767e-03 3.07898140e-01] [ 1.19655722e-02 -3.88671048e-03 9.99920856e-01 -7.03672188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.764553574 meters Centerline goodness [0,1] 0.8642945884844905 Centerline is valid? [False, False] Translation: X:2.99, Y:0.31, Z:-0.70 [[ 0.99992932 0.00381641 -0.01126015 2.99044291] [-0.0037588 0.99997976 0.00513298 0.3079385 ] [ 0.01127952 -0.00509029 0.99992343 -0.70241987] [ 0. 0. 0. 1. ]] SLAMing on 99.794553574 meters Centerline goodness [0,1] 0.8637420460107685 Centerline is valid? [False, False] Translation: X:2.99, Y:0.31, Z:-0.70 [[ 0.99993022 0.00464607 -0.01086117 2.98931015] [-0.00458744 0.9999748 0.00541749 0.30819949] [ 0.01088607 -0.00536728 0.99992634 -0.70237749] [ 0. 0. 0. 1. ]] SLAMing on 99.824553574 meters Centerline goodness [0,1] 0.8612234064273756 Centerline is valid? [False, False] Translation: X:2.99, Y:0.31, Z:-0.70 [[ 0.99992976 0.00536794 -0.01056691 2.98839773] [-0.00530752 0.99996946 0.00573673 0.3081954 ] [ 0.01059738 -0.00568024 0.99992771 -0.70225083] [ 0. 0. 0. 1. ]] SLAMing on 99.85455357400001 meters Centerline goodness [0,1] 0.8634718046266184 Centerline is valid? [False, False] Translation: X:2.99, Y:0.31, Z:-0.70 [[ 0.99992803 0.00675467 -0.00991486 2.98634552] [-0.00668936 0.99995581 0.00660574 0.30750512] [ 0.00995904 -0.00653894 0.99992903 -0.70172057] [ 0. 0. 0. 1. ]] SLAMing on 99.884553574 meters Centerline goodness [0,1] 0.8599626949802202 Centerline is valid? [False, False] Translation: X:2.98, Y:0.31, Z:-0.70 [[ 0.99994452 0.00459109 -0.00948012 2.9844844 ] [-0.00455787 0.9999834 0.0035236 0.30811715] [ 0.00949614 -0.0034802 0.99994885 -0.7015817 ] [ 0. 0. 0. 1. ]] SLAMing on 99.914553574 meters Centerline goodness [0,1] 0.8599626949802202 Centerline is valid? [False, False] Translation: X:2.98, Y:0.31, Z:-0.70 [[ 0.99994452 0.00459109 -0.00948012 2.9844844 ] [-0.00455787 0.9999834 0.0035236 0.30811715] [ 0.00949614 -0.0034802 0.99994885 -0.7015817 ] [ 0. 0. 0. 1. ]] SLAMing on 99.944553574 meters Centerline goodness [0,1] 0.858642839496006 Centerline is valid? [False, False] Translation: X:2.98, Y:0.31, Z:-0.70 [[ 9.99959953e-01 1.75912845e-03 -8.77482227e-03 2.98248383e+00] [-1.75547659e-03 9.99998369e-01 4.23859064e-04 3.06411463e-01] [ 8.77555358e-03 -4.08438095e-04 9.99961411e-01 -7.01322306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.974553574 meters Centerline goodness [0,1] 0.8597499224966415 Centerline is valid? [False, False] Translation: X:2.98, Y:0.30, Z:-0.70 [[ 9.99959194e-01 1.34532344e-03 -8.93309978e-03 2.98315204e+00] [-1.33945325e-03 9.99998883e-01 6.63078060e-04 3.04501916e-01] [ 8.93398186e-03 -6.51085533e-04 9.99959879e-01 -7.01271640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.004553574 meters Centerline goodness [0,1] 0.8572321279786702 Centerline is valid? [False, False] Translation: X:2.98, Y:0.30, Z:-0.70 [[ 9.99956943e-01 -2.80771643e-03 -8.84471079e-03 2.98350044e+00] [ 2.78243872e-03 9.99992014e-01 -2.86895581e-03 3.02128869e-01] [ 8.85269537e-03 2.84422242e-03 9.99956769e-01 -7.01840096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.034553574 meters Centerline goodness [0,1] 0.8600237742695669 Centerline is valid? [False, False] Translation: X:2.99, Y:0.30, Z:-0.70 [[ 9.99949622e-01 -3.72134462e-03 -9.32225518e-03 2.98544890e+00] [ 3.69565280e-03 9.99989330e-01 -2.77167862e-03 2.99969114e-01] [ 9.33247009e-03 2.73708717e-03 9.99952706e-01 -7.02375242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.064553574 meters Centerline goodness [0,1] 0.8590087073007368 Centerline is valid? [False, False] Translation: X:2.99, Y:0.30, Z:-0.70 [[ 9.99939917e-01 -4.74471358e-03 -9.88182913e-03 2.98769918e+00] [ 4.71866589e-03 9.99985336e-01 -2.65756716e-03 2.97299813e-01] [ 9.89429362e-03 2.61077843e-03 9.99947642e-01 -7.02988533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.094553574 meters Centerline goodness [0,1] 0.8549644116839504 Centerline is valid? [False, False] Translation: X:2.99, Y:0.29, Z:-0.70 [[ 0.9999004 -0.00967078 -0.01027925 2.98999851] [ 0.00960678 0.99993427 -0.00625796 0.29324226] [ 0.01033909 0.00615858 0.99992758 -0.70428056] [ 0. 0. 0. 1. ]] SLAMing on 100.124553574 meters Centerline goodness [0,1] 0.8609788611693011 Centerline is valid? [False, False] Translation: X:2.99, Y:0.29, Z:-0.71 [[ 0.99988419 -0.01064363 -0.01087759 2.99241033] [ 0.0105766 0.99992484 -0.00620063 0.29097102] [ 0.01094277 0.00608486 0.99992161 -0.70508561] [ 0. 0. 0. 1. ]] SLAMing on 100.154553574 meters Centerline goodness [0,1] 0.8599017376693536 Centerline is valid? [False, False] Translation: X:3.00, Y:0.29, Z:-0.71 [[ 0.99981493 -0.01558099 -0.01128419 2.9951793 ] [ 0.01546474 0.99982718 -0.01031729 0.28820778] [ 0.011443 0.01014088 0.9998831 -0.70733674] [ 0. 0. 0. 1. ]] SLAMing on 100.184553574 meters Centerline goodness [0,1] 0.8612945274269719 Centerline is valid? [False, False] Translation: X:3.00, Y:0.28, Z:-0.71 [[ 0.99978105 -0.01726028 -0.01182969 2.99813683] [ 0.01713847 0.99979985 -0.01032183 0.28449122] [ 0.01200548 0.01011683 0.99987675 -0.7083249 ] [ 0. 0. 0. 1. ]] SLAMing on 100.214553574 meters Centerline goodness [0,1] 0.862951871657754 Centerline is valid? [False, False] Translation: X:3.00, Y:0.28, Z:-0.71 [[ 0.99976439 -0.01788203 -0.01230419 3.00015686] [ 0.01775461 0.9997884 -0.01038861 0.28332641] [ 0.01248736 0.0101677 0.99987033 -0.70925348] [ 0. 0. 0. 1. ]] SLAMing on 100.244553574 meters Centerline goodness [0,1] 0.8592101878055055 Centerline is valid? [False, False] Translation: X:3.00, Y:0.28, Z:-0.71 [[ 0.99979036 -0.0159443 -0.01284581 3.0030486 ] [ 0.01585367 0.99984893 -0.00712621 0.28105865] [ 0.01295749 0.00692106 0.9998921 -0.71002611] [ 0. 0. 0. 1. ]] SLAMing on 100.274553574 meters Centerline goodness [0,1] 0.8620031728336834 Centerline is valid? [False, False] Translation: X:3.01, Y:0.28, Z:-0.71 [[ 0.99981124 -0.01412032 -0.0133457 3.00583249] [ 0.01406893 0.99989328 -0.00393734 0.27865294] [ 0.01339987 0.00374884 0.99990319 -0.71062937] [ 0. 0. 0. 1. ]] SLAMing on 100.304553574 meters Centerline goodness [0,1] 0.8638262322472849 Centerline is valid? [False, False] Translation: X:3.01, Y:0.28, Z:-0.71 [[ 9.99837768e-01 -1.12644811e-02 -1.40552048e-02 3.00833393e+00] [ 1.12653866e-02 9.99936543e-01 -1.47545043e-05 2.77011634e-01] [ 1.40544791e-02 -1.43585205e-04 9.99901221e-01 -7.10830016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.334553574 meters Centerline goodness [0,1] 0.8616773752855038 Centerline is valid? [False, False] Translation: X:3.01, Y:0.28, Z:-0.71 [[ 0.99986347 -0.00799788 -0.01445933 3.00976132] [ 0.00805641 0.99995957 0.00399452 0.2758609 ] [ 0.0144268 -0.00411047 0.99988748 -0.71074834] [ 0. 0. 0. 1. ]] SLAMing on 100.364553574 meters Centerline goodness [0,1] 0.8595866305483864 Centerline is valid? [False, False] Translation: X:3.01, Y:0.28, Z:-0.71 [[ 0.99987743 -0.0070706 -0.01396927 3.00790622] [ 0.00713502 0.99996412 0.00456724 0.2758956 ] [ 0.01393648 -0.00466635 0.99989199 -0.70988297] [ 0. 0. 0. 1. ]] SLAMing on 100.394553574 meters Centerline goodness [0,1] 0.861169702780441 Centerline is valid? [False, False] Translation: X:3.01, Y:0.28, Z:-0.71 [[ 0.99987912 -0.00688258 -0.01394183 3.00805962] [ 0.00694567 0.99996583 0.00448187 0.27628788] [ 0.0139105 -0.00457817 0.99989276 -0.7103841 ] [ 0. 0. 0. 1. ]] SLAMing on 100.424553574 meters Centerline goodness [0,1] 0.8592510685350969 Centerline is valid? [False, False] Translation: X:3.01, Y:0.28, Z:-0.71 [[ 0.99988688 -0.00622862 -0.0136903 3.0075344 ] [ 0.00629009 0.99997031 0.00445144 0.27717122] [ 0.01366217 -0.00453705 0.99989637 -0.71101771] [ 0. 0. 0. 1. ]] SLAMing on 100.454553574 meters Centerline goodness [0,1] 0.8616696360397047 Centerline is valid? [False, False] Translation: X:3.01, Y:0.28, Z:-0.71 [[ 0.99988927 -0.00594861 -0.0136403 3.00758098] [ 0.0060092 0.99997224 0.00440527 0.27747604] [ 0.01361372 -0.00448675 0.99989726 -0.71143054] [ 0. 0. 0. 1. ]] SLAMing on 100.484553574 meters Centerline goodness [0,1] 0.8606064469518284 Centerline is valid? [False, False] Translation: X:3.00, Y:0.28, Z:-0.71 [[ 0.99990906 -0.00423952 -0.01280242 3.00416391] [ 0.00430754 0.99997673 0.00529074 0.277938 ] [ 0.01277969 -0.00534541 0.99990405 -0.70990884] [ 0. 0. 0. 1. ]] SLAMing on 100.514553574 meters Centerline goodness [0,1] 0.8592250492553439 Centerline is valid? [False, False] Translation: X:3.00, Y:0.28, Z:-0.71 [[ 0.99991545 -0.00366618 -0.01247638 3.00323171] [ 0.00373267 0.99997894 0.00530983 0.27888338] [ 0.01245665 -0.00535595 0.99990807 -0.70986032] [ 0. 0. 0. 1. ]] SLAMing on 100.544553574 meters Centerline goodness [0,1] 0.8602699667309445 Centerline is valid? [False, False] Translation: X:3.00, Y:0.28, Z:-0.71 [[ 0.99992296 -0.00300634 -0.01204317 3.00210838] [ 0.00306995 0.99998142 0.00526721 0.28012799] [ 0.01202711 -0.00530377 0.99991361 -0.71005627] [ 0. 0. 0. 1. ]] SLAMing on 100.574553574 meters Centerline goodness [0,1] 0.8601807661443595 Centerline is valid? [False, False] Translation: X:3.00, Y:0.28, Z:-0.71 [[ 9.99931735e-01 -1.79512904e-03 -1.15456815e-02 3.00063199e+00] [ 1.85685820e-03 9.99984029e-01 5.33801919e-03 2.81983718e-01] [ 1.15359146e-02 -5.35909349e-03 9.99919098e-01 -7.10462824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.604553574 meters Centerline goodness [0,1] 0.8606847197814994 Centerline is valid? [False, False] Translation: X:3.00, Y:0.28, Z:-0.71 [[ 9.99934824e-01 -1.47192195e-03 -1.13217189e-02 3.00020335e+00] [ 1.53385183e-03 9.99983900e-01 5.46327039e-03 2.81987241e-01] [ 1.13134951e-02 -5.48028015e-03 9.99920983e-01 -7.10618183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.634553574 meters Centerline goodness [0,1] 0.8580293980598974 Centerline is valid? [False, False] Translation: X:3.00, Y:0.28, Z:-0.71 [[ 9.99941523e-01 -8.49207508e-04 -1.07809355e-02 2.99832959e+00] [ 9.14990405e-04 9.99980986e-01 6.09831478e-03 2.80882406e-01] [ 1.07755518e-02 -6.10782263e-03 9.99923288e-01 -7.09304600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.664553574 meters Centerline goodness [0,1] 0.8574814313223438 Centerline is valid? [False, False] Translation: X:3.00, Y:0.28, Z:-0.71 [[ 9.99943538e-01 -7.36764573e-04 -1.06008364e-02 2.99784285e+00] [ 8.03284196e-04 9.99980008e-01 6.27205202e-03 2.80395879e-01] [ 1.05960035e-02 -6.28021338e-03 9.99924139e-01 -7.08864882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.694553574 meters Centerline goodness [0,1] 0.860042328042328 Centerline is valid? [False, False] Translation: X:3.00, Y:0.28, Z:-0.71 [[ 9.99944163e-01 -3.83343763e-03 -9.84758295e-03 2.99583722e+00] [ 3.85935012e-03 9.99989137e-01 2.61370108e-03 2.80466792e-01] [ 9.83745652e-03 -2.65156041e-03 9.99948095e-01 -7.08927083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.724553574 meters Centerline goodness [0,1] 0.8596665889978605 Centerline is valid? [False, False] Translation: X:3.00, Y:0.28, Z:-0.71 [[ 9.99939246e-01 -4.28351768e-03 -1.01565774e-02 2.99701805e+00] [ 4.31066726e-03 9.99987191e-01 2.65272065e-03 2.79581524e-01] [ 1.01450843e-02 -2.69634111e-03 9.99944902e-01 -7.09287058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.754553574 meters Centerline goodness [0,1] 0.8612277798990284 Centerline is valid? [False, False] Translation: X:3.00, Y:0.28, Z:-0.71 [[ 9.99921266e-01 -6.29531821e-03 -1.08549869e-02 3.00073305e+00] [ 6.31879000e-03 9.99977769e-01 2.12936579e-03 2.76994213e-01] [ 1.08413405e-02 -2.19778852e-03 9.99938816e-01 -7.10933496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.784553574 meters Centerline goodness [0,1] 0.862066772655008 Centerline is valid? [False, False] Translation: X:3.00, Y:0.28, Z:-0.71 [[ 9.99908811e-01 -7.19267379e-03 -1.14295864e-02 3.00301190e+00] [ 7.21649553e-03 9.99971871e-01 2.04434278e-03 2.75699078e-01] [ 1.14145607e-02 -2.12663791e-03 9.99932590e-01 -7.11712465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.814553574 meters Centerline goodness [0,1] 0.8639722228103233 Centerline is valid? [False, False] Translation: X:3.01, Y:0.27, Z:-0.71 [[ 9.99894295e-01 -8.08316851e-03 -1.20855709e-02 3.00554163e+00] [ 8.10665412e-03 9.99965344e-01 1.89555192e-03 2.74538828e-01] [ 1.20698300e-02 -1.99332510e-03 9.99925170e-01 -7.12696671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.844553574 meters Centerline goodness [0,1] 0.865303273834701 Centerline is valid? [False, False] Translation: X:3.01, Y:0.27, Z:-0.71 [[ 9.99860542e-01 -1.03426427e-02 -1.31120447e-02 3.01023587e+00] [ 1.03586218e-02 9.99945685e-01 1.15132635e-03 2.72147278e-01] [ 1.30994248e-02 -1.28698850e-03 9.99913371e-01 -7.14718092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.874553574 meters Centerline goodness [0,1] 0.8647641629265814 Centerline is valid? [False, False] Translation: X:3.01, Y:0.27, Z:-0.72 [[ 9.99823303e-01 -1.25937275e-02 -1.39556560e-02 3.01409459e+00] [ 1.26000833e-02 9.99920548e-01 3.67594223e-04 2.69966380e-01] [ 1.39499179e-02 -5.43371700e-04 9.99902548e-01 -7.15901086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.904553574 meters Centerline goodness [0,1] 0.866350971397163 Centerline is valid? [False, False] Translation: X:3.02, Y:0.27, Z:-0.72 [[ 9.99808314e-01 -1.32223354e-02 -1.44396725e-02 3.01581187e+00] [ 1.32268607e-02 9.99912498e-01 2.17939503e-04 2.69646805e-01] [ 1.44355274e-02 -4.08889265e-04 9.99895719e-01 -7.16331926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.934553574 meters Centerline goodness [0,1] 0.8719941040218994 Centerline is valid? [False, False] Translation: X:3.02, Y:0.27, Z:-0.72 [[ 9.99776450e-01 -1.45435071e-02 -1.53471967e-02 3.01961756e+00] [ 1.45352964e-02 9.99894148e-01 -6.46410830e-04 2.70188354e-01] [ 1.53549732e-02 4.23190272e-04 9.99882016e-01 -7.18342540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.964553574 meters Centerline goodness [0,1] 0.8670230678565415 Centerline is valid? [False, False] Translation: X:3.02, Y:0.27, Z:-0.72 [[ 9.99769112e-01 -1.47544114e-02 -1.56214361e-02 3.02048816e+00] [ 1.47468238e-02 9.99891079e-01 -6.00802745e-04 2.69904528e-01] [ 1.56285991e-02 3.70297462e-04 9.99877797e-01 -7.18415282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.994553574 meters Centerline goodness [0,1] 0.8678756476683938 Centerline is valid? [False, False] Translation: X:3.02, Y:0.27, Z:-0.72 [[ 9.99769526e-01 -1.46943555e-02 -1.56515689e-02 3.02035087e+00] [ 1.46901994e-02 9.99892021e-01 -3.80484425e-04 2.69650183e-01] [ 1.56554698e-02 1.50472065e-04 9.99877434e-01 -7.17841092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.024553574 meters Centerline goodness [0,1] 0.854741442709756 Centerline is valid? [False, False] Translation: X:3.02, Y:0.27, Z:-0.72 [[ 9.99794739e-01 -1.18707884e-02 -1.64184313e-02 3.02322470e+00] [ 1.19186961e-02 9.99924984e-01 2.82315074e-03 2.70203974e-01] [ 1.63836866e-02 -3.01825755e-03 9.99861223e-01 -7.18639518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.054553574 meters Centerline goodness [0,1] 0.8624911210462541 Centerline is valid? [False, False] Translation: X:3.02, Y:0.27, Z:-0.72 [[ 0.99982611 -0.00807193 -0.01681052 3.02443632] [ 0.00817721 0.99994733 0.00620304 0.27300101] [ 0.01675957 -0.00633943 0.99983945 -0.71921412] [ 0. 0. 0. 1. ]] SLAMing on 101.084553574 meters Centerline goodness [0,1] 0.8622427726401733 Centerline is valid? [False, False] Translation: X:3.03, Y:0.27, Z:-0.72 [[ 0.99982415 -0.00804866 -0.01693774 3.02516299] [ 0.00814493 0.99995102 0.00562238 0.27496308] [ 0.01689166 -0.00575935 0.99984074 -0.72005068] [ 0. 0. 0. 1. ]] SLAMing on 101.114553574 meters Centerline goodness [0,1] 0.8636864081098485 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:-0.73 [[ 9.99928023e-01 -5.59888650e-03 -1.06113416e-02 3.03853793e+00] [ 5.57946438e-03 9.99982707e-01 -1.85903751e-03 2.77286910e-01] [ 1.06215666e-02 1.79969810e-03 9.99941970e-01 -7.25512241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.144553574 meters Centerline goodness [0,1] 0.873610564881704 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:-0.72 [[ 9.99944538e-01 -1.27328261e-03 -1.04546525e-02 3.03680294e+00] [ 1.30038670e-03 9.99995810e-01 2.58615000e-03 2.78285442e-01] [ 1.04513158e-02 -2.59960166e-03 9.99942004e-01 -7.22685924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.174553574 meters Centerline goodness [0,1] 0.8791199736321688 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:-0.72 [[ 9.99949806e-01 -6.22033290e-04 -9.99989193e-03 3.03507512e+00] [ 6.49664638e-04 9.99995980e-01 2.76015379e-03 2.79458884e-01] [ 9.99813482e-03 -2.76651182e-03 9.99946190e-01 -7.21632284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.204553574 meters Centerline goodness [0,1] 0.8517706369374539 Centerline is valid? [False, False] Translation: X:3.03, Y:0.28, Z:-0.72 [[ 9.99954209e-01 9.45393506e-05 -9.56928341e-03 3.03351193e+00] [-6.91152977e-05 9.99996467e-01 2.65713562e-03 2.82231577e-01] [ 9.56950081e-03 -2.65635256e-03 9.99950683e-01 -7.20920234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.234553574 meters Centerline goodness [0,1] 0.8830205687126117 Centerline is valid? [False, False] Translation: X:3.03, Y:0.28, Z:-0.72 [[ 9.99951812e-01 -2.71800451e-05 -9.81697830e-03 3.03453747e+00] [ 4.93594284e-05 9.99997447e-01 2.25905299e-03 2.83672227e-01] [ 9.81689184e-03 -2.25942869e-03 9.99949261e-01 -7.21695571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.264553574 meters Centerline goodness [0,1] 0.856085626911315 Centerline is valid? [False, False] Translation: X:3.04, Y:0.29, Z:-0.72 [[ 9.99944749e-01 -7.84386256e-04 -1.04825724e-02 3.03743080e+00] [ 7.98038867e-04 9.99998839e-01 1.29829100e-03 2.85493044e-01] [ 1.04815419e-02 -1.30658477e-03 9.99944214e-01 -7.23752921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.294553574 meters Centerline goodness [0,1] 0.8665974301016148 Centerline is valid? [False, False] Translation: X:3.04, Y:0.29, Z:-0.72 [[ 9.99940403e-01 -1.21757766e-03 -1.08493494e-02 3.03883885e+00] [ 1.22797512e-03 9.99998793e-01 9.51738681e-04 2.86149836e-01] [ 1.08481775e-02 -9.65004691e-04 9.99940691e-01 -7.24391824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.324553574 meters Centerline goodness [0,1] 0.880415768276311 Centerline is valid? [False, False] Translation: X:3.04, Y:0.29, Z:-0.72 [[ 9.99933089e-01 -2.00164619e-03 -1.13934817e-02 3.04072609e+00] [ 2.00687950e-03 9.99997886e-01 4.47909965e-04 2.86724306e-01] [ 1.13925611e-02 -4.70745340e-04 9.99934992e-01 -7.24904503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.354553574 meters Centerline goodness [0,1] 0.867091691707951 Centerline is valid? [False, False] Translation: X:3.04, Y:0.29, Z:-0.72 [[ 9.99932134e-01 -1.96831515e-03 -1.14827298e-02 3.04084899e+00] [ 1.97435719e-03 9.99997918e-01 5.14872573e-04 2.87017176e-01] [ 1.14816925e-02 -5.37508641e-04 9.99933939e-01 -7.24578096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.384553574 meters Centerline goodness [0,1] 0.8787358642972536 Centerline is valid? [False, False] Translation: X:3.04, Y:0.29, Z:-0.72 [[ 9.99936026e-01 -1.19431743e-03 -1.12480366e-02 3.03971186e+00] [ 1.20092886e-03 9.99999110e-01 5.81048765e-04 2.89346261e-01] [ 1.12473326e-02 -5.94519685e-04 9.99936570e-01 -7.23900414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.414553574 meters Centerline goodness [0,1] 0.8831208013194416 Centerline is valid? [False, False] Translation: X:3.04, Y:0.29, Z:-0.72 [[ 9.99940062e-01 -4.82196144e-04 -1.09380254e-02 3.03860752e+00] [ 4.89326014e-04 9.99999670e-01 6.49175661e-04 2.91298571e-01] [ 1.09377088e-02 -6.54489011e-04 9.99939967e-01 -7.23534508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.444553574 meters Centerline goodness [0,1] 0.8742230420660063 Centerline is valid? [False, False] Translation: X:3.04, Y:0.29, Z:-0.72 [[ 9.99943776e-01 3.47396783e-04 -1.05983110e-02 3.03735612e+00] [-3.38910648e-04 9.99999621e-01 8.02491824e-04 2.93175171e-01] [ 1.05985858e-02 -7.98854824e-04 9.99943514e-01 -7.23083665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.474553574 meters Centerline goodness [0,1] 0.8852720599968087 Centerline is valid? [False, False] Translation: X:3.04, Y:0.30, Z:-0.72 [[ 0.99993236 0.00440926 -0.01076218 3.03790211] [-0.00436351 0.99998136 0.00427113 0.29574475] [ 0.01078081 -0.00422388 0.99993296 -0.7231981 ] [ 0. 0. 0. 1. ]] SLAMing on 101.504553574 meters Centerline goodness [0,1] 0.8942399427571951 Centerline is valid? [False, False] Translation: X:3.04, Y:0.30, Z:-0.72 [[ 0.99993128 0.00452876 -0.01081351 3.0385569 ] [-0.00448892 0.99998306 0.00370531 0.29758956] [ 0.0108301 -0.00365651 0.99993467 -0.72420866] [ 0. 0. 0. 1. ]] SLAMing on 101.534553574 meters Centerline goodness [0,1] 0.8786892404183951 Centerline is valid? [False, False] Translation: X:3.04, Y:0.30, Z:-0.72 [[ 0.99992925 0.00529121 -0.0106536 3.03793245] [-0.00525508 0.99998036 0.00341608 0.29972125] [ 0.01067147 -0.00335985 0.99993741 -0.72426728] [ 0. 0. 0. 1. ]] SLAMing on 101.564553574 meters Centerline goodness [0,1] 0.877433295008524 Centerline is valid? [False, False] Translation: X:3.04, Y:0.30, Z:-0.72 [[ 9.99928233e-01 5.22895690e-03 -1.07790249e-02 3.03868563e+00] [-5.19714826e-03 9.99982064e-01 2.97687734e-03 3.00870177e-01] [ 1.07943975e-02 -2.92064351e-03 9.99937473e-01 -7.24898202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.594553574 meters Centerline goodness [0,1] 0.8821100464289242 Centerline is valid? [False, False] Translation: X:3.04, Y:0.30, Z:-0.73 [[ 9.99926465e-01 5.46284784e-03 -1.08269090e-02 3.03906907e+00] [-5.43518881e-03 9.99981895e-01 2.58243587e-03 3.02878513e-01] [ 1.08408205e-02 -2.52339967e-03 9.99938053e-01 -7.25456990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.624553574 meters Centerline goodness [0,1] 0.893140466511426 Centerline is valid? [False, False] Translation: X:3.04, Y:0.30, Z:-0.73 [[ 9.99926000e-01 5.46320257e-03 -1.08695811e-02 3.03945717e+00] [-5.43895315e-03 9.99982657e-01 2.25925485e-03 3.04166143e-01] [ 1.08817354e-02 -2.19996852e-03 9.99938372e-01 -7.25889440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.654553574 meters Centerline goodness [0,1] 0.8852989328757126 Centerline is valid? [False, False] Translation: X:3.04, Y:0.31, Z:-0.73 [[ 9.99922982e-01 5.92190368e-03 -1.09069028e-02 3.03945514e+00] [-5.89746766e-03 9.99980031e-01 2.27121915e-03 3.05210430e-01] [ 1.09201350e-02 -2.20672111e-03 9.99937939e-01 -7.25801903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.684553574 meters Centerline goodness [0,1] 0.8881185185185185 Centerline is valid? [False, False] Translation: X:3.04, Y:0.30, Z:-0.73 [[ 9.99921092e-01 6.59550866e-03 -1.06915631e-02 3.03868418e+00] [-6.56566460e-03 9.99974458e-01 2.82406620e-03 3.04420608e-01] [ 1.07099162e-02 -2.75364614e-03 9.99938856e-01 -7.25258948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.714553574 meters Centerline goodness [0,1] 0.888860329009807 Centerline is valid? [False, False] Translation: X:3.04, Y:0.30, Z:-0.73 [[ 9.99920235e-01 6.68015610e-03 -1.07190703e-02 3.03916524e+00] [-6.65104832e-03 9.99974103e-01 2.74886746e-03 3.04556071e-01] [ 1.07371556e-02 -2.67735515e-03 9.99938771e-01 -7.25857372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.744553574 meters Centerline goodness [0,1] 0.889883953106775 Centerline is valid? [False, False] Translation: X:3.04, Y:0.31, Z:-0.73 [[ 9.99919197e-01 6.80863817e-03 -1.07351136e-02 3.03970983e+00] [-6.78147881e-03 9.99973718e-01 2.56433060e-03 3.05083782e-01] [ 1.07522911e-02 -2.49132344e-03 9.99939089e-01 -7.26718350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.774553574 meters Centerline goodness [0,1] 0.8961082576056895 Centerline is valid? [False, False] Translation: X:3.04, Y:0.31, Z:-0.73 [[ 0.99990977 0.00829571 -0.01056551 3.03944565] [-0.00826306 0.99996096 0.00313 0.30561628] [ 0.01059107 -0.00304242 0.99993928 -0.72764676] [ 0. 0. 0. 1. ]] SLAMing on 101.804553574 meters Centerline goodness [0,1] 0.8961082576056895 Centerline is valid? [False, False] Translation: X:3.04, Y:0.31, Z:-0.73 [[ 0.99990977 0.00829571 -0.01056551 3.03944565] [-0.00826306 0.99996096 0.00313 0.30561628] [ 0.01059107 -0.00304242 0.99993928 -0.72764676] [ 0. 0. 0. 1. ]] SLAMing on 101.834553574 meters Centerline goodness [0,1] 0.8984671302149179 Centerline is valid? [False, False] Translation: X:3.04, Y:0.31, Z:-0.73 [[ 0.99990493 0.00877941 -0.01063295 3.039974 ] [-0.00874467 0.99995629 0.00330947 0.30544529] [ 0.01066154 -0.00321617 0.99993799 -0.72834041] [ 0. 0. 0. 1. ]] SLAMing on 101.864553574 meters Centerline goodness [0,1] 0.892164268108452 Centerline is valid? [False, False] Translation: X:3.04, Y:0.30, Z:-0.73 [[ 0.99989371 0.01038494 -0.01023323 3.0384152 ] [-0.01033713 0.99993546 0.00471385 0.30301318] [ 0.01028152 -0.00460757 0.99993653 -0.72754159] [ 0. 0. 0. 1. ]] SLAMing on 101.894553574 meters Centerline goodness [0,1] 0.8933442010258041 Centerline is valid? [False, False] Translation: X:3.04, Y:0.30, Z:-0.73 [[ 0.9998911 0.0106856 -0.01017888 3.03838498] [-0.01063334 0.99993008 0.00517395 0.30176562] [ 0.01023346 -0.00506515 0.99993481 -0.72740777] [ 0. 0. 0. 1. ]] SLAMing on 101.924553574 meters Centerline goodness [0,1] 0.8934177417422215 Centerline is valid? [False, False] Translation: X:3.04, Y:0.30, Z:-0.73 [[ 0.99988806 0.01081536 -0.01033875 3.03925808] [-0.01075551 0.99992518 0.005827 0.29944156] [ 0.01040099 -0.00571515 0.99992958 -0.72777644] [ 0. 0. 0. 1. ]] SLAMing on 101.954553574 meters Centerline goodness [0,1] 0.9010747093081434 Centerline is valid? [False, False] Translation: X:3.04, Y:0.30, Z:-0.73 [[ 0.9998902 0.01011305 -0.01083083 3.0415548 ] [-0.01005131 0.99993301 0.00573922 0.2977099 ] [ 0.01088815 -0.00562972 0.99992487 -0.72899762] [ 0. 0. 0. 1. ]] SLAMing on 101.984553574 meters Centerline goodness [0,1] 0.8897311501920355 Centerline is valid? [False, False] Translation: X:3.04, Y:0.29, Z:-0.73 [[ 9.99922355e-01 5.58052334e-03 -1.11418647e-02 3.04348247e+00] [-5.55844686e-03 9.99982529e-01 2.01138357e-03 2.94099626e-01] [ 1.11528946e-02 -1.94929594e-03 9.99935905e-01 -7.30719503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.014553574 meters Centerline goodness [0,1] 0.8903707006627617 Centerline is valid? [False, False] Translation: X:3.04, Y:0.29, Z:-0.73 [[ 9.99935972e-01 1.49573395e-03 -1.12167065e-02 3.04435362e+00] [-1.51583825e-03 9.99997260e-01 -1.78406653e-03 2.92685502e-01] [ 1.12140073e-02 1.80095502e-03 9.99935499e-01 -7.31690906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.044553574 meters Centerline goodness [0,1] 0.887111274569899 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:-0.73 [[ 0.99992068 -0.00400867 -0.01193973 3.04772855] [ 0.00394079 0.99997597 -0.00570318 0.28890073] [ 0.0119623 0.00565567 0.99991245 -0.73323538] [ 0. 0. 0. 1. ]] SLAMing on 102.074553574 meters Centerline goodness [0,1] 0.8940901351822601 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:-0.73 [[ 0.9999045 -0.00532818 -0.01275173 3.05093166] [ 0.00525364 0.99996896 -0.00587159 0.28705453] [ 0.01278261 0.00580403 0.99990145 -0.7343108 ] [ 0. 0. 0. 1. ]] SLAMing on 102.104553574 meters Centerline goodness [0,1] 0.8857036945508464 Centerline is valid? [False, False] Translation: X:3.05, Y:0.28, Z:-0.74 [[ 0.99984939 -0.01078373 -0.01359813 3.05443944] [ 0.01065125 0.99989546 -0.00977804 0.28393204] [ 0.01370216 0.00963173 0.99985973 -0.73545005] [ 0. 0. 0. 1. ]] SLAMing on 102.134553574 meters Centerline goodness [0,1] 0.8950843423367484 Centerline is valid? [False, False] Translation: X:3.06, Y:0.28, Z:-0.74 [[ 0.99978132 -0.01563736 -0.01388498 3.05567908] [ 0.01545298 0.99979229 -0.01328842 0.28067874] [ 0.01408989 0.01307095 0.9998153 -0.73506646] [ 0. 0. 0. 1. ]] SLAMing on 102.164553574 meters Centerline goodness [0,1] 0.8836470807994853 Centerline is valid? [False, False] Translation: X:3.06, Y:0.28, Z:-0.73 [[ 0.99976504 -0.01629674 -0.01429269 3.05703077] [ 0.01611045 0.999785 -0.01305397 0.27924937] [ 0.01450236 0.01282064 0.99981264 -0.73483814] [ 0. 0. 0. 1. ]] SLAMing on 102.194553574 meters Centerline goodness [0,1] 0.8925760564842695 Centerline is valid? [False, False] Translation: X:3.06, Y:0.28, Z:-0.74 [[ 0.99972333 -0.01800212 -0.01513898 3.06049315] [ 0.01779789 0.99975021 -0.01351861 0.27808388] [ 0.01537856 0.01324543 0.99979401 -0.73577009] [ 0. 0. 0. 1. ]] SLAMing on 102.224553574 meters Centerline goodness [0,1] 0.8950442147990142 Centerline is valid? [False, False] Translation: X:3.06, Y:0.28, Z:-0.74 [[ 0.99974294 -0.01603132 -0.01603283 3.06395606] [ 0.01586812 0.9998215 -0.01025484 0.27713765] [ 0.01619436 0.00999779 0.99981888 -0.73635736] [ 0. 0. 0. 1. ]] SLAMing on 102.254553574 meters Centerline goodness [0,1] 0.8845365944503073 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:-0.74 [[ 0.99976203 -0.01372823 -0.0169537 3.06733178] [ 0.01361418 0.99988403 -0.00682445 0.2763435 ] [ 0.01704542 0.00659202 0.99983299 -0.73691518] [ 0. 0. 0. 1. ]] SLAMing on 102.284553574 meters Centerline goodness [0,1] 0.886119307512948 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:-0.74 [[ 0.99977706 -0.01108056 -0.01797345 3.07081561] [ 0.01102088 0.99993343 -0.00341634 0.27633291] [ 0.01801011 0.00321749 0.99983263 -0.7377127 ] [ 0. 0. 0. 1. ]] SLAMing on 102.314553574 meters Centerline goodness [0,1] 0.8944141689373297 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:-0.74 [[ 9.99790237e-01 -8.22657237e-03 -1.87564836e-02 3.07341320e+00] [ 8.23309199e-03 9.99966071e-01 2.70399231e-04 2.75632814e-01] [ 1.87536227e-02 -4.24766366e-04 9.99824045e-01 -7.37884238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.344553574 meters Centerline goodness [0,1] 0.8835129133081099 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:-0.74 [[ 9.99789900e-01 -7.98182673e-03 -1.88797667e-02 3.07352954e+00] [ 7.98741719e-03 9.99968076e-01 2.20719234e-04 2.76902328e-01] [ 1.88774022e-02 -3.71473435e-04 9.99821737e-01 -7.37704279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.374553574 meters Centerline goodness [0,1] 0.8825686945474663 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:-0.74 [[ 0.99980771 -0.00414772 -0.0191663 3.0739473 ] [ 0.00422791 0.99998247 0.00414501 0.2780995 ] [ 0.01914877 -0.00422525 0.99980772 -0.73677805] [ 0. 0. 0. 1. ]] SLAMing on 102.404553574 meters Centerline goodness [0,1] 0.8442612892670157 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:-0.74 [[ 9.99908028e-01 -1.18694088e-03 -1.35102251e-02 3.08819901e+00] [ 1.14908689e-03 9.99995394e-01 -2.80929508e-03 2.80045330e-01] [ 1.35134973e-02 2.79351228e-03 9.99904786e-01 -7.42034392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.434553574 meters Centerline goodness [0,1] 0.8997165058840325 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:-0.74 [[ 9.99902280e-01 3.29878480e-03 -1.35848378e-02 3.08800974e+00] [-3.27610113e-03 9.99993203e-01 1.69169377e-03 2.79920007e-01] [ 1.35903259e-02 -1.64702315e-03 9.99906291e-01 -7.41120413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.464553574 meters Centerline goodness [0,1] 0.8999877635926092 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:-0.74 [[ 9.99900806e-01 4.05654671e-03 -1.34879036e-02 3.08769010e+00] [-4.03343023e-03 9.99990351e-01 1.74062872e-03 2.81100027e-01] [ 1.34948344e-02 -1.68605354e-03 9.99907519e-01 -7.41516758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.494553574 meters Centerline goodness [0,1] 0.8912292115642663 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:-0.74 [[ 0.99986789 0.00930826 -0.013325 3.08682796] [-0.00922948 0.99993964 0.00596141 0.28309223] [ 0.01337969 -0.00583764 0.99989345 -0.74132739] [ 0. 0. 0. 1. ]] SLAMing on 102.524553574 meters Centerline goodness [0,1] 0.8984690256514245 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:-0.74 [[ 0.99986101 0.01032488 -0.01309041 3.08581145] [-0.01024489 0.99992852 0.00616343 0.28427761] [ 0.01315311 -0.00602847 0.99989532 -0.74115412] [ 0. 0. 0. 1. ]] SLAMing on 102.554553574 meters Centerline goodness [0,1] 0.9013464736180395 Centerline is valid? [False, False] Translation: X:3.10, Y:0.29, Z:-0.74 [[ 9.99802653e-01 1.79675768e-02 -8.47475453e-03 3.09896668e+00] [-1.79533262e-02 9.99837286e-01 1.75463948e-03 2.85687437e-01] [ 8.50490219e-03 -1.60214317e-03 9.99962549e-01 -7.44553308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.584553574 meters Centerline goodness [0,1] 0.9014874026105434 Centerline is valid? [False, False] Translation: X:3.10, Y:0.29, Z:-0.74 [[ 9.99791466e-01 1.87013505e-02 -8.20263628e-03 3.09797933e+00] [-1.86866569e-02 9.99823651e-01 1.86433895e-03 2.86654257e-01] [ 8.23605541e-03 -1.71067033e-03 9.99964620e-01 -7.44298983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.614553574 meters Centerline goodness [0,1] 0.9063029960429622 Centerline is valid? [False, False] Translation: X:3.10, Y:0.29, Z:-0.74 [[ 9.99775259e-01 1.96740690e-02 -7.89702355e-03 3.09676214e+00] [-1.96579215e-02 9.99804523e-01 2.11720567e-03 2.87538512e-01] [ 7.93713391e-03 -1.96149078e-03 9.99966577e-01 -7.43862364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.644553574 meters Centerline goodness [0,1] 0.8940889184880224 Centerline is valid? [False, False] Translation: X:3.10, Y:0.29, Z:-0.74 [[ 9.99776796e-01 1.95117099e-02 -8.10253289e-03 3.09752276e+00] [-1.94951620e-02 9.99807711e-01 2.11630521e-03 2.87061928e-01] [ 8.14226760e-03 -1.95787265e-03 9.99964934e-01 -7.44055720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.674553574 meters Centerline goodness [0,1] 0.899168694241687 Centerline is valid? [False, False] Translation: X:3.10, Y:0.29, Z:-0.74 [[ 9.99837055e-01 1.61772093e-02 -8.01010328e-03 3.09715708e+00] [-1.61896138e-02 9.99867835e-01 -1.48618640e-03 2.86172868e-01] [ 7.98500227e-03 1.61562471e-03 9.99966814e-01 -7.44426744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.704553574 meters Centerline goodness [0,1] 0.9084654259097644 Centerline is valid? [False, False] Translation: X:3.10, Y:0.29, Z:-0.75 [[ 9.99842401e-01 1.56584206e-02 -8.36584413e-03 3.09859215e+00] [-1.56718746e-02 9.99875995e-01 -1.54507957e-03 2.85161450e-01] [ 8.34061322e-03 1.67594453e-03 9.99963812e-01 -7.45046073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.734553574 meters Centerline goodness [0,1] 0.9018877145824424 Centerline is valid? [False, False] Translation: X:3.10, Y:0.28, Z:-0.75 [[ 9.99862515e-01 1.36528482e-02 -9.41019825e-03 3.10326819e+00] [-1.36750411e-02 9.99903851e-01 -2.29808801e-03 2.82573279e-01] [ 9.37791802e-03 2.42645690e-03 9.99953082e-01 -7.47660498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.764553574 meters Centerline goodness [0,1] 0.9057353660525028 Centerline is valid? [False, False] Translation: X:3.11, Y:0.28, Z:-0.75 [[ 9.99867435e-01 1.27472695e-02 -1.01301564e-02 3.10597720e+00] [-1.27723628e-02 9.99915511e-01 -2.41626326e-03 2.80810082e-01] [ 1.00984998e-02 2.54532898e-03 9.99945769e-01 -7.48789981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.794553574 meters Centerline goodness [0,1] 0.9001146460303812 Centerline is valid? [False, False] Translation: X:3.11, Y:0.28, Z:-0.75 [[ 0.99989372 0.00990138 -0.01070061 3.10920249] [-0.00994783 0.99994129 -0.00429624 0.27767141] [ 0.01065744 0.00440223 0.99993352 -0.75083031] [ 0. 0. 0. 1. ]] SLAMing on 102.824553574 meters Centerline goodness [0,1] 0.8996936740609773 Centerline is valid? [False, False] Translation: X:3.11, Y:0.28, Z:-0.75 [[ 0.99989384 0.00947777 -0.01106676 3.11030259] [-0.00952192 0.99994689 -0.00394372 0.27580139] [ 0.0110288 0.00404867 0.99993098 -0.75073209] [ 0. 0. 0. 1. ]] SLAMing on 102.854553574 meters Centerline goodness [0,1] 0.9014735625541751 Centerline is valid? [False, False] Translation: X:3.11, Y:0.27, Z:-0.75 [[ 0.99989581 0.00832973 -0.01178913 3.11280429] [-0.0083744 0.99995792 -0.00374473 0.27205245] [ 0.01175744 0.00384307 0.99992349 -0.75103098] [ 0. 0. 0. 1. ]] SLAMing on 102.884553574 meters Centerline goodness [0,1] 0.9025061567434449 Centerline is valid? [False, False] Translation: X:3.11, Y:0.27, Z:-0.75 [[ 0.99989379 0.00816877 -0.01207001 3.11360475] [-0.00821033 0.99996052 -0.00339795 0.2705472 ] [ 0.01204178 0.00349669 0.99992138 -0.75099604] [ 0. 0. 0. 1. ]] SLAMing on 102.914553574 meters Centerline goodness [0,1] 0.8868650323331878 Centerline is valid? [False, False] Translation: X:3.11, Y:0.27, Z:-0.75 [[ 9.99892730e-01 8.27240087e-03 -1.20869844e-02 3.11347420e+00] [-8.30086251e-03 9.99962887e-01 -2.30646636e-03 2.67461720e-01] [ 1.20674558e-02 2.40655134e-03 9.99924290e-01 -7.49937103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.944553574 meters Centerline goodness [0,1] 0.8977594536065301 Centerline is valid? [False, False] Translation: X:3.11, Y:0.27, Z:-0.75 [[ 9.99891087e-01 8.33252388e-03 -1.21812373e-02 3.11374915e+00] [-8.35630251e-03 9.99963276e-01 -1.90247740e-03 2.66092019e-01] [ 1.21649375e-02 2.00406030e-03 9.99923996e-01 -7.49891302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.974553574 meters Centerline goodness [0,1] 0.89430724152365 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:-0.75 [[ 9.99887720e-01 7.97482481e-03 -1.26866233e-02 3.11610464e+00] [-7.99914460e-03 9.99966263e-01 -1.86737612e-03 2.64211553e-01] [ 1.26713033e-02 1.96864859e-03 9.99917778e-01 -7.51835320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.004553574 meters Centerline goodness [0,1] 0.8950052465897167 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:-0.75 [[ 9.99885586e-01 7.70874163e-03 -1.30150289e-02 3.11751593e+00] [-7.73325595e-03 9.99968416e-01 -1.83426374e-03 2.63115983e-01] [ 1.30004780e-02 1.93470242e-03 9.99913619e-01 -7.52816164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.034553574 meters Centerline goodness [0,1] 0.8898594039400572 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:-0.75 [[ 9.99882221e-01 7.33078241e-03 -1.34834462e-02 3.11915098e+00] [-7.35161839e-03 9.99971857e-01 -1.49638535e-03 2.60679305e-01] [ 1.34720971e-02 1.59533426e-03 9.99907975e-01 -7.53384563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.064553574 meters Centerline goodness [0,1] 0.8837189663908124 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:-0.75 [[ 9.99881446e-01 7.16452867e-03 -1.36294829e-02 3.11973416e+00] [-7.18384258e-03 9.99973259e-01 -1.36863754e-03 2.59680874e-01] [ 1.36193127e-02 1.46638734e-03 9.99906178e-01 -7.53426491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.094553574 meters Centerline goodness [0,1] 0.8946800177826704 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:-0.75 [[ 9.99881522e-01 7.23665801e-03 -1.35857305e-02 3.11901730e+00] [-7.24487129e-03 9.99973601e-01 -5.55433640e-04 2.57916471e-01] [ 1.35813524e-02 6.53794702e-04 9.99907555e-01 -7.51608979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.124553574 meters Centerline goodness [0,1] 0.8960802187784868 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:-0.75 [[ 9.99881456e-01 6.97425427e-03 -1.37270976e-02 3.11920277e+00] [-6.97593365e-03 9.99975665e-01 -7.44617756e-05 2.56481700e-01] [ 1.37262443e-02 1.70212271e-04 9.99905776e-01 -7.50590169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.154553574 meters Centerline goodness [0,1] 0.8939262335021079 Centerline is valid? [False, False] Translation: X:3.11, Y:0.26, Z:-0.75 [[ 9.99981085e-01 1.50129675e-03 -5.96446942e-03 3.11140241e+00] [-1.49814745e-03 9.99998736e-01 5.32442467e-04 2.56498355e-01] [ 5.96526123e-03 -5.23496742e-04 9.99982071e-01 -7.54935248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.184553574 meters Centerline goodness [0,1] 0.8947971481921575 Centerline is valid? [False, False] Translation: X:3.11, Y:0.26, Z:-0.76 [[ 9.99978662e-01 6.43866575e-04 -6.50090778e-03 3.11340475e+00] [-6.42235784e-04 9.99999762e-01 2.52940316e-04 2.55726482e-01] [ 6.50106909e-03 -2.48759803e-04 9.99978837e-01 -7.55596692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.214553574 meters Centerline goodness [0,1] 0.8913569760033977 Centerline is valid? [False, False] Translation: X:3.12, Y:0.25, Z:-0.76 [[ 9.99975415e-01 -1.43020625e-04 -7.01067188e-03 3.11517361e+00] [ 1.44096287e-04 9.99999978e-01 1.52927292e-04 2.54814653e-01] [ 7.01064985e-03 -1.53933744e-04 9.99975413e-01 -7.55926263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.244553574 meters Centerline goodness [0,1] 0.8955106717019561 Centerline is valid? [False, False] Translation: X:3.12, Y:0.25, Z:-0.76 [[ 9.99965011e-01 -2.11472879e-03 -8.09354379e-03 3.11966589e+00] [ 2.10806826e-03 9.99997432e-01 -8.31386050e-04 2.54509504e-01] [ 8.09528117e-03 8.14295218e-04 9.99966901e-01 -7.57998191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.274553574 meters Centerline goodness [0,1] 0.8937981869016351 Centerline is valid? [False, False] Translation: X:3.12, Y:0.25, Z:-0.76 [[ 9.99957273e-01 -2.89178980e-03 -8.78005754e-03 3.12225247e+00] [ 2.88094006e-03 9.99995071e-01 -1.24812224e-03 2.54637605e-01] [ 8.78362357e-03 1.22277409e-03 9.99960676e-01 -7.59299647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.304553574 meters Centerline goodness [0,1] 0.8600152548836815 Centerline is valid? [False, False] Translation: X:3.12, Y:0.25, Z:-0.76 [[ 9.99945877e-01 -4.05261110e-03 -9.58219477e-03 3.12496518e+00] [ 4.03807510e-03 9.99990668e-01 -1.53584129e-03 2.53671585e-01] [ 9.58832951e-03 1.49706454e-03 9.99952910e-01 -7.59788750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.334553574 meters Centerline goodness [0,1] 0.8971326848496408 Centerline is valid? [False, False] Translation: X:3.12, Y:0.25, Z:-0.76 [[ 9.99945589e-01 -4.01774559e-03 -9.62692101e-03 3.12478501e+00] [ 4.00667393e-03 9.99991290e-01 -1.16908383e-03 2.52980380e-01] [ 9.63153424e-03 1.13044829e-03 9.99952977e-01 -7.58942527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.364553574 meters Centerline goodness [0,1] 0.8797780648440312 Centerline is valid? [False, False] Translation: X:3.12, Y:0.25, Z:-0.76 [[ 9.99950350e-01 -3.34630778e-03 -9.38615804e-03 3.12341974e+00] [ 3.34031370e-03 9.99994207e-01 -6.54213049e-04 2.53354422e-01] [ 9.38829286e-03 6.22827855e-04 9.99955735e-01 -7.57662330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.394553574 meters Centerline goodness [0,1] 0.8994377985374308 Centerline is valid? [False, False] Translation: X:3.12, Y:0.25, Z:-0.76 [[ 9.99953046e-01 -2.77504364e-03 -9.28469798e-03 3.12278655e+00] [ 2.77041859e-03 9.99996032e-01 -5.10961097e-04 2.54473880e-01] [ 9.28607907e-03 4.85214605e-04 9.99956766e-01 -7.57421358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.424553574 meters Centerline goodness [0,1] 0.889714889123548 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:-0.76 [[ 9.99957159e-01 -1.68381123e-03 -9.10195883e-03 3.12158094e+00] [ 1.68291110e-03 9.99998578e-01 -1.06552725e-04 2.56010568e-01] [ 9.10212530e-03 9.12303722e-05 9.99958571e-01 -7.56942755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.454553574 meters Centerline goodness [0,1] 0.8960495022414918 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:-0.76 [[ 9.99956494e-01 -1.45259825e-03 -9.21407788e-03 3.12207071e+00] [ 1.45079183e-03 9.99998927e-01 -2.02730700e-04 2.56683763e-01] [ 9.21436248e-03 1.89354171e-04 9.99957529e-01 -7.57480084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.484553574 meters Centerline goodness [0,1] 0.895913289190671 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:-0.76 [[ 9.99960463e-01 -6.09951590e-05 -8.89208185e-03 3.12029517e+00] [ 6.47634816e-05 9.99999908e-01 4.23496737e-04 2.58137884e-01] [ 8.89205520e-03 -4.24055875e-04 9.99960375e-01 -7.56761477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.514553574 meters Centerline goodness [0,1] 0.8821896490084331 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:-0.76 [[ 9.99960208e-01 2.11071595e-04 -8.91841414e-03 3.12039728e+00] [-2.08305011e-04 9.99999930e-01 3.11138172e-04 2.59191155e-01] [ 8.91847919e-03 -3.09268040e-04 9.99960182e-01 -7.57102710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.544553574 meters Centerline goodness [0,1] 0.8902745755606791 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:-0.76 [[ 9.99960796e-01 1.24480996e-03 -8.76681862e-03 3.11946767e+00] [-1.24104750e-03 9.99999135e-01 4.34597788e-04 2.61860148e-01] [ 8.76735204e-03 -4.23700712e-04 9.99961476e-01 -7.57042818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.574553574 meters Centerline goodness [0,1] 0.8909612926210785 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:-0.76 [[ 9.99961639e-01 1.99015345e-03 -8.52994369e-03 3.11804074e+00] [-1.98579005e-03 9.99997893e-01 5.19977804e-04 2.63297414e-01] [ 8.53096055e-03 -5.03019179e-04 9.99963484e-01 -7.55784518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.604553574 meters Centerline goodness [0,1] 0.8937620605755516 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:-0.75 [[ 9.99962145e-01 2.35553423e-03 -8.37614990e-03 3.11714818e+00] [-2.34924159e-03 9.99996951e-01 7.61016816e-04 2.63203727e-01] [ 8.37791696e-03 -7.41310408e-04 9.99964630e-01 -7.54804400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.634553574 meters Centerline goodness [0,1] 0.8949975960030938 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:-0.75 [[ 9.99962079e-01 3.35459604e-03 -8.03656496e-03 3.11583109e+00] [-3.34825929e-03 9.99994073e-01 8.01815368e-04 2.64842880e-01] [ 8.03920710e-03 -7.74876459e-04 9.99967385e-01 -7.54559648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.664553574 meters Centerline goodness [0,1] 0.8949477242847305 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:-0.76 [[ 9.99960455e-01 3.66350283e-03 -8.10347200e-03 3.11634412e+00] [-3.66011326e-03 9.99993208e-01 4.33076810e-04 2.66684104e-01] [ 8.10500354e-03 -4.03400059e-04 9.99967073e-01 -7.55637154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.694553574 meters Centerline goodness [0,1] 0.8936077148986691 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:-0.76 [[ 9.99956019e-01 4.37117637e-03 -8.29772516e-03 3.11708150e+00] [-4.37147145e-03 9.99990445e-01 -1.74250371e-05 2.69668843e-01] [ 8.29756971e-03 5.36975394e-05 9.99965573e-01 -7.57284821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.724553574 meters Centerline goodness [0,1] 0.8936077148986691 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:-0.76 [[ 9.99956019e-01 4.37117637e-03 -8.29772516e-03 3.11708150e+00] [-4.37147145e-03 9.99990445e-01 -1.74250371e-05 2.69668843e-01] [ 8.29756971e-03 5.36975394e-05 9.99965573e-01 -7.57284821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.754553574 meters Centerline goodness [0,1] 0.8914764205965673 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:-0.76 [[ 9.99954793e-01 4.33457501e-03 -8.46307707e-03 3.11786843e+00] [-4.33626818e-03 9.99990582e-01 -1.81726899e-04 2.69686352e-01] [ 8.46220966e-03 2.18416855e-04 9.99964171e-01 -7.57951848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.784553574 meters Centerline goodness [0,1] 0.8935237379431291 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:-0.76 [[ 9.99955117e-01 4.14785152e-03 -8.51815519e-03 3.11805970e+00] [-4.14834386e-03 9.99991395e-01 -4.01310681e-05 2.68527412e-01] [ 8.51791543e-03 7.54655037e-05 9.99963719e-01 -7.57458684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.814553574 meters Centerline goodness [0,1] 0.8947489299509344 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:-0.76 [[ 9.99956137e-01 3.81241164e-03 -8.55512857e-03 3.11801071e+00] [-3.81106122e-03 9.99992723e-01 1.74146396e-04 2.67770724e-01] [ 8.55573023e-03 -1.41534638e-04 9.99963389e-01 -7.56507600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.844553574 meters Centerline goodness [0,1] 0.8930591796263438 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:-0.76 [[ 9.99954615e-01 3.41035257e-03 -8.89586903e-03 3.11937524e+00] [-3.41152178e-03 9.99994174e-01 -1.16262440e-04 2.68107117e-01] [ 8.89542071e-03 1.46605614e-04 9.99960424e-01 -7.57266526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.874553574 meters Centerline goodness [0,1] 0.8915878878941548 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:-0.76 [[ 9.99950963e-01 2.16031792e-03 -9.66458433e-03 3.12235436e+00] [-2.16670432e-03 9.99997441e-01 -6.50382708e-04 2.67547738e-01] [ 9.66315456e-03 6.71291112e-04 9.99953085e-01 -7.58516105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.904553574 meters Centerline goodness [0,1] 0.8920842289792766 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:-0.76 [[ 9.99948224e-01 1.69932805e-03 -1.00330377e-02 3.12346887e+00] [-1.70440276e-03 9.99998424e-01 -4.97270634e-04 2.66360015e-01] [ 1.00321768e-02 5.14345225e-04 9.99949544e-01 -7.58388042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.934553574 meters Centerline goodness [0,1] 0.8942048094430841 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:-0.76 [[ 9.99946176e-01 1.14936962e-03 -1.03113182e-02 3.12440112e+00] [-1.15078195e-03 9.99999329e-01 -1.31035909e-04 2.64102110e-01] [ 1.03111607e-02 1.42894935e-04 9.99946828e-01 -7.57929403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.964553574 meters Centerline goodness [0,1] 0.8936696133059617 Centerline is valid? [False, False] Translation: X:3.13, Y:0.26, Z:-0.76 [[ 9.99944322e-01 1.05994880e-03 -1.04990262e-02 3.12505336e+00] [-1.05962745e-03 9.99999438e-01 3.61704331e-05 2.63488004e-01] [ 1.04990587e-02 -2.50433628e-05 9.99944883e-01 -7.58046653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.994553574 meters Centerline goodness [0,1] 0.8921467943746987 Centerline is valid? [False, False] Translation: X:3.13, Y:0.26, Z:-0.76 [[ 9.99941266e-01 8.34660796e-04 -1.08058828e-02 3.12621167e+00] [-8.33924636e-04 9.99999650e-01 7.26314950e-05 2.63038626e-01] [ 1.08059396e-02 -6.36159372e-05 9.99941612e-01 -7.58567376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.024553574 meters Centerline goodness [0,1] 0.8935194875873906 Centerline is valid? [False, False] Translation: X:3.13, Y:0.26, Z:-0.76 [[ 9.99931548e-01 -1.69390433e-04 -1.16991542e-02 3.12974133e+00] [ 1.63618235e-04 9.99999864e-01 -4.94341254e-04 2.63221843e-01] [ 1.16992363e-02 4.92393221e-04 9.99931440e-01 -7.60623708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.054553574 meters Centerline goodness [0,1] 0.874337876599041 Centerline is valid? [False, False] Translation: X:3.13, Y:0.26, Z:-0.76 [[ 9.99920305e-01 -1.54194970e-03 -1.25301968e-02 3.13294186e+00] [ 1.53103683e-03 9.99998440e-01 -8.80471204e-04 2.62364982e-01] [ 1.25315349e-02 8.61216842e-04 9.99921106e-01 -7.61653343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.084553574 meters Centerline goodness [0,1] 0.8903209555196373 Centerline is valid? [False, False] Translation: X:3.13, Y:0.26, Z:-0.76 [[ 9.99914479e-01 -2.11593105e-03 -1.29057163e-02 3.13402906e+00] [ 2.10802596e-03 9.99997582e-01 -6.26099095e-04 2.60902069e-01] [ 1.29070099e-02 5.98839966e-04 9.99916522e-01 -7.61171992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.114553574 meters Centerline goodness [0,1] 0.8918759729058858 Centerline is valid? [False, False] Translation: X:3.14, Y:0.26, Z:-0.76 [[ 9.99898375e-01 -4.10426856e-03 -1.36526449e-02 3.13706685e+00] [ 4.08884099e-03 9.99990970e-01 -1.15772718e-03 2.58768221e-01] [ 1.36572732e-02 1.10178604e-03 9.99906128e-01 -7.61424421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.144553574 meters Centerline goodness [0,1] 0.8927040430360595 Centerline is valid? [False, False] Translation: X:3.14, Y:0.26, Z:-0.76 [[ 9.99891226e-01 -4.62993580e-03 -1.40035570e-02 3.13839248e+00] [ 4.61083316e-03 9.99988395e-01 -1.39610623e-03 2.58973291e-01] [ 1.40098584e-02 1.33138631e-03 9.99900971e-01 -7.61816930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.174553574 meters Centerline goodness [0,1] 0.8902408376963351 Centerline is valid? [False, False] Translation: X:3.14, Y:0.26, Z:-0.76 [[ 9.99881736e-01 -5.18000256e-03 -1.44803658e-02 3.13993252e+00] [ 5.15271377e-03 9.99984879e-01 -1.92121148e-03 2.60441702e-01] [ 1.44900987e-02 1.84637109e-03 9.99893308e-01 -7.62235276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.204553574 meters Centerline goodness [0,1] 0.8799765685474592 Centerline is valid? [False, False] Translation: X:3.14, Y:0.26, Z:-0.76 [[ 9.99880249e-01 -5.12964937e-03 -1.46004864e-02 3.14013913e+00] [ 5.10105230e-03 9.99984999e-01 -1.99520577e-03 2.61384194e-01] [ 1.46105021e-02 1.92048900e-03 9.99891417e-01 -7.62081746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.234553574 meters Centerline goodness [0,1] 0.8932303592988884 Centerline is valid? [False, False] Translation: X:3.14, Y:0.26, Z:-0.76 [[ 9.99884334e-01 -1.73788337e-03 -1.51095565e-02 3.14189776e+00] [ 1.76006433e-03 9.99997393e-01 1.45483479e-03 2.63057110e-01] [ 1.51069888e-02 -1.48126030e-03 9.99884786e-01 -7.62479920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.264553574 meters Centerline goodness [0,1] 0.8934569338210842 Centerline is valid? [False, False] Translation: X:3.14, Y:0.26, Z:-0.76 [[ 9.99885719e-01 -1.33153513e-03 -1.50591043e-02 3.14152576e+00] [ 1.35500900e-03 9.99997883e-01 1.54868679e-03 2.63999096e-01] [ 1.50570103e-02 -1.56891502e-03 9.99885406e-01 -7.62216589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.294553574 meters Centerline goodness [0,1] 0.8915652660599904 Centerline is valid? [False, False] Translation: X:3.14, Y:0.27, Z:-0.76 [[ 9.99887124e-01 -8.03352838e-04 -1.50031192e-02 3.14125387e+00] [ 8.26280101e-04 9.99998500e-01 1.52203022e-03 2.65370488e-01] [ 1.50018740e-02 -1.53425520e-03 9.99886288e-01 -7.62201954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.324553574 meters Centerline goodness [0,1] 0.8899585921325052 Centerline is valid? [False, False] Translation: X:3.14, Y:0.27, Z:-0.76 [[ 9.99885771e-01 -5.69745780e-04 -1.51036654e-02 3.14164740e+00] [ 5.88343015e-04 9.99999074e-01 1.22689134e-03 2.67096565e-01] [ 1.51029525e-02 -1.23563733e-03 9.99885180e-01 -7.62779690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.354553574 meters Centerline goodness [0,1] 0.8901051418695088 Centerline is valid? [False, False] Translation: X:3.14, Y:0.27, Z:-0.76 [[ 9.99869474e-01 2.42913854e-03 -1.59728925e-02 3.14480171e+00] [-2.36143077e-03 9.99988153e-01 4.25641240e-03 2.68751669e-01] [ 1.59830427e-02 -4.21813795e-03 9.99863365e-01 -7.64282125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.384553574 meters Centerline goodness [0,1] 0.888148833384726 Centerline is valid? [False, False] Translation: X:3.15, Y:0.27, Z:-0.76 [[ 9.99867008e-01 2.08570231e-03 -1.61745563e-02 3.14571684e+00] [-2.02542951e-03 9.99990948e-01 3.74188261e-03 2.69887981e-01] [ 1.61822144e-02 -3.70862455e-03 9.99862182e-01 -7.64915784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.414553574 meters Centerline goodness [0,1] 0.8897217373446966 Centerline is valid? [False, False] Translation: X:3.15, Y:0.27, Z:-0.76 [[ 9.99866546e-01 1.95862541e-03 -1.62189291e-02 3.14583114e+00] [-1.90009769e-03 9.99991631e-01 3.62322930e-03 2.70596944e-01] [ 1.62258899e-02 -3.59192822e-03 9.99861900e-01 -7.64689403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.444553574 meters Centerline goodness [0,1] 0.8921546508050456 Centerline is valid? [False, False] Translation: X:3.15, Y:0.27, Z:-0.76 [[ 9.99864515e-01 1.56400960e-03 -1.63861169e-02 3.14623009e+00] [-1.50779921e-03 9.99992939e-01 3.44215996e-03 2.71081774e-01] [ 1.63913848e-02 -3.41698662e-03 9.99859814e-01 -7.64084793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.474553574 meters Centerline goodness [0,1] 0.8909701324489754 Centerline is valid? [False, False] Translation: X:3.15, Y:0.27, Z:-0.76 [[ 9.99861359e-01 1.28048966e-03 -1.66019095e-02 3.14702786e+00] [-1.22517654e-03 9.99993667e-01 3.34147506e-03 2.71010672e-01] [ 1.66060830e-02 -3.32067153e-03 9.99856595e-01 -7.64165369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.504553574 meters Centerline goodness [0,1] 0.891679973795193 Centerline is valid? [False, False] Translation: X:3.15, Y:0.27, Z:-0.76 [[ 9.99855555e-01 8.54953061e-04 -1.69746277e-02 3.14851692e+00] [-8.04364719e-04 9.99995216e-01 2.98683652e-03 2.71550186e-01] [ 1.69771001e-02 -2.97275130e-03 9.99851459e-01 -7.64980754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.534553574 meters Centerline goodness [0,1] 0.8930862583255016 Centerline is valid? [False, False] Translation: X:3.15, Y:0.27, Z:-0.76 [[ 9.99855198e-01 9.67259183e-04 -1.69896373e-02 3.14852603e+00] [-9.16151491e-04 9.99995033e-01 3.01569410e-03 2.71907926e-01] [ 1.69924698e-02 -2.99969234e-03 9.99851118e-01 -7.64892784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.564553574 meters Centerline goodness [0,1] 0.889430927498367 Centerline is valid? [False, False] Translation: X:3.16, Y:0.27, Z:-0.77 [[ 9.99932922e-01 4.45066694e-03 -1.06931508e-02 3.16145269e+00] [-4.48284552e-03 9.99985490e-01 -2.98718846e-03 2.72415950e-01] [ 1.06797007e-02 3.03492383e-03 9.99938365e-01 -7.68413518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.594553574 meters Centerline goodness [0,1] 0.8661253891703803 Centerline is valid? [False, False] Translation: X:3.16, Y:0.27, Z:-0.77 [[ 9.99930098e-01 5.77407733e-03 -1.03178700e-02 3.15993789e+00] [-5.79913681e-03 9.99980304e-01 -2.40048005e-03 2.74188309e-01] [ 1.03038062e-02 2.46014699e-03 9.99943888e-01 -7.67825727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.624553574 meters Centerline goodness [0,1] 0.8851628909586367 Centerline is valid? [False, False] Translation: X:3.16, Y:0.28, Z:-0.77 [[ 9.99927943e-01 6.10233562e-03 -1.03378344e-02 3.16014997e+00] [-6.12906712e-03 9.99977950e-01 -2.55608711e-03 2.75374003e-01] [ 1.03220084e-02 2.61926420e-03 9.99943296e-01 -7.68384655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.654553574 meters Centerline goodness [0,1] 0.8935211496305919 Centerline is valid? [False, False] Translation: X:3.16, Y:0.28, Z:-0.77 [[ 9.99925205e-01 6.47726033e-03 -1.03745117e-02 3.16018830e+00] [-6.50324929e-03 9.99975795e-01 -2.47330513e-03 2.76010747e-01] [ 1.03582403e-02 2.54058818e-03 9.99943125e-01 -7.68380069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.684553574 meters Centerline goodness [0,1] 0.8934805553300317 Centerline is valid? [False, False] Translation: X:3.16, Y:0.28, Z:-0.77 [[ 9.99919921e-01 7.72592205e-03 -1.00230731e-02 3.15897359e+00] [-7.74872678e-03 9.99967473e-01 -2.23838791e-03 2.77153597e-01] [ 1.00054535e-02 2.31587472e-03 9.99947262e-01 -7.68343848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.714553574 meters Centerline goodness [0,1] 0.884284328780409 Centerline is valid? [False, False] Translation: X:3.16, Y:0.28, Z:-0.77 [[ 9.99880168e-01 1.15477504e-02 -1.03101212e-02 3.16028511e+00] [-1.15322940e-02 9.99932288e-01 1.55734345e-03 2.77683324e-01] [ 1.03274069e-02 -1.43825749e-03 9.99945637e-01 -7.68771592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.744553574 meters Centerline goodness [0,1] 0.8867448479098965 Centerline is valid? [False, False] Translation: X:3.16, Y:0.28, Z:-0.77 [[ 9.99869943e-01 1.24961635e-02 -1.01952634e-02 3.16021165e+00] [-1.24806277e-02 9.99920856e-01 1.58602888e-03 2.79408559e-01] [ 1.02142758e-02 -1.45857932e-03 9.99946769e-01 -7.69727856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.774553574 meters Centerline goodness [0,1] 0.8931427186818512 Centerline is valid? [False, False] Translation: X:3.16, Y:0.28, Z:-0.77 [[ 9.99866881e-01 1.27507029e-02 -1.01804041e-02 3.16044228e+00] [-1.27371135e-02 9.99917902e-01 1.39858295e-03 2.80186700e-01] [ 1.01974012e-02 -1.26872781e-03 9.99947200e-01 -7.70366815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.804553574 meters Centerline goodness [0,1] 0.893778298835705 Centerline is valid? [False, False] Translation: X:3.16, Y:0.28, Z:-0.77 [[ 9.99858482e-01 1.35151662e-02 -1.00178391e-02 3.15989989e+00] [-1.34985467e-02 9.99907403e-01 1.72475587e-03 2.80025676e-01] [ 1.00402219e-02 -1.58928551e-03 9.99948333e-01 -7.70345085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.834553574 meters Centerline goodness [0,1] 0.892241903449394 Centerline is valid? [False, False] Translation: X:3.16, Y:0.28, Z:-0.77 [[ 9.99846198e-01 1.46290590e-02 -9.67321358e-03 3.15875688e+00] [-1.46086661e-02 9.99890921e-01 2.17549728e-03 2.80334074e-01] [ 9.70398391e-03 -2.03384993e-03 9.99950847e-01 -7.70076928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.864553574 meters Centerline goodness [0,1] 0.8908862452627526 Centerline is valid? [False, False] Translation: X:3.16, Y:0.28, Z:-0.77 [[ 9.99826456e-01 1.61208888e-02 -9.33675692e-03 3.15766671e+00] [-1.60966132e-02 9.99866878e-01 2.66934437e-03 2.82159450e-01] [ 9.37854620e-03 -2.51859096e-03 9.99952849e-01 -7.70216537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.894553574 meters Centerline goodness [0,1] 0.8908862452627526 Centerline is valid? [False, False] Translation: X:3.16, Y:0.28, Z:-0.77 [[ 9.99826456e-01 1.61208888e-02 -9.33675692e-03 3.15766671e+00] [-1.60966132e-02 9.99866878e-01 2.66934437e-03 2.82159450e-01] [ 9.37854620e-03 -2.51859096e-03 9.99952849e-01 -7.70216537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.924553574 meters Centerline goodness [0,1] 0.8897185642107827 Centerline is valid? [False, False] Translation: X:3.16, Y:0.28, Z:-0.77 [[ 9.99819229e-01 1.66295052e-02 -9.21786692e-03 3.15731856e+00] [-1.66038662e-02 9.99858082e-01 2.85104282e-03 2.82429514e-01] [ 9.26397017e-03 -2.69747521e-03 9.99953450e-01 -7.70180778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.954553574 meters Centerline goodness [0,1] 0.8904324445440287 Centerline is valid? [False, False] Translation: X:3.15, Y:0.28, Z:-0.77 [[ 0.99978982 0.01871592 -0.00836858 3.1537108 ] [-0.01867877 0.99981543 0.00449527 0.28104572] [ 0.00845117 -0.00433801 0.99995488 -0.76767343] [ 0. 0. 0. 1. ]] SLAMing on 104.984553574 meters Centerline goodness [0,1] 0.8872204994287579 Centerline is valid? [False, False] Translation: X:3.15, Y:0.28, Z:-0.77 [[ 0.99978726 0.01878844 -0.00851101 3.15444376] [-0.01874958 0.99981353 0.0046223 0.28025644] [ 0.00859627 -0.00446174 0.9999531 -0.76824343] [ 0. 0. 0. 1. ]] SLAMing on 105.014553574 meters Centerline goodness [0,1] 0.8843256080583081 Centerline is valid? [False, False] Translation: X:3.16, Y:0.28, Z:-0.77 [[ 0.99978714 0.01864416 -0.00883598 3.15653251] [-0.01860429 0.99981647 0.00457297 0.27893286] [ 0.00891962 -0.00440761 0.99995051 -0.77033038] [ 0. 0. 0. 1. ]] SLAMing on 105.044553574 meters Centerline goodness [0,1] 0.8831445484525102 Centerline is valid? [False, False] Translation: X:3.16, Y:0.28, Z:-0.77 [[ 0.99979183 0.01824112 -0.00914098 3.15824812] [-0.0182015 0.99982466 0.00439965 0.27805422] [ 0.00921964 -0.00423236 0.99994854 -0.77163143] [ 0. 0. 0. 1. ]] SLAMing on 105.074553574 meters Centerline goodness [0,1] 0.8831949908343804 Centerline is valid? [False, False] Translation: X:3.16, Y:0.28, Z:-0.77 [[ 9.99838982e-01 1.57482491e-02 -8.60253402e-03 3.15768034e+00] [-1.57331565e-02 9.99874571e-01 1.81930029e-03 2.75087868e-01] [ 8.63010581e-03 -1.68366234e-03 9.99961343e-01 -7.72705284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.104553574 meters Centerline goodness [0,1] 0.8827794187511618 Centerline is valid? [False, False] Translation: X:3.16, Y:0.27, Z:-0.77 [[ 9.99842337e-01 1.53571739e-02 -8.91396784e-03 3.15895178e+00] [-1.53397349e-02 9.99880296e-01 2.02145377e-03 2.73048261e-01] [ 8.94394462e-03 -1.88439716e-03 9.99958227e-01 -7.73116414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.134553574 meters Centerline goodness [0,1] 0.877917489348436 Centerline is valid? [False, False] Translation: X:3.16, Y:0.27, Z:-0.77 [[ 9.99880271e-01 1.32521723e-02 -7.98900486e-03 3.15664303e+00] [-1.32554121e-02 9.99912081e-01 -3.52721082e-04 2.69714702e-01] [ 7.98362816e-03 4.58576403e-04 9.99968025e-01 -7.73108356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.164553574 meters Centerline goodness [0,1] 0.8783269166387679 Centerline is valid? [False, False] Translation: X:3.16, Y:0.27, Z:-0.77 [[ 9.99870374e-01 1.42761656e-02 -7.44488683e-03 3.15511114e+00] [-1.42680508e-02 9.99897554e-01 1.14195855e-03 2.65630395e-01] [ 7.46042692e-03 -1.03558650e-03 9.99971634e-01 -7.72245881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.194553574 meters Centerline goodness [0,1] 0.8765587341506864 Centerline is valid? [False, False] Translation: X:3.16, Y:0.26, Z:-0.77 [[ 9.99866892e-01 1.45497634e-02 -7.38260080e-03 3.15534995e+00] [-1.45388305e-02 9.99893131e-01 1.53242773e-03 2.64093066e-01] [ 7.40410829e-03 -1.42488937e-03 9.99971574e-01 -7.72766520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.224553574 meters Centerline goodness [0,1] 0.8736126935899059 Centerline is valid? [False, False] Translation: X:3.16, Y:0.26, Z:-0.77 [[ 9.99857819e-01 1.52613709e-02 -7.17156964e-03 3.15572039e+00] [-1.52446622e-02 9.99880964e-01 2.37878260e-03 2.61056368e-01] [ 7.20701945e-03 -2.26911622e-03 9.99971455e-01 -7.74054738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.254553574 meters Centerline goodness [0,1] 0.8733030714406924 Centerline is valid? [False, False] Translation: X:3.16, Y:0.26, Z:-0.77 [[ 9.99856754e-01 1.53116410e-02 -7.21286626e-03 3.15633581e+00] [-1.52920516e-02 9.99879251e-01 2.76325988e-03 2.59142165e-01] [ 7.25430536e-03 -2.65256453e-03 9.99970169e-01 -7.74627571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.284553574 meters Centerline goodness [0,1] 0.8698671238748392 Centerline is valid? [False, False] Translation: X:3.16, Y:0.25, Z:-0.77 [[ 0.99985356 0.0155395 -0.00716833 3.156798 ] [-0.01550976 0.99987096 0.00418528 0.2530133 ] [ 0.00723244 -0.00407349 0.99996555 -0.77468762] [ 0. 0. 0. 1. ]] SLAMing on 105.314553574 meters Centerline goodness [0,1] 0.8696590884556427 Centerline is valid? [False, False] Translation: X:3.16, Y:0.25, Z:-0.78 [[ 9.99899095e-01 1.25664989e-02 -6.62446019e-03 3.15573964e+00] [-1.25606870e-02 9.99920690e-01 9.18212684e-04 2.50786153e-01] [ 6.63547353e-03 -8.34912260e-04 9.99977636e-01 -7.75502084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.344553574 meters Centerline goodness [0,1] 0.8650983315428296 Centerline is valid? [False, False] Translation: X:3.16, Y:0.24, Z:-0.78 [[ 9.99934633e-01 9.74748149e-03 -5.97634148e-03 3.15543864e+00] [-9.75508200e-03 9.99951644e-01 -1.24393726e-03 2.44386297e-01] [ 5.96392723e-03 1.30215565e-03 9.99981368e-01 -7.76693001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.374553574 meters Centerline goodness [0,1] 0.8657915707455286 Centerline is valid? [False, False] Translation: X:3.16, Y:0.24, Z:-0.78 [[ 9.99958150e-01 6.90860530e-03 -5.99751763e-03 3.15813282e+00] [-6.92575991e-03 9.99971972e-01 -2.84424368e-03 2.38279536e-01] [ 5.97769977e-03 2.88566201e-03 9.99977970e-01 -7.79325041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.404553574 meters Centerline goodness [0,1] 0.86368296705746 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:-0.78 [[ 9.99960181e-01 5.99433478e-03 -6.61088088e-03 3.16068557e+00] [-6.01117497e-03 9.99978731e-01 -2.53042332e-03 2.34687574e-01] [ 6.59557207e-03 2.57006173e-03 9.99974946e-01 -7.80201393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.434553574 meters Centerline goodness [0,1] 0.8630278294799633 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:-0.78 [[ 9.99962058e-01 4.84221661e-03 -7.24119347e-03 3.16341447e+00] [-4.85912489e-03 9.99985505e-01 -2.31924636e-03 2.30647838e-01] [ 7.22985822e-03 2.35434422e-03 9.99971093e-01 -7.81045821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.464553574 meters Centerline goodness [0,1] 0.8593504631420834 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:-0.78 [[ 9.99971905e-01 -4.85822617e-05 -7.49577923e-03 3.16557283e+00] [ 9.02074920e-06 9.99986072e-01 -5.27778208e-03 2.22952232e-01] [ 7.49593124e-03 5.27756618e-03 9.99957978e-01 -7.81992006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.494553574 meters Centerline goodness [0,1] 0.8658581319638681 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:-0.78 [[ 9.99966425e-01 -1.01826109e-03 -8.13091021e-03 3.16797756e+00] [ 9.80956867e-04 9.99988982e-01 -4.59062294e-03 2.18849444e-01] [ 8.13549507e-03 4.58249274e-03 9.99956406e-01 -7.81948708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.524553574 meters Centerline goodness [0,1] 0.8591382904794996 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:-0.78 [[ 0.99994141 -0.00625637 -0.00883358 3.17215606] [ 0.00618372 0.99994702 -0.00822871 0.21347793] [ 0.0088846 0.00817361 0.99992713 -0.78459962] [ 0. 0. 0. 1. ]] SLAMing on 105.554553574 meters Centerline goodness [0,1] 0.8605971404541631 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:-0.79 [[ 0.99988037 -0.01198096 -0.00978317 3.17711712] [ 0.01186097 0.99985483 -0.01223245 0.20884029] [ 0.00992831 0.01211495 0.99987732 -0.7872496 ] [ 0. 0. 0. 1. ]] SLAMing on 105.584553574 meters Centerline goodness [0,1] 0.8631658020141317 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:-0.79 [[ 0.99985515 -0.01328727 -0.01063647 3.18033928] [ 0.01316078 0.99984288 -0.01187511 0.20583509] [ 0.01079259 0.01173341 0.99987292 -0.78740123] [ 0. 0. 0. 1. ]] SLAMing on 105.614553574 meters Centerline goodness [0,1] 0.8631658020141317 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:-0.79 [[ 0.99985515 -0.01328727 -0.01063647 3.18033928] [ 0.01316078 0.99984288 -0.01187511 0.20583509] [ 0.01079259 0.01173341 0.99987292 -0.78740123] [ 0. 0. 0. 1. ]] SLAMing on 105.644553574 meters Centerline goodness [0,1] 0.8587888784165881 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:-0.79 [[ 0.99975455 -0.01891467 -0.01153619 3.1848697 ] [ 0.01872931 0.99969704 -0.01597011 0.20215632] [ 0.01183477 0.01575013 0.99980592 -0.78953164] [ 0. 0. 0. 1. ]] SLAMing on 105.674553574 meters Centerline goodness [0,1] 0.8627701328793682 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:-0.79 [[ 0.99972362 -0.0200036 -0.01235063 3.1878539 ] [ 0.01980854 0.99968022 -0.015719 0.19998359] [ 0.01266112 0.01547 0.99980017 -0.78971937] [ 0. 0. 0. 1. ]] SLAMing on 105.704553574 meters Centerline goodness [0,1] 0.862629807008393 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:-0.79 [[ 0.9996772 -0.02158693 -0.0133979 3.1920798 ] [ 0.02137778 0.99965034 -0.01556234 0.1971962 ] [ 0.01372916 0.01527089 0.99978913 -0.790394 ] [ 0. 0. 0. 1. ]] SLAMing on 105.734553574 meters Centerline goodness [0,1] 0.8609342330355445 Centerline is valid? [False, False] Translation: X:3.20, Y:0.20, Z:-0.79 [[ 0.99970851 -0.01930569 -0.01449807 3.19591184] [ 0.0191426 0.99975285 -0.01130504 0.1950583 ] [ 0.01471273 0.01102422 0.99983099 -0.78980079] [ 0. 0. 0. 1. ]] SLAMing on 105.764553574 meters Centerline goodness [0,1] 0.8672942966502627 Centerline is valid? [False, False] Translation: X:3.20, Y:0.19, Z:-0.79 [[ 0.99975594 -0.01605678 -0.01517367 3.19774852] [ 0.01596302 0.99985286 -0.00628019 0.19284671] [ 0.01527227 0.00603644 0.99986515 -0.7878657 ] [ 0. 0. 0. 1. ]] SLAMing on 105.794553574 meters Centerline goodness [0,1] 0.8595477566160211 Centerline is valid? [False, False] Translation: X:3.20, Y:0.19, Z:-0.79 [[ 9.99819886e-01 -1.15287456e-02 -1.50758963e-02 3.19638495e+00] [ 1.15151135e-02 9.99933208e-01 -9.90726523e-04 1.91488906e-01] [ 1.50863112e-02 8.16947423e-04 9.99885861e-01 -7.85121544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.824553574 meters Centerline goodness [0,1] 0.8625865503177463 Centerline is valid? [False, False] Translation: X:3.20, Y:0.19, Z:-0.78 [[ 0.99985284 -0.00770107 -0.01532931 3.19671738] [ 0.007759 0.99996297 0.00372309 0.19057729] [ 0.01530007 -0.00384148 0.99987557 -0.78337855] [ 0. 0. 0. 1. ]] SLAMing on 105.854553574 meters Centerline goodness [0,1] 0.8647562301981369 Centerline is valid? [False, False] Translation: X:3.21, Y:0.19, Z:-0.79 [[ 9.99954693e-01 -2.06420087e-03 -9.29248096e-03 3.21046826e+00] [ 2.05427215e-03 9.99997309e-01 -1.07788680e-03 1.92599169e-01] [ 9.29468093e-03 1.05874868e-03 9.99956243e-01 -7.88047949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.884553574 meters Centerline goodness [0,1] 0.8618459868312369 Centerline is valid? [False, False] Translation: X:3.21, Y:0.19, Z:-0.79 [[ 9.99955409e-01 2.52226620e-03 -9.10048547e-03 3.20919988e+00] [-2.48929513e-03 9.99990304e-01 3.63251148e-03 1.92523191e-01] [ 9.10955940e-03 -3.60969571e-03 9.99951992e-01 -7.86194295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.914553574 meters Centerline goodness [0,1] 0.860274360062226 Centerline is valid? [False, False] Translation: X:3.21, Y:0.19, Z:-0.79 [[ 0.99995457 0.00370893 -0.00878091 3.20805195] [-0.00367798 0.99998697 0.00353888 0.19361182] [ 0.00879393 -0.00350643 0.99995518 -0.78715463] [ 0. 0. 0. 1. ]] SLAMing on 105.944553574 meters Centerline goodness [0,1] 0.8669537998070089 Centerline is valid? [False, False] Translation: X:3.21, Y:0.19, Z:-0.79 [[ 9.99953433e-01 3.85064138e-03 -8.84897760e-03 3.20873261e+00] [-3.82294631e-03 9.99987748e-01 3.14453472e-03 1.94323570e-01] [ 8.86097766e-03 -3.11055912e-03 9.99955903e-01 -7.88444006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.974553574 meters Centerline goodness [0,1] 0.8595093754405752 Centerline is valid? [False, False] Translation: X:3.21, Y:0.20, Z:-0.79 [[ 9.99950751e-01 4.23412286e-03 -8.97590882e-03 3.20966540e+00] [-4.21061666e-03 9.99987661e-01 2.63609183e-03 1.95425763e-01] [ 8.98695960e-03 -2.59816789e-03 9.99956241e-01 -7.90495385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.004553574 meters Centerline goodness [0,1] 0.861304593373494 Centerline is valid? [False, False] Translation: X:3.21, Y:0.20, Z:-0.79 [[ 9.99949124e-01 4.22180261e-03 -9.16105100e-03 3.21076167e+00] [-4.20242518e-03 9.99988894e-01 2.13341718e-03 1.96447725e-01] [ 9.16995612e-03 -2.09481001e-03 9.99955761e-01 -7.91928420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.034553574 meters Centerline goodness [0,1] 0.8585626013203956 Centerline is valid? [False, False] Translation: X:3.21, Y:0.20, Z:-0.79 [[ 9.99947866e-01 4.80364114e-03 -9.01055581e-03 3.21027316e+00] [-4.78557766e-03 9.99986498e-01 2.02519236e-03 1.97434481e-01] [ 9.02016245e-03 -1.98196606e-03 9.99957353e-01 -7.92488583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.064553574 meters Centerline goodness [0,1] 0.8592843213270365 Centerline is valid? [False, False] Translation: X:3.21, Y:0.20, Z:-0.79 [[ 9.99946747e-01 4.98667748e-03 -9.03523617e-03 3.21060871e+00] [-4.97004246e-03 9.99985915e-01 1.86264653e-03 1.97697751e-01] [ 9.04439732e-03 -1.81764183e-03 9.99957447e-01 -7.93308703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.094553574 meters Centerline goodness [0,1] 0.8586181749747113 Centerline is valid? [False, False] Translation: X:3.21, Y:0.20, Z:-0.79 [[ 9.99944457e-01 5.12741322e-03 -9.20826174e-03 3.21167537e+00] [-5.11337198e-03 9.99985729e-01 1.54774892e-03 1.98049579e-01] [ 9.21606628e-03 -1.50057769e-03 9.99956405e-01 -7.94929816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.124553574 meters Centerline goodness [0,1] 0.8581556953704573 Centerline is valid? [False, False] Translation: X:3.21, Y:0.20, Z:-0.79 [[ 9.99944792e-01 5.43431961e-03 -8.99340360e-03 3.21102090e+00] [-5.41876909e-03 9.99983783e-01 1.75256871e-03 1.97949854e-01] [ 9.00278177e-03 -1.70373877e-03 9.99958023e-01 -7.94721470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.154553574 meters Centerline goodness [0,1] 0.856857679661813 Centerline is valid? [False, False] Translation: X:3.21, Y:0.20, Z:-0.79 [[ 9.99944631e-01 5.76212206e-03 -8.80530992e-03 3.21027861e+00] [-5.74409752e-03 9.99981358e-01 2.07092903e-03 1.97718735e-01] [ 8.81707872e-03 -2.02023581e-03 9.99959088e-01 -7.94046934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.184553574 meters Centerline goodness [0,1] 0.8579639138832619 Centerline is valid? [False, False] Translation: X:3.21, Y:0.20, Z:-0.79 [[ 0.99994257 0.00744543 -0.0077089 3.2056597 ] [-0.00741981 0.99996687 0.0033476 0.19699687] [ 0.00773357 -0.00329021 0.99996468 -0.79104346] [ 0. 0. 0. 1. ]] SLAMing on 106.214553574 meters Centerline goodness [0,1] 0.8594305630784448 Centerline is valid? [False, False] Translation: X:3.20, Y:0.20, Z:-0.79 [[ 0.99994018 0.00811429 -0.00733425 3.20432038] [-0.00808725 0.99996042 0.00370824 0.19699537] [ 0.00736405 -0.00364871 0.99996623 -0.79046418] [ 0. 0. 0. 1. ]] SLAMing on 106.244553574 meters Centerline goodness [0,1] 0.8560368228490499 Centerline is valid? [False, False] Translation: X:3.20, Y:0.20, Z:-0.79 [[ 0.9999308 0.00980718 -0.00649692 3.20159418] [-0.0097789 0.99994264 0.00436943 0.1964648 ] [ 0.0065394 -0.0043056 0.99996935 -0.79042052] [ 0. 0. 0. 1. ]] SLAMing on 106.274553574 meters Centerline goodness [0,1] 0.8571056864414798 Centerline is valid? [False, False] Translation: X:3.20, Y:0.20, Z:-0.79 [[ 0.99992774 0.01023956 -0.00629834 3.20130774] [-0.01021136 0.99993777 0.00449316 0.19580557] [ 0.00634396 -0.00442852 0.99997007 -0.79105425] [ 0. 0. 0. 1. ]] SLAMing on 106.304553574 meters Centerline goodness [0,1] 0.8553899463616081 Centerline is valid? [False, False] Translation: X:3.20, Y:0.19, Z:-0.79 [[ 0.99992039 0.01122167 -0.0057696 3.20062582] [-0.01119286 0.99992485 0.00500058 0.19362788] [ 0.00582528 -0.0049356 0.99997085 -0.79245262] [ 0. 0. 0. 1. ]] SLAMing on 106.334553574 meters Centerline goodness [0,1] 0.8534857740486321 Centerline is valid? [False, False] Translation: X:3.20, Y:0.19, Z:-0.79 [[ 0.9999189 0.0113748 -0.00572753 3.20109209] [-0.01134525 0.9999223 0.00516584 0.19232227] [ 0.00578584 -0.00510044 0.99997025 -0.7934229 ] [ 0. 0. 0. 1. ]] SLAMing on 106.364553574 meters Centerline goodness [0,1] 0.8531766962359146 Centerline is valid? [False, False] Translation: X:3.20, Y:0.19, Z:-0.79 [[ 0.99991702 0.01160767 -0.00558759 3.20121644] [-0.01157294 0.99991376 0.00620724 0.18796372] [ 0.00565916 -0.00614206 0.99996512 -0.79343819] [ 0. 0. 0. 1. ]] SLAMing on 106.394553574 meters Centerline goodness [0,1] 0.8535169009654238 Centerline is valid? [False, False] Translation: X:3.20, Y:0.18, Z:-0.79 [[ 0.99994381 0.00975587 -0.00414689 3.19781473] [-0.00973892 0.99994422 0.004087 0.18225907] [ 0.00418653 -0.00404638 0.99998305 -0.79373431] [ 0. 0. 0. 1. ]] SLAMing on 106.424553574 meters Centerline goodness [0,1] 0.8526609285974057 Centerline is valid? [False, False] Translation: X:3.20, Y:0.18, Z:-0.79 [[ 0.99994294 0.00984532 -0.00414629 3.19835912] [-0.00982655 0.99994148 0.00452486 0.17969041] [ 0.0041906 -0.00448386 0.99998117 -0.79448322] [ 0. 0. 0. 1. ]] SLAMing on 106.454553574 meters Centerline goodness [0,1] 0.8500978473581213 Centerline is valid? [False, False] Translation: X:3.20, Y:0.18, Z:-0.80 [[ 0.99993793 0.01048546 -0.00376777 3.19876052] [-0.01046535 0.9999311 0.00531786 0.17524697] [ 0.00382327 -0.0052781 0.99997876 -0.7965323 ] [ 0. 0. 0. 1. ]] SLAMing on 106.484553574 meters Centerline goodness [0,1] 0.8522810980700289 Centerline is valid? [False, False] Translation: X:3.20, Y:0.17, Z:-0.80 [[ 0.99993659 0.01059884 -0.00380462 3.19933257] [-0.01057685 0.99992751 0.00575421 0.17261918] [ 0.00386533 -0.00571361 0.99997621 -0.79728119] [ 0. 0. 0. 1. ]] SLAMing on 106.514553574 meters Centerline goodness [0,1] 0.8524134880062918 Centerline is valid? [False, False] Translation: X:3.20, Y:0.17, Z:-0.80 [[ 0.99993266 0.01103192 -0.00360123 3.1989297 ] [-0.0110086 0.99991871 0.00643359 0.16991691] [ 0.00367191 -0.00639351 0.99997282 -0.7974022 ] [ 0. 0. 0. 1. ]] SLAMing on 106.544553574 meters Centerline goodness [0,1] 0.8495487699344789 Centerline is valid? [False, False] Translation: X:3.20, Y:0.16, Z:-0.80 [[ 9.99912907e-01 1.29852664e-02 -2.35802887e-03 3.19529224e+00] [-1.29653324e-02 9.99881657e-01 8.28082656e-03 1.64365116e-01] [ 2.46527855e-03 -8.24953273e-03 9.99962933e-01 -7.96651227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.574553574 meters Centerline goodness [0,1] 0.8503362391033624 Centerline is valid? [False, False] Translation: X:3.19, Y:0.16, Z:-0.79 [[ 9.99881522e-01 1.53676009e-02 -8.82136175e-04 3.19013427e+00] [-1.53575317e-02 9.99827267e-01 1.04681224e-02 1.58878509e-01] [ 1.04285373e-03 -1.04533347e-02 9.99944819e-01 -7.94817655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.604553574 meters Centerline goodness [0,1] 0.8517973407837952 Centerline is valid? [False, False] Translation: X:3.19, Y:0.16, Z:-0.80 [[ 9.99872867e-01 1.59374912e-02 -4.96935114e-04 3.18941488e+00] [-1.59311229e-02 9.99813554e-01 1.09113112e-02 1.56755136e-01] [ 6.70741389e-04 -1.09020073e-02 9.99940346e-01 -7.95378782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.634553574 meters Centerline goodness [0,1] 0.8488409973687507 Centerline is valid? [False, False] Translation: X:3.19, Y:0.15, Z:-0.80 [[ 9.99847711e-01 1.74456116e-02 4.53380606e-04 3.18870289e+00] [-1.74497321e-02 9.99778859e-01 1.17362601e-02 1.52499844e-01] [-2.48534110e-04 -1.17423841e-02 9.99931025e-01 -7.98336900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.664553574 meters Centerline goodness [0,1] 0.8490675403225807 Centerline is valid? [False, False] Translation: X:3.19, Y:0.15, Z:-0.80 [[ 9.99842232e-01 1.77509031e-02 6.45431538e-04 3.18908453e+00] [-1.77572397e-02 9.99773934e-01 1.16944573e-02 1.50842828e-01] [-4.37698449e-04 -1.17040734e-02 9.99931409e-01 -8.00275701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.694553574 meters Centerline goodness [0,1] 0.8457649824330814 Centerline is valid? [False, False] Translation: X:3.19, Y:0.15, Z:-0.80 [[ 9.99818895e-01 1.89712412e-02 1.50664204e-03 3.18799964e+00] [-1.89887669e-02 9.99740003e-01 1.26235116e-02 1.45787315e-01] [-1.26676664e-03 -1.26498347e-02 9.99919185e-01 -8.02250569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.724553574 meters Centerline goodness [0,1] 0.8489660078248057 Centerline is valid? [False, False] Translation: X:3.18, Y:0.14, Z:-0.80 [[ 9.99847310e-01 1.72087047e-02 3.03596595e-03 3.18349513e+00] [-1.72351595e-02 9.99811726e-01 8.91418661e-03 1.43821589e-01] [-2.88199275e-03 -8.96515086e-03 9.99955659e-01 -8.03949224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.754553574 meters Centerline goodness [0,1] 0.8500101999184007 Centerline is valid? [False, False] Translation: X:3.18, Y:0.14, Z:-0.80 [[ 0.99984633 0.01674077 0.00520223 3.17680306] [-0.01677636 0.99983562 0.0068758 0.13853614] [-0.00508627 -0.00696202 0.99996283 -0.80412927] [ 0. 0. 0. 1. ]] SLAMing on 106.784553574 meters Centerline goodness [0,1] 0.8492810088944711 Centerline is valid? [False, False] Translation: X:3.17, Y:0.14, Z:-0.81 [[ 9.99860304e-01 1.52831577e-02 6.76741819e-03 3.17254714e+00] [-1.53031100e-02 9.99878677e-01 2.90638217e-03 1.37726656e-01] [-6.72217845e-03 -3.00953870e-03 9.99972877e-01 -8.06826909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.814553574 meters Centerline goodness [0,1] 0.8475656778571796 Centerline is valid? [False, False] Translation: X:3.17, Y:0.14, Z:-0.81 [[ 0.99985687 0.01544997 0.00689476 3.17270121] [-0.01547309 0.9998748 0.00331321 0.13512628] [-0.00684271 -0.00341942 0.99997074 -0.8075341 ] [ 0. 0. 0. 1. ]] SLAMing on 106.844553574 meters Centerline goodness [0,1] 0.8482006373552349 Centerline is valid? [False, False] Translation: X:3.17, Y:0.13, Z:-0.81 [[ 9.99873393e-01 1.34898348e-02 8.43929355e-03 3.17035825e+00] [-1.34956534e-02 9.99908729e-01 6.32896658e-04 1.29633137e-01] [-8.42998562e-03 -7.46710309e-04 9.99964188e-01 -8.10287639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.874553574 meters Centerline goodness [0,1] 0.8484053604820279 Centerline is valid? [False, False] Translation: X:3.17, Y:0.13, Z:-0.81 [[ 9.99881118e-01 1.30642843e-02 8.18988247e-03 3.17201052e+00] [-1.30715791e-02 9.99914212e-01 8.37809455e-04 1.26910287e-01] [-8.17823450e-03 -9.44764551e-04 9.99966111e-01 -8.11401552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.904553574 meters Centerline goodness [0,1] 0.8514176305505285 Centerline is valid? [False, False] Translation: X:3.17, Y:0.12, Z:-0.81 [[ 9.99903565e-01 1.03508849e-02 9.25855557e-03 3.17134977e+00] [-1.03297766e-02 9.99943944e-01 -2.32478491e-03 1.21731794e-01] [-9.28210016e-03 2.22892191e-03 9.99954436e-01 -8.14634463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.934553574 meters Centerline goodness [0,1] 0.8517205808448172 Centerline is valid? [False, False] Translation: X:3.17, Y:0.12, Z:-0.82 [[ 0.99991141 0.00811248 0.01055228 3.16863343] [-0.0080639 0.99995673 -0.00463793 0.1151773 ] [-0.01058944 0.00455243 0.99993357 -0.81545509] [ 0. 0. 0. 1. ]] SLAMing on 106.964553574 meters Centerline goodness [0,1] 0.8511259825791375 Centerline is valid? [False, False] Translation: X:3.17, Y:0.11, Z:-0.82 [[ 0.99991642 0.0077903 0.01031808 3.17017991] [-0.00774673 0.99996093 -0.00425639 0.11226024] [-0.01035084 0.0041761 0.99993771 -0.81631276] [ 0. 0. 0. 1. ]] SLAMing on 106.994553574 meters Centerline goodness [0,1] 0.8500414028901888 Centerline is valid? [False, False] Translation: X:3.17, Y:0.11, Z:-0.82 [[ 0.99992688 0.00701042 0.00985346 3.17348281] [-0.00697279 0.99996828 -0.00384868 0.10692701] [-0.00988012 0.0037797 0.99994405 -0.81859691] [ 0. 0. 0. 1. ]] SLAMing on 107.024553574 meters Centerline goodness [0,1] 0.845842925210129 Centerline is valid? [False, False] Translation: X:3.17, Y:0.10, Z:-0.82 [[ 9.99933717e-01 6.56557206e-03 9.45801017e-03 3.17477651e+00] [-6.53841716e-03 9.99974422e-01 -2.89916685e-03 1.04422060e-01] [-9.47680294e-03 2.83713427e-03 9.99951069e-01 -8.17163403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.054553574 meters Centerline goodness [0,1] 0.852018779342723 Centerline is valid? [False, False] Translation: X:3.18, Y:0.10, Z:-0.82 [[ 9.99943090e-01 5.86627627e-03 8.91091928e-03 3.17644857e+00] [-5.84675274e-03 9.99980453e-01 -2.21544001e-03 1.02982630e-01] [-8.92374148e-03 2.16321399e-03 9.99957843e-01 -8.15431939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.084553574 meters Centerline goodness [0,1] 0.854539590388647 Centerline is valid? [False, False] Translation: X:3.19, Y:0.10, Z:-0.82 [[ 9.99970821e-01 1.20704679e-03 7.54322005e-03 3.18512379e+00] [-1.17919015e-03 9.99992473e-01 -3.69629491e-03 1.01096105e-01] [-7.54762487e-03 3.68729216e-03 9.99964718e-01 -8.17129675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.114553574 meters Centerline goodness [0,1] 0.8506738544474394 Centerline is valid? [False, False] Translation: X:3.19, Y:0.10, Z:-0.82 [[ 9.99979626e-01 -4.18470017e-04 6.36969434e-03 3.19021938e+00] [ 4.44412729e-04 9.99991611e-01 -4.07196425e-03 1.00930965e-01] [-6.36793690e-03 4.07471206e-03 9.99971423e-01 -8.18568103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.144553574 meters Centerline goodness [0,1] 0.8507136497315382 Centerline is valid? [False, False] Translation: X:3.20, Y:0.10, Z:-0.82 [[ 9.99984891e-01 -2.94483118e-03 4.64163960e-03 3.19748907e+00] [ 2.96617985e-03 9.99985024e-01 -4.59922750e-03 1.01566434e-01] [-4.62802614e-03 4.61292595e-03 9.99978651e-01 -8.19711408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.174553574 meters Centerline goodness [0,1] 0.8516415165774244 Centerline is valid? [False, False] Translation: X:3.20, Y:0.10, Z:-0.82 [[ 0.99998353 -0.00469168 0.00330428 3.20228173] [ 0.00470493 0.99998087 -0.00401478 0.10018221] [-0.00328538 0.00403026 0.99998648 -0.81830497] [ 0. 0. 0. 1. ]] SLAMing on 107.204553574 meters Centerline goodness [0,1] 0.8508357755345707 Centerline is valid? [False, False] Translation: X:3.21, Y:0.10, Z:-0.82 [[ 9.99980314e-01 -5.83110377e-03 2.31715434e-03 3.20566329e+00] [ 5.83940576e-03 9.99976498e-01 -3.59237328e-03 9.93640491e-02] [-2.29615238e-03 3.60583337e-03 9.99990863e-01 -8.17250937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.234553574 meters Centerline goodness [0,1] 0.8508357755345707 Centerline is valid? [False, False] Translation: X:3.21, Y:0.10, Z:-0.82 [[ 9.99980314e-01 -5.83110377e-03 2.31715434e-03 3.20566329e+00] [ 5.83940576e-03 9.99976498e-01 -3.59237328e-03 9.93640491e-02] [-2.29615238e-03 3.60583337e-03 9.99990863e-01 -8.17250937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.264553574 meters Centerline goodness [0,1] 0.8532928449421142 Centerline is valid? [False, False] Translation: X:3.21, Y:0.10, Z:-0.82 [[ 9.99979970e-01 -6.00837259e-03 1.98982095e-03 3.20685954e+00] [ 6.01537489e-03 9.99975670e-01 -3.53197445e-03 9.96428640e-02] [-1.96855112e-03 3.54387323e-03 9.99991783e-01 -8.17385208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.294553574 meters Centerline goodness [0,1] 0.851978598006464 Centerline is valid? [False, False] Translation: X:3.21, Y:0.10, Z:-0.82 [[ 9.99993552e-01 -3.51662051e-03 7.27130042e-04 3.21101520e+00] [ 3.51574810e-03 9.99993103e-01 1.19761374e-03 9.87696136e-02] [-7.31336580e-04 -1.19504961e-03 9.99999019e-01 -8.15548554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.324553574 meters Centerline goodness [0,1] 0.8502853124915488 Centerline is valid? [False, False] Translation: X:3.21, Y:0.10, Z:-0.82 [[ 9.99994567e-01 -3.20012115e-03 7.90359817e-04 3.21118898e+00] [ 3.19970974e-03 9.99994745e-01 5.21245182e-04 1.01027299e-01] [-7.92023711e-04 -5.18713429e-04 9.99999552e-01 -8.17175893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.354553574 meters Centerline goodness [0,1] 0.8506830084768641 Centerline is valid? [False, False] Translation: X:3.21, Y:0.10, Z:-0.82 [[ 9.99996195e-01 -2.58661761e-03 9.58764852e-04 3.21045295e+00] [ 2.58617328e-03 9.99996548e-01 4.64389427e-04 1.02320219e-01] [-9.59962740e-04 -4.61908128e-04 9.99999433e-01 -8.17452364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.384553574 meters Centerline goodness [0,1] 0.847062640244397 Centerline is valid? [False, False] Translation: X:3.21, Y:0.10, Z:-0.82 [[ 9.99996975e-01 -2.20861854e-03 1.08221050e-03 3.20988844e+00] [ 2.20799892e-03 9.99997398e-01 5.73411376e-04 1.02659051e-01] [-1.08347413e-03 -5.71020122e-04 9.99999250e-01 -8.17389215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.414553574 meters Centerline goodness [0,1] 0.8478014567035339 Centerline is valid? [False, False] Translation: X:3.21, Y:0.10, Z:-0.82 [[ 9.99997092e-01 -2.29497150e-03 7.41370992e-04 3.21117062e+00] [ 2.29456339e-03 9.99997216e-01 5.50861598e-04 1.02726510e-01] [-7.42633139e-04 -5.49158873e-04 9.99999573e-01 -8.17921985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.444553574 meters Centerline goodness [0,1] 0.8490810460691443 Centerline is valid? [False, False] Translation: X:3.21, Y:0.10, Z:-0.82 [[ 9.99997152e-01 -2.30401809e-03 6.22505768e-04 3.21170309e+00] [ 2.30369579e-03 9.99997212e-01 5.17968012e-04 1.02965653e-01] [-6.23697440e-04 -5.16532473e-04 9.99999672e-01 -8.18254903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.474553574 meters Centerline goodness [0,1] 0.8463567602487148 Centerline is valid? [False, False] Translation: X:3.21, Y:0.10, Z:-0.82 [[ 9.99997008e-01 -2.42139279e-03 3.47128444e-04 3.21311346e+00] [ 2.42137272e-03 9.99997067e-01 5.82133824e-05 1.04509964e-01] [-3.47268383e-04 -5.73726809e-05 9.99999938e-01 -8.19535466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.504553574 meters Centerline goodness [0,1] 0.8454804998922646 Centerline is valid? [False, False] Translation: X:3.22, Y:0.10, Z:-0.82 [[ 9.99995117e-01 -3.11621596e-03 -2.33206657e-04 3.21536593e+00] [ 3.11622400e-03 9.99995144e-01 3.41213338e-05 1.04600653e-01] [ 2.33099195e-04 -3.48478914e-05 9.99999972e-01 -8.19621082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.534553574 meters Centerline goodness [0,1] 0.8454804998922646 Centerline is valid? [False, False] Translation: X:3.22, Y:0.10, Z:-0.82 [[ 9.99995117e-01 -3.11621596e-03 -2.33206657e-04 3.21536593e+00] [ 3.11622400e-03 9.99995144e-01 3.41213338e-05 1.04600653e-01] [ 2.33099195e-04 -3.48478914e-05 9.99999972e-01 -8.19621082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.564553574 meters Centerline goodness [0,1] 0.8461662892267874 Centerline is valid? [False, False] Translation: X:3.22, Y:0.10, Z:-0.82 [[ 9.99984057e-01 -5.37978907e-03 -1.71580665e-03 3.22092866e+00] [ 5.38046114e-03 9.99985450e-01 3.87317667e-04 1.04124863e-01] [ 1.71369800e-03 -3.96543323e-04 9.99998453e-01 -8.18168911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.594553574 meters Centerline goodness [0,1] 0.8489510111387477 Centerline is valid? [False, False] Translation: X:3.22, Y:0.10, Z:-0.82 [[ 9.99976953e-01 -6.32155561e-03 -2.47607972e-03 3.22332463e+00] [ 6.32384322e-03 9.99979584e-01 9.17145593e-04 1.03393748e-01] [ 2.47023138e-03 -9.32782796e-04 9.99996514e-01 -8.16701916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.624553574 meters Centerline goodness [0,1] 0.8503493108191946 Centerline is valid? [False, False] Translation: X:3.23, Y:0.10, Z:-0.81 [[ 9.99965544e-01 -7.55634391e-03 -3.43688864e-03 3.22637622e+00] [ 7.56210960e-03 9.99970016e-01 1.66769875e-03 1.02158641e-01] [ 3.42418388e-03 -1.69363141e-03 9.99992703e-01 -8.14708484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.654553574 meters Centerline goodness [0,1] 0.8528957842579806 Centerline is valid? [False, False] Translation: X:3.23, Y:0.10, Z:-0.82 [[ 9.99892748e-01 -1.38518176e-02 -4.75607102e-03 3.23228550e+00] [ 1.38378356e-02 9.99899871e-01 -2.96024433e-03 1.02283525e-01] [ 4.79659956e-03 2.89411310e-03 9.99984308e-01 -8.15681267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.684553574 meters Centerline goodness [0,1] 0.853138891900683 Centerline is valid? [False, False] Translation: X:3.24, Y:0.10, Z:-0.82 [[ 9.99857298e-01 -1.57458477e-02 -6.11979875e-03 3.23785942e+00] [ 1.57264647e-02 9.99871203e-01 -3.20258588e-03 1.02133730e-01] [ 6.16943797e-03 3.10588606e-03 9.99976145e-01 -8.16363878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.714553574 meters Centerline goodness [0,1] 0.8477248104008668 Centerline is valid? [False, False] Translation: X:3.25, Y:0.10, Z:-0.82 [[ 0.99973029 -0.02148452 -0.00881876 3.25183596] [ 0.02145351 0.99976338 -0.00359686 0.10159639] [ 0.00889395 0.00340669 0.99995465 -0.81656737] [ 0. 0. 0. 1. ]] SLAMing on 107.744553574 meters Centerline goodness [0,1] 0.8488501836984623 Centerline is valid? [False, False] Translation: X:3.26, Y:0.10, Z:-0.81 [[ 9.99587796e-01 -2.64537954e-02 -1.11550431e-02 3.26322823e+00] [ 2.64270989e-02 9.99647532e-01 -2.53390032e-03 9.93314880e-02] [ 1.12181426e-02 2.23806041e-03 9.99934570e-01 -8.13545554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.774553574 meters Centerline goodness [0,1] 0.8479100903450528 Centerline is valid? [False, False] Translation: X:3.27, Y:0.10, Z:-0.81 [[ 9.99537559e-01 -2.78632111e-02 -1.21782693e-02 3.26702095e+00] [ 2.78418507e-02 9.99610497e-01 -1.92004298e-03 9.79128095e-02] [ 1.22270244e-02 1.58008952e-03 9.99923999e-01 -8.12264666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.804553574 meters Centerline goodness [0,1] 0.8501131993126211 Centerline is valid? [False, False] Translation: X:3.27, Y:0.10, Z:-0.81 [[ 9.99501399e-01 -2.88024739e-02 -1.29372213e-02 3.26946961e+00] [ 2.87932339e-02 9.99584984e-01 -8.99950295e-04 9.61881037e-02] [ 1.29577729e-02 5.26997141e-04 9.99915906e-01 -8.10089233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.834553574 meters Centerline goodness [0,1] 0.856357670221493 Centerline is valid? [False, False] Translation: X:3.27, Y:0.09, Z:-0.81 [[ 9.99439674e-01 -3.03178588e-02 -1.41832468e-02 3.27337414e+00] [ 3.03326194e-02 9.99539518e-01 8.26695819e-04 9.37111192e-02] [ 1.41516520e-02 -1.25644763e-03 9.99899071e-01 -8.06200759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.864553574 meters Centerline goodness [0,1] 0.8532838549482933 Centerline is valid? [False, False] Translation: X:3.28, Y:0.09, Z:-0.80 [[ 0.99947141 -0.02844429 -0.01574262 3.2787437 ] [ 0.02853873 0.99957582 0.00580715 0.09191753] [ 0.01557076 -0.00625336 0.99985921 -0.80362475] [ 0. 0. 0. 1. ]] SLAMing on 107.894553574 meters Centerline goodness [0,1] 0.8564525761441989 Centerline is valid? [False, False] Translation: X:3.28, Y:0.09, Z:-0.80 [[ 0.99950342 -0.02640396 -0.01719741 3.28405189] [ 0.02658147 0.99959485 0.01017611 0.09118148] [ 0.01692176 -0.01062819 0.99980033 -0.80256796] [ 0. 0. 0. 1. ]] SLAMing on 107.924553574 meters Centerline goodness [0,1] 0.853976178202241 Centerline is valid? [False, False] Translation: X:3.28, Y:0.09, Z:-0.80 [[ 0.99949966 -0.02648339 -0.01729324 3.28475912] [ 0.0266552 0.99959683 0.00978139 0.09167824] [ 0.01702723 -0.01023745 0.99980261 -0.8035883 ] [ 0. 0. 0. 1. ]] SLAMing on 107.954553574 meters Centerline goodness [0,1] 0.8505781445089843 Centerline is valid? [False, False] Translation: X:3.28, Y:0.09, Z:-0.80 [[ 0.99952174 -0.02582284 -0.01701376 3.2835136 ] [ 0.0259978 0.99961053 0.01014422 0.09110032] [ 0.01674518 -0.01058169 0.99980379 -0.8032222 ] [ 0. 0. 0. 1. ]] SLAMing on 107.984553574 meters Centerline goodness [0,1] 0.8503975601786298 Centerline is valid? [False, False] Translation: X:3.28, Y:0.09, Z:-0.80 [[ 0.9995303 -0.02555156 -0.01692005 3.28307755] [ 0.02572719 0.9996165 0.01024517 0.09102554] [ 0.01665178 -0.01067566 0.99980435 -0.80317941] [ 0. 0. 0. 1. ]] SLAMing on 108.014553574 meters Centerline goodness [0,1] 0.8597524564355898 Centerline is valid? [False, False] Translation: X:3.28, Y:0.09, Z:-0.81 [[ 0.99952688 -0.02556054 -0.01710799 3.28451046] [ 0.02572544 0.99962401 0.00948936 0.09155802] [ 0.016859 -0.00992498 0.99980862 -0.80576912] [ 0. 0. 0. 1. ]] SLAMing on 108.044553574 meters Centerline goodness [0,1] 0.8570186166598723 Centerline is valid? [False, False] Translation: X:3.29, Y:0.09, Z:-0.81 [[ 0.99951466 -0.02586687 -0.0173596 3.28605564] [ 0.02602635 0.99962052 0.00902496 0.09173792] [ 0.01711957 -0.00947239 0.99980858 -0.80733605] [ 0. 0. 0. 1. ]] SLAMing on 108.074553574 meters Centerline goodness [0,1] 0.8542272467864228 Centerline is valid? [False, False] Translation: X:3.29, Y:0.09, Z:-0.81 [[ 0.99948723 -0.02653502 -0.01792104 3.28878173] [ 0.02669319 0.99960629 0.00864506 0.09089015] [ 0.01768459 -0.009119 0.99980203 -0.80902375] [ 0. 0. 0. 1. ]] SLAMing on 108.104553574 meters Centerline goodness [0,1] 0.8599181446111869 Centerline is valid? [False, False] Translation: X:3.29, Y:0.09, Z:-0.81 [[ 0.99947497 -0.02679173 -0.01822078 3.28989143] [ 0.02695422 0.99959853 0.00873168 0.09052276] [ 0.01797952 -0.00921823 0.99979586 -0.80905317] [ 0. 0. 0. 1. ]] SLAMing on 108.134553574 meters Centerline goodness [0,1] 0.8564151457368565 Centerline is valid? [False, False] Translation: X:3.30, Y:0.09, Z:-0.80 [[ 0.99938761 -0.02173327 -0.02742376 3.30116969] [ 0.02184753 0.99975381 0.00387367 0.09118736] [ 0.02733282 -0.00447044 0.99961639 -0.80451554] [ 0. 0. 0. 1. ]] SLAMing on 108.164553574 meters Centerline goodness [0,1] 0.8579043267792554 Centerline is valid? [False, False] Translation: X:3.30, Y:0.09, Z:-0.81 [[ 0.99937779 -0.02186575 -0.02767514 3.30215547] [ 0.02197497 0.99975186 0.00364863 0.09201468] [ 0.02758849 -0.00425452 0.99961031 -0.80505599] [ 0. 0. 0. 1. ]] SLAMing on 108.194553574 meters Centerline goodness [0,1] 0.84472083423854 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:-0.81 [[ 9.99319446e-01 -2.32140667e-02 -2.86662212e-02 3.30714802e+00] [ 2.32880708e-02 9.99726263e-01 2.25037714e-03 9.49085622e-02] [ 2.86061338e-02 -2.91642663e-03 9.99586506e-01 -8.08131768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.224553574 meters Centerline goodness [0,1] 0.8441184460744363 Centerline is valid? [False, False] Translation: X:3.31, Y:0.10, Z:-0.81 [[ 9.99288458e-01 -2.38613729e-02 -2.92097992e-02 3.30942589e+00] [ 2.39292986e-02 9.99711696e-01 1.97804658e-03 9.56451933e-02] [ 2.91541790e-02 -2.67560912e-03 9.99571346e-01 -8.08739850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.254553574 meters Centerline goodness [0,1] 0.8519997826323226 Centerline is valid? [False, False] Translation: X:3.31, Y:0.10, Z:-0.81 [[ 9.99205510e-01 -2.56984570e-02 -3.04620689e-02 3.31393747e+00] [ 2.57752188e-02 9.99665495e-01 2.12985728e-03 9.53867218e-02] [ 3.03971452e-02 -2.91333162e-03 9.99533654e-01 -8.07544286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.284553574 meters Centerline goodness [0,1] 0.8517723170599109 Centerline is valid? [False, False] Translation: X:3.32, Y:0.09, Z:-0.81 [[ 9.99170100e-01 -2.64009730e-02 -3.10177457e-02 3.31564695e+00] [ 2.64941204e-02 9.99645599e-01 2.59581839e-03 9.49321482e-02] [ 3.09382208e-02 -3.41545201e-03 9.99515463e-01 -8.06125294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.314553574 meters Centerline goodness [0,1] 0.8514980814760389 Centerline is valid? [False, False] Translation: X:3.32, Y:0.09, Z:-0.80 [[ 9.99097459e-01 -2.78756727e-02 -3.20501960e-02 3.31905518e+00] [ 2.79823962e-02 9.99604250e-01 2.88609999e-03 9.46240041e-02] [ 3.19570601e-02 -3.78033644e-03 9.99482094e-01 -8.04573807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.344553574 meters Centerline goodness [0,1] 0.8583877995642701 Centerline is valid? [False, False] Translation: X:3.32, Y:0.10, Z:-0.80 [[ 9.99072216e-01 -2.83230799e-02 -3.24424109e-02 3.32058336e+00] [ 2.84287546e-02 9.99591898e-01 2.80058376e-03 9.51598881e-02] [ 3.23498499e-02 -3.72028276e-03 9.99469683e-01 -8.04653973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.374553574 meters Centerline goodness [0,1] 0.8488602173854118 Centerline is valid? [False, False] Translation: X:3.33, Y:0.09, Z:-0.80 [[ 0.99905894 -0.02661295 -0.03424891 3.32699906] [ 0.02692536 0.99959965 0.00869314 0.09413283] [ 0.03400385 -0.00960712 0.99937553 -0.79981902] [ 0. 0. 0. 1. ]] SLAMing on 108.404553574 meters Centerline goodness [0,1] 0.8469285268329759 Centerline is valid? [False, False] Translation: X:3.33, Y:0.09, Z:-0.80 [[ 0.99908194 -0.02610003 -0.03397163 3.32558703] [ 0.02641738 0.99961115 0.00892638 0.09443002] [ 0.03372545 -0.00981562 0.99938293 -0.79912303] [ 0. 0. 0. 1. ]] SLAMing on 108.434553574 meters Centerline goodness [0,1] 0.8533828472297518 Centerline is valid? [False, False] Translation: X:3.34, Y:0.10, Z:-0.81 [[ 9.99323124e-01 -2.37300194e-02 -2.81101542e-02 3.34332360e+00] [ 2.37979677e-02 9.99714614e-01 2.08509204e-03 9.73002418e-02] [ 2.80526527e-02 -2.75264523e-03 9.99602657e-01 -8.05087787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.464553574 meters Centerline goodness [0,1] 0.8514503527885161 Centerline is valid? [False, False] Translation: X:3.35, Y:0.10, Z:-0.80 [[ 0.999374 -0.0203682 -0.02892666 3.34553119] [ 0.02056777 0.99976655 0.00661844 0.09691571] [ 0.0287851 -0.00720925 0.99955963 -0.8035964 ] [ 0. 0. 0. 1. ]] SLAMing on 108.494553574 meters Centerline goodness [0,1] 0.8437794343227751 Centerline is valid? [False, False] Translation: X:3.35, Y:0.10, Z:-0.80 [[ 0.99944352 -0.01608786 -0.02922043 3.34625457] [ 0.01639745 0.9998116 0.0103865 0.09847541] [ 0.02904783 -0.01085986 0.99951903 -0.80408912] [ 0. 0. 0. 1. ]] SLAMing on 108.524553574 meters Centerline goodness [0,1] 0.8446922870196184 Centerline is valid? [False, False] Translation: X:3.36, Y:0.10, Z:-0.81 [[ 9.99630183e-01 -1.36450015e-02 -2.35225763e-02 3.36309105e+00] [ 1.37029264e-02 9.99903458e-01 2.30309279e-03 1.02080723e-01] [ 2.34888797e-02 -2.62456920e-03 9.99720653e-01 -8.12102634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.554553574 meters Centerline goodness [0,1] 0.848703634118847 Centerline is valid? [False, False] Translation: X:3.38, Y:0.10, Z:-0.82 [[ 9.99786354e-01 -8.85710805e-03 -1.86761338e-02 3.38070745e+00] [ 8.79451436e-03 9.99955441e-01 -3.43100653e-03 1.04888133e-01] [ 1.87056905e-02 3.26602598e-03 9.99819699e-01 -8.17892717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.584553574 meters Centerline goodness [0,1] 0.8482226819635132 Centerline is valid? [False, False] Translation: X:3.38, Y:0.10, Z:-0.82 [[ 9.99802304e-01 -7.94053495e-03 -1.82291131e-02 3.37840962e+00] [ 7.89251506e-03 9.99965196e-01 -2.70467624e-03 1.04761782e-01] [ 1.82499552e-02 2.56026799e-03 9.99830178e-01 -8.16354713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.614553574 meters Centerline goodness [0,1] 0.8451486529998926 Centerline is valid? [False, False] Translation: X:3.38, Y:0.10, Z:-0.81 [[ 9.99817092e-01 -4.10766795e-03 -1.86791488e-02 3.37925411e+00] [ 4.15182195e-03 9.99988677e-01 2.32564749e-03 1.03372699e-01] [ 1.86693844e-02 -2.40277461e-03 9.99822825e-01 -8.14025220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.644553574 meters Centerline goodness [0,1] 0.8453124581110426 Centerline is valid? [False, False] Translation: X:3.38, Y:0.10, Z:-0.82 [[ 9.99822346e-01 -3.67074369e-03 -1.84879077e-02 3.37883786e+00] [ 3.71005287e-03 9.99990929e-01 2.09236108e-03 1.04116159e-01] [ 1.84800594e-02 -2.16058048e-03 9.99826895e-01 -8.15032602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.674553574 meters Centerline goodness [0,1] 0.8425006707807888 Centerline is valid? [False, False] Translation: X:3.38, Y:0.10, Z:-0.82 [[ 9.99832569e-01 -2.70156776e-03 -1.80979311e-02 3.37773746e+00] [ 2.73941140e-03 9.99994112e-01 2.06658350e-03 1.04831714e-01] [ 1.80922415e-02 -2.11581516e-03 9.99834083e-01 -8.16263242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.704553574 meters Centerline goodness [0,1] 0.842767464320206 Centerline is valid? [False, False] Translation: X:3.38, Y:0.10, Z:-0.82 [[ 9.99838123e-01 -2.22385486e-03 -1.78544786e-02 3.37699847e+00] [ 2.26083359e-03 9.99995341e-01 2.05120080e-03 1.04722805e-01] [ 1.78498338e-02 -2.09123477e-03 9.99838492e-01 -8.16839030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.734553574 meters Centerline goodness [0,1] 0.8436427038626609 Centerline is valid? [False, False] Translation: X:3.38, Y:0.10, Z:-0.82 [[ 9.99824691e-01 7.55803494e-04 -1.87087031e-02 3.38013564e+00] [-6.27717778e-04 9.99976333e-01 6.85124308e-03 1.01592024e-01] [ 1.87134386e-02 -6.83829821e-03 9.99801503e-01 -8.15553012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.764553574 meters Centerline goodness [0,1] 0.8435863698611745 Centerline is valid? [False, False] Translation: X:3.38, Y:0.10, Z:-0.81 [[ 9.99824986e-01 8.96784502e-04 -1.86867201e-02 3.37983713e+00] [-7.59650250e-04 9.99972741e-01 7.34440046e-03 9.98793933e-02] [ 1.86927971e-02 -7.32891971e-03 9.99798413e-01 -8.14892228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.794553574 meters Centerline goodness [0,1] 0.8464731408856905 Centerline is valid? [False, False] Translation: X:3.38, Y:0.10, Z:-0.81 [[ 9.99848691e-01 -1.40353217e-03 -1.73385734e-02 3.37525228e+00] [ 1.47649472e-03 9.99990107e-01 4.19602162e-03 9.72979198e-02] [ 1.73325126e-02 -4.22098703e-03 9.99840871e-01 -8.14386766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.824553574 meters Centerline goodness [0,1] 0.8470948012232415 Centerline is valid? [False, False] Translation: X:3.38, Y:0.09, Z:-0.81 [[ 9.99846881e-01 -1.58196073e-03 -1.74273618e-02 3.37595146e+00] [ 1.66313821e-03 9.99987831e-01 4.64453964e-03 9.48064603e-02] [ 1.74198023e-02 -4.67281258e-03 9.99837344e-01 -8.14581466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.854553574 meters Centerline goodness [0,1] 0.8465338472395636 Centerline is valid? [False, False] Translation: X:3.38, Y:0.09, Z:-0.82 [[ 9.99842284e-01 -1.86003502e-03 -1.76620485e-02 3.37722489e+00] [ 1.94387484e-03 9.99986920e-01 4.73091021e-03 9.33797201e-02] [ 1.76530178e-02 -4.76449688e-03 9.99832821e-01 -8.15409244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.884553574 meters Centerline goodness [0,1] 0.8453331161426942 Centerline is valid? [False, False] Translation: X:3.38, Y:0.09, Z:-0.82 [[ 9.99834463e-01 -2.34438739e-03 -1.80430405e-02 3.37910249e+00] [ 2.42971596e-03 9.99985962e-01 4.70869987e-03 9.17383951e-02] [ 1.80317482e-02 -4.75175986e-03 9.99826123e-01 -8.16454779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.914553574 meters Centerline goodness [0,1] 0.8439149121375333 Centerline is valid? [False, False] Translation: X:3.38, Y:0.09, Z:-0.82 [[ 9.99830215e-01 -2.64787811e-03 -1.82354183e-02 3.38021755e+00] [ 2.73438530e-03 9.99985119e-01 4.72061191e-03 9.01862596e-02] [ 1.82226474e-02 -4.76967308e-03 9.99822577e-01 -8.17235438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.944553574 meters Centerline goodness [0,1] 0.8446782856516497 Centerline is valid? [False, False] Translation: X:3.38, Y:0.09, Z:-0.82 [[ 9.99841184e-01 -4.74598092e-03 -1.71779892e-02 3.37886592e+00] [ 4.78350794e-03 9.99986260e-01 2.14416983e-03 8.72192554e-02] [ 1.71675770e-02 -2.22600035e-03 9.99850148e-01 -8.19007335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.974553574 meters Centerline goodness [0,1] 0.8446713885686048 Centerline is valid? [False, False] Translation: X:3.38, Y:0.08, Z:-0.82 [[ 9.99833168e-01 -5.31381823e-03 -1.74756913e-02 3.38003962e+00] [ 5.36833085e-03 9.99980866e-01 3.07390936e-03 8.31412411e-02] [ 1.74590227e-02 -3.16721182e-03 9.99842563e-01 -8.17910650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.004553574 meters Centerline goodness [0,1] 0.8471950917544777 Centerline is valid? [False, False] Translation: X:3.38, Y:0.08, Z:-0.82 [[ 0.99982616 -0.00562226 -0.01777725 3.38083833] [ 0.00569131 0.99997645 0.00383574 0.08115612] [ 0.01775527 -0.00393625 0.99983461 -0.81661211] [ 0. 0. 0. 1. ]] SLAMing on 109.034553574 meters Centerline goodness [0,1] 0.8435261707988981 Centerline is valid? [False, False] Translation: X:3.38, Y:0.08, Z:-0.82 [[ 9.99794199e-01 -9.93631856e-03 -1.76869702e-02 3.38149202e+00] [ 9.93239325e-03 9.99950625e-01 -3.09764332e-04 7.93948660e-02] [ 1.76891748e-02 1.34026639e-04 9.99843525e-01 -8.17967023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.064553574 meters Centerline goodness [0,1] 0.8503697979909483 Centerline is valid? [False, False] Translation: X:3.38, Y:0.08, Z:-0.82 [[ 9.99767082e-01 -1.10065707e-02 -1.85643819e-02 3.38478760e+00] [ 1.10082135e-02 9.99939408e-01 -1.36932899e-05 7.82960021e-02] [ 1.85634078e-02 -1.90670580e-04 9.99827667e-01 -8.17697992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.094553574 meters Centerline goodness [0,1] 0.8441873278236914 Centerline is valid? [False, False] Translation: X:3.38, Y:0.08, Z:-0.82 [[ 9.99770181e-01 -1.07568663e-02 -1.85438507e-02 3.38431618e+00] [ 1.07607302e-02 9.99942096e-01 1.08593202e-04 7.94201390e-02] [ 1.85416088e-02 -3.08113620e-04 9.99828042e-01 -8.17015764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.124553574 meters Centerline goodness [0,1] 0.844298546823064 Centerline is valid? [False, False] Translation: X:3.39, Y:0.08, Z:-0.82 [[ 9.99734996e-01 -1.21397364e-02 -1.95592536e-02 3.38837166e+00] [ 1.21338141e-02 9.99926294e-01 -4.21435945e-04 8.08586309e-02] [ 1.95629281e-02 1.83995915e-04 9.99808611e-01 -8.17609441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.154553574 meters Centerline goodness [0,1] 0.8434679727052609 Centerline is valid? [False, False] Translation: X:3.39, Y:0.08, Z:-0.82 [[ 9.99703934e-01 -1.33050749e-02 -2.03720268e-02 3.39192908e+00] [ 1.32903865e-02 9.99911312e-01 -8.56233060e-04 8.16915063e-02] [ 2.03816123e-02 5.85227449e-04 9.99792102e-01 -8.18452410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.184553574 meters Centerline goodness [0,1] 0.8427616071917996 Centerline is valid? [False, False] Translation: X:3.40, Y:0.08, Z:-0.82 [[ 9.99580598e-01 -1.78711244e-02 -2.27870718e-02 3.40315618e+00] [ 1.78498752e-02 9.99840033e-01 -1.13558507e-03 8.21433778e-02] [ 2.28037208e-02 7.28362414e-04 9.99739696e-01 -8.17883135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.214553574 meters Centerline goodness [0,1] 0.8455880327281744 Centerline is valid? [False, False] Translation: X:3.41, Y:0.08, Z:-0.82 [[ 9.99509157e-01 -1.99353860e-02 -2.41666125e-02 3.40835124e+00] [ 1.99125427e-02 9.99801023e-01 -1.18554235e-03 8.13688058e-02] [ 2.41854381e-02 7.03741729e-04 9.99707242e-01 -8.17397712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.244553574 meters Centerline goodness [0,1] 0.8412527593818985 Centerline is valid? [False, False] Translation: X:3.41, Y:0.08, Z:-0.82 [[ 0.99934251 -0.02603941 -0.02522882 3.41333845] [ 0.02588731 0.99964478 -0.00633686 0.08260518] [ 0.02538487 0.00567959 0.99966162 -0.81897784] [ 0. 0. 0. 1. ]] SLAMing on 109.274553574 meters Centerline goodness [0,1] 0.8437922006338707 Centerline is valid? [False, False] Translation: X:3.42, Y:0.08, Z:-0.82 [[ 0.99927672 -0.02746112 -0.02630462 3.41718827] [ 0.02730097 0.99960659 -0.00642856 0.08333327] [ 0.02647081 0.00570577 0.9996333 -0.81843883] [ 0. 0. 0. 1. ]] SLAMing on 109.304553574 meters Centerline goodness [0,1] 0.8639515685195377 Centerline is valid? [False, False] Translation: X:3.42, Y:0.09, Z:-0.82 [[ 0.99915027 -0.03011858 -0.02813539 3.4240652 ] [ 0.02993058 0.99952691 -0.00707961 0.08562131] [ 0.02833531 0.00623148 0.99957905 -0.81816424] [ 0. 0. 0. 1. ]] SLAMing on 109.334553574 meters Centerline goodness [0,1] 0.8408118486012068 Centerline is valid? [False, False] Translation: X:3.43, Y:0.09, Z:-0.81 [[ 9.99119451e-01 -2.90793488e-02 -3.02442410e-02 3.43146324e+00] [ 2.90294182e-02 9.99576375e-01 -2.08878160e-03 8.54094069e-02] [ 3.02921692e-02 1.20896960e-03 9.99540356e-01 -8.14570417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.364553574 meters Centerline goodness [0,1] 0.8349339243207748 Centerline is valid? [False, False] Translation: X:3.43, Y:0.09, Z:-0.82 [[ 9.99204806e-01 -3.26472778e-02 -2.28891135e-02 3.42634029e+00] [ 3.26519499e-02 9.99466769e-01 -1.69690148e-04 9.02445391e-02] [ 2.28824482e-02 -5.77818974e-04 9.99737996e-01 -8.20045303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.394553574 meters Centerline goodness [0,1] 0.8568107856810786 Centerline is valid? [False, False] Translation: X:3.43, Y:0.09, Z:-0.82 [[ 0.99922369 -0.03073678 -0.02464283 3.43158126] [ 0.03085866 0.99951326 0.00458094 0.08991266] [ 0.02449003 -0.00533783 0.99968582 -0.81723328] [ 0. 0. 0. 1. ]] SLAMing on 109.424553574 meters Centerline goodness [0,1] 0.8568107856810786 Centerline is valid? [False, False] Translation: X:3.43, Y:0.09, Z:-0.82 [[ 0.99922369 -0.03073678 -0.02464283 3.43158126] [ 0.03085866 0.99951326 0.00458094 0.08991266] [ 0.02449003 -0.00533783 0.99968582 -0.81723328] [ 0. 0. 0. 1. ]] SLAMing on 109.454553574 meters Centerline goodness [0,1] 0.8478421095733355 Centerline is valid? [False, False] Translation: X:3.43, Y:0.09, Z:-0.82 [[ 0.99920837 -0.03099929 -0.02493359 3.43258203] [ 0.03111392 0.99950692 0.00422274 0.09150761] [ 0.0247904 -0.00499518 0.99968019 -0.81751361] [ 0. 0. 0. 1. ]] SLAMing on 109.484553574 meters Centerline goodness [0,1] 0.8424227602510801 Centerline is valid? [False, False] Translation: X:3.43, Y:0.10, Z:-0.82 [[ 9.99184820e-01 -3.13882339e-02 -2.53864949e-02 3.43395120e+00] [ 3.14848276e-02 9.99498399e-01 3.41410750e-03 9.50768304e-02] [ 2.52665982e-02 -4.21061380e-03 9.99671881e-01 -8.18003506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.514553574 meters Centerline goodness [0,1] 0.8472824907789108 Centerline is valid? [False, False] Translation: X:3.43, Y:0.10, Z:-0.82 [[ 9.99194368e-01 -3.11231164e-02 -2.53370504e-02 3.43314955e+00] [ 3.12195187e-02 9.99506708e-01 3.41806376e-03 9.72053228e-02] [ 2.52181711e-02 -4.20632058e-03 9.99673122e-01 -8.16913404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.544553574 meters Centerline goodness [0,1] 0.8452945801588808 Centerline is valid? [False, False] Translation: X:3.43, Y:0.10, Z:-0.82 [[ 0.999209 -0.03078021 -0.02517856 3.43209059] [ 0.03088088 0.99951652 0.00361927 0.09825223] [ 0.02505498 -0.00439394 0.99967642 -0.8158985 ] [ 0. 0. 0. 1. ]] SLAMing on 109.574553574 meters Centerline goodness [0,1] 0.8388559093362116 Centerline is valid? [False, False] Translation: X:3.44, Y:0.10, Z:-0.81 [[ 0.99926261 -0.02797371 -0.02630016 3.4351473 ] [ 0.02819413 0.99957007 0.00804806 0.0980242 ] [ 0.02606372 -0.00878363 0.99962169 -0.81414986] [ 0. 0. 0. 1. ]] SLAMing on 109.604553574 meters Centerline goodness [0,1] 0.8416698108122675 Centerline is valid? [False, False] Translation: X:3.43, Y:0.10, Z:-0.81 [[ 0.99927514 -0.02751767 -0.02630551 3.43485141] [ 0.02772208 0.999588 0.00743791 0.10165646] [ 0.02609 -0.00816176 0.99962628 -0.81497167] [ 0. 0. 0. 1. ]] SLAMing on 109.634553574 meters Centerline goodness [0,1] 0.8377257921231862 Centerline is valid? [False, False] Translation: X:3.43, Y:0.10, Z:-0.81 [[ 0.99929759 -0.02697405 -0.02601407 3.43358154] [ 0.0271734 0.99960378 0.00734041 0.1032712 ] [ 0.02580576 -0.00804215 0.99963463 -0.81481943] [ 0. 0. 0. 1. ]] SLAMing on 109.664553574 meters Centerline goodness [0,1] 0.8426121619090934 Centerline is valid? [False, False] Translation: X:3.45, Y:0.11, Z:-0.82 [[ 9.99480007e-01 -2.49762489e-02 -2.03936993e-02 3.45094003e+00] [ 2.49731027e-02 9.99688040e-01 -4.08968971e-04 1.07978352e-01] [ 2.03975518e-02 -1.00537638e-04 9.99791943e-01 -8.21378446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.694553574 meters Centerline goodness [0,1] 0.8354592517478785 Centerline is valid? [False, False] Translation: X:3.45, Y:0.11, Z:-0.82 [[ 0.99952205 -0.02212751 -0.02158809 3.45405291] [ 0.02222312 0.99974422 0.004199 0.10770893] [ 0.02148965 -0.00467675 0.99975813 -0.81925978] [ 0. 0. 0. 1. ]] SLAMing on 109.724553574 meters Centerline goodness [0,1] 0.8549304005950483 Centerline is valid? [False, False] Translation: X:3.45, Y:0.11, Z:-0.82 [[ 0.99953041 -0.02171192 -0.02162286 3.45371963] [ 0.02179182 0.99975652 0.00346672 0.11154634] [ 0.02154233 -0.00393629 0.99976019 -0.81987118] [ 0. 0. 0. 1. ]] SLAMing on 109.754553574 meters Centerline goodness [0,1] 0.8422138737499338 Centerline is valid? [False, False] Translation: X:3.45, Y:0.11, Z:-0.82 [[ 9.99542627e-01 -2.12662980e-02 -2.15007472e-02 3.45299344e+00] [ 2.13408644e-02 9.99766993e-01 3.24457882e-03 1.13749418e-01] [ 2.14267372e-02 -3.70193937e-03 9.99763567e-01 -8.19860189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.784553574 meters Centerline goodness [0,1] 0.8318224939390746 Centerline is valid? [False, False] Translation: X:3.45, Y:0.12, Z:-0.82 [[ 0.99960185 -0.01755977 -0.02208592 3.45396242] [ 0.01772565 0.99981596 0.00733764 0.11567487] [ 0.021953 -0.00772621 0.99972915 -0.81833722] [ 0. 0. 0. 1. ]] SLAMing on 109.814553574 meters Centerline goodness [0,1] 0.8418438411605477 Centerline is valid? [False, False] Translation: X:3.45, Y:0.12, Z:-0.82 [[ 0.99961242 -0.01718415 -0.02190251 3.45329138] [ 0.01733831 0.99982609 0.00686836 0.11746169] [ 0.02178067 -0.00724545 0.99973652 -0.81887417] [ 0. 0. 0. 1. ]] SLAMing on 109.844553574 meters Centerline goodness [0,1] 0.8447927861805028 Centerline is valid? [False, False] Translation: X:3.45, Y:0.12, Z:-0.82 [[ 0.99964377 -0.01588382 -0.02144867 3.45109459] [ 0.01602669 0.9998504 0.00650553 0.12084835] [ 0.02134213 -0.00684696 0.99974878 -0.81934071] [ 0. 0. 0. 1. ]] SLAMing on 109.874553574 meters Centerline goodness [0,1] 0.8495306821450048 Centerline is valid? [False, False] Translation: X:3.45, Y:0.12, Z:-0.82 [[ 0.99965495 -0.01540572 -0.02127561 3.45059058] [ 0.0155335 0.99986221 0.00585394 0.12294478] [ 0.0211825 -0.0061824 0.99975651 -0.82054562] [ 0. 0. 0. 1. ]] SLAMing on 109.904553574 meters Centerline goodness [0,1] 0.8413283168730731 Centerline is valid? [False, False] Translation: X:3.45, Y:0.13, Z:-0.82 [[ 0.9997036 -0.01311999 -0.02050777 3.4467695 ] [ 0.01323679 0.99989687 0.00557019 0.12624344] [ 0.02043258 -0.00583999 0.99977418 -0.82140104] [ 0. 0. 0. 1. ]] SLAMing on 109.934553574 meters Centerline goodness [0,1] 0.8382253271466555 Centerline is valid? [False, False] Translation: X:3.46, Y:0.13, Z:-0.83 [[ 9.99841001e-01 -7.98869057e-03 -1.59421761e-02 3.46352371e+00] [ 7.97276802e-03 9.99967653e-01 -1.06207552e-03 1.29285853e-01] [ 1.59501450e-02 9.34803381e-04 9.99872351e-01 -8.28692733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.964553574 meters Centerline goodness [0,1] 0.8357524429967427 Centerline is valid? [False, False] Translation: X:3.46, Y:0.13, Z:-0.83 [[ 0.99985729 -0.00411774 -0.01638438 3.4643495 ] [ 0.00417776 0.99998468 0.00363065 0.1285486 ] [ 0.01636918 -0.00369858 0.99985918 -0.827139 ] [ 0. 0. 0. 1. ]] SLAMing on 109.994553574 meters Centerline goodness [0,1] 0.8376186143247107 Centerline is valid? [False, False] Translation: X:3.46, Y:0.13, Z:-0.83 [[ 9.99868997e-01 -3.21779080e-03 -1.58629772e-02 3.46265158e+00] [ 3.27242246e-03 9.99988800e-01 3.41922004e-03 1.29606658e-01] [ 1.58517972e-02 -3.47068247e-03 9.99868329e-01 -8.27845521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.024553574 meters Centerline goodness [0,1] 0.8335451739254494 Centerline is valid? [False, False] Translation: X:3.46, Y:0.13, Z:-0.83 [[ 9.99888020e-01 -1.09336284e-03 -1.49248979e-02 3.45893456e+00] [ 1.14164616e-03 9.99994142e-01 3.22694935e-03 1.31816598e-01] [ 1.49212822e-02 -3.24362695e-03 9.99883410e-01 -8.28914321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.054553574 meters Centerline goodness [0,1] 0.8314510697818992 Centerline is valid? [False, False] Translation: X:3.46, Y:0.13, Z:-0.83 [[ 9.99896368e-01 -2.08420284e-04 -1.43948162e-02 3.45691020e+00] [ 2.55981958e-04 9.99994515e-01 3.30231996e-03 1.32540444e-01] [ 1.43940490e-02 -3.30566254e-03 9.99890936e-01 -8.28771715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.084553574 meters Centerline goodness [0,1] 0.8302390706840221 Centerline is valid? [False, False] Translation: X:3.47, Y:0.13, Z:-0.83 [[ 9.99966361e-01 3.40035985e-03 -7.46414578e-03 3.46885318e+00] [-3.42546914e-03 9.99988509e-01 -3.35378509e-03 1.33748467e-01] [ 7.45265594e-03 3.37924047e-03 9.99966519e-01 -8.32937451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.114553574 meters Centerline goodness [0,1] 0.8296854691967768 Centerline is valid? [False, False] Translation: X:3.47, Y:0.13, Z:-0.83 [[ 9.99966926e-01 4.23359076e-03 -6.94429134e-03 3.46677493e+00] [-4.25336312e-03 9.99986936e-01 -2.83498997e-03 1.33404889e-01] [ 6.93219843e-03 2.86443280e-03 9.99971869e-01 -8.32150071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.144553574 meters Centerline goodness [0,1] 0.8297508675609883 Centerline is valid? [False, False] Translation: X:3.47, Y:0.13, Z:-0.83 [[ 9.99966864e-01 4.61353898e-03 -6.70710729e-03 3.46619106e+00] [-4.63340083e-03 9.99984918e-01 -2.94879739e-03 1.33911214e-01] [ 6.69340174e-03 2.97977639e-03 9.99973159e-01 -8.32688545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.174553574 meters Centerline goodness [0,1] 0.8278207591256036 Centerline is valid? [False, False] Translation: X:3.47, Y:0.13, Z:-0.83 [[ 9.99966122e-01 5.21694965e-03 -6.36695090e-03 3.46505253e+00] [-5.23428320e-03 9.99982632e-01 -2.70880587e-03 1.34124997e-01] [ 6.35270862e-03 2.74204052e-03 9.99976062e-01 -8.32749661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.204553574 meters Centerline goodness [0,1] 0.8286427067903641 Centerline is valid? [False, False] Translation: X:3.47, Y:0.13, Z:-0.83 [[ 9.99966809e-01 4.93914292e-03 -6.47957991e-03 3.46538521e+00] [-4.95271833e-03 9.99985570e-01 -2.08073593e-03 1.32537114e-01] [ 6.46920937e-03 2.11275840e-03 9.99976843e-01 -8.31569476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.234553574 meters Centerline goodness [0,1] 0.8279872004994927 Centerline is valid? [False, False] Translation: X:3.47, Y:0.13, Z:-0.83 [[ 9.99966739e-01 4.23837864e-03 -6.96830982e-03 3.46708401e+00] [-4.25132890e-03 9.99989262e-01 -1.84468862e-03 1.31129908e-01] [ 6.96041650e-03 1.87425184e-03 9.99974020e-01 -8.31286262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.264553574 meters Centerline goodness [0,1] 0.828109543395637 Centerline is valid? [False, False] Translation: X:3.47, Y:0.13, Z:-0.83 [[ 9.99965319e-01 3.11594055e-03 -7.72341265e-03 3.46967262e+00] [-3.12737965e-03 9.99994030e-01 -1.46945948e-03 1.29027912e-01] [ 7.71878779e-03 1.49356256e-03 9.99969094e-01 -8.30651946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.294553574 meters Centerline goodness [0,1] 0.8363222838021541 Centerline is valid? [False, False] Translation: X:3.47, Y:0.13, Z:-0.83 [[ 9.99965014e-01 -1.92633824e-03 -8.14004394e-03 3.47136455e+00] [ 1.88510449e-03 9.99985370e-01 -5.07018315e-03 1.26297323e-01] [ 8.14969173e-03 5.05466093e-03 9.99954015e-01 -8.30173584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.324553574 meters Centerline goodness [0,1] 0.8417488977535167 Centerline is valid? [False, False] Translation: X:3.47, Y:0.12, Z:-0.83 [[ 9.99954610e-01 -3.02179719e-03 -9.03586634e-03 3.47441039e+00] [ 2.97917603e-03 9.99984392e-01 -4.72663224e-03 1.24671252e-01] [ 9.05000823e-03 4.69949826e-03 9.99948005e-01 -8.29889990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.354553574 meters Centerline goodness [0,1] 0.833591880735151 Centerline is valid? [False, False] Translation: X:3.48, Y:0.12, Z:-0.83 [[ 0.99992961 -0.00556148 -0.01048101 3.48075247] [ 0.00550938 0.99997235 -0.00499363 0.12199132] [ 0.01050849 0.00493553 0.9999326 -0.83126797] [ 0. 0. 0. 1. ]] SLAMing on 110.384553574 meters Centerline goodness [0,1] 0.8405165583901125 Centerline is valid? [False, False] Translation: X:3.48, Y:0.12, Z:-0.83 [[ 0.99992059 -0.00611367 -0.01101982 3.48254895] [ 0.00606345 0.99997111 -0.0045845 0.11994372] [ 0.01104753 0.00451732 0.99992877 -0.83114204] [ 0. 0. 0. 1. ]] SLAMing on 110.414553574 meters Centerline goodness [0,1] 0.8383838383838383 Centerline is valid? [False, False] Translation: X:3.48, Y:0.12, Z:-0.83 [[ 0.99991556 -0.00635878 -0.01133327 3.48381568] [ 0.00631402 0.99997214 -0.00398105 0.11699599] [ 0.01135827 0.00390916 0.99992785 -0.83135526] [ 0. 0. 0. 1. ]] SLAMing on 110.444553574 meters Centerline goodness [0,1] 0.8406276460626587 Centerline is valid? [False, False] Translation: X:3.49, Y:0.11, Z:-0.83 [[ 9.99919043e-01 -3.45752113e-03 -1.22455257e-02 3.48696328e+00] [ 3.46548584e-03 9.99993797e-01 6.29258361e-04 1.14684476e-01] [ 1.22432741e-02 -6.71644114e-04 9.99924823e-01 -8.30517831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.474553574 meters Centerline goodness [0,1] 0.839463023274287 Centerline is valid? [False, False] Translation: X:3.49, Y:0.11, Z:-0.83 [[ 9.99923717e-01 -2.95157174e-03 -1.19937071e-02 3.48612260e+00] [ 2.96186929e-03 9.99995260e-01 8.40907016e-04 1.14181609e-01] [ 1.19911683e-02 -8.76366661e-04 9.99927719e-01 -8.30815519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.504553574 meters Centerline goodness [0,1] 0.8355231661258578 Centerline is valid? [False, False] Translation: X:3.48, Y:0.11, Z:-0.83 [[ 9.99937960e-01 -1.45205680e-03 -1.10438959e-02 3.48272047e+00] [ 1.47371475e-03 9.99997007e-01 1.95319364e-03 1.11087210e-01] [ 1.10410267e-02 -1.96934802e-03 9.99937107e-01 -8.30016819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.534553574 meters Centerline goodness [0,1] 0.8328853881157029 Centerline is valid? [False, False] Translation: X:3.48, Y:0.11, Z:-0.83 [[ 9.99946190e-01 -3.90455327e-04 -1.03665169e-02 3.48016545e+00] [ 4.16382137e-04 9.99996791e-01 2.49897416e-03 1.09610955e-01] [ 1.03655079e-02 -2.50315612e-03 9.99943144e-01 -8.29586425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.564553574 meters Centerline goodness [0,1] 0.8305148039477194 Centerline is valid? [False, False] Translation: X:3.48, Y:0.11, Z:-0.83 [[ 9.99958253e-01 2.05515042e-03 -8.90330667e-03 3.47563665e+00] [-2.02874599e-03 9.99993521e-01 2.97370415e-03 1.08024573e-01] [ 8.90936040e-03 -2.95551746e-03 9.99955943e-01 -8.30989022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.594553574 meters Centerline goodness [0,1] 0.8261392168385063 Centerline is valid? [False, False] Translation: X:3.47, Y:0.11, Z:-0.83 [[ 9.99960142e-01 2.64114504e-03 -8.52867832e-03 3.47491926e+00] [-2.61810329e-03 9.99992896e-01 2.71171391e-03 1.07712758e-01] [ 8.53577976e-03 -2.68927687e-03 9.99959953e-01 -8.32557797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.624553574 meters Centerline goodness [0,1] 0.8284643191859686 Centerline is valid? [False, False] Translation: X:3.47, Y:0.10, Z:-0.83 [[ 9.99961802e-01 3.44775670e-03 -8.03160220e-03 3.47377730e+00] [-3.42160184e-03 9.99988806e-01 3.26796063e-03 1.04854268e-01] [ 8.04277944e-03 -3.24035485e-03 9.99962406e-01 -8.33340787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.654553574 meters Centerline goodness [0,1] 0.8261126163586126 Centerline is valid? [False, False] Translation: X:3.47, Y:0.10, Z:-0.83 [[ 9.99961545e-01 3.42266519e-03 -8.07426019e-03 3.47399312e+00] [-3.39291832e-03 9.99987418e-01 3.69498639e-03 1.02835905e-01] [ 8.08680529e-03 -3.66744899e-03 9.99960576e-01 -8.33179590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.684553574 meters Centerline goodness [0,1] 0.8266760228867538 Centerline is valid? [False, False] Translation: X:3.47, Y:0.10, Z:-0.83 [[ 9.99972592e-01 -5.54057544e-05 -7.40358006e-03 3.47238314e+00] [ 5.65331092e-05 9.99999987e-01 1.52062393e-04 9.94417150e-02] [ 7.40357154e-03 -1.52476773e-04 9.99972582e-01 -8.33843984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.714553574 meters Centerline goodness [0,1] 0.8288003031041109 Centerline is valid? [False, False] Translation: X:3.48, Y:0.10, Z:-0.83 [[ 9.99965378e-01 -1.23895396e-03 -8.22850733e-03 3.47546010e+00] [ 1.24462747e-03 9.99998991e-01 6.84409343e-04 9.66611469e-02] [ 8.22765107e-03 -6.94627073e-04 9.99965911e-01 -8.33330696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.744553574 meters Centerline goodness [0,1] 0.8267078031999127 Centerline is valid? [False, False] Translation: X:3.48, Y:0.09, Z:-0.84 [[ 9.99945024e-01 -6.15225379e-03 -8.49112691e-03 3.47765089e+00] [ 6.12310566e-03 9.99975287e-01 -3.45451342e-03 9.41292355e-02] [ 8.51217011e-03 3.40233144e-03 9.99957983e-01 -8.35137842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.774553574 meters Centerline goodness [0,1] 0.8235728548373862 Centerline is valid? [False, False] Translation: X:3.48, Y:0.09, Z:-0.83 [[ 9.99932414e-01 -7.10309523e-03 -9.20396417e-03 3.48020908e+00] [ 7.07791633e-03 9.99971128e-01 -2.76535061e-03 9.17479687e-02] [ 9.22334098e-03 2.70001883e-03 9.99953819e-01 -8.34315675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.804553574 meters Centerline goodness [0,1] 0.8354297982439239 Centerline is valid? [False, False] Translation: X:3.49, Y:0.09, Z:-0.83 [[ 9.99896332e-01 -1.03869542e-02 -9.97177881e-03 3.48516772e+00] [ 1.03700592e-02 9.99944708e-01 -1.74448875e-03 8.61725179e-02] [ 9.98934738e-03 1.64089996e-03 9.99948759e-01 -8.31438068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.834553574 meters Centerline goodness [0,1] 0.8327453142227123 Centerline is valid? [False, False] Translation: X:3.49, Y:0.08, Z:-0.83 [[ 9.99878164e-01 -1.13621916e-02 -1.07031779e-02 3.48770424e+00] [ 1.13515972e-02 9.99935017e-01 -1.05006681e-03 8.38466977e-02] [ 1.07144135e-02 9.28440712e-04 9.99942168e-01 -8.30360783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.864553574 meters Centerline goodness [0,1] 0.8282730613034229 Centerline is valid? [False, False] Translation: X:3.49, Y:0.08, Z:-0.83 [[ 9.99864621e-01 -1.20047521e-02 -1.12528319e-02 3.48935723e+00] [ 1.20016450e-02 9.99927919e-01 -3.43608044e-04 8.21260821e-02] [ 1.12561457e-02 2.08509033e-04 9.99936626e-01 -8.28992771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.894553574 meters Centerline goodness [0,1] 0.8365026357188199 Centerline is valid? [False, False] Translation: X:3.49, Y:0.08, Z:-0.83 [[ 9.99881189e-01 -1.10871443e-02 -1.07090424e-02 3.48691516e+00] [ 1.10865962e-02 9.99938536e-01 -1.10548472e-04 8.30347582e-02] [ 1.07096099e-02 -8.19149137e-06 9.99942650e-01 -8.28166987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.924553574 meters Centerline goodness [0,1] 0.8451300665456745 Centerline is valid? [False, False] Translation: X:3.49, Y:0.08, Z:-0.83 [[ 0.99990654 -0.00758335 -0.01137577 3.48861138] [ 0.00763551 0.9999605 0.00454899 0.0828937 ] [ 0.01134082 -0.00463542 0.99992495 -0.82642811] [ 0. 0. 0. 1. ]] SLAMing on 110.954553574 meters Centerline goodness [0,1] 0.836057075819169 Centerline is valid? [False, False] Translation: X:3.49, Y:0.09, Z:-0.83 [[ 0.99991258 -0.00460928 -0.01239342 3.49264557] [ 0.00470197 0.99996112 0.00746024 0.08585199] [ 0.01235855 -0.00751786 0.99989537 -0.82838546] [ 0. 0. 0. 1. ]] SLAMing on 110.984553574 meters Centerline goodness [0,1] 0.8305796390206663 Centerline is valid? [False, False] Translation: X:3.49, Y:0.09, Z:-0.83 [[ 0.9999093 -0.00474192 -0.0126055 3.4938046 ] [ 0.00482456 0.99996702 0.00653285 0.0876499 ] [ 0.0125741 -0.00659307 0.99989921 -0.83042628] [ 0. 0. 0. 1. ]] SLAMing on 111.014553574 meters Centerline goodness [0,1] 0.8328068837817231 Centerline is valid? [False, False] Translation: X:3.49, Y:0.09, Z:-0.83 [[ 0.99990672 -0.00473256 -0.01281216 3.49433685] [ 0.00480851 0.99997101 0.00590405 0.08920482] [ 0.01278384 -0.00596511 0.99990049 -0.83127152] [ 0. 0. 0. 1. ]] SLAMing on 111.044553574 meters Centerline goodness [0,1] 0.8355241627577179 Centerline is valid? [False, False] Translation: X:3.49, Y:0.09, Z:-0.83 [[ 0.99990557 -0.0047464 -0.01289682 3.49430263] [ 0.00482583 0.99996954 0.00613465 0.08898514] [ 0.01286731 -0.00619631 0.99989801 -0.83048197] [ 0. 0. 0. 1. ]] SLAMing on 111.074553574 meters Centerline goodness [0,1] 0.8352088498950982 Centerline is valid? [False, False] Translation: X:3.49, Y:0.09, Z:-0.83 [[ 0.99990339 -0.00487522 -0.01301685 3.49445744] [ 0.00495932 0.99996699 0.00643676 0.08855915] [ 0.01298504 -0.0065007 0.99989456 -0.82958237] [ 0. 0. 0. 1. ]] SLAMing on 111.104553574 meters Centerline goodness [0,1] 0.8409715981809764 Centerline is valid? [False, False] Translation: X:3.50, Y:0.09, Z:-0.83 [[ 0.99989265 -0.00569659 -0.01349943 3.49633708] [ 0.00578373 0.99996264 0.00642445 0.08883148] [ 0.01346233 -0.00650183 0.99988824 -0.82929883] [ 0. 0. 0. 1. ]] SLAMing on 111.134553574 meters Centerline goodness [0,1] 0.8373904046179819 Centerline is valid? [False, False] Translation: X:3.50, Y:0.09, Z:-0.83 [[ 0.99987323 -0.00687377 -0.01436263 3.49991324] [ 0.00696115 0.99995751 0.00604305 0.08916658] [ 0.01432048 -0.00614227 0.99987859 -0.83028743] [ 0. 0. 0. 1. ]] SLAMing on 111.164553574 meters Centerline goodness [0,1] 0.8305491865924227 Centerline is valid? [False, False] Translation: X:3.50, Y:0.09, Z:-0.83 [[ 0.99986475 -0.00730405 -0.01473535 3.5010258 ] [ 0.00739804 0.99995258 0.00633377 0.08842798] [ 0.01468839 -0.00644193 0.99987137 -0.82957301] [ 0. 0. 0. 1. ]] SLAMing on 111.194553574 meters Centerline goodness [0,1] 0.8347731298542036 Centerline is valid? [False, False] Translation: X:3.50, Y:0.09, Z:-0.83 [[ 0.99985822 -0.00761293 -0.01501963 3.5017738 ] [ 0.00771263 0.99994853 0.00659111 0.08770102] [ 0.01496868 -0.00670601 0.99986547 -0.82881877] [ 0. 0. 0. 1. ]] SLAMing on 111.224553574 meters Centerline goodness [0,1] 0.8326400782970393 Centerline is valid? [False, False] Translation: X:3.50, Y:0.09, Z:-0.83 [[ 0.99986077 -0.00733404 -0.01498825 3.50140619] [ 0.00742518 0.99995422 0.00603447 0.09014539] [ 0.01494331 -0.00614492 0.99986946 -0.82922647] [ 0. 0. 0. 1. ]] SLAMing on 111.254553574 meters Centerline goodness [0,1] 0.8373345603161285 Centerline is valid? [False, False] Translation: X:3.50, Y:0.09, Z:-0.83 [[ 0.99985638 -0.00752822 -0.01518373 3.50241039] [ 0.00761036 0.99995668 0.00535908 0.09182683] [ 0.01514273 -0.00547386 0.99987036 -0.83045135] [ 0. 0. 0. 1. ]] SLAMing on 111.284553574 meters Centerline goodness [0,1] 0.8425890877629374 Centerline is valid? [False, False] Translation: X:3.51, Y:0.09, Z:-0.83 [[ 0.99983669 -0.0085837 -0.0159034 3.50564556] [ 0.00865331 0.99995326 0.00431342 0.09392525] [ 0.01586563 -0.00445033 0.99986423 -0.83223386] [ 0. 0. 0. 1. ]] SLAMing on 111.314553574 meters Centerline goodness [0,1] 0.8350696318687251 Centerline is valid? [False, False] Translation: X:3.51, Y:0.09, Z:-0.83 [[ 0.99982243 -0.00924465 -0.01642069 3.50763093] [ 0.00931314 0.99994823 0.00409942 0.09440356] [ 0.01638194 -0.00425162 0.99985677 -0.83254371] [ 0. 0. 0. 1. ]] SLAMing on 111.344553574 meters Centerline goodness [0,1] 0.8350696318687251 Centerline is valid? [False, False] Translation: X:3.51, Y:0.09, Z:-0.83 [[ 0.99982243 -0.00924465 -0.01642069 3.50763093] [ 0.00931314 0.99994823 0.00409942 0.09440356] [ 0.01638194 -0.00425162 0.99985677 -0.83254371] [ 0. 0. 0. 1. ]] SLAMing on 111.374553574 meters Centerline goodness [0,1] 0.8400819539548174 Centerline is valid? [False, False] Translation: X:3.51, Y:0.09, Z:-0.83 [[ 0.99980403 -0.01007996 -0.01703787 3.50983527] [ 0.01015203 0.99993986 0.00414899 0.09427242] [ 0.01699502 -0.00432115 0.99984624 -0.83222823] [ 0. 0. 0. 1. ]] SLAMing on 111.404553574 meters Centerline goodness [0,1] 0.8548443700564209 Centerline is valid? [False, False] Translation: X:3.52, Y:0.09, Z:-0.83 [[ 0.99974309 -0.01284684 -0.0186736 3.51647718] [ 0.01291613 0.99991012 0.00359467 0.09440495] [ 0.01862574 -0.00383494 0.99981917 -0.83262319] [ 0. 0. 0. 1. ]] SLAMing on 111.434553574 meters Centerline goodness [0,1] 0.8515755453810935 Centerline is valid? [False, False] Translation: X:3.52, Y:0.10, Z:-0.83 [[ 9.99684753e-01 -1.50005884e-02 -2.01339984e-02 3.52248689e+00] [ 1.50576424e-02 9.99883022e-01 2.68510452e-03 9.54421196e-02] [ 2.00913650e-02 -2.98742859e-03 9.99793685e-01 -8.34210874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.464553574 meters Centerline goodness [0,1] 0.8414168057275125 Centerline is valid? [False, False] Translation: X:3.52, Y:0.10, Z:-0.83 [[ 9.99668587e-01 -1.55097843e-02 -2.05466141e-02 3.52404712e+00] [ 1.55642409e-02 9.99875762e-01 2.49312626e-03 9.59188973e-02] [ 2.05053936e-02 -2.81209246e-03 9.99785788e-01 -8.34404034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.494553574 meters Centerline goodness [0,1] 0.8431124167857047 Centerline is valid? [False, False] Translation: X:3.52, Y:0.10, Z:-0.83 [[ 9.99659989e-01 -1.57296647e-02 -2.07962292e-02 3.52471399e+00] [ 1.57842391e-02 9.99872388e-01 2.46269818e-03 9.65277381e-02] [ 2.07548379e-02 -2.79011349e-03 9.99780702e-01 -8.34017025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.524553574 meters Centerline goodness [0,1] 0.836635131128541 Centerline is valid? [False, False] Translation: X:3.52, Y:0.10, Z:-0.83 [[ 9.99672264e-01 -1.52816152e-02 -2.05386607e-02 3.52311732e+00] [ 1.53389235e-02 9.99878878e-01 2.63562153e-03 9.80930691e-02] [ 2.04958965e-02 -2.94979869e-03 9.99785585e-01 -8.32531952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.554553574 meters Centerline goodness [0,1] 0.8404375100530803 Centerline is valid? [False, False] Translation: X:3.52, Y:0.10, Z:-0.83 [[ 9.99673871e-01 -1.51573375e-02 -2.05525179e-02 3.52296824e+00] [ 1.52045621e-02 9.99882107e-01 2.14343360e-03 1.01095356e-01] [ 2.05176062e-02 -2.45522661e-03 9.99786477e-01 -8.32554515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.584553574 meters Centerline goodness [0,1] 0.8399334174564395 Centerline is valid? [False, False] Translation: X:3.52, Y:0.10, Z:-0.83 [[ 9.99679214e-01 -1.49535466e-02 -2.04416165e-02 3.52246798e+00] [ 1.49962974e-02 9.99885668e-01 1.93966665e-03 1.02814369e-01] [ 2.04102745e-02 -2.24559299e-03 9.99789167e-01 -8.32459524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.614553574 meters Centerline goodness [0,1] 0.8481693608821326 Centerline is valid? [False, False] Translation: X:3.52, Y:0.10, Z:-0.83 [[ 9.99688530e-01 -1.46067758e-02 -2.02357488e-02 3.52156380e+00] [ 1.46468112e-02 9.99891052e-01 1.83164359e-03 1.04483426e-01] [ 2.02067897e-02 -2.12746227e-03 9.99793558e-01 -8.32142742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.644553574 meters Centerline goodness [0,1] 0.8390927284856571 Centerline is valid? [False, False] Translation: X:3.52, Y:0.11, Z:-0.83 [[ 9.99699049e-01 -1.42046466e-02 -2.00009898e-02 3.51971959e+00] [ 1.42510273e-02 9.99896076e-01 2.17829319e-03 1.06820327e-01] [ 1.99679693e-02 -2.46267228e-03 9.99797587e-01 -8.29696318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.674553574 meters Centerline goodness [0,1] 0.8361866666666666 Centerline is valid? [False, False] Translation: X:3.52, Y:0.11, Z:-0.83 [[ 9.99694162e-01 -1.43248460e-02 -2.01588841e-02 3.51980106e+00] [ 1.43748303e-02 9.99893946e-01 2.33678932e-03 1.07531862e-01] [ 2.01232720e-02 -2.62585518e-03 9.99794058e-01 -8.28583659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.704553574 meters Centerline goodness [0,1] 0.8413886816583183 Centerline is valid? [False, False] Translation: X:3.52, Y:0.11, Z:-0.83 [[ 9.99661922e-01 -1.53503932e-02 -2.09858886e-02 3.52248878e+00] [ 1.53905825e-02 9.99880018e-01 1.75488876e-03 1.09638798e-01] [ 2.09564324e-02 -2.07728052e-03 9.99778232e-01 -8.28610715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.734553574 meters Centerline goodness [0,1] 0.8382259093809827 Centerline is valid? [False, False] Translation: X:3.52, Y:0.11, Z:-0.83 [[ 9.99647075e-01 -1.58072157e-02 -2.13508120e-02 3.52397928e+00] [ 1.58382887e-02 9.99873738e-01 1.28703071e-03 1.11121660e-01] [ 2.13277718e-02 -1.62473681e-03 9.99771217e-01 -8.29258404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.764553574 meters Centerline goodness [0,1] 0.8469784801079965 Centerline is valid? [False, False] Translation: X:3.53, Y:0.12, Z:-0.83 [[ 9.99620293e-01 -1.65883840e-02 -2.20021807e-02 3.52650224e+00] [ 1.65955067e-02 9.99862275e-01 1.41162133e-04 1.15029233e-01] [ 2.19968088e-02 -5.06245871e-04 9.99757913e-01 -8.30661345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.794553574 meters Centerline goodness [0,1] 0.8373143793267452 Centerline is valid? [False, False] Translation: X:3.53, Y:0.12, Z:-0.83 [[ 9.99616578e-01 -1.66542596e-02 -2.21208566e-02 3.52686497e+00] [ 1.66542371e-02 9.99861291e-01 -1.85255641e-04 1.16680963e-01] [ 2.21208736e-02 -1.83221382e-04 9.99755287e-01 -8.30854330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.824553574 meters Centerline goodness [0,1] 0.8447727451959728 Centerline is valid? [False, False] Translation: X:3.53, Y:0.12, Z:-0.83 [[ 0.99960998 -0.01462556 -0.02379038 3.53199391] [ 0.01474058 0.99988046 0.00466685 0.11654837] [ 0.02371928 -0.00501571 0.99970608 -0.82797209] [ 0. 0. 0. 1. ]] SLAMing on 111.854553574 meters Centerline goodness [0,1] 0.8476290280324863 Centerline is valid? [False, False] Translation: X:3.53, Y:0.12, Z:-0.83 [[ 0.99962104 -0.0141021 -0.02364127 3.53071559] [ 0.01420521 0.99989028 0.00419934 0.12049432] [ 0.02357945 -0.00453358 0.99971169 -0.82739825] [ 0. 0. 0. 1. ]] SLAMing on 111.884553574 meters Centerline goodness [0,1] 0.847971918876755 Centerline is valid? [False, False] Translation: X:3.53, Y:0.12, Z:-0.83 [[ 0.99964738 -0.01064119 -0.02432865 3.53218104] [ 0.01082942 0.99991234 0.00761795 0.12414539] [ 0.02424546 -0.00787873 0.99967499 -0.82646376] [ 0. 0. 0. 1. ]] SLAMing on 111.914553574 meters Centerline goodness [0,1] 0.855350476980506 Centerline is valid? [False, False] Translation: X:3.55, Y:0.13, Z:-0.83 [[ 9.99798324e-01 -8.25682021e-03 -1.83067160e-02 3.54804513e+00] [ 8.26171712e-03 9.99965853e-01 1.91878459e-04 1.28035266e-01] [ 1.83045066e-02 -3.43084671e-04 9.99832400e-01 -8.32501131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.944553574 meters Centerline goodness [0,1] 0.8474169312988924 Centerline is valid? [False, False] Translation: X:3.54, Y:0.13, Z:-0.83 [[ 9.99821067e-01 -6.84825116e-03 -1.76333417e-02 3.54480021e+00] [ 6.85397715e-03 9.99976476e-01 2.64310830e-04 1.30964398e-01] [ 1.76311169e-02 -3.85122057e-04 9.99844486e-01 -8.31518612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.974553574 meters Centerline goodness [0,1] 0.853172468557084 Centerline is valid? [False, False] Translation: X:3.54, Y:0.14, Z:-0.83 [[ 9.99848348e-01 -1.77058861e-03 -1.73247175e-02 3.54273715e+00] [ 1.83976203e-03 9.99990397e-01 3.97763589e-03 1.35361003e-01] [ 1.73175084e-02 -4.00890603e-03 9.99842004e-01 -8.30480385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.004553574 meters Centerline goodness [0,1] 0.8468275245755139 Centerline is valid? [False, False] Translation: X:3.54, Y:0.14, Z:-0.83 [[ 9.99857422e-01 -7.84469028e-04 -1.68677169e-02 3.54089944e+00] [ 8.46189103e-04 9.99992973e-01 3.65223936e-03 1.38282888e-01] [ 1.68647333e-02 -3.66599191e-03 9.99851060e-01 -8.30734159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.034553574 meters Centerline goodness [0,1] 0.8449921315802833 Centerline is valid? [False, False] Translation: X:3.54, Y:0.14, Z:-0.83 [[ 9.99843305e-01 2.75354537e-03 -1.74866766e-02 3.54290792e+00] [-2.63934641e-03 9.99975063e-01 6.55035064e-03 1.42756922e-01] [ 1.75042773e-02 -6.50317084e-03 9.99825639e-01 -8.31563477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.064553574 meters Centerline goodness [0,1] 0.8384147885540643 Centerline is valid? [False, False] Translation: X:3.54, Y:0.15, Z:-0.83 [[ 9.99844620e-01 3.02770726e-03 -1.73657373e-02 3.54237078e+00] [-2.92095837e-03 9.99976704e-01 6.16917182e-03 1.45113573e-01] [ 1.73840112e-02 -6.11748866e-03 9.99830172e-01 -8.31601745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.094553574 meters Centerline goodness [0,1] 0.8388065729358609 Centerline is valid? [False, False] Translation: X:3.53, Y:0.15, Z:-0.84 [[ 9.99959140e-01 -4.99590905e-05 -9.03967779e-03 3.53229149e+00] [ 1.08280257e-04 9.99979184e-01 6.45131208e-03 1.50270509e-01] [ 9.03916732e-03 -6.45202729e-03 9.99938330e-01 -8.35842352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.124553574 meters Centerline goodness [0,1] 0.846692528590861 Centerline is valid? [False, False] Translation: X:3.53, Y:0.15, Z:-0.84 [[ 9.99956192e-01 -5.32895444e-04 -9.34509549e-03 3.53320543e+00] [ 5.90007026e-04 9.99981162e-01 6.10970475e-03 1.51543041e-01] [ 9.34166361e-03 -6.11495077e-03 9.99937668e-01 -8.35581366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.154553574 meters Centerline goodness [0,1] 0.850800271363602 Centerline is valid? [False, False] Translation: X:3.53, Y:0.16, Z:-0.84 [[ 9.99943374e-01 -4.92071693e-03 -9.43582881e-03 3.53370894e+00] [ 4.92861242e-03 9.99987523e-01 8.13685916e-04 1.55959221e-01] [ 9.43170717e-03 -8.60145383e-04 9.99955151e-01 -8.36558471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.184553574 meters Centerline goodness [0,1] 0.8468089369802625 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.84 [[ 9.99932591e-01 -5.78056067e-03 -1.00696516e-02 3.53593482e+00] [ 5.78429673e-03 9.99983212e-01 3.41937087e-04 1.57166888e-01] [ 1.00675060e-02 -4.00159890e-04 9.99949241e-01 -8.36882892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.214553574 meters Centerline goodness [0,1] 0.8501674246589035 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.84 [[ 9.99904528e-01 -7.74398546e-03 -1.14440408e-02 3.54026218e+00] [ 7.73735897e-03 9.99969872e-01 -6.23196031e-04 1.59629357e-01] [ 1.14485221e-02 5.34589881e-04 9.99934321e-01 -8.37036891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.244553574 meters Centerline goodness [0,1] 0.8440227420078799 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.84 [[ 9.99894444e-01 -8.34160380e-03 -1.18961540e-02 3.54185548e+00] [ 8.32850270e-03 9.99964656e-01 -1.15040479e-03 1.61263032e-01] [ 1.19053298e-02 1.05120621e-03 9.99928576e-01 -8.37372427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.274553574 meters Centerline goodness [0,1] 0.8506319036720071 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.84 [[ 9.99885231e-01 -8.84621199e-03 -1.22991748e-02 3.54349449e+00] [ 8.82264142e-03 9.99959140e-01 -1.96937438e-03 1.63636752e-01] [ 1.23160937e-02 1.86063715e-03 9.99922423e-01 -8.38422252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.304553574 meters Centerline goodness [0,1] 0.8555053237481163 Centerline is valid? [False, False] Translation: X:3.55, Y:0.17, Z:-0.84 [[ 9.99881739e-01 -6.74787147e-03 -1.38193574e-02 3.54784053e+00] [ 6.76468333e-03 9.99976435e-01 1.17016132e-03 1.66483241e-01] [ 1.38111357e-02 -1.26350651e-03 9.99903823e-01 -8.38097898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.334553574 meters Centerline goodness [0,1] 0.8539749882834662 Centerline is valid? [False, False] Translation: X:3.55, Y:0.17, Z:-0.84 [[ 9.99883088e-01 -6.60638683e-03 -1.37900592e-02 3.54746231e+00] [ 6.62138783e-03 9.99977535e-01 1.04243864e-03 1.67912424e-01] [ 1.37828627e-02 -1.13362610e-03 9.99904369e-01 -8.37606743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.364553574 meters Centerline goodness [0,1] 0.8559380209865647 Centerline is valid? [False, False] Translation: X:3.54, Y:0.17, Z:-0.84 [[ 9.99897346e-01 -5.38961965e-03 -1.32759245e-02 3.54480785e+00] [ 5.40288024e-03 9.99984940e-01 9.63181581e-04 1.71470682e-01] [ 1.32705333e-02 -1.03481094e-03 9.99911407e-01 -8.36544301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.394553574 meters Centerline goodness [0,1] 0.8557170115954792 Centerline is valid? [False, False] Translation: X:3.54, Y:0.17, Z:-0.84 [[ 9.99907075e-01 -4.48426175e-03 -1.28737025e-02 3.54302197e+00] [ 4.49665871e-03 9.99989454e-01 9.34183819e-04 1.74018624e-01] [ 1.28693776e-02 -9.91985657e-04 9.99916694e-01 -8.36066673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.424553574 meters Centerline goodness [0,1] 0.8473838975430752 Centerline is valid? [False, False] Translation: X:3.54, Y:0.18, Z:-0.84 [[ 9.99921501e-01 6.79109446e-04 -1.25112116e-02 3.54109305e+00] [-6.23149345e-04 9.99989788e-01 4.47615181e-03 1.79175427e-01] [ 1.25141237e-02 -4.46800409e-03 9.99911713e-01 -8.35542077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.454553574 meters Centerline goodness [0,1] 0.8545252368980855 Centerline is valid? [False, False] Translation: X:3.54, Y:0.18, Z:-0.84 [[ 9.99926976e-01 2.04014634e-03 -1.19113699e-02 3.53869267e+00] [-1.99055875e-03 9.99989310e-01 4.17341975e-03 1.82410028e-01] [ 1.19197569e-02 -4.14940471e-03 9.99920348e-01 -8.35750342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.484553574 meters Centerline goodness [0,1] 0.862164640030882 Centerline is valid? [False, False] Translation: X:3.54, Y:0.18, Z:-0.84 [[ 9.99931183e-01 3.35704405e-03 -1.12409471e-02 3.53606647e+00] [-3.31235813e-03 9.99986548e-01 3.99154171e-03 1.84949178e-01] [ 1.12541957e-02 -3.95403298e-03 9.99928852e-01 -8.35623402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.514553574 meters Centerline goodness [0,1] 0.8440844732421406 Centerline is valid? [False, False] Translation: X:3.53, Y:0.19, Z:-0.83 [[ 0.99990633 0.00850848 -0.01072091 3.53354989] [-0.00842178 0.99993168 0.00810628 0.18741874] [ 0.01078915 -0.00801523 0.99990967 -0.83402196] [ 0. 0. 0. 1. ]] SLAMing on 112.544553574 meters Centerline goodness [0,1] 0.8504924757339438 Centerline is valid? [False, False] Translation: X:3.53, Y:0.19, Z:-0.83 [[ 0.99989388 0.01045983 -0.01014018 3.53093494] [-0.01038307 0.99991727 0.00759296 0.19183443] [ 0.01021876 -0.00748687 0.99991976 -0.83498919] [ 0. 0. 0. 1. ]] SLAMing on 112.574553574 meters Centerline goodness [0,1] 0.8428255230025942 Centerline is valid? [False, False] Translation: X:3.53, Y:0.19, Z:-0.84 [[ 0.99989211 0.01083787 -0.00991498 3.53050504] [-0.0107694 0.99991797 0.00693374 0.19427569] [ 0.00998932 -0.00682621 0.99992681 -0.83597266] [ 0. 0. 0. 1. ]] SLAMing on 112.604553574 meters Centerline goodness [0,1] 0.8498479954398632 Centerline is valid? [False, False] Translation: X:3.53, Y:0.20, Z:-0.84 [[ 0.99988451 0.01206338 -0.00924305 3.52800404] [-0.01200031 0.99990454 0.00684904 0.1966803 ] [ 0.00932479 -0.00673733 0.99993383 -0.83572375] [ 0. 0. 0. 1. ]] SLAMing on 112.634553574 meters Centerline goodness [0,1] 0.8552104801838296 Centerline is valid? [False, False] Translation: X:3.53, Y:0.20, Z:-0.84 [[ 0.99988318 0.01231549 -0.00905284 3.52740094] [-0.01225475 0.99990223 0.00673441 0.19739877] [ 0.00913489 -0.00662269 0.99993634 -0.83565155] [ 0. 0. 0. 1. ]] SLAMing on 112.664553574 meters Centerline goodness [0,1] 0.8513654466148303 Centerline is valid? [False, False] Translation: X:3.53, Y:0.20, Z:-0.84 [[ 0.99988331 0.01238871 -0.00893832 3.52716363] [-0.01233121 0.99990311 0.0064589 0.19834583] [ 0.00901747 -0.00634793 0.99993919 -0.83579691] [ 0. 0. 0. 1. ]] SLAMing on 112.694553574 meters Centerline goodness [0,1] 0.8528882149457423 Centerline is valid? [False, False] Translation: X:3.53, Y:0.20, Z:-0.84 [[ 9.99922533e-01 9.17748289e-03 -8.40841873e-03 3.52572072e+00] [-9.16136843e-03 9.99956127e-01 1.95298477e-03 2.00063635e-01] [ 8.42597331e-03 -1.87580086e-03 9.99962741e-01 -8.37034981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.724553574 meters Centerline goodness [0,1] 0.8495669711709575 Centerline is valid? [False, False] Translation: X:3.53, Y:0.20, Z:-0.84 [[ 9.99924842e-01 8.40860963e-03 -8.92223903e-03 3.52770580e+00] [-8.39440938e-03 9.99963441e-01 1.62781498e-03 1.99408615e-01] [ 8.93560051e-03 -1.55279571e-03 9.99958871e-01 -8.37755930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.754553574 meters Centerline goodness [0,1] 0.8527481932293648 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.84 [[ 9.99998354e-01 1.55559707e-03 -9.34390789e-04 3.51993568e+00] [-1.55564539e-03 9.99998789e-01 -5.09839801e-05 1.98986411e-01] [ 9.34310347e-04 5.24374769e-05 9.99999562e-01 -8.42934493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.784553574 meters Centerline goodness [0,1] 0.844331198056819 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.84 [[ 9.99998588e-01 3.82710386e-04 -1.63654771e-03 3.52250072e+00] [-3.82932269e-04 9.99999918e-01 -1.35268684e-04 1.97572181e-01] [ 1.63649581e-03 1.35895180e-04 9.99998652e-01 -8.43190032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.814553574 meters Centerline goodness [0,1] 0.8455697415383141 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.84 [[ 9.99986559e-01 -4.71996263e-03 -2.14559082e-03 3.52481550e+00] [ 4.71080870e-03 9.99979866e-01 -4.25160998e-03 1.95739269e-01] [ 2.16561506e-03 4.24144536e-03 9.99988660e-01 -8.44149617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.844553574 meters Centerline goodness [0,1] 0.8564735843163636 Centerline is valid? [False, False] Translation: X:3.53, Y:0.19, Z:-0.84 [[ 9.99976679e-01 -6.09668702e-03 -3.07775588e-03 3.52836156e+00] [ 6.08330699e-03 9.99972087e-01 -4.33813515e-03 1.93992187e-01] [ 3.10411822e-03 4.31931105e-03 9.99985854e-01 -8.44911108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.874553574 meters Centerline goodness [0,1] 0.8554730804453656 Centerline is valid? [False, False] Translation: X:3.53, Y:0.19, Z:-0.85 [[ 0.99992376 -0.01169068 -0.00397636 3.53243387] [ 0.01165499 0.9998926 -0.00888541 0.19199292] [ 0.00407981 0.00883839 0.99995262 -0.84699305] [ 0. 0. 0. 1. ]] SLAMing on 112.904553574 meters Centerline goodness [0,1] 0.8580448508600044 Centerline is valid? [False, False] Translation: X:3.53, Y:0.19, Z:-0.85 [[ 0.99990923 -0.01264116 -0.00466191 3.53469825] [ 0.01260072 0.99988358 -0.00860502 0.19004814] [ 0.00477015 0.0085455 0.99995211 -0.84677014] [ 0. 0. 0. 1. ]] SLAMing on 112.934553574 meters Centerline goodness [0,1] 0.8405670453442082 Centerline is valid? [False, False] Translation: X:3.54, Y:0.19, Z:-0.85 [[ 0.99989972 -0.01321683 -0.00508605 3.5360506 ] [ 0.0131741 0.9998784 -0.00834401 0.18876319] [ 0.00519571 0.00827616 0.99995225 -0.84651431] [ 0. 0. 0. 1. ]] SLAMing on 112.964553574 meters Centerline goodness [0,1] 0.8573194676750782 Centerline is valid? [False, False] Translation: X:3.54, Y:0.19, Z:-0.85 [[ 0.99988189 -0.01422284 -0.00582365 3.53881641] [ 0.01417341 0.99986391 -0.00844289 0.1879308 ] [ 0.00594294 0.00835936 0.9999474 -0.84706768] [ 0. 0. 0. 1. ]] SLAMing on 112.994553574 meters Centerline goodness [0,1] 0.8549553484760241 Centerline is valid? [False, False] Translation: X:3.54, Y:0.19, Z:-0.85 [[ 0.99990593 -0.01186522 -0.00688073 3.542359 ] [ 0.0118354 0.99992046 -0.00435868 0.18627004] [ 0.0069319 0.00427684 0.99996683 -0.84663277] [ 0. 0. 0. 1. ]] SLAMing on 113.024553574 meters Centerline goodness [0,1] 0.8493247353692663 Centerline is valid? [False, False] Translation: X:3.55, Y:0.18, Z:-0.85 [[ 9.99926872e-01 -9.16408007e-03 -7.89114554e-03 3.54563434e+00] [ 9.16320108e-03 9.99958006e-01 -1.47538420e-04 1.84621742e-01] [ 7.89216621e-03 7.52194780e-05 9.99968854e-01 -8.46262989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.054553574 meters Centerline goodness [0,1] 0.8524646085621695 Centerline is valid? [False, False] Translation: X:3.55, Y:0.18, Z:-0.85 [[ 9.99929038e-01 -8.96030071e-03 -7.85064966e-03 3.54539644e+00] [ 8.96033768e-03 9.99959855e-01 -3.04641397e-05 1.84579076e-01] [ 7.85060746e-03 -3.98824941e-05 9.99969183e-01 -8.46197817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.084553574 meters Centerline goodness [0,1] 0.8504889409125271 Centerline is valid? [False, False] Translation: X:3.54, Y:0.18, Z:-0.85 [[ 9.99933781e-01 -8.50394599e-03 -7.75342330e-03 3.54483598e+00] [ 8.50556218e-03 9.99963812e-01 1.75497648e-04 1.84594099e-01] [ 7.75165030e-03 -2.41433251e-04 9.99969926e-01 -8.46064388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.114553574 meters Centerline goodness [0,1] 0.8477576231049047 Centerline is valid? [False, False] Translation: X:3.54, Y:0.19, Z:-0.85 [[ 9.99938432e-01 -8.09868652e-03 -7.58574949e-03 3.54425094e+00] [ 8.10045245e-03 9.99967170e-01 2.02100207e-04 1.85154851e-01] [ 7.58386370e-03 -2.63535767e-04 9.99971207e-01 -8.46172641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.144553574 meters Centerline goodness [0,1] 0.8455213137154429 Centerline is valid? [False, False] Translation: X:3.55, Y:0.18, Z:-0.85 [[ 0.99995382 -0.00482887 -0.00830922 3.54640983] [ 0.00486565 0.99997843 0.00441221 0.18449628] [ 0.00828774 -0.00445244 0.99995574 -0.84566461] [ 0. 0. 0. 1. ]] SLAMing on 113.174553574 meters Centerline goodness [0,1] 0.8487399070222658 Centerline is valid? [False, False] Translation: X:3.54, Y:0.19, Z:-0.85 [[ 9.99964655e-01 -3.34760840e-03 -7.71250191e-03 3.54416886e+00] [ 3.38008348e-03 9.99985461e-01 4.20152632e-03 1.86669966e-01] [ 7.69832471e-03 -4.22744671e-03 9.99961432e-01 -8.46414518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.204553574 meters Centerline goodness [0,1] 0.8361813959173695 Centerline is valid? [False, False] Translation: X:3.54, Y:0.19, Z:-0.85 [[ 9.99968541e-01 -2.77551509e-03 -7.43060545e-03 3.54331641e+00] [ 2.80415583e-03 9.99988669e-01 3.84678981e-03 1.88011678e-01] [ 7.41984443e-03 -3.86750537e-03 9.99964994e-01 -8.47105309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.234553574 meters Centerline goodness [0,1] 0.8361813959173695 Centerline is valid? [False, False] Translation: X:3.54, Y:0.19, Z:-0.85 [[ 9.99968541e-01 -2.77551509e-03 -7.43060545e-03 3.54331641e+00] [ 2.80415583e-03 9.99988669e-01 3.84678981e-03 1.88011678e-01] [ 7.41984443e-03 -3.86750537e-03 9.99964994e-01 -8.47105309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.264553574 meters Centerline goodness [0,1] 0.8444808289142494 Centerline is valid? [False, False] Translation: X:3.54, Y:0.19, Z:-0.85 [[ 9.99971862e-01 -2.22660637e-03 -7.16366333e-03 3.54244452e+00] [ 2.25253816e-03 9.99990933e-01 3.61387618e-03 1.89260365e-01] [ 7.15555170e-03 -3.62991091e-03 9.99967810e-01 -8.47519071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.294553574 meters Centerline goodness [0,1] 0.8389782911284218 Centerline is valid? [False, False] Translation: X:3.54, Y:0.19, Z:-0.85 [[ 9.99978525e-01 -1.03398252e-03 -6.47154392e-03 3.53951543e+00] [ 1.05900352e-03 9.99991974e-01 3.86407986e-03 1.90121121e-01] [ 6.46749659e-03 -3.87085026e-03 9.99971594e-01 -8.46490976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.324553574 meters Centerline goodness [0,1] 0.8387954806120208 Centerline is valid? [False, False] Translation: X:3.54, Y:0.19, Z:-0.85 [[ 9.99980859e-01 -6.54885984e-04 -6.15240340e-03 3.53828352e+00] [ 6.78647079e-04 9.99992317e-01 3.86078990e-03 1.90521901e-01] [ 6.14982775e-03 -3.86489132e-03 9.99973621e-01 -8.46023933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.354553574 meters Centerline goodness [0,1] 0.8386031375977464 Centerline is valid? [False, False] Translation: X:3.54, Y:0.19, Z:-0.85 [[ 9.99983687e-01 6.88808555e-05 -5.71146843e-03 3.53669399e+00] [-4.80310270e-05 9.99993335e-01 3.65057659e-03 1.92131799e-01] [ 5.71168182e-03 -3.65024271e-03 9.99977026e-01 -8.46042827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.384553574 meters Centerline goodness [0,1] 0.8407635557936257 Centerline is valid? [False, False] Translation: X:3.54, Y:0.19, Z:-0.85 [[ 9.99984648e-01 3.65109423e-04 -5.52903184e-03 3.53619820e+00] [-3.45786001e-04 9.99993831e-01 3.49545418e-03 1.93035753e-01] [ 5.53027396e-03 -3.49348866e-03 9.99978606e-01 -8.46370028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.414553574 meters Centerline goodness [0,1] 0.8381656013804165 Centerline is valid? [False, False] Translation: X:3.53, Y:0.19, Z:-0.85 [[ 9.99986311e-01 1.00612171e-03 -5.13473767e-03 3.53487282e+00] [-9.88975232e-04 9.99993931e-01 3.34075747e-03 1.94146199e-01] [ 5.13806772e-03 -3.33563361e-03 9.99981237e-01 -8.46562710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.444553574 meters Centerline goodness [0,1] 0.8370856102003643 Centerline is valid? [False, False] Translation: X:3.53, Y:0.19, Z:-0.85 [[ 9.99986962e-01 1.27276339e-03 -4.94531066e-03 3.53427766e+00] [-1.25678879e-03 9.99993987e-01 3.23201717e-03 1.94620736e-01] [ 4.94939452e-03 -3.22575982e-03 9.99982549e-01 -8.46580703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.474553574 meters Centerline goodness [0,1] 0.7994360582415713 Centerline is valid? [False, False] Translation: X:3.53, Y:0.19, Z:-0.85 [[ 9.99987827e-01 1.80380155e-03 -4.59261536e-03 3.53299672e+00] [-1.78826315e-03 9.99992671e-01 3.38520572e-03 1.94830031e-01] [ 4.59868794e-03 -3.37695171e-03 9.99983724e-01 -8.46187430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.504553574 meters Centerline goodness [0,1] 0.8396677757000267 Centerline is valid? [False, False] Translation: X:3.53, Y:0.20, Z:-0.85 [[ 9.99988183e-01 2.62130014e-03 -4.09414442e-03 3.53124434e+00] [-2.60723225e-03 9.99990692e-01 3.43766620e-03 1.95583352e-01] [ 4.10311747e-03 -3.42695119e-03 9.99985710e-01 -8.45981058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.534553574 meters Centerline goodness [0,1] 0.838138814244559 Centerline is valid? [False, False] Translation: X:3.53, Y:0.20, Z:-0.85 [[ 9.99988175e-01 2.73076944e-03 -4.02402638e-03 3.53135912e+00] [-2.71835533e-03 9.99991540e-01 3.08724183e-03 1.96421211e-01] [ 4.03242288e-03 -3.07626659e-03 9.99987138e-01 -8.46755648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.564553574 meters Centerline goodness [0,1] 0.8366635181283151 Centerline is valid? [False, False] Translation: X:3.53, Y:0.20, Z:-0.85 [[ 9.99987776e-01 3.24154735e-03 -3.73374819e-03 3.53111648e+00] [-3.23178061e-03 9.99991349e-01 2.61887138e-03 1.97188831e-01] [ 3.74220509e-03 -2.60677271e-03 9.99989600e-01 -8.48624971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.594553574 meters Centerline goodness [0,1] 0.836618558698179 Centerline is valid? [False, False] Translation: X:3.53, Y:0.20, Z:-0.85 [[ 9.99987624e-01 3.42214011e-03 -3.61120456e-03 3.53095883e+00] [-3.41243068e-03 9.99990556e-01 2.69143927e-03 1.96545352e-01] [ 3.62038094e-03 -2.67908298e-03 9.99989858e-01 -8.48966347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.624553574 meters Centerline goodness [0,1] 0.8362509117432531 Centerline is valid? [False, False] Translation: X:3.53, Y:0.19, Z:-0.85 [[ 9.99986433e-01 4.25454714e-03 -3.00542266e-03 3.52875486e+00] [-4.24391306e-03 9.99984743e-01 3.53585555e-03 1.94174834e-01] [ 3.02042027e-03 -3.52305283e-03 9.99989233e-01 -8.47946438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.654553574 meters Centerline goodness [0,1] 0.8330411065653613 Centerline is valid? [False, False] Translation: X:3.53, Y:0.19, Z:-0.85 [[ 9.99986414e-01 4.26718442e-03 -2.99394409e-03 3.52896888e+00] [-4.25622221e-03 9.99984250e-01 3.65832849e-03 1.93328728e-01] [ 3.00950770e-03 -3.64553590e-03 9.99988826e-01 -8.48274705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.684553574 meters Centerline goodness [0,1] 0.8298173304392362 Centerline is valid? [False, False] Translation: X:3.53, Y:0.19, Z:-0.85 [[ 9.99986891e-01 4.08729411e-03 -3.08414238e-03 3.52973543e+00] [-4.07631011e-03 9.99985357e-01 3.55936364e-03 1.92735042e-01] [ 3.09864538e-03 -3.54674506e-03 9.99988909e-01 -8.49044239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.714553574 meters Centerline goodness [0,1] 0.8354907382484645 Centerline is valid? [False, False] Translation: X:3.53, Y:0.19, Z:-0.85 [[ 9.99986691e-01 4.17560272e-03 -3.03024038e-03 3.53013890e+00] [-4.16408021e-03 9.99984114e-01 3.79890547e-03 1.90590729e-01] [ 3.04605497e-03 -3.78623674e-03 9.99988193e-01 -8.50013449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.744553574 meters Centerline goodness [0,1] 0.8327615780445969 Centerline is valid? [False, False] Translation: X:3.53, Y:0.19, Z:-0.85 [[ 9.99986515e-01 4.24496130e-03 -2.99157148e-03 3.53037487e+00] [-4.23311995e-03 9.99983225e-01 3.95351334e-03 1.89108791e-01] [ 3.00830380e-03 -3.94079634e-03 9.99987710e-01 -8.50576157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.774553574 meters Centerline goodness [0,1] 0.8321931292450044 Centerline is valid? [False, False] Translation: X:3.53, Y:0.19, Z:-0.85 [[ 9.99985651e-01 4.61427590e-03 -2.72144599e-03 3.53004005e+00] [-4.60238992e-03 9.99979914e-01 4.35773581e-03 1.86864463e-01] [ 2.74149912e-03 -4.34514813e-03 9.99986802e-01 -8.51230841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.804553574 meters Centerline goodness [0,1] 0.8320375169690238 Centerline is valid? [False, False] Translation: X:3.53, Y:0.19, Z:-0.85 [[ 9.99986306e-01 4.36858794e-03 -2.88169792e-03 3.53099317e+00] [-4.35589440e-03 9.99980848e-01 4.39654643e-03 1.85731869e-01] [ 2.90084943e-03 -4.38393385e-03 9.99986183e-01 -8.51875397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.834553574 meters Centerline goodness [0,1] 0.8299518825338559 Centerline is valid? [False, False] Translation: X:3.53, Y:0.18, Z:-0.85 [[ 9.99996892e-01 7.49124968e-04 -2.37809906e-03 3.53000481e+00] [-7.46942158e-04 9.99999299e-01 9.18635842e-04 1.82440325e-01] [ 2.37878556e-03 -9.16856685e-04 9.99996750e-01 -8.52427988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.864553574 meters Centerline goodness [0,1] 0.8321591276855287 Centerline is valid? [False, False] Translation: X:3.53, Y:0.18, Z:-0.85 [[ 9.99996155e-01 -9.79739775e-05 -2.77141251e-03 3.53156578e+00] [ 1.01408363e-04 9.99999227e-01 1.23910490e-03 1.79666070e-01] [ 2.77128896e-03 -1.23938118e-03 9.99995392e-01 -8.52108104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.894553574 meters Centerline goodness [0,1] 0.8331711698226181 Centerline is valid? [False, False] Translation: X:3.53, Y:0.18, Z:-0.85 [[ 9.99994572e-01 -9.58669105e-04 -3.15215853e-03 3.53328678e+00] [ 9.63503850e-04 9.99998361e-01 1.53262785e-03 1.77121821e-01] [ 3.15068408e-03 -1.53565665e-03 9.99993857e-01 -8.52040517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.924553574 meters Centerline goodness [0,1] 0.8313966620655038 Centerline is valid? [False, False] Translation: X:3.53, Y:0.17, Z:-0.85 [[ 9.99980256e-01 -5.45165507e-03 -3.12511058e-03 3.53407941e+00] [ 5.44504994e-03 9.99982932e-01 -2.11819411e-03 1.74299428e-01] [ 3.13660490e-03 2.10113591e-03 9.99992873e-01 -8.52663532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.954553574 meters Centerline goodness [0,1] 0.8286816428409349 Centerline is valid? [False, False] Translation: X:3.54, Y:0.17, Z:-0.85 [[ 9.99948984e-01 -9.19111190e-03 -4.18965270e-03 3.54067206e+00] [ 9.17951620e-03 9.99954007e-01 -2.77857976e-03 1.70853984e-01] [ 4.21499824e-03 2.73997902e-03 9.99987363e-01 -8.53742606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.984553574 meters Centerline goodness [0,1] 0.8310488451344188 Centerline is valid? [False, False] Translation: X:3.54, Y:0.17, Z:-0.85 [[ 9.99928142e-01 -1.07825583e-02 -5.23907689e-03 3.54474434e+00] [ 1.07685161e-02 9.99938370e-01 -2.70113693e-03 1.69157337e-01] [ 5.26787917e-03 2.64452574e-03 9.99982628e-01 -8.54013750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.014553574 meters Centerline goodness [0,1] 0.8306002631845328 Centerline is valid? [False, False] Translation: X:3.55, Y:0.17, Z:-0.85 [[ 9.99900380e-01 -1.25909869e-02 -6.37938487e-03 3.54918149e+00] [ 1.25744468e-02 9.99917490e-01 -2.62625006e-03 1.67288713e-01] [ 6.41192559e-03 2.54577119e-03 9.99976203e-01 -8.54202770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.044553574 meters Centerline goodness [0,1] 0.8288176087840585 Centerline is valid? [False, False] Translation: X:3.55, Y:0.17, Z:-0.86 [[ 0.99979561 -0.01879939 -0.00743765 3.5541234 ] [ 0.01874655 0.99979897 -0.00711208 0.16585618] [ 0.00756986 0.0069712 0.99994705 -0.85532462] [ 0. 0. 0. 1. ]] SLAMing on 114.074553574 meters Centerline goodness [0,1] 0.8294012738853503 Centerline is valid? [False, False] Translation: X:3.56, Y:0.16, Z:-0.86 [[ 0.99975361 -0.02047183 -0.00858014 3.55840653] [ 0.02041068 0.99976608 -0.00715476 0.16483356] [ 0.00872461 0.00697787 0.99993759 -0.85547108] [ 0. 0. 0. 1. ]] SLAMing on 114.104553574 meters Centerline goodness [0,1] 0.8247696352451693 Centerline is valid? [False, False] Translation: X:3.57, Y:0.16, Z:-0.86 [[ 0.99961713 -0.02541023 -0.01095018 3.56996555] [ 0.0253157 0.99964177 -0.00868631 0.16490173] [ 0.01116698 0.00840577 0.99990232 -0.85798748] [ 0. 0. 0. 1. ]] SLAMing on 114.134553574 meters Centerline goodness [0,1] 0.8197475341135585 Centerline is valid? [False, False] Translation: X:3.57, Y:0.16, Z:-0.86 [[ 0.99955649 -0.02716566 -0.01220069 3.57499836] [ 0.02705213 0.99959005 -0.00937642 0.16493528] [ 0.0124504 0.0090422 0.99988161 -0.85950755] [ 0. 0. 0. 1. ]] SLAMing on 114.164553574 meters Centerline goodness [0,1] 0.8241755428103237 Centerline is valid? [False, False] Translation: X:3.58, Y:0.17, Z:-0.86 [[ 0.99950308 -0.02861337 -0.01322406 3.57919304] [ 0.02848264 0.99954455 -0.0099711 0.16509373] [ 0.01350335 0.00958949 0.99986284 -0.86082369] [ 0. 0. 0. 1. ]] SLAMing on 114.194553574 meters Centerline goodness [0,1] 0.8224091211207116 Centerline is valid? [False, False] Translation: X:3.59, Y:0.16, Z:-0.86 [[ 0.9994623 -0.0288454 -0.01559029 3.58850449] [ 0.02877183 0.99957388 -0.00492331 0.16435395] [ 0.01572567 0.0044721 0.99986634 -0.85719372] [ 0. 0. 0. 1. ]] SLAMing on 114.224553574 meters Centerline goodness [0,1] 0.8194320414359707 Centerline is valid? [False, False] Translation: X:3.59, Y:0.16, Z:-0.86 [[ 9.99510197e-01 -2.63507677e-02 -1.68820504e-02 3.59215943e+00] [ 2.63426660e-02 9.99652725e-01 -7.02135250e-04 1.64424812e-01] [ 1.68946895e-02 2.57073127e-04 9.99857242e-01 -8.55895784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.254553574 meters Centerline goodness [0,1] 0.8038096687465124 Centerline is valid? [False, False] Translation: X:3.59, Y:0.17, Z:-0.85 [[ 9.99585083e-01 -2.28095273e-02 -1.75894273e-02 3.59343709e+00] [ 2.28670714e-02 9.99733778e-01 3.07733335e-03 1.67571894e-01] [ 1.75145521e-02 -3.47827520e-03 9.99840558e-01 -8.54686224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.284553574 meters Centerline goodness [0,1] 0.8313630393048399 Centerline is valid? [False, False] Translation: X:3.59, Y:0.17, Z:-0.85 [[ 0.99964681 -0.01928917 -0.01828091 3.59498468] [ 0.01942227 0.99978593 0.00713159 0.16844448] [ 0.01813944 -0.00748412 0.99980746 -0.8537387 ] [ 0. 0. 0. 1. ]] SLAMing on 114.314553574 meters Centerline goodness [0,1] 0.817533999096703 Centerline is valid? [False, False] Translation: X:3.61, Y:0.17, Z:-0.86 [[ 9.99810748e-01 -1.39538271e-02 -1.35557351e-02 3.61138769e+00] [ 1.39689628e-02 9.99901906e-01 1.02250729e-03 1.73130928e-01] [ 1.35401375e-02 -1.21167334e-03 9.99907594e-01 -8.60445924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.344553574 meters Centerline goodness [0,1] 0.8102442078897933 Centerline is valid? [False, False] Translation: X:3.61, Y:0.18, Z:-0.86 [[ 9.99836022e-01 -1.26724832e-02 -1.29358533e-02 3.60870602e+00] [ 1.26880304e-02 9.99918876e-01 1.12050878e-03 1.75422101e-01] [ 1.29206043e-02 -1.28445554e-03 9.99915701e-01 -8.59879384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.374553574 meters Centerline goodness [0,1] 0.8312532695613183 Centerline is valid? [False, False] Translation: X:3.61, Y:0.18, Z:-0.86 [[ 0.99987391 -0.00872958 -0.013265 3.60924921] [ 0.00880184 0.99994669 0.00539918 0.17607668] [ 0.01321716 -0.00551526 0.99989744 -0.85884447] [ 0. 0. 0. 1. ]] SLAMing on 114.404553574 meters Centerline goodness [0,1] 0.8255095201449743 Centerline is valid? [False, False] Translation: X:3.61, Y:0.18, Z:-0.86 [[ 0.99990512 -0.00417102 -0.01312855 3.6083703 ] [ 0.00429187 0.99994856 0.00919003 0.17863575] [ 0.01308954 -0.0092455 0.99987158 -0.85843679] [ 0. 0. 0. 1. ]] SLAMing on 114.434553574 meters Centerline goodness [0,1] 0.826807340812839 Centerline is valid? [False, False] Translation: X:3.61, Y:0.18, Z:-0.86 [[ 0.99991082 -0.00365482 -0.01284481 3.60747932] [ 0.003769 0.99995351 0.00887574 0.17982415] [ 0.01281178 -0.00892336 0.99987811 -0.85889045] [ 0. 0. 0. 1. ]] SLAMing on 114.464553574 meters Centerline goodness [0,1] 0.8301755950169651 Centerline is valid? [False, False] Translation: X:3.60, Y:0.18, Z:-0.86 [[ 9.99930204e-01 -1.42784522e-03 -1.17281074e-02 3.60274746e+00] [ 1.53676406e-03 9.99955729e-01 9.28323619e-03 1.80915634e-01] [ 1.17143332e-02 -9.30061159e-03 9.99888130e-01 -8.58102070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.494553574 meters Centerline goodness [0,1] 0.8288936706982266 Centerline is valid? [False, False] Translation: X:3.60, Y:0.18, Z:-0.86 [[ 9.99937026e-01 -5.67750854e-04 -1.12081125e-02 3.60090925e+00] [ 6.72129701e-04 9.99956424e-01 9.31122530e-03 1.81618509e-01] [ 1.12023377e-02 -9.31817224e-03 9.99893834e-01 -8.58048459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.524553574 meters Centerline goodness [0,1] 0.8273029966703662 Centerline is valid? [False, False] Translation: X:3.60, Y:0.18, Z:-0.86 [[ 9.99944576e-01 1.01980862e-03 -1.04787932e-02 3.59814843e+00] [-9.21865968e-04 9.99955888e-01 9.34733161e-03 1.83685568e-01] [ 1.04878635e-02 -9.33715350e-03 9.99901406e-01 -8.58486454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.554553574 meters Centerline goodness [0,1] 0.8257932496733316 Centerline is valid? [False, False] Translation: X:3.60, Y:0.18, Z:-0.86 [[ 9.99946207e-01 1.29183153e-03 -1.02914663e-02 3.59790271e+00] [-1.19901671e-03 9.99958603e-01 9.01969019e-03 1.84474955e-01] [ 1.03026922e-02 -9.00686535e-03 9.99906361e-01 -8.59412653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.584553574 meters Centerline goodness [0,1] 0.8255638726253118 Centerline is valid? [False, False] Translation: X:3.60, Y:0.18, Z:-0.86 [[ 9.99948338e-01 1.65810621e-03 -1.00285502e-02 3.59709181e+00] [-1.56736247e-03 9.99957823e-01 9.04964086e-03 1.84395297e-01] [ 1.00431325e-02 -9.03345497e-03 9.99908762e-01 -8.59479221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.614553574 meters Centerline goodness [0,1] 0.8276903276903277 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:-0.86 [[ 9.99967055e-01 1.83362486e-03 -7.90737775e-03 3.58825286e+00] [-1.79000167e-03 9.99983161e-01 5.52032396e-03 1.84902809e-01] [ 7.91736680e-03 -5.50598787e-03 9.99953499e-01 -8.59824509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.644553574 meters Centerline goodness [0,1] 0.8220989549799416 Centerline is valid? [False, False] Translation: X:3.59, Y:0.19, Z:-0.86 [[ 9.99968667e-01 2.29567537e-03 -7.57588541e-03 3.58731549e+00] [-2.25468946e-03 9.99982801e-01 5.41416262e-03 1.85464412e-01] [ 7.58818427e-03 -5.39691171e-03 9.99956645e-01 -8.60172010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.674553574 meters Centerline goodness [0,1] 0.8170734723149591 Centerline is valid? [False, False] Translation: X:3.59, Y:0.19, Z:-0.86 [[ 9.99968928e-01 2.55934222e-03 -7.45605407e-03 3.58760187e+00] [-2.52258912e-03 9.99984643e-01 4.93453770e-03 1.86116431e-01] [ 7.46856874e-03 -4.91557581e-03 9.99960028e-01 -8.61980474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.704553574 meters Centerline goodness [0,1] 0.8230309937318832 Centerline is valid? [False, False] Translation: X:3.59, Y:0.19, Z:-0.86 [[ 9.99968325e-01 2.44866901e-03 -7.57315019e-03 3.58824521e+00] [-2.41199942e-03 9.99985342e-01 4.84740119e-03 1.85720513e-01] [ 7.58490887e-03 -4.82898121e-03 9.99959574e-01 -8.62550581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.734553574 meters Centerline goodness [0,1] 0.8156797538095002 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:-0.86 [[ 9.99967994e-01 2.28741224e-03 -7.66671414e-03 3.58866765e+00] [-2.24920553e-03 9.99985028e-01 4.98837533e-03 1.84492855e-01] [ 7.67800983e-03 -4.97097165e-03 9.99958168e-01 -8.62579387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.764553574 meters Centerline goodness [0,1] 0.8169487307117969 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:-0.86 [[ 9.99976856e-01 -7.25474608e-04 -6.76474895e-03 3.58595901e+00] [ 7.36342126e-04 9.99998442e-01 1.60414010e-03 1.82587993e-01] [ 6.76357465e-03 -1.60908414e-03 9.99975832e-01 -8.62283365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.794553574 meters Centerline goodness [0,1] 0.8170449166687427 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:-0.86 [[ 9.99968321e-01 -2.31760378e-03 -7.61477623e-03 3.58976754e+00] [ 2.32946037e-03 9.99996088e-01 1.54854985e-03 1.80271517e-01] [ 7.61115752e-03 -1.56623912e-03 9.99969808e-01 -8.63267764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.824553574 meters Centerline goodness [0,1] 0.8175734724961922 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:-0.86 [[ 9.99961563e-01 -3.10159351e-03 -8.20078339e-03 3.59191711e+00] [ 3.11543250e-03 9.99993744e-01 1.67528507e-03 1.78897452e-01] [ 8.19553603e-03 -1.70076966e-03 9.99964970e-01 -8.63553701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.854553574 meters Centerline goodness [0,1] 0.814312910174841 Centerline is valid? [False, False] Translation: X:3.60, Y:0.18, Z:-0.87 [[ 9.99938743e-01 -6.15635747e-03 -9.19838029e-03 3.59751378e+00] [ 6.16379529e-03 9.99980699e-01 7.80470160e-04 1.75582874e-01] [ 9.19339790e-03 -8.37119283e-04 9.99957389e-01 -8.65387098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.884553574 meters Centerline goodness [0,1] 0.8185588257471033 Centerline is valid? [False, False] Translation: X:3.60, Y:0.17, Z:-0.87 [[ 9.99923292e-01 -7.31749911e-03 -9.99320722e-03 3.60059765e+00] [ 7.32658129e-03 9.99972780e-01 8.72529146e-04 1.73496611e-01] [ 9.98655047e-03 -9.45678261e-04 9.99949686e-01 -8.65886332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.914553574 meters Centerline goodness [0,1] 0.8193660552308002 Centerline is valid? [False, False] Translation: X:3.60, Y:0.17, Z:-0.87 [[ 9.99908034e-01 -8.31710497e-03 -1.07121354e-02 3.60319339e+00] [ 8.32848481e-03 9.99964799e-01 1.01816026e-03 1.71839411e-01] [ 1.07032902e-02 -1.10728248e-03 9.99942105e-01 -8.65999509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.944553574 meters Centerline goodness [0,1] 0.813703741050721 Centerline is valid? [False, False] Translation: X:3.61, Y:0.17, Z:-0.87 [[ 9.99871273e-01 -1.06399232e-02 -1.20095668e-02 3.60872311e+00] [ 1.06461158e-02 9.99943226e-01 4.51819431e-04 1.70571554e-01] [ 1.20040776e-02 -5.79616508e-04 9.99927780e-01 -8.67468910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.974553574 meters Centerline goodness [0,1] 0.8245937216109821 Centerline is valid? [False, False] Translation: X:3.61, Y:0.17, Z:-0.87 [[ 9.99852630e-01 -1.15736144e-02 -1.26795385e-02 3.61129306e+00] [ 1.15777495e-02 9.99932944e-01 2.52763669e-04 1.70328563e-01] [ 1.26757628e-02 -3.99526939e-04 9.99919579e-01 -8.68046635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.004553574 meters Centerline goodness [0,1] 0.8027171447295458 Centerline is valid? [False, False] Translation: X:3.61, Y:0.17, Z:-0.87 [[ 9.99833638e-01 -1.24906968e-02 -1.32920376e-02 3.61352700e+00] [ 1.24953975e-02 9.99921893e-01 2.70656424e-04 1.69514796e-01] [ 1.32876187e-02 -4.36700691e-04 9.99911620e-01 -8.68103251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.034553574 meters Centerline goodness [0,1] 0.7775196343342003 Centerline is valid? [False, False] Translation: X:3.61, Y:0.17, Z:-0.87 [[ 9.99762046e-01 -1.71863767e-02 -1.34342954e-02 3.61412518e+00] [ 1.71398139e-02 9.99846717e-01 -3.57346163e-03 1.68304368e-01] [ 1.34936510e-02 3.34234999e-03 9.99903370e-01 -8.67380214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.064553574 meters Centerline goodness [0,1] 0.8129268909688844 Centerline is valid? [False, False] Translation: X:3.62, Y:0.17, Z:-0.87 [[ 9.99735702e-01 -1.81647939e-02 -1.40913818e-02 3.61633142e+00] [ 1.81180895e-02 9.99829953e-01 -3.43501285e-03 1.67065592e-01] [ 1.41513819e-02 3.17879606e-03 9.99894811e-01 -8.66999976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.094553574 meters Centerline goodness [0,1] 0.7233838625873332 Centerline is valid? [False, False] Translation: X:3.62, Y:0.17, Z:-0.87 [[ 0.99967435 -0.02026468 -0.01550905 3.62200191] [ 0.02019776 0.99978606 -0.0044596 0.1677969 ] [ 0.0155961 0.0041449 0.99986978 -0.86899013] [ 0. 0. 0. 1. ]] SLAMing on 115.124553574 meters Centerline goodness [0,1] 0.8248309154451512 Centerline is valid? [False, False] Translation: X:3.63, Y:0.17, Z:-0.87 [[ 9.99683425e-01 -1.85003495e-02 -1.70524547e-02 3.62749555e+00] [ 1.84860721e-02 9.99828623e-01 -9.94527519e-04 1.67967374e-01] [ 1.70679315e-02 6.78979769e-04 9.99854102e-01 -8.69476036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.154553574 meters Centerline goodness [0,1] 0.720389467360833 Centerline is valid? [False, False] Translation: X:3.63, Y:0.17, Z:-0.87 [[ 9.99693421e-01 -1.63973741e-02 -1.85523809e-02 3.63209075e+00] [ 1.64432694e-02 9.99862099e-01 2.32398199e-03 1.69843112e-01] [ 1.85117153e-02 -2.62833130e-03 9.99825189e-01 -8.69340573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.184553574 meters Centerline goodness [0,1] 0.720389467360833 Centerline is valid? [False, False] Translation: X:3.63, Y:0.17, Z:-0.87 [[ 9.99693421e-01 -1.63973741e-02 -1.85523809e-02 3.63209075e+00] [ 1.64432694e-02 9.99862099e-01 2.32398199e-03 1.69843112e-01] [ 1.85117153e-02 -2.62833130e-03 9.99825189e-01 -8.69340573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21455357399999 meters Centerline goodness [0,1] 0.734042287625752 Centerline is valid? [False, False] Translation: X:3.63, Y:0.17, Z:-0.87 [[ 9.99701511e-01 -1.61016672e-02 -1.83746062e-02 3.63104377e+00] [ 1.61478463e-02 9.99866812e-01 2.36759749e-03 1.71009568e-01] [ 1.83340366e-02 -2.66360111e-03 9.99828369e-01 -8.68367520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.244553574 meters Centerline goodness [0,1] 0.8300891123612286 Centerline is valid? [False, False] Translation: X:3.63, Y:0.17, Z:-0.87 [[ 9.99704563e-01 -1.59739400e-02 -1.83199286e-02 3.63062119e+00] [ 1.60162490e-02 9.99869388e-01 2.16505299e-03 1.72458858e-01] [ 1.82829514e-02 -2.45782989e-03 9.99829832e-01 -8.68012811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.274553574 meters Centerline goodness [0,1] 0.7435922786030302 Centerline is valid? [False, False] Translation: X:3.63, Y:0.18, Z:-0.87 [[ 9.99703076e-01 -1.58844708e-02 -1.84782112e-02 3.63073741e+00] [ 1.59085862e-02 9.99872779e-01 1.15880459e-03 1.77264897e-01] [ 1.84574534e-02 -1.45242273e-03 9.99828592e-01 -8.68400802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.304553574 meters Centerline goodness [0,1] 0.7596241359801245 Centerline is valid? [False, False] Translation: X:3.63, Y:0.18, Z:-0.87 [[ 9.99709959e-01 -1.55513023e-02 -1.83889739e-02 3.63011916e+00] [ 1.55687789e-02 9.99878473e-01 8.07597848e-04 1.79846648e-01] [ 1.83741799e-02 -1.09365748e-03 9.99830582e-01 -8.68247782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.334553574 meters Centerline goodness [0,1] 0.7689885775651665 Centerline is valid? [False, False] Translation: X:3.63, Y:0.18, Z:-0.87 [[ 0.9997373 -0.0124425 -0.01924886 3.6323723 ] [ 0.01251785 0.99991443 0.00379925 0.18401786] [ 0.01919995 -0.0040392 0.9998075 -0.86831495] [ 0. 0. 0. 1. ]] SLAMing on 115.364553574 meters Centerline goodness [0,1] 0.7662154608860483 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:-0.87 [[ 9.99744462e-01 -1.20478628e-02 -1.91274433e-02 3.63154849e+00] [ 1.21164113e-02 9.99920566e-01 3.47193981e-03 1.86821903e-01] [ 1.90840945e-02 -3.70280857e-03 9.99811025e-01 -8.67962218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.394553574 meters Centerline goodness [0,1] 0.8012231676658287 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:-0.87 [[ 0.9997598 -0.00914131 -0.01991909 3.63400069] [ 0.00928347 0.99993201 0.00705604 0.18768141] [ 0.01985323 -0.00723926 0.9997767 -0.86757204] [ 0. 0. 0. 1. ]] SLAMing on 115.424553574 meters Centerline goodness [0,1] 0.8204358888195478 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:-0.87 [[ 0.99978186 -0.00527642 -0.02020884 3.63400767] [ 0.00549125 0.99992885 0.01058946 0.19088599] [ 0.02015153 -0.01069812 0.9997397 -0.86623834] [ 0. 0. 0. 1. ]] SLAMing on 115.454553574 meters Centerline goodness [0,1] 0.799524319181829 Centerline is valid? [False, False] Translation: X:3.63, Y:0.20, Z:-0.87 [[ 9.99795193e-01 -9.34361885e-04 -2.02163295e-02 3.63368838e+00] [ 1.21243289e-03 9.99904772e-01 1.37468902e-02 1.95175742e-01] [ 2.02015598e-02 -1.37685857e-02 9.99701117e-01 -8.66246396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.484553574 meters Centerline goodness [0,1] 0.8285004730368969 Centerline is valid? [False, False] Translation: X:3.65, Y:0.20, Z:-0.87 [[ 9.99895516e-01 1.83830047e-03 -1.43379823e-02 3.64781673e+00] [-1.75488885e-03 9.99981478e-01 5.82794204e-03 1.98971927e-01] [ 1.43484302e-02 -5.80217155e-03 9.99880222e-01 -8.73036825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.514553574 meters Centerline goodness [0,1] 0.8276927430956817 Centerline is valid? [False, False] Translation: X:3.65, Y:0.20, Z:-0.87 [[ 9.99900588e-01 2.67670389e-03 -1.38437707e-02 3.64608743e+00] [-2.60151855e-03 9.99981786e-01 5.44614692e-03 2.01638977e-01] [ 1.38580963e-02 -5.40959068e-03 9.99889339e-01 -8.73164242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.544553574 meters Centerline goodness [0,1] 0.8122583819498137 Centerline is valid? [False, False] Translation: X:3.64, Y:0.21, Z:-0.87 [[ 0.9999066 0.00393316 -0.01308861 3.64320286] [-0.00386699 0.99997963 0.00507725 0.20517622] [ 0.01310832 -0.00502616 0.99990145 -0.8728123 ] [ 0. 0. 0. 1. ]] SLAMing on 115.574553574 meters Centerline goodness [0,1] 0.830480733258511 Centerline is valid? [False, False] Translation: X:3.64, Y:0.21, Z:-0.87 [[ 0.99990714 0.00405055 -0.013012 3.64297149] [-0.00398837 0.99998052 0.00480079 0.2063717 ] [ 0.01303119 -0.00474844 0.99990382 -0.8729759 ] [ 0. 0. 0. 1. ]] SLAMing on 115.604553574 meters Centerline goodness [0,1] 0.8302300620654254 Centerline is valid? [False, False] Translation: X:3.64, Y:0.21, Z:-0.87 [[ 0.99990653 0.00395766 -0.01308718 3.64338377] [-0.00390027 0.99998268 0.00440799 0.20766483] [ 0.0131044 -0.00435653 0.99990464 -0.87342344] [ 0. 0. 0. 1. ]] SLAMing on 115.634553574 meters Centerline goodness [0,1] 0.8315419642650764 Centerline is valid? [False, False] Translation: X:3.64, Y:0.21, Z:-0.88 [[ 9.99983953e-01 1.05986020e-03 -5.56519613e-03 3.63640829e+00] [-1.02859742e-03 9.99983693e-01 5.61741251e-03 2.11498819e-01] [ 5.57105905e-03 -5.61159802e-03 9.99968736e-01 -8.79170362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.664553574 meters Centerline goodness [0,1] 0.8271331766007468 Centerline is valid? [False, False] Translation: X:3.64, Y:0.21, Z:-0.88 [[ 9.99982777e-01 7.42062236e-04 -5.82190581e-03 3.63739944e+00] [-7.11920183e-04 9.99986342e-01 5.17771680e-03 2.12666802e-01] [ 5.82566848e-03 -5.17348289e-03 9.99969648e-01 -8.79758171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.694553574 meters Centerline goodness [0,1] 0.8332911596236572 Centerline is valid? [False, False] Translation: X:3.64, Y:0.21, Z:-0.88 [[ 9.99982275e-01 5.14727716e-04 -5.93171232e-03 3.63793890e+00] [-4.86915991e-04 9.99988887e-01 4.68914114e-03 2.13661943e-01] [ 5.93406003e-03 -4.68616978e-03 9.99971413e-01 -8.80227633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.724553574 meters Centerline goodness [0,1] 0.8341149824986845 Centerline is valid? [False, False] Translation: X:3.64, Y:0.22, Z:-0.88 [[ 9.99982532e-01 5.22591527e-04 -5.88751939e-03 3.63770993e+00] [-4.97260496e-04 9.99990618e-01 4.30313903e-03 2.15626170e-01] [ 5.88971293e-03 -4.30013623e-03 9.99973410e-01 -8.80049869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.754553574 meters Centerline goodness [0,1] 0.8354373002742334 Centerline is valid? [False, False] Translation: X:3.64, Y:0.22, Z:-0.88 [[ 9.99980430e-01 -8.50317850e-05 -6.25561513e-03 3.63953904e+00] [ 1.04215459e-04 9.99995293e-01 3.06637061e-03 2.19117461e-01] [ 6.25532495e-03 -3.06696253e-03 9.99975732e-01 -8.81788125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.784553574 meters Centerline goodness [0,1] 0.8336196374485783 Centerline is valid? [False, False] Translation: X:3.64, Y:0.22, Z:-0.88 [[ 9.99977443e-01 -7.26250244e-04 -6.67724387e-03 3.64115645e+00] [ 7.42815741e-04 9.99996652e-01 2.47874318e-03 2.20360138e-01] [ 6.67542132e-03 -2.48364723e-03 9.99974635e-01 -8.82499691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.814553574 meters Centerline goodness [0,1] 0.8312426676292753 Centerline is valid? [False, False] Translation: X:3.64, Y:0.22, Z:-0.88 [[ 9.99973275e-01 -1.54039763e-03 -7.14681505e-03 3.64287380e+00] [ 1.55390117e-03 9.99997017e-01 1.88428053e-03 2.21371275e-01] [ 7.14389119e-03 -1.89533562e-03 9.99972686e-01 -8.82964349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.844553574 meters Centerline goodness [0,1] 0.793896217722543 Centerline is valid? [False, False] Translation: X:3.64, Y:0.22, Z:-0.88 [[ 9.99966954e-01 -2.59100958e-03 -7.70573193e-03 3.64494437e+00] [ 2.59977025e-03 9.99995985e-01 1.12710391e-03 2.22674506e-01] [ 7.70278066e-03 -1.14709979e-03 9.99969675e-01 -8.83541819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.874553574 meters Centerline goodness [0,1] 0.8228744488487062 Centerline is valid? [False, False] Translation: X:3.65, Y:0.23, Z:-0.89 [[ 0.99993146 -0.00814899 -0.0084063 3.64794898] [ 0.00810782 0.99995503 -0.0049196 0.22789408] [ 0.00844602 0.00485111 0.99995256 -0.88564446] [ 0. 0. 0. 1. ]] SLAMing on 115.904553574 meters Centerline goodness [0,1] 0.7981345330846044 Centerline is valid? [False, False] Translation: X:3.65, Y:0.23, Z:-0.89 [[ 0.99988894 -0.01106763 -0.00998081 3.65320204] [ 0.01100086 0.99991691 -0.00672009 0.23169462] [ 0.01005436 0.00660955 0.99992761 -0.88619109] [ 0. 0. 0. 1. ]] SLAMing on 115.934553574 meters Centerline goodness [0,1] 0.820386460900013 Centerline is valid? [False, False] Translation: X:3.65, Y:0.23, Z:-0.89 [[ 0.9998754 -0.01190311 -0.01036816 3.65459184] [ 0.01182451 0.99990114 -0.00760923 0.23425924] [ 0.01045771 0.00748568 0.9999173 -0.88635917] [ 0. 0. 0. 1. ]] SLAMing on 115.96455357399999 meters Centerline goodness [0,1] 0.8269606056057129 Centerline is valid? [False, False] Translation: X:3.66, Y:0.24, Z:-0.89 [[ 0.99988811 -0.00990561 -0.01120947 3.65708535] [ 0.00985377 0.99994054 -0.00467074 0.23600559] [ 0.01125507 0.00455976 0.99992626 -0.88585679] [ 0. 0. 0. 1. ]] SLAMing on 115.994553574 meters Centerline goodness [0,1] 0.8231483251555896 Centerline is valid? [False, False] Translation: X:3.66, Y:0.24, Z:-0.89 [[ 9.99899219e-01 -7.55098130e-03 -1.20222547e-02 3.65953084e+00] [ 7.53064280e-03 9.99970137e-01 -1.73611003e-03 2.38313759e-01] [ 1.20350051e-02 1.64539976e-03 9.99926223e-01 -8.85732270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.024553574 meters Centerline goodness [0,1] 0.8277107927572155 Centerline is valid? [False, False] Translation: X:3.66, Y:0.24, Z:-0.89 [[ 9.99907278e-01 -4.57819738e-03 -1.28248304e-02 3.66107506e+00] [ 4.58465231e-03 9.99989378e-01 4.73959989e-04 2.44891269e-01] [ 1.28225243e-02 -5.32713431e-04 9.99917646e-01 -8.85613019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.054553574 meters Centerline goodness [0,1] 0.8375902802636289 Centerline is valid? [False, False] Translation: X:3.64, Y:0.25, Z:-0.88 [[ 9.99963512e-01 -3.60322179e-03 -7.74540599e-03 3.63757449e+00] [ 3.66665205e-03 9.99959732e-01 8.19086385e-03 2.53432151e-01] [ 7.71558060e-03 -8.21896469e-03 9.99936457e-01 -8.84358552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.084553574 meters Centerline goodness [0,1] 0.8438247343356833 Centerline is valid? [False, False] Translation: X:3.65, Y:0.26, Z:-0.89 [[ 9.99996471e-01 -3.73214936e-04 -2.63018470e-03 3.65129572e+00] [ 3.72977322e-04 9.99999926e-01 -9.08310284e-05 2.57279066e-01] [ 2.63021840e-03 8.98497087e-05 9.99996537e-01 -8.91165096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.114553574 meters Centerline goodness [0,1] 0.850157597876576 Centerline is valid? [False, False] Translation: X:3.65, Y:0.26, Z:-0.89 [[ 9.99997081e-01 8.68385013e-04 -2.25497164e-03 3.64954096e+00] [-8.68814270e-04 9.99999605e-01 -1.89387815e-04 2.61111516e-01] [ 2.25480629e-03 1.91346414e-04 9.99997440e-01 -8.90773552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.144553574 meters Centerline goodness [0,1] 0.8533159030544488 Centerline is valid? [False, False] Translation: X:3.65, Y:0.26, Z:-0.89 [[ 9.99996004e-01 2.15364614e-03 -1.83113911e-03 3.64766386e+00] [-2.15408603e-03 9.99997652e-01 -2.38287364e-04 2.64957230e-01] [ 1.83062163e-03 2.42230843e-04 9.99998295e-01 -8.90362875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.174553574 meters Centerline goodness [0,1] 0.8518114225691512 Centerline is valid? [False, False] Translation: X:3.65, Y:0.27, Z:-0.89 [[ 9.99972227e-01 7.28632425e-03 -1.56674208e-03 3.64638515e+00] [-7.28157458e-03 9.99968940e-01 3.01619039e-03 2.70445551e-01] [ 1.58867036e-03 -3.00469827e-03 9.99994224e-01 -8.90324439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.204553574 meters Centerline goodness [0,1] 0.8424685508903774 Centerline is valid? [False, False] Translation: X:3.65, Y:0.27, Z:-0.89 [[ 9.99926668e-01 1.20358420e-02 -1.34029861e-03 3.64554488e+00] [-1.20270653e-02 9.99907354e-01 6.37439763e-03 2.74445012e-01] [ 1.41689568e-03 -6.35781033e-03 9.99978785e-01 -8.90234348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.234553574 meters Centerline goodness [0,1] 0.8431320693302954 Centerline is valid? [False, False] Translation: X:3.65, Y:0.28, Z:-0.89 [[ 9.99918581e-01 1.27062078e-02 -1.17651239e-03 3.64503447e+00] [-1.26989412e-02 9.99901420e-01 5.99052359e-03 2.76830132e-01] [ 1.25251325e-03 -5.97509538e-03 9.99981365e-01 -8.90716726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.264553574 meters Centerline goodness [0,1] 0.8453637487084946 Centerline is valid? [False, False] Translation: X:3.64, Y:0.28, Z:-0.89 [[ 9.99909542e-01 1.34067717e-02 -1.08028547e-03 3.64470295e+00] [-1.34004688e-02 9.99894278e-01 5.64450450e-03 2.79281949e-01] [ 1.15584585e-03 -5.62951757e-03 9.99983486e-01 -8.91315055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.294553574 meters Centerline goodness [0,1] 0.8476549886987408 Centerline is valid? [False, False] Translation: X:3.64, Y:0.28, Z:-0.89 [[ 9.99839798e-01 1.78663360e-02 -1.08272815e-03 3.64488234e+00] [-1.78554480e-02 9.99796892e-01 9.34649136e-03 2.81357255e-01] [ 1.24949580e-03 -9.32566144e-03 9.99955734e-01 -8.91701284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.324553574 meters Centerline goodness [0,1] 0.8517451233274222 Centerline is valid? [False, False] Translation: X:3.64, Y:0.28, Z:-0.89 [[ 9.99832058e-01 1.83018073e-02 -9.48239872e-04 3.64449863e+00] [-1.82923115e-02 9.99790295e-01 9.20641994e-03 2.82374599e-01] [ 1.11653514e-03 -9.18752830e-03 9.99957170e-01 -8.91856659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.354553574 meters Centerline goodness [0,1] 0.8536335310081415 Centerline is valid? [False, False] Translation: X:3.64, Y:0.28, Z:-0.89 [[ 9.99796665e-01 2.01628559e-02 -2.96983082e-04 3.64161185e+00] [-2.01588947e-02 9.99747084e-01 9.96931210e-03 2.83623626e-01] [ 4.97917773e-04 -9.96129814e-03 9.99950261e-01 -8.90454875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.384553574 meters Centerline goodness [0,1] 0.8554367058066592 Centerline is valid? [False, False] Translation: X:3.64, Y:0.28, Z:-0.89 [[ 9.99776706e-01 2.11305564e-02 1.96470132e-04 3.63983349e+00] [-2.11314600e-02 9.99724064e-01 1.02594521e-02 2.84591573e-01] [ 2.03720126e-05 -1.02613129e-02 9.99947351e-01 -8.89690968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.414553574 meters Centerline goodness [0,1] 0.8540528598971722 Centerline is valid? [False, False] Translation: X:3.64, Y:0.29, Z:-0.89 [[ 9.99751653e-01 2.22743757e-02 6.95882213e-04 3.63783596e+00] [-2.22805183e-02 9.99695238e-01 1.06306074e-02 2.85957909e-01] [-4.58879992e-04 -1.06434719e-02 9.99943251e-01 -8.88745415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.444553574 meters Centerline goodness [0,1] 0.8568591659478868 Centerline is valid? [False, False] Translation: X:3.63, Y:0.29, Z:-0.89 [[ 9.99617820e-01 2.76040251e-02 1.49417518e-03 3.63486706e+00] [-2.76237047e-02 9.99500901e-01 1.53258134e-02 2.87319008e-01] [-1.07037530e-03 -1.53612309e-02 9.99881436e-01 -8.86610217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.474553574 meters Centerline goodness [0,1] 0.8573404703193601 Centerline is valid? [False, False] Translation: X:3.63, Y:0.29, Z:-0.89 [[ 9.99599685e-01 2.82341303e-02 1.81761913e-03 3.63383503e+00] [-2.82588062e-02 9.99482037e-01 1.53979915e-02 2.88157071e-01] [-1.38192877e-03 -1.54431912e-02 9.99879792e-01 -8.86363603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.504553574 meters Centerline goodness [0,1] 0.8571313764490789 Centerline is valid? [False, False] Translation: X:3.63, Y:0.29, Z:-0.89 [[ 9.99575049e-01 2.90502626e-02 2.40909078e-03 3.63163784e+00] [-2.90849481e-02 9.99450599e-01 1.58923146e-02 2.88132393e-01] [-1.94609131e-03 -1.59556295e-02 9.99870807e-01 -8.85093736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.534553574 meters Centerline goodness [0,1] 0.8572748824687588 Centerline is valid? [False, False] Translation: X:3.63, Y:0.29, Z:-0.89 [[ 9.99658718e-01 2.59820193e-02 2.71707052e-03 3.63034291e+00] [-2.60130020e-02 9.99588758e-01 1.20680623e-02 2.88811424e-01] [-2.40240051e-03 -1.21346229e-02 9.99923487e-01 -8.85153050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.564553574 meters Centerline goodness [0,1] 0.8556564091210981 Centerline is valid? [False, False] Translation: X:3.63, Y:0.29, Z:-0.89 [[ 9.99737419e-01 2.27170933e-02 3.00452144e-03 3.62921941e+00] [-2.27409912e-02 9.99707969e-01 8.17456589e-03 2.89330571e-01] [-2.81794165e-03 -8.24074520e-03 9.99962074e-01 -8.85320015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.594553574 meters Centerline goodness [0,1] 0.8574649702045418 Centerline is valid? [False, False] Translation: X:3.63, Y:0.29, Z:-0.89 [[ 9.99828533e-01 1.83276100e-02 2.64626899e-03 3.63074505e+00] [-1.83373813e-02 9.99824948e-01 3.71668808e-03 2.88963126e-01] [-2.57768775e-03 -3.76457644e-03 9.99989592e-01 -8.87108331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.624553574 meters Centerline goodness [0,1] 0.857538399353274 Centerline is valid? [False, False] Translation: X:3.63, Y:0.29, Z:-0.89 [[ 9.99906541e-01 1.35256613e-02 1.99146960e-03 3.63332811e+00] [-1.35239842e-02 9.99908183e-01 -8.53205651e-04 2.88049216e-01] [-2.00282692e-03 8.26193308e-04 9.99997653e-01 -8.89368776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.654553574 meters Centerline goodness [0,1] 0.8571892374497788 Centerline is valid? [False, False] Translation: X:3.63, Y:0.29, Z:-0.89 [[ 9.99953071e-01 9.49737031e-03 1.91208863e-03 3.63376606e+00] [-9.48791210e-03 9.99943001e-01 -4.89628753e-03 2.87169311e-01] [-1.95848150e-03 4.87791602e-03 9.99986185e-01 -8.90169651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.684553574 meters Centerline goodness [0,1] 0.858815384928634 Centerline is valid? [False, False] Translation: X:3.64, Y:0.28, Z:-0.89 [[ 9.99965980e-01 8.17091996e-03 1.12912403e-03 3.63678438e+00] [-8.16489992e-03 9.99952952e-01 -5.23714709e-03 2.84538326e-01] [-1.17186322e-03 5.22774973e-03 9.99985649e-01 -8.91428272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71455357399999 meters Centerline goodness [0,1] 0.8560468113836774 Centerline is valid? [False, False] Translation: X:3.64, Y:0.28, Z:-0.89 [[ 9.99976987e-01 6.76438724e-03 5.18637866e-04 3.63937420e+00] [-6.76156639e-03 9.99963304e-01 -5.26038438e-03 2.80522630e-01] [-5.54202111e-04 5.25675652e-03 9.99986030e-01 -8.92367857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.744553574 meters Centerline goodness [0,1] 0.8536205447726015 Centerline is valid? [False, False] Translation: X:3.64, Y:0.28, Z:-0.89 [[ 9.99981196e-01 6.13250465e-03 7.15197231e-06 3.64151375e+00] [-6.13237578e-03 9.99966504e-01 -5.42072759e-03 2.78969246e-01] [-4.03943699e-05 5.42058180e-03 9.99985308e-01 -8.93720782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.774553574 meters Centerline goodness [0,1] 0.8558551125229481 Centerline is valid? [False, False] Translation: X:3.64, Y:0.28, Z:-0.90 [[ 9.99985822e-01 5.25976439e-03 -8.30491634e-04 3.64482852e+00] [-5.26423473e-03 9.99971152e-01 -5.47559060e-03 2.76431327e-01] [ 8.01667360e-04 5.47988488e-03 9.99984664e-01 -8.95730259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.804553574 meters Centerline goodness [0,1] 0.8565619452586385 Centerline is valid? [False, False] Translation: X:3.65, Y:0.28, Z:-0.90 [[ 9.99986552e-01 5.03774726e-03 -1.23124548e-03 3.64613894e+00] [-5.04418189e-03 9.99973338e-01 -5.28011727e-03 2.75367058e-01] [ 1.20461276e-03 5.28625689e-03 9.99985302e-01 -8.96269966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.834553574 meters Centerline goodness [0,1] 0.8561352556788715 Centerline is valid? [False, False] Translation: X:3.65, Y:0.27, Z:-0.90 [[ 9.99987124e-01 4.83164243e-03 -1.55152755e-03 3.64715750e+00] [-4.83899627e-03 9.99976908e-01 -4.77148987e-03 2.72625959e-01] [ 1.52843759e-03 4.77893627e-03 9.99987413e-01 -8.96359428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.864553574 meters Centerline goodness [0,1] 0.8556651681651681 Centerline is valid? [False, False] Translation: X:3.65, Y:0.27, Z:-0.90 [[ 9.99987436e-01 4.70291348e-03 -1.73520834e-03 3.64763843e+00] [-4.71052582e-03 9.99979184e-01 -4.40929733e-03 2.70976225e-01] [ 1.71443567e-03 4.41741567e-03 9.99988774e-01 -8.96106526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.894553574 meters Centerline goodness [0,1] 0.8571220355216858 Centerline is valid? [False, False] Translation: X:3.65, Y:0.27, Z:-0.90 [[ 9.99987650e-01 4.60194482e-03 -1.87678230e-03 3.64813256e+00] [-4.60966288e-03 9.99980851e-01 -4.12901157e-03 2.69664315e-01] [ 1.85774488e-03 4.13761191e-03 9.99989714e-01 -8.96091253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.924553574 meters Centerline goodness [0,1] 0.8562032822482983 Centerline is valid? [False, False] Translation: X:3.65, Y:0.27, Z:-0.90 [[ 9.99989038e-01 4.08246206e-03 -2.29277167e-03 3.64965364e+00] [-4.09137684e-03 9.99984037e-01 -3.89707175e-03 2.67861715e-01] [ 2.27682542e-03 3.90640962e-03 9.99989778e-01 -8.96537233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.954553574 meters Centerline goodness [0,1] 0.8559304318742422 Centerline is valid? [False, False] Translation: X:3.65, Y:0.27, Z:-0.90 [[ 9.99989944e-01 3.54581195e-03 -2.74570875e-03 3.65121940e+00] [-3.55654002e-03 9.99986023e-01 -3.91223626e-03 2.66850307e-01] [ 2.73179832e-03 3.92196214e-03 9.99988578e-01 -8.96994537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.984553574 meters Centerline goodness [0,1] 0.8556137362521818 Centerline is valid? [False, False] Translation: X:3.65, Y:0.26, Z:-0.90 [[ 9.99991734e-01 2.16688724e-03 -3.44033764e-03 3.65391128e+00] [-2.18020838e-03 9.99990123e-01 -3.87302685e-03 2.63434477e-01] [ 3.43191124e-03 3.88049549e-03 9.99986582e-01 -8.97514605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.014553574 meters Centerline goodness [0,1] 0.8572604127104697 Centerline is valid? [False, False] Translation: X:3.65, Y:0.26, Z:-0.90 [[ 9.99991469e-01 1.68723402e-03 -3.77018890e-03 3.65489727e+00] [-1.70071839e-03 9.99992159e-01 -3.57623702e-03 2.61681730e-01] [ 3.76412539e-03 3.58261855e-03 9.99986498e-01 -8.97322205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.044553574 meters Centerline goodness [0,1] 0.8587822558488493 Centerline is valid? [False, False] Translation: X:3.66, Y:0.26, Z:-0.90 [[ 9.99990592e-01 1.21754948e-03 -4.16336433e-03 3.65613053e+00] [-1.23180792e-03 9.99993380e-01 -3.42389133e-03 2.60386313e-01] [ 4.15916801e-03 3.42898759e-03 9.99985472e-01 -8.97444463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.074553574 meters Centerline goodness [0,1] 0.8587822558488493 Centerline is valid? [False, False] Translation: X:3.66, Y:0.26, Z:-0.90 [[ 9.99990592e-01 1.21754948e-03 -4.16336433e-03 3.65613053e+00] [-1.23180792e-03 9.99993380e-01 -3.42389133e-03 2.60386313e-01] [ 4.15916801e-03 3.42898759e-03 9.99985472e-01 -8.97444463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.104553574 meters Centerline goodness [0,1] 0.8613999788202902 Centerline is valid? [False, False] Translation: X:3.66, Y:0.26, Z:-0.90 [[ 9.99988802e-01 4.70773649e-04 -4.70890983e-03 3.65809449e+00] [-4.87174798e-04 9.99993818e-01 -3.48246318e-03 2.59243337e-01] [ 4.70724127e-03 3.48471825e-03 9.99982849e-01 -8.98141211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.134553574 meters Centerline goodness [0,1] 0.8606652956516209 Centerline is valid? [False, False] Translation: X:3.66, Y:0.26, Z:-0.90 [[ 9.99987826e-01 3.20552009e-04 -4.92400132e-03 3.65867762e+00] [-3.36984196e-04 9.99994376e-01 -3.33669415e-03 2.58673228e-01] [ 4.92290405e-03 3.33831284e-03 9.99982310e-01 -8.98091598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.164553574 meters Centerline goodness [0,1] 0.8618779840848807 Centerline is valid? [False, False] Translation: X:3.66, Y:0.26, Z:-0.90 [[ 9.99987638e-01 2.56478655e-04 -4.96569693e-03 3.65847216e+00] [-2.70710364e-04 9.99995858e-01 -2.86554443e-03 2.57311853e-01] [ 4.96494141e-03 2.86685327e-03 9.99983565e-01 -8.97145388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.194553574 meters Centerline goodness [0,1] 0.8595782671541535 Centerline is valid? [False, False] Translation: X:3.66, Y:0.26, Z:-0.90 [[ 9.99986920e-01 1.37340557e-04 -5.11281246e-03 3.65874283e+00] [-1.51239867e-04 9.99996294e-01 -2.71823781e-03 2.56866074e-01] [ 5.11242019e-03 2.71897552e-03 9.99983235e-01 -8.96856692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.224553574 meters Centerline goodness [0,1] 0.8655902571501315 Centerline is valid? [False, False] Translation: X:3.66, Y:0.26, Z:-0.90 [[ 9.99984718e-01 -3.95306626e-04 -5.51434178e-03 3.66025789e+00] [ 3.79250594e-04 9.99995687e-01 -2.91242777e-03 2.56721386e-01] [ 5.51546930e-03 2.91029194e-03 9.99980555e-01 -8.97539229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.254553574 meters Centerline goodness [0,1] 0.8645017510347024 Centerline is valid? [False, False] Translation: X:3.66, Y:0.26, Z:-0.90 [[ 9.99982161e-01 -8.29962553e-04 -5.91510220e-03 3.66178661e+00] [ 8.11091445e-04 9.99994577e-01 -3.19201189e-03 2.56793950e-01] [ 5.91771937e-03 3.18715726e-03 9.99977411e-01 -8.98363421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.284553574 meters Centerline goodness [0,1] 0.8593965938808922 Centerline is valid? [False, False] Translation: X:3.66, Y:0.26, Z:-0.90 [[ 9.99979642e-01 -1.15248079e-03 -6.27600264e-03 3.66295121e+00] [ 1.13198568e-03 9.99994019e-01 -3.26820514e-03 2.56623384e-01] [ 6.27973165e-03 3.26103426e-03 9.99974965e-01 -8.98727777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.314553574 meters Centerline goodness [0,1] 0.8668209909316796 Centerline is valid? [False, False] Translation: X:3.66, Y:0.26, Z:-0.90 [[ 9.99975887e-01 -1.80522320e-03 -6.70572939e-03 3.66435590e+00] [ 1.78281505e-03 9.99992813e-01 -3.34611914e-03 2.55997488e-01] [ 6.71172169e-03 3.33408338e-03 9.99971918e-01 -8.98824402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.344553574 meters Centerline goodness [0,1] 0.8670234227347051 Centerline is valid? [False, False] Translation: X:3.66, Y:0.26, Z:-0.90 [[ 9.99973888e-01 -2.06588183e-03 -6.92492103e-03 3.66489109e+00] [ 2.04306280e-03 9.99992466e-01 -3.30066007e-03 2.55744443e-01] [ 6.93168763e-03 3.28642584e-03 9.99970575e-01 -8.98580703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.374553574 meters Centerline goodness [0,1] 0.8669371110591934 Centerline is valid? [False, False] Translation: X:3.67, Y:0.26, Z:-0.90 [[ 9.99970578e-01 -2.56314708e-03 -7.23001655e-03 3.66573925e+00] [ 2.53942994e-03 9.99991371e-01 -3.28764688e-03 2.55288689e-01] [ 7.23838089e-03 3.26919003e-03 9.99968459e-01 -8.98287528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.404553574 meters Centerline goodness [0,1] 0.8667034576443868 Centerline is valid? [False, False] Translation: X:3.67, Y:0.26, Z:-0.90 [[ 9.99969776e-01 -2.53025453e-03 -7.35155986e-03 3.66601540e+00] [ 2.50601702e-03 9.99991401e-01 -3.30426441e-03 2.55769231e-01] [ 7.35985727e-03 3.28574141e-03 9.99967518e-01 -8.98346521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.434553574 meters Centerline goodness [0,1] 0.8697659642062904 Centerline is valid? [False, False] Translation: X:3.67, Y:0.26, Z:-0.90 [[ 9.99970063e-01 -2.31171933e-03 -7.38439677e-03 3.66619123e+00] [ 2.28603814e-03 9.99991317e-01 -3.48431348e-03 2.57001790e-01] [ 7.39238740e-03 3.46732816e-03 9.99966665e-01 -8.98786700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46455357399999 meters Centerline goodness [0,1] 0.8681880612783941 Centerline is valid? [False, False] Translation: X:3.67, Y:0.26, Z:-0.90 [[ 9.99968596e-01 1.61530609e-03 -7.75876900e-03 3.66721768e+00] [-1.61294250e-03 9.99998651e-01 3.10882640e-04 2.58421118e-01] [ 7.75926071e-03 -2.98358429e-04 9.99969852e-01 -8.98886867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.494553574 meters Centerline goodness [0,1] 0.8703223494191807 Centerline is valid? [False, False] Translation: X:3.67, Y:0.26, Z:-0.90 [[ 9.99969209e-01 2.26376545e-03 -7.51368239e-03 3.66644098e+00] [-2.26301737e-03 9.99997434e-01 1.08062230e-04 2.59979036e-01] [ 7.51390773e-03 -9.10553091e-05 9.99971766e-01 -8.99098756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.524553574 meters Centerline goodness [0,1] 0.8694484090336664 Centerline is valid? [False, False] Translation: X:3.66, Y:0.26, Z:-0.90 [[ 9.99964193e-01 4.73158235e-03 -7.01606571e-03 3.66335285e+00] [-4.72537148e-03 9.99988429e-01 9.01547947e-04 2.63009868e-01] [ 7.02025028e-03 -8.68362148e-04 9.99974981e-01 -8.97711514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.554553574 meters Centerline goodness [0,1] 0.8703971194707865 Centerline is valid? [False, False] Translation: X:3.66, Y:0.26, Z:-0.90 [[ 9.99962849e-01 5.35266563e-03 -6.75639664e-03 3.66250382e+00] [-5.34840362e-03 9.99985487e-01 6.48721456e-04 2.64760505e-01] [ 6.75977097e-03 -6.12561420e-04 9.99976965e-01 -8.97804024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.584553574 meters Centerline goodness [0,1] 0.8654669199774525 Centerline is valid? [False, False] Translation: X:3.66, Y:0.27, Z:-0.90 [[ 9.99960790e-01 6.19869307e-03 -6.32420768e-03 3.66100107e+00] [-6.19496719e-03 9.99980626e-01 6.08565491e-04 2.66550033e-01] [ 6.32785747e-03 -5.69363369e-04 9.99979817e-01 -8.97578985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.614553574 meters Centerline goodness [0,1] 0.8654057757385762 Centerline is valid? [False, False] Translation: X:3.66, Y:0.27, Z:-0.90 [[ 9.99950294e-01 8.07278576e-03 -5.85139854e-03 3.65855127e+00] [-8.06656651e-03 9.99966875e-01 1.08568725e-03 2.69580414e-01] [ 5.85996923e-03 -1.03843259e-03 9.99982291e-01 -8.96706554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.644553574 meters Centerline goodness [0,1] 0.8705162761766535 Centerline is valid? [False, False] Translation: X:3.66, Y:0.27, Z:-0.90 [[ 9.99946555e-01 8.59532705e-03 -5.74529734e-03 3.65813605e+00] [-8.58991164e-03 9.99962639e-01 9.66593370e-04 2.70780047e-01] [ 5.75339088e-03 -9.17190113e-04 9.99983028e-01 -8.96903126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.674553574 meters Centerline goodness [0,1] 0.8704105456724313 Centerline is valid? [False, False] Translation: X:3.66, Y:0.27, Z:-0.90 [[ 0.99989219 0.01370161 -0.00527886 3.65616534] [-0.01367232 0.99989115 0.00554489 0.27147626] [ 0.00535426 -0.00547212 0.99997069 -0.89550548] [ 0. 0. 0. 1. ]] SLAMing on 117.704553574 meters Centerline goodness [0,1] 0.8713338276487066 Centerline is valid? [False, False] Translation: X:3.66, Y:0.27, Z:-0.90 [[ 0.99988089 0.01462308 -0.00493625 3.65502768] [-0.01459498 0.99987734 0.00568235 0.27246571] [ 0.00501873 -0.00560963 0.99997167 -0.89543186] [ 0. 0. 0. 1. ]] SLAMing on 117.734553574 meters Centerline goodness [0,1] 0.8683143662667463 Centerline is valid? [False, False] Translation: X:3.65, Y:0.27, Z:-0.90 [[ 0.99987003 0.01544727 -0.00461596 3.65392173] [-0.01542032 0.99986418 0.00581716 0.27337039] [ 0.00470519 -0.00574523 0.99997243 -0.89527181] [ 0. 0. 0. 1. ]] SLAMing on 117.764553574 meters Centerline goodness [0,1] 0.8684578095472846 Centerline is valid? [False, False] Translation: X:3.65, Y:0.27, Z:-0.89 [[ 0.99984302 0.01724509 -0.00406801 3.65168601] [-0.01721897 0.99983144 0.00637121 0.27482007] [ 0.0041772 -0.00630016 0.99997143 -0.89486279] [ 0. 0. 0. 1. ]] SLAMing on 117.794553574 meters Centerline goodness [0,1] 0.8656496062992126 Centerline is valid? [False, False] Translation: X:3.65, Y:0.28, Z:-0.90 [[ 0.99982845 0.01813856 -0.00375094 3.65075229] [-0.01811413 0.99981515 0.00644544 0.27599886] [ 0.00386716 -0.00637639 0.99997219 -0.89513623] [ 0. 0. 0. 1. ]] SLAMing on 117.824553574 meters Centerline goodness [0,1] 0.8649081063340991 Centerline is valid? [False, False] Translation: X:3.65, Y:0.28, Z:-0.89 [[ 9.99870486e-01 1.57530969e-02 -3.29400902e-03 3.64871496e+00] [-1.57429011e-02 9.99871272e-01 3.09860255e-03 2.76699433e-01] [ 3.34239758e-03 -3.04634398e-03 9.99989774e-01 -8.94851795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.854553574 meters Centerline goodness [0,1] 0.8648526356923962 Centerline is valid? [False, False] Translation: X:3.65, Y:0.28, Z:-0.89 [[ 9.99912224e-01 1.29416602e-02 -2.83847273e-03 3.64702486e+00] [-1.29433199e-02 9.99916071e-01 -5.67111940e-04 2.77109701e-01] [ 2.83089513e-03 6.03801422e-04 9.99995811e-01 -8.94833460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.884553574 meters Centerline goodness [0,1] 0.8657374045172846 Centerline is valid? [False, False] Translation: X:3.65, Y:0.28, Z:-0.89 [[ 9.99907228e-01 1.33392124e-02 -2.75690889e-03 3.64650098e+00] [-1.33392460e-02 9.99911028e-01 6.18983520e-06 2.75720543e-01] [ 2.75674617e-03 3.05858251e-05 9.99996200e-01 -8.94230800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.914553574 meters Centerline goodness [0,1] 0.8676506916996047 Centerline is valid? [False, False] Translation: X:3.65, Y:0.28, Z:-0.89 [[ 9.99907786e-01 1.32628012e-02 -2.91838695e-03 3.64732414e+00] [-1.32629886e-02 9.99912042e-01 -4.48697920e-05 2.75256812e-01] [ 2.91753516e-03 8.35721871e-05 9.99995740e-01 -8.94914010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.944553574 meters Centerline goodness [0,1] 0.8641972756774634 Centerline is valid? [False, False] Translation: X:3.65, Y:0.27, Z:-0.90 [[ 9.99904172e-01 1.35107479e-02 -3.01778418e-03 3.64812592e+00] [-1.35103051e-02 9.99908718e-01 1.67071291e-04 2.74089704e-01] [ 3.01976597e-03 -1.26284096e-04 9.99995433e-01 -8.96042202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.974553574 meters Centerline goodness [0,1] 0.8644204851752022 Centerline is valid? [False, False] Translation: X:3.65, Y:0.27, Z:-0.90 [[ 9.99902844e-01 1.35829295e-02 -3.13168577e-03 3.64867585e+00] [-1.35822216e-02 9.99907727e-01 2.47207654e-04 2.73528152e-01] [ 3.13475460e-03 -2.04648386e-04 9.99995066e-01 -8.96507645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.004553574 meters Centerline goodness [0,1] 0.8654992625828296 Centerline is valid? [False, False] Translation: X:3.65, Y:0.27, Z:-0.90 [[ 9.99901769e-01 1.36466713e-02 -3.19712950e-03 3.64908275e+00] [-1.36455290e-02 9.99906824e-01 3.78821530e-04 2.72703648e-01] [ 3.20200125e-03 -3.35157794e-04 9.99994817e-01 -8.96881946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.034553574 meters Centerline goodness [0,1] 0.8623353782374741 Centerline is valid? [False, False] Translation: X:3.65, Y:0.27, Z:-0.90 [[ 9.99898148e-01 1.39441756e-02 -3.04199979e-03 3.64855318e+00] [-1.39406129e-02 9.99902118e-01 1.18921668e-03 2.70078997e-01] [ 3.05828468e-03 -1.14668822e-03 9.99994666e-01 -8.96261186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.064553574 meters Centerline goodness [0,1] 0.863568499632005 Centerline is valid? [False, False] Translation: X:3.65, Y:0.27, Z:-0.90 [[ 9.99935370e-01 1.10749144e-02 -2.56936929e-03 3.64703971e+00] [-1.10808689e-02 9.99935926e-01 -2.31494419e-03 2.69742500e-01] [ 2.54356685e-03 2.34326542e-03 9.99994020e-01 -8.96452255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.094553574 meters Centerline goodness [0,1] 0.8605982235600873 Centerline is valid? [False, False] Translation: X:3.65, Y:0.27, Z:-0.90 [[ 9.99945646e-01 9.92815661e-03 -3.18394693e-03 3.64978497e+00] [-9.93562359e-03 9.99947907e-01 -2.33801675e-03 2.66613186e-01] [ 3.16056887e-03 2.36952416e-03 9.99992198e-01 -8.97587710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.124553574 meters Centerline goodness [0,1] 0.862647779316221 Centerline is valid? [False, False] Translation: X:3.65, Y:0.26, Z:-0.90 [[ 9.99952847e-01 8.95777329e-03 -3.75004572e-03 3.65221607e+00] [-8.96725172e-03 9.99956622e-01 -2.51841380e-03 2.64667977e-01] [ 3.72732368e-03 2.55192266e-03 9.99989797e-01 -8.98673455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.154553574 meters Centerline goodness [0,1] 0.8635141818807389 Centerline is valid? [False, False] Translation: X:3.65, Y:0.26, Z:-0.90 [[ 0.99998215 0.00439429 -0.00404955 3.6535425 ] [-0.00441766 0.99997354 -0.00578013 0.26002865] [ 0.00402404 0.00579792 0.9999751 -0.89908904] [ 0. 0. 0. 1. ]] SLAMing on 118.184553574 meters Centerline goodness [0,1] 0.8634981562547172 Centerline is valid? [False, False] Translation: X:3.66, Y:0.26, Z:-0.90 [[ 9.99984007e-01 3.34848988e-03 -4.55771487e-03 3.65553727e+00] [-3.37311601e-03 9.99979697e-01 -5.40625679e-03 2.56642912e-01] [ 4.53951954e-03 5.42154403e-03 9.99974999e-01 -8.99161834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21455357399999 meters Centerline goodness [0,1] 0.8637703141928494 Centerline is valid? [False, False] Translation: X:3.66, Y:0.25, Z:-0.90 [[ 9.99985371e-01 2.13224343e-03 -4.97095302e-03 3.65737779e+00] [-2.15775710e-03 9.99984499e-01 -5.13285017e-03 2.53268148e-01] [ 4.95993148e-03 5.14350120e-03 9.99974471e-01 -8.99070973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.244553574 meters Centerline goodness [0,1] 0.8667089604480224 Centerline is valid? [False, False] Translation: X:3.66, Y:0.25, Z:-0.90 [[ 9.99980904e-01 -3.15518382e-03 -5.31376287e-03 3.65905547e+00] [ 3.11202611e-03 9.99962266e-01 -8.11065098e-03 2.47325166e-01] [ 5.33915295e-03 8.09395953e-03 9.99952990e-01 -8.98582217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.274553574 meters Centerline goodness [0,1] 0.8679643218067578 Centerline is valid? [False, False] Translation: X:3.66, Y:0.24, Z:-0.90 [[ 0.99997351 -0.00420991 -0.00593703 3.66140491] [ 0.00416391 0.99996137 -0.00774032 0.24394258] [ 0.00596939 0.0077154 0.99995242 -0.89885625] [ 0. 0. 0. 1. ]] SLAMing on 118.304553574 meters Centerline goodness [0,1] 0.8676005222509903 Centerline is valid? [False, False] Translation: X:3.66, Y:0.24, Z:-0.90 [[ 0.99993735 -0.00913821 -0.00646443 3.66441038] [ 0.00906326 0.99989245 -0.01152988 0.23989637] [ 0.00656909 0.01147057 0.99991263 -0.90100471] [ 0. 0. 0. 1. ]] SLAMing on 118.334553574 meters Centerline goodness [0,1] 0.8663909088887406 Centerline is valid? [False, False] Translation: X:3.67, Y:0.24, Z:-0.90 [[ 0.99992553 -0.00998381 -0.00701874 3.66647047] [ 0.00990504 0.99988857 -0.01116898 0.23709404] [ 0.00712947 0.01109863 0.99991299 -0.90117627] [ 0. 0. 0. 1. ]] SLAMing on 118.364553574 meters Centerline goodness [0,1] 0.8707396217970236 Centerline is valid? [False, False] Translation: X:3.67, Y:0.23, Z:-0.90 [[ 0.99991336 -0.01076206 -0.00757965 3.6684281 ] [ 0.01068019 0.99988506 -0.01076107 0.23409927] [ 0.00769459 0.01067918 0.99991337 -0.90128916] [ 0. 0. 0. 1. ]] SLAMing on 118.394553574 meters Centerline goodness [0,1] 0.8679976564964622 Centerline is valid? [False, False] Translation: X:3.67, Y:0.23, Z:-0.90 [[ 0.99988944 -0.0122879 -0.00837349 3.67197851] [ 0.01219905 0.9998696 -0.01058115 0.22991195] [ 0.00850242 0.01047783 0.99990896 -0.90252968] [ 0. 0. 0. 1. ]] SLAMing on 118.424553574 meters Centerline goodness [0,1] 0.8667918721998461 Centerline is valid? [False, False] Translation: X:3.68, Y:0.23, Z:-0.90 [[ 0.99986248 -0.01379229 -0.00920789 3.6753542 ] [ 0.01369607 0.99985178 -0.01043271 0.22670346] [ 0.00935041 0.01030516 0.99990318 -0.90317251] [ 0. 0. 0. 1. ]] SLAMing on 118.454553574 meters Centerline goodness [0,1] 0.8672142678859114 Centerline is valid? [False, False] Translation: X:3.68, Y:0.22, Z:-0.90 [[ 0.99985284 -0.01424187 -0.00956351 3.67634835] [ 0.01414634 0.99985009 -0.00998355 0.22479652] [ 0.00970426 0.00984679 0.99990443 -0.90261829] [ 0. 0. 0. 1. ]] SLAMing on 118.484553574 meters Centerline goodness [0,1] 0.8671716827043381 Centerline is valid? [False, False] Translation: X:3.68, Y:0.22, Z:-0.90 [[ 0.99984401 -0.01466135 -0.00984847 3.6772975 ] [ 0.01456568 0.9998467 -0.00971701 0.22340294] [ 0.00998942 0.00957205 0.99990429 -0.90239211] [ 0. 0. 0. 1. ]] SLAMing on 118.514553574 meters Centerline goodness [0,1] 0.8695513623016866 Centerline is valid? [False, False] Translation: X:3.68, Y:0.22, Z:-0.90 [[ 0.9998231 -0.01561381 -0.01048702 3.67953647] [ 0.01551092 0.99983145 -0.00982216 0.22291625] [ 0.01063861 0.00965775 0.99989677 -0.9025683 ] [ 0. 0. 0. 1. ]] SLAMing on 118.544553574 meters Centerline goodness [0,1] 0.864461944646759 Centerline is valid? [False, False] Translation: X:3.68, Y:0.22, Z:-0.90 [[ 0.99981071 -0.01615758 -0.01083822 3.68082168] [ 0.01605022 0.99982198 -0.00992 0.22269633] [ 0.01099658 0.00974416 0.99989206 -0.9026285 ] [ 0. 0. 0. 1. ]] SLAMing on 118.574553574 meters Centerline goodness [0,1] 0.8675082451950415 Centerline is valid? [False, False] Translation: X:3.68, Y:0.22, Z:-0.90 [[ 0.99979121 -0.01703048 -0.01129158 3.68193258] [ 0.01691823 0.99980724 -0.00996292 0.222711 ] [ 0.01145907 0.00976981 0.99988661 -0.90151839] [ 0. 0. 0. 1. ]] SLAMing on 118.604553574 meters Centerline goodness [0,1] 0.8677425212220256 Centerline is valid? [False, False] Translation: X:3.69, Y:0.22, Z:-0.90 [[ 0.99980922 -0.0151689 -0.01230552 3.68548866] [ 0.01508905 0.99986466 -0.00655629 0.22222107] [ 0.01240331 0.00636936 0.99990279 -0.90134394] [ 0. 0. 0. 1. ]] SLAMing on 118.634553574 meters Centerline goodness [0,1] 0.8783615678646552 Centerline is valid? [False, False] Translation: X:3.69, Y:0.22, Z:-0.90 [[ 9.99824685e-01 -1.33153006e-02 -1.31644373e-02 3.68845288e+00] [ 1.32736649e-02 9.99906635e-01 -3.24507139e-03 2.22003566e-01] [ 1.32064173e-02 3.06976215e-03 9.99908079e-01 -9.00868019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.664553574 meters Centerline goodness [0,1] 0.8650656102995791 Centerline is valid? [False, False] Translation: X:3.69, Y:0.22, Z:-0.90 [[ 0.99980763 -0.01418793 -0.01354277 3.68947078] [ 0.01413529 0.99989219 -0.00397486 0.22432611] [ 0.01359771 0.00378267 0.99990039 -0.90046702] [ 0. 0. 0. 1. ]] SLAMing on 118.694553574 meters Centerline goodness [0,1] 0.8768151667264252 Centerline is valid? [False, False] Translation: X:3.69, Y:0.23, Z:-0.90 [[ 0.99980274 -0.014422 -0.01365606 3.68985977] [ 0.01436292 0.9998871 -0.00441497 0.22599022] [ 0.01371819 0.00421796 0.999897 -0.9005366 ] [ 0. 0. 0. 1. ]] SLAMing on 118.724553574 meters Centerline goodness [0,1] 0.8672949963322738 Centerline is valid? [False, False] Translation: X:3.69, Y:0.23, Z:-0.90 [[ 9.99811059e-01 -1.24521925e-02 -1.49261537e-02 3.69365634e+00] [ 1.24279228e-02 9.99921295e-01 -1.71763856e-03 2.28867980e-01] [ 1.49463674e-02 1.53181294e-03 9.99887123e-01 -9.00760716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.754553574 meters Centerline goodness [0,1] 0.8765207756232687 Centerline is valid? [False, False] Translation: X:3.69, Y:0.23, Z:-0.90 [[ 9.99809393e-01 -1.24377269e-02 -1.50492662e-02 3.69403445e+00] [ 1.24049765e-02 9.99920484e-01 -2.26761093e-03 2.31330341e-01] [ 1.50762734e-02 2.08049291e-03 9.99884182e-01 -9.01227079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.784553574 meters Centerline goodness [0,1] 0.8742708149195687 Centerline is valid? [False, False] Translation: X:3.70, Y:0.23, Z:-0.90 [[ 9.99828606e-01 -9.50192213e-03 -1.58893638e-02 3.69642479e+00] [ 9.52136996e-03 9.99954011e-01 1.14875022e-03 2.32661127e-01] [ 1.58777177e-02 -1.29984184e-03 9.99873096e-01 -9.01264708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.814553574 meters Centerline goodness [0,1] 0.8711148130288019 Centerline is valid? [False, False] Translation: X:3.70, Y:0.24, Z:-0.90 [[ 0.99984952 -0.00584828 -0.01633211 3.69737746] [ 0.0059171 0.9999738 0.004169 0.23668538] [ 0.0163073 -0.00426501 0.99985793 -0.90132571] [ 0. 0. 0. 1. ]] SLAMing on 118.844553574 meters Centerline goodness [0,1] 0.8696835139959078 Centerline is valid? [False, False] Translation: X:3.70, Y:0.24, Z:-0.90 [[ 9.99860848e-01 -1.83111588e-03 -1.65810583e-02 3.69777516e+00] [ 1.95507118e-03 9.99970243e-01 7.46259584e-03 2.40005619e-01] [ 1.65669000e-02 -7.49397455e-03 9.99834675e-01 -9.01188608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.874553574 meters Centerline goodness [0,1] 0.8671992337998737 Centerline is valid? [False, False] Translation: X:3.70, Y:0.24, Z:-0.90 [[ 9.99867148e-01 -1.12736232e-03 -1.62608793e-02 3.69655040e+00] [ 1.24449231e-03 9.99973342e-01 7.19485759e-03 2.42407023e-01] [ 1.62523346e-02 -7.21413828e-03 9.99841896e-01 -9.01156617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.904553574 meters Centerline goodness [0,1] 0.8717064602172924 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.90 [[ 9.99873979e-01 -2.58967905e-04 -1.58732263e-02 3.69510078e+00] [ 3.67992986e-04 9.99976361e-01 6.86595318e-03 2.45204460e-01] [ 1.58710730e-02 -6.87092916e-03 9.99850439e-01 -9.01170905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.934553574 meters Centerline goodness [0,1] 0.8765397656551783 Centerline is valid? [False, False] Translation: X:3.69, Y:0.25, Z:-0.90 [[ 0.99986617 0.00504747 -0.01556177 3.69351633] [-0.00488552 0.9999337 0.01042727 0.25006498] [ 0.01561337 -0.01034984 0.99982454 -0.90084198] [ 0. 0. 0. 1. ]] SLAMing on 118.96455357399999 meters Centerline goodness [0,1] 0.8765397656551783 Centerline is valid? [False, False] Translation: X:3.69, Y:0.25, Z:-0.90 [[ 0.99986617 0.00504747 -0.01556177 3.69351633] [-0.00488552 0.9999337 0.01042727 0.25006498] [ 0.01561337 -0.01034984 0.99982454 -0.90084198] [ 0. 0. 0. 1. ]] SLAMing on 118.994553574 meters Centerline goodness [0,1] 0.8763612246207826 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:-0.91 [[ 9.99913564e-01 9.18557222e-03 -9.40695026e-03 3.70598840e+00] [-9.15914319e-03 9.99953996e-01 2.84875956e-03 2.53727327e-01] [ 9.43268499e-03 -2.76235372e-03 9.99951696e-01 -9.07886757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.024553574 meters Centerline goodness [0,1] 0.8725881073705306 Centerline is valid? [False, False] Translation: X:3.70, Y:0.26, Z:-0.91 [[ 0.99985615 0.01455134 -0.00871405 3.70289448] [-0.01448894 0.99986924 0.00718208 0.25639131] [ 0.00881742 -0.00705479 0.99993624 -0.90559141] [ 0. 0. 0. 1. ]] SLAMing on 119.054553574 meters Centerline goodness [0,1] 0.875050588962021 Centerline is valid? [False, False] Translation: X:3.70, Y:0.26, Z:-0.90 [[ 0.9998452 0.01557109 -0.00819266 3.7007828 ] [-0.01551117 0.99985284 0.00732776 0.25809362] [ 0.00830555 -0.00719955 0.99993959 -0.90463332] [ 0. 0. 0. 1. ]] SLAMing on 119.084553574 meters Centerline goodness [0,1] 0.8722574353973671 Centerline is valid? [False, False] Translation: X:3.70, Y:0.26, Z:-0.90 [[ 0.99975926 0.02059479 -0.00756759 3.6984511 ] [-0.02050815 0.99972521 0.01135441 0.26120897] [ 0.00779936 -0.01119648 0.9999069 -0.90312212] [ 0. 0. 0. 1. ]] SLAMing on 119.114553574 meters Centerline goodness [0,1] 0.8734102336586809 Centerline is valid? [False, False] Translation: X:3.70, Y:0.26, Z:-0.90 [[ 0.9997527 0.02095526 -0.00744444 3.69835516] [-0.02087456 0.99972423 0.01075759 0.2638602 ] [ 0.00766782 -0.01059953 0.99991442 -0.90398889] [ 0. 0. 0. 1. ]] SLAMing on 119.144553574 meters Centerline goodness [0,1] 0.8707718811714777 Centerline is valid? [False, False] Translation: X:3.70, Y:0.27, Z:-0.91 [[ 0.99975921 0.02059964 -0.00756122 3.69934693] [-0.02052649 0.99974294 0.00962854 0.26692739] [ 0.00775762 -0.00947101 0.99992506 -0.90547753] [ 0. 0. 0. 1. ]] SLAMing on 119.174553574 meters Centerline goodness [0,1] 0.869974372978196 Centerline is valid? [False, False] Translation: X:3.70, Y:0.27, Z:-0.91 [[ 0.99983155 0.01677568 -0.00744676 3.69920939] [-0.01673898 0.99984758 0.00496257 0.26877082] [ 0.00752887 -0.00483708 0.99995996 -0.90663756] [ 0. 0. 0. 1. ]] SLAMing on 119.204553574 meters Centerline goodness [0,1] 0.8758375869094881 Centerline is valid? [False, False] Translation: X:3.70, Y:0.27, Z:-0.91 [[ 9.99889566e-01 1.29654154e-02 -7.26324064e-03 3.69846620e+00] [-1.29598004e-02 9.99915682e-01 8.19597210e-04 2.69507621e-01] [ 7.27325464e-03 -7.25376549e-04 9.99973286e-01 -9.06644873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.234553574 meters Centerline goodness [0,1] 0.8794335182383594 Centerline is valid? [False, False] Translation: X:3.69, Y:0.27, Z:-0.91 [[ 9.99993023e-01 3.65141989e-03 7.87902175e-04 3.68979451e+00] [-3.65107681e-03 9.99993240e-01 -4.36423306e-04 2.69213705e-01] [-7.89490413e-04 4.33543569e-04 9.99999594e-01 -9.10365778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.264553574 meters Centerline goodness [0,1] 0.8755277363523704 Centerline is valid? [False, False] Translation: X:3.69, Y:0.27, Z:-0.91 [[ 9.99997977e-01 2.01110211e-03 -3.67887713e-05 3.69311193e+00] [-2.01114065e-03 9.99997395e-01 -1.07938927e-03 2.68263540e-01] [ 3.46179134e-05 1.07946108e-03 9.99999417e-01 -9.11663176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.294553574 meters Centerline goodness [0,1] 0.8810756217649287 Centerline is valid? [False, False] Translation: X:3.70, Y:0.27, Z:-0.91 [[ 9.99993604e-01 -3.48390199e-03 -8.08497603e-04 3.69648527e+00] [ 3.47893608e-03 9.99975560e-01 -6.06434727e-03 2.68334500e-01] [ 8.29605435e-04 6.06149578e-03 9.99981285e-01 -9.13970485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.324553574 meters Centerline goodness [0,1] 0.8753226584961491 Centerline is valid? [False, False] Translation: X:3.70, Y:0.27, Z:-0.91 [[ 9.99990115e-01 -4.25714787e-03 -1.28307244e-03 3.69808638e+00] [ 4.24906830e-03 9.99971533e-01 -6.23532930e-03 2.67862643e-01] [ 1.30958063e-03 6.22981581e-03 9.99979737e-01 -9.14246357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.354553574 meters Centerline goodness [0,1] 0.8784183684177388 Centerline is valid? [False, False] Translation: X:3.70, Y:0.27, Z:-0.91 [[ 9.99985451e-01 -5.12066356e-03 -1.69594596e-03 3.69931556e+00] [ 5.10983852e-03 9.99966930e-01 -6.32687573e-03 2.67107234e-01] [ 1.72828767e-03 6.31811767e-03 9.99978547e-01 -9.13944815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.384553574 meters Centerline goodness [0,1] 0.8836073135955715 Centerline is valid? [False, False] Translation: X:3.70, Y:0.27, Z:-0.91 [[ 9.99984993e-01 -5.17223484e-03 -1.80630934e-03 3.69947101e+00] [ 5.16084881e-03 9.99967137e-01 -6.25225694e-03 2.67125531e-01] [ 1.83858812e-03 6.24284102e-03 9.99978823e-01 -9.13716297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.414553574 meters Centerline goodness [0,1] 0.8796414584598631 Centerline is valid? [False, False] Translation: X:3.70, Y:0.27, Z:-0.91 [[ 9.99993025e-01 -2.68753004e-03 -2.59360823e-03 3.70234862e+00] [ 2.68041891e-03 9.99992650e-01 -2.74138123e-03 2.66265903e-01] [ 2.60095671e-03 2.73441016e-03 9.99992879e-01 -9.14275608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.444553574 meters Centerline goodness [0,1] 0.8835071149466118 Centerline is valid? [False, False] Translation: X:3.70, Y:0.27, Z:-0.91 [[ 9.99992844e-01 -2.60314513e-03 -2.74524218e-03 3.70267904e+00] [ 2.59497089e-03 9.99992202e-01 -2.97697250e-03 2.67569419e-01] [ 2.75297027e-03 2.96982738e-03 9.99991801e-01 -9.14527345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.474553574 meters Centerline goodness [0,1] 0.8844611528822055 Centerline is valid? [False, False] Translation: X:3.70, Y:0.27, Z:-0.91 [[ 9.99993613e-01 -2.31597348e-03 -2.72214985e-03 3.70221739e+00] [ 2.30852454e-03 9.99993591e-01 -2.73638155e-03 2.67778501e-01] [ 2.72846980e-03 2.73007992e-03 9.99992551e-01 -9.13874553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.504553574 meters Centerline goodness [0,1] 0.8826284239447173 Centerline is valid? [False, False] Translation: X:3.70, Y:0.27, Z:-0.91 [[ 9.99997058e-01 4.19420066e-04 -2.38935230e-03 3.70044009e+00] [-4.19976394e-04 9.99999885e-01 -2.32339562e-04 2.69382582e-01] [ 2.38925458e-03 2.33342350e-04 9.99997119e-01 -9.12300620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.534553574 meters Centerline goodness [0,1] 0.8803200332502078 Centerline is valid? [False, False] Translation: X:3.70, Y:0.27, Z:-0.91 [[ 9.99996955e-01 1.42120515e-03 -2.01751736e-03 3.69884589e+00] [-1.42115700e-03 9.99998990e-01 2.52994511e-05 2.71260666e-01] [ 2.01755127e-03 -2.24321651e-05 9.99997964e-01 -9.11785181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.564553574 meters Centerline goodness [0,1] 0.8774031994370978 Centerline is valid? [False, False] Translation: X:3.70, Y:0.27, Z:-0.91 [[ 9.99993209e-01 3.17270424e-03 -1.87499000e-03 3.69755822e+00] [-3.17212207e-03 9.99994920e-01 3.13384422e-04 2.74827055e-01] [ 1.87597475e-03 -3.07434597e-04 9.99998193e-01 -9.11800963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.594553574 meters Centerline goodness [0,1] 0.8805278616638398 Centerline is valid? [False, False] Translation: X:3.70, Y:0.28, Z:-0.91 [[ 9.99991948e-01 3.56661388e-03 -1.83960114e-03 3.69738970e+00] [-3.56643363e-03 9.99993635e-01 1.01257748e-04 2.76136974e-01] [ 1.83995058e-03 -9.46961174e-05 9.99998303e-01 -9.12015246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.624553574 meters Centerline goodness [0,1] 0.8794785586105898 Centerline is valid? [False, False] Translation: X:3.70, Y:0.28, Z:-0.91 [[ 9.99990427e-01 4.04542641e-03 -1.66773854e-03 3.69676554e+00] [-4.04542856e-03 9.99991817e-01 2.08752141e-06 2.77338459e-01] [ 1.66773334e-03 4.65921570e-06 9.99998609e-01 -9.11930477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.654553574 meters Centerline goodness [0,1] 0.874535258714541 Centerline is valid? [False, False] Translation: X:3.69, Y:0.28, Z:-0.91 [[ 9.99983380e-01 5.68608523e-03 -9.52871238e-04 3.69367014e+00] [-5.68565304e-03 9.99983733e-01 4.55658751e-04 2.79733332e-01] [ 9.55446652e-04 -4.50233483e-04 9.99999442e-01 -9.10359797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.684553574 meters Centerline goodness [0,1] 0.8796964725184577 Centerline is valid? [False, False] Translation: X:3.69, Y:0.28, Z:-0.91 [[ 9.99981849e-01 5.97012181e-03 -8.11631068e-04 3.69332314e+00] [-5.97005488e-03 9.99982175e-01 8.48623298e-05 2.81416794e-01] [ 8.12123240e-04 -8.00153075e-05 9.99999667e-01 -9.10570390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71455357399999 meters Centerline goodness [0,1] 0.8770829929750041 Centerline is valid? [False, False] Translation: X:3.69, Y:0.28, Z:-0.91 [[ 9.99972841e-01 7.35941474e-03 -3.94803415e-04 3.69132063e+00] [-7.35932974e-03 9.99972896e-01 2.16317445e-04 2.84057526e-01] [ 3.96384684e-04 -2.13406081e-04 9.99999899e-01 -9.09876314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.744553574 meters Centerline goodness [0,1] 0.8773868115261299 Centerline is valid? [False, False] Translation: X:3.69, Y:0.29, Z:-0.91 [[ 9.99969788e-01 7.76496849e-03 -3.58108218e-04 3.69123262e+00] [-7.76494984e-03 9.99969851e-01 5.34469796e-05 2.85106365e-01] [ 3.58512436e-04 -5.06646725e-05 9.99999934e-01 -9.10221805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.774553574 meters Centerline goodness [0,1] 0.8756264515340423 Centerline is valid? [False, False] Translation: X:3.69, Y:0.29, Z:-0.91 [[ 9.99966486e-01 8.18211133e-03 -2.82696129e-04 3.69112900e+00] [-8.18212846e-03 9.99966524e-01 -5.94961968e-05 2.85907842e-01] [ 2.82199861e-04 6.18072589e-05 9.99999958e-01 -9.10702378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.804553574 meters Centerline goodness [0,1] 0.8782001709471285 Centerline is valid? [False, False] Translation: X:3.69, Y:0.29, Z:-0.91 [[ 9.99955606e-01 9.42251669e-03 -3.94508094e-05 3.69031952e+00] [-9.42251228e-03 9.99955601e-01 1.10599404e-04 2.87535185e-01] [ 4.04911826e-05 -1.10222768e-04 9.99999993e-01 -9.11356977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.834553574 meters Centerline goodness [0,1] 0.8783495086370018 Centerline is valid? [False, False] Translation: X:3.69, Y:0.29, Z:-0.91 [[ 9.99950333e-01 9.96442038e-03 2.06869087e-04 3.68948561e+00] [-9.96452378e-03 9.99950225e-01 5.04959185e-04 2.86972032e-01] [-2.01827164e-04 -5.06995457e-04 9.99999851e-01 -9.11066914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.864553574 meters Centerline goodness [0,1] 0.8765301126162885 Centerline is valid? [False, False] Translation: X:3.69, Y:0.29, Z:-0.91 [[ 9.99973455e-01 7.24938731e-03 7.31968904e-04 3.68749987e+00] [-7.24724275e-03 9.99969559e-01 -2.89118505e-03 2.87105838e-01] [-7.52905942e-04 2.88580355e-03 9.99995553e-01 -9.10640196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.894553574 meters Centerline goodness [0,1] 0.8766455089087087 Centerline is valid? [False, False] Translation: X:3.69, Y:0.29, Z:-0.91 [[ 9.99975918e-01 6.91654579e-03 5.70359077e-04 3.68812859e+00] [-6.91493605e-03 9.99972234e-01 -2.77758332e-03 2.85700754e-01] [-5.89554523e-04 2.77357244e-03 9.99995980e-01 -9.10655047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.924553574 meters Centerline goodness [0,1] 0.8784299249415528 Centerline is valid? [False, False] Translation: X:3.69, Y:0.28, Z:-0.91 [[ 9.99995289e-01 3.00447754e-03 6.28349083e-04 3.68803466e+00] [-3.00036899e-03 9.99974759e-01 -6.44044048e-03 2.84393337e-01] [-6.47683381e-04 6.43852486e-03 9.99979063e-01 -9.11000401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.954553574 meters Centerline goodness [0,1] 0.8778506652409056 Centerline is valid? [False, False] Translation: X:3.69, Y:0.28, Z:-0.91 [[ 9.99999765e-01 5.51934069e-04 -4.07410744e-04 3.69277995e+00] [-5.54904606e-04 9.99972999e-01 -7.32751796e-03 2.82102108e-01] [ 4.03355437e-04 7.32774230e-03 9.99973070e-01 -9.13284433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.984553574 meters Centerline goodness [0,1] 0.8770970471100472 Centerline is valid? [False, False] Translation: X:3.70, Y:0.28, Z:-0.91 [[ 9.99998968e-01 -6.73347440e-04 -1.26921755e-03 3.69582898e+00] [ 6.63730150e-04 9.99971183e-01 -7.56258979e-03 2.80341286e-01] [ 1.27427323e-03 7.56173956e-03 9.99970598e-01 -9.14373482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.014553574 meters Centerline goodness [0,1] 0.8776721108124871 Centerline is valid? [False, False] Translation: X:3.70, Y:0.28, Z:-0.92 [[ 9.99996023e-01 -1.98064810e-03 -2.00772489e-03 3.69865818e+00] [ 1.96497677e-03 9.99967823e-01 -7.77766255e-03 2.78260062e-01] [ 2.02306510e-03 7.77368648e-03 9.99967738e-01 -9.15304816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.044553574 meters Centerline goodness [0,1] 0.8762242695883135 Centerline is valid? [False, False] Translation: X:3.70, Y:0.28, Z:-0.92 [[ 9.99986716e-01 -4.46913254e-03 -2.56809878e-03 3.70172104e+00] [ 4.44680957e-03 9.99952844e-01 -8.63335082e-03 2.75263309e-01] [ 2.60656127e-03 8.62181628e-03 9.99959434e-01 -9.16205076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.074553574 meters Centerline goodness [0,1] 0.8760699742375135 Centerline is valid? [False, False] Translation: X:3.70, Y:0.27, Z:-0.92 [[ 9.99983323e-01 -4.98879069e-03 -2.90944718e-03 3.70271952e+00] [ 4.96398055e-03 9.99951781e-01 -8.47321196e-03 2.74017173e-01] [ 2.95157797e-03 8.45862822e-03 9.99959869e-01 -9.15983680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.104553574 meters Centerline goodness [0,1] 0.8786363447732083 Centerline is valid? [False, False] Translation: X:3.70, Y:0.27, Z:-0.92 [[ 9.99976278e-01 -5.97480292e-03 -3.42712730e-03 3.70424971e+00] [ 5.94550976e-03 9.99946243e-01 -8.49487245e-03 2.72714788e-01] [ 3.47769826e-03 8.47429492e-03 9.99958045e-01 -9.15618273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.134553574 meters Centerline goodness [0,1] 0.8793695023810019 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.92 [[ 0.99998278 -0.00423735 -0.00405905 3.70707434] [ 0.00421509 0.99997611 -0.00547763 0.27154287] [ 0.00408216 0.00546042 0.99997676 -0.91605477] [ 0. 0. 0. 1. ]] SLAMing on 120.164553574 meters Centerline goodness [0,1] 0.8754250642780128 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.92 [[ 9.99985997e-01 -2.42908319e-03 -4.70171118e-03 3.70996978e+00] [ 2.41752914e-03 9.99994048e-01 -2.46154005e-03 2.70540666e-01] [ 4.70766248e-03 2.45013905e-03 9.99985917e-01 -9.16685310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.194553574 meters Centerline goodness [0,1] 0.8797536822834318 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.92 [[ 9.99980461e-01 -3.39824224e-03 -5.24694705e-03 3.71192708e+00] [ 3.38365643e-03 9.99990394e-01 -2.78624558e-03 2.70065559e-01] [ 5.25636498e-03 2.76843727e-03 9.99982353e-01 -9.17218199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.224553574 meters Centerline goodness [0,1] 0.8834137615442217 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.92 [[ 9.99977902e-01 -3.71828363e-03 -5.51083732e-03 3.71278986e+00] [ 3.70272580e-03 9.99989139e-01 -2.83065267e-03 2.69862614e-01] [ 5.52130263e-03 2.81018500e-03 9.99980809e-01 -9.17416894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.254553574 meters Centerline goodness [0,1] 0.873862455848743 Centerline is valid? [False, False] Translation: X:3.72, Y:0.27, Z:-0.92 [[ 9.99971110e-01 -4.50794442e-03 -6.12023628e-03 3.71501107e+00] [ 4.48800943e-03 9.99984592e-01 -3.26706244e-03 2.69900343e-01] [ 6.13486972e-03 3.23950038e-03 9.99975934e-01 -9.18487301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.284553574 meters Centerline goodness [0,1] 0.8831697987693331 Centerline is valid? [False, False] Translation: X:3.72, Y:0.27, Z:-0.92 [[ 9.99969721e-01 -4.61294483e-03 -6.26712753e-03 3.71535472e+00] [ 4.59248658e-03 9.99984092e-01 -3.27485317e-03 2.70178548e-01] [ 6.28213455e-03 3.24597232e-03 9.99974999e-01 -9.18387128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.314553574 meters Centerline goodness [0,1] 0.8757014007232221 Centerline is valid? [False, False] Translation: X:3.72, Y:0.27, Z:-0.92 [[ 9.99975826e-01 -1.61182129e-03 -6.76379461e-03 3.71680110e+00] [ 1.61462214e-03 9.99998613e-01 4.08654129e-04 2.70159400e-01] [ 6.76312655e-03 -4.19565223e-04 9.99977042e-01 -9.17999949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.344553574 meters Centerline goodness [0,1] 0.8788471136250208 Centerline is valid? [False, False] Translation: X:3.72, Y:0.27, Z:-0.92 [[ 9.99977255e-01 -1.22965381e-03 -6.63161127e-03 3.71611881e+00] [ 1.23341778e-03 9.99999081e-01 5.63519892e-04 2.70503070e-01] [ 6.63091224e-03 -5.71686621e-04 9.99977852e-01 -9.17558280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.374553574 meters Centerline goodness [0,1] 0.8776692152246828 Centerline is valid? [False, False] Translation: X:3.72, Y:0.27, Z:-0.92 [[ 9.99978259e-01 -9.90409397e-04 -6.51932309e-03 3.71569663e+00] [ 9.94381556e-04 9.99999322e-01 6.06076861e-04 2.70727446e-01] [ 6.51871841e-03 -6.12546379e-04 9.99978565e-01 -9.17352650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.404553574 meters Centerline goodness [0,1] 0.8782639526153333 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.92 [[ 9.99980867e-01 -4.46808851e-04 -6.16977101e-03 3.71449379e+00] [ 4.51624217e-04 9.99999595e-01 7.79106088e-04 2.71031279e-01] [ 6.16942039e-03 -7.81877599e-04 9.99980663e-01 -9.16940031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.434553574 meters Centerline goodness [0,1] 0.8782057959540823 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.92 [[ 9.99981334e-01 -2.73664591e-04 -6.10381329e-03 3.71431228e+00] [ 2.78134577e-04 9.99999694e-01 7.31489991e-04 2.71332685e-01] [ 6.10361124e-03 -7.33174018e-04 9.99981104e-01 -9.17043196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46455357399999 meters Centerline goodness [0,1] 0.877824564329192 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.92 [[ 9.99981865e-01 5.36054859e-05 -6.02224042e-03 3.71406747e+00] [-4.87285435e-05 9.99999671e-01 8.09965743e-04 2.71411572e-01] [ 6.02228185e-03 -8.09657599e-04 9.99981538e-01 -9.17277216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.494553574 meters Centerline goodness [0,1] 0.8743358406434272 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.92 [[ 9.99981824e-01 2.87207054e-04 -6.02240445e-03 3.71392815e+00] [-2.81302995e-04 9.99999479e-01 9.81173257e-04 2.71315919e-01] [ 6.02268311e-03 -9.79461302e-04 9.99981384e-01 -9.17193446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.524553574 meters Centerline goodness [0,1] 0.8749503688378995 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.92 [[ 9.99981778e-01 6.68064281e-04 -5.99977296e-03 3.71402698e+00] [-6.62446238e-04 9.99999340e-01 9.38314473e-04 2.71523123e-01] [ 6.00039586e-03 -9.34322848e-04 9.99981561e-01 -9.17938572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.554553574 meters Centerline goodness [0,1] 0.8800543024227234 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.92 [[ 9.99981687e-01 1.06687210e-03 -5.95718381e-03 3.71367915e+00] [-1.06078721e-03 9.99998913e-01 1.02450409e-03 2.72088380e-01] [ 5.95827034e-03 -1.01816603e-03 9.99981731e-01 -9.17873597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.584553574 meters Centerline goodness [0,1] 0.875135744716398 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.92 [[ 9.99982176e-01 1.53907836e-03 -5.76879576e-03 3.71306184e+00] [-1.53284437e-03 9.99998237e-01 1.08490512e-03 2.72624495e-01] [ 5.77045534e-03 -1.07604312e-03 9.99982772e-01 -9.17819417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.614553574 meters Centerline goodness [0,1] 0.8748020668389033 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.92 [[ 9.99981272e-01 2.95196523e-03 -5.36119187e-03 3.71123781e+00] [-2.94382563e-03 9.99994503e-01 1.52550246e-03 2.73690573e-01] [ 5.36566564e-03 -1.50969147e-03 9.99984465e-01 -9.17363241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.644553574 meters Centerline goodness [0,1] 0.875617020390311 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.92 [[ 9.99980490e-01 3.46442685e-03 -5.19791273e-03 3.71080416e+00] [-3.45743362e-03 9.99993107e-01 1.35377582e-03 2.74887407e-01] [ 5.20256695e-03 -1.33577797e-03 9.99985574e-01 -9.17778151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.674553574 meters Centerline goodness [0,1] 0.8745322245322246 Centerline is valid? [False, False] Translation: X:3.71, Y:0.28, Z:-0.92 [[ 9.99974944e-01 5.33748620e-03 -4.65009712e-03 3.70826514e+00] [-5.32882089e-03 9.99984046e-01 1.87386840e-03 2.77094615e-01] [ 4.66002468e-03 -1.84904192e-03 9.99987433e-01 -9.17086005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.704553574 meters Centerline goodness [0,1] 0.8692643391521198 Centerline is valid? [False, False] Translation: X:3.71, Y:0.28, Z:-0.92 [[ 9.99973094e-01 5.82061816e-03 -4.46450009e-03 3.70764944e+00] [-5.81245237e-03 9.99981415e-01 1.83984897e-03 2.77982605e-01] [ 4.47512618e-03 -1.81384977e-03 9.99988342e-01 -9.17051703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.734553574 meters Centerline goodness [0,1] 0.866839378238342 Centerline is valid? [False, False] Translation: X:3.71, Y:0.28, Z:-0.92 [[ 9.99971761e-01 6.13311412e-03 -4.34296487e-03 3.70727137e+00] [-6.12563390e-03 9.99979735e-01 1.73358837e-03 2.78671103e-01] [ 4.35350915e-03 -1.70693600e-03 9.99989067e-01 -9.17077389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.764553574 meters Centerline goodness [0,1] 0.8657458220298618 Centerline is valid? [False, False] Translation: X:3.71, Y:0.28, Z:-0.92 [[ 9.99967652e-01 6.97876681e-03 -3.99890226e-03 3.70597417e+00] [-6.97162168e-03 9.99974082e-01 1.79793418e-03 2.79856017e-01] [ 4.01134598e-03 -1.76999718e-03 9.99990388e-01 -9.16790409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.794553574 meters Centerline goodness [0,1] 0.8642098067242558 Centerline is valid? [False, False] Translation: X:3.71, Y:0.28, Z:-0.92 [[ 9.99966052e-01 7.11529227e-03 -4.15542629e-03 3.70673339e+00] [-7.10980044e-03 9.99973834e-01 1.33488519e-03 2.81094332e-01] [ 4.16481566e-03 -1.30529562e-03 9.99990475e-01 -9.17956427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.824553574 meters Centerline goodness [0,1] 0.8622285880350397 Centerline is valid? [False, False] Translation: X:3.71, Y:0.28, Z:-0.92 [[ 9.99965838e-01 7.02804034e-03 -4.35083528e-03 3.70750467e+00] [-7.02301513e-03 9.99974655e-01 1.16920155e-03 2.81043623e-01] [ 4.35894220e-03 -1.13860563e-03 9.99989852e-01 -9.18572092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.854553574 meters Centerline goodness [0,1] 0.8622285880350397 Centerline is valid? [False, False] Translation: X:3.71, Y:0.28, Z:-0.92 [[ 9.99965838e-01 7.02804034e-03 -4.35083528e-03 3.70750467e+00] [-7.02301513e-03 9.99974655e-01 1.16920155e-03 2.81043623e-01] [ 4.35894220e-03 -1.13860563e-03 9.99989852e-01 -9.18572092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.884553574 meters Centerline goodness [0,1] 0.861989446129555 Centerline is valid? [False, False] Translation: X:3.71, Y:0.28, Z:-0.92 [[ 9.99965834e-01 6.93753554e-03 -4.49453131e-03 3.70801060e+00] [-6.93210036e-03 9.99975224e-01 1.22373865e-03 2.80376410e-01] [ 4.50290969e-03 -1.19254029e-03 9.99989151e-01 -9.18734402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.914553574 meters Centerline goodness [0,1] 0.8619991652754591 Centerline is valid? [False, False] Translation: X:3.71, Y:0.28, Z:-0.92 [[ 9.99984341e-01 3.89743741e-03 -4.01597266e-03 3.70653548e+00] [-3.90623507e-03 9.99989983e-01 -2.18515678e-03 2.79601093e-01] [ 4.00741592e-03 2.20080990e-03 9.99989548e-01 -9.18767769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.944553574 meters Centerline goodness [0,1] 0.8618025392582693 Centerline is valid? [False, False] Translation: X:3.71, Y:0.28, Z:-0.92 [[ 9.99985132e-01 3.41745986e-03 -4.24932255e-03 3.70760435e+00] [-3.42695436e-03 9.99991644e-01 -2.22908546e-03 2.78765410e-01] [ 4.24166923e-03 2.24361456e-03 9.99988487e-01 -9.19177082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.974553574 meters Centerline goodness [0,1] 0.8610212908915298 Centerline is valid? [False, False] Translation: X:3.71, Y:0.28, Z:-0.92 [[ 9.99987224e-01 2.07856654e-03 -4.60777450e-03 3.70933452e+00] [-2.08861154e-03 9.99995451e-01 -2.17627181e-03 2.75489365e-01] [ 4.60323001e-03 2.18586785e-03 9.99987016e-01 -9.19366712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.004553574 meters Centerline goodness [0,1] 0.8624881491625408 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.92 [[ 9.99986983e-01 1.39904372e-03 -4.90675039e-03 3.71043395e+00] [-1.40864791e-03 9.99997098e-01 -1.95443415e-03 2.72961338e-01] [ 4.90400181e-03 1.96132060e-03 9.99986052e-01 -9.19335742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.034553574 meters Centerline goodness [0,1] 0.8627795662487292 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.92 [[ 9.99985497e-01 4.68956916e-04 -5.36533006e-03 3.71215620e+00] [-4.78910632e-04 9.99998167e-01 -1.85405744e-03 2.70060779e-01] [ 5.36445075e-03 1.85660006e-03 9.99983888e-01 -9.19613603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.064553574 meters Centerline goodness [0,1] 0.8619675067161315 Centerline is valid? [False, False] Translation: X:3.71, Y:0.27, Z:-0.92 [[ 0.9999771 -0.0039559 -0.00549177 3.71295868] [ 0.00392698 0.99997842 -0.00526659 0.26606731] [ 0.00551249 0.0052449 0.99997105 -0.92009193] [ 0. 0. 0. 1. ]] SLAMing on 121.094553574 meters Centerline goodness [0,1] 0.8622455538890079 Centerline is valid? [False, False] Translation: X:3.72, Y:0.26, Z:-0.92 [[ 0.99996935 -0.00492223 -0.00608904 3.71517075] [ 0.00489236 0.99997598 -0.00491011 0.26291766] [ 0.00611306 0.00488017 0.99996941 -0.92057789] [ 0. 0. 0. 1. ]] SLAMing on 121.124553574 meters Centerline goodness [0,1] 0.8664591606740367 Centerline is valid? [False, False] Translation: X:3.72, Y:0.26, Z:-0.92 [[ 0.9999674 -0.00512331 -0.0062414 3.71571932] [ 0.00509497 0.99997668 -0.00454741 0.26154095] [ 0.00626455 0.00451546 0.99997018 -0.92056354] [ 0. 0. 0. 1. ]] SLAMing on 121.154553574 meters Centerline goodness [0,1] 0.8656748505826203 Centerline is valid? [False, False] Translation: X:3.72, Y:0.26, Z:-0.92 [[ 0.99996497 -0.00531148 -0.00646888 3.71639394] [ 0.00528422 0.99997712 -0.00422342 0.26032301] [ 0.00649117 0.00418909 0.99997016 -0.92054669] [ 0. 0. 0. 1. ]] SLAMing on 121.184553574 meters Centerline goodness [0,1] 0.8633949391139131 Centerline is valid? [False, False] Translation: X:3.72, Y:0.26, Z:-0.92 [[ 9.99962169e-01 -5.57838548e-03 -6.67392980e-03 3.71715509e+00] [ 5.55376868e-03 9.99977728e-01 -3.70136548e-03 2.57758150e-01] [ 6.69442880e-03 3.66415999e-03 9.99970879e-01 -9.20550564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21455357399999 meters Centerline goodness [0,1] 0.8619613283620914 Centerline is valid? [False, False] Translation: X:3.72, Y:0.26, Z:-0.92 [[ 9.99963199e-01 -5.41313372e-03 -6.65577965e-03 3.71677580e+00] [ 5.39236148e-03 9.99980547e-01 -3.13492618e-03 2.56229880e-01] [ 6.67261995e-03 3.09892044e-03 9.99972936e-01 -9.19882031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.244553574 meters Centerline goodness [0,1] 0.8637303331664962 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.92 [[ 9.99967292e-01 -4.92350106e-03 -6.41676659e-03 3.71585506e+00] [ 4.90831377e-03 9.99985121e-01 -2.38041671e-03 2.54534501e-01] [ 6.42839110e-03 2.34884335e-03 9.99976579e-01 -9.19273959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.274553574 meters Centerline goodness [0,1] 0.8610119306801358 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.92 [[ 9.99968536e-01 -4.68169009e-03 -6.40381862e-03 3.71580508e+00] [ 4.66777076e-03 9.99986715e-01 -2.18681970e-03 2.54534842e-01] [ 6.41397155e-03 2.15685934e-03 9.99977104e-01 -9.19429901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.304553574 meters Centerline goodness [0,1] 0.860368221281794 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.92 [[ 9.99970018e-01 -2.32081560e-03 -7.38768426e-03 3.71985505e+00] [ 2.32963917e-03 9.99996583e-01 1.18598140e-03 2.52799865e-01] [ 7.38490657e-03 -1.20315648e-03 9.99972007e-01 -9.21103284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.334553574 meters Centerline goodness [0,1] 0.8587810482547324 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.92 [[ 9.99969939e-01 -2.21698327e-03 -7.43002030e-03 3.71994036e+00] [ 2.22767976e-03 9.99996494e-01 1.43166460e-03 2.51912215e-01] [ 7.42682028e-03 -1.44817327e-03 9.99971372e-01 -9.21150723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.364553574 meters Centerline goodness [0,1] 0.856661973070492 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.92 [[ 9.99973302e-01 -1.39355243e-03 -7.17307679e-03 3.71887177e+00] [ 1.40857276e-03 9.99996825e-01 2.08936006e-03 2.50357975e-01] [ 7.17014238e-03 -2.09940808e-03 9.99972090e-01 -9.20785857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.394553574 meters Centerline goodness [0,1] 0.8552414112254567 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.92 [[ 9.99975948e-01 -7.78276909e-04 -6.89178585e-03 3.71782872e+00] [ 7.95014735e-04 9.99996741e-01 2.42625665e-03 2.49961360e-01] [ 6.88987509e-03 -2.43167737e-03 9.99973308e-01 -9.20490636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.424553574 meters Centerline goodness [0,1] 0.858867141816898 Centerline is valid? [False, False] Translation: X:3.72, Y:0.25, Z:-0.92 [[ 9.99979138e-01 1.37261203e-04 -6.45794878e-03 3.71626228e+00] [-1.19579062e-04 9.99996244e-01 2.73834945e-03 2.50049762e-01] [ 6.45830039e-03 -2.73752009e-03 9.99975398e-01 -9.20228882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.454553574 meters Centerline goodness [0,1] 0.8537409706421613 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:-0.92 [[ 0.99996714 0.00560557 -0.00585573 3.7139828 ] [-0.00556149 0.99995628 0.00751679 0.25008099] [ 0.00589761 -0.00748398 0.9999546 -0.919436 ] [ 0. 0. 0. 1. ]] SLAMing on 121.484553574 meters Centerline goodness [0,1] 0.8526418052151642 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:-0.92 [[ 0.99996098 0.00712061 -0.00522842 3.71171949] [-0.00707905 0.99994354 0.00792518 0.25124485] [ 0.00528455 -0.00788785 0.99995493 -0.91927334] [ 0. 0. 0. 1. ]] SLAMing on 121.514553574 meters Centerline goodness [0,1] 0.8504819596745667 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:-0.92 [[ 0.99990664 0.01300336 -0.00419822 3.7075383 ] [-0.0129462 0.99982687 0.01336542 0.25014694] [ 0.00437129 -0.01330982 0.99990187 -0.91673496] [ 0. 0. 0. 1. ]] SLAMing on 121.544553574 meters Centerline goodness [0,1] 0.848318462594372 Centerline is valid? [False, False] Translation: X:3.71, Y:0.25, Z:-0.92 [[ 9.99892832e-01 1.42149563e-02 -3.50149227e-03 3.70504402e+00] [-1.41645486e-02 9.99801340e-01 1.40230709e-02 2.49365873e-01] [ 3.70013401e-03 -1.39719710e-02 9.99895541e-01 -9.15924355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.574553574 meters Centerline goodness [0,1] 0.8445027691897062 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.92 [[ 9.99865818e-01 1.61739252e-02 -2.59804582e-03 3.70212927e+00] [-1.61332814e-02 9.99757789e-01 1.49693356e-02 2.48569473e-01] [ 2.83952946e-03 -1.49254120e-02 9.99884578e-01 -9.15762954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.604553574 meters Centerline goodness [0,1] 0.8461093047080308 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.92 [[ 9.99859643e-01 1.65715089e-02 -2.46584401e-03 3.70183836e+00] [-1.65320814e-02 9.99747303e-01 1.52322353e-02 2.47885417e-01] [ 2.71764202e-03 -1.51893318e-02 9.99880942e-01 -9.16116163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.634553574 meters Centerline goodness [0,1] 0.8422126552760214 Centerline is valid? [False, False] Translation: X:3.70, Y:0.25, Z:-0.92 [[ 9.99895549e-01 1.43920447e-02 -1.32690419e-03 3.69851311e+00] [-1.43747169e-02 9.99821573e-01 1.22551625e-02 2.45587888e-01] [ 1.50304428e-03 -1.22348085e-02 9.99924022e-01 -9.16261261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.664553574 meters Centerline goodness [0,1] 0.8410621382401298 Centerline is valid? [False, False] Translation: X:3.70, Y:0.24, Z:-0.92 [[ 9.99935145e-01 1.13673431e-02 -6.99533121e-04 3.69653979e+00] [-1.13608320e-02 9.99897636e-01 8.69764591e-03 2.44655700e-01] [ 7.98330639e-04 -8.68913455e-03 9.99961930e-01 -9.16297660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.694553574 meters Centerline goodness [0,1] 0.840825532874704 Centerline is valid? [False, False] Translation: X:3.69, Y:0.24, Z:-0.92 [[ 9.99967094e-01 8.11163747e-03 -1.08468524e-04 3.69492354e+00] [-8.11099119e-03 9.99954517e-01 5.01744627e-03 2.43572603e-01] [ 1.49163296e-04 -5.01640138e-03 9.99987407e-01 -9.16572414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.724553574 meters Centerline goodness [0,1] 0.8392897895841891 Centerline is valid? [False, False] Translation: X:3.70, Y:0.24, Z:-0.92 [[ 9.99993988e-01 3.46041143e-03 -2.21511509e-04 3.69590274e+00] [-3.46008779e-03 9.99992970e-01 1.44510716e-03 2.39018270e-01] [ 2.26510617e-04 -1.44433203e-03 9.99998931e-01 -9.17255218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.754553574 meters Centerline goodness [0,1] 0.8386941470460121 Centerline is valid? [False, False] Translation: X:3.70, Y:0.24, Z:-0.92 [[ 9.99999861e-01 -5.26856014e-04 -3.62136669e-05 3.69564636e+00] [ 5.26771784e-04 9.99997244e-01 -2.28787352e-03 2.37058042e-01] [ 3.74189471e-05 2.28785412e-03 9.99997382e-01 -9.17626099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.784553574 meters Centerline goodness [0,1] 0.836562978072412 Centerline is valid? [False, False] Translation: X:3.70, Y:0.23, Z:-0.92 [[ 9.99980522e-01 -6.21644452e-03 -5.57204722e-04 3.69849421e+00] [ 6.21302632e-03 9.99963059e-01 -5.93959232e-03 2.32059917e-01] [ 5.94107285e-04 5.93601470e-03 9.99982205e-01 -9.18390990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.814553574 meters Centerline goodness [0,1] 0.8373516406795438 Centerline is valid? [False, False] Translation: X:3.70, Y:0.23, Z:-0.92 [[ 9.99970630e-01 -7.56565759e-03 -1.22472422e-03 3.70123425e+00] [ 7.55858498e-03 9.99955302e-01 -5.68000492e-03 2.28979634e-01] [ 1.26764245e-03 5.67058091e-03 9.99983119e-01 -9.18669556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.844553574 meters Centerline goodness [0,1] 0.8359690286250586 Centerline is valid? [False, False] Translation: X:3.70, Y:0.22, Z:-0.92 [[ 9.99913947e-01 -1.30049332e-02 -1.72366142e-03 3.70390806e+00] [ 1.29886637e-02 9.99873906e-01 -9.13604804e-03 2.23953710e-01] [ 1.84225777e-03 9.11287379e-03 9.99956780e-01 -9.19273470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.874553574 meters Centerline goodness [0,1] 0.835377358490566 Centerline is valid? [False, False] Translation: X:3.71, Y:0.22, Z:-0.92 [[ 9.99895243e-01 -1.42523970e-02 -2.52426664e-03 3.70695497e+00] [ 1.42294732e-02 9.99859344e-01 -8.87775588e-03 2.20743157e-01] [ 2.65044088e-03 8.84090689e-03 9.99957406e-01 -9.19759360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.904553574 meters Centerline goodness [0,1] 0.8423697873450131 Centerline is valid? [False, False] Translation: X:3.71, Y:0.22, Z:-0.92 [[ 9.99813171e-01 -1.91071810e-02 -2.92195932e-03 3.70962645e+00] [ 1.90684230e-02 9.99736728e-01 -1.27620262e-02 2.16661847e-01] [ 3.16503640e-03 1.27039247e-02 9.99914293e-01 -9.21863311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.934553574 meters Centerline goodness [0,1] 0.8379155478459235 Centerline is valid? [False, False] Translation: X:3.71, Y:0.21, Z:-0.92 [[ 9.99800794e-01 -1.96743535e-02 -3.36033723e-03 3.71152435e+00] [ 1.96306086e-02 9.99728036e-01 -1.25894072e-02 2.14559066e-01] [ 3.60711179e-03 1.25209339e-02 9.99915104e-01 -9.22697370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96455357399999 meters Centerline goodness [0,1] 0.8382016036655212 Centerline is valid? [False, False] Translation: X:3.71, Y:0.21, Z:-0.92 [[ 0.99978249 -0.02047639 -0.00396029 3.71454637] [ 0.02042508 0.9997121 -0.01259073 0.21225747] [ 0.00421696 0.0125071 0.99991289 -0.92473778] [ 0. 0. 0. 1. ]] SLAMing on 121.994553574 meters Centerline goodness [0,1] 0.8344995581878537 Centerline is valid? [False, False] Translation: X:3.72, Y:0.21, Z:-0.92 [[ 0.99982019 -0.01828284 -0.00503242 3.71852091] [ 0.01823956 0.99979737 -0.00851651 0.20955349] [ 0.00518711 0.00842319 0.99995107 -0.92488263] [ 0. 0. 0. 1. ]] SLAMing on 122.024553574 meters Centerline goodness [0,1] 0.8316351052580986 Centerline is valid? [False, False] Translation: X:3.72, Y:0.21, Z:-0.93 [[ 0.99981359 -0.01854556 -0.00537067 3.72000152] [ 0.0185018 0.99979613 -0.00808625 0.20660078] [ 0.00551954 0.00798538 0.99995288 -0.92555811] [ 0. 0. 0. 1. ]] SLAMing on 122.054553574 meters Centerline goodness [0,1] 0.8308586029021838 Centerline is valid? [False, False] Translation: X:3.72, Y:0.20, Z:-0.92 [[ 9.99855270e-01 -1.58616067e-02 -6.15216448e-03 3.72257513e+00] [ 1.58397876e-02 9.99868136e-01 -3.57924176e-03 2.03526558e-01] [ 6.20812576e-03 3.48127476e-03 9.99974670e-01 -9.24607800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.084553574 meters Centerline goodness [0,1] 0.8578991901365889 Centerline is valid? [False, False] Translation: X:3.72, Y:0.20, Z:-0.92 [[ 9.99894795e-01 -1.28022039e-02 -6.81932225e-03 3.72447960e+00] [ 1.28093767e-02 9.99917447e-01 1.00918710e-03 2.01100285e-01] [ 6.80583948e-03 -1.09643220e-03 9.99976239e-01 -9.23431943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.114553574 meters Centerline goodness [0,1] 0.8460849570373956 Centerline is valid? [False, False] Translation: X:3.73, Y:0.20, Z:-0.92 [[ 0.9999319 -0.0091845 -0.00720034 3.72552173] [ 0.00922576 0.9999411 0.00571706 0.19889082] [ 0.00714741 -0.0057831 0.99995773 -0.92246929] [ 0. 0. 0. 1. ]] SLAMing on 122.144553574 meters Centerline goodness [0,1] 0.8506909988624537 Centerline is valid? [False, False] Translation: X:3.73, Y:0.20, Z:-0.92 [[ 0.99993514 -0.00891548 -0.00708696 3.72517844] [ 0.00895703 0.99994276 0.00585199 0.19841091] [ 0.00703438 -0.00591509 0.99995776 -0.92268528] [ 0. 0. 0. 1. ]] SLAMing on 122.174553574 meters Centerline goodness [0,1] 0.8404717416098425 Centerline is valid? [False, False] Translation: X:3.73, Y:0.20, Z:-0.92 [[ 0.999936 -0.00884755 -0.00705147 3.72516855] [ 0.00889217 0.99994048 0.00632169 0.19637879] [ 0.00699512 -0.00638399 0.99995516 -0.92266034] [ 0. 0. 0. 1. ]] SLAMing on 122.204553574 meters Centerline goodness [0,1] 0.8410562180579216 Centerline is valid? [False, False] Translation: X:3.73, Y:0.19, Z:-0.92 [[ 0.99993467 -0.00897061 -0.0070847 3.72519418] [ 0.00901796 0.99993702 0.00668023 0.19467489] [ 0.00702433 -0.00674368 0.99995259 -0.92216688] [ 0. 0. 0. 1. ]] SLAMing on 122.234553574 meters Centerline goodness [0,1] 0.8401124419457345 Centerline is valid? [False, False] Translation: X:3.72, Y:0.19, Z:-0.92 [[ 0.99993278 -0.00920398 -0.00705153 3.72491535] [ 0.00925669 0.99992918 0.0074796 0.19146761] [ 0.00698219 -0.00754437 0.99994716 -0.92080425] [ 0. 0. 0. 1. ]] SLAMing on 122.264553574 meters Centerline goodness [0,1] 0.8426516206248016 Centerline is valid? [False, False] Translation: X:3.73, Y:0.19, Z:-0.92 [[ 0.99993044 -0.00939106 -0.00713572 3.72553814] [ 0.00944321 0.99992869 0.00731095 0.19138299] [ 0.00706655 -0.00737783 0.99994781 -0.92140334] [ 0. 0. 0. 1. ]] SLAMing on 122.294553574 meters Centerline goodness [0,1] 0.8423632107675803 Centerline is valid? [False, False] Translation: X:3.73, Y:0.19, Z:-0.92 [[ 0.99993168 -0.00930104 -0.00707959 3.72557198] [ 0.00935153 0.99993084 0.00713193 0.19209064] [ 0.00701277 -0.00719764 0.99994951 -0.92194233] [ 0. 0. 0. 1. ]] SLAMing on 122.324553574 meters Centerline goodness [0,1] 0.8350766236925322 Centerline is valid? [False, False] Translation: X:3.73, Y:0.19, Z:-0.92 [[ 0.99992685 -0.00966962 -0.00726656 3.72639096] [ 0.00972125 0.99992751 0.00710409 0.19143717] [ 0.00719734 -0.00717421 0.99994836 -0.92205819] [ 0. 0. 0. 1. ]] SLAMing on 122.354553574 meters Centerline goodness [0,1] 0.8391468616697135 Centerline is valid? [False, False] Translation: X:3.73, Y:0.19, Z:-0.92 [[ 9.99874442e-01 -1.40849667e-02 -7.26045710e-03 3.72703820e+00] [ 1.41066216e-02 9.99896174e-01 2.94004137e-03 1.90531387e-01] [ 7.21829289e-03 -3.04209275e-03 9.99969320e-01 -9.22688558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.384553574 meters Centerline goodness [0,1] 0.8390195024194731 Centerline is valid? [False, False] Translation: X:3.73, Y:0.19, Z:-0.92 [[ 9.99852554e-01 -1.52503719e-02 -7.89283155e-03 3.72965049e+00] [ 1.52728990e-02 9.99879437e-01 2.80176466e-03 1.89542307e-01] [ 7.84915201e-03 -2.92189797e-03 9.99964926e-01 -9.23047220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.414553574 meters Centerline goodness [0,1] 0.8387554078165864 Centerline is valid? [False, False] Translation: X:3.73, Y:0.19, Z:-0.92 [[ 9.99821056e-01 -1.67545423e-02 -8.78303977e-03 3.73319804e+00] [ 1.67764670e-02 9.99856316e-01 2.42854610e-03 1.88876883e-01] [ 8.74108861e-03 -2.57545990e-03 9.99958479e-01 -9.23804977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.444553574 meters Centerline goodness [0,1] 0.8373942098973196 Centerline is valid? [False, False] Translation: X:3.74, Y:0.19, Z:-0.93 [[ 9.99732361e-01 -2.07138867e-02 -1.03025094e-02 3.74093358e+00] [ 2.07261717e-02 9.99784599e-01 1.08708319e-03 1.88366741e-01] [ 1.02777726e-02 -1.30032382e-03 9.99946337e-01 -9.25622660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.474553574 meters Centerline goodness [0,1] 0.8406774690226556 Centerline is valid? [False, False] Translation: X:3.74, Y:0.19, Z:-0.93 [[ 9.99696374e-01 -2.19867227e-02 -1.11240185e-02 3.74406314e+00] [ 2.19968995e-02 9.99757724e-01 7.93317908e-04 1.88039604e-01] [ 1.11038810e-02 -1.03777095e-03 9.99937811e-01 -9.26101531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.504553574 meters Centerline goodness [0,1] 0.8410735236605397 Centerline is valid? [False, False] Translation: X:3.75, Y:0.19, Z:-0.93 [[ 9.99627520e-01 -2.43470150e-02 -1.23306372e-02 3.74872919e+00] [ 2.43498880e-02 9.99703494e-01 8.28909299e-05 1.88043017e-01] [ 1.23249629e-02 -3.83109688e-04 9.99923971e-01 -9.26351196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.534553574 meters Centerline goodness [0,1] 0.8388231844394487 Centerline is valid? [False, False] Translation: X:3.75, Y:0.19, Z:-0.93 [[ 9.99608962e-01 -2.49168900e-02 -1.26914292e-02 3.74996225e+00] [ 2.49171301e-02 9.99689510e-01 -1.39230854e-04 1.88724938e-01] [ 1.26909579e-02 -1.77057584e-04 9.99919451e-01 -9.26223676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.564553574 meters Centerline goodness [0,1] 0.842838389731622 Centerline is valid? [False, False] Translation: X:3.75, Y:0.19, Z:-0.93 [[ 9.99582734e-01 -2.56911204e-02 -1.32031782e-02 3.75182858e+00] [ 2.56780980e-02 9.99669596e-01 -1.15491331e-03 1.92172572e-01] [ 1.32284869e-02 8.15398903e-04 9.99912167e-01 -9.26843269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.594553574 meters Centerline goodness [0,1] 0.8443622115803222 Centerline is valid? [False, False] Translation: X:3.76, Y:0.19, Z:-0.93 [[ 9.99624220e-01 -2.33374071e-02 -1.43799794e-02 3.75541825e+00] [ 2.33734830e-02 9.99724051e-01 2.34580095e-03 1.93205789e-01] [ 1.43212663e-02 -2.68102965e-03 9.99893851e-01 -9.26559066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.624553574 meters Centerline goodness [0,1] 0.8424134786156579 Centerline is valid? [False, False] Translation: X:3.76, Y:0.20, Z:-0.93 [[ 0.99965809 -0.02094319 -0.0156551 3.75917957] [ 0.0210262 0.99976563 0.00515647 0.19725547] [ 0.01554344 -0.00548387 0.99986416 -0.92684379] [ 0. 0. 0. 1. ]] SLAMing on 122.654553574 meters Centerline goodness [0,1] 0.8400555329487517 Centerline is valid? [False, False] Translation: X:3.76, Y:0.20, Z:-0.93 [[ 0.99965855 -0.02090229 -0.0156803 3.75935532] [ 0.02097487 0.99976997 0.00447838 0.20015444] [ 0.01558308 -0.00480574 0.99986703 -0.92744812] [ 0. 0. 0. 1. ]] SLAMing on 122.684553574 meters Centerline goodness [0,1] 0.8458133003284619 Centerline is valid? [False, False] Translation: X:3.76, Y:0.21, Z:-0.93 [[ 0.99967668 -0.02026058 -0.01536371 3.75781453] [ 0.02032105 0.99978632 0.00379008 0.20533533] [ 0.01528363 -0.00410106 0.99987479 -0.92698592] [ 0. 0. 0. 1. ]] SLAMing on 122.71455357399999 meters Centerline goodness [0,1] 0.8451177654160256 Centerline is valid? [False, False] Translation: X:3.76, Y:0.21, Z:-0.93 [[ 9.99679392e-01 -2.01478077e-02 -1.53355506e-02 3.75775695e+00] [ 2.02000188e-02 9.99790653e-01 3.25731594e-03 2.07725128e-01] [ 1.52667124e-02 -3.56605003e-03 9.99877098e-01 -9.27246622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.744553574 meters Centerline goodness [0,1] 0.8388424891189272 Centerline is valid? [False, False] Translation: X:3.76, Y:0.21, Z:-0.93 [[ 0.99973194 -0.01673324 -0.01600155 3.75934514] [ 0.01683609 0.99983833 0.0063141 0.21172411] [ 0.01589331 -0.00658181 0.99985203 -0.9272227 ] [ 0. 0. 0. 1. ]] SLAMing on 122.774553574 meters Centerline goodness [0,1] 0.8388424891189272 Centerline is valid? [False, False] Translation: X:3.76, Y:0.21, Z:-0.93 [[ 0.99973194 -0.01673324 -0.01600155 3.75934514] [ 0.01683609 0.99983833 0.0063141 0.21172411] [ 0.01589331 -0.00658181 0.99985203 -0.9272227 ] [ 0. 0. 0. 1. ]] SLAMing on 122.804553574 meters Centerline goodness [0,1] 0.8365547006943141 Centerline is valid? [False, False] Translation: X:3.76, Y:0.21, Z:-0.93 [[ 0.99974114 -0.01627544 -0.0158985 3.75900196] [ 0.01636773 0.99984984 0.00569175 0.21460449] [ 0.01580348 -0.0059505 0.99985741 -0.92799001] [ 0. 0. 0. 1. ]] SLAMing on 122.834553574 meters Centerline goodness [0,1] 0.8372462447730511 Centerline is valid? [False, False] Translation: X:3.76, Y:0.22, Z:-0.93 [[ 0.99979459 -0.01224392 -0.01615137 3.75969008] [ 0.01238675 0.99988479 0.00877299 0.21837263] [ 0.01604209 -0.00897125 0.99983107 -0.92855875] [ 0. 0. 0. 1. ]] SLAMing on 122.864553574 meters Centerline goodness [0,1] 0.8438869719294974 Centerline is valid? [False, False] Translation: X:3.77, Y:0.22, Z:-0.94 [[ 9.99896826e-01 -9.79069635e-03 -1.05108878e-02 3.77382998e+00] [ 9.79413255e-03 9.99951998e-01 2.75492573e-04 2.21676796e-01] [ 1.05076860e-02 -3.78409178e-04 9.99944721e-01 -9.35134286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.894553574 meters Centerline goodness [0,1] 0.8457205118694362 Centerline is valid? [False, False] Translation: X:3.77, Y:0.22, Z:-0.93 [[ 0.99993068 -0.00546146 -0.01043116 3.77295242] [ 0.0055048 0.99997631 0.00413118 0.22451421] [ 0.01040835 -0.00418832 0.99993706 -0.93386897] [ 0. 0. 0. 1. ]] SLAMing on 122.924553574 meters Centerline goodness [0,1] 0.8234669865731555 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-0.93 [[ 0.99993812 -0.00480022 -0.01003549 3.77139254] [ 0.0048408 0.99998019 0.00402326 0.2264636 ] [ 0.01001597 -0.00407159 0.99994155 -0.93341544] [ 0. 0. 0. 1. ]] SLAMing on 122.954553574 meters Centerline goodness [0,1] 0.8214219930005526 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-0.93 [[ 0.9999474 -0.00383052 -0.00951392 3.76935472] [ 0.00386668 0.99998536 0.00378492 0.22951719] [ 0.00949929 -0.00382151 0.99994758 -0.93308816] [ 0. 0. 0. 1. ]] SLAMing on 122.984553574 meters Centerline goodness [0,1] 0.8472787473270331 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-0.93 [[ 9.99948744e-01 -3.65584031e-03 -9.44159067e-03 3.76925079e+00] [ 3.68802377e-03 9.99987441e-01 3.39353254e-03 2.31208152e-01] [ 9.42906589e-03 -3.42817941e-03 9.99949669e-01 -9.33550662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.014553574 meters Centerline goodness [0,1] 0.8471185428486115 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-0.93 [[ 9.99952247e-01 -3.22055608e-03 -9.22666733e-03 3.76841695e+00] [ 3.24951397e-03 9.99989837e-01 3.12522915e-03 2.33306881e-01] [ 9.21650859e-03 -3.15506209e-03 9.99952550e-01 -9.33484968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.044553574 meters Centerline goodness [0,1] 0.8435663115356355 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-0.93 [[ 9.99954421e-01 -3.02098964e-03 -9.05700352e-03 3.76774482e+00] [ 3.04919451e-03 9.99990540e-01 3.10196105e-03 2.33822076e-01] [ 9.04754685e-03 -3.12943623e-03 9.99954173e-01 -9.33121982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.074553574 meters Centerline goodness [0,1] 0.8502943264848026 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-0.93 [[ 9.99960019e-01 -2.31273277e-03 -8.63775208e-03 3.76610161e+00] [ 2.34025306e-03 9.99992214e-01 3.17729963e-03 2.34959902e-01] [ 8.63033659e-03 -3.19738713e-03 9.99957646e-01 -9.32555172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.104553574 meters Centerline goodness [0,1] 0.8480355140614632 Centerline is valid? [False, False] Translation: X:3.76, Y:0.24, Z:-0.93 [[ 9.99966475e-01 -1.01301268e-03 -8.12548762e-03 3.76406616e+00] [ 1.03848590e-03 9.99994558e-01 3.13137170e-03 2.37283402e-01] [ 8.12227129e-03 -3.13970492e-03 9.99962085e-01 -9.32670525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.134553574 meters Centerline goodness [0,1] 0.8467363700839644 Centerline is valid? [False, False] Translation: X:3.76, Y:0.24, Z:-0.93 [[ 9.99969349e-01 -4.39343671e-04 -7.81717837e-03 3.76311824e+00] [ 4.63334200e-04 9.99995188e-01 3.06740360e-03 2.38180379e-01] [ 7.81579311e-03 -3.07093154e-03 9.99964741e-01 -9.32864555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.164553574 meters Centerline goodness [0,1] 0.84605905709461 Centerline is valid? [False, False] Translation: X:3.76, Y:0.24, Z:-0.93 [[ 9.99973438e-01 9.77372647e-04 -7.22275721e-03 3.76081865e+00] [-9.53800928e-04 9.99994211e-01 3.26625894e-03 2.39525349e-01] [ 7.22590775e-03 -3.25928311e-03 9.99968581e-01 -9.32740066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.194553574 meters Centerline goodness [0,1] 0.8453650626898395 Centerline is valid? [False, False] Translation: X:3.76, Y:0.24, Z:-0.93 [[ 9.99974742e-01 1.45537368e-03 -6.95675517e-03 3.76004023e+00] [-1.43304884e-03 9.99993811e-01 3.21299641e-03 2.40226809e-01] [ 6.96138823e-03 -3.20294588e-03 9.99970640e-01 -9.32862541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.224553574 meters Centerline goodness [0,1] 0.8433586251028431 Centerline is valid? [False, False] Translation: X:3.76, Y:0.24, Z:-0.93 [[ 9.99975460e-01 1.85897107e-03 -6.75452587e-03 3.75936026e+00] [-1.83723111e-03 9.99993117e-01 3.22335764e-03 2.40529289e-01] [ 6.76047150e-03 -3.21086891e-03 9.99971993e-01 -9.32866289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.254553574 meters Centerline goodness [0,1] 0.8383461230099645 Centerline is valid? [False, False] Translation: X:3.76, Y:0.24, Z:-0.93 [[ 9.99976110e-01 3.47751314e-03 -5.97375699e-03 3.75654777e+00] [-3.45464785e-03 9.99986684e-01 3.83368648e-03 2.40380920e-01] [ 5.98700913e-03 -3.81295767e-03 9.99974808e-01 -9.32301734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.284553574 meters Centerline goodness [0,1] 0.8392979726328315 Centerline is valid? [False, False] Translation: X:3.76, Y:0.24, Z:-0.93 [[ 0.99997466 0.00440814 -0.00558981 3.75530896] [-0.0043859 0.99998245 0.00398342 0.24090899] [ 0.00560727 -0.0039588 0.99997644 -0.93250293] [ 0. 0. 0. 1. ]] SLAMing on 123.314553574 meters Centerline goodness [0,1] 0.8322685535023242 Centerline is valid? [False, False] Translation: X:3.75, Y:0.24, Z:-0.93 [[ 0.99993839 0.0099955 -0.00482716 3.75241941] [-0.00995311 0.99991238 0.00872761 0.24110136] [ 0.00491397 -0.00867903 0.99995026 -0.93145385] [ 0. 0. 0. 1. ]] SLAMing on 123.344553574 meters Centerline goodness [0,1] 0.8315140118332339 Centerline is valid? [False, False] Translation: X:3.75, Y:0.24, Z:-0.93 [[ 0.99992822 0.0112177 -0.00420816 3.75025089] [-0.01117874 0.99989546 0.00917103 0.24136204] [ 0.0043106 -0.00912333 0.99994909 -0.93108902] [ 0. 0. 0. 1. ]] SLAMing on 123.374553574 meters Centerline goodness [0,1] 0.8298801940809897 Centerline is valid? [False, False] Translation: X:3.74, Y:0.24, Z:-0.93 [[ 9.99891975e-01 1.44550490e-02 -2.66262616e-03 3.74441172e+00] [-1.44264105e-02 9.99841032e-01 1.04780149e-02 2.41216750e-01] [ 2.81366311e-03 -1.04384709e-02 9.99941559e-01 -9.30011341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.404553574 meters Centerline goodness [0,1] 0.8265507886145216 Centerline is valid? [False, False] Translation: X:3.74, Y:0.24, Z:-0.93 [[ 9.99879675e-01 1.53673273e-02 -2.11694229e-03 3.74263147e+00] [-1.53435904e-02 9.99823882e-01 1.08064703e-02 2.41397410e-01] [ 2.28263603e-03 -1.07726886e-02 9.99939368e-01 -9.29731450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.434553574 meters Centerline goodness [0,1] 0.8246849175938322 Centerline is valid? [False, False] Translation: X:3.74, Y:0.24, Z:-0.93 [[ 9.99853797e-01 1.70616157e-02 -1.13386780e-03 3.73940905e+00] [-1.70471577e-02 9.99785905e-01 1.17276569e-02 2.40239994e-01] [ 1.33371782e-03 -1.17066131e-02 9.99930586e-01 -9.29116763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46455357399999 meters Centerline goodness [0,1] 0.8226056745801968 Centerline is valid? [False, False] Translation: X:3.74, Y:0.24, Z:-0.93 [[ 9.99882043e-01 1.53572830e-02 -2.30768154e-04 3.73635440e+00] [-1.53547332e-02 9.99845175e-01 8.59406762e-03 2.40209901e-01] [ 3.62713954e-04 -8.58951051e-03 9.99963044e-01 -9.29489731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.494553574 meters Centerline goodness [0,1] 0.8260355029585799 Centerline is valid? [False, False] Translation: X:3.73, Y:0.24, Z:-0.93 [[ 9.99911078e-01 1.33168100e-02 7.05783925e-04 3.73355859e+00] [-1.33203209e-02 9.99897614e-01 5.22795188e-03 2.40124998e-01] [-6.36092020e-04 -5.23688827e-03 9.99986085e-01 -9.30119219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.524553574 meters Centerline goodness [0,1] 0.8209494083667195 Centerline is valid? [False, False] Translation: X:3.73, Y:0.24, Z:-0.93 [[ 9.99926904e-01 1.19215191e-02 2.01607098e-03 3.73006598e+00] [-1.19267550e-02 9.99925480e-01 2.60532557e-03 2.37604893e-01] [-1.98486131e-03 -2.62918032e-03 9.99994574e-01 -9.30993641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.554553574 meters Centerline goodness [0,1] 0.820056715648363 Centerline is valid? [False, False] Translation: X:3.73, Y:0.23, Z:-0.93 [[ 9.99954482e-01 9.07961261e-03 2.93168019e-03 3.72857766e+00] [-9.07755206e-03 9.99958542e-01 -7.15397387e-04 2.34462857e-01] [-2.93805418e-03 6.88752344e-04 9.99995447e-01 -9.32641682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.584553574 meters Centerline goodness [0,1] 0.8200722902877529 Centerline is valid? [False, False] Translation: X:3.73, Y:0.23, Z:-0.93 [[ 9.99963689e-01 8.18027247e-03 2.38830043e-03 3.73104394e+00] [-8.17840736e-03 9.99966244e-01 -7.89660517e-04 2.32077990e-01] [-2.39467945e-03 7.70099349e-04 9.99996836e-01 -9.33836402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.614553574 meters Centerline goodness [0,1] 0.8198778273072478 Centerline is valid? [False, False] Translation: X:3.73, Y:0.23, Z:-0.93 [[ 9.99985479e-01 4.62344450e-03 2.76866905e-03 3.73024085e+00] [-4.61091736e-03 9.99979181e-01 -4.51402477e-03 2.30468377e-01] [-2.78948175e-03 4.50119312e-03 9.99985979e-01 -9.34522689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.644553574 meters Centerline goodness [0,1] 0.8194745492223042 Centerline is valid? [False, False] Translation: X:3.73, Y:0.22, Z:-0.94 [[ 9.99997286e-01 -6.98012763e-04 2.22283618e-03 3.73315382e+00] [ 7.15250378e-04 9.99969608e-01 -7.76345445e-03 2.24042864e-01] [-2.21734963e-03 7.76502327e-03 9.99967393e-01 -9.35468425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.674553574 meters Centerline goodness [0,1] 0.8264117406864746 Centerline is valid? [False, False] Translation: X:3.74, Y:0.22, Z:-0.94 [[ 9.99977843e-01 -6.49818962e-03 1.44434265e-03 3.73733948e+00] [ 6.51408142e-03 9.99915106e-01 -1.12848037e-02 2.17740233e-01] [-1.37088924e-03 1.12939622e-02 9.99935281e-01 -9.37254428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.704553574 meters Centerline goodness [0,1] 0.8279406442272892 Centerline is valid? [False, False] Translation: X:3.74, Y:0.21, Z:-0.94 [[ 9.99967158e-01 -8.08595868e-03 5.48056596e-04 3.74109011e+00] [ 8.09145454e-03 9.99907822e-01 -1.09030234e-02 2.13601741e-01] [-4.59844681e-04 1.09070999e-02 9.99940410e-01 -9.37831546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.734553574 meters Centerline goodness [0,1] 0.829390243902439 Centerline is valid? [False, False] Translation: X:3.74, Y:0.21, Z:-0.94 [[ 9.99905766e-01 -1.37272495e-02 -1.50198820e-04 3.74494003e+00] [ 1.37237209e-02 9.99804496e-01 -1.42347608e-02 2.07279201e-01] [ 3.45573569e-04 1.42313582e-02 9.99898669e-01 -9.39120369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.764553574 meters Centerline goodness [0,1] 0.8288987344870633 Centerline is valid? [False, False] Translation: X:3.75, Y:0.20, Z:-0.94 [[ 9.99888127e-01 -1.49309116e-02 -8.95198741e-04 3.74787447e+00] [ 1.49172765e-02 9.99795158e-01 -1.36790855e-02 2.03424852e-01] [ 1.09925658e-03 1.36642013e-02 9.99906036e-01 -9.39264000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.794553574 meters Centerline goodness [0,1] 0.8306455577953685 Centerline is valid? [False, False] Translation: X:3.75, Y:0.20, Z:-0.94 [[ 9.99869776e-01 -1.60549462e-02 -1.63385895e-03 3.75071442e+00] [ 1.60319382e-02 9.99783869e-01 -1.32359960e-02 2.00097663e-01] [ 1.84600903e-03 1.32080784e-02 9.99911066e-01 -9.39410203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.824553574 meters Centerline goodness [0,1] 0.8329944959587445 Centerline is valid? [False, False] Translation: X:3.75, Y:0.19, Z:-0.94 [[ 9.99840423e-01 -1.77066194e-02 -2.36724041e-03 3.75410362e+00] [ 1.76763016e-02 9.99768505e-01 -1.22672480e-02 1.94240803e-01] [ 2.58390390e-03 1.22234464e-02 9.99921952e-01 -9.38939818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.854553574 meters Centerline goodness [0,1] 0.8310503418272219 Centerline is valid? [False, False] Translation: X:3.76, Y:0.19, Z:-0.94 [[ 9.99863813e-01 -1.61138386e-02 -3.56365501e-03 3.75885531e+00] [ 1.60909431e-02 9.99850288e-01 -6.36268942e-03 1.89365574e-01] [ 3.66564884e-03 6.30448033e-03 9.99973408e-01 -9.35371857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.884553574 meters Centerline goodness [0,1] 0.8282868725289024 Centerline is valid? [False, False] Translation: X:3.76, Y:0.18, Z:-0.93 [[ 9.99858544e-01 -1.63974950e-02 -3.74349886e-03 3.75961190e+00] [ 1.63779098e-02 9.99852331e-01 -5.20383281e-03 1.84574324e-01] [ 3.82827588e-03 5.14178601e-03 9.99979453e-01 -9.34673376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.914553574 meters Centerline goodness [0,1] 0.8330494037478705 Centerline is valid? [False, False] Translation: X:3.76, Y:0.18, Z:-0.93 [[ 9.99891276e-01 -1.40448558e-02 -4.49202027e-03 3.76271166e+00] [ 1.40418663e-02 9.99901166e-01 -6.96364414e-04 1.81156643e-01] [ 4.50135664e-03 6.33212355e-04 9.99989668e-01 -9.33808042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.944553574 meters Centerline goodness [0,1] 0.8316608128449574 Centerline is valid? [False, False] Translation: X:3.77, Y:0.18, Z:-0.93 [[ 9.99914695e-01 -1.20012272e-02 -5.15494150e-03 3.76599114e+00] [ 1.20173751e-02 9.99922943e-01 3.11303824e-03 1.78094967e-01] [ 5.11718400e-03 -3.17472155e-03 9.99981868e-01 -9.33911346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.974553574 meters Centerline goodness [0,1] 0.8314086597730647 Centerline is valid? [False, False] Translation: X:3.77, Y:0.18, Z:-0.93 [[ 0.99991894 -0.01170935 -0.00500138 3.76543339] [ 0.01172951 0.99992312 0.0040213 0.1750614 ] [ 0.00495391 -0.00407964 0.99997941 -0.93341651] [ 0. 0. 0. 1. ]] SLAMing on 124.004553574 meters Centerline goodness [0,1] 0.8345543654001617 Centerline is valid? [False, False] Translation: X:3.77, Y:0.17, Z:-0.93 [[ 0.99991822 -0.01174033 -0.0050707 3.76553374] [ 0.01176501 0.99991895 0.00486509 0.17181014] [ 0.00501317 -0.00492435 0.99997531 -0.93263815] [ 0. 0. 0. 1. ]] SLAMing on 124.034553574 meters Centerline goodness [0,1] 0.8321405993172335 Centerline is valid? [False, False] Translation: X:3.77, Y:0.17, Z:-0.93 [[ 0.99991967 -0.01163072 -0.00503853 3.76524413] [ 0.01165772 0.99991767 0.00536232 0.17017427] [ 0.00497574 -0.00542063 0.99997293 -0.93200873] [ 0. 0. 0. 1. ]] SLAMing on 124.064553574 meters Centerline goodness [0,1] 0.833692428582292 Centerline is valid? [False, False] Translation: X:3.77, Y:0.17, Z:-0.93 [[ 0.99992077 -0.01154944 -0.00500715 3.76512008] [ 0.01157758 0.99991714 0.00562768 0.16917606] [ 0.00494174 -0.0056852 0.99997163 -0.93190775] [ 0. 0. 0. 1. ]] SLAMing on 124.094553574 meters Centerline goodness [0,1] 0.8301293431397413 Centerline is valid? [False, False] Translation: X:3.77, Y:0.17, Z:-0.93 [[ 0.99991858 -0.01168184 -0.00513446 3.76588332] [ 0.01171095 0.99991532 0.00567458 0.16859077] [ 0.00506773 -0.00573425 0.99997072 -0.93262181] [ 0. 0. 0. 1. ]] SLAMing on 124.124553574 meters Centerline goodness [0,1] 0.8278330625507717 Centerline is valid? [False, False] Translation: X:3.77, Y:0.17, Z:-0.93 [[ 0.9999109 -0.01217321 -0.00547724 3.7673296 ] [ 0.01220475 0.99990891 0.00576246 0.16732996] [ 0.00540659 -0.0058288 0.9999684 -0.93300897] [ 0. 0. 0. 1. ]] SLAMing on 124.154553574 meters Centerline goodness [0,1] 0.8359514005388643 Centerline is valid? [False, False] Translation: X:3.77, Y:0.17, Z:-0.93 [[ 0.99990852 -0.01230337 -0.00561951 3.76766254] [ 0.01233694 0.99990603 0.0059775 0.16667878] [ 0.00554543 -0.00604628 0.99996634 -0.93267658] [ 0. 0. 0. 1. ]] SLAMing on 124.184553574 meters Centerline goodness [0,1] 0.831119208481996 Centerline is valid? [False, False] Translation: X:3.77, Y:0.17, Z:-0.93 [[ 0.99990341 -0.01262817 -0.00580602 3.76851238] [ 0.01266188 0.99990297 0.00580669 0.1665542 ] [ 0.00573213 -0.00587964 0.99996629 -0.93298272] [ 0. 0. 0. 1. ]] SLAMing on 124.21455357399999 meters Centerline goodness [0,1] 0.8343517837673369 Centerline is valid? [False, False] Translation: X:3.77, Y:0.17, Z:-0.93 [[ 0.9999039 -0.01260059 -0.00578111 3.76801574] [ 0.01263638 0.99990096 0.00619605 0.16660079] [ 0.00570246 -0.00626851 0.99996409 -0.93171317] [ 0. 0. 0. 1. ]] SLAMing on 124.244553574 meters Centerline goodness [0,1] 0.8346990030188488 Centerline is valid? [False, False] Translation: X:3.77, Y:0.17, Z:-0.93 [[ 0.99990428 -0.01254821 -0.00582903 3.76786217] [ 0.01258499 0.99990086 0.00631634 0.16651934] [ 0.00574919 -0.00638909 0.99996306 -0.93124813] [ 0. 0. 0. 1. ]] SLAMing on 124.274553574 meters Centerline goodness [0,1] 0.8326656863242229 Centerline is valid? [False, False] Translation: X:3.77, Y:0.17, Z:-0.93 [[ 0.99989935 -0.0128115 -0.00609555 3.7687931 ] [ 0.0128491 0.99989842 0.00616872 0.16695274] [ 0.0060159 -0.00624642 0.99996239 -0.93149616] [ 0. 0. 0. 1. ]] SLAMing on 124.304553574 meters Centerline goodness [0,1] 0.8349526845807398 Centerline is valid? [False, False] Translation: X:3.77, Y:0.17, Z:-0.93 [[ 0.99989748 -0.01289114 -0.00623272 3.76950033] [ 0.01292714 0.99989979 0.00577022 0.16814069] [ 0.00615771 -0.0058502 0.99996393 -0.93234625] [ 0. 0. 0. 1. ]] SLAMing on 124.334553574 meters Centerline goodness [0,1] 0.8328189820904583 Centerline is valid? [False, False] Translation: X:3.77, Y:0.17, Z:-0.93 [[ 0.99989555 -0.0129756 -0.00636532 3.76995657] [ 0.01301072 0.99990019 0.00550683 0.16931898] [ 0.00629323 -0.00558907 0.99996458 -0.93261255] [ 0. 0. 0. 1. ]] SLAMing on 124.364553574 meters Centerline goodness [0,1] 0.8363166822796668 Centerline is valid? [False, False] Translation: X:3.77, Y:0.17, Z:-0.93 [[ 0.9998958 -0.01295528 -0.00636711 3.76982681] [ 0.01299158 0.99989939 0.00569427 0.16919841] [ 0.0062927 -0.0057764 0.99996352 -0.93213284] [ 0. 0. 0. 1. ]] SLAMing on 124.394553574 meters Centerline goodness [0,1] 0.8272911392405063 Centerline is valid? [False, False] Translation: X:3.77, Y:0.17, Z:-0.93 [[ 0.9998919 -0.0131795 -0.00651777 3.77033056] [ 0.01321632 0.99989676 0.00563904 0.16932573] [ 0.00644277 -0.00572458 0.99996286 -0.93210306] [ 0. 0. 0. 1. ]] SLAMing on 124.424553574 meters Centerline goodness [0,1] 0.8257064583227639 Centerline is valid? [False, False] Translation: X:3.77, Y:0.17, Z:-0.93 [[ 0.9998701 -0.01437038 -0.00729944 3.77336829] [ 0.01440874 0.99988251 0.0052302 0.16974695] [ 0.00722343 -0.0053347 0.99995968 -0.93280966] [ 0. 0. 0. 1. ]] SLAMing on 124.454553574 meters Centerline goodness [0,1] 0.8373829410275879 Centerline is valid? [False, False] Translation: X:3.78, Y:0.17, Z:-0.93 [[ 0.99984603 -0.01557123 -0.0080909 3.77618954] [ 0.01561366 0.99986454 0.00520799 0.16853325] [ 0.00800871 -0.00533351 0.99995371 -0.93272933] [ 0. 0. 0. 1. ]] SLAMing on 124.484553574 meters Centerline goodness [0,1] 0.8200070893255014 Centerline is valid? [False, False] Translation: X:3.78, Y:0.17, Z:-0.93 [[ 0.99984012 -0.01582887 -0.00831765 3.77690998] [ 0.01587316 0.99986004 0.0052867 0.16827651] [ 0.0082328 -0.00541788 0.99995143 -0.93258418] [ 0. 0. 0. 1. ]] SLAMing on 124.514553574 meters Centerline goodness [0,1] 0.8339893026541528 Centerline is valid? [False, False] Translation: X:3.78, Y:0.17, Z:-0.93 [[ 0.99984503 -0.01555671 -0.00824041 3.77653373] [ 0.01559994 0.99986475 0.00520873 0.16942563] [ 0.00815827 -0.00533647 0.99995248 -0.93264482] [ 0. 0. 0. 1. ]] SLAMing on 124.544553574 meters Centerline goodness [0,1] 0.8375964885727258 Centerline is valid? [False, False] Translation: X:3.78, Y:0.17, Z:-0.93 [[ 0.99985678 -0.0149311 -0.00796716 3.77539087] [ 0.01497266 0.99987448 0.00518176 0.17068004] [ 0.0078888 -0.00530031 0.99995484 -0.93264386] [ 0. 0. 0. 1. ]] SLAMing on 124.574553574 meters Centerline goodness [0,1] 0.8245424376508448 Centerline is valid? [False, False] Translation: X:3.78, Y:0.17, Z:-0.93 [[ 0.99990735 -0.01082826 -0.00824913 3.77604613] [ 0.01090355 0.9998988 0.00913757 0.17153257] [ 0.00814935 -0.00922666 0.99992423 -0.93273197] [ 0. 0. 0. 1. ]] SLAMing on 124.604553574 meters Centerline goodness [0,1] 0.8207066268236949 Centerline is valid? [False, False] Translation: X:3.77, Y:0.17, Z:-0.93 [[ 0.99991947 -0.01000699 -0.0078046 3.7744182 ] [ 0.01007749 0.9999083 0.00904661 0.17246285] [ 0.00771336 -0.00912453 0.99992862 -0.93293128] [ 0. 0. 0. 1. ]] SLAMing on 124.634553574 meters Centerline goodness [0,1] 0.8303392211963068 Centerline is valid? [False, False] Translation: X:3.77, Y:0.17, Z:-0.93 [[ 0.99993171 -0.00912696 -0.00729943 3.77245594] [ 0.00919297 0.99991669 0.00906074 0.17327948] [ 0.00721612 -0.00912722 0.99993231 -0.93280425] [ 0. 0. 0. 1. ]] SLAMing on 124.664553574 meters Centerline goodness [0,1] 0.8303392211963068 Centerline is valid? [False, False] Translation: X:3.77, Y:0.17, Z:-0.93 [[ 0.99993171 -0.00912696 -0.00729943 3.77245594] [ 0.00919297 0.99991669 0.00906074 0.17327948] [ 0.00721612 -0.00912722 0.99993231 -0.93280425] [ 0. 0. 0. 1. ]] SLAMing on 124.694553574 meters Centerline goodness [0,1] 0.8335920288403765 Centerline is valid? [False, False] Translation: X:3.77, Y:0.17, Z:-0.93 [[ 0.99995065 -0.00755886 -0.00644698 3.76892224] [ 0.00761785 0.9999289 0.00917459 0.17492352] [ 0.00637717 -0.00922325 0.99993713 -0.93229531] [ 0. 0. 0. 1. ]] SLAMing on 124.724553574 meters Centerline goodness [0,1] 0.8364779874213837 Centerline is valid? [False, False] Translation: X:3.77, Y:0.18, Z:-0.93 [[ 0.99996199 -0.00651157 -0.00579765 3.76617298] [ 0.00656592 0.99993422 0.00940487 0.17636788] [ 0.00573603 -0.00944258 0.99993897 -0.93125107] [ 0. 0. 0. 1. ]] SLAMing on 124.754553574 meters Centerline goodness [0,1] 0.8286796968488233 Centerline is valid? [False, False] Translation: X:3.77, Y:0.18, Z:-0.93 [[ 0.99996464 -0.00625781 -0.00561855 3.76554941] [ 0.00630984 0.99993693 0.00929088 0.17723544] [ 0.00556005 -0.009326 0.99994105 -0.93123307] [ 0. 0. 0. 1. ]] SLAMing on 124.784553574 meters Centerline goodness [0,1] 0.8326404620248438 Centerline is valid? [False, False] Translation: X:3.77, Y:0.18, Z:-0.93 [[ 0.99996426 -0.00628222 -0.00565837 3.76578915] [ 0.00633305 0.99993935 0.00901092 0.17811938] [ 0.00560142 -0.00904643 0.99994339 -0.93161351] [ 0. 0. 0. 1. ]] SLAMing on 124.814553574 meters Centerline goodness [0,1] 0.8238214631482264 Centerline is valid? [False, False] Translation: X:3.77, Y:0.18, Z:-0.93 [[ 0.99995967 -0.00670017 -0.00598022 3.76694243] [ 0.00675108 0.99994079 0.00853455 0.17917769] [ 0.00592269 -0.00857458 0.9999457 -0.93201939] [ 0. 0. 0. 1. ]] SLAMing on 124.844553574 meters Centerline goodness [0,1] 0.83635687732342 Centerline is valid? [False, False] Translation: X:3.77, Y:0.18, Z:-0.93 [[ 0.99995678 -0.00696837 -0.00615476 3.76761033] [ 0.00701896 0.99994143 0.00823797 0.17977801] [ 0.00609699 -0.00828081 0.99994713 -0.9322644 ] [ 0. 0. 0. 1. ]] SLAMing on 124.874553574 meters Centerline goodness [0,1] 0.8333662730372053 Centerline is valid? [False, False] Translation: X:3.77, Y:0.18, Z:-0.93 [[ 0.99994845 -0.00765747 -0.0066677 3.76913794] [ 0.00771007 0.99993907 0.00789995 0.18091564] [ 0.0066068 -0.00795095 0.99994656 -0.93206854] [ 0. 0. 0. 1. ]] SLAMing on 124.904553574 meters Centerline goodness [0,1] 0.8286229111643176 Centerline is valid? [False, False] Translation: X:3.77, Y:0.18, Z:-0.93 [[ 0.99994036 -0.00828869 -0.00711152 3.77085553] [ 0.00834189 0.9999372 0.00748443 0.1817779 ] [ 0.00704903 -0.00754331 0.9999467 -0.9325693 ] [ 0. 0. 0. 1. ]] SLAMing on 124.934553574 meters Centerline goodness [0,1] 0.8331279877778326 Centerline is valid? [False, False] Translation: X:3.77, Y:0.18, Z:-0.93 [[ 0.99992745 -0.00920065 -0.00777396 3.77336791] [ 0.00925414 0.99993355 0.00687372 0.1830092 ] [ 0.0077102 -0.00694516 0.99994616 -0.93340719] [ 0. 0. 0. 1. ]] SLAMing on 124.96455357399999 meters Centerline goodness [0,1] 0.8391259463179628 Centerline is valid? [False, False] Translation: X:3.78, Y:0.18, Z:-0.93 [[ 0.99989133 -0.01151448 -0.0092052 3.77868289] [ 0.01156928 0.99991553 0.00592301 0.18394227] [ 0.00913622 -0.00602886 0.99994009 -0.93438755] [ 0. 0. 0. 1. ]] SLAMing on 124.994553574 meters Centerline goodness [0,1] 0.8381357809001206 Centerline is valid? [False, False] Translation: X:3.78, Y:0.18, Z:-0.93 [[ 0.99987574 -0.01238106 -0.00975793 3.78050591] [ 0.0124385 0.99990554 0.00584801 0.18367571] [ 0.0096846 -0.00596866 0.99993529 -0.93406681] [ 0. 0. 0. 1. ]] SLAMing on 125.024553574 meters Centerline goodness [0,1] 0.8319895777002114 Centerline is valid? [False, False] Translation: X:3.78, Y:0.18, Z:-0.93 [[ 0.99984385 -0.01405684 -0.01070863 3.78364385] [ 0.01411591 0.99988545 0.00546097 0.18394801] [ 0.01063064 -0.00561128 0.99992775 -0.93366108] [ 0. 0. 0. 1. ]] SLAMing on 125.054553574 meters Centerline goodness [0,1] 0.8314474362435875 Centerline is valid? [False, False] Translation: X:3.78, Y:0.18, Z:-0.93 [[ 0.99983551 -0.01443844 -0.01097684 3.78455985] [ 0.01449703 0.99988099 0.00527653 0.1847695 ] [ 0.01089935 -0.0054348 0.99992583 -0.93364727] [ 0. 0. 0. 1. ]] SLAMing on 125.084553574 meters Centerline goodness [0,1] 0.8411532907457718 Centerline is valid? [False, False] Translation: X:3.79, Y:0.19, Z:-0.93 [[ 0.99982889 -0.01471658 -0.01120791 3.78542426] [ 0.01477072 0.99987956 0.00476268 0.18689804] [ 0.01113647 -0.00492742 0.99992585 -0.93409918] [ 0. 0. 0. 1. ]] SLAMing on 125.114553574 meters Centerline goodness [0,1] 0.8402372641394293 Centerline is valid? [False, False] Translation: X:3.79, Y:0.19, Z:-0.93 [[ 0.99983085 -0.01462169 -0.01115719 3.78519992] [ 0.01467313 0.99988203 0.00454216 0.18797677] [ 0.01108946 -0.0047051 0.99992744 -0.93410656] [ 0. 0. 0. 1. ]] SLAMing on 125.144553574 meters Centerline goodness [0,1] 0.8390196317522254 Centerline is valid? [False, False] Translation: X:3.78, Y:0.19, Z:-0.93 [[ 0.99984339 -0.01399621 -0.01083029 3.78358733] [ 0.01404531 0.99989137 0.00447059 0.19033522] [ 0.01076654 -0.004622 0.99993136 -0.93329878] [ 0. 0. 0. 1. ]] SLAMing on 125.174553574 meters Centerline goodness [0,1] 0.8430933852140078 Centerline is valid? [False, False] Translation: X:3.78, Y:0.19, Z:-0.93 [[ 0.99984763 -0.01377638 -0.01072048 3.78321544] [ 0.01382233 0.99989555 0.00422399 0.19180972] [ 0.01066116 -0.00437153 0.99993361 -0.93340023] [ 0. 0. 0. 1. ]] SLAMing on 125.204553574 meters Centerline goodness [0,1] 0.837237499393763 Centerline is valid? [False, False] Translation: X:3.78, Y:0.20, Z:-0.93 [[ 0.99985998 -0.01298387 -0.01055662 3.78216293] [ 0.0130245 0.999908 0.00378901 0.19591395] [ 0.01050646 -0.00392597 0.9999371 -0.93345368] [ 0. 0. 0. 1. ]] SLAMing on 125.234553574 meters Centerline goodness [0,1] 0.837525394214956 Centerline is valid? [False, False] Translation: X:3.78, Y:0.20, Z:-0.93 [[ 9.99863027e-01 -1.27452445e-02 -1.05586598e-02 3.78202705e+00] [ 1.27783830e-02 9.99913619e-01 3.07701065e-03 1.99847226e-01] [ 1.05185305e-02 -3.21151178e-03 9.99939522e-01 -9.33808401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.264553574 meters Centerline goodness [0,1] 0.8368593923585954 Centerline is valid? [False, False] Translation: X:3.78, Y:0.20, Z:-0.93 [[ 9.99859500e-01 -1.28938066e-02 -1.07112421e-02 3.78248084e+00] [ 1.29247333e-02 9.99912487e-01 2.82312710e-03 2.01236884e-01] [ 1.06739039e-02 -2.96117040e-03 9.99938648e-01 -9.33757987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.294553574 meters Centerline goodness [0,1] 0.8434914373677121 Centerline is valid? [False, False] Translation: X:3.78, Y:0.20, Z:-0.93 [[ 9.99851703e-01 -1.32679828e-02 -1.09787743e-02 3.78349241e+00] [ 1.32954096e-02 9.99908662e-01 2.42896406e-03 2.02551154e-01] [ 1.09455441e-02 -2.57457115e-03 9.99936781e-01 -9.34018418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.324553574 meters Centerline goodness [0,1] 0.8429571723178745 Centerline is valid? [False, False] Translation: X:3.79, Y:0.20, Z:-0.93 [[ 9.99815135e-01 -1.49669725e-02 -1.20700622e-02 3.78702312e+00] [ 1.49859344e-02 9.99886606e-01 1.48207278e-03 2.04997352e-01] [ 1.20465114e-02 -1.66267996e-03 9.99926056e-01 -9.34213748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.354553574 meters Centerline goodness [0,1] 0.8469002437741981 Centerline is valid? [False, False] Translation: X:3.79, Y:0.21, Z:-0.93 [[ 9.99797440e-01 -1.57220027e-02 -1.25657051e-02 3.78883602e+00] [ 1.57349571e-02 9.99875763e-01 9.32730787e-04 2.06465333e-01] [ 1.25494795e-02 -1.13026268e-03 9.99920613e-01 -9.34591791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.384553574 meters Centerline goodness [0,1] 0.8468105288119516 Centerline is valid? [False, False] Translation: X:3.79, Y:0.21, Z:-0.94 [[ 9.99758189e-01 -1.72629801e-02 -1.36217551e-02 3.79274353e+00] [ 1.72576953e-02 9.99850947e-01 -5.05427671e-04 2.10121563e-01] [ 1.36284499e-02 2.70225355e-04 9.99907092e-01 -9.36146008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.414553574 meters Centerline goodness [0,1] 0.8435062494126492 Centerline is valid? [False, False] Translation: X:3.80, Y:0.21, Z:-0.94 [[ 9.99762010e-01 -1.55409264e-02 -1.53102518e-02 3.79793214e+00] [ 1.55788955e-02 9.99875847e-01 2.36383738e-03 2.12583724e-01] [ 1.52716147e-02 -2.60179163e-03 9.99879997e-01 -9.36469534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.444553574 meters Centerline goodness [0,1] 0.8426417299824664 Centerline is valid? [False, False] Translation: X:3.80, Y:0.21, Z:-0.94 [[ 9.99770644e-01 -1.51417584e-02 -1.51455217e-02 3.79708026e+00] [ 1.51761506e-02 9.99882506e-01 2.15843072e-03 2.14758252e-01] [ 1.51110597e-02 -2.38778639e-03 9.99882970e-01 -9.36094750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.474553574 meters Centerline goodness [0,1] 0.8377984453081622 Centerline is valid? [False, False] Translation: X:3.80, Y:0.22, Z:-0.94 [[ 0.9998182 -0.01115652 -0.01546252 3.79724038] [ 0.0112484 0.99991952 0.005868 0.21747566] [ 0.01539581 -0.00604086 0.99986323 -0.93500032] [ 0. 0. 0. 1. ]] SLAMing on 125.504553574 meters Centerline goodness [0,1] 0.8423614778754965 Centerline is valid? [False, False] Translation: X:3.80, Y:0.22, Z:-0.93 [[ 0.9998513 -0.00707219 -0.01572756 3.79773867] [ 0.00721987 0.9999302 0.00935286 0.22032808] [ 0.01566031 -0.00946502 0.99983257 -0.93492858] [ 0. 0. 0. 1. ]] SLAMing on 125.534553574 meters Centerline goodness [0,1] 0.8453493141320695 Centerline is valid? [False, False] Translation: X:3.79, Y:0.22, Z:-0.93 [[ 0.99987176 -0.00505588 -0.01519524 3.79496282] [ 0.00520017 0.99994162 0.00947135 0.22440266] [ 0.01514647 -0.00954915 0.99983969 -0.93468303] [ 0. 0. 0. 1. ]] SLAMing on 125.564553574 meters Centerline goodness [0,1] 0.8357183354121782 Centerline is valid? [False, False] Translation: X:3.79, Y:0.23, Z:-0.93 [[ 9.99885822e-01 -3.78553468e-03 -1.46291940e-02 3.79291730e+00] [ 3.92422115e-03 9.99947524e-01 9.46306839e-03 2.26875556e-01] [ 1.45926036e-02 -9.51939611e-03 9.99848207e-01 -9.34695840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.594553574 meters Centerline goodness [0,1] 0.8409173068233168 Centerline is valid? [False, False] Translation: X:3.79, Y:0.23, Z:-0.93 [[ 9.99889304e-01 -3.54340916e-03 -1.44507322e-02 3.79250223e+00] [ 3.67872099e-03 9.99949541e-01 9.34785907e-03 2.27626647e-01] [ 1.44168798e-02 -9.39998451e-03 9.99851886e-01 -9.34937280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.624553574 meters Centerline goodness [0,1] 0.8450608930987822 Centerline is valid? [False, False] Translation: X:3.79, Y:0.23, Z:-0.94 [[ 9.99888928e-01 -3.57772611e-03 -1.44682810e-02 3.79268618e+00] [ 3.71233333e-03 9.99949979e-01 9.28747788e-03 2.27673088e-01] [ 1.44343292e-02 -9.34015739e-03 9.99852195e-01 -9.35063131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.654553574 meters Centerline goodness [0,1] 0.8450608930987822 Centerline is valid? [False, False] Translation: X:3.79, Y:0.23, Z:-0.94 [[ 9.99888928e-01 -3.57772611e-03 -1.44682810e-02 3.79268618e+00] [ 3.71233333e-03 9.99949979e-01 9.28747788e-03 2.27673088e-01] [ 1.44343292e-02 -9.34015739e-03 9.99852195e-01 -9.35063131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.684553574 meters Centerline goodness [0,1] 0.844222918875031 Centerline is valid? [False, False] Translation: X:3.79, Y:0.23, Z:-0.93 [[ 9.99892484e-01 -3.23122620e-03 -1.43031138e-02 3.79187830e+00] [ 3.36659644e-03 9.99949676e-01 9.45045148e-03 2.27513276e-01] [ 1.42718575e-02 -9.49758822e-03 9.99853044e-01 -9.34392466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71455357399999 meters Centerline goodness [0,1] 0.847820212574311 Centerline is valid? [False, False] Translation: X:3.79, Y:0.23, Z:-0.94 [[ 9.99889944e-01 -3.25696461e-03 -1.44738182e-02 3.79267279e+00] [ 3.38954629e-03 9.99952439e-01 9.14503327e-03 2.28093440e-01] [ 1.44433447e-02 -9.19308648e-03 9.99853428e-01 -9.35250669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.744553574 meters Centerline goodness [0,1] 0.8459688476321053 Centerline is valid? [False, False] Translation: X:3.79, Y:0.23, Z:-0.94 [[ 9.99884669e-01 -3.50703882e-03 -1.47766234e-02 3.79436590e+00] [ 3.63094515e-03 9.99958405e-01 8.36682676e-03 2.29644720e-01] [ 1.47466659e-02 -8.41951492e-03 9.99855813e-01 -9.37192504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.774553574 meters Centerline goodness [0,1] 0.8468698259274176 Centerline is valid? [False, False] Translation: X:3.80, Y:0.23, Z:-0.94 [[ 9.99881927e-01 -3.52533113e-03 -1.49567098e-02 3.79533866e+00] [ 3.64070313e-03 9.99963777e-01 7.69352607e-03 2.31945738e-01] [ 1.49290458e-02 -7.74707062e-03 9.99858543e-01 -9.38613242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.804553574 meters Centerline goodness [0,1] 0.8474451249497073 Centerline is valid? [False, False] Translation: X:3.80, Y:0.23, Z:-0.94 [[ 9.99880768e-01 -3.64677679e-03 -1.50050123e-02 3.79546003e+00] [ 3.76072773e-03 9.99964253e-01 7.57299597e-03 2.32551942e-01] [ 1.49768589e-02 -7.62852279e-03 9.99858740e-01 -9.38336740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.834553574 meters Centerline goodness [0,1] 0.8435675458022951 Centerline is valid? [False, False] Translation: X:3.79, Y:0.23, Z:-0.94 [[ 9.99872339e-01 -7.08401185e-03 -1.43221322e-02 3.79269728e+00] [ 7.13708549e-03 9.99967840e-01 3.65799778e-03 2.33779043e-01] [ 1.42957583e-02 -3.75974907e-03 9.99890742e-01 -9.36737298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.864553574 meters Centerline goodness [0,1] 0.8522773165806596 Centerline is valid? [False, False] Translation: X:3.79, Y:0.23, Z:-0.94 [[ 9.99859673e-01 -7.98061224e-03 -1.47290426e-02 3.79405433e+00] [ 8.03193488e-03 9.99961866e-01 3.42859193e-03 2.33050549e-01] [ 1.47011186e-02 -3.54641352e-03 9.99885643e-01 -9.36443323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.894553574 meters Centerline goodness [0,1] 0.8522288994528657 Centerline is valid? [False, False] Translation: X:3.80, Y:0.23, Z:-0.94 [[ 9.99804417e-01 -1.28484306e-02 -1.50347797e-02 3.79522003e+00] [ 1.28318068e-02 9.99916947e-01 -1.20163298e-03 2.34177490e-01] [ 1.50489701e-02 1.00847458e-03 9.99886249e-01 -9.36662315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.924553574 meters Centerline goodness [0,1] 0.8520393307501064 Centerline is valid? [False, False] Translation: X:3.80, Y:0.23, Z:-0.94 [[ 9.99786421e-01 -1.36432553e-02 -1.55233467e-02 3.79682718e+00] [ 1.36222034e-02 9.99906146e-01 -1.46108054e-03 2.34626439e-01] [ 1.55418237e-02 1.24930629e-03 9.99878438e-01 -9.36594980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.954553574 meters Centerline goodness [0,1] 0.857114161365919 Centerline is valid? [False, False] Translation: X:3.80, Y:0.24, Z:-0.94 [[ 9.99768631e-01 -1.44157102e-02 -1.59646997e-02 3.79804512e+00] [ 1.43833677e-02 9.99894266e-01 -2.13885445e-03 2.37061926e-01] [ 1.59938448e-02 1.90873344e-03 9.99870268e-01 -9.36490982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.984553574 meters Centerline goodness [0,1] 0.8574413229018492 Centerline is valid? [False, False] Translation: X:3.80, Y:0.24, Z:-0.94 [[ 9.99794289e-01 -1.15546900e-02 -1.66694193e-02 3.79998229e+00] [ 1.15845776e-02 9.99931456e-01 1.69751017e-03 2.36881397e-01] [ 1.66486625e-02 -1.89026916e-03 9.99859615e-01 -9.35742484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.014553574 meters Centerline goodness [0,1] 0.8627320069435171 Centerline is valid? [False, False] Translation: X:3.80, Y:0.24, Z:-0.93 [[ 9.99818593e-01 -1.02081597e-02 -1.60802688e-02 3.79716205e+00] [ 1.02419907e-02 9.99945503e-01 2.02293434e-03 2.38886643e-01] [ 1.60587421e-02 -2.18726133e-03 9.99868658e-01 -9.34357809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.044553574 meters Centerline goodness [0,1] 0.8494685690194599 Centerline is valid? [False, False] Translation: X:3.80, Y:0.24, Z:-0.94 [[ 0.9998364 -0.00693656 -0.01670486 3.79951202] [ 0.00702973 0.99996003 0.00552507 0.23919225] [ 0.01666587 -0.0056416 0.9998452 -0.93510727] [ 0. 0. 0. 1. ]] SLAMing on 126.074553574 meters Centerline goodness [0,1] 0.8493450747853792 Centerline is valid? [False, False] Translation: X:3.80, Y:0.24, Z:-0.94 [[ 9.99852065e-01 -2.64486676e-03 -1.69956925e-02 3.80102863e+00] [ 2.79020754e-03 9.99959695e-01 8.53361030e-03 2.42342451e-01] [ 1.69724372e-02 -8.57976938e-03 9.99819146e-01 -9.37380805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.104553574 meters Centerline goodness [0,1] 0.8485385296722764 Centerline is valid? [False, False] Translation: X:3.80, Y:0.24, Z:-0.94 [[ 9.99847259e-01 -2.90945006e-03 -1.72335283e-02 3.80224599e+00] [ 3.05135532e-03 9.99961612e-01 8.21369133e-03 2.42536199e-01] [ 1.72089694e-02 -8.26502238e-03 9.99817754e-01 -9.38308652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.134553574 meters Centerline goodness [0,1] 0.8468572443181819 Centerline is valid? [False, False] Translation: X:3.80, Y:0.24, Z:-0.94 [[ 9.99837390e-01 -3.56720474e-03 -1.76767636e-02 3.80437549e+00] [ 3.70442713e-03 9.99963213e-01 7.73621525e-03 2.42265724e-01] [ 1.76485166e-02 -7.80043955e-03 9.99813824e-01 -9.39708459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.164553574 meters Centerline goodness [0,1] 0.846254635901308 Centerline is valid? [False, False] Translation: X:3.81, Y:0.24, Z:-0.94 [[ 0.99982658 -0.00416544 -0.01815106 3.8064849 ] [ 0.00429841 0.99996417 0.00729268 0.24194122] [ 0.01812003 -0.00736943 0.99980866 -0.94100274] [ 0. 0. 0. 1. ]] SLAMing on 126.194553574 meters Centerline goodness [0,1] 0.8474424838061202 Centerline is valid? [False, False] Translation: X:3.81, Y:0.24, Z:-0.94 [[ 0.99981449 -0.00477705 -0.01865905 3.80865023] [ 0.00490603 0.99996435 0.00687246 0.2414685 ] [ 0.01862555 -0.00696273 0.99980229 -0.94227027] [ 0. 0. 0. 1. ]] SLAMing on 126.224553574 meters Centerline goodness [0,1] 0.842427219146276 Centerline is valid? [False, False] Translation: X:3.81, Y:0.24, Z:-0.94 [[ 0.99979933 -0.00534248 -0.01930675 3.81157933] [ 0.00546588 0.99996494 0.00634405 0.24123307] [ 0.01927218 -0.00644831 0.99979348 -0.94439367] [ 0. 0. 0. 1. ]] SLAMing on 126.254553574 meters Centerline goodness [0,1] 0.8594120012510612 Centerline is valid? [False, False] Translation: X:3.82, Y:0.24, Z:-0.95 [[ 9.99786964e-01 -3.20328690e-03 -2.03903265e-02 3.81611607e+00] [ 3.39724077e-03 9.99949250e-01 9.48453188e-03 2.40110150e-01] [ 2.03589100e-02 -9.55178219e-03 9.99747107e-01 -9.45955911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.284553574 meters Centerline goodness [0,1] 0.8494156629203421 Centerline is valid? [False, False] Translation: X:3.83, Y:0.24, Z:-0.95 [[ 9.99887539e-01 -1.51087191e-03 -1.49206773e-02 3.83201089e+00] [ 1.52950027e-03 9.99998065e-01 1.23716078e-03 2.41768889e-01] [ 1.49187792e-02 -1.25984283e-03 9.99887915e-01 -9.52617560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.314553574 meters Centerline goodness [0,1] 0.8547931699009546 Centerline is valid? [False, False] Translation: X:3.83, Y:0.24, Z:-0.95 [[ 9.99887992e-01 -1.46251170e-03 -1.48951303e-02 3.83197863e+00] [ 1.48299083e-03 9.99997970e-01 1.36393485e-03 2.41518537e-01] [ 1.48931053e-02 -1.38587142e-03 9.99888131e-01 -9.52449605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.344553574 meters Centerline goodness [0,1] 0.8521262741928242 Centerline is valid? [False, False] Translation: X:3.83, Y:0.24, Z:-0.95 [[ 9.99889187e-01 -1.35336351e-03 -1.48250637e-02 3.83164043e+00] [ 1.37746785e-03 9.99997746e-01 1.61582734e-03 2.41021914e-01] [ 1.48228435e-02 -1.63606934e-03 9.99888797e-01 -9.51995274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.374553574 meters Centerline goodness [0,1] 0.8537161630026326 Centerline is valid? [False, False] Translation: X:3.83, Y:0.24, Z:-0.95 [[ 9.99889327e-01 -1.43477848e-03 -1.48079185e-02 3.83145089e+00] [ 1.46251423e-03 9.99997196e-01 1.86237623e-03 2.40175668e-01] [ 1.48052049e-02 -1.88382691e-03 9.99888622e-01 -9.51346342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.404553574 meters Centerline goodness [0,1] 0.8511222057302208 Centerline is valid? [False, False] Translation: X:3.83, Y:0.24, Z:-0.95 [[ 9.99889000e-01 -1.45723828e-03 -1.48278020e-02 3.83155374e+00] [ 1.48536541e-03 9.99997118e-01 1.88608235e-03 2.40247634e-01] [ 1.48250108e-02 -1.90789770e-03 9.99888283e-01 -9.51299523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.434553574 meters Centerline goodness [0,1] 0.8555590466358454 Centerline is valid? [False, False] Translation: X:3.83, Y:0.24, Z:-0.95 [[ 9.99884107e-01 -1.87691834e-03 -1.51079276e-02 3.83268560e+00] [ 1.90038148e-03 9.99997010e-01 1.53882861e-03 2.41307762e-01] [ 1.51049942e-02 -1.56736110e-03 9.99884685e-01 -9.51666479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46455357399999 meters Centerline goodness [0,1] 0.8573855507868383 Centerline is valid? [False, False] Translation: X:3.83, Y:0.24, Z:-0.95 [[ 9.99880121e-01 -2.21205168e-03 -1.53248070e-02 3.83343807e+00] [ 2.23230691e-03 9.99996657e-01 1.30474812e-03 2.42019942e-01] [ 1.53218696e-02 -1.33880138e-03 9.99881717e-01 -9.51701285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.494553574 meters Centerline goodness [0,1] 0.8562858226097817 Centerline is valid? [False, False] Translation: X:3.83, Y:0.24, Z:-0.95 [[ 9.99869728e-01 -6.02178254e-03 -1.49755136e-02 3.83209279e+00] [ 5.97606724e-03 9.99977352e-01 -3.09554833e-03 2.44592973e-01] [ 1.49938151e-02 3.00565039e-03 9.99883069e-01 -9.51040361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.524553574 meters Centerline goodness [0,1] 0.8539093276357081 Centerline is valid? [False, False] Translation: X:3.83, Y:0.24, Z:-0.95 [[ 9.99860467e-01 -6.67549078e-03 -1.53129016e-02 3.83297385e+00] [ 6.62801223e-03 9.99973076e-01 -3.14921638e-03 2.44378523e-01] [ 1.53335119e-02 3.04728286e-03 9.99877791e-01 -9.50310215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.554553574 meters Centerline goodness [0,1] 0.8534736842105264 Centerline is valid? [False, False] Translation: X:3.84, Y:0.25, Z:-0.95 [[ 0.99982955 -0.00859958 -0.01633786 3.83668356] [ 0.0085309 0.9999545 -0.0042685 0.245322 ] [ 0.01637383 0.0041284 0.99985742 -0.95115452] [ 0. 0. 0. 1. ]] SLAMing on 126.584553574 meters Centerline goodness [0,1] 0.8534736842105264 Centerline is valid? [False, False] Translation: X:3.84, Y:0.25, Z:-0.95 [[ 0.99982955 -0.00859958 -0.01633786 3.83668356] [ 0.0085309 0.9999545 -0.0042685 0.245322 ] [ 0.01637383 0.0041284 0.99985742 -0.95115452] [ 0. 0. 0. 1. ]] SLAMing on 126.614553574 meters Centerline goodness [0,1] 0.8504097452934662 Centerline is valid? [False, False] Translation: X:3.84, Y:0.25, Z:-0.95 [[ 0.99981578 -0.00926276 -0.01681077 3.83862013] [ 0.00918211 0.99994599 -0.00486814 0.24638883] [ 0.01685496 0.00471288 0.99984684 -0.9520796 ] [ 0. 0. 0. 1. ]] SLAMing on 126.644553574 meters Centerline goodness [0,1] 0.8500951285341356 Centerline is valid? [False, False] Translation: X:3.84, Y:0.25, Z:-0.95 [[ 0.99980944 -0.00948962 -0.01705953 3.83950881] [ 0.00940403 0.99994282 -0.00509054 0.24719775] [ 0.01710686 0.00492914 0.99984152 -0.95237027] [ 0. 0. 0. 1. ]] SLAMing on 126.674553574 meters Centerline goodness [0,1] 0.8423091313246913 Centerline is valid? [False, False] Translation: X:3.84, Y:0.25, Z:-0.95 [[ 0.99980192 -0.00973502 -0.01735952 3.84055524] [ 0.00963928 0.99993791 -0.00559033 0.2490368 ] [ 0.01741286 0.00542189 0.99983368 -0.9528601 ] [ 0. 0. 0. 1. ]] SLAMing on 126.704553574 meters Centerline goodness [0,1] 0.8486101086980294 Centerline is valid? [False, False] Translation: X:3.84, Y:0.25, Z:-0.95 [[ 9.99820914e-01 -6.37286185e-03 -1.78193024e-02 3.84174481e+00] [ 6.33619528e-03 9.99977693e-01 -2.11339009e-03 2.50723017e-01] [ 1.78323733e-02 2.00010503e-03 9.99838990e-01 -9.52527407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.734553574 meters Centerline goodness [0,1] 0.8473333913346094 Centerline is valid? [False, False] Translation: X:3.84, Y:0.25, Z:-0.95 [[ 9.99830058e-01 -2.86251286e-03 -1.82115617e-02 3.84294315e+00] [ 2.89675628e-03 9.99994085e-01 1.85421032e-03 2.50808893e-01] [ 1.82061462e-02 -1.90664966e-03 9.99832436e-01 -9.51964315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.764553574 meters Centerline goodness [0,1] 0.8486558031549027 Centerline is valid? [False, False] Translation: X:3.84, Y:0.25, Z:-0.95 [[ 9.99837923e-01 1.81374224e-03 -1.79119688e-02 3.84128016e+00] [-1.70533684e-03 9.99980150e-01 6.06554157e-03 2.52602052e-01] [ 1.79226146e-02 -6.03401254e-03 9.99821169e-01 -9.50303896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.794553574 meters Centerline goodness [0,1] 0.8497316249675353 Centerline is valid? [False, False] Translation: X:3.84, Y:0.25, Z:-0.95 [[ 9.99841912e-01 2.55348045e-03 -1.75963472e-02 3.84021634e+00] [-2.44962021e-03 9.99979468e-01 5.92140298e-03 2.54612409e-01] [ 1.76111061e-02 -5.87736251e-03 9.99827638e-01 -9.50443819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.824553574 meters Centerline goodness [0,1] 0.8486280913603059 Centerline is valid? [False, False] Translation: X:3.84, Y:0.26, Z:-0.95 [[ 0.99982139 0.00700279 -0.01755419 3.84023147] [-0.00683578 0.99993097 0.0095561 0.25704288] [ 0.0176199 -0.0094344 0.99980025 -0.95072175] [ 0. 0. 0. 1. ]] SLAMing on 126.854553574 meters Centerline goodness [0,1] 0.8476601038047441 Centerline is valid? [False, False] Translation: X:3.86, Y:0.26, Z:-0.96 [[ 9.99844190e-01 1.19072094e-02 -1.30312352e-02 3.85585168e+00] [-1.18695269e-02 9.99925158e-01 2.96524035e-03 2.58054038e-01] [ 1.30655677e-02 -2.81010374e-03 9.99910693e-01 -9.57055032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.884553574 meters Centerline goodness [0,1] 0.8476601038047441 Centerline is valid? [False, False] Translation: X:3.86, Y:0.26, Z:-0.96 [[ 9.99844190e-01 1.19072094e-02 -1.30312352e-02 3.85585168e+00] [-1.18695269e-02 9.99925158e-01 2.96524035e-03 2.58054038e-01] [ 1.30655677e-02 -2.81010374e-03 9.99910693e-01 -9.57055032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.914553574 meters Centerline goodness [0,1] 0.8478265522333754 Centerline is valid? [False, False] Translation: X:3.85, Y:0.26, Z:-0.96 [[ 9.99830361e-01 1.36315255e-02 -1.23867150e-02 3.85353334e+00] [-1.35906055e-02 9.99901925e-01 3.38173613e-03 2.59789644e-01] [ 1.24315984e-02 -3.21281950e-03 9.99917563e-01 -9.56996583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.944553574 meters Centerline goodness [0,1] 0.8462015570194199 Centerline is valid? [False, False] Translation: X:3.85, Y:0.26, Z:-0.96 [[ 9.99827422e-01 1.39257495e-02 -1.22963100e-02 3.85352864e+00] [-1.38887732e-02 9.99898780e-01 3.08740400e-03 2.60978272e-01] [ 1.23380598e-02 -2.91609052e-03 9.99919631e-01 -9.57687209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.974553574 meters Centerline goodness [0,1] 0.8471965102670497 Centerline is valid? [False, False] Translation: X:3.85, Y:0.26, Z:-0.96 [[ 9.99809011e-01 1.53203278e-02 -1.21337864e-02 3.85268624e+00] [-1.52825121e-02 9.99878085e-01 3.20317380e-03 2.62829324e-01] [ 1.21813808e-02 -3.01712729e-03 9.99921252e-01 -9.58283906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.004553574 meters Centerline goodness [0,1] 0.8495739241585002 Centerline is valid? [False, False] Translation: X:3.85, Y:0.26, Z:-0.96 [[ 9.99801223e-01 1.60543139e-02 -1.18226172e-02 3.85175687e+00] [-1.60170088e-02 9.99866459e-01 3.24336417e-03 2.63926438e-01] [ 1.18731083e-02 -3.05335650e-03 9.99924850e-01 -9.58482880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.034553574 meters Centerline goodness [0,1] 0.8443416249257153 Centerline is valid? [False, False] Translation: X:3.85, Y:0.27, Z:-0.96 [[ 9.99785990e-01 1.70582782e-02 -1.17042404e-02 3.85155108e+00] [-1.70212750e-02 9.99849833e-01 3.25389949e-03 2.65008067e-01] [ 1.17579887e-02 -3.05398203e-03 9.99926209e-01 -9.59594527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.064553574 meters Centerline goodness [0,1] 0.8446915732845691 Centerline is valid? [False, False] Translation: X:3.85, Y:0.27, Z:-0.96 [[ 9.99781335e-01 1.73725661e-02 -1.16394615e-02 3.85149576e+00] [-1.73359499e-02 9.99844473e-01 3.23941613e-03 2.65116057e-01] [ 1.16939282e-02 -3.03692666e-03 9.99927012e-01 -9.59989152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.094553574 meters Centerline goodness [0,1] 0.8458070141857547 Centerline is valid? [False, False] Translation: X:3.85, Y:0.27, Z:-0.96 [[ 9.99772612e-01 1.81695565e-02 -1.11620995e-02 3.84988915e+00] [-1.81305689e-02 9.99829203e-01 3.58418336e-03 2.65007832e-01] [ 1.12253161e-02 -3.38099315e-03 9.99931278e-01 -9.59422091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.124553574 meters Centerline goodness [0,1] 0.8455215479705189 Centerline is valid? [False, False] Translation: X:3.85, Y:0.27, Z:-0.96 [[ 9.99771961e-01 1.82733192e-02 -1.10504038e-02 3.84969575e+00] [-1.82353102e-02 9.99827489e-01 3.53064778e-03 2.65293182e-01] [ 1.11130141e-02 -3.32833512e-03 9.99932709e-01 -9.59488927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.154553574 meters Centerline goodness [0,1] 0.8451353763760785 Centerline is valid? [False, False] Translation: X:3.85, Y:0.27, Z:-0.96 [[ 9.99774386e-01 1.82674703e-02 -1.08386876e-02 3.84905840e+00] [-1.82286146e-02 9.99827099e-01 3.67294013e-03 2.65300217e-01] [ 1.09039089e-02 -3.47453721e-03 9.99934514e-01 -9.58960990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.184553574 meters Centerline goodness [0,1] 0.8476004084411164 Centerline is valid? [False, False] Translation: X:3.85, Y:0.27, Z:-0.96 [[ 9.99835545e-01 1.47937139e-02 -1.04894965e-02 3.84778998e+00] [-1.47958740e-02 9.99890527e-01 -1.28360154e-04 2.65640696e-01] [ 1.04864493e-02 2.83540314e-04 9.99944975e-01 -9.58876382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21455357399999 meters Centerline goodness [0,1] 0.8463715296387608 Centerline is valid? [False, False] Translation: X:3.84, Y:0.26, Z:-0.96 [[ 9.99976868e-01 6.67524165e-03 -1.30548292e-03 3.83721077e+00] [-6.67336843e-03 9.99976705e-01 1.43401708e-03 2.62626966e-01] [ 1.31502492e-03 -1.42527194e-03 9.99998120e-01 -9.58235165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.244553574 meters Centerline goodness [0,1] 0.8496923275528208 Centerline is valid? [False, False] Translation: X:3.84, Y:0.26, Z:-0.96 [[ 9.99995562e-01 2.73418382e-03 -1.18356216e-03 3.83689435e+00] [-2.73701516e-03 9.99993381e-01 -2.39725104e-03 2.61880188e-01] [ 1.17699980e-03 2.40047983e-03 9.99996426e-01 -9.58278817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.274553574 meters Centerline goodness [0,1] 0.8511729099799669 Centerline is valid? [False, False] Translation: X:3.84, Y:0.26, Z:-0.96 [[ 9.99997149e-01 1.46703716e-03 -1.88420238e-03 3.83964148e+00] [-1.47193881e-03 9.99995530e-01 -2.60269975e-03 2.60292828e-01] [ 1.88037570e-03 2.60546576e-03 9.99994838e-01 -9.59013370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.304553574 meters Centerline goodness [0,1] 0.852812735290954 Centerline is valid? [False, False] Translation: X:3.84, Y:0.26, Z:-0.96 [[ 9.99996536e-01 2.68695843e-04 -2.61824141e-03 3.84233791e+00] [-2.76300350e-04 9.99995744e-01 -2.90450434e-03 2.59345634e-01] [ 2.61744984e-03 2.90521770e-03 9.99992354e-01 -9.59792175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.334553574 meters Centerline goodness [0,1] 0.8539074754506972 Centerline is valid? [False, False] Translation: X:3.85, Y:0.26, Z:-0.96 [[ 9.99990079e-01 -2.66802757e-03 -3.56711164e-03 3.84697765e+00] [ 2.65327735e-03 9.99987937e-01 -4.13341804e-03 2.57799968e-01] [ 3.57809668e-03 4.12391249e-03 9.99985095e-01 -9.61498937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.364553574 meters Centerline goodness [0,1] 0.8563298614839472 Centerline is valid? [False, False] Translation: X:3.85, Y:0.26, Z:-0.96 [[ 0.99998265 -0.00394143 -0.00437774 3.85015599] [ 0.00392112 0.99998155 -0.00463941 0.25698695] [ 0.00439595 0.00462216 0.99997966 -0.96290645] [ 0. 0. 0. 1. ]] SLAMing on 127.394553574 meters Centerline goodness [0,1] 0.8561683630651374 Centerline is valid? [False, False] Translation: X:3.85, Y:0.26, Z:-0.96 [[ 0.9999733 -0.00514216 -0.00519248 3.85327057] [ 0.00511544 0.99997367 -0.00514673 0.25629269] [ 0.00521881 0.00512003 0.99997327 -0.96423371] [ 0. 0. 0. 1. ]] SLAMing on 127.424553574 meters Centerline goodness [0,1] 0.8575008567511995 Centerline is valid? [False, False] Translation: X:3.86, Y:0.26, Z:-0.97 [[ 0.99995436 -0.0071872 -0.00629439 3.85774862] [ 0.00714755 0.99995461 -0.00629974 0.25625008] [ 0.00633938 0.00625447 0.99996035 -0.9662271 ] [ 0. 0. 0. 1. ]] SLAMing on 127.454553574 meters Centerline goodness [0,1] 0.8597751271856697 Centerline is valid? [False, False] Translation: X:3.86, Y:0.26, Z:-0.97 [[ 0.99994652 -0.00779229 -0.00679977 3.85953006] [ 0.00774684 0.99994765 -0.0066846 0.25673404] [ 0.0068515 0.00663157 0.99995454 -0.9669597 ] [ 0. 0. 0. 1. ]] SLAMing on 127.484553574 meters Centerline goodness [0,1] 0.8609439139034817 Centerline is valid? [False, False] Translation: X:3.86, Y:0.26, Z:-0.97 [[ 0.99992494 -0.00939576 -0.00786376 3.86373586] [ 0.00933148 0.99992307 -0.00817137 0.25887817] [ 0.00793993 0.00809737 0.99993569 -0.96939313] [ 0. 0. 0. 1. ]] SLAMing on 127.514553574 meters Centerline goodness [0,1] 0.8578082655826558 Centerline is valid? [False, False] Translation: X:3.87, Y:0.26, Z:-0.97 [[ 0.99991298 -0.01020393 -0.00836172 3.86545154] [ 0.01012604 0.99990543 -0.00930513 0.26186746] [ 0.00845588 0.00921965 0.99992174 -0.97013924] [ 0. 0. 0. 1. ]] SLAMing on 127.544553574 meters Centerline goodness [0,1] 0.8643542435424354 Centerline is valid? [False, False] Translation: X:3.87, Y:0.26, Z:-0.97 [[ 0.99993199 -0.00741755 -0.00899928 3.86722164] [ 0.00736499 0.99995571 -0.00585899 0.26245918] [ 0.00904234 0.00579231 0.99994234 -0.96975561] [ 0. 0. 0. 1. ]] SLAMing on 127.574553574 meters Centerline goodness [0,1] 0.8661677213194021 Centerline is valid? [False, False] Translation: X:3.87, Y:0.26, Z:-0.97 [[ 9.99945758e-01 -4.29740616e-03 -9.48757257e-03 3.86858057e+00] [ 4.27560656e-03 9.99988176e-01 -2.31678990e-03 2.63265929e-01] [ 9.49741657e-03 2.27609911e-03 9.99952308e-01 -9.69396924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.604553574 meters Centerline goodness [0,1] 0.8667530729994146 Centerline is valid? [False, False] Translation: X:3.87, Y:0.27, Z:-0.97 [[ 9.99954574e-01 -1.64502684e-04 -9.53010581e-03 3.86800468e+00] [ 1.76649775e-04 9.99999173e-01 1.27377412e-03 2.66418163e-01] [ 9.52988839e-03 -1.27539975e-03 9.99953776e-01 -9.68174879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.634553574 meters Centerline goodness [0,1] 0.8656583260716213 Centerline is valid? [False, False] Translation: X:3.87, Y:0.27, Z:-0.97 [[ 0.99994554 0.00432129 -0.00949964 3.86755305] [-0.00427946 0.99998108 0.00441864 0.27146626] [ 0.00951856 -0.00437775 0.99994511 -0.96800833] [ 0. 0. 0. 1. ]] SLAMing on 127.664553574 meters Centerline goodness [0,1] 0.8681268726108069 Centerline is valid? [False, False] Translation: X:3.87, Y:0.28, Z:-0.97 [[ 9.99942412e-01 5.12722713e-03 -9.42782875e-03 3.86696981e+00] [-5.09069551e-03 9.99979457e-01 3.89479472e-03 2.75291112e-01] [ 9.44760458e-03 -3.84657622e-03 9.99947972e-01 -9.68296252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.694553574 meters Centerline goodness [0,1] 0.865633820227034 Centerline is valid? [False, False] Translation: X:3.87, Y:0.28, Z:-0.97 [[ 9.99938849e-01 6.12692984e-03 -9.20642192e-03 3.86580969e+00] [-6.09379831e-03 9.99974871e-01 3.62249350e-03 2.78564892e-01] [ 9.22838534e-03 -3.56616990e-03 9.99951058e-01 -9.68154037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.724553574 meters Centerline goodness [0,1] 0.8657903344508954 Centerline is valid? [False, False] Translation: X:3.86, Y:0.28, Z:-0.97 [[ 0.99989904 0.01104186 -0.00894325 3.86425675] [-0.01097711 0.99991342 0.00725687 0.28263773] [ 0.0090226 -0.00715797 0.99993368 -0.96682586] [ 0. 0. 0. 1. ]] SLAMing on 127.754553574 meters Centerline goodness [0,1] 0.8654700297461391 Centerline is valid? [False, False] Translation: X:3.86, Y:0.29, Z:-0.97 [[ 0.99989421 0.01149697 -0.00890957 3.86415356] [-0.01143723 0.99991196 0.00672811 0.28514619] [ 0.00898614 -0.0066255 0.99993767 -0.96735654] [ 0. 0. 0. 1. ]] SLAMing on 127.784553574 meters Centerline goodness [0,1] 0.863639124536859 Centerline is valid? [False, False] Translation: X:3.86, Y:0.29, Z:-0.97 [[ 0.99987711 0.01292466 -0.00887199 3.86349911] [-0.01286687 0.99989583 0.00654073 0.28973979] [ 0.0089556 -0.00642577 0.99993925 -0.96791247] [ 0. 0. 0. 1. ]] SLAMing on 127.814553574 meters Centerline goodness [0,1] 0.8622250970245795 Centerline is valid? [False, False] Translation: X:3.86, Y:0.29, Z:-0.97 [[ 0.99987436 0.01302679 -0.00903191 3.86418937] [-0.01297181 0.99989714 0.00611962 0.29128597] [ 0.0091107 -0.00600169 0.99994049 -0.96873517] [ 0. 0. 0. 1. ]] SLAMing on 127.844553574 meters Centerline goodness [0,1] 0.8625616360843908 Centerline is valid? [False, False] Translation: X:3.87, Y:0.29, Z:-0.97 [[ 0.99987078 0.01312082 -0.00928798 3.86513516] [-0.01306812 0.99989829 0.00571231 0.29241379] [ 0.00936199 -0.00559019 0.99994055 -0.96974576] [ 0. 0. 0. 1. ]] SLAMing on 127.874553574 meters Centerline goodness [0,1] 0.8621177231042702 Centerline is valid? [False, False] Translation: X:3.87, Y:0.29, Z:-0.97 [[ 9.99900770e-01 1.04843573e-02 -9.40893107e-03 3.86517295e+00] [-1.04633356e-02 9.99942657e-01 2.28067295e-03 2.93481280e-01] [ 9.43230292e-03 -2.18199783e-03 9.99953134e-01 -9.70553872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.904553574 meters Centerline goodness [0,1] 0.863256679408612 Centerline is valid? [False, False] Translation: X:3.87, Y:0.29, Z:-0.97 [[ 9.99899425e-01 1.02695816e-02 -9.78142356e-03 3.86648890e+00] [-1.02507217e-02 9.99945507e-01 1.97632865e-03 2.93500114e-01] [ 9.80118661e-03 -1.87586323e-03 9.99950208e-01 -9.71520552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.934553574 meters Centerline goodness [0,1] 0.8642234844656466 Centerline is valid? [False, False] Translation: X:3.87, Y:0.29, Z:-0.97 [[ 9.99898311e-01 1.04060568e-02 -9.75094804e-03 3.86657449e+00] [-1.03883619e-02 9.99944303e-01 1.86358498e-03 2.93851891e-01] [ 9.76979751e-03 -1.76209910e-03 9.99950722e-01 -9.71885888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96455357399999 meters Centerline goodness [0,1] 0.8630751510497706 Centerline is valid? [False, False] Translation: X:3.87, Y:0.29, Z:-0.97 [[ 9.99895598e-01 1.07429790e-02 -9.66341489e-03 3.86627154e+00] [-1.07256665e-02 9.99940783e-01 1.84158859e-03 2.94489560e-01] [ 9.68262679e-03 -1.73774976e-03 9.99951612e-01 -9.71888149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.994553574 meters Centerline goodness [0,1] 0.863733057801009 Centerline is valid? [False, False] Translation: X:3.86, Y:0.30, Z:-0.97 [[ 9.99881490e-01 1.24464927e-02 -9.06041166e-03 3.86345854e+00] [-1.24224816e-02 9.99919188e-01 2.70159252e-03 2.95274402e-01] [ 9.09330482e-03 -2.58871955e-03 9.99955304e-01 -9.70223070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.02455357399998 meters Centerline goodness [0,1] 0.8643390408179826 Centerline is valid? [False, False] Translation: X:3.86, Y:0.30, Z:-0.97 [[ 9.99876621e-01 1.28880782e-02 -8.98001738e-03 3.86305340e+00] [-1.28631476e-02 9.99913266e-01 2.82848059e-03 2.95438337e-01] [ 9.01569218e-03 -2.71262033e-03 9.99955679e-01 -9.70046315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.05455357399998 meters Centerline goodness [0,1] 0.8621305256324427 Centerline is valid? [False, False] Translation: X:3.86, Y:0.30, Z:-0.97 [[ 9.99867857e-01 1.37576797e-02 -8.65993459e-03 3.86197676e+00] [-1.37321168e-02 9.99901196e-01 3.00443696e-03 2.96129293e-01] [ 8.70041303e-03 -2.88512071e-03 9.99957989e-01 -9.69947083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.08455357399998 meters Centerline goodness [0,1] 0.8647279359610903 Centerline is valid? [False, False] Translation: X:3.86, Y:0.30, Z:-0.97 [[ 9.99866212e-01 1.38121274e-02 -8.76255726e-03 3.86253229e+00] [-1.37873886e-02 9.99900809e-01 2.87739459e-03 2.96349499e-01] [ 8.80143104e-03 -2.75619685e-03 9.99957468e-01 -9.70593351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.11455357399998 meters Centerline goodness [0,1] 0.8650243309002433 Centerline is valid? [False, False] Translation: X:3.86, Y:0.30, Z:-0.97 [[ 9.99866490e-01 1.36303533e-02 -9.01202247e-03 3.86355217e+00] [-1.36064635e-02 9.99903764e-01 2.70690112e-03 2.96108199e-01] [ 9.04805120e-03 -2.58391797e-03 9.99955727e-01 -9.71339979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.14455357399999 meters Centerline goodness [0,1] 0.8628513238289206 Centerline is valid? [False, False] Translation: X:3.86, Y:0.29, Z:-0.97 [[ 9.99867786e-01 1.32788629e-02 -9.38520898e-03 3.86492028e+00] [-1.32537578e-02 9.99908433e-01 2.73212028e-03 2.94749434e-01] [ 9.42062905e-03 -2.60736977e-03 9.99952226e-01 -9.71988532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.174553574 meters Centerline goodness [0,1] 0.8610046523066833 Centerline is valid? [False, False] Translation: X:3.87, Y:0.29, Z:-0.97 [[ 9.99909957e-01 9.32436709e-03 -9.65061494e-03 3.86590125e+00] [-9.33800104e-03 9.99955463e-01 -1.36865983e-03 2.94441561e-01] [ 9.63742325e-03 1.45865404e-03 9.99952495e-01 -9.73281053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.204553574 meters Centerline goodness [0,1] 0.8633532712585559 Centerline is valid? [False, False] Translation: X:3.87, Y:0.29, Z:-0.97 [[ 9.99912253e-01 8.68884577e-03 -9.99953188e-03 3.86710487e+00] [-8.70329683e-03 9.99961142e-01 -1.40256597e-03 2.93190192e-01] [ 9.98695664e-03 1.48947179e-03 9.99949020e-01 -9.73537847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.234553574 meters Centerline goodness [0,1] 0.8612041516767978 Centerline is valid? [False, False] Translation: X:3.87, Y:0.29, Z:-0.97 [[ 0.99993939 0.00408691 -0.01022334 3.8676422 ] [-0.00413787 0.9999791 -0.00496846 0.29035407] [ 0.01020282 0.00501046 0.9999354 -0.97316485] [ 0. 0. 0. 1. ]] SLAMing on 128.264553574 meters Centerline goodness [0,1] 0.8648194271481943 Centerline is valid? [False, False] Translation: X:3.87, Y:0.29, Z:-0.97 [[ 9.99937580e-01 3.14359443e-03 -1.07216397e-02 3.86928276e+00] [-3.19517697e-03 9.99983388e-01 -4.79733759e-03 2.87748765e-01] [ 1.07063807e-02 4.83129568e-03 9.99931014e-01 -9.73136843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.294553574 meters Centerline goodness [0,1] 0.8601036269430051 Centerline is valid? [False, False] Translation: X:3.87, Y:0.29, Z:-0.97 [[ 9.99934609e-01 2.35276386e-03 -1.11911542e-02 3.87078473e+00] [-2.40465841e-03 9.99986409e-01 -4.62591067e-03 2.85671363e-01] [ 1.11801184e-02 4.65251908e-03 9.99926677e-01 -9.73112748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.324553574 meters Centerline goodness [0,1] 0.8628535512256442 Centerline is valid? [False, False] Translation: X:3.87, Y:0.28, Z:-0.97 [[ 9.99929457e-01 5.54936730e-04 -1.18647926e-02 3.87384897e+00] [-6.12849230e-04 9.99987915e-01 -4.87795920e-03 2.82135912e-01] [ 1.18619422e-02 4.88488642e-03 9.99917713e-01 -9.74071249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.354553574 meters Centerline goodness [0,1] 0.8627921162785805 Centerline is valid? [False, False] Translation: X:3.88, Y:0.28, Z:-0.97 [[ 9.99924046e-01 2.59952626e-05 -1.23248068e-02 3.87539802e+00] [-8.35636031e-05 9.99989090e-01 -4.67044051e-03 2.80423895e-01] [ 1.23245510e-02 4.67111568e-03 9.99913139e-01 -9.74497796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.384553574 meters Centerline goodness [0,1] 0.8614270284007879 Centerline is valid? [False, False] Translation: X:3.88, Y:0.28, Z:-0.98 [[ 9.99912672e-01 -1.27529454e-03 -1.31537628e-02 3.87887699e+00] [ 1.21262374e-03 9.99987882e-01 -4.77135288e-03 2.77776930e-01] [ 1.31596882e-02 4.75498564e-03 9.99902102e-01 -9.76205938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.414553574 meters Centerline goodness [0,1] 0.8613991560107725 Centerline is valid? [False, False] Translation: X:3.88, Y:0.28, Z:-0.98 [[ 9.99907574e-01 -1.72902659e-03 -1.34852915e-02 3.87998998e+00] [ 1.66759942e-03 9.99988190e-01 -4.56503907e-03 2.76346161e-01] [ 1.34930253e-02 4.54212908e-03 9.99898649e-01 -9.76363250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.444553574 meters Centerline goodness [0,1] 0.8617924327091242 Centerline is valid? [False, False] Translation: X:3.88, Y:0.27, Z:-0.98 [[ 9.99904427e-01 -2.44894653e-03 -1.36066271e-02 3.88045664e+00] [ 2.39523089e-03 9.99989280e-01 -3.96265062e-03 2.73177349e-01] [ 1.36161856e-02 3.92968088e-03 9.99899574e-01 -9.75333883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.474553574 meters Centerline goodness [0,1] 0.8617924327091242 Centerline is valid? [False, False] Translation: X:3.88, Y:0.27, Z:-0.98 [[ 9.99904427e-01 -2.44894653e-03 -1.36066271e-02 3.88045664e+00] [ 2.39523089e-03 9.99989280e-01 -3.96265062e-03 2.73177349e-01] [ 1.36161856e-02 3.92968088e-03 9.99899574e-01 -9.75333883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.504553574 meters Centerline goodness [0,1] 0.8612736513902532 Centerline is valid? [False, False] Translation: X:3.88, Y:0.27, Z:-0.98 [[ 9.99901617e-01 -2.72953793e-03 -1.37588181e-02 3.88088926e+00] [ 2.67907958e-03 9.99989624e-01 -3.68444439e-03 2.71851032e-01] [ 1.37687322e-02 3.64722093e-03 9.99898555e-01 -9.75022411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53455357399997 meters Centerline goodness [0,1] 0.8572343286449107 Centerline is valid? [False, False] Translation: X:3.88, Y:0.27, Z:-0.98 [[ 9.99891841e-01 -3.53655457e-03 -1.42758199e-02 3.88292137e+00] [ 3.47984464e-03 9.99985964e-01 -3.99533370e-03 2.71466810e-01] [ 1.42897493e-02 3.94522393e-03 9.99890113e-01 -9.75822669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.56455357399997 meters Centerline goodness [0,1] 0.7567729253909923 Centerline is valid? [False, False] Translation: X:3.88, Y:0.27, Z:-0.98 [[ 9.99886045e-01 -3.83732384e-03 -1.46003807e-02 3.88400030e+00] [ 3.77708695e-03 9.99984251e-01 -4.15104733e-03 2.71513578e-01] [ 1.46160796e-02 4.09542739e-03 9.99884792e-01 -9.76263079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.59455357399997 meters Centerline goodness [0,1] 0.8620704366560721 Centerline is valid? [False, False] Translation: X:3.88, Y:0.27, Z:-0.98 [[ 0.99988221 -0.0039887 -0.01482078 3.88462077] [ 0.00392827 0.99998386 -0.00410405 0.27126474] [ 0.01483691 0.00404535 0.99988174 -0.97630379] [ 0. 0. 0. 1. ]] SLAMing on 128.62455357399998 meters Centerline goodness [0,1] 0.8630227408227579 Centerline is valid? [False, False] Translation: X:3.88, Y:0.27, Z:-0.98 [[ 9.99881713e-01 -3.92001230e-03 -1.48726081e-02 3.88477980e+00] [ 3.85658878e-03 9.99983358e-01 -4.29073781e-03 2.72400032e-01] [ 1.48891803e-02 4.23287274e-03 9.99880190e-01 -9.76382192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.65455357399998 meters Centerline goodness [0,1] 0.8619525043544756 Centerline is valid? [False, False] Translation: X:3.88, Y:0.27, Z:-0.98 [[ 9.99882234e-01 -3.70133327e-03 -1.48935816e-02 3.88480310e+00] [ 3.63618344e-03 9.99983713e-01 -4.39906052e-03 2.73669987e-01] [ 1.49096214e-02 4.34438667e-03 9.99879407e-01 -9.76548862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.68455357399998 meters Centerline goodness [0,1] 0.8591731540207455 Centerline is valid? [False, False] Translation: X:3.89, Y:0.27, Z:-0.98 [[ 9.99880317e-01 -4.44503785e-04 -1.54645869e-02 3.88672125e+00] [ 4.30386352e-04 9.99999488e-01 -9.16203903e-04 2.74495552e-01] [ 1.54649862e-02 9.09438502e-04 9.99879996e-01 -9.76828798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.71455357399998 meters Centerline goodness [0,1] 0.8613574928197331 Centerline is valid? [False, False] Translation: X:3.89, Y:0.28, Z:-0.98 [[ 9.99869190e-01 3.15436118e-03 -1.58636003e-02 3.88805239e+00] [-3.11244326e-03 9.99991601e-01 2.66639124e-03 2.75556553e-01] [ 1.58718778e-02 -2.61666789e-03 9.99870610e-01 -9.77038301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.74455357399998 meters Centerline goodness [0,1] 0.8620211110643845 Centerline is valid? [False, False] Translation: X:3.89, Y:0.28, Z:-0.98 [[ 0.99984584 0.00634264 -0.01637285 3.88991859] [-0.00624391 0.99996206 0.0060744 0.27617917] [ 0.01641076 -0.00597123 0.9998475 -0.97731569] [ 0. 0. 0. 1. ]] SLAMing on 128.77455357399998 meters Centerline goodness [0,1] 0.8580582809840956 Centerline is valid? [False, False] Translation: X:3.89, Y:0.28, Z:-0.98 [[ 0.99984721 0.00720712 -0.01592512 3.88814005] [-0.00711011 0.99995587 0.0061397 0.27803421] [ 0.01596867 -0.00602553 0.99985434 -0.97654134] [ 0. 0. 0. 1. ]] SLAMing on 128.80455357399998 meters Centerline goodness [0,1] 0.8373615307150051 Centerline is valid? [False, False] Translation: X:3.89, Y:0.28, Z:-0.98 [[ 0.99984623 0.00791017 -0.01565089 3.88709456] [-0.00781736 0.99995155 0.00598253 0.27982898] [ 0.01569745 -0.00585926 0.99985962 -0.97639372] [ 0. 0. 0. 1. ]] SLAMing on 128.83455357399998 meters Centerline goodness [0,1] 0.8581116327595201 Centerline is valid? [False, False] Translation: X:3.89, Y:0.28, Z:-0.98 [[ 0.99980004 0.01292976 -0.01525444 3.8853514 ] [-0.01277551 0.99986671 0.01016605 0.28195961] [ 0.01538385 -0.00996913 0.99983196 -0.97505198] [ 0. 0. 0. 1. ]] SLAMing on 128.86455357399998 meters Centerline goodness [0,1] 0.8621681323719418 Centerline is valid? [False, False] Translation: X:3.88, Y:0.28, Z:-0.98 [[ 0.99979291 0.01363369 -0.01510816 3.88474101] [-0.01348305 0.99985882 0.01002777 0.28380145] [ 0.01524274 -0.00982199 0.99983558 -0.97511311] [ 0. 0. 0. 1. ]] SLAMing on 128.89455357399999 meters Centerline goodness [0,1] 0.8608016657990629 Centerline is valid? [False, False] Translation: X:3.90, Y:0.29, Z:-0.98 [[ 0.99976372 0.0192558 -0.01008522 3.89868775] [-0.01921517 0.99980692 0.0041106 0.28555442] [ 0.01016243 -0.00391584 0.99994069 -0.98078272] [ 0. 0. 0. 1. ]] SLAMing on 128.924553574 meters Centerline goodness [0,1] 0.8626781101574869 Centerline is valid? [False, False] Translation: X:3.90, Y:0.29, Z:-0.98 [[ 0.99975501 0.01979019 -0.00991351 3.89808456] [-0.01975024 0.99979649 0.00411135 0.28644146] [ 0.00999286 -0.00391455 0.99994241 -0.98070289] [ 0. 0. 0. 1. ]] SLAMing on 128.954553574 meters Centerline goodness [0,1] 0.8616590110780871 Centerline is valid? [False, False] Translation: X:3.90, Y:0.29, Z:-0.98 [[ 9.99749268e-01 2.01215147e-02 -9.82477553e-03 3.89798082e+00] [-2.00836762e-02 9.99790559e-01 3.93493532e-03 2.87296012e-01] [ 9.90189468e-03 -3.73663109e-03 9.99943993e-01 -9.81160633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.984553574 meters Centerline goodness [0,1] 0.8587379145441314 Centerline is valid? [False, False] Translation: X:3.90, Y:0.29, Z:-0.98 [[ 9.99746703e-01 2.01656456e-02 -9.99383698e-03 3.89882744e+00] [-2.01293806e-02 9.99790477e-01 3.71614639e-03 2.87823568e-01] [ 1.00666815e-02 -3.51403535e-03 9.99943155e-01 -9.82028909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.014553574 meters Centerline goodness [0,1] 0.8600822186515307 Centerline is valid? [False, False] Translation: X:3.90, Y:0.29, Z:-0.98 [[ 9.99799502e-01 1.76327506e-02 -9.48908280e-03 3.89677323e+00] [-1.76291185e-02 9.99844486e-01 4.66272750e-04 2.87850285e-01] [ 9.49582879e-03 -2.98895097e-04 9.99954869e-01 -9.81604772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.044553574 meters Centerline goodness [0,1] 0.8623301821824328 Centerline is valid? [False, False] Translation: X:3.90, Y:0.29, Z:-0.98 [[ 9.99799786e-01 1.76320800e-02 -9.46035904e-03 3.89670310e+00] [-1.76278929e-02 9.99844478e-01 5.25809201e-04 2.87298199e-01] [ 9.46815886e-03 -3.58937731e-04 9.99955112e-01 -9.81498093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.074553574 meters Centerline goodness [0,1] 0.8603288840537261 Centerline is valid? [False, False] Translation: X:3.90, Y:0.29, Z:-0.98 [[ 9.99800444e-01 1.75892484e-02 -9.47055128e-03 3.89679850e+00] [-1.75825153e-02 9.99845101e-01 7.93748768e-04 2.85950791e-01] [ 9.48304575e-03 -6.27074257e-04 9.99954838e-01 -9.81319852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.104553574 meters Centerline goodness [0,1] 0.8613915301805387 Centerline is valid? [False, False] Translation: X:3.90, Y:0.29, Z:-0.98 [[ 9.99799500e-01 1.75999922e-02 -9.54992019e-03 3.89717239e+00] [-1.75930454e-02 9.99844902e-01 8.10946404e-04 2.85694469e-01] [ 9.56271166e-03 -6.42771630e-04 9.99954070e-01 -9.81682913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.134553574 meters Centerline goodness [0,1] 0.8589770530385812 Centerline is valid? [False, False] Translation: X:3.90, Y:0.28, Z:-0.98 [[ 9.99795921e-01 1.77148834e-02 -9.71074378e-03 3.89794917e+00] [-1.77057921e-02 9.99842718e-01 1.02138966e-03 2.84663356e-01] [ 9.72731026e-03 -8.49244805e-04 9.99952328e-01 -9.82373530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.164553574 meters Centerline goodness [0,1] 0.8602118769256742 Centerline is valid? [False, False] Translation: X:3.90, Y:0.28, Z:-0.98 [[ 9.99794910e-01 1.77069982e-02 -9.82849097e-03 3.89827891e+00] [-1.76948425e-02 9.99842560e-01 1.32237366e-03 2.83181810e-01] [ 9.85035884e-03 -1.14818885e-03 9.99950825e-01 -9.82306148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.194553574 meters Centerline goodness [0,1] 0.8565991196921049 Centerline is valid? [False, False] Translation: X:3.90, Y:0.28, Z:-0.98 [[ 9.99796121e-01 1.75389385e-02 -1.00051344e-02 3.89918144e+00] [-1.75206828e-02 9.99844678e-01 1.90937519e-03 2.79578107e-01] [ 1.00370688e-02 -1.73368912e-03 9.99948124e-01 -9.82694720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.224553574 meters Centerline goodness [0,1] 0.8564545357637778 Centerline is valid? [False, False] Translation: X:3.90, Y:0.28, Z:-0.98 [[ 9.99797995e-01 1.72885035e-02 -1.02507069e-02 3.90027259e+00] [-1.72688599e-02 9.99848878e-01 2.00174586e-03 2.78108303e-01] [ 1.02837650e-02 -1.82432348e-03 9.99945457e-01 -9.83369215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.254553574 meters Centerline goodness [0,1] 0.8533746924804793 Centerline is valid? [False, False] Translation: X:3.90, Y:0.28, Z:-0.98 [[ 9.99799443e-01 1.70839611e-02 -1.04504596e-02 3.90129205e+00] [-1.70636492e-02 9.99852345e-01 2.02972748e-03 2.77006359e-01] [ 1.04835923e-02 -1.85099743e-03 9.99943332e-01 -9.84158911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.28455357399997 meters Centerline goodness [0,1] 0.8518829713891761 Centerline is valid? [False, False] Translation: X:3.90, Y:0.27, Z:-0.98 [[ 9.99796630e-01 1.71562433e-02 -1.06000976e-02 3.90185270e+00] [-1.71289402e-02 9.99849747e-01 2.66118670e-03 2.74537114e-01] [ 1.06441609e-02 -2.47907705e-03 9.99940276e-01 -9.84302767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.31455357399997 meters Centerline goodness [0,1] 0.8511476123137169 Centerline is valid? [False, False] Translation: X:3.90, Y:0.27, Z:-0.98 [[ 9.99839383e-01 1.50266937e-02 -9.76766370e-03 3.89897114e+00] [-1.50253953e-02 9.99887091e-01 2.06297651e-04 2.71932279e-01] [ 9.76966081e-03 -5.95015074e-05 9.99952274e-01 -9.83497207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.34455357399997 meters Centerline goodness [0,1] 0.8490570161061212 Centerline is valid? [False, False] Translation: X:3.90, Y:0.27, Z:-0.98 [[ 9.99839921e-01 1.49711960e-02 -9.79771371e-03 3.89903600e+00] [-1.49660610e-02 9.99887824e-01 5.97211317e-04 2.69916984e-01] [ 9.80555561e-03 -4.50482535e-04 9.99951823e-01 -9.83275917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.37455357399998 meters Centerline goodness [0,1] 0.8475962278252841 Centerline is valid? [False, False] Translation: X:3.90, Y:0.27, Z:-0.98 [[ 9.99842473e-01 1.46305898e-02 -1.00486324e-02 3.89991641e+00] [-1.46229225e-02 9.99892730e-01 8.36080445e-04 2.67887244e-01] [ 1.00597868e-02 -6.89008368e-04 9.99949162e-01 -9.83344880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.40455357399998 meters Centerline goodness [0,1] 0.8451567235162696 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:-0.98 [[ 9.99848944e-01 1.38764623e-02 -1.04658217e-02 3.90183207e+00] [-1.38648070e-02 9.99903176e-01 1.18539461e-03 2.64115356e-01] [ 1.04812574e-02 -1.04010895e-03 9.99944529e-01 -9.84055851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.43455357399998 meters Centerline goodness [0,1] 0.8430859323011402 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:-0.98 [[ 9.99852383e-01 1.33200629e-02 -1.08530492e-02 3.90346021e+00] [-1.33074226e-02 9.99910688e-01 1.23605820e-03 2.62298191e-01] [ 1.08685442e-02 -1.09144962e-03 9.99940340e-01 -9.84849754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.46455357399998 meters Centerline goodness [0,1] 0.8416978050253955 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-0.99 [[ 9.99891063e-01 9.97733298e-03 -1.08772735e-02 3.90550370e+00] [-9.99541352e-03 9.99948750e-01 -1.60913537e-03 2.58789313e-01] [ 1.08606612e-02 1.71768293e-03 9.99939546e-01 -9.87221802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.49455357399998 meters Centerline goodness [0,1] 0.8402110462505613 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-0.99 [[ 9.99893844e-01 8.87690306e-03 -1.15542765e-02 3.90828990e+00] [-8.89754085e-03 9.99958909e-01 -1.73598238e-03 2.56424826e-01] [ 1.15383916e-02 1.83860274e-03 9.99931740e-01 -9.88352950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.52455357399998 meters Centerline goodness [0,1] 0.8376049042006922 Centerline is valid? [False, False] Translation: X:3.91, Y:0.25, Z:-0.99 [[ 0.99991808 0.00418089 -0.0120974 3.91089211] [-0.00424891 0.99997528 -0.00560264 0.25326895] [ 0.01207368 0.00565359 0.99991113 -0.99036409] [ 0. 0. 0. 1. ]] SLAMing on 129.55455357399998 meters Centerline goodness [0,1] 0.8381733339373896 Centerline is valid? [False, False] Translation: X:3.90, Y:0.25, Z:-0.99 [[ 9.99992746e-01 5.92350599e-04 -3.76253798e-03 3.90152978e+00] [-6.02898518e-04 9.99995890e-01 -2.80288999e-03 2.52380117e-01] [ 3.76086222e-03 2.80513808e-03 9.99988993e-01 -9.94162180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.58455357399998 meters Centerline goodness [0,1] 0.8384372658963475 Centerline is valid? [False, False] Translation: X:3.90, Y:0.25, Z:-0.99 [[ 9.99991818e-01 1.15092085e-04 -4.04366688e-03 3.90245497e+00] [-1.24713280e-04 9.99997162e-01 -2.37915269e-03 2.50384338e-01] [ 4.04338158e-03 2.37963752e-03 9.99988994e-01 -9.93824278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.61455357399998 meters Centerline goodness [0,1] 0.8379248903508771 Centerline is valid? [False, False] Translation: X:3.90, Y:0.25, Z:-0.99 [[ 9.99989323e-01 -1.07046136e-03 -4.49525761e-03 3.90429439e+00] [ 1.06170865e-03 9.99997537e-01 -1.94903360e-03 2.46622391e-01] [ 4.49733291e-03 1.94424014e-03 9.99987997e-01 -9.93445893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.64455357399999 meters Centerline goodness [0,1] 0.8380218722057913 Centerline is valid? [False, False] Translation: X:3.90, Y:0.24, Z:-0.99 [[ 9.99988295e-01 -1.31427405e-03 -4.65644926e-03 3.90467041e+00] [ 1.30763587e-03 9.99998125e-01 -1.42834480e-03 2.44633569e-01] [ 4.65831776e-03 1.42223914e-03 9.99988139e-01 -9.92819725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.674553574 meters Centerline goodness [0,1] 0.8393862127581375 Centerline is valid? [False, False] Translation: X:3.91, Y:0.24, Z:-0.99 [[ 9.99986021e-01 -1.91476865e-03 -4.92864297e-03 3.90593016e+00] [ 1.90953749e-03 9.99997609e-01 -1.06586654e-03 2.41828724e-01] [ 4.93067207e-03 1.05644021e-03 9.99987286e-01 -9.92958221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.704553574 meters Centerline goodness [0,1] 0.8393943584070797 Centerline is valid? [False, False] Translation: X:3.91, Y:0.24, Z:-0.99 [[ 9.99987703e-01 -1.43930540e-03 -4.74576170e-03 3.90537346e+00] [ 1.43620599e-03 9.99998753e-01 -6.56432793e-04 2.41393832e-01] [ 4.74670059e-03 6.49608830e-04 9.99988523e-01 -9.92972974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.734553574 meters Centerline goodness [0,1] 0.8390325846833578 Centerline is valid? [False, False] Translation: X:3.90, Y:0.24, Z:-0.99 [[ 9.99989715e-01 -8.47306633e-04 -4.45550501e-03 3.90438926e+00] [ 8.45594482e-04 9.99999568e-01 -3.86147347e-04 2.41525908e-01] [ 4.45583027e-03 3.82375825e-04 9.99990000e-01 -9.92888768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.764553574 meters Centerline goodness [0,1] 0.8355921264924169 Centerline is valid? [False, False] Translation: X:3.90, Y:0.24, Z:-0.99 [[ 9.99991198e-01 -1.95053930e-04 -4.19113202e-03 3.90345280e+00] [ 1.94281496e-04 9.99999964e-01 -1.84708279e-04 2.41836024e-01] [ 4.19116790e-03 1.83892394e-04 9.99991200e-01 -9.92881060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.794553574 meters Centerline goodness [0,1] 0.8351818118932879 Centerline is valid? [False, False] Translation: X:3.90, Y:0.24, Z:-0.99 [[ 0.99998293 0.00416001 -0.00410295 3.90303444] [-0.00414112 0.99998085 0.00459962 0.23961805] [ 0.004122 -0.00458255 0.999981 -0.99188965] [ 0. 0. 0. 1. ]] SLAMing on 129.824553574 meters Centerline goodness [0,1] 0.8358612092250156 Centerline is valid? [False, False] Translation: X:3.90, Y:0.24, Z:-0.99 [[ 9.99980485e-01 5.05773587e-03 -3.66726167e-03 3.90142203e+00] [-5.03930069e-03 9.99974708e-01 5.01889346e-03 2.39366547e-01] [ 3.69255316e-03 -5.00031508e-03 9.99980681e-01 -9.91418555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.854553574 meters Centerline goodness [0,1] 0.8345748483660432 Centerline is valid? [False, False] Translation: X:3.90, Y:0.24, Z:-0.99 [[ 9.99941915e-01 1.03824168e-02 -2.89352584e-03 3.89859199e+00] [-1.03534240e-02 9.99897779e-01 9.86095025e-03 2.39447331e-01] [ 2.99561055e-03 -9.83041957e-03 9.99947193e-01 -9.89982797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.884553574 meters Centerline goodness [0,1] 0.8303711207293489 Centerline is valid? [False, False] Translation: X:3.90, Y:0.24, Z:-0.99 [[ 9.99933044e-01 1.13071517e-02 -2.46106429e-03 3.89716701e+00] [-1.12820460e-02 9.99886486e-01 9.98653940e-03 2.40538400e-01] [ 2.57370424e-03 -9.95810490e-03 9.99947105e-01 -9.90049682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.914553574 meters Centerline goodness [0,1] 0.8326419616519174 Centerline is valid? [False, False] Translation: X:3.89, Y:0.24, Z:-0.99 [[ 9.99912972e-01 1.31018392e-02 -1.54626435e-03 3.89388475e+00] [-1.30845864e-02 9.99857302e-01 1.06850286e-02 2.40962665e-01] [ 1.68603723e-03 -1.06638665e-02 9.99941718e-01 -9.89304643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.944553574 meters Centerline goodness [0,1] 0.8331678252234359 Centerline is valid? [False, False] Translation: X:3.89, Y:0.24, Z:-0.99 [[ 9.99934845e-01 1.13919184e-02 -7.28312179e-04 3.89043596e+00] [-1.13860768e-02 9.99906473e-01 7.57640618e-03 2.41506531e-01] [ 8.14553864e-04 -7.56761992e-03 9.99971033e-01 -9.88822025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.974553574 meters Centerline goodness [0,1] 0.8357132954387911 Centerline is valid? [False, False] Translation: X:3.89, Y:0.24, Z:-0.99 [[ 9.99929583e-01 1.18605125e-02 -3.97436910e-04 3.88963288e+00] [-1.18570877e-02 9.99899832e-01 7.72891333e-03 2.41325290e-01] [ 4.89065973e-04 -7.72365663e-03 9.99970053e-01 -9.88985091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.004553574 meters Centerline goodness [0,1] 0.8343038033180831 Centerline is valid? [False, False] Translation: X:3.89, Y:0.24, Z:-0.99 [[ 9.99929919e-01 1.18305880e-02 -4.41036954e-04 3.89003278e+00] [-1.18269223e-02 9.99901555e-01 7.55006756e-03 2.41646591e-01] [ 5.30315275e-04 -7.54432234e-03 9.99971401e-01 -9.89558368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03455357399997 meters Centerline goodness [0,1] 0.8346762989719366 Centerline is valid? [False, False] Translation: X:3.89, Y:0.24, Z:-0.99 [[ 9.99956301e-01 9.34840316e-03 5.34376749e-05 3.88823398e+00] [-9.34853819e-03 9.99949195e-01 3.76989908e-03 2.42948814e-01] [-1.81924236e-05 -3.77023390e-03 9.99992892e-01 -9.90203061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.06455357399997 meters Centerline goodness [0,1] 0.8353153905000348 Centerline is valid? [False, False] Translation: X:3.89, Y:0.24, Z:-0.99 [[ 9.99954597e-01 9.52818411e-03 1.32588281e-04 3.88783884e+00] [-9.52863358e-03 9.99946799e-01 3.95015245e-03 2.42469917e-01] [-9.49434475e-05 -3.95123649e-03 9.99992189e-01 -9.89810478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.09455357399997 meters Centerline goodness [0,1] 0.8318253894226285 Centerline is valid? [False, False] Translation: X:3.88, Y:0.24, Z:-0.99 [[ 9.99971572e-01 7.45233205e-03 1.14806466e-03 3.88434930e+00] [-7.45305272e-03 9.99972030e-01 6.24731613e-04 2.42008591e-01] [-1.14337685e-03 -6.33270439e-04 9.99999146e-01 -9.89655242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.12455357399998 meters Centerline goodness [0,1] 0.8302823165878552 Centerline is valid? [False, False] Translation: X:3.88, Y:0.24, Z:-0.99 [[ 9.99972184e-01 7.36318835e-03 1.18934290e-03 3.88465460e+00] [-7.36418631e-03 9.99972534e-01 8.36896374e-04 2.40586433e-01] [-1.18314801e-03 -8.45631637e-04 9.99998943e-01 -9.90001317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.15455357399998 meters Centerline goodness [0,1] 0.8310966167706818 Centerline is valid? [False, False] Translation: X:3.88, Y:0.24, Z:-0.99 [[ 9.99984403e-01 5.30018471e-03 1.76121402e-03 3.88305678e+00] [-5.29606212e-03 9.99983244e-01 -2.33724461e-03 2.40992133e-01] [-1.77357234e-03 2.32788065e-03 9.99995718e-01 -9.90920539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.18455357399998 meters Centerline goodness [0,1] 0.8303412393362708 Centerline is valid? [False, False] Translation: X:3.88, Y:0.24, Z:-0.99 [[ 9.99985092e-01 5.19789201e-03 1.67238831e-03 3.88377309e+00] [-5.19394410e-03 9.99983735e-01 -2.35638346e-03 2.40390684e-01] [-1.68460933e-03 2.34766204e-03 9.99995825e-01 -9.91720289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.21455357399998 meters Centerline goodness [0,1] 0.8303921106025575 Centerline is valid? [False, False] Translation: X:3.88, Y:0.24, Z:-0.99 [[ 9.99986171e-01 5.03226234e-03 1.52810805e-03 3.88496664e+00] [-5.02912372e-03 9.99985251e-01 -2.05086444e-03 2.37812420e-01] [-1.53840600e-03 2.04315103e-03 9.99996729e-01 -9.92842326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.24455357399998 meters Centerline goodness [0,1] 0.8308550625280726 Centerline is valid? [False, False] Translation: X:3.89, Y:0.24, Z:-0.99 [[ 9.99986767e-01 4.95608216e-03 1.37941709e-03 3.88566347e+00] [-4.95366762e-03 9.99986202e-01 -1.74835301e-03 2.36052413e-01] [-1.38806304e-03 1.74149670e-03 9.99997520e-01 -9.93155048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.27455357399998 meters Centerline goodness [0,1] 0.8295105225821707 Centerline is valid? [False, False] Translation: X:3.89, Y:0.23, Z:-0.99 [[ 9.99984476e-01 5.34379062e-03 1.57846573e-03 3.88542161e+00] [-5.34213286e-03 9.99985177e-01 -1.05259543e-03 2.32997561e-01] [-1.58406718e-03 1.04414672e-03 9.99998200e-01 -9.93494404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.30455357399998 meters Centerline goodness [0,1] 0.8267630932123274 Centerline is valid? [False, False] Translation: X:3.88, Y:0.23, Z:-0.99 [[ 9.99982463e-01 5.64981224e-03 1.77566933e-03 3.88499362e+00] [-5.64851846e-03 9.99983778e-01 -7.32788739e-04 2.31908853e-01] [-1.77978065e-03 7.22745987e-04 9.99998155e-01 -9.93652678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.33455357399998 meters Centerline goodness [0,1] 0.8261634263440605 Centerline is valid? [False, False] Translation: X:3.88, Y:0.23, Z:-0.99 [[ 9.99973325e-01 6.81622493e-03 2.62448771e-03 3.88209670e+00] [-6.81804799e-03 9.99976521e-01 6.86313668e-04 2.28354845e-01] [-2.61974802e-03 -7.04189244e-04 9.99996321e-01 -9.92253126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.36455357399998 meters Centerline goodness [0,1] 0.8274919155411832 Centerline is valid? [False, False] Translation: X:3.88, Y:0.23, Z:-0.99 [[ 9.99970536e-01 7.14193823e-03 2.81418299e-03 3.88142474e+00] [-7.14554899e-03 9.99973657e-01 1.27509939e-03 2.26487597e-01] [-2.80500217e-03 -1.29517070e-03 9.99995227e-01 -9.91833902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.39455357399999 meters Centerline goodness [0,1] 0.8274919155411832 Centerline is valid? [False, False] Translation: X:3.88, Y:0.23, Z:-0.99 [[ 9.99970536e-01 7.14193823e-03 2.81418299e-03 3.88142474e+00] [-7.14554899e-03 9.99973657e-01 1.27509939e-03 2.26487597e-01] [-2.80500217e-03 -1.29517070e-03 9.99995227e-01 -9.91833902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.424553574 meters Centerline goodness [0,1] 0.8274052339034805 Centerline is valid? [False, False] Translation: X:3.88, Y:0.22, Z:-0.99 [[ 9.99960839e-01 8.13554269e-03 3.48318327e-03 3.87947415e+00] [-8.14390262e-03 9.99963975e-01 2.39266451e-03 2.23264552e-01] [-3.46359217e-03 -2.42093752e-03 9.99991071e-01 -9.91479336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.454553574 meters Centerline goodness [0,1] 0.8281320993854174 Centerline is valid? [False, False] Translation: X:3.88, Y:0.22, Z:-0.99 [[ 9.99958714e-01 8.34269804e-03 3.60142279e-03 3.87945257e+00] [-8.35240122e-03 9.99961506e-01 2.68768364e-03 2.21801031e-01] [-3.57886163e-03 -2.71765321e-03 9.99989903e-01 -9.91902809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.484553574 meters Centerline goodness [0,1] 0.8271034746817268 Centerline is valid? [False, False] Translation: X:3.88, Y:0.22, Z:-0.99 [[ 9.99958717e-01 8.35818692e-03 3.56448304e-03 3.87997483e+00] [-8.36831308e-03 9.99960965e-01 2.83546019e-03 2.20291325e-01] [-3.54064460e-03 -2.86517185e-03 9.99989627e-01 -9.92662640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.514553574 meters Centerline goodness [0,1] 0.8260199412359713 Centerline is valid? [False, False] Translation: X:3.88, Y:0.22, Z:-0.99 [[ 9.99954696e-01 8.73007476e-03 3.79372013e-03 3.87960915e+00] [-8.74417788e-03 9.99954861e-01 3.71694318e-03 2.16369797e-01] [-3.76109969e-03 -3.74994775e-03 9.99985896e-01 -9.92829906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.544553574 meters Centerline goodness [0,1] 0.8249655205787704 Centerline is valid? [False, False] Translation: X:3.88, Y:0.22, Z:-0.99 [[ 9.99968908e-01 6.33148977e-03 4.70064634e-03 3.87709346e+00] [-6.33194805e-03 9.99979950e-01 8.26160294e-05 2.15508063e-01] [-4.70002900e-03 -1.12377709e-04 9.99988948e-01 -9.93824095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.574553574 meters Centerline goodness [0,1] 0.8234994048631186 Centerline is valid? [False, False] Translation: X:3.88, Y:0.21, Z:-0.99 [[ 9.99963906e-01 6.84108939e-03 5.03841751e-03 3.87627731e+00] [-6.84816676e-03 9.99975587e-01 1.38877150e-03 2.10289708e-01] [-5.02879380e-03 -1.42322529e-03 9.99986343e-01 -9.93494432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.604553574 meters Centerline goodness [0,1] 0.824567819959525 Centerline is valid? [False, False] Translation: X:3.88, Y:0.21, Z:-0.99 [[ 9.99961918e-01 7.03630605e-03 5.16262573e-03 3.87630270e+00] [-7.04552243e-03 9.99973615e-01 1.76920150e-03 2.08174221e-01] [-5.15004087e-03 -1.80550752e-03 9.99985108e-01 -9.94096572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.634553574 meters Centerline goodness [0,1] 0.8186904471048131 Centerline is valid? [False, False] Translation: X:3.88, Y:0.21, Z:-0.99 [[ 9.99959705e-01 7.25628263e-03 5.28541270e-03 3.87631600e+00] [-7.26790510e-03 9.99971205e-01 2.18309321e-03 2.06180608e-01] [-5.26941937e-03 -2.22141912e-03 9.99983649e-01 -9.94596888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.664553574 meters Centerline goodness [0,1] 0.8179472054269281 Centerline is valid? [False, False] Translation: X:3.88, Y:0.20, Z:-1.00 [[ 9.99957755e-01 7.44677989e-03 5.38828091e-03 3.87693163e+00] [-7.46306906e-03 9.99967623e-01 3.00930865e-03 2.01335518e-01] [-5.36569679e-03 -3.04939463e-03 9.99980955e-01 -9.95782204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.694553574 meters Centerline goodness [0,1] 0.8166567548815542 Centerline is valid? [False, False] Translation: X:3.88, Y:0.20, Z:-1.00 [[ 9.99969307e-01 4.63019151e-03 6.32037794e-03 3.87556529e+00] [-4.63171926e-03 9.99989248e-01 2.27102647e-04 1.95782979e-01] [-6.31925845e-03 -2.56369892e-04 9.99980000e-01 -9.97144166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.724553574 meters Centerline goodness [0,1] 0.8201617921593031 Centerline is valid? [False, False] Translation: X:3.88, Y:0.19, Z:-1.00 [[ 9.99973807e-01 4.11770017e-03 5.95234968e-03 3.87695409e+00] [-4.12266007e-03 9.99991165e-01 8.21238244e-04 1.92078520e-01] [-5.94891547e-03 -8.45756247e-04 9.99981947e-01 -9.97082876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.754553574 meters Centerline goodness [0,1] 0.8173408670433522 Centerline is valid? [False, False] Translation: X:3.88, Y:0.19, Z:-1.00 [[ 9.99977639e-01 3.60320477e-03 5.63373183e-03 3.87834697e+00] [-3.61078396e-03 9.99992589e-01 1.33573148e-03 1.88595197e-01] [-5.62887716e-03 -1.35604380e-03 9.99983238e-01 -9.97250956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.78455357399997 meters Centerline goodness [0,1] 0.8200217023746436 Centerline is valid? [False, False] Translation: X:3.88, Y:0.18, Z:-1.00 [[ 9.99976232e-01 7.90102976e-04 6.84913890e-03 3.87608316e+00] [-7.77208018e-04 9.99997921e-01 -1.88516961e-03 1.84236152e-01] [-6.85061414e-03 1.87980160e-03 9.99974767e-01 -9.98819930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.81455357399997 meters Centerline goodness [0,1] 0.8196101324940352 Centerline is valid? [False, False] Translation: X:3.88, Y:0.18, Z:-1.00 [[ 9.99977759e-01 -9.28642973e-05 6.66876734e-03 3.87780257e+00] [ 1.00519417e-04 9.99999336e-01 -1.14758018e-03 1.77952641e-01] [-6.66865635e-03 1.14822500e-03 9.99977105e-01 -9.99500457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.84455357399997 meters Centerline goodness [0,1] 0.8197067657689763 Centerline is valid? [False, False] Translation: X:3.88, Y:0.17, Z:-1.00 [[ 9.99979162e-01 -5.23412455e-04 6.43442148e-03 3.87899825e+00] [ 5.27770431e-04 9.99999633e-01 -6.75611607e-04 1.74984515e-01] [-6.43406549e-03 6.78993426e-04 9.99979071e-01 -9.99692359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.87455357399998 meters Centerline goodness [0,1] 0.818847793348138 Centerline is valid? [False, False] Translation: X:3.88, Y:0.17, Z:-1.00 [[ 9.99979758e-01 -6.78455474e-04 6.32643154e-03 3.87948824e+00] [ 6.79002452e-04 9.99999766e-01 -8.43117915e-05 1.72297656e-01] [-6.32637285e-03 8.86057474e-05 9.99979984e-01 -9.99496232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.90455357399998 meters Centerline goodness [0,1] 0.8202890366301306 Centerline is valid? [False, False] Translation: X:3.88, Y:0.17, Z:-1.00 [[ 9.99979224e-01 -8.14214069e-04 6.39445439e-03 3.87978235e+00] [ 8.09481201e-04 9.99999397e-01 7.42705140e-04 1.67958466e-01] [-6.39505525e-03 -7.37513519e-04 9.99979279e-01 -9.99678634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.93455357399998 meters Centerline goodness [0,1] 0.8207421112138966 Centerline is valid? [False, False] Translation: X:3.88, Y:0.17, Z:-1.00 [[ 9.99981079e-01 -1.43376718e-03 5.98220628e-03 3.88167043e+00] [ 1.42894209e-03 9.99998650e-01 8.10770104e-04 1.66121955e-01] [-5.98336067e-03 -8.02206537e-04 9.99981778e-01 -1.00046585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.96455357399998 meters Centerline goodness [0,1] 0.8239104524019277 Centerline is valid? [False, False] Translation: X:3.88, Y:0.16, Z:-1.00 [[ 9.99965341e-01 -5.48805261e-03 6.26084416e-03 3.88205991e+00] [ 5.50639895e-03 9.99980586e-01 -2.91686528e-03 1.62569052e-01] [-6.24471470e-03 2.95123888e-03 9.99976147e-01 -1.00203386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.99455357399998 meters Centerline goodness [0,1] 0.8242460607325472 Centerline is valid? [False, False] Translation: X:3.89, Y:0.16, Z:-1.00 [[ 0.99994331 -0.00904642 0.00561644 3.88745499] [ 0.00906961 0.99995039 -0.00411727 0.15784565] [-0.00557891 0.00416798 0.99997575 -1.00410285] [ 0. 0. 0. 1. ]] SLAMing on 131.02455357399998 meters Centerline goodness [0,1] 0.8242460607325472 Centerline is valid? [False, False] Translation: X:3.89, Y:0.16, Z:-1.00 [[ 0.99994331 -0.00904642 0.00561644 3.88745499] [ 0.00906961 0.99995039 -0.00411727 0.15784565] [-0.00557891 0.00416798 0.99997575 -1.00410285] [ 0. 0. 0. 1. ]] SLAMing on 131.05455357399998 meters Centerline goodness [0,1] 0.8232364275041287 Centerline is valid? [False, False] Translation: X:3.89, Y:0.16, Z:-1.01 [[ 0.99987978 -0.0147261 0.00485528 3.89191208] [ 0.0147674 0.99985411 -0.0085837 0.15535147] [-0.00472816 0.00865437 0.99995137 -1.00664512] [ 0. 0. 0. 1. ]] SLAMing on 131.08455357399998 meters Centerline goodness [0,1] 0.8270807061790668 Centerline is valid? [False, False] Translation: X:3.90, Y:0.15, Z:-1.01 [[ 9.99863160e-01 -1.60645362e-02 3.94854986e-03 3.89543093e+00] [ 1.60971611e-02 9.99835361e-01 -8.37446842e-03 1.53349663e-01] [-3.81336782e-03 8.43688290e-03 9.99957138e-01 -1.00684214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.11455357399998 meters Centerline goodness [0,1] 0.8270739836758261 Centerline is valid? [False, False] Translation: X:3.90, Y:0.15, Z:-1.00 [[ 9.99798044e-01 -2.00040191e-02 1.92635529e-03 3.90465927e+00] [ 2.00172543e-02 9.99774313e-01 -7.11561391e-03 1.50067827e-01] [-1.78357966e-03 7.15273721e-03 9.99972828e-01 -1.00470388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.14455357399999 meters Centerline goodness [0,1] 0.8302514405447878 Centerline is valid? [False, False] Translation: X:3.91, Y:0.15, Z:-1.00 [[ 9.99745463e-01 -2.25574571e-02 4.13771540e-04 3.91049866e+00] [ 2.25597206e-02 9.99723140e-01 -6.68599457e-03 1.48673674e-01] [-2.62837947e-04 6.69362731e-03 9.99977563e-01 -1.00344258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.174553574 meters Centerline goodness [0,1] 0.8344981023426253 Centerline is valid? [False, False] Translation: X:3.92, Y:0.15, Z:-1.00 [[ 9.99757394e-01 -2.19720882e-02 -1.54314554e-03 3.91786605e+00] [ 2.19707210e-02 9.99758212e-01 -8.97435186e-04 1.46197018e-01] [ 1.56249095e-03 8.63313442e-04 9.99998407e-01 -9.98874757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.204553574 meters Centerline goodness [0,1] 0.833342039281237 Centerline is valid? [False, False] Translation: X:3.92, Y:0.15, Z:-1.00 [[ 9.99741077e-01 -2.26600902e-02 -2.07345075e-03 3.91972652e+00] [ 2.26582191e-02 9.99742845e-01 -9.21497261e-04 1.46104782e-01] [ 2.09379876e-03 8.74277963e-04 9.99997426e-01 -9.98804559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.234553574 meters Centerline goodness [0,1] 0.8363707266346029 Centerline is valid? [False, False] Translation: X:3.92, Y:0.15, Z:-1.00 [[ 9.99703957e-01 -2.41341385e-02 -3.08897882e-03 3.92361440e+00] [ 2.41292127e-02 9.99707532e-01 -1.62209235e-03 1.46901817e-01] [ 3.12722319e-03 1.54707752e-03 9.99993913e-01 -9.99859855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.264553574 meters Centerline goodness [0,1] 0.8401925764870322 Centerline is valid? [False, False] Translation: X:3.93, Y:0.15, Z:-1.00 [[ 9.99666910e-01 -2.54875905e-02 -4.05601414e-03 3.92718928e+00] [ 2.54792864e-02 9.99673174e-01 -2.08601886e-03 1.47438717e-01] [ 4.10785613e-03 1.98197968e-03 9.99989599e-01 -1.00046063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.294553574 meters Centerline goodness [0,1] 0.8451572943817904 Centerline is valid? [False, False] Translation: X:3.93, Y:0.15, Z:-1.00 [[ 9.99706019e-01 -2.36389605e-02 -5.39222336e-03 3.93146093e+00] [ 2.36503865e-02 9.99718158e-01 2.06513313e-03 1.46445398e-01] [ 5.34188600e-03 -2.19205418e-03 9.99983329e-01 -9.99017155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.324553574 meters Centerline goodness [0,1] 0.8444226247383788 Centerline is valid? [False, False] Translation: X:3.93, Y:0.15, Z:-1.00 [[ 9.99689267e-01 -2.42172915e-02 -5.90695565e-03 3.93331426e+00] [ 2.42279109e-02 9.99704959e-01 1.73288606e-03 1.47260035e-01] [ 5.86324705e-03 -1.87546079e-03 9.99981052e-01 -9.99511891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.354553574 meters Centerline goodness [0,1] 0.8453031552897505 Centerline is valid? [False, False] Translation: X:3.94, Y:0.15, Z:-1.00 [[ 9.99673512e-01 -2.47400606e-02 -6.38734669e-03 3.93510905e+00] [ 2.47498383e-02 9.99692615e-01 1.45631134e-03 1.47885265e-01] [ 6.34935408e-03 -1.61392167e-03 9.99978540e-01 -1.00007100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.384553574 meters Centerline goodness [0,1] 0.8347900069610952 Centerline is valid? [False, False] Translation: X:3.94, Y:0.15, Z:-1.00 [[ 9.99655508e-01 -2.53336747e-02 -6.86071918e-03 3.93664961e+00] [ 2.53429387e-02 9.99678014e-01 1.26672176e-03 1.48590476e-01] [ 6.82641940e-03 -1.44015617e-03 9.99975663e-01 -9.99904997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.414553574 meters Centerline goodness [0,1] 0.8415997521365315 Centerline is valid? [False, False] Translation: X:3.94, Y:0.15, Z:-1.00 [[ 9.99655426e-01 -2.53084818e-02 -6.96486733e-03 3.93657854e+00] [ 2.53173819e-02 9.99678752e-01 1.19265933e-03 1.50022187e-01] [ 6.93244548e-03 -1.36858058e-03 9.99975034e-01 -9.99245792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.444553574 meters Centerline goodness [0,1] 0.8450886167519247 Centerline is valid? [False, False] Translation: X:3.94, Y:0.15, Z:-1.00 [[ 0.99971242 -0.02258764 -0.00805509 3.93956031] [ 0.02263217 0.99972884 0.00548038 0.14922789] [ 0.00792912 -0.0056611 0.99995254 -0.99795528] [ 0. 0. 0. 1. ]] SLAMing on 131.474553574 meters Centerline goodness [0,1] 0.8374006737470105 Centerline is valid? [False, False] Translation: X:3.94, Y:0.15, Z:-1.00 [[ 0.99975316 -0.02012542 -0.00941241 3.94391095] [ 0.02020899 0.99975644 0.0088693 0.15036292] [ 0.00923162 -0.00905732 0.99991637 -0.99850846] [ 0. 0. 0. 1. ]] SLAMing on 131.504553574 meters Centerline goodness [0,1] 0.844102062863316 Centerline is valid? [False, False] Translation: X:3.94, Y:0.15, Z:-1.00 [[ 0.99975451 -0.02004325 -0.00944372 3.94405713] [ 0.02012372 0.99976132 0.00850485 0.15167374] [ 0.009271 -0.0086928 0.99991924 -0.99907077] [ 0. 0. 0. 1. ]] SLAMing on 131.53455357399997 meters Centerline goodness [0,1] 0.8399322573195454 Centerline is valid? [False, False] Translation: X:3.96, Y:0.15, Z:-0.99 [[ 0.99968479 -0.01628903 -0.01910458 3.95656172] [ 0.01638356 0.99985425 0.00480225 0.15101654] [ 0.01902357 -0.00511374 0.99980596 -0.99487527] [ 0. 0. 0. 1. ]] SLAMing on 131.56455357399997 meters Centerline goodness [0,1] 0.8445605187319885 Centerline is valid? [False, False] Translation: X:3.96, Y:0.15, Z:-0.99 [[ 0.99968239 -0.01626608 -0.01924933 3.95686055] [ 0.01635881 0.99985528 0.00466971 0.15166852] [ 0.01917058 -0.00498312 0.99980381 -0.99491819] [ 0. 0. 0. 1. ]] SLAMing on 131.59455357399997 meters Centerline goodness [0,1] 0.8425666469575053 Centerline is valid? [False, False] Translation: X:3.96, Y:0.15, Z:-1.00 [[ 0.99968227 -0.01610819 -0.01938794 3.95734106] [ 0.01619364 0.99985981 0.00425846 0.15325588] [ 0.01931662 -0.00457107 0.99980297 -0.99581558] [ 0. 0. 0. 1. ]] SLAMing on 131.62455357399998 meters Centerline goodness [0,1] 0.8418632136067006 Centerline is valid? [False, False] Translation: X:3.96, Y:0.15, Z:-1.00 [[ 0.99968326 -0.01600311 -0.01942346 3.95742666] [ 0.01608522 0.99986231 0.00407861 0.15396791] [ 0.01935552 -0.00438975 0.99980303 -0.9961159 ] [ 0. 0. 0. 1. ]] SLAMing on 131.65455357399998 meters Centerline goodness [0,1] 0.8439607209701818 Centerline is valid? [False, False] Translation: X:3.96, Y:0.15, Z:-1.00 [[ 0.99969112 -0.01565631 -0.01930134 3.95685611] [ 0.01573784 0.99986783 0.0040795 0.15469835] [ 0.01923491 -0.00438201 0.99980539 -0.99597245] [ 0. 0. 0. 1. ]] SLAMing on 131.68455357399998 meters Centerline goodness [0,1] 0.8466326818146886 Centerline is valid? [False, False] Translation: X:3.96, Y:0.15, Z:-1.00 [[ 0.99969979 -0.01533146 -0.01911216 3.95592997] [ 0.01541666 0.99987183 0.0043183 0.15489304] [ 0.01904351 -0.00461165 0.99980802 -0.99525132] [ 0. 0. 0. 1. ]] SLAMing on 131.71455357399998 meters Centerline goodness [0,1] 0.8452999104744852 Centerline is valid? [False, False] Translation: X:3.96, Y:0.16, Z:-1.00 [[ 0.99970205 -0.01523297 -0.01907292 3.95572038] [ 0.01531836 0.99987325 0.00433904 0.15510109] [ 0.0190044 -0.00462992 0.99980868 -0.99504845] [ 0. 0. 0. 1. ]] SLAMing on 131.74455357399998 meters Centerline goodness [0,1] 0.8473030953110634 Centerline is valid? [False, False] Translation: X:3.95, Y:0.16, Z:-0.99 [[ 0.99972179 -0.01444173 -0.01864893 3.95393447] [ 0.01452526 0.99988503 0.00435159 0.15667224] [ 0.01858395 -0.00462126 0.99981662 -0.99470605] [ 0. 0. 0. 1. ]] SLAMing on 131.77455357399998 meters Centerline goodness [0,1] 0.8444455776242319 Centerline is valid? [False, False] Translation: X:3.95, Y:0.16, Z:-1.00 [[ 0.99972859 -0.01414888 -0.01850805 3.95349529] [ 0.0142259 0.99989066 0.00403646 0.15803824] [ 0.01844892 -0.00429866 0.99982056 -0.9951451 ] [ 0. 0. 0. 1. ]] SLAMing on 131.80455357399998 meters Centerline goodness [0,1] 0.8450035543820453 Centerline is valid? [False, False] Translation: X:3.97, Y:0.16, Z:-1.00 [[ 9.99847680e-01 -1.18460775e-02 -1.28174605e-02 3.97061003e+00] [ 1.18030494e-02 9.99924467e-01 -3.42744451e-03 1.62007756e-01] [ 1.28570941e-02 3.27563732e-03 9.99911979e-01 -1.00186433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.83455357399998 meters Centerline goodness [0,1] 0.8391819542767247 Centerline is valid? [False, False] Translation: X:3.97, Y:0.16, Z:-1.00 [[ 9.99852949e-01 -1.15474224e-02 -1.26782216e-02 3.97006878e+00] [ 1.15036170e-02 9.99927626e-01 -3.52268011e-03 1.62961154e-01] [ 1.27179819e-02 3.37631669e-03 9.99913423e-01 -1.00183937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.86455357399998 meters Centerline goodness [0,1] 0.8439872456726389 Centerline is valid? [False, False] Translation: X:3.97, Y:0.16, Z:-1.00 [[ 9.99866867e-01 -8.82149056e-03 -1.37269878e-02 3.97296026e+00] [ 8.83344456e-03 9.99960656e-01 8.10450288e-04 1.62241547e-01] [ 1.37192983e-02 -9.31598975e-04 9.99905452e-01 -1.00031185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.89455357399999 meters Centerline goodness [0,1] 0.8432416071833935 Centerline is valid? [False, False] Translation: X:3.97, Y:0.16, Z:-1.00 [[ 9.99855973e-01 -9.28096259e-03 -1.42090147e-02 3.97442925e+00] [ 9.28855637e-03 9.99956751e-01 4.68532172e-04 1.63465160e-01] [ 1.42040517e-02 -6.00445925e-04 9.99898937e-01 -1.00044993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.924553574 meters Centerline goodness [0,1] 0.8463316582914573 Centerline is valid? [False, False] Translation: X:3.98, Y:0.17, Z:-1.00 [[ 9.99829482e-01 -1.05120375e-02 -1.51823478e-02 3.97807390e+00] [ 1.05067588e-02 9.99944711e-01 -4.27415777e-04 1.65119992e-01] [ 1.51860014e-02 2.67825629e-04 9.99884650e-01 -1.00180749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.954553574 meters Centerline goodness [0,1] 0.8421660142527352 Centerline is valid? [False, False] Translation: X:3.98, Y:0.17, Z:-1.00 [[ 9.99811869e-01 -1.12820625e-02 -1.57778781e-02 3.98033058e+00] [ 1.12690033e-02 9.99936083e-01 -9.16357988e-04 1.66187945e-01] [ 1.57872080e-02 7.38384633e-04 9.99875102e-01 -1.00254188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.984553574 meters Centerline goodness [0,1] 0.84816177390695 Centerline is valid? [False, False] Translation: X:3.98, Y:0.17, Z:-1.00 [[ 9.99789894e-01 -1.21778006e-02 -1.64884237e-02 3.98288306e+00] [ 1.21586743e-02 9.99925287e-01 -1.25973083e-03 1.67093299e-01] [ 1.65025325e-02 1.05898878e-03 9.99863263e-01 -1.00291414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.014553574 meters Centerline goodness [0,1] 0.8479887862631724 Centerline is valid? [False, False] Translation: X:3.99, Y:0.17, Z:-1.00 [[ 9.99740569e-01 -1.41902603e-02 -1.78165890e-02 3.98737313e+00] [ 1.41604890e-02 9.99898122e-01 -1.79604038e-03 1.67968589e-01] [ 1.78402602e-02 1.54328282e-03 9.99839659e-01 -1.00275459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.044553574 meters Centerline goodness [0,1] 0.8499512097480422 Centerline is valid? [False, False] Translation: X:3.99, Y:0.17, Z:-1.00 [[ 9.99719827e-01 -1.48916082e-02 -1.83985911e-02 3.98910418e+00] [ 1.48587811e-02 9.99887760e-01 -1.91964164e-03 1.68466535e-01] [ 1.84251126e-02 1.64572317e-03 9.99828889e-01 -1.00240403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.074553574 meters Centerline goodness [0,1] 0.8496113215068766 Centerline is valid? [False, False] Translation: X:3.99, Y:0.17, Z:-1.00 [[ 9.99695883e-01 -1.57025879e-02 -1.90150001e-02 3.99098737e+00] [ 1.56528721e-02 9.99873675e-01 -2.76058009e-03 1.71420215e-01] [ 1.90559463e-02 2.46210118e-03 9.99815387e-01 -1.00261710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.104553574 meters Centerline goodness [0,1] 0.8504155811934003 Centerline is valid? [False, False] Translation: X:3.99, Y:0.17, Z:-1.00 [[ 9.99689911e-01 -1.58762652e-02 -1.91839927e-02 3.99153305e+00] [ 1.58166577e-02 9.99869611e-01 -3.25489880e-03 1.73652912e-01] [ 1.92331670e-02 2.95046285e-03 9.99810672e-01 -1.00281187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.134553574 meters Centerline goodness [0,1] 0.8486028288403726 Centerline is valid? [False, False] Translation: X:3.99, Y:0.18, Z:-1.00 [[ 9.99704510e-01 -1.32556600e-02 -2.03759549e-02 3.99417931e+00] [ 1.32654446e-02 9.99911951e-01 3.45110439e-04 1.76685543e-01] [ 2.03695861e-02 -6.15304563e-04 9.99792329e-01 -1.00099716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.164553574 meters Centerline goodness [0,1] 0.8429833169774288 Centerline is valid? [False, False] Translation: X:3.99, Y:0.18, Z:-1.00 [[ 9.99700882e-01 -1.33200349e-02 -2.05115589e-02 3.99444423e+00] [ 1.33234396e-02 9.99911239e-01 2.93348900e-05 1.78540703e-01] [ 2.05093476e-02 -3.02610631e-04 9.99789615e-01 -1.00084198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.194553574 meters Centerline goodness [0,1] 0.84834169624281 Centerline is valid? [False, False] Translation: X:3.99, Y:0.18, Z:-1.00 [[ 9.99696260e-01 -1.34425267e-02 -2.06563710e-02 3.99478684e+00] [ 1.34392814e-02 9.99909645e-01 -2.95922552e-04 1.80254611e-01] [ 2.06584825e-02 1.82258856e-05 9.99786591e-01 -1.00068495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.224553574 meters Centerline goodness [0,1] 0.8473390380067773 Centerline is valid? [False, False] Translation: X:4.00, Y:0.18, Z:-1.00 [[ 9.99680179e-01 -1.39065874e-02 -2.11221911e-02 3.99626621e+00] [ 1.38768841e-02 9.99902507e-01 -1.55219044e-03 1.84786124e-01] [ 2.11417175e-02 1.25858382e-03 9.99775697e-01 -1.00159557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.254553574 meters Centerline goodness [0,1] 0.843172041704134 Centerline is valid? [False, False] Translation: X:4.00, Y:0.19, Z:-1.00 [[ 9.99673373e-01 -1.41016988e-02 -2.13140775e-02 3.99717970e+00] [ 1.40549374e-02 9.99898481e-01 -2.34213728e-03 1.87654302e-01] [ 2.13449418e-02 2.04180425e-03 9.99770086e-01 -1.00248818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.28455357399997 meters Centerline goodness [0,1] 0.843172041704134 Centerline is valid? [False, False] Translation: X:4.00, Y:0.19, Z:-1.00 [[ 9.99673373e-01 -1.41016988e-02 -2.13140775e-02 3.99717970e+00] [ 1.40549374e-02 9.99898481e-01 -2.34213728e-03 1.87654302e-01] [ 2.13449418e-02 2.04180425e-03 9.99770086e-01 -1.00248818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.31455357399997 meters Centerline goodness [0,1] 0.8499554012680505 Centerline is valid? [False, False] Translation: X:4.00, Y:0.19, Z:-1.00 [[ 9.99679571e-01 -1.14114320e-02 -2.25950312e-02 4.00071889e+00] [ 1.14243061e-02 9.99934643e-01 4.40772672e-04 1.91823681e-01] [ 2.25885247e-02 -6.98763988e-04 9.99744603e-01 -1.00279400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.34455357399997 meters Centerline goodness [0,1] 0.8445877895544578 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:-1.00 [[ 9.99687712e-01 -1.08214852e-02 -2.25249660e-02 3.99982232e+00] [ 1.08206054e-02 9.99941443e-01 -1.60943136e-04 1.96172139e-01] [ 2.25253887e-02 -8.28408943e-05 9.99746268e-01 -1.00256096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.37455357399998 meters Centerline goodness [0,1] 0.8480522275629528 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:-1.00 [[ 9.99688791e-01 -1.06798317e-02 -2.25446805e-02 3.99993361e+00] [ 1.06685842e-02 9.99942897e-01 -6.19116963e-04 1.98267858e-01] [ 2.25500052e-02 3.78404466e-04 9.99745645e-01 -1.00299545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.40455357399998 meters Centerline goodness [0,1] 0.8503802281368822 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:-1.00 [[ 9.99692941e-01 -7.75343740e-03 -2.35352575e-02 4.00302933e+00] [ 7.81327749e-03 9.99966470e-01 2.45167997e-03 2.01111977e-01] [ 2.35154594e-02 -2.63481466e-03 9.99720001e-01 -1.00354590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.43455357399998 meters Centerline goodness [0,1] 0.8436765787787455 Centerline is valid? [False, False] Translation: X:3.99, Y:0.20, Z:-1.01 [[ 0.99983634 -0.00929428 -0.01552129 3.99408982] [ 0.0093767 0.99994228 0.00524573 0.20426632] [ 0.01547164 -0.00539041 0.99986578 -1.0081398 ] [ 0. 0. 0. 1. ]] SLAMing on 132.46455357399998 meters Centerline goodness [0,1] 0.8412030359633982 Centerline is valid? [False, False] Translation: X:3.99, Y:0.21, Z:-1.01 [[ 0.99984027 -0.0090775 -0.01539598 3.99371774] [ 0.00915125 0.99994696 0.00472625 0.20680109] [ 0.01535226 -0.00486639 0.9998703 -1.00837377] [ 0. 0. 0. 1. ]] SLAMing on 132.49455357399998 meters Centerline goodness [0,1] 0.8409711113202221 Centerline is valid? [False, False] Translation: X:3.99, Y:0.21, Z:-1.01 [[ 0.99985617 -0.00805723 -0.01492352 3.99121712] [ 0.00812703 0.99995629 0.00462268 0.21019009] [ 0.01488562 -0.0047433 0.99987795 -1.00717877] [ 0. 0. 0. 1. ]] SLAMing on 132.52455357399998 meters Centerline goodness [0,1] 0.8462929475587704 Centerline is valid? [False, False] Translation: X:3.99, Y:0.21, Z:-1.01 [[ 0.9998621 -0.00764991 -0.01473966 3.99041941] [ 0.00771469 0.99996081 0.00434338 0.21201005] [ 0.01470586 -0.00445649 0.99988193 -1.00707285] [ 0. 0. 0. 1. ]] SLAMing on 132.55455357399998 meters Centerline goodness [0,1] 0.8524823356574867 Centerline is valid? [False, False] Translation: X:3.99, Y:0.22, Z:-1.01 [[ 9.99870083e-01 -6.82435606e-03 -1.46029543e-02 3.98933010e+00] [ 6.88138685e-03 9.99968878e-01 3.85875132e-03 2.16405628e-01] [ 1.45761664e-02 -3.95873858e-03 9.99885925e-01 -1.00698455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.58455357399998 meters Centerline goodness [0,1] 0.8560308571694124 Centerline is valid? [False, False] Translation: X:3.99, Y:0.22, Z:-1.01 [[ 9.99875327e-01 -6.38225057e-03 -1.44429094e-02 3.98857233e+00] [ 6.43503641e-03 9.99972774e-01 3.61127494e-03 2.18742643e-01] [ 1.44194681e-02 -3.70376536e-03 9.99889174e-01 -1.00684013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.61455357399998 meters Centerline goodness [0,1] 0.8484581497797357 Centerline is valid? [False, False] Translation: X:3.99, Y:0.22, Z:-1.01 [[ 9.99880530e-01 -5.90955616e-03 -1.42829837e-02 3.98769415e+00] [ 5.95951527e-03 9.99976264e-01 3.45777858e-03 2.20783975e-01] [ 1.42622108e-02 -3.54248513e-03 9.99892014e-01 -1.00647090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.64455357399999 meters Centerline goodness [0,1] 0.8453073089700996 Centerline is valid? [False, False] Translation: X:3.99, Y:0.22, Z:-1.01 [[ 9.99884989e-01 -5.39445958e-03 -1.41742248e-02 3.98678874e+00] [ 5.44049197e-03 9.99980045e-01 3.21106223e-03 2.23291432e-01] [ 1.41566200e-02 -3.28780768e-03 9.99894385e-01 -1.00597345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.674553574 meters Centerline goodness [0,1] 0.8537506621525139 Centerline is valid? [False, False] Translation: X:3.99, Y:0.22, Z:-1.01 [[ 9.99886815e-01 -5.19775538e-03 -1.41187802e-02 3.98645866e+00] [ 5.24326240e-03 9.99981172e-01 3.18805375e-03 2.24112056e-01] [ 1.41019436e-02 -3.26172138e-03 9.99895243e-01 -1.00577313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.704553574 meters Centerline goodness [0,1] 0.8496451294301399 Centerline is valid? [False, False] Translation: X:3.99, Y:0.23, Z:-1.01 [[ 9.99885381e-01 -5.21299536e-03 -1.42144458e-02 3.98693362e+00] [ 5.25267985e-03 9.99982407e-01 2.75593886e-03 2.26085316e-01] [ 1.41998290e-02 -2.83028691e-03 9.99895172e-01 -1.00632421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.734553574 meters Centerline goodness [0,1] 0.8515116811726982 Centerline is valid? [False, False] Translation: X:3.99, Y:0.23, Z:-1.01 [[ 9.99881690e-01 -5.34771997e-03 -1.44224518e-02 3.98763399e+00] [ 5.38538612e-03 9.99982186e-01 2.57406066e-03 2.26919886e-01] [ 1.44084295e-02 -2.65142660e-03 9.99892678e-01 -1.00659492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.764553574 meters Centerline goodness [0,1] 0.8545720622870601 Centerline is valid? [False, False] Translation: X:3.99, Y:0.23, Z:-1.01 [[ 9.99879074e-01 -5.51679361e-03 -1.45396977e-02 3.98776404e+00] [ 5.55537786e-03 9.99981150e-01 2.61466516e-03 2.27326324e-01] [ 1.45249990e-02 -2.69512249e-03 9.99890874e-01 -1.00598805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.794553574 meters Centerline goodness [0,1] 0.8411763362787406 Centerline is valid? [False, False] Translation: X:3.99, Y:0.23, Z:-1.00 [[ 9.99882217e-01 -5.28639215e-03 -1.44085608e-02 3.98688203e+00] [ 5.33006337e-03 9.99981312e-01 2.99420757e-03 2.27043290e-01] [ 1.43924630e-02 -3.07065344e-03 9.99891708e-01 -1.00490932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.824553574 meters Centerline goodness [0,1] 0.8404533764253362 Centerline is valid? [False, False] Translation: X:3.98, Y:0.23, Z:-1.00 [[ 9.99890664e-01 -4.65593178e-03 -1.40350572e-02 3.98493141e+00] [ 4.70701658e-03 9.99982410e-01 3.60896655e-03 2.26723232e-01] [ 1.40180072e-02 -3.67463521e-03 9.99894991e-01 -1.00326546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.854553574 meters Centerline goodness [0,1] 0.8572826581702322 Centerline is valid? [False, False] Translation: X:3.98, Y:0.23, Z:-1.00 [[ 9.99896395e-01 -4.17159910e-03 -1.37767089e-02 3.98389397e+00] [ 4.22444984e-03 9.99983821e-01 3.80936841e-03 2.27095125e-01] [ 1.37605949e-02 -3.86717275e-03 9.99897840e-01 -1.00286726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.884553574 meters Centerline goodness [0,1] 0.8424939219740519 Centerline is valid? [False, False] Translation: X:3.98, Y:0.23, Z:-1.00 [[ 9.99898729e-01 -3.84442173e-03 -1.37022933e-02 3.98361066e+00] [ 3.89520236e-03 9.99985638e-01 3.68123599e-03 2.27954570e-01] [ 1.36879442e-02 -3.73423639e-03 9.99899343e-01 -1.00310957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.914553574 meters Centerline goodness [0,1] 0.8621103388947999 Centerline is valid? [False, False] Translation: X:3.98, Y:0.23, Z:-1.00 [[ 9.99907270e-01 -2.84963976e-03 -1.33165722e-02 3.98232082e+00] [ 2.89397923e-03 9.99990329e-01 3.31156341e-03 2.30142852e-01] [ 1.33070066e-02 -3.34979421e-03 9.99905847e-01 -1.00404160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.944553574 meters Centerline goodness [0,1] 0.8573990420629696 Centerline is valid? [False, False] Translation: X:3.98, Y:0.23, Z:-1.00 [[ 9.99910186e-01 -2.52210504e-03 -1.31628031e-02 3.98179353e+00] [ 2.56600257e-03 9.99991199e-01 3.31914530e-03 2.30572573e-01] [ 1.31543160e-02 -3.35262298e-03 9.99907858e-01 -1.00406132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.974553574 meters Centerline goodness [0,1] 0.8536601974804222 Centerline is valid? [False, False] Translation: X:3.98, Y:0.23, Z:-1.00 [[ 9.99917248e-01 -2.02246942e-03 -1.27045787e-02 3.97990692e+00] [ 2.07149942e-03 9.99990454e-01 3.84726610e-03 2.29731016e-01] [ 1.26966765e-02 -3.87326526e-03 9.99911892e-01 -1.00273533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.004553574 meters Centerline goodness [0,1] 0.8591594045025417 Centerline is valid? [False, False] Translation: X:3.98, Y:0.23, Z:-1.00 [[ 9.99917831e-01 -2.03337206e-03 -1.26568583e-02 3.97975858e+00] [ 2.08291213e-03 9.99990217e-01 3.90213828e-03 2.29497640e-01] [ 1.26487999e-02 -3.92818077e-03 9.99912285e-01 -1.00257741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03455357399997 meters Centerline goodness [0,1] 0.8540863093887553 Centerline is valid? [False, False] Translation: X:3.98, Y:0.23, Z:-1.00 [[ 9.99908788e-01 -2.82133177e-03 -1.32081875e-02 3.98194647e+00] [ 2.86847221e-03 9.99989579e-01 3.55144805e-03 2.29422342e-01] [ 1.31980300e-02 -3.58901144e-03 9.99906461e-01 -1.00345875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.06455357399997 meters Centerline goodness [0,1] 0.8606133466406569 Centerline is valid? [False, False] Translation: X:3.98, Y:0.23, Z:-1.00 [[ 9.99901204e-01 -3.38757652e-03 -1.36420714e-02 3.98364161e+00] [ 3.43273518e-03 9.99988702e-01 3.28819506e-03 2.29279396e-01] [ 1.36307783e-02 -3.33469981e-03 9.99901536e-01 -1.00418996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.09455357399997 meters Centerline goodness [0,1] 0.8584517449130386 Centerline is valid? [False, False] Translation: X:3.99, Y:0.23, Z:-1.01 [[ 9.99882300e-01 -5.00403767e-03 -1.45033310e-02 3.98741122e+00] [ 5.04339535e-03 9.99983695e-01 2.67839627e-03 2.28113203e-01] [ 1.44896918e-02 -2.75122706e-03 9.99891234e-01 -1.00577157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.12455357399998 meters Centerline goodness [0,1] 0.862672057420615 Centerline is valid? [False, False] Translation: X:3.99, Y:0.23, Z:-1.01 [[ 9.99854847e-01 -6.91163153e-03 -1.55728791e-02 3.99197019e+00] [ 6.94385582e-03 9.99973859e-01 2.01613655e-03 2.26792677e-01] [ 1.55585372e-02 -2.12397973e-03 9.99876703e-01 -1.00750786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.15455357399998 meters Centerline goodness [0,1] 0.8588551024585503 Centerline is valid? [False, False] Translation: X:3.99, Y:0.23, Z:-1.01 [[ 9.99842899e-01 -7.53900397e-03 -1.60418550e-02 3.99364903e+00] [ 7.57083120e-03 9.99969490e-01 1.92420757e-03 2.26326237e-01] [ 1.60268590e-02 -2.04535545e-03 9.99869470e-01 -1.00785547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.18455357399998 meters Centerline goodness [0,1] 0.8627339632927494 Centerline is valid? [False, False] Translation: X:3.99, Y:0.23, Z:-1.01 [[ 9.99833866e-01 -8.02947698e-03 -1.63636417e-02 3.99489868e+00] [ 8.05919312e-03 9.99965991e-01 1.75085151e-03 2.26257027e-01] [ 1.63490267e-02 -1.88243838e-03 9.99864574e-01 -1.00821246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.21455357399998 meters Centerline goodness [0,1] 0.8610088616223586 Centerline is valid? [False, False] Translation: X:4.00, Y:0.23, Z:-1.01 [[ 9.99824548e-01 -8.57721354e-03 -1.66524661e-02 3.99572377e+00] [ 8.60636991e-03 9.99961553e-01 1.67999874e-03 2.26477518e-01] [ 1.66374162e-02 -1.82302127e-03 9.99859927e-01 -1.00778076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.24455357399998 meters Centerline goodness [0,1] 0.8535254014631606 Centerline is valid? [False, False] Translation: X:4.00, Y:0.23, Z:-1.01 [[ 9.99814649e-01 -9.01513115e-03 -1.70116160e-02 3.99666676e+00] [ 9.04378728e-03 9.99957811e-01 1.60832459e-03 2.26548666e-01] [ 1.69963991e-02 -1.76187592e-03 9.99853998e-01 -1.00745405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.27455357399998 meters Centerline goodness [0,1] 0.8655996740163897 Centerline is valid? [False, False] Translation: X:4.00, Y:0.23, Z:-1.01 [[ 9.99810843e-01 -9.11124367e-03 -1.71832282e-02 3.99718145e+00] [ 9.13961114e-03 9.99956996e-01 1.57307326e-03 2.26746890e-01] [ 1.71681566e-02 -1.72982372e-03 9.99851120e-01 -1.00753345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.30455357399998 meters Centerline goodness [0,1] 0.8604882459312839 Centerline is valid? [False, False] Translation: X:4.00, Y:0.23, Z:-1.01 [[ 9.99804673e-01 -9.29828914e-03 -1.74401061e-02 3.99822561e+00] [ 9.31904119e-03 9.99955962e-01 1.10901115e-03 2.27943858e-01] [ 1.74290262e-02 -1.27131960e-03 9.99847295e-01 -1.00841469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.33455357399998 meters Centerline goodness [0,1] 0.8655354245538129 Centerline is valid? [False, False] Translation: X:4.00, Y:0.23, Z:-1.01 [[ 0.99981445 -0.00626306 -0.01821648 4.00071063] [ 0.0063484 0.99996913 0.00463088 0.2289754 ] [ 0.01818692 -0.00474567 0.99982334 -1.00868882] [ 0. 0. 0. 1. ]] SLAMing on 133.36455357399998 meters Centerline goodness [0,1] 0.8634576057888941 Centerline is valid? [False, False] Translation: X:4.00, Y:0.23, Z:-1.01 [[ 0.99982608 -0.00552713 -0.01781209 3.99904277] [ 0.00561253 0.99997298 0.0047483 0.23034206] [ 0.01778536 -0.00484745 0.99983008 -1.00815706] [ 0. 0. 0. 1. ]] SLAMing on 133.39455357399999 meters Centerline goodness [0,1] 0.8632248208308059 Centerline is valid? [False, False] Translation: X:4.00, Y:0.23, Z:-1.01 [[ 0.99982806 -0.00537241 -0.01774785 3.99877477] [ 0.00545543 0.99997439 0.00463277 0.23097434] [ 0.0177225 -0.00472879 0.99983176 -1.00818682] [ 0. 0. 0. 1. ]] SLAMing on 133.424553574 meters Centerline goodness [0,1] 0.8658103920599991 Centerline is valid? [False, False] Translation: X:4.00, Y:0.23, Z:-1.01 [[ 0.9998404 -0.00440856 -0.01731275 3.99664768] [ 0.00449559 0.99997744 0.00499093 0.23232489] [ 0.01729036 -0.00506796 0.99983767 -1.00709343] [ 0. 0. 0. 1. ]] SLAMing on 133.454553574 meters Centerline goodness [0,1] 0.8637066588968331 Centerline is valid? [False, False] Translation: X:4.01, Y:0.23, Z:-1.01 [[ 9.99935048e-01 -1.99693548e-03 -1.12210731e-02 4.01089390e+00] [ 1.96680517e-03 9.99994433e-01 -2.69554833e-03 2.34504501e-01] [ 1.12263935e-02 2.67330358e-03 9.99933409e-01 -1.01349479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.484553574 meters Centerline goodness [0,1] 0.8634181201009402 Centerline is valid? [False, False] Translation: X:4.01, Y:0.24, Z:-1.01 [[ 9.99940328e-01 -1.08629521e-03 -1.08701448e-02 4.00921688e+00] [ 1.06048865e-03 9.99996607e-01 -2.37955975e-03 2.35901614e-01] [ 1.08726929e-02 2.36789010e-03 9.99938087e-01 -1.01269235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.514553574 meters Centerline goodness [0,1] 0.8633957564165295 Centerline is valid? [False, False] Translation: X:4.01, Y:0.24, Z:-1.01 [[ 9.99935103e-01 3.20820101e-03 -1.09315130e-02 4.00905300e+00] [-3.19031973e-03 9.99993545e-01 1.65280103e-03 2.37488605e-01] [ 1.09367450e-02 -1.61781874e-03 9.99938883e-01 -1.01210344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.544553574 meters Centerline goodness [0,1] 0.8631611657381306 Centerline is valid? [False, False] Translation: X:4.01, Y:0.24, Z:-1.01 [[ 9.99934789e-01 3.51164615e-03 -1.08667854e-02 4.00880036e+00] [-3.49740581e-03 9.99993001e-01 1.32917243e-03 2.38945613e-01] [ 1.08713770e-02 -1.29108020e-03 9.99940071e-01 -1.01248557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.574553574 meters Centerline goodness [0,1] 0.8662798423174026 Centerline is valid? [False, False] Translation: X:4.01, Y:0.24, Z:-1.01 [[ 9.99935937e-01 4.08189097e-03 -1.05575044e-02 4.00749753e+00] [-4.06768637e-03 9.99990793e-01 1.36657358e-03 2.40029526e-01] [ 1.05629854e-02 -1.32354142e-03 9.99943334e-01 -1.01200412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.604553574 meters Centerline goodness [0,1] 0.8653257253640589 Centerline is valid? [False, False] Translation: X:4.00, Y:0.24, Z:-1.01 [[ 9.99937948e-01 5.05098159e-03 -9.92913128e-03 4.00498458e+00] [-5.03717499e-03 9.99986312e-01 1.41503114e-03 2.42327321e-01] [ 9.93614267e-03 -1.36492856e-03 9.99949704e-01 -1.01091009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.634553574 meters Centerline goodness [0,1] 0.8654281134022883 Centerline is valid? [False, False] Translation: X:4.00, Y:0.24, Z:-1.01 [[ 9.99937970e-01 5.56205532e-03 -9.64987060e-03 4.00364858e+00] [-5.55045027e-03 9.99983841e-01 1.22897723e-03 2.44494134e-01] [ 9.65655030e-03 -1.17533987e-03 9.99952684e-01 -1.01023151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.664553574 meters Centerline goodness [0,1] 0.8665558277913896 Centerline is valid? [False, False] Translation: X:4.00, Y:0.25, Z:-1.01 [[ 9.99937514e-01 5.77106623e-03 -9.57405502e-03 4.00321385e+00] [-5.76086392e-03 9.99982809e-01 1.09285665e-03 2.45711287e-01] [ 9.58019738e-03 -1.03763354e-03 9.99953570e-01 -1.00995112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.694553574 meters Centerline goodness [0,1] 0.8657893590134647 Centerline is valid? [False, False] Translation: X:4.00, Y:0.25, Z:-1.01 [[ 9.99936311e-01 6.39270623e-03 -9.30097859e-03 4.00207669e+00] [-6.38552955e-03 9.99979291e-01 8.01096581e-04 2.48534779e-01] [ 9.30590716e-03 -7.41653886e-04 9.99956424e-01 -1.00978389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.724553574 meters Centerline goodness [0,1] 0.8663706798990163 Centerline is valid? [False, False] Translation: X:4.00, Y:0.25, Z:-1.01 [[ 9.99935562e-01 6.34403788e-03 -9.41403449e-03 4.00247784e+00] [-6.33991251e-03 9.99979793e-01 4.67993007e-04 2.49520412e-01] [ 9.41681323e-03 -4.08278696e-04 9.99955577e-01 -1.01010088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.754553574 meters Centerline goodness [0,1] 0.8706534739588996 Centerline is valid? [False, False] Translation: X:4.00, Y:0.25, Z:-1.01 [[ 9.99935270e-01 6.32072650e-03 -9.46062847e-03 4.00263651e+00] [-6.31837521e-03 9.99980000e-01 2.78401970e-04 2.49996103e-01] [ 9.46219896e-03 -2.18608148e-04 9.99955208e-01 -1.01024202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.78455357399997 meters Centerline goodness [0,1] 0.8668682167170542 Centerline is valid? [False, False] Translation: X:4.00, Y:0.25, Z:-1.01 [[ 9.99934939e-01 6.12311950e-03 -9.62418477e-03 4.00318224e+00] [-6.12554202e-03 9.99981214e-01 -2.22254343e-04 2.51307776e-01] [ 9.62264308e-03 2.81193231e-04 9.99953662e-01 -1.01066514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.81455357399997 meters Centerline goodness [0,1] 0.865671317896747 Centerline is valid? [False, False] Translation: X:4.00, Y:0.25, Z:-1.01 [[ 9.99934714e-01 6.24022729e-03 -9.57216295e-03 4.00299673e+00] [-6.24451164e-03 9.99980416e-01 -4.17761588e-04 2.52474242e-01] [ 9.56936856e-03 4.77507797e-04 9.99954099e-01 -1.01074010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.84455357399997 meters Centerline goodness [0,1] 0.8622812913297053 Centerline is valid? [False, False] Translation: X:4.00, Y:0.25, Z:-1.01 [[ 9.99934951e-01 6.06868862e-03 -9.65739013e-03 4.00329557e+00] [-6.07362020e-03 9.99981440e-01 -4.81406999e-04 2.52196032e-01] [ 9.65428938e-03 5.40031004e-04 9.99953250e-01 -1.01074065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.87455357399998 meters Centerline goodness [0,1] 0.8687957157784744 Centerline is valid? [False, False] Translation: X:4.00, Y:0.25, Z:-1.01 [[ 9.99935125e-01 6.09177308e-03 -9.62472036e-03 4.00295194e+00] [-6.09419398e-03 9.99981406e-01 -2.22221485e-04 2.51411569e-01] [ 9.62318767e-03 2.80861981e-04 9.99953657e-01 -1.01015177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.90455357399998 meters Centerline goodness [0,1] 0.87024014282293 Centerline is valid? [False, False] Translation: X:4.01, Y:0.25, Z:-1.01 [[ 9.99935476e-01 5.17253856e-03 -1.01138240e-02 4.00501455e+00] [-5.17678331e-03 9.99986523e-01 -3.93563127e-04 2.49690067e-01] [ 1.01116520e-02 4.45894808e-04 9.99948777e-01 -1.01104695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.93455357399998 meters Centerline goodness [0,1] 0.8701114576744389 Centerline is valid? [False, False] Translation: X:4.01, Y:0.25, Z:-1.01 [[ 9.99933584e-01 4.62051140e-03 -1.05583354e-02 4.00672354e+00] [-4.62701552e-03 9.99989120e-01 -5.91672579e-04 2.49241138e-01] [ 1.05554867e-02 6.40486864e-04 9.99944084e-01 -1.01190854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.96455357399998 meters Centerline goodness [0,1] 0.8639577513966481 Centerline is valid? [False, False] Translation: X:4.01, Y:0.25, Z:-1.01 [[ 9.99928981e-01 3.50902347e-03 -1.13894336e-02 4.01016501e+00] [-3.52180834e-03 9.99993190e-01 -1.10265804e-03 2.48283396e-01] [ 1.13854868e-02 1.14269114e-03 9.99934530e-01 -1.01406119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.99455357399998 meters Centerline goodness [0,1] 0.8676606209652629 Centerline is valid? [False, False] Translation: X:4.01, Y:0.25, Z:-1.02 [[ 9.99925924e-01 2.96311914e-03 -1.18053809e-02 4.01190066e+00] [-2.97627523e-03 9.99994969e-01 -1.09700175e-03 2.46267758e-01] [ 1.18020709e-02 1.13205655e-03 9.99929712e-01 -1.01501102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.02455357399998 meters Centerline goodness [0,1] 0.8704518456597299 Centerline is valid? [False, False] Translation: X:4.01, Y:0.25, Z:-1.02 [[ 9.99926005e-01 3.06431321e-03 -1.17726342e-02 4.01189592e+00] [-3.07572264e-03 9.99994818e-01 -9.51165501e-04 2.45627648e-01] [ 1.17696585e-02 9.87304477e-04 9.99930248e-01 -1.01513789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.05455357399998 meters Centerline goodness [0,1] 0.8694029031337154 Centerline is valid? [False, False] Translation: X:4.01, Y:0.25, Z:-1.02 [[ 9.99926362e-01 3.33706140e-03 -1.16676770e-02 4.01157647e+00] [-3.34658644e-03 9.99994083e-01 -7.96931888e-04 2.45596106e-01] [ 1.16649486e-02 8.35920093e-04 9.99931613e-01 -1.01510714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.08455357399998 meters Centerline goodness [0,1] 0.8665552427867699 Centerline is valid? [False, False] Translation: X:4.01, Y:0.25, Z:-1.02 [[ 9.99927381e-01 3.57908481e-03 -1.15074863e-02 4.01122131e+00] [-3.58763660e-03 9.99993303e-01 -7.22593386e-04 2.45680966e-01] [ 1.15048230e-02 7.63825592e-04 9.99933526e-01 -1.01528475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.11455357399998 meters Centerline goodness [0,1] 0.870354459938757 Centerline is valid? [False, False] Translation: X:4.01, Y:0.25, Z:-1.02 [[ 9.99927306e-01 3.52330385e-03 -1.15312572e-02 4.01121796e+00] [-3.53038214e-03 9.99993592e-01 -5.93537594e-04 2.45276171e-01] [ 1.15290921e-02 6.34204191e-04 9.99933337e-01 -1.01505619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.14455357399999 meters Centerline goodness [0,1] 0.8663964023836424 Centerline is valid? [False, False] Translation: X:4.01, Y:0.24, Z:-1.01 [[ 9.99937787e-01 -1.19837333e-04 -1.11538257e-02 4.00977064e+00] [ 7.42130678e-05 9.99991630e-01 -4.09078291e-03 2.44208513e-01] [ 1.11542226e-02 4.08970065e-03 9.99929426e-01 -1.01416090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.174553574 meters Centerline goodness [0,1] 0.8668104790285994 Centerline is valid? [False, False] Translation: X:4.01, Y:0.24, Z:-1.01 [[ 9.99931030e-01 -1.81115932e-03 -1.16041280e-02 4.01162313e+00] [ 1.76251650e-03 9.99989624e-01 -4.20071110e-03 2.41485763e-01] [ 1.16116158e-02 4.17996891e-03 9.99923846e-01 -1.01355840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.204553574 meters Centerline goodness [0,1] 0.8668104790285994 Centerline is valid? [False, False] Translation: X:4.01, Y:0.24, Z:-1.01 [[ 9.99931030e-01 -1.81115932e-03 -1.16041280e-02 4.01162313e+00] [ 1.76251650e-03 9.99989624e-01 -4.20071110e-03 2.41485763e-01] [ 1.16116158e-02 4.17996891e-03 9.99923846e-01 -1.01355840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.234553574 meters Centerline goodness [0,1] 0.8653593607407573 Centerline is valid? [False, False] Translation: X:4.01, Y:0.24, Z:-1.01 [[ 9.99926618e-01 -2.27753317e-03 -1.18983917e-02 4.01266995e+00] [ 2.22714470e-03 9.99988504e-01 -4.24643228e-03 2.41197411e-01] [ 1.19079263e-02 4.21962123e-03 9.99920195e-01 -1.01370525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.264553574 meters Centerline goodness [0,1] 0.8656646730551171 Centerline is valid? [False, False] Translation: X:4.01, Y:0.24, Z:-1.01 [[ 9.99920373e-01 -2.76904323e-03 -1.23118046e-02 4.01419850e+00] [ 2.71305876e-03 9.99985915e-01 -4.56159832e-03 2.41721540e-01] [ 1.23242625e-02 4.52783244e-03 9.99913802e-01 -1.01442977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.294553574 meters Centerline goodness [0,1] 0.8614072022160665 Centerline is valid? [False, False] Translation: X:4.02, Y:0.24, Z:-1.02 [[ 9.99913028e-01 -3.35307927e-03 -1.27551243e-02 4.01604957e+00] [ 3.28638488e-03 9.99980838e-01 -5.24620263e-03 2.43186269e-01] [ 1.27724708e-02 5.20382811e-03 9.99904888e-01 -1.01578334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.324553574 meters Centerline goodness [0,1] 0.8668550238389546 Centerline is valid? [False, False] Translation: X:4.02, Y:0.24, Z:-1.02 [[ 9.99911680e-01 -3.39980571e-03 -1.28481127e-02 4.01628742e+00] [ 3.33191182e-03 9.99980393e-01 -5.30206297e-03 2.43715331e-01] [ 1.28658868e-02 5.25878591e-03 9.99903402e-01 -1.01570988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.354553574 meters Centerline goodness [0,1] 0.8671581032016724 Centerline is valid? [False, False] Translation: X:4.02, Y:0.24, Z:-1.02 [[ 9.99909754e-01 -3.46981789e-03 -1.29786322e-02 4.01637389e+00] [ 3.39867517e-03 9.99979102e-01 -5.49957180e-03 2.44786568e-01] [ 1.29974434e-02 5.45496532e-03 9.99900650e-01 -1.01529552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.384553574 meters Centerline goodness [0,1] 0.8521252059308073 Centerline is valid? [False, False] Translation: X:4.02, Y:0.25, Z:-1.02 [[ 9.99907391e-01 -3.58793126e-03 -1.31276699e-02 4.01681949e+00] [ 3.51234685e-03 9.99977149e-01 -5.77617278e-03 2.45873806e-01] [ 1.31480944e-02 5.72952892e-03 9.99897145e-01 -1.01539073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.414553574 meters Centerline goodness [0,1] 0.8707462164290088 Centerline is valid? [False, False] Translation: X:4.02, Y:0.25, Z:-1.02 [[ 9.99903288e-01 -3.80222879e-03 -1.33774980e-02 4.01771972e+00] [ 3.71908776e-03 9.99973650e-01 -6.23438888e-03 2.47501613e-01] [ 1.34008500e-02 6.18403385e-03 9.99891082e-01 -1.01590962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.444553574 meters Centerline goodness [0,1] 0.8695293325514215 Centerline is valid? [False, False] Translation: X:4.01, Y:0.25, Z:-1.02 [[ 9.99963346e-01 -6.28978762e-03 -5.80903148e-03 4.00978427e+00] [ 6.27442129e-03 9.99976779e-01 -2.65969491e-03 2.51494733e-01] [ 5.82562551e-03 2.62314912e-03 9.99979590e-01 -1.01989095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.474553574 meters Centerline goodness [0,1] 0.8561873633628434 Centerline is valid? [False, False] Translation: X:4.01, Y:0.25, Z:-1.02 [[ 9.99970337e-01 -4.04558251e-03 -6.55428830e-03 4.01204438e+00] [ 4.04881855e-03 9.99991688e-01 4.80534942e-04 2.52393046e-01] [ 6.55228977e-03 -5.07057812e-04 9.99978405e-01 -1.01947653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.504553574 meters Centerline goodness [0,1] 0.8592011751236688 Centerline is valid? [False, False] Translation: X:4.01, Y:0.25, Z:-1.02 [[ 9.99970165e-01 -4.00428958e-03 -6.60562861e-03 4.01204814e+00] [ 4.00653705e-03 9.99991920e-01 3.27037382e-04 2.53443987e-01] [ 6.60426569e-03 -3.53493321e-04 9.99978129e-01 -1.01934914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53455357399997 meters Centerline goodness [0,1] 0.8680891499654457 Centerline is valid? [False, False] Translation: X:4.01, Y:0.25, Z:-1.02 [[ 9.99969878e-01 -3.94545547e-03 -6.68404815e-03 4.01227633e+00] [ 3.94630665e-03 9.99992207e-01 1.14161752e-04 2.54632478e-01] [ 6.68354564e-03 -1.40535617e-04 9.99977655e-01 -1.01956686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.56455357399997 meters Centerline goodness [0,1] 0.8712228669675478 Centerline is valid? [False, False] Translation: X:4.01, Y:0.26, Z:-1.02 [[ 9.99971098e-01 -3.61520045e-03 -6.68837433e-03 4.01222558e+00] [ 3.61359741e-03 9.99993439e-01 -2.51744706e-04 2.57106373e-01] [ 6.68924056e-03 2.27568337e-04 9.99977601e-01 -1.01997245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.59455357399997 meters Centerline goodness [0,1] 0.8719953601271668 Centerline is valid? [False, False] Translation: X:4.01, Y:0.26, Z:-1.02 [[ 9.99972693e-01 -3.30860431e-03 -6.60801922e-03 4.01179031e+00] [ 3.30678134e-03 9.99994491e-01 -2.86779506e-04 2.58222547e-01] [ 6.60893166e-03 2.64920401e-04 9.99978126e-01 -1.01979713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.62455357399998 meters Centerline goodness [0,1] 0.8714536727522071 Centerline is valid? [False, False] Translation: X:4.01, Y:0.26, Z:-1.02 [[ 9.99978886e-01 -2.19639009e-03 -6.11582325e-03 4.00943157e+00] [ 2.19701492e-03 9.99997582e-01 9.54503666e-05 2.59961066e-01] [ 6.11559882e-03 -1.08884906e-04 9.99981294e-01 -1.01849336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.65455357399998 meters Centerline goodness [0,1] 0.8730573275677527 Centerline is valid? [False, False] Translation: X:4.01, Y:0.26, Z:-1.02 [[ 9.99982723e-01 -1.41820183e-03 -5.70457235e-03 4.00769181e+00] [ 1.42004793e-03 9.99998941e-01 3.19579822e-04 2.61227167e-01] [ 5.70411308e-03 -3.27675067e-04 9.99983678e-01 -1.01761815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.68455357399998 meters Centerline goodness [0,1] 0.8723921669013184 Centerline is valid? [False, False] Translation: X:4.01, Y:0.26, Z:-1.02 [[ 9.99985491e-01 -6.91151205e-04 -5.34233624e-03 4.00631281e+00] [ 6.93230103e-04 9.99999685e-01 3.87294471e-04 2.62781553e-01] [ 5.34206688e-03 -3.90992320e-04 9.99985655e-01 -1.01711978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.71455357399998 meters Centerline goodness [0,1] 0.8728867555857616 Centerline is valid? [False, False] Translation: X:4.00, Y:0.27, Z:-1.02 [[ 9.99988785e-01 9.99425461e-04 -4.62935919e-03 4.00309499e+00] [-9.95416941e-04 9.99999128e-01 8.68114042e-04 2.65783522e-01] [ 4.63022277e-03 -8.63496163e-04 9.99988908e-01 -1.01553706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.74455357399998 meters Centerline goodness [0,1] 0.8727338114277252 Centerline is valid? [False, False] Translation: X:4.00, Y:0.27, Z:-1.02 [[ 9.99988822e-01 1.68692390e-03 -4.41696227e-03 4.00223015e+00] [-1.68453584e-03 9.99998433e-01 5.44319488e-04 2.68790303e-01] [ 4.41787357e-03 -5.36872873e-04 9.99990097e-01 -1.01564127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.77455357399998 meters Centerline goodness [0,1] 0.8717592300077925 Centerline is valid? [False, False] Translation: X:4.00, Y:0.27, Z:-1.02 [[ 9.99988323e-01 1.82405204e-03 -4.47517251e-03 4.00231244e+00] [-1.82271282e-03 9.99998293e-01 3.03315590e-04 2.70270128e-01] [ 4.47571814e-03 -2.95155094e-04 9.99989940e-01 -1.01577685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.80455357399998 meters Centerline goodness [0,1] 0.8733065730055193 Centerline is valid? [False, False] Translation: X:4.00, Y:0.27, Z:-1.02 [[ 9.99988467e-01 1.42168839e-03 -4.58751225e-03 4.00263074e+00] [-1.42301640e-03 9.99998947e-01 -2.86231595e-04 2.72288016e-01] [ 4.58710048e-03 2.92756399e-04 9.99989436e-01 -1.01551781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.83455357399998 meters Centerline goodness [0,1] 0.8732131628589395 Centerline is valid? [False, False] Translation: X:4.00, Y:0.27, Z:-1.02 [[ 9.99988231e-01 1.03790658e-03 -4.73932683e-03 4.00302221e+00] [-1.04040042e-03 9.99999322e-01 -5.23766908e-04 2.72885451e-01] [ 4.73878000e-03 5.28691541e-04 9.99988632e-01 -1.01526948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.86455357399998 meters Centerline goodness [0,1] 0.8749633661293699 Centerline is valid? [False, False] Translation: X:4.00, Y:0.27, Z:-1.02 [[ 9.99987052e-01 4.61568220e-04 -5.06788467e-03 4.00391450e+00] [-4.65489774e-04 9.99999593e-01 -7.72652714e-04 2.73256276e-01] [ 5.06752597e-03 7.75001758e-04 9.99986860e-01 -1.01502869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.89455357399999 meters Centerline goodness [0,1] 0.8565700442736613 Centerline is valid? [False, False] Translation: X:4.01, Y:0.27, Z:-1.02 [[ 9.99981670e-01 -1.59360610e-03 -5.84117661e-03 4.00675658e+00] [ 1.58212586e-03 9.99996809e-01 -1.96949179e-03 2.74106519e-01] [ 5.84429656e-03 1.96021422e-03 9.99981001e-01 -1.01553819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.924553574 meters Centerline goodness [0,1] 0.8770570345373495 Centerline is valid? [False, False] Translation: X:4.01, Y:0.27, Z:-1.02 [[ 9.99972860e-01 -3.31109750e-03 -6.58146954e-03 4.00955748e+00] [ 3.29144124e-03 9.99990098e-01 -2.99519762e-03 2.74925713e-01] [ 6.59132176e-03 2.97345381e-03 9.99973856e-01 -1.01641698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.954553574 meters Centerline goodness [0,1] 0.8750260015808962 Centerline is valid? [False, False] Translation: X:4.01, Y:0.28, Z:-1.02 [[ 9.99970447e-01 -3.68326182e-03 -6.74828973e-03 4.01020368e+00] [ 3.66125349e-03 9.99987949e-01 -3.27077614e-03 2.75732572e-01] [ 6.76025553e-03 3.24597228e-03 9.99971881e-01 -1.01659239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.984553574 meters Centerline goodness [0,1] 0.8697384806973848 Centerline is valid? [False, False] Translation: X:4.01, Y:0.28, Z:-1.02 [[ 9.99968365e-01 -3.93702161e-03 -6.91156511e-03 4.01076919e+00] [ 3.91242033e-03 9.99985976e-01 -3.56935649e-03 2.76748557e-01] [ 6.92552081e-03 3.54220262e-03 9.99969745e-01 -1.01676177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.014553574 meters Centerline goodness [0,1] 0.8765616259556218 Centerline is valid? [False, False] Translation: X:4.01, Y:0.28, Z:-1.02 [[ 9.99967026e-01 -4.02922066e-03 -7.05067973e-03 4.01114354e+00] [ 4.00116695e-03 9.99984041e-01 -3.98845827e-03 2.78625195e-01] [ 7.06663759e-03 3.96011581e-03 9.99967190e-01 -1.01694512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.044553574 meters Centerline goodness [0,1] 0.8534126590646174 Centerline is valid? [False, False] Translation: X:4.01, Y:0.28, Z:-1.02 [[ 9.99972007e-01 -5.80081437e-04 -7.45976791e-03 4.01226334e+00] [ 5.77828299e-04 9.99999787e-01 -3.04190353e-04 2.79389665e-01] [ 7.45994278e-03 2.99871373e-04 9.99972129e-01 -1.01674796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.074553574 meters Centerline goodness [0,1] 0.8511463772004044 Centerline is valid? [False, False] Translation: X:4.01, Y:0.28, Z:-1.02 [[ 9.99973993e-01 2.81083841e-05 -7.21203505e-03 4.01123252e+00] [-2.97125410e-05 9.99999975e-01 -2.22320714e-04 2.80627417e-01] [ 7.21202862e-03 2.22529220e-04 9.99973968e-01 -1.01634729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.104553574 meters Centerline goodness [0,1] 0.8809401304822079 Centerline is valid? [False, False] Translation: X:4.01, Y:0.28, Z:-1.02 [[ 9.99975340e-01 7.28288972e-04 -6.98493943e-03 4.01021931e+00] [-7.29336344e-04 9.99999723e-01 -1.47401195e-04 2.82233656e-01] [ 6.98483014e-03 1.52491930e-04 9.99975594e-01 -1.01601131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.134553574 meters Centerline goodness [0,1] 0.8633114156373543 Centerline is valid? [False, False] Translation: X:4.01, Y:0.28, Z:-1.02 [[ 9.99976063e-01 1.41903872e-03 -6.77203359e-03 4.00947161e+00] [-1.42166720e-03 9.99998916e-01 -3.83339512e-04 2.84519950e-01] [ 6.77148227e-03 3.92957914e-04 9.99976996e-01 -1.01624264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.164553574 meters Centerline goodness [0,1] 0.8770950858399691 Centerline is valid? [False, False] Translation: X:4.01, Y:0.29, Z:-1.02 [[ 9.99960326e-01 5.92289704e-03 -6.65319745e-03 4.00876438e+00] [-5.90177979e-03 9.99977499e-01 3.18916098e-03 2.87725561e-01] [ 6.67193682e-03 -3.14976875e-03 9.99972782e-01 -1.01587169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.194553574 meters Centerline goodness [0,1] 0.8782943380937911 Centerline is valid? [False, False] Translation: X:4.01, Y:0.29, Z:-1.02 [[ 9.99956014e-01 6.56788598e-03 -6.69574099e-03 4.00872020e+00] [-6.55117990e-03 9.99975381e-01 2.51391880e-03 2.91013609e-01] [ 6.71208728e-03 -2.46994322e-03 9.99974423e-01 -1.01656434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.224553574 meters Centerline goodness [0,1] 0.8788282290279628 Centerline is valid? [False, False] Translation: X:4.01, Y:0.29, Z:-1.02 [[ 9.99955992e-01 6.46854522e-03 -6.79493333e-03 4.00920382e+00] [-6.45533787e-03 9.99977236e-01 1.96384335e-03 2.92491052e-01] [ 6.80748185e-03 -1.91989334e-03 9.99974986e-01 -1.01714102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.254553574 meters Centerline goodness [0,1] 0.8825621345763597 Centerline is valid? [False, False] Translation: X:4.01, Y:0.29, Z:-1.02 [[ 9.99956608e-01 6.30554370e-03 -6.85731748e-03 4.00963174e+00] [-6.29566912e-03 9.99979115e-01 1.46063994e-03 2.93927491e-01] [ 6.86638440e-03 -1.41740516e-03 9.99975422e-01 -1.01757198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.28455357399997 meters Centerline goodness [0,1] 0.8505273269427045 Centerline is valid? [False, False] Translation: X:4.01, Y:0.30, Z:-1.02 [[ 9.99958397e-01 5.98973703e-03 -6.87946326e-03 4.00961986e+00] [-5.98404251e-03 9.99981736e-01 8.48042306e-04 2.96156428e-01] [ 6.88441716e-03 -8.06840025e-04 9.99975977e-01 -1.01737708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.31455357399997 meters Centerline goodness [0,1] 0.8531542499052028 Centerline is valid? [False, False] Translation: X:4.01, Y:0.30, Z:-1.02 [[ 9.99959530e-01 5.73955540e-03 -6.92789550e-03 4.00987827e+00] [-5.73744441e-03 9.99983488e-01 3.24544871e-04 2.97719477e-01] [ 6.92964385e-03 -2.84783322e-04 9.99975949e-01 -1.01754834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.34455357399997 meters Centerline goodness [0,1] 0.8869625657829411 Centerline is valid? [False, False] Translation: X:4.01, Y:0.30, Z:-1.02 [[ 9.99960682e-01 5.30071655e-03 -7.10898213e-03 4.01038364e+00] [-5.30433624e-03 9.99985812e-01 -4.90412799e-04 3.00640668e-01] [ 7.10628172e-03 5.28101948e-04 9.99974611e-01 -1.01767921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.37455357399998 meters Centerline goodness [0,1] 0.8852579219595331 Centerline is valid? [False, False] Translation: X:4.01, Y:0.30, Z:-1.02 [[ 9.99960963e-01 4.94670894e-03 -7.32137106e-03 4.01103077e+00] [-4.95309368e-03 9.99987369e-01 -8.54194140e-04 3.01539078e-01] [ 7.31705313e-03 8.90424232e-04 9.99972834e-01 -1.01778979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.40455357399998 meters Centerline goodness [0,1] 0.8723568238409549 Centerline is valid? [False, False] Translation: X:4.01, Y:0.30, Z:-1.02 [[ 9.99962979e-01 3.90474495e-03 -7.66770765e-03 4.01220629e+00] [-3.91878044e-03 9.99990672e-01 -1.81629647e-03 3.03014558e-01] [ 7.66054395e-03 1.84627730e-03 9.99968953e-01 -1.01800545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.43455357399998 meters Centerline goodness [0,1] 0.8510512638790456 Centerline is valid? [False, False] Translation: X:4.01, Y:0.30, Z:-1.02 [[ 9.99963392e-01 3.52977943e-03 -7.79461505e-03 4.01267493e+00] [-3.54771643e-03 9.99991088e-01 -2.28857762e-03 3.04194838e-01] [ 7.78646741e-03 2.31614693e-03 9.99967003e-01 -1.01808315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.46455357399998 meters Centerline goodness [0,1] 0.8824599495334781 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:-1.02 [[ 9.99964093e-01 2.97511443e-03 -7.93483294e-03 4.01303377e+00] [-3.00150453e-03 9.99989997e-01 -3.31602191e-03 3.07610122e-01] [ 7.92488802e-03 3.33971928e-03 9.99963021e-01 -1.01808116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.49455357399998 meters Centerline goodness [0,1] 0.874664957464165 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:-1.02 [[ 9.99963279e-01 2.83217914e-03 -8.08822350e-03 4.01339847e+00] [-2.86211500e-03 9.99989089e-01 -3.69199343e-03 3.09361250e-01] [ 8.07767886e-03 3.71500728e-03 9.99960474e-01 -1.01793520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.52455357399998 meters Centerline goodness [0,1] 0.872211228805339 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:-1.02 [[ 9.99962885e-01 2.53713517e-03 -8.23353688e-03 4.01370906e+00] [-2.57413809e-03 9.99986622e-01 -4.48668953e-03 3.12022783e-01] [ 8.22204339e-03 4.50771727e-03 9.99956038e-01 -1.01800024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.55455357399998 meters Centerline goodness [0,1] 0.8587646719261113 Centerline is valid? [False, False] Translation: X:4.02, Y:0.31, Z:-1.02 [[ 9.99951167e-01 3.96168531e-03 -9.05363192e-03 4.01787983e+00] [-3.98440892e-03 9.99988954e-01 -2.49323085e-03 3.12067660e-01] [ 9.04365451e-03 2.52918247e-03 9.99955907e-01 -1.02021246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.58455357399998 meters Centerline goodness [0,1] 0.8863797837817079 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:-1.02 [[ 9.99998755e-01 5.54972350e-04 -1.47703087e-03 4.00861783e+00] [-5.52307266e-04 9.99998220e-01 1.80414913e-03 3.14843316e-01] [ 1.47802950e-03 -1.80333111e-03 9.99997282e-01 -1.02352027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.61455357399998 meters Centerline goodness [0,1] 0.8817599756088266 Centerline is valid? [False, False] Translation: X:4.01, Y:0.32, Z:-1.03 [[ 9.99997949e-01 -1.78658573e-04 -2.01725040e-03 4.01115807e+00] [ 1.80334050e-04 9.99999639e-01 8.30423220e-04 3.16216646e-01] [ 2.01710131e-03 -8.30785296e-04 9.99997621e-01 -1.02552303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.64455357399999 meters Centerline goodness [0,1] 0.8834838832366645 Centerline is valid? [False, False] Translation: X:4.01, Y:0.32, Z:-1.03 [[ 9.99996909e-01 -3.63504269e-04 -2.45956313e-03 4.01265434e+00] [ 3.64595976e-04 9.99999835e-01 4.43428552e-04 3.17359705e-01] [ 2.45940154e-03 -4.44323928e-04 9.99996877e-01 -1.02651291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.674553574 meters Centerline goodness [0,1] 0.8945403729086105 Centerline is valid? [False, False] Translation: X:4.01, Y:0.32, Z:-1.03 [[ 9.99996931e-01 -8.88000613e-05 -2.47589202e-03 4.01244677e+00] [ 9.04884615e-05 9.99999763e-01 6.81832469e-04 3.17275978e-01] [ 2.47583089e-03 -6.82054416e-04 9.99996703e-01 -1.02616019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.704553574 meters Centerline goodness [0,1] 0.8710847091498226 Centerline is valid? [False, False] Translation: X:4.01, Y:0.32, Z:-1.02 [[ 9.99996236e-01 1.82797069e-03 -2.04614498e-03 4.00983430e+00] [-1.82439550e-03 9.99996808e-01 1.74778852e-03 3.18627402e-01] [ 2.04933335e-03 -1.74404896e-03 9.99996379e-01 -1.02450801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.734553574 meters Centerline goodness [0,1] 0.8726526838851332 Centerline is valid? [False, False] Translation: X:4.01, Y:0.32, Z:-1.02 [[ 9.99994153e-01 2.80786984e-03 -1.95173903e-03 4.00942667e+00] [-2.80447210e-03 9.99994551e-01 1.74144354e-03 3.20705548e-01] [ 1.95661814e-03 -1.73595976e-03 9.99996579e-01 -1.02496784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.764553574 meters Centerline goodness [0,1] 0.8930663501665455 Centerline is valid? [False, False] Translation: X:4.01, Y:0.32, Z:-1.02 [[ 9.99961136e-01 8.66821243e-03 -1.60878326e-03 4.00750077e+00] [-8.65813048e-03 9.99943474e-01 6.17141087e-03 3.24082460e-01] [ 1.66218742e-03 -6.15724197e-03 9.99979663e-01 -1.02397736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.794553574 meters Centerline goodness [0,1] 0.8941194451874211 Centerline is valid? [False, False] Translation: X:4.01, Y:0.33, Z:-1.02 [[ 9.99949355e-01 9.98760957e-03 -1.23909348e-03 4.00582616e+00] [-9.97932143e-03 9.99928924e-01 6.52385223e-03 3.25843697e-01] [ 1.30416310e-03 -6.51115651e-03 9.99977952e-01 -1.02322762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.824553574 meters Centerline goodness [0,1] 0.8927926042875349 Centerline is valid? [False, False] Translation: X:4.00, Y:0.33, Z:-1.02 [[ 9.99884256e-01 1.52061804e-02 -4.96216169e-04 4.00288459e+00] [-1.51997809e-02 9.99823575e-01 1.10356736e-02 3.27343397e-01] [ 6.63939069e-04 -1.10268540e-02 9.99938982e-01 -1.02099784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.854553574 meters Centerline goodness [0,1] 0.8961902229650169 Centerline is valid? [False, False] Translation: X:4.00, Y:0.33, Z:-1.02 [[ 9.99878865e-01 1.55608194e-02 -3.40269236e-04 4.00228047e+00] [-1.55562227e-02 9.99820332e-01 1.08308310e-02 3.28649689e-01] [ 5.08744706e-04 -1.08242257e-02 9.99941287e-01 -1.02078447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.884553574 meters Centerline goodness [0,1] 0.8958779088482003 Centerline is valid? [False, False] Translation: X:4.00, Y:0.33, Z:-1.02 [[ 9.99908713e-01 1.35116403e-02 -3.70854969e-05 4.00037902e+00] [-1.35109466e-02 9.99878662e-01 7.75337485e-03 3.30519899e-01] [ 1.41841809e-04 -7.75216601e-03 9.99969941e-01 -1.02006032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.914553574 meters Centerline goodness [0,1] 0.8950494674914401 Centerline is valid? [False, False] Translation: X:4.00, Y:0.33, Z:-1.02 [[ 9.99950378e-01 9.96144295e-03 1.08500883e-04 3.99987496e+00] [-9.96174919e-03 9.99944830e-01 3.33171039e-03 3.32503264e-01] [-7.53062541e-05 -3.33262592e-03 9.99994444e-01 -1.02058268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.944553574 meters Centerline goodness [0,1] 0.8926798890377612 Centerline is valid? [False, False] Translation: X:4.00, Y:0.33, Z:-1.02 [[ 9.99982678e-01 5.88573539e-03 4.91368999e-05 4.00021467e+00] [-5.88567129e-03 9.99981940e-01 -1.21596359e-03 3.34704459e-01] [-5.62928524e-05 1.21565332e-03 9.99999260e-01 -1.02143705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.974553574 meters Centerline goodness [0,1] 0.8946842224402022 Centerline is valid? [False, False] Translation: X:4.00, Y:0.33, Z:-1.02 [[ 9.99988999e-01 4.65903758e-03 -5.44175971e-04 4.00257023e+00] [-4.66010983e-03 9.99987169e-01 -1.98604304e-03 3.34506224e-01] [ 5.34915940e-04 1.98855711e-03 9.99997880e-01 -1.02251263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.004553574 meters Centerline goodness [0,1] 0.8894134531857839 Centerline is valid? [False, False] Translation: X:4.00, Y:0.33, Z:-1.02 [[ 9.99992347e-01 3.83728702e-03 -7.62148683e-04 4.00331607e+00] [-3.83891157e-03 9.99990338e-01 -2.14163809e-03 3.33550546e-01] [ 7.53923239e-04 2.14454752e-03 9.99997416e-01 -1.02227080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03455357399997 meters Centerline goodness [0,1] 0.8936411166267152 Centerline is valid? [False, False] Translation: X:4.00, Y:0.33, Z:-1.02 [[ 9.99999124e-01 -8.72884604e-04 -9.95379947e-04 4.00424104e+00] [ 8.66372066e-04 9.99978340e-01 -6.52453379e-03 3.33413732e-01] [ 1.00105355e-03 6.52366570e-03 9.99978220e-01 -1.02277537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.06455357399997 meters Centerline goodness [0,1] 0.8976965278821585 Centerline is valid? [False, False] Translation: X:4.01, Y:0.33, Z:-1.02 [[ 9.99995101e-01 -2.64290280e-03 -1.67716522e-03 4.00713070e+00] [ 2.63011585e-03 9.99967804e-01 -7.58109435e-03 3.33428367e-01] [ 1.69714731e-03 7.57664607e-03 9.99969857e-01 -1.02421587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.09455357399997 meters Centerline goodness [0,1] 0.8976965278821585 Centerline is valid? [False, False] Translation: X:4.01, Y:0.33, Z:-1.02 [[ 9.99995101e-01 -2.64290280e-03 -1.67716522e-03 4.00713070e+00] [ 2.63011585e-03 9.99967804e-01 -7.58109435e-03 3.33428367e-01] [ 1.69714731e-03 7.57664607e-03 9.99969857e-01 -1.02421587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.12455357399998 meters Centerline goodness [0,1] 0.8959230089659969 Centerline is valid? [False, False] Translation: X:4.01, Y:0.33, Z:-1.02 [[ 9.99992931e-01 -3.15757684e-03 -2.04164969e-03 4.00851077e+00] [ 3.14141635e-03 9.99964091e-01 -7.87074897e-03 3.33601187e-01] [ 2.06642887e-03 7.86427965e-03 9.99966941e-01 -1.02482970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.15455357399998 meters Centerline goodness [0,1] 0.8974435696519739 Centerline is valid? [False, False] Translation: X:4.01, Y:0.33, Z:-1.03 [[ 9.99989885e-01 -3.76392671e-03 -2.46219857e-03 4.01017612e+00] [ 3.74320018e-03 9.99957973e-01 -8.36902441e-03 3.33962974e-01] [ 2.49359548e-03 8.35972326e-03 9.99961948e-01 -1.02571353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.18455357399998 meters Centerline goodness [0,1] 0.8791393198090692 Centerline is valid? [False, False] Translation: X:4.01, Y:0.33, Z:-1.03 [[ 9.99993585e-01 -1.83165570e-03 -3.07829327e-03 4.01300441e+00] [ 1.81444354e-03 9.99982758e-01 -5.58498120e-03 3.33467945e-01] [ 3.08846996e-03 5.57935998e-03 9.99979666e-01 -1.02670336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.21455357399998 meters Centerline goodness [0,1] 0.888652084501776 Centerline is valid? [False, False] Translation: X:4.01, Y:0.33, Z:-1.03 [[ 9.99993318e-01 -1.75011655e-03 -3.20946026e-03 4.01327970e+00] [ 1.73236415e-03 9.99983232e-01 -5.52573546e-03 3.33577799e-01] [ 3.21907713e-03 5.52013859e-03 9.99979583e-01 -1.02669357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.24455357399998 meters Centerline goodness [0,1] 0.8856007981777452 Centerline is valid? [False, False] Translation: X:4.01, Y:0.33, Z:-1.03 [[ 9.99994148e-01 -1.11038881e-03 -3.23575089e-03 4.01301118e+00] [ 1.09321694e-03 9.99985337e-01 -5.30386521e-03 3.34346943e-01] [ 3.24159280e-03 5.30029680e-03 9.99980699e-01 -1.02665511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.27455357399998 meters Centerline goodness [0,1] 0.8935256386211036 Centerline is valid? [False, False] Translation: X:4.01, Y:0.33, Z:-1.03 [[ 9.99990534e-01 2.66401489e-03 -3.44028822e-03 4.01374171e+00] [-2.66891926e-03 9.99995428e-01 -1.42176547e-03 3.34768064e-01] [ 3.43648489e-03 1.43093386e-03 9.99993071e-01 -1.02671997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.30455357399998 meters Centerline goodness [0,1] 0.897108044075063 Centerline is valid? [False, False] Translation: X:4.01, Y:0.34, Z:-1.03 [[ 9.99989329e-01 3.35610279e-03 -3.17464863e-03 4.01240803e+00] [-3.35912875e-03 9.99993908e-01 -9.48313901e-04 3.35139053e-01] [ 3.17144665e-03 9.58967835e-04 9.99994511e-01 -1.02577495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.33455357399998 meters Centerline goodness [0,1] 0.897347759119426 Centerline is valid? [False, False] Translation: X:4.01, Y:0.34, Z:-1.03 [[ 9.99988599e-01 3.49427415e-03 -3.25446216e-03 4.01272525e+00] [-3.49755383e-03 9.99993381e-01 -1.00260237e-03 3.35449495e-01] [ 3.25093725e-03 1.01397360e-03 9.99994202e-01 -1.02595501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.36455357399998 meters Centerline goodness [0,1] 0.8972749886928991 Centerline is valid? [False, False] Translation: X:4.01, Y:0.34, Z:-1.02 [[ 9.99983952e-01 4.90868369e-03 -2.82850296e-03 4.01064086e+00] [-4.90905278e-03 9.99987943e-01 -1.23561039e-04 3.35586560e-01] [ 2.82786234e-03 1.37444327e-04 9.99995992e-01 -1.02461935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.39455357399999 meters Centerline goodness [0,1] 0.8928941176470588 Centerline is valid? [False, False] Translation: X:4.01, Y:0.34, Z:-1.02 [[ 9.99981845e-01 5.31250614e-03 -2.84386033e-03 4.01060367e+00] [-5.31252045e-03 9.99985888e-01 2.52198911e-06 3.35797067e-01] [ 2.84383359e-03 1.25861228e-05 9.99995956e-01 -1.02457094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.424553574 meters Centerline goodness [0,1] 0.894874743171665 Centerline is valid? [False, False] Translation: X:4.01, Y:0.34, Z:-1.02 [[ 9.99971865e-01 6.97718615e-03 -2.75479350e-03 4.00987301e+00] [-6.97518128e-03 9.99975402e-01 7.36714334e-04 3.36455003e-01] [ 2.75986593e-03 -7.17478423e-04 9.99995934e-01 -1.02471928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.454553574 meters Centerline goodness [0,1] 0.8927224024749113 Centerline is valid? [False, False] Translation: X:4.01, Y:0.34, Z:-1.03 [[ 9.99968224e-01 7.46683284e-03 -2.79229480e-03 4.01014509e+00] [-7.46482676e-03 9.99971873e-01 7.28166961e-04 3.37190425e-01] [ 2.79765336e-03 -7.07299826e-04 9.99995836e-01 -1.02535365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.484553574 meters Centerline goodness [0,1] 0.8883081468014998 Centerline is valid? [False, False] Translation: X:4.01, Y:0.34, Z:-1.02 [[ 9.99955765e-01 9.12480025e-03 -2.28154214e-03 4.00798950e+00] [-9.12044817e-03 9.99956582e-01 1.91069902e-03 3.36434560e-01] [ 2.29887783e-03 -1.88980582e-03 9.99995572e-01 -1.02418248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.514553574 meters Centerline goodness [0,1] 0.8886823234814281 Centerline is valid? [False, False] Translation: X:4.01, Y:0.34, Z:-1.02 [[ 9.99952120e-01 9.53545182e-03 -2.19832490e-03 4.00769042e+00] [-9.53051332e-03 9.99952061e-01 2.24612011e-03 3.35856040e-01] [ 2.21963728e-03 -2.22506140e-03 9.99995061e-01 -1.02396894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.544553574 meters Centerline goodness [0,1] 0.8890327494287891 Centerline is valid? [False, False] Translation: X:4.01, Y:0.33, Z:-1.02 [[ 9.99939029e-01 1.09010669e-02 -1.76201071e-03 4.00599962e+00] [-1.08951457e-02 9.99935082e-01 3.33586677e-03 3.34628343e-01] [ 1.79826083e-03 -3.31646601e-03 9.99992884e-01 -1.02312365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.574553574 meters Centerline goodness [0,1] 0.8874468774417319 Centerline is valid? [False, False] Translation: X:4.01, Y:0.33, Z:-1.02 [[ 9.99934499e-01 1.13165939e-02 -1.71220554e-03 4.00576973e+00] [-1.13101469e-02 9.99929084e-01 3.72931829e-03 3.34099807e-01] [ 1.75428730e-03 -3.70970872e-03 9.99991580e-01 -1.02295672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.604553574 meters Centerline goodness [0,1] 0.8857328790720821 Centerline is valid? [False, False] Translation: X:4.00, Y:0.33, Z:-1.02 [[ 9.99922821e-01 1.23441884e-02 -1.40454869e-03 4.00479308e+00] [-1.23375001e-02 9.99912962e-01 4.67482702e-03 3.32661316e-01] [ 1.46213339e-03 -4.65713761e-03 9.99988087e-01 -1.02268435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.634553574 meters Centerline goodness [0,1] 0.8826897495710513 Centerline is valid? [False, False] Translation: X:4.01, Y:0.33, Z:-1.02 [[ 9.99954184e-01 9.47619743e-03 -1.35351226e-03 4.00512704e+00] [-9.47380876e-03 9.99953573e-01 1.76043628e-03 3.30428583e-01] [ 1.37013167e-03 -1.74753271e-03 9.99997534e-01 -1.02388561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.664553574 meters Centerline goodness [0,1] 0.8829925380366315 Centerline is valid? [False, False] Translation: X:4.01, Y:0.33, Z:-1.02 [[ 9.99981904e-01 5.84745506e-03 -1.41409875e-03 4.00552443e+00] [-5.85010735e-03 9.99981123e-01 -1.87879663e-03 3.29261870e-01] [ 1.40308588e-03 1.88703527e-03 9.99997235e-01 -1.02467511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.694553574 meters Centerline goodness [0,1] 0.8822414197482605 Centerline is valid? [False, False] Translation: X:4.01, Y:0.32, Z:-1.03 [[ 9.99997658e-01 1.20646956e-03 -1.79698741e-03 4.00729707e+00] [-1.21579943e-03 9.99985741e-01 -5.19994009e-03 3.24709680e-01] [ 1.79068821e-03 5.20211268e-03 9.99984866e-01 -1.02565278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.724553574 meters Centerline goodness [0,1] 0.8822414197482605 Centerline is valid? [False, False] Translation: X:4.01, Y:0.32, Z:-1.03 [[ 9.99997658e-01 1.20646956e-03 -1.79698741e-03 4.00729707e+00] [-1.21579943e-03 9.99985741e-01 -5.19994009e-03 3.24709680e-01] [ 1.79068821e-03 5.20211268e-03 9.99984866e-01 -1.02565278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.754553574 meters Centerline goodness [0,1] 0.8815621124736728 Centerline is valid? [False, False] Translation: X:4.01, Y:0.32, Z:-1.03 [[ 9.99991170e-01 -3.61864114e-03 -2.13659514e-03 4.00882414e+00] [ 3.59971025e-03 9.99954812e-01 -8.79865206e-03 3.21374437e-01] [ 2.16833776e-03 8.79088324e-03 9.99959009e-01 -1.02623676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.78455357399997 meters Centerline goodness [0,1] 0.881102939718913 Centerline is valid? [False, False] Translation: X:4.01, Y:0.32, Z:-1.03 [[ 9.99958550e-01 -8.70036219e-03 -2.68375073e-03 4.01105490e+00] [ 8.66626195e-03 9.99884736e-01 -1.24663678e-02 3.17638586e-01] [ 2.79190331e-03 1.24425929e-02 9.99918690e-01 -1.02708725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.81455357399997 meters Centerline goodness [0,1] 0.8780565385074153 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:-1.03 [[ 9.99947224e-01 -9.78161719e-03 -3.14146312e-03 4.01289299e+00] [ 9.74219379e-03 9.99876540e-01 -1.23286214e-02 3.14735663e-01] [ 3.26166913e-03 1.22973660e-02 9.99919065e-01 -1.02739060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.84455357399997 meters Centerline goodness [0,1] 0.8835986214315596 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:-1.03 [[ 9.99891824e-01 -1.43354031e-02 -3.29179967e-03 4.01374276e+00] [ 1.42811379e-02 9.99770706e-01 -1.59557285e-02 3.11997753e-01] [ 3.51977667e-03 1.59069918e-02 9.99867281e-01 -1.02758254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.87455357399998 meters Centerline goodness [0,1] 0.8800399201596807 Centerline is valid? [False, False] Translation: X:4.01, Y:0.31, Z:-1.03 [[ 9.99883597e-01 -1.48437970e-02 -3.52890639e-03 4.01451214e+00] [ 1.47866503e-02 9.99767358e-01 -1.57030451e-02 3.10500654e-01] [ 3.76117823e-03 1.56490366e-02 9.99870472e-01 -1.02730990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.90455357399998 meters Centerline goodness [0,1] 0.8787781928601395 Centerline is valid? [False, False] Translation: X:4.02, Y:0.31, Z:-1.03 [[ 9.99876914e-01 -1.52407925e-02 -3.72490661e-03 4.01520200e+00] [ 1.51815529e-02 9.99765449e-01 -1.54456208e-02 3.09151926e-01] [ 3.95943643e-03 1.53871698e-02 9.99873771e-01 -1.02711298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.93455357399998 meters Centerline goodness [0,1] 0.8801057184046132 Centerline is valid? [False, False] Translation: X:4.02, Y:0.31, Z:-1.03 [[ 0.99986834 -0.01568801 -0.00414487 4.01649913] [ 0.01562379 0.99976395 -0.01509744 0.30722523] [ 0.00438074 0.0150307 0.99987744 -1.02722401] [ 0. 0. 0. 1. ]] SLAMing on 136.96455357399998 meters Centerline goodness [0,1] 0.8829898147405566 Centerline is valid? [False, False] Translation: X:4.02, Y:0.31, Z:-1.03 [[ 0.99990098 -0.01318787 -0.00490949 4.01928877] [ 0.01313084 0.99984797 -0.01147211 0.3054921 ] [ 0.00506004 0.01140651 0.99992214 -1.0278254 ] [ 0. 0. 0. 1. ]] SLAMing on 136.99455357399998 meters Centerline goodness [0,1] 0.875590203130337 Centerline is valid? [False, False] Translation: X:4.02, Y:0.30, Z:-1.03 [[ 0.99993422 -0.01014616 -0.00534837 4.02089731] [ 0.01010741 0.99992283 -0.00722349 0.30288326] [ 0.00542125 0.00716896 0.99995961 -1.02767511] [ 0. 0. 0. 1. ]] SLAMing on 137.02455357399998 meters Centerline goodness [0,1] 0.8803133117209996 Centerline is valid? [False, False] Translation: X:4.02, Y:0.30, Z:-1.03 [[ 9.99957775e-01 -7.16480097e-03 -5.75444631e-03 4.02233936e+00] [ 7.14656850e-03 9.99969398e-01 -3.18275223e-03 3.00914408e-01] [ 5.77707400e-03 3.14149329e-03 9.99978378e-01 -1.02740245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.05455357399998 meters Centerline goodness [0,1] 0.8765158088012752 Centerline is valid? [False, False] Translation: X:4.02, Y:0.30, Z:-1.03 [[ 9.99975118e-01 -3.79301440e-03 -5.94774077e-03 4.02315640e+00] [ 3.80003025e-03 9.99992097e-01 1.16872416e-03 2.98582251e-01] [ 5.94326078e-03 -1.19129668e-03 9.99981629e-01 -1.02696945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.08455357399998 meters Centerline goodness [0,1] 0.8716074313408724 Centerline is valid? [False, False] Translation: X:4.02, Y:0.30, Z:-1.03 [[ 9.99975236e-01 -3.60702119e-03 -6.04286063e-03 4.02330050e+00] [ 3.61609211e-03 9.99992351e-01 1.49084314e-03 2.98032025e-01] [ 6.03743690e-03 -1.51265776e-03 9.99980630e-01 -1.02688498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.11455357399998 meters Centerline goodness [0,1] 0.8742139640553369 Centerline is valid? [False, False] Translation: X:4.02, Y:0.30, Z:-1.03 [[ 9.99975025e-01 -3.45632854e-03 -6.16468212e-03 4.02380769e+00] [ 3.46802431e-03 9.99992205e-01 1.88754249e-03 2.96098205e-01] [ 6.15811010e-03 -1.90887462e-03 9.99979217e-01 -1.02728050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.14455357399999 meters Centerline goodness [0,1] 0.870696995499331 Centerline is valid? [False, False] Translation: X:4.02, Y:0.30, Z:-1.03 [[ 9.99975205e-01 -3.25633634e-03 -6.24387012e-03 4.02397557e+00] [ 3.27031640e-03 9.99992166e-01 2.23010440e-03 2.95365631e-01] [ 6.23655923e-03 -2.25046854e-03 9.99978020e-01 -1.02732902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.174553574 meters Centerline goodness [0,1] 0.8761601750901795 Centerline is valid? [False, False] Translation: X:4.03, Y:0.30, Z:-1.03 [[ 9.99972257e-01 -3.29106460e-03 -6.68230945e-03 4.02575409e+00] [ 3.30439164e-03 9.99992572e-01 1.98431516e-03 2.95751885e-01] [ 6.67572930e-03 -2.00634108e-03 9.99975704e-01 -1.02907022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.204553574 meters Centerline goodness [0,1] 0.8744037833120217 Centerline is valid? [False, False] Translation: X:4.03, Y:0.30, Z:-1.03 [[ 9.99973416e-01 -2.89578941e-03 -6.69188254e-03 4.02559736e+00] [ 2.91066167e-03 9.99993314e-01 2.21376450e-03 2.95536546e-01] [ 6.68542720e-03 -2.23318346e-03 9.99975159e-01 -1.02906999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.234553574 meters Centerline goodness [0,1] 0.8747259439707673 Centerline is valid? [False, False] Translation: X:4.02, Y:0.30, Z:-1.03 [[ 9.99975348e-01 -2.57517570e-03 -6.53244495e-03 4.02488687e+00] [ 2.59134764e-03 9.99993596e-01 2.46838016e-03 2.95168204e-01] [ 6.52604660e-03 -2.48524715e-03 9.99975617e-01 -1.02840628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.264553574 meters Centerline goodness [0,1] 0.8752439024390244 Centerline is valid? [False, False] Translation: X:4.02, Y:0.29, Z:-1.03 [[ 9.99981050e-01 -1.43859167e-03 -5.98578086e-03 4.02252471e+00] [ 1.45772396e-03 9.99993839e-01 3.19315495e-03 2.94904274e-01] [ 5.98115034e-03 -3.20182006e-03 9.99976987e-01 -1.02691907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.294553574 meters Centerline goodness [0,1] 0.8740463450857526 Centerline is valid? [False, False] Translation: X:4.02, Y:0.30, Z:-1.03 [[ 9.99983110e-01 -9.48964810e-04 -5.73404433e-03 4.02167713e+00] [ 9.68162780e-04 9.99993933e-01 3.34622019e-03 2.95489703e-01] [ 5.73083409e-03 -3.35171516e-03 9.99977962e-01 -1.02661609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.324553574 meters Centerline goodness [0,1] 0.8760884532825726 Centerline is valid? [False, False] Translation: X:4.02, Y:0.30, Z:-1.03 [[ 9.99985117e-01 -4.33106882e-04 -5.43866960e-03 4.02084118e+00] [ 4.50779678e-04 9.99994621e-01 3.24866505e-03 2.97127915e-01] [ 5.43723333e-03 -3.25106834e-03 9.99979933e-01 -1.02685431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.354553574 meters Centerline goodness [0,1] 0.8743194929714797 Centerline is valid? [False, False] Translation: X:4.02, Y:0.30, Z:-1.03 [[ 9.99983007e-01 -1.40455489e-03 -5.65805074e-03 4.02197516e+00] [ 1.42122685e-03 9.99994658e-01 2.94364749e-03 2.96128288e-01] [ 5.65388600e-03 -2.95163884e-03 9.99979660e-01 -1.02699804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.384553574 meters Centerline goodness [0,1] 0.8741008656073475 Centerline is valid? [False, False] Translation: X:4.02, Y:0.29, Z:-1.03 [[ 9.99979446e-01 -2.30346906e-03 -5.98336320e-03 4.02325742e+00] [ 2.32027709e-03 9.99993378e-01 2.80370674e-03 2.94965584e-01] [ 5.97686533e-03 -2.81753217e-03 9.99978169e-01 -1.02698796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.414553574 meters Centerline goodness [0,1] 0.8735774419312303 Centerline is valid? [False, False] Translation: X:4.02, Y:0.29, Z:-1.03 [[ 9.99973960e-01 -3.37197254e-03 -6.38031165e-03 4.02481587e+00] [ 3.38811962e-03 9.99991081e-01 2.52165186e-03 2.94028956e-01] [ 6.37175181e-03 -2.54320345e-03 9.99976466e-01 -1.02708164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.444553574 meters Centerline goodness [0,1] 0.8722373170039337 Centerline is valid? [False, False] Translation: X:4.03, Y:0.29, Z:-1.03 [[ 9.99967106e-01 -4.41150539e-03 -6.80634756e-03 4.02638532e+00] [ 4.42581972e-03 9.99988023e-01 2.08945840e-03 2.93817731e-01] [ 6.79704839e-03 -2.11951334e-03 9.99974654e-01 -1.02727978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.474553574 meters Centerline goodness [0,1] 0.87390461575738 Centerline is valid? [False, False] Translation: X:4.03, Y:0.30, Z:-1.03 [[ 9.99939153e-01 -7.66276145e-03 -7.93555497e-03 4.03140965e+00] [ 7.66165574e-03 9.99970635e-01 -1.69727078e-04 2.95108627e-01] [ 7.93662252e-03 1.08917260e-04 9.99968499e-01 -1.02961752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.504553574 meters Centerline goodness [0,1] 0.8750755713191729 Centerline is valid? [False, False] Translation: X:4.03, Y:0.30, Z:-1.03 [[ 9.99925984e-01 -8.69350677e-03 -8.51175238e-03 4.03354020e+00] [ 8.68649189e-03 9.99961901e-01 -8.60764731e-04 2.95794866e-01] [ 8.51891116e-03 7.86763752e-04 9.99963404e-01 -1.03050357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53455357399997 meters Centerline goodness [0,1] 0.877971537382241 Centerline is valid? [False, False] Translation: X:4.04, Y:0.30, Z:-1.03 [[ 9.99906367e-01 -1.02283127e-02 -9.09058941e-03 4.03559971e+00] [ 1.02107483e-02 9.99945916e-01 -1.97647099e-03 2.97268458e-01] [ 9.11031371e-03 1.88346420e-03 9.99956726e-01 -1.03095046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.56455357399997 meters Centerline goodness [0,1] 0.8774279839498533 Centerline is valid? [False, False] Translation: X:4.04, Y:0.30, Z:-1.03 [[ 9.99897290e-01 -1.08161995e-02 -9.40310100e-03 4.03679967e+00] [ 1.07943551e-02 9.99938929e-01 -2.37076170e-03 2.97622985e-01] [ 9.42816938e-03 2.26901778e-03 9.99952979e-01 -1.03130782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.59455357399997 meters Centerline goodness [0,1] 0.8780906387819042 Centerline is valid? [False, False] Translation: X:4.04, Y:0.30, Z:-1.03 [[ 9.99890395e-01 -1.12069103e-02 -9.67483538e-03 4.03769417e+00] [ 1.11817124e-02 9.99933959e-01 -2.65464751e-03 2.98146692e-01] [ 9.70394684e-03 2.54617532e-03 9.99949674e-01 -1.03149729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.62455357399998 meters Centerline goodness [0,1] 0.8779598194041915 Centerline is valid? [False, False] Translation: X:4.05, Y:0.30, Z:-1.04 [[ 9.99874518e-01 -1.10849750e-02 -1.13168539e-02 4.04544630e+00] [ 1.10681303e-02 9.99937545e-01 -1.55000941e-03 2.99664883e-01] [ 1.13333289e-02 1.42455850e-03 9.99934761e-01 -1.03557982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.65455357399998 meters Centerline goodness [0,1] 0.8758118480614052 Centerline is valid? [False, False] Translation: X:4.05, Y:0.30, Z:-1.04 [[ 9.99888041e-01 -8.73647928e-03 -1.21482438e-02 4.04886670e+00] [ 8.75438630e-03 9.99960669e-01 1.42164591e-03 3.00122755e-01] [ 1.21353458e-02 -1.52783716e-03 9.99925197e-01 -1.03702589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.68455357399998 meters Centerline goodness [0,1] 0.8761818646433275 Centerline is valid? [False, False] Translation: X:4.05, Y:0.30, Z:-1.04 [[ 0.99990482 -0.00565045 -0.01258679 4.05031187] [ 0.00570878 0.99997311 0.00460286 0.30141575] [ 0.01256045 -0.00467428 0.99991019 -1.03731842] [ 0. 0. 0. 1. ]] SLAMing on 137.71455357399998 meters Centerline goodness [0,1] 0.8787676609105181 Centerline is valid? [False, False] Translation: X:4.05, Y:0.30, Z:-1.04 [[ 0.99991589 -0.00448719 -0.01216883 4.04831353] [ 0.00454378 0.99997897 0.00462644 0.30491198] [ 0.01214781 -0.00468135 0.99991525 -1.03651691] [ 0. 0. 0. 1. ]] SLAMing on 137.74455357399998 meters Centerline goodness [0,1] 0.8782658232821279 Centerline is valid? [False, False] Translation: X:4.05, Y:0.31, Z:-1.04 [[ 9.99922444e-01 -3.69192496e-03 -1.18943258e-02 4.04693177e+00] [ 3.74677987e-03 9.99982433e-01 4.59287780e-03 3.07431365e-01] [ 1.18771603e-02 -4.63708702e-03 9.99918712e-01 -1.03589231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.77455357399998 meters Centerline goodness [0,1] 0.8788869742304378 Centerline is valid? [False, False] Translation: X:4.04, Y:0.31, Z:-1.03 [[ 9.99933470e-01 -2.27007767e-03 -1.13093648e-02 4.04414159e+00] [ 2.32166779e-03 9.99986951e-01 4.55067866e-03 3.11353218e-01] [ 1.12988868e-02 -4.57663249e-03 9.99925692e-01 -1.03458670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.80455357399998 meters Centerline goodness [0,1] 0.8799772802945727 Centerline is valid? [False, False] Translation: X:4.04, Y:0.31, Z:-1.03 [[ 9.99936562e-01 -1.85628482e-03 -1.11097238e-02 4.04336483e+00] [ 1.90490926e-03 9.99988647e-01 4.36776613e-03 3.13263201e-01] [ 1.11014898e-02 -4.38865206e-03 9.99928746e-01 -1.03427122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.83455357399998 meters Centerline goodness [0,1] 0.8812410911292055 Centerline is valid? [False, False] Translation: X:4.04, Y:0.32, Z:-1.03 [[ 9.99937112e-01 -1.30149144e-03 -1.11390015e-02 4.04329875e+00] [ 1.34378245e-03 9.99991915e-01 3.79001911e-03 3.17102293e-01] [ 1.11339788e-02 -3.80474916e-03 9.99930777e-01 -1.03487128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.86455357399998 meters Centerline goodness [0,1] 0.8806567490531412 Centerline is valid? [False, False] Translation: X:4.04, Y:0.32, Z:-1.04 [[ 9.99936529e-01 -1.13861272e-03 -1.12090082e-02 4.04350850e+00] [ 1.17818509e-03 9.99993095e-01 3.52443816e-03 3.18538460e-01] [ 1.12049178e-02 -3.53742075e-03 9.99930966e-01 -1.03522327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.89455357399999 meters Centerline goodness [0,1] 0.8727113872439569 Centerline is valid? [False, False] Translation: X:4.04, Y:0.32, Z:-1.04 [[ 9.99938983e-01 -7.93905294e-04 -1.10181689e-02 4.04284676e+00] [ 8.27563033e-04 9.99995005e-01 3.05052584e-03 3.21312465e-01] [ 1.10156921e-02 -3.05945794e-03 9.99934645e-01 -1.03505999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.924553574 meters Centerline goodness [0,1] 0.8781296023564065 Centerline is valid? [False, False] Translation: X:4.04, Y:0.32, Z:-1.03 [[ 9.99940889e-01 -6.15607471e-04 -1.08554060e-02 4.04231124e+00] [ 6.45992486e-04 9.99995883e-01 2.79578342e-03 3.23070894e-01] [ 1.08536402e-02 -2.80263067e-03 9.99937170e-01 -1.03480887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.954553574 meters Centerline goodness [0,1] 0.879276271609202 Centerline is valid? [False, False] Translation: X:4.04, Y:0.33, Z:-1.04 [[ 9.99938157e-01 -1.13650240e-03 -1.10630261e-02 4.04340137e+00] [ 1.15470043e-03 9.99997991e-01 1.63869288e-03 3.26149655e-01] [ 1.10611414e-02 -1.65136602e-03 9.99937460e-01 -1.03564754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.984553574 meters Centerline goodness [0,1] 0.8802450054382048 Centerline is valid? [False, False] Translation: X:4.04, Y:0.33, Z:-1.04 [[ 9.99936357e-01 -1.36483191e-03 -1.11991031e-02 4.04368002e+00] [ 1.37904672e-03 9.99998253e-01 1.26165670e-03 3.27485248e-01] [ 1.11973615e-02 -1.27702049e-03 9.99936492e-01 -1.03549387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.014553574 meters Centerline goodness [0,1] 0.8802450054382048 Centerline is valid? [False, False] Translation: X:4.04, Y:0.33, Z:-1.04 [[ 9.99936357e-01 -1.36483191e-03 -1.11991031e-02 4.04368002e+00] [ 1.37904672e-03 9.99998253e-01 1.26165670e-03 3.27485248e-01] [ 1.11973615e-02 -1.27702049e-03 9.99936492e-01 -1.03549387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.044553574 meters Centerline goodness [0,1] 0.8807608737086875 Centerline is valid? [False, False] Translation: X:4.04, Y:0.33, Z:-1.04 [[ 9.99936014e-01 -1.51065091e-03 -1.12110063e-02 4.04362369e+00] [ 1.52061133e-03 9.99998457e-01 8.79979051e-04 3.28978771e-01] [ 1.12096596e-02 -8.96970327e-04 9.99936767e-01 -1.03525760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.074553574 meters Centerline goodness [0,1] 0.8840130106981029 Centerline is valid? [False, False] Translation: X:4.04, Y:0.33, Z:-1.03 [[ 9.99937374e-01 -1.63359478e-03 -1.10715254e-02 4.04285505e+00] [ 1.63640981e-03 9.99998631e-01 2.45204382e-04 3.32249718e-01] [ 1.10711097e-02 -2.63306579e-04 9.99938679e-01 -1.03432619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.104553574 meters Centerline goodness [0,1] 0.8817856674718649 Centerline is valid? [False, False] Translation: X:4.04, Y:0.33, Z:-1.03 [[ 9.99938092e-01 -1.58832560e-03 -1.10131366e-02 4.04252187e+00] [ 1.58873486e-03 9.99998738e-01 2.84123547e-05 3.33601626e-01] [ 1.10130776e-02 -4.59075497e-05 9.99939353e-01 -1.03394993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.134553574 meters Centerline goodness [0,1] 0.8844891259745589 Centerline is valid? [False, False] Translation: X:4.04, Y:0.34, Z:-1.03 [[ 9.99941281e-01 -1.07804188e-03 -1.07829402e-02 4.04143400e+00] [ 1.07404058e-03 9.99999352e-01 -3.76860809e-04 3.37139652e-01] [ 1.07833395e-02 3.65257365e-04 9.99941791e-01 -1.03344695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.164553574 meters Centerline goodness [0,1] 0.8847141581062975 Centerline is valid? [False, False] Translation: X:4.04, Y:0.34, Z:-1.03 [[ 9.99943746e-01 -4.38387699e-04 -1.05977262e-02 4.04050038e+00] [ 4.34601040e-04 9.99999841e-01 -3.59608971e-04 3.39300173e-01] [ 1.05978821e-02 3.54982959e-04 9.99943778e-01 -1.03303970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.194553574 meters Centerline goodness [0,1] 0.8807808030905241 Centerline is valid? [False, False] Translation: X:4.04, Y:0.34, Z:-1.03 [[ 9.99935736e-01 3.31739333e-03 -1.08406010e-02 4.04109426e+00] [-3.28621634e-03 9.99990417e-01 2.89249463e-03 3.41862210e-01] [ 1.08500927e-02 -2.85668418e-03 9.99937055e-01 -1.03306362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.224553574 meters Centerline goodness [0,1] 0.8753512085294829 Centerline is valid? [False, False] Translation: X:4.04, Y:0.34, Z:-1.03 [[ 9.99934286e-01 3.68906092e-03 -1.08542725e-02 4.04097635e+00] [-3.65856627e-03 9.99989309e-01 2.82797720e-03 3.42961967e-01] [ 1.08645890e-02 -2.78808028e-03 9.99937092e-01 -1.03307608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.254553574 meters Centerline goodness [0,1] 0.8832089690759921 Centerline is valid? [False, False] Translation: X:4.04, Y:0.35, Z:-1.03 [[ 9.99930519e-01 3.98180293e-03 -1.10951510e-02 4.04179135e+00] [-3.95656661e-03 9.99989538e-01 2.29555814e-03 3.45214510e-01] [ 1.11041754e-02 -2.25149994e-03 9.99935812e-01 -1.03414905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.28455357399997 meters Centerline goodness [0,1] 0.8794805772187541 Centerline is valid? [False, False] Translation: X:4.04, Y:0.35, Z:-1.03 [[ 9.99929084e-01 3.97300201e-03 -1.12268600e-02 4.04232181e+00] [-3.95200572e-03 9.99990401e-01 1.89175040e-03 3.46679153e-01] [ 1.12342682e-02 -1.84724763e-03 9.99935187e-01 -1.03470569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.31455357399997 meters Centerline goodness [0,1] 0.8834074101396087 Centerline is valid? [False, False] Translation: X:4.04, Y:0.35, Z:-1.04 [[ 9.99928116e-01 3.94442279e-03 -1.13227250e-02 4.04282125e+00] [-3.92797789e-03 9.99991199e-01 1.47425164e-03 3.48090117e-01] [ 1.13284404e-02 -1.42967025e-03 9.99934809e-01 -1.03530008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.34455357399997 meters Centerline goodness [0,1] 0.8835277288732395 Centerline is valid? [False, False] Translation: X:4.04, Y:0.35, Z:-1.04 [[ 9.99927590e-01 4.15689251e-03 -1.12931227e-02 4.04263812e+00] [-4.14425891e-03 9.99990761e-01 1.14186931e-03 3.50233833e-01] [ 1.12977650e-02 -1.09498500e-03 9.99935579e-01 -1.03537072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.37455357399998 meters Centerline goodness [0,1] 0.8829400923340815 Centerline is valid? [False, False] Translation: X:4.04, Y:0.35, Z:-1.04 [[ 9.99926306e-01 3.98058934e-03 -1.14689696e-02 4.04338728e+00] [-3.97274032e-03 9.99991859e-01 7.07071307e-04 3.51228121e-01] [ 1.14716908e-02 -6.61455962e-04 9.99933979e-01 -1.03592733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.40455357399998 meters Centerline goodness [0,1] 0.8821066428792486 Centerline is valid? [False, False] Translation: X:4.04, Y:0.35, Z:-1.04 [[ 9.99926768e-01 4.16992479e-03 -1.13609553e-02 4.04290437e+00] [-4.16458930e-03 9.99991206e-01 4.93251542e-04 3.52862083e-01] [ 1.13629122e-02 -4.45901707e-04 9.99935341e-01 -1.03564381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.43455357399998 meters Centerline goodness [0,1] 0.8842225984380974 Centerline is valid? [False, False] Translation: X:4.04, Y:0.35, Z:-1.04 [[ 9.99926276e-01 4.23204260e-03 -1.13812672e-02 4.04293981e+00] [-4.22798915e-03 9.99990990e-01 3.80188354e-04 3.53379430e-01] [ 1.13827736e-02 -3.32040451e-04 9.99935159e-01 -1.03570877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.46455357399998 meters Centerline goodness [0,1] 0.8828918904179316 Centerline is valid? [False, False] Translation: X:4.04, Y:0.36, Z:-1.03 [[ 9.99924942e-01 5.05075441e-03 -1.11624426e-02 4.04163087e+00] [-5.04444659e-03 9.99987101e-01 5.93176214e-04 3.55133020e-01] [ 1.11652946e-02 -5.36823346e-04 9.99937522e-01 -1.03482115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.49455357399998 meters Centerline goodness [0,1] 0.8843409551269183 Centerline is valid? [False, False] Translation: X:4.04, Y:0.36, Z:-1.03 [[ 9.99923379e-01 6.00620980e-03 -1.08241324e-02 4.03993389e+00] [-5.99515024e-03 9.99981474e-01 1.05390785e-03 3.56525880e-01] [ 1.08302618e-02 -9.88934801e-04 9.99940862e-01 -1.03367510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.52455357399998 meters Centerline goodness [0,1] 0.8834299886931466 Centerline is valid? [False, False] Translation: X:4.04, Y:0.36, Z:-1.03 [[ 9.99915085e-01 7.98466957e-03 -1.02989062e-02 4.03736662e+00] [-7.96616617e-03 9.99966583e-01 1.83641151e-03 3.59181823e-01] [ 1.03132252e-02 -1.75421277e-03 9.99945279e-01 -1.03238847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.55455357399998 meters Centerline goodness [0,1] 0.8849298108260656 Centerline is valid? [False, False] Translation: X:4.04, Y:0.36, Z:-1.03 [[ 9.99911407e-01 8.54051722e-03 -1.02096875e-02 4.03703209e+00] [-8.52248177e-03 9.99962047e-01 1.80870847e-03 3.60356287e-01] [ 1.02247473e-02 -1.72153636e-03 9.99946244e-01 -1.03243370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.58455357399998 meters Centerline goodness [0,1] 0.8831937363437727 Centerline is valid? [False, False] Translation: X:4.03, Y:0.36, Z:-1.03 [[ 9.99896353e-01 1.06540612e-02 -9.68367275e-03 4.03424355e+00] [-1.06262744e-02 9.99939287e-01 2.91638261e-03 3.61899134e-01] [ 9.71415614e-03 -2.81317897e-03 9.99948859e-01 -1.03063436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.61455357399998 meters Centerline goodness [0,1] 0.8819059766763848 Centerline is valid? [False, False] Translation: X:4.03, Y:0.36, Z:-1.03 [[ 9.99891275e-01 1.12928454e-02 -9.48206906e-03 4.03342754e+00] [-1.12627619e-02 9.99931388e-01 3.22010272e-03 3.62089779e-01] [ 9.51778260e-03 -3.11295833e-03 9.99949859e-01 -1.03014228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.64455357399999 meters Centerline goodness [0,1] 0.8837234780703356 Centerline is valid? [False, False] Translation: X:4.03, Y:0.36, Z:-1.03 [[ 9.99878784e-01 1.25017439e-02 -9.28029436e-03 4.03237083e+00] [-1.24638552e-02 9.99913797e-01 4.12937948e-03 3.61063436e-01] [ 9.33111881e-03 -4.01321069e-03 9.99948411e-01 -1.02945153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.674553574 meters Centerline goodness [0,1] 0.8815348862742227 Centerline is valid? [False, False] Translation: X:4.03, Y:0.36, Z:-1.03 [[ 0.99986321 0.01358922 -0.00942808 4.03274497] [-0.01354311 0.9998961 0.00493692 0.35992686] [ 0.00949418 -0.00480856 0.99994337 -1.03008629] [ 0. 0. 0. 1. ]] SLAMing on 138.704553574 meters Centerline goodness [0,1] 0.880748731661752 Centerline is valid? [False, False] Translation: X:4.03, Y:0.36, Z:-1.03 [[ 0.99986063 0.01359475 -0.00969025 4.03377567] [-0.01354631 0.99989551 0.00504626 0.35910179] [ 0.00975784 -0.00491429 0.99994032 -1.0308633 ] [ 0. 0. 0. 1. ]] SLAMing on 138.734553574 meters Centerline goodness [0,1] 0.8789906362899064 Centerline is valid? [False, False] Translation: X:4.03, Y:0.36, Z:-1.03 [[ 0.99985703 0.01380525 -0.00976376 4.0340417 ] [-0.01374854 0.99988836 0.00585168 0.35629444] [ 0.00984345 -0.0057166 0.99993521 -1.03085666] [ 0. 0. 0. 1. ]] SLAMing on 138.764553574 meters Centerline goodness [0,1] 0.8782513580155361 Centerline is valid? [False, False] Translation: X:4.03, Y:0.36, Z:-1.03 [[ 9.99892269e-01 1.11247786e-02 -9.57550661e-03 4.03302547e+00] [-1.10983283e-02 9.99934461e-01 2.81100774e-03 3.55756092e-01] [ 9.60615088e-03 -2.70443280e-03 9.99950203e-01 -1.03060307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.794553574 meters Centerline goodness [0,1] 0.8755082248498638 Centerline is valid? [False, False] Translation: X:4.03, Y:0.35, Z:-1.03 [[ 9.99891099e-01 1.11227514e-02 -9.69921932e-03 4.03323506e+00] [-1.10871917e-02 9.99931644e-01 3.71234597e-03 3.52126105e-01] [ 9.73984782e-03 -3.60440459e-03 9.99946070e-01 -1.03011072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.824553574 meters Centerline goodness [0,1] 0.8750561461296601 Centerline is valid? [False, False] Translation: X:4.03, Y:0.35, Z:-1.03 [[ 9.99917184e-01 8.47570807e-03 -9.68435057e-03 4.03281539e+00] [-8.46931047e-03 9.99963889e-01 7.01432604e-04 3.51352015e-01] [ 9.68994600e-03 -6.19354743e-04 9.99952860e-01 -1.03022214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.854553574 meters Centerline goodness [0,1] 0.872316066066066 Centerline is valid? [False, False] Translation: X:4.03, Y:0.35, Z:-1.03 [[ 9.99913864e-01 8.79527974e-03 -9.74200485e-03 4.03322879e+00] [-8.78180051e-03 9.99960423e-01 1.42553499e-03 3.48869023e-01] [ 9.75415727e-03 -1.33985986e-03 9.99951529e-01 -1.03058980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.884553574 meters Centerline goodness [0,1] 0.8720617295567893 Centerline is valid? [False, False] Translation: X:4.03, Y:0.35, Z:-1.03 [[ 9.99912989e-01 8.74683462e-03 -9.87460613e-03 4.03384554e+00] [-8.73139770e-03 9.99960592e-01 1.60532471e-03 3.47814974e-01] [ 9.88825850e-03 -1.51896591e-03 9.99949956e-01 -1.03101062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.914553574 meters Centerline goodness [0,1] 0.8699220818518798 Centerline is valid? [False, False] Translation: X:4.03, Y:0.34, Z:-1.03 [[ 9.99912864e-01 8.66947154e-03 -9.95511981e-03 4.03411724e+00] [-8.64725932e-03 9.99960030e-01 2.27211648e-03 3.44616237e-01] [ 9.97441996e-03 -2.18583400e-03 9.99947865e-01 -1.03073535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.944553574 meters Centerline goodness [0,1] 0.870581538753439 Centerline is valid? [False, False] Translation: X:4.03, Y:0.34, Z:-1.03 [[ 9.99912436e-01 8.69402161e-03 -9.97672697e-03 4.03416675e+00] [-8.66869332e-03 9.99959100e-01 2.57917892e-03 3.43273555e-01] [ 9.99874236e-03 -2.49246789e-03 9.99946905e-01 -1.03056811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.974553574 meters Centerline goodness [0,1] 0.868099267852049 Centerline is valid? [False, False] Translation: X:4.03, Y:0.34, Z:-1.03 [[ 9.99908316e-01 9.20208390e-03 -9.93383835e-03 4.03390502e+00] [-9.16914201e-03 9.99952329e-01 3.35659596e-03 3.41387261e-01] [ 9.96425247e-03 -3.26520344e-03 9.99945025e-01 -1.03031253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.00455357399997 meters Centerline goodness [0,1] 0.8667364414843006 Centerline is valid? [False, False] Translation: X:4.03, Y:0.34, Z:-1.03 [[ 9.99906532e-01 9.27414023e-03 -1.00457279e-02 4.03438935e+00] [-9.23896856e-03 9.99951047e-01 3.54192511e-03 3.40597026e-01] [ 1.00780845e-02 -3.44878189e-03 9.99943267e-01 -1.03067984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03455357399997 meters Centerline goodness [0,1] 0.8636528859214478 Centerline is valid? [False, False] Translation: X:4.04, Y:0.34, Z:-1.03 [[ 9.99904839e-01 9.26457795e-03 -1.02215365e-02 4.03524249e+00] [-9.22311725e-03 9.99949077e-01 4.09592071e-03 3.37930981e-01] [ 1.02589629e-02 -4.00125651e-03 9.99939370e-01 -1.03122273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.06455357399997 meters Centerline goodness [0,1] 0.8645777402776712 Centerline is valid? [False, False] Translation: X:4.04, Y:0.34, Z:-1.03 [[ 9.99904830e-01 8.85384808e-03 -1.05802013e-02 4.03679568e+00] [-8.81100596e-03 9.99952822e-01 4.08904799e-03 3.36419631e-01] [ 1.06159059e-02 -3.99543662e-03 9.99935667e-01 -1.03218592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.09455357399997 meters Centerline goodness [0,1] 0.8642791269597294 Centerline is valid? [False, False] Translation: X:4.04, Y:0.33, Z:-1.03 [[ 9.99905398e-01 8.32232616e-03 -1.09514191e-02 4.03835471e+00] [-8.27828815e-03 9.99957491e-01 4.06042044e-03 3.34727685e-01] [ 1.09847457e-02 -3.96937731e-03 9.99931787e-01 -1.03302981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.12455357399998 meters Centerline goodness [0,1] 0.8632675587227203 Centerline is valid? [False, False] Translation: X:4.04, Y:0.33, Z:-1.03 [[ 9.99929731e-01 4.70068980e-03 -1.08828875e-02 4.03849006e+00] [-4.69144012e-03 9.99988612e-01 8.75302513e-04 3.31763365e-01] [ 1.08868781e-02 -8.24184591e-04 9.99940397e-01 -1.03356959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.15455357399998 meters Centerline goodness [0,1] 0.8622463838462285 Centerline is valid? [False, False] Translation: X:4.04, Y:0.33, Z:-1.03 [[ 9.99928030e-01 4.15412921e-03 -1.12551566e-02 4.03992630e+00] [-4.14411962e-03 9.99990997e-01 9.12509698e-04 3.29787068e-01] [ 1.12588460e-02 -8.65801309e-04 9.99936242e-01 -1.03424582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.18455357399998 meters Centerline goodness [0,1] 0.8626673180263801 Centerline is valid? [False, False] Translation: X:4.04, Y:0.33, Z:-1.04 [[ 9.99922989e-01 2.89124313e-03 -1.20688762e-02 4.04328076e+00] [-2.88342841e-03 9.99995622e-01 6.64860744e-04 3.26679227e-01] [ 1.20707456e-02 -6.30009801e-04 9.99926947e-01 -1.03615896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.21455357399998 meters Centerline goodness [0,1] 0.8618387363611297 Centerline is valid? [False, False] Translation: X:4.05, Y:0.32, Z:-1.04 [[ 9.99916518e-01 1.47384010e-03 -1.28368350e-02 4.04652307e+00] [-1.46885118e-03 9.99998842e-01 3.98060488e-04 3.23186250e-01] [ 1.28374068e-02 -3.79171857e-04 9.99917525e-01 -1.03785928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.24455357399998 meters Centerline goodness [0,1] 0.8606080974221098 Centerline is valid? [False, False] Translation: X:4.05, Y:0.32, Z:-1.04 [[ 9.99915010e-01 1.03195439e-03 -1.29964586e-02 4.04698967e+00] [-1.02100692e-03 9.99999118e-01 8.48948922e-04 3.20355508e-01] [ 1.29973232e-02 -8.35607296e-04 9.99915182e-01 -1.03741387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.27455357399998 meters Centerline goodness [0,1] 0.8624821456911601 Centerline is valid? [False, False] Translation: X:4.05, Y:0.32, Z:-1.04 [[ 9.99913449e-01 4.54576477e-04 -1.31487043e-02 4.04758265e+00] [-4.39713716e-04 9.99999261e-01 1.13322823e-03 3.17617613e-01] [ 1.31492097e-02 -1.12734848e-03 9.99912910e-01 -1.03715219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.30455357399998 meters Centerline goodness [0,1] 0.8614878996115924 Centerline is valid? [False, False] Translation: X:4.05, Y:0.31, Z:-1.04 [[ 9.99908905e-01 -3.45015832e-03 -1.30490852e-02 4.04736141e+00] [ 3.42594596e-03 9.99992369e-01 -1.87738207e-03 3.14260624e-01] [ 1.30554629e-02 1.83250559e-03 9.99913095e-01 -1.03695003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.33455357399998 meters Centerline goodness [0,1] 0.8624395700986855 Centerline is valid? [False, False] Translation: X:4.05, Y:0.31, Z:-1.04 [[ 9.99897458e-01 -4.26945615e-03 -1.36691595e-02 4.04954835e+00] [ 4.24710832e-03 9.99989597e-01 -1.66352059e-03 3.11786797e-01] [ 1.36761196e-02 1.60529561e-03 9.99905189e-01 -1.03768980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.36455357399998 meters Centerline goodness [0,1] 0.8608455919344777 Centerline is valid? [False, False] Translation: X:4.05, Y:0.31, Z:-1.04 [[ 0.99985644 -0.00909989 -0.01429304 4.05220957] [ 0.00902572 0.99994551 -0.00524541 0.30780448] [ 0.01434 0.00511565 0.99988409 -1.03921432] [ 0. 0. 0. 1. ]] SLAMing on 139.39455357399999 meters Centerline goodness [0,1] 0.8596540912309093 Centerline is valid? [False, False] Translation: X:4.05, Y:0.31, Z:-1.04 [[ 0.99984727 -0.00963646 -0.01457973 4.05308973] [ 0.00956847 0.99994305 -0.00472605 0.30511841] [ 0.01462444 0.00458582 0.99988254 -1.03893505] [ 0. 0. 0. 1. ]] SLAMing on 139.424553574 meters Centerline goodness [0,1] 0.8651783537824003 Centerline is valid? [False, False] Translation: X:4.05, Y:0.30, Z:-1.04 [[ 0.99982633 -0.01121374 -0.01488492 4.05493878] [ 0.01114696 0.99992746 -0.00456188 0.30123503] [ 0.01493499 0.00439516 0.99987881 -1.03906727] [ 0. 0. 0. 1. ]] SLAMing on 139.454553574 meters Centerline goodness [0,1] 0.8607620715638555 Centerline is valid? [False, False] Translation: X:4.06, Y:0.30, Z:-1.04 [[ 0.99980953 -0.01219322 -0.0152389 4.05652245] [ 0.01212787 0.99991689 -0.00437319 0.29863559] [ 0.01529095 0.00418754 0.99987432 -1.0393425 ] [ 0. 0. 0. 1. ]] SLAMing on 139.484553574 meters Centerline goodness [0,1] 0.8593134955436357 Centerline is valid? [False, False] Translation: X:4.06, Y:0.30, Z:-1.04 [[ 9.99800296e-01 -1.26215845e-02 -1.54939819e-02 4.05731364e+00] [ 1.25582064e-02 9.99912401e-01 -4.18100675e-03 2.97216469e-01] [ 1.55453955e-02 3.98559517e-03 9.99871220e-01 -1.03922447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.514553574 meters Centerline goodness [0,1] 0.8656664625433762 Centerline is valid? [False, False] Translation: X:4.06, Y:0.29, Z:-1.04 [[ 0.99976506 -0.0145193 -0.01609405 4.06022784] [ 0.01444389 0.9998842 -0.00479213 0.29496868] [ 0.01616177 0.00455855 0.999859 -1.0401678 ] [ 0. 0. 0. 1. ]] SLAMing on 139.544553574 meters Centerline goodness [0,1] 0.8609294531186136 Centerline is valid? [False, False] Translation: X:4.06, Y:0.29, Z:-1.04 [[ 0.99974371 -0.01538292 -0.01660956 4.06225184] [ 0.01529914 0.99986965 -0.00515968 0.29457874] [ 0.01668677 0.00490425 0.99984874 -1.04109562] [ 0. 0. 0. 1. ]] SLAMing on 139.574553574 meters Centerline goodness [0,1] 0.860533458500847 Centerline is valid? [False, False] Translation: X:4.06, Y:0.29, Z:-1.04 [[ 0.9997207 -0.01626804 -0.01714246 4.06445548] [ 0.01617308 0.99985317 -0.00566353 0.29451051] [ 0.01723208 0.0053847 0.99983702 -1.04228087] [ 0. 0. 0. 1. ]] SLAMing on 139.604553574 meters Centerline goodness [0,1] 0.8599013131065981 Centerline is valid? [False, False] Translation: X:4.07, Y:0.29, Z:-1.04 [[ 0.99970234 -0.0169451 -0.01755272 4.06599949] [ 0.01684144 0.99983995 -0.00603686 0.29467584] [ 0.01765221 0.00573945 0.99982771 -1.04294328] [ 0. 0. 0. 1. ]] SLAMing on 139.634553574 meters Centerline goodness [0,1] 0.8563523547960533 Centerline is valid? [False, False] Translation: X:4.07, Y:0.30, Z:-1.04 [[ 0.99967957 -0.01780916 -0.01798846 4.06767754] [ 0.01769117 0.99982107 -0.00669694 0.2953948 ] [ 0.01810451 0.00637656 0.99981577 -1.04368761] [ 0. 0. 0. 1. ]] SLAMing on 139.664553574 meters Centerline goodness [0,1] 0.8615898734177215 Centerline is valid? [False, False] Translation: X:4.07, Y:0.30, Z:-1.04 [[ 0.99966257 -0.01839102 -0.01834425 4.06888712] [ 0.01826076 0.99980702 -0.0072435 0.29636017] [ 0.01847393 0.00690608 0.99980549 -1.0441088 ] [ 0. 0. 0. 1. ]] SLAMing on 139.694553574 meters Centerline goodness [0,1] 0.8561436941228941 Centerline is valid? [False, False] Translation: X:4.07, Y:0.30, Z:-1.04 [[ 0.99966458 -0.01832322 -0.01830284 4.06873067] [ 0.01819052 0.99980722 -0.00739066 0.29723641] [ 0.01843473 0.00705524 0.99980517 -1.04405856] [ 0. 0. 0. 1. ]] SLAMing on 139.724553574 meters Centerline goodness [0,1] 0.8560045187710557 Centerline is valid? [False, False] Translation: X:4.07, Y:0.30, Z:-1.04 [[ 9.99716175e-01 -1.49507445e-02 -1.85484377e-02 4.06910211e+00] [ 1.48796303e-02 9.99881426e-01 -3.96608718e-03 2.98951146e-01] [ 1.86055343e-02 3.68896761e-03 9.99820097e-01 -1.04342501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75455357399997 meters Centerline goodness [0,1] 0.8616822053522886 Centerline is valid? [False, False] Translation: X:4.07, Y:0.30, Z:-1.04 [[ 9.99754978e-01 -1.16484380e-02 -1.88227781e-02 4.06988266e+00] [ 1.16459983e-02 9.99932154e-01 -2.39226009e-04 2.99089192e-01] [ 1.88242876e-02 1.99573527e-05 9.99822807e-01 -1.04293608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.78455357399997 meters Centerline goodness [0,1] 0.861188094951199 Centerline is valid? [False, False] Translation: X:4.07, Y:0.30, Z:-1.04 [[ 9.99773874e-01 -8.70677493e-03 -1.94008523e-02 4.07210175e+00] [ 8.76763728e-03 9.99956899e-01 3.05424887e-03 2.99386169e-01] [ 1.93734234e-02 -3.22365786e-03 9.99807121e-01 -1.04359215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.81455357399997 meters Centerline goodness [0,1] 0.8555411212151494 Centerline is valid? [False, False] Translation: X:4.07, Y:0.30, Z:-1.04 [[ 0.99979733 -0.00465511 -0.01958632 4.07234868] [ 0.00478546 0.99996668 0.00661374 0.30144351] [ 0.01955488 -0.00670613 0.99978629 -1.04337218] [ 0. 0. 0. 1. ]] SLAMing on 139.84455357399997 meters Centerline goodness [0,1] 0.8544064354267055 Centerline is valid? [False, False] Translation: X:4.09, Y:0.30, Z:-1.05 [[ 9.99901164e-01 -8.18076984e-04 -1.40354383e-02 4.08640541e+00] [ 8.15777110e-04 9.99999653e-01 -1.69586267e-04 3.03257697e-01] [ 1.40355722e-02 1.58119717e-04 9.99901484e-01 -1.04966872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.87455357399998 meters Centerline goodness [0,1] 0.8575854467459734 Centerline is valid? [False, False] Translation: X:4.08, Y:0.31, Z:-1.05 [[ 9.99905831e-01 4.08856188e-04 -1.37172185e-02 4.08481263e+00] [-4.06105740e-04 9.99999897e-01 2.03295505e-04 3.05309888e-01] [ 1.37173002e-02 -1.97705720e-04 9.99905894e-01 -1.04897953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.90455357399998 meters Centerline goodness [0,1] 0.8575854467459734 Centerline is valid? [False, False] Translation: X:4.08, Y:0.31, Z:-1.05 [[ 9.99905831e-01 4.08856188e-04 -1.37172185e-02 4.08481263e+00] [-4.06105740e-04 9.99999897e-01 2.03295505e-04 3.05309888e-01] [ 1.37173002e-02 -1.97705720e-04 9.99905894e-01 -1.04897953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.93455357399998 meters Centerline goodness [0,1] 0.8550701719707452 Centerline is valid? [False, False] Translation: X:4.08, Y:0.31, Z:-1.05 [[ 9.99894826e-01 5.41049496e-03 -1.34559529e-02 4.08362203e+00] [-5.35620166e-03 9.99977382e-01 4.06766126e-03 3.08488189e-01] [ 1.34776566e-02 -3.99516066e-03 9.99901191e-01 -1.04847160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.96455357399998 meters Centerline goodness [0,1] 0.855551173338592 Centerline is valid? [False, False] Translation: X:4.08, Y:0.31, Z:-1.05 [[ 9.99893128e-01 6.10257629e-03 -1.32849794e-02 4.08291075e+00] [-6.05040102e-03 9.99973839e-01 3.96404343e-03 3.10204010e-01] [ 1.33088228e-02 -3.88324033e-03 9.99903893e-01 -1.04842373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.99455357399998 meters Centerline goodness [0,1] 0.8559768143372568 Centerline is valid? [False, False] Translation: X:4.08, Y:0.31, Z:-1.05 [[ 0.99988941 0.00771253 -0.01271515 4.08033895] [-0.00765726 0.99996105 0.00438984 0.31267369] [ 0.01274851 -0.00429199 0.99990952 -1.04724281] [ 0. 0. 0. 1. ]] SLAMing on 140.02455357399998 meters Centerline goodness [0,1] 0.8588082646902707 Centerline is valid? [False, False] Translation: X:4.08, Y:0.31, Z:-1.05 [[ 0.99988865 0.00793328 -0.01263919 4.08015441] [-0.00788054 0.99996006 0.00421678 0.31367782] [ 0.01267214 -0.00411671 0.99991123 -1.04736662] [ 0. 0. 0. 1. ]] SLAMing on 140.05455357399998 meters Centerline goodness [0,1] 0.8574313725490196 Centerline is valid? [False, False] Translation: X:4.08, Y:0.31, Z:-1.05 [[ 9.99888300e-01 8.15154350e-03 -1.25275606e-02 4.07986027e+00] [-8.10148820e-03 9.99959017e-01 4.04118194e-03 3.14747813e-01] [ 1.25599890e-02 -3.93923866e-03 9.99913361e-01 -1.04737352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.08455357399998 meters Centerline goodness [0,1] 0.8575013232440062 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:-1.05 [[ 9.99888067e-01 8.01901122e-03 -1.26312888e-02 4.08036129e+00] [-7.97240209e-03 9.99961241e-01 3.73601590e-03 3.15179440e-01] [ 1.26607584e-02 -3.63489601e-03 9.99913243e-01 -1.04783478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.11455357399998 meters Centerline goodness [0,1] 0.8582048566160606 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:-1.05 [[ 9.99887782e-01 8.12629559e-03 -1.25852171e-02 4.08029397e+00] [-8.08075432e-03 9.99960633e-01 3.66526649e-03 3.15532994e-01] [ 1.26145067e-02 -3.56315713e-03 9.99914085e-01 -1.04797158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.14455357399999 meters Centerline goodness [0,1] 0.8576892148979152 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:-1.05 [[ 9.99888203e-01 8.30983252e-03 -1.24309540e-02 4.07995585e+00] [-8.26691993e-03 9.99959705e-01 3.49948716e-03 3.16193272e-01] [ 1.24595332e-02 -3.39633023e-03 9.99916609e-01 -1.04813696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.174553574 meters Centerline goodness [0,1] 0.8563640998490107 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:-1.05 [[ 9.99887850e-01 8.24970969e-03 -1.24992140e-02 4.08033098e+00] [-8.20893177e-03 9.99960827e-01 3.31023929e-03 3.16466968e-01] [ 1.25260329e-02 -3.20726285e-03 9.99916402e-01 -1.04852906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.204553574 meters Centerline goodness [0,1] 0.8543752208220469 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:-1.05 [[ 9.99888774e-01 8.15256258e-03 -1.24890333e-02 4.08051297e+00] [-8.11304374e-03 9.99961931e-01 3.21168662e-03 3.16382241e-01] [ 1.25147414e-02 -3.11000532e-03 9.99916851e-01 -1.04882498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.234553574 meters Centerline goodness [0,1] 0.8543063282678357 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:-1.05 [[ 9.99888033e-01 7.78858225e-03 -1.27773019e-02 4.08166807e+00] [-7.75093179e-03 9.99965480e-01 2.99354654e-03 3.16050588e-01] [ 1.28001763e-02 -2.89417536e-03 9.99913886e-01 -1.04947247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.264553574 meters Centerline goodness [0,1] 0.8540670327291334 Centerline is valid? [False, False] Translation: X:4.08, Y:0.31, Z:-1.05 [[ 9.99887868e-01 7.23832914e-03 -1.31094805e-02 4.08304921e+00] [-7.20131984e-03 9.99969957e-01 2.86810338e-03 3.14972182e-01] [ 1.31298469e-02 -2.77337621e-03 9.99909954e-01 -1.05022918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.294553574 meters Centerline goodness [0,1] 0.8534129423819659 Centerline is valid? [False, False] Translation: X:4.08, Y:0.31, Z:-1.05 [[ 9.99887726e-01 6.93392044e-03 -1.32836654e-02 4.08392894e+00] [-6.89813980e-03 9.99972460e-01 2.73750987e-03 3.14432091e-01] [ 1.33022813e-02 -2.64556994e-03 9.99908021e-01 -1.05090698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.324553574 meters Centerline goodness [0,1] 0.8520860920607941 Centerline is valid? [False, False] Translation: X:4.09, Y:0.31, Z:-1.05 [[ 9.99885657e-01 5.78491844e-03 -1.39716824e-02 4.08683104e+00] [-5.75300473e-03 9.99980752e-01 2.32328406e-03 3.12878216e-01] [ 1.39848535e-02 -2.24263926e-03 9.99899692e-01 -1.05257076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.354553574 meters Centerline goodness [0,1] 0.8514957264957265 Centerline is valid? [False, False] Translation: X:4.09, Y:0.31, Z:-1.05 [[ 9.99883551e-01 5.29329224e-03 -1.43131311e-02 4.08810696e+00] [-5.26232067e-03 9.99983732e-01 2.20065382e-03 3.12004384e-01] [ 1.43245469e-02 -2.12507727e-03 9.99895140e-01 -1.05316569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.384553574 meters Centerline goodness [0,1] 0.8522591916143889 Centerline is valid? [False, False] Translation: X:4.09, Y:0.31, Z:-1.05 [[ 9.99880435e-01 4.27494382e-03 -1.48607072e-02 4.09027540e+00] [-4.24650857e-03 9.99989093e-01 1.94448044e-03 3.10217427e-01] [ 1.48688576e-02 -1.88114183e-03 9.99887683e-01 -1.05401345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.414553574 meters Centerline goodness [0,1] 0.8534976152623212 Centerline is valid? [False, False] Translation: X:4.09, Y:0.31, Z:-1.05 [[ 9.99879756e-01 4.16298958e-03 -1.49379726e-02 4.09055859e+00] [-4.13373580e-03 9.99989479e-01 1.98869294e-03 3.09770659e-01] [ 1.49460943e-02 -1.92670418e-03 9.99886445e-01 -1.05408480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.444553574 meters Centerline goodness [0,1] 0.8537981476328655 Centerline is valid? [False, False] Translation: X:4.09, Y:0.31, Z:-1.05 [[ 9.99878338e-01 4.05349776e-03 -1.50625097e-02 4.09089371e+00] [-4.02354144e-03 9.99989868e-01 2.01857229e-03 3.09489947e-01] [ 1.50705393e-02 -1.95772207e-03 9.99884516e-01 -1.05403604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.474553574 meters Centerline goodness [0,1] 0.8528066197239129 Centerline is valid? [False, False] Translation: X:4.09, Y:0.31, Z:-1.05 [[ 9.99879591e-01 4.29503495e-03 -1.49116248e-02 4.09024774e+00] [-4.26271358e-03 9.99988498e-01 2.19863589e-03 3.09459428e-01] [ 1.49208965e-02 -2.13480717e-03 9.99886398e-01 -1.05349002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.50455357399997 meters Centerline goodness [0,1] 0.852643106022897 Centerline is valid? [False, False] Translation: X:4.09, Y:0.31, Z:-1.05 [[ 9.99879606e-01 4.28568924e-03 -1.49133226e-02 4.09033787e+00] [-4.25367347e-03 9.99988582e-01 2.17784855e-03 3.09566529e-01] [ 1.49224859e-02 -2.11414994e-03 9.99886418e-01 -1.05357342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53455357399997 meters Centerline goodness [0,1] 0.8510553643543478 Centerline is valid? [False, False] Translation: X:4.09, Y:0.31, Z:-1.05 [[ 9.99878340e-01 3.86456245e-03 -1.51119469e-02 4.09115465e+00] [-3.83532366e-03 9.99990718e-01 1.96331584e-03 3.09381324e-01] [ 1.51193940e-02 -1.90511778e-03 9.99883880e-01 -1.05398248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.56455357399997 meters Centerline goodness [0,1] 0.8536260414802441 Centerline is valid? [False, False] Translation: X:4.09, Y:0.31, Z:-1.05 [[ 9.99875500e-01 3.27888703e-03 -1.54348070e-02 4.09265637e+00] [-3.25538649e-03 9.99993504e-01 1.54744635e-03 3.09176256e-01] [ 1.54397806e-02 -1.49700744e-03 9.99879679e-01 -1.05490767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.59455357399997 meters Centerline goodness [0,1] 0.8512864459812265 Centerline is valid? [False, False] Translation: X:4.09, Y:0.31, Z:-1.05 [[ 9.99875562e-01 3.03518190e-03 -1.54805803e-02 4.09274187e+00] [-3.00949540e-03 9.99994056e-01 1.68229864e-03 3.08462953e-01] [ 1.54855944e-02 -1.63550056e-03 9.99878753e-01 -1.05453729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.62455357399998 meters Centerline goodness [0,1] 0.8512854212716809 Centerline is valid? [False, False] Translation: X:4.09, Y:0.31, Z:-1.05 [[ 9.99876268e-01 2.99527269e-03 -1.54426899e-02 4.09282656e+00] [-2.97205518e-03 9.99994419e-01 1.52619345e-03 3.08839611e-01] [ 1.54471750e-02 -1.48010809e-03 9.99879590e-01 -1.05481496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.65455357399998 meters Centerline goodness [0,1] 0.8582560076136093 Centerline is valid? [False, False] Translation: X:4.09, Y:0.31, Z:-1.06 [[ 9.99873425e-01 3.05254103e-03 -1.56145958e-02 4.09359975e+00] [-3.03638202e-03 9.99994830e-01 1.05846839e-03 3.11030552e-01] [ 1.56177461e-02 -1.01092254e-03 9.99877525e-01 -1.05577070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.68455357399998 meters Centerline goodness [0,1] 0.8574715835829482 Centerline is valid? [False, False] Translation: X:4.09, Y:0.31, Z:-1.06 [[ 9.99872239e-01 3.20104335e-03 -1.56607716e-02 4.09377118e+00] [-3.18667294e-03 9.99994478e-01 9.42474407e-04 3.11772087e-01] [ 1.56637020e-02 -8.92448239e-04 9.99876918e-01 -1.05609524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.71455357399998 meters Centerline goodness [0,1] 0.8588749554966573 Centerline is valid? [False, False] Translation: X:4.09, Y:0.31, Z:-1.06 [[ 9.99873113e-01 3.45239206e-03 -1.55511776e-02 4.09313926e+00] [-3.43562088e-03 9.99993488e-01 1.10503778e-03 3.11789672e-01] [ 1.55548913e-02 -1.05146961e-03 9.99878462e-01 -1.05543862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.74455357399998 meters Centerline goodness [0,1] 0.8557188346749471 Centerline is valid? [False, False] Translation: X:4.09, Y:0.31, Z:-1.06 [[ 9.99873228e-01 3.57603176e-03 -1.55157825e-02 4.09289294e+00] [-3.55876429e-03 9.99993017e-01 1.14036462e-03 3.12047857e-01] [ 1.55197521e-02 -1.08500304e-03 9.99878973e-01 -1.05521067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.77455357399998 meters Centerline goodness [0,1] 0.8575034012264132 Centerline is valid? [False, False] Translation: X:4.09, Y:0.31, Z:-1.05 [[ 9.99877177e-01 4.17482844e-03 -1.51063275e-02 4.09133286e+00] [-4.15571369e-03 9.99990524e-01 1.29651670e-03 3.13267633e-01] [ 1.51115971e-02 -1.23357988e-03 9.99885052e-01 -1.05439436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.80455357399998 meters Centerline goodness [0,1] 0.8579582357456357 Centerline is valid? [False, False] Translation: X:4.09, Y:0.31, Z:-1.05 [[ 9.99878106e-01 4.60756391e-03 -1.49178994e-02 4.09052180e+00] [-4.58671925e-03 9.99988457e-01 1.43120471e-03 3.13952406e-01] [ 1.49243215e-02 -1.36260604e-03 9.99887698e-01 -1.05401214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.83455357399998 meters Centerline goodness [0,1] 0.8586087602368899 Centerline is valid? [False, False] Translation: X:4.09, Y:0.32, Z:-1.05 [[ 9.99876426e-01 5.25519311e-03 -1.48160726e-02 4.09007013e+00] [-5.23492512e-03 9.99985309e-01 1.40642464e-03 3.15940251e-01] [ 1.48232460e-02 -1.32868981e-03 9.99889247e-01 -1.05420654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.86455357399998 meters Centerline goodness [0,1] 0.8576513847598185 Centerline is valid? [False, False] Translation: X:4.09, Y:0.32, Z:-1.05 [[ 9.99875542e-01 5.57961672e-03 -1.47569998e-02 4.08971308e+00] [-5.55902524e-03 9.99983517e-01 1.43602202e-03 3.16726488e-01] [ 1.47647690e-02 -1.35380876e-03 9.99890078e-01 -1.05406532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.89455357399999 meters Centerline goodness [0,1] 0.8616256350136773 Centerline is valid? [False, False] Translation: X:4.09, Y:0.32, Z:-1.05 [[ 9.99875416e-01 5.78464821e-03 -1.46864276e-02 4.08948892e+00] [-5.76566434e-03 9.99982488e-01 1.33462499e-03 3.17366979e-01] [ 1.46938907e-02 -1.24978171e-03 9.99891258e-01 -1.05408196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.924553574 meters Centerline goodness [0,1] 0.8612800124727159 Centerline is valid? [False, False] Translation: X:4.09, Y:0.32, Z:-1.05 [[ 9.99878226e-01 6.98220406e-03 -1.39564075e-02 4.08656382e+00] [-6.95829699e-03 9.99974240e-01 1.76080746e-03 3.19352293e-01] [ 1.39683423e-02 -1.66348022e-03 9.99901054e-01 -1.05250580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.954553574 meters Centerline goodness [0,1] 0.8605658142560338 Centerline is valid? [False, False] Translation: X:4.09, Y:0.32, Z:-1.05 [[ 9.99878049e-01 7.12952764e-03 -1.38945080e-02 4.08632695e+00] [-7.10775796e-03 9.99973435e-01 1.61553563e-03 3.20372908e-01] [ 1.39056569e-02 -1.51657981e-03 9.99902162e-01 -1.05248673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.984553574 meters Centerline goodness [0,1] 0.8599311806217073 Centerline is valid? [False, False] Translation: X:4.09, Y:0.32, Z:-1.05 [[ 9.99878575e-01 7.18879855e-03 -1.38259242e-02 4.08614368e+00] [-7.16922130e-03 9.99973228e-01 1.46502430e-03 3.21138348e-01] [ 1.38360858e-02 -1.36572530e-03 9.99903344e-01 -1.05249420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.014553574 meters Centerline goodness [0,1] 0.863372771853351 Centerline is valid? [False, False] Translation: X:4.09, Y:0.32, Z:-1.05 [[ 9.99880886e-01 6.85212618e-03 -1.38297691e-02 4.08613995e+00] [-6.83276499e-03 9.99975610e-01 1.44673061e-03 3.20564587e-01] [ 1.38393450e-02 -1.35206272e-03 9.99903318e-01 -1.05216593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.044553574 meters Centerline goodness [0,1] 0.8614096573208723 Centerline is valid? [False, False] Translation: X:4.09, Y:0.32, Z:-1.05 [[ 9.99881683e-01 6.53774794e-03 -1.39240263e-02 4.08657288e+00] [-6.52083153e-03 9.99977945e-01 1.25996294e-03 3.20259800e-01] [ 1.39319565e-02 -1.16901764e-03 9.99902262e-01 -1.05237588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.074553574 meters Centerline goodness [0,1] 0.8638628313417149 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:-1.06 [[ 9.99978487e-01 2.05619024e-03 -6.22875616e-03 4.07843472e+00] [-2.04014553e-03 9.99994588e-01 2.58116902e-03 3.21162606e-01] [ 6.23402982e-03 -2.56840593e-03 9.99977270e-01 -1.05742463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.104553574 meters Centerline goodness [0,1] 0.8635745375408053 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:-1.06 [[ 9.99978325e-01 1.60845254e-03 -6.38452772e-03 4.07926653e+00] [-1.59379806e-03 9.99996086e-01 2.29973573e-03 3.20946246e-01] [ 6.38820175e-03 -2.28951023e-03 9.99976974e-01 -1.05806803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.134553574 meters Centerline goodness [0,1] 0.8643666563179137 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:-1.06 [[ 9.99975632e-01 1.95991794e-04 -6.97836813e-03 4.08187227e+00] [-1.84003003e-04 9.99998506e-01 1.71859404e-03 3.19730039e-01] [ 6.97869453e-03 -1.71726812e-03 9.99974174e-01 -1.05938422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.164553574 meters Centerline goodness [0,1] 0.8655236762304642 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:-1.06 [[ 9.99973724e-01 -1.56655519e-04 -7.24750213e-03 4.08277333e+00] [ 1.68158924e-04 9.99998727e-01 1.58664122e-03 3.19379286e-01] [ 7.24724435e-03 -1.58781826e-03 9.99972478e-01 -1.05980679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.194553574 meters Centerline goodness [0,1] 0.8656591589839343 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:-1.06 [[ 9.99972000e-01 -3.80574330e-04 -7.47351512e-03 4.08346630e+00] [ 3.92856926e-04 9.99998575e-01 1.64208384e-03 3.18744860e-01] [ 7.47287953e-03 -1.64497389e-03 9.99970725e-01 -1.06001331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.224553574 meters Centerline goodness [0,1] 0.8667817384895853 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:-1.06 [[ 9.99969731e-01 -4.50999602e-04 -7.76747610e-03 4.08452945e+00] [ 4.63272988e-04 9.99998647e-01 1.57837282e-03 3.18645164e-01] [ 7.76675375e-03 -1.58192351e-03 9.99968587e-01 -1.06088388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25455357399997 meters Centerline goodness [0,1] 0.8679051567161288 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:-1.06 [[ 9.99969317e-01 -2.19563378e-04 -7.83056584e-03 4.08469523e+00] [ 2.31845212e-04 9.99998744e-01 1.56757465e-03 3.19260049e-01] [ 7.83021183e-03 -1.56934203e-03 9.99968112e-01 -1.06121810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.28455357399997 meters Centerline goodness [0,1] 0.8690880989180835 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:-1.06 [[ 9.99971473e-01 8.31813254e-04 -7.50743672e-03 4.08333741e+00] [-8.17236560e-04 9.99997776e-01 1.94449285e-03 3.20516622e-01] [ 7.50903747e-03 -1.93830203e-03 9.99969928e-01 -1.06092752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.31455357399997 meters Centerline goodness [0,1] 0.8701478743068392 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:-1.06 [[ 9.99970504e-01 9.40716746e-04 -7.62277341e-03 4.08393138e+00] [-9.28023471e-04 9.99998177e-01 1.66854409e-03 3.21365000e-01] [ 7.62432914e-03 -1.66142076e-03 9.99969554e-01 -1.06171749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.34455357399997 meters Centerline goodness [0,1] 0.8701834950894322 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:-1.06 [[ 9.99970456e-01 1.37209406e-03 -7.56335362e-03 4.08357182e+00] [-1.35889333e-03 9.99997545e-01 1.75021750e-03 3.22047449e-01] [ 7.56573651e-03 -1.73988800e-03 9.99969866e-01 -1.06165615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.37455357399998 meters Centerline goodness [0,1] 0.8709353711958934 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:-1.06 [[ 9.99970947e-01 2.25686857e-03 -7.28084493e-03 4.08229912e+00] [-2.24085445e-03 9.99995054e-01 2.20689401e-03 3.22174143e-01] [ 7.28578959e-03 -2.19051458e-03 9.99971059e-01 -1.06098176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.40455357399998 meters Centerline goodness [0,1] 0.871158873075806 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:-1.06 [[ 9.99971504e-01 2.71399939e-03 -7.04457980e-03 4.08134807e+00] [-2.69533414e-03 9.99992836e-01 2.65773249e-03 3.21129579e-01] [ 7.05174242e-03 -2.63866926e-03 9.99971655e-01 -1.06019543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.43455357399998 meters Centerline goodness [0,1] 0.8740710636321412 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:-1.06 [[ 9.99971028e-01 2.79324468e-03 -7.08104495e-03 4.08157298e+00] [-2.77466579e-03 9.99992686e-01 2.63221804e-03 3.21141873e-01] [ 7.08834559e-03 -2.61249424e-03 9.99971465e-01 -1.06047324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.46455357399998 meters Centerline goodness [0,1] 0.8727223385283399 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:-1.06 [[ 9.99970837e-01 2.97914833e-03 -7.03205557e-03 4.08153197e+00] [-2.96116421e-03 9.99992322e-01 2.56647602e-03 3.21653882e-01] [ 7.03964749e-03 -2.54557810e-03 9.99971981e-01 -1.06074445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.49455357399998 meters Centerline goodness [0,1] 0.8734682024973381 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:-1.06 [[ 9.99969825e-01 3.10994937e-03 -7.11885515e-03 4.08198456e+00] [-3.09297810e-03 9.99992352e-01 2.39375758e-03 3.22274716e-01] [ 7.12624517e-03 -2.37166688e-03 9.99971796e-01 -1.06136704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.52455357399998 meters Centerline goodness [0,1] 0.8730066461276134 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:-1.06 [[ 9.99966821e-01 4.07985295e-03 -7.05060483e-03 4.08131069e+00] [-4.05900413e-03 9.99987355e-01 2.96881012e-03 3.22066478e-01] [ 7.06262798e-03 -2.94009318e-03 9.99970737e-01 -1.06103887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.55455357399998 meters Centerline goodness [0,1] 0.872948752764092 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:-1.06 [[ 9.99965464e-01 4.34592430e-03 -7.08406791e-03 4.08138471e+00] [-4.32388725e-03 9.99985775e-01 3.12314275e-03 3.21532288e-01] [ 7.09754008e-03 -3.09240418e-03 9.99970031e-01 -1.06113315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.58455357399998 meters Centerline goodness [0,1] 0.873013711951765 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:-1.06 [[ 9.99963013e-01 5.20995363e-03 -6.84321667e-03 4.08044684e+00] [-5.18416559e-03 9.99979415e-01 3.78075815e-03 3.20571163e-01] [ 6.86277338e-03 -3.74514194e-03 9.99969438e-01 -1.06079727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.61455357399998 meters Centerline goodness [0,1] 0.8736185833317148 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:-1.06 [[ 9.99961571e-01 5.22430676e-03 -7.04013884e-03 4.08119777e+00] [-5.19743225e-03 9.99979158e-01 3.83023146e-03 3.20025396e-01] [ 7.06000242e-03 -3.79349362e-03 9.99967882e-01 -1.06137581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.64455357399999 meters Centerline goodness [0,1] 0.8701306286137014 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:-1.06 [[ 9.99971679e-01 3.20633847e-03 -6.80886044e-03 4.07988177e+00] [-3.19836425e-03 9.99994187e-01 1.18171909e-03 3.20241422e-01] [ 6.81260985e-03 -1.15990840e-03 9.99976121e-01 -1.06108723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.674553574 meters Centerline goodness [0,1] 0.874130260088983 Centerline is valid? [False, False] Translation: X:4.08, Y:0.32, Z:-1.06 [[ 9.99971127e-01 3.48213626e-03 -6.75417618e-03 4.07957003e+00] [-3.46804519e-03 9.99991788e-01 2.09686745e-03 3.17230920e-01] [ 6.76142230e-03 -2.07338312e-03 9.99974992e-01 -1.06062817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.704553574 meters Centerline goodness [0,1] 0.8723488056086177 Centerline is valid? [False, False] Translation: X:4.08, Y:0.31, Z:-1.06 [[ 9.99971621e-01 3.77287244e-03 -6.52090293e-03 4.07860428e+00] [-3.75028792e-03 9.99986940e-01 3.47216869e-03 3.12713346e-01] [ 6.53391781e-03 -3.44761489e-03 9.99972711e-01 -1.05934563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.734553574 meters Centerline goodness [0,1] 0.8716945333807661 Centerline is valid? [False, False] Translation: X:4.08, Y:0.31, Z:-1.06 [[ 9.99971235e-01 3.73053334e-03 -6.60393925e-03 4.07887966e+00] [-3.70444874e-03 9.99985307e-01 3.95768869e-03 3.10628972e-01] [ 6.61860651e-03 -3.93311090e-03 9.99970362e-01 -1.05928389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.764553574 meters Centerline goodness [0,1] 0.867964510634927 Centerline is valid? [False, False] Translation: X:4.08, Y:0.31, Z:-1.06 [[ 9.99970688e-01 3.64714509e-03 -6.73210078e-03 4.07948463e+00] [-3.61810410e-03 9.99984119e-01 4.32095737e-03 3.08615981e-01] [ 6.74775302e-03 -4.29647327e-03 9.99968004e-01 -1.05963710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.794553574 meters Centerline goodness [0,1] 0.865141217037731 Centerline is valid? [False, False] Translation: X:4.08, Y:0.31, Z:-1.06 [[ 9.99968480e-01 3.90573668e-03 -6.91266698e-03 4.08054237e+00] [-3.87029834e-03 9.99979339e-01 5.13255389e-03 3.05203872e-01] [ 6.93257056e-03 -5.10563802e-03 9.99962935e-01 -1.06064919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.824553574 meters Centerline goodness [0,1] 0.865141217037731 Centerline is valid? [False, False] Translation: X:4.08, Y:0.31, Z:-1.06 [[ 9.99968480e-01 3.90573668e-03 -6.91266698e-03 4.08054237e+00] [-3.87029834e-03 9.99979339e-01 5.13255389e-03 3.05203872e-01] [ 6.93257056e-03 -5.10563802e-03 9.99962935e-01 -1.06064919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.854553574 meters Centerline goodness [0,1] 0.865858310079698 Centerline is valid? [False, False] Translation: X:4.08, Y:0.30, Z:-1.06 [[ 0.99996604 0.00480437 -0.00669671 4.08014803] [-0.00476229 0.9999689 0.00628631 0.30184672] [ 0.0067267 -0.0062542 0.99995782 -1.06086336] [ 0. 0. 0. 1. ]] SLAMing on 141.884553574 meters Centerline goodness [0,1] 0.8651024028382519 Centerline is valid? [False, False] Translation: X:4.08, Y:0.30, Z:-1.06 [[ 0.99996541 0.00493405 -0.00669652 4.08028328] [-0.00488948 0.99996589 0.00665647 0.30011975] [ 0.00672914 -0.00662349 0.99995542 -1.06103452] [ 0. 0. 0. 1. ]] SLAMing on 141.914553574 meters Centerline goodness [0,1] 0.8607893826205548 Centerline is valid? [False, False] Translation: X:4.08, Y:0.30, Z:-1.06 [[ 9.99978226e-01 1.97074461e-03 -6.29784134e-03 4.07965679e+00] [-1.94817831e-03 9.99991668e-01 3.58730856e-03 2.97493895e-01] [ 6.30485853e-03 -3.57496113e-03 9.99973734e-01 -1.06188664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.944553574 meters Centerline goodness [0,1] 0.8616949567988235 Centerline is valid? [False, False] Translation: X:4.08, Y:0.29, Z:-1.06 [[ 9.99975456e-01 9.40616706e-04 -6.94279644e-03 4.08230062e+00] [-9.16642398e-04 9.99993610e-01 3.45549462e-03 2.94828181e-01] [ 6.94600236e-03 -3.44904575e-03 9.99969928e-01 -1.06313442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.974553574 meters Centerline goodness [0,1] 0.8627378533160909 Centerline is valid? [False, False] Translation: X:4.08, Y:0.29, Z:-1.06 [[ 9.99971485e-01 -2.95235945e-03 -6.95074583e-03 4.08258825e+00] [ 2.95139025e-03 9.99995633e-01 -1.49691991e-04 2.92877632e-01] [ 6.95115742e-03 1.29173359e-04 9.99975832e-01 -1.06364264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.00455357399997 meters Centerline goodness [0,1] 0.858160594857309 Centerline is valid? [False, False] Translation: X:4.08, Y:0.29, Z:-1.06 [[ 9.99938013e-01 -8.21979137e-03 -7.51030544e-03 4.08497548e+00] [ 8.19359022e-03 9.99960262e-01 -3.51282702e-03 2.87568478e-01] [ 7.53888170e-03 3.45107291e-03 9.99965627e-01 -1.06428083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03455357399997 meters Centerline goodness [0,1] 0.8601028716603153 Centerline is valid? [False, False] Translation: X:4.09, Y:0.28, Z:-1.07 [[ 9.99918932e-01 -9.66610725e-03 -8.28825147e-03 4.08812666e+00] [ 9.63634126e-03 9.99947003e-01 -3.62379406e-03 2.84904163e-01] [ 8.32284020e-03 3.54363187e-03 9.99959086e-01 -1.06536706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.06455357399997 meters Centerline goodness [0,1] 0.860218664092502 Centerline is valid? [False, False] Translation: X:4.09, Y:0.28, Z:-1.07 [[ 0.99983639 -0.01551644 -0.00929664 4.0926002 ] [ 0.01544387 0.99985009 -0.00782826 0.28131185] [ 0.00941671 0.0076834 0.99992614 -1.067678 ] [ 0. 0. 0. 1. ]] SLAMing on 142.09455357399997 meters Centerline goodness [0,1] 0.8601634234689579 Centerline is valid? [False, False] Translation: X:4.10, Y:0.28, Z:-1.07 [[ 0.99980952 -0.01677991 -0.00996754 4.09507472] [ 0.01670384 0.99983109 -0.00766638 0.2780942 ] [ 0.0100945 0.00749842 0.99992093 -1.06793031] [ 0. 0. 0. 1. ]] SLAMing on 142.12455357399998 meters Centerline goodness [0,1] 0.8607806967326082 Centerline is valid? [False, False] Translation: X:4.10, Y:0.28, Z:-1.07 [[ 0.99978732 -0.01778757 -0.01043668 4.09675508] [ 0.01771116 0.99981599 -0.00736867 0.27505572] [ 0.01056583 0.00718226 0.99991839 -1.06767234] [ 0. 0. 0. 1. ]] SLAMing on 142.15455357399998 meters Centerline goodness [0,1] 0.8638641841022032 Centerline is valid? [False, False] Translation: X:4.10, Y:0.27, Z:-1.07 [[ 0.99975239 -0.01937801 -0.01093857 4.0990498 ] [ 0.01930017 0.99978797 -0.00717743 0.27077597] [ 0.01107533 0.00696454 0.99991441 -1.06754767] [ 0. 0. 0. 1. ]] SLAMing on 142.18455357399998 meters Centerline goodness [0,1] 0.8638053324218082 Centerline is valid? [False, False] Translation: X:4.10, Y:0.27, Z:-1.07 [[ 0.99974104 -0.01975052 -0.01130319 4.1002349 ] [ 0.0196721 0.99978193 -0.00700746 0.26935055] [ 0.01143913 0.00678329 0.99991156 -1.06772269] [ 0. 0. 0. 1. ]] SLAMing on 142.21455357399998 meters Centerline goodness [0,1] 0.8610272550153082 Centerline is valid? [False, False] Translation: X:4.10, Y:0.27, Z:-1.07 [[ 9.99777311e-01 -1.74460514e-02 -1.18728058e-02 4.10275537e+00] [ 1.74081666e-02 9.99843064e-01 -3.28679286e-03 2.66635013e-01] [ 1.19282841e-02 3.07937715e-03 9.99924114e-01 -1.06789841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.24455357399998 meters Centerline goodness [0,1] 0.8644616406936614 Centerline is valid? [False, False] Translation: X:4.10, Y:0.26, Z:-1.07 [[ 9.99817000e-01 -1.46131264e-02 -1.23460081e-02 4.10462682e+00] [ 1.46260143e-02 9.99892579e-01 9.54239183e-04 2.63733061e-01] [ 1.23307375e-02 -1.13463745e-03 9.99923330e-01 -1.06757413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.27455357399998 meters Centerline goodness [0,1] 0.8634687138139555 Centerline is valid? [False, False] Translation: X:4.10, Y:0.26, Z:-1.07 [[ 9.99822997e-01 -1.43120612e-02 -1.22122410e-02 4.10410522e+00] [ 1.43282986e-02 9.99896572e-01 1.24313734e-03 2.63578010e-01] [ 1.21931861e-02 -1.41789793e-03 9.99924655e-01 -1.06737371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.30455357399998 meters Centerline goodness [0,1] 0.8623068491973094 Centerline is valid? [False, False] Translation: X:4.10, Y:0.26, Z:-1.07 [[ 9.99822843e-01 -1.42664642e-02 -1.22780490e-02 4.10466830e+00] [ 1.42838433e-02 9.99897098e-01 1.32892670e-03 2.63001706e-01] [ 1.22578264e-02 -1.50406900e-03 9.99923739e-01 -1.06813111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.33455357399998 meters Centerline goodness [0,1] 0.8610101705119659 Centerline is valid? [False, False] Translation: X:4.11, Y:0.26, Z:-1.07 [[ 9.99821089e-01 -1.42730239e-02 -1.24125428e-02 4.10507315e+00] [ 1.42931242e-02 9.99896674e-01 1.53215024e-03 2.62432274e-01] [ 1.23893918e-02 -1.70929014e-03 9.99921788e-01 -1.06822125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.36455357399998 meters Centerline goodness [0,1] 0.8513917248790972 Centerline is valid? [False, False] Translation: X:4.11, Y:0.26, Z:-1.07 [[ 9.99818367e-01 -1.43121068e-02 -1.25855968e-02 4.10560506e+00] [ 1.43341179e-02 9.99895883e-01 1.66044390e-03 2.61709882e-01] [ 1.25605220e-02 -1.84054574e-03 9.99919420e-01 -1.06840397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.39455357399999 meters Centerline goodness [0,1] 0.861738698030398 Centerline is valid? [False, False] Translation: X:4.11, Y:0.26, Z:-1.07 [[ 9.99815856e-01 -1.42671476e-02 -1.28336616e-02 4.10641260e+00] [ 1.42934794e-02 9.99895917e-01 1.96239692e-03 2.60365092e-01] [ 1.28043281e-02 -2.14547324e-03 9.99915720e-01 -1.06885180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.424553574 meters Centerline goodness [0,1] 0.8590051235488683 Centerline is valid? [False, False] Translation: X:4.11, Y:0.26, Z:-1.07 [[ 9.99815671e-01 -1.41610360e-02 -1.29648927e-02 4.10691509e+00] [ 1.41884222e-02 9.99897293e-01 2.02278873e-03 2.60142034e-01] [ 1.29349163e-02 -2.20636724e-03 9.99913906e-01 -1.06936119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.454553574 meters Centerline goodness [0,1] 0.8568212809246554 Centerline is valid? [False, False] Translation: X:4.11, Y:0.26, Z:-1.07 [[ 0.99984614 -0.01092726 -0.01372188 4.10975348] [ 0.011008 0.99992246 0.00582236 0.25885181] [ 0.01365719 -0.00597251 0.9998889 -1.07057443] [ 0. 0. 0. 1. ]] SLAMing on 142.484553574 meters Centerline goodness [0,1] 0.8581986342812689 Centerline is valid? [False, False] Translation: X:4.12, Y:0.26, Z:-1.08 [[ 9.99936581e-01 -7.85835466e-03 -8.06719202e-03 4.12302639e+00] [ 7.84030172e-03 9.99966695e-01 -2.26701437e-03 2.60105680e-01] [ 8.08473834e-03 2.20362138e-03 9.99964890e-01 -1.07726035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.514553574 meters Centerline goodness [0,1] 0.8583367614263754 Centerline is valid? [False, False] Translation: X:4.12, Y:0.26, Z:-1.08 [[ 9.99956494e-01 -4.03790671e-03 -8.40862666e-03 4.12372667e+00] [ 4.05700272e-03 9.99989227e-01 2.25518429e-03 2.58622896e-01] [ 8.39942986e-03 -2.28919999e-03 9.99962104e-01 -1.07645997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.544553574 meters Centerline goodness [0,1] 0.8573259198123453 Centerline is valid? [False, False] Translation: X:4.12, Y:0.26, Z:-1.07 [[ 9.99969248e-01 -2.06089571e-03 -7.56676248e-03 4.12020539e+00] [ 2.08607419e-03 9.99992309e-01 3.32112677e-03 2.58485628e-01] [ 7.55985978e-03 -3.33680946e-03 9.99965857e-01 -1.07493295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.574553574 meters Centerline goodness [0,1] 0.8529680365296803 Centerline is valid? [False, False] Translation: X:4.12, Y:0.26, Z:-1.07 [[ 9.99973459e-01 -1.27659756e-03 -7.17302008e-03 4.11875702e+00] [ 1.30239302e-03 9.99992698e-01 3.59265830e-03 2.58771808e-01] [ 7.16838133e-03 -3.60190504e-03 9.99967820e-01 -1.07454066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.604553574 meters Centerline goodness [0,1] 0.8522046162899675 Centerline is valid? [False, False] Translation: X:4.11, Y:0.26, Z:-1.07 [[ 9.99980562e-01 1.00137446e-03 -6.15413484e-03 4.11429511e+00] [-9.71515469e-04 9.99987753e-01 4.85293427e-03 2.59398164e-01] [ 6.15891907e-03 -4.84686110e-03 9.99969287e-01 -1.07233845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.634553574 meters Centerline goodness [0,1] 0.8523895814684628 Centerline is valid? [False, False] Translation: X:4.11, Y:0.26, Z:-1.07 [[ 9.99982286e-01 1.77619073e-03 -5.68100248e-03 4.11261266e+00] [-1.74683777e-03 9.99985122e-01 5.16765951e-03 2.59509987e-01] [ 5.69009671e-03 -5.15764418e-03 9.99970510e-01 -1.07175318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.664553574 meters Centerline goodness [0,1] 0.8526127149944271 Centerline is valid? [False, False] Translation: X:4.11, Y:0.26, Z:-1.07 [[ 9.99982818e-01 2.52375600e-03 -5.29095831e-03 4.11109318e+00] [-2.49435994e-03 9.99981459e-01 5.55516074e-03 2.59423181e-01] [ 5.30488008e-03 -5.54186773e-03 9.99970573e-01 -1.07105998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.694553574 meters Centerline goodness [0,1] 0.8497777972372424 Centerline is valid? [False, False] Translation: X:4.11, Y:0.26, Z:-1.07 [[ 0.99997994 0.00460391 -0.0043493 4.10725514] [-0.00457507 0.99996765 0.00661633 0.2594596 ] [ 0.00437963 -0.0065963 0.99996865 -1.06950045] [ 0. 0. 0. 1. ]] SLAMing on 142.724553574 meters Centerline goodness [0,1] 0.8496187888879152 Centerline is valid? [False, False] Translation: X:4.11, Y:0.26, Z:-1.07 [[ 9.99977626e-01 5.47186915e-03 -3.84787549e-03 4.10563930e+00] [-5.44561721e-03 9.99962051e-01 6.80015127e-03 2.60049421e-01] [ 3.88493900e-03 -6.77904506e-03 9.99969475e-01 -1.06935338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75455357399997 meters Centerline goodness [0,1] 0.8459917001515052 Centerline is valid? [False, False] Translation: X:4.10, Y:0.26, Z:-1.07 [[ 9.99968950e-01 7.32696910e-03 -2.90067009e-03 4.10226401e+00] [-7.30470139e-03 9.99944330e-01 7.61432010e-03 2.60400487e-01] [ 2.95629850e-03 -7.59289515e-03 9.99966804e-01 -1.06847271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.78455357399997 meters Centerline goodness [0,1] 0.8454147703537586 Centerline is valid? [False, False] Translation: X:4.10, Y:0.26, Z:-1.07 [[ 9.99984503e-01 5.11339206e-03 -2.20143578e-03 4.09982503e+00] [-5.10412484e-03 9.99978175e-01 4.19486432e-03 2.60882215e-01] [ 2.22283772e-03 -4.18356291e-03 9.99988778e-01 -1.06865471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.81455357399997 meters Centerline goodness [0,1] 0.844187799255187 Centerline is valid? [False, False] Translation: X:4.10, Y:0.26, Z:-1.07 [[ 9.99985325e-01 4.86065822e-03 -2.39225960e-03 4.10073618e+00] [-4.84955232e-03 9.99977538e-01 4.62654065e-03 2.57675055e-01] [ 2.41469390e-03 -4.61487137e-03 9.99986436e-01 -1.06905145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.84455357399997 meters Centerline goodness [0,1] 0.8438082970596074 Centerline is valid? [False, False] Translation: X:4.10, Y:0.26, Z:-1.07 [[ 9.99986596e-01 4.43365919e-03 -2.67395798e-03 4.10200393e+00] [-4.42101174e-03 9.99979100e-01 4.71736815e-03 2.55776951e-01] [ 2.69481729e-03 -4.70548332e-03 9.99985298e-01 -1.06964208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.87455357399998 meters Centerline goodness [0,1] 0.8424912507523239 Centerline is valid? [False, False] Translation: X:4.10, Y:0.25, Z:-1.07 [[ 9.99987758e-01 3.89966178e-03 -3.04587511e-03 4.10371156e+00] [-3.88547338e-03 9.99981639e-01 4.65034355e-03 2.54076314e-01] [ 3.06395395e-03 -4.63845195e-03 9.99984548e-01 -1.07068981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.90455357399998 meters Centerline goodness [0,1] 0.8406680865373837 Centerline is valid? [False, False] Translation: X:4.11, Y:0.25, Z:-1.07 [[ 9.99988825e-01 2.75587613e-03 -3.84110448e-03 4.10728708e+00] [-2.73822134e-03 9.99985699e-01 4.59398371e-03 2.50804483e-01] [ 3.85370999e-03 -4.58341458e-03 9.99982070e-01 -1.07274967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.93455357399998 meters Centerline goodness [0,1] 0.8394045691671164 Centerline is valid? [False, False] Translation: X:4.11, Y:0.25, Z:-1.07 [[ 9.99988526e-01 2.19438102e-03 -4.25819358e-03 4.10903876e+00] [-2.17474290e-03 9.99987004e-01 4.61100539e-03 2.49100104e-01] [ 4.26825655e-03 -4.60169200e-03 9.99980303e-01 -1.07358050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.96455357399998 meters Centerline goodness [0,1] 0.8386635170126744 Centerline is valid? [False, False] Translation: X:4.11, Y:0.25, Z:-1.07 [[ 9.99992206e-01 -1.19155888e-03 -3.76400439e-03 4.10801907e+00] [ 1.19653577e-03 9.99998413e-01 1.32025962e-03 2.46151979e-01] [ 3.76242525e-03 -1.32475309e-03 9.99992045e-01 -1.07409353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.99455357399998 meters Centerline goodness [0,1] 0.8407820591791573 Centerline is valid? [False, False] Translation: X:4.11, Y:0.24, Z:-1.07 [[ 9.99989816e-01 -1.83782872e-03 -4.12197723e-03 4.10959624e+00] [ 1.84370224e-03 9.99997290e-01 1.42158218e-03 2.43807703e-01] [ 4.11935343e-03 -1.42916740e-03 9.99990494e-01 -1.07467650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.02455357399998 meters Centerline goodness [0,1] 0.8383748109445895 Centerline is valid? [False, False] Translation: X:4.11, Y:0.24, Z:-1.08 [[ 9.99986386e-01 -2.55480900e-03 -4.54973884e-03 4.11135031e+00] [ 2.56214091e-03 9.99995427e-01 1.60640085e-03 2.41117932e-01] [ 4.54561399e-03 -1.61803605e-03 9.99988360e-01 -1.07516654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.05455357399998 meters Centerline goodness [0,1] 0.8386522362517923 Centerline is valid? [False, False] Translation: X:4.11, Y:0.24, Z:-1.08 [[ 9.99962168e-01 -7.22317384e-03 -4.84652878e-03 4.11318154e+00] [ 7.21355686e-03 9.99971984e-01 -1.99885785e-03 2.37113028e-01] [ 4.86083110e-03 1.96382152e-03 9.99986258e-01 -1.07630545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.08455357399998 meters Centerline goodness [0,1] 0.8385735485067706 Centerline is valid? [False, False] Translation: X:4.12, Y:0.23, Z:-1.08 [[ 9.99952072e-01 -8.11973932e-03 -5.47026630e-03 4.11542182e+00] [ 8.11067550e-03 9.99965702e-01 -1.67707567e-03 2.34432871e-01] [ 5.48369609e-03 1.63262773e-03 9.99983632e-01 -1.07653275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.11455357399998 meters Centerline goodness [0,1] 0.8374054003550406 Centerline is valid? [False, False] Translation: X:4.12, Y:0.23, Z:-1.08 [[ 9.99930936e-01 -9.96889487e-03 -6.22446807e-03 4.11914689e+00] [ 9.96008938e-03 9.99949354e-01 -1.44405784e-03 2.29825820e-01] [ 6.23854849e-03 1.38196185e-03 9.99979585e-01 -1.07736325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.14455357399999 meters Centerline goodness [0,1] 0.8373549067886036 Centerline is valid? [False, False] Translation: X:4.12, Y:0.23, Z:-1.08 [[ 9.99923371e-01 -1.04322787e-02 -6.66485201e-03 4.12066427e+00] [ 1.04256484e-02 9.99945122e-01 -1.02878705e-03 2.27483695e-01] [ 6.67521885e-03 9.59222816e-04 9.99977260e-01 -1.07751513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.174553574 meters Centerline goodness [0,1] 0.8362217349272594 Centerline is valid? [False, False] Translation: X:4.12, Y:0.22, Z:-1.08 [[ 9.99921391e-01 -1.05287006e-02 -6.80868564e-03 4.12098222e+00] [ 1.05262691e-02 9.99944520e-01 -3.92862622e-04 2.24944545e-01] [ 6.81244423e-03 3.21161682e-04 9.99976743e-01 -1.07706250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.204553574 meters Centerline goodness [0,1] 0.8313469968013268 Centerline is valid? [False, False] Translation: X:4.12, Y:0.22, Z:-1.08 [[ 9.99925650e-01 -1.02496114e-02 -6.60604182e-03 4.11993538e+00] [ 1.02557685e-02 9.99947004e-01 8.98844924e-04 2.20607726e-01] [ 6.59647892e-03 -9.66528131e-04 9.99977776e-01 -1.07550541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.234553574 meters Centerline goodness [0,1] 0.8326159845908734 Centerline is valid? [False, False] Translation: X:4.12, Y:0.22, Z:-1.08 [[ 9.99930428e-01 -9.87857724e-03 -6.44611594e-03 4.11928733e+00] [ 9.88734329e-03 9.99950235e-01 1.32944680e-03 2.19836790e-01] [ 6.43266211e-03 -1.39308927e-03 9.99978340e-01 -1.07523028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.264553574 meters Centerline goodness [0,1] 0.8359516328668 Centerline is valid? [False, False] Translation: X:4.12, Y:0.22, Z:-1.08 [[ 0.99995824 -0.0060639 -0.00683671 4.12060973] [ 0.00610346 0.99996467 0.00577976 0.21809861] [ 0.00680142 -0.00582125 0.99995993 -1.07536044] [ 0. 0. 0. 1. ]] SLAMing on 143.294553574 meters Centerline goodness [0,1] 0.828619127116623 Centerline is valid? [False, False] Translation: X:4.12, Y:0.22, Z:-1.08 [[ 0.99996308 -0.00556069 -0.00655069 4.11967496] [ 0.00560005 0.99996629 0.00600489 0.21741095] [ 0.00651708 -0.00604135 0.99996051 -1.07540778] [ 0. 0. 0. 1. ]] SLAMing on 143.324553574 meters Centerline goodness [0,1] 0.8337430487601136 Centerline is valid? [False, False] Translation: X:4.12, Y:0.22, Z:-1.08 [[ 0.99996745 -0.00510649 -0.00624696 4.11886654] [ 0.00514537 0.9999674 0.00622362 0.21640279] [ 0.00621497 -0.00625556 0.99996112 -1.0755645 ] [ 0. 0. 0. 1. ]] SLAMing on 143.354553574 meters Centerline goodness [0,1] 0.8346780951468863 Centerline is valid? [False, False] Translation: X:4.12, Y:0.21, Z:-1.08 [[ 0.99997058 -0.00473351 -0.00603564 4.11842512] [ 0.0047743 0.99996575 0.00676126 0.21378425] [ 0.00600343 -0.00678987 0.99995893 -1.07579676] [ 0. 0. 0. 1. ]] SLAMing on 143.384553574 meters Centerline goodness [0,1] 0.8347602945056 Centerline is valid? [False, False] Translation: X:4.12, Y:0.21, Z:-1.08 [[ 0.99997122 -0.00466493 -0.00598329 4.11835793] [ 0.00470671 0.99996451 0.00698762 0.21248957] [ 0.00595048 -0.00701558 0.99995769 -1.07592482] [ 0. 0. 0. 1. ]] SLAMing on 143.414553574 meters Centerline goodness [0,1] 0.8337941480537591 Centerline is valid? [False, False] Translation: X:4.12, Y:0.21, Z:-1.08 [[ 0.99996856 -0.00496825 -0.00618044 4.11944226] [ 0.00501282 0.99996139 0.00721706 0.21035386] [ 0.00614434 -0.00724781 0.99995486 -1.07655484] [ 0. 0. 0. 1. ]] SLAMing on 143.444553574 meters Centerline goodness [0,1] 0.8307388307870258 Centerline is valid? [False, False] Translation: X:4.12, Y:0.21, Z:-1.08 [[ 0.99996845 -0.00497101 -0.00619582 4.11960252] [ 0.00501672 0.99996015 0.00738461 0.20938845] [ 0.00615886 -0.00741546 0.99995354 -1.07668326] [ 0. 0. 0. 1. ]] SLAMing on 143.474553574 meters Centerline goodness [0,1] 0.8303194186243028 Centerline is valid? [False, False] Translation: X:4.12, Y:0.21, Z:-1.08 [[ 0.99996959 -0.00487076 -0.00609088 4.11934339] [ 0.00491756 0.99995832 0.00769239 0.20806974] [ 0.00605316 -0.00772211 0.99995186 -1.07651026] [ 0. 0. 0. 1. ]] SLAMing on 143.50455357399997 meters Centerline goodness [0,1] 0.8306412495149398 Centerline is valid? [False, False] Translation: X:4.12, Y:0.21, Z:-1.08 [[ 0.9999713 -0.00468469 -0.00595369 4.11868447] [ 0.00473386 0.99995458 0.00827234 0.2059857 ] [ 0.00591467 -0.00830028 0.99994806 -1.07575589] [ 0. 0. 0. 1. ]] SLAMing on 143.53455357399997 meters Centerline goodness [0,1] 0.828701561244124 Centerline is valid? [False, False] Translation: X:4.12, Y:0.20, Z:-1.07 [[ 0.99997163 -0.00472068 -0.00587056 4.11840819] [ 0.00477488 0.9999458 0.00925219 0.20159816] [ 0.00582657 -0.00927996 0.99993996 -1.07479256] [ 0. 0. 0. 1. ]] SLAMing on 143.56455357399997 meters Centerline goodness [0,1] 0.832388446312497 Centerline is valid? [False, False] Translation: X:4.12, Y:0.20, Z:-1.08 [[ 0.99995797 -0.00768402 -0.00500135 4.11627508] [ 0.00770906 0.99995775 0.00500723 0.20203824] [ 0.00496266 -0.00504558 0.99997496 -1.07623903] [ 0. 0. 0. 1. ]] SLAMing on 143.59455357399997 meters Centerline goodness [0,1] 0.8301567444256384 Centerline is valid? [False, False] Translation: X:4.12, Y:0.20, Z:-1.08 [[ 0.99994067 -0.0092174 -0.0058056 4.12019342] [ 0.00924506 0.99994595 0.00475595 0.19931374] [ 0.00576145 -0.00480934 0.99997184 -1.07799844] [ 0. 0. 0. 1. ]] SLAMing on 143.62455357399998 meters Centerline goodness [0,1] 0.8296603066607504 Centerline is valid? [False, False] Translation: X:4.12, Y:0.20, Z:-1.08 [[ 0.99993008 -0.00998055 -0.00634255 4.12226112] [ 0.01001271 0.99993708 0.00505879 0.19681255] [ 0.00629166 -0.00512194 0.99996709 -1.07827878] [ 0. 0. 0. 1. ]] SLAMing on 143.65455357399998 meters Centerline goodness [0,1] 0.8256885266147956 Centerline is valid? [False, False] Translation: X:4.12, Y:0.19, Z:-1.08 [[ 0.99991746 -0.01084813 -0.00688421 4.12428995] [ 0.01088503 0.99992647 0.00534496 0.19414231] [ 0.00682572 -0.00541946 0.99996202 -1.07822373] [ 0. 0. 0. 1. ]] SLAMing on 143.68455357399998 meters Centerline goodness [0,1] 0.8380843217382637 Centerline is valid? [False, False] Translation: X:4.12, Y:0.19, Z:-1.08 [[ 9.99863588e-01 -1.50638786e-02 -6.77382472e-03 4.12436953e+00] [ 1.50767659e-02 9.99884617e-01 1.85548404e-03 1.90885464e-01] [ 6.74509235e-03 -1.95735830e-03 9.99975336e-01 -1.07830599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.71455357399998 meters Centerline goodness [0,1] 0.8380843217382637 Centerline is valid? [False, False] Translation: X:4.12, Y:0.19, Z:-1.08 [[ 9.99863588e-01 -1.50638786e-02 -6.77382472e-03 4.12436953e+00] [ 1.50767659e-02 9.99884617e-01 1.85548404e-03 1.90885464e-01] [ 6.74509235e-03 -1.95735830e-03 9.99975336e-01 -1.07830599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.74455357399998 meters Centerline goodness [0,1] 0.8379160636758322 Centerline is valid? [False, False] Translation: X:4.13, Y:0.19, Z:-1.08 [[ 9.99829756e-01 -1.68139229e-02 -7.59942760e-03 4.12827821e+00] [ 1.68292418e-02 9.99856464e-01 1.95636156e-03 1.87673883e-01] [ 7.56544270e-03 -2.08392111e-03 9.99969210e-01 -1.07892542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.77455357399998 meters Centerline goodness [0,1] 0.838570424656159 Centerline is valid? [False, False] Translation: X:4.13, Y:0.19, Z:-1.08 [[ 9.99812718e-01 -1.75408144e-02 -8.17608810e-03 4.13042885e+00] [ 1.75587667e-02 9.99843566e-01 2.12911700e-03 1.86041208e-01] [ 8.13746264e-03 -2.27228027e-03 9.99964309e-01 -1.07920687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.80455357399998 meters Centerline goodness [0,1] 0.8328225482315113 Centerline is valid? [False, False] Translation: X:4.13, Y:0.18, Z:-1.08 [[ 9.99798064e-01 -1.81473921e-02 -8.63156208e-03 4.13208299e+00] [ 1.81691280e-02 9.99831935e-01 2.44647010e-03 1.84313170e-01] [ 8.58571436e-03 -2.60280403e-03 9.99959755e-01 -1.07911939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.83455357399998 meters Centerline goodness [0,1] 0.8249418663431403 Centerline is valid? [False, False] Translation: X:4.13, Y:0.18, Z:-1.08 [[ 9.99771315e-01 -1.92805637e-02 -9.25085909e-03 4.13453615e+00] [ 1.93083859e-02 9.99809289e-01 2.92769410e-03 1.81343902e-01] [ 9.19264726e-03 -3.10564374e-03 9.99952924e-01 -1.07875179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.86455357399998 meters Centerline goodness [0,1] 0.8310913320521898 Centerline is valid? [False, False] Translation: X:4.14, Y:0.18, Z:-1.08 [[ 9.99760926e-01 -1.96610592e-02 -9.56732459e-03 4.13565984e+00] [ 1.96923491e-02 9.99801006e-01 3.18735202e-03 1.80105199e-01] [ 9.50275404e-03 -3.37499310e-03 9.99949152e-01 -1.07861914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.89455357399999 meters Centerline goodness [0,1] 0.832653474879019 Centerline is valid? [False, False] Translation: X:4.14, Y:0.18, Z:-1.08 [[ 9.99754887e-01 -1.98658424e-02 -9.77318709e-03 4.13637628e+00] [ 1.98993762e-02 9.99796389e-01 3.34599527e-03 1.79395076e-01] [ 9.70472614e-03 -3.53965544e-03 9.99946643e-01 -1.07861898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.924553574 meters Centerline goodness [0,1] 0.8218072319643716 Centerline is valid? [False, False] Translation: X:4.14, Y:0.18, Z:-1.08 [[ 9.99745800e-01 -2.01743362e-02 -1.00663516e-02 4.13750704e+00] [ 2.02099927e-02 9.99789794e-01 3.45306975e-03 1.78717227e-01] [ 9.99457217e-03 -3.65563287e-03 9.99943371e-01 -1.07884128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.954553574 meters Centerline goodness [0,1] 0.8253309372548027 Centerline is valid? [False, False] Translation: X:4.14, Y:0.18, Z:-1.08 [[ 9.99749473e-01 -2.00253928e-02 -9.99872044e-03 4.13713166e+00] [ 2.00641389e-02 9.99791512e-01 3.78994420e-03 1.78123996e-01] [ 9.92074070e-03 -3.98961043e-03 9.99942829e-01 -1.07839410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.984553574 meters Centerline goodness [0,1] 0.8349320442408443 Centerline is valid? [False, False] Translation: X:4.14, Y:0.18, Z:-1.08 [[ 9.99757511e-01 -1.97144937e-02 -9.81109369e-03 4.13644175e+00] [ 1.97548516e-02 9.99796717e-01 4.03372011e-03 1.78107617e-01] [ 9.72957651e-03 -4.22655867e-03 9.99943734e-01 -1.07813753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.014553574 meters Centerline goodness [0,1] 0.8187181889544453 Centerline is valid? [False, False] Translation: X:4.14, Y:0.18, Z:-1.08 [[ 9.99759038e-01 -1.96564231e-02 -9.77197688e-03 4.13646085e+00] [ 1.96960715e-02 9.99798101e-01 3.97780964e-03 1.78674824e-01] [ 9.69181441e-03 -4.16932069e-03 9.99944341e-01 -1.07839726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.044553574 meters Centerline goodness [0,1] 0.8179222879086454 Centerline is valid? [False, False] Translation: X:4.14, Y:0.18, Z:-1.08 [[ 9.99755635e-01 -1.97761476e-02 -9.87801064e-03 4.13691904e+00] [ 1.98155457e-02 9.99796020e-01 3.90664604e-03 1.79237901e-01] [ 9.79873732e-03 -4.10142956e-03 9.99943580e-01 -1.07857695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.074553574 meters Centerline goodness [0,1] 0.8297775530839231 Centerline is valid? [False, False] Translation: X:4.14, Y:0.18, Z:-1.08 [[ 0.99973219 -0.0206488 -0.01044857 4.13870655] [ 0.02069329 0.99977718 0.00416849 0.17822152] [ 0.01036017 -0.00438359 0.99993672 -1.07770565] [ 0. 0. 0. 1. ]] SLAMing on 144.104553574 meters Centerline goodness [0,1] 0.8326847265743456 Centerline is valid? [False, False] Translation: X:4.14, Y:0.18, Z:-1.08 [[ 0.99971792 -0.02114694 -0.01081103 4.13983353] [ 0.02119519 0.99976581 0.00436835 0.17733358] [ 0.01071612 -0.00459626 0.99993202 -1.07721253] [ 0. 0. 0. 1. ]] SLAMing on 144.134553574 meters Centerline goodness [0,1] 0.8283487677749102 Centerline is valid? [False, False] Translation: X:4.14, Y:0.18, Z:-1.08 [[ 9.99688014e-01 -2.21658872e-02 -1.15129366e-02 4.14268126e+00] [ 2.22137700e-02 9.99745049e-01 4.04794025e-03 1.77243529e-01] [ 1.14202751e-02 -4.30242307e-03 9.99925530e-01 -1.07799658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.164553574 meters Centerline goodness [0,1] 0.8259462466182903 Centerline is valid? [False, False] Translation: X:4.14, Y:0.18, Z:-1.08 [[ 9.99677622e-01 -2.24870852e-02 -1.17891019e-02 4.14391720e+00] [ 2.25327569e-02 9.99739051e-01 3.75564541e-03 1.77852337e-01] [ 1.17015720e-02 -4.02007565e-03 9.99923453e-01 -1.07878590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.194553574 meters Centerline goodness [0,1] 0.8188950554994955 Centerline is valid? [False, False] Translation: X:4.15, Y:0.18, Z:-1.08 [[ 9.99665586e-01 -2.28575340e-02 -1.20933209e-02 4.14521814e+00] [ 2.29019394e-02 9.99731427e-01 3.54621711e-03 1.78293339e-01] [ 1.20090151e-02 -3.82199171e-03 9.99920585e-01 -1.07934171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.224553574 meters Centerline goodness [0,1] 0.82577288341079 Centerline is valid? [False, False] Translation: X:4.15, Y:0.18, Z:-1.08 [[ 9.99661757e-01 -2.29633455e-02 -1.22089004e-02 4.14565209e+00] [ 2.30086428e-02 9.99728846e-01 3.58274083e-03 1.78123558e-01] [ 1.21233182e-02 -3.86243921e-03 9.99919050e-01 -1.07941317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25455357399997 meters Centerline goodness [0,1] 0.8262678738052607 Centerline is valid? [False, False] Translation: X:4.15, Y:0.18, Z:-1.08 [[ 9.99658229e-01 -2.30551191e-02 -1.23242187e-02 4.14608249e+00] [ 2.31019665e-02 9.99726369e-01 3.67247854e-03 1.77880759e-01] [ 1.22361769e-02 -3.95593708e-03 9.99917310e-01 -1.07942391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.28455357399997 meters Centerline goodness [0,1] 0.818510192225113 Centerline is valid? [False, False] Translation: X:4.15, Y:0.18, Z:-1.08 [[ 9.99660735e-01 -2.29299582e-02 -1.23543892e-02 4.14587599e+00] [ 2.29806974e-02 9.99727984e-01 3.98077165e-03 1.77476036e-01] [ 1.22597497e-02 -4.26333359e-03 9.99915758e-01 -1.07886744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.31455357399997 meters Centerline goodness [0,1] 0.8217744376071825 Centerline is valid? [False, False] Translation: X:4.15, Y:0.18, Z:-1.08 [[ 9.99669586e-01 -2.26492440e-02 -1.21544693e-02 4.14528548e+00] [ 2.26987557e-02 9.99734542e-01 3.95115491e-03 1.77504066e-01] [ 1.20617521e-02 -4.22574072e-03 9.99918325e-01 -1.07902015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.34455357399997 meters Centerline goodness [0,1] 0.822524222977224 Centerline is valid? [False, False] Translation: X:4.15, Y:0.18, Z:-1.08 [[ 0.99974456 -0.01880464 -0.01253792 4.14609879] [ 0.01891279 0.99978446 0.00856372 0.1761491 ] [ 0.01237418 -0.00879866 0.99988472 -1.07801528] [ 0. 0. 0. 1. ]] SLAMing on 144.37455357399998 meters Centerline goodness [0,1] 0.8228377187460657 Centerline is valid? [False, False] Translation: X:4.15, Y:0.18, Z:-1.08 [[ 0.999759 -0.01823402 -0.0122251 4.1450887 ] [ 0.01833892 0.99979549 0.00852378 0.17661471] [ 0.01206718 -0.00874592 0.99988894 -1.07836625] [ 0. 0. 0. 1. ]] SLAMing on 144.40455357399998 meters Centerline goodness [0,1] 0.8222317466720452 Centerline is valid? [False, False] Translation: X:4.16, Y:0.18, Z:-1.08 [[ 9.99865448e-01 -1.40394769e-02 -8.48403960e-03 4.16171435e+00] [ 1.40448165e-02 9.99901204e-01 5.70110281e-04 1.77980241e-01] [ 8.47519736e-03 -6.89190351e-04 9.99963847e-01 -1.08494945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.43455357399998 meters Centerline goodness [0,1] 0.8165653610431537 Centerline is valid? [False, False] Translation: X:4.16, Y:0.18, Z:-1.08 [[ 0.99990255 -0.01068089 -0.00898985 4.16310897] [ 0.01072921 0.99992816 0.005344 0.17581473] [ 0.00893212 -0.00543993 0.99994531 -1.08338603] [ 0. 0. 0. 1. ]] SLAMing on 144.46455357399998 meters Centerline goodness [0,1] 0.8195456493784826 Centerline is valid? [False, False] Translation: X:4.16, Y:0.18, Z:-1.08 [[ 0.99991201 -0.01012926 -0.00856613 4.16157925] [ 0.01017776 0.99993232 0.00563705 0.17523489] [ 0.00850845 -0.00572374 0.99994742 -1.08294453] [ 0. 0. 0. 1. ]] SLAMing on 144.49455357399998 meters Centerline goodness [0,1] 0.8220319721191 Centerline is valid? [False, False] Translation: X:4.16, Y:0.17, Z:-1.08 [[ 0.99992055 -0.0095698 -0.0082049 4.16005894] [ 0.00962046 0.99993477 0.0061565 0.17449636] [ 0.00814545 -0.00623495 0.99994739 -1.0820701 ] [ 0. 0. 0. 1. ]] SLAMing on 144.52455357399998 meters Centerline goodness [0,1] 0.8223885503325157 Centerline is valid? [False, False] Translation: X:4.16, Y:0.17, Z:-1.08 [[ 0.99993341 -0.00869774 -0.00758438 4.15801937] [ 0.0087483 0.99993957 0.00665818 0.17359286] [ 0.00752601 -0.00672409 0.99994907 -1.08177903] [ 0. 0. 0. 1. ]] SLAMing on 144.55455357399998 meters Centerline goodness [0,1] 0.8221829206670035 Centerline is valid? [False, False] Translation: X:4.16, Y:0.17, Z:-1.08 [[ 0.99993605 -0.00848547 -0.00747611 4.15775227] [ 0.00853579 0.99994096 0.00672487 0.1734528 ] [ 0.00741861 -0.00678825 0.99994944 -1.08204092] [ 0. 0. 0. 1. ]] SLAMing on 144.58455357399998 meters Centerline goodness [0,1] 0.8211161540607014 Centerline is valid? [False, False] Translation: X:4.16, Y:0.17, Z:-1.08 [[ 0.99993261 -0.00877809 -0.00759736 4.15855657] [ 0.00883088 0.99993691 0.00694228 0.17134599] [ 0.00753594 -0.00700891 0.99994704 -1.08241736] [ 0. 0. 0. 1. ]] SLAMing on 144.61455357399998 meters Centerline goodness [0,1] 0.8217207907709508 Centerline is valid? [False, False] Translation: X:4.16, Y:0.17, Z:-1.08 [[ 0.99992672 -0.009181 -0.00789075 4.15967901] [ 0.00923819 0.99993111 0.00724098 0.1695774 ] [ 0.00782373 -0.00731334 0.99994265 -1.08234824] [ 0. 0. 0. 1. ]] SLAMing on 144.64455357399999 meters Centerline goodness [0,1] 0.8206575635059883 Centerline is valid? [False, False] Translation: X:4.16, Y:0.17, Z:-1.08 [[ 0.99991716 -0.00981866 -0.00832213 4.16150517] [ 0.00987988 0.9999242 0.00734679 0.16769892] [ 0.00824936 -0.00742841 0.99993838 -1.08285389] [ 0. 0. 0. 1. ]] SLAMing on 144.674553574 meters Centerline goodness [0,1] 0.8208485716477839 Centerline is valid? [False, False] Translation: X:4.17, Y:0.16, Z:-1.08 [[ 0.99989275 -0.01147363 -0.00910207 4.16528896] [ 0.01154071 0.99990637 0.00735232 0.16403929] [ 0.00901686 -0.00745658 0.99993155 -1.08374639] [ 0. 0. 0. 1. ]] SLAMing on 144.704553574 meters Centerline goodness [0,1] 0.8211400876990538 Centerline is valid? [False, False] Translation: X:4.17, Y:0.16, Z:-1.08 [[ 0.99988139 -0.01208939 -0.00954165 4.16698224] [ 0.01216185 0.99989736 0.0075735 0.1621061 ] [ 0.00944911 -0.00768864 0.9999258 -1.08392509] [ 0. 0. 0. 1. ]] SLAMing on 144.734553574 meters Centerline goodness [0,1] 0.8177719379605297 Centerline is valid? [False, False] Translation: X:4.17, Y:0.16, Z:-1.09 [[ 0.99984929 -0.01380638 -0.01052485 4.17176685] [ 0.01388197 0.99987812 0.00714363 0.15912009] [ 0.01042494 -0.00728866 0.99991909 -1.08627515] [ 0. 0. 0. 1. ]] SLAMing on 144.764553574 meters Centerline goodness [0,1] 0.819047619047619 Centerline is valid? [False, False] Translation: X:4.17, Y:0.16, Z:-1.09 [[ 0.99984222 -0.01413076 -0.01076341 4.17274748] [ 0.01421139 0.99987125 0.00745153 0.15744755] [ 0.01065673 -0.00760332 0.99991431 -1.08632787] [ 0. 0. 0. 1. ]] SLAMing on 144.794553574 meters Centerline goodness [0,1] 0.8174387625772743 Centerline is valid? [False, False] Translation: X:4.17, Y:0.16, Z:-1.09 [[ 0.99983869 -0.01433267 -0.01082408 4.17312716] [ 0.01441659 0.99986631 0.00771576 0.15583319] [ 0.01071205 -0.00787056 0.99991165 -1.08622265] [ 0. 0. 0. 1. ]] SLAMing on 144.824553574 meters Centerline goodness [0,1] 0.8211221977452378 Centerline is valid? [False, False] Translation: X:4.17, Y:0.15, Z:-1.09 [[ 0.99984703 -0.01397884 -0.01051237 4.17190418] [ 0.01406869 0.99986471 0.00852251 0.15312336] [ 0.01039182 -0.0086691 0.99990842 -1.08512463] [ 0. 0. 0. 1. ]] SLAMing on 144.854553574 meters Centerline goodness [0,1] 0.8097842994918594 Centerline is valid? [False, False] Translation: X:4.17, Y:0.15, Z:-1.09 [[ 0.99985321 -0.01368955 -0.01030315 4.17132279] [ 0.0137771 0.99986917 0.00847533 0.15302846] [ 0.01018578 -0.00861603 0.999911 -1.08549362] [ 0. 0. 0. 1. ]] SLAMing on 144.884553574 meters Centerline goodness [0,1] 0.817580193086266 Centerline is valid? [False, False] Translation: X:4.17, Y:0.15, Z:-1.09 [[ 0.99985549 -0.01360326 -0.01019525 4.17134393] [ 0.01368677 0.99987298 0.00816687 0.15334322] [ 0.01008286 -0.00830523 0.99991468 -1.08637203] [ 0. 0. 0. 1. ]] SLAMing on 144.914553574 meters Centerline goodness [0,1] 0.8120449344705638 Centerline is valid? [False, False] Translation: X:4.17, Y:0.15, Z:-1.09 [[ 0.99987763 -0.01249722 -0.00940962 4.16841932] [ 0.01257749 0.9998846 0.00852013 0.15290677] [ 0.00930206 -0.00863744 0.99991943 -1.085909 ] [ 0. 0. 0. 1. ]] SLAMing on 144.944553574 meters Centerline goodness [0,1] 0.8150264990127819 Centerline is valid? [False, False] Translation: X:4.17, Y:0.15, Z:-1.09 [[ 0.99988267 -0.01224246 -0.00920745 4.16765871] [ 0.0123224 0.99988644 0.00867594 0.15256104] [ 0.00910019 -0.00878838 0.99991997 -1.08553595] [ 0. 0. 0. 1. ]] SLAMing on 144.974553574 meters Centerline goodness [0,1] 0.817080777627612 Centerline is valid? [False, False] Translation: X:4.17, Y:0.15, Z:-1.09 [[ 0.99988971 -0.01186535 -0.00893172 4.16685432] [ 0.01194196 0.99989194 0.00857321 0.15303967] [ 0.00882903 -0.00867893 0.99992336 -1.086027 ] [ 0. 0. 0. 1. ]] SLAMing on 145.00455357399997 meters Centerline goodness [0,1] 0.8162973366625053 Centerline is valid? [False, False] Translation: X:4.17, Y:0.15, Z:-1.09 [[ 0.99988238 -0.01225134 -0.00922689 4.16819125] [ 0.01232739 0.99989014 0.00823109 0.15349867] [ 0.00912503 -0.00834386 0.99992355 -1.08690573] [ 0. 0. 0. 1. ]] SLAMing on 145.03455357399997 meters Centerline goodness [0,1] 0.8032872287775781 Centerline is valid? [False, False] Translation: X:4.17, Y:0.15, Z:-1.09 [[ 0.99984864 -0.01415728 -0.01011252 4.17203724] [ 0.01423862 0.99986649 0.00801677 0.15153964] [ 0.00999768 -0.00815955 0.99991673 -1.0870847 ] [ 0. 0. 0. 1. ]] SLAMing on 145.06455357399997 meters Centerline goodness [0,1] 0.8009870998067583 Centerline is valid? [False, False] Translation: X:4.17, Y:0.15, Z:-1.09 [[ 0.99982582 -0.01523532 -0.01078024 4.17451854] [ 0.01532265 0.99985007 0.00806503 0.1503567 ] [ 0.01065575 -0.00822881 0.99990937 -1.08688691] [ 0. 0. 0. 1. ]] SLAMing on 145.09455357399997 meters Centerline goodness [0,1] 0.8053749118545797 Centerline is valid? [False, False] Translation: X:4.18, Y:0.15, Z:-1.09 [[ 0.99977328 -0.01757844 -0.0120163 4.17937177] [ 0.01767145 0.99981436 0.0076784 0.15004144] [ 0.0118791 -0.00788901 0.99989832 -1.08678723] [ 0. 0. 0. 1. ]] SLAMing on 145.12455357399998 meters Centerline goodness [0,1] 0.7993860082732783 Centerline is valid? [False, False] Translation: X:4.18, Y:0.15, Z:-1.09 [[ 0.9997522 -0.0183844 -0.01255191 4.18126149] [ 0.01847915 0.9998013 0.00747505 0.15022302] [ 0.01241199 -0.00770515 0.99989328 -1.08676053] [ 0. 0. 0. 1. ]] SLAMing on 145.15455357399998 meters Centerline goodness [0,1] 0.804761285286848 Centerline is valid? [False, False] Translation: X:4.18, Y:0.15, Z:-1.09 [[ 0.99973983 -0.01883111 -0.01287113 4.1823062 ] [ 0.01892684 0.99979381 0.0073565 0.15070795] [ 0.01272994 -0.00759819 0.9998901 -1.08659658] [ 0. 0. 0. 1. ]] SLAMing on 145.18455357399998 meters Centerline goodness [0,1] 0.7874344734520164 Centerline is valid? [False, False] Translation: X:4.18, Y:0.15, Z:-1.09 [[ 0.99973869 -0.01887021 -0.01290222 4.18230745] [ 0.01895964 0.99979682 0.00684444 0.15315937] [ 0.01277044 -0.00708727 0.99989334 -1.08675647] [ 0. 0. 0. 1. ]] SLAMing on 145.21455357399998 meters Centerline goodness [0,1] 0.8161246893123446 Centerline is valid? [False, False] Translation: X:4.18, Y:0.15, Z:-1.09 [[ 0.99974322 -0.01869336 -0.01280814 4.18189881] [ 0.01877906 0.99980185 0.00660414 0.15458603] [ 0.01268215 -0.00684297 0.99989616 -1.08677809] [ 0. 0. 0. 1. ]] SLAMing on 145.24455357399998 meters Centerline goodness [0,1] 0.8176027644540719 Centerline is valid? [False, False] Translation: X:4.18, Y:0.16, Z:-1.09 [[ 0.99976771 -0.01766046 -0.01235436 4.17978643] [ 0.01774096 0.99982189 0.00643727 0.15778589] [ 0.01223848 -0.00665495 0.99990296 -1.0865277 ] [ 0. 0. 0. 1. ]] SLAMing on 145.27455357399998 meters Centerline goodness [0,1] 0.8139768081659939 Centerline is valid? [False, False] Translation: X:4.18, Y:0.16, Z:-1.09 [[ 0.99977983 -0.01714624 -0.0120955 4.17886651] [ 0.01722017 0.99983351 0.00603435 0.15992963] [ 0.01199002 -0.0062413 0.99990864 -1.08705115] [ 0. 0. 0. 1. ]] SLAMing on 145.30455357399998 meters Centerline goodness [0,1] 0.7475487692779084 Centerline is valid? [False, False] Translation: X:4.18, Y:0.16, Z:-1.09 [[ 0.99982924 -0.01348419 -0.01263629 4.18038002] [ 0.01360634 0.99986104 0.00963157 0.16181422] [ 0.01250466 -0.00980186 0.99987377 -1.08720023] [ 0. 0. 0. 1. ]] SLAMing on 145.33455357399998 meters Centerline goodness [0,1] 0.8057180648115175 Centerline is valid? [False, False] Translation: X:4.18, Y:0.16, Z:-1.09 [[ 0.9998388 -0.01299424 -0.01239049 4.1796394 ] [ 0.01310733 0.99987278 0.00908993 0.16362253] [ 0.01227079 -0.00925087 0.99988192 -1.08812408] [ 0. 0. 0. 1. ]] SLAMing on 145.36455357399998 meters Centerline goodness [0,1] 0.7812651016099906 Centerline is valid? [False, False] Translation: X:4.18, Y:0.17, Z:-1.09 [[ 0.99984862 -0.01245859 -0.01214579 4.17875459] [ 0.01256428 0.99988352 0.00866473 0.16532174] [ 0.01203643 -0.00881602 0.99988869 -1.08879407] [ 0. 0. 0. 1. ]] SLAMing on 145.39455357399999 meters Centerline goodness [0,1] 0.8002732516951725 Centerline is valid? [False, False] Translation: X:4.18, Y:0.17, Z:-1.09 [[ 0.99986253 -0.01155832 -0.01188821 4.17750138] [ 0.01165391 0.99990006 0.00800326 0.16828994] [ 0.01179451 -0.00814071 0.9998973 -1.08980294] [ 0. 0. 0. 1. ]] SLAMing on 145.424553574 meters Centerline goodness [0,1] 0.8102187934741368 Centerline is valid? [False, False] Translation: X:4.18, Y:0.17, Z:-1.09 [[ 0.99987036 -0.01111102 -0.01165391 4.17661154] [ 0.01120309 0.99990631 0.00786495 0.16969783] [ 0.01156543 -0.00799449 0.99990116 -1.08987831] [ 0. 0. 0. 1. ]] SLAMing on 145.454553574 meters Centerline goodness [0,1] 0.7952353370772369 Centerline is valid? [False, False] Translation: X:4.18, Y:0.17, Z:-1.09 [[ 0.99987408 -0.01083907 -0.01159037 4.17651396] [ 0.01092367 0.99991397 0.00726072 0.17183393] [ 0.01151068 -0.00738641 0.99990647 -1.0909303 ] [ 0. 0. 0. 1. ]] SLAMing on 145.484553574 meters Centerline goodness [0,1] 0.8039008961518187 Centerline is valid? [False, False] Translation: X:4.18, Y:0.17, Z:-1.09 [[ 0.99987292 -0.01087638 -0.01165511 4.17689206] [ 0.01095741 0.99991608 0.00691173 0.17253897] [ 0.01157896 -0.00703857 0.99990819 -1.09162492] [ 0. 0. 0. 1. ]] SLAMing on 145.514553574 meters Centerline goodness [0,1] 0.8113388046926137 Centerline is valid? [False, False] Translation: X:4.18, Y:0.17, Z:-1.09 [[ 0.99987122 -0.01093912 -0.01174249 4.17728857] [ 0.01101885 0.99991653 0.00674718 0.17309065] [ 0.0116677 -0.0068757 0.99990829 -1.0919486 ] [ 0. 0. 0. 1. ]] SLAMing on 145.544553574 meters Centerline goodness [0,1] 0.8112060301507538 Centerline is valid? [False, False] Translation: X:4.18, Y:0.17, Z:-1.09 [[ 0.99987171 -0.0108757 -0.01175903 4.17692966] [ 0.01095616 0.99991686 0.00680036 0.17397297] [ 0.0116841 -0.00692832 0.99990774 -1.09121435] [ 0. 0. 0. 1. ]] SLAMing on 145.574553574 meters Centerline goodness [0,1] 0.8131950894986569 Centerline is valid? [False, False] Translation: X:4.18, Y:0.17, Z:-1.09 [[ 0.99987263 -0.01085142 -0.01170319 4.1765517 ] [ 0.01093257 0.99991649 0.00689181 0.17425906] [ 0.01162743 -0.00701888 0.99990776 -1.09062876] [ 0. 0. 0. 1. ]] SLAMing on 145.604553574 meters Centerline goodness [0,1] 0.8147925736876345 Centerline is valid? [False, False] Translation: X:4.18, Y:0.18, Z:-1.09 [[ 0.99987454 -0.01081888 -0.01156989 4.17575713] [ 0.01090019 0.99991617 0.00698839 0.17503469] [ 0.01149331 -0.00711362 0.99990865 -1.08954559] [ 0. 0. 0. 1. ]] SLAMing on 145.634553574 meters Centerline goodness [0,1] 0.8147925736876345 Centerline is valid? [False, False] Translation: X:4.18, Y:0.18, Z:-1.09 [[ 0.99987454 -0.01081888 -0.01156989 4.17575713] [ 0.01090019 0.99991617 0.00698839 0.17503469] [ 0.01149331 -0.00711362 0.99990865 -1.08954559] [ 0. 0. 0. 1. ]] SLAMing on 145.664553574 meters Centerline goodness [0,1] 0.8146665999699865 Centerline is valid? [False, False] Translation: X:4.18, Y:0.18, Z:-1.09 [[ 0.99987628 -0.01074146 -0.01149118 4.17521202] [ 0.01082364 0.99991612 0.00711297 0.17558063] [ 0.01141381 -0.00723647 0.99990868 -1.08877246] [ 0. 0. 0. 1. ]] SLAMing on 145.694553574 meters Centerline goodness [0,1] 0.8057870891842507 Centerline is valid? [False, False] Translation: X:4.17, Y:0.18, Z:-1.09 [[ 0.99987772 -0.01065493 -0.0114462 4.17484006] [ 0.01073832 0.99991606 0.00724931 0.17579556] [ 0.011368 -0.00737134 0.99990821 -1.08821333] [ 0. 0. 0. 1. ]] SLAMing on 145.724553574 meters Centerline goodness [0,1] 0.7978699579465997 Centerline is valid? [False, False] Translation: X:4.18, Y:0.18, Z:-1.09 [[ 0.999867 -0.01125559 -0.01180198 4.17630388] [ 0.01133553 0.99991312 0.00672817 0.17709906] [ 0.01172523 -0.00686105 0.99990772 -1.08881006] [ 0. 0. 0. 1. ]] SLAMing on 145.75455357399997 meters Centerline goodness [0,1] 0.8120977161460274 Centerline is valid? [False, False] Translation: X:4.18, Y:0.18, Z:-1.09 [[ 0.99985708 -0.01174907 -0.01215661 4.17772502] [ 0.01182848 0.99990904 0.00648089 0.17769915] [ 0.01207936 -0.00662375 0.9999051 -1.08924554] [ 0. 0. 0. 1. ]] SLAMing on 145.78455357399997 meters Centerline goodness [0,1] 0.8162159487344434 Centerline is valid? [False, False] Translation: X:4.18, Y:0.18, Z:-1.09 [[ 0.99983316 -0.01296183 -0.01286992 4.18023755] [ 0.01303758 0.99989807 0.00581936 0.17934735] [ 0.01279317 -0.00598618 0.99990025 -1.08956897] [ 0. 0. 0. 1. ]] SLAMing on 145.81455357399997 meters Centerline goodness [0,1] 0.8170307293594965 Centerline is valid? [False, False] Translation: X:4.18, Y:0.18, Z:-1.09 [[ 0.99982394 -0.01338262 -0.01315297 4.18112012] [ 0.01345813 0.99989336 0.00566952 0.18015865] [ 0.01307569 -0.00584553 0.99989742 -1.08931916] [ 0. 0. 0. 1. ]] SLAMing on 145.84455357399997 meters Centerline goodness [0,1] 0.7673584673953089 Centerline is valid? [False, False] Translation: X:4.18, Y:0.18, Z:-1.09 [[ 0.99978878 -0.01499081 -0.01405955 4.1842255 ] [ 0.01506308 0.9998738 0.00504886 0.18142883] [ 0.01398209 -0.00525957 0.99988841 -1.0892217 ] [ 0. 0. 0. 1. ]] SLAMing on 145.87455357399998 meters Centerline goodness [0,1] 0.8139512003148367 Centerline is valid? [False, False] Translation: X:4.19, Y:0.18, Z:-1.09 [[ 0.99977388 -0.01560732 -0.01444325 4.18547448] [ 0.01567843 0.99986545 0.00482374 0.18179336] [ 0.01436602 -0.00504909 0.99988406 -1.08911927] [ 0. 0. 0. 1. ]] SLAMing on 145.90455357399998 meters Centerline goodness [0,1] 0.7398272223040299 Centerline is valid? [False, False] Translation: X:4.19, Y:0.18, Z:-1.09 [[ 0.99976017 -0.01612976 -0.0148133 4.18678901] [ 0.01619839 0.99985856 0.00452503 0.18252877] [ 0.01473822 -0.00476389 0.99988004 -1.08931041] [ 0. 0. 0. 1. ]] SLAMing on 145.93455357399998 meters Centerline goodness [0,1] 0.8025417345029524 Centerline is valid? [False, False] Translation: X:4.19, Y:0.19, Z:-1.09 [[ 9.99740699e-01 -1.67911516e-02 -1.53815322e-02 4.18928701e+00] [ 1.68435298e-02 9.99852751e-01 3.28206191e-03 1.86249138e-01] [ 1.53241577e-02 -3.54029016e-03 9.99876311e-01 -1.09132239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.96455357399998 meters Centerline goodness [0,1] 0.7574311393202355 Centerline is valid? [False, False] Translation: X:4.19, Y:0.19, Z:-1.09 [[ 9.99742406e-01 -1.66732051e-02 -1.53989240e-02 4.18959632e+00] [ 1.67163091e-02 9.99856695e-01 2.67468592e-03 1.88904619e-01] [ 1.53521217e-02 -2.93141011e-03 9.99877852e-01 -1.09234188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.99455357399998 meters Centerline goodness [0,1] 0.8121895620875825 Centerline is valid? [False, False] Translation: X:4.19, Y:0.19, Z:-1.09 [[ 0.99977712 -0.01354798 -0.01619164 4.19198843] [ 0.01364693 0.99988878 0.00601603 0.19155128] [ 0.01610834 -0.00623566 0.99985081 -1.0924947 ] [ 0. 0. 0. 1. ]] SLAMing on 146.02455357399998 meters Centerline goodness [0,1] 0.81559180939623 Centerline is valid? [False, False] Translation: X:4.19, Y:0.19, Z:-1.09 [[ 0.99978529 -0.01319712 -0.0159753 4.19118927] [ 0.01328973 0.99989541 0.00570511 0.19329031] [ 0.01589833 -0.00591619 0.99985611 -1.09256814] [ 0. 0. 0. 1. ]] SLAMing on 146.05455357399998 meters Centerline goodness [0,1] 0.8165141997277092 Centerline is valid? [False, False] Translation: X:4.19, Y:0.19, Z:-1.09 [[ 0.9997958 -0.01268728 -0.01572859 4.18994004] [ 0.01277809 0.99990219 0.0056861 0.19475565] [ 0.01565491 -0.00588592 0.99986013 -1.0919797 ] [ 0. 0. 0. 1. ]] SLAMing on 146.08455357399998 meters Centerline goodness [0,1] 0.8153480636730814 Centerline is valid? [False, False] Translation: X:4.19, Y:0.20, Z:-1.09 [[ 0.9998246 -0.0112815 -0.01494967 4.18640876] [ 0.01136841 0.99991889 0.00574175 0.19804604] [ 0.01488368 -0.00591069 0.99987176 -1.09054696] [ 0. 0. 0. 1. ]] SLAMing on 146.11455357399998 meters Centerline goodness [0,1] 0.8188993073552278 Centerline is valid? [False, False] Translation: X:4.19, Y:0.20, Z:-1.09 [[ 0.99985483 -0.00742432 -0.01533624 4.18745053] [ 0.00756399 0.99993026 0.00906945 0.20116149] [ 0.01526784 -0.00918413 0.99984126 -1.0909895 ] [ 0. 0. 0. 1. ]] SLAMing on 146.14455357399999 meters Centerline goodness [0,1] 0.8186863364945557 Centerline is valid? [False, False] Translation: X:4.19, Y:0.20, Z:-1.09 [[ 0.99986224 -0.00692422 -0.01508521 4.1870356 ] [ 0.00704895 0.99994128 0.00823057 0.20435662] [ 0.01502733 -0.00833577 0.99985234 -1.09249281] [ 0. 0. 0. 1. ]] SLAMing on 146.174553574 meters Centerline goodness [0,1] 0.8123833519970138 Centerline is valid? [False, False] Translation: X:4.19, Y:0.21, Z:-1.09 [[ 0.99987342 -0.0061125 -0.01468947 4.18579847] [ 0.00622548 0.9999513 0.00765764 0.20759316] [ 0.01464195 -0.00774812 0.99986278 -1.09334209] [ 0. 0. 0. 1. ]] SLAMing on 146.204553574 meters Centerline goodness [0,1] 0.8179564985754326 Centerline is valid? [False, False] Translation: X:4.18, Y:0.21, Z:-1.09 [[ 9.99893542e-01 -4.16118318e-03 -1.39853447e-02 4.18249950e+00] [ 4.26410430e-03 9.99963989e-01 7.33746795e-03 2.12712166e-01] [ 1.39543086e-02 -7.39632178e-03 9.99875278e-01 -1.09331793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.234553574 meters Centerline goodness [0,1] 0.8153126152711176 Centerline is valid? [False, False] Translation: X:4.18, Y:0.21, Z:-1.09 [[ 9.99897911e-01 -3.87649953e-03 -1.37528081e-02 4.18188489e+00] [ 3.97010371e-03 9.99969098e-01 6.78542666e-03 2.14902386e-01] [ 1.37260794e-02 -6.83933402e-03 9.99882402e-01 -1.09370836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.264553574 meters Centerline goodness [0,1] 0.8148485954031375 Centerline is valid? [False, False] Translation: X:4.18, Y:0.22, Z:-1.09 [[ 9.99905518e-01 -3.33300564e-03 -1.33358705e-02 4.18012019e+00] [ 3.41722235e-03 9.99974333e-01 6.29725613e-03 2.18878170e-01] [ 1.33145395e-02 -6.34223279e-03 9.99891244e-01 -1.09295335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.294553574 meters Centerline goodness [0,1] 0.8274142737347868 Centerline is valid? [False, False] Translation: X:4.18, Y:0.22, Z:-1.09 [[ 9.99901526e-01 -3.68443650e-03 -1.35411642e-02 4.18094400e+00] [ 3.76100188e-03 9.99977061e-01 5.63315976e-03 2.20958259e-01] [ 1.35200985e-02 -5.68353339e-03 9.99892446e-01 -1.09340027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.324553574 meters Centerline goodness [0,1] 0.8098885951234944 Centerline is valid? [False, False] Translation: X:4.18, Y:0.22, Z:-1.09 [[ 9.99896775e-01 -4.07322756e-03 -1.37785303e-02 4.18175165e+00] [ 4.14230115e-03 9.99978979e-01 4.98831334e-03 2.23201329e-01] [ 1.37579221e-02 -5.04487324e-03 9.99892629e-01 -1.09369144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.354553574 meters Centerline goodness [0,1] 0.8160213438557944 Centerline is valid? [False, False] Translation: X:4.18, Y:0.23, Z:-1.09 [[ 9.99877105e-01 -5.52965192e-03 -1.46696495e-02 4.18461913e+00] [ 5.57910068e-03 9.99978885e-01 3.33204074e-03 2.27783229e-01] [ 1.46509148e-02 -3.41347470e-03 9.99886843e-01 -1.09470342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.384553574 meters Centerline goodness [0,1] 0.8184477945281965 Centerline is valid? [False, False] Translation: X:4.19, Y:0.23, Z:-1.10 [[ 9.99864459e-01 -6.32377808e-03 -1.52010934e-02 4.18643566e+00] [ 6.36393848e-03 9.99976383e-01 2.59502233e-03 2.29619145e-01] [ 1.51843241e-02 -2.69140943e-03 9.99881089e-01 -1.09520253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.414553574 meters Centerline goodness [0,1] 0.8288975907612663 Centerline is valid? [False, False] Translation: X:4.18, Y:0.24, Z:-1.10 [[ 9.99894454e-01 -1.23883248e-02 -7.59019608e-03 4.17888370e+00] [ 1.24113327e-02 9.99918501e-01 2.99170135e-03 2.35030740e-01] [ 7.55251532e-03 -3.08559003e-03 9.99966719e-01 -1.09975750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.444553574 meters Centerline goodness [0,1] 0.8235371871695453 Centerline is valid? [False, False] Translation: X:4.18, Y:0.24, Z:-1.10 [[ 9.99881792e-01 -1.30731647e-02 -8.09285696e-03 4.18058076e+00] [ 1.30907464e-02 9.99912058e-01 2.12334388e-03 2.37540331e-01] [ 8.06438644e-03 -2.22903442e-03 9.99964998e-01 -1.10040072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.474553574 meters Centerline goodness [0,1] 0.8270739296200534 Centerline is valid? [False, False] Translation: X:4.18, Y:0.24, Z:-1.10 [[ 9.99871546e-01 -1.35845391e-02 -8.50602550e-03 4.18199170e+00] [ 1.35954426e-02 9.99906827e-01 1.22535107e-03 2.40378779e-01] [ 8.48858714e-03 -1.34083684e-03 9.99963072e-01 -1.10112107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.50455357399997 meters Centerline goodness [0,1] 0.8223964990576053 Centerline is valid? [False, False] Translation: X:4.18, Y:0.25, Z:-1.10 [[ 9.99856485e-01 -1.43067830e-02 -9.07336965e-03 4.18383434e+00] [ 1.43033882e-02 9.99897605e-01 -4.38934211e-04 2.45822285e-01] [ 9.07872032e-03 3.09091289e-04 9.99958740e-01 -1.10239260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53455357399997 meters Centerline goodness [0,1] 0.8356191053041446 Centerline is valid? [False, False] Translation: X:4.19, Y:0.25, Z:-1.10 [[ 9.99884221e-01 -1.15408262e-02 -9.91735917e-03 4.18627140e+00] [ 1.15710229e-02 9.99928575e-01 2.99286649e-03 2.46697606e-01] [ 9.88211067e-03 -3.10727397e-03 9.99946343e-01 -1.10229881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.56455357399997 meters Centerline goodness [0,1] 0.8317817014446228 Centerline is valid? [False, False] Translation: X:4.19, Y:0.25, Z:-1.10 [[ 0.9999102 -0.00827867 -0.01053834 4.18771878] [ 0.00834324 0.9999466 0.0060983 0.25001124] [ 0.01048729 -0.00618567 0.99992587 -1.10201929] [ 0. 0. 0. 1. ]] SLAMing on 146.59455357399997 meters Centerline goodness [0,1] 0.835188739603327 Centerline is valid? [False, False] Translation: X:4.19, Y:0.25, Z:-1.10 [[ 0.99991653 -0.00778714 -0.01030961 4.18679253] [ 0.00784651 0.99995279 0.00573099 0.2528287 ] [ 0.0102645 -0.00581141 0.99993043 -1.10195033] [ 0. 0. 0. 1. ]] SLAMing on 146.62455357399998 meters Centerline goodness [0,1] 0.8374474232060161 Centerline is valid? [False, False] Translation: X:4.19, Y:0.26, Z:-1.10 [[ 0.99992142 -0.0073491 -0.01015586 4.18613923] [ 0.0074035 0.99995839 0.00532933 0.25579307] [ 0.01011627 -0.0054041 0.99993423 -1.10200223] [ 0. 0. 0. 1. ]] SLAMing on 146.65455357399998 meters Centerline goodness [0,1] 0.842516360565759 Centerline is valid? [False, False] Translation: X:4.19, Y:0.26, Z:-1.10 [[ 0.99992738 -0.00675538 -0.00997974 4.18527569] [ 0.00680145 0.99996634 0.00458997 0.26044016] [ 0.00994839 -0.00465751 0.99993967 -1.10222445] [ 0. 0. 0. 1. ]] SLAMing on 146.68455357399998 meters Centerline goodness [0,1] 0.8432407426877221 Centerline is valid? [False, False] Translation: X:4.19, Y:0.26, Z:-1.10 [[ 0.99992687 -0.00675929 -0.01002812 4.18540495] [ 0.00680226 0.9999678 0.00425746 0.26190617] [ 0.00999901 -0.00432537 0.99994065 -1.10224533] [ 0. 0. 0. 1. ]] SLAMing on 146.71455357399998 meters Centerline goodness [0,1] 0.8453114877432029 Centerline is valid? [False, False] Translation: X:4.19, Y:0.26, Z:-1.10 [[ 9.99922113e-01 -7.11273455e-03 -1.02555581e-02 4.18627770e+00] [ 7.14704015e-03 9.99968974e-01 3.31231321e-03 2.64583127e-01] [ 1.02316803e-02 -3.38535211e-03 9.99941924e-01 -1.10291627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.74455357399998 meters Centerline goodness [0,1] 0.8450242996892143 Centerline is valid? [False, False] Translation: X:4.19, Y:0.27, Z:-1.10 [[ 9.99918408e-01 -7.31647715e-03 -1.04712062e-02 4.18714506e+00] [ 7.34577650e-03 9.99969204e-01 2.76236638e-03 2.66248998e-01] [ 1.04506729e-02 -2.83906014e-03 9.99941360e-01 -1.10360594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.77455357399998 meters Centerline goodness [0,1] 0.8476155069500382 Centerline is valid? [False, False] Translation: X:4.19, Y:0.27, Z:-1.11 [[ 9.99910164e-01 -7.64120843e-03 -1.10124977e-02 4.18930369e+00] [ 7.65676492e-03 9.99969746e-01 1.37115166e-03 2.70625629e-01] [ 1.10016873e-02 -1.45534858e-03 9.99938421e-01 -1.10587575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.80455357399998 meters Centerline goodness [0,1] 0.8415305050172048 Centerline is valid? [False, False] Translation: X:4.19, Y:0.27, Z:-1.11 [[ 9.99908258e-01 -7.60373749e-03 -1.12097902e-02 4.18998760e+00] [ 7.61357451e-03 9.99970668e-01 8.35124420e-04 2.72979196e-01] [ 1.12031113e-02 -9.20394376e-04 9.99936820e-01 -1.10660217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83455357399998 meters Centerline goodness [0,1] 0.8480124388796825 Centerline is valid? [False, False] Translation: X:4.19, Y:0.28, Z:-1.11 [[ 9.99919507e-01 -4.37127318e-03 -1.19110098e-02 4.19212413e+00] [ 4.41622129e-03 9.99983217e-01 3.74997499e-03 2.76095164e-01] [ 1.18944178e-02 -3.80227480e-03 9.99922030e-01 -1.10742576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.86455357399998 meters Centerline goodness [0,1] 0.8490716018180706 Centerline is valid? [False, False] Translation: X:4.19, Y:0.28, Z:-1.11 [[ 9.99925565e-01 -3.69101989e-03 -1.16293083e-02 4.19062717e+00] [ 3.73642623e-03 9.99985472e-01 3.88517028e-03 2.77714614e-01] [ 1.16147992e-02 -3.92833314e-03 9.99924829e-01 -1.10645109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89455357399999 meters Centerline goodness [0,1] 0.8489678759008183 Centerline is valid? [False, False] Translation: X:4.19, Y:0.28, Z:-1.11 [[ 9.99932290e-01 -3.04399438e-03 -1.12316733e-02 4.18910742e+00] [ 3.08660722e-03 9.99988097e-01 3.77860735e-03 2.79354058e-01] [ 1.12200375e-02 -3.81301926e-03 9.99929783e-01 -1.10586842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.924553574 meters Centerline goodness [0,1] 0.8527873685060674 Centerline is valid? [False, False] Translation: X:4.19, Y:0.28, Z:-1.10 [[ 9.99940247e-01 1.95702715e-03 -1.07551339e-02 4.18667670e+00] [-1.87178169e-03 9.99966802e-01 7.93038279e-03 2.82112518e-01] [ 1.07702968e-02 -7.90977766e-03 9.99910714e-01 -1.10387187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.954553574 meters Centerline goodness [0,1] 0.8551848874598071 Centerline is valid? [False, False] Translation: X:4.18, Y:0.29, Z:-1.10 [[ 0.99992073 0.00711161 -0.01039072 4.18471396] [-0.00698773 0.99990465 0.01191067 0.28540806] [ 0.01047444 -0.01183712 0.99987508 -1.10253821] [ 0. 0. 0. 1. ]] SLAMing on 146.984553574 meters Centerline goodness [0,1] 0.8557042267648298 Centerline is valid? [False, False] Translation: X:4.18, Y:0.29, Z:-1.10 [[ 0.99991597 0.00803032 -0.01017717 4.18393426] [-0.00791021 0.99989923 0.01178784 0.2874645 ] [ 0.0102708 -0.01170635 0.99987873 -1.1028343 ] [ 0. 0. 0. 1. ]] SLAMing on 147.014553574 meters Centerline goodness [0,1] 0.8568592057761732 Centerline is valid? [False, False] Translation: X:4.18, Y:0.29, Z:-1.10 [[ 0.99991054 0.00893096 -0.00995742 4.18303388] [-0.00881446 0.99989291 0.01168224 0.2895699 ] [ 0.01006068 -0.01159342 0.99988218 -1.10286571] [ 0. 0. 0. 1. ]] SLAMing on 147.044553574 meters Centerline goodness [0,1] 0.8557569721115538 Centerline is valid? [False, False] Translation: X:4.18, Y:0.29, Z:-1.10 [[ 0.99985511 0.01414122 -0.00947565 4.18098195] [-0.01398826 0.99977383 0.01601917 0.29139705] [ 0.00970004 -0.0158843 0.99982678 -1.10153511] [ 0. 0. 0. 1. ]] SLAMing on 147.074553574 meters Centerline goodness [0,1] 0.856937970598781 Centerline is valid? [False, False] Translation: X:4.18, Y:0.29, Z:-1.10 [[ 0.99984512 0.01508742 -0.00906133 4.17943717] [-0.01493968 0.99975785 0.01615686 0.29276844] [ 0.0093029 -0.01601898 0.99982841 -1.10100873] [ 0. 0. 0. 1. ]] SLAMing on 147.104553574 meters Centerline goodness [0,1] 0.8575482181125487 Centerline is valid? [False, False] Translation: X:4.18, Y:0.29, Z:-1.10 [[ 0.99980972 0.01770883 -0.00818099 4.17535999] [-0.01756449 0.99969448 0.01739046 0.2946573 ] [ 0.00848645 -0.01724345 0.9998153 -1.09888198] [ 0. 0. 0. 1. ]] SLAMing on 147.134553574 meters Centerline goodness [0,1] 0.8585435563582955 Centerline is valid? [False, False] Translation: X:4.17, Y:0.30, Z:-1.10 [[ 0.99980451 0.01806972 -0.00802681 4.1747467 ] [-0.01792809 0.99968822 0.01737951 0.29528505] [ 0.00833835 -0.0172322 0.99981674 -1.09863475] [ 0. 0. 0. 1. ]] SLAMing on 147.164553574 meters Centerline goodness [0,1] 0.8609396399436295 Centerline is valid? [False, False] Translation: X:4.18, Y:0.30, Z:-1.10 [[ 0.99980272 0.01813367 -0.00810546 4.17503265] [-0.01799093 0.99968761 0.01734977 0.29526788] [ 0.00841754 -0.01720052 0.99981663 -1.09894997] [ 0. 0. 0. 1. ]] SLAMing on 147.194553574 meters Centerline goodness [0,1] 0.8605453644025781 Centerline is valid? [False, False] Translation: X:4.18, Y:0.30, Z:-1.10 [[ 0.99986207 0.01448114 -0.00813256 4.17540231] [-0.01437434 0.99981165 0.0130403 0.29628351] [ 0.00831987 -0.0129216 0.9998819 -1.10039635] [ 0. 0. 0. 1. ]] SLAMing on 147.224553574 meters Centerline goodness [0,1] 0.8605433376455369 Centerline is valid? [False, False] Translation: X:4.18, Y:0.29, Z:-1.10 [[ 0.99991502 0.00971842 -0.0086891 4.17760807] [-0.00964251 0.99991535 0.0087363 0.29462471] [ 0.00877326 -0.00865177 0.99992409 -1.10209731] [ 0. 0. 0. 1. ]] SLAMing on 147.25455357399997 meters Centerline goodness [0,1] 0.86214463840399 Centerline is valid? [False, False] Translation: X:4.18, Y:0.29, Z:-1.10 [[ 0.99994559 0.00579605 -0.0086729 4.17780409] [-0.00575539 0.99997237 0.00470567 0.29416547] [ 0.00869993 -0.0046555 0.99995132 -1.10283118] [ 0. 0. 0. 1. ]] SLAMing on 147.28455357399997 meters Centerline goodness [0,1] 0.8614549229417872 Centerline is valid? [False, False] Translation: X:4.18, Y:0.29, Z:-1.10 [[ 9.99960987e-01 2.20047813e-03 -8.55468291e-03 4.17773315e+00] [-2.19479626e-03 9.99997365e-01 6.73514114e-04 2.94460181e-01] [ 8.55614242e-03 -6.54712052e-04 9.99963181e-01 -1.10373100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31455357399997 meters Centerline goodness [0,1] 0.8622734101151728 Centerline is valid? [False, False] Translation: X:4.18, Y:0.29, Z:-1.10 [[ 9.99959521e-01 2.01460793e-03 -8.76918593e-03 4.17838305e+00] [-2.00556308e-03 9.99997448e-01 1.04010695e-03 2.92609095e-01] [ 8.77125896e-03 -1.02247770e-03 9.99961009e-01 -1.10386008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.34455357399997 meters Centerline goodness [0,1] 0.8623419947348325 Centerline is valid? [False, False] Translation: X:4.18, Y:0.29, Z:-1.10 [[ 9.99958889e-01 2.10482544e-03 -8.81981565e-03 4.17858741e+00] [-2.09364445e-03 9.99996993e-01 1.27675366e-03 2.91458714e-01] [ 8.82247648e-03 -1.25823562e-03 9.99960290e-01 -1.10395548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37455357399998 meters Centerline goodness [0,1] 0.8591170825335892 Centerline is valid? [False, False] Translation: X:4.18, Y:0.29, Z:-1.10 [[ 9.99958249e-01 2.78872578e-03 -8.70191859e-03 4.17805906e+00] [-2.77061251e-03 9.99993972e-01 2.09288655e-03 2.89306829e-01] [ 8.70770262e-03 -2.06868952e-03 9.99959947e-01 -1.10365886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.40455357399998 meters Centerline goodness [0,1] 0.8608442385874072 Centerline is valid? [False, False] Translation: X:4.18, Y:0.29, Z:-1.10 [[ 9.99957633e-01 2.95096243e-03 -8.71914195e-03 4.17828797e+00] [-2.93078705e-03 9.99993001e-01 2.32578969e-03 2.88322580e-01] [ 8.72594424e-03 -2.30013721e-03 9.99959283e-01 -1.10395226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.43455357399998 meters Centerline goodness [0,1] 0.8607169757547382 Centerline is valid? [False, False] Translation: X:4.18, Y:0.29, Z:-1.10 [[ 9.99956355e-01 3.35318992e-03 -8.72037797e-03 4.17857653e+00] [-3.32695035e-03 9.99989900e-01 3.02176164e-03 2.85649668e-01] [ 8.73042244e-03 -2.99261749e-03 9.99957411e-01 -1.10438120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.46455357399998 meters Centerline goodness [0,1] 0.8608692096978617 Centerline is valid? [False, False] Translation: X:4.18, Y:0.28, Z:-1.11 [[ 9.99954466e-01 3.05940844e-03 -9.03911129e-03 4.18002830e+00] [-3.03246403e-03 9.99990923e-01 2.99307306e-03 2.84235831e-01] [ 9.04818627e-03 -2.96552599e-03 9.99954667e-01 -1.10542399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.49455357399998 meters Centerline goodness [0,1] 0.8602267369154759 Centerline is valid? [False, False] Translation: X:4.18, Y:0.28, Z:-1.11 [[ 9.99951440e-01 2.55003668e-03 -9.51915532e-03 4.18196331e+00] [-2.52298039e-03 9.99992747e-01 2.85322751e-03 2.83092405e-01] [ 9.52636211e-03 -2.82907232e-03 9.99950621e-01 -1.10652194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.52455357399998 meters Centerline goodness [0,1] 0.8602267369154759 Centerline is valid? [False, False] Translation: X:4.18, Y:0.28, Z:-1.11 [[ 9.99951440e-01 2.55003668e-03 -9.51915532e-03 4.18196331e+00] [-2.52298039e-03 9.99992747e-01 2.85322751e-03 2.83092405e-01] [ 9.52636211e-03 -2.82907232e-03 9.99950621e-01 -1.10652194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55455357399998 meters Centerline goodness [0,1] 0.856168054753855 Centerline is valid? [False, False] Translation: X:4.19, Y:0.28, Z:-1.11 [[ 9.99943063e-01 8.01750731e-04 -1.06408545e-02 4.18663317e+00] [-7.77494829e-04 9.99997091e-01 2.28344793e-03 2.79977540e-01] [ 1.06426543e-02 -2.27504471e-03 9.99940777e-01 -1.10894329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.58455357399998 meters Centerline goodness [0,1] 0.85679968522852 Centerline is valid? [False, False] Translation: X:4.19, Y:0.28, Z:-1.11 [[ 9.99936780e-01 -1.60805033e-04 -1.12432424e-02 4.18882457e+00] [ 1.86638622e-04 9.99997345e-01 2.29668776e-03 2.77358888e-01] [ 1.12428432e-02 -2.29864099e-03 9.99934155e-01 -1.10945835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61455357399998 meters Centerline goodness [0,1] 0.8619399883633946 Centerline is valid? [False, False] Translation: X:4.19, Y:0.27, Z:-1.11 [[ 9.99926713e-01 -4.35066521e-03 -1.12978040e-02 4.18920018e+00] [ 4.33707066e-03 9.99989841e-01 -1.22751320e-03 2.74511914e-01] [ 1.13030297e-02 1.17842386e-03 9.99935424e-01 -1.10958136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.64455357399999 meters Centerline goodness [0,1] 0.8611128484166197 Centerline is valid? [False, False] Translation: X:4.19, Y:0.27, Z:-1.11 [[ 9.99923803e-01 -4.52066236e-03 -1.14870507e-02 4.18964695e+00] [ 4.51075768e-03 9.99989432e-01 -8.88009707e-04 2.73295447e-01] [ 1.14909437e-02 8.36126741e-04 9.99933627e-01 -1.10926419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.674553574 meters Centerline goodness [0,1] 0.860498161150117 Centerline is valid? [False, False] Translation: X:4.19, Y:0.27, Z:-1.11 [[ 9.99922483e-01 -4.51192488e-03 -1.16047229e-02 4.18986233e+00] [ 4.50658017e-03 9.99989727e-01 -4.86671160e-04 2.72093084e-01] [ 1.16067995e-02 4.34335820e-04 9.99932545e-01 -1.10899443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.704553574 meters Centerline goodness [0,1] 0.8595716170096941 Centerline is valid? [False, False] Translation: X:4.19, Y:0.27, Z:-1.11 [[ 9.99913530e-01 -5.02443913e-03 -1.21526834e-02 4.19192505e+00] [ 5.01977960e-03 9.99987315e-01 -4.13888918e-04 2.70335767e-01] [ 1.21546088e-02 3.52849337e-04 9.99926068e-01 -1.10985709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.734553574 meters Centerline goodness [0,1] 0.8604094488188976 Centerline is valid? [False, False] Translation: X:4.19, Y:0.27, Z:-1.11 [[ 9.99914654e-01 -4.80243172e-03 -1.21499412e-02 4.19167051e+00] [ 4.80303516e-03 9.99988465e-01 2.04877478e-05 2.69575646e-01] [ 1.21497026e-02 -7.88425940e-05 9.99926187e-01 -1.10944684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.764553574 meters Centerline goodness [0,1] 0.8588656968163609 Centerline is valid? [False, False] Translation: X:4.19, Y:0.27, Z:-1.11 [[ 9.99920274e-01 -4.27658768e-03 -1.18809326e-02 4.19035202e+00] [ 4.28820297e-03 9.99990352e-01 9.52338468e-04 2.67208259e-01] [ 1.18767452e-02 -1.00321039e-03 9.99928966e-01 -1.10810530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.794553574 meters Centerline goodness [0,1] 0.8585627881402529 Centerline is valid? [False, False] Translation: X:4.19, Y:0.27, Z:-1.11 [[ 9.99923009e-01 -3.96979112e-03 -1.17565957e-02 4.18978327e+00] [ 3.98719286e-03 9.99990990e-01 1.45710004e-03 2.65726905e-01] [ 1.17507054e-02 -1.50386367e-03 9.99929827e-01 -1.10759069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.824553574 meters Centerline goodness [0,1] 0.8597708465945257 Centerline is valid? [False, False] Translation: X:4.19, Y:0.26, Z:-1.11 [[ 9.99926711e-01 -3.56562330e-03 -1.15697352e-02 4.18906569e+00] [ 3.58752757e-03 9.99991811e-01 1.87303700e-03 2.64766631e-01] [ 1.15629619e-02 -1.91440648e-03 9.99931314e-01 -1.10727333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.854553574 meters Centerline goodness [0,1] 0.8576869069401302 Centerline is valid? [False, False] Translation: X:4.19, Y:0.26, Z:-1.11 [[ 9.99930955e-01 -2.96838386e-03 -1.13698528e-02 4.18868177e+00] [ 2.99573725e-03 9.99992658e-01 2.38950755e-03 2.63346725e-01] [ 1.13626763e-02 -2.42340366e-03 9.99932506e-01 -1.10770050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.884553574 meters Centerline goodness [0,1] 0.8566314353903852 Centerline is valid? [False, False] Translation: X:4.19, Y:0.26, Z:-1.11 [[ 9.99931295e-01 -2.77823379e-03 -1.13880290e-02 4.18885792e+00] [ 2.80829776e-03 9.99992612e-01 2.62482149e-03 2.62426213e-01] [ 1.13806525e-02 -2.65662213e-03 9.99931709e-01 -1.10798534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.914553574 meters Centerline goodness [0,1] 0.8552682444912161 Centerline is valid? [False, False] Translation: X:4.19, Y:0.26, Z:-1.11 [[ 9.99936860e-01 -1.81452458e-03 -1.10898262e-02 4.18779818e+00] [ 1.85509762e-03 9.99991620e-01 3.64939090e-03 2.59740057e-01] [ 1.10831114e-02 -3.66973318e-03 9.99931847e-01 -1.10767876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.944553574 meters Centerline goodness [0,1] 0.8542635658914729 Centerline is valid? [False, False] Translation: X:4.19, Y:0.26, Z:-1.11 [[ 9.99940509e-01 -1.22834368e-03 -1.08383041e-02 4.18715992e+00] [ 1.27235492e-03 9.99990970e-01 4.05475190e-03 2.58533541e-01] [ 1.08332256e-02 -4.06830085e-03 9.99933043e-01 -1.10787190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.974553574 meters Centerline goodness [0,1] 0.854331820254979 Centerline is valid? [False, False] Translation: X:4.21, Y:0.26, Z:-1.11 [[ 9.99935740e-01 4.89929973e-03 -1.02231949e-02 4.20582152e+00] [-4.92598654e-03 9.99984521e-01 -2.58687218e-03 2.56265718e-01] [ 1.02103628e-02 2.63706526e-03 9.99944396e-01 -1.11302157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.00455357399997 meters Centerline goodness [0,1] 0.8526714730674566 Centerline is valid? [False, False] Translation: X:4.20, Y:0.26, Z:-1.11 [[ 9.99934641e-01 5.77330092e-03 -9.86823038e-03 4.20491344e+00] [-5.79404209e-03 9.99981063e-01 -2.07451718e-03 2.55135878e-01] [ 9.85606669e-03 2.13155853e-03 9.99949156e-01 -1.11332760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03455357399997 meters Centerline goodness [0,1] 0.8513206227042155 Centerline is valid? [False, False] Translation: X:4.20, Y:0.25, Z:-1.11 [[ 9.99932522e-01 6.70490129e-03 -9.48660780e-03 4.20391717e+00] [-6.72065046e-03 9.99976089e-01 -1.62924349e-03 2.54458129e-01] [ 9.47545704e-03 1.69288972e-03 9.99953674e-01 -1.11368060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.06455357399997 meters Centerline goodness [0,1] 0.8469432602294202 Centerline is valid? [False, False] Translation: X:4.20, Y:0.25, Z:-1.11 [[ 9.99887997e-01 1.18871752e-02 -9.09333646e-03 4.20267653e+00] [-1.18550411e-02 9.99923319e-01 3.57958769e-03 2.52205782e-01] [ 9.13519036e-03 -3.47138488e-03 9.99952248e-01 -1.11315851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09455357399997 meters Centerline goodness [0,1] 0.8445144796579539 Centerline is valid? [False, False] Translation: X:4.20, Y:0.25, Z:-1.11 [[ 0.99987984 0.01294503 -0.00852792 4.20069105] [-0.01290835 0.99990725 0.004343 0.25092301] [ 0.00858335 -0.0042324 0.99995421 -1.11249449] [ 0. 0. 0. 1. ]] SLAMing on 148.12455357399998 meters Centerline goodness [0,1] 0.8433652075521931 Centerline is valid? [False, False] Translation: X:4.21, Y:0.25, Z:-1.12 [[ 9.99836096e-01 1.76385924e-02 -4.08193038e-03 4.21359351e+00] [-1.76516634e-02 9.99839113e-01 -3.18859202e-03 2.48239410e-01] [ 4.02503137e-03 3.26012225e-03 9.99986585e-01 -1.11596291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.15455357399998 meters Centerline goodness [0,1] 0.8416857759868202 Centerline is valid? [False, False] Translation: X:4.21, Y:0.25, Z:-1.12 [[ 9.99827638e-01 1.81787743e-02 -3.77171164e-03 4.21255326e+00] [-1.81889057e-02 9.99831005e-01 -2.66945004e-03 2.46589877e-01] [ 3.72254691e-03 2.73759324e-03 9.99989324e-01 -1.11563843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.18455357399998 meters Centerline goodness [0,1] 0.8418674361899648 Centerline is valid? [False, False] Translation: X:4.21, Y:0.25, Z:-1.12 [[ 9.99818512e-01 1.87300891e-02 -3.48233070e-03 4.21168772e+00] [-1.87380674e-02 9.99821844e-01 -2.27273076e-03 2.45500905e-01] [ 3.43914185e-03 2.33757043e-03 9.99991354e-01 -1.11558590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.21455357399998 meters Centerline goodness [0,1] 0.8388344275564349 Centerline is valid? [False, False] Translation: X:4.21, Y:0.24, Z:-1.11 [[ 9.99785868e-01 2.05644864e-02 -2.30650381e-03 4.20800417e+00] [-2.05668129e-02 9.99787991e-01 -9.89550046e-04 2.43305803e-01] [ 2.28566522e-03 1.03677558e-03 9.99996850e-01 -1.11481338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.24455357399998 meters Centerline goodness [0,1] 0.8386103184309462 Centerline is valid? [False, False] Translation: X:4.21, Y:0.24, Z:-1.11 [[ 9.99763492e-01 2.16948965e-02 -1.51372932e-03 4.20543923e+00] [-2.16941945e-02 9.99764539e-01 4.78617516e-04 2.39325191e-01] [ 1.52375646e-03 -4.45665181e-04 9.99998740e-01 -1.11368682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.27455357399998 meters Centerline goodness [0,1] 0.8378077080584247 Centerline is valid? [False, False] Translation: X:4.21, Y:0.24, Z:-1.11 [[ 9.99768223e-01 2.14660942e-02 -1.64554264e-03 4.20603251e+00] [-2.14644450e-02 9.99769099e-01 1.01342679e-03 2.36182334e-01] [ 1.66691700e-03 -9.77871237e-04 9.99998133e-01 -1.11363463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.30455357399998 meters Centerline goodness [0,1] 0.8363811136795367 Centerline is valid? [False, False] Translation: X:4.20, Y:0.23, Z:-1.11 [[ 9.99835937e-01 1.80756206e-02 -1.17051899e-03 4.20491247e+00] [-1.80785867e-02 9.99833253e-01 -2.57506234e-03 2.33911019e-01] [ 1.12377796e-03 2.59580120e-03 9.99995999e-01 -1.11426989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33455357399998 meters Centerline goodness [0,1] 0.8364765302812659 Centerline is valid? [False, False] Translation: X:4.20, Y:0.23, Z:-1.12 [[ 0.99993216 0.00908001 0.00729605 4.19706169] [-0.00904591 0.99994807 -0.00469339 0.22808591] [-0.00733829 0.00462707 0.99996237 -1.12235746] [ 0. 0. 0. 1. ]] SLAMing on 148.36455357399998 meters Centerline goodness [0,1] 0.8360428511018183 Centerline is valid? [False, False] Translation: X:4.20, Y:0.22, Z:-1.13 [[ 9.99978278e-01 8.23483017e-04 6.53950433e-03 4.20365597e+00] [-7.52379014e-04 9.99940658e-01 -1.08680224e-02 2.21678313e-01] [-6.54806590e-03 1.08628661e-02 9.99919557e-01 -1.12714357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39455357399999 meters Centerline goodness [0,1] 0.8371933151594169 Centerline is valid? [False, False] Translation: X:4.21, Y:0.22, Z:-1.13 [[ 9.99972997e-01 -4.11905842e-03 6.08597657e-03 4.20606058e+00] [ 4.20786227e-03 9.99883807e-01 -1.46515233e-02 2.18023641e-01] [-6.02491894e-03 1.46767366e-02 9.99874139e-01 -1.12830584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.424553574 meters Centerline goodness [0,1] 0.8406483075157773 Centerline is valid? [False, False] Translation: X:4.21, Y:0.21, Z:-1.12 [[ 0.99995789 -0.00780413 0.00482926 4.21295011] [ 0.00786146 0.99989747 -0.01196899 0.211192 ] [-0.00473536 0.01200645 0.99991671 -1.12355731] [ 0. 0. 0. 1. ]] SLAMing on 148.454553574 meters Centerline goodness [0,1] 0.8462470320298493 Centerline is valid? [False, False] Translation: X:4.22, Y:0.20, Z:-1.12 [[ 9.99830043e-01 -1.79352666e-02 4.26743077e-03 4.21675234e+00] [ 1.80136320e-02 9.99655395e-01 -1.90945005e-02 2.03464627e-01] [-3.92349523e-03 1.91681272e-02 9.99808576e-01 -1.12389906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.484553574 meters Centerline goodness [0,1] 0.8447785156535066 Centerline is valid? [False, False] Translation: X:4.22, Y:0.20, Z:-1.12 [[ 9.99774763e-01 -2.10149067e-02 2.96588172e-03 4.22324912e+00] [ 2.10678517e-02 9.99595212e-01 -1.91195496e-02 1.99346989e-01] [-2.56288561e-03 1.91777279e-02 9.99812806e-01 -1.12458131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.514553574 meters Centerline goodness [0,1] 0.8454337731259675 Centerline is valid? [False, False] Translation: X:4.23, Y:0.19, Z:-1.13 [[ 9.99574039e-01 -2.91207371e-02 1.92952661e-03 4.23137823e+00] [ 2.91594771e-02 9.99270956e-01 -2.46430793e-02 1.94159874e-01] [-1.21049526e-03 2.46888463e-02 9.99694451e-01 -1.12883309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.544553574 meters Centerline goodness [0,1] 0.849268425078339 Centerline is valid? [False, False] Translation: X:4.24, Y:0.19, Z:-1.13 [[ 9.99528963e-01 -3.06748667e-02 9.51072004e-04 4.23546070e+00] [ 3.06889430e-02 9.99231135e-01 -2.43993278e-02 1.91103587e-01] [-2.01894630e-04 2.44170222e-02 9.99701840e-01 -1.12933302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.574553574 meters Centerline goodness [0,1] 0.8442222277362845 Centerline is valid? [False, False] Translation: X:4.24, Y:0.19, Z:-1.13 [[ 9.99492483e-01 -3.18550932e-02 1.72723284e-04 4.23853759e+00] [ 3.18500381e-02 9.99203530e-01 -2.40391646e-02 1.88300409e-01] [ 5.93184112e-04 2.40324655e-02 9.99711003e-01 -1.12943038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.604553574 meters Centerline goodness [0,1] 0.8463401238266427 Centerline is valid? [False, False] Translation: X:4.24, Y:0.18, Z:-1.13 [[ 9.99416419e-01 -3.41485751e-02 -8.34354114e-04 4.24341341e+00] [ 3.41191914e-02 9.99136130e-01 -2.37249836e-02 1.83886252e-01] [ 1.64380772e-03 2.36826706e-02 9.99718175e-01 -1.12961428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.634553574 meters Centerline goodness [0,1] 0.8470741352555439 Centerline is valid? [False, False] Translation: X:4.25, Y:0.18, Z:-1.13 [[ 9.99420154e-01 -3.39341398e-02 -2.79835947e-03 4.25199221e+00] [ 3.38795185e-02 9.99269513e-01 -1.76810045e-02 1.79913377e-01] [ 3.39630498e-03 1.75759452e-02 9.99839763e-01 -1.12555561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.664553574 meters Centerline goodness [0,1] 0.8488914526484751 Centerline is valid? [False, False] Translation: X:4.26, Y:0.18, Z:-1.13 [[ 9.99361741e-01 -3.55204968e-02 -3.79546996e-03 4.25648625e+00] [ 3.54464751e-02 9.99208457e-01 -1.80556509e-02 1.78540761e-01] [ 4.43381137e-03 1.79095907e-02 9.99829779e-01 -1.12715576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.694553574 meters Centerline goodness [0,1] 0.8538686972421912 Centerline is valid? [False, False] Translation: X:4.26, Y:0.18, Z:-1.12 [[ 0.99939975 -0.03418213 -0.00563136 4.26301468] [ 0.03411227 0.99934516 -0.01206688 0.17561924] [ 0.00604015 0.01186754 0.99991134 -1.12313913] [ 0. 0. 0. 1. ]] SLAMing on 148.724553574 meters Centerline goodness [0,1] 0.8346761037070501 Centerline is valid? [False, False] Translation: X:4.27, Y:0.17, Z:-1.12 [[ 0.99944741 -0.0324404 -0.00724568 4.26831748] [ 0.03239412 0.99945458 -0.00641518 0.17273699] [ 0.00744983 0.00617692 0.99995317 -1.11958407] [ 0. 0. 0. 1. ]] SLAMing on 148.75455357399997 meters Centerline goodness [0,1] 0.8438434664588936 Centerline is valid? [False, False] Translation: X:4.27, Y:0.17, Z:-1.12 [[ 0.99942811 -0.03293785 -0.00765135 4.26953798] [ 0.03289299 0.99944136 -0.00591738 0.17109546] [ 0.00784198 0.00566232 0.99995322 -1.11868676] [ 0. 0. 0. 1. ]] SLAMing on 148.78455357399997 meters Centerline goodness [0,1] 0.852911545436228 Centerline is valid? [False, False] Translation: X:4.27, Y:0.17, Z:-1.12 [[ 9.99501039e-01 -3.03737414e-02 -8.66648811e-03 4.27261685e+00] [ 3.03630010e-02 9.99538001e-01 -1.36822525e-03 1.69114220e-01] [ 8.70404233e-03 1.10440197e-03 9.99961509e-01 -1.11717742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81455357399997 meters Centerline goodness [0,1] 0.8447429994716582 Centerline is valid? [False, False] Translation: X:4.27, Y:0.17, Z:-1.12 [[ 9.99597077e-01 -2.68113717e-02 -9.31842639e-03 4.27409533e+00] [ 2.68427712e-02 9.99634349e-01 3.26101456e-03 1.68191058e-01] [ 9.22758683e-03 -3.50983301e-03 9.99951265e-01 -1.11588203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.84455357399997 meters Centerline goodness [0,1] 0.8524437743435105 Centerline is valid? [False, False] Translation: X:4.28, Y:0.17, Z:-1.12 [[ 0.9996681 -0.0236712 -0.01016677 4.27657287] [ 0.02374726 0.99969041 0.00742614 0.16756084] [ 0.00998784 -0.00766511 0.99992074 -1.11532114] [ 0. 0. 0. 1. ]] SLAMing on 148.87455357399998 meters Centerline goodness [0,1] 0.8444176948540476 Centerline is valid? [False, False] Translation: X:4.29, Y:0.17, Z:-1.11 [[ 0.99967693 -0.01652795 -0.0193097 4.28700984] [ 0.01667698 0.99983218 0.00758248 0.16748825] [ 0.01918114 -0.00790206 0.9997848 -1.10935358] [ 0. 0. 0. 1. ]] SLAMing on 148.90455357399998 meters Centerline goodness [0,1] 0.8382758793717697 Centerline is valid? [False, False] Translation: X:4.29, Y:0.17, Z:-1.11 [[ 0.99969456 -0.01588972 -0.01892876 4.285476 ] [ 0.01603766 0.99984182 0.0076895 0.16811112] [ 0.01880358 -0.00799072 0.99979127 -1.10892881] [ 0. 0. 0. 1. ]] SLAMing on 148.93455357399998 meters Centerline goodness [0,1] 0.8480242399959934 Centerline is valid? [False, False] Translation: X:4.30, Y:0.17, Z:-1.11 [[ 9.99834280e-01 -1.26706206e-02 -1.30716440e-02 4.29929728e+00] [ 1.26741793e-02 9.99919661e-01 1.89441029e-04 1.69567620e-01] [ 1.30681936e-02 -3.55081996e-04 9.99914544e-01 -1.11378984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.96455357399998 meters Centerline goodness [0,1] 0.8413717035997192 Centerline is valid? [False, False] Translation: X:4.30, Y:0.17, Z:-1.11 [[ 0.99986157 -0.00936962 -0.01374946 4.30104495] [ 0.00943677 0.99994382 0.00482732 0.16808982] [ 0.01370346 -0.0049564 0.99989382 -1.11220512] [ 0. 0. 0. 1. ]] SLAMing on 148.99455357399998 meters Centerline goodness [0,1] 0.8480537047242123 Centerline is valid? [False, False] Translation: X:4.30, Y:0.17, Z:-1.11 [[ 0.99987834 -0.00830791 -0.01320157 4.29914852] [ 0.00836985 0.99995419 0.00464334 0.17014126] [ 0.01316239 -0.00475327 0.99990207 -1.11287508] [ 0. 0. 0. 1. ]] SLAMing on 149.02455357399998 meters Centerline goodness [0,1] 0.8443672183609181 Centerline is valid? [False, False] Translation: X:4.30, Y:0.17, Z:-1.11 [[ 0.99988507 -0.00787282 -0.01295633 4.29846261] [ 0.00793149 0.99995849 0.00448337 0.1710184 ] [ 0.0129205 -0.00458562 0.99990601 -1.1134184 ] [ 0. 0. 0. 1. ]] SLAMing on 149.05455357399998 meters Centerline goodness [0,1] 0.8411063042336643 Centerline is valid? [False, False] Translation: X:4.30, Y:0.17, Z:-1.11 [[ 0.99989275 -0.00739655 -0.01264033 4.29743586] [ 0.0074543 0.99996197 0.00452768 0.17125534] [ 0.01260636 -0.00462142 0.99990986 -1.1135302 ] [ 0. 0. 0. 1. ]] SLAMing on 149.08455357399998 meters Centerline goodness [0,1] 0.8350306518203428 Centerline is valid? [False, False] Translation: X:4.29, Y:0.17, Z:-1.11 [[ 0.99990935 -0.00628935 -0.01190557 4.29442894] [ 0.00635155 0.99996634 0.00519382 0.17037991] [ 0.0118725 -0.00526897 0.99991564 -1.11227227] [ 0. 0. 0. 1. ]] SLAMing on 149.11455357399998 meters Centerline goodness [0,1] 0.834114433222225 Centerline is valid? [False, False] Translation: X:4.29, Y:0.17, Z:-1.11 [[ 0.99991519 -0.00583403 -0.01164376 4.29331779] [ 0.00589773 0.99996779 0.00544408 0.1701186 ] [ 0.01161162 -0.00551229 0.99991739 -1.11181774] [ 0. 0. 0. 1. ]] SLAMing on 149.14455357399999 meters Centerline goodness [0,1] 0.8355039070326588 Centerline is valid? [False, False] Translation: X:4.29, Y:0.17, Z:-1.11 [[ 0.99992525 -0.00494934 -0.01118016 4.29179988] [ 0.00501006 0.99997282 0.00540903 0.17063869] [ 0.01115309 -0.00546463 0.99992287 -1.11248738] [ 0. 0. 0. 1. ]] SLAMing on 149.174553574 meters Centerline goodness [0,1] 0.8350796469028983 Centerline is valid? [False, False] Translation: X:4.29, Y:0.17, Z:-1.11 [[ 0.99992629 -0.00478599 -0.01115828 4.29224813] [ 0.004841 0.99997624 0.00490849 0.17162212] [ 0.01113453 -0.00496214 0.9999257 -1.11401967] [ 0. 0. 0. 1. ]] SLAMing on 149.204553574 meters Centerline goodness [0,1] 0.8351101101101102 Centerline is valid? [False, False] Translation: X:4.29, Y:0.17, Z:-1.11 [[ 0.99992885 -0.00448606 -0.01105269 4.29217277] [ 0.0045378 0.99997884 0.00466129 0.17230886] [ 0.01103155 -0.00471112 0.99992805 -1.1149786 ] [ 0. 0. 0. 1. ]] SLAMing on 149.234553574 meters Centerline goodness [0,1] 0.8318577412154198 Centerline is valid? [False, False] Translation: X:4.29, Y:0.17, Z:-1.12 [[ 9.99930101e-01 -4.28843003e-03 -1.10182784e-02 4.29207299e+00] [ 4.34197113e-03 9.99978861e-01 4.83998066e-03 1.71351833e-01] [ 1.09972895e-02 -4.88748340e-03 9.99927583e-01 -1.11517993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.264553574 meters Centerline goodness [0,1] 0.835615751191372 Centerline is valid? [False, False] Translation: X:4.29, Y:0.17, Z:-1.12 [[ 0.99992693 -0.00454049 -0.01120313 4.29274484] [ 0.00459729 0.99997668 0.00505001 0.16988121] [ 0.01117994 -0.00510115 0.99992449 -1.11501766] [ 0. 0. 0. 1. ]] SLAMing on 149.294553574 meters Centerline goodness [0,1] 0.8403448188944622 Centerline is valid? [False, False] Translation: X:4.29, Y:0.17, Z:-1.12 [[ 9.99913985e-01 -7.86414349e-03 -1.04965330e-02 4.29059094e+00] [ 7.87803521e-03 9.99968145e-01 1.28276658e-03 1.68712037e-01] [ 1.04861107e-02 -1.36534830e-03 9.99944087e-01 -1.11516228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.324553574 meters Centerline goodness [0,1] 0.8411472140170163 Centerline is valid? [False, False] Translation: X:4.29, Y:0.17, Z:-1.11 [[ 9.99909546e-01 -8.16135964e-03 -1.06907696e-02 4.29127186e+00] [ 8.18008647e-03 9.99965082e-01 1.70912729e-03 1.67389784e-01] [ 1.06764475e-02 -1.79642412e-03 9.99941391e-01 -1.11462359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.354553574 meters Centerline goodness [0,1] 0.8414624857179129 Centerline is valid? [False, False] Translation: X:4.29, Y:0.16, Z:-1.11 [[ 9.99897415e-01 -9.08143790e-03 -1.10763974e-02 4.29289913e+00] [ 9.11013931e-03 9.99955267e-01 2.54352487e-03 1.64118188e-01] [ 1.10528031e-02 -2.64417146e-03 9.99935420e-01 -1.11354608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.384553574 meters Centerline goodness [0,1] 0.8390365617680008 Centerline is valid? [False, False] Translation: X:4.29, Y:0.16, Z:-1.11 [[ 9.99889874e-01 -9.50754932e-03 -1.13950235e-02 4.29397470e+00] [ 9.54368999e-03 9.99949586e-01 3.12144765e-03 1.61839962e-01] [ 1.13647718e-02 -3.22985446e-03 9.99930203e-01 -1.11298460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.414553574 meters Centerline goodness [0,1] 0.8409380901342316 Centerline is valid? [False, False] Translation: X:4.29, Y:0.16, Z:-1.11 [[ 9.99884127e-01 -9.83001670e-03 -1.16234332e-02 4.29475836e+00] [ 9.87370738e-03 9.99944381e-01 3.70745220e-03 1.59645245e-01] [ 1.15863424e-02 -3.82178898e-03 9.99925573e-01 -1.11239375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.444553574 meters Centerline goodness [0,1] 0.8409380901342316 Centerline is valid? [False, False] Translation: X:4.29, Y:0.16, Z:-1.11 [[ 9.99884127e-01 -9.83001670e-03 -1.16234332e-02 4.29475836e+00] [ 9.87370738e-03 9.99944381e-01 3.70745220e-03 1.59645245e-01] [ 1.15863424e-02 -3.82178898e-03 9.99925573e-01 -1.11239375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.474553574 meters Centerline goodness [0,1] 0.838878935244433 Centerline is valid? [False, False] Translation: X:4.30, Y:0.16, Z:-1.11 [[ 0.99987267 -0.01049365 -0.0120216 4.29645421] [ 0.01054756 0.99993456 0.00442919 0.15630089] [ 0.01197434 -0.00455542 0.99991793 -1.11199978] [ 0. 0. 0. 1. ]] SLAMing on 149.50455357399997 meters Centerline goodness [0,1] 0.8363938618925831 Centerline is valid? [False, False] Translation: X:4.30, Y:0.16, Z:-1.11 [[ 0.99986816 -0.01069544 -0.01221738 4.29738426] [ 0.01075017 0.99993244 0.00442217 0.15570188] [ 0.01216925 -0.00455292 0.99991559 -1.11259756] [ 0. 0. 0. 1. ]] SLAMing on 149.53455357399997 meters Centerline goodness [0,1] 0.8375741392148304 Centerline is valid? [False, False] Translation: X:4.30, Y:0.16, Z:-1.11 [[ 9.99863220e-01 -1.08939867e-02 -1.24443967e-02 4.29864494e+00] [ 1.09479556e-02 9.99930923e-01 4.27694098e-03 1.55155706e-01] [ 1.23969441e-02 -4.41259668e-03 9.99913419e-01 -1.11390588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.56455357399997 meters Centerline goodness [0,1] 0.8336933045356372 Centerline is valid? [False, False] Translation: X:4.30, Y:0.15, Z:-1.11 [[ 0.99986127 -0.01097102 -0.0125327 4.29906694] [ 0.01102699 0.9999295 0.00440531 0.15415393] [ 0.01248349 -0.0045429 0.99991176 -1.11408844] [ 0. 0. 0. 1. ]] SLAMing on 149.59455357399997 meters Centerline goodness [0,1] 0.8367283711563782 Centerline is valid? [False, False] Translation: X:4.30, Y:0.15, Z:-1.11 [[ 0.99985566 -0.01126913 -0.01271485 4.29974898] [ 0.01133384 0.99992312 0.00502886 0.15158675] [ 0.0126572 -0.00517224 0.99990652 -1.11347625] [ 0. 0. 0. 1. ]] SLAMing on 149.62455357399998 meters Centerline goodness [0,1] 0.8366478371895071 Centerline is valid? [False, False] Translation: X:4.30, Y:0.15, Z:-1.11 [[ 0.99985047 -0.01152007 -0.01289707 4.30061095] [ 0.01158574 0.99992024 0.00502891 0.15123609] [ 0.01283811 -0.00517758 0.99990418 -1.11384245] [ 0. 0. 0. 1. ]] SLAMing on 149.65455357399998 meters Centerline goodness [0,1] 0.8418676641300142 Centerline is valid? [False, False] Translation: X:4.30, Y:0.15, Z:-1.11 [[ 0.99983357 -0.01232876 -0.01344763 4.30275905] [ 0.01239571 0.99991113 0.00490675 0.15106265] [ 0.01338594 -0.00507262 0.99989754 -1.11414605] [ 0. 0. 0. 1. ]] SLAMing on 149.68455357399998 meters Centerline goodness [0,1] 0.8408557198523909 Centerline is valid? [False, False] Translation: X:4.30, Y:0.15, Z:-1.11 [[ 0.99982398 -0.0127738 -0.01374192 4.30370473] [ 0.01284497 0.99990448 0.00510332 0.1505583 ] [ 0.01367542 -0.00527893 0.99989255 -1.11355476] [ 0. 0. 0. 1. ]] SLAMing on 149.71455357399998 meters Centerline goodness [0,1] 0.8264936944387017 Centerline is valid? [False, False] Translation: X:4.30, Y:0.15, Z:-1.11 [[ 0.9998116 -0.01329574 -0.01414196 4.30478709] [ 0.01337303 0.99989608 0.00538496 0.14981743] [ 0.01406889 -0.00557307 0.9998855 -1.11266364] [ 0. 0. 0. 1. ]] SLAMing on 149.74455357399998 meters Centerline goodness [0,1] 0.8416369186196906 Centerline is valid? [False, False] Translation: X:4.31, Y:0.15, Z:-1.11 [[ 0.99977408 -0.01492879 -0.01513011 4.30817184] [ 0.01501072 0.9998732 0.00531643 0.14932196] [ 0.01504882 -0.00554234 0.9998714 -1.11191573] [ 0. 0. 0. 1. ]] SLAMing on 149.77455357399998 meters Centerline goodness [0,1] 0.8408250833613359 Centerline is valid? [False, False] Translation: X:4.31, Y:0.15, Z:-1.11 [[ 0.99975015 -0.01583009 -0.0157815 4.31076244] [ 0.0159087 0.9998616 0.00486796 0.1498569 ] [ 0.01570225 -0.00511781 0.99986361 -1.11273081] [ 0. 0. 0. 1. ]] SLAMing on 149.80455357399998 meters Centerline goodness [0,1] 0.7869076823757263 Centerline is valid? [False, False] Translation: X:4.32, Y:0.15, Z:-1.12 [[ 9.99690878e-01 -1.78516579e-02 -1.73050842e-02 4.31689240e+00] [ 1.79157020e-02 9.99833188e-01 3.55293666e-03 1.51836261e-01] [ 1.72387717e-02 -3.86187110e-03 9.99843943e-01 -1.11530400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83455357399998 meters Centerline goodness [0,1] 0.8397251106764131 Centerline is valid? [False, False] Translation: X:4.32, Y:0.15, Z:-1.12 [[ 9.99670436e-01 -1.84848035e-02 -1.78137789e-02 4.31899126e+00] [ 1.85427816e-02 9.99823277e-01 3.09500738e-03 1.52697706e-01] [ 1.77534202e-02 -3.42430439e-03 9.99836532e-01 -1.11622355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.86455357399998 meters Centerline goodness [0,1] 0.8389913455594478 Centerline is valid? [False, False] Translation: X:4.32, Y:0.15, Z:-1.12 [[ 9.99672084e-01 -1.83830665e-02 -1.78266043e-02 4.31863436e+00] [ 1.84404885e-02 9.99825271e-01 3.06211944e-03 1.53952204e-01] [ 1.77671983e-02 -3.38984661e-03 9.99836404e-01 -1.11564680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89455357399999 meters Centerline goodness [0,1] 0.8402302986685858 Centerline is valid? [False, False] Translation: X:4.32, Y:0.15, Z:-1.12 [[ 9.99676342e-01 -1.82163708e-02 -1.77588289e-02 4.31829084e+00] [ 1.82726510e-02 9.99828504e-01 3.01203027e-03 1.54827045e-01] [ 1.77009151e-02 -3.33555628e-03 9.99837763e-01 -1.11537191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.924553574 meters Centerline goodness [0,1] 0.8436560741901508 Centerline is valid? [False, False] Translation: X:4.31, Y:0.16, Z:-1.11 [[ 9.99711649e-01 -1.69023355e-02 -1.70566668e-02 4.31479220e+00] [ 1.69644624e-02 9.99849952e-01 3.50427831e-03 1.56560642e-01] [ 1.69948770e-02 -3.79262503e-03 9.99848384e-01 -1.11350680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.954553574 meters Centerline goodness [0,1] 0.8398135341427181 Centerline is valid? [False, False] Translation: X:4.31, Y:0.16, Z:-1.11 [[ 9.99721830e-01 -1.64843636e-02 -1.68679621e-02 4.31384641e+00] [ 1.65432302e-02 9.99857518e-01 3.35627436e-03 1.57841558e-01] [ 1.68102327e-02 -3.63439133e-03 9.99852093e-01 -1.11329848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.984553574 meters Centerline goodness [0,1] 0.8421496689080357 Centerline is valid? [False, False] Translation: X:4.31, Y:0.16, Z:-1.11 [[ 9.99742908e-01 -1.56647280e-02 -1.63931060e-02 4.31170020e+00] [ 1.57263393e-02 9.99869722e-01 3.63622115e-03 1.59046795e-01] [ 1.63340100e-02 -3.89308986e-03 9.99859012e-01 -1.11229245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.014553574 meters Centerline goodness [0,1] 0.8418582106686395 Centerline is valid? [False, False] Translation: X:4.31, Y:0.16, Z:-1.11 [[ 9.99759035e-01 -1.49256424e-02 -1.60965212e-02 4.31015993e+00] [ 1.49848083e-02 9.99881379e-01 3.56136391e-03 1.61252970e-01] [ 1.60414562e-02 -3.80170903e-03 9.99864100e-01 -1.11193160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.044553574 meters Centerline goodness [0,1] 0.8418826287490763 Centerline is valid? [False, False] Translation: X:4.31, Y:0.16, Z:-1.11 [[ 9.99760477e-01 -1.48532060e-02 -1.60739374e-02 4.31012218e+00] [ 1.49086034e-02 9.99883309e-01 3.33207914e-03 1.62200186e-01] [ 1.60225697e-02 -3.57092099e-03 9.99865254e-01 -1.11218065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.074553574 meters Centerline goodness [0,1] 0.8444636810347023 Centerline is valid? [False, False] Translation: X:4.31, Y:0.16, Z:-1.11 [[ 9.99762543e-01 -1.47336794e-02 -1.60554209e-02 4.30970582e+00] [ 1.47885818e-02 9.99885177e-01 3.30620681e-03 1.63420559e-01] [ 1.60048648e-02 -3.54285864e-03 9.99865637e-01 -1.11158952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.104553574 meters Centerline goodness [0,1] 0.8428782325391977 Centerline is valid? [False, False] Translation: X:4.31, Y:0.16, Z:-1.11 [[ 9.99758933e-01 -1.48330977e-02 -1.61880949e-02 4.31000856e+00] [ 1.48887027e-02 9.99883646e-01 3.31982434e-03 1.63752736e-01] [ 1.61369681e-02 -3.56004377e-03 9.99863453e-01 -1.11136237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.134553574 meters Centerline goodness [0,1] 0.8437969589690039 Centerline is valid? [False, False] Translation: X:4.31, Y:0.16, Z:-1.11 [[ 9.99755293e-01 -1.49312206e-02 -1.63221638e-02 4.31035176e+00] [ 1.49888983e-02 9.99881821e-01 3.41709645e-03 1.63895050e-01] [ 1.62692134e-02 -3.66091152e-03 9.99860946e-01 -1.11105235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.164553574 meters Centerline goodness [0,1] 0.8448332783096731 Centerline is valid? [False, False] Translation: X:4.31, Y:0.16, Z:-1.11 [[ 9.99753266e-01 -1.49718975e-02 -1.64088435e-02 4.31047396e+00] [ 1.50276932e-02 9.99881690e-01 3.28232937e-03 1.64988614e-01] [ 1.63577595e-02 -3.52810657e-03 9.99859978e-01 -1.11090159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.194553574 meters Centerline goodness [0,1] 0.8427225290034956 Centerline is valid? [False, False] Translation: X:4.31, Y:0.17, Z:-1.11 [[ 9.99753368e-01 -1.48846154e-02 -1.64818517e-02 4.31058466e+00] [ 1.49403881e-02 9.99883052e-01 3.26593545e-03 1.65537375e-01] [ 1.64313120e-02 -3.51137522e-03 9.99858831e-01 -1.11085006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.224553574 meters Centerline goodness [0,1] 0.8450194769059544 Centerline is valid? [False, False] Translation: X:4.31, Y:0.17, Z:-1.11 [[ 9.99756424e-01 -1.46549970e-02 -1.65022049e-02 4.31041186e+00] [ 1.47114813e-02 9.99886313e-01 3.30664942e-03 1.65911290e-01] [ 1.64518699e-02 -3.54861588e-03 9.99858362e-01 -1.11075249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25455357399997 meters Centerline goodness [0,1] 0.8443235033540059 Centerline is valid? [False, False] Translation: X:4.31, Y:0.17, Z:-1.11 [[ 9.99758230e-01 -1.45131501e-02 -1.65181956e-02 4.31019289e+00] [ 1.45725720e-02 9.99887749e-01 3.48268776e-03 1.66026352e-01] [ 1.64657966e-02 -3.72255834e-03 9.99857500e-01 -1.11029099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.28455357399997 meters Centerline goodness [0,1] 0.8462140926201965 Centerline is valid? [False, False] Translation: X:4.31, Y:0.17, Z:-1.11 [[ 9.99778277e-01 -1.36874503e-02 -1.60015580e-02 4.30798711e+00] [ 1.37493116e-02 9.99898395e-01 3.76235255e-03 1.67149541e-01] [ 1.59484351e-02 -3.98152876e-03 9.99864888e-01 -1.10939695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31455357399997 meters Centerline goodness [0,1] 0.8451596617442888 Centerline is valid? [False, False] Translation: X:4.31, Y:0.17, Z:-1.11 [[ 9.99786280e-01 -1.33376335e-02 -1.57956213e-02 4.30745060e+00] [ 1.33944019e-02 9.99904188e-01 3.49360695e-03 1.68211590e-01] [ 1.57475114e-02 -3.70443320e-03 9.99869138e-01 -1.11000395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.34455357399997 meters Centerline goodness [0,1] 0.841252645369344 Centerline is valid? [False, False] Translation: X:4.31, Y:0.17, Z:-1.11 [[ 9.99805772e-01 -1.24094961e-02 -1.53108552e-02 4.30573005e+00] [ 1.24609178e-02 9.99917020e-01 3.26768941e-03 1.69200151e-01] [ 1.52690344e-02 -3.45784205e-03 9.99877442e-01 -1.11067203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37455357399998 meters Centerline goodness [0,1] 0.8427783791948843 Centerline is valid? [False, False] Translation: X:4.30, Y:0.17, Z:-1.11 [[ 9.99824249e-01 -1.14953641e-02 -1.48097402e-02 4.30381257e+00] [ 1.15465778e-02 9.99927633e-01 3.37725438e-03 1.69940149e-01] [ 1.47698457e-02 -3.54766264e-03 9.99884626e-01 -1.11063410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.40455357399998 meters Centerline goodness [0,1] 0.8399488157366519 Centerline is valid? [False, False] Translation: X:4.30, Y:0.17, Z:-1.11 [[ 0.99985438 -0.00771457 -0.01522153 4.30486084] [ 0.00783229 0.99993976 0.00768958 0.16967922] [ 0.01516129 -0.00780768 0.99985458 -1.10990665] [ 0. 0. 0. 1. ]] SLAMing on 150.43455357399998 meters Centerline goodness [0,1] 0.8325807746337548 Centerline is valid? [False, False] Translation: X:4.32, Y:0.17, Z:-1.12 [[ 9.99931195e-01 -1.51442746e-03 -1.16323334e-02 4.32125013e+00] [ 1.51858806e-03 9.99998786e-01 3.48850819e-04 1.73309543e-01] [ 1.16317909e-02 -3.66491539e-04 9.99932281e-01 -1.11818291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.46455357399998 meters Centerline goodness [0,1] 0.8404969441939685 Centerline is valid? [False, False] Translation: X:4.32, Y:0.17, Z:-1.12 [[ 9.99941558e-01 -7.85258302e-05 -1.08108688e-02 4.31799939e+00] [ 8.53100269e-05 9.99999800e-01 6.27075103e-04 1.74330377e-01] [ 1.08108174e-02 -6.27960731e-04 9.99941364e-01 -1.11760617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.49455357399998 meters Centerline goodness [0,1] 0.8292609728648244 Centerline is valid? [False, False] Translation: X:4.31, Y:0.18, Z:-1.12 [[ 9.99951471e-01 2.65005167e-03 -9.48858445e-03 4.31231470e+00] [-2.63685130e-03 9.99995539e-01 1.40342414e-03 1.75379357e-01] [ 9.49226126e-03 -1.37833604e-03 9.99953998e-01 -1.11638497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.52455357399998 meters Centerline goodness [0,1] 0.8319275304451986 Centerline is valid? [False, False] Translation: X:4.31, Y:0.18, Z:-1.12 [[ 9.99953220e-01 3.25044918e-03 -9.11005631e-03 4.31091406e+00] [-3.23659485e-03 9.99993584e-01 1.53510481e-03 1.75709496e-01] [ 9.11498763e-03 -1.50554743e-03 9.99957324e-01 -1.11607664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55455357399998 meters Centerline goodness [0,1] 0.8321762450186722 Centerline is valid? [False, False] Translation: X:4.31, Y:0.17, Z:-1.12 [[ 9.99955328e-01 4.09673461e-03 -8.51816811e-03 4.30868905e+00] [-4.07829010e-03 9.99989304e-01 2.18155828e-03 1.74123357e-01] [ 8.52701427e-03 -2.14672126e-03 9.99961340e-01 -1.11523719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.58455357399998 meters Centerline goodness [0,1] 0.8298993650713982 Centerline is valid? [False, False] Translation: X:4.31, Y:0.17, Z:-1.12 [[ 9.99955388e-01 4.19418863e-03 -8.46350177e-03 4.30858300e+00] [-4.17488526e-03 9.99988647e-01 2.29715826e-03 1.73408155e-01] [ 8.47304039e-03 -2.26172163e-03 9.99961545e-01 -1.11530770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61455357399998 meters Centerline goodness [0,1] 0.8319871569758692 Centerline is valid? [False, False] Translation: X:4.31, Y:0.17, Z:-1.12 [[ 9.99956095e-01 4.38066743e-03 -8.28362100e-03 4.30820478e+00] [-4.36134031e-03 9.99987729e-01 2.34979911e-03 1.72976200e-01] [ 8.29381303e-03 -2.31356825e-03 9.99962929e-01 -1.11555529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.64455357399999 meters Centerline goodness [0,1] 0.834820867379007 Centerline is valid? [False, False] Translation: X:4.31, Y:0.17, Z:-1.12 [[ 9.99956679e-01 4.68426641e-03 -8.04352986e-03 4.30769959e+00] [-4.66163572e-03 9.99985130e-01 2.82997426e-03 1.70770690e-01] [ 8.05666661e-03 -2.79235566e-03 9.99963646e-01 -1.11572444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.674553574 meters Centerline goodness [0,1] 0.8331609354895678 Centerline is valid? [False, False] Translation: X:4.31, Y:0.17, Z:-1.12 [[ 9.99956329e-01 4.63844231e-03 -8.11324392e-03 4.30821667e+00] [-4.61394273e-03 9.99984748e-01 3.03581784e-03 1.69089770e-01] [ 8.12720164e-03 -2.99825122e-03 9.99962479e-01 -1.11615080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.704553574 meters Centerline goodness [0,1] 0.8287309567721887 Centerline is valid? [False, False] Translation: X:4.31, Y:0.17, Z:-1.12 [[ 9.99956041e-01 4.62333410e-03 -8.15729480e-03 4.30889042e+00] [-4.59566715e-03 9.99983635e-01 3.40717243e-03 1.66185561e-01] [ 8.17291380e-03 -3.36953444e-03 9.99960924e-01 -1.11698140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.734553574 meters Centerline goodness [0,1] 0.8275284321689683 Centerline is valid? [False, False] Translation: X:4.31, Y:0.17, Z:-1.12 [[ 9.99956286e-01 4.80552917e-03 -8.02081447e-03 4.30858806e+00] [-4.77698565e-03 9.99982203e-01 3.57405344e-03 1.65155505e-01] [ 8.03784694e-03 -3.53558189e-03 9.99961446e-01 -1.11722849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.764553574 meters Centerline goodness [0,1] 0.82755465175394 Centerline is valid? [False, False] Translation: X:4.31, Y:0.16, Z:-1.12 [[ 9.99956651e-01 4.88079817e-03 -7.92936592e-03 4.30850583e+00] [-4.85130787e-03 9.99981260e-01 3.73411259e-03 1.63936697e-01] [ 7.94744278e-03 -3.69548292e-03 9.99961590e-01 -1.11744115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.794553574 meters Centerline goodness [0,1] 0.8247948208186777 Centerline is valid? [False, False] Translation: X:4.31, Y:0.16, Z:-1.12 [[ 0.99995705 0.00530288 -0.0076009 4.30727461] [-0.00526651 0.99997462 0.00479727 0.16033906] [ 0.00762614 -0.00475703 0.99995961 -1.11635981] [ 0. 0. 0. 1. ]] SLAMing on 150.824553574 meters Centerline goodness [0,1] 0.8255599877262965 Centerline is valid? [False, False] Translation: X:4.30, Y:0.16, Z:-1.12 [[ 9.99974107e-01 2.99476738e-03 -6.54337506e-03 4.30386598e+00] [-2.98812492e-03 9.99995011e-01 1.02468382e-03 1.60236932e-01] [ 6.54641110e-03 -1.00510487e-03 9.99978067e-01 -1.11718277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.854553574 meters Centerline goodness [0,1] 0.8274268104776579 Centerline is valid? [False, False] Translation: X:4.30, Y:0.16, Z:-1.12 [[ 9.99974528e-01 2.70406822e-03 -6.60544489e-03 4.30470993e+00] [-2.69341733e-03 9.99995059e-01 1.62080438e-03 1.56239415e-01] [ 6.60979502e-03 -1.60297187e-03 9.99976870e-01 -1.11757949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.884553574 meters Centerline goodness [0,1] 0.8222022125032158 Centerline is valid? [False, False] Translation: X:4.31, Y:0.15, Z:-1.12 [[ 9.99973569e-01 2.17835272e-03 -6.93661551e-03 4.30639528e+00] [-2.16630928e-03 9.99996134e-01 1.74325324e-03 1.54218719e-01] [ 6.94038611e-03 -1.72818031e-03 9.99974422e-01 -1.11829204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.914553574 meters Centerline goodness [0,1] 0.8219963175228858 Centerline is valid? [False, False] Translation: X:4.30, Y:0.15, Z:-1.12 [[ 9.99981918e-01 -7.78167800e-04 -5.96314258e-03 4.30445455e+00] [ 7.67163031e-04 9.99997999e-01 -1.84753000e-03 1.51321344e-01] [ 5.96456834e-03 1.84292189e-03 9.99980514e-01 -1.11996459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.944553574 meters Centerline goodness [0,1] 0.8208533264168072 Centerline is valid? [False, False] Translation: X:4.31, Y:0.15, Z:-1.12 [[ 9.99980573e-01 -1.05653668e-03 -6.14309929e-03 4.30541025e+00] [ 1.04782257e-03 9.99998441e-01 -1.42156633e-03 1.48720951e-01] [ 6.14459165e-03 1.41510184e-03 9.99980121e-01 -1.12015528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.974553574 meters Centerline goodness [0,1] 0.823747583973254 Centerline is valid? [False, False] Translation: X:4.31, Y:0.14, Z:-1.12 [[ 9.99981030e-01 -1.04287883e-03 -6.07062233e-03 4.30530684e+00] [ 1.04329148e-03 9.99999454e-01 6.48084427e-05 1.42733351e-01] [ 6.07055142e-03 -7.11406418e-05 9.99981572e-01 -1.11901616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.00455357399997 meters Centerline goodness [0,1] 0.8250537127286066 Centerline is valid? [False, False] Translation: X:4.31, Y:0.14, Z:-1.12 [[ 9.99981005e-01 -9.60707532e-04 -6.08823867e-03 4.30517151e+00] [ 9.66951009e-04 9.99999010e-01 1.02263753e-03 1.39412408e-01] [ 6.08725018e-03 -1.02850514e-03 9.99980944e-01 -1.11805442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03455357399997 meters Centerline goodness [0,1] 0.8241697707360579 Centerline is valid? [False, False] Translation: X:4.31, Y:0.14, Z:-1.12 [[ 9.99979919e-01 -1.12754536e-03 -6.23626187e-03 4.30588973e+00] [ 1.13744733e-03 9.99998098e-01 1.58448688e-03 1.36517895e-01] [ 6.23446343e-03 -1.59154848e-03 9.99979299e-01 -1.11802728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.06455357399997 meters Centerline goodness [0,1] 0.8268967334035827 Centerline is valid? [False, False] Translation: X:4.31, Y:0.13, Z:-1.12 [[ 9.99976872e-01 -1.85148419e-03 -6.54426222e-03 4.30809108e+00] [ 1.86539412e-03 9.99996013e-01 2.12005080e-03 1.31540920e-01] [ 6.54031088e-03 -2.13220940e-03 9.99976339e-01 -1.11921441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09455357399997 meters Centerline goodness [0,1] 0.8225417759063585 Centerline is valid? [False, False] Translation: X:4.31, Y:0.13, Z:-1.12 [[ 9.99975551e-01 -2.08214554e-03 -6.67549882e-03 4.30882882e+00] [ 2.09996193e-03 9.99994249e-01 2.66302471e-03 1.29182186e-01] [ 6.66991562e-03 -2.67697789e-03 9.99974173e-01 -1.11912304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.12455357399998 meters Centerline goodness [0,1] 0.8224361367393739 Centerline is valid? [False, False] Translation: X:4.31, Y:0.12, Z:-1.12 [[ 9.99965366e-01 -5.69520981e-03 -6.06893418e-03 4.30795025e+00] [ 5.69240047e-03 9.99983683e-01 -4.80078007e-04 1.24131304e-01] [ 6.07156930e-03 4.45514576e-04 9.99981469e-01 -1.11988839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.15455357399998 meters Centerline goodness [0,1] 0.8237626946059649 Centerline is valid? [False, False] Translation: X:4.31, Y:0.12, Z:-1.12 [[ 9.99958037e-01 -6.43663587e-03 -6.51867515e-03 4.30962438e+00] [ 6.44066959e-03 9.99979080e-01 5.97990590e-04 1.19882821e-01] [ 6.51468973e-03 -6.39950129e-04 9.99978574e-01 -1.11858573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.18455357399998 meters Centerline goodness [0,1] 0.8245519471769304 Centerline is valid? [False, False] Translation: X:4.31, Y:0.12, Z:-1.12 [[ 9.99947590e-01 -7.40759347e-03 -7.06723049e-03 4.31176342e+00] [ 7.41932413e-03 9.99971140e-01 1.63509513e-03 1.15771787e-01] [ 7.05491441e-03 -1.68744351e-03 9.99973690e-01 -1.11721710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.21455357399998 meters Centerline goodness [0,1] 0.8240261655183507 Centerline is valid? [False, False] Translation: X:4.31, Y:0.12, Z:-1.11 [[ 9.99965279e-01 -5.64405702e-03 -6.13075732e-03 4.30709649e+00] [ 5.66061918e-03 9.99980367e-01 2.68750241e-03 1.16061643e-01] [ 6.11546854e-03 -2.72211298e-03 9.99977595e-01 -1.11463313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.24455357399998 meters Centerline goodness [0,1] 0.821992189589686 Centerline is valid? [False, False] Translation: X:4.31, Y:0.12, Z:-1.11 [[ 9.99966594e-01 -5.47251918e-03 -6.07136704e-03 4.30660542e+00] [ 5.49009875e-03 9.99980775e-01 2.88261025e-03 1.16026908e-01] [ 6.05547518e-03 -2.91584635e-03 9.99977414e-01 -1.11403130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.27455357399998 meters Centerline goodness [0,1] 0.8200839056195388 Centerline is valid? [False, False] Translation: X:4.31, Y:0.12, Z:-1.12 [[ 9.99956209e-01 -6.45568981e-03 -6.77526696e-03 4.30990863e+00] [ 6.47076321e-03 9.99976633e-01 2.20521074e-03 1.16765069e-01] [ 6.76087248e-03 -2.24895532e-03 9.99974616e-01 -1.11581972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.30455357399998 meters Centerline goodness [0,1] 0.8267293665001203 Centerline is valid? [False, False] Translation: X:4.32, Y:0.12, Z:-1.12 [[ 9.99934218e-01 -8.19029865e-03 -8.02987698e-03 4.31532211e+00] [ 8.20183166e-03 9.99965378e-01 1.40438515e-03 1.17750422e-01] [ 8.01809664e-03 -1.47015247e-03 9.99966774e-01 -1.11775929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33455357399998 meters Centerline goodness [0,1] 0.8267293665001203 Centerline is valid? [False, False] Translation: X:4.32, Y:0.12, Z:-1.12 [[ 9.99934218e-01 -8.19029865e-03 -8.02987698e-03 4.31532211e+00] [ 8.20183166e-03 9.99965378e-01 1.40438515e-03 1.17750422e-01] [ 8.01809664e-03 -1.47015247e-03 9.99966774e-01 -1.11775929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.36455357399998 meters Centerline goodness [0,1] 0.8244405734959132 Centerline is valid? [False, False] Translation: X:4.32, Y:0.12, Z:-1.12 [[ 9.99833881e-01 -1.53793864e-02 -9.78189597e-03 4.32383327e+00] [ 1.53431787e-02 9.99875195e-01 -3.76584037e-03 1.18104182e-01] [ 9.83859145e-03 3.61512941e-03 9.99945065e-01 -1.12036033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39455357399999 meters Centerline goodness [0,1] 0.8299433054786791 Centerline is valid? [False, False] Translation: X:4.33, Y:0.12, Z:-1.12 [[ 9.99779402e-01 -1.77939692e-02 -1.11589424e-02 4.32929509e+00] [ 1.77626442e-02 9.99838026e-01 -2.90002689e-03 1.15352635e-01] [ 1.12087379e-02 2.70117483e-03 9.99933532e-01 -1.11825728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.424553574 meters Centerline goodness [0,1] 0.8322582386440311 Centerline is valid? [False, False] Translation: X:4.34, Y:0.11, Z:-1.12 [[ 0.99961393 -0.02479917 -0.01252952 4.33571085] [ 0.02471468 0.99967106 -0.00685304 0.11335258] [ 0.01269535 0.00654073 0.99989802 -1.11756821] [ 0. 0. 0. 1. ]] SLAMing on 151.454553574 meters Centerline goodness [0,1] 0.8341926949761088 Centerline is valid? [False, False] Translation: X:4.34, Y:0.11, Z:-1.12 [[ 0.99955908 -0.02640493 -0.01358001 4.34000748] [ 0.02631261 0.99962973 -0.00693227 0.1128711 ] [ 0.01375802 0.00657189 0.99988376 -1.11768888] [ 0. 0. 0. 1. ]] SLAMing on 151.484553574 meters Centerline goodness [0,1] 0.7537100763522959 Centerline is valid? [False, False] Translation: X:4.35, Y:0.11, Z:-1.12 [[ 0.99944796 -0.02938392 -0.01550388 4.34828637] [ 0.02926454 0.9995407 -0.00787196 0.11453337] [ 0.01572807 0.00741391 0.99984882 -1.11906125] [ 0. 0. 0. 1. ]] SLAMing on 151.514553574 meters Centerline goodness [0,1] 0.799898016693057 Centerline is valid? [False, False] Translation: X:4.35, Y:0.11, Z:-1.12 [[ 9.99466626e-01 -2.76871997e-02 -1.73171418e-02 4.35432999e+00] [ 2.76518195e-02 9.99615017e-01 -2.27923738e-03 1.12962973e-01] [ 1.73735807e-02 1.79917121e-03 9.99847449e-01 -1.11513606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.544553574 meters Centerline goodness [0,1] 0.8375819178815033 Centerline is valid? [False, False] Translation: X:4.35, Y:0.11, Z:-1.11 [[ 0.99953978 -0.02443295 -0.01797959 4.35486861] [ 0.02451751 0.99968928 0.004498 0.11092993] [ 0.01786411 -0.00493674 0.99982824 -1.10760076] [ 0. 0. 0. 1. ]] SLAMing on 151.574553574 meters Centerline goodness [0,1] 0.8255369226243012 Centerline is valid? [False, False] Translation: X:4.35, Y:0.11, Z:-1.11 [[ 0.99956532 -0.02371083 -0.0175205 4.35247446] [ 0.02380204 0.99970411 0.00501595 0.11150841] [ 0.01739638 -0.00543079 0.99983392 -1.10576858] [ 0. 0. 0. 1. ]] SLAMing on 151.604553574 meters Centerline goodness [0,1] 0.8385250266240681 Centerline is valid? [False, False] Translation: X:4.35, Y:0.11, Z:-1.11 [[ 0.9995848 -0.02311395 -0.01720357 4.35087664] [ 0.0232033 0.9997182 0.00501204 0.11311847] [ 0.01708287 -0.00540914 0.99983945 -1.10517666] [ 0. 0. 0. 1. ]] SLAMing on 151.634553574 meters Centerline goodness [0,1] 0.8055791035286638 Centerline is valid? [False, False] Translation: X:4.35, Y:0.12, Z:-1.11 [[ 0.999631 -0.0201275 -0.01824146 4.35440193] [ 0.02027832 0.99976139 0.0081209 0.11600076] [ 0.01807366 -0.00848781 0.99980063 -1.10634509] [ 0. 0. 0. 1. ]] SLAMing on 151.664553574 meters Centerline goodness [0,1] 0.8327995553320452 Centerline is valid? [False, False] Translation: X:4.35, Y:0.12, Z:-1.11 [[ 0.99963309 -0.01999121 -0.01827672 4.35460093] [ 0.02013179 0.9997689 0.00754024 0.11785271] [ 0.01812176 -0.00790541 0.99980453 -1.10734081] [ 0. 0. 0. 1. ]] SLAMing on 151.694553574 meters Centerline goodness [0,1] 0.8382775624291328 Centerline is valid? [False, False] Translation: X:4.35, Y:0.12, Z:-1.11 [[ 0.99965191 -0.019301 -0.01798694 4.35323607] [ 0.01942422 0.99978887 0.00670122 0.12064664] [ 0.0178538 -0.00704827 0.99981576 -1.10832661] [ 0. 0. 0. 1. ]] SLAMing on 151.724553574 meters Centerline goodness [0,1] 0.8371854539717599 Centerline is valid? [False, False] Translation: X:4.35, Y:0.12, Z:-1.11 [[ 0.9996684 -0.01868393 -0.01771999 4.35198136] [ 0.01880008 0.99980271 0.00641068 0.12233217] [ 0.01759672 -0.00674169 0.99982244 -1.10855142] [ 0. 0. 0. 1. ]] SLAMing on 151.75455357399997 meters Centerline goodness [0,1] 0.8383581737695471 Centerline is valid? [False, False] Translation: X:4.35, Y:0.12, Z:-1.11 [[ 0.99972705 -0.01470604 -0.01815347 4.35283506] [ 0.01489457 0.99983608 0.01029425 0.12358884] [ 0.01799911 -0.01056182 0.99978222 -1.10822133] [ 0. 0. 0. 1. ]] SLAMing on 151.78455357399997 meters Centerline goodness [0,1] 0.8388482800178155 Centerline is valid? [False, False] Translation: X:4.35, Y:0.13, Z:-1.11 [[ 0.99973961 -0.01412568 -0.01792121 4.35206666] [ 0.01429945 0.99985162 0.00960561 0.12566792] [ 0.01778287 -0.00985938 0.99979326 -1.10965282] [ 0. 0. 0. 1. ]] SLAMing on 151.81455357399997 meters Centerline goodness [0,1] 0.8157660953177257 Centerline is valid? [False, False] Translation: X:4.35, Y:0.13, Z:-1.11 [[ 0.99976091 -0.01324869 -0.01739528 4.35049963] [ 0.01340233 0.99987194 0.00874542 0.12811458] [ 0.01727718 -0.00897646 0.99981044 -1.11153627] [ 0. 0. 0. 1. ]] SLAMing on 151.84455357399997 meters Centerline goodness [0,1] 0.8382157643934067 Centerline is valid? [False, False] Translation: X:4.37, Y:0.13, Z:-1.12 [[ 9.99891703e-01 -7.41148594e-03 -1.27142632e-02 4.36800473e+00] [ 7.44947413e-03 9.99967921e-01 2.94308649e-03 1.33118560e-01] [ 1.26920427e-02 -3.03748234e-03 9.99914839e-01 -1.11924840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87455357399998 meters Centerline goodness [0,1] 0.8361276927069816 Centerline is valid? [False, False] Translation: X:4.37, Y:0.13, Z:-1.12 [[ 9.99907491e-01 -6.28595909e-03 -1.20621638e-02 4.36527460e+00] [ 6.32549834e-03 9.99974736e-01 3.24260973e-03 1.34142814e-01] [ 1.20414761e-02 -3.31860896e-03 9.99921992e-01 -1.11847839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.90455357399998 meters Centerline goodness [0,1] 0.8361647963424772 Centerline is valid? [False, False] Translation: X:4.36, Y:0.13, Z:-1.12 [[ 9.99924475e-01 -4.96852338e-03 -1.12408795e-02 4.36133952e+00] [ 5.01234716e-03 9.99979935e-01 3.87380001e-03 1.34594912e-01] [ 1.12214069e-02 -3.92985063e-03 9.99929316e-01 -1.11633149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.93455357399998 meters Centerline goodness [0,1] 0.8387071630855569 Centerline is valid? [False, False] Translation: X:4.36, Y:0.13, Z:-1.12 [[ 9.99927316e-01 -4.71966398e-03 -1.10944965e-02 4.36058884e+00] [ 4.76370645e-03 9.99980865e-01 3.94668892e-03 1.34776913e-01] [ 1.10756572e-02 -3.99925298e-03 9.99930665e-01 -1.11588348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.96455357399998 meters Centerline goodness [0,1] 0.8421448974292391 Centerline is valid? [False, False] Translation: X:4.36, Y:0.13, Z:-1.12 [[ 9.99929642e-01 -4.55286682e-03 -1.09536598e-02 4.35992177e+00] [ 4.59760991e-03 9.99981177e-01 4.06305399e-03 1.34803320e-01] [ 1.09349551e-02 -4.11312877e-03 9.99931752e-01 -1.11535779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.99455357399998 meters Centerline goodness [0,1] 0.8416942181032463 Centerline is valid? [False, False] Translation: X:4.36, Y:0.13, Z:-1.12 [[ 9.99927751e-01 -4.72409274e-03 -1.10533357e-02 4.36018805e+00] [ 4.76997733e-03 9.99980101e-01 4.12852409e-03 1.34664074e-01] [ 1.10336122e-02 -4.18094997e-03 9.99930387e-01 -1.11510785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.02455357399998 meters Centerline goodness [0,1] 0.8411884178731382 Centerline is valid? [False, False] Translation: X:4.36, Y:0.13, Z:-1.12 [[ 9.99922182e-01 -5.15725687e-03 -1.13592648e-02 4.36161893e+00] [ 5.20176915e-03 9.99978895e-01 3.89253516e-03 1.34828511e-01] [ 1.13389503e-02 -3.95132052e-03 9.99927905e-01 -1.11582021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05455357399998 meters Centerline goodness [0,1] 0.8445375963340971 Centerline is valid? [False, False] Translation: X:4.37, Y:0.13, Z:-1.12 [[ 9.99904115e-01 -6.54224624e-03 -1.22049151e-02 4.36538921e+00] [ 6.58628692e-03 9.99971931e-01 3.57174026e-03 1.34046547e-01] [ 1.21812054e-02 -3.65178286e-03 9.99919138e-01 -1.11706788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.08455357399998 meters Centerline goodness [0,1] 0.8382019543973942 Centerline is valid? [False, False] Translation: X:4.37, Y:0.13, Z:-1.12 [[ 9.99888822e-01 -7.53588257e-03 -1.28667628e-02 4.36812378e+00] [ 7.58229933e-03 9.99964908e-01 3.56253016e-03 1.32825322e-01] [ 1.28394645e-02 -3.65969374e-03 9.99910873e-01 -1.11748556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11455357399998 meters Centerline goodness [0,1] 0.8387021049062313 Centerline is valid? [False, False] Translation: X:4.37, Y:0.13, Z:-1.12 [[ 9.99871044e-01 -8.58659350e-03 -1.35707877e-02 4.37082100e+00] [ 8.63951863e-03 9.99955282e-01 3.84612796e-03 1.31041714e-01] [ 1.35371557e-02 -3.96287705e-03 9.99900516e-01 -1.11723877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.14455357399999 meters Centerline goodness [0,1] 0.8401373021695839 Centerline is valid? [False, False] Translation: X:4.37, Y:0.13, Z:-1.12 [[ 9.99805780e-01 -1.37621539e-02 -1.41069539e-02 4.37350474e+00] [ 1.37578967e-02 9.99905276e-01 -3.98787313e-04 1.29355216e-01] [ 1.41111058e-02 2.04627846e-04 9.99900412e-01 -1.11826128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.174553574 meters Centerline goodness [0,1] 0.8371409064649966 Centerline is valid? [False, False] Translation: X:4.38, Y:0.13, Z:-1.12 [[ 9.99778095e-01 -1.49309850e-02 -1.48602320e-02 4.37637206e+00] [ 1.49331774e-02 9.99888493e-01 3.65766091e-05 1.27205374e-01] [ 1.48580289e-02 -2.58478974e-04 9.99889580e-01 -1.11764199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.204553574 meters Centerline goodness [0,1] 0.8429275232499934 Centerline is valid? [False, False] Translation: X:4.38, Y:0.13, Z:-1.12 [[ 9.99731690e-01 -1.67769657e-02 -1.59712459e-02 4.38098953e+00] [ 1.67796777e-02 9.99859211e-01 3.58081068e-05 1.25164271e-01] [ 1.59683966e-02 -3.03790859e-04 9.99872451e-01 -1.11789549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.234553574 meters Centerline goodness [0,1] 0.8447103473723051 Centerline is valid? [False, False] Translation: X:4.38, Y:0.12, Z:-1.12 [[ 9.99719561e-01 -1.71828667e-02 -1.62956822e-02 4.38241202e+00] [ 1.71847453e-02 9.99852331e-01 -2.47520793e-05 1.24997781e-01] [ 1.62937012e-02 -2.55292011e-04 9.99867216e-01 -1.11835328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.264553574 meters Centerline goodness [0,1] 0.8330962166719359 Centerline is valid? [False, False] Translation: X:4.38, Y:0.12, Z:-1.12 [[ 9.99706715e-01 -1.75722921e-02 -1.66643117e-02 4.38392403e+00] [ 1.75737931e-02 9.99845567e-01 -5.63695146e-05 1.24874481e-01] [ 1.66627287e-02 -2.36502184e-04 9.99861139e-01 -1.11870285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.294553574 meters Centerline goodness [0,1] 0.8437788626467871 Centerline is valid? [False, False] Translation: X:4.38, Y:0.12, Z:-1.12 [[ 9.99700147e-01 -1.77086494e-02 -1.69121498e-02 4.38471702e+00] [ 1.77126678e-02 9.99843115e-01 8.78330867e-05 1.24423148e-01] [ 1.69079411e-02 -3.87366041e-04 9.99856976e-01 -1.11876365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.324553574 meters Centerline goodness [0,1] 0.8494578265572645 Centerline is valid? [False, False] Translation: X:4.39, Y:0.12, Z:-1.12 [[ 0.99972255 -0.01524114 -0.01795931 4.38830311] [ 0.01532469 0.99987234 0.00452403 0.12275445] [ 0.01788807 -0.00479799 0.99982848 -1.11740156] [ 0. 0. 0. 1. ]] SLAMing on 152.354553574 meters Centerline goodness [0,1] 0.8506753904601098 Centerline is valid? [False, False] Translation: X:4.39, Y:0.12, Z:-1.12 [[ 0.9997314 -0.01490147 -0.01775035 4.3872704 ] [ 0.01498998 0.99987581 0.00486407 0.12259772] [ 0.01767567 -0.00512884 0.99983062 -1.11658866] [ 0. 0. 0. 1. ]] SLAMing on 152.384553574 meters Centerline goodness [0,1] 0.8496726850385388 Centerline is valid? [False, False] Translation: X:4.39, Y:0.12, Z:-1.12 [[ 0.99973655 -0.01469928 -0.01762868 4.38658485] [ 0.01479252 0.99987722 0.00517036 0.12226306] [ 0.01755051 -0.00542977 0.99983123 -1.11584686] [ 0. 0. 0. 1. ]] SLAMing on 152.414553574 meters Centerline goodness [0,1] 0.8475801134115786 Centerline is valid? [False, False] Translation: X:4.39, Y:0.12, Z:-1.12 [[ 0.99973978 -0.01453502 -0.01758138 4.38626264] [ 0.01462964 0.99987912 0.00526525 0.12255648] [ 0.01750273 -0.00552109 0.99983157 -1.11553839] [ 0. 0. 0. 1. ]] SLAMing on 152.444553574 meters Centerline goodness [0,1] 0.85118015034432 Centerline is valid? [False, False] Translation: X:4.39, Y:0.13, Z:-1.12 [[ 0.99975522 -0.01375274 -0.0173309 4.3851232 ] [ 0.01383956 0.99989222 0.00490004 0.12543196] [ 0.01726164 -0.00513869 0.9998378 -1.1161917 ] [ 0. 0. 0. 1. ]] SLAMing on 152.474553574 meters Centerline goodness [0,1] 0.850123366055961 Centerline is valid? [False, False] Translation: X:4.38, Y:0.13, Z:-1.12 [[ 0.99977597 -0.01279354 -0.01686207 4.38309447] [ 0.01287175 0.99990686 0.00453796 0.12734876] [ 0.01680244 -0.00475399 0.99984753 -1.11652924] [ 0. 0. 0. 1. ]] SLAMing on 152.50455357399997 meters Centerline goodness [0,1] 0.8531208220829947 Centerline is valid? [False, False] Translation: X:4.40, Y:0.13, Z:-1.12 [[ 0.99986675 -0.01159285 -0.01149313 4.39979678] [ 0.01154016 0.99992264 -0.00464035 0.12951895] [ 0.01154604 0.0045071 0.99992318 -1.12331528] [ 0. 0. 0. 1. ]] SLAMing on 152.53455357399997 meters Centerline goodness [0,1] 0.8501965923984273 Centerline is valid? [False, False] Translation: X:4.40, Y:0.13, Z:-1.12 [[ 9.99889366e-01 -8.38869635e-03 -1.22835379e-02 4.40158666e+00] [ 8.39871202e-03 9.99964438e-01 7.64015033e-04 1.27710213e-01] [ 1.22766920e-02 -8.67096405e-04 9.99924263e-01 -1.11983324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.56455357399997 meters Centerline goodness [0,1] 0.8514936880896997 Centerline is valid? [False, False] Translation: X:4.40, Y:0.13, Z:-1.12 [[ 9.99901746e-01 -7.51767762e-03 -1.18314253e-02 4.39966582e+00] [ 7.52586148e-03 9.99971471e-01 6.47334818e-04 1.29947604e-01] [ 1.18262213e-02 -7.36312883e-04 9.99929797e-01 -1.11971924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.59455357399997 meters Centerline goodness [0,1] 0.8477031061756849 Centerline is valid? [False, False] Translation: X:4.40, Y:0.13, Z:-1.12 [[ 9.99902221e-01 -7.41919691e-03 -1.18534330e-02 4.39976331e+00] [ 7.42541086e-03 9.99972316e-01 4.80307428e-04 1.30813142e-01] [ 1.18495414e-02 -5.68277074e-04 9.99929630e-01 -1.12004263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.62455357399998 meters Centerline goodness [0,1] 0.8514680934359911 Centerline is valid? [False, False] Translation: X:4.40, Y:0.13, Z:-1.12 [[ 9.99896618e-01 -7.64991591e-03 -1.21750697e-02 4.40110187e+00] [ 7.64831240e-03 9.99970735e-01 -1.78261057e-04 1.33003092e-01] [ 1.21760771e-02 8.51238920e-05 9.99925865e-01 -1.12125921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.65455357399998 meters Centerline goodness [0,1] 0.8512635191347754 Centerline is valid? [False, False] Translation: X:4.40, Y:0.13, Z:-1.12 [[ 9.99890859e-01 -7.94406190e-03 -1.24563854e-02 4.40221249e+00] [ 7.94055705e-03 9.99968419e-01 -3.30802305e-04 1.33757436e-01] [ 1.24586199e-02 2.31855561e-04 9.99922362e-01 -1.12147374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.68455357399998 meters Centerline goodness [0,1] 0.8523474239393074 Centerline is valid? [False, False] Translation: X:4.40, Y:0.13, Z:-1.12 [[ 9.99884661e-01 -8.24038826e-03 -1.27577698e-02 4.40299711e+00] [ 8.23955136e-03 9.99966047e-01 -1.18159907e-04 1.33655344e-01] [ 1.27583103e-02 1.30279785e-05 9.99918609e-01 -1.12071384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.71455357399998 meters Centerline goodness [0,1] 0.8545170934615884 Centerline is valid? [False, False] Translation: X:4.40, Y:0.13, Z:-1.12 [[ 9.99865830e-01 -9.27692317e-03 -1.35003991e-02 4.40492205e+00] [ 9.28769406e-03 9.99956598e-01 7.35341054e-04 1.32625560e-01] [ 1.34929914e-02 -8.60629969e-04 9.99908595e-01 -1.11788431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.74455357399998 meters Centerline goodness [0,1] 0.8517902181543981 Centerline is valid? [False, False] Translation: X:4.41, Y:0.13, Z:-1.12 [[ 9.99846973e-01 -1.02476296e-02 -1.41780100e-02 4.40742189e+00] [ 1.02590849e-02 9.99947104e-01 7.35466544e-04 1.32564789e-01] [ 1.41697232e-02 -8.80807407e-04 9.99899216e-01 -1.11755411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77455357399998 meters Centerline goodness [0,1] 0.8540967834204436 Centerline is valid? [False, False] Translation: X:4.42, Y:0.13, Z:-1.12 [[ 9.99777433e-01 -1.36476693e-02 -1.60880774e-02 4.41541748e+00] [ 1.36509665e-02 9.99906817e-01 9.51468055e-05 1.33026088e-01] [ 1.60852798e-02 -3.14743435e-04 9.99870574e-01 -1.11784643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.80455357399998 meters Centerline goodness [0,1] 0.8530894351192642 Centerline is valid? [False, False] Translation: X:4.42, Y:0.13, Z:-1.12 [[ 9.99740892e-01 -1.50526212e-02 -1.70753505e-02 4.41904132e+00] [ 1.50549653e-02 9.99886668e-01 8.73876478e-06 1.33082639e-01] [ 1.70732837e-02 -2.65805310e-04 9.99854206e-01 -1.11760278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.83455357399998 meters Centerline goodness [0,1] 0.8558462775199025 Centerline is valid? [False, False] Translation: X:4.43, Y:0.13, Z:-1.12 [[ 9.99660342e-01 -1.80512678e-02 -1.87976462e-02 4.42534826e+00] [ 1.80558400e-02 9.99836977e-01 7.35280568e-05 1.32997834e-01] [ 1.87932545e-02 -4.12910375e-04 9.99823306e-01 -1.11578439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.86455357399998 meters Centerline goodness [0,1] 0.856094778866594 Centerline is valid? [False, False] Translation: X:4.43, Y:0.13, Z:-1.11 [[ 9.99632720e-01 -1.88824770e-02 -1.94390514e-02 4.42727713e+00] [ 1.88918245e-02 9.99821489e-01 2.97323781e-04 1.32971221e-01] [ 1.94299671e-02 -6.64453728e-04 9.99811000e-01 -1.11462240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.89455357399999 meters Centerline goodness [0,1] 0.8569355549221321 Centerline is valid? [False, False] Translation: X:4.43, Y:0.13, Z:-1.11 [[ 9.99601847e-01 -1.97935573e-02 -2.01087829e-02 4.42955735e+00] [ 1.98023597e-02 9.99803886e-01 2.38691504e-04 1.33479548e-01] [ 2.01001148e-02 -6.36797822e-04 9.99797769e-01 -1.11410183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.924553574 meters Centerline goodness [0,1] 0.8391062316375445 Centerline is valid? [False, False] Translation: X:4.44, Y:0.14, Z:-1.11 [[ 9.99553867e-01 -1.98021362e-02 -2.23593885e-02 4.43845559e+00] [ 1.98747797e-02 9.99797882e-01 3.03134802e-03 1.35270368e-01] [ 2.22948421e-02 -3.47438355e-03 9.99745402e-01 -1.11416498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.954553574 meters Centerline goodness [0,1] 0.8517548589180723 Centerline is valid? [False, False] Translation: X:4.44, Y:0.14, Z:-1.11 [[ 0.99956435 -0.01752034 -0.02375164 4.44315888] [ 0.01768411 0.99982116 0.0067027 0.13603283] [ 0.02362996 -0.00711981 0.99969542 -1.11400126] [ 0. 0. 0. 1. ]] SLAMing on 152.984553574 meters Centerline goodness [0,1] 0.8572158234798376 Centerline is valid? [False, False] Translation: X:4.45, Y:0.14, Z:-1.11 [[ 0.99959099 -0.0143789 -0.02472044 4.44553071] [ 0.01462618 0.9998445 0.00985151 0.13976278] [ 0.02457494 -0.01020905 0.99964586 -1.11371269] [ 0. 0. 0. 1. ]] SLAMing on 153.014553574 meters Centerline goodness [0,1] 0.8581502507573636 Centerline is valid? [False, False] Translation: X:4.46, Y:0.14, Z:-1.12 [[ 9.99742548e-01 -1.19393412e-02 -1.92947939e-02 4.46134168e+00] [ 1.19656414e-02 9.99927630e-01 1.24819140e-03 1.43720002e-01] [ 1.92784949e-02 -1.47874463e-03 9.99813059e-01 -1.12084516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.044553574 meters Centerline goodness [0,1] 0.8570489482200647 Centerline is valid? [False, False] Translation: X:4.48, Y:0.15, Z:-1.13 [[ 9.99865945e-01 -6.87171213e-03 -1.48617633e-02 4.47981521e+00] [ 6.81630755e-03 9.99969642e-01 -3.77544207e-03 1.49111505e-01] [ 1.48872559e-02 3.67363360e-03 9.99882430e-01 -1.12587498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.074553574 meters Centerline goodness [0,1] 0.8597418283384917 Centerline is valid? [False, False] Translation: X:4.48, Y:0.15, Z:-1.12 [[ 9.99876402e-01 -3.16709471e-03 -1.53996990e-02 4.48091426e+00] [ 3.17642863e-03 9.99994786e-01 5.81689335e-04 1.50148810e-01] [ 1.53977764e-02 -6.30533484e-04 9.99881248e-01 -1.12418535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.104553574 meters Centerline goodness [0,1] 0.8580071799764015 Centerline is valid? [False, False] Translation: X:4.48, Y:0.15, Z:-1.12 [[ 9.99884997e-01 -2.16791993e-03 -1.50097415e-02 4.47909429e+00] [ 2.17268188e-03 9.99997594e-01 3.00957989e-04 1.53494259e-01] [ 1.50090530e-02 -3.33534772e-04 9.99887302e-01 -1.12408922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.134553574 meters Centerline goodness [0,1] 0.8566870248036894 Centerline is valid? [False, False] Translation: X:4.48, Y:0.16, Z:-1.12 [[ 9.99881806e-01 2.11488221e-03 -1.52282888e-02 4.47942427e+00] [-2.06277438e-03 9.99991967e-01 3.43667321e-03 1.58098016e-01] [ 1.52354346e-02 -3.40485449e-03 9.99878137e-01 -1.12443652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.164553574 meters Centerline goodness [0,1] 0.854776119402985 Centerline is valid? [False, False] Translation: X:4.48, Y:0.16, Z:-1.12 [[ 9.99884445e-01 3.01871080e-03 -1.48991359e-02 4.47794619e+00] [-2.97352613e-03 9.99990916e-01 3.05392551e-03 1.60795318e-01] [ 1.49082195e-02 -3.00926964e-03 9.99884338e-01 -1.12481160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.194553574 meters Centerline goodness [0,1] 0.8609258386848826 Centerline is valid? [False, False] Translation: X:4.48, Y:0.16, Z:-1.12 [[ 0.99985848 0.00707664 -0.01526223 4.47857979] [-0.00697258 0.99995216 0.00686071 0.16334857] [ 0.01531005 -0.00675332 0.99985999 -1.12404963] [ 0. 0. 0. 1. ]] SLAMing on 153.224553574 meters Centerline goodness [0,1] 0.8601937907850504 Centerline is valid? [False, False] Translation: X:4.48, Y:0.17, Z:-1.12 [[ 0.99985826 0.00740785 -0.01511892 4.47803202] [-0.00731229 0.999953 0.00636565 0.1654304 ] [ 0.01516537 -0.00625419 0.99986544 -1.12447238] [ 0. 0. 0. 1. ]] SLAMing on 153.25455357399997 meters Centerline goodness [0,1] 0.8601937907850504 Centerline is valid? [False, False] Translation: X:4.48, Y:0.17, Z:-1.12 [[ 0.99985826 0.00740785 -0.01511892 4.47803202] [-0.00731229 0.999953 0.00636565 0.1654304 ] [ 0.01516537 -0.00625419 0.99986544 -1.12447238] [ 0. 0. 0. 1. ]] SLAMing on 153.28455357399997 meters Centerline goodness [0,1] 0.8602787542095819 Centerline is valid? [False, False] Translation: X:4.48, Y:0.17, Z:-1.12 [[ 0.99985671 0.00800294 -0.01491675 4.47691615] [-0.00791612 0.99995144 0.00587038 0.16861119] [ 0.01496301 -0.00575146 0.99987151 -1.12443636] [ 0. 0. 0. 1. ]] SLAMing on 153.31455357399997 meters Centerline goodness [0,1] 0.8577977153502966 Centerline is valid? [False, False] Translation: X:4.48, Y:0.17, Z:-1.12 [[ 0.99985695 0.00823883 -0.0147719 4.47629416] [-0.00815554 0.99995055 0.00569002 0.16983642] [ 0.01481805 -0.00556873 0.9998747 -1.12429379] [ 0. 0. 0. 1. ]] SLAMing on 153.34455357399997 meters Centerline goodness [0,1] 0.8593792040701514 Centerline is valid? [False, False] Translation: X:4.48, Y:0.17, Z:-1.12 [[ 0.99985677 0.00816913 -0.01482216 4.47651625] [-0.00808965 0.99995262 0.00541461 0.17087778] [ 0.01486569 -0.00529393 0.99987549 -1.12443526] [ 0. 0. 0. 1. ]] SLAMing on 153.37455357399998 meters Centerline goodness [0,1] 0.8580515731271713 Centerline is valid? [False, False] Translation: X:4.47, Y:0.17, Z:-1.13 [[ 9.99978083e-01 2.36797021e-03 -6.18281372e-03 4.46681614e+00] [-2.34489950e-03 9.99990272e-01 3.73601245e-03 1.73834928e-01] [ 6.19160034e-03 -3.72143249e-03 9.99973907e-01 -1.13119120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.40455357399998 meters Centerline goodness [0,1] 0.8612594952217594 Centerline is valid? [False, False] Translation: X:4.47, Y:0.18, Z:-1.13 [[ 9.99982359e-01 -1.11357855e-03 -5.83446453e-03 4.46558704e+00] [ 1.11081532e-03 9.99999269e-01 -4.76825189e-04 1.75069199e-01] [ 5.83499125e-03 4.70335765e-04 9.99982866e-01 -1.13153914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.43455357399998 meters Centerline goodness [0,1] 0.8647093393408101 Centerline is valid? [False, False] Translation: X:4.47, Y:0.17, Z:-1.13 [[ 9.99973572e-01 -2.84144659e-03 -6.69186974e-03 4.46881731e+00] [ 2.83911489e-03 9.99995906e-01 -3.57911052e-04 1.73780194e-01] [ 6.69285933e-03 3.38902606e-04 9.99977545e-01 -1.13065965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.46455357399998 meters Centerline goodness [0,1] 0.86355735096095 Centerline is valid? [False, False] Translation: X:4.47, Y:0.17, Z:-1.13 [[ 9.99969465e-01 -3.35454309e-03 -7.05808276e-03 4.47011330e+00] [ 3.35227813e-03 9.99994326e-01 -3.32708558e-04 1.73872526e-01] [ 7.05915879e-03 3.09037743e-04 9.99975036e-01 -1.13045519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.49455357399998 meters Centerline goodness [0,1] 0.8645278035897687 Centerline is valid? [False, False] Translation: X:4.47, Y:0.17, Z:-1.13 [[ 9.99965273e-01 -3.76062060e-03 -7.43709130e-03 4.47143841e+00] [ 3.75785004e-03 9.99992865e-01 -3.86470718e-04 1.74070343e-01] [ 7.43849161e-03 3.58509823e-04 9.99972270e-01 -1.13052994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.52455357399998 meters Centerline goodness [0,1] 0.855961237274863 Centerline is valid? [False, False] Translation: X:4.47, Y:0.17, Z:-1.13 [[ 9.99961920e-01 -4.08537569e-03 -7.71159877e-03 4.47243903e+00] [ 4.08189003e-03 9.99991560e-01 -4.67688380e-04 1.74405891e-01] [ 7.71344436e-03 4.36192672e-04 9.99970156e-01 -1.13057306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55455357399998 meters Centerline goodness [0,1] 0.8629765395894429 Centerline is valid? [False, False] Translation: X:4.47, Y:0.18, Z:-1.13 [[ 9.99957724e-01 -4.38996259e-03 -8.07945149e-03 4.47383761e+00] [ 4.38249041e-03 9.99989953e-01 -9.42310411e-04 1.75678656e-01] [ 8.08350702e-03 9.06862455e-04 9.99966917e-01 -1.13142252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.58455357399998 meters Centerline goodness [0,1] 0.8592567270596279 Centerline is valid? [False, False] Translation: X:4.47, Y:0.18, Z:-1.13 [[ 9.99955665e-01 -4.50597611e-03 -8.26826657e-03 4.47445769e+00] [ 4.49810434e-03 9.99989413e-01 -9.70395991e-04 1.76102932e-01] [ 8.27255161e-03 9.33161443e-04 9.99965346e-01 -1.13144875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61455357399998 meters Centerline goodness [0,1] 0.8620984487602297 Centerline is valid? [False, False] Translation: X:4.47, Y:0.18, Z:-1.13 [[ 9.99954684e-01 -4.51856795e-03 -8.37933169e-03 4.47478615e+00] [ 4.51058408e-03 9.99989355e-01 -9.71459414e-04 1.76565414e-01] [ 8.38363210e-03 9.33619711e-04 9.99964421e-01 -1.13141229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.64455357399999 meters Centerline goodness [0,1] 0.8648404722411942 Centerline is valid? [False, False] Translation: X:4.48, Y:0.18, Z:-1.13 [[ 9.99951692e-01 -4.72419903e-03 -8.61945844e-03 4.47559580e+00] [ 4.71454644e-03 9.99988237e-01 -1.13983563e-03 1.77309088e-01] [ 8.62474186e-03 1.09914373e-03 9.99962202e-01 -1.13159178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.674553574 meters Centerline goodness [0,1] 0.8558170125694241 Centerline is valid? [False, False] Translation: X:4.48, Y:0.18, Z:-1.13 [[ 9.99950524e-01 -4.72973316e-03 -8.75096215e-03 4.47586983e+00] [ 4.72107159e-03 9.99988345e-01 -1.01017789e-03 1.77626317e-01] [ 8.75563804e-03 9.68813988e-04 9.99961199e-01 -1.13125457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.704553574 meters Centerline goodness [0,1] 0.862299627836832 Centerline is valid? [False, False] Translation: X:4.48, Y:0.18, Z:-1.13 [[ 9.99949772e-01 -4.68558230e-03 -8.85997739e-03 4.47597229e+00] [ 4.67617872e-03 9.99988481e-01 -1.08177353e-03 1.78699655e-01] [ 8.86494407e-03 1.04028836e-03 9.99960164e-01 -1.13100973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.734553574 meters Centerline goodness [0,1] 0.8643507834325277 Centerline is valid? [False, False] Translation: X:4.48, Y:0.18, Z:-1.13 [[ 9.99948861e-01 -4.66555784e-03 -8.97266126e-03 4.47623111e+00] [ 4.65542891e-03 9.99988503e-01 -1.14942083e-03 1.79739228e-01] [ 8.97792079e-03 1.10759047e-03 9.99959084e-01 -1.13089989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.764553574 meters Centerline goodness [0,1] 0.8607115085536547 Centerline is valid? [False, False] Translation: X:4.48, Y:0.18, Z:-1.13 [[ 9.99948753e-01 -4.59740612e-03 -9.01970772e-03 4.47643978e+00] [ 4.58541194e-03 9.99988576e-01 -1.35000462e-03 1.80960276e-01] [ 9.02581119e-03 1.30857636e-03 9.99958410e-01 -1.13116630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.794553574 meters Centerline goodness [0,1] 0.8562913425892273 Centerline is valid? [False, False] Translation: X:4.48, Y:0.18, Z:-1.13 [[ 9.99950133e-01 -4.29353209e-03 -9.01647642e-03 4.47595104e+00] [ 4.28031159e-03 9.99989737e-01 -1.48504574e-03 1.82981475e-01] [ 9.02275997e-03 1.44637835e-03 9.99958248e-01 -1.13065047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.824553574 meters Centerline goodness [0,1] 0.8623615879309511 Centerline is valid? [False, False] Translation: X:4.48, Y:0.18, Z:-1.13 [[ 9.99949690e-01 -4.28427496e-03 -9.06988025e-03 4.47585981e+00] [ 4.27046739e-03 9.99989694e-01 -1.54117436e-03 1.84199496e-01] [ 9.07638959e-03 1.50236420e-03 9.99957680e-01 -1.13002242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.854553574 meters Centerline goodness [0,1] 0.860922037171132 Centerline is valid? [False, False] Translation: X:4.48, Y:0.19, Z:-1.13 [[ 9.99949223e-01 -4.21726261e-03 -9.15235140e-03 4.47600357e+00] [ 4.20281636e-03 9.99989893e-01 -1.59707965e-03 1.85085638e-01] [ 9.15899420e-03 1.55853290e-03 9.99956841e-01 -1.12994769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.884553574 meters Centerline goodness [0,1] 0.868886852512781 Centerline is valid? [False, False] Translation: X:4.48, Y:0.19, Z:-1.13 [[ 9.99948666e-01 -4.22060209e-03 -9.21152556e-03 4.47616067e+00] [ 4.20464868e-03 9.99989628e-01 -1.75057525e-03 1.86117376e-01] [ 9.21881850e-03 1.71175416e-03 9.99956041e-01 -1.12994009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.914553574 meters Centerline goodness [0,1] 0.8688276061218596 Centerline is valid? [False, False] Translation: X:4.48, Y:0.19, Z:-1.13 [[ 9.99948453e-01 -4.14326634e-03 -9.26956216e-03 4.47613177e+00] [ 4.12702854e-03 9.99989917e-01 -1.77017723e-03 1.87281082e-01] [ 9.27680301e-03 1.73183023e-03 9.99955470e-01 -1.12956793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.944553574 meters Centerline goodness [0,1] 0.8623326040439497 Centerline is valid? [False, False] Translation: X:4.48, Y:0.19, Z:-1.13 [[ 9.99945523e-01 -4.35203219e-03 -9.48740115e-03 4.47690916e+00] [ 4.33468403e-03 9.99988897e-01 -1.84834403e-03 1.87834645e-01] [ 9.49533986e-03 1.80711845e-03 9.99953285e-01 -1.12959598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.974553574 meters Centerline goodness [0,1] 0.8670620153177595 Centerline is valid? [False, False] Translation: X:4.48, Y:0.19, Z:-1.13 [[ 9.99943199e-01 -4.53804241e-03 -9.64390662e-03 4.47735812e+00] [ 4.52011828e-03 9.99988018e-01 -1.87958076e-03 1.88506864e-01] [ 9.65232068e-03 1.83588240e-03 9.99951730e-01 -1.12927409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.00455357399997 meters Centerline goodness [0,1] 0.8665290842772125 Centerline is valid? [False, False] Translation: X:4.48, Y:0.19, Z:-1.13 [[ 9.99939679e-01 -4.75438778e-03 -9.90117974e-03 4.47805782e+00] [ 4.73763108e-03 9.99987306e-01 -1.71516251e-03 1.88191402e-01] [ 9.90920861e-03 1.66815091e-03 9.99949511e-01 -1.12886537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03455357399997 meters Centerline goodness [0,1] 0.8641696859178923 Centerline is valid? [False, False] Translation: X:4.48, Y:0.19, Z:-1.13 [[ 9.99933220e-01 -5.21784036e-03 -1.03116589e-02 4.47945232e+00] [ 5.20055086e-03 9.99985027e-01 -1.70279786e-03 1.87877719e-01] [ 1.03203894e-02 1.64905784e-03 9.99945384e-01 -1.12880685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.06455357399997 meters Centerline goodness [0,1] 0.8689567430025446 Centerline is valid? [False, False] Translation: X:4.48, Y:0.19, Z:-1.13 [[ 9.99920345e-01 -6.16110050e-03 -1.10156118e-02 4.48216502e+00] [ 6.13839091e-03 9.99978967e-01 -2.09420550e-03 1.88303168e-01] [ 1.10282828e-02 2.02642055e-03 9.99937133e-01 -1.12958144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.09455357399997 meters Centerline goodness [0,1] 0.8635054712996737 Centerline is valid? [False, False] Translation: X:4.48, Y:0.19, Z:-1.13 [[ 9.99915012e-01 -6.44638071e-03 -1.13319135e-02 4.48328037e+00] [ 6.42079785e-03 9.99976759e-01 -2.29252694e-03 1.89059602e-01] [ 1.13464286e-02 2.21957218e-03 9.99933164e-01 -1.12992180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.12455357399998 meters Centerline goodness [0,1] 0.8605577689243028 Centerline is valid? [False, False] Translation: X:4.48, Y:0.19, Z:-1.13 [[ 9.99908897e-01 -6.79815042e-03 -1.16611972e-02 4.48431463e+00] [ 6.77153611e-03 9.99974381e-01 -2.32026435e-03 1.89643693e-01] [ 1.16766719e-02 2.24108875e-03 9.99929314e-01 -1.12968068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.15455357399998 meters Centerline goodness [0,1] 0.8659962076662746 Centerline is valid? [False, False] Translation: X:4.48, Y:0.19, Z:-1.13 [[ 9.99905954e-01 -6.97591867e-03 -1.18075723e-02 4.48467900e+00] [ 6.95108818e-03 9.99973545e-01 -2.14266459e-03 1.89620869e-01] [ 1.18222069e-02 2.06038760e-03 9.99927993e-01 -1.12909620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.18455357399998 meters Centerline goodness [0,1] 0.8644161328246839 Centerline is valid? [False, False] Translation: X:4.48, Y:0.19, Z:-1.13 [[ 9.99903016e-01 -7.17065310e-03 -1.19390644e-02 4.48494653e+00] [ 7.14719650e-03 9.99972446e-01 -2.00620311e-03 1.89865656e-01] [ 1.19531212e-02 1.92067770e-03 9.99926714e-01 -1.12839647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.21455357399998 meters Centerline goodness [0,1] 0.8637440474766087 Centerline is valid? [False, False] Translation: X:4.49, Y:0.19, Z:-1.13 [[ 9.99889462e-01 -8.03841939e-03 -1.25079248e-02 4.48696666e+00] [ 8.00644920e-03 9.99964557e-01 -2.60397413e-03 1.91744561e-01] [ 1.25284133e-02 2.50354223e-03 9.99918382e-01 -1.12872516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.24455357399998 meters Centerline goodness [0,1] 0.8697945254516383 Centerline is valid? [False, False] Translation: X:4.49, Y:0.19, Z:-1.13 [[ 9.99880174e-01 -8.57195427e-03 -1.28902971e-02 4.48819408e+00] [ 8.53601306e-03 9.99959533e-01 -2.84067669e-03 1.92862027e-01] [ 1.29141257e-02 2.73030456e-03 9.99912882e-01 -1.12852321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27455357399998 meters Centerline goodness [0,1] 0.8710864250278905 Centerline is valid? [False, False] Translation: X:4.49, Y:0.19, Z:-1.13 [[ 9.99856639e-01 -9.97850434e-03 -1.36796032e-02 4.49025893e+00] [ 9.93655545e-03 9.99945729e-01 -3.13107528e-03 1.94394063e-01] [ 1.37101043e-02 2.99469827e-03 9.99901528e-01 -1.12690348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.30455357399998 meters Centerline goodness [0,1] 0.8716330066212592 Centerline is valid? [False, False] Translation: X:4.49, Y:0.20, Z:-1.13 [[ 9.99842624e-01 -1.07072502e-02 -1.41450043e-02 4.49162308e+00] [ 1.06615824e-02 9.99937718e-01 -3.30002188e-03 1.95055644e-01] [ 1.41794575e-02 3.14869441e-03 9.99894509e-01 -1.12626358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33455357399998 meters Centerline goodness [0,1] 0.8555571333901354 Centerline is valid? [False, False] Translation: X:4.49, Y:0.20, Z:-1.13 [[ 9.99825319e-01 -1.15578216e-02 -1.46883981e-02 4.49349820e+00] [ 1.15038209e-02 9.99926776e-01 -3.75561224e-03 1.96236788e-01] [ 1.47307292e-02 3.58598350e-03 9.99885067e-01 -1.12630809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.36455357399998 meters Centerline goodness [0,1] 0.8203299152920196 Centerline is valid? [False, False] Translation: X:4.50, Y:0.20, Z:-1.13 [[ 0.99977721 -0.01363405 -0.0161135 4.49839726] [ 0.01354743 0.99989325 -0.00547255 0.20034218] [ 0.0161864 0.00525303 0.99985519 -1.12779694] [ 0. 0. 0. 1. ]] SLAMing on 154.39455357399999 meters Centerline goodness [0,1] 0.8504317386231038 Centerline is valid? [False, False] Translation: X:4.50, Y:0.20, Z:-1.13 [[ 9.99771475e-01 -1.22876087e-02 -1.74932195e-02 4.50334570e+00] [ 1.22448537e-02 9.99921780e-01 -2.54910828e-03 2.01503646e-01] [ 1.75231736e-02 2.33432383e-03 9.99843732e-01 -1.12794468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.424553574 meters Centerline goodness [0,1] 0.8251278036199512 Centerline is valid? [False, False] Translation: X:4.50, Y:0.21, Z:-1.13 [[ 9.99813503e-01 -1.64338103e-02 -1.01433971e-02 4.49646144e+00] [ 1.64291900e-02 9.99864887e-01 -5.38660247e-04 2.08289486e-01] [ 1.01508788e-02 3.71911991e-04 9.99948409e-01 -1.13244093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.454553574 meters Centerline goodness [0,1] 0.8724556233294496 Centerline is valid? [False, False] Translation: X:4.50, Y:0.21, Z:-1.13 [[ 9.99832955e-01 -1.43103097e-02 -1.13700177e-02 4.50021685e+00] [ 1.43419779e-02 9.99893480e-01 2.70858998e-03 2.09956178e-01] [ 1.13300458e-02 -2.87120607e-03 9.99931691e-01 -1.13211006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.484553574 meters Centerline goodness [0,1] 0.8838928587479215 Centerline is valid? [False, False] Translation: X:4.50, Y:0.22, Z:-1.13 [[ 0.99983955 -0.01227267 -0.01304816 4.50422686] [ 0.0123374 0.99991193 0.00489156 0.21599131] [ 0.01298698 -0.00505175 0.9999029 -1.13185567] [ 0. 0. 0. 1. ]] SLAMing on 154.514553574 meters Centerline goodness [0,1] 0.8440613879003559 Centerline is valid? [False, False] Translation: X:4.50, Y:0.22, Z:-1.13 [[ 9.99835722e-01 -1.23062790e-02 -1.33073461e-02 4.50490606e+00] [ 1.23598125e-02 9.99915820e-01 3.94812320e-03 2.19970336e-01] [ 1.32576392e-02 -4.11195091e-03 9.99903659e-01 -1.13245668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.544553574 meters Centerline goodness [0,1] 0.875446102010507 Centerline is valid? [False, False] Translation: X:4.51, Y:0.22, Z:-1.13 [[ 9.99835117e-01 -1.22119958e-02 -1.34390024e-02 4.50528452e+00] [ 1.22541048e-02 9.99920247e-01 3.05546410e-03 2.23938144e-01] [ 1.34006173e-02 -3.21964325e-03 9.99905024e-01 -1.13318080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.574553574 meters Centerline goodness [0,1] 0.8880395978886967 Centerline is valid? [False, False] Translation: X:4.51, Y:0.23, Z:-1.13 [[ 0.99985732 -0.00903407 -0.01427301 4.5066953 ] [ 0.00911229 0.99994377 0.00542501 0.23039872] [ 0.0142232 -0.0055543 0.99988342 -1.13292899] [ 0. 0. 0. 1. ]] SLAMing on 154.604553574 meters Centerline goodness [0,1] 0.8727681494739599 Centerline is valid? [False, False] Translation: X:4.51, Y:0.23, Z:-1.13 [[ 0.999866 -0.00843453 -0.01402973 4.50537684] [ 0.00850787 0.99995041 0.00517623 0.23356679] [ 0.01398537 -0.0052949 0.99988818 -1.1322136 ] [ 0. 0. 0. 1. ]] SLAMing on 154.634553574 meters Centerline goodness [0,1] 0.8788068328875852 Centerline is valid? [False, False] Translation: X:4.50, Y:0.24, Z:-1.13 [[ 0.9998882 -0.00563574 -0.01384985 4.50225825] [ 0.00573067 0.99996029 0.00682413 0.23922739] [ 0.01381085 -0.00690274 0.9998808 -1.12934358] [ 0. 0. 0. 1. ]] SLAMing on 154.664553574 meters Centerline goodness [0,1] 0.862725321888412 Centerline is valid? [False, False] Translation: X:4.50, Y:0.24, Z:-1.13 [[ 0.99989979 -0.00454779 -0.0134065 4.50009801] [ 0.00463794 0.99996679 0.00670069 0.24284581] [ 0.01337559 -0.0067622 0.99988768 -1.12852438] [ 0. 0. 0. 1. ]] SLAMing on 154.694553574 meters Centerline goodness [0,1] 0.892327076259423 Centerline is valid? [False, False] Translation: X:4.50, Y:0.25, Z:-1.13 [[ 9.99907955e-01 -3.46759356e-03 -1.31170921e-02 4.49840328e+00] [ 3.55254880e-03 9.99972830e-01 6.45893529e-03 2.46559052e-01] [ 1.30943387e-02 -6.50493989e-03 9.99893106e-01 -1.12807065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.724553574 meters Centerline goodness [0,1] 0.8906058168578808 Centerline is valid? [False, False] Translation: X:4.50, Y:0.25, Z:-1.13 [[ 9.99916220e-01 1.54050638e-03 -1.28522560e-02 4.49651150e+00] [-1.41283636e-03 9.99949630e-01 9.93683890e-03 2.51694378e-01] [ 1.28669164e-02 -9.91784826e-03 9.99868031e-01 -1.12681816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75455357399997 meters Centerline goodness [0,1] 0.8738587469828943 Centerline is valid? [False, False] Translation: X:4.49, Y:0.26, Z:-1.12 [[ 0.99990414 0.0063578 -0.01229957 4.49390322] [-0.00618884 0.99988663 0.0137265 0.25595406] [ 0.01238544 -0.01364906 0.99983014 -1.12467464] [ 0. 0. 0. 1. ]] SLAMing on 154.78455357399997 meters Centerline goodness [0,1] 0.8799196114553676 Centerline is valid? [False, False] Translation: X:4.49, Y:0.26, Z:-1.12 [[ 0.99990459 0.00687189 -0.01198277 4.4926656 ] [-0.00671202 0.99988861 0.0133312 0.25873907] [ 0.01207305 -0.0132495 0.99983933 -1.12426754] [ 0. 0. 0. 1. ]] SLAMing on 154.81455357399997 meters Centerline goodness [0,1] 0.8783840153506027 Centerline is valid? [False, False] Translation: X:4.49, Y:0.26, Z:-1.12 [[ 0.99990469 0.00725888 -0.01174404 4.4917452 ] [-0.00710682 0.99989103 0.01293876 0.2610817 ] [ 0.01183668 -0.01285406 0.99984732 -1.12399285] [ 0. 0. 0. 1. ]] SLAMing on 154.84455357399997 meters Centerline goodness [0,1] 0.8847115705235078 Centerline is valid? [False, False] Translation: X:4.49, Y:0.26, Z:-1.12 [[ 0.99990571 0.00746211 -0.01152738 4.49097074] [-0.00731781 0.99989497 0.0125103 0.26311513] [ 0.01161952 -0.01242476 0.9998553 -1.12374258] [ 0. 0. 0. 1. ]] SLAMing on 154.87455357399998 meters Centerline goodness [0,1] 0.8898118992376534 Centerline is valid? [False, False] Translation: X:4.49, Y:0.27, Z:-1.12 [[ 0.99990746 0.00736028 -0.01144083 4.49075472] [-0.00723183 0.99991081 0.01122851 0.26773072] [ 0.01152245 -0.01114473 0.99987151 -1.12422015] [ 0. 0. 0. 1. ]] SLAMing on 154.90455357399998 meters Centerline goodness [0,1] 0.8823322868473232 Centerline is valid? [False, False] Translation: X:4.49, Y:0.27, Z:-1.12 [[ 9.99928344e-01 4.36917882e-03 -1.11452485e-02 4.48936150e+00] [-4.29452831e-03 9.99968245e-01 6.71312854e-03 2.71570512e-01] [ 1.11742255e-02 -6.66478392e-03 9.99915355e-01 -1.12480582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.93455357399998 meters Centerline goodness [0,1] 0.8896629675297986 Centerline is valid? [False, False] Translation: X:4.49, Y:0.28, Z:-1.13 [[ 9.99928756e-01 3.79119420e-03 -1.13185362e-02 4.49005392e+00] [-3.73064863e-03 9.99978646e-01 5.36556973e-03 2.75508974e-01] [ 1.13386364e-02 -5.32296199e-03 9.99921548e-01 -1.12545264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.96455357399998 meters Centerline goodness [0,1] 0.887766807325167 Centerline is valid? [False, False] Translation: X:4.49, Y:0.28, Z:-1.13 [[ 9.99926949e-01 3.48027895e-03 -1.15751211e-02 4.49100383e+00] [-3.42667013e-03 9.99983327e-01 4.64799531e-03 2.77502829e-01] [ 1.15911045e-02 -4.60799165e-03 9.99922203e-01 -1.12612732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.99455357399998 meters Centerline goodness [0,1] 0.8877784590230942 Centerline is valid? [False, False] Translation: X:4.49, Y:0.28, Z:-1.13 [[ 9.99925164e-01 3.26977441e-03 -1.17887553e-02 4.49191549e+00] [-3.22353046e-03 9.99987044e-01 3.93958680e-03 2.79478772e-01] [ 1.18014841e-02 -3.90129057e-03 9.99922749e-01 -1.12697613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.02455357399998 meters Centerline goodness [0,1] 0.8908546764933426 Centerline is valid? [False, False] Translation: X:4.49, Y:0.28, Z:-1.13 [[ 9.99923199e-01 3.96231692e-03 -1.17429320e-02 4.49136436e+00] [-3.92520760e-03 9.99987235e-01 3.18150547e-03 2.83788915e-01] [ 1.17553883e-02 -3.13516768e-03 9.99925988e-01 -1.12753538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05455357399998 meters Centerline goodness [0,1] 0.8926418834189556 Centerline is valid? [False, False] Translation: X:4.49, Y:0.29, Z:-1.13 [[ 9.99917590e-01 5.55089724e-03 -1.15758869e-02 4.49000876e+00] [-5.51623988e-03 9.99980214e-01 3.02370953e-03 2.88734669e-01] [ 1.15924422e-02 -2.95960497e-03 9.99928425e-01 -1.12773263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.08455357399998 meters Centerline goodness [0,1] 0.8897793170103093 Centerline is valid? [False, False] Translation: X:4.49, Y:0.29, Z:-1.13 [[ 9.99916538e-01 5.96282883e-03 -1.14612750e-02 4.48963493e+00] [-5.93326733e-03 9.99978988e-01 2.61152487e-03 2.90966017e-01] [ 1.14766063e-02 -2.54330410e-03 9.99930907e-01 -1.12805324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.11455357399998 meters Centerline goodness [0,1] 0.8923311835734233 Centerline is valid? [False, False] Translation: X:4.49, Y:0.29, Z:-1.13 [[ 9.99915696e-01 6.68325124e-03 -1.11325922e-02 4.48812606e+00] [-6.65456817e-03 9.99974448e-01 2.61154867e-03 2.92966002e-01] [ 1.11497614e-02 -2.53724592e-03 9.99934620e-01 -1.12729436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.14455357399999 meters Centerline goodness [0,1] 0.8923311835734233 Centerline is valid? [False, False] Translation: X:4.49, Y:0.29, Z:-1.13 [[ 9.99915696e-01 6.68325124e-03 -1.11325922e-02 4.48812606e+00] [-6.65456817e-03 9.99974448e-01 2.61154867e-03 2.92966002e-01] [ 1.11497614e-02 -2.53724592e-03 9.99934620e-01 -1.12729436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.174553574 meters Centerline goodness [0,1] 0.8912122975657724 Centerline is valid? [False, False] Translation: X:4.49, Y:0.29, Z:-1.13 [[ 9.99914763e-01 6.94797704e-03 -1.10540419e-02 4.48801763e+00] [-6.92443091e-03 9.99973678e-01 2.16694130e-03 2.94760090e-01] [ 1.10688068e-02 -2.09021365e-03 9.99936554e-01 -1.12772570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.204553574 meters Centerline goodness [0,1] 0.8895407039602771 Centerline is valid? [False, False] Translation: X:4.49, Y:0.30, Z:-1.13 [[ 9.99907162e-01 8.35948490e-03 -1.07604015e-02 4.48636467e+00] [-8.33623603e-03 9.99962825e-01 2.20363762e-03 2.97550768e-01] [ 1.07784227e-02 -2.11373179e-03 9.99939677e-01 -1.12735577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.234553574 meters Centerline goodness [0,1] 0.8888333399992001 Centerline is valid? [False, False] Translation: X:4.48, Y:0.30, Z:-1.13 [[ 0.99985664 0.01340528 -0.01034371 4.48461046] [-0.0133388 0.99989011 0.0064693 0.29916429] [ 0.0104293 -0.0063304 0.99992558 -1.12613377] [ 0. 0. 0. 1. ]] SLAMing on 155.264553574 meters Centerline goodness [0,1] 0.8901797457255589 Centerline is valid? [False, False] Translation: X:4.48, Y:0.30, Z:-1.13 [[ 0.99984242 0.01457581 -0.01013272 4.48362844] [-0.01451024 0.9998735 0.00651492 0.30121999] [ 0.0102264 -0.00636687 0.99992744 -1.12630512] [ 0. 0. 0. 1. ]] SLAMing on 155.294553574 meters Centerline goodness [0,1] 0.8875696101829753 Centerline is valid? [False, False] Translation: X:4.48, Y:0.30, Z:-1.13 [[ 0.99983147 0.0154647 -0.00989345 4.48267237] [-0.01540184 0.99986091 0.0063982 0.30315929] [ 0.00999102 -0.00624474 0.99993059 -1.12642575] [ 0. 0. 0. 1. ]] SLAMing on 155.324553574 meters Centerline goodness [0,1] 0.8860902703346434 Centerline is valid? [False, False] Translation: X:4.48, Y:0.31, Z:-1.13 [[ 0.99981891 0.01641041 -0.00963534 4.48177126] [-0.01635075 0.99984686 0.00623807 0.30543662] [ 0.00973624 -0.0060794 0.99993412 -1.12679868] [ 0. 0. 0. 1. ]] SLAMing on 155.354553574 meters Centerline goodness [0,1] 0.8850686840533546 Centerline is valid? [False, False] Translation: X:4.48, Y:0.31, Z:-1.13 [[ 0.99982254 0.01606129 -0.00984451 4.48282348] [-0.01600531 0.99985544 0.00573885 0.30613175] [ 0.00993526 -0.00558027 0.99993507 -1.12765273] [ 0. 0. 0. 1. ]] SLAMing on 155.384553574 meters Centerline goodness [0,1] 0.8829038415652589 Centerline is valid? [False, False] Translation: X:4.48, Y:0.31, Z:-1.13 [[ 9.99870132e-01 1.28731954e-02 -9.69537878e-03 4.48201670e+00] [-1.28567772e-02 9.99915810e-01 1.75383993e-03 3.07461015e-01] [ 9.71714005e-03 -1.62896084e-03 9.99951461e-01 -1.12795966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.414553574 meters Centerline goodness [0,1] 0.8827295096725148 Centerline is valid? [False, False] Translation: X:4.48, Y:0.31, Z:-1.13 [[ 9.99911670e-01 9.68913879e-03 -9.09791591e-03 4.47960183e+00] [-9.70473480e-03 9.99951511e-01 -1.67165938e-03 3.07354488e-01] [ 9.08127782e-03 1.75980459e-03 9.99957216e-01 -1.12679649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.444553574 meters Centerline goodness [0,1] 0.8801169005344597 Centerline is valid? [False, False] Translation: X:4.48, Y:0.31, Z:-1.13 [[ 9.99913379e-01 9.30398540e-03 -9.30974332e-03 4.48042829e+00] [-9.32035469e-03 9.99955091e-01 -1.71645719e-03 3.06694070e-01] [ 9.29335534e-03 1.80307862e-03 9.99955190e-01 -1.12704009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.474553574 meters Centerline goodness [0,1] 0.8818963961253835 Centerline is valid? [False, False] Translation: X:4.48, Y:0.31, Z:-1.13 [[ 9.99914633e-01 9.10484508e-03 -9.37164009e-03 4.48083039e+00] [-9.12081234e-03 9.99957023e-01 -1.66245687e-03 3.06104809e-01] [ 9.35610091e-03 1.74779192e-03 9.99954703e-01 -1.12730806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.50455357399997 meters Centerline goodness [0,1] 0.8748111896562141 Centerline is valid? [False, False] Translation: X:4.48, Y:0.31, Z:-1.13 [[ 9.99914106e-01 9.22470851e-03 -9.31052448e-03 4.48064095e+00] [-9.23914580e-03 9.99956180e-01 -1.50882221e-03 3.05636365e-01] [ 9.29619805e-03 1.59471390e-03 9.99955518e-01 -1.12724423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53455357399997 meters Centerline goodness [0,1] 0.872441771283252 Centerline is valid? [False, False] Translation: X:4.48, Y:0.30, Z:-1.13 [[ 9.99909772e-01 9.60210066e-03 -9.39403085e-03 4.48088043e+00] [-9.61379431e-03 9.99953066e-01 -1.20043108e-03 3.04514528e-01] [ 9.38206329e-03 1.29063505e-03 9.99955155e-01 -1.12766468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.56455357399997 meters Centerline goodness [0,1] 0.876280122002949 Centerline is valid? [False, False] Translation: X:4.48, Y:0.30, Z:-1.13 [[ 9.99906791e-01 9.82854528e-03 -9.47676889e-03 4.48137160e+00] [-9.84082480e-03 9.99950797e-01 -1.24998944e-03 3.04505850e-01] [ 9.46401702e-03 1.34313215e-03 9.99954313e-01 -1.12849333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.59455357399997 meters Centerline goodness [0,1] 0.8719282620136837 Centerline is valid? [False, False] Translation: X:4.48, Y:0.30, Z:-1.13 [[ 9.99902871e-01 1.02375372e-02 -9.45737679e-03 4.48142764e+00] [-1.02484370e-02 9.99946873e-01 -1.10476984e-03 3.04308519e-01] [ 9.44556423e-03 1.20158586e-03 9.99954668e-01 -1.12903743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.62455357399998 meters Centerline goodness [0,1] 0.866750599033424 Centerline is valid? [False, False] Translation: X:4.48, Y:0.30, Z:-1.13 [[ 9.99893961e-01 1.10437811e-02 -9.49222691e-03 4.48162207e+00] [-1.10493887e-02 9.99938809e-01 -5.38514123e-04 3.02864289e-01] [ 9.48569883e-03 6.43340324e-04 9.99954803e-01 -1.12988506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.65455357399998 meters Centerline goodness [0,1] 0.8685083772724497 Centerline is valid? [False, False] Translation: X:4.48, Y:0.30, Z:-1.13 [[ 9.99891989e-01 1.12146524e-02 -9.49955395e-03 4.48172277e+00] [-1.12178047e-02 9.99937040e-01 -2.78620466e-04 3.02055461e-01] [ 9.49583123e-03 3.85154513e-04 9.99954839e-01 -1.13008526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.68455357399998 meters Centerline goodness [0,1] 0.868014825676116 Centerline is valid? [False, False] Translation: X:4.48, Y:0.30, Z:-1.13 [[ 9.99895262e-01 1.03787712e-02 -1.00868968e-02 4.48434632e+00] [-1.03846568e-02 9.99945937e-01 -5.31287053e-04 3.00407763e-01] [ 1.00808374e-02 6.35980369e-04 9.99948985e-01 -1.13193420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.71455357399998 meters Centerline goodness [0,1] 0.868261269549218 Centerline is valid? [False, False] Translation: X:4.47, Y:0.30, Z:-1.14 [[ 9.99984684e-01 5.18289477e-03 -1.94152843e-03 4.47494602e+00] [-5.18171156e-03 9.99986386e-01 6.13957092e-04 2.99882950e-01] [ 1.94468408e-03 -6.03887248e-04 9.99997927e-01 -1.13668765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.74455357399998 meters Centerline goodness [0,1] 0.8650029757629241 Centerline is valid? [False, False] Translation: X:4.48, Y:0.30, Z:-1.14 [[ 9.99997244e-01 1.21858316e-03 -2.00665046e-03 4.47514349e+00] [-1.22505152e-03 9.99994048e-01 -3.22539128e-03 2.99029182e-01] [ 2.00270811e-03 3.22784064e-03 9.99992785e-01 -1.13708454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.77455357399998 meters Centerline goodness [0,1] 0.8707392197125257 Centerline is valid? [False, False] Translation: X:4.48, Y:0.30, Z:-1.14 [[ 9.99988786e-01 -4.05127024e-03 -2.45270945e-03 4.47690491e+00] [ 4.03406144e-03 9.99967495e-01 -6.98099550e-03 2.95777984e-01] [ 2.48091163e-03 6.97102283e-03 9.99972625e-01 -1.13705974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.80455357399998 meters Centerline goodness [0,1] 0.8708287816641589 Centerline is valid? [False, False] Translation: X:4.48, Y:0.29, Z:-1.14 [[ 9.99981057e-01 -5.35906504e-03 -3.02765457e-03 4.47907729e+00] [ 5.33768248e-03 9.99961065e-01 -7.02689786e-03 2.93524770e-01] [ 3.06519429e-03 7.01060409e-03 9.99970728e-01 -1.13722097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.83455357399998 meters Centerline goodness [0,1] 0.8677075793609761 Centerline is valid? [False, False] Translation: X:4.48, Y:0.29, Z:-1.14 [[ 9.99970590e-01 -6.74357592e-03 -3.65284518e-03 4.48141330e+00] [ 6.71731214e-03 9.99951840e-01 -7.15512555e-03 2.91432790e-01] [ 3.70092039e-03 7.13037782e-03 9.99967730e-01 -1.13743880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.86455357399998 meters Centerline goodness [0,1] 0.8691304347826088 Centerline is valid? [False, False] Translation: X:4.48, Y:0.29, Z:-1.14 [[ 9.99914866e-01 -1.23043041e-02 -4.34341078e-03 4.48440102e+00] [ 1.22534484e-02 9.99858246e-01 -1.15473050e-02 2.89350666e-01] [ 4.48487664e-03 1.14931001e-02 9.99923894e-01 -1.13874852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89455357399999 meters Centerline goodness [0,1] 0.8715326044108799 Centerline is valid? [False, False] Translation: X:4.49, Y:0.29, Z:-1.14 [[ 0.9998994 -0.01330357 -0.00491957 4.48642119] [ 0.01324537 0.99984406 -0.01168001 0.28826125] [ 0.00507418 0.01161367 0.99991968 -1.13913423] [ 0. 0. 0. 1. ]] SLAMing on 155.924553574 meters Centerline goodness [0,1] 0.8729538845035314 Centerline is valid? [False, False] Translation: X:4.49, Y:0.29, Z:-1.14 [[ 0.99986824 -0.01525609 -0.00554551 4.48925964] [ 0.01518813 0.99981147 -0.01209728 0.28614556] [ 0.00572902 0.01201146 0.99991145 -1.13966169] [ 0. 0. 0. 1. ]] SLAMing on 155.954553574 meters Centerline goodness [0,1] 0.8667263155704447 Centerline is valid? [False, False] Translation: X:4.49, Y:0.28, Z:-1.14 [[ 0.99985808 -0.01575195 -0.00597515 4.49061279] [ 0.01567979 0.99980581 -0.01193659 0.28482415] [ 0.00616201 0.01184121 0.9999109 -1.13976786] [ 0. 0. 0. 1. ]] SLAMing on 155.984553574 meters Centerline goodness [0,1] 0.8635738401900712 Centerline is valid? [False, False] Translation: X:4.49, Y:0.28, Z:-1.14 [[ 0.99984769 -0.01623423 -0.00640651 4.49212596] [ 0.01615704 0.99979838 -0.01192244 0.28378351] [ 0.00659877 0.01181712 0.9999084 -1.14025189] [ 0. 0. 0. 1. ]] SLAMing on 156.014553574 meters Centerline goodness [0,1] 0.8679610841440804 Centerline is valid? [False, False] Translation: X:4.49, Y:0.28, Z:-1.14 [[ 0.99988023 -0.01372798 -0.00714599 4.49489905] [ 0.01366951 0.99987321 -0.00816799 0.28191033] [ 0.00725721 0.00806933 0.99994111 -1.14074771] [ 0. 0. 0. 1. ]] SLAMing on 156.044553574 meters Centerline goodness [0,1] 0.8674181651490842 Centerline is valid? [False, False] Translation: X:4.50, Y:0.28, Z:-1.14 [[ 9.99913748e-01 -1.06383466e-02 -7.70203454e-03 4.49670581e+00] [ 1.06068382e-02 9.99935257e-01 -4.12027756e-03 2.80513305e-01] [ 7.74536882e-03 4.03822794e-03 9.99961850e-01 -1.14063808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.074553574 meters Centerline goodness [0,1] 0.8661552289972616 Centerline is valid? [False, False] Translation: X:4.50, Y:0.28, Z:-1.14 [[ 9.99946490e-01 -6.63333636e-03 -7.93823206e-03 4.49694532e+00] [ 6.63807934e-03 9.99977805e-01 5.71286162e-04 2.79034729e-01] [ 7.93426634e-03 -6.23950207e-04 9.99968329e-01 -1.13954031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.104553574 meters Centerline goodness [0,1] 0.863394478181932 Centerline is valid? [False, False] Translation: X:4.50, Y:0.28, Z:-1.14 [[ 9.99951962e-01 -5.96762740e-03 -7.77564689e-03 4.49606510e+00] [ 5.97544302e-03 9.99981664e-01 9.82296039e-04 2.79087456e-01] [ 7.76964234e-03 -1.02871179e-03 9.99969287e-01 -1.13913279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.134553574 meters Centerline goodness [0,1] 0.8646107559232794 Centerline is valid? [False, False] Translation: X:4.50, Y:0.28, Z:-1.14 [[ 9.99957822e-01 -5.17235917e-03 -7.58946234e-03 4.49504162e+00] [ 5.18373567e-03 9.99985469e-01 1.48008177e-03 2.79139210e-01] [ 7.58169655e-03 -1.51936111e-03 9.99970104e-01 -1.13868615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.164553574 meters Centerline goodness [0,1] 0.8619068513759167 Centerline is valid? [False, False] Translation: X:4.49, Y:0.28, Z:-1.14 [[ 9.99967135e-01 -3.60318133e-03 -7.26262041e-03 4.49311100e+00] [ 3.61991298e-03 9.99990821e-01 2.29197580e-03 2.79459663e-01] [ 7.25429535e-03 -2.31819052e-03 9.99971000e-01 -1.13775538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.194553574 meters Centerline goodness [0,1] 0.860581327558924 Centerline is valid? [False, False] Translation: X:4.49, Y:0.28, Z:-1.14 [[ 9.99969194e-01 -3.11394101e-03 -7.20520350e-03 4.49270650e+00] [ 3.13115609e-03 9.99992268e-01 2.37921001e-03 2.79910027e-01] [ 7.19773907e-03 -2.40169733e-03 9.99971212e-01 -1.13771994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.224553574 meters Centerline goodness [0,1] 0.8627401733015195 Centerline is valid? [False, False] Translation: X:4.49, Y:0.28, Z:-1.14 [[ 9.99978903e-01 -1.32491533e-03 -6.35911415e-03 4.48898260e+00] [ 1.34646096e-03 9.99993364e-01 3.38506501e-03 2.80416887e-01] [ 6.35458702e-03 -3.39355589e-03 9.99974051e-01 -1.13576806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25455357399997 meters Centerline goodness [0,1] 0.860973623206566 Centerline is valid? [False, False] Translation: X:4.49, Y:0.28, Z:-1.14 [[ 9.99980565e-01 -8.59077451e-04 -6.17507859e-03 4.48823795e+00] [ 8.80430197e-04 9.99993640e-01 3.45600430e-03 2.80992481e-01] [ 6.17207034e-03 -3.46137386e-03 9.99974962e-01 -1.13550245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.28455357399997 meters Centerline goodness [0,1] 0.8592756312683751 Centerline is valid? [False, False] Translation: X:4.49, Y:0.28, Z:-1.14 [[ 9.99982710e-01 -2.79900449e-04 -5.87376752e-03 4.48707452e+00] [ 3.01056945e-04 9.99993470e-01 3.60128633e-03 2.81489936e-01] [ 5.87272117e-03 -3.60299240e-03 9.99976265e-01 -1.13501371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.31455357399997 meters Centerline goodness [0,1] 0.8622331247531339 Centerline is valid? [False, False] Translation: X:4.49, Y:0.28, Z:-1.13 [[ 9.99985267e-01 8.57059954e-04 -5.36020767e-03 4.48510290e+00] [-8.37513533e-04 9.99992996e-01 3.64776117e-03 2.83541853e-01] [ 5.36329648e-03 -3.64321818e-03 9.99978981e-01 -1.13464803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.34455357399997 meters Centerline goodness [0,1] 0.8626819126819127 Centerline is valid? [False, False] Translation: X:4.49, Y:0.28, Z:-1.14 [[ 9.99985014e-01 8.16572000e-04 -5.41339558e-03 4.48550864e+00] [-7.99164987e-04 9.99994506e-01 3.21692791e-03 2.84623420e-01] [ 5.41599270e-03 -3.21255351e-03 9.99980173e-01 -1.13532829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.37455357399998 meters Centerline goodness [0,1] 0.8615659546172388 Centerline is valid? [False, False] Translation: X:4.49, Y:0.28, Z:-1.13 [[ 9.99985376e-01 5.54220317e-04 -5.37971221e-03 4.48537686e+00] [-5.37445561e-04 9.99994991e-01 3.11909619e-03 2.84556494e-01] [ 5.38141393e-03 -3.11615927e-03 9.99980665e-01 -1.13493232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.40455357399998 meters Centerline goodness [0,1] 0.8594514671275953 Centerline is valid? [False, False] Translation: X:4.49, Y:0.28, Z:-1.14 [[ 9.99982798e-01 -3.67703104e-04 -5.85387189e-03 4.48725470e+00] [ 3.83248239e-04 9.99996403e-01 2.65463010e-03 2.83868258e-01] [ 5.85287472e-03 -2.65682792e-03 9.99979342e-01 -1.13557197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.43455357399998 meters Centerline goodness [0,1] 0.865631189408944 Centerline is valid? [False, False] Translation: X:4.49, Y:0.28, Z:-1.14 [[ 9.99980168e-01 -9.66693106e-04 -6.22320350e-03 4.48847711e+00] [ 9.82436946e-04 9.99996324e-01 2.52730123e-03 2.83245692e-01] [ 6.22073749e-03 -2.53336501e-03 9.99977442e-01 -1.13573898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.46455357399998 meters Centerline goodness [0,1] 0.8620825882646483 Centerline is valid? [False, False] Translation: X:4.49, Y:0.28, Z:-1.14 [[ 9.99972744e-01 -2.30592921e-03 -7.01379164e-03 4.49157340e+00] [ 2.31782885e-03 9.99995888e-01 1.68895146e-03 2.83537712e-01] [ 7.00986820e-03 -1.70516220e-03 9.99973977e-01 -1.13740606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.49455357399998 meters Centerline goodness [0,1] 0.8677763037890722 Centerline is valid? [False, False] Translation: X:4.49, Y:0.28, Z:-1.14 [[ 9.99969585e-01 -2.69154921e-03 -7.32017144e-03 4.49252615e+00] [ 2.70311047e-03 9.99995114e-01 1.56993464e-03 2.83620513e-01] [ 7.31591012e-03 -1.58967413e-03 9.99971975e-01 -1.13762578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.52455357399998 meters Centerline goodness [0,1] 0.8674965822942127 Centerline is valid? [False, False] Translation: X:4.49, Y:0.28, Z:-1.14 [[ 9.99968661e-01 -2.70432755e-03 -7.44063627e-03 4.49287133e+00] [ 2.71636770e-03 9.99995017e-01 1.60853152e-03 2.83526804e-01] [ 7.43624920e-03 -1.62869262e-03 9.99971024e-01 -1.13776381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.55455357399998 meters Centerline goodness [0,1] 0.8644467913275766 Centerline is valid? [False, False] Translation: X:4.49, Y:0.28, Z:-1.14 [[ 9.99968402e-01 -2.63069633e-03 -7.50164118e-03 4.49308608e+00] [ 2.64326643e-03 9.99995118e-01 1.66622446e-03 2.83567122e-01] [ 7.49722123e-03 -1.68600065e-03 9.99970474e-01 -1.13795185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.58455357399998 meters Centerline goodness [0,1] 0.864001324393676 Centerline is valid? [False, False] Translation: X:4.49, Y:0.28, Z:-1.14 [[ 9.99968467e-01 -2.42548832e-03 -7.56183993e-03 4.49292554e+00] [ 2.44099630e-03 9.99994935e-01 2.04226662e-03 2.82701211e-01] [ 7.55684814e-03 -2.06066065e-03 9.99969323e-01 -1.13751017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.61455357399998 meters Centerline goodness [0,1] 0.8621655258245178 Centerline is valid? [False, False] Translation: X:4.49, Y:0.28, Z:-1.14 [[ 9.99967769e-01 -2.37055212e-03 -7.67088262e-03 4.49309262e+00] [ 2.38815985e-03 9.99994533e-01 2.28705340e-03 2.81714909e-01] [ 7.66541910e-03 -2.30529898e-03 9.99967963e-01 -1.13738813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.64455357399999 meters Centerline goodness [0,1] 0.8636845276433068 Centerline is valid? [False, False] Translation: X:4.49, Y:0.28, Z:-1.14 [[ 9.99969813e-01 -1.82074378e-03 -7.55370266e-03 4.49262104e+00] [ 1.84102466e-03 9.99994717e-01 2.67880744e-03 2.81183705e-01] [ 7.54878534e-03 -2.69263313e-03 9.99967882e-01 -1.13735082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.674553574 meters Centerline goodness [0,1] 0.8646724536314245 Centerline is valid? [False, False] Translation: X:4.49, Y:0.28, Z:-1.14 [[ 9.99970628e-01 -1.45165020e-03 -7.52567665e-03 4.49240353e+00] [ 1.47304134e-03 9.99994889e-01 2.83765755e-03 2.81193400e-01] [ 7.52151890e-03 -2.84865983e-03 9.99967655e-01 -1.13740181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.704553574 meters Centerline goodness [0,1] 0.8650750512187984 Centerline is valid? [False, False] Translation: X:4.49, Y:0.28, Z:-1.14 [[ 9.99975250e-01 5.10409919e-05 -7.03542327e-03 4.49032928e+00] [-2.31675198e-05 9.99992151e-01 3.96190021e-03 2.79803171e-01] [ 7.03557027e-03 -3.96163915e-03 9.99967403e-01 -1.13649885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.734553574 meters Centerline goodness [0,1] 0.859278490818869 Centerline is valid? [False, False] Translation: X:4.49, Y:0.28, Z:-1.14 [[ 9.99976712e-01 7.26204351e-04 -6.78588909e-03 4.48944015e+00] [-6.96474142e-04 9.99990154e-01 4.38251760e-03 2.79373083e-01] [ 6.78900488e-03 -4.37768934e-03 9.99967372e-01 -1.13626909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.764553574 meters Centerline goodness [0,1] 0.8591641225392146 Centerline is valid? [False, False] Translation: X:4.49, Y:0.28, Z:-1.13 [[ 9.99979245e-01 2.76486710e-03 -5.81936639e-03 4.48585044e+00] [-2.73077734e-03 9.99979114e-01 5.85780139e-03 2.77993336e-01] [ 5.83544089e-03 -5.84178842e-03 9.99965910e-01 -1.13477715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.794553574 meters Centerline goodness [0,1] 0.8573086091597578 Centerline is valid? [False, False] Translation: X:4.48, Y:0.28, Z:-1.13 [[ 9.99978828e-01 3.43527972e-03 -5.52645665e-03 4.48482161e+00] [-3.40076960e-03 9.99974737e-01 6.24185330e-03 2.77609119e-01] [ 5.54775955e-03 -6.22292694e-03 9.99965248e-01 -1.13452076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.824553574 meters Centerline goodness [0,1] 0.8573392264258676 Centerline is valid? [False, False] Translation: X:4.48, Y:0.28, Z:-1.13 [[ 9.99977633e-01 4.08664703e-03 -5.29456764e-03 4.48408246e+00] [-4.05196952e-03 9.99970379e-01 6.54389369e-03 2.77360291e-01] [ 5.32115339e-03 -6.52229390e-03 9.99964572e-01 -1.13452439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.854553574 meters Centerline goodness [0,1] 0.8574845483024299 Centerline is valid? [False, False] Translation: X:4.48, Y:0.28, Z:-1.13 [[ 0.99997582 0.00470771 -0.00511805 4.48347804] [-0.00467252 0.9999655 0.00686733 0.27703411] [ 0.0051502 -0.00684325 0.99996332 -1.13456767] [ 0. 0. 0. 1. ]] SLAMing on 156.884553574 meters Centerline goodness [0,1] 0.8553184231285845 Centerline is valid? [False, False] Translation: X:4.48, Y:0.27, Z:-1.13 [[ 0.99997351 0.00545117 -0.00482398 4.48243142] [-0.00541308 0.99995435 0.00787373 0.2739392 ] [ 0.00486668 -0.00784741 0.99995737 -1.13395895] [ 0. 0. 0. 1. ]] SLAMing on 156.914553574 meters Centerline goodness [0,1] 0.8552033287577213 Centerline is valid? [False, False] Translation: X:4.48, Y:0.27, Z:-1.13 [[ 9.99988073e-01 2.84424147e-03 -3.97050558e-03 4.47969349e+00] [-2.82413993e-03 9.99983214e-01 5.05917662e-03 2.71187130e-01] [ 3.98482846e-03 -5.04790302e-03 9.99979320e-01 -1.13322780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.944553574 meters Centerline goodness [0,1] 0.8549575679449994 Centerline is valid? [False, False] Translation: X:4.48, Y:0.27, Z:-1.13 [[ 9.99988112e-01 2.55950880e-03 -4.15024932e-03 4.48046822e+00] [-2.53812664e-03 9.99983522e-01 5.14912586e-03 2.70082497e-01] [ 4.16336017e-03 -5.13853079e-03 9.99978131e-01 -1.13354779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.974553574 meters Centerline goodness [0,1] 0.8543133329027536 Centerline is valid? [False, False] Translation: X:4.48, Y:0.27, Z:-1.13 [[ 9.99992450e-01 -5.59332791e-04 -3.84551433e-03 4.47955079e+00] [ 5.64796561e-04 9.99998832e-01 1.41987736e-03 2.70437736e-01] [ 3.84471566e-03 -1.42203857e-03 9.99991598e-01 -1.13413396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.00455357399997 meters Centerline goodness [0,1] 0.8524721932568649 Centerline is valid? [False, False] Translation: X:4.48, Y:0.27, Z:-1.14 [[ 9.99985152e-01 -3.35586912e-03 -4.29341637e-03 4.48303235e+00] [ 3.35436321e-03 9.99994310e-01 -3.57901228e-04 2.65946963e-01] [ 4.29459301e-03 3.43494236e-04 9.99990719e-01 -1.13675771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03455357399997 meters Centerline goodness [0,1] 0.8558424832463819 Centerline is valid? [False, False] Translation: X:4.48, Y:0.26, Z:-1.14 [[ 9.99980612e-01 -4.02719458e-03 -4.74941459e-03 4.48460533e+00] [ 4.02780738e-03 9.99991881e-01 1.19469118e-04 2.62789745e-01] [ 4.74889490e-03 -1.38596529e-04 9.99988714e-01 -1.13681482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.06455357399997 meters Centerline goodness [0,1] 0.8558424832463819 Centerline is valid? [False, False] Translation: X:4.48, Y:0.26, Z:-1.14 [[ 9.99980612e-01 -4.02719458e-03 -4.74941459e-03 4.48460533e+00] [ 4.02780738e-03 9.99991881e-01 1.19469118e-04 2.62789745e-01] [ 4.74889490e-03 -1.38596529e-04 9.99988714e-01 -1.13681482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.09455357399997 meters Centerline goodness [0,1] 0.85313669381466 Centerline is valid? [False, False] Translation: X:4.49, Y:0.26, Z:-1.14 [[ 9.99946752e-01 -8.89157962e-03 -5.23773779e-03 4.48726553e+00] [ 8.87170244e-03 9.99953402e-01 -3.80608217e-03 2.59109304e-01] [ 5.27133580e-03 3.75941185e-03 9.99979040e-01 -1.13889825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.12455357399998 meters Centerline goodness [0,1] 0.858466221134123 Centerline is valid? [False, False] Translation: X:4.49, Y:0.26, Z:-1.14 [[ 9.99936525e-01 -9.63198463e-03 -5.84557959e-03 4.48945865e+00] [ 9.61172302e-03 9.99947736e-01 -3.48439346e-03 2.56465186e-01] [ 5.87883570e-03 3.42798620e-03 9.99976844e-01 -1.13942381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.15455357399998 meters Centerline goodness [0,1] 0.8547838648738748 Centerline is valid? [False, False] Translation: X:4.49, Y:0.25, Z:-1.14 [[ 9.99928149e-01 -1.01611861e-02 -6.35988434e-03 4.49109021e+00] [ 1.01425725e-02 9.99944205e-01 -2.95216468e-03 2.53698277e-01] [ 6.38952699e-03 2.88744697e-03 9.99975418e-01 -1.13948799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.18455357399998 meters Centerline goodness [0,1] 0.8550301833441799 Centerline is valid? [False, False] Translation: X:4.49, Y:0.25, Z:-1.14 [[ 9.99919231e-01 -1.07778530e-02 -6.73570463e-03 4.49253425e+00] [ 1.07643618e-02 9.99939990e-01 -2.03599626e-03 2.48746679e-01] [ 6.75724409e-03 1.96332625e-03 9.99975242e-01 -1.13932010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.21455357399998 meters Centerline goodness [0,1] 0.8567144660894661 Centerline is valid? [False, False] Translation: X:4.49, Y:0.25, Z:-1.14 [[ 9.99921325e-01 -1.06067452e-02 -6.69630489e-03 4.49207377e+00] [ 1.05994734e-02 9.99943196e-01 -1.12050782e-03 2.46127466e-01] [ 6.70780946e-03 1.04944236e-03 9.99976952e-01 -1.13831557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.24455357399998 meters Centerline goodness [0,1] 0.8538961038961039 Centerline is valid? [False, False] Translation: X:4.49, Y:0.24, Z:-1.14 [[ 9.99928415e-01 -1.00702742e-02 -6.46177357e-03 4.49117868e+00] [ 1.00724153e-02 9.99949227e-01 2.98880504e-04 2.41717156e-01] [ 6.45843568e-03 -3.63944775e-04 9.99979078e-01 -1.13737654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.27455357399998 meters Centerline goodness [0,1] 0.8544419134396355 Centerline is valid? [False, False] Translation: X:4.49, Y:0.24, Z:-1.14 [[ 9.99937597e-01 -9.38259253e-03 -6.06367356e-03 4.48977142e+00] [ 9.38929438e-03 9.99955339e-01 1.07772501e-03 2.40179839e-01] [ 6.05329090e-03 -1.13459138e-03 9.99981035e-01 -1.13686650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.30455357399998 meters Centerline goodness [0,1] 0.8536395840475375 Centerline is valid? [False, False] Translation: X:4.49, Y:0.24, Z:-1.14 [[ 9.99942387e-01 -8.97009899e-03 -5.89576789e-03 4.48933011e+00] [ 8.97955143e-03 9.99958437e-01 1.57874770e-03 2.38845730e-01] [ 5.88136132e-03 -1.63159809e-03 9.99981374e-01 -1.13690464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.33455357399998 meters Centerline goodness [0,1] 0.8474373707193749 Centerline is valid? [False, False] Translation: X:4.49, Y:0.24, Z:-1.14 [[ 9.99951260e-01 -8.20706338e-03 -5.48824656e-03 4.48814085e+00] [ 8.22086316e-03 9.99963091e-01 2.49660961e-03 2.35957669e-01] [ 5.46755416e-03 -2.54160605e-03 9.99981823e-01 -1.13667841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.36455357399998 meters Centerline goodness [0,1] 0.8472747394632482 Centerline is valid? [False, False] Translation: X:4.49, Y:0.23, Z:-1.14 [[ 9.99965590e-01 -6.76983754e-03 -4.79451815e-03 4.48536464e+00] [ 6.78784953e-03 9.99969929e-01 3.75053132e-03 2.33262122e-01] [ 4.76898349e-03 -3.78294674e-03 9.99981473e-01 -1.13538151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39455357399999 meters Centerline goodness [0,1] 0.8480863455671628 Centerline is valid? [False, False] Translation: X:4.48, Y:0.23, Z:-1.13 [[ 9.99973549e-01 -5.87378315e-03 -4.28943905e-03 4.48339622e+00] [ 5.89206317e-03 9.99973561e-01 4.26150665e-03 2.32574764e-01] [ 4.26429448e-03 -4.28666757e-03 9.99981720e-01 -1.13471118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.424553574 meters Centerline goodness [0,1] 0.8523039929712608 Centerline is valid? [False, False] Translation: X:4.48, Y:0.23, Z:-1.13 [[ 9.99979218e-01 -5.12901161e-03 -3.90598093e-03 4.48209399e+00] [ 5.14663849e-03 9.99976558e-01 4.51618993e-03 2.32288129e-01] [ 3.88272577e-03 -4.53619875e-03 9.99982174e-01 -1.13466829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.454553574 meters Centerline goodness [0,1] 0.8456837280366692 Centerline is valid? [False, False] Translation: X:4.48, Y:0.23, Z:-1.13 [[ 9.99990775e-01 -3.17519053e-03 -2.89259896e-03 4.47866248e+00] [ 3.19011419e-03 9.99981550e-01 5.16933488e-03 2.31983321e-01] [ 2.87613196e-03 -5.17851492e-03 9.99982455e-01 -1.13468867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.484553574 meters Centerline goodness [0,1] 0.843147726744996 Centerline is valid? [False, False] Translation: X:4.48, Y:0.23, Z:-1.13 [[ 9.99993414e-01 -2.55721298e-03 -2.57540545e-03 4.47768097e+00] [ 2.57105974e-03 9.99982181e-01 5.38765620e-03 2.31658284e-01] [ 2.56158218e-03 -5.39424223e-03 9.99982170e-01 -1.13481469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.514553574 meters Centerline goodness [0,1] 0.8414856341976173 Centerline is valid? [False, False] Translation: X:4.48, Y:0.23, Z:-1.14 [[ 9.99995367e-01 -2.00164656e-03 -2.29324560e-03 4.47707161e+00] [ 2.01524714e-03 9.99980305e-01 5.94383490e-03 2.29201226e-01] [ 2.28130298e-03 -5.94842882e-03 9.99979706e-01 -1.13517537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.544553574 meters Centerline goodness [0,1] 0.8398119562166714 Centerline is valid? [False, False] Translation: X:4.48, Y:0.23, Z:-1.14 [[ 9.99994492e-01 -2.17808941e-03 -2.50436956e-03 4.47789871e+00] [ 2.19340448e-03 9.99978812e-01 6.12894145e-03 2.27734668e-01] [ 2.49096711e-03 -6.13440079e-03 9.99978082e-01 -1.13545809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.574553574 meters Centerline goodness [0,1] 0.8392483852025837 Centerline is valid? [False, False] Translation: X:4.48, Y:0.23, Z:-1.14 [[ 9.99993478e-01 -2.43422680e-03 -2.66823446e-03 4.47882535e+00] [ 2.45083714e-03 9.99977529e-01 6.23972665e-03 2.26129542e-01] [ 2.65298560e-03 -6.24622536e-03 9.99976973e-01 -1.13602597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.604553574 meters Centerline goodness [0,1] 0.839705117905581 Centerline is valid? [False, False] Translation: X:4.48, Y:0.22, Z:-1.14 [[ 9.99992940e-01 -2.59969422e-03 -2.71318183e-03 4.47905175e+00] [ 2.61830850e-03 9.99972906e-01 6.87983324e-03 2.23289891e-01] [ 2.69522286e-03 -6.88688862e-03 9.99972653e-01 -1.13562834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.634553574 meters Centerline goodness [0,1] 0.8378634340373141 Centerline is valid? [False, False] Translation: X:4.48, Y:0.22, Z:-1.14 [[ 9.99993460e-01 -2.51063608e-03 -2.60320163e-03 4.47867943e+00] [ 2.52957591e-03 9.99970170e-01 7.29800623e-03 2.21642681e-01] [ 2.58480133e-03 -7.30454349e-03 9.99969981e-01 -1.13520859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.664553574 meters Centerline goodness [0,1] 0.8395767800972262 Centerline is valid? [False, False] Translation: X:4.48, Y:0.22, Z:-1.13 [[ 9.99995070e-01 -2.12971483e-03 -2.30760678e-03 4.47751074e+00] [ 2.14954508e-03 9.99960491e-01 8.62530017e-03 2.16992489e-01] [ 2.28914618e-03 -8.63021795e-03 9.99960139e-01 -1.13381043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.694553574 meters Centerline goodness [0,1] 0.8406012158345699 Centerline is valid? [False, False] Translation: X:4.48, Y:0.21, Z:-1.13 [[ 9.99995470e-01 -2.00523026e-03 -2.24492397e-03 4.47732059e+00] [ 2.02586671e-03 9.99955366e-01 9.22827047e-03 2.14524646e-01] [ 2.22631896e-03 -9.23277658e-03 9.99954899e-01 -1.13347530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.724553574 meters Centerline goodness [0,1] 0.8399807900108056 Centerline is valid? [False, False] Translation: X:4.48, Y:0.21, Z:-1.13 [[ 9.99995796e-01 -1.92776888e-03 -2.16606592e-03 4.47730353e+00] [ 1.94851340e-03 9.99951866e-01 9.61610722e-03 2.12404846e-01] [ 2.14742402e-03 -9.62028740e-03 9.99951418e-01 -1.13365532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75455357399997 meters Centerline goodness [0,1] 0.8416023609666416 Centerline is valid? [False, False] Translation: X:4.47, Y:0.21, Z:-1.14 [[ 9.99991791e-01 -4.01115802e-03 -5.72758542e-04 4.47435296e+00] [ 4.01448110e-03 9.99974397e-01 5.92365936e-03 2.10024944e-01] [ 5.48983144e-04 -5.92591007e-03 9.99982291e-01 -1.13664874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.78455357399997 meters Centerline goodness [0,1] 0.8387363104344236 Centerline is valid? [False, False] Translation: X:4.48, Y:0.21, Z:-1.14 [[ 9.99990783e-01 -4.22851678e-03 -7.43870668e-04 4.47541930e+00] [ 4.23303257e-03 9.99971959e-01 6.17761664e-03 2.07735706e-01] [ 7.17727654e-04 -6.18070853e-03 9.99980642e-01 -1.13741935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.81455357399997 meters Centerline goodness [0,1] 0.838328191567504 Centerline is valid? [False, False] Translation: X:4.48, Y:0.20, Z:-1.14 [[ 9.99976297e-01 -6.88314391e-03 1.64441219e-04 4.47569410e+00] [ 6.88250780e-03 9.99969842e-01 3.59802890e-03 2.02223515e-01] [-1.89202011e-04 -3.59681185e-03 9.99993514e-01 -1.14038501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.84455357399997 meters Centerline goodness [0,1] 0.8357782809884808 Centerline is valid? [False, False] Translation: X:4.48, Y:0.20, Z:-1.14 [[ 9.99972717e-01 -7.38462874e-03 -1.81107750e-04 4.47711487e+00] [ 7.38532403e-03 9.99963917e-01 4.19775179e-03 1.98536194e-01] [ 1.50102376e-04 -4.19897480e-03 9.99991173e-01 -1.14044633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.87455357399998 meters Centerline goodness [0,1] 0.8398757763975155 Centerline is valid? [False, False] Translation: X:4.48, Y:0.19, Z:-1.14 [[ 9.99962313e-01 -8.65650779e-03 -6.61990708e-04 4.48009286e+00] [ 8.65944950e-03 9.99952026e-01 4.57808156e-03 1.92215947e-01] [ 6.22328752e-04 -4.58364150e-03 9.99989301e-01 -1.14188944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.90455357399998 meters Centerline goodness [0,1] 0.8383735135000374 Centerline is valid? [False, False] Translation: X:4.48, Y:0.19, Z:-1.14 [[ 9.99958460e-01 -9.06002882e-03 -9.97410656e-04 4.48150121e+00] [ 9.06486843e-03 9.99946614e-01 4.95957560e-03 1.89657954e-01] [ 9.52423510e-04 -4.96841097e-03 9.99987204e-01 -1.14228074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.93455357399998 meters Centerline goodness [0,1] 0.8393399041958217 Centerline is valid? [False, False] Translation: X:4.48, Y:0.19, Z:-1.14 [[ 9.99955111e-01 -9.39656378e-03 -1.21699304e-03 4.48244920e+00] [ 9.40310280e-03 9.99940754e-01 5.48370847e-03 1.86555247e-01] [ 1.16539292e-03 -5.49490582e-03 9.99984224e-01 -1.14233234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.96455357399998 meters Centerline goodness [0,1] 0.8370190237353395 Centerline is valid? [False, False] Translation: X:4.48, Y:0.18, Z:-1.14 [[ 9.99922880e-01 -1.24153021e-02 -3.06607085e-04 4.48019457e+00] [ 1.24161255e-02 9.99918861e-01 2.84804007e-03 1.80735095e-01] [ 2.71222929e-04 -2.85162730e-03 9.99995897e-01 -1.14207095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.99455357399998 meters Centerline goodness [0,1] 0.8391816585663757 Centerline is valid? [False, False] Translation: X:4.48, Y:0.18, Z:-1.14 [[ 9.99917746e-01 -1.28119202e-02 -5.96544535e-04 4.48113468e+00] [ 1.28140269e-02 9.99911152e-01 3.67278569e-03 1.77245965e-01] [ 5.49436095e-04 -3.68012772e-03 9.99993077e-01 -1.14134339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.02455357399998 meters Centerline goodness [0,1] 0.839832940453008 Centerline is valid? [False, False] Translation: X:4.48, Y:0.17, Z:-1.14 [[ 9.99902909e-01 -1.38933231e-02 -1.07161505e-03 4.48366672e+00] [ 1.38978372e-02 9.99894059e-01 4.32671191e-03 1.72309464e-01] [ 1.01138911e-03 -4.34118495e-03 9.99990066e-01 -1.14171173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05455357399998 meters Centerline goodness [0,1] 0.8359252499807213 Centerline is valid? [False, False] Translation: X:4.48, Y:0.17, Z:-1.14 [[ 9.99899738e-01 -1.41070761e-02 -1.22622449e-03 4.48434976e+00] [ 1.41128070e-02 9.99888899e-01 4.79781838e-03 1.70093899e-01] [ 1.15840507e-03 -4.81464281e-03 9.99987739e-01 -1.14166636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.08455357399998 meters Centerline goodness [0,1] 0.834887093432774 Centerline is valid? [False, False] Translation: X:4.49, Y:0.16, Z:-1.14 [[ 9.99888494e-01 -1.48519890e-02 -1.55467997e-03 4.48603755e+00] [ 1.48606567e-02 9.99873210e-01 5.72058037e-03 1.64888317e-01] [ 1.46952086e-03 -5.74304606e-03 9.99982429e-01 -1.14142911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11455357399998 meters Centerline goodness [0,1] 0.8412632453771036 Centerline is valid? [False, False] Translation: X:4.50, Y:0.16, Z:-1.14 [[ 9.99864989e-01 -1.29051509e-02 -1.01715616e-02 4.49657190e+00] [ 1.29338151e-02 9.99912553e-01 2.75734573e-03 1.61213533e-01] [ 1.01350881e-02 -2.88853055e-03 9.99944467e-01 -1.13669067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.14455357399999 meters Centerline goodness [0,1] 0.8395228918172821 Centerline is valid? [False, False] Translation: X:4.50, Y:0.16, Z:-1.14 [[ 9.99857026e-01 -1.32732227e-02 -1.04760798e-02 4.49756491e+00] [ 1.33119346e-02 9.99904788e-01 3.63422846e-03 1.58081364e-01] [ 1.04268444e-02 -3.77316576e-03 9.99938520e-01 -1.13585797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.174553574 meters Centerline goodness [0,1] 0.8403050794150023 Centerline is valid? [False, False] Translation: X:4.50, Y:0.15, Z:-1.14 [[ 9.99797419e-01 -1.73418208e-02 -1.02167558e-02 4.49772783e+00] [ 1.73481678e-02 9.99849367e-01 5.32930413e-04 1.52848439e-01] [ 1.02059748e-02 -7.10064445e-04 9.99947666e-01 -1.13623559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.204553574 meters Centerline goodness [0,1] 0.8393035874203234 Centerline is valid? [False, False] Translation: X:4.50, Y:0.15, Z:-1.14 [[ 9.99772537e-01 -1.83302226e-02 -1.09030672e-02 4.50040093e+00] [ 1.83447359e-02 9.99830961e-01 1.23259477e-03 1.49451490e-01] [ 1.08786304e-02 -1.43232829e-03 9.99939800e-01 -1.13585723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.234553574 meters Centerline goodness [0,1] 0.8404763167665623 Centerline is valid? [False, False] Translation: X:4.51, Y:0.14, Z:-1.14 [[ 9.99715286e-01 -2.07766292e-02 -1.17336898e-02 4.50536205e+00] [ 2.07970120e-02 9.99782410e-01 1.61776579e-03 1.44279022e-01] [ 1.16975249e-02 -1.86133088e-03 9.99929849e-01 -1.13621100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.264553574 meters Centerline goodness [0,1] 0.8403479460047206 Centerline is valid? [False, False] Translation: X:4.51, Y:0.14, Z:-1.14 [[ 9.99690455e-01 -2.16010647e-02 -1.23445582e-02 4.50767627e+00] [ 2.16303174e-02 9.99763525e-01 2.24109349e-03 1.41665880e-01] [ 1.22932290e-02 -2.50741648e-03 9.99921292e-01 -1.13573250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.294553574 meters Centerline goodness [0,1] 0.8464467342972015 Centerline is valid? [False, False] Translation: X:4.51, Y:0.14, Z:-1.14 [[ 9.99661946e-01 -2.25071082e-02 -1.30162797e-02 4.51025866e+00] [ 2.25452151e-02 9.99741936e-01 2.78832871e-03 1.39175150e-01] [ 1.29501635e-02 -3.08084093e-03 9.99911397e-01 -1.13536536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.324553574 meters Centerline goodness [0,1] 0.8452377780737979 Centerline is valid? [False, False] Translation: X:4.52, Y:0.14, Z:-1.14 [[ 9.99604931e-01 -2.43619194e-02 -1.40171130e-02 4.51511519e+00] [ 2.44065535e-02 9.99697548e-01 3.02203303e-03 1.35628575e-01] [ 1.39392509e-02 -3.36294854e-03 9.99897189e-01 -1.13611788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.354553574 meters Centerline goodness [0,1] 0.8458788056674761 Centerline is valid? [False, False] Translation: X:4.52, Y:0.13, Z:-1.14 [[ 9.99575304e-01 -2.51842968e-02 -1.46616322e-02 4.51769467e+00] [ 2.52324855e-02 9.99676769e-01 3.11103874e-03 1.34592487e-01] [ 1.45785438e-02 -3.47966692e-03 9.99887673e-01 -1.13642584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.384553574 meters Centerline goodness [0,1] 0.8451152344794396 Centerline is valid? [False, False] Translation: X:4.52, Y:0.13, Z:-1.13 [[ 9.99529787e-01 -2.65638830e-02 -1.53155112e-02 4.52040850e+00] [ 2.66270817e-02 9.99637682e-01 3.93737352e-03 1.31549331e-01] [ 1.52053701e-02 -4.34332948e-03 9.99874958e-01 -1.13484939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.414553574 meters Centerline goodness [0,1] 0.8474072088972263 Centerline is valid? [False, False] Translation: X:4.52, Y:0.13, Z:-1.13 [[ 0.99950931 -0.02711556 -0.01568053 4.52151324] [ 0.02719242 0.99961912 0.00470925 0.12957005] [ 0.01554686 -0.00513333 0.99986596 -1.13332006] [ 0. 0. 0. 1. ]] SLAMing on 158.444553574 meters Centerline goodness [0,1] 0.8501099962440307 Centerline is valid? [False, False] Translation: X:4.52, Y:0.13, Z:-1.13 [[ 0.99948175 -0.02782211 -0.01619145 4.52333678] [ 0.02790876 0.99959721 0.00514997 0.12814612] [ 0.01604164 -0.00559918 0.99985565 -1.13260105] [ 0. 0. 0. 1. ]] SLAMing on 158.474553574 meters Centerline goodness [0,1] 0.8453635972461273 Centerline is valid? [False, False] Translation: X:4.53, Y:0.13, Z:-1.13 [[ 0.99944433 -0.0287753 -0.01682295 4.52603822] [ 0.02887009 0.99956848 0.00541959 0.12658792] [ 0.01665974 -0.00590226 0.9998438 -1.13263815] [ 0. 0. 0. 1. ]] SLAMing on 158.50455357399997 meters Centerline goodness [0,1] 0.8404790741488359 Centerline is valid? [False, False] Translation: X:4.53, Y:0.13, Z:-1.13 [[ 0.99944079 -0.02883675 -0.01692756 4.52640569] [ 0.02893456 0.99956583 0.00556203 0.12617692] [ 0.01675982 -0.00604872 0.99984125 -1.13259646] [ 0. 0. 0. 1. ]] SLAMing on 158.53455357399997 meters Centerline goodness [0,1] 0.8477284342469806 Centerline is valid? [False, False] Translation: X:4.53, Y:0.13, Z:-1.13 [[ 0.99945916 -0.02834202 -0.01667665 4.52572845] [ 0.02843795 0.99958019 0.00554381 0.12579512] [ 0.01651252 -0.00601506 0.99984557 -1.13338075] [ 0. 0. 0. 1. ]] SLAMing on 158.56455357399997 meters Centerline goodness [0,1] 0.8445269615757185 Centerline is valid? [False, False] Translation: X:4.52, Y:0.13, Z:-1.13 [[ 0.99948012 -0.02777557 -0.01637064 4.52449779] [ 0.02787243 0.99959513 0.00571836 0.12546358] [ 0.01620518 -0.00617168 0.99984964 -1.13338313] [ 0. 0. 0. 1. ]] SLAMing on 158.59455357399997 meters Centerline goodness [0,1] 0.8431066498022013 Centerline is valid? [False, False] Translation: X:4.52, Y:0.13, Z:-1.13 [[ 0.99950537 -0.02708663 -0.01597884 4.52294253] [ 0.02718375 0.99961309 0.005892 0.1255106 ] [ 0.01581307 -0.00632345 0.99985497 -1.13326161] [ 0. 0. 0. 1. ]] SLAMing on 158.62455357399998 meters Centerline goodness [0,1] 0.8411563986136114 Centerline is valid? [False, False] Translation: X:4.53, Y:0.12, Z:-1.13 [[ 9.99482819e-01 -2.02046557e-02 -2.50173166e-02 4.53257970e+00] [ 2.03164005e-02 9.99784692e-01 4.22058731e-03 1.24236843e-01] [ 2.49266547e-02 -4.72666632e-03 9.99678108e-01 -1.12804728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.65455357399998 meters Centerline goodness [0,1] 0.8413358369098712 Centerline is valid? [False, False] Translation: X:4.55, Y:0.13, Z:-1.13 [[ 9.99711201e-01 -1.43329016e-02 -1.92894622e-02 4.54701468e+00] [ 1.43140566e-02 9.99896927e-01 -1.11467826e-03 1.26023768e-01] [ 1.93034506e-02 8.38245888e-04 9.99813320e-01 -1.13369386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.68455357399998 meters Centerline goodness [0,1] 0.8399485778563394 Centerline is valid? [False, False] Translation: X:4.55, Y:0.13, Z:-1.13 [[ 9.99756183e-01 -1.02349653e-02 -1.95657845e-02 4.54729051e+00] [ 1.03090161e-02 9.99940061e-01 3.68759864e-03 1.25079717e-01] [ 1.95268693e-02 -3.88840353e-03 9.99801771e-01 -1.13208998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.71455357399998 meters Centerline goodness [0,1] 0.8414702656429737 Centerline is valid? [False, False] Translation: X:4.54, Y:0.13, Z:-1.13 [[ 9.99781453e-01 -9.05115550e-03 -1.88447090e-02 4.54495555e+00] [ 9.11696072e-03 9.99952629e-01 3.40899386e-03 1.26371229e-01] [ 1.88129610e-02 -3.58005531e-03 9.99816611e-01 -1.13317174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.74455357399998 meters Centerline goodness [0,1] 0.841894489534387 Centerline is valid? [False, False] Translation: X:4.54, Y:0.13, Z:-1.13 [[ 9.99823438e-01 -3.92143819e-03 -1.83770217e-02 4.54285104e+00] [ 4.06650198e-03 9.99960817e-01 7.86305021e-03 1.26504925e-01] [ 1.83454671e-02 -7.93639209e-03 9.99800209e-01 -1.13258050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77455357399998 meters Centerline goodness [0,1] 0.8390752372043297 Centerline is valid? [False, False] Translation: X:4.54, Y:0.13, Z:-1.13 [[ 9.99842535e-01 -2.69067546e-03 -1.75404021e-02 4.53970225e+00] [ 2.83176494e-03 9.99963799e-01 8.02381740e-03 1.26823380e-01] [ 1.75181776e-02 -8.07222423e-03 9.99813959e-01 -1.13238559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.80455357399998 meters Centerline goodness [0,1] 0.8435006159284452 Centerline is valid? [False, False] Translation: X:4.55, Y:0.13, Z:-1.14 [[ 9.99927803e-01 -2.39050922e-04 -1.20138076e-02 4.55387345e+00] [ 2.20046312e-04 9.99998723e-01 -1.58319425e-03 1.27605856e-01] [ 1.20141707e-02 1.58043636e-03 9.99926578e-01 -1.13956218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.83455357399998 meters Centerline goodness [0,1] 0.8420332250878935 Centerline is valid? [False, False] Translation: X:4.55, Y:0.13, Z:-1.14 [[ 9.99931637e-01 2.44322867e-04 -1.16902194e-02 4.55255159e+00] [-2.56303741e-04 9.99999444e-01 -1.02337583e-03 1.26631739e-01] [ 1.16899629e-02 1.02630211e-03 9.99931143e-01 -1.13875776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.86455357399998 meters Centerline goodness [0,1] 0.8447049985243218 Centerline is valid? [False, False] Translation: X:4.55, Y:0.13, Z:-1.14 [[ 9.99933961e-01 5.27118944e-04 -1.14802663e-02 4.55183355e+00] [-5.34086562e-04 9.99999675e-01 -6.03863964e-04 1.25606811e-01] [ 1.14799443e-02 6.09955541e-04 9.99933917e-01 -1.13834777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.89455357399999 meters Centerline goodness [0,1] 0.8417304850194813 Centerline is valid? [False, False] Translation: X:4.55, Y:0.12, Z:-1.14 [[ 9.99932826e-01 2.83537440e-04 -1.15871679e-02 4.55241294e+00] [-2.83968856e-04 9.99999959e-01 -3.55869567e-05 1.23573869e-01] [ 1.15871573e-02 3.88749610e-05 9.99932866e-01 -1.13790516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.924553574 meters Centerline goodness [0,1] 0.8419056329692796 Centerline is valid? [False, False] Translation: X:4.55, Y:0.12, Z:-1.14 [[ 9.99927946e-01 -2.97189212e-04 -1.20006429e-02 4.55406897e+00] [ 3.00985573e-04 9.99999905e-01 3.14541641e-04 1.22051242e-01] [ 1.20005483e-02 -3.18130997e-04 9.99927940e-01 -1.13764553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.954553574 meters Centerline goodness [0,1] 0.8419056329692796 Centerline is valid? [False, False] Translation: X:4.55, Y:0.12, Z:-1.14 [[ 9.99927946e-01 -2.97189212e-04 -1.20006429e-02 4.55406897e+00] [ 3.00985573e-04 9.99999905e-01 3.14541641e-04 1.22051242e-01] [ 1.20005483e-02 -3.18130997e-04 9.99927940e-01 -1.13764553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.984553574 meters Centerline goodness [0,1] 0.8431420365252262 Centerline is valid? [False, False] Translation: X:4.56, Y:0.12, Z:-1.14 [[ 9.99913990e-01 -4.94380047e-03 -1.21479081e-02 4.55503757e+00] [ 4.90374984e-03 9.99982450e-01 -3.32449340e-03 1.19132270e-01] [ 1.21641306e-02 3.26463716e-03 9.99920685e-01 -1.13758682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.014553574 meters Centerline goodness [0,1] 0.84422151537395 Centerline is valid? [False, False] Translation: X:4.56, Y:0.12, Z:-1.14 [[ 9.99893953e-01 -6.45204615e-03 -1.30557987e-02 4.55840559e+00] [ 6.42517874e-03 9.99977156e-01 -2.09879107e-03 1.15792274e-01] [ 1.30690420e-02 2.01468266e-03 9.99912567e-01 -1.13526538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.044553574 meters Centerline goodness [0,1] 0.8417277913610433 Centerline is valid? [False, False] Translation: X:4.56, Y:0.11, Z:-1.13 [[ 9.99856029e-01 -8.88297174e-03 -1.44572892e-02 4.56395914e+00] [ 8.85661744e-03 9.99959001e-01 -1.88591326e-03 1.14834303e-01] [ 1.44734490e-02 1.75759907e-03 9.99893709e-01 -1.13408241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.074553574 meters Centerline goodness [0,1] 0.8458045570721627 Centerline is valid? [False, False] Translation: X:4.57, Y:0.12, Z:-1.13 [[ 9.99847378e-01 -9.32456965e-03 -1.47740593e-02 4.56518320e+00] [ 9.29381331e-03 9.99954502e-01 -2.14907316e-03 1.16106097e-01] [ 1.47934263e-02 2.01143782e-03 9.99888548e-01 -1.13412223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.104553574 meters Centerline goodness [0,1] 0.839709154050681 Centerline is valid? [False, False] Translation: X:4.57, Y:0.12, Z:-1.13 [[ 9.99802104e-01 -1.15532618e-02 -1.61949331e-02 4.57079232e+00] [ 1.15085106e-02 9.99929703e-01 -2.85376027e-03 1.17518204e-01] [ 1.62267649e-02 2.66681596e-03 9.99864781e-01 -1.13465034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.134553574 meters Centerline goodness [0,1] 0.8454216638111556 Centerline is valid? [False, False] Translation: X:4.58, Y:0.12, Z:-1.14 [[ 9.99761263e-01 -1.32161510e-02 -1.73997294e-02 4.57567729e+00] [ 1.31575941e-02 9.99907395e-01 -3.47558414e-03 1.18033274e-01] [ 1.74440520e-02 3.24581581e-03 9.99842572e-01 -1.13585775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.164553574 meters Centerline goodness [0,1] 0.8461413264614133 Centerline is valid? [False, False] Translation: X:4.59, Y:0.12, Z:-1.14 [[ 0.99963607 -0.01820416 -0.0199084 4.58786342] [ 0.01810664 0.99982322 -0.00506775 0.11927163] [ 0.01999713 0.00470543 0.99978896 -1.1380306 ] [ 0. 0. 0. 1. ]] SLAMing on 159.194553574 meters Centerline goodness [0,1] 0.8492238262240709 Centerline is valid? [False, False] Translation: X:4.59, Y:0.12, Z:-1.14 [[ 0.99960345 -0.01912078 -0.02067213 4.59034993] [ 0.01901948 0.99980618 -0.00508587 0.11952772] [ 0.02076537 0.00469068 0.99977337 -1.13749186] [ 0. 0. 0. 1. ]] SLAMing on 159.224553574 meters Centerline goodness [0,1] 0.8402490754840113 Centerline is valid? [False, False] Translation: X:4.59, Y:0.12, Z:-1.14 [[ 9.99579198e-01 -1.97850316e-02 -2.12126999e-02 4.59203552e+00] [ 1.96838742e-02 9.99793916e-01 -4.96697511e-03 1.19409615e-01] [ 2.13066001e-02 4.54733688e-03 9.99762647e-01 -1.13674273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25455357399997 meters Centerline goodness [0,1] 0.846097521288713 Centerline is valid? [False, False] Translation: X:4.59, Y:0.12, Z:-1.14 [[ 0.99954052 -0.02083853 -0.02201165 4.59489419] [ 0.02072641 0.99977108 -0.00531004 0.12073456] [ 0.02211726 0.00485138 0.99974361 -1.13657783] [ 0. 0. 0. 1. ]] SLAMing on 159.28455357399997 meters Centerline goodness [0,1] 0.8429597506437186 Centerline is valid? [False, False] Translation: X:4.60, Y:0.12, Z:-1.14 [[ 0.99952485 -0.02124283 -0.02233436 4.59638805] [ 0.02111732 0.99975994 -0.00584068 0.12207307] [ 0.02245307 0.00536626 0.9997335 -1.13756089] [ 0. 0. 0. 1. ]] SLAMing on 159.31455357399997 meters Centerline goodness [0,1] 0.848453747467927 Centerline is valid? [False, False] Translation: X:4.60, Y:0.12, Z:-1.14 [[ 9.99532070e-01 -1.90999500e-02 -2.38921253e-02 4.60144369e+00] [ 1.90688364e-02 9.99817003e-01 -1.52942700e-03 1.22544503e-01] [ 2.39169651e-02 1.07311630e-03 9.99713373e-01 -1.13600849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.34455357399997 meters Centerline goodness [0,1] 0.8493224494194348 Centerline is valid? [False, False] Translation: X:4.60, Y:0.12, Z:-1.13 [[ 9.99559043e-01 -1.62318173e-02 -2.48645809e-02 4.60438078e+00] [ 1.63132237e-02 9.99862203e-01 3.07464071e-03 1.21676609e-01] [ 2.48112476e-02 -3.47890640e-03 9.99686100e-01 -1.13422433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.37455357399998 meters Centerline goodness [0,1] 0.8417250731759714 Centerline is valid? [False, False] Translation: X:4.62, Y:0.12, Z:-1.14 [[ 9.99725617e-01 -1.42575127e-02 -1.85853276e-02 4.62188563e+00] [ 1.41926848e-02 9.99892743e-01 -3.61537009e-03 1.24704030e-01] [ 1.86348803e-02 3.35060240e-03 9.99820741e-01 -1.13998957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.40455357399998 meters Centerline goodness [0,1] 0.8383906254199478 Centerline is valid? [False, False] Translation: X:4.62, Y:0.12, Z:-1.14 [[ 9.99740475e-01 -1.36273382e-02 -1.82558900e-02 4.62005533e+00] [ 1.35741747e-02 9.99903267e-01 -3.03289021e-03 1.24868597e-01] [ 1.82954542e-02 2.78429446e-03 9.99828747e-01 -1.13839871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.43455357399998 meters Centerline goodness [0,1] 0.8428088258978902 Centerline is valid? [False, False] Translation: X:4.62, Y:0.12, Z:-1.14 [[ 9.99761293e-01 -1.05767523e-02 -1.91177591e-02 4.62237789e+00] [ 1.06131104e-02 9.99942057e-01 1.80133926e-03 1.23238054e-01] [ 1.90975990e-02 -2.00380815e-03 9.99815616e-01 -1.13610256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.46455357399998 meters Centerline goodness [0,1] 0.8344982726761468 Centerline is valid? [False, False] Translation: X:4.62, Y:0.12, Z:-1.14 [[ 9.99791908e-01 -8.99247541e-03 -1.83105212e-02 4.61866157e+00] [ 9.03304363e-03 9.99956924e-01 2.13406743e-03 1.24898743e-01] [ 1.82905419e-02 -2.29902308e-03 9.99830071e-01 -1.13521290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.49455357399998 meters Centerline goodness [0,1] 0.8449323872004284 Centerline is valid? [False, False] Translation: X:4.62, Y:0.13, Z:-1.14 [[ 9.99804917e-01 -8.32935862e-03 -1.79095113e-02 4.61731792e+00] [ 8.36603737e-03 9.99963056e-01 1.97405691e-03 1.26047067e-01] [ 1.78924070e-02 -2.12350345e-03 9.99837663e-01 -1.13559805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.52455357399998 meters Centerline goodness [0,1] 0.8454448303499866 Centerline is valid? [False, False] Translation: X:4.62, Y:0.13, Z:-1.13 [[ 9.99827345e-01 -4.10920727e-03 -1.81216421e-02 4.61766550e+00] [ 4.22461826e-03 9.99971010e-01 6.33500618e-03 1.26074222e-01] [ 1.80950849e-02 -6.41046943e-03 9.99815720e-01 -1.13492858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55455357399998 meters Centerline goodness [0,1] 0.8357289527720739 Centerline is valid? [False, False] Translation: X:4.63, Y:0.13, Z:-1.14 [[ 9.99922394e-01 -2.13304315e-03 -1.22741880e-02 4.63451508e+00] [ 2.10823106e-03 9.99995709e-01 -2.03406947e-03 1.28644787e-01] [ 1.22784741e-02 2.00803479e-03 9.99922600e-01 -1.14331228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.58455357399998 meters Centerline goodness [0,1] 0.836596084698362 Centerline is valid? [False, False] Translation: X:4.63, Y:0.13, Z:-1.14 [[ 9.99928911e-01 -1.38322057e-03 -1.18431420e-02 4.63269107e+00] [ 1.36342573e-03 9.99997660e-01 -1.67932831e-03 1.29023779e-01] [ 1.18454372e-02 1.66306168e-03 9.99928457e-01 -1.14261750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61455357399998 meters Centerline goodness [0,1] 0.835860672121099 Centerline is valid? [False, False] Translation: X:4.63, Y:0.13, Z:-1.14 [[ 9.99933530e-01 -8.08458096e-04 -1.15014211e-02 4.63135603e+00] [ 7.94108270e-04 9.99998901e-01 -1.25216891e-03 1.28519662e-01] [ 1.15024207e-02 1.24295230e-03 9.99933072e-01 -1.14207995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.64455357399999 meters Centerline goodness [0,1] 0.8409515672558339 Centerline is valid? [False, False] Translation: X:4.63, Y:0.13, Z:-1.14 [[ 9.99932745e-01 -8.54584759e-04 -1.15660856e-02 4.63166530e+00] [ 8.41735519e-04 9.99999023e-01 -1.11576350e-03 1.27976119e-01] [ 1.15670278e-02 1.10595288e-03 9.99932488e-01 -1.14211884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.674553574 meters Centerline goodness [0,1] 0.8372795296632817 Centerline is valid? [False, False] Translation: X:4.63, Y:0.13, Z:-1.14 [[ 9.99931027e-01 -1.00293839e-03 -1.17019411e-02 4.63193318e+00] [ 9.96000121e-04 9.99999325e-01 -5.98728690e-04 1.26628520e-01] [ 1.17025337e-02 5.87032259e-04 9.99931351e-01 -1.14117881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.704553574 meters Centerline goodness [0,1] 0.8393589365636641 Centerline is valid? [False, False] Translation: X:4.63, Y:0.13, Z:-1.14 [[ 9.99928170e-01 -1.26275624e-03 -1.19188843e-02 4.63254037e+00] [ 1.26055839e-03 9.99999187e-01 -1.91911071e-04 1.25451035e-01] [ 1.19191170e-02 1.76872836e-04 9.99928949e-01 -1.14047410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.734553574 meters Centerline goodness [0,1] 0.8387304138208116 Centerline is valid? [False, False] Translation: X:4.63, Y:0.12, Z:-1.14 [[ 9.99923669e-01 -1.64961288e-03 -1.22448302e-02 4.63349444e+00] [ 1.65339198e-03 9.99998589e-01 2.98511543e-04 1.24095803e-01] [ 1.22443205e-02 -3.18734261e-04 9.99924985e-01 -1.13964617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.764553574 meters Centerline goodness [0,1] 0.840491790018604 Centerline is valid? [False, False] Translation: X:4.64, Y:0.12, Z:-1.14 [[ 9.99911592e-01 -2.96156066e-03 -1.29629602e-02 4.63654940e+00] [ 2.97094624e-03 9.99995338e-01 7.04833771e-04 1.21387801e-01] [ 1.29608123e-02 -7.43283716e-04 9.99915729e-01 -1.13933379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.794553574 meters Centerline goodness [0,1] 0.8356345041044274 Centerline is valid? [False, False] Translation: X:4.64, Y:0.12, Z:-1.14 [[ 9.99904778e-01 -3.52508623e-03 -1.33420070e-02 4.63806474e+00] [ 3.53822169e-03 9.99993279e-01 9.61042072e-04 1.20198638e-01] [ 1.33385295e-02 -1.00815754e-03 9.99910530e-01 -1.13913800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.824553574 meters Centerline goodness [0,1] 0.8330049394045723 Centerline is valid? [False, False] Translation: X:4.64, Y:0.12, Z:-1.14 [[ 9.99895678e-01 -4.24999431e-03 -1.38047024e-02 4.63976196e+00] [ 4.27235575e-03 9.99989608e-01 1.59075604e-03 1.18048386e-01] [ 1.37977983e-02 -1.64956869e-03 9.99903445e-01 -1.13828347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.854553574 meters Centerline goodness [0,1] 0.8419000162487136 Centerline is valid? [False, False] Translation: X:4.64, Y:0.12, Z:-1.14 [[ 9.99891245e-01 -4.53912198e-03 -1.40318767e-02 4.64071318e+00] [ 4.56538871e-03 9.99987885e-01 1.84046748e-03 1.17041892e-01] [ 1.40233526e-02 -1.90432829e-03 9.99899855e-01 -1.13823050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.884553574 meters Centerline goodness [0,1] 0.8407153873210855 Centerline is valid? [False, False] Translation: X:4.64, Y:0.12, Z:-1.14 [[ 9.99887746e-01 -4.75575912e-03 -1.42084023e-02 4.64151238e+00] [ 4.78398874e-03 9.99986649e-01 1.95349873e-03 1.16254494e-01] [ 1.41989222e-02 -2.02125228e-03 9.99897147e-01 -1.13845073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.914553574 meters Centerline goodness [0,1] 0.8375998695581282 Centerline is valid? [False, False] Translation: X:4.64, Y:0.12, Z:-1.14 [[ 9.99893427e-01 -4.20185971e-03 -1.39813494e-02 4.64027514e+00] [ 4.23464662e-03 9.99988351e-01 2.31626867e-03 1.15626406e-01] [ 1.39714539e-02 -2.37522789e-03 9.99899573e-01 -1.13791203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.944553574 meters Centerline goodness [0,1] 0.8411123494712807 Centerline is valid? [False, False] Translation: X:4.64, Y:0.12, Z:-1.14 [[ 9.99896044e-01 -3.95804615e-03 -1.38648941e-02 4.63982376e+00] [ 3.98990407e-03 9.99989462e-01 2.27083244e-03 1.15623866e-01] [ 1.38557599e-02 -2.32591597e-03 9.99901299e-01 -1.13816027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.974553574 meters Centerline goodness [0,1] 0.8369739234255014 Centerline is valid? [False, False] Translation: X:4.64, Y:0.12, Z:-1.14 [[ 9.99913157e-01 -2.16163134e-03 -1.30002572e-02 4.63600860e+00] [ 2.18838544e-03 9.99995516e-01 2.04409401e-03 1.17818830e-01] [ 1.29957803e-02 -2.07236607e-03 9.99913404e-01 -1.13862566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.00455357399997 meters Centerline goodness [0,1] 0.8334324967546517 Centerline is valid? [False, False] Translation: X:4.63, Y:0.12, Z:-1.14 [[ 9.99924276e-01 -8.60480713e-04 -1.22760842e-02 4.63315372e+00] [ 8.83061949e-04 9.99997928e-01 1.83414753e-03 1.19865138e-01] [ 1.22744805e-02 -1.84484918e-03 9.99922964e-01 -1.13889335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03455357399997 meters Centerline goodness [0,1] 0.836586681046104 Centerline is valid? [False, False] Translation: X:4.63, Y:0.12, Z:-1.14 [[ 9.99931859e-01 2.35871360e-04 -1.16714275e-02 4.63081344e+00] [-2.17296608e-04 9.99998708e-01 1.59271470e-03 1.22153114e-01] [ 1.16717881e-02 -1.59007001e-03 9.99930618e-01 -1.13924629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.06455357399997 meters Centerline goodness [0,1] 0.829721693943696 Centerline is valid? [False, False] Translation: X:4.63, Y:0.12, Z:-1.14 [[ 9.99920333e-01 4.49770300e-03 -1.17940201e-02 4.63103594e+00] [-4.43568789e-03 9.99976228e-01 5.27907913e-03 1.24933101e-01] [ 1.18174835e-02 -5.22634396e-03 9.99916513e-01 -1.13931008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.09455357399997 meters Centerline goodness [0,1] 0.8351824622376688 Centerline is valid? [False, False] Translation: X:4.63, Y:0.13, Z:-1.14 [[ 0.99992153 0.00507674 -0.01145213 4.62977035] [-0.00502132 0.99997557 0.00486252 0.12656174] [ 0.01147654 -0.00480463 0.9999226 -1.13990514] [ 0. 0. 0. 1. ]] SLAMing on 160.12455357399998 meters Centerline goodness [0,1] 0.8330608196853138 Centerline is valid? [False, False] Translation: X:4.63, Y:0.13, Z:-1.14 [[ 0.99992209 0.0063412 -0.01075146 4.62625495] [-0.00628914 0.99996837 0.00486932 0.12885278] [ 0.010782 -0.00480132 0.99993035 -1.13855103] [ 0. 0. 0. 1. ]] SLAMing on 160.15455357399998 meters Centerline goodness [0,1] 0.8322991334117898 Centerline is valid? [False, False] Translation: X:4.63, Y:0.13, Z:-1.14 [[ 9.99921765e-01 6.01894186e-03 -1.09652609e-02 4.62698992e+00] [-5.96783417e-03 9.99971205e-01 4.68764669e-03 1.29276169e-01] [ 1.09931598e-02 -4.62184109e-03 9.99928892e-01 -1.13841859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.18455357399998 meters Centerline goodness [0,1] 0.8339881859246786 Centerline is valid? [False, False] Translation: X:4.63, Y:0.13, Z:-1.14 [[ 9.99920799e-01 5.45196340e-03 -1.13433759e-02 4.62837700e+00] [-5.40157052e-03 9.99975428e-01 4.46839790e-03 1.29690700e-01] [ 1.13674588e-02 -4.40677195e-03 9.99925678e-01 -1.13839885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.21455357399998 meters Centerline goodness [0,1] 0.8313860006431557 Centerline is valid? [False, False] Translation: X:4.62, Y:0.13, Z:-1.15 [[ 9.99996116e-01 -9.50762809e-04 -2.62006427e-03 4.61923935e+00] [ 9.57038913e-04 9.99996674e-01 2.39518899e-03 1.32705974e-01] [ 2.61777830e-03 -2.39768719e-03 9.99993699e-01 -1.14503246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.24455357399998 meters Centerline goodness [0,1] 0.833057321438111 Centerline is valid? [False, False] Translation: X:4.62, Y:0.13, Z:-1.15 [[ 9.99993268e-01 -1.80073734e-03 -3.19697799e-03 4.62145705e+00] [ 1.80780936e-03 9.99995923e-01 2.21058669e-03 1.32564528e-01] [ 3.19298427e-03 -2.21635133e-03 9.99992446e-01 -1.14526197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27455357399998 meters Centerline goodness [0,1] 0.8371038295360008 Centerline is valid? [False, False] Translation: X:4.62, Y:0.13, Z:-1.15 [[ 9.99977516e-01 -5.95404761e-03 -3.08507141e-03 4.62157237e+00] [ 5.94631834e-03 9.99979174e-01 -2.50852068e-03 1.34147089e-01] [ 3.09994301e-03 2.49011946e-03 9.99992095e-01 -1.14651469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.30455357399998 meters Centerline goodness [0,1] 0.8320944586072723 Centerline is valid? [False, False] Translation: X:4.62, Y:0.13, Z:-1.15 [[ 9.99971130e-01 -6.67169591e-03 -3.63698503e-03 4.62358589e+00] [ 6.66287259e-03 9.99974844e-01 -2.43274102e-03 1.33726320e-01] [ 3.65312405e-03 2.40843802e-03 9.99990427e-01 -1.14637194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33455357399998 meters Centerline goodness [0,1] 0.8354185684368791 Centerline is valid? [False, False] Translation: X:4.63, Y:0.13, Z:-1.15 [[ 9.99959132e-01 -7.88833557e-03 -4.41689590e-03 4.62646091e+00] [ 7.87910230e-03 9.99966746e-01 -2.10395800e-03 1.32495045e-01] [ 4.43334575e-03 2.06907084e-03 9.99988032e-01 -1.14553427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.36455357399998 meters Centerline goodness [0,1] 0.8344317417619368 Centerline is valid? [False, False] Translation: X:4.63, Y:0.13, Z:-1.15 [[ 9.99953582e-01 -8.36966324e-03 -4.77312652e-03 4.62773067e+00] [ 8.36057126e-03 9.99963203e-01 -1.92161017e-03 1.32031581e-01] [ 4.78903412e-03 1.88161491e-03 9.99986762e-01 -1.14517571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39455357399999 meters Centerline goodness [0,1] 0.8373265058617437 Centerline is valid? [False, False] Translation: X:4.63, Y:0.13, Z:-1.14 [[ 9.99937734e-01 -9.63228461e-03 -5.63453254e-03 4.63096594e+00] [ 9.62349252e-03 9.99952436e-01 -1.58543222e-03 1.30628305e-01] [ 5.64953587e-03 1.53110962e-03 9.99982869e-01 -1.14468821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.424553574 meters Centerline goodness [0,1] 0.8378597049542869 Centerline is valid? [False, False] Translation: X:4.63, Y:0.13, Z:-1.14 [[ 9.99928977e-01 -1.02313504e-02 -6.11234695e-03 4.63281021e+00] [ 1.02215570e-02 9.99946428e-01 -1.63132417e-03 1.30492715e-01] [ 6.12871015e-03 1.56873061e-03 9.99979989e-01 -1.14492436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.454553574 meters Centerline goodness [0,1] 0.8333333333333334 Centerline is valid? [False, False] Translation: X:4.63, Y:0.13, Z:-1.15 [[ 9.99920090e-01 -1.07978138e-02 -6.57426786e-03 4.63463152e+00] [ 1.07875344e-02 9.99940538e-01 -1.59703892e-03 1.30184374e-01] [ 6.59112146e-03 1.52599116e-03 9.99977114e-01 -1.14511482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.484553574 meters Centerline goodness [0,1] 0.8383748517200474 Centerline is valid? [False, False] Translation: X:4.64, Y:0.13, Z:-1.14 [[ 9.99902101e-01 -1.18801713e-02 -7.39256886e-03 4.63760289e+00] [ 1.18690113e-02 9.99928357e-01 -1.55166735e-03 1.29702268e-01] [ 7.41047331e-03 1.46377296e-03 9.99971471e-01 -1.14491181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.514553574 meters Centerline goodness [0,1] 0.8328975388845459 Centerline is valid? [False, False] Translation: X:4.64, Y:0.13, Z:-1.14 [[ 9.99893555e-01 -1.23178336e-02 -7.81980680e-03 4.63886411e+00] [ 1.23081131e-02 9.99923420e-01 -1.28997442e-03 1.29248933e-01] [ 7.83509765e-03 1.19359004e-03 9.99968593e-01 -1.14422126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.544553574 meters Centerline goodness [0,1] 0.8322725066076919 Centerline is valid? [False, False] Translation: X:4.64, Y:0.13, Z:-1.14 [[ 9.99878795e-01 -1.30988552e-02 -8.41518921e-03 4.64104987e+00] [ 1.30865720e-02 9.99913222e-01 -1.51305756e-03 1.30016848e-01] [ 8.43427828e-03 1.40274819e-03 9.99963447e-01 -1.14433310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.574553574 meters Centerline goodness [0,1] 0.8324987885640446 Centerline is valid? [False, False] Translation: X:4.65, Y:0.13, Z:-1.14 [[ 9.99891887e-01 -1.09741294e-02 -9.78682312e-03 4.64560422e+00] [ 1.10036429e-02 9.99935057e-01 2.96690525e-03 1.29327019e-01] [ 9.75362832e-03 -3.07427520e-03 9.99947706e-01 -1.14265669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.604553574 meters Centerline goodness [0,1] 0.8326427379863316 Centerline is valid? [False, False] Translation: X:4.65, Y:0.13, Z:-1.14 [[ 9.99892266e-01 -1.09382648e-02 -9.78826861e-03 4.64560791e+00] [ 1.09664375e-02 9.99935864e-01 2.82917933e-03 1.30355620e-01] [ 9.75669452e-03 -2.93621697e-03 9.99948091e-01 -1.14265335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.634553574 meters Centerline goodness [0,1] 0.8322715910007258 Centerline is valid? [False, False] Translation: X:4.64, Y:0.13, Z:-1.14 [[ 9.99897249e-01 -1.05798990e-02 -9.67247378e-03 4.64479834e+00] [ 1.06076863e-02 9.99939743e-01 2.82605476e-03 1.31923727e-01] [ 9.64199158e-03 -2.92836695e-03 9.99949227e-01 -1.14204719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.664553574 meters Centerline goodness [0,1] 0.8336908145208859 Centerline is valid? [False, False] Translation: X:4.65, Y:0.13, Z:-1.14 [[ 9.99895929e-01 -1.05846253e-02 -9.80294551e-03 4.64528377e+00] [ 1.06088890e-02 9.99940780e-01 2.42645042e-03 1.33372252e-01] [ 9.77668191e-03 -2.53019625e-03 9.99949006e-01 -1.14270940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.694553574 meters Centerline goodness [0,1] 0.8301967608084594 Centerline is valid? [False, False] Translation: X:4.65, Y:0.13, Z:-1.14 [[ 9.99894794e-01 -1.06247267e-02 -9.87499014e-03 4.64551182e+00] [ 1.06493489e-02 9.99940307e-01 2.44416050e-03 1.33677221e-01] [ 9.84843214e-03 -2.54906557e-03 9.99948254e-01 -1.14259967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.724553574 meters Centerline goodness [0,1] 0.8323407908149578 Centerline is valid? [False, False] Translation: X:4.65, Y:0.13, Z:-1.14 [[ 9.99893024e-01 -1.06806512e-02 -9.99316545e-03 4.64580710e+00] [ 1.07064768e-02 9.99939472e-01 2.53440475e-03 1.33770714e-01] [ 9.96549150e-03 -2.64112523e-03 9.99946855e-01 -1.14237220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75455357399997 meters Centerline goodness [0,1] 0.8122019184395263 Centerline is valid? [False, False] Translation: X:4.65, Y:0.13, Z:-1.14 [[ 9.99897530e-01 -1.03587819e-02 -9.88056055e-03 4.64517626e+00] [ 1.03860454e-02 9.99942386e-01 2.71199027e-03 1.33618094e-01] [ 9.85189838e-03 -2.81433232e-03 9.99947508e-01 -1.14213301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.78455357399997 meters Centerline goodness [0,1] 0.8323953475907166 Centerline is valid? [False, False] Translation: X:4.64, Y:0.13, Z:-1.14 [[ 9.99902311e-01 -1.00225806e-02 -9.74251581e-03 4.64450959e+00] [ 1.00512458e-02 9.99945286e-01 2.89778683e-03 1.33606028e-01] [ 9.71293946e-03 -2.99542817e-03 9.99948342e-01 -1.14188881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.81455357399997 meters Centerline goodness [0,1] 0.8318232992012009 Centerline is valid? [False, False] Translation: X:4.64, Y:0.13, Z:-1.14 [[ 9.99919805e-01 -8.83386552e-03 -9.07447599e-03 4.64205352e+00] [ 8.85797046e-03 9.99957336e-01 2.61959690e-03 1.34668807e-01] [ 9.05094767e-03 -2.69976826e-03 9.99955395e-01 -1.14281000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.84455357399997 meters Centerline goodness [0,1] 0.8312067763898568 Centerline is valid? [False, False] Translation: X:4.64, Y:0.14, Z:-1.14 [[ 9.99926743e-01 -8.32284363e-03 -8.78854865e-03 4.64109096e+00] [ 8.34538659e-03 9.99961972e-01 2.53148806e-03 1.35337863e-01] [ 8.76714527e-03 -2.60464644e-03 9.99958176e-01 -1.14324929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.87455357399998 meters Centerline goodness [0,1] 0.8312067763898568 Centerline is valid? [False, False] Translation: X:4.64, Y:0.14, Z:-1.14 [[ 9.99926743e-01 -8.32284363e-03 -8.78854865e-03 4.64109096e+00] [ 8.34538659e-03 9.99961972e-01 2.53148806e-03 1.35337863e-01] [ 8.76714527e-03 -2.60464644e-03 9.99958176e-01 -1.14324929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.90455357399998 meters Centerline goodness [0,1] 0.8271684357242415 Centerline is valid? [False, False] Translation: X:4.64, Y:0.14, Z:-1.14 [[ 9.99934049e-01 -7.79582698e-03 -8.43341111e-03 4.63982069e+00] [ 7.81845037e-03 9.99965916e-01 2.65295617e-03 1.35292721e-01] [ 8.41244168e-03 -2.71871741e-03 9.99960919e-01 -1.14332235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.93455357399998 meters Centerline goodness [0,1] 0.8296238623244825 Centerline is valid? [False, False] Translation: X:4.64, Y:0.13, Z:-1.14 [[ 9.99938055e-01 -7.50505055e-03 -8.21948992e-03 4.63866473e+00] [ 7.53203217e-03 9.99966331e-01 3.25661855e-03 1.34662041e-01] [ 8.19477209e-03 -3.31832629e-03 9.99960916e-01 -1.14185600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.96455357399998 meters Centerline goodness [0,1] 0.8294051326103297 Centerline is valid? [False, False] Translation: X:4.64, Y:0.13, Z:-1.14 [[ 9.99942172e-01 -7.20883115e-03 -7.98029484e-03 4.63722012e+00] [ 7.24092806e-03 9.99965782e-01 4.00046043e-03 1.33876720e-01] [ 7.95118313e-03 -4.05801383e-03 9.99960155e-01 -1.13983789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.99455357399998 meters Centerline goodness [0,1] 0.8297895131487334 Centerline is valid? [False, False] Translation: X:4.64, Y:0.13, Z:-1.14 [[ 9.99936288e-01 -7.72237686e-03 -8.23317221e-03 4.63778966e+00] [ 7.76003676e-03 9.99959529e-01 4.55207556e-03 1.33270603e-01] [ 8.19768617e-03 -4.61567525e-03 9.99955746e-01 -1.13793319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.02455357399998 meters Centerline goodness [0,1] 0.8306883980270212 Centerline is valid? [False, False] Translation: X:4.64, Y:0.13, Z:-1.14 [[ 9.99912535e-01 -9.44245833e-03 -9.26080020e-03 4.64173620e+00] [ 9.48314383e-03 9.99945532e-01 4.35927418e-03 1.33626150e-01] [ 9.21913351e-03 -4.44671439e-03 9.99947616e-01 -1.13750107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.05455357399998 meters Centerline goodness [0,1] 0.833244125675748 Centerline is valid? [False, False] Translation: X:4.64, Y:0.13, Z:-1.14 [[ 9.99899575e-01 -1.02652766e-02 -9.77052645e-03 4.64361321e+00] [ 1.03081713e-02 9.99937408e-01 4.35001768e-03 1.33535314e-01] [ 9.72526075e-03 -4.45029709e-03 9.99942805e-01 -1.13709506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.08455357399998 meters Centerline goodness [0,1] 0.8326558990266338 Centerline is valid? [False, False] Translation: X:4.65, Y:0.13, Z:-1.14 [[ 9.99883865e-01 -1.11975774e-02 -1.03377852e-02 4.64569888e+00] [ 1.12423709e-02 9.99927621e-01 4.28508564e-03 1.33792547e-01] [ 1.02890544e-02 -4.40080921e-03 9.99937382e-01 -1.13665750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.11455357399998 meters Centerline goodness [0,1] 0.8322278684140144 Centerline is valid? [False, False] Translation: X:4.65, Y:0.14, Z:-1.14 [[ 9.99838380e-01 -1.36256466e-02 -1.17283909e-02 4.65113188e+00] [ 1.36686485e-02 9.99900120e-01 3.59415401e-03 1.35067916e-01] [ 1.16782468e-02 -3.75388438e-03 9.99924761e-01 -1.13691836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.14455357399999 meters Centerline goodness [0,1] 0.8362823567202934 Centerline is valid? [False, False] Translation: X:4.65, Y:0.14, Z:-1.14 [[ 9.99818823e-01 -1.44985636e-02 -1.23333909e-02 4.65333475e+00] [ 1.45425691e-02 9.99888175e-01 3.48581869e-03 1.35498131e-01] [ 1.22814723e-02 -3.66454633e-03 9.99917865e-01 -1.13672847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.174553574 meters Centerline goodness [0,1] 0.8335653104925054 Centerline is valid? [False, False] Translation: X:4.66, Y:0.14, Z:-1.14 [[ 9.99785132e-01 -1.59737646e-02 -1.32109267e-02 4.65623581e+00] [ 1.60209125e-02 9.99865633e-01 3.47075084e-03 1.36064450e-01] [ 1.31537106e-02 -3.68165618e-03 9.99906708e-01 -1.13552832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.204553574 meters Centerline goodness [0,1] 0.8368343787535033 Centerline is valid? [False, False] Translation: X:4.66, Y:0.14, Z:-1.14 [[ 9.99775437e-01 -1.63583949e-02 -1.34713816e-02 4.65720585e+00] [ 1.64046527e-02 9.99859888e-01 3.33045908e-03 1.36959369e-01] [ 1.34150131e-02 -3.55070452e-03 9.99903710e-01 -1.13544857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.234553574 meters Centerline goodness [0,1] 0.8364553314121037 Centerline is valid? [False, False] Translation: X:4.66, Y:0.14, Z:-1.14 [[ 9.99773798e-01 -1.64091186e-02 -1.35312289e-02 4.65741061e+00] [ 1.64519244e-02 9.99859981e-01 3.05825264e-03 1.38549038e-01] [ 1.34791511e-02 -3.28017561e-03 9.99903772e-01 -1.13555549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.264553574 meters Centerline goodness [0,1] 0.8376018471827809 Centerline is valid? [False, False] Translation: X:4.66, Y:0.14, Z:-1.13 [[ 0.99981116 -0.01310982 -0.01434474 4.65952757] [ 0.01320814 0.99988977 0.0067811 0.14093039] [ 0.01425426 -0.00696929 0.99987411 -1.13489876] [ 0. 0. 0. 1. ]] SLAMing on 161.294553574 meters Centerline goodness [0,1] 0.8257825045410272 Centerline is valid? [False, False] Translation: X:4.66, Y:0.14, Z:-1.13 [[ 0.99987054 -0.00794224 -0.01399371 4.6571061 ] [ 0.00809091 0.99991109 0.01059953 0.14493949] [ 0.01390828 -0.01071138 0.9998459 -1.13375352] [ 0. 0. 0. 1. ]] SLAMing on 161.324553574 meters Centerline goodness [0,1] 0.8332329290971476 Centerline is valid? [False, False] Translation: X:4.66, Y:0.15, Z:-1.14 [[ 9.99966867e-01 -4.87120684e-03 -6.52203557e-03 4.65531301e+00] [ 4.88715997e-03 9.99985100e-01 2.43233707e-03 1.51335377e-01] [ 6.51008997e-03 -2.46413071e-03 9.99975773e-01 -1.14391086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.354553574 meters Centerline goodness [0,1] 0.8250632977473833 Centerline is valid? [False, False] Translation: X:4.65, Y:0.15, Z:-1.14 [[ 9.99978466e-01 -5.74251168e-04 -6.53738042e-03 4.65488393e+00] [ 6.15978759e-04 9.99979441e-01 6.38269920e-03 1.53173441e-01] [ 6.53358074e-03 -6.38658864e-03 9.99958261e-01 -1.14304686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.384553574 meters Centerline goodness [0,1] 0.8292790456431536 Centerline is valid? [False, False] Translation: X:4.65, Y:0.16, Z:-1.14 [[ 0.99996657 0.00573263 -0.00582994 4.65086156] [-0.00567416 0.99993392 0.00999774 0.15842711] [ 0.00588687 -0.00996432 0.99993303 -1.14271394] [ 0. 0. 0. 1. ]] SLAMing on 161.414553574 meters Centerline goodness [0,1] 0.8297108931337119 Centerline is valid? [False, False] Translation: X:4.65, Y:0.16, Z:-1.14 [[ 0.99995912 0.00747295 -0.0050896 4.64779109] [-0.00742525 0.99992892 0.00932806 0.16227954] [ 0.00515895 -0.00928989 0.99994354 -1.14380382] [ 0. 0. 0. 1. ]] SLAMing on 161.444553574 meters Centerline goodness [0,1] 0.8328294732527157 Centerline is valid? [False, False] Translation: X:4.65, Y:0.17, Z:-1.14 [[ 9.99905374e-01 1.30007066e-02 -4.49719364e-03 4.64505496e+00] [-1.29420793e-02 9.99833950e-01 1.28287024e-02 1.66756633e-01] [ 4.66322908e-03 -1.27692854e-02 9.99907596e-01 -1.14378734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.474553574 meters Centerline goodness [0,1] 0.8370547648751178 Centerline is valid? [False, False] Translation: X:4.64, Y:0.17, Z:-1.14 [[ 9.99899048e-01 1.35743742e-02 -4.19877782e-03 4.64411308e+00] [-1.35223618e-02 9.99834416e-01 1.21773056e-02 1.68950429e-01] [ 4.36338188e-03 -1.21192989e-02 9.99917038e-01 -1.14471707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.50455357399997 meters Centerline goodness [0,1] 0.8346932530980672 Centerline is valid? [False, False] Translation: X:4.64, Y:0.17, Z:-1.15 [[ 9.99925786e-01 1.17669747e-02 -3.15595796e-03 4.64004451e+00] [-1.17460281e-02 9.99909392e-01 6.57556724e-03 1.72583557e-01] [ 3.23304654e-03 -6.53800928e-03 9.99973401e-01 -1.14813364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53455357399997 meters Centerline goodness [0,1] 0.8357181115617109 Centerline is valid? [False, False] Translation: X:4.64, Y:0.18, Z:-1.15 [[ 9.99950315e-01 9.67862716e-03 -2.38559228e-03 4.63663891e+00] [-9.67343790e-03 9.99950841e-01 2.17727385e-03 1.75491520e-01] [ 2.40654803e-03 -2.15408880e-03 9.99994784e-01 -1.14900276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.56455357399997 meters Centerline goodness [0,1] 0.8374754156981942 Centerline is valid? [False, False] Translation: X:4.63, Y:0.18, Z:-1.15 [[ 9.99973261e-01 7.15840624e-03 -1.49470069e-03 4.63357923e+00] [-7.16168376e-03 9.99971937e-01 -2.19904029e-03 1.77564890e-01] [ 1.47891712e-03 2.20968606e-03 9.99996465e-01 -1.14994533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.59455357399997 meters Centerline goodness [0,1] 0.8366803960193405 Centerline is valid? [False, False] Translation: X:4.63, Y:0.18, Z:-1.15 [[ 9.99974139e-01 7.01567431e-03 -1.58149673e-03 4.63408090e+00] [-7.01971744e-03 9.99972070e-01 -2.56562869e-03 1.78695455e-01] [ 1.56345295e-03 2.57666400e-03 9.99995458e-01 -1.15042165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.62455357399998 meters Centerline goodness [0,1] 0.8371736575895365 Centerline is valid? [False, False] Translation: X:4.64, Y:0.18, Z:-1.15 [[ 9.99975643e-01 6.74426942e-03 -1.79650978e-03 4.63520453e+00] [-6.74974335e-03 9.99972543e-01 -3.05854497e-03 1.79502596e-01] [ 1.77583280e-03 3.07059646e-03 9.99993709e-01 -1.15151091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.65455357399998 meters Centerline goodness [0,1] 0.8346452655060127 Centerline is valid? [False, False] Translation: X:4.64, Y:0.18, Z:-1.15 [[ 9.99975059e-01 6.82849807e-03 -1.80346073e-03 4.63548793e+00] [-6.83474704e-03 9.99970581e-01 -3.48185838e-03 1.80524017e-01] [ 1.77963181e-03 3.49409774e-03 9.99992312e-01 -1.15250113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.68455357399998 meters Centerline goodness [0,1] 0.831420960967114 Centerline is valid? [False, False] Translation: X:4.64, Y:0.18, Z:-1.15 [[ 9.99974117e-01 6.97862481e-03 -1.75046621e-03 4.63542893e+00] [-6.98494400e-03 9.99969015e-01 -3.63024848e-03 1.80966874e-01] [ 1.72507783e-03 3.64238142e-03 9.99991879e-01 -1.15283841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.71455357399998 meters Centerline goodness [0,1] 0.8372749192017648 Centerline is valid? [False, False] Translation: X:4.63, Y:0.18, Z:-1.15 [[ 9.99971931e-01 7.33083430e-03 -1.54781842e-03 4.63478472e+00] [-7.33663610e-03 9.99965955e-01 -3.77656851e-03 1.81514234e-01] [ 1.52008033e-03 3.78781829e-03 9.99991671e-01 -1.15306589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.74455357399998 meters Centerline goodness [0,1] 0.8345270183545116 Centerline is valid? [False, False] Translation: X:4.63, Y:0.18, Z:-1.15 [[ 9.99959293e-01 8.99699051e-03 -6.83103525e-04 4.63117401e+00] [-8.99940759e-03 9.99952945e-01 -3.62184797e-03 1.82755505e-01] [ 6.50485650e-04 3.62784807e-03 9.99993208e-01 -1.15250702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.77455357399998 meters Centerline goodness [0,1] 0.8315727247024957 Centerline is valid? [False, False] Translation: X:4.63, Y:0.18, Z:-1.15 [[ 9.99952274e-01 9.76760262e-03 -2.09397060e-04 4.62962616e+00] [-9.76833343e-03 9.99944947e-01 -3.83169992e-03 1.83677614e-01] [ 1.71959010e-04 3.83356251e-03 9.99992637e-01 -1.15298983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.80455357399998 meters Centerline goodness [0,1] 0.8318515853846549 Centerline is valid? [False, False] Translation: X:4.63, Y:0.19, Z:-1.15 [[ 9.99928533e-01 1.19335630e-02 7.20861627e-04 4.62616333e+00] [-1.19306994e-02 9.99921399e-01 -3.85407197e-03 1.85485299e-01] [-7.66797778e-04 3.84519615e-03 9.99992313e-01 -1.15397816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.83455357399998 meters Centerline goodness [0,1] 0.8260065735414954 Centerline is valid? [False, False] Translation: X:4.62, Y:0.19, Z:-1.15 [[ 9.99915494e-01 1.29374615e-02 1.27583742e-03 4.62426511e+00] [-1.29322239e-02 9.99908248e-01 -4.03143628e-03 1.86921693e-01] [-1.32787691e-03 4.01459618e-03 9.99991060e-01 -1.15441460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.86455357399998 meters Centerline goodness [0,1] 0.8227061451940114 Centerline is valid? [False, False] Translation: X:4.62, Y:0.19, Z:-1.15 [[ 9.99901202e-01 1.39303900e-02 1.87912733e-03 4.62226359e+00] [-1.39224756e-02 9.99894420e-01 -4.16102989e-03 1.88157692e-01] [-1.93689370e-03 4.13445668e-03 9.99989577e-01 -1.15481947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.89455357399999 meters Centerline goodness [0,1] 0.8223372364139486 Centerline is valid? [False, False] Translation: X:4.62, Y:0.19, Z:-1.16 [[ 9.99877872e-01 1.53974588e-02 2.67583582e-03 4.61934974e+00] [-1.53859715e-02 9.99872546e-01 -4.26182906e-03 1.89805286e-01] [-2.74111611e-03 4.22013824e-03 9.99987338e-01 -1.15514091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.924553574 meters Centerline goodness [0,1] 0.8234765875561257 Centerline is valid? [False, False] Translation: X:4.62, Y:0.19, Z:-1.15 [[ 9.99866089e-01 1.60578997e-02 3.15388645e-03 4.61716797e+00] [-1.60459222e-02 9.99864084e-01 -3.78698474e-03 1.89847297e-01] [-3.21426881e-03 3.73587061e-03 9.99987856e-01 -1.15349686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.954553574 meters Centerline goodness [0,1] 0.819846426461902 Centerline is valid? [False, False] Translation: X:4.62, Y:0.19, Z:-1.15 [[ 9.99869550e-01 1.58542302e-02 3.08649662e-03 4.61713910e+00] [-1.58435303e-02 9.99868494e-01 -3.46078342e-03 1.88933097e-01] [-3.14095879e-03 3.41143095e-03 9.99989248e-01 -1.15241399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.984553574 meters Centerline goodness [0,1] 0.8221072145836552 Centerline is valid? [False, False] Translation: X:4.61, Y:0.19, Z:-1.15 [[ 9.99908950e-01 1.29011614e-02 3.95620409e-03 4.61406292e+00] [-1.28714025e-02 9.99889350e-01 -7.45748105e-03 1.89268607e-01] [-4.05197651e-03 7.40588015e-03 9.99964367e-01 -1.15228469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.014553574 meters Centerline goodness [0,1] 0.8258403794596825 Centerline is valid? [False, False] Translation: X:4.60, Y:0.19, Z:-1.16 [[ 0.99989165 0.00554621 0.01363551 4.601882 ] [-0.00545612 0.9999631 -0.00663477 0.18930046] [-0.0136718 0.00655965 0.99988502 -1.15602906] [ 0. 0. 0. 1. ]] SLAMing on 162.044553574 meters Centerline goodness [0,1] 0.8273030138684435 Centerline is valid? [False, False] Translation: X:4.61, Y:0.19, Z:-1.16 [[ 9.99909061e-01 4.33894319e-03 1.27688328e-02 4.60528489e+00] [-4.25467958e-03 9.99969043e-01 -6.61894522e-03 1.88160672e-01] [-1.27971568e-02 6.56401601e-03 9.99896568e-01 -1.15656398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.074553574 meters Centerline goodness [0,1] 0.8263483917787626 Centerline is valid? [False, False] Translation: X:4.61, Y:0.18, Z:-1.16 [[ 9.99938057e-01 1.19665495e-03 1.10657173e-02 4.61305681e+00] [-1.12234455e-03 9.99976796e-01 -6.71914493e-03 1.84990298e-01] [-1.10735010e-02 6.70630918e-03 9.99916198e-01 -1.15790160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.104553574 meters Centerline goodness [0,1] 0.8266023970818135 Centerline is valid? [False, False] Translation: X:4.62, Y:0.18, Z:-1.16 [[ 9.99948690e-01 -9.69445729e-05 1.01295923e-02 4.61677646e+00] [ 1.63215369e-04 9.99978590e-01 -6.54167469e-03 1.82774739e-01] [-1.01287412e-02 6.54299234e-03 9.99927296e-01 -1.15849647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.134553574 meters Centerline goodness [0,1] 0.8253065483955127 Centerline is valid? [False, False] Translation: X:4.62, Y:0.18, Z:-1.16 [[ 9.99958518e-01 -2.83690772e-03 8.65524980e-03 4.62380573e+00] [ 2.89459440e-03 9.99973634e-01 -6.65970417e-03 1.78727771e-01] [-8.63612863e-03 6.68448135e-03 9.99940366e-01 -1.16034846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.164553574 meters Centerline goodness [0,1] 0.824763848549075 Centerline is valid? [False, False] Translation: X:4.63, Y:0.18, Z:-1.16 [[ 9.99960418e-01 -3.17547313e-03 8.31132889e-03 4.62510394e+00] [ 3.22734350e-03 9.99975354e-01 -6.23496983e-03 1.77018109e-01] [-8.29132507e-03 6.26154655e-03 9.99946022e-01 -1.16040651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.194553574 meters Centerline goodness [0,1] 0.8245154531168151 Centerline is valid? [False, False] Translation: X:4.63, Y:0.18, Z:-1.16 [[ 9.99961849e-01 -3.41392561e-03 8.04025320e-03 4.62613895e+00] [ 3.46115527e-03 9.99976796e-01 -5.86758024e-03 1.75420021e-01] [-8.02003515e-03 5.89518496e-03 9.99950462e-01 -1.16048360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.224553574 meters Centerline goodness [0,1] 0.8276424904567592 Centerline is valid? [False, False] Translation: X:4.62, Y:0.17, Z:-1.16 [[ 9.99961005e-01 -2.78635759e-03 8.37999379e-03 4.62499731e+00] [ 2.82733411e-03 9.99984086e-01 -4.88193701e-03 1.72386091e-01] [-8.36625761e-03 4.90543968e-03 9.99952970e-01 -1.15999708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25455357399997 meters Centerline goodness [0,1] 0.8292939936775553 Centerline is valid? [False, False] Translation: X:4.62, Y:0.17, Z:-1.16 [[ 9.99958914e-01 -2.14123346e-03 8.80823474e-03 4.62342868e+00] [ 2.17935351e-03 9.99988292e-01 -4.32045492e-03 1.71315413e-01] [-8.79888051e-03 4.33947366e-03 9.99951873e-01 -1.15934145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.28455357399997 meters Centerline goodness [0,1] 0.8212529738302934 Centerline is valid? [False, False] Translation: X:4.62, Y:0.17, Z:-1.16 [[ 9.99950874e-01 -4.67332274e-04 9.90106889e-03 4.61931246e+00] [ 4.97082402e-04 9.99995369e-01 -3.00249119e-03 1.68524596e-01] [-9.89961988e-03 3.00726534e-03 9.99946476e-01 -1.15780494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.31455357399997 meters Centerline goodness [0,1] 0.821672039317233 Centerline is valid? [False, False] Translation: X:4.62, Y:0.17, Z:-1.16 [[ 9.99947539e-01 6.46022612e-05 1.02427758e-02 4.61810797e+00] [-3.87802500e-05 9.99996821e-01 -2.52117597e-03 1.67359679e-01] [-1.02429061e-02 2.52064649e-03 9.99944363e-01 -1.15735608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.34455357399997 meters Centerline goodness [0,1] 0.824532642322642 Centerline is valid? [False, False] Translation: X:4.62, Y:0.17, Z:-1.16 [[ 9.99942925e-01 6.89782318e-04 1.06616857e-02 4.61672874e+00] [-6.66033464e-04 9.99997290e-01 -2.23088538e-03 1.66582728e-01] [-1.06631957e-02 2.22365702e-03 9.99940674e-01 -1.15728912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.37455357399998 meters Centerline goodness [0,1] 0.8194554586307163 Centerline is valid? [False, False] Translation: X:4.61, Y:0.16, Z:-1.16 [[ 9.99933718e-01 1.72185777e-03 1.13839782e-02 4.61421490e+00] [-1.70488371e-03 9.99997421e-01 -1.50058506e-03 1.64740666e-01] [-1.13865327e-02 1.48107724e-03 9.99934074e-01 -1.15665089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.40455357399998 meters Centerline goodness [0,1] 0.8219602649006623 Centerline is valid? [False, False] Translation: X:4.61, Y:0.16, Z:-1.16 [[ 9.99934286e-01 1.63312746e-03 1.13470615e-02 4.61477734e+00] [-1.62051601e-03 9.99998059e-01 -1.12053399e-03 1.61983244e-01] [-1.13488694e-02 1.10207226e-03 9.99934992e-01 -1.15717823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.43455357399998 meters Centerline goodness [0,1] 0.8195791593788095 Centerline is valid? [False, False] Translation: X:4.62, Y:0.16, Z:-1.16 [[ 9.99940676e-01 9.81732707e-04 1.08480777e-02 4.61696057e+00] [-9.68600212e-04 9.99998792e-01 -1.21577034e-03 1.61031876e-01] [-1.08492582e-02 1.20519077e-03 9.99940419e-01 -1.15808989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.46455357399998 meters Centerline goodness [0,1] 0.8202071163037705 Centerline is valid? [False, False] Translation: X:4.62, Y:0.16, Z:-1.16 [[ 9.99946311e-01 3.24185510e-04 1.03571257e-02 4.61906304e+00] [-3.11342624e-04 9.99999181e-01 -1.24159308e-03 1.59950978e-01] [-1.03575197e-02 1.23830180e-03 9.99945593e-01 -1.15886017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.49455357399998 meters Centerline goodness [0,1] 0.8209909429941395 Centerline is valid? [False, False] Translation: X:4.62, Y:0.16, Z:-1.16 [[ 9.99955912e-01 -1.81604425e-03 9.21279934e-03 4.62427820e+00] [ 1.82754224e-03 9.99997562e-01 -1.23977998e-03 1.56626678e-01] [-9.21052538e-03 1.25656210e-03 9.99956793e-01 -1.15970470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.52455357399998 meters Centerline goodness [0,1] 0.8184882041405874 Centerline is valid? [False, False] Translation: X:4.63, Y:0.15, Z:-1.16 [[ 9.99958924e-01 -2.62056884e-03 8.67654896e-03 4.62624177e+00] [ 2.62744640e-03 9.99996243e-01 -7.81356301e-04 1.54579086e-01] [-8.67446877e-03 8.04121373e-04 9.99962053e-01 -1.15912980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.55455357399998 meters Centerline goodness [0,1] 0.8232262221148425 Centerline is valid? [False, False] Translation: X:4.63, Y:0.15, Z:-1.16 [[ 9.99959475e-01 -4.32440863e-03 7.89604317e-03 4.62943849e+00] [ 4.32689168e-03 9.99990595e-01 -2.97411536e-04 1.51679417e-01] [-7.89468277e-03 3.31564807e-04 9.99968782e-01 -1.15791923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.58455357399998 meters Centerline goodness [0,1] 0.8208213585452983 Centerline is valid? [False, False] Translation: X:4.63, Y:0.15, Z:-1.16 [[ 9.99960106e-01 -5.11934874e-03 7.31978556e-03 4.63146582e+00] [ 5.11903397e-03 9.99986896e-01 6.17376008e-05 1.50500043e-01] [-7.32000570e-03 -2.42649069e-05 9.99973208e-01 -1.15731138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.61455357399998 meters Centerline goodness [0,1] 0.8225967103669206 Centerline is valid? [False, False] Translation: X:4.63, Y:0.15, Z:-1.16 [[ 9.99959778e-01 -5.89871999e-03 6.75631957e-03 4.63353285e+00] [ 5.89716468e-03 9.99982580e-01 2.50099982e-04 1.49573022e-01] [-6.75767715e-03 -2.10246793e-04 9.99977145e-01 -1.15711316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.64455357399999 meters Centerline goodness [0,1] 0.8288234977674969 Centerline is valid? [False, False] Translation: X:4.64, Y:0.15, Z:-1.16 [[ 9.99954614e-01 -7.64425431e-03 5.68637298e-03 4.63784957e+00] [ 7.64314815e-03 9.99970767e-01 2.16233980e-04 1.48599544e-01] [-5.68785970e-03 -1.72762375e-04 9.99983809e-01 -1.15728141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.674553574 meters Centerline goodness [0,1] 0.8324810249232922 Centerline is valid? [False, False] Translation: X:4.64, Y:0.15, Z:-1.16 [[ 9.99947136e-01 -9.08059524e-03 4.82376265e-03 4.64124224e+00] [ 9.07951415e-03 9.99958750e-01 2.45969252e-04 1.47693032e-01] [-4.82579721e-03 -2.02158828e-04 9.99988335e-01 -1.15709540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.704553574 meters Centerline goodness [0,1] 0.8387105468855287 Centerline is valid? [False, False] Translation: X:4.64, Y:0.15, Z:-1.16 [[ 9.99943132e-01 -9.72474408e-03 4.37754105e-03 4.64289025e+00] [ 9.72311607e-03 9.99952652e-01 3.93029253e-04 1.47284511e-01] [-4.38115590e-03 -3.50443563e-04 9.99990341e-01 -1.15674228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.734553574 meters Centerline goodness [0,1] 0.8327675396055609 Centerline is valid? [False, False] Translation: X:4.64, Y:0.15, Z:-1.16 [[ 9.99939395e-01 -1.02662148e-02 3.97642766e-03 4.64414777e+00] [ 1.02640916e-02 9.99947169e-01 5.53999848e-04 1.47103428e-01] [-3.98190506e-03 -5.13151855e-04 9.99991941e-01 -1.15610887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.764553574 meters Centerline goodness [0,1] 0.8327675396055609 Centerline is valid? [False, False] Translation: X:4.64, Y:0.15, Z:-1.16 [[ 9.99939395e-01 -1.02662148e-02 3.97642766e-03 4.64414777e+00] [ 1.02640916e-02 9.99947169e-01 5.53999848e-04 1.47103428e-01] [-3.98190506e-03 -5.13151855e-04 9.99991941e-01 -1.15610887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.794553574 meters Centerline goodness [0,1] 0.8292129979488286 Centerline is valid? [False, False] Translation: X:4.65, Y:0.15, Z:-1.15 [[ 9.99930246e-01 -1.13492769e-02 3.27057657e-03 4.64640100e+00] [ 1.13462287e-02 9.99935179e-01 9.49058896e-04 1.46019132e-01] [-3.28113570e-03 -9.11883985e-04 9.99994201e-01 -1.15480374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.824553574 meters Centerline goodness [0,1] 0.8294298174769827 Centerline is valid? [False, False] Translation: X:4.65, Y:0.15, Z:-1.15 [[ 9.99924609e-01 -1.19509574e-02 2.81965888e-03 4.64799164e+00] [ 1.19483218e-02 9.99928165e-01 9.49734027e-04 1.46195675e-01] [-2.83080656e-03 -9.15972234e-04 9.99995574e-01 -1.15458954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.854553574 meters Centerline goodness [0,1] 0.8377667427190981 Centerline is valid? [False, False] Translation: X:4.65, Y:0.15, Z:-1.16 [[ 9.99911725e-01 -1.31403053e-02 1.96825500e-03 4.65156996e+00] [ 1.31402691e-02 9.99913662e-01 3.13110859e-05 1.48014166e-01] [-1.96849651e-03 -5.44492143e-06 9.99998062e-01 -1.15632388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.884553574 meters Centerline goodness [0,1] 0.8355852233124229 Centerline is valid? [False, False] Translation: X:4.66, Y:0.15, Z:-1.16 [[ 9.99932257e-01 -1.16286273e-02 5.06610563e-04 4.65701428e+00] [ 1.16264956e-02 9.99924309e-01 4.02499896e-03 1.47375128e-01] [-5.53377430e-04 -4.01883619e-03 9.99991771e-01 -1.15544068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.914553574 meters Centerline goodness [0,1] 0.8244174861051732 Centerline is valid? [False, False] Translation: X:4.66, Y:0.15, Z:-1.16 [[ 9.99925947e-01 -1.21689426e-02 1.35095508e-04 4.65828947e+00] [ 1.21683850e-02 9.99919630e-01 3.55858245e-03 1.48872799e-01] [-1.78388836e-04 -3.55667503e-03 9.99993659e-01 -1.15561434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.944553574 meters Centerline goodness [0,1] 0.8311196458099963 Centerline is valid? [False, False] Translation: X:4.66, Y:0.15, Z:-1.16 [[ 9.99923250e-01 -1.23889052e-02 -9.81765032e-05 4.65906337e+00] [ 1.23891627e-02 9.99917749e-01 3.31711252e-03 1.50062147e-01] [ 5.70730358e-05 -3.31807425e-03 9.99994494e-01 -1.15570019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.974553574 meters Centerline goodness [0,1] 0.8336752364459837 Centerline is valid? [False, False] Translation: X:4.66, Y:0.15, Z:-1.16 [[ 9.99920514e-01 -1.26034200e-02 -3.45517460e-04 4.65999412e+00] [ 1.26043676e-02 9.99916376e-01 2.89310332e-03 1.51416049e-01] [ 3.09025570e-04 -2.89722839e-03 9.99995755e-01 -1.15627448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.00455357399997 meters Centerline goodness [0,1] 0.8306889518713745 Centerline is valid? [False, False] Translation: X:4.67, Y:0.15, Z:-1.16 [[ 9.99941193e-01 -1.06724180e-02 -1.92610844e-03 4.66519014e+00] [ 1.06846442e-02 9.99922095e-01 6.45304793e-03 1.52837133e-01] [ 1.85708876e-03 -6.47324823e-03 9.99977324e-01 -1.15597018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03455357399997 meters Centerline goodness [0,1] 0.828615978223526 Centerline is valid? [False, False] Translation: X:4.67, Y:0.15, Z:-1.16 [[ 9.99938506e-01 -1.08804716e-02 -2.14467660e-03 4.66596974e+00] [ 1.08930180e-02 9.99923099e-01 5.92782140e-03 1.54590956e-01] [ 2.08001418e-03 -5.95081887e-03 9.99980130e-01 -1.15653483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.06455357399997 meters Centerline goodness [0,1] 0.8323463613633373 Centerline is valid? [False, False] Translation: X:4.67, Y:0.16, Z:-1.16 [[ 9.99939337e-01 -1.07762804e-02 -2.27920760e-03 4.66650592e+00] [ 1.07875049e-02 9.99929456e-01 4.97111934e-03 1.57996774e-01] [ 2.22547664e-03 -4.99540474e-03 9.99985046e-01 -1.15798611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.09455357399997 meters Centerline goodness [0,1] 0.827645810962994 Centerline is valid? [False, False] Translation: X:4.67, Y:0.16, Z:-1.16 [[ 9.99964464e-01 -7.81903711e-03 -3.15164076e-03 4.66927450e+00] [ 7.84676615e-03 9.99929748e-01 8.88410569e-03 1.58199624e-01] [ 3.08195420e-03 -8.90852018e-03 9.99955569e-01 -1.15763193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.12455357399998 meters Centerline goodness [0,1] 0.8270606044787806 Centerline is valid? [False, False] Translation: X:4.67, Y:0.16, Z:-1.16 [[ 9.99980346e-01 -5.77055830e-03 -2.45118174e-03 4.66560129e+00] [ 5.79052216e-03 9.99949473e-01 8.21710769e-03 1.62904680e-01] [ 2.40364059e-03 -8.23113982e-03 9.99963235e-01 -1.15841484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.15455357399998 meters Centerline goodness [0,1] 0.8363371563808484 Centerline is valid? [False, False] Translation: X:4.66, Y:0.17, Z:-1.16 [[ 9.99986480e-01 -4.80878073e-03 -1.97868485e-03 4.66361501e+00] [ 4.82398313e-03 9.99958322e-01 7.75141577e-03 1.65650460e-01] [ 1.94132752e-03 -7.76085611e-03 9.99968000e-01 -1.15867276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.18455357399998 meters Centerline goodness [0,1] 0.830656406548572 Centerline is valid? [False, False] Translation: X:4.66, Y:0.17, Z:-1.16 [[ 9.99998528e-01 1.34959908e-04 -1.71020381e-03 4.66174677e+00] [-1.15178962e-04 9.99933160e-01 1.15612503e-02 1.68966172e-01] [ 1.71164981e-03 -1.15610363e-02 9.99931704e-01 -1.15772384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.21455357399998 meters Centerline goodness [0,1] 0.8295765203486872 Centerline is valid? [False, False] Translation: X:4.66, Y:0.17, Z:-1.16 [[ 9.99998697e-01 1.14342304e-03 -1.13971889e-03 4.65944299e+00] [-1.13073435e-03 9.99938060e-01 1.10723355e-02 1.71880984e-01] [ 1.15230866e-03 -1.10710324e-02 9.99938050e-01 -1.15790922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.24455357399998 meters Centerline goodness [0,1] 0.828920937419521 Centerline is valid? [False, False] Translation: X:4.66, Y:0.17, Z:-1.16 [[ 9.99997653e-01 2.08715074e-03 -5.80419282e-04 4.65724415e+00] [-2.08079160e-03 9.99940063e-01 1.07489905e-02 1.74426546e-01] [ 6.02819257e-04 -1.07477575e-02 9.99942059e-01 -1.15780757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.27455357399998 meters Centerline goodness [0,1] 0.831044132371441 Centerline is valid? [False, False] Translation: X:4.65, Y:0.18, Z:-1.16 [[ 9.99993327e-01 3.64506052e-03 2.44598762e-04 4.65332456e+00] [-3.64746092e-03 9.99936529e-01 1.06599718e-02 1.78025619e-01] [-2.05726995e-04 -1.06607928e-02 9.99943151e-01 -1.15648659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.30455357399998 meters Centerline goodness [0,1] 0.8311974574533525 Centerline is valid? [False, False] Translation: X:4.65, Y:0.18, Z:-1.16 [[ 9.99998549e-01 1.33324535e-03 1.06069688e-03 4.64997017e+00] [-1.33975626e-03 9.99980120e-01 6.16149186e-03 1.81331165e-01] [-1.05246101e-03 -6.16290399e-03 9.99980455e-01 -1.15726777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.33455357399998 meters Centerline goodness [0,1] 0.831265318627451 Centerline is valid? [False, False] Translation: X:4.65, Y:0.18, Z:-1.16 [[ 9.99999706e-01 4.55075891e-04 6.17300729e-04 4.65137076e+00] [-4.58445626e-04 9.99984936e-01 5.46970988e-03 1.83746351e-01] [-6.14802297e-04 -5.46999127e-03 9.99984850e-01 -1.15705216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.36455357399998 meters Centerline goodness [0,1] 0.8305318551065243 Centerline is valid? [False, False] Translation: X:4.65, Y:0.18, Z:-1.16 [[ 9.99999804e-01 -6.26303393e-04 -1.91705901e-05 4.65356514e+00] [ 6.26394875e-04 9.99986198e-01 5.21646879e-03 1.84023803e-01] [ 1.59032334e-05 -5.21647977e-03 9.99986394e-01 -1.15674486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.39455357399999 meters Centerline goodness [0,1] 0.8353004429196856 Centerline is valid? [False, False] Translation: X:4.66, Y:0.18, Z:-1.16 [[ 9.99980774e-01 -6.16640502e-03 -6.53175161e-04 4.65600238e+00] [ 6.16676332e-03 9.99980835e-01 5.47967952e-04 1.84876954e-01] [ 6.49783651e-04 -5.51985394e-04 9.99999637e-01 -1.15668032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.424553574 meters Centerline goodness [0,1] 0.8387509598157153 Centerline is valid? [False, False] Translation: X:4.66, Y:0.18, Z:-1.16 [[ 9.99964744e-01 -8.16766938e-03 -1.94935185e-03 4.66086440e+00] [ 8.16770611e-03 9.99966644e-01 1.08805162e-05 1.84751888e-01] [ 1.94919796e-03 -2.68018656e-05 9.99998100e-01 -1.15742347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.454553574 meters Centerline goodness [0,1] 0.8342670043230246 Centerline is valid? [False, False] Translation: X:4.67, Y:0.18, Z:-1.16 [[ 9.99939798e-01 -1.04239169e-02 -3.42658871e-03 4.66654620e+00] [ 1.04216408e-02 9.99945461e-01 -6.81412125e-04 1.84656985e-01] [ 3.43350481e-03 6.45660426e-04 9.99993897e-01 -1.15860177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.484553574 meters Centerline goodness [0,1] 0.8386882735740717 Centerline is valid? [False, False] Translation: X:4.68, Y:0.19, Z:-1.16 [[ 9.99836777e-01 -1.71063050e-02 -5.81320129e-03 4.67930600e+00] [ 1.70867030e-02 9.99848213e-01 -3.40508751e-03 1.85360618e-01] [ 5.87056739e-03 3.30520328e-03 9.99977306e-01 -1.16114546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.514553574 meters Centerline goodness [0,1] 0.8390502665068476 Centerline is valid? [False, False] Translation: X:4.68, Y:0.19, Z:-1.16 [[ 9.99809440e-01 -1.83396949e-02 -6.68868280e-03 4.68243678e+00] [ 1.83140894e-02 9.99824795e-01 -3.86954451e-03 1.86039961e-01] [ 6.75847718e-03 3.74631000e-03 9.99970144e-01 -1.16167808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.544553574 meters Centerline goodness [0,1] 0.8300944909966126 Centerline is valid? [False, False] Translation: X:4.69, Y:0.19, Z:-1.16 [[ 0.99976637 -0.02011489 -0.00791219 4.68681893] [ 0.02007609 0.99978618 -0.00495331 0.18817955] [ 0.00801014 0.0047933 0.99995643 -1.1627939 ] [ 0. 0. 0. 1. ]] SLAMing on 163.574553574 meters Centerline goodness [0,1] 0.8359752070314485 Centerline is valid? [False, False] Translation: X:4.69, Y:0.19, Z:-1.16 [[ 9.99796067e-01 -1.79532025e-02 -9.24703143e-03 4.69090530e+00] [ 1.79457414e-02 9.99838567e-01 -8.89220208e-04 1.87860765e-01] [ 9.26150300e-03 7.23094031e-04 9.99956850e-01 -1.16170903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.604553574 meters Centerline goodness [0,1] 0.8440993474631999 Centerline is valid? [False, False] Translation: X:4.69, Y:0.19, Z:-1.16 [[ 9.99827539e-01 -1.53922672e-02 -1.03908495e-02 4.69435239e+00] [ 1.54259274e-02 9.99875998e-01 3.16705985e-03 1.87852311e-01] [ 1.03408128e-02 -3.32680215e-03 9.99940998e-01 -1.16079020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.634553574 meters Centerline goodness [0,1] 0.8426824973587563 Centerline is valid? [False, False] Translation: X:4.70, Y:0.19, Z:-1.16 [[ 0.99986937 -0.01186765 -0.01097237 4.69539655] [ 0.01194526 0.99990391 0.0070346 0.19014097] [ 0.01088784 -0.00716474 0.99991506 -1.15957964] [ 0. 0. 0. 1. ]] SLAMing on 163.664553574 meters Centerline goodness [0,1] 0.8397101594624411 Centerline is valid? [False, False] Translation: X:4.69, Y:0.19, Z:-1.16 [[ 0.99988159 -0.01115238 -0.0106032 4.69370169] [ 0.01122536 0.99991354 0.00684819 0.19239422] [ 0.01052591 -0.0069664 0.99992033 -1.15918727] [ 0. 0. 0. 1. ]] SLAMing on 163.694553574 meters Centerline goodness [0,1] 0.8369995764928626 Centerline is valid? [False, False] Translation: X:4.69, Y:0.20, Z:-1.16 [[ 0.9999224 -0.00667626 -0.01051807 4.69242776] [ 0.00678855 0.99991996 0.01067641 0.195733 ] [ 0.01044595 -0.01074699 0.99988769 -1.15772028] [ 0. 0. 0. 1. ]] SLAMing on 163.724553574 meters Centerline goodness [0,1] 0.8451585665681576 Centerline is valid? [False, False] Translation: X:4.69, Y:0.20, Z:-1.16 [[ 0.99993273 -0.00576267 -0.01006575 4.69073546] [ 0.0058639 0.99993224 0.01005608 0.19899065] [ 0.01000711 -0.01011443 0.99989877 -1.15836566] [ 0. 0. 0. 1. ]] SLAMing on 163.75455357399997 meters Centerline goodness [0,1] 0.8318457517629074 Centerline is valid? [False, False] Translation: X:4.69, Y:0.20, Z:-1.16 [[ 9.99949976e-01 -9.88643824e-04 -9.95334374e-03 4.68941041e+00] [ 1.12470302e-03 9.99905882e-01 1.36733934e-02 2.03205845e-01] [ 9.93888884e-03 -1.36839040e-02 9.99856974e-01 -1.15751303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.78455357399997 meters Centerline goodness [0,1] 0.8459310175524732 Centerline is valid? [False, False] Translation: X:4.69, Y:0.21, Z:-1.16 [[ 9.99954568e-01 -1.74012943e-04 -9.53059259e-03 4.68794261e+00] [ 2.97933041e-04 9.99915420e-01 1.30024738e-02 2.06298905e-01] [ 9.52752389e-03 -1.30047225e-02 9.99870043e-01 -1.15820979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.81455357399997 meters Centerline goodness [0,1] 0.8454843283946996 Centerline is valid? [False, False] Translation: X:4.69, Y:0.21, Z:-1.16 [[ 9.99958342e-01 6.60832760e-04 -9.10374725e-03 4.68631180e+00] [-5.46937647e-04 9.99921627e-01 1.25076085e-02 2.09260983e-01] [ 9.11129921e-03 -1.25021082e-02 9.99880334e-01 -1.15843017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.84455357399997 meters Centerline goodness [0,1] 0.8375866682885293 Centerline is valid? [False, False] Translation: X:4.68, Y:0.21, Z:-1.16 [[ 9.99960239e-01 2.80091948e-03 -8.46607568e-03 4.68278989e+00] [-2.69643814e-03 9.99920378e-01 1.23274982e-02 2.13984506e-01] [ 8.49992993e-03 -1.23041798e-02 9.99888173e-01 -1.15807293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.87455357399998 meters Centerline goodness [0,1] 0.8347838735484496 Centerline is valid? [False, False] Translation: X:4.68, Y:0.22, Z:-1.16 [[ 9.99960182e-01 3.08234028e-03 -8.37458106e-03 4.68268418e+00] [-2.98587910e-03 9.99929340e-01 1.15065180e-02 2.16637225e-01] [ 8.40945631e-03 -1.14810544e-02 9.99898728e-01 -1.15917352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.90455357399998 meters Centerline goodness [0,1] 0.8410032767925983 Centerline is valid? [False, False] Translation: X:4.68, Y:0.22, Z:-1.16 [[ 9.99959277e-01 3.85219662e-03 -8.16120629e-03 4.68193996e+00] [-3.76904955e-03 9.99941089e-01 1.01790847e-02 2.21551988e-01] [ 8.19993733e-03 -1.01479102e-02 9.99914887e-01 -1.16108450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.93455357399998 meters Centerline goodness [0,1] 0.8381996593171949 Centerline is valid? [False, False] Translation: X:4.68, Y:0.22, Z:-1.16 [[ 9.99959237e-01 3.68406633e-03 -8.24328255e-03 4.68263520e+00] [-3.60706300e-03 9.99949905e-01 9.33679198e-03 2.23666139e-01] [ 8.27726697e-03 -9.30667735e-03 9.99922433e-01 -1.16222795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.96455357399998 meters Centerline goodness [0,1] 0.837488038277512 Centerline is valid? [False, False] Translation: X:4.68, Y:0.23, Z:-1.16 [[ 9.99969125e-01 1.32206254e-03 -7.74610166e-03 4.67994328e+00] [-1.28079218e-03 9.99984973e-01 5.33042818e-03 2.27741902e-01] [ 7.75303242e-03 -5.32034246e-03 9.99955791e-01 -1.16190201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.99455357399998 meters Centerline goodness [0,1] 0.8399770986903313 Centerline is valid? [False, False] Translation: X:4.68, Y:0.23, Z:-1.16 [[ 9.99967788e-01 9.09306830e-04 -7.97468816e-03 4.68063175e+00] [-8.69110377e-04 9.99986909e-01 5.04252250e-03 2.28363327e-01] [ 7.97916896e-03 -5.03542919e-03 9.99955488e-01 -1.16177034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.02455357399998 meters Centerline goodness [0,1] 0.8461062010148415 Centerline is valid? [False, False] Translation: X:4.68, Y:0.23, Z:-1.16 [[ 9.99966417e-01 5.17558478e-04 -8.17901871e-03 4.68119429e+00] [-4.78183096e-04 9.99988291e-01 4.81541634e-03 2.29085096e-01] [ 8.18141520e-03 -4.81134355e-03 9.99954957e-01 -1.16151351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.05455357399998 meters Centerline goodness [0,1] 0.8437396056070325 Centerline is valid? [False, False] Translation: X:4.68, Y:0.23, Z:-1.16 [[ 9.99961165e-01 -6.36841554e-04 -8.78991737e-03 4.68327154e+00] [ 6.72460926e-04 9.99991573e-01 4.04993838e-03 2.30763880e-01] [ 8.78726413e-03 -4.05569198e-03 9.99953167e-01 -1.16185578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.08455357399998 meters Centerline goodness [0,1] 0.847044096459529 Centerline is valid? [False, False] Translation: X:4.69, Y:0.23, Z:-1.16 [[ 9.99949415e-01 -2.45069605e-03 -9.75504904e-03 4.68675478e+00] [ 2.48077648e-03 9.99992202e-01 3.07266980e-03 2.32384172e-01] [ 9.74744279e-03 -3.09671446e-03 9.99947697e-01 -1.16247904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.11455357399998 meters Centerline goodness [0,1] 0.8460795628518265 Centerline is valid? [False, False] Translation: X:4.69, Y:0.23, Z:-1.16 [[ 9.99941650e-01 -3.32893230e-03 -1.02769257e-02 4.68843840e+00] [ 3.35809039e-03 9.99990382e-01 2.82128829e-03 2.32650257e-01] [ 1.02674350e-02 -2.85563452e-03 9.99943211e-01 -1.16234071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.14455357399999 meters Centerline goodness [0,1] 0.8430454224523417 Centerline is valid? [False, False] Translation: X:4.69, Y:0.23, Z:-1.16 [[ 9.99932039e-01 -4.31427284e-03 -1.08307253e-02 4.69022533e+00] [ 4.34314414e-03 9.99987074e-01 2.64358133e-03 2.32461213e-01] [ 1.08191802e-02 -2.69044107e-03 9.99937852e-01 -1.16209717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.174553574 meters Centerline goodness [0,1] 0.8488082950173594 Centerline is valid? [False, False] Translation: X:4.69, Y:0.23, Z:-1.16 [[ 9.99889087e-01 -9.59300239e-03 -1.13924355e-02 4.69264309e+00] [ 9.56627745e-03 9.99951367e-01 -2.39803227e-03 2.33768685e-01] [ 1.14148858e-02 2.28878310e-03 9.99932229e-01 -1.16338041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.204553574 meters Centerline goodness [0,1] 0.845986375447714 Centerline is valid? [False, False] Translation: X:4.69, Y:0.23, Z:-1.16 [[ 9.99872067e-01 -1.05601815e-02 -1.20138028e-02 4.69499664e+00] [ 1.05252610e-02 9.99940208e-01 -2.96622493e-03 2.34507196e-01] [ 1.20444083e-02 2.83939705e-03 9.99923432e-01 -1.16417369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.234553574 meters Centerline goodness [0,1] 0.8486041851144148 Centerline is valid? [False, False] Translation: X:4.70, Y:0.24, Z:-1.17 [[ 9.99850090e-01 -1.16633691e-02 -1.27969882e-02 4.69819215e+00] [ 1.16117665e-02 9.99924178e-01 -4.09931701e-03 2.36641597e-01] [ 1.28438297e-02 3.95010685e-03 9.99909712e-01 -1.16612069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.264553574 meters Centerline goodness [0,1] 0.8428186171944019 Centerline is valid? [False, False] Translation: X:4.70, Y:0.24, Z:-1.17 [[ 9.99864714e-01 -9.10591742e-03 -1.36980037e-02 4.70139719e+00] [ 9.10119046e-03 9.99958500e-01 -4.07382752e-04 2.35814790e-01] [ 1.37011449e-02 2.82659498e-04 9.99906095e-01 -1.16640526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.294553574 meters Centerline goodness [0,1] 0.8495722543352602 Centerline is valid? [False, False] Translation: X:4.70, Y:0.24, Z:-1.17 [[ 9.99885973e-01 -5.36728178e-03 -1.41149939e-02 4.70247085e+00] [ 5.41848494e-03 9.99978869e-01 3.59183495e-03 2.36255279e-01] [ 1.40954172e-02 -3.66790727e-03 9.99893927e-01 -1.16615834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.324553574 meters Centerline goodness [0,1] 0.8473162503754708 Centerline is valid? [False, False] Translation: X:4.70, Y:0.24, Z:-1.17 [[ 9.99896963e-01 -4.40800748e-03 -1.36613780e-02 4.70061816e+00] [ 4.45829634e-03 9.99983390e-01 3.65283103e-03 2.37965708e-01] [ 1.36450494e-02 -3.71336112e-03 9.99900007e-01 -1.16582057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.354553574 meters Centerline goodness [0,1] 0.8457741280679092 Centerline is valid? [False, False] Translation: X:4.70, Y:0.24, Z:-1.17 [[ 9.99909126e-01 -3.23151381e-03 -1.30880196e-02 4.69833277e+00] [ 3.28201925e-03 9.99987244e-01 3.83926744e-03 2.39751225e-01] [ 1.30754460e-02 -3.88187369e-03 9.99906978e-01 -1.16530805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.384553574 meters Centerline goodness [0,1] 0.8397336140607836 Centerline is valid? [False, False] Translation: X:4.70, Y:0.24, Z:-1.17 [[ 9.99914469e-01 1.44090108e-03 -1.29991710e-02 4.69788223e+00] [-1.34369354e-03 9.99971095e-01 7.48361731e-03 2.42146497e-01] [ 1.30095784e-02 -7.46551032e-03 9.99887502e-01 -1.16562116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.414553574 meters Centerline goodness [0,1] 0.8469453082129138 Centerline is valid? [False, False] Translation: X:4.70, Y:0.24, Z:-1.17 [[ 9.99919173e-01 2.51957695e-03 -1.24618945e-02 4.69611750e+00] [-2.42914956e-03 9.99970651e-01 7.26613306e-03 2.44178060e-01] [ 1.24798364e-02 -7.23527395e-03 9.99895947e-01 -1.16598263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.444553574 meters Centerline goodness [0,1] 0.8465858705291162 Centerline is valid? [False, False] Translation: X:4.69, Y:0.25, Z:-1.17 [[ 0.9999165 0.00521329 -0.01182451 4.69261324] [-0.00512072 0.99995612 0.00784508 0.24747524] [ 0.01186489 -0.00778388 0.99989931 -1.16549794] [ 0. 0. 0. 1. ]] SLAMing on 164.474553574 meters Centerline goodness [0,1] 0.8471825558728864 Centerline is valid? [False, False] Translation: X:4.69, Y:0.25, Z:-1.17 [[ 0.9999165 0.00579767 -0.01154893 4.69182547] [-0.00571107 0.99995544 0.00751692 0.24908771] [ 0.011592 -0.00745034 0.99990505 -1.16603951] [ 0. 0. 0. 1. ]] SLAMing on 164.50455357399997 meters Centerline goodness [0,1] 0.847383131226615 Centerline is valid? [False, False] Translation: X:4.69, Y:0.25, Z:-1.17 [[ 0.99991557 0.00692837 -0.01099339 4.68981546] [-0.00684982 0.99995086 0.0071669 0.25207543] [ 0.01104251 -0.00709099 0.99991389 -1.16624259] [ 0. 0. 0. 1. ]] SLAMing on 164.53455357399997 meters Centerline goodness [0,1] 0.8470535312640576 Centerline is valid? [False, False] Translation: X:4.69, Y:0.25, Z:-1.17 [[ 0.99991564 0.00712048 -0.01086302 4.68956149] [-0.00704584 0.99995142 0.00689307 0.25317523] [ 0.01091157 -0.00681595 0.99991724 -1.16658 ] [ 0. 0. 0. 1. ]] SLAMing on 164.56455357399997 meters Centerline goodness [0,1] 0.849693733312392 Centerline is valid? [False, False] Translation: X:4.69, Y:0.25, Z:-1.17 [[ 0.99991576 0.00712131 -0.01085202 4.68979183] [-0.00705115 0.99995408 0.00648926 0.254066 ] [ 0.01089773 -0.00641219 0.99992006 -1.16719805] [ 0. 0. 0. 1. ]] SLAMing on 164.59455357399997 meters Centerline goodness [0,1] 0.8467354722907785 Centerline is valid? [False, False] Translation: X:4.69, Y:0.25, Z:-1.17 [[ 0.99991555 0.00716488 -0.01084229 4.68997017] [-0.00709807 0.99995566 0.00618812 0.25456542] [ 0.01088615 -0.00611063 0.99992207 -1.1677693 ] [ 0. 0. 0. 1. ]] SLAMing on 164.62455357399998 meters Centerline goodness [0,1] 0.8474067435868713 Centerline is valid? [False, False] Translation: X:4.69, Y:0.25, Z:-1.17 [[ 0.9999157 0.00691945 -0.01098688 4.69072171] [-0.00685542 0.99995936 0.00585547 0.2549441 ] [ 0.01102695 -0.00577966 0.9999225 -1.16832755] [ 0. 0. 0. 1. ]] SLAMing on 164.65455357399998 meters Centerline goodness [0,1] 0.8491758609907536 Centerline is valid? [False, False] Translation: X:4.69, Y:0.26, Z:-1.17 [[ 0.99991623 0.00689598 -0.01095371 4.69066824] [-0.00683414 0.99996055 0.00567356 0.2554509 ] [ 0.01099241 -0.00559822 0.99992391 -1.16842075] [ 0. 0. 0. 1. ]] SLAMing on 164.68455357399998 meters Centerline goodness [0,1] 0.8491758609907536 Centerline is valid? [False, False] Translation: X:4.69, Y:0.26, Z:-1.17 [[ 0.99991623 0.00689598 -0.01095371 4.69066824] [-0.00683414 0.99996055 0.00567356 0.2554509 ] [ 0.01099241 -0.00559822 0.99992391 -1.16842075] [ 0. 0. 0. 1. ]] SLAMing on 164.71455357399998 meters Centerline goodness [0,1] 0.84942145082332 Centerline is valid? [False, False] Translation: X:4.69, Y:0.26, Z:-1.17 [[ 0.99991688 0.00676663 -0.01097502 4.69089269] [-0.00670707 0.99996263 0.00545433 0.2558129 ] [ 0.01101151 -0.00538027 0.9999249 -1.16863261] [ 0. 0. 0. 1. ]] SLAMing on 164.74455357399998 meters Centerline goodness [0,1] 0.8537689562890276 Centerline is valid? [False, False] Translation: X:4.69, Y:0.26, Z:-1.17 [[ 9.99941794e-01 3.67074658e-03 -1.01456466e-02 4.68797739e+00] [-3.65380145e-03 9.99991900e-01 1.68821926e-03 2.56594601e-01] [ 1.01517615e-02 -1.65105082e-03 9.99947106e-01 -1.16785509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.77455357399998 meters Centerline goodness [0,1] 0.8501718059708153 Centerline is valid? [False, False] Translation: X:4.69, Y:0.26, Z:-1.17 [[ 9.99941608e-01 3.29754828e-03 -1.02911342e-02 4.68841371e+00] [-3.27939307e-03 9.99993038e-01 1.78053651e-03 2.55817343e-01] [ 1.02969340e-02 -1.74668387e-03 9.99945460e-01 -1.16745908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.80455357399998 meters Centerline goodness [0,1] 0.854836909200509 Centerline is valid? [False, False] Translation: X:4.69, Y:0.26, Z:-1.17 [[ 9.99948414e-01 -7.43685045e-04 -1.01300160e-02 4.68800370e+00] [ 7.20653802e-04 9.99997148e-01 -2.27702486e-03 2.55537705e-01] [ 1.01316805e-02 2.26960716e-03 9.99946098e-01 -1.16762541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.83455357399998 meters Centerline goodness [0,1] 0.8558052434456929 Centerline is valid? [False, False] Translation: X:4.69, Y:0.26, Z:-1.17 [[ 9.99942562e-01 -1.38759006e-03 -1.06276642e-02 4.68970611e+00] [ 1.36194287e-03 9.99996144e-01 -2.42010488e-03 2.55104294e-01] [ 1.06309813e-02 2.40549160e-03 9.99940596e-01 -1.16808006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.86455357399998 meters Centerline goodness [0,1] 0.85696154616909 Centerline is valid? [False, False] Translation: X:4.69, Y:0.26, Z:-1.17 [[ 9.99936355e-01 -2.06977547e-03 -1.10906174e-02 4.69168674e+00] [ 2.03918823e-03 9.99994088e-01 -2.76853754e-03 2.55156347e-01] [ 1.10962821e-02 2.74574548e-03 9.99934665e-01 -1.16911866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.89455357399999 meters Centerline goodness [0,1] 0.8578804468776428 Centerline is valid? [False, False] Translation: X:4.69, Y:0.25, Z:-1.17 [[ 9.99925307e-01 -3.11141488e-03 -1.18194744e-02 4.69453006e+00] [ 3.07284254e-03 9.99989899e-01 -3.28021594e-03 2.54987821e-01] [ 1.18295611e-02 3.24365155e-03 9.99924767e-01 -1.17045040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.924553574 meters Centerline goodness [0,1] 0.8300630303570236 Centerline is valid? [False, False] Translation: X:4.70, Y:0.25, Z:-1.17 [[ 9.99918175e-01 -3.68198816e-03 -1.22509973e-02 4.69589184e+00] [ 3.64420895e-03 9.99988540e-01 -3.10466181e-03 2.53316250e-01] [ 1.22622882e-02 3.05976258e-03 9.99920134e-01 -1.17042732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.954553574 meters Centerline goodness [0,1] 0.8601719452982315 Centerline is valid? [False, False] Translation: X:4.70, Y:0.25, Z:-1.17 [[ 9.99914507e-01 -3.90058805e-03 -1.24805492e-02 4.69679269e+00] [ 3.86065873e-03 9.99987358e-01 -3.22181917e-03 2.53401739e-01] [ 1.24929584e-02 3.17336058e-03 9.99916924e-01 -1.17088590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.984553574 meters Centerline goodness [0,1] 0.8621311256509547 Centerline is valid? [False, False] Translation: X:4.70, Y:0.25, Z:-1.17 [[ 9.99910948e-01 -4.03550270e-03 -1.27205121e-02 4.69777464e+00] [ 3.99229730e-03 9.99986182e-01 -3.42007970e-03 2.53877753e-01] [ 1.27341381e-02 3.36899107e-03 9.99913242e-01 -1.17162972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.014553574 meters Centerline goodness [0,1] 0.8461333333333333 Centerline is valid? [False, False] Translation: X:4.70, Y:0.25, Z:-1.17 [[ 9.99906836e-01 -1.20688767e-03 -1.35964313e-02 4.70086994e+00] [ 1.21225190e-03 9.99999191e-01 3.86297637e-04 2.52673476e-01] [ 1.35959541e-02 -4.02743948e-04 9.99907490e-01 -1.17221451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.044553574 meters Centerline goodness [0,1] 0.8645418326693227 Centerline is valid? [False, False] Translation: X:4.70, Y:0.25, Z:-1.17 [[ 9.99909407e-01 -7.40933294e-04 -1.34398335e-02 4.70001860e+00] [ 7.50742095e-04 9.99999456e-01 7.24800093e-04 2.52577793e-01] [ 1.34392892e-02 -7.34824280e-04 9.99909419e-01 -1.17166054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.074553574 meters Centerline goodness [0,1] 0.8658723631271257 Centerline is valid? [False, False] Translation: X:4.70, Y:0.25, Z:-1.17 [[ 9.99918340e-01 5.60283806e-04 -1.27671400e-02 4.69751111e+00] [-5.45683795e-04 9.99999193e-01 1.14701647e-03 2.52994366e-01] [ 1.27677723e-02 -1.13995598e-03 9.99917839e-01 -1.17116094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.104553574 meters Centerline goodness [0,1] 0.8665512419258175 Centerline is valid? [False, False] Translation: X:4.70, Y:0.25, Z:-1.17 [[ 9.99921815e-01 1.15673071e-03 -1.24509227e-02 4.69654478e+00] [-1.14230172e-03 9.99998668e-01 1.16591829e-03 2.53838599e-01] [ 1.24522547e-02 -1.15160442e-03 9.99921805e-01 -1.17126727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.134553574 meters Centerline goodness [0,1] 0.864741270228872 Centerline is valid? [False, False] Translation: X:4.70, Y:0.25, Z:-1.17 [[ 9.99925827e-01 1.87186938e-03 -1.20348196e-02 4.69521482e+00] [-1.85764933e-03 9.99997563e-01 1.19264632e-03 2.54795608e-01] [ 1.20370227e-02 -1.17020139e-03 9.99926868e-01 -1.17124198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.164553574 meters Centerline goodness [0,1] 0.8668598478145461 Centerline is valid? [False, False] Translation: X:4.70, Y:0.25, Z:-1.17 [[ 0.99990796 0.00607099 -0.01213328 4.69545647] [-0.00600381 0.99996649 0.00556551 0.25403378] [ 0.01216667 -0.00549215 0.9999109 -1.17089521] [ 0. 0. 0. 1. ]] SLAMing on 165.194553574 meters Centerline goodness [0,1] 0.8651939583471955 Centerline is valid? [False, False] Translation: X:4.69, Y:0.25, Z:-1.17 [[ 0.99990697 0.00804252 -0.01101691 4.6913912 ] [-0.00797407 0.99994872 0.00624336 0.25461981] [ 0.01106655 -0.00615493 0.99991982 -1.16995779] [ 0. 0. 0. 1. ]] SLAMing on 165.224553574 meters Centerline goodness [0,1] 0.8653876081011983 Centerline is valid? [False, False] Translation: X:4.69, Y:0.25, Z:-1.17 [[ 0.99990581 0.00899372 -0.0103674 4.68894878] [-0.00892308 0.9999368 0.00683951 0.2542879 ] [ 0.01042825 -0.00674635 0.99992287 -1.1687158 ] [ 0. 0. 0. 1. ]] SLAMing on 165.25455357399997 meters Centerline goodness [0,1] 0.8656593528861988 Centerline is valid? [False, False] Translation: X:4.69, Y:0.25, Z:-1.17 [[ 0.99990305 0.00989478 -0.00979693 4.68682891] [-0.00982302 0.99992476 0.00734695 0.25395114] [ 0.00986889 -0.00725 0.99992502 -1.16777352] [ 0. 0. 0. 1. ]] SLAMing on 165.28455357399997 meters Centerline goodness [0,1] 0.8663991975927783 Centerline is valid? [False, False] Translation: X:4.68, Y:0.25, Z:-1.17 [[ 0.99989227 0.01159 -0.00900716 4.68421443] [-0.01151954 0.99990294 0.00783655 0.25456904] [ 0.00909711 -0.00773194 0.99992873 -1.16781222] [ 0. 0. 0. 1. ]] SLAMing on 165.31455357399997 meters Centerline goodness [0,1] 0.8643682768757934 Centerline is valid? [False, False] Translation: X:4.68, Y:0.26, Z:-1.17 [[ 0.99989036 0.01180371 -0.00894135 4.68461021] [-0.0117371 0.99990324 0.00746612 0.25526959] [ 0.00902861 -0.00736035 0.99993215 -1.16915932] [ 0. 0. 0. 1. ]] SLAMing on 165.34455357399997 meters Centerline goodness [0,1] 0.8653485254691688 Centerline is valid? [False, False] Translation: X:4.68, Y:0.25, Z:-1.17 [[ 0.9998845 0.01254936 -0.00857312 4.68380517] [-0.01248344 0.99989243 0.0077003 0.25446431] [ 0.00866883 -0.00759239 0.9999336 -1.16988244] [ 0. 0. 0. 1. ]] SLAMing on 165.37455357399998 meters Centerline goodness [0,1] 0.8639676294375391 Centerline is valid? [False, False] Translation: X:4.68, Y:0.26, Z:-1.17 [[ 9.99918702e-01 1.00622114e-02 -7.83209877e-03 4.68146190e+00] [-1.00332080e-02 9.99942696e-01 3.73367714e-03 2.55690622e-01] [ 7.86921901e-03 -3.65479252e-03 9.99962358e-01 -1.17067167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.40455357399998 meters Centerline goodness [0,1] 0.864293235946497 Centerline is valid? [False, False] Translation: X:4.68, Y:0.26, Z:-1.17 [[ 9.99919621e-01 9.98458413e-03 -7.81412629e-03 4.68162754e+00] [-9.95586211e-03 9.99943572e-01 3.70596255e-03 2.55229594e-01] [ 7.85068784e-03 -3.62786830e-03 9.99962602e-01 -1.17085555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.43455357399998 meters Centerline goodness [0,1] 0.8657105606258149 Centerline is valid? [False, False] Translation: X:4.68, Y:0.25, Z:-1.17 [[ 9.99951847e-01 6.60176822e-03 -7.26080964e-03 4.68011409e+00] [-6.60424149e-03 9.99978142e-01 -3.16709057e-04 2.54962700e-01] [ 7.25856009e-03 3.64645947e-04 9.99973590e-01 -1.17142409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.46455357399998 meters Centerline goodness [0,1] 0.8640546758695358 Centerline is valid? [False, False] Translation: X:4.68, Y:0.25, Z:-1.17 [[ 9.99952548e-01 5.99226609e-03 -7.68079047e-03 4.68152968e+00] [-5.99474368e-03 9.99981986e-01 -2.99586521e-04 2.53792153e-01] [ 7.67885691e-03 3.45616675e-04 9.99970457e-01 -1.17150646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.49455357399998 meters Centerline goodness [0,1] 0.8680671888441165 Centerline is valid? [False, False] Translation: X:4.68, Y:0.25, Z:-1.17 [[ 9.99968198e-01 1.57043561e-03 -7.81897680e-03 4.68241661e+00] [-1.60446914e-03 9.99989259e-01 -4.34831409e-03 2.52317096e-01] [ 7.81206407e-03 4.36072111e-03 9.99959977e-01 -1.17237939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.52455357399998 meters Centerline goodness [0,1] 0.8657355975242025 Centerline is valid? [False, False] Translation: X:4.68, Y:0.25, Z:-1.17 [[ 9.99963762e-01 6.48368572e-04 -8.48849782e-03 4.68475646e+00] [-6.84716080e-04 9.99990607e-01 -4.27976607e-03 2.50730307e-01] [ 8.48564322e-03 4.28542319e-03 9.99954813e-01 -1.17268040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.55455357399998 meters Centerline goodness [0,1] 0.8683003270348837 Centerline is valid? [False, False] Translation: X:4.69, Y:0.25, Z:-1.18 [[ 9.99950316e-01 -2.51943350e-03 -9.64456095e-03 4.69066917e+00] [ 2.46595359e-03 9.99981542e-01 -5.55296650e-03 2.48255924e-01] [ 9.65837326e-03 5.52890757e-03 9.99938072e-01 -1.17521455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.58455357399998 meters Centerline goodness [0,1] 0.8688263530268217 Centerline is valid? [False, False] Translation: X:4.69, Y:0.25, Z:-1.18 [[ 9.99937191e-01 -3.83151336e-03 -1.05325217e-02 4.69397288e+00] [ 3.77192991e-03 9.99976805e-01 -5.67114817e-03 2.46790200e-01] [ 1.05540065e-02 5.63106404e-03 9.99928449e-01 -1.17590542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.61455357399998 meters Centerline goodness [0,1] 0.8692622950819672 Centerline is valid? [False, False] Translation: X:4.70, Y:0.24, Z:-1.18 [[ 0.99992481 -0.00494171 -0.01122262 4.69641207] [ 0.00488036 0.99997304 -0.00548724 0.24470193] [ 0.01124944 0.00543205 0.99992197 -1.17586804] [ 0. 0. 0. 1. ]] SLAMing on 165.64455357399999 meters Centerline goodness [0,1] 0.8703483315787064 Centerline is valid? [False, False] Translation: X:4.70, Y:0.24, Z:-1.18 [[ 0.99988275 -0.00991368 -0.01167038 4.69834796] [ 0.0098027 0.99990655 -0.00952898 0.24264611] [ 0.01176376 0.00941346 0.99988649 -1.17634011] [ 0. 0. 0. 1. ]] SLAMing on 165.674553574 meters Centerline goodness [0,1] 0.8692224844748964 Centerline is valid? [False, False] Translation: X:4.70, Y:0.24, Z:-1.18 [[ 0.99986631 -0.0108021 -0.01227519 4.70052935] [ 0.01068551 0.99989755 -0.00952412 0.24143431] [ 0.01237681 0.00939168 0.9998793 -1.17662662] [ 0. 0. 0. 1. ]] SLAMing on 165.704553574 meters Centerline goodness [0,1] 0.8640798937193641 Centerline is valid? [False, False] Translation: X:4.70, Y:0.24, Z:-1.18 [[ 0.99983747 -0.01232617 -0.01315704 4.70406612] [ 0.01219661 0.99987678 -0.00988243 0.2405121 ] [ 0.01327723 0.00972035 0.99986461 -1.17754412] [ 0. 0. 0. 1. ]] SLAMing on 165.734553574 meters Centerline goodness [0,1] 0.8615359956035904 Centerline is valid? [False, False] Translation: X:4.71, Y:0.24, Z:-1.18 [[ 0.99984365 -0.01057729 -0.01417007 4.70801129] [ 0.0104903 0.99992576 -0.00619963 0.23890695] [ 0.01423459 0.00605001 0.99988038 -1.17734426] [ 0. 0. 0. 1. ]] SLAMing on 165.764553574 meters Centerline goodness [0,1] 0.8561091775050376 Centerline is valid? [False, False] Translation: X:4.71, Y:0.24, Z:-1.18 [[ 0.99982072 -0.01175887 -0.01484136 4.71062887] [ 0.01166653 0.99991214 -0.00629305 0.23758747] [ 0.01491406 0.00611877 0.99987006 -1.17770406] [ 0. 0. 0. 1. ]] SLAMing on 165.794553574 meters Centerline goodness [0,1] 0.8697668013220712 Centerline is valid? [False, False] Translation: X:4.71, Y:0.24, Z:-1.18 [[ 0.99981097 -0.01215546 -0.01517437 4.71177106] [ 0.01206311 0.99990824 -0.00616319 0.2369176 ] [ 0.01524789 0.00597898 0.99986587 -1.17761447] [ 0. 0. 0. 1. ]] SLAMing on 165.824553574 meters Centerline goodness [0,1] 0.8720313898258415 Centerline is valid? [False, False] Translation: X:4.71, Y:0.24, Z:-1.18 [[ 0.99980725 -0.01229948 -0.01530319 4.71194426] [ 0.01220989 0.99990785 -0.00593435 0.23651008] [ 0.01537477 0.00574636 0.99986529 -1.17700793] [ 0. 0. 0. 1. ]] SLAMing on 165.854553574 meters Centerline goodness [0,1] 0.8662025055539014 Centerline is valid? [False, False] Translation: X:4.71, Y:0.24, Z:-1.18 [[ 9.99823293e-01 -1.00929545e-02 -1.58591962e-02 4.71420555e+00] [ 1.00576199e-02 9.99946761e-01 -2.30620497e-03 2.35117282e-01] [ 1.58816283e-02 2.14629168e-03 9.99871575e-01 -1.17639766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.884553574 meters Centerline goodness [0,1] 0.8701450203577474 Centerline is valid? [False, False] Translation: X:4.72, Y:0.23, Z:-1.18 [[ 9.99835613e-01 -7.15405870e-03 -1.66603484e-02 4.71675176e+00] [ 7.18379036e-03 9.99972708e-01 1.72541300e-03 2.34185634e-01] [ 1.66475500e-02 -1.84481382e-03 9.99859718e-01 -1.17607905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.914553574 meters Centerline goodness [0,1] 0.8734301278690766 Centerline is valid? [False, False] Translation: X:4.72, Y:0.23, Z:-1.18 [[ 9.99845903e-01 -3.61320006e-03 -1.71789274e-02 4.71822404e+00] [ 3.71109168e-03 9.99977040e-01 5.66989498e-03 2.34514708e-01] [ 1.71580465e-02 -5.73277384e-03 9.99836355e-01 -1.17581356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.944553574 meters Centerline goodness [0,1] 0.8720160207541587 Centerline is valid? [False, False] Translation: X:4.72, Y:0.24, Z:-1.18 [[ 9.99848478e-01 -3.32681239e-03 -1.70866564e-02 4.71803126e+00] [ 3.41823018e-03 9.99979986e-01 5.32382918e-03 2.35712139e-01] [ 1.70686031e-02 -5.38142863e-03 9.99839839e-01 -1.17639474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.974553574 meters Centerline goodness [0,1] 0.8745288588165842 Centerline is valid? [False, False] Translation: X:4.72, Y:0.24, Z:-1.18 [[ 9.99854671e-01 -2.60590457e-03 -1.68477158e-02 4.71738889e+00] [ 2.68814200e-03 9.99984575e-01 4.86041900e-03 2.37612579e-01] [ 1.68347901e-02 -4.90500170e-03 9.99846254e-01 -1.17754339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.00455357399997 meters Centerline goodness [0,1] 0.8723037492345029 Centerline is valid? [False, False] Translation: X:4.72, Y:0.24, Z:-1.18 [[ 9.99855990e-01 -2.39870249e-03 -1.68001422e-02 4.71738314e+00] [ 2.47698846e-03 9.99986165e-01 4.64058297e-03 2.38558072e-01] [ 1.67887784e-02 -4.68152844e-03 9.99848099e-01 -1.17811716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03455357399997 meters Centerline goodness [0,1] 0.8750141284445148 Centerline is valid? [False, False] Translation: X:4.72, Y:0.24, Z:-1.18 [[ 9.99855829e-01 -2.20278325e-03 -1.68365529e-02 4.71759250e+00] [ 2.27534529e-03 9.99988201e-01 4.29185156e-03 2.40082632e-01] [ 1.68269002e-02 -4.32954177e-03 9.99849044e-01 -1.17887749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.06455357399997 meters Centerline goodness [0,1] 0.8740799277489275 Centerline is valid? [False, False] Translation: X:4.72, Y:0.24, Z:-1.18 [[ 9.99853791e-01 -2.33465004e-03 -1.69395105e-02 4.71821709e+00] [ 2.40285662e-03 9.99989084e-01 4.00724350e-03 2.40613434e-01] [ 1.69299701e-02 -4.04736082e-03 9.99848486e-01 -1.17948384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.09455357399997 meters Centerline goodness [0,1] 0.8744900948817922 Centerline is valid? [False, False] Translation: X:4.72, Y:0.24, Z:-1.18 [[ 9.99850923e-01 -2.50231498e-03 -1.70841846e-02 4.71882106e+00] [ 2.56758772e-03 9.99989484e-01 3.79978846e-03 2.41006277e-01] [ 1.70744966e-02 -3.84308714e-03 9.99846834e-01 -1.17968900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.12455357399998 meters Centerline goodness [0,1] 0.8747154159998196 Centerline is valid? [False, False] Translation: X:4.72, Y:0.24, Z:-1.18 [[ 9.99853613e-01 -2.33381261e-03 -1.69500830e-02 4.71778237e+00] [ 2.40178751e-03 9.99989151e-01 3.99104988e-03 2.41537700e-01] [ 1.69405848e-02 -4.03117614e-03 9.99848372e-01 -1.17830743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.15455357399998 meters Centerline goodness [0,1] 0.8745227507523694 Centerline is valid? [False, False] Translation: X:4.72, Y:0.24, Z:-1.18 [[ 9.99850493e-01 -2.53835484e-03 -1.71040400e-02 4.71814126e+00] [ 2.59904414e-03 9.99990403e-01 3.52694976e-03 2.43262693e-01] [ 1.70949232e-02 -3.57087661e-03 9.99847495e-01 -1.17834377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.18455357399998 meters Centerline goodness [0,1] 0.8515773682914269 Centerline is valid? [False, False] Translation: X:4.72, Y:0.24, Z:-1.18 [[ 9.99849882e-01 -2.52768175e-03 -1.71412755e-02 4.71813900e+00] [ 2.58757650e-03 9.99990622e-01 3.47290430e-03 2.44186545e-01] [ 1.71323364e-02 -3.51673732e-03 9.99847046e-01 -1.17804563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.21455357399998 meters Centerline goodness [0,1] 0.8777400017893889 Centerline is valid? [False, False] Translation: X:4.72, Y:0.24, Z:-1.18 [[ 9.99852666e-01 -2.33640617e-03 -1.70054959e-02 4.71747038e+00] [ 2.39623877e-03 9.99991008e-01 3.49890183e-03 2.44932174e-01] [ 1.69971681e-02 -3.53913555e-03 9.99849274e-01 -1.17749680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.24455357399998 meters Centerline goodness [0,1] 0.8790679976722324 Centerline is valid? [False, False] Translation: X:4.71, Y:0.25, Z:-1.18 [[ 9.99863813e-01 -1.56165580e-03 -1.64291174e-02 4.71476272e+00] [ 1.62485025e-03 9.99991331e-01 3.83384597e-03 2.46107272e-01] [ 1.64229878e-02 -3.86001870e-03 9.99857683e-01 -1.17558648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.27455357399998 meters Centerline goodness [0,1] 0.8376500456539653 Centerline is valid? [False, False] Translation: X:4.71, Y:0.25, Z:-1.18 [[ 9.99868584e-01 -1.21859871e-03 -1.61656690e-02 4.71404140e+00] [ 1.27829580e-03 9.99992401e-01 3.68301254e-03 2.47341813e-01] [ 1.61610580e-02 -3.70319304e-03 9.99862544e-01 -1.17563782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.30455357399998 meters Centerline goodness [0,1] 0.862380434541379 Centerline is valid? [False, False] Translation: X:4.71, Y:0.25, Z:-1.18 [[ 9.99876959e-01 -1.96235868e-04 -1.56852804e-02 4.71216041e+00] [ 2.48481499e-04 9.99994428e-01 3.32899055e-03 2.50593421e-01] [ 1.56845398e-02 -3.33247845e-03 9.99871437e-01 -1.17583477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.33455357399998 meters Centerline goodness [0,1] 0.8783268275372604 Centerline is valid? [False, False] Translation: X:4.71, Y:0.25, Z:-1.18 [[ 9.99876291e-01 -5.62017748e-05 -1.57289176e-02 4.71232801e+00] [ 1.05022830e-04 9.99995180e-01 3.10309554e-03 2.51594621e-01] [ 1.57286673e-02 -3.10436356e-03 9.99871478e-01 -1.17616015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.36455357399998 meters Centerline goodness [0,1] 0.87622538196591 Centerline is valid? [False, False] Translation: X:4.71, Y:0.25, Z:-1.18 [[ 9.99875390e-01 2.04627310e-04 -1.57848553e-02 4.71236958e+00] [-1.57865050e-04 9.99995596e-01 2.96366541e-03 2.52433829e-01] [ 1.57853922e-02 -2.96080423e-03 9.99871019e-01 -1.17646826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.39455357399999 meters Centerline goodness [0,1] 0.8802470497408184 Centerline is valid? [False, False] Translation: X:4.71, Y:0.25, Z:-1.18 [[ 9.99875763e-01 2.35014619e-04 -1.57608325e-02 4.71237487e+00] [-1.91024719e-04 9.99996083e-01 2.79253728e-03 2.53158655e-01] [ 1.57614270e-02 -2.78917964e-03 9.99871891e-01 -1.17647617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.424553574 meters Centerline goodness [0,1] 0.8775914432853559 Centerline is valid? [False, False] Translation: X:4.71, Y:0.25, Z:-1.18 [[ 9.99877792e-01 4.16409098e-04 -1.56277663e-02 4.71176843e+00] [-3.72913671e-04 9.99996049e-01 2.78602547e-03 2.54094322e-01] [ 1.56288647e-02 -2.77985718e-03 9.99873998e-01 -1.17597347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.454553574 meters Centerline goodness [0,1] 0.8779531869238686 Centerline is valid? [False, False] Translation: X:4.71, Y:0.26, Z:-1.18 [[ 9.99873877e-01 1.46649118e-04 -1.58810645e-02 4.71281812e+00] [-1.15162956e-04 9.99998026e-01 1.98351922e-03 2.56836409e-01] [ 1.58813241e-02 -1.98144014e-03 9.99871921e-01 -1.17698042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.484553574 meters Centerline goodness [0,1] 0.8791249617553215 Centerline is valid? [False, False] Translation: X:4.71, Y:0.26, Z:-1.18 [[ 9.99865888e-01 -4.46346187e-04 -1.63709414e-02 4.71494247e+00] [ 4.67587001e-04 9.99999054e-01 1.29366580e-03 2.58144543e-01] [ 1.63703485e-02 -1.30114714e-03 9.99865150e-01 -1.17843313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.514553574 meters Centerline goodness [0,1] 0.8796712161513975 Centerline is valid? [False, False] Translation: X:4.71, Y:0.26, Z:-1.18 [[ 9.99943458e-01 -5.48918933e-03 -9.10762870e-03 4.70872376e+00] [ 5.50734685e-03 9.99982894e-01 1.96978008e-03 2.60323250e-01] [ 9.09666041e-03 -2.01982757e-03 9.99956585e-01 -1.18376176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.544553574 meters Centerline goodness [0,1] 0.8806054666231079 Centerline is valid? [False, False] Translation: X:4.71, Y:0.26, Z:-1.18 [[ 9.99934869e-01 -6.24819721e-03 -9.55075933e-03 4.71023275e+00] [ 6.26552577e-03 9.99978777e-01 1.78552123e-03 2.60215824e-01] [ 9.53940034e-03 -1.84524546e-03 9.99952796e-01 -1.18366487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.574553574 meters Centerline goodness [0,1] 0.8806054666231079 Centerline is valid? [False, False] Translation: X:4.71, Y:0.26, Z:-1.18 [[ 9.99934869e-01 -6.24819721e-03 -9.55075933e-03 4.71023275e+00] [ 6.26552577e-03 9.99978777e-01 1.78552123e-03 2.60215824e-01] [ 9.53940034e-03 -1.84524546e-03 9.99952796e-01 -1.18366487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.604553574 meters Centerline goodness [0,1] 0.8733759179594143 Centerline is valid? [False, False] Translation: X:4.71, Y:0.26, Z:-1.18 [[ 9.99917009e-01 -7.79380511e-03 -1.02582403e-02 4.71247891e+00] [ 7.80556891e-03 9.99968923e-01 1.10722808e-03 2.61092359e-01] [ 1.02492920e-02 -1.18720759e-03 9.99946770e-01 -1.18331380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.634553574 meters Centerline goodness [0,1] 0.8817164744324945 Centerline is valid? [False, False] Translation: X:4.71, Y:0.26, Z:-1.18 [[ 9.99908831e-01 -8.33667809e-03 -1.06220782e-02 4.71371048e+00] [ 8.34375852e-03 9.99964997e-01 6.22435049e-04 2.62476125e-01] [ 1.06165173e-02 -7.11006357e-04 9.99943390e-01 -1.18359784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.664553574 meters Centerline goodness [0,1] 0.8688358234735296 Centerline is valid? [False, False] Translation: X:4.71, Y:0.26, Z:-1.18 [[ 9.99902181e-01 -8.72970473e-03 -1.09279387e-02 4.71483013e+00] [ 8.73133274e-03 9.99961876e-01 1.01275802e-04 2.64298214e-01] [ 1.09266380e-02 -1.96681364e-04 9.99940283e-01 -1.18406053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.694553574 meters Centerline goodness [0,1] 0.8834841143935172 Centerline is valid? [False, False] Translation: X:4.72, Y:0.27, Z:-1.18 [[ 9.99896538e-01 -8.97172230e-03 -1.12437232e-02 4.71567970e+00] [ 8.96209222e-03 9.99959429e-01 -9.06579357e-04 2.68118928e-01] [ 1.12514006e-02 8.05718276e-04 9.99936376e-01 -1.18468204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.724553574 meters Centerline goodness [0,1] 0.8884942877925635 Centerline is valid? [False, False] Translation: X:4.72, Y:0.27, Z:-1.18 [[ 9.99896261e-01 -8.89134959e-03 -1.13318373e-02 4.71576207e+00] [ 8.87946445e-03 9.99959973e-01 -1.09870935e-03 2.69454228e-01] [ 1.13411527e-02 9.97974722e-04 9.99935189e-01 -1.18458369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75455357399997 meters Centerline goodness [0,1] 0.8880175591876744 Centerline is valid? [False, False] Translation: X:4.72, Y:0.27, Z:-1.18 [[ 9.99914374e-01 -5.59484506e-03 -1.18297068e-02 4.71687796e+00] [ 5.62499658e-03 9.99981012e-01 2.51706271e-03 2.70734093e-01] [ 1.18153996e-02 -2.58338925e-03 9.99926859e-01 -1.18376417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.78455357399997 meters Centerline goodness [0,1] 0.880228945912592 Centerline is valid? [False, False] Translation: X:4.72, Y:0.27, Z:-1.18 [[ 9.99916287e-01 -5.36154282e-03 -1.17759554e-02 4.71662133e+00] [ 5.38788548e-03 9.99983051e-01 2.20640217e-03 2.72490628e-01] [ 1.17639261e-02 -2.26966496e-03 9.99928227e-01 -1.18387635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.81455357399997 meters Centerline goodness [0,1] 0.8828473087399962 Centerline is valid? [False, False] Translation: X:4.72, Y:0.28, Z:-1.18 [[ 9.99924323e-01 -1.85268119e-03 -1.21620730e-02 4.71755551e+00] [ 1.91704459e-03 9.99984209e-01 5.28261752e-03 2.76069154e-01] [ 1.21520940e-02 -5.30553299e-03 9.99912085e-01 -1.18387158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.84455357399997 meters Centerline goodness [0,1] 0.8854831574290589 Centerline is valid? [False, False] Translation: X:4.72, Y:0.28, Z:-1.18 [[ 9.99927836e-01 -1.36141058e-03 -1.19360314e-02 4.71670201e+00] [ 1.42037189e-03 9.99986825e-01 4.93269014e-03 2.78609369e-01] [ 1.19291587e-02 -4.94928778e-03 9.99916596e-01 -1.18390448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.87455357399998 meters Centerline goodness [0,1] 0.884917138661632 Centerline is valid? [False, False] Translation: X:4.72, Y:0.28, Z:-1.18 [[ 9.99927872e-01 -1.25760136e-03 -1.19444282e-02 4.71682914e+00] [ 1.30896837e-03 9.99989926e-01 4.29365595e-03 2.80934669e-01] [ 1.19389081e-02 -4.30898114e-03 9.99919444e-01 -1.18443799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.90455357399998 meters Centerline goodness [0,1] 0.8882576548728017 Centerline is valid? [False, False] Translation: X:4.71, Y:0.28, Z:-1.18 [[ 9.99935328e-01 -2.65325386e-04 -1.13696810e-02 4.71405760e+00] [ 3.14948484e-04 9.99990433e-01 4.36294281e-03 2.83254669e-01] [ 1.13684146e-02 -4.36624151e-03 9.99925845e-01 -1.18270422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.93455357399998 meters Centerline goodness [0,1] 0.8903729365360936 Centerline is valid? [False, False] Translation: X:4.71, Y:0.28, Z:-1.18 [[ 9.99937226e-01 7.52097539e-05 -1.12043919e-02 4.71333326e+00] [-2.80002684e-05 9.99991122e-01 4.21357769e-03 2.84574513e-01] [ 1.12046093e-02 -4.21299946e-03 9.99928351e-01 -1.18237706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.96455357399998 meters Centerline goodness [0,1] 0.8892638989543431 Centerline is valid? [False, False] Translation: X:4.71, Y:0.29, Z:-1.18 [[ 9.99937253e-01 1.35395845e-03 -1.11200788e-02 4.71269685e+00] [-1.30988925e-03 9.99991264e-01 3.96935777e-03 2.90023055e-01] [ 1.11253560e-02 -3.95454263e-03 9.99930292e-01 -1.18296893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.99455357399998 meters Centerline goodness [0,1] 0.8966171617161716 Centerline is valid? [False, False] Translation: X:4.71, Y:0.29, Z:-1.18 [[ 9.99936034e-01 1.63006606e-03 -1.11924767e-02 4.71294056e+00] [-1.59220204e-03 9.99992983e-01 3.39106608e-03 2.93007321e-01] [ 1.11979258e-02 -3.37302848e-03 9.99931612e-01 -1.18365764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.02455357399998 meters Centerline goodness [0,1] 0.8942136224813988 Centerline is valid? [False, False] Translation: X:4.71, Y:0.30, Z:-1.18 [[ 9.99937518e-01 2.35854568e-03 -1.09268972e-02 4.71166349e+00] [-2.32807404e-03 9.99993368e-01 2.80056204e-03 2.97775780e-01] [ 1.09334300e-02 -2.77494843e-03 9.99936378e-01 -1.18343849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.05455357399998 meters Centerline goodness [0,1] 0.8912740965088201 Centerline is valid? [False, False] Translation: X:4.71, Y:0.30, Z:-1.18 [[ 9.99938388e-01 2.36730170e-03 -1.08451017e-02 4.71126285e+00] [-2.34004467e-03 9.99994073e-01 2.52530352e-03 2.99112022e-01] [ 1.08510156e-02 -2.49976991e-03 9.99938001e-01 -1.18297879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.08455357399998 meters Centerline goodness [0,1] 0.8885016711502405 Centerline is valid? [False, False] Translation: X:4.71, Y:0.30, Z:-1.18 [[ 9.99938550e-01 2.15944692e-03 -1.08734914e-02 4.71113096e+00] [-2.13472946e-03 9.99995112e-01 2.28427866e-03 2.99918422e-01] [ 1.08783711e-02 -2.26092633e-03 9.99938273e-01 -1.18238530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.11455357399998 meters Centerline goodness [0,1] 0.892799089726918 Centerline is valid? [False, False] Translation: X:4.71, Y:0.30, Z:-1.18 [[ 9.99937979e-01 1.43012559e-03 -1.10450636e-02 4.71160056e+00] [-1.41274850e-03 9.99997752e-01 1.58093199e-03 3.01554324e-01] [ 1.10472997e-02 -1.56523004e-03 9.99937752e-01 -1.18202130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.14455357399999 meters Centerline goodness [0,1] 0.8790493704908756 Centerline is valid? [False, False] Translation: X:4.71, Y:0.30, Z:-1.18 [[ 9.99933236e-01 6.74519849e-04 -1.15355468e-02 4.71340806e+00] [-6.70134358e-04 9.99999702e-01 3.84033014e-04 3.04848276e-01] [ 1.15358024e-02 -3.76277009e-04 9.99933390e-01 -1.18329611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.174553574 meters Centerline goodness [0,1] 0.8950904080934854 Centerline is valid? [False, False] Translation: X:4.71, Y:0.31, Z:-1.18 [[ 9.99929559e-01 3.01572868e-04 -1.18653211e-02 4.71483116e+00] [-3.04897227e-04 9.99999915e-01 -2.78366523e-04 3.06805775e-01] [ 1.18652361e-02 2.81964619e-04 9.99929566e-01 -1.18438217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.204553574 meters Centerline goodness [0,1] 0.8937744360902256 Centerline is valid? [False, False] Translation: X:4.72, Y:0.31, Z:-1.19 [[ 9.99924557e-01 -1.60310066e-04 -1.22823016e-02 4.71646474e+00] [ 1.48421512e-04 9.99999520e-01 -9.68847283e-04 3.08698996e-01] [ 1.22824510e-02 9.66951232e-04 9.99924100e-01 -1.18543025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.234553574 meters Centerline goodness [0,1] 0.8937458775559153 Centerline is valid? [False, False] Translation: X:4.72, Y:0.31, Z:-1.19 [[ 9.99915391e-01 -1.26154782e-03 -1.29467864e-02 4.71879947e+00] [ 1.23186935e-03 9.99996596e-01 -2.30006180e-03 3.11349064e-01] [ 1.29496439e-02 2.28391845e-03 9.99913541e-01 -1.18669347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.264553574 meters Centerline goodness [0,1] 0.8661598020434227 Centerline is valid? [False, False] Translation: X:4.72, Y:0.31, Z:-1.19 [[ 9.99911664e-01 -1.68451240e-03 -1.31843115e-02 4.71942369e+00] [ 1.65043058e-03 9.99995270e-01 -2.59548195e-03 3.12034839e-01] [ 1.31886212e-02 2.57349288e-03 9.99909715e-01 -1.18641502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.294553574 meters Centerline goodness [0,1] 0.884577886547683 Centerline is valid? [False, False] Translation: X:4.72, Y:0.31, Z:-1.19 [[ 9.99902675e-01 -2.71660567e-03 -1.36843239e-02 4.72079959e+00] [ 2.66734720e-03 9.99989903e-01 -3.61659411e-03 3.14222831e-01] [ 1.36940106e-02 3.57974128e-03 9.99899825e-01 -1.18648602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.324553574 meters Centerline goodness [0,1] 0.8826571043664315 Centerline is valid? [False, False] Translation: X:4.72, Y:0.32, Z:-1.19 [[ 9.99898089e-01 -3.07634302e-03 -1.39408691e-02 4.72164783e+00] [ 3.01915680e-03 9.99986950e-01 -4.12124614e-03 3.15846492e-01] [ 1.39533656e-02 4.07873647e-03 9.99894328e-01 -1.18675542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.354553574 meters Centerline goodness [0,1] 0.8822221347607053 Centerline is valid? [False, False] Translation: X:4.71, Y:0.32, Z:-1.19 [[ 9.99961689e-01 -4.62984422e-03 -7.42870843e-03 4.71468241e+00] [ 4.62362513e-03 9.99988946e-01 -8.54125211e-04 3.20039300e-01] [ 7.43258078e-03 8.19744926e-04 9.99972042e-01 -1.18935974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.384553574 meters Centerline goodness [0,1] 0.8903229608675153 Centerline is valid? [False, False] Translation: X:4.71, Y:0.32, Z:-1.19 [[ 9.99962347e-01 -4.45111294e-03 -7.44933726e-03 4.71451723e+00] [ 4.44358472e-03 9.99989600e-01 -1.02683604e-03 3.21607701e-01] [ 7.45383035e-03 9.93695615e-04 9.99971726e-01 -1.18910970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.414553574 meters Centerline goodness [0,1] 0.8688453842834164 Centerline is valid? [False, False] Translation: X:4.71, Y:0.32, Z:-1.19 [[ 9.99966971e-01 -3.83241000e-03 -7.16719041e-03 4.71296104e+00] [ 3.82465074e-03 9.99992085e-01 -1.09600174e-03 3.24007567e-01] [ 7.17133402e-03 1.06855354e-03 9.99973715e-01 -1.18800943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.444553574 meters Centerline goodness [0,1] 0.8883827766098263 Centerline is valid? [False, False] Translation: X:4.72, Y:0.32, Z:-1.19 [[ 9.99966907e-01 -1.57047897e-03 -7.98238442e-03 4.71627165e+00] [ 1.58313229e-03 9.99997500e-01 1.57908354e-03 3.24776376e-01] [ 7.97988454e-03 -1.59166845e-03 9.99966893e-01 -1.18940855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.474553574 meters Centerline goodness [0,1] 0.88154479636243 Centerline is valid? [False, False] Translation: X:4.72, Y:0.33, Z:-1.19 [[ 9.99967440e-01 -1.35308662e-03 -7.95533827e-03 4.71605668e+00] [ 1.36330216e-03 9.99998253e-01 1.27882963e-03 3.26900815e-01] [ 7.95359401e-03 -1.28963352e-03 9.99967538e-01 -1.18941250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.50455357399997 meters Centerline goodness [0,1] 0.8776775539373805 Centerline is valid? [False, False] Translation: X:4.72, Y:0.33, Z:-1.19 [[ 9.99969402e-01 -7.09805148e-04 -7.79045045e-03 4.71500866e+00] [ 7.16765488e-04 9.99999346e-01 8.90689491e-04 3.30692406e-01] [ 7.78981314e-03 -8.96246164e-04 9.99969257e-01 -1.18878337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53455357399997 meters Centerline goodness [0,1] 0.8857176051429014 Centerline is valid? [False, False] Translation: X:4.71, Y:0.33, Z:-1.19 [[ 9.99969994e-01 -4.47263946e-04 -7.73373774e-03 4.71456908e+00] [ 4.52982795e-04 9.99999625e-01 7.37731925e-04 3.32301299e-01] [ 7.73340489e-03 -7.41213038e-04 9.99969822e-01 -1.18834684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.56455357399997 meters Centerline goodness [0,1] 0.8743089399572361 Centerline is valid? [False, False] Translation: X:4.71, Y:0.33, Z:-1.19 [[ 9.99971404e-01 -1.14199242e-04 -7.56165575e-03 4.71364962e+00] [ 1.16996920e-04 9.99999925e-01 3.69540885e-04 3.34812348e-01] [ 7.56161298e-03 -3.70415008e-04 9.99971342e-01 -1.18766104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.59455357399997 meters Centerline goodness [0,1] 0.8868177551294086 Centerline is valid? [False, False] Translation: X:4.71, Y:0.34, Z:-1.19 [[ 9.99970313e-01 -2.23547667e-04 -7.70209872e-03 4.71416590e+00] [ 2.23283526e-04 9.99999974e-01 -3.51545536e-05 3.36188868e-01] [ 7.70210638e-03 3.34337583e-05 9.99970338e-01 -1.18791043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.62455357399998 meters Centerline goodness [0,1] 0.8852041301412843 Centerline is valid? [False, False] Translation: X:4.71, Y:0.34, Z:-1.19 [[ 9.99970434e-01 1.37775507e-04 -7.68841124e-03 4.71386601e+00] [-1.44855044e-04 9.99999566e-01 -9.20256966e-04 3.41249756e-01] [ 7.68828112e-03 9.21343463e-04 9.99970020e-01 -1.18816290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.65455357399998 meters Centerline goodness [0,1] 0.8873023678039186 Centerline is valid? [False, False] Translation: X:4.71, Y:0.34, Z:-1.19 [[ 9.99969886e-01 2.17093094e-04 -7.75763120e-03 4.71401018e+00] [-2.28658946e-04 9.99998864e-01 -1.49004411e-03 3.44088703e-01] [ 7.75729890e-03 1.49177309e-03 9.99968799e-01 -1.18837553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.68455357399998 meters Centerline goodness [0,1] 0.8822234762979684 Centerline is valid? [False, False] Translation: X:4.71, Y:0.35, Z:-1.19 [[ 9.99968547e-01 2.07087747e-04 -7.92860224e-03 4.71444041e+00] [-2.22569881e-04 9.99998070e-01 -1.95186147e-03 3.46238666e-01] [ 7.92818273e-03 1.95356474e-03 9.99966663e-01 -1.18852077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.71455357399998 meters Centerline goodness [0,1] 0.8867459532122253 Centerline is valid? [False, False] Translation: X:4.71, Y:0.35, Z:-1.19 [[ 9.99967636e-01 5.95339921e-05 -8.04512150e-03 4.71454219e+00] [-8.36740618e-05 9.99995496e-01 -3.00028159e-03 3.50308756e-01] [ 8.04490664e-03 3.00085765e-03 9.99963136e-01 -1.18852424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.74455357399998 meters Centerline goodness [0,1] 0.8913784795581748 Centerline is valid? [False, False] Translation: X:4.71, Y:0.36, Z:-1.19 [[ 9.99967291e-01 4.17440058e-04 -8.07732653e-03 4.71404375e+00] [-4.48699007e-04 9.99992417e-01 -3.86853721e-03 3.55281066e-01] [ 8.07565040e-03 3.87203496e-03 9.99959895e-01 -1.18826180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.77455357399998 meters Centerline goodness [0,1] 0.890550758934349 Centerline is valid? [False, False] Translation: X:4.71, Y:0.36, Z:-1.19 [[ 9.99966948e-01 6.48396630e-04 -8.10448405e-03 4.71394513e+00] [-6.83526556e-04 9.99990381e-01 -4.33261037e-03 3.57833437e-01] [ 8.10159684e-03 4.33800680e-03 9.99957772e-01 -1.18828445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.80455357399998 meters Centerline goodness [0,1] 0.8884898744955758 Centerline is valid? [False, False] Translation: X:4.71, Y:0.36, Z:-1.19 [[ 9.99967293e-01 1.10324867e-03 -8.01226474e-03 4.71330425e+00] [-1.13989569e-03 9.99988904e-01 -4.57074058e-03 3.60443755e-01] [ 8.00713318e-03 4.57972423e-03 9.99957455e-01 -1.18789884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.83455357399998 meters Centerline goodness [0,1] 0.8885290545762338 Centerline is valid? [False, False] Translation: X:4.71, Y:0.36, Z:-1.19 [[ 9.99955492e-01 4.84268360e-03 -8.09712187e-03 4.71303700e+00] [-4.85590340e-03 9.99986908e-01 -1.61379137e-03 3.64726759e-01] [ 8.08920078e-03 1.65303839e-03 9.99965916e-01 -1.18720653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.86455357399998 meters Centerline goodness [0,1] 0.8875700505282499 Centerline is valid? [False, False] Translation: X:4.71, Y:0.37, Z:-1.19 [[ 9.99954174e-01 5.41147612e-03 -7.89717587e-03 4.71205229e+00] [-5.42533735e-03 9.99983778e-01 -1.73484651e-03 3.67062847e-01] [ 7.88765969e-03 1.77761185e-03 9.99967312e-01 -1.18665780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.89455357399999 meters Centerline goodness [0,1] 0.8911632460657045 Centerline is valid? [False, False] Translation: X:4.71, Y:0.37, Z:-1.19 [[ 9.99953323e-01 5.52740264e-03 -7.92463189e-03 4.71207851e+00] [-5.54851762e-03 9.99981109e-01 -2.64497004e-03 3.71299890e-01] [ 7.90986237e-03 2.68881654e-03 9.99965102e-01 -1.18684607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.924553574 meters Centerline goodness [0,1] 0.8838482033556564 Centerline is valid? [False, False] Translation: X:4.71, Y:0.37, Z:-1.19 [[ 9.99953079e-01 5.38244586e-03 -8.05412458e-03 4.71237984e+00] [-5.40787379e-03 9.99980452e-01 -3.13869082e-03 3.73206107e-01] [ 8.03707330e-03 3.18209924e-03 9.99962639e-01 -1.18688345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.954553574 meters Centerline goodness [0,1] 0.8886494252873564 Centerline is valid? [False, False] Translation: X:4.71, Y:0.37, Z:-1.19 [[ 9.99953568e-01 5.06874235e-03 -8.19574750e-03 4.71282083e+00] [-5.09850789e-03 9.99980468e-01 -3.61502139e-03 3.74624498e-01] [ 8.17726381e-03 3.65663962e-03 9.99959880e-01 -1.18692749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.984553574 meters Centerline goodness [0,1] 0.8880181775893224 Centerline is valid? [False, False] Translation: X:4.70, Y:0.38, Z:-1.19 [[ 9.99999370e-01 4.61967261e-04 -1.02272143e-03 4.70376330e+00] [-4.62901510e-04 9.99999476e-01 -9.13445086e-04 3.76807857e-01] [ 1.02229891e-03 9.13917930e-04 9.99999060e-01 -1.18850213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.014553574 meters Centerline goodness [0,1] 0.8917589175891759 Centerline is valid? [False, False] Translation: X:4.70, Y:0.38, Z:-1.19 [[ 9.99999202e-01 -8.88423332e-05 -1.25994502e-03 4.70473806e+00] [ 8.69543529e-05 9.99998874e-01 -1.49843807e-03 3.77923084e-01] [ 1.26007672e-03 1.49832732e-03 9.99998084e-01 -1.18901169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.044553574 meters Centerline goodness [0,1] 0.8883513277956635 Centerline is valid? [False, False] Translation: X:4.71, Y:0.38, Z:-1.19 [[ 9.99997969e-01 -9.59699137e-04 -1.77243006e-03 4.70669900e+00] [ 9.54675530e-04 9.99995531e-01 -2.83297955e-03 3.81244250e-01] [ 1.77514095e-03 2.83128170e-03 9.99994416e-01 -1.19044307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.074553574 meters Centerline goodness [0,1] 0.8900429672241753 Centerline is valid? [False, False] Translation: X:4.71, Y:0.38, Z:-1.19 [[ 9.99997520e-01 -1.05694124e-03 -1.96056463e-03 4.70741341e+00] [ 1.05033259e-03 9.99993774e-01 -3.36876417e-03 3.83116025e-01] [ 1.96411301e-03 3.36669657e-03 9.99992404e-01 -1.19108872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.104553574 meters Centerline goodness [0,1] 0.8913231835623221 Centerline is valid? [False, False] Translation: X:4.71, Y:0.39, Z:-1.19 [[ 9.99998014e-01 -4.59691820e-04 -1.93938070e-03 4.70695402e+00] [ 4.52268537e-04 9.99992577e-01 -3.82636017e-03 3.86832210e-01] [ 1.94112525e-03 3.82547545e-03 9.99990799e-01 -1.19094810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.134553574 meters Centerline goodness [0,1] 0.8932928979476691 Centerline is valid? [False, False] Translation: X:4.71, Y:0.39, Z:-1.19 [[ 9.99998469e-01 3.42083029e-04 -1.71619443e-03 4.70578152e+00] [-3.48480771e-04 9.99992987e-01 -3.72895296e-03 3.88939925e-01] [ 1.71490678e-03 3.72954532e-03 9.99991575e-01 -1.19019740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.164553574 meters Centerline goodness [0,1] 0.8932893483399781 Centerline is valid? [False, False] Translation: X:4.70, Y:0.39, Z:-1.19 [[ 9.99998105e-01 1.32745392e-03 -1.42371065e-03 4.70425331e+00] [-1.33259478e-03 9.99992574e-01 -3.61603769e-03 3.91681139e-01] [ 1.41889995e-03 3.61792807e-03 9.99992449e-01 -1.18923879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.194553574 meters Centerline goodness [0,1] 0.8927128351076912 Centerline is valid? [False, False] Translation: X:4.71, Y:0.40, Z:-1.19 [[ 9.99987232e-01 4.71866806e-03 -1.80818071e-03 4.70581161e+00] [-4.72144913e-03 9.99987673e-01 -1.53687771e-03 3.96981928e-01] [ 1.80090640e-03 1.54539532e-03 9.99997184e-01 -1.19041332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.224553574 meters Centerline goodness [0,1] 0.8902456165009311 Centerline is valid? [False, False] Translation: X:4.71, Y:0.40, Z:-1.19 [[ 9.99987258e-01 4.65941290e-03 -1.94283739e-03 4.70649213e+00] [-4.66410652e-03 9.99986199e-01 -2.41836661e-03 3.99881109e-01] [ 1.93154241e-03 2.42739740e-03 9.99995188e-01 -1.19115930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25455357399997 meters Centerline goodness [0,1] 0.887843564809116 Centerline is valid? [False, False] Translation: X:4.71, Y:0.40, Z:-1.19 [[ 9.99988315e-01 4.39098865e-03 -2.02196840e-03 4.70673789e+00] [-4.39861488e-03 9.99983171e-01 -3.78281513e-03 4.04891581e-01] [ 2.00532407e-03 3.79166479e-03 9.99990801e-01 -1.19156937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.28455357399997 meters Centerline goodness [0,1] 0.8884214602548757 Centerline is valid? [False, False] Translation: X:4.71, Y:0.41, Z:-1.19 [[ 9.99989547e-01 4.03669716e-03 -2.14727215e-03 4.70717344e+00] [-4.04616023e-03 9.99982041e-01 -4.42108403e-03 4.06931943e-01] [ 2.12938701e-03 4.42972603e-03 9.99987922e-01 -1.19170544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.31455357399997 meters Centerline goodness [0,1] 0.8898511789034607 Centerline is valid? [False, False] Translation: X:4.71, Y:0.41, Z:-1.19 [[ 9.99991114e-01 3.60118410e-03 -2.19143817e-03 4.70747585e+00] [-3.61223028e-03 9.99980686e-01 -5.05769902e-03 4.08602980e-01] [ 2.17318214e-03 5.06557006e-03 9.99984809e-01 -1.19182935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.34455357399997 meters Centerline goodness [0,1] 0.8927457167816584 Centerline is valid? [False, False] Translation: X:4.70, Y:0.41, Z:-1.19 [[ 9.99981397e-01 -2.68099186e-03 5.47882859e-03 4.69504511e+00] [ 2.69359022e-03 9.99993742e-01 -2.29337833e-03 4.11638243e-01] [-5.47264577e-03 2.30809339e-03 9.99982361e-01 -1.19159165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.37455357399998 meters Centerline goodness [0,1] 0.8891777821309637 Centerline is valid? [False, False] Translation: X:4.70, Y:0.41, Z:-1.19 [[ 9.99981078e-01 -3.02198340e-03 5.35821147e-03 4.69543281e+00] [ 3.03650122e-03 9.99991736e-01 -2.70339077e-03 4.12480406e-01] [-5.34999759e-03 2.71960984e-03 9.99981990e-01 -1.19154949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.40455357399998 meters Centerline goodness [0,1] 0.8917595527224814 Centerline is valid? [False, False] Translation: X:4.70, Y:0.41, Z:-1.19 [[ 9.99981759e-01 -3.28283174e-03 5.06995837e-03 4.69626806e+00] [ 3.30015396e-03 9.99988733e-01 -3.41206019e-03 4.14695181e-01] [-5.05870003e-03 3.42872959e-03 9.99981327e-01 -1.19204370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.43455357399998 meters Centerline goodness [0,1] 0.891652561247216 Centerline is valid? [False, False] Translation: X:4.70, Y:0.42, Z:-1.19 [[ 9.99983179e-01 -3.05595682e-03 4.92980017e-03 4.69655625e+00] [ 3.07345922e-03 9.99988987e-01 -3.54666592e-03 4.15895597e-01] [-4.91890742e-03 3.56175780e-03 9.99981559e-01 -1.19226637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.46455357399998 meters Centerline goodness [0,1] 0.8903113025974255 Centerline is valid? [False, False] Translation: X:4.70, Y:0.42, Z:-1.19 [[ 9.99989717e-01 7.95665673e-04 4.46464457e-03 4.69817845e+00] [-7.94009202e-04 9.99999615e-01 -3.72779887e-04 4.18411899e-01] [-4.46493946e-03 3.69231085e-04 9.99989964e-01 -1.19338456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.49455357399998 meters Centerline goodness [0,1] 0.8903113025974255 Centerline is valid? [False, False] Translation: X:4.70, Y:0.42, Z:-1.19 [[ 9.99989717e-01 7.95665673e-04 4.46464457e-03 4.69817845e+00] [-7.94009202e-04 9.99999615e-01 -3.72779887e-04 4.18411899e-01] [-4.46493946e-03 3.69231085e-04 9.99989964e-01 -1.19338456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.52455357399998 meters Centerline goodness [0,1] 0.8860873084299614 Centerline is valid? [False, False] Translation: X:4.70, Y:0.42, Z:-1.19 [[ 9.99988720e-01 1.62649852e-03 4.46244106e-03 4.69793467e+00] [-1.62457148e-03 9.99998586e-01 -4.35426208e-04 4.20366695e-01] [-4.46314296e-03 4.28171742e-04 9.99989948e-01 -1.19346714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.55455357399998 meters Centerline goodness [0,1] 0.8905623901581723 Centerline is valid? [False, False] Translation: X:4.70, Y:0.42, Z:-1.19 [[ 9.99964507e-01 6.76525239e-03 5.02165845e-03 4.69540638e+00] [-6.78637036e-03 9.99968151e-01 4.20031766e-03 4.20919097e-01] [-4.99308230e-03 -4.23424741e-03 9.99978570e-01 -1.19123201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.58455357399998 meters Centerline goodness [0,1] 0.888238705255944 Centerline is valid? [False, False] Translation: X:4.70, Y:0.42, Z:-1.19 [[ 9.99960505e-01 7.31754590e-03 5.04406466e-03 4.69521122e+00] [-7.33926387e-03 9.99963819e-01 4.30067041e-03 4.21425943e-01] [-5.01241181e-03 -4.33752028e-03 9.99978031e-01 -1.19115776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.61455357399998 meters Centerline goodness [0,1] 0.890211988689253 Centerline is valid? [False, False] Translation: X:4.70, Y:0.42, Z:-1.19 [[ 9.99957098e-01 7.75787319e-03 5.06137960e-03 4.69528610e+00] [-7.77904429e-03 9.99961020e-01 4.17667907e-03 4.22552298e-01] [-5.02878016e-03 -4.21587258e-03 9.99978469e-01 -1.19157432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.64455357399999 meters Centerline goodness [0,1] 0.8869969858812331 Centerline is valid? [False, False] Translation: X:4.70, Y:0.43, Z:-1.19 [[ 0.9999214 0.01155191 0.00487226 4.69653869] [-0.01158784 0.99990539 0.0074123 0.42513998] [-0.00478617 -0.00746817 0.99996066 -1.19283349] [ 0. 0. 0. 1. ]] SLAMing on 168.674553574 meters Centerline goodness [0,1] 0.8845154103230598 Centerline is valid? [False, False] Translation: X:4.70, Y:0.43, Z:-1.19 [[ 0.9999167 0.01194942 0.0048793 4.69654089] [-0.01198517 0.99990106 0.00736445 0.42590434] [-0.00479081 -0.00742232 0.99996098 -1.1930599 ] [ 0. 0. 0. 1. ]] SLAMing on 168.704553574 meters Centerline goodness [0,1] 0.8875802429837126 Centerline is valid? [False, False] Translation: X:4.70, Y:0.43, Z:-1.19 [[ 9.99948718e-01 8.89772298e-03 4.83659172e-03 4.69620435e+00] [-8.91537993e-03 9.99953627e-01 3.64148328e-03 4.26435350e-01] [-4.80396652e-03 -3.68441659e-03 9.99981673e-01 -1.19311216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.734553574 meters Centerline goodness [0,1] 0.8831081320707876 Centerline is valid? [False, False] Translation: X:4.70, Y:0.43, Z:-1.19 [[ 9.99972786e-01 5.57126504e-03 4.83606675e-03 4.69597531e+00] [-5.57029111e-03 9.99984463e-01 -2.14835105e-04 4.26974049e-01] [-4.83718852e-03 1.87890959e-04 9.99988283e-01 -1.19326003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.764553574 meters Centerline goodness [0,1] 0.8894465282547062 Centerline is valid? [False, False] Translation: X:4.70, Y:0.43, Z:-1.20 [[ 9.99983908e-01 3.88149655e-03 4.13733419e-03 4.69928474e+00] [-3.87503652e-03 9.99991262e-01 -1.56827150e-03 4.26928576e-01] [-4.14338528e-03 1.55221394e-03 9.99990211e-01 -1.19554371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.794553574 meters Centerline goodness [0,1] 0.8853383458646616 Centerline is valid? [False, False] Translation: X:4.70, Y:0.43, Z:-1.20 [[ 9.99989908e-01 2.77580116e-03 3.53258394e-03 4.70193209e+00] [-2.76706414e-03 9.99993107e-01 -2.47575449e-03 4.27446828e-01] [-3.53943179e-03 2.46595461e-03 9.99990696e-01 -1.19728884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.824553574 meters Centerline goodness [0,1] 0.8850293283542654 Centerline is valid? [False, False] Translation: X:4.70, Y:0.43, Z:-1.20 [[ 9.99995501e-01 4.60824710e-04 2.96410775e-03 4.70468890e+00] [-4.48613773e-04 9.99991416e-01 -4.11894591e-03 4.28192762e-01] [-2.96598042e-03 4.11759764e-03 9.99987124e-01 -1.19891627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.854553574 meters Centerline goodness [0,1] 0.8851752116444022 Centerline is valid? [False, False] Translation: X:4.71, Y:0.43, Z:-1.20 [[ 9.99996004e-01 -2.45495684e-04 2.81624397e-03 4.70522299e+00] [ 2.58049107e-04 9.99990030e-01 -4.45800820e-03 4.28095401e-01] [-2.81512147e-03 4.45871711e-03 9.99986097e-01 -1.19880071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.884553574 meters Centerline goodness [0,1] 0.8843373919804902 Centerline is valid? [False, False] Translation: X:4.71, Y:0.43, Z:-1.20 [[ 9.99996020e-01 -7.74071232e-04 2.71325912e-03 4.70548781e+00] [ 7.86705673e-04 9.99988839e-01 -4.65858518e-03 4.27754263e-01] [-2.70962276e-03 4.66070118e-03 9.99985468e-01 -1.19847252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.914553574 meters Centerline goodness [0,1] 0.8913827230312455 Centerline is valid? [False, False] Translation: X:4.71, Y:0.43, Z:-1.20 [[ 9.99995173e-01 -1.70509224e-03 2.59733643e-03 4.70586123e+00] [ 1.71888468e-03 9.99984386e-01 -5.31728159e-03 4.28416160e-01] [-2.58822942e-03 5.32172044e-03 9.99982490e-01 -1.19809440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.944553574 meters Centerline goodness [0,1] 0.8901978256995188 Centerline is valid? [False, False] Translation: X:4.71, Y:0.43, Z:-1.20 [[ 9.99995367e-01 -1.74987580e-03 2.49059743e-03 4.70612024e+00] [ 1.76398697e-03 9.99982342e-01 -5.67490450e-03 4.29887066e-01] [-2.48062307e-03 5.67927160e-03 9.99980796e-01 -1.19822810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97455357399997 meters Centerline goodness [0,1] 0.8918346827538762 Centerline is valid? [False, False] Translation: X:4.71, Y:0.43, Z:-1.20 [[ 9.99997747e-01 1.06619519e-03 1.83570780e-03 4.70864207e+00] [-1.06029011e-03 9.99994271e-01 -3.21475722e-03 4.32654566e-01] [-1.83912484e-03 3.21280360e-03 9.99993148e-01 -1.19967464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.00455357399997 meters Centerline goodness [0,1] 0.8880453378956373 Centerline is valid? [False, False] Translation: X:4.71, Y:0.43, Z:-1.20 [[ 9.99996131e-01 1.81609905e-03 2.10697408e-03 4.70741507e+00] [-1.80982344e-03 9.99993932e-01 -2.97658667e-03 4.34058027e-01] [-2.11236707e-03 2.97276191e-03 9.99993350e-01 -1.19888896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03455357399997 meters Centerline goodness [0,1] 0.8898112007912259 Centerline is valid? [False, False] Translation: X:4.71, Y:0.43, Z:-1.20 [[ 9.99988672e-01 4.47773736e-03 1.61415773e-03 4.70980373e+00] [-4.47763240e-03 9.99989973e-01 -6.86348972e-05 4.33994355e-01] [-1.61444888e-03 6.14065147e-05 9.99998695e-01 -1.20008458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.06455357399997 meters Centerline goodness [0,1] 0.8908343724205757 Centerline is valid? [False, False] Translation: X:4.71, Y:0.44, Z:-1.20 [[ 9.99983512e-01 5.45511978e-03 1.79389133e-03 4.70879963e+00] [-5.45518810e-03 9.99985120e-01 3.31954834e-05 4.35317643e-01] [-1.79368355e-03 -4.29809508e-05 9.99998390e-01 -1.19940268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.09455357399997 meters Centerline goodness [0,1] 0.889328549822377 Centerline is valid? [False, False] Translation: X:4.71, Y:0.44, Z:-1.20 [[ 9.99983241e-01 5.54419407e-03 1.66725706e-03 4.70940577e+00] [-5.54379286e-03 9.99984603e-01 -2.45166309e-04 4.36127621e-01] [-1.66859063e-03 2.35919272e-04 9.99998580e-01 -1.19998694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.12455357399998 meters Centerline goodness [0,1] 0.8811349963058087 Centerline is valid? [False, False] Translation: X:4.71, Y:0.44, Z:-1.20 [[ 9.99986589e-01 5.06635495e-03 1.07406991e-03 4.71209079e+00] [-5.06495071e-03 9.99986320e-01 -1.30611374e-03 4.38010062e-01] [-1.08067245e-03 1.30065611e-03 9.99998570e-01 -1.20248278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.15455357399998 meters Centerline goodness [0,1] 0.8912706793382612 Centerline is valid? [False, False] Translation: X:4.71, Y:0.44, Z:-1.20 [[ 9.99989223e-01 4.59740034e-03 6.46486104e-04 4.71399954e+00] [-4.59614967e-03 9.99987589e-01 -1.92291608e-03 4.38867719e-01] [-6.55318495e-04 1.91992401e-03 9.99997942e-01 -1.20401854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.18455357399998 meters Centerline goodness [0,1] 0.8879113144465951 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.20 [[ 9.99990884e-01 4.26003430e-03 2.88162885e-04 4.71525097e+00] [-4.25939097e-03 9.99988514e-01 -2.19749403e-03 4.39075947e-01] [-2.97520975e-04 2.19624660e-03 9.99997544e-01 -1.20476288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.21455357399998 meters Centerline goodness [0,1] 0.8837115215479332 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.21 [[ 9.99993154e-01 3.69596072e-03 -1.81084749e-04 4.71681139e+00] [-3.69637688e-03 9.99990397e-01 -2.35435410e-03 4.38139445e-01] [ 1.72381409e-04 2.35500733e-03 9.99997212e-01 -1.20546339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.24455357399998 meters Centerline goodness [0,1] 0.886079295154185 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.21 [[ 9.99993557e-01 3.57500811e-03 -3.24512747e-04 4.71716597e+00] [-3.57574202e-03 9.99990985e-01 -2.28989186e-03 4.37644303e-01] [ 3.16323440e-04 2.29103748e-03 9.99997326e-01 -1.20539786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.27455357399998 meters Centerline goodness [0,1] 0.8834406851642129 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.21 [[ 9.99994240e-01 3.36028813e-03 -4.78665128e-04 4.71764563e+00] [-3.36143390e-03 9.99991438e-01 -2.41333340e-03 4.37817810e-01] [ 4.70551534e-04 2.41492850e-03 9.99996973e-01 -1.20566610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.30455357399998 meters Centerline goodness [0,1] 0.8833559149055973 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.21 [[ 9.99995685e-01 2.79049662e-03 -9.18189169e-04 4.71959351e+00] [-2.79334138e-03 9.99991257e-01 -3.11167607e-03 4.38510152e-01] [ 9.09498020e-04 3.11422746e-03 9.99994737e-01 -1.20707937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.33455357399998 meters Centerline goodness [0,1] 0.8821852229927136 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.21 [[ 9.99995738e-01 2.76579537e-03 -9.34728034e-04 4.71940121e+00] [-2.76880436e-03 9.99990940e-01 -3.23328744e-03 4.39468843e-01] [ 9.25776954e-04 3.23586174e-03 9.99994336e-01 -1.20659199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.36455357399998 meters Centerline goodness [0,1] 0.8870840145561942 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.21 [[ 9.99995922e-01 2.67517904e-03 -9.99879791e-04 4.71965950e+00] [-2.67852068e-03 9.99990782e-01 -3.35578629e-03 4.39696702e-01] [ 9.90893245e-04 3.35845080e-03 9.99993869e-01 -1.20662870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.39455357399999 meters Centerline goodness [0,1] 0.8862495817999331 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.21 [[ 9.99995631e-01 2.81996357e-03 -8.85978739e-04 4.71906865e+00] [-2.82269163e-03 9.99991232e-01 -3.09314178e-03 4.39382453e-01] [ 8.77248424e-04 3.09562912e-03 9.99994824e-01 -1.20592060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.424553574 meters Centerline goodness [0,1] 0.8847134990587779 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.21 [[ 9.99996263e-01 2.58027657e-03 -9.03710243e-04 4.71916357e+00] [-2.58309143e-03 9.99991773e-01 -3.12759313e-03 4.39019558e-01] [ 8.95632753e-04 3.12991581e-03 9.99994701e-01 -1.20569981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.454553574 meters Centerline goodness [0,1] 0.8817654753066779 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.21 [[ 9.99996100e-01 2.66893837e-03 -8.22402227e-04 4.71883500e+00] [-2.67141286e-03 9.99991864e-01 -3.02259138e-03 4.39287477e-01] [ 8.14328426e-04 3.02477657e-03 9.99995094e-01 -1.20543973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.484553574 meters Centerline goodness [0,1] 0.8845759354884346 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.21 [[ 9.99996337e-01 2.57620820e-03 -8.30375683e-04 4.71866445e+00] [-2.57874903e-03 9.99991952e-01 -3.07344357e-03 4.39897319e-01] [ 8.22451169e-04 3.07557364e-03 9.99994932e-01 -1.20511324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.514553574 meters Centerline goodness [0,1] 0.8830204687665713 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.21 [[ 9.99996628e-01 2.38323803e-03 -1.03127757e-03 4.71931955e+00] [-2.38640888e-03 9.99992396e-01 -3.08445883e-03 4.39443369e-01] [ 1.02391873e-03 3.08690948e-03 9.99994711e-01 -1.20532163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.544553574 meters Centerline goodness [0,1] 0.8878712871287129 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.20 [[ 9.99996294e-01 2.52630585e-03 -1.01516162e-03 4.71905015e+00] [-2.52912440e-03 9.99992924e-01 -2.78482735e-03 4.38846829e-01] [ 1.00811912e-03 2.78738450e-03 9.99995607e-01 -1.20485581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.574553574 meters Centerline goodness [0,1] 0.8837209302325582 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.21 [[ 9.99995503e-01 2.76942889e-03 -1.15073202e-03 4.71942731e+00] [-2.77248179e-03 9.99992619e-01 -2.65993628e-03 4.38414830e-01] [ 1.14335702e-03 2.66311471e-03 9.99995800e-01 -1.20502951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.604553574 meters Centerline goodness [0,1] 0.8812207234177438 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.21 [[ 9.99994766e-01 2.99364390e-03 -1.22748701e-03 4.71958286e+00] [-2.99673835e-03 9.99992317e-01 -2.52691844e-03 4.38411836e-01] [ 1.21991288e-03 2.53058368e-03 9.99996054e-01 -1.20505112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.634553574 meters Centerline goodness [0,1] 0.8799071746277316 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.21 [[ 9.99992070e-01 3.75285992e-03 -1.33255386e-03 4.71972500e+00] [-3.75589158e-03 9.99990348e-01 -2.27990948e-03 4.38798299e-01] [ 1.32398482e-03 2.28489633e-03 9.99996513e-01 -1.20545362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.664553574 meters Centerline goodness [0,1] 0.8816428521151545 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.21 [[ 9.99991057e-01 3.95798076e-03 -1.49011986e-03 4.72025125e+00] [-3.96139078e-03 9.99989526e-01 -2.29246323e-03 4.39207439e-01] [ 1.48103073e-03 2.29834567e-03 9.99996262e-01 -1.20589178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.694553574 meters Centerline goodness [0,1] 0.8811938721605916 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.21 [[ 9.99989545e-01 4.25793009e-03 -1.66755985e-03 4.72055169e+00] [-4.26123253e-03 9.99988957e-01 -1.98188300e-03 4.38522665e-01] [ 1.65910271e-03 1.98896814e-03 9.99996646e-01 -1.20584840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.72455357399997 meters Centerline goodness [0,1] 0.8834078349934884 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.21 [[ 9.99989324e-01 4.29852460e-03 -1.69526755e-03 4.72068466e+00] [-4.30185315e-03 9.99988817e-01 -1.96469946e-03 4.38439522e-01] [ 1.68680328e-03 1.97197128e-03 9.99996633e-01 -1.20591494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75455357399997 meters Centerline goodness [0,1] 0.8783971818582123 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.21 [[ 9.99988914e-01 4.36557066e-03 -1.76449033e-03 4.72094510e+00] [-4.36918137e-03 9.99988359e-01 -2.04767376e-03 4.38874478e-01] [ 1.75553052e-03 2.05536043e-03 9.99996347e-01 -1.20614871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.78455357399997 meters Centerline goodness [0,1] 0.8826958298112144 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.21 [[ 9.99988652e-01 4.42908500e-03 -1.75473867e-03 4.72078644e+00] [-4.43265229e-03 9.99988107e-01 -2.03430354e-03 4.39038885e-01] [ 1.74570769e-03 2.04205860e-03 9.99996391e-01 -1.20580255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.81455357399997 meters Centerline goodness [0,1] 0.8841893962071455 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.21 [[ 9.99989518e-01 4.20522895e-03 -1.81120942e-03 4.72095711e+00] [-4.20884578e-03 9.99989147e-01 -1.99775831e-03 4.38321329e-01] [ 1.80278873e-03 2.00536047e-03 9.99996364e-01 -1.20560583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.84455357399997 meters Centerline goodness [0,1] 0.8819852811718722 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.21 [[ 9.99990125e-01 4.01816516e-03 -1.89867453e-03 4.72130707e+00] [-4.02225049e-03 9.99989593e-01 -2.15277952e-03 4.38460851e-01] [ 1.89000454e-03 2.16039521e-03 9.99995880e-01 -1.20576726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.87455357399998 meters Centerline goodness [0,1] 0.8785857590369928 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.21 [[ 9.99990660e-01 3.83453399e-03 -1.99428899e-03 4.72182646e+00] [-3.83947219e-03 9.99989558e-01 -2.47826776e-03 4.39192694e-01] [ 1.98476517e-03 2.48590163e-03 9.99994940e-01 -1.20621759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.90455357399998 meters Centerline goodness [0,1] 0.8847832975389923 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.21 [[ 9.99991005e-01 3.68237958e-03 -2.10491735e-03 4.72227745e+00] [-3.68810153e-03 9.99989497e-01 -2.72098816e-03 4.39928453e-01] [ 2.09487553e-03 2.72872683e-03 9.99994083e-01 -1.20649228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.93455357399998 meters Centerline goodness [0,1] 0.8818434672393761 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.21 [[ 9.99992015e-01 3.25165057e-03 -2.32314837e-03 4.72317050e+00] [-3.25928480e-03 9.99989277e-01 -3.28996214e-03 4.41152381e-01] [ 2.31242565e-03 3.29750767e-03 9.99991890e-01 -1.20701748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.96455357399998 meters Centerline goodness [0,1] 0.8847027741083223 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.21 [[ 9.99992503e-01 2.98815549e-03 -2.46275307e-03 4.72357781e+00] [-2.99677260e-03 9.99989375e-01 -3.50274259e-03 4.41422560e-01] [ 2.45226017e-03 3.51009664e-03 9.99990833e-01 -1.20704384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.99455357399998 meters Centerline goodness [0,1] 0.8863475678733032 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.21 [[ 9.99994506e-01 2.06622437e-03 -2.59220839e-03 4.72427820e+00] [-2.07726329e-03 9.99988756e-01 -4.26306210e-03 4.42229340e-01] [ 2.58337080e-03 4.26842337e-03 9.99987553e-01 -1.20739245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.02455357399998 meters Centerline goodness [0,1] 0.8832871817775793 Centerline is valid? [False, False] Translation: X:4.71, Y:0.44, Z:-1.21 [[ 9.99989309e-01 -2.25103772e-03 4.03903397e-03 4.71464506e+00] [ 2.24892546e-03 9.99997332e-01 5.27428050e-04 4.43479723e-01] [-4.04021045e-03 -5.18338925e-04 9.99991704e-01 -1.20972825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.05455357399998 meters Centerline goodness [0,1] 0.8848207747673733 Centerline is valid? [False, False] Translation: X:4.72, Y:0.44, Z:-1.21 [[ 9.99989070e-01 -2.76915486e-03 3.76727492e-03 4.71590730e+00] [ 2.76925509e-03 9.99996165e-01 -2.13890047e-05 4.44427666e-01] [-3.76720125e-03 3.18213161e-05 9.99992904e-01 -1.21081548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.08455357399998 meters Centerline goodness [0,1] 0.8803241815130851 Centerline is valid? [False, False] Translation: X:4.72, Y:0.45, Z:-1.21 [[ 9.99985243e-01 -4.42293050e-03 3.15450589e-03 4.71846877e+00] [ 4.42800582e-03 9.99988910e-01 -1.60374571e-03 4.46286023e-01] [-3.14737765e-03 1.61769022e-03 9.99993739e-01 -1.21257917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.11455357399998 meters Centerline goodness [0,1] 0.8827947972237586 Centerline is valid? [False, False] Translation: X:4.72, Y:0.45, Z:-1.21 [[ 9.99983712e-01 -4.92723714e-03 2.88071418e-03 4.71935008e+00] [ 4.93321849e-03 9.99985683e-01 -2.07293462e-03 4.46933749e-01] [-2.87045910e-03 2.08711205e-03 9.99993702e-01 -1.21294686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.14455357399999 meters Centerline goodness [0,1] 0.8803133587922481 Centerline is valid? [False, False] Translation: X:4.72, Y:0.45, Z:-1.21 [[ 9.99982277e-01 -5.33832274e-03 2.63580113e-03 4.72012785e+00] [ 5.34477701e-03 9.99982721e-01 -2.44775289e-03 4.47310341e-01] [-2.62268869e-03 2.46179728e-03 9.99993531e-01 -1.21324062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.174553574 meters Centerline goodness [0,1] 0.8824810352521196 Centerline is valid? [False, False] Translation: X:4.72, Y:0.45, Z:-1.21 [[ 9.99980376e-01 -5.78285178e-03 2.40944372e-03 4.72076713e+00] [ 5.79053120e-03 9.99978139e-01 -3.19252655e-03 4.49013629e-01] [-2.39092914e-03 3.20641586e-03 9.99992001e-01 -1.21343534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.204553574 meters Centerline goodness [0,1] 0.8814575563446885 Centerline is valid? [False, False] Translation: X:4.72, Y:0.45, Z:-1.21 [[ 9.99992958e-01 -3.28227142e-03 1.81935479e-03 4.72322284e+00] [ 3.28302465e-03 9.99994526e-01 -4.11177695e-04 4.49865491e-01] [-1.81799523e-03 4.17147786e-04 9.99998260e-01 -1.21481358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.234553574 meters Centerline goodness [0,1] 0.8758280806385372 Centerline is valid? [False, False] Translation: X:4.72, Y:0.45, Z:-1.22 [[ 9.99994761e-01 -2.69422721e-03 1.79446516e-03 4.72311408e+00] [ 2.69602625e-03 9.99995865e-01 -1.00088492e-03 4.54313740e-01] [-1.79176113e-03 1.00571760e-03 9.99997889e-01 -1.21506735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.264553574 meters Centerline goodness [0,1] 0.8800757115817293 Centerline is valid? [False, False] Translation: X:4.72, Y:0.46, Z:-1.22 [[ 9.99995584e-01 -2.40067466e-03 1.75155011e-03 4.72318474e+00] [ 2.40290999e-03 9.99996300e-01 -1.27521483e-03 4.56066001e-01] [-1.74848225e-03 1.27941802e-03 9.99997653e-01 -1.21519637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.294553574 meters Centerline goodness [0,1] 0.8786341881562969 Centerline is valid? [False, False] Translation: X:4.72, Y:0.46, Z:-1.22 [[ 9.99996642e-01 -1.92799694e-03 1.73166420e-03 4.72304596e+00] [ 1.93053535e-03 9.99997063e-01 -1.46540548e-03 4.57976123e-01] [-1.72883382e-03 1.46874360e-03 9.99997427e-01 -1.21512260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.324553574 meters Centerline goodness [0,1] 0.8781049250535332 Centerline is valid? [False, False] Translation: X:4.72, Y:0.46, Z:-1.22 [[ 9.99995840e-01 2.26499114e-03 1.78615438e-03 4.72305499e+00] [-2.26782564e-03 9.99996170e-01 1.58650504e-03 4.61642162e-01] [-1.78255411e-03 -1.59054913e-03 9.99997146e-01 -1.21526561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.354553574 meters Centerline goodness [0,1] 0.8767932338876597 Centerline is valid? [False, False] Translation: X:4.72, Y:0.46, Z:-1.22 [[ 9.99994705e-01 2.71075260e-03 1.80034402e-03 4.72293528e+00] [-2.71306001e-03 9.99995500e-01 1.28044593e-03 4.63588374e-01] [-1.79686495e-03 -1.28532359e-03 9.99997560e-01 -1.21530660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.384553574 meters Centerline goodness [0,1] 0.8767932338876597 Centerline is valid? [False, False] Translation: X:4.72, Y:0.46, Z:-1.22 [[ 9.99994705e-01 2.71075260e-03 1.80034402e-03 4.72293528e+00] [-2.71306001e-03 9.99995500e-01 1.28044593e-03 4.63588374e-01] [-1.79686495e-03 -1.28532359e-03 9.99997560e-01 -1.21530660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.414553574 meters Centerline goodness [0,1] 0.8756737462073889 Centerline is valid? [False, False] Translation: X:4.72, Y:0.47, Z:-1.21 [[ 9.99989446e-01 4.09678563e-03 2.07954169e-03 4.72159414e+00] [-4.09946201e-03 9.99990772e-01 1.28437532e-03 4.67394722e-01] [-2.07426069e-03 -1.29288677e-03 9.99997013e-01 -1.21482532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.444553574 meters Centerline goodness [0,1] 0.8791010440629977 Centerline is valid? [False, False] Translation: X:4.72, Y:0.47, Z:-1.22 [[ 9.99989133e-01 4.23696876e-03 1.94465888e-03 4.72213828e+00] [-4.23850022e-03 9.99990710e-01 7.84078972e-04 4.69342682e-01] [-1.94131870e-03 -7.92312888e-04 9.99997802e-01 -1.21541927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47455357399997 meters Centerline goodness [0,1] 0.8743626062322947 Centerline is valid? [False, False] Translation: X:4.72, Y:0.47, Z:-1.22 [[ 9.99988873e-01 4.36283672e-03 1.79417616e-03 4.72274822e+00] [-4.36340407e-03 9.99990432e-01 3.12423908e-04 4.71181948e-01] [-1.79279593e-03 -3.20249148e-04 9.99998342e-01 -1.21605138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.50455357399997 meters Centerline goodness [0,1] 0.8731921213621415 Centerline is valid? [False, False] Translation: X:4.72, Y:0.47, Z:-1.22 [[ 9.99984863e-01 5.20817387e-03 1.77449601e-03 4.72247809e+00] [-5.20821936e-03 9.99986437e-01 2.10154970e-05 4.73916627e-01] [-1.77436249e-03 -3.02571434e-05 9.99998425e-01 -1.21610070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53455357399997 meters Centerline goodness [0,1] 0.8737157458806943 Centerline is valid? [False, False] Translation: X:4.72, Y:0.48, Z:-1.22 [[ 9.99983220e-01 5.52062647e-03 1.75590523e-03 4.72247886e+00] [-5.52025417e-03 9.99984740e-01 -2.16799353e-04 4.75166543e-01] [-1.75707530e-03 2.07102672e-04 9.99998435e-01 -1.21613577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.56455357399997 meters Centerline goodness [0,1] 0.8752290022547914 Centerline is valid? [False, False] Translation: X:4.72, Y:0.48, Z:-1.22 [[ 9.99976533e-01 6.59737159e-03 1.84597305e-03 4.72182835e+00] [-6.59689363e-03 9.99978205e-01 -2.64889545e-04 4.77451121e-01] [-1.84768040e-03 2.52705641e-04 9.99998261e-01 -1.21596354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.59455357399997 meters Centerline goodness [0,1] 0.8712425202393523 Centerline is valid? [False, False] Translation: X:4.72, Y:0.48, Z:-1.22 [[ 9.99974073e-01 6.96379462e-03 1.83270129e-03 4.72189389e+00] [-6.96289982e-03 9.99975637e-01 -4.94170630e-04 4.78969533e-01] [-1.83609794e-03 4.81396903e-04 9.99998198e-01 -1.21618212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.62455357399998 meters Centerline goodness [0,1] 0.8707316644089862 Centerline is valid? [False, False] Translation: X:4.72, Y:0.48, Z:-1.22 [[ 9.99972698e-01 7.19314310e-03 1.69174579e-03 4.72244891e+00] [-7.19168013e-03 9.99973762e-01 -8.69272078e-04 4.80695963e-01] [-1.69795420e-03 8.57081850e-04 9.99998191e-01 -1.21685534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.65455357399998 meters Centerline goodness [0,1] 0.8694550063371356 Centerline is valid? [False, False] Translation: X:4.72, Y:0.48, Z:-1.22 [[ 9.99971188e-01 7.46084663e-03 1.39989514e-03 4.72352085e+00] [-7.45895112e-03 9.99971264e-01 -1.35440363e-03 4.82817438e-01] [-1.40995991e-03 1.34392286e-03 9.99998103e-01 -1.21791941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.68455357399998 meters Centerline goodness [0,1] 0.8701154685629797 Centerline is valid? [False, False] Translation: X:4.72, Y:0.48, Z:-1.22 [[ 9.99972017e-01 7.38340923e-03 1.20466004e-03 4.72425241e+00] [-7.38158721e-03 9.99971616e-01 -1.50997636e-03 4.82911889e-01] [-1.21577462e-03 1.50104180e-03 9.99998134e-01 -1.21841145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.71455357399998 meters Centerline goodness [0,1] 0.8673130047683564 Centerline is valid? [False, False] Translation: X:4.72, Y:0.48, Z:-1.22 [[ 9.99973598e-01 7.20058612e-03 9.76815588e-04 4.72499047e+00] [-7.19922089e-03 9.99973114e-01 -1.39402212e-03 4.81440718e-01] [-9.86827101e-04 1.38695301e-03 9.99998551e-01 -1.21859316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.74455357399998 meters Centerline goodness [0,1] 0.8668486396055296 Centerline is valid? [False, False] Translation: X:4.73, Y:0.48, Z:-1.22 [[ 9.99975270e-01 6.98375814e-03 8.28967762e-04 4.72550999e+00] [-6.98258637e-03 9.99974630e-01 -1.40809910e-03 4.80615613e-01] [-8.38780555e-04 1.40227594e-03 9.99998665e-01 -1.21876373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.77455357399998 meters Centerline goodness [0,1] 0.8667735343855694 Centerline is valid? [False, False] Translation: X:4.73, Y:0.48, Z:-1.22 [[ 9.99978525e-01 6.53792438e-03 4.52235841e-04 4.72706064e+00] [-6.53719117e-03 9.99977346e-01 -1.60419576e-03 4.79824997e-01] [-4.62713707e-04 1.60120495e-03 9.99998611e-01 -1.21987078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.80455357399998 meters Centerline goodness [0,1] 0.8680887041375301 Centerline is valid? [False, False] Translation: X:4.73, Y:0.48, Z:-1.22 [[ 9.99979613e-01 6.38209325e-03 2.08461138e-04 4.72800886e+00] [-6.38174316e-03 9.99978293e-01 -1.63897446e-03 4.79430915e-01] [-2.18916701e-04 1.63761070e-03 9.99998635e-01 -1.22053615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.83455357399998 meters Centerline goodness [0,1] 0.8659911692789417 Centerline is valid? [False, False] Translation: X:4.73, Y:0.48, Z:-1.22 [[ 9.99978566e-01 6.54676293e-03 8.56225884e-05 4.72830523e+00] [-6.54664153e-03 9.99977661e-01 -1.34868372e-03 4.78650911e-01] [-9.44501882e-05 1.34809427e-03 9.99999087e-01 -1.22060478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.86455357399998 meters Centerline goodness [0,1] 0.8644962061055232 Centerline is valid? [False, False] Translation: X:4.73, Y:0.48, Z:-1.22 [[ 9.99964770e-01 8.37656145e-03 5.40429546e-04 4.72619559e+00] [-8.37675669e-03 9.99964850e-01 3.60013066e-04 4.76719422e-01] [-5.37394878e-04 -3.64527430e-04 9.99999789e-01 -1.21911547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.89455357399999 meters Centerline goodness [0,1] 0.8648998634097884 Centerline is valid? [False, False] Translation: X:4.73, Y:0.48, Z:-1.22 [[ 9.99957693e-01 9.16921647e-03 7.33859229e-04 4.72533653e+00] [-9.16997483e-03 9.99957417e-01 1.03678310e-03 4.75990914e-01] [-7.24321491e-04 -1.04346871e-03 9.99999193e-01 -1.21855254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.924553574 meters Centerline goodness [0,1] 0.8643844165106535 Centerline is valid? [False, False] Translation: X:4.72, Y:0.47, Z:-1.22 [[ 9.99938576e-01 1.10228015e-02 1.15870754e-03 4.72351511e+00] [-1.10258797e-02 9.99935609e-01 2.68463435e-03 4.74316834e-01] [-1.12904074e-03 -2.69724522e-03 9.99995725e-01 -1.21745857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.954553574 meters Centerline goodness [0,1] 0.8651129692225583 Centerline is valid? [False, False] Translation: X:4.72, Y:0.47, Z:-1.22 [[ 9.99936372e-01 1.12217061e-02 1.15102190e-03 4.72376815e+00] [-1.12251264e-02 9.99932468e-01 3.00944407e-03 4.73371426e-01] [-1.11717307e-03 -3.02217295e-03 9.99994809e-01 -1.21784839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.984553574 meters Centerline goodness [0,1] 0.8660171389965509 Centerline is valid? [False, False] Translation: X:4.72, Y:0.47, Z:-1.22 [[ 9.99963677e-01 8.45807178e-03 1.05118199e-03 4.72407169e+00] [-8.45794592e-03 9.99964223e-01 -1.24119311e-04 4.72846888e-01] [-1.05219419e-03 1.15223963e-04 9.99999440e-01 -1.21856541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.014553574 meters Centerline goodness [0,1] 0.863203940466241 Centerline is valid? [False, False] Translation: X:4.72, Y:0.47, Z:-1.22 [[ 9.99990623e-01 4.23620181e-03 8.99151792e-04 4.72454706e+00] [-4.23355139e-03 9.99986748e-01 -2.92940158e-03 4.68082884e-01] [-9.11549412e-04 2.92556750e-03 9.99995305e-01 -1.21867065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.044553574 meters Centerline goodness [0,1] 0.8630509192279191 Centerline is valid? [False, False] Translation: X:4.73, Y:0.47, Z:-1.22 [[ 9.99999836e-01 -3.20665049e-04 4.73701646e-04 4.72621887e+00] [ 3.23835602e-04 9.99977447e-01 -6.70829737e-03 4.65347423e-01] [-4.71539846e-04 6.70844968e-03 9.99977387e-01 -1.21977426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.074553574 meters Centerline goodness [0,1] 0.8631988315413448 Centerline is valid? [False, False] Translation: X:4.73, Y:0.46, Z:-1.22 [[ 9.99959774e-01 -8.96893055e-03 -8.90224831e-05 4.72942025e+00] [ 8.96691266e-03 9.99868738e-01 -1.34944635e-02 4.59100729e-01] [ 2.10041703e-04 1.34931224e-02 9.99908942e-01 -1.22190806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.104553574 meters Centerline goodness [0,1] 0.8632285809965279 Centerline is valid? [False, False] Translation: X:4.73, Y:0.46, Z:-1.22 [[ 9.99941501e-01 -1.08054035e-02 -4.88456002e-04 4.73174217e+00] [ 1.07975337e-02 9.99844262e-01 -1.39594126e-02 4.55588715e-01] [ 6.39217016e-04 1.39533218e-02 9.99902443e-01 -1.22316347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.134553574 meters Centerline goodness [0,1] 0.8640913328759653 Centerline is valid? [False, False] Translation: X:4.73, Y:0.45, Z:-1.22 [[ 9.99880406e-01 -1.54495243e-02 -6.96844539e-04 4.73274573e+00] [ 1.54353108e-02 9.99733858e-01 -1.71453800e-02 4.51357233e-01] [ 9.61547044e-04 1.71325735e-02 9.99852764e-01 -1.22361019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.164553574 meters Centerline goodness [0,1] 0.8645433818201099 Centerline is valid? [False, False] Translation: X:4.73, Y:0.45, Z:-1.22 [[ 9.99874333e-01 -1.58260866e-02 -9.24214538e-04 4.73339731e+00] [ 1.58085167e-02 9.99736447e-01 -1.66471530e-02 4.49036198e-01] [ 1.18743024e-03 1.66304505e-02 9.99860999e-01 -1.22359772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.194553574 meters Centerline goodness [0,1] 0.8645000263652822 Centerline is valid? [False, False] Translation: X:4.73, Y:0.45, Z:-1.22 [[ 9.99868908e-01 -1.61411547e-02 -1.27645581e-03 4.73441733e+00] [ 1.61189524e-02 9.99744874e-01 -1.58229711e-02 4.45189136e-01] [ 1.53153118e-03 1.58003217e-02 9.99873994e-01 -1.22365203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.22455357399997 meters Centerline goodness [0,1] 0.8663457454339516 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-1.22 [[ 9.99905496e-01 -1.36394688e-02 -1.72137141e-03 4.73658991e+00] [ 1.36169068e-02 9.99829141e-01 -1.25007199e-02 4.43069678e-01] [ 1.89158048e-03 1.24760987e-02 9.99920381e-01 -1.22475419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25455357399997 meters Centerline goodness [0,1] 0.8701568834831659 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-1.23 [[ 9.99943586e-01 -1.04248725e-02 -2.03637032e-03 4.73779781e+00] [ 1.04070733e-02 9.99909172e-01 -8.56394329e-03 4.41484135e-01] [ 2.12546337e-03 8.54226750e-03 9.99961255e-01 -1.22504029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.28455357399997 meters Centerline goodness [0,1] 0.8728077105387897 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-1.23 [[ 9.99974815e-01 -6.70800343e-03 -2.31761397e-03 4.73879966e+00] [ 6.69750768e-03 9.99967414e-01 -4.50715241e-03 4.40390582e-01] [ 2.34777244e-03 4.49151666e-03 9.99987157e-01 -1.22530336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.31455357399997 meters Centerline goodness [0,1] 0.8731740758318831 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-1.23 [[ 9.99991779e-01 -3.26342917e-03 -2.40662399e-03 4.73919127e+00] [ 3.26215989e-03 9.99994538e-01 -5.31148592e-04 4.39598511e-01] [ 2.40834422e-03 5.23293434e-04 9.99996963e-01 -1.22508810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.34455357399997 meters Centerline goodness [0,1] 0.8706031254944012 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-1.22 [[ 9.99994381e-01 -2.62096770e-03 -2.08989007e-03 4.73768647e+00] [ 2.62089778e-03 9.99996565e-01 -3.61988338e-05 4.40065031e-01] [ 2.08997777e-03 3.07212422e-05 9.99997816e-01 -1.22394503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.37455357399998 meters Centerline goodness [0,1] 0.870279492726857 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-1.22 [[ 9.99994555e-01 -2.55375945e-03 -2.09009959e-03 4.73750027e+00] [ 2.55396963e-03 9.99996734e-01 9.78971662e-05 4.40055484e-01] [ 2.08984276e-03 -1.03234684e-04 9.99997811e-01 -1.22362030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.40455357399998 meters Centerline goodness [0,1] 0.8664206642066421 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-1.22 [[ 9.99994151e-01 -2.64221780e-03 -2.17196409e-03 4.73780898e+00] [ 2.64256672e-03 9.99996496e-01 1.57793538e-04 4.39804564e-01] [ 2.17153955e-03 -1.63532175e-04 9.99997629e-01 -1.22370146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.43455357399998 meters Centerline goodness [0,1] 0.8702366697189547 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-1.22 [[ 9.99993270e-01 -2.93247841e-03 -2.20457081e-03 4.73769467e+00] [ 2.93333268e-03 9.99995624e-01 3.84366265e-04 4.38479452e-01] [ 2.20343401e-03 -3.90830418e-04 9.99997496e-01 -1.22304524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.46455357399998 meters Centerline goodness [0,1] 0.8684794477123032 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-1.22 [[ 9.99993160e-01 -2.93129353e-03 -2.25576295e-03 4.73786661e+00] [ 2.93205896e-03 9.99995645e-01 3.36086638e-04 4.38896195e-01] [ 2.25476796e-03 -3.42698369e-04 9.99997399e-01 -1.22317593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.49455357399998 meters Centerline goodness [0,1] 0.8702173031846461 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-1.22 [[ 9.99993724e-01 -2.69576421e-03 -2.29874952e-03 4.73789164e+00] [ 2.69667191e-03 9.99996287e-01 3.91856370e-04 4.39557903e-01] [ 2.29768463e-03 -3.98052884e-04 9.99997281e-01 -1.22327769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.52455357399998 meters Centerline goodness [0,1] 0.8702656021431467 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-1.22 [[ 9.99994466e-01 -2.42468745e-03 -2.27793847e-03 4.73776223e+00] [ 2.42580795e-03 9.99996938e-01 4.89257559e-04 4.40025023e-01] [ 2.27674520e-03 -4.94780692e-04 9.99997286e-01 -1.22329113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.55455357399998 meters Centerline goodness [0,1] 0.870448474623928 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-1.22 [[ 9.99995386e-01 -1.98977549e-03 -2.29539694e-03 4.73769150e+00] [ 1.99117582e-03 9.99997833e-01 6.07938808e-04 4.40627283e-01] [ 2.29418231e-03 -6.12506542e-04 9.99997181e-01 -1.22329397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.58455357399998 meters Centerline goodness [0,1] 0.8738209207377164 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-1.22 [[ 9.99996389e-01 -1.61561594e-03 -2.14762789e-03 4.73701906e+00] [ 1.61733104e-03 9.99998374e-01 7.97104399e-04 4.40945155e-01] [ 2.14633659e-03 -8.00574945e-04 9.99997376e-01 -1.22281680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.61455357399998 meters Centerline goodness [0,1] 0.8716788449687473 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-1.22 [[ 9.99997933e-01 -8.25224277e-04 -1.85808504e-03 4.73570800e+00] [ 8.27412940e-04 9.99998964e-01 1.17745278e-03 4.41251081e-01] [ 1.85711145e-03 -1.17898775e-03 9.99997581e-01 -1.22189632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.64455357399999 meters Centerline goodness [0,1] 0.8701714285714286 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-1.22 [[ 9.99997926e-01 -7.62840886e-04 -1.88836763e-03 4.73593521e+00] [ 7.64875405e-04 9.99999128e-01 1.07690798e-03 4.41482540e-01] [ 1.88754448e-03 -1.07835011e-03 9.99997637e-01 -1.22210934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.674553574 meters Centerline goodness [0,1] 0.8726176243055067 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-1.22 [[ 9.99997809e-01 -8.70844696e-04 -1.90366371e-03 4.73613600e+00] [ 8.72488171e-04 9.99999247e-01 8.62662426e-04 4.42106000e-01] [ 1.90291103e-03 -8.64321459e-04 9.99997816e-01 -1.22234917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.704553574 meters Centerline goodness [0,1] 0.8707995773159564 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-1.22 [[ 9.99997425e-01 -1.11221476e-03 -1.97810278e-03 4.73656477e+00] [ 1.11350389e-03 9.99999168e-01 6.50721931e-04 4.42519886e-01] [ 1.97737739e-03 -6.52922881e-04 9.99997832e-01 -1.22268739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.734553574 meters Centerline goodness [0,1] 0.8733978596992296 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-1.22 [[ 9.99992323e-01 -2.94514242e-03 -2.58460579e-03 4.73948181e+00] [ 2.94316005e-03 9.99995372e-01 -7.70458090e-04 4.43089695e-01] [ 2.58686294e-03 7.62845267e-04 9.99996363e-01 -1.22466245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.764553574 meters Centerline goodness [0,1] 0.8735827664399093 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-1.23 [[ 9.99989160e-01 -3.68576300e-03 -2.84519092e-03 4.74049475e+00] [ 3.68249395e-03 9.99992554e-01 -1.15335723e-03 4.42816155e-01] [ 2.84942074e-03 1.14286733e-03 9.99995287e-01 -1.22513310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.794553574 meters Centerline goodness [0,1] 0.8729892342575566 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-1.23 [[ 9.99958141e-01 -8.60562133e-03 -3.10799367e-03 4.74164647e+00] [ 8.58663978e-03 9.99944711e-01 -6.06989359e-03 4.43896224e-01] [ 3.16005704e-03 6.04295229e-03 9.99976748e-01 -1.22593912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.824553574 meters Centerline goodness [0,1] 0.8747298286979976 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-1.23 [[ 9.99951899e-01 -9.22566735e-03 -3.32955273e-03 4.74250875e+00] [ 9.20342320e-03 9.99935632e-01 -6.63542464e-03 4.44684739e-01] [ 3.39055463e-03 6.60446219e-03 9.99972442e-01 -1.22638403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.854553574 meters Centerline goodness [0,1] 0.8738061659853259 Centerline is valid? [False, False] Translation: X:4.74, Y:0.45, Z:-1.23 [[ 9.99946235e-01 -9.73119085e-03 -3.58196416e-03 4.74365145e+00] [ 9.70474805e-03 9.99926064e-01 -7.32700872e-03 4.46226900e-01] [ 3.65299984e-03 7.29185273e-03 9.99966742e-01 -1.22722131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.884553574 meters Centerline goodness [0,1] 0.8686910135412392 Centerline is valid? [False, False] Translation: X:4.75, Y:0.45, Z:-1.23 [[ 9.99963789e-01 -7.45909534e-03 -4.09656658e-03 4.74542855e+00] [ 7.43783944e-03 9.99958924e-01 -5.17966399e-03 4.49359988e-01] [ 4.13503391e-03 5.14900683e-03 9.99978194e-01 -1.22797008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.914553574 meters Centerline goodness [0,1] 0.8727035760832693 Centerline is valid? [False, False] Translation: X:4.75, Y:0.45, Z:-1.23 [[ 9.99982006e-01 -4.29287763e-03 -4.19022824e-03 4.74585535e+00] [ 4.28506122e-03 9.99989066e-01 -1.87259059e-03 4.50361889e-01] [ 4.19822122e-03 1.85460151e-03 9.99989468e-01 -1.22782715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.944553574 meters Centerline goodness [0,1] 0.8738663143612083 Centerline is valid? [False, False] Translation: X:4.75, Y:0.45, Z:-1.23 [[ 9.99990050e-01 -8.76080879e-04 -4.37417099e-03 4.74664950e+00] [ 8.79304478e-04 9.99999343e-01 7.35093550e-04 4.54108080e-01] [ 4.37352412e-03 -7.38932463e-04 9.99990163e-01 -1.22830584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97455357399997 meters Centerline goodness [0,1] 0.8752096492167148 Centerline is valid? [False, False] Translation: X:4.75, Y:0.46, Z:-1.23 [[ 9.99990136e-01 -6.36195644e-04 -4.39584518e-03 4.74677643e+00] [ 6.37473187e-04 9.99999755e-01 2.89230149e-04 4.56013444e-01] [ 4.39566010e-03 -2.92029530e-04 9.99990296e-01 -1.22859243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.00455357399997 meters Centerline goodness [0,1] 0.874375802539592 Centerline is valid? [False, False] Translation: X:4.75, Y:0.46, Z:-1.23 [[ 9.99991048e-01 3.97187284e-04 -4.21255902e-03 4.74579882e+00] [-3.96751468e-04 9.99999916e-01 1.04291479e-04 4.58968964e-01] [ 4.21260009e-03 -1.02619207e-04 9.99991122e-01 -1.22816055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03455357399997 meters Centerline goodness [0,1] 0.8754836064112392 Centerline is valid? [False, False] Translation: X:4.75, Y:0.46, Z:-1.23 [[ 9.99990618e-01 6.61829986e-04 -4.28097606e-03 4.74621532e+00] [-6.63464013e-04 9.99999708e-01 -3.80286084e-04 4.61025838e-01] [ 4.28072313e-03 3.83122790e-04 9.99990764e-01 -1.22883468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.06455357399997 meters Centerline goodness [0,1] 0.8747345693331667 Centerline is valid? [False, False] Translation: X:4.75, Y:0.46, Z:-1.23 [[ 9.99990177e-01 1.26339136e-03 -4.24853567e-03 4.74603890e+00] [-1.26599423e-03 9.99999013e-01 -6.10016483e-04 4.63423328e-01] [ 4.24776078e-03 6.15389112e-04 9.99990789e-01 -1.22908761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.09455357399997 meters Centerline goodness [0,1] 0.8719734304692521 Centerline is valid? [False, False] Translation: X:4.75, Y:0.47, Z:-1.23 [[ 9.99987949e-01 1.97854986e-03 -4.49298858e-03 4.74684042e+00] [-1.98428539e-03 9.99997222e-01 -1.27245246e-03 4.67888728e-01] [ 4.49045849e-03 1.28135249e-03 9.99989097e-01 -1.23026841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.12455357399998 meters Centerline goodness [0,1] 0.8706015690024616 Centerline is valid? [False, False] Translation: X:4.75, Y:0.47, Z:-1.23 [[ 9.99987594e-01 1.77646325e-03 -4.65359900e-03 4.74743508e+00] [-1.78555048e-03 9.99996506e-01 -1.94930583e-03 4.69562931e-01] [ 4.65011987e-03 1.95759088e-03 9.99987272e-01 -1.23056371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.15455357399998 meters Centerline goodness [0,1] 0.8704807452086084 Centerline is valid? [False, False] Translation: X:4.75, Y:0.47, Z:-1.23 [[ 9.99987394e-01 1.67230909e-03 -4.73440736e-03 4.74756627e+00] [-1.68212776e-03 9.99996441e-01 -2.07067510e-03 4.69869422e-01] [ 4.73092770e-03 2.07861288e-03 9.99986649e-01 -1.23040130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.18455357399998 meters Centerline goodness [0,1] 0.8701451759790004 Centerline is valid? [False, False] Translation: X:4.75, Y:0.47, Z:-1.23 [[ 9.99987363e-01 1.63587243e-03 -4.75380355e-03 4.74761710e+00] [-1.64625286e-03 9.99996268e-01 -2.18051304e-03 4.70183720e-01] [ 4.75021877e-03 2.18831144e-03 9.99986323e-01 -1.23037240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.21455357399998 meters Centerline goodness [0,1] 0.8671551107934239 Centerline is valid? [False, False] Translation: X:4.75, Y:0.47, Z:-1.23 [[ 9.99986486e-01 1.59934634e-03 -4.94663714e-03 4.74820551e+00] [-1.61208717e-03 9.99995391e-01 -2.57274233e-03 4.71559730e-01] [ 4.94249963e-03 2.58068197e-03 9.99984456e-01 -1.23079979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.24455357399998 meters Centerline goodness [0,1] 0.8675111507582516 Centerline is valid? [False, False] Translation: X:4.75, Y:0.47, Z:-1.23 [[ 9.99985309e-01 1.67766193e-03 -5.15424907e-03 4.74886200e+00] [-1.69214387e-03 9.99994630e-01 -2.80663473e-03 4.72462184e-01] [ 5.14951281e-03 2.81531523e-03 9.99982778e-01 -1.23124180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.27455357399998 meters Centerline goodness [0,1] 0.8728970961174412 Centerline is valid? [False, False] Translation: X:4.75, Y:0.47, Z:-1.23 [[ 9.99968151e-01 6.21350589e-03 -5.00890081e-03 4.74809054e+00] [-6.20719260e-03 9.99979922e-01 1.27497694e-03 4.73673964e-01] [ 5.01672232e-03 -1.24384512e-03 9.99986643e-01 -1.23034161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.30455357399998 meters Centerline goodness [0,1] 0.8728970961174412 Centerline is valid? [False, False] Translation: X:4.75, Y:0.47, Z:-1.23 [[ 9.99968151e-01 6.21350589e-03 -5.00890081e-03 4.74809054e+00] [-6.20719260e-03 9.99979922e-01 1.27497694e-03 4.73673964e-01] [ 5.01672232e-03 -1.24384512e-03 9.99986643e-01 -1.23034161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.33455357399998 meters Centerline goodness [0,1] 0.8645848094090973 Centerline is valid? [False, False] Translation: X:4.75, Y:0.48, Z:-1.23 [[ 9.99961621e-01 7.20366534e-03 -4.98631686e-03 4.74763613e+00] [-7.19640627e-03 9.99973022e-01 1.47221308e-03 4.75037870e-01] [ 4.99678767e-03 -1.43627302e-03 9.99986485e-01 -1.23007302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.36455357399998 meters Centerline goodness [0,1] 0.8662898198531355 Centerline is valid? [False, False] Translation: X:4.75, Y:0.48, Z:-1.23 [[ 0.9999172 0.01190511 -0.0048843 4.74720749] [-0.01187757 0.99991362 0.00562892 0.47584064] [ 0.00495089 -0.00557044 0.99997223 -1.22949623] [ 0. 0. 0. 1. ]] SLAMing on 172.39455357399999 meters Centerline goodness [0,1] 0.868771349086171 Centerline is valid? [False, False] Translation: X:4.75, Y:0.48, Z:-1.23 [[ 0.99991015 0.01253247 -0.00475632 4.74673805] [-0.01250514 0.99990537 0.00573423 0.47663458] [ 0.00482773 -0.00567424 0.99997225 -1.22934957] [ 0. 0. 0. 1. ]] SLAMing on 172.424553574 meters Centerline goodness [0,1] 0.8673555610322853 Centerline is valid? [False, False] Translation: X:4.74, Y:0.48, Z:-1.23 [[ 9.99885001e-01 1.45137902e-02 -4.39719770e-03 4.74458852e+00] [-1.44830647e-02 9.99871026e-01 6.94058997e-03 4.77530790e-01] [ 4.49736484e-03 -6.87610691e-03 9.99966246e-01 -1.22789193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.454553574 meters Centerline goodness [0,1] 0.8666407876627731 Centerline is valid? [False, False] Translation: X:4.74, Y:0.48, Z:-1.23 [[ 9.99880909e-01 1.47918745e-02 -4.40095802e-03 4.74441231e+00] [-1.47600705e-02 9.99865332e-01 7.17340487e-03 4.77171932e-01] [ 4.50647346e-03 -7.10759214e-03 9.99964586e-01 -1.22760723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.484553574 meters Centerline goodness [0,1] 0.8669775822778102 Centerline is valid? [False, False] Translation: X:4.74, Y:0.48, Z:-1.23 [[ 9.99877424e-01 1.50313108e-02 -4.38149773e-03 4.74429111e+00] [-1.49980526e-02 9.99859191e-01 7.52712251e-03 4.76264570e-01] [ 4.49402329e-03 -7.46048593e-03 9.99962072e-01 -1.22743174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.514553574 meters Centerline goodness [0,1] 0.8664136353156093 Centerline is valid? [False, False] Translation: X:4.75, Y:0.47, Z:-1.23 [[ 9.99874314e-01 1.51787683e-02 -4.57833365e-03 4.74509566e+00] [-1.51412009e-02 9.99852301e-01 8.13145994e-03 4.74274301e-01] [ 4.70108298e-03 -8.06111646e-03 9.99956458e-01 -1.22808261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.544553574 meters Centerline goodness [0,1] 0.8665496827253714 Centerline is valid? [False, False] Translation: X:4.74, Y:0.47, Z:-1.23 [[ 9.99912020e-01 1.24239690e-02 -4.64722805e-03 4.74499343e+00] [-1.24007714e-02 9.99910668e-01 4.98765043e-03 4.73916392e-01] [ 4.70877932e-03 -4.92958241e-03 9.99976763e-01 -1.22842440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.574553574 meters Centerline goodness [0,1] 0.8659214889292972 Centerline is valid? [False, False] Translation: X:4.74, Y:0.47, Z:-1.23 [[ 9.99941557e-01 9.79302064e-03 -4.58035488e-03 4.74454163e+00] [-9.78058557e-03 9.99948444e-01 2.72943466e-03 4.70347672e-01] [ 4.60684814e-03 -2.68447659e-03 9.99985785e-01 -1.22843066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.604553574 meters Centerline goodness [0,1] 0.8651333357069106 Centerline is valid? [False, False] Translation: X:4.74, Y:0.47, Z:-1.23 [[ 9.99965338e-01 6.94755174e-03 -4.58850425e-03 4.74429580e+00] [-6.94831095e-03 9.99975849e-01 -1.49538924e-04 4.68547257e-01] [ 4.58735450e-03 1.81416095e-04 9.99989462e-01 -1.22845398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.634553574 meters Centerline goodness [0,1] 0.865151568996766 Centerline is valid? [False, False] Translation: X:4.74, Y:0.47, Z:-1.23 [[ 9.99964710e-01 6.93232389e-03 -4.74574946e-03 4.74483419e+00] [-6.92999136e-03 9.99975858e-01 5.07765809e-04 4.65703166e-01] [ 4.74915489e-03 -4.74859887e-04 9.99988610e-01 -1.22858038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.664553574 meters Centerline goodness [0,1] 0.8657932263814616 Centerline is valid? [False, False] Translation: X:4.74, Y:0.46, Z:-1.23 [[ 9.99978533e-01 4.94853473e-03 -4.29476406e-03 4.74301898e+00] [-4.95144195e-03 9.99987519e-01 -6.66555409e-04 4.60086523e-01] [ 4.29141199e-03 6.87806375e-04 9.99990555e-01 -1.22744881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.694553574 meters Centerline goodness [0,1] 0.8658282044420658 Centerline is valid? [False, False] Translation: X:4.74, Y:0.46, Z:-1.23 [[ 9.99977456e-01 5.02143616e-03 -4.45782755e-03 4.74352376e+00] [-5.02120373e-03 9.99987392e-01 6.33311630e-05 4.57380703e-01] [ 4.45808936e-03 -4.09460749e-05 9.99990062e-01 -1.22761824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.72455357399997 meters Centerline goodness [0,1] 0.8645660585959094 Centerline is valid? [False, False] Translation: X:4.75, Y:0.45, Z:-1.23 [[ 9.99975612e-01 5.01865142e-03 -4.85681111e-03 4.74502316e+00] [-5.01197862e-03 9.99986481e-01 1.38510390e-03 4.51936254e-01] [ 4.86369680e-03 -1.36072789e-03 9.99987246e-01 -1.22841408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75455357399997 meters Centerline goodness [0,1] 0.8634241106437585 Centerline is valid? [False, False] Translation: X:4.75, Y:0.45, Z:-1.23 [[ 9.99975027e-01 4.96774951e-03 -5.02657683e-03 4.74555003e+00] [-4.95679565e-03 9.99985318e-01 2.18930415e-03 4.48614685e-01] [ 5.03737895e-03 -2.16433376e-03 9.99984970e-01 -1.22834538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.78455357399997 meters Centerline goodness [0,1] 0.8646885859395883 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-1.23 [[ 9.99986359e-01 2.57015161e-03 -4.54708771e-03 4.74365254e+00] [-2.56603087e-03 9.99996292e-01 9.11838735e-04 4.41852631e-01] [ 4.54941442e-03 -9.00158329e-04 9.99989246e-01 -1.22678318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.81455357399997 meters Centerline goodness [0,1] 0.8665739849570456 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-1.23 [[ 9.99986045e-01 2.67401645e-03 -4.55616084e-03 4.74360454e+00] [-2.66554472e-03 9.99994709e-01 1.86445927e-03 4.38409695e-01] [ 4.56112233e-03 -1.85228860e-03 9.99987883e-01 -1.22642639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.84455357399997 meters Centerline goodness [0,1] 0.8668234288157333 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:-1.23 [[ 9.99985419e-01 2.71101847e-03 -4.67035897e-03 4.74405134e+00] [-2.69846167e-03 9.99992733e-01 2.69282362e-03 4.35340394e-01] [ 4.67762533e-03 -2.68018157e-03 9.99985468e-01 -1.22644117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.87455357399998 meters Centerline goodness [0,1] 0.8678126113288208 Centerline is valid? [False, False] Translation: X:4.74, Y:0.43, Z:-1.23 [[ 9.99991396e-01 7.15966523e-04 -4.08594414e-03 4.74212473e+00] [-7.10123317e-04 9.99998723e-01 1.43134636e-03 4.29772160e-01] [ 4.08696372e-03 -1.42843252e-03 9.99990628e-01 -1.22543686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.90455357399998 meters Centerline goodness [0,1] 0.8677085743783264 Centerline is valid? [False, False] Translation: X:4.74, Y:0.43, Z:-1.23 [[ 9.99990789e-01 7.40780437e-04 -4.22757372e-03 4.74266341e+00] [-7.31247919e-04 9.99997188e-01 2.25594430e-03 4.26485133e-01] [ 4.22923299e-03 -2.25283212e-03 9.99988519e-01 -1.22550074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.93455357399998 meters Centerline goodness [0,1] 0.8693599814745543 Centerline is valid? [False, False] Translation: X:4.74, Y:0.42, Z:-1.22 [[ 9.99994417e-01 -4.65786725e-04 -3.30906668e-03 4.73956431e+00] [ 4.71687413e-04 9.99998300e-01 1.78263164e-03 4.20512641e-01] [ 3.30823072e-03 -1.78418253e-03 9.99992936e-01 -1.22371196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.96455357399998 meters Centerline goodness [0,1] 0.8683151031460434 Centerline is valid? [False, False] Translation: X:4.74, Y:0.42, Z:-1.22 [[ 9.99994343e-01 -3.18145396e-04 -3.34854516e-03 4.73946617e+00] [ 3.27659941e-04 9.99995910e-01 2.84123188e-03 4.16800414e-01] [ 3.34762754e-03 -2.84231299e-03 9.99990357e-01 -1.22304698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.99455357399998 meters Centerline goodness [0,1] 0.8695388889878355 Centerline is valid? [False, False] Translation: X:4.74, Y:0.41, Z:-1.22 [[ 9.99994230e-01 -2.65386405e-04 -3.38676378e-03 4.73939583e+00] [ 2.78809359e-04 9.99992106e-01 3.96350042e-03 4.12417681e-01] [ 3.38568519e-03 -3.96442181e-03 9.99986410e-01 -1.22238394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.02455357399998 meters Centerline goodness [0,1] 0.8702629371128684 Centerline is valid? [False, False] Translation: X:4.74, Y:0.40, Z:-1.22 [[ 9.99992580e-01 -2.65728090e-03 -2.78898462e-03 4.73767464e+00] [ 2.66572008e-03 9.99991867e-01 3.02655367e-03 4.04901540e-01] [ 2.78091954e-03 -3.03396587e-03 9.99991531e-01 -1.22122621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.05455357399998 meters Centerline goodness [0,1] 0.8699107142857143 Centerline is valid? [False, False] Translation: X:4.74, Y:0.40, Z:-1.22 [[ 9.99980266e-01 -5.49395452e-03 -3.04686672e-03 4.73976666e+00] [ 5.50027214e-03 9.99982733e-01 2.06899218e-03 3.97314330e-01] [ 3.03544716e-03 -2.08570995e-03 9.99993218e-01 -1.22262971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.08455357399998 meters Centerline goodness [0,1] 0.8705038544778122 Centerline is valid? [False, False] Translation: X:4.74, Y:0.39, Z:-1.22 [[ 9.99974985e-01 -6.17922660e-03 -3.44179878e-03 4.74132542e+00] [ 6.18905488e-03 9.99976780e-01 2.85226992e-03 3.92303627e-01] [ 3.42409404e-03 -2.87350005e-03 9.99990009e-01 -1.22308060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.11455357399998 meters Centerline goodness [0,1] 0.868569991196076 Centerline is valid? [False, False] Translation: X:4.74, Y:0.39, Z:-1.22 [[ 9.99966433e-01 -7.19230444e-03 -3.92465679e-03 4.74341778e+00] [ 7.20525936e-03 9.99968607e-01 3.29681079e-03 3.87268309e-01] [ 3.90082192e-03 -3.32497830e-03 9.99986864e-01 -1.22399652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.14455357399999 meters Centerline goodness [0,1] 0.8617546039169833 Centerline is valid? [False, False] Translation: X:4.75, Y:0.38, Z:-1.23 [[ 9.99925397e-01 -1.13953366e-02 -4.39853014e-03 4.74667777e+00] [ 1.14008853e-02 9.99934241e-01 1.23847294e-03 3.78762905e-01] [ 4.38412808e-03 -1.28852769e-03 9.99989560e-01 -1.22597636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.174553574 meters Centerline goodness [0,1] 0.8638797401976117 Centerline is valid? [False, False] Translation: X:4.75, Y:0.37, Z:-1.23 [[ 9.99913375e-01 -1.22254325e-02 -4.87655900e-03 4.74864968e+00] [ 1.22339934e-02 9.99923666e-01 1.72957857e-03 3.74542608e-01] [ 4.85504191e-03 -1.78908853e-03 9.99986614e-01 -1.22674990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.204553574 meters Centerline goodness [0,1] 0.8597629374813043 Centerline is valid? [False, False] Translation: X:4.75, Y:0.37, Z:-1.23 [[ 9.99858731e-01 -1.57747257e-02 -5.80306952e-03 4.75354723e+00] [ 1.57759823e-02 9.99875537e-01 1.70827787e-04 3.67467193e-01] [ 5.79965249e-03 -2.62352776e-04 9.99983147e-01 -1.22971162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.234553574 meters Centerline goodness [0,1] 0.8577235772357723 Centerline is valid? [False, False] Translation: X:4.76, Y:0.36, Z:-1.23 [[ 9.99847396e-01 -1.63038382e-02 -6.27457561e-03 4.75530554e+00] [ 1.63085369e-02 9.99866763e-01 6.98410834e-04 3.64247425e-01] [ 6.26235283e-03 -8.00633402e-04 9.99980071e-01 -1.23043579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.264553574 meters Centerline goodness [0,1] 0.8536284662949054 Centerline is valid? [False, False] Translation: X:4.76, Y:0.36, Z:-1.23 [[ 9.99812145e-01 -1.80766080e-02 -6.99357043e-03 4.75879780e+00] [ 1.80826492e-02 9.99836174e-01 8.01549313e-04 3.57550032e-01] [ 6.97793541e-03 -9.27861019e-04 9.99975223e-01 -1.23208721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.294553574 meters Centerline goodness [0,1] 0.8534134248665142 Centerline is valid? [False, False] Translation: X:4.76, Y:0.35, Z:-1.23 [[ 9.99810196e-01 -1.81301931e-02 -7.13216527e-03 4.75896849e+00] [ 1.81435117e-02 9.99833760e-01 1.80714914e-03 3.53987939e-01] [ 7.09821565e-03 -1.93620866e-03 9.99972933e-01 -1.23143558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.324553574 meters Centerline goodness [0,1] 0.852915745989048 Centerline is valid? [False, False] Translation: X:4.76, Y:0.35, Z:-1.23 [[ 9.99785052e-01 -1.92441903e-02 -7.71434832e-03 4.76165863e+00] [ 1.92611688e-02 9.99812212e-01 2.13267525e-03 3.48871494e-01] [ 7.67185805e-03 -2.28080420e-03 9.99967970e-01 -1.23268145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.354553574 meters Centerline goodness [0,1] 0.8515688317702906 Centerline is valid? [False, False] Translation: X:4.77, Y:0.35, Z:-1.23 [[ 9.99745774e-01 -1.65288165e-02 -1.53357631e-02 4.77316568e+00] [ 1.64865324e-02 9.99859941e-01 -2.87956874e-03 3.45234882e-01] [ 1.53812111e-02 2.62600312e-03 9.99878254e-01 -1.23091719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.384553574 meters Centerline goodness [0,1] 0.8506372396642835 Centerline is valid? [False, False] Translation: X:4.79, Y:0.34, Z:-1.24 [[ 0.99985346 -0.01386586 -0.01003989 4.7892849 ] [ 0.01378042 0.99986866 -0.00852993 0.34199669] [ 0.01015684 0.00839032 0.99991322 -1.23532558] [ 0. 0. 0. 1. ]] SLAMing on 173.414553574 meters Centerline goodness [0,1] 0.8547916788978258 Centerline is valid? [False, False] Translation: X:4.79, Y:0.34, Z:-1.23 [[ 0.99986264 -0.01333599 -0.00984087 4.78830632] [ 0.01326676 0.99988702 -0.00706654 0.33790668] [ 0.009934 0.00693502 0.99992661 -1.23402166] [ 0. 0. 0. 1. ]] SLAMing on 173.444553574 meters Centerline goodness [0,1] 0.8547916788978258 Centerline is valid? [False, False] Translation: X:4.79, Y:0.34, Z:-1.23 [[ 0.99986264 -0.01333599 -0.00984087 4.78830632] [ 0.01326676 0.99988702 -0.00706654 0.33790668] [ 0.009934 0.00693502 0.99992661 -1.23402166] [ 0. 0. 0. 1. ]] SLAMing on 173.47455357399997 meters Centerline goodness [0,1] 0.8539090214217118 Centerline is valid? [False, False] Translation: X:4.79, Y:0.33, Z:-1.23 [[ 9.99890414e-01 -1.06654185e-02 -1.02668988e-02 4.79022926e+00] [ 1.06334274e-02 9.99938453e-01 -3.16550990e-03 3.34687319e-01] [ 1.03000284e-02 3.05599068e-03 9.99942284e-01 -1.23434487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.50455357399997 meters Centerline goodness [0,1] 0.8511102377677343 Centerline is valid? [False, False] Translation: X:4.79, Y:0.33, Z:-1.23 [[ 9.99917917e-01 -7.24525972e-03 -1.05671652e-02 4.79116216e+00] [ 7.25845726e-03 9.99972924e-01 1.21110228e-03 3.32108631e-01] [ 1.05581043e-02 -1.28770418e-03 9.99943433e-01 -1.23394816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53455357399997 meters Centerline goodness [0,1] 0.8513132190145432 Centerline is valid? [False, False] Translation: X:4.79, Y:0.33, Z:-1.23 [[ 9.99921512e-01 -6.74059384e-03 -1.05609493e-02 4.79135829e+00] [ 6.76116684e-03 9.99975312e-01 1.91353541e-03 3.30079779e-01] [ 1.05477902e-02 -1.98478956e-03 9.99942401e-01 -1.23431453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.56455357399997 meters Centerline goodness [0,1] 0.850292420769778 Centerline is valid? [False, False] Translation: X:4.79, Y:0.33, Z:-1.23 [[ 9.99925393e-01 -6.29946926e-03 -1.04654309e-02 4.79099924e+00] [ 6.32512410e-03 9.99977068e-01 2.42010126e-03 3.29276080e-01] [ 1.04499455e-02 -2.48611585e-03 9.99942307e-01 -1.23424072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.59455357399997 meters Centerline goodness [0,1] 0.8522993294449074 Centerline is valid? [False, False] Translation: X:4.79, Y:0.33, Z:-1.23 [[ 9.99928164e-01 -6.06703944e-03 -1.03372280e-02 4.79087911e+00] [ 6.10029937e-03 9.99976308e-01 3.18900269e-03 3.26638244e-01] [ 1.03176352e-02 -3.25183379e-03 9.99941484e-01 -1.23427212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.62455357399998 meters Centerline goodness [0,1] 0.8520714768973614 Centerline is valid? [False, False] Translation: X:4.79, Y:0.32, Z:-1.23 [[ 9.99928166e-01 -6.10633624e-03 -1.03138893e-02 4.79085094e+00] [ 6.14334728e-03 9.99974790e-01 3.56060473e-03 3.24997933e-01] [ 1.02918870e-02 -3.62371076e-03 9.99940471e-01 -1.23406215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.65455357399998 meters Centerline goodness [0,1] 0.8521376724894313 Centerline is valid? [False, False] Translation: X:4.79, Y:0.32, Z:-1.23 [[ 9.99925806e-01 -6.36759445e-03 -1.03843982e-02 4.79128524e+00] [ 6.40723062e-03 9.99972298e-01 3.78810507e-03 3.23426575e-01] [ 1.03599894e-02 -3.85435925e-03 9.99938905e-01 -1.23408999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.68455357399998 meters Centerline goodness [0,1] 0.8499126348135205 Centerline is valid? [False, False] Translation: X:4.79, Y:0.32, Z:-1.23 [[ 9.99914123e-01 -7.44745681e-03 -1.07833958e-02 4.79309312e+00] [ 7.48830723e-03 9.99964920e-01 3.75286239e-03 3.20447360e-01] [ 1.07550683e-02 -3.83328948e-03 9.99934815e-01 -1.23464127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.71455357399998 meters Centerline goodness [0,1] 0.8533449069401268 Centerline is valid? [False, False] Translation: X:4.80, Y:0.32, Z:-1.24 [[ 9.99896643e-01 -8.79499923e-03 -1.13733098e-02 4.79577670e+00] [ 8.83614252e-03 9.99954579e-01 3.57235378e-03 3.17660272e-01] [ 1.13413744e-02 -3.67248073e-03 9.99928941e-01 -1.23576719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.74455357399998 meters Centerline goodness [0,1] 0.8550929383034975 Centerline is valid? [False, False] Translation: X:4.80, Y:0.32, Z:-1.24 [[ 9.99888769e-01 -9.25759745e-03 -1.16938257e-02 4.79703079e+00] [ 9.30032013e-03 9.99950255e-01 3.60435602e-03 3.16808648e-01] [ 1.16598763e-02 -3.71271143e-03 9.99925129e-01 -1.23629860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.77455357399998 meters Centerline goodness [0,1] 0.854584773338184 Centerline is valid? [False, False] Translation: X:4.80, Y:0.32, Z:-1.24 [[ 9.99878423e-01 -9.84741912e-03 -1.20899987e-02 4.79862444e+00] [ 9.89048277e-03 9.99944937e-01 3.50731382e-03 3.16046835e-01] [ 1.20547950e-02 -3.62646333e-03 9.99920762e-01 -1.23704953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.80455357399998 meters Centerline goodness [0,1] 0.85601797498077 Centerline is valid? [False, False] Translation: X:4.80, Y:0.31, Z:-1.24 [[ 9.99850714e-01 -1.15154339e-02 -1.28819141e-02 4.80191193e+00] [ 1.15550114e-02 9.99928732e-01 3.00212545e-03 3.14106135e-01] [ 1.28464253e-02 -3.15052794e-03 9.99912518e-01 -1.23838404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.83455357399998 meters Centerline goodness [0,1] 0.8571774975751697 Centerline is valid? [False, False] Translation: X:4.80, Y:0.31, Z:-1.24 [[ 9.99841777e-01 -1.19504778e-02 -1.31759832e-02 4.80285067e+00] [ 1.19912237e-02 9.99923549e-01 3.01777904e-03 3.13388620e-01] [ 1.31389120e-02 -3.17529773e-03 9.99908639e-01 -1.23847840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.86455357399998 meters Centerline goodness [0,1] 0.8615586248613771 Centerline is valid? [False, False] Translation: X:4.80, Y:0.31, Z:-1.24 [[ 9.99823217e-01 -1.29629588e-02 -1.36196987e-02 4.80440407e+00] [ 1.30016295e-02 9.99911681e-01 2.75462372e-03 3.12589052e-01] [ 1.35827878e-02 -2.93121503e-03 9.99903453e-01 -1.23855345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.89455357399999 meters Centerline goodness [0,1] 0.859497803393656 Centerline is valid? [False, False] Translation: X:4.80, Y:0.31, Z:-1.24 [[ 9.99819072e-01 -1.32394605e-02 -1.36579799e-02 4.80456463e+00] [ 1.32781655e-02 9.99908068e-01 2.74708885e-03 3.12151926e-01] [ 1.36203544e-02 -2.92794474e-03 9.99902952e-01 -1.23827296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.924553574 meters Centerline goodness [0,1] 0.860586306110541 Centerline is valid? [False, False] Translation: X:4.80, Y:0.31, Z:-1.24 [[ 9.99815120e-01 -1.34548532e-02 -1.37365502e-02 4.80463485e+00] [ 1.34927484e-02 9.99905405e-01 2.66977012e-03 3.12392029e-01] [ 1.36993294e-02 -2.85462035e-03 9.99902085e-01 -1.23783594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.954553574 meters Centerline goodness [0,1] 0.8610325459108473 Centerline is valid? [False, False] Translation: X:4.82, Y:0.32, Z:-1.24 [[ 0.9998911 -0.01239909 -0.00800348 4.82010757] [ 0.01235548 0.99990868 -0.00547562 0.31501936] [ 0.00807064 0.00537613 0.99995298 -1.24360162] [ 0. 0. 0. 1. ]] SLAMing on 173.984553574 meters Centerline goodness [0,1] 0.8614266423067758 Centerline is valid? [False, False] Translation: X:4.82, Y:0.31, Z:-1.24 [[ 9.99914383e-01 -9.89950227e-03 -8.55721960e-03 4.82230882e+00] [ 9.88105897e-03 9.99948772e-01 -2.19489021e-03 3.14578654e-01] [ 8.57850956e-03 2.11014790e-03 9.99960977e-01 -1.24403602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.014553574 meters Centerline goodness [0,1] 0.8618276700468481 Centerline is valid? [False, False] Translation: X:4.82, Y:0.31, Z:-1.24 [[ 9.99932330e-01 -7.61283472e-03 -8.79664387e-03 4.82334585e+00] [ 7.61988863e-03 9.99970673e-01 7.68649150e-04 3.14977973e-01] [ 8.79053429e-03 -8.35626582e-04 9.99961013e-01 -1.24369588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.044553574 meters Centerline goodness [0,1] 0.86326116506767 Centerline is valid? [False, False] Translation: X:4.82, Y:0.32, Z:-1.24 [[ 9.99931480e-01 -7.67036684e-03 -8.84316266e-03 4.82350015e+00] [ 7.67449752e-03 9.99970457e-01 4.33264565e-04 3.16441511e-01] [ 8.83957811e-03 -5.01101708e-04 9.99960805e-01 -1.24386018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.074553574 meters Centerline goodness [0,1] 0.8642346013609686 Centerline is valid? [False, False] Translation: X:4.83, Y:0.32, Z:-1.25 [[ 9.99933363e-01 -6.12366469e-03 -9.78622807e-03 4.82810644e+00] [ 6.14886519e-03 9.99977852e-01 2.54708766e-03 3.16673374e-01] [ 9.77041382e-03 -2.60709213e-03 9.99948870e-01 -1.24644539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.104553574 meters Centerline goodness [0,1] 0.8641569603515663 Centerline is valid? [False, False] Translation: X:4.83, Y:0.32, Z:-1.25 [[ 9.99924613e-01 -6.73894208e-03 -1.02642654e-02 4.82987381e+00] [ 6.75630733e-03 9.99975801e-01 1.65808112e-03 3.18802819e-01] [ 1.02528433e-02 -1.72730465e-03 9.99945946e-01 -1.24754925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.134553574 meters Centerline goodness [0,1] 0.8571456348434766 Centerline is valid? [False, False] Translation: X:4.83, Y:0.32, Z:-1.25 [[ 9.99919766e-01 -7.03214872e-03 -1.05361558e-02 4.83073051e+00] [ 7.04796823e-03 9.99974090e-01 1.46507210e-03 3.18922773e-01] [ 1.05255802e-02 -1.53921304e-03 9.99943420e-01 -1.24779451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.164553574 meters Centerline goodness [0,1] 0.8597164109716411 Centerline is valid? [False, False] Translation: X:4.83, Y:0.32, Z:-1.25 [[ 9.99906825e-01 -7.96958744e-03 -1.10826896e-02 4.83282368e+00] [ 7.97651576e-03 9.99968018e-01 5.81085933e-04 3.19865945e-01] [ 1.10777041e-02 -6.69433039e-04 9.99938416e-01 -1.24888117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.194553574 meters Centerline goodness [0,1] 0.8597164109716411 Centerline is valid? [False, False] Translation: X:4.83, Y:0.32, Z:-1.25 [[ 9.99906825e-01 -7.96958744e-03 -1.10826896e-02 4.83282368e+00] [ 7.97651576e-03 9.99968018e-01 5.81085933e-04 3.19865945e-01] [ 1.10777041e-02 -6.69433039e-04 9.99938416e-01 -1.24888117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.22455357399997 meters Centerline goodness [0,1] 0.8665236632075289 Centerline is valid? [False, False] Translation: X:4.83, Y:0.32, Z:-1.25 [[ 9.99902802e-01 -8.20246485e-03 -1.12741460e-02 4.83356820e+00] [ 8.20536152e-03 9.99966313e-01 2.10697527e-04 3.20845729e-01] [ 1.12720380e-02 -3.03185491e-04 9.99936423e-01 -1.24938618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.25455357399997 meters Centerline goodness [0,1] 0.8496909479521692 Centerline is valid? [False, False] Translation: X:4.83, Y:0.32, Z:-1.25 [[ 9.99900425e-01 -8.32197772e-03 -1.13966800e-02 4.83406716e+00] [ 8.32078043e-03 9.99965370e-01 -1.52468591e-04 3.22274453e-01] [ 1.13975542e-02 5.76241373e-05 9.99935044e-01 -1.24980467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.28455357399997 meters Centerline goodness [0,1] 0.867018429303357 Centerline is valid? [False, False] Translation: X:4.84, Y:0.32, Z:-1.25 [[ 9.99906099e-01 -5.95541845e-03 -1.23420395e-02 4.83755403e+00] [ 5.98433106e-03 9.99979433e-01 2.30700604e-03 3.24899787e-01] [ 1.23280464e-02 -2.38064826e-03 9.99921173e-01 -1.25148184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.31455357399997 meters Centerline goodness [0,1] 0.8699443378483633 Centerline is valid? [False, False] Translation: X:4.84, Y:0.33, Z:-1.25 [[ 9.99914103e-01 -5.12263629e-03 -1.20641867e-02 4.83601599e+00] [ 5.14959985e-03 9.99984310e-01 2.20500583e-03 3.28075776e-01] [ 1.20527020e-02 -2.26694217e-03 9.99924794e-01 -1.25068767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.34455357399997 meters Centerline goodness [0,1] 0.8696845772274604 Centerline is valid? [False, False] Translation: X:4.83, Y:0.33, Z:-1.25 [[ 9.99920560e-01 -4.53570083e-03 -1.17601260e-02 4.83441948e+00] [ 4.56552951e-03 9.99986426e-01 2.51082115e-03 3.28894191e-01] [ 1.17485780e-02 -2.56431290e-03 9.99927695e-01 -1.24939718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.37455357399998 meters Centerline goodness [0,1] 0.8739570355268622 Centerline is valid? [False, False] Translation: X:4.83, Y:0.33, Z:-1.25 [[ 9.99926684e-01 -3.94142877e-03 -1.14495504e-02 4.83290958e+00] [ 3.97216826e-03 9.99988564e-01 2.66327812e-03 3.30223168e-01] [ 1.14389223e-02 -2.70856240e-03 9.99930905e-01 -1.24836028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.40455357399998 meters Centerline goodness [0,1] 0.8734151021483125 Centerline is valid? [False, False] Translation: X:4.83, Y:0.33, Z:-1.25 [[ 9.99934332e-01 -3.03950028e-03 -1.10496139e-02 4.83112618e+00] [ 3.07152477e-03 9.99991129e-01 2.88243131e-03 3.32291091e-01] [ 1.10407548e-02 -2.91618119e-03 9.99934797e-01 -1.24746211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.43455357399998 meters Centerline goodness [0,1] 0.8779907443838645 Centerline is valid? [False, False] Translation: X:4.83, Y:0.34, Z:-1.25 [[ 9.99941843e-01 2.06569254e-03 -1.05850706e-02 4.82894818e+00] [-1.99434723e-03 9.99975255e-01 6.74631048e-03 3.36624564e-01] [ 1.05987445e-02 -6.72480783e-03 9.99921219e-01 -1.24619893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.46455357399998 meters Centerline goodness [0,1] 0.8810980186130292 Centerline is valid? [False, False] Translation: X:4.83, Y:0.34, Z:-1.24 [[ 0.99992109 0.00765449 -0.00996084 4.82623858] [-0.0075472 0.99991357 0.0107652 0.34071188] [ 0.01004238 -0.01068917 0.99989244 -1.24480185] [ 0. 0. 0. 1. ]] SLAMing on 174.49455357399998 meters Centerline goodness [0,1] 0.8810410313020376 Centerline is valid? [False, False] Translation: X:4.83, Y:0.34, Z:-1.24 [[ 0.99991158 0.00899598 -0.00979298 4.82509269] [-0.00888878 0.9999007 0.01093526 0.34316089] [ 0.00989038 -0.01084725 0.99989225 -1.24439277] [ 0. 0. 0. 1. ]] SLAMing on 174.52455357399998 meters Centerline goodness [0,1] 0.8831190609278927 Centerline is valid? [False, False] Translation: X:4.82, Y:0.35, Z:-1.24 [[ 0.9999015 0.01042599 -0.0093964 4.82324855] [-0.01032004 0.99988341 0.0112545 0.34520562] [ 0.00951264 -0.01115642 0.99989252 -1.24351738] [ 0. 0. 0. 1. ]] SLAMing on 174.55455357399998 meters Centerline goodness [0,1] 0.8817543729342295 Centerline is valid? [False, False] Translation: X:4.82, Y:0.35, Z:-1.24 [[ 0.99983112 0.01613012 -0.00880666 4.82076897] [-0.0159905 0.99974886 0.01570075 0.34738994] [ 0.00905771 -0.01555727 0.99983795 -1.24191398] [ 0. 0. 0. 1. ]] SLAMing on 174.58455357399998 meters Centerline goodness [0,1] 0.8825395058980636 Centerline is valid? [False, False] Translation: X:4.82, Y:0.35, Z:-1.24 [[ 0.99981348 0.01724308 -0.00869911 4.82032604] [-0.01710493 0.99973023 0.01571276 0.34974177] [ 0.0089677 -0.01556103 0.9998387 -1.24228103] [ 0. 0. 0. 1. ]] SLAMing on 174.61455357399998 meters Centerline goodness [0,1] 0.8820916242480333 Centerline is valid? [False, False] Translation: X:4.82, Y:0.35, Z:-1.24 [[ 0.99972196 0.02188207 -0.00878514 4.82113154] [-0.02170947 0.99957833 0.01928351 0.35260796] [ 0.0092034 -0.01908743 0.99977546 -1.24351934] [ 0. 0. 0. 1. ]] SLAMing on 174.64455357399999 meters Centerline goodness [0,1] 0.8816369632072326 Centerline is valid? [False, False] Translation: X:4.82, Y:0.35, Z:-1.24 [[ 0.99971547 0.02216127 -0.00882345 4.82140969] [-0.02198816 0.9995728 0.01925471 0.35302548] [ 0.00924639 -0.01905522 0.99977568 -1.24391313] [ 0. 0. 0. 1. ]] SLAMing on 174.674553574 meters Centerline goodness [0,1] 0.8803058705618144 Centerline is valid? [False, False] Translation: X:4.82, Y:0.35, Z:-1.24 [[ 0.9997697 0.01968799 -0.00854024 4.81966179] [-0.01954823 0.99967847 0.01615026 0.35320816] [ 0.00885546 -0.01597959 0.9998331 -1.24309735] [ 0. 0. 0. 1. ]] SLAMing on 174.704553574 meters Centerline goodness [0,1] 0.8776853647620468 Centerline is valid? [False, False] Translation: X:4.82, Y:0.35, Z:-1.24 [[ 0.9998393 0.01589614 -0.00828776 4.81880508] [-0.01579013 0.99979463 0.01270286 0.35122979] [ 0.00848799 -0.01256995 0.99988497 -1.24269603] [ 0. 0. 0. 1. ]] SLAMing on 174.734553574 meters Centerline goodness [0,1] 0.8784550030877482 Centerline is valid? [False, False] Translation: X:4.82, Y:0.35, Z:-1.24 [[ 0.9999279 0.00871317 -0.00826308 4.81878824] [-0.00866965 0.99994844 0.00528815 0.35119933] [ 0.00830873 -0.00521613 0.99995188 -1.24369256] [ 0. 0. 0. 1. ]] SLAMing on 174.764553574 meters Centerline goodness [0,1] 0.877950910352328 Centerline is valid? [False, False] Translation: X:4.82, Y:0.35, Z:-1.24 [[ 9.99954027e-01 4.63418079e-03 -8.39450744e-03 4.81939730e+00] [-4.62494930e-03 9.99988679e-01 1.11878447e-03 3.51157833e-01] [ 8.39959706e-03 -1.07990886e-03 9.99964140e-01 -1.24459335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.794553574 meters Centerline goodness [0,1] 0.8786431499379489 Centerline is valid? [False, False] Translation: X:4.82, Y:0.35, Z:-1.25 [[ 9.99953735e-01 3.37714275e-03 -9.00676403e-03 4.82194100e+00] [-3.37147212e-03 9.99994109e-01 6.44706010e-04 3.49402997e-01] [ 9.00888824e-03 -6.14310129e-04 9.99959230e-01 -1.24590294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.824553574 meters Centerline goodness [0,1] 0.8794469767177955 Centerline is valid? [False, False] Translation: X:4.82, Y:0.35, Z:-1.25 [[ 9.99957153e-01 -1.10580343e-03 -9.19069144e-03 4.82266542e+00] [ 1.07985791e-03 9.99995420e-01 -2.82750512e-03 3.46289650e-01] [ 9.19377601e-03 2.81745932e-03 9.99953767e-01 -1.24608926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.854553574 meters Centerline goodness [0,1] 0.8759026985936906 Centerline is valid? [False, False] Translation: X:4.82, Y:0.34, Z:-1.25 [[ 9.99953000e-01 -1.84532607e-03 -9.51805561e-03 4.82381531e+00] [ 1.82095649e-03 9.99995044e-01 -2.56838430e-03 3.43687196e-01] [ 9.52274795e-03 2.55093162e-03 9.99951404e-01 -1.24617316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.884553574 meters Centerline goodness [0,1] 0.877774596812673 Centerline is valid? [False, False] Translation: X:4.83, Y:0.34, Z:-1.25 [[ 0.99992799 -0.00664194 -0.00999509 4.82599458] [ 0.00657728 0.99995732 -0.00648838 0.34110382] [ 0.01003776 0.00642218 0.999929 -1.24767209] [ 0. 0. 0. 1. ]] SLAMing on 174.914553574 meters Centerline goodness [0,1] 0.8754044378075163 Centerline is valid? [False, False] Translation: X:4.83, Y:0.34, Z:-1.25 [[ 0.99992042 -0.00721688 -0.01034708 4.8272826 ] [ 0.00715047 0.99995369 -0.00644075 0.34000597] [ 0.01039309 0.00636625 0.99992572 -1.24811199] [ 0. 0. 0. 1. ]] SLAMing on 174.944553574 meters Centerline goodness [0,1] 0.8758562302778419 Centerline is valid? [False, False] Translation: X:4.83, Y:0.34, Z:-1.25 [[ 0.99989939 -0.00912443 -0.01086048 4.82997043] [ 0.00905101 0.99993598 -0.00679034 0.33652833] [ 0.01092175 0.00669135 0.99991797 -1.24915204] [ 0. 0. 0. 1. ]] SLAMing on 174.97455357399997 meters Centerline goodness [0,1] 0.8736141053279951 Centerline is valid? [False, False] Translation: X:4.83, Y:0.33, Z:-1.25 [[ 0.99988199 -0.01018483 -0.01150107 4.83245735] [ 0.01010616 0.99992528 -0.00687769 0.33409065] [ 0.01157026 0.00676064 0.99991021 -1.25019256] [ 0. 0. 0. 1. ]] SLAMing on 175.00455357399997 meters Centerline goodness [0,1] 0.8725476983500511 Centerline is valid? [False, False] Translation: X:4.84, Y:0.33, Z:-1.25 [[ 0.99986381 -0.01112635 -0.01218847 4.83507797] [ 0.0110417 0.99991461 -0.00699018 0.33205296] [ 0.0122652 0.00685465 0.99990128 -1.25143355] [ 0. 0. 0. 1. ]] SLAMing on 175.03455357399997 meters Centerline goodness [0,1] 0.8740612028188048 Centerline is valid? [False, False] Translation: X:4.84, Y:0.33, Z:-1.25 [[ 0.99983111 -0.01288162 -0.01310789 4.83925175] [ 0.0127866 0.99989155 -0.00730693 0.3279921 ] [ 0.01320059 0.00713809 0.99988739 -1.25368892] [ 0. 0. 0. 1. ]] SLAMing on 175.06455357399997 meters Centerline goodness [0,1] 0.8679172307097274 Centerline is valid? [False, False] Translation: X:4.84, Y:0.33, Z:-1.25 [[ 0.99982173 -0.01318381 -0.01351641 4.84065508] [ 0.01308995 0.99988976 -0.00700881 0.32627079] [ 0.01360732 0.00683063 0.99988408 -1.25417497] [ 0. 0. 0. 1. ]] SLAMing on 175.09455357399997 meters Centerline goodness [0,1] 0.8316289760221274 Centerline is valid? [False, False] Translation: X:4.84, Y:0.32, Z:-1.25 [[ 9.99848372e-01 -1.04673793e-02 -1.39164240e-02 4.84266968e+00] [ 1.04256550e-02 9.99940947e-01 -3.06737902e-03 3.23321135e-01] [ 1.39477096e-02 2.92182608e-03 9.99898457e-01 -1.25476958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.12455357399998 meters Centerline goodness [0,1] 0.8725165886981542 Centerline is valid? [False, False] Translation: X:4.84, Y:0.32, Z:-1.25 [[ 9.99870196e-01 -7.18267407e-03 -1.44222439e-02 4.84419596e+00] [ 7.19869864e-03 9.99973528e-01 1.05949474e-03 3.21715175e-01] [ 1.44142522e-02 -1.16317861e-03 9.99895433e-01 -1.25473182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.15455357399998 meters Centerline goodness [0,1] 0.8709303011823029 Centerline is valid? [False, False] Translation: X:4.84, Y:0.32, Z:-1.25 [[ 9.99876590e-01 -6.55334500e-03 -1.42779195e-02 4.84329370e+00] [ 6.57886852e-03 9.99976843e-01 1.74138665e-03 3.20896083e-01] [ 1.42661770e-02 -1.83510430e-03 9.99896549e-01 -1.25401216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.18455357399998 meters Centerline goodness [0,1] 0.8718605843157355 Centerline is valid? [False, False] Translation: X:4.86, Y:0.32, Z:-1.26 [[ 9.99962251e-01 -1.73990528e-03 -8.51294604e-03 4.85595335e+00] [ 1.70501354e-03 9.99990124e-01 -4.10421083e-03 3.18789734e-01] [ 8.52000290e-03 4.08954121e-03 9.99955342e-01 -1.25871527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.21455357399998 meters Centerline goodness [0,1] 0.870367808368085 Centerline is valid? [False, False] Translation: X:4.85, Y:0.32, Z:-1.26 [[ 9.99962281e-01 2.85603537e-03 -8.20242427e-03 4.85454579e+00] [-2.84897325e-03 9.99995561e-01 8.72535435e-04 3.16645931e-01] [ 8.20487985e-03 -8.49134036e-04 9.99965979e-01 -1.25716661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.24455357399998 meters Centerline goodness [0,1] 0.8730795055096963 Centerline is valid? [False, False] Translation: X:4.85, Y:0.32, Z:-1.26 [[ 9.99962016e-01 3.75708079e-03 -7.86451773e-03 4.85337080e+00] [-3.74743638e-03 9.99992209e-01 1.24069655e-03 3.17199887e-01] [ 7.86911785e-03 -1.21117764e-03 9.99968305e-01 -1.25684282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.27455357399998 meters Centerline goodness [0,1] 0.8716709410140067 Centerline is valid? [False, False] Translation: X:4.85, Y:0.32, Z:-1.26 [[ 9.99959962e-01 4.84389238e-03 -7.52400356e-03 4.85207799e+00] [-4.83228184e-03 9.99987107e-01 1.56054675e-03 3.18315181e-01] [ 7.53146567e-03 -1.52412616e-03 9.99970477e-01 -1.25659526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.30455357399998 meters Centerline goodness [0,1] 0.8695403206697734 Centerline is valid? [False, False] Translation: X:4.85, Y:0.32, Z:-1.25 [[ 0.99992489 0.01019063 -0.00680918 4.84918055] [-0.0101448 0.99992588 0.0067322 0.31768015] [ 0.00687728 -0.00666261 0.99995416 -1.25436915] [ 0. 0. 0. 1. ]] SLAMing on 175.33455357399998 meters Centerline goodness [0,1] 0.8700327532457283 Centerline is valid? [False, False] Translation: X:4.85, Y:0.32, Z:-1.25 [[ 0.99991962 0.01083453 -0.00658586 4.84829206] [-0.01078734 0.99991618 0.00715942 0.31712701] [ 0.00666288 -0.0070878 0.99995268 -1.25387153] [ 0. 0. 0. 1. ]] SLAMing on 175.36455357399998 meters Centerline goodness [0,1] 0.8711942867316861 Centerline is valid? [False, False] Translation: X:4.85, Y:0.32, Z:-1.25 [[ 0.99991187 0.01184362 -0.00599812 4.84609926] [-0.01179542 0.99989836 0.00800843 0.31595062] [ 0.00609236 -0.00793697 0.99994994 -1.25254971] [ 0. 0. 0. 1. ]] SLAMing on 175.39455357399999 meters Centerline goodness [0,1] 0.8699225635236567 Centerline is valid? [False, False] Translation: X:4.85, Y:0.32, Z:-1.25 [[ 9.99942755e-01 9.01478771e-03 -5.76366823e-03 4.84512341e+00] [-8.99011865e-03 9.99950378e-01 4.29177467e-03 3.17072398e-01] [ 5.80207167e-03 -4.23971292e-03 9.99974180e-01 -1.25296076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.424553574 meters Centerline goodness [0,1] 0.8691725749594011 Centerline is valid? [False, False] Translation: X:4.84, Y:0.32, Z:-1.25 [[ 9.99967839e-01 5.75360279e-03 -5.58724491e-03 4.84462018e+00] [-5.75194926e-03 9.99983409e-01 3.11970690e-04 3.18161698e-01] [ 5.58894716e-03 -2.79823107e-04 9.99984343e-01 -1.25360097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.454553574 meters Centerline goodness [0,1] 0.870670802019961 Centerline is valid? [False, False] Translation: X:4.85, Y:0.32, Z:-1.25 [[ 9.99982606e-01 1.45292771e-03 -5.71639253e-03 4.84522449e+00] [-1.47360266e-03 9.99992383e-01 -3.61423488e-03 3.16829825e-01] [ 5.71109776e-03 3.62259571e-03 9.99977130e-01 -1.25421100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.484553574 meters Centerline goodness [0,1] 0.8714117811111775 Centerline is valid? [False, False] Translation: X:4.85, Y:0.32, Z:-1.25 [[ 9.99980887e-01 4.15438340e-04 -6.16873575e-03 4.84701582e+00] [-4.38599270e-04 9.99992859e-01 -3.75368878e-03 3.15104069e-01] [ 6.16713227e-03 3.75632264e-03 9.99973928e-01 -1.25472315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.514553574 meters Centerline goodness [0,1] 0.8720280836125738 Centerline is valid? [False, False] Translation: X:4.85, Y:0.31, Z:-1.26 [[ 0.99996328 -0.00512808 -0.00686663 4.85036842] [ 0.00506862 0.99994976 -0.00864816 0.31459393] [ 0.00691063 0.00861304 0.99993903 -1.25715813] [ 0. 0. 0. 1. ]] SLAMing on 175.544553574 meters Centerline goodness [0,1] 0.8721415589862396 Centerline is valid? [False, False] Translation: X:4.85, Y:0.31, Z:-1.26 [[ 0.99995498 -0.00605004 -0.00730967 4.85201198] [ 0.00598503 0.99994264 -0.00888268 0.31366287] [ 0.00736299 0.00883853 0.99993383 -1.2576016 ] [ 0. 0. 0. 1. ]] SLAMing on 175.574553574 meters Centerline goodness [0,1] 0.872655281366236 Centerline is valid? [False, False] Translation: X:4.85, Y:0.31, Z:-1.26 [[ 0.9999463 -0.00687072 -0.00775875 4.85350019] [ 0.00680073 0.99993626 -0.00901213 0.31253451] [ 0.00782017 0.00895888 0.99992929 -1.25785976] [ 0. 0. 0. 1. ]] SLAMing on 175.604553574 meters Centerline goodness [0,1] 0.851892583631601 Centerline is valid? [False, False] Translation: X:4.86, Y:0.31, Z:-1.26 [[ 0.99993203 -0.00827608 -0.00821277 4.85537743] [ 0.00819766 0.99992093 -0.00953604 0.31157049] [ 0.00829105 0.00946806 0.9999208 -1.25826225] [ 0. 0. 0. 1. ]] SLAMing on 175.634553574 meters Centerline goodness [0,1] 0.8555324592260953 Centerline is valid? [False, False] Translation: X:4.86, Y:0.31, Z:-1.26 [[ 0.99992836 -0.00856484 -0.00836142 4.85587901] [ 0.0084841 0.9999175 -0.00964404 0.3115587 ] [ 0.00844333 0.00957241 0.99991854 -1.25833517] [ 0. 0. 0. 1. ]] SLAMing on 175.664553574 meters Centerline goodness [0,1] 0.8575304209056454 Centerline is valid? [False, False] Translation: X:4.86, Y:0.31, Z:-1.26 [[ 0.9999267 -0.00879735 -0.00831875 4.85571632] [ 0.00871589 0.99991421 -0.00977832 0.3119841 ] [ 0.00840406 0.0097051 0.99991759 -1.25790975] [ 0. 0. 0. 1. ]] SLAMing on 175.694553574 meters Centerline goodness [0,1] 0.8754735792622134 Centerline is valid? [False, False] Translation: X:4.86, Y:0.31, Z:-1.26 [[ 0.99994326 -0.00619148 -0.0086685 4.85723692] [ 0.00613647 0.99996096 -0.00635784 0.31143359] [ 0.00870753 0.00630428 0.99994222 -1.25790342] [ 0. 0. 0. 1. ]] SLAMing on 175.72455357399997 meters Centerline goodness [0,1] 0.8770638196539133 Centerline is valid? [False, False] Translation: X:4.86, Y:0.31, Z:-1.26 [[ 9.99949561e-01 -3.93398382e-03 -9.24112495e-03 4.85976625e+00] [ 3.90199821e-03 9.99986343e-01 -3.47670827e-03 3.11645226e-01] [ 9.25467606e-03 3.44047406e-03 9.99951256e-01 -1.25882509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75455357399997 meters Centerline goodness [0,1] 0.8705078705078705 Centerline is valid? [False, False] Translation: X:4.86, Y:0.31, Z:-1.26 [[ 9.99947251e-01 -4.08669997e-03 -9.42303861e-03 4.86041983e+00] [ 4.05184204e-03 9.99984889e-01 -3.71535188e-03 3.12201559e-01] [ 9.43807975e-03 3.67697524e-03 9.99948700e-01 -1.25929298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.78455357399997 meters Centerline goodness [0,1] 0.8771118619953762 Centerline is valid? [False, False] Translation: X:4.86, Y:0.31, Z:-1.26 [[ 9.99942972e-01 -4.45402534e-03 -9.70638474e-03 4.86136052e+00] [ 4.41530022e-03 9.99982223e-01 -4.00743710e-03 3.12514063e-01] [ 9.72406141e-03 3.96435196e-03 9.99944862e-01 -1.25970931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.81455357399997 meters Centerline goodness [0,1] 0.8689791446570412 Centerline is valid? [False, False] Translation: X:4.87, Y:0.31, Z:-1.26 [[ 0.9999213 -0.00637282 -0.01080663 4.86601142] [ 0.00631373 0.99996498 -0.00549361 0.31317583] [ 0.01084127 0.00542494 0.99992652 -1.26243933] [ 0. 0. 0. 1. ]] SLAMing on 175.84455357399997 meters Centerline goodness [0,1] 0.8750683113435865 Centerline is valid? [False, False] Translation: X:4.87, Y:0.31, Z:-1.26 [[ 0.99991341 -0.00693451 -0.01118422 4.86742602] [ 0.00686806 0.9999586 -0.00596867 0.31384441] [ 0.01122515 0.00589134 0.99991964 -1.26319797] [ 0. 0. 0. 1. ]] SLAMing on 175.87455357399998 meters Centerline goodness [0,1] 0.8775885782917805 Centerline is valid? [False, False] Translation: X:4.87, Y:0.32, Z:-1.26 [[ 0.99989983 -0.00778579 -0.01182015 4.86988533] [ 0.00770236 0.99994522 -0.00708733 0.31617319] [ 0.01187469 0.00699558 0.99990502 -1.26469558] [ 0. 0. 0. 1. ]] SLAMing on 175.90455357399998 meters Centerline goodness [0,1] 0.8676618260466553 Centerline is valid? [False, False] Translation: X:4.87, Y:0.32, Z:-1.27 [[ 9.99910210e-01 -5.18408515e-03 -1.23570568e-02 4.87222711e+00] [ 5.13539193e-03 9.99978937e-01 -3.96899787e-03 3.16399114e-01] [ 1.23773722e-02 3.90518316e-03 9.99915772e-01 -1.26554335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.93455357399998 meters Centerline goodness [0,1] 0.8793199715050347 Centerline is valid? [False, False] Translation: X:4.87, Y:0.32, Z:-1.27 [[ 9.99913791e-01 -2.36224372e-03 -1.29163073e-02 4.87432310e+00] [ 2.35144663e-03 9.99996873e-01 -8.51049545e-04 3.17094175e-01] [ 1.29182773e-02 8.20604170e-04 9.99916219e-01 -1.26622745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.96455357399998 meters Centerline goodness [0,1] 0.8802428467460834 Centerline is valid? [False, False] Translation: X:4.87, Y:0.32, Z:-1.27 [[ 9.99915140e-01 1.57101952e-03 -1.29323134e-02 4.87416183e+00] [-1.54088846e-03 9.99996076e-01 2.33953980e-03 3.20614593e-01] [ 1.29359382e-02 -2.31941402e-03 9.99913637e-01 -1.26598699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.99455357399998 meters Centerline goodness [0,1] 0.8819449751623997 Centerline is valid? [False, False] Translation: X:4.87, Y:0.32, Z:-1.26 [[ 9.99919780e-01 3.92437916e-03 -1.20429491e-02 4.86964530e+00] [-3.88353274e-03 9.99986634e-01 3.41324266e-03 3.24691959e-01] [ 1.20561830e-02 -3.36619966e-03 9.99921656e-01 -1.26295721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.02455357399998 meters Centerline goodness [0,1] 0.883845713194577 Centerline is valid? [False, False] Translation: X:4.87, Y:0.33, Z:-1.26 [[ 9.99921578e-01 4.67911033e-03 -1.16165439e-02 4.86797798e+00] [-4.63975917e-03 9.99983415e-01 3.41215218e-03 3.26615048e-01] [ 1.16323171e-02 -3.35798662e-03 9.99926704e-01 -1.26222450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.05455357399998 meters Centerline goodness [0,1] 0.8819551593424386 Centerline is valid? [False, False] Translation: X:4.87, Y:0.33, Z:-1.26 [[ 9.99922257e-01 5.51202298e-03 -1.11846845e-02 4.86618489e+00] [-5.47340755e-03 9.99978965e-01 3.48020500e-03 3.28625142e-01] [ 1.12036322e-02 -3.41871610e-03 9.99931393e-01 -1.26136380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.08455357399998 meters Centerline goodness [0,1] 0.885797035606792 Centerline is valid? [False, False] Translation: X:4.86, Y:0.33, Z:-1.26 [[ 0.99988977 0.01014158 -0.01084391 4.86487475] [-0.01006371 0.99992336 0.00721103 0.33159936] [ 0.01091621 -0.00710111 0.9999152 -1.26043164] [ 0. 0. 0. 1. ]] SLAMing on 176.11455357399998 meters Centerline goodness [0,1] 0.885797035606792 Centerline is valid? [False, False] Translation: X:4.86, Y:0.33, Z:-1.26 [[ 0.99988977 0.01014158 -0.01084391 4.86487475] [-0.01006371 0.99992336 0.00721103 0.33159936] [ 0.01091621 -0.00710111 0.9999152 -1.26043164] [ 0. 0. 0. 1. ]] SLAMing on 176.14455357399999 meters Centerline goodness [0,1] 0.8877101077862365 Centerline is valid? [False, False] Translation: X:4.86, Y:0.33, Z:-1.26 [[ 0.9998309 0.01505088 -0.01056584 4.86380322] [-0.0149339 0.99982727 0.01106424 0.33418996] [ 0.01073054 -0.01090458 0.99988297 -1.25998549] [ 0. 0. 0. 1. ]] SLAMing on 176.174553574 meters Centerline goodness [0,1] 0.8875370252333996 Centerline is valid? [False, False] Translation: X:4.86, Y:0.34, Z:-1.26 [[ 0.99981829 0.01597698 -0.01039782 4.8630367 ] [-0.01586105 0.99981217 0.01113753 0.3357231 ] [ 0.01057381 -0.01097059 0.99988391 -1.25988723] [ 0. 0. 0. 1. ]] SLAMing on 176.204553574 meters Centerline goodness [0,1] 0.8854320895102799 Centerline is valid? [False, False] Translation: X:4.86, Y:0.34, Z:-1.26 [[ 0.99980312 0.01709946 -0.0100662 4.86173599] [-0.01698446 0.99979075 0.01140104 0.3370859 ] [ 0.01025905 -0.01122783 0.99988434 -1.25942298] [ 0. 0. 0. 1. ]] SLAMing on 176.234553574 meters Centerline goodness [0,1] 0.8875947944948974 Centerline is valid? [False, False] Translation: X:4.86, Y:0.34, Z:-1.26 [[ 0.99978564 0.01824287 -0.00979126 4.86051007] [-0.01812757 0.99976678 0.0117381 0.33817106] [ 0.01000311 -0.01155809 0.99988317 -1.25897621] [ 0. 0. 0. 1. ]] SLAMing on 176.264553574 meters Centerline goodness [0,1] 0.8853418859199313 Centerline is valid? [False, False] Translation: X:4.86, Y:0.34, Z:-1.26 [[ 0.99968452 0.02327698 -0.00943617 4.85961151] [-0.0231248 0.99960569 0.0159281 0.33971054] [ 0.00980321 -0.01570487 0.99982861 -1.25880892] [ 0. 0. 0. 1. ]] SLAMing on 176.294553574 meters Centerline goodness [0,1] 0.8844083518039076 Centerline is valid? [False, False] Translation: X:4.86, Y:0.34, Z:-1.26 [[ 0.99957451 0.02758605 -0.00947635 4.86037589] [-0.02739285 0.99942574 0.01994566 0.34019148] [ 0.01002113 -0.01967759 0.99975616 -1.25970359] [ 0. 0. 0. 1. ]] SLAMing on 176.324553574 meters Centerline goodness [0,1] 0.8844888781521194 Centerline is valid? [False, False] Translation: X:4.86, Y:0.34, Z:-1.26 [[ 0.99956451 0.0279342 -0.00951138 4.86056334] [-0.02773889 0.99941347 0.02008177 0.34002776] [ 0.01006677 -0.01980919 0.9997531 -1.26008285] [ 0. 0. 0. 1. ]] SLAMing on 176.354553574 meters Centerline goodness [0,1] 0.8830486938973803 Centerline is valid? [False, False] Translation: X:4.86, Y:0.34, Z:-1.26 [[ 0.99955623 0.02826503 -0.00940369 4.86013923] [-0.02806811 0.99939677 0.02045191 0.33911755] [ 0.00997609 -0.02017889 0.99974661 -1.25983728] [ 0. 0. 0. 1. ]] SLAMing on 176.384553574 meters Centerline goodness [0,1] 0.8828520058433532 Centerline is valid? [False, False] Translation: X:4.86, Y:0.34, Z:-1.26 [[ 0.99954283 0.02882651 -0.00911937 4.85920875] [-0.02862917 0.99936789 0.02107595 0.33772741] [ 0.00972115 -0.02080524 0.99973629 -1.25934643] [ 0. 0. 0. 1. ]] SLAMing on 176.414553574 meters Centerline goodness [0,1] 0.881803839074415 Centerline is valid? [False, False] Translation: X:4.86, Y:0.34, Z:-1.26 [[ 0.99960317 0.02669843 -0.00898365 4.85770107] [-0.02653123 0.9994815 0.01824328 0.33842053] [ 0.00946606 -0.01799769 0.99979322 -1.25881599] [ 0. 0. 0. 1. ]] SLAMing on 176.444553574 meters Centerline goodness [0,1] 0.8810213758843896 Centerline is valid? [False, False] Translation: X:4.86, Y:0.34, Z:-1.26 [[ 0.99959101 0.02721341 -0.00878853 4.85709614] [-0.02704603 0.99946051 0.01863335 0.33789086] [ 0.00929087 -0.01838804 0.99978776 -1.25869377] [ 0. 0. 0. 1. ]] SLAMing on 176.47455357399997 meters Centerline goodness [0,1] 0.8804744869139521 Centerline is valid? [False, False] Translation: X:4.86, Y:0.34, Z:-1.26 [[ 0.99958164 0.02760725 -0.00862492 4.85640115] [-0.02744046 0.9994449 0.01889212 0.33777157] [ 0.00914169 -0.01864754 0.99978433 -1.25829282] [ 0. 0. 0. 1. ]] SLAMing on 176.50455357399997 meters Centerline goodness [0,1] 0.8790368379207208 Centerline is valid? [False, False] Translation: X:4.85, Y:0.34, Z:-1.26 [[ 0.9995501 0.02887305 -0.00812068 4.85451507] [-0.02870681 0.99938991 0.01989279 0.33677865] [ 0.00869009 -0.01965072 0.99976914 -1.25730948] [ 0. 0. 0. 1. ]] SLAMing on 176.53455357399997 meters Centerline goodness [0,1] 0.8806931161821797 Centerline is valid? [False, False] Translation: X:4.85, Y:0.34, Z:-1.26 [[ 0.9995417 0.02919916 -0.00798737 4.85418725] [-0.02903344 0.99937568 0.02013206 0.33621088] [ 0.00857022 -0.01989093 0.99976542 -1.25731745] [ 0. 0. 0. 1. ]] SLAMing on 176.56455357399997 meters Centerline goodness [0,1] 0.8797026699029127 Centerline is valid? [False, False] Translation: X:4.85, Y:0.34, Z:-1.26 [[ 0.99953677 0.02939291 -0.00789294 4.85410523] [-0.02922807 0.99936774 0.02024473 0.33574456] [ 0.00848301 -0.02000466 0.9997639 -1.25765989] [ 0. 0. 0. 1. ]] SLAMing on 176.59455357399997 meters Centerline goodness [0,1] 0.8791150307914544 Centerline is valid? [False, False] Translation: X:4.85, Y:0.33, Z:-1.26 [[ 0.99952746 0.02971081 -0.0078814 4.85441977] [-0.02954242 0.99934949 0.02068451 0.33440989] [ 0.00849082 -0.0204419 0.99975499 -1.25828945] [ 0. 0. 0. 1. ]] SLAMing on 176.62455357399998 meters Centerline goodness [0,1] 0.8776117126734787 Centerline is valid? [False, False] Translation: X:4.85, Y:0.33, Z:-1.26 [[ 0.99960326 0.0270841 -0.0077312 4.85350524] [-0.02694581 0.99948434 0.01746367 0.33429301] [ 0.0082002 -0.01724842 0.99981761 -1.2584875 ] [ 0. 0. 0. 1. ]] SLAMing on 176.65455357399998 meters Centerline goodness [0,1] 0.8739273167079422 Centerline is valid? [False, False] Translation: X:4.85, Y:0.33, Z:-1.26 [[ 0.99967006 0.02463831 -0.00726062 4.85207827] [-0.02452843 0.99958878 0.01485331 0.33150023] [ 0.0076236 -0.01467032 0.99986332 -1.25857367] [ 0. 0. 0. 1. ]] SLAMing on 176.68455357399998 meters Centerline goodness [0,1] 0.8740679370339686 Centerline is valid? [False, False] Translation: X:4.85, Y:0.33, Z:-1.26 [[ 0.99973665 0.02184936 -0.00701644 4.85116927] [-0.02176719 0.99969599 0.0115813 0.33075518] [ 0.00726735 -0.01142552 0.99990832 -1.25889228] [ 0. 0. 0. 1. ]] SLAMing on 176.71455357399998 meters Centerline goodness [0,1] 0.8727458581650562 Centerline is valid? [False, False] Translation: X:4.85, Y:0.33, Z:-1.26 [[ 0.9997907 0.01926236 -0.00689376 4.85065754] [-0.01920413 0.99978017 0.00841497 0.33041768] [ 0.00705434 -0.00828082 0.99994083 -1.2595013 ] [ 0. 0. 0. 1. ]] SLAMing on 176.74455357399998 meters Centerline goodness [0,1] 0.8705364073901568 Centerline is valid? [False, False] Translation: X:4.85, Y:0.33, Z:-1.26 [[ 0.99978052 0.01980406 -0.00683474 4.85069506] [-0.01974108 0.99976314 0.00916238 0.32832895] [ 0.00701457 -0.00902545 0.99993467 -1.25981605] [ 0. 0. 0. 1. ]] SLAMing on 176.77455357399998 meters Centerline goodness [0,1] 0.870474892954457 Centerline is valid? [False, False] Translation: X:4.85, Y:0.33, Z:-1.26 [[ 0.99977509 0.0200746 -0.00684009 4.85061121] [-0.02000866 0.99975395 0.00957565 0.32710959] [ 0.00703064 -0.00943663 0.99993076 -1.25970203] [ 0. 0. 0. 1. ]] SLAMing on 176.80455357399998 meters Centerline goodness [0,1] 0.8663957327914655 Centerline is valid? [False, False] Translation: X:4.85, Y:0.32, Z:-1.26 [[ 0.99976133 0.02079904 -0.00668471 4.85020826] [-0.02072574 0.99972628 0.01085358 0.32314233] [ 0.00690863 -0.01071245 0.99991875 -1.25938678] [ 0. 0. 0. 1. ]] SLAMing on 176.83455357399998 meters Centerline goodness [0,1] 0.8680052601621229 Centerline is valid? [False, False] Translation: X:4.85, Y:0.32, Z:-1.26 [[ 0.99981543 0.01810111 -0.0064392 4.84938229] [-0.01805169 0.99980777 0.00765236 0.32236271] [ 0.00657648 -0.00753471 0.99994999 -1.25981862] [ 0. 0. 0. 1. ]] SLAMing on 176.86455357399998 meters Centerline goodness [0,1] 0.864281210592686 Centerline is valid? [False, False] Translation: X:4.85, Y:0.32, Z:-1.26 [[ 9.99861268e-01 1.54416001e-02 -6.24509364e-03 4.84899397e+00] [-1.54139294e-02 9.99871274e-01 4.45490685e-03 3.21589334e-01] [ 6.31308062e-03 -4.35802738e-03 9.99970576e-01 -1.26079061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.89455357399999 meters Centerline goodness [0,1] 0.8632526061278687 Centerline is valid? [False, False] Translation: X:4.85, Y:0.32, Z:-1.26 [[ 0.99986049 0.01533251 -0.00662672 4.85077611] [-0.01529775 0.99986912 0.00526548 0.31744273] [ 0.00670659 -0.00516337 0.99996418 -1.2619693 ] [ 0. 0. 0. 1. ]] SLAMing on 176.924553574 meters Centerline goodness [0,1] 0.8631857631977068 Centerline is valid? [False, False] Translation: X:4.85, Y:0.32, Z:-1.26 [[ 9.99900264e-01 1.27042796e-02 -6.16946823e-03 4.84921652e+00] [-1.26907520e-02 9.99916989e-01 2.22688730e-03 3.16197557e-01] [ 6.19724710e-03 -2.14837001e-03 9.99978489e-01 -1.26191307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.954553574 meters Centerline goodness [0,1] 0.8586183338021942 Centerline is valid? [False, False] Translation: X:4.85, Y:0.31, Z:-1.26 [[ 9.99933008e-01 1.02844864e-02 -5.31128593e-03 4.84656307e+00] [-1.02831188e-02 9.99947087e-01 2.84726958e-04 3.10969077e-01] [ 5.31393317e-03 -2.30091299e-04 9.99985854e-01 -1.26084676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.984553574 meters Centerline goodness [0,1] 0.8590899898887765 Centerline is valid? [False, False] Translation: X:4.85, Y:0.31, Z:-1.26 [[ 9.99961535e-01 7.34542647e-03 -4.79303272e-03 4.84500835e+00] [-7.35888840e-03 9.99969011e-01 -2.79708128e-03 3.08978254e-01] [ 4.77233843e-03 2.83224508e-03 9.99984601e-01 -1.26074386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.014553574 meters Centerline goodness [0,1] 0.8578562256690377 Centerline is valid? [False, False] Translation: X:4.85, Y:0.31, Z:-1.26 [[ 9.99962400e-01 7.04310371e-03 -5.05906317e-03 4.84606493e+00] [-7.05480095e-03 9.99972474e-01 -2.29802387e-03 3.05890135e-01] [ 5.04273870e-03 2.33362815e-03 9.99984562e-01 -1.26107581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.044553574 meters Centerline goodness [0,1] 0.8569606976122411 Centerline is valid? [False, False] Translation: X:4.85, Y:0.30, Z:-1.26 [[ 9.99962994e-01 6.77044925e-03 -5.30761336e-03 4.84738838e+00] [-6.77585598e-03 9.99976542e-01 -1.00135613e-03 2.99462349e-01] [ 5.30070922e-03 1.03728270e-03 9.99985413e-01 -1.26142200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.074553574 meters Centerline goodness [0,1] 0.8544254901551375 Centerline is valid? [False, False] Translation: X:4.85, Y:0.29, Z:-1.26 [[ 9.99976512e-01 5.02324554e-03 -4.66295285e-03 4.84714795e+00] [-5.03242514e-03 9.99985418e-01 -1.95898326e-03 2.91867384e-01] [ 4.65304440e-03 1.98240321e-03 9.99987210e-01 -1.26266658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.104553574 meters Centerline goodness [0,1] 0.8550152294927004 Centerline is valid? [False, False] Translation: X:4.85, Y:0.29, Z:-1.26 [[ 9.99976207e-01 4.93068407e-03 -4.82438456e-03 4.84807433e+00] [-4.93724455e-03 9.99986902e-01 -1.34889543e-03 2.88438536e-01] [ 4.81767040e-03 1.37268250e-03 9.99987453e-01 -1.26325814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.134553574 meters Centerline goodness [0,1] 0.8501066143095404 Centerline is valid? [False, False] Translation: X:4.85, Y:0.29, Z:-1.26 [[ 9.99975471e-01 4.90685362e-03 -4.99805795e-03 4.84893028e+00] [-4.91022819e-03 9.99987725e-01 -6.63129380e-04 2.85083845e-01] [ 4.99474272e-03 6.87654719e-04 9.99987290e-01 -1.26366601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.164553574 meters Centerline goodness [0,1] 0.8483855772524838 Centerline is valid? [False, False] Translation: X:4.85, Y:0.28, Z:-1.26 [[ 9.99974398e-01 5.41647070e-03 -4.67591606e-03 4.84833653e+00] [-5.41022380e-03 9.99984457e-01 1.34758941e-03 2.77083866e-01] [ 4.68314255e-03 -1.32225716e-03 9.99988160e-01 -1.26300044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.194553574 meters Centerline goodness [0,1] 0.847745495301319 Centerline is valid? [False, False] Translation: X:4.85, Y:0.27, Z:-1.26 [[ 9.99974547e-01 5.26184659e-03 -4.81860924e-03 4.84914153e+00] [-5.25222219e-03 9.99984191e-01 2.00782039e-03 2.73381167e-01] [ 4.82909791e-03 -1.98246088e-03 9.99986375e-01 -1.26336553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.22455357399997 meters Centerline goodness [0,1] 0.8443112462538009 Centerline is valid? [False, False] Translation: X:4.85, Y:0.27, Z:-1.26 [[ 9.99974027e-01 5.41297796e-03 -4.75869746e-03 4.84979564e+00] [-5.39632042e-03 9.99979292e-01 3.50633857e-03 2.66385877e-01] [ 4.77757866e-03 -3.48056804e-03 9.99982530e-01 -1.26390026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.25455357399997 meters Centerline goodness [0,1] 0.8413145953566237 Centerline is valid? [False, False] Translation: X:4.85, Y:0.26, Z:-1.26 [[ 9.99973067e-01 5.55144778e-03 -4.80062191e-03 4.85005398e+00] [-5.53055814e-03 9.99975228e-01 4.35382744e-03 2.62680378e-01] [ 4.82467303e-03 -4.32716006e-03 9.99978999e-01 -1.26386365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.28455357399997 meters Centerline goodness [0,1] 0.8390167062321123 Centerline is valid? [False, False] Translation: X:4.85, Y:0.26, Z:-1.26 [[ 9.99971361e-01 5.98678628e-03 -4.62995028e-03 4.84958046e+00] [-5.96199448e-03 9.99967915e-01 5.35005069e-03 2.58820160e-01] [ 4.66183134e-03 -5.32229373e-03 9.99974970e-01 -1.26357610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.31455357399997 meters Centerline goodness [0,1] 0.8352579079798705 Centerline is valid? [False, False] Translation: X:4.85, Y:0.25, Z:-1.26 [[ 9.99963317e-01 7.83741210e-03 -3.45531686e-03 4.84705316e+00] [-7.81177664e-03 9.99942319e-01 7.37123135e-03 2.51891517e-01] [ 3.51288893e-03 -7.34396879e-03 9.99966862e-01 -1.26386973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.34455357399997 meters Centerline goodness [0,1] 0.8300104218587159 Centerline is valid? [False, False] Translation: X:4.84, Y:0.25, Z:-1.26 [[ 9.99951514e-01 9.57106294e-03 -2.31615099e-03 4.84482175e+00] [-9.54995523e-03 9.99914265e-01 8.95889947e-03 2.46790780e-01] [ 2.40169860e-03 -8.93634595e-03 9.99957186e-01 -1.26472570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.37455357399998 meters Centerline goodness [0,1] 0.8279087764020393 Centerline is valid? [False, False] Translation: X:4.84, Y:0.25, Z:-1.27 [[ 9.99968438e-01 7.89739340e-03 -8.68022738e-04 4.84100115e+00] [-7.89214735e-03 9.99951513e-01 5.88949361e-03 2.45237502e-01] [ 9.14492298e-04 -5.88245717e-03 9.99982280e-01 -1.26556327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.40455357399998 meters Centerline goodness [0,1] 0.8269235168958338 Centerline is valid? [False, False] Translation: X:4.84, Y:0.24, Z:-1.27 [[ 9.99982744e-01 5.85776515e-03 4.46307885e-04 4.83765623e+00] [-5.85901376e-03 9.99978775e-01 2.84968636e-03 2.43010310e-01] [-4.29605619e-04 -2.85225211e-03 9.99995840e-01 -1.26618083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.43455357399998 meters Centerline goodness [0,1] 0.8249509521061742 Centerline is valid? [False, False] Translation: X:4.84, Y:0.24, Z:-1.27 [[ 9.99992761e-01 3.43370641e-03 1.63940037e-03 4.83629064e+00] [-3.43484688e-03 9.99993861e-01 6.93351145e-04 2.36193034e-01] [-1.63700954e-03 -6.98977216e-04 9.99998416e-01 -1.26785241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.46455357399998 meters Centerline goodness [0,1] 0.8278875203346503 Centerline is valid? [False, False] Translation: X:4.84, Y:0.23, Z:-1.27 [[ 9.99995762e-01 2.67897927e-03 1.14018691e-03 4.83850941e+00] [-2.68020035e-03 9.99995835e-01 1.07076709e-03 2.32381332e-01] [-1.13731360e-03 -1.07381848e-03 9.99998777e-01 -1.26865459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.49455357399998 meters Centerline goodness [0,1] 0.821752550599656 Centerline is valid? [False, False] Translation: X:4.84, Y:0.22, Z:-1.27 [[ 9.99997717e-01 -1.83316454e-03 1.09761112e-03 4.84030682e+00] [ 1.83524601e-03 9.99996514e-01 -1.89837023e-03 2.24528415e-01] [-1.09412727e-03 1.90038028e-03 9.99997596e-01 -1.27020408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.52455357399998 meters Centerline goodness [0,1] 0.8224225886819314 Centerline is valid? [False, False] Translation: X:4.84, Y:0.22, Z:-1.27 [[ 9.99995704e-01 -2.89285767e-03 4.73278121e-04 4.84287406e+00] [ 2.89348502e-03 9.99994929e-01 -1.33025740e-03 2.20025310e-01] [-4.69427476e-04 1.33162111e-03 9.99999003e-01 -1.27050273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.55455357399998 meters Centerline goodness [0,1] 0.8220199268869615 Centerline is valid? [False, False] Translation: X:4.84, Y:0.22, Z:-1.27 [[ 9.99993289e-01 -3.66354952e-03 -1.59513525e-05 4.84488463e+00] [ 3.66353851e-03 9.99993083e-01 -6.42512726e-04 2.15825079e-01] [ 1.83051194e-05 6.42449976e-04 9.99999793e-01 -1.27064732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.58455357399998 meters Centerline goodness [0,1] 0.8207945900253593 Centerline is valid? [False, False] Translation: X:4.85, Y:0.21, Z:-1.27 [[ 9.99972684e-01 -7.38005467e-03 4.07254953e-04 4.84509036e+00] [ 7.38135207e-03 9.99967372e-01 -3.28191826e-03 2.09186199e-01] [-3.83020929e-04 3.28483470e-03 9.99994532e-01 -1.27154089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.61455357399998 meters Centerline goodness [0,1] 0.821099135838431 Centerline is valid? [False, False] Translation: X:4.85, Y:0.20, Z:-1.27 [[ 9.99969748e-01 -7.77831827e-03 -1.02365105e-07 4.84635824e+00] [ 7.77829783e-03 9.99967151e-01 -2.27921254e-03 2.04795775e-01] [ 1.78308023e-05 2.27914280e-03 9.99997403e-01 -1.27095521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.64455357399999 meters Centerline goodness [0,1] 0.8196057250877666 Centerline is valid? [False, False] Translation: X:4.85, Y:0.20, Z:-1.27 [[ 9.99935734e-01 -1.13287262e-02 4.33006437e-04 4.84682871e+00] [ 1.13306804e-02 9.99924217e-01 -4.81415106e-03 1.97711233e-01] [-3.78435423e-04 4.81874793e-03 9.99988318e-01 -1.27222155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.674553574 meters Centerline goodness [0,1] 0.8197684465180577 Centerline is valid? [False, False] Translation: X:4.85, Y:0.19, Z:-1.27 [[ 9.99927079e-01 -1.20755107e-02 -1.35833640e-04 4.84898620e+00] [ 1.20748896e-02 9.99919497e-01 -3.89821926e-03 1.93363902e-01] [ 1.82895693e-04 3.89629482e-03 9.99992393e-01 -1.27192923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.704553574 meters Centerline goodness [0,1] 0.819078947368421 Centerline is valid? [False, False] Translation: X:4.85, Y:0.19, Z:-1.27 [[ 9.99864929e-01 -1.64352243e-02 -8.65972973e-05 4.85017152e+00] [ 1.64343136e-02 9.99843796e-01 -6.50360957e-03 1.86245986e-01] [ 1.93472052e-04 6.50130795e-03 9.99978848e-01 -1.27228968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.734553574 meters Centerline goodness [0,1] 0.8194928644879738 Centerline is valid? [False, False] Translation: X:4.85, Y:0.18, Z:-1.27 [[ 9.99849405e-01 -1.73414674e-02 -6.64122236e-04 4.85239978e+00] [ 1.73375002e-02 9.99834155e-01 -5.57440803e-03 1.81851886e-01] [ 7.60680510e-04 5.56205433e-03 9.99984242e-01 -1.27172115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.764553574 meters Centerline goodness [0,1] 0.8193107965136783 Centerline is valid? [False, False] Translation: X:4.86, Y:0.18, Z:-1.27 [[ 9.99827803e-01 -1.84998244e-02 -1.45646188e-03 4.85538186e+00] [ 1.84927983e-02 9.99817955e-01 -4.69816833e-03 1.77486815e-01] [ 1.54311203e-03 4.67042527e-03 9.99987903e-01 -1.27122581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.794553574 meters Centerline goodness [0,1] 0.8212930661302233 Centerline is valid? [False, False] Translation: X:4.86, Y:0.17, Z:-1.27 [[ 9.99714519e-01 -2.38329000e-02 -1.69534389e-03 4.85775234e+00] [ 2.38197043e-02 9.99688742e-01 -7.41895118e-03 1.69739707e-01] [ 1.87163133e-03 7.37645062e-03 9.99971042e-01 -1.27088634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.824553574 meters Centerline goodness [0,1] 0.8219374679651461 Centerline is valid? [False, False] Translation: X:4.86, Y:0.16, Z:-1.27 [[ 9.99686720e-01 -2.49159762e-02 -2.37819558e-03 4.86029340e+00] [ 2.49007469e-02 9.99670504e-01 -6.23179855e-03 1.64904328e-01] [ 2.53268332e-03 6.17062741e-03 9.99977754e-01 -1.26960210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.854553574 meters Centerline goodness [0,1] 0.8206024814152874 Centerline is valid? [False, False] Translation: X:4.86, Y:0.16, Z:-1.27 [[ 9.99564284e-01 -2.94264648e-02 -2.30777111e-03 4.86199836e+00] [ 2.94028312e-02 9.99520757e-01 -9.68139625e-03 1.59550513e-01] [ 2.59155439e-03 9.60932290e-03 9.99950471e-01 -1.27127287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.884553574 meters Centerline goodness [0,1] 0.8269749818332814 Centerline is valid? [False, False] Translation: X:4.86, Y:0.16, Z:-1.27 [[ 9.99536881e-01 -3.02867291e-02 -2.95580567e-03 4.86469149e+00] [ 3.02584763e-02 9.99499988e-01 -9.17594700e-03 1.56640524e-01] [ 3.23223716e-03 9.08225927e-03 9.99953532e-01 -1.27147020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.914553574 meters Centerline goodness [0,1] 0.8231702544031311 Centerline is valid? [False, False] Translation: X:4.87, Y:0.15, Z:-1.27 [[ 9.99508956e-01 -3.11273364e-02 -3.59658378e-03 4.86743113e+00] [ 3.10949809e-02 9.99478337e-01 -8.72676572e-03 1.53583188e-01] [ 3.86634854e-03 8.61064479e-03 9.99955453e-01 -1.27185209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.944553574 meters Centerline goodness [0,1] 0.8225289169295479 Centerline is valid? [False, False] Translation: X:4.87, Y:0.15, Z:-1.27 [[ 9.99456573e-01 -3.26693572e-02 -4.38992709e-03 4.87155229e+00] [ 3.26337023e-02 9.99435665e-01 -7.96197199e-03 1.47515868e-01] [ 4.64756221e-03 7.81438566e-03 9.99958667e-01 -1.27244022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.97455357399997 meters Centerline goodness [0,1] 0.8197166750204448 Centerline is valid? [False, False] Translation: X:4.88, Y:0.14, Z:-1.27 [[ 9.99493495e-01 -3.13266373e-02 -5.60320186e-03 4.87685983e+00] [ 3.13093142e-02 9.99504770e-01 -3.15310537e-03 1.43124910e-01] [ 5.69920317e-03 2.97607590e-03 9.99979331e-01 -1.27071035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.00455357399997 meters Centerline goodness [0,1] 0.8197166750204448 Centerline is valid? [False, False] Translation: X:4.88, Y:0.14, Z:-1.27 [[ 9.99493495e-01 -3.13266373e-02 -5.60320186e-03 4.87685983e+00] [ 3.13093142e-02 9.99504770e-01 -3.15310537e-03 1.43124910e-01] [ 5.69920317e-03 2.97607590e-03 9.99979331e-01 -1.27071035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.03455357399997 meters Centerline goodness [0,1] 0.819313816399523 Centerline is valid? [False, False] Translation: X:4.88, Y:0.14, Z:-1.27 [[ 9.99464521e-01 -3.21249352e-02 -6.21763652e-03 4.87973152e+00] [ 3.21104240e-02 9.99481398e-01 -2.41983043e-03 1.38781929e-01] [ 6.29214894e-03 2.21888372e-03 9.99977742e-01 -1.27122599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.06455357399997 meters Centerline goodness [0,1] 0.8196777966822628 Centerline is valid? [False, False] Translation: X:4.88, Y:0.14, Z:-1.27 [[ 9.99457096e-01 -3.23073353e-02 -6.46138213e-03 4.88076142e+00] [ 3.22958605e-02 9.99476599e-01 -1.87246039e-03 1.36646789e-01] [ 6.51849444e-03 1.66276792e-03 9.99977372e-01 -1.27116617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.09455357399997 meters Centerline goodness [0,1] 0.8266578073089701 Centerline is valid? [False, False] Translation: X:4.89, Y:0.13, Z:-1.27 [[ 9.99475301e-01 -2.81028592e-02 -1.61043952e-02 4.89342416e+00] [ 2.80492487e-02 9.99600256e-01 -3.54524316e-03 1.34001783e-01] [ 1.61975890e-02 3.09166679e-03 9.99864031e-01 -1.26534050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.12455357399998 meters Centerline goodness [0,1] 0.8245572107597121 Centerline is valid? [False, False] Translation: X:4.89, Y:0.13, Z:-1.26 [[ 9.99616086e-01 -2.27977091e-02 -1.57462926e-02 4.89046445e+00] [ 2.28302289e-02 9.99737573e-01 1.88855799e-03 1.32648559e-01] [ 1.56991056e-02 -2.24732441e-03 9.99874236e-01 -1.26243441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.15455357399998 meters Centerline goodness [0,1] 0.8265152116927477 Centerline is valid? [False, False] Translation: X:4.89, Y:0.13, Z:-1.26 [[ 0.99967379 -0.01947895 -0.01651921 4.89248958] [ 0.01958682 0.99978772 0.00639362 0.13194484] [ 0.01639116 -0.00671509 0.99984311 -1.26094237] [ 0. 0. 0. 1. ]] SLAMing on 178.18455357399998 meters Centerline goodness [0,1] 0.824400825353156 Centerline is valid? [False, False] Translation: X:4.89, Y:0.13, Z:-1.26 [[ 0.99968594 -0.01911551 -0.01620563 4.89131999] [ 0.01921888 0.99979579 0.00624663 0.13333311] [ 0.01608291 -0.00655613 0.99984917 -1.2608079 ] [ 0. 0. 0. 1. ]] SLAMing on 178.21455357399998 meters Centerline goodness [0,1] 0.8249397303096935 Centerline is valid? [False, False] Translation: X:4.89, Y:0.13, Z:-1.26 [[ 0.99968315 -0.01920403 -0.01627261 4.89128941] [ 0.01931274 0.99979204 0.0065501 0.13329582] [ 0.01614344 -0.0068623 0.99984614 -1.25984906] [ 0. 0. 0. 1. ]] SLAMing on 178.24455357399998 meters Centerline goodness [0,1] 0.8203135326618552 Centerline is valid? [False, False] Translation: X:4.89, Y:0.13, Z:-1.26 [[ 0.99966624 -0.019748 -0.01665637 4.89252734] [ 0.01986049 0.99978087 0.00661555 0.13289103] [ 0.01652208 -0.00694415 0.99983939 -1.25944085] [ 0. 0. 0. 1. ]] SLAMing on 178.27455357399998 meters Centerline goodness [0,1] 0.823364238410596 Centerline is valid? [False, False] Translation: X:4.90, Y:0.13, Z:-1.26 [[ 0.99959699 -0.02207107 -0.01785304 4.89733434] [ 0.02219066 0.99973244 0.00652877 0.13178706] [ 0.01770417 -0.00692231 0.99981931 -1.25879319] [ 0. 0. 0. 1. ]] SLAMing on 178.30455357399998 meters Centerline goodness [0,1] 0.8277398986549227 Centerline is valid? [False, False] Translation: X:4.90, Y:0.13, Z:-1.26 [[ 0.99954216 -0.02361667 -0.01891378 4.90141728] [ 0.0237436 0.99969685 0.00651511 0.13069103] [ 0.01875418 -0.00696121 0.99979989 -1.25877535] [ 0. 0. 0. 1. ]] SLAMing on 178.33455357399998 meters Centerline goodness [0,1] 0.8223659692274929 Centerline is valid? [False, False] Translation: X:4.91, Y:0.13, Z:-1.26 [[ 9.99378782e-01 -2.92554409e-02 -1.96511700e-02 4.90536512e+00] [ 2.92949937e-02 9.99569316e-01 1.72784052e-03 1.30284094e-01] [ 1.95921578e-02 -2.30244806e-03 9.99805404e-01 -1.26054740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.36455357399998 meters Centerline goodness [0,1] 0.8327246554527764 Centerline is valid? [False, False] Translation: X:4.91, Y:0.13, Z:-1.26 [[ 9.99329617e-01 -3.03434140e-02 -2.04840037e-02 4.90822905e+00] [ 3.03911028e-02 9.99536041e-01 2.02075980e-03 1.29191043e-01] [ 2.04131833e-02 -2.64193658e-03 9.99788139e-01 -1.25979245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.39455357399999 meters Centerline goodness [0,1] 0.8310679093118274 Centerline is valid? [False, False] Translation: X:4.91, Y:0.13, Z:-1.26 [[ 9.99293361e-01 -3.11132639e-02 -2.10889436e-02 4.91027650e+00] [ 3.11692385e-02 9.99511404e-01 2.33065489e-03 1.28215541e-01] [ 2.10061253e-02 -2.98633427e-03 9.99774887e-01 -1.25907978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.424553574 meters Centerline goodness [0,1] 0.8315026127759411 Centerline is valid? [False, False] Translation: X:4.91, Y:0.13, Z:-1.26 [[ 9.99251989e-01 -3.19717834e-02 -2.17547171e-02 4.91289615e+00] [ 3.20258208e-02 9.99484751e-01 2.14000162e-03 1.28383124e-01] [ 2.16750883e-02 -2.83511354e-03 9.99761048e-01 -1.25952048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.454553574 meters Centerline goodness [0,1] 0.8318308735540487 Centerline is valid? [False, False] Translation: X:4.92, Y:0.13, Z:-1.26 [[ 0.99930407 -0.02939036 -0.02296912 4.91684852] [ 0.02954531 0.99954272 0.00643603 0.12757037] [ 0.02276946 -0.00711019 0.99971546 -1.25859559] [ 0. 0. 0. 1. ]] SLAMing on 178.484553574 meters Centerline goodness [0,1] 0.8361083730719023 Centerline is valid? [False, False] Translation: X:4.92, Y:0.13, Z:-1.26 [[ 0.99931364 -0.02915021 -0.02285853 4.91644345] [ 0.02929788 0.99955179 0.006152 0.12876307] [ 0.02266895 -0.00681749 0.99971978 -1.25907868] [ 0. 0. 0. 1. ]] SLAMing on 178.514553574 meters Centerline goodness [0,1] 0.8278232144284307 Centerline is valid? [False, False] Translation: X:4.92, Y:0.13, Z:-1.26 [[ 0.99931878 -0.02900805 -0.02281486 4.91612103] [ 0.02915717 0.99955542 0.00623084 0.12894425] [ 0.02262398 -0.00689182 0.99972029 -1.25883451] [ 0. 0. 0. 1. ]] SLAMing on 178.544553574 meters Centerline goodness [0,1] 0.8259617691753979 Centerline is valid? [False, False] Translation: X:4.92, Y:0.13, Z:-1.26 [[ 0.99931895 -0.02901081 -0.02280349 4.91613088] [ 0.02915704 0.99955619 0.00610654 0.12927842] [ 0.02261622 -0.00676726 0.99972132 -1.25896327] [ 0. 0. 0. 1. ]] SLAMing on 178.574553574 meters Centerline goodness [0,1] 0.8288593287660277 Centerline is valid? [False, False] Translation: X:4.91, Y:0.13, Z:-1.26 [[ 0.99934667 -0.02832671 -0.02244637 4.91413185] [ 0.02847939 0.99957317 0.00651135 0.12979232] [ 0.02225234 -0.00714636 0.99972684 -1.25761796] [ 0. 0. 0. 1. ]] SLAMing on 178.604553574 meters Centerline goodness [0,1] 0.8248715422912063 Centerline is valid? [False, False] Translation: X:4.91, Y:0.13, Z:-1.26 [[ 0.99935882 -0.02805556 -0.022245 4.9134215 ] [ 0.02820272 0.99958218 0.00632955 0.13025809] [ 0.02205812 -0.00695286 0.99973251 -1.25783364] [ 0. 0. 0. 1. ]] SLAMing on 178.634553574 meters Centerline goodness [0,1] 0.825858080982639 Centerline is valid? [False, False] Translation: X:4.91, Y:0.13, Z:-1.26 [[ 0.99941879 -0.02657675 -0.0213484 4.90960493] [ 0.02672056 0.99962194 0.00647955 0.13164754] [ 0.02116812 -0.00704622 0.9997511 -1.25737348] [ 0. 0. 0. 1. ]] SLAMing on 178.664553574 meters Centerline goodness [0,1] 0.828802975953235 Centerline is valid? [False, False] Translation: X:4.91, Y:0.13, Z:-1.26 [[ 0.99944236 -0.02601298 -0.02093551 4.90835946] [ 0.02614549 0.99963965 0.00608072 0.13284452] [ 0.02076979 -0.0066247 0.99976234 -1.25826747] [ 0. 0. 0. 1. ]] SLAMing on 178.694553574 meters Centerline goodness [0,1] 0.8305902308446635 Centerline is valid? [False, False] Translation: X:4.91, Y:0.13, Z:-1.26 [[ 0.99947398 -0.02521016 -0.02040147 4.90651279] [ 0.02533569 0.99966148 0.00591803 0.13381745] [ 0.02024537 -0.0064318 0.99977435 -1.25877475] [ 0. 0. 0. 1. ]] SLAMing on 178.72455357399997 meters Centerline goodness [0,1] 0.827429994436644 Centerline is valid? [False, False] Translation: X:4.90, Y:0.14, Z:-1.26 [[ 0.99954401 -0.02322706 -0.01929434 4.90235668] [ 0.0233305 0.99971452 0.0051534 0.13652498] [ 0.01916914 -0.00560119 0.99980057 -1.26072133] [ 0. 0. 0. 1. ]] SLAMing on 178.75455357399997 meters Centerline goodness [0,1] 0.837329945476682 Centerline is valid? [False, False] Translation: X:4.90, Y:0.14, Z:-1.26 [[ 0.99957943 -0.02219332 -0.01866606 4.8998069 ] [ 0.02229454 0.99973775 0.00523226 0.13735681] [ 0.01854505 -0.00564621 0.99981208 -1.26060621] [ 0. 0. 0. 1. ]] SLAMing on 178.78455357399997 meters Centerline goodness [0,1] 0.8274213570692798 Centerline is valid? [False, False] Translation: X:4.91, Y:0.14, Z:-1.27 [[ 9.99755168e-01 -1.83005255e-02 -1.24376526e-02 4.91312015e+00] [ 1.82736336e-02 9.99830441e-01 -2.27236317e-03 1.39722453e-01] [ 1.24771292e-02 2.04452572e-03 9.99920067e-01 -1.26664774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.81455357399997 meters Centerline goodness [0,1] 0.8305089219723366 Centerline is valid? [False, False] Translation: X:4.91, Y:0.14, Z:-1.26 [[ 9.99812264e-01 -1.44401337e-02 -1.29197356e-02 4.91387232e+00] [ 1.44770812e-02 9.99891362e-01 2.77082604e-03 1.38146202e-01] [ 1.28783210e-02 -2.95734592e-03 9.99912698e-01 -1.26448519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.84455357399997 meters Centerline goodness [0,1] 0.8341557379212075 Centerline is valid? [False, False] Translation: X:4.92, Y:0.14, Z:-1.26 [[ 0.99984788 -0.01094086 -0.01358333 4.91581056] [ 0.01103951 0.99991307 0.0072096 0.13746742] [ 0.01350327 -0.00735846 0.99988175 -1.26358188] [ 0. 0. 0. 1. ]] SLAMing on 178.87455357399998 meters Centerline goodness [0,1] 0.8273801689873918 Centerline is valid? [False, False] Translation: X:4.91, Y:0.14, Z:-1.27 [[ 0.99987489 -0.00941595 -0.01271009 4.9127422 ] [ 0.00950356 0.99993138 0.00685024 0.13900055] [ 0.01264472 -0.00697018 0.99989576 -1.26500017] [ 0. 0. 0. 1. ]] SLAMing on 178.90455357399998 meters Centerline goodness [0,1] 0.8264896817438117 Centerline is valid? [False, False] Translation: X:4.91, Y:0.14, Z:-1.27 [[ 0.99987499 -0.00938621 -0.01272379 4.91293719] [ 0.00947356 0.99993185 0.0068221 0.13871344] [ 0.01265889 -0.00694179 0.99989578 -1.26531837] [ 0. 0. 0. 1. ]] SLAMing on 178.93455357399998 meters Centerline goodness [0,1] 0.8296408057386379 Centerline is valid? [False, False] Translation: X:4.91, Y:0.14, Z:-1.26 [[ 0.99986243 -0.01007985 -0.01317237 4.91455402] [ 0.01017578 0.99992204 0.00723597 0.13658731] [ 0.0130984 -0.00736901 0.99988706 -1.26467692] [ 0. 0. 0. 1. ]] SLAMing on 178.96455357399998 meters Centerline goodness [0,1] 0.8279003257156476 Centerline is valid? [False, False] Translation: X:4.92, Y:0.14, Z:-1.26 [[ 0.99985286 -0.01057025 -0.01350996 4.91569993] [ 0.01067134 0.99991544 0.0074324 0.13577149] [ 0.01343025 -0.00757548 0.99988111 -1.26421153] [ 0. 0. 0. 1. ]] SLAMing on 178.99455357399998 meters Centerline goodness [0,1] 0.8305516491097726 Centerline is valid? [False, False] Translation: X:4.92, Y:0.13, Z:-1.26 [[ 0.99984644 -0.01089834 -0.01372335 4.9162257 ] [ 0.01100773 0.99990804 0.00792131 0.13454502] [ 0.01363576 -0.00807115 0.99987445 -1.26313358] [ 0. 0. 0. 1. ]] SLAMing on 179.02455357399998 meters Centerline goodness [0,1] 0.8338156043430938 Centerline is valid? [False, False] Translation: X:4.92, Y:0.13, Z:-1.26 [[ 0.99982396 -0.01207466 -0.01436146 4.91833641] [ 0.01219743 0.99988955 0.00849222 0.13246446] [ 0.01425734 -0.0086659 0.99986081 -1.2614501 ] [ 0. 0. 0. 1. ]] SLAMing on 179.05455357399998 meters Centerline goodness [0,1] 0.8275420677884744 Centerline is valid? [False, False] Translation: X:4.92, Y:0.13, Z:-1.26 [[ 0.99980944 -0.01273105 -0.01479906 4.9200576 ] [ 0.01285895 0.99988051 0.00857978 0.1316451 ] [ 0.01468806 -0.00876845 0.99985368 -1.26133875] [ 0. 0. 0. 1. ]] SLAMing on 179.08455357399998 meters Centerline goodness [0,1] 0.8301705756929638 Centerline is valid? [False, False] Translation: X:4.92, Y:0.13, Z:-1.26 [[ 0.99976999 -0.01442061 -0.01587482 4.92463799] [ 0.01455409 0.99985942 0.00832532 0.13038459] [ 0.01575253 -0.00855445 0.99983933 -1.26223875] [ 0. 0. 0. 1. ]] SLAMing on 179.11455357399998 meters Centerline goodness [0,1] 0.8316752460459286 Centerline is valid? [False, False] Translation: X:4.93, Y:0.13, Z:-1.26 [[ 0.99974686 -0.01526554 -0.01652809 4.92718468] [ 0.01540424 0.99984692 0.00829724 0.12956044] [ 0.0163989 -0.00854974 0.99982897 -1.26257908] [ 0. 0. 0. 1. ]] SLAMing on 179.14455357399999 meters Centerline goodness [0,1] 0.8329057087876844 Centerline is valid? [False, False] Translation: X:4.93, Y:0.13, Z:-1.26 [[ 0.99972734 -0.01598056 -0.01702549 4.92911364] [ 0.01612515 0.99983478 0.00838979 0.12843991] [ 0.0168886 -0.00866204 0.99981986 -1.26257671] [ 0. 0. 0. 1. ]] SLAMing on 179.174553574 meters Centerline goodness [0,1] 0.8265988761038265 Centerline is valid? [False, False] Translation: X:4.93, Y:0.13, Z:-1.26 [[ 0.99968705 -0.01751239 -0.01786402 4.93267877] [ 0.0176673 0.99980736 0.00855048 0.12611066] [ 0.01771084 -0.00886341 0.99980386 -1.26240608] [ 0. 0. 0. 1. ]] SLAMing on 179.204553574 meters Centerline goodness [0,1] 0.8290728831725617 Centerline is valid? [False, False] Translation: X:4.94, Y:0.13, Z:-1.26 [[ 0.99966333 -0.01828604 -0.01840785 4.9350484 ] [ 0.01844113 0.99979557 0.00829093 0.1257342 ] [ 0.01825248 -0.0086276 0.99979618 -1.26322163] [ 0. 0. 0. 1. ]] SLAMing on 179.234553574 meters Centerline goodness [0,1] 0.8345662407531944 Centerline is valid? [False, False] Translation: X:4.94, Y:0.12, Z:-1.26 [[ 0.99961923 -0.01968209 -0.01933946 4.93923725] [ 0.01983714 0.99977234 0.00785803 0.12486401] [ 0.0191804 -0.00823868 0.99978209 -1.26463268] [ 0. 0. 0. 1. ]] SLAMing on 179.264553574 meters Centerline goodness [0,1] 0.8346103180364008 Centerline is valid? [False, False] Translation: X:4.94, Y:0.12, Z:-1.27 [[ 0.99960093 -0.02020786 -0.01973877 4.94100223] [ 0.02036255 0.99976326 0.0076677 0.12435119] [ 0.01957915 -0.00806657 0.99977577 -1.26537037] [ 0. 0. 0. 1. ]] SLAMing on 179.294553574 meters Centerline goodness [0,1] 0.8262996613085318 Centerline is valid? [False, False] Translation: X:4.94, Y:0.12, Z:-1.27 [[ 0.999573 -0.02101597 -0.02030147 4.94363308] [ 0.02116688 0.99974969 0.00724729 0.12438547] [ 0.02014408 -0.00767391 0.99976764 -1.26665357] [ 0. 0. 0. 1. ]] SLAMing on 179.324553574 meters Centerline goodness [0,1] 0.8410667240174203 Centerline is valid? [False, False] Translation: X:4.94, Y:0.12, Z:-1.27 [[ 0.99956766 -0.02117917 -0.02039445 4.94409432] [ 0.021331 0.99974614 0.00725593 0.12414277] [ 0.02023559 -0.00768783 0.99976568 -1.26672317] [ 0. 0. 0. 1. ]] SLAMing on 179.354553574 meters Centerline goodness [0,1] 0.8310317033852768 Centerline is valid? [False, False] Translation: X:4.95, Y:0.12, Z:-1.27 [[ 0.99955097 -0.02164599 -0.02071999 4.94553037] [ 0.02179535 0.99973788 0.00701018 0.12394938] [ 0.02056281 -0.00745863 0.99976074 -1.26728488] [ 0. 0. 0. 1. ]] SLAMing on 179.384553574 meters Centerline goodness [0,1] 0.8347552278171004 Centerline is valid? [False, False] Translation: X:4.95, Y:0.12, Z:-1.27 [[ 0.99953918 -0.02195504 -0.02096205 4.94655895] [ 0.02210162 0.99973269 0.0067867 0.12423948] [ 0.02080745 -0.00724687 0.99975724 -1.26777636] [ 0. 0. 0. 1. ]] SLAMing on 179.414553574 meters Centerline goodness [0,1] 0.8299803398777302 Centerline is valid? [False, False] Translation: X:4.95, Y:0.12, Z:-1.27 [[ 0.99953641 -0.02201394 -0.02103218 4.94678245] [ 0.02215977 0.99973182 0.00672565 0.12426594] [ 0.02087848 -0.0071886 0.99975618 -1.26780277] [ 0. 0. 0. 1. ]] SLAMing on 179.444553574 meters Centerline goodness [0,1] 0.8404375707280272 Centerline is valid? [False, False] Translation: X:4.97, Y:0.13, Z:-1.27 [[ 9.99641850e-01 -2.18388108e-02 -1.54673405e-02 4.96512677e+00] [ 2.17985681e-02 9.99758558e-01 -2.76564074e-03 1.26756866e-01] [ 1.55240044e-02 2.42748435e-03 9.99876549e-01 -1.27465840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.47455357399997 meters Centerline goodness [0,1] 0.8291422109740993 Centerline is valid? [False, False] Translation: X:4.97, Y:0.13, Z:-1.27 [[ 9.99682777e-01 -1.90021617e-02 -1.65306958e-02 4.96817737e+00] [ 1.90398744e-02 9.99816463e-01 2.12698189e-03 1.25605723e-01] [ 1.64872445e-02 -2.44104953e-03 9.99861096e-01 -1.27226222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.50455357399997 meters Centerline goodness [0,1] 0.8450238114456372 Centerline is valid? [False, False] Translation: X:4.97, Y:0.13, Z:-1.27 [[ 9.99689716e-01 -1.87134943e-02 -1.64401053e-02 4.96776933e+00] [ 1.87500038e-02 9.99822062e-01 2.06942220e-03 1.26757346e-01] [ 1.63984539e-02 -2.37703213e-03 9.99862711e-01 -1.27233543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.53455357399997 meters Centerline goodness [0,1] 0.8331674512441156 Centerline is valid? [False, False] Translation: X:4.97, Y:0.13, Z:-1.27 [[ 9.99692369e-01 -1.85812526e-02 -1.64287731e-02 4.96786433e+00] [ 1.86073323e-02 9.99825837e-01 1.43599617e-03 1.29015113e-01] [ 1.63992292e-02 -1.74125005e-03 9.99864007e-01 -1.27339443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.56455357399997 meters Centerline goodness [0,1] 0.8465506125080593 Centerline is valid? [False, False] Translation: X:4.97, Y:0.13, Z:-1.27 [[ 9.99688022e-01 -1.87078588e-02 -1.65491829e-02 4.96833359e+00] [ 1.87335915e-02 9.99823529e-01 1.40125728e-03 1.29650549e-01] [ 1.65200479e-02 -1.71084575e-03 9.99862071e-01 -1.27328300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.59455357399997 meters Centerline goodness [0,1] 0.8435494697274802 Centerline is valid? [False, False] Translation: X:4.97, Y:0.13, Z:-1.27 [[ 9.99655222e-01 -1.97603366e-02 -1.72906484e-02 4.97114579e+00] [ 1.97831285e-02 9.99803636e-01 1.14809671e-03 1.30179156e-01] [ 1.72645664e-02 -1.48976399e-03 9.99849846e-01 -1.27331877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.62455357399998 meters Centerline goodness [0,1] 0.8428779226376468 Centerline is valid? [False, False] Translation: X:4.97, Y:0.13, Z:-1.27 [[ 9.99629356e-01 -2.05338059e-02 -1.78749282e-02 4.97320305e+00] [ 2.05596860e-02 9.99787827e-01 1.26526082e-03 1.29773558e-01] [ 1.78451550e-02 -1.63229477e-03 9.99839430e-01 -1.27291146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.65455357399998 meters Centerline goodness [0,1] 0.8491099561037352 Centerline is valid? [False, False] Translation: X:4.98, Y:0.13, Z:-1.27 [[ 9.99575250e-01 -2.21999128e-02 -1.88807606e-02 4.97676206e+00] [ 2.22385111e-02 9.99751006e-01 1.83679319e-03 1.28752558e-01] [ 1.88352828e-02 -2.25589302e-03 9.99820055e-01 -1.27086298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.68455357399998 meters Centerline goodness [0,1] 0.840464728504962 Centerline is valid? [False, False] Translation: X:4.98, Y:0.13, Z:-1.27 [[ 9.99556364e-01 -2.26993297e-02 -1.92825086e-02 4.97806683e+00] [ 2.27431015e-02 9.99739233e-01 2.05374364e-03 1.28888656e-01] [ 1.92308618e-02 -2.49137658e-03 9.99811966e-01 -1.27012325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.71455357399998 meters Centerline goodness [0,1] 0.8434670464010318 Centerline is valid? [False, False] Translation: X:4.98, Y:0.13, Z:-1.27 [[ 9.99542472e-01 -2.30572039e-02 -1.95758058e-02 4.97902498e+00] [ 2.31017582e-02 9.99731011e-01 2.05287788e-03 1.29619988e-01] [ 1.95232065e-02 -2.50417416e-03 9.99806268e-01 -1.26978897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.74455357399998 meters Centerline goodness [0,1] 0.8481452756010804 Centerline is valid? [False, False] Translation: X:4.98, Y:0.13, Z:-1.27 [[ 9.99520174e-01 -2.36347313e-02 -2.00205441e-02 4.98069074e+00] [ 2.36749722e-02 9.99718132e-01 1.77532076e-03 1.31289710e-01] [ 1.99729418e-02 -2.24845474e-03 9.99797993e-01 -1.26977024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.77455357399998 meters Centerline goodness [0,1] 0.8489071988443326 Centerline is valid? [False, False] Translation: X:4.98, Y:0.13, Z:-1.27 [[ 9.99525391e-01 -2.34480931e-02 -1.99794897e-02 4.98026707e+00] [ 2.34904598e-02 9.99722277e-01 1.88843207e-03 1.32183394e-01] [ 1.99296609e-02 -2.35686320e-03 9.99798607e-01 -1.26916299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.80455357399998 meters Centerline goodness [0,1] 0.8534101210472991 Centerline is valid? [False, False] Translation: X:5.00, Y:0.14, Z:-1.28 [[ 0.99967997 -0.02124656 -0.01373088 4.99642064] [ 0.02117267 0.99976068 -0.00550435 0.13625172] [ 0.01384454 0.00521187 0.99989058 -1.27507635] [ 0. 0. 0. 1. ]] SLAMing on 179.83455357399998 meters Centerline goodness [0,1] 0.8515608352865971 Centerline is valid? [False, False] Translation: X:5.00, Y:0.14, Z:-1.27 [[ 9.99740890e-01 -1.76332294e-02 -1.43952239e-02 4.99771171e+00] [ 1.76264695e-02 9.99844464e-01 -5.96340119e-04 1.35758214e-01] [ 1.44035004e-02 3.42448625e-04 9.99896206e-01 -1.27273469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.86455357399998 meters Centerline goodness [0,1] 0.8506346629766625 Centerline is valid? [False, False] Translation: X:5.00, Y:0.14, Z:-1.27 [[ 9.99763396e-01 -1.67274369e-02 -1.39048773e-02 4.99555853e+00] [ 1.67206205e-02 9.99860017e-01 -6.06336346e-04 1.37491004e-01] [ 1.39130733e-02 3.73694708e-04 9.99903139e-01 -1.27240405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.89455357399999 meters Centerline goodness [0,1] 0.8452374649229629 Centerline is valid? [False, False] Translation: X:5.00, Y:0.14, Z:-1.27 [[ 9.99823774e-01 -1.24201929e-02 -1.40769528e-02 4.99558563e+00] [ 1.24704330e-02 9.99916162e-01 3.48682036e-03 1.38776529e-01] [ 1.40324656e-02 -3.66175158e-03 9.99894835e-01 -1.27180470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.924553574 meters Centerline goodness [0,1] 0.8452374649229629 Centerline is valid? [False, False] Translation: X:5.00, Y:0.14, Z:-1.27 [[ 9.99823774e-01 -1.24201929e-02 -1.40769528e-02 4.99558563e+00] [ 1.24704330e-02 9.99916162e-01 3.48682036e-03 1.38776529e-01] [ 1.40324656e-02 -3.66175158e-03 9.99894835e-01 -1.27180470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.954553574 meters Centerline goodness [0,1] 0.8400010590696073 Centerline is valid? [False, False] Translation: X:5.00, Y:0.14, Z:-1.27 [[ 0.99985114 -0.00891655 -0.01477145 4.99772445] [ 0.00903097 0.99992959 0.00769761 0.13902209] [ 0.01470178 -0.00782987 0.99986127 -1.2713212 ] [ 0. 0. 0. 1. ]] SLAMing on 179.984553574 meters Centerline goodness [0,1] 0.8345669874167283 Centerline is valid? [False, False] Translation: X:5.00, Y:0.14, Z:-1.28 [[ 0.99985999 -0.00832126 -0.0145173 4.99739579] [ 0.00840614 0.99994787 0.00579565 0.14255626] [ 0.01446832 -0.00591688 0.99987782 -1.27546507] [ 0. 0. 0. 1. ]] SLAMing on 180.014553574 meters Centerline goodness [0,1] 0.8324968300929839 Centerline is valid? [False, False] Translation: X:5.00, Y:0.14, Z:-1.28 [[ 0.99986044 -0.00827365 -0.01451393 4.99754126] [ 0.00835484 0.99994974 0.00554245 0.143035 ] [ 0.01446735 -0.00566294 0.99987931 -1.27599326] [ 0. 0. 0. 1. ]] SLAMing on 180.044553574 meters Centerline goodness [0,1] 0.8420148977758994 Centerline is valid? [False, False] Translation: X:5.00, Y:0.14, Z:-1.28 [[ 0.99986155 -0.008164 -0.01449918 4.99724921] [ 0.00824727 0.99994979 0.00569295 0.1432556 ] [ 0.01445197 -0.00581174 0.99987867 -1.2754566 ] [ 0. 0. 0. 1. ]] SLAMing on 180.074553574 meters Centerline goodness [0,1] 0.8413158657774732 Centerline is valid? [False, False] Translation: X:5.00, Y:0.14, Z:-1.27 [[ 0.99985922 -0.00827296 -0.01459792 4.99728705] [ 0.0083582 0.99994832 0.00578786 0.14334391] [ 0.01454928 -0.00590905 0.99987669 -1.27468705] [ 0. 0. 0. 1. ]] SLAMing on 180.104553574 meters Centerline goodness [0,1] 0.8263152340245897 Centerline is valid? [False, False] Translation: X:5.00, Y:0.14, Z:-1.27 [[ 0.99986004 -0.00820405 -0.01458078 4.99700121] [ 0.008292 0.99994773 0.00598236 0.14321747] [ 0.01453093 -0.00610242 0.9998758 -1.27409433] [ 0. 0. 0. 1. ]] SLAMing on 180.134553574 meters Centerline goodness [0,1] 0.8340010542962573 Centerline is valid? [False, False] Translation: X:5.00, Y:0.14, Z:-1.27 [[ 0.99985916 -0.00817977 -0.01465466 4.99725146] [ 0.00826477 0.99994932 0.00574897 0.14433183] [ 0.01460689 -0.00586928 0.99987609 -1.27444577] [ 0. 0. 0. 1. ]] SLAMing on 180.164553574 meters Centerline goodness [0,1] 0.8360478884357321 Centerline is valid? [False, False] Translation: X:5.00, Y:0.15, Z:-1.28 [[ 0.99986072 -0.00807664 -0.01460536 4.99733013] [ 0.00815552 0.99995244 0.00534912 0.14533544] [ 0.01456146 -0.00546749 0.99987903 -1.27535944] [ 0. 0. 0. 1. ]] SLAMing on 180.194553574 meters Centerline goodness [0,1] 0.8408845880775198 Centerline is valid? [False, False] Translation: X:5.00, Y:0.15, Z:-1.28 [[ 0.99986441 -0.00784538 -0.01447823 4.99689437] [ 0.00792321 0.99995443 0.00532617 0.14576849] [ 0.01443578 -0.00544016 0.999881 -1.27550433] [ 0. 0. 0. 1. ]] SLAMing on 180.22455357399997 meters Centerline goodness [0,1] 0.8388956150971206 Centerline is valid? [False, False] Translation: X:4.99, Y:0.15, Z:-1.28 [[ 0.99987639 -0.00715603 -0.01399971 4.99499514] [ 0.00723369 0.99995869 0.00550463 0.14560805] [ 0.01395974 -0.00560522 0.99988685 -1.27511549] [ 0. 0. 0. 1. ]] SLAMing on 180.25455357399997 meters Centerline goodness [0,1] 0.8465512242692601 Centerline is valid? [False, False] Translation: X:4.99, Y:0.15, Z:-1.28 [[ 0.99988351 -0.0066744 -0.01372655 4.99383399] [ 0.00675132 0.99996172 0.00556533 0.14569846] [ 0.01368888 -0.00565735 0.9998903 -1.27502438] [ 0. 0. 0. 1. ]] SLAMing on 180.28455357399997 meters Centerline goodness [0,1] 0.8364955798918063 Centerline is valid? [False, False] Translation: X:4.99, Y:0.15, Z:-1.27 [[ 0.99990257 -0.00526709 -0.01292676 4.99065667] [ 0.00534316 0.99996857 0.00585754 0.14542954] [ 0.0128955 -0.00592604 0.99989929 -1.27492125] [ 0. 0. 0. 1. ]] SLAMing on 180.31455357399997 meters Centerline goodness [0,1] 0.8396492988618058 Centerline is valid? [False, False] Translation: X:4.99, Y:0.15, Z:-1.28 [[ 9.99912758e-01 -4.44800715e-03 -1.24375122e-02 4.98891953e+00] [ 4.52083881e-03 9.99972764e-01 5.83383567e-03 1.45478804e-01] [ 1.24112245e-02 -5.88955470e-03 9.99905633e-01 -1.27536531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.34455357399997 meters Centerline goodness [0,1] 0.8312509884548474 Centerline is valid? [False, False] Translation: X:4.99, Y:0.15, Z:-1.28 [[ 9.99923537e-01 -3.54003069e-03 -1.18485762e-02 4.98711088e+00] [ 3.60673959e-03 9.99977740e-01 5.61349475e-03 1.45979923e-01] [ 1.18284405e-02 -5.65580026e-03 9.99914046e-01 -1.27631641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.37455357399998 meters Centerline goodness [0,1] 0.8307753164556961 Centerline is valid? [False, False] Translation: X:4.98, Y:0.15, Z:-1.28 [[ 9.99948285e-01 -4.48748050e-04 -1.01600546e-02 4.98074624e+00] [ 4.95761058e-04 9.99989181e-01 4.62519408e-03 1.47657975e-01] [ 1.01578692e-02 -4.62999185e-03 9.99937688e-01 -1.27966216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.40455357399998 meters Centerline goodness [0,1] 0.8333157589497548 Centerline is valid? [False, False] Translation: X:4.98, Y:0.15, Z:-1.28 [[ 9.99955694e-01 6.73544940e-04 -9.38916061e-03 4.97804355e+00] [-6.28916779e-04 9.99988496e-01 4.75530024e-03 1.47783253e-01] [ 9.39225550e-03 -4.74918455e-03 9.99944614e-01 -1.27981519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.43455357399998 meters Centerline goodness [0,1] 0.8280467885557722 Centerline is valid? [False, False] Translation: X:4.97, Y:0.15, Z:-1.28 [[ 9.99963113e-01 3.25726825e-03 -7.94744374e-03 4.97223900e+00] [-3.21278381e-03 9.99979138e-01 5.60368751e-03 1.47228607e-01] [ 7.96553065e-03 -5.57794739e-03 9.99952717e-01 -1.27910172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.46455357399998 meters Centerline goodness [0,1] 0.8307850477144514 Centerline is valid? [False, False] Translation: X:4.97, Y:0.15, Z:-1.28 [[ 9.99964432e-01 4.16324896e-03 -7.33496220e-03 4.97018386e+00] [-4.12150514e-03 9.99975278e-01 5.69702746e-03 1.47206481e-01] [ 7.35849901e-03 -5.66659374e-03 9.99956870e-01 -1.27935742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.49455357399998 meters Centerline goodness [0,1] 0.8248733642887294 Centerline is valid? [False, False] Translation: X:4.97, Y:0.15, Z:-1.28 [[ 9.99964442e-01 4.87702842e-03 -6.87969887e-03 4.96854660e+00] [-4.83711532e-03 9.99971444e-01 5.80633414e-03 1.46889955e-01] [ 6.90782007e-03 -5.77284978e-03 9.99959477e-01 -1.27945126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.52455357399998 meters Centerline goodness [0,1] 0.8262915763312357 Centerline is valid? [False, False] Translation: X:4.97, Y:0.14, Z:-1.28 [[ 0.99996311 0.00599464 -0.00615201 4.9658101 ] [-0.00595493 0.99996145 0.00645241 0.14496688] [ 0.00619045 -0.00641554 0.99996026 -1.27892928] [ 0. 0. 0. 1. ]] SLAMing on 180.55455357399998 meters Centerline goodness [0,1] 0.8287703876297394 Centerline is valid? [False, False] Translation: X:4.96, Y:0.15, Z:-1.28 [[ 9.99981366e-01 3.67993304e-03 -4.87100308e-03 4.96214062e+00] [-3.67178446e-03 9.99991846e-01 1.68076326e-03 1.45671069e-01] [ 4.87714846e-03 -1.66284667e-03 9.99986724e-01 -1.28170721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.58455357399998 meters Centerline goodness [0,1] 0.8276348724503382 Centerline is valid? [False, False] Translation: X:4.96, Y:0.14, Z:-1.28 [[ 9.99992155e-01 5.99123686e-04 -3.91551579e-03 4.96027406e+00] [-6.07876069e-04 9.99997319e-01 -2.23450020e-03 1.43330346e-01] [ 3.91416654e-03 2.23686282e-03 9.99989838e-01 -1.28372197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.61455357399998 meters Centerline goodness [0,1] 0.8296124403190099 Centerline is valid? [False, False] Translation: X:4.96, Y:0.14, Z:-1.28 [[ 9.99991592e-01 3.30826937e-04 -4.08743960e-03 4.96103574e+00] [-3.37335528e-04 9.99998676e-01 -1.59175262e-03 1.40872641e-01] [ 4.08690759e-03 1.59311808e-03 9.99990380e-01 -1.28321585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.64455357399999 meters Centerline goodness [0,1] 0.8302008032128514 Centerline is valid? [False, False] Translation: X:4.96, Y:0.14, Z:-1.28 [[ 9.99990710e-01 3.56061291e-05 -4.31034715e-03 4.96205354e+00] [-3.97033233e-05 9.99999548e-01 -9.50466704e-04 1.38403022e-01] [ 4.31031135e-03 9.50629009e-04 9.99990259e-01 -1.28288534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.674553574 meters Centerline goodness [0,1] 0.8312045270816492 Centerline is valid? [False, False] Translation: X:4.96, Y:0.13, Z:-1.29 [[ 9.99988511e-01 -2.42355449e-03 -4.13578578e-03 4.96447989e+00] [ 2.41324087e-03 9.99993971e-01 -2.49692258e-03 1.33420142e-01] [ 4.14181227e-03 2.48691324e-03 9.99988330e-01 -1.28542339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.704553574 meters Centerline goodness [0,1] 0.8334188426538492 Centerline is valid? [False, False] Translation: X:4.97, Y:0.13, Z:-1.29 [[ 9.99984988e-01 -2.99295575e-03 -4.58980265e-03 4.96638184e+00] [ 2.98495964e-03 9.99994017e-01 -1.74800824e-03 1.30205938e-01] [ 4.59500690e-03 1.73428162e-03 9.99987939e-01 -1.28507591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.734553574 meters Centerline goodness [0,1] 0.8327404068109605 Centerline is valid? [False, False] Translation: X:4.97, Y:0.13, Z:-1.28 [[ 9.99983148e-01 -3.23491673e-03 -4.82059876e-03 4.96729027e+00] [ 3.23047440e-03 9.99994350e-01 -9.29032474e-04 1.27220833e-01] [ 4.82357687e-03 9.13443997e-04 9.99987949e-01 -1.28449661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.764553574 meters Centerline goodness [0,1] 0.8336963624482684 Centerline is valid? [False, False] Translation: X:4.97, Y:0.12, Z:-1.28 [[ 9.99981681e-01 -3.50638429e-03 -4.93382076e-03 4.96792214e+00] [ 3.50872466e-03 9.99993736e-01 4.65778429e-04 1.21663920e-01] [ 4.93215666e-03 -4.83081315e-04 9.99987720e-01 -1.28320302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.794553574 meters Centerline goodness [0,1] 0.8381009681124542 Centerline is valid? [False, False] Translation: X:4.97, Y:0.12, Z:-1.28 [[ 9.99983278e-01 -3.22331487e-03 -4.80154802e-03 4.96717721e+00] [ 3.23012711e-03 9.99993787e-01 1.41167963e-03 1.19050354e-01] [ 4.79696790e-03 -1.42716564e-03 9.99987476e-01 -1.28196968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.824553574 meters Centerline goodness [0,1] 0.8360830083717379 Centerline is valid? [False, False] Translation: X:4.96, Y:0.12, Z:-1.28 [[ 9.99994680e-01 1.52607640e-03 -2.88287370e-03 4.95613002e+00] [-1.51787299e-03 9.99994799e-01 2.84561557e-03 1.20133102e-01] [ 2.88720134e-03 -2.84122460e-03 9.99991796e-01 -1.27890784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.854553574 meters Centerline goodness [0,1] 0.8349649586867007 Centerline is valid? [False, False] Translation: X:4.95, Y:0.12, Z:-1.28 [[ 9.99994637e-01 2.25055278e-03 -2.37942510e-03 4.95447036e+00] [-2.24459637e-03 9.99994348e-01 2.50301095e-03 1.21344735e-01] [ 2.38504481e-03 -2.49765668e-03 9.99994037e-01 -1.27961468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.884553574 meters Centerline goodness [0,1] 0.8338123644251627 Centerline is valid? [False, False] Translation: X:4.96, Y:0.12, Z:-1.28 [[ 9.99979708e-01 5.69612502e-03 -2.85259204e-03 4.95693385e+00] [-5.68014234e-03 9.99968299e-01 5.57996550e-03 1.23843505e-01] [ 2.88428579e-03 -5.56364915e-03 9.99980363e-01 -1.28153614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.914553574 meters Centerline goodness [0,1] 0.830401602078372 Centerline is valid? [False, False] Translation: X:4.96, Y:0.13, Z:-1.28 [[ 9.99979533e-01 5.76772835e-03 -2.76877977e-03 4.95730887e+00] [-5.75524935e-03 9.99973340e-01 4.49404712e-03 1.26365602e-01] [ 2.79462639e-03 -4.47802012e-03 9.99986069e-01 -1.28369735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.944553574 meters Centerline goodness [0,1] 0.8277791291656531 Centerline is valid? [False, False] Translation: X:4.96, Y:0.13, Z:-1.29 [[ 9.99981842e-01 5.14961810e-03 -3.13011832e-03 4.95938923e+00] [-5.13838268e-03 9.99980365e-01 3.58696107e-03 1.27535724e-01] [ 3.14852834e-03 -3.57081220e-03 9.99988668e-01 -1.28563480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.97455357399997 meters Centerline goodness [0,1] 0.8287424500961512 Centerline is valid? [False, False] Translation: X:4.96, Y:0.13, Z:-1.29 [[ 9.99994788e-01 1.69448041e-03 -2.74809356e-03 4.95797275e+00] [-1.69732221e-03 9.99998027e-01 -1.03209484e-03 1.29114621e-01] [ 2.74633927e-03 1.03675386e-03 9.99995691e-01 -1.28671054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.00455357399997 meters Centerline goodness [0,1] 0.8321525148729043 Centerline is valid? [False, False] Translation: X:4.96, Y:0.13, Z:-1.29 [[ 9.99993544e-01 7.07734660e-04 -3.52295649e-03 4.96059520e+00] [-7.10164486e-04 9.99999511e-01 -6.88509072e-04 1.28201069e-01] [ 3.52246748e-03 6.91006505e-04 9.99993557e-01 -1.28569674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.03455357399997 meters Centerline goodness [0,1] 0.8356253560094393 Centerline is valid? [False, False] Translation: X:4.97, Y:0.13, Z:-1.28 [[ 9.99984486e-01 -1.90865362e-03 -5.23296273e-03 4.96702327e+00] [ 1.90514129e-03 9.99997957e-01 -6.76095956e-04 1.28018940e-01] [ 5.23424247e-03 6.66115934e-04 9.99986079e-01 -1.28451348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.06455357399997 meters Centerline goodness [0,1] 0.8343185639134443 Centerline is valid? [False, False] Translation: X:4.97, Y:0.13, Z:-1.29 [[ 9.99979393e-01 -2.69453643e-03 -5.82692408e-03 4.96940580e+00] [ 2.68798139e-03 9.99995746e-01 -1.13249709e-03 1.29561051e-01] [ 5.82995084e-03 1.11681109e-03 9.99982382e-01 -1.28500296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.09455357399997 meters Centerline goodness [0,1] 0.834948820287258 Centerline is valid? [False, False] Translation: X:4.97, Y:0.13, Z:-1.29 [[ 9.99967698e-01 -4.14296836e-03 -6.88762620e-03 4.97375554e+00] [ 4.13099560e-03 9.99989933e-01 -1.75161803e-03 1.30746654e-01] [ 6.89481377e-03 1.72310869e-03 9.99974746e-01 -1.28608606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.12455357399998 meters Centerline goodness [0,1] 0.8346858461120912 Centerline is valid? [False, False] Translation: X:4.98, Y:0.13, Z:-1.29 [[ 9.99952022e-01 -5.70862957e-03 -7.96022344e-03 4.97815302e+00] [ 5.69277402e-03 9.99981770e-01 -2.01308552e-03 1.30927724e-01] [ 7.97157028e-03 1.96767319e-03 9.99966291e-01 -1.28653820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.15455357399998 meters Centerline goodness [0,1] 0.8364159808794372 Centerline is valid? [False, False] Translation: X:4.99, Y:0.13, Z:-1.28 [[ 9.99894863e-01 -1.03177480e-02 -1.01885982e-02 4.98835307e+00] [ 1.03075937e-02 9.99946325e-01 -1.04863995e-03 1.29446010e-01] [ 1.01988709e-02 9.43509769e-04 9.99947545e-01 -1.28308269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.18455357399998 meters Centerline goodness [0,1] 0.8465237590675687 Centerline is valid? [False, False] Translation: X:4.99, Y:0.13, Z:-1.28 [[ 9.99793531e-01 -1.67894789e-02 -1.14459320e-02 4.99374622e+00] [ 1.67316722e-02 9.99846868e-01 -5.12760967e-03 1.29387583e-01] [ 1.15302691e-02 4.93504139e-03 9.99921346e-01 -1.28215178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.21455357399998 meters Centerline goodness [0,1] 0.8396336657879718 Centerline is valid? [False, False] Translation: X:5.00, Y:0.13, Z:-1.28 [[ 9.99747089e-01 -1.85575421e-02 -1.27033482e-02 4.99816423e+00] [ 1.85059452e-02 9.99820066e-01 -4.16725725e-03 1.28008626e-01] [ 1.27783965e-02 3.93111585e-03 9.99910625e-01 -1.27961140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.24455357399998 meters Centerline goodness [0,1] 0.8469521163588822 Centerline is valid? [False, False] Translation: X:5.00, Y:0.13, Z:-1.28 [[ 9.99702454e-01 -2.01298221e-02 -1.37765551e-02 5.00214842e+00] [ 2.00808367e-02 9.99791569e-01 -3.68485769e-03 1.26736677e-01] [ 1.38478591e-02 3.40711652e-03 9.99898309e-01 -1.27833308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.27455357399998 meters Centerline goodness [0,1] 0.8437406307067513 Centerline is valid? [False, False] Translation: X:5.01, Y:0.13, Z:-1.28 [[ 9.99656939e-01 -2.15801143e-02 -1.48425863e-02 5.00610235e+00] [ 2.15292510e-02 9.99761816e-01 -3.57815734e-03 1.26255218e-01] [ 1.49162681e-02 3.25738004e-03 9.99883440e-01 -1.27780601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.30455357399998 meters Centerline goodness [0,1] 0.8391745289431469 Centerline is valid? [False, False] Translation: X:5.01, Y:0.13, Z:-1.28 [[ 9.99552795e-01 -2.47756432e-02 -1.67444813e-02 5.01426605e+00] [ 2.47092353e-02 9.99686019e-01 -4.16130855e-03 1.27279959e-01] [ 1.68423230e-02 3.74570427e-03 9.99851142e-01 -1.27806383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.33455357399998 meters Centerline goodness [0,1] 0.848977266561771 Centerline is valid? [False, False] Translation: X:5.02, Y:0.13, Z:-1.28 [[ 9.99459678e-01 -2.72656167e-02 -1.83558676e-02 5.02055986e+00] [ 2.71870132e-02 9.99620154e-01 -4.51825387e-03 1.28653602e-01] [ 1.84720882e-02 4.01677134e-03 9.99821308e-01 -1.27759839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.36455357399998 meters Centerline goodness [0,1] 0.8459388314472578 Centerline is valid? [False, False] Translation: X:5.03, Y:0.13, Z:-1.27 [[ 9.99433243e-01 -2.67590750e-02 -2.04241134e-02 5.02870284e+00] [ 2.67888339e-02 9.99640413e-01 1.18479390e-03 1.26938957e-01] [ 2.03850652e-02 -1.73126060e-03 9.99790704e-01 -1.27271856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.39455357399999 meters Centerline goodness [0,1] 0.838168311462965 Centerline is valid? [False, False] Translation: X:5.03, Y:0.13, Z:-1.27 [[ 9.99400030e-01 -2.75235777e-02 -2.10245933e-02 5.03081671e+00] [ 2.75522799e-02 9.99619784e-01 1.07666742e-03 1.27462168e-01] [ 2.09869657e-02 -1.65529693e-03 9.99778379e-01 -1.27247426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.424553574 meters Centerline goodness [0,1] 0.8526033483231295 Centerline is valid? [False, False] Translation: X:5.03, Y:0.13, Z:-1.27 [[ 9.99367467e-01 -2.82485107e-02 -2.16029366e-02 5.03310741e+00] [ 2.82722178e-02 9.99599947e-01 7.92709765e-04 1.28324576e-01] [ 2.15719014e-02 -1.40297128e-03 9.99766315e-01 -1.27280265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.454553574 meters Centerline goodness [0,1] 0.8526111350884764 Centerline is valid? [False, False] Translation: X:5.04, Y:0.13, Z:-1.27 [[ 9.99297961e-01 -2.97839636e-02 -2.27266391e-02 5.03757360e+00] [ 2.97839276e-02 9.99556303e-01 -3.40149727e-04 1.31060188e-01] [ 2.27266864e-02 -3.36977645e-04 9.99741659e-01 -1.27421175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.484553574 meters Centerline goodness [0,1] 0.8521206561623138 Centerline is valid? [False, False] Translation: X:5.04, Y:0.13, Z:-1.27 [[ 9.99276341e-01 -3.02123379e-02 -2.31086547e-02 5.03907791e+00] [ 3.02045949e-02 9.99543503e-01 -6.84117791e-04 1.32268801e-01] [ 2.31187744e-02 -1.43648308e-05 9.99732725e-01 -1.27463697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.514553574 meters Centerline goodness [0,1] 0.8445686342996856 Centerline is valid? [False, False] Translation: X:5.04, Y:0.13, Z:-1.27 [[ 9.99289504e-01 -2.83546485e-02 -2.48294242e-02 5.04459943e+00] [ 2.84502786e-02 9.99589058e-01 3.50665990e-03 1.33009019e-01] [ 2.47197907e-02 -4.21057247e-03 9.99685552e-01 -1.27288049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.544553574 meters Centerline goodness [0,1] 0.8502650886306432 Centerline is valid? [False, False] Translation: X:5.05, Y:0.13, Z:-1.27 [[ 0.99932121 -0.02594072 -0.02615725 5.0486445 ] [ 0.02615803 0.99962581 0.00800005 0.13262504] [ 0.02593993 -0.00867885 0.99962583 -1.27086077] [ 0. 0. 0. 1. ]] SLAMing on 181.574553574 meters Centerline goodness [0,1] 0.8384586586800727 Centerline is valid? [False, False] Translation: X:5.05, Y:0.13, Z:-1.27 [[ 0.99931911 -0.02593196 -0.02624614 5.04872496] [ 0.02614429 0.99962791 0.00777915 0.13389482] [ 0.02603464 -0.00846004 0.99962524 -1.27078199] [ 0. 0. 0. 1. ]] SLAMing on 181.604553574 meters Centerline goodness [0,1] 0.8468870140965399 Centerline is valid? [False, False] Translation: X:5.05, Y:0.14, Z:-1.27 [[ 0.99932754 -0.02564522 -0.02620682 5.04815978] [ 0.02584452 0.99963936 0.00729491 0.13622803] [ 0.02601029 -0.00796731 0.99962992 -1.27087723] [ 0. 0. 0. 1. ]] SLAMing on 181.634553574 meters Centerline goodness [0,1] 0.8383596617201212 Centerline is valid? [False, False] Translation: X:5.05, Y:0.14, Z:-1.27 [[ 0.99933487 -0.02544671 -0.02612043 5.04792957] [ 0.02563612 0.99964723 0.00694229 0.13756194] [ 0.02593456 -0.0076073 0.9996347 -1.27133902] [ 0. 0. 0. 1. ]] SLAMing on 181.664553574 meters Centerline goodness [0,1] 0.8305745662899888 Centerline is valid? [False, False] Translation: X:5.05, Y:0.14, Z:-1.27 [[ 0.99941452 -0.02157026 -0.02655841 5.04878448] [ 0.0218696 0.99969996 0.0110326 0.13897565] [ 0.02631246 -0.01160696 0.99958638 -1.27040641] [ 0. 0. 0. 1. ]] SLAMing on 181.694553574 meters Centerline goodness [0,1] 0.8425246882528924 Centerline is valid? [False, False] Translation: X:5.05, Y:0.14, Z:-1.27 [[ 0.99942972 -0.02114868 -0.02632415 5.04822642] [ 0.02142207 0.99971902 0.01014736 0.14141204] [ 0.02610215 -0.0107055 0.99960196 -1.2719966 ] [ 0. 0. 0. 1. ]] SLAMing on 181.72455357399997 meters Centerline goodness [0,1] 0.8403113045772326 Centerline is valid? [False, False] Translation: X:5.07, Y:0.15, Z:-1.28 [[ 9.99584881e-01 -1.66272436e-02 -2.35286998e-02 5.06722188e+00] [ 1.66783061e-02 9.99858956e-01 1.97563847e-03 1.45211223e-01] [ 2.34925318e-02 -2.36723721e-03 9.99721210e-01 -1.27956171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.75455357399997 meters Centerline goodness [0,1] 0.8363176743206235 Centerline is valid? [False, False] Translation: X:5.07, Y:0.14, Z:-1.28 [[ 0.99961647 -0.01332062 -0.02427906 5.06944946] [ 0.01347986 0.99988861 0.00640715 0.14460445] [ 0.02419101 -0.00673197 0.99968469 -1.2781545 ] [ 0. 0. 0. 1. ]] SLAMing on 181.78455357399997 meters Centerline goodness [0,1] 0.8376892054679725 Centerline is valid? [False, False] Translation: X:5.09, Y:0.15, Z:-1.28 [[ 9.99777345e-01 -8.30329355e-03 -1.93988790e-02 5.08671301e+00] [ 8.31932342e-03 9.99965116e-01 7.45773991e-04 1.47634299e-01] [ 1.93920099e-02 -9.06993489e-04 9.99811546e-01 -1.28391845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.81455357399997 meters Centerline goodness [0,1] 0.8376892054679725 Centerline is valid? [False, False] Translation: X:5.09, Y:0.15, Z:-1.28 [[ 9.99777345e-01 -8.30329355e-03 -1.93988790e-02 5.08671301e+00] [ 8.31932342e-03 9.99965116e-01 7.45773991e-04 1.47634299e-01] [ 1.93920099e-02 -9.06993489e-04 9.99811546e-01 -1.28391845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.84455357399997 meters Centerline goodness [0,1] 0.8357458838311127 Centerline is valid? [False, False] Translation: X:5.08, Y:0.15, Z:-1.28 [[ 9.99799271e-01 -7.14291916e-03 -1.87189005e-02 5.08409039e+00] [ 7.15815381e-03 9.99974101e-01 7.46987688e-04 1.49378311e-01] [ 1.87130801e-02 -8.80830515e-04 9.99824507e-01 -1.28385429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.87455357399998 meters Centerline goodness [0,1] 0.8368833202819107 Centerline is valid? [False, False] Translation: X:5.09, Y:0.15, Z:-1.28 [[ 9.99805644e-01 -3.73254168e-03 -1.93582556e-02 5.08617345e+00] [ 3.83030956e-03 9.99980085e-01 5.01583293e-03 1.49124561e-01] [ 1.93391483e-02 -5.08900618e-03 9.99800030e-01 -1.28301039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.90455357399998 meters Centerline goodness [0,1] 0.8409523065301763 Centerline is valid? [False, False] Translation: X:5.08, Y:0.15, Z:-1.28 [[ 9.99829279e-01 -1.93185587e-03 -1.83760784e-02 5.08209217e+00] [ 2.02432486e-03 9.99985377e-01 5.01476091e-03 1.51087719e-01] [ 1.83661219e-02 -5.05110394e-03 9.99818569e-01 -1.28283614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.93455357399998 meters Centerline goodness [0,1] 0.8347436665191241 Centerline is valid? [False, False] Translation: X:5.08, Y:0.15, Z:-1.28 [[ 9.99835033e-01 -1.56772567e-03 -1.80955540e-02 5.08124216e+00] [ 1.65644842e-03 9.99986677e-01 4.88906703e-03 1.51577249e-01] [ 1.80876482e-02 -4.91823484e-03 9.99824309e-01 -1.28301437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.96455357399998 meters Centerline goodness [0,1] 0.8380219437366752 Centerline is valid? [False, False] Translation: X:5.10, Y:0.15, Z:-1.29 [[ 9.99925368e-01 -9.31138505e-04 -1.21815918e-02 5.09970049e+00] [ 8.95228511e-04 9.99995239e-01 -2.95301086e-03 1.53382725e-01] [ 1.21842835e-02 2.94188516e-03 9.99921441e-01 -1.28877810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.99455357399998 meters Centerline goodness [0,1] 0.8375899607680116 Centerline is valid? [False, False] Translation: X:5.10, Y:0.15, Z:-1.29 [[ 9.99925518e-01 -8.69536828e-04 -1.21738211e-02 5.09950449e+00] [ 8.37308293e-04 9.99996132e-01 -2.65221049e-03 1.53211035e-01] [ 1.21760802e-02 2.64181971e-03 9.99922379e-01 -1.28813221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.02455357399998 meters Centerline goodness [0,1] 0.8425561834327231 Centerline is valid? [False, False] Translation: X:5.10, Y:0.15, Z:-1.29 [[ 9.99925707e-01 -8.77501422e-04 -1.21577110e-02 5.09940179e+00] [ 8.49998361e-04 9.99997069e-01 -2.26717334e-03 1.52659284e-01] [ 1.21596648e-02 2.25667087e-03 9.99923522e-01 -1.28740231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.05455357399998 meters Centerline goodness [0,1] 0.8359462340431063 Centerline is valid? [False, False] Translation: X:5.10, Y:0.15, Z:-1.29 [[ 9.99920773e-01 -1.48934681e-03 -1.24991680e-02 5.10081365e+00] [ 1.46554170e-03 9.99997095e-01 -1.91347871e-03 1.51631065e-01] [ 1.25019815e-02 1.89500906e-03 9.99920052e-01 -1.28678613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.08455357399998 meters Centerline goodness [0,1] 0.8457120582120582 Centerline is valid? [False, False] Translation: X:5.10, Y:0.15, Z:-1.29 [[ 9.99914025e-01 -2.09898262e-03 -1.29436374e-02 5.10273943e+00] [ 2.07357214e-03 9.99995897e-01 -1.97627150e-03 1.51356736e-01] [ 1.29477325e-02 1.94926202e-03 9.99914275e-01 -1.28719107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.11455357399998 meters Centerline goodness [0,1] 0.843781689591513 Centerline is valid? [False, False] Translation: X:5.11, Y:0.15, Z:-1.29 [[ 9.99894670e-01 -3.82189584e-03 -1.40014834e-02 5.10726961e+00] [ 3.79079195e-03 9.99990290e-01 -2.24733730e-03 1.50418694e-01] [ 1.40099365e-02 2.19402388e-03 9.99899449e-01 -1.28799075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.14455357399999 meters Centerline goodness [0,1] 0.8449430589216376 Centerline is valid? [False, False] Translation: X:5.11, Y:0.15, Z:-1.29 [[ 9.99883105e-01 -4.61921659e-03 -1.45752641e-02 5.10940317e+00] [ 4.58825398e-03 9.99987147e-01 -2.15705126e-03 1.49752373e-01] [ 1.45850407e-02 2.08992410e-03 9.99891449e-01 -1.28783541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.174553574 meters Centerline goodness [0,1] 0.8420846803629158 Centerline is valid? [False, False] Translation: X:5.11, Y:0.15, Z:-1.29 [[ 9.99870996e-01 -5.31882911e-03 -1.51558805e-02 5.11147604e+00] [ 5.29030540e-03 9.99984160e-01 -1.92149371e-03 1.48757286e-01] [ 1.51658605e-02 1.84106660e-03 9.99883297e-01 -1.28757697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.204553574 meters Centerline goodness [0,1] 0.8470597431020557 Centerline is valid? [False, False] Translation: X:5.12, Y:0.15, Z:-1.29 [[ 9.99846721e-01 -6.77955110e-03 -1.61422593e-02 5.11578376e+00] [ 6.74386989e-03 9.99974697e-01 -2.26383206e-03 1.48041958e-01] [ 1.61571986e-02 2.15462376e-03 9.99867142e-01 -1.28877344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.234553574 meters Centerline goodness [0,1] 0.8488372093023255 Centerline is valid? [False, False] Translation: X:5.12, Y:0.15, Z:-1.29 [[ 9.99836288e-01 -7.27905519e-03 -1.65653948e-02 5.11738360e+00] [ 7.24218647e-03 9.99971165e-01 -2.28454937e-03 1.47706188e-01] [ 1.65815465e-02 2.16420569e-03 9.99860174e-01 -1.28892127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.264553574 meters Centerline goodness [0,1] 0.846858843803854 Centerline is valid? [False, False] Translation: X:5.12, Y:0.15, Z:-1.29 [[ 9.99838922e-01 -7.06706156e-03 -1.64980736e-02 5.11695422e+00] [ 7.03439460e-03 9.99973183e-01 -2.03723992e-03 1.48053315e-01] [ 1.65120285e-02 1.92085781e-03 9.99861822e-01 -1.28829992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.294553574 meters Centerline goodness [0,1] 0.8424703979969745 Centerline is valid? [False, False] Translation: X:5.12, Y:0.15, Z:-1.29 [[ 9.99844938e-01 -6.68054529e-03 -1.62932662e-02 5.11592105e+00] [ 6.65402968e-03 9.99976449e-01 -1.68106634e-03 1.48461287e-01] [ 1.63041129e-02 1.57238979e-03 9.99865843e-01 -1.28731261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.324553574 meters Centerline goodness [0,1] 0.8393610922924593 Centerline is valid? [False, False] Translation: X:5.11, Y:0.15, Z:-1.29 [[ 9.99861678e-01 -5.64584043e-03 -1.56444616e-02 5.11293352e+00] [ 5.63007483e-03 9.99983598e-01 -1.05160306e-03 1.49470455e-01] [ 1.56501421e-02 9.63378114e-04 9.99877065e-01 -1.28537194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.354553574 meters Centerline goodness [0,1] 0.8388971412190863 Centerline is valid? [False, False] Translation: X:5.11, Y:0.15, Z:-1.29 [[ 9.99864618e-01 -5.41502280e-03 -1.55377925e-02 5.11250287e+00] [ 5.40018696e-03 9.99984922e-01 -9.96620546e-04 1.50240860e-01] [ 1.55429550e-02 9.12578637e-04 9.99878785e-01 -1.28512062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.384553574 meters Centerline goodness [0,1] 0.848603293725245 Centerline is valid? [False, False] Translation: X:5.11, Y:0.15, Z:-1.28 [[ 9.99866939e-01 -5.27072836e-03 -1.54377184e-02 5.11220326e+00] [ 5.25628448e-03 9.99985709e-01 -9.76048314e-04 1.51051148e-01] [ 1.54426423e-02 8.94773401e-04 9.99880355e-01 -1.28488444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.414553574 meters Centerline goodness [0,1] 0.8448028393225293 Centerline is valid? [False, False] Translation: X:5.11, Y:0.15, Z:-1.28 [[ 9.99863996e-01 -5.38617443e-03 -1.55877910e-02 5.11252005e+00] [ 5.37612785e-03 9.99985313e-01 -6.86347868e-04 1.50834575e-01] [ 1.55912589e-02 6.02452564e-04 9.99878267e-01 -1.28414566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.444553574 meters Centerline goodness [0,1] 0.8433927216597337 Centerline is valid? [False, False] Translation: X:5.11, Y:0.15, Z:-1.28 [[ 9.99858593e-01 -5.65004344e-03 -1.58389034e-02 5.11312700e+00] [ 5.64541945e-03 9.99984008e-01 -3.36635229e-04 1.50446960e-01] [ 1.58405521e-02 2.47170373e-04 9.99874500e-01 -1.28317155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.47455357399997 meters Centerline goodness [0,1] 0.8468913270637408 Centerline is valid? [False, False] Translation: X:5.12, Y:0.15, Z:-1.28 [[ 9.99834239e-01 -7.09319749e-03 -1.67684796e-02 5.11670495e+00] [ 7.08652717e-03 9.99974786e-01 -4.57175641e-04 1.49945449e-01] [ 1.67712996e-02 3.38269573e-04 9.99859295e-01 -1.28312685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.50455357399997 meters Centerline goodness [0,1] 0.8448171930284366 Centerline is valid? [False, False] Translation: X:5.12, Y:0.15, Z:-1.28 [[ 9.99813307e-01 -8.09974101e-03 -1.75426522e-02 5.11961577e+00] [ 8.09035853e-03 9.99967089e-01 -6.05742053e-04 1.49743241e-01] [ 1.75469812e-02 4.63702620e-04 9.99845932e-01 -1.28349035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.53455357399997 meters Centerline goodness [0,1] 0.8471974388579826 Centerline is valid? [False, False] Translation: X:5.13, Y:0.15, Z:-1.29 [[ 9.99765653e-01 -1.05124288e-02 -1.89242425e-02 5.12570619e+00] [ 1.04866354e-02 9.99943945e-01 -1.46170581e-03 1.49636244e-01] [ 1.89385478e-02 1.26291164e-03 9.99819852e-01 -1.28517838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.56455357399997 meters Centerline goodness [0,1] 0.8481158509440385 Centerline is valid? [False, False] Translation: X:5.13, Y:0.15, Z:-1.29 [[ 9.99739767e-01 -1.15061760e-02 -1.96978515e-02 5.12865403e+00] [ 1.14801985e-02 9.99933076e-01 -1.43137145e-03 1.49240027e-01] [ 1.97130028e-02 1.20486372e-03 9.99804954e-01 -1.28533026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.59455357399997 meters Centerline goodness [0,1] 0.8479360503210589 Centerline is valid? [False, False] Translation: X:5.13, Y:0.15, Z:-1.29 [[ 9.99710020e-01 -1.26029975e-02 -2.05192528e-02 5.13181734e+00] [ 1.25735988e-02 9.99919731e-01 -1.56112689e-03 1.48694276e-01] [ 2.05372806e-02 1.30267334e-03 9.99788239e-01 -1.28576600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.62455357399998 meters Centerline goodness [0,1] 0.846269088232975 Centerline is valid? [False, False] Translation: X:5.14, Y:0.15, Z:-1.29 [[ 9.99672825e-01 -1.39442492e-02 -2.14429512e-02 5.13520016e+00] [ 1.39156213e-02 9.99902072e-01 -1.48371337e-03 1.47665974e-01] [ 2.14615406e-02 1.18483595e-03 9.99768973e-01 -1.28538775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.65455357399998 meters Centerline goodness [0,1] 0.8385502904149912 Centerline is valid? [False, False] Translation: X:5.14, Y:0.15, Z:-1.28 [[ 9.99666403e-01 -1.41062219e-02 -2.16355526e-02 5.13570905e+00] [ 1.40820485e-02 9.99900037e-01 -1.26925604e-03 1.47664812e-01] [ 2.16512943e-02 9.64159716e-04 9.99765118e-01 -1.28474570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.68455357399998 meters Centerline goodness [0,1] 0.8031236078719111 Centerline is valid? [False, False] Translation: X:5.14, Y:0.15, Z:-1.28 [[ 9.99674530e-01 -1.13517993e-02 -2.28466669e-02 5.13918631e+00] [ 1.14375081e-02 9.99928021e-01 3.62430655e-03 1.47289330e-01] [ 2.28038801e-02 -3.88443589e-03 9.99732411e-01 -1.28202710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.71455357399998 meters Centerline goodness [0,1] 0.8089160289338505 Centerline is valid? [False, False] Translation: X:5.14, Y:0.15, Z:-1.28 [[ 9.99686510e-01 -1.08298820e-02 -2.25742314e-02 5.13816333e+00] [ 1.09100683e-02 9.99934594e-01 3.43198817e-03 1.48688203e-01] [ 2.25355869e-02 -3.67719869e-03 9.99739279e-01 -1.28226158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.74455357399998 meters Centerline goodness [0,1] 0.8218697654941374 Centerline is valid? [False, False] Translation: X:5.14, Y:0.15, Z:-1.28 [[ 9.99695472e-01 -1.04054234e-02 -2.23761028e-02 5.13763628e+00] [ 1.04770984e-02 9.99940344e-01 3.08834844e-03 1.50074564e-01] [ 2.23426324e-02 -3.32184458e-03 9.99744854e-01 -1.28297036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.77455357399998 meters Centerline goodness [0,1] 0.8488657105606259 Centerline is valid? [False, False] Translation: X:5.14, Y:0.15, Z:-1.28 [[ 0.99972959 -0.0060462 -0.02245398 5.1373572 ] [ 0.00621114 0.99995419 0.0072834 0.15132092] [ 0.02240892 -0.00742089 0.99972135 -1.28194977] [ 0. 0. 0. 1. ]] SLAMing on 182.80455357399998 meters Centerline goodness [0,1] 0.8447400619581913 Centerline is valid? [False, False] Translation: X:5.15, Y:0.15, Z:-1.29 [[ 9.99858504e-01 -3.29420517e-03 -1.64960707e-02 5.15246420e+00] [ 3.28020957e-03 9.99994237e-01 -8.75405400e-04 1.54422568e-01] [ 1.64988594e-02 8.21170965e-04 9.99863547e-01 -1.28953718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.83455357399998 meters Centerline goodness [0,1] 0.8469668640282538 Centerline is valid? [False, False] Translation: X:5.15, Y:0.16, Z:-1.29 [[ 9.99870746e-01 2.04437269e-03 -1.59471326e-02 5.14940208e+00] [-1.98503201e-03 9.99991051e-01 3.73602941e-03 1.55686796e-01] [ 1.59546278e-02 -3.70389095e-03 9.99865857e-01 -1.28748455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.86455357399998 meters Centerline goodness [0,1] 0.8457471621831752 Centerline is valid? [False, False] Translation: X:5.15, Y:0.16, Z:-1.29 [[ 9.99876550e-01 2.99993376e-03 -1.54235532e-02 5.14756303e+00] [-2.94604141e-03 9.99989480e-01 3.51569373e-03 1.57163396e-01] [ 1.54339378e-02 -3.46982129e-03 9.99874869e-01 -1.28794502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.89455357399999 meters Centerline goodness [0,1] 0.8475107496244108 Centerline is valid? [False, False] Translation: X:5.15, Y:0.16, Z:-1.29 [[ 9.99880646e-01 3.74210661e-03 -1.49896475e-02 5.14612159e+00] [-3.69389044e-03 9.99987919e-01 3.24302740e-03 1.58533975e-01] [ 1.50016022e-02 -3.18727022e-03 9.99882390e-01 -1.28849960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.924553574 meters Centerline goodness [0,1] 0.8373843338402454 Centerline is valid? [False, False] Translation: X:5.14, Y:0.16, Z:-1.29 [[ 9.99883072e-01 4.64789742e-03 -1.45684583e-02 5.14447640e+00] [-4.60439219e-03 9.99984844e-01 3.01838230e-03 1.60353177e-01] [ 1.45822667e-02 -2.95095047e-03 9.99889319e-01 -1.28885919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.954553574 meters Centerline goodness [0,1] 0.846014633263528 Centerline is valid? [False, False] Translation: X:5.13, Y:0.16, Z:-1.29 [[ 9.99985509e-01 1.69909012e-03 -5.10826625e-03 5.13248763e+00] [-1.67747002e-03 9.99989631e-01 4.23368622e-03 1.62812977e-01] [ 5.11540670e-03 -4.22505591e-03 9.99977991e-01 -1.29497675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.984553574 meters Centerline goodness [0,1] 0.8227307990690458 Centerline is valid? [False, False] Translation: X:5.13, Y:0.16, Z:-1.29 [[ 9.99984632e-01 1.30155917e-03 -5.38896675e-03 5.13328481e+00] [-1.27936823e-03 9.99990697e-01 4.11924811e-03 1.63342377e-01] [ 5.39427806e-03 -4.11229034e-03 9.99976995e-01 -1.29454177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.014553574 meters Centerline goodness [0,1] 0.8436313873324899 Centerline is valid? [False, False] Translation: X:5.13, Y:0.16, Z:-1.29 [[ 9.99983461e-01 7.44996668e-04 -5.70290853e-03 5.13458144e+00] [-7.22972186e-04 9.99992277e-01 3.86306144e-03 1.63508651e-01] [ 5.70574246e-03 -3.85887451e-03 9.99976277e-01 -1.29470516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.044553574 meters Centerline goodness [0,1] 0.8450627669211854 Centerline is valid? [False, False] Translation: X:5.14, Y:0.16, Z:-1.29 [[ 9.99979404e-01 -4.99101114e-04 -6.39860698e-03 5.13711280e+00] [ 5.24076231e-04 9.99992249e-01 3.90212923e-03 1.62988098e-01] [ 6.39660983e-03 -3.90540222e-03 9.99971915e-01 -1.29400973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.074553574 meters Centerline goodness [0,1] 0.8442086191277339 Centerline is valid? [False, False] Translation: X:5.14, Y:0.16, Z:-1.29 [[ 9.99975796e-01 -1.14349696e-03 -6.86296415e-03 5.13875626e+00] [ 1.16990623e-03 9.99991922e-01 3.84530425e-03 1.62746955e-01] [ 6.85851162e-03 -3.85324020e-03 9.99969056e-01 -1.29400618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.104553574 meters Centerline goodness [0,1] 0.8434980359727103 Centerline is valid? [False, False] Translation: X:5.14, Y:0.16, Z:-1.29 [[ 9.99970247e-01 -1.92196563e-03 -7.47065360e-03 5.14099649e+00] [ 1.94986721e-03 9.99991145e-01 3.72933634e-03 1.62630175e-01] [ 7.46341979e-03 -3.74379217e-03 9.99965140e-01 -1.29428218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.134553574 meters Centerline goodness [0,1] 0.8436902732579162 Centerline is valid? [False, False] Translation: X:5.14, Y:0.16, Z:-1.29 [[ 9.99964105e-01 -2.70546861e-03 -8.02925905e-03 5.14319947e+00] [ 2.73457510e-03 9.99989722e-01 3.61629123e-03 1.62478946e-01] [ 8.01939276e-03 -3.63811803e-03 9.99961226e-01 -1.29457409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.164553574 meters Centerline goodness [0,1] 0.8258479169893139 Centerline is valid? [False, False] Translation: X:5.15, Y:0.16, Z:-1.30 [[ 9.99948395e-01 -4.43579592e-03 -9.13955646e-03 5.14777798e+00] [ 4.46436162e-03 9.99985206e-01 3.10747485e-03 1.61968078e-01] [ 9.12563713e-03 -3.14811678e-03 9.99953405e-01 -1.29576199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.194553574 meters Centerline goodness [0,1] 0.846221350402643 Centerline is valid? [False, False] Translation: X:5.15, Y:0.16, Z:-1.30 [[ 9.99939777e-01 -5.12195703e-03 -9.70610304e-03 5.14990774e+00] [ 5.15114639e-03 9.99982278e-01 2.98471074e-03 1.61579532e-01] [ 9.69064347e-03 -3.03452855e-03 9.99948440e-01 -1.29626528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.22455357399997 meters Centerline goodness [0,1] 0.8502335664696622 Centerline is valid? [False, False] Translation: X:5.15, Y:0.16, Z:-1.30 [[ 9.99921732e-01 -6.49779945e-03 -1.06914934e-02 5.15403269e+00] [ 6.52509758e-03 9.99975535e-01 2.52035803e-03 1.61125140e-01] [ 1.06748550e-02 -2.58992380e-03 9.99939668e-01 -1.29774659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.25455357399997 meters Centerline goodness [0,1] 0.846366121627895 Centerline is valid? [False, False] Translation: X:5.16, Y:0.16, Z:-1.30 [[ 9.99914004e-01 -6.96005622e-03 -1.11149381e-02 5.15572085e+00] [ 6.98673967e-03 9.99972799e-01 2.36366061e-03 1.61152183e-01] [ 1.10981845e-02 -2.44111453e-03 9.99935434e-01 -1.29835749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.28455357399997 meters Centerline goodness [0,1] 0.8177428932896129 Centerline is valid? [False, False] Translation: X:5.16, Y:0.16, Z:-1.30 [[ 9.99911167e-01 -7.08326946e-03 -1.12909775e-02 5.15633520e+00] [ 7.10997208e-03 9.99972017e-01 2.32656798e-03 1.61405446e-01] [ 1.12741818e-02 -2.40663983e-03 9.99933548e-01 -1.29850340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.31455357399997 meters Centerline goodness [0,1] 0.8421975754449317 Centerline is valid? [False, False] Translation: X:5.16, Y:0.16, Z:-1.30 [[ 9.99916144e-01 -6.62638215e-03 -1.11263481e-02 5.15565298e+00] [ 6.65091133e-03 9.99975530e-01 2.16905038e-03 1.62095961e-01] [ 1.11117028e-02 -2.24286885e-03 9.99935748e-01 -1.29888415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.34455357399997 meters Centerline goodness [0,1] 0.8484590367043519 Centerline is valid? [False, False] Translation: X:5.15, Y:0.16, Z:-1.30 [[ 9.99924407e-01 -5.93681408e-03 -1.07672537e-02 5.15406263e+00] [ 5.96341326e-03 9.99979242e-01 2.43995680e-03 1.62116485e-01] [ 1.07525446e-02 -2.50398194e-03 9.99939055e-01 -1.29834817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.37455357399998 meters Centerline goodness [0,1] 0.8488816571103879 Centerline is valid? [False, False] Translation: X:5.15, Y:0.16, Z:-1.30 [[ 9.99946696e-01 -3.69025232e-03 -9.64298854e-03 5.14939992e+00] [ 3.71603777e-03 9.99989564e-01 2.65746249e-03 1.63517531e-01] [ 9.63308121e-03 -2.69315455e-03 9.99949974e-01 -1.29836067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.40455357399998 meters Centerline goodness [0,1] 0.8422015040692283 Centerline is valid? [False, False] Translation: X:5.15, Y:0.17, Z:-1.30 [[ 9.99955627e-01 -2.54471222e-03 -9.07017741e-03 5.14729833e+00] [ 2.56724847e-03 9.99993645e-01 2.47387730e-03 1.65086408e-01] [ 9.06382446e-03 -2.49705293e-03 9.99955805e-01 -1.29894874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.43455357399998 meters Centerline goodness [0,1] 0.8397074351644389 Centerline is valid? [False, False] Translation: X:5.14, Y:0.17, Z:-1.30 [[ 9.99966126e-01 -1.01716588e-03 -8.16774850e-03 5.14361434e+00] [ 1.03916457e-03 9.99995843e-01 2.68956936e-03 1.66297259e-01] [ 8.16497881e-03 -2.69796589e-03 9.99963026e-01 -1.29836865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.46455357399998 meters Centerline goodness [0,1] 0.8449119373776908 Centerline is valid? [False, False] Translation: X:5.14, Y:0.17, Z:-1.30 [[ 9.99975601e-01 2.58096822e-03 -6.49115093e-03 5.13563514e+00] [-2.55396639e-03 9.99988066e-01 4.16464549e-03 1.66665666e-01] [ 6.50182229e-03 -4.14796570e-03 9.99970260e-01 -1.29562037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.49455357399998 meters Centerline goodness [0,1] 0.8483875112424515 Centerline is valid? [False, False] Translation: X:5.13, Y:0.17, Z:-1.30 [[ 9.99973246e-01 4.98207860e-03 -5.35595192e-03 5.13084168e+00] [-4.95796202e-03 9.99977554e-01 4.50664799e-03 1.68236732e-01] [ 5.37828418e-03 -4.47997281e-03 9.99975502e-01 -1.29528226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.52455357399998 meters Centerline goodness [0,1] 0.8346478945610565 Centerline is valid? [False, False] Translation: X:5.13, Y:0.17, Z:-1.30 [[ 9.99971752e-01 5.58609159e-03 -5.02900451e-03 5.12981058e+00] [-5.56487500e-03 9.99975599e-01 4.22299881e-03 1.69444500e-01] [ 5.05247186e-03 -4.19489373e-03 9.99978437e-01 -1.29589575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.55455357399998 meters Centerline goodness [0,1] 0.8457210389743853 Centerline is valid? [False, False] Translation: X:5.13, Y:0.17, Z:-1.30 [[ 9.99970533e-01 6.02456069e-03 -4.75787904e-03 5.12906665e+00] [-6.00587465e-03 9.99974234e-01 3.93195831e-03 1.70443329e-01] [ 4.78144477e-03 -3.90326722e-03 9.99980951e-01 -1.29651702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.58455357399998 meters Centerline goodness [0,1] 0.8412368488580959 Centerline is valid? [False, False] Translation: X:5.13, Y:0.17, Z:-1.30 [[ 9.99969555e-01 6.24892596e-03 -4.67322648e-03 5.12900570e+00] [-6.23227841e-03 9.99974212e-01 3.56844319e-03 1.71212549e-01] [ 4.69540491e-03 -3.53920970e-03 9.99982713e-01 -1.29742147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.61455357399998 meters Centerline goodness [0,1] 0.8386267858978312 Centerline is valid? [False, False] Translation: X:5.13, Y:0.17, Z:-1.30 [[ 9.99970419e-01 5.87191756e-03 -4.96797153e-03 5.13033380e+00] [-5.85521933e-03 9.99977183e-01 3.36906976e-03 1.70803851e-01] [ 4.98764107e-03 -3.33988154e-03 9.99981984e-01 -1.29820234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.64455357399999 meters Centerline goodness [0,1] 0.839689738700201 Centerline is valid? [False, False] Translation: X:5.13, Y:0.17, Z:-1.30 [[ 9.99986757e-01 2.49585641e-03 -4.50070183e-03 5.12939114e+00] [-2.50104893e-03 9.99996213e-01 -1.14845346e-03 1.70875790e-01] [ 4.49781841e-03 1.15969473e-03 9.99989212e-01 -1.30028178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.674553574 meters Centerline goodness [0,1] 0.841117640993917 Centerline is valid? [False, False] Translation: X:5.13, Y:0.17, Z:-1.30 [[ 9.99986607e-01 2.30144341e-03 -4.63573396e-03 5.12976682e+00] [-2.30519968e-03 9.99997019e-01 -8.05106391e-04 1.69586771e-01] [ 4.63386723e-03 8.15781900e-04 9.99988931e-01 -1.29973793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.704553574 meters Centerline goodness [0,1] 0.8417806451612904 Centerline is valid? [False, False] Translation: X:5.13, Y:0.17, Z:-1.30 [[ 9.99986207e-01 2.27471629e-03 -4.73412555e-03 5.12990770e+00] [-2.27627823e-03 9.99997357e-01 -3.24569868e-04 1.68288154e-01] [ 4.73337473e-03 3.35341578e-04 9.99988741e-01 -1.29912550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.734553574 meters Centerline goodness [0,1] 0.8417806451612904 Centerline is valid? [False, False] Translation: X:5.13, Y:0.17, Z:-1.30 [[ 9.99986207e-01 2.27471629e-03 -4.73412555e-03 5.12990770e+00] [-2.27627823e-03 9.99997357e-01 -3.24569868e-04 1.68288154e-01] [ 4.73337473e-03 3.35341578e-04 9.99988741e-01 -1.29912550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.764553574 meters Centerline goodness [0,1] 0.8318064182194617 Centerline is valid? [False, False] Translation: X:5.13, Y:0.17, Z:-1.30 [[ 9.99986601e-01 2.54945664e-03 -4.50532166e-03 5.12944637e+00] [-2.54970906e-03 9.99996748e-01 -5.02842335e-05 1.66560595e-01] [ 4.50517881e-03 6.17708192e-05 9.99989850e-01 -1.29957099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.794553574 meters Centerline goodness [0,1] 0.8348200394149985 Centerline is valid? [False, False] Translation: X:5.13, Y:0.17, Z:-1.30 [[ 9.99986686e-01 2.75060467e-03 -4.36602222e-03 5.12926203e+00] [-2.75060420e-03 9.99996217e-01 6.11205308e-06 1.65838787e-01] [ 4.36602251e-03 5.89722735e-06 9.99990469e-01 -1.30007796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.824553574 meters Centerline goodness [0,1] 0.8331692403357861 Centerline is valid? [False, False] Translation: X:5.13, Y:0.16, Z:-1.30 [[ 9.99985747e-01 3.75505489e-03 -3.79544741e-03 5.12766587e+00] [-3.75373694e-03 9.99992892e-01 3.54307482e-04 1.64138079e-01] [ 3.79675087e-03 -3.40055321e-04 9.99992734e-01 -1.30093039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.854553574 meters Centerline goodness [0,1] 0.837792945939633 Centerline is valid? [False, False] Translation: X:5.13, Y:0.16, Z:-1.30 [[ 9.99985032e-01 4.19873648e-03 -3.50812793e-03 5.12697750e+00] [-4.19709095e-03 9.99991079e-01 4.76292419e-04 1.63104014e-01] [ 3.51009646e-03 -4.61561358e-04 9.99993733e-01 -1.30156294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.884553574 meters Centerline goodness [0,1] 0.8365647364996747 Centerline is valid? [False, False] Translation: X:5.13, Y:0.16, Z:-1.30 [[ 9.99983966e-01 4.60902109e-03 -3.29020408e-03 5.12647721e+00] [-4.60708738e-03 9.99989210e-01 5.95054690e-04 1.62190265e-01] [ 3.29291120e-03 -5.79886891e-04 9.99994410e-01 -1.30211763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.914553574 meters Centerline goodness [0,1] 0.834128038771203 Centerline is valid? [False, False] Translation: X:5.12, Y:0.16, Z:-1.30 [[ 9.99978685e-01 6.08159454e-03 -2.37560825e-03 5.12356061e+00] [-6.07854773e-03 9.99980696e-01 1.28766462e-03 1.59906319e-01] [ 2.38339345e-03 -1.27319693e-03 9.99996349e-01 -1.30238626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.944553574 meters Centerline goodness [0,1] 0.8325021541032402 Centerline is valid? [False, False] Translation: X:5.12, Y:0.16, Z:-1.30 [[ 9.99976413e-01 6.53598547e-03 -2.11067049e-03 5.12284169e+00] [-6.53286639e-03 9.99977563e-01 1.48129824e-03 1.58987006e-01] [ 2.12030488e-03 -1.46747457e-03 9.99996675e-01 -1.30278988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.97455357399997 meters Centerline goodness [0,1] 0.8247236811162499 Centerline is valid? [False, False] Translation: X:5.12, Y:0.16, Z:-1.30 [[ 9.99969257e-01 7.71225420e-03 -1.41614605e-03 5.12111803e+00] [-7.70994753e-03 9.99968954e-01 1.62713797e-03 1.57461225e-01] [ 1.42865098e-03 -1.61616953e-03 9.99997673e-01 -1.30447453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.00455357399997 meters Centerline goodness [0,1] 0.8323646455126191 Centerline is valid? [False, False] Translation: X:5.12, Y:0.16, Z:-1.31 [[ 9.99967893e-01 7.90221810e-03 -1.32930984e-03 5.12125406e+00] [-7.90018562e-03 9.99967627e-01 1.52734228e-03 1.56762860e-01] [ 1.34133620e-03 -1.51679145e-03 9.99997950e-01 -1.30557158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.03455357399997 meters Centerline goodness [0,1] 0.8271378388297593 Centerline is valid? [False, False] Translation: X:5.12, Y:0.16, Z:-1.31 [[ 9.99968048e-01 7.87882980e-03 -1.35134871e-03 5.12179781e+00] [-7.87683827e-03 9.99967893e-01 1.47278322e-03 1.55717011e-01] [ 1.36290913e-03 -1.46209181e-03 9.99998002e-01 -1.30652223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.06455357399997 meters Centerline goodness [0,1] 0.8251906389692348 Centerline is valid? [False, False] Translation: X:5.12, Y:0.15, Z:-1.31 [[ 9.99968119e-01 7.88478934e-03 -1.26156508e-03 5.12155078e+00] [-7.88178168e-03 9.99966126e-01 2.37153972e-03 1.52171465e-01] [ 1.28022144e-03 -2.36152073e-03 9.99996392e-01 -1.30568358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.09455357399997 meters Centerline goodness [0,1] 0.8296931740434714 Centerline is valid? [False, False] Translation: X:5.12, Y:0.15, Z:-1.31 [[ 9.99987810e-01 4.92313733e-03 -3.77242447e-04 5.11870771e+00] [-4.92377839e-03 9.99986403e-01 -1.71768063e-03 1.51837501e-01] [ 3.68780940e-04 1.71951715e-03 9.99998454e-01 -1.30638583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.12455357399998 meters Centerline goodness [0,1] 0.8322263549415515 Centerline is valid? [False, False] Translation: X:5.12, Y:0.15, Z:-1.30 [[ 9.99998896e-01 1.45762634e-03 2.87353516e-04 5.11612710e+00] [-1.45627654e-03 9.99988161e-01 -4.64287714e-03 1.48570621e-01] [-2.94117694e-04 4.64245355e-03 9.99989181e-01 -1.30459063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.15455357399998 meters Centerline goodness [0,1] 0.8308782397911616 Centerline is valid? [False, False] Translation: X:5.12, Y:0.15, Z:-1.30 [[ 9.99999603e-01 8.76706718e-04 -1.59444443e-04 5.11740427e+00] [-8.77282549e-04 9.99992961e-01 -3.64800192e-03 1.46222533e-01] [ 1.56245093e-04 3.64814035e-03 9.99993333e-01 -1.30283586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.18455357399998 meters Centerline goodness [0,1] 0.8326111378590917 Centerline is valid? [False, False] Translation: X:5.12, Y:0.14, Z:-1.30 [[ 9.99999747e-01 1.30918865e-04 -6.99130219e-04 5.11933728e+00] [-1.33049635e-04 9.99995344e-01 -3.04856867e-03 1.44084977e-01] [ 6.98727849e-04 3.04866092e-03 9.99995109e-01 -1.30210534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.21455357399998 meters Centerline goodness [0,1] 0.8372873168375289 Centerline is valid? [False, False] Translation: X:5.12, Y:0.14, Z:-1.30 [[ 9.99995734e-01 -2.30056677e-03 -1.79990485e-03 5.12485913e+00] [ 2.29519541e-03 9.99992924e-01 -2.98064450e-03 1.40425068e-01] [ 1.80674929e-03 2.97650065e-03 9.99993938e-01 -1.30284889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.24455357399998 meters Centerline goodness [0,1] 0.8333109180407241 Centerline is valid? [False, False] Translation: X:5.13, Y:0.14, Z:-1.30 [[ 9.99991711e-01 -3.22999620e-03 -2.47882762e-03 5.12758484e+00] [ 3.22321503e-03 9.99991066e-01 -2.73477413e-03 1.38808634e-01] [ 2.48763879e-03 2.72676167e-03 9.99993188e-01 -1.30307100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.27455357399998 meters Centerline goodness [0,1] 0.8384903827996439 Centerline is valid? [False, False] Translation: X:5.13, Y:0.13, Z:-1.30 [[ 9.99981398e-01 -5.06737854e-03 -3.39489173e-03 5.13202296e+00] [ 5.05963719e-03 9.99984589e-01 -2.28501483e-03 1.34754073e-01] [ 3.40641844e-03 2.26779540e-03 9.99991627e-01 -1.30336063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.30455357399998 meters Centerline goodness [0,1] 0.8366384915474643 Centerline is valid? [False, False] Translation: X:5.13, Y:0.13, Z:-1.30 [[ 9.99974620e-01 -5.85922669e-03 -4.05327496e-03 5.13439656e+00] [ 5.85267669e-03 9.99981551e-01 -1.62595514e-03 1.32038830e-01] [ 4.06272702e-03 1.60219136e-03 9.99990464e-01 -1.30282612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.33455357399998 meters Centerline goodness [0,1] 0.8393109829106346 Centerline is valid? [False, False] Translation: X:5.14, Y:0.13, Z:-1.30 [[ 9.99968019e-01 -6.51072722e-03 -4.64457704e-03 5.13660244e+00] [ 6.50508847e-03 9.99978088e-01 -1.22812540e-03 1.29903035e-01] [ 4.65247126e-03 1.19787274e-03 9.99988460e-01 -1.30286240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.36455357399998 meters Centerline goodness [0,1] 0.844010005981837 Centerline is valid? [False, False] Translation: X:5.14, Y:0.13, Z:-1.30 [[ 9.99959175e-01 -7.35887643e-03 -5.24366228e-03 5.13956929e+00] [ 7.35267758e-03 9.99972248e-01 -1.20045874e-03 1.27669134e-01] [ 5.25235079e-03 1.16185477e-03 9.99985531e-01 -1.30433459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.39455357399999 meters Centerline goodness [0,1] 0.8454943798818823 Centerline is valid? [False, False] Translation: X:5.14, Y:0.13, Z:-1.30 [[ 9.99956490e-01 -7.56205234e-03 -5.46199709e-03 5.14040189e+00] [ 7.55819526e-03 9.99971173e-01 -7.26464549e-04 1.26210744e-01] [ 5.46733320e-03 6.85150100e-04 9.99984819e-01 -1.30401247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.424553574 meters Centerline goodness [0,1] 0.8419228985349084 Centerline is valid? [False, False] Translation: X:5.14, Y:0.12, Z:-1.30 [[ 9.99957288e-01 -7.47476345e-03 -5.43592305e-03 5.13998332e+00] [ 7.47741288e-03 9.99971935e-01 4.67232231e-04 1.23075431e-01] [ 5.43227804e-03 -5.07858916e-04 9.99985116e-01 -1.30228270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.454553574 meters Centerline goodness [0,1] 0.8383614800240476 Centerline is valid? [False, False] Translation: X:5.14, Y:0.12, Z:-1.30 [[ 9.99969991e-01 -6.20343778e-03 -4.64055599e-03 5.13626071e+00] [ 6.20859201e-03 9.99980125e-01 1.09711186e-03 1.23347281e-01] [ 4.63365789e-03 -1.12589026e-03 9.99988631e-01 -1.30053867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.484553574 meters Centerline goodness [0,1] 0.8441345812754113 Centerline is valid? [False, False] Translation: X:5.13, Y:0.12, Z:-1.30 [[ 9.99974922e-01 -5.61438114e-03 -4.31676492e-03 5.13464111e+00] [ 5.62096064e-03 9.99983057e-01 1.51355692e-03 1.23479127e-01] [ 4.30819409e-03 -1.53778333e-03 9.99989537e-01 -1.29946802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.514553574 meters Centerline goodness [0,1] 0.8365515365787326 Centerline is valid? [False, False] Translation: X:5.13, Y:0.12, Z:-1.30 [[ 9.99979106e-01 -5.04057189e-03 -4.04723649e-03 5.13333022e+00] [ 5.04716560e-03 9.99985950e-01 1.62063222e-03 1.24268796e-01] [ 4.03901072e-03 -1.64102543e-03 9.99990497e-01 -1.29919497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.544553574 meters Centerline goodness [0,1] 0.8385113444692311 Centerline is valid? [False, False] Translation: X:5.13, Y:0.12, Z:-1.30 [[ 9.99979238e-01 -4.98686976e-03 -4.08099380e-03 5.13336884e+00] [ 4.99354957e-03 9.99986207e-01 1.62826038e-03 1.24742855e-01] [ 4.07281759e-03 -1.64860522e-03 9.99990347e-01 -1.29912206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.574553574 meters Centerline goodness [0,1] 0.8344250264996059 Centerline is valid? [False, False] Translation: X:5.14, Y:0.12, Z:-1.30 [[ 9.99973506e-01 -5.65212792e-03 -4.58695700e-03 5.13516235e+00] [ 5.66052424e-03 9.99982324e-01 1.81956398e-03 1.24088866e-01] [ 4.57659151e-03 -1.84548035e-03 9.99987824e-01 -1.29873686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.604553574 meters Centerline goodness [0,1] 0.8397299798573684 Centerline is valid? [False, False] Translation: X:5.14, Y:0.12, Z:-1.30 [[ 9.99968287e-01 -6.17692674e-03 -5.02705693e-03 5.13677956e+00] [ 6.18682247e-03 9.99978950e-01 1.95532907e-03 1.23506914e-01] [ 5.01487318e-03 -1.98636857e-03 9.99985453e-01 -1.29862052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.634553574 meters Centerline goodness [0,1] 0.8412340309866811 Centerline is valid? [False, False] Translation: X:5.14, Y:0.12, Z:-1.30 [[ 9.99958057e-01 -7.18409922e-03 -5.68093076e-03 5.13954337e+00] [ 7.19449155e-03 9.99972479e-01 1.81102060e-03 1.23203844e-01] [ 5.66776387e-03 -1.85181605e-03 9.99982223e-01 -1.29912392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.664553574 meters Centerline goodness [0,1] 0.8334605944914099 Centerline is valid? [False, False] Translation: X:5.14, Y:0.12, Z:-1.30 [[ 9.99952416e-01 -7.65619823e-03 -6.04559203e-03 5.14098431e+00] [ 7.66703124e-03 9.99969040e-01 1.77074830e-03 1.22953521e-01] [ 6.03184766e-03 -1.81701579e-03 9.99980157e-01 -1.29930533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.694553574 meters Centerline goodness [0,1] 0.8307826847398339 Centerline is valid? [False, False] Translation: X:5.14, Y:0.12, Z:-1.30 [[ 9.99947116e-01 -8.03758605e-03 -6.41577038e-03 5.14212564e+00] [ 8.05106384e-03 9.99965431e-01 2.07767302e-03 1.22177588e-01] [ 6.39884912e-03 -2.12921692e-03 9.99977260e-01 -1.29875993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.72455357399997 meters Centerline goodness [0,1] 0.8439394767029005 Centerline is valid? [False, False] Translation: X:5.14, Y:0.12, Z:-1.30 [[ 9.99936272e-01 -8.83043939e-03 -7.03382861e-03 5.14445313e+00] [ 8.84519467e-03 9.99958739e-01 2.06941988e-03 1.21720737e-01] [ 7.01526451e-03 -2.13150358e-03 9.99973121e-01 -1.29892738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.75455357399997 meters Centerline goodness [0,1] 0.8419542585457824 Centerline is valid? [False, False] Translation: X:5.15, Y:0.12, Z:-1.30 [[ 9.99934184e-01 -8.94882030e-03 -7.17954469e-03 5.14500945e+00] [ 8.96454881e-03 9.99957481e-01 2.16155671e-03 1.21368406e-01] [ 7.15989605e-03 -2.22577583e-03 9.99971891e-01 -1.29899610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.78455357399997 meters Centerline goodness [0,1] 0.8467061273703825 Centerline is valid? [False, False] Translation: X:5.14, Y:0.12, Z:-1.30 [[ 9.99935677e-01 -8.80121255e-03 -7.15408459e-03 5.14434573e+00] [ 8.82248892e-03 9.99956736e-01 2.94791884e-03 1.20283105e-01] [ 7.12782982e-03 -3.01084605e-03 9.99970064e-01 -1.29725750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.81455357399997 meters Centerline goodness [0,1] 0.8389125916201728 Centerline is valid? [False, False] Translation: X:5.14, Y:0.12, Z:-1.30 [[ 9.99937019e-01 -8.64556658e-03 -7.15630452e-03 5.14417332e+00] [ 8.66735755e-03 9.99957879e-01 3.01961073e-03 1.20563350e-01] [ 7.12989684e-03 -3.08144680e-03 9.99969834e-01 -1.29711491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.84455357399997 meters Centerline goodness [0,1] 0.8373167796980967 Centerline is valid? [False, False] Translation: X:5.14, Y:0.12, Z:-1.30 [[ 9.99939720e-01 -8.41868941e-03 -7.04851704e-03 5.14384841e+00] [ 8.43981133e-03 9.99959967e-01 2.97228371e-03 1.21077984e-01] [ 7.02321213e-03 -3.03159269e-03 9.99970742e-01 -1.29735879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.87455357399998 meters Centerline goodness [0,1] 0.8418128574947317 Centerline is valid? [False, False] Translation: X:5.14, Y:0.12, Z:-1.30 [[ 9.99949735e-01 -7.52747586e-03 -6.62309570e-03 5.14179079e+00] [ 7.54836701e-03 9.99966597e-01 3.13496429e-03 1.21515058e-01] [ 6.59927609e-03 -3.18480026e-03 9.99973153e-01 -1.29704338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.90455357399998 meters Centerline goodness [0,1] 0.8450627237694389 Centerline is valid? [False, False] Translation: X:5.14, Y:0.12, Z:-1.30 [[ 9.99955933e-01 -6.94455521e-03 -6.31707218e-03 5.14030315e+00] [ 6.96632105e-03 9.99969852e-01 3.43010446e-03 1.21375042e-01] [ 6.29306118e-03 -3.47396005e-03 9.99974164e-01 -1.29644353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.93455357399998 meters Centerline goodness [0,1] 0.8467895914025422 Centerline is valid? [False, False] Translation: X:5.14, Y:0.12, Z:-1.30 [[ 9.99966387e-01 -5.88026429e-03 -5.71383105e-03 5.13785298e+00] [ 5.90124110e-03 9.99975885e-01 3.66133527e-03 1.21470726e-01] [ 5.69216364e-03 -3.69493089e-03 9.99976973e-01 -1.29630350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.96455357399998 meters Centerline goodness [0,1] 0.8424668694329784 Centerline is valid? [False, False] Translation: X:5.14, Y:0.12, Z:-1.30 [[ 9.99972239e-01 -5.18643342e-03 -5.35004932e-03 5.13622460e+00] [ 5.20598649e-03 9.99979797e-01 3.64731648e-03 1.22063120e-01] [ 5.33102467e-03 -3.67506751e-03 9.99979037e-01 -1.29626778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.99455357399998 meters Centerline goodness [0,1] 0.8412844783162919 Centerline is valid? [False, False] Translation: X:5.13, Y:0.12, Z:-1.30 [[ 9.99981298e-01 -3.98132420e-03 -4.64253344e-03 5.13328157e+00] [ 3.99896267e-03 9.99984798e-01 3.79624698e-03 1.22552599e-01] [ 4.62734877e-03 -3.81474130e-03 9.99982018e-01 -1.29597544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.02455357399998 meters Centerline goodness [0,1] 0.8378209652027577 Centerline is valid? [False, False] Translation: X:5.13, Y:0.12, Z:-1.30 [[ 9.99983575e-01 -3.59780144e-03 -4.46162442e-03 5.13270026e+00] [ 3.61356676e-03 9.99987239e-01 3.53052374e-03 1.23159962e-01] [ 4.44886536e-03 -3.54658813e-03 9.99983815e-01 -1.29670021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.05455357399998 meters Centerline goodness [0,1] 0.8391144111430275 Centerline is valid? [False, False] Translation: X:5.13, Y:0.12, Z:-1.30 [[ 9.99986408e-01 -3.09849393e-03 -4.19328096e-03 5.13188424e+00] [ 3.11153789e-03 9.99990330e-01 3.10774043e-03 1.24209828e-01] [ 4.18361110e-03 -3.12074574e-03 9.99986379e-01 -1.29776368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.08455357399998 meters Centerline goodness [0,1] 0.8348223954949101 Centerline is valid? [False, False] Translation: X:5.13, Y:0.13, Z:-1.30 [[ 9.99990465e-01 -2.28536563e-03 -3.72109045e-03 5.13037539e+00] [ 2.29513285e-03 9.99993927e-01 2.62267624e-03 1.25321388e-01] [ 3.71507408e-03 -2.63119163e-03 9.99989637e-01 -1.29920731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.11455357399998 meters Centerline goodness [0,1] 0.8402484000433886 Centerline is valid? [False, False] Translation: X:5.13, Y:0.13, Z:-1.30 [[ 9.99991432e-01 -2.00735160e-03 -3.62023399e-03 5.13000694e+00] [ 2.01660592e-03 9.99994704e-01 2.55444083e-03 1.25476412e-01] [ 3.61508715e-03 -2.56171953e-03 9.99990184e-01 -1.29961247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.14455357399999 meters Centerline goodness [0,1] 0.8396634745441758 Centerline is valid? [False, False] Translation: X:5.13, Y:0.13, Z:-1.30 [[ 9.99993318e-01 -1.52168593e-03 -3.32386554e-03 5.12883289e+00] [ 1.53081424e-03 9.99995059e-01 2.74547725e-03 1.25170645e-01] [ 3.31967136e-03 -2.75054713e-03 9.99990707e-01 -1.29938274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.174553574 meters Centerline goodness [0,1] 0.8386468200270636 Centerline is valid? [False, False] Translation: X:5.13, Y:0.12, Z:-1.30 [[ 9.99994261e-01 -1.23535322e-03 -3.15450600e-03 5.12813130e+00] [ 1.24443179e-03 9.99995085e-01 2.87763020e-03 1.24777334e-01] [ 3.15093560e-03 -2.88153926e-03 9.99990884e-01 -1.29923315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.204553574 meters Centerline goodness [0,1] 0.8300271002710027 Centerline is valid? [False, False] Translation: X:5.13, Y:0.12, Z:-1.30 [[ 9.99994429e-01 -1.13045524e-03 -3.14066098e-03 5.12803698e+00] [ 1.13958820e-03 9.99995123e-01 2.90770995e-03 1.24418551e-01] [ 3.13735862e-03 -2.91127281e-03 9.99990841e-01 -1.29933217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.234553574 meters Centerline goodness [0,1] 0.8303695056063856 Centerline is valid? [False, False] Translation: X:5.13, Y:0.12, Z:-1.30 [[ 9.99995044e-01 -8.18497946e-04 -3.04001852e-03 5.12743484e+00] [ 8.28146107e-04 9.99994621e-01 3.17381618e-03 1.23472457e-01] [ 3.03740440e-03 -3.17631803e-03 9.99990343e-01 -1.29908453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.264553574 meters Centerline goodness [0,1] 0.831837595285722 Centerline is valid? [False, False] Translation: X:5.13, Y:0.12, Z:-1.30 [[ 9.99995583e-01 -5.50946245e-04 -2.92068888e-03 5.12704267e+00] [ 5.60383011e-04 9.99994623e-01 3.23117393e-03 1.23041455e-01] [ 2.91889297e-03 -3.23279636e-03 9.99990515e-01 -1.29927514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.294553574 meters Centerline goodness [0,1] 0.831954877023619 Centerline is valid? [False, False] Translation: X:5.12, Y:0.12, Z:-1.30 [[ 9.99997441e-01 6.64425091e-04 -2.16241518e-03 5.12438459e+00] [-6.57594705e-04 9.99994798e-01 3.15786380e-03 1.22662773e-01] [ 2.16450209e-03 -3.15643372e-03 9.99992676e-01 -1.30013399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.324553574 meters Centerline goodness [0,1] 0.8306265759292899 Centerline is valid? [False, False] Translation: X:5.12, Y:0.12, Z:-1.30 [[ 9.99997607e-01 1.09953755e-03 -1.89140992e-03 5.12373523e+00] [-1.09418538e-03 9.99995401e-01 2.82843703e-03 1.23029161e-01] [ 1.89451119e-03 -2.82636071e-03 9.99994211e-01 -1.30122021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.354553574 meters Centerline goodness [0,1] 0.8311959439308082 Centerline is valid? [False, False] Translation: X:5.12, Y:0.12, Z:-1.30 [[ 9.99997494e-01 1.49251668e-03 -1.66876165e-03 5.12320818e+00] [-1.48821368e-03 9.99995573e-01 2.57683198e-03 1.23279221e-01] [ 1.67260022e-03 -2.57434204e-03 9.99995288e-01 -1.30214722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.384553574 meters Centerline goodness [0,1] 0.8315326564960095 Centerline is valid? [False, False] Translation: X:5.12, Y:0.12, Z:-1.30 [[ 9.99996177e-01 2.59801745e-03 -9.46311535e-04 5.12086185e+00] [-2.59538235e-03 9.99992781e-01 2.77526871e-03 1.22230923e-01] [ 9.53514900e-04 -2.77280206e-03 9.99995701e-01 -1.30272333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.414553574 meters Centerline goodness [0,1] 0.8363868306055424 Centerline is valid? [False, False] Translation: X:5.12, Y:0.12, Z:-1.30 [[ 9.99995742e-01 2.78767771e-03 -8.63608998e-04 5.12073539e+00] [-2.78524423e-03 9.99992184e-01 2.80630007e-03 1.21582788e-01] [ 8.71425307e-04 -2.80388276e-03 9.99995689e-01 -1.30318861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.444553574 meters Centerline goodness [0,1] 0.8267910913381982 Centerline is valid? [False, False] Translation: X:5.12, Y:0.12, Z:-1.30 [[ 9.99994158e-01 3.39165179e-03 -4.24081786e-04 5.11975046e+00] [-3.39049394e-03 9.99990602e-01 2.70180309e-03 1.20724312e-01] [ 4.33241376e-04 -2.70034946e-03 9.99996260e-01 -1.30456640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.47455357399997 meters Centerline goodness [0,1] 0.8293080054274085 Centerline is valid? [False, False] Translation: X:5.12, Y:0.12, Z:-1.31 [[ 9.99992869e-01 3.77472476e-03 -1.13395507e-04 5.11901026e+00] [-3.77441511e-03 9.99989453e-01 2.61690354e-03 1.20293333e-01] [ 1.23272401e-04 -2.61645688e-03 9.99996569e-01 -1.30532701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.50455357399997 meters Centerline goodness [0,1] 0.8276236200396018 Centerline is valid? [False, False] Translation: X:5.12, Y:0.12, Z:-1.31 [[ 9.99991323e-01 4.16345290e-03 1.42726422e-04 5.11822140e+00] [-4.16383189e-03 9.99987504e-01 2.76678555e-03 1.19513779e-01] [-1.31205257e-04 -2.76735583e-03 9.99996162e-01 -1.30550142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.53455357399997 meters Centerline goodness [0,1] 0.8272369314324508 Centerline is valid? [False, False] Translation: X:5.12, Y:0.12, Z:-1.30 [[ 9.99985097e-01 5.38395792e-03 9.04685135e-04 5.11533309e+00] [-5.38712038e-03 9.99979258e-01 3.53034304e-03 1.17313293e-01] [-8.85659151e-04 -3.53516407e-03 9.99993359e-01 -1.30487367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.56455357399997 meters Centerline goodness [0,1] 0.8243294603105658 Centerline is valid? [False, False] Translation: X:5.11, Y:0.12, Z:-1.31 [[ 9.99967515e-01 7.76636216e-03 2.15709370e-03 5.11058279e+00] [-7.77241593e-03 9.99965839e-01 2.81238919e-03 1.18408036e-01] [-2.13517798e-03 -2.82906366e-03 9.99993719e-01 -1.30739653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.59455357399997 meters Centerline goodness [0,1] 0.8237775854608395 Centerline is valid? [False, False] Translation: X:5.11, Y:0.12, Z:-1.31 [[ 9.99951901e-01 9.31887710e-03 3.05830559e-03 5.10730006e+00] [-9.32546787e-03 9.99954210e-01 2.14790205e-03 1.20885337e-01] [-3.03814951e-03 -2.17631887e-03 9.99993017e-01 -1.30876931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.62455357399998 meters Centerline goodness [0,1] 0.8237775854608395 Centerline is valid? [False, False] Translation: X:5.11, Y:0.12, Z:-1.31 [[ 9.99951901e-01 9.31887710e-03 3.05830559e-03 5.10730006e+00] [-9.32546787e-03 9.99954210e-01 2.14790205e-03 1.20885337e-01] [-3.03814951e-03 -2.17631887e-03 9.99993017e-01 -1.30876931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.65455357399998 meters Centerline goodness [0,1] 0.8227267824398663 Centerline is valid? [False, False] Translation: X:5.11, Y:0.12, Z:-1.31 [[ 9.99947485e-01 9.70389715e-03 3.29560301e-03 5.10669942e+00] [-9.70892358e-03 9.99951723e-01 1.51263355e-03 1.22493719e-01] [-3.28076547e-03 -1.54455087e-03 9.99993425e-01 -1.30996511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.68455357399998 meters Centerline goodness [0,1] 0.8253647223795271 Centerline is valid? [False, False] Translation: X:5.11, Y:0.12, Z:-1.31 [[ 9.99954132e-01 9.12565788e-03 2.90786372e-03 5.10875649e+00] [-9.12757395e-03 9.99958134e-01 6.46338791e-04 1.24156022e-01] [-2.90184372e-03 -6.72850886e-04 9.99995563e-01 -1.31166319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.71455357399998 meters Centerline goodness [0,1] 0.824942760942761 Centerline is valid? [False, False] Translation: X:5.11, Y:0.13, Z:-1.31 [[ 9.99966967e-01 7.85429208e-03 2.09166778e-03 5.11294618e+00] [-7.85267146e-03 9.99968862e-01 -7.81890948e-04 1.26407392e-01] [-2.09774385e-03 7.65439940e-04 9.99997507e-01 -1.31471367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.74455357399998 meters Centerline goodness [0,1] 0.8259532097466202 Centerline is valid? [False, False] Translation: X:5.12, Y:0.13, Z:-1.32 [[ 9.99981951e-01 5.94629256e-03 8.59787691e-04 5.11803783e+00] [-5.94530308e-03 9.99981667e-01 -1.14886282e-03 1.25646914e-01] [-8.66603403e-04 1.14373039e-03 9.99998970e-01 -1.31536195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.77455357399998 meters Centerline goodness [0,1] 0.8269651392001728 Centerline is valid? [False, False] Translation: X:5.12, Y:0.13, Z:-1.31 [[ 9.99985161e-01 5.42938081e-03 4.47148184e-04 5.11944847e+00] [-5.42891513e-03 9.99984727e-01 -1.03615699e-03 1.25334143e-01] [-4.52767045e-04 1.03371408e-03 9.99999363e-01 -1.31488205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.80455357399998 meters Centerline goodness [0,1] 0.8291657684845872 Centerline is valid? [False, False] Translation: X:5.12, Y:0.13, Z:-1.31 [[ 9.99984818e-01 5.49176910e-03 4.52117796e-04 5.11928706e+00] [-5.49132391e-03 9.99984442e-01 -9.80112064e-04 1.25614892e-01] [-4.57493311e-04 9.77614459e-04 9.99999417e-01 -1.31445193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.83455357399998 meters Centerline goodness [0,1] 0.8297987011237167 Centerline is valid? [False, False] Translation: X:5.12, Y:0.13, Z:-1.31 [[ 9.99985673e-01 5.34538757e-03 2.82947171e-04 5.11991264e+00] [-5.34510628e-03 9.99985229e-01 -9.85766865e-04 1.26155264e-01] [-2.88212298e-04 9.84240360e-04 9.99999474e-01 -1.31424991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.86455357399998 meters Centerline goodness [0,1] 0.8303648299612569 Centerline is valid? [False, False] Translation: X:5.12, Y:0.13, Z:-1.31 [[ 9.99984246e-01 5.59975922e-03 3.87356664e-04 5.11961081e+00] [-5.59925135e-03 9.99983479e-01 -1.30000509e-03 1.27657535e-01] [-3.94629980e-04 1.29781570e-03 9.99999080e-01 -1.31462293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.89455357399999 meters Centerline goodness [0,1] 0.8300651841519354 Centerline is valid? [False, False] Translation: X:5.12, Y:0.13, Z:-1.32 [[ 9.99978701e-01 6.47253542e-03 8.38794469e-04 5.11810370e+00] [-6.47094792e-03 9.99977293e-01 -1.88169941e-03 1.29901385e-01] [-8.50954789e-04 1.87623153e-03 9.99997878e-01 -1.31588473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.924553574 meters Centerline goodness [0,1] 0.8275603619037422 Centerline is valid? [False, False] Translation: X:5.12, Y:0.13, Z:-1.32 [[ 9.99975456e-01 6.91956727e-03 1.09858026e-03 5.11726377e+00] [-6.91727888e-03 9.99973926e-01 -2.07334675e-03 1.31082365e-01] [-1.11289828e-03 2.06569667e-03 9.99997247e-01 -1.31620401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.954553574 meters Centerline goodness [0,1] 0.828268778086882 Centerline is valid? [False, False] Translation: X:5.12, Y:0.13, Z:-1.32 [[ 9.99975282e-01 6.94713500e-03 1.08278184e-03 5.11720545e+00] [-6.94476316e-03 9.99973511e-01 -2.17908592e-03 1.31930136e-01] [-1.09789157e-03 2.17151240e-03 9.99997040e-01 -1.31593176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.984553574 meters Centerline goodness [0,1] 0.8316067709723928 Centerline is valid? [False, False] Translation: X:5.12, Y:0.13, Z:-1.32 [[ 9.99974801e-01 7.01872253e-03 1.06533064e-03 5.11714470e+00] [-7.01629043e-03 9.99972810e-01 -2.26977772e-03 1.32603216e-01] [-1.08123262e-03 2.26224586e-03 9.99996857e-01 -1.31570332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.014553574 meters Centerline goodness [0,1] 0.830934002831121 Centerline is valid? [False, False] Translation: X:5.12, Y:0.13, Z:-1.32 [[ 9.99975535e-01 6.92401572e-03 9.93260162e-04 5.11768814e+00] [-6.92150760e-03 9.99972904e-01 -2.50674009e-03 1.33436727e-01] [-1.01058996e-03 2.49980391e-03 9.99996365e-01 -1.31614245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.044553574 meters Centerline goodness [0,1] 0.8304628345952864 Centerline is valid? [False, False] Translation: X:5.12, Y:0.13, Z:-1.32 [[ 9.99976222e-01 6.83421671e-03 9.21000460e-04 5.11819189e+00] [-6.83162226e-03 9.99972768e-01 -2.79129763e-03 1.34934387e-01] [-9.40051713e-04 2.78493933e-03 9.99995680e-01 -1.31648980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.074553574 meters Centerline goodness [0,1] 0.8288081852335403 Centerline is valid? [False, False] Translation: X:5.12, Y:0.14, Z:-1.32 [[ 9.99978072e-01 6.58288503e-03 7.21560560e-04 5.11921260e+00] [-6.58071853e-03 9.99973952e-01 -2.96486075e-03 1.35351215e-01] [-7.41059102e-04 2.96004735e-03 9.99995344e-01 -1.31686965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.104553574 meters Centerline goodness [0,1] 0.8295387896560917 Centerline is valid? [False, False] Translation: X:5.12, Y:0.14, Z:-1.32 [[ 9.99979523e-01 6.37634569e-03 5.44026937e-04 5.12004421e+00] [-6.37463212e-03 9.99974891e-01 -3.09543162e-03 1.36007432e-01] [-5.63750819e-04 3.09190026e-03 9.99995061e-01 -1.31701926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.134553574 meters Centerline goodness [0,1] 0.8313281873835507 Centerline is valid? [False, False] Translation: X:5.12, Y:0.14, Z:-1.32 [[ 9.99980557e-01 6.22627482e-03 3.46295446e-04 5.12091697e+00] [-6.22507008e-03 9.99974920e-01 -3.37750950e-03 1.37335500e-01] [-3.67316064e-04 3.37528812e-03 9.99994236e-01 -1.31743841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.164553574 meters Centerline goodness [0,1] 0.8353163010569926 Centerline is valid? [False, False] Translation: X:5.12, Y:0.14, Z:-1.32 [[ 9.99983405e-01 5.76059440e-03 -7.43162835e-05 5.12305585e+00] [-5.76084695e-03 9.99975300e-01 -4.02647794e-03 1.38768815e-01] [ 5.11195415e-05 4.02683925e-03 9.99991891e-01 -1.31895307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.194553574 meters Centerline goodness [0,1] 0.830030508024937 Centerline is valid? [False, False] Translation: X:5.12, Y:0.14, Z:-1.32 [[ 9.99983889e-01 5.67294571e-03 -1.99323070e-04 5.12372401e+00] [-5.67375202e-03 9.99974620e-01 -4.30898664e-03 1.39873145e-01] [ 1.74873364e-04 4.31004812e-03 9.99990696e-01 -1.31945121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.22455357399997 meters Centerline goodness [0,1] 0.8291078816166331 Centerline is valid? [False, False] Translation: X:5.12, Y:0.14, Z:-1.32 [[ 9.99982896e-01 5.84604561e-03 -1.77446244e-04 5.12362829e+00] [-5.84676973e-03 9.99973231e-01 -4.39915799e-03 1.40961045e-01] [ 1.51723816e-04 4.40012024e-03 9.99990308e-01 -1.31944494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.25455357399997 meters Centerline goodness [0,1] 0.827389934609377 Centerline is valid? [False, False] Translation: X:5.12, Y:0.14, Z:-1.32 [[ 9.99977209e-01 6.74290696e-03 3.39070608e-04 5.12141462e+00] [-6.74138074e-03 9.99967958e-01 -4.31709804e-03 1.42603040e-01] [-3.68169533e-04 4.31471385e-03 9.99990624e-01 -1.31879142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.28455357399997 meters Centerline goodness [0,1] 0.8316522383713234 Centerline is valid? [False, False] Translation: X:5.12, Y:0.14, Z:-1.32 [[ 9.99974632e-01 7.10069763e-03 5.61061835e-04 5.12048986e+00] [-7.09822706e-03 9.99965609e-01 -4.28907328e-03 1.43557985e-01] [-5.91497952e-04 4.28498193e-03 9.99990644e-01 -1.31832714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.31455357399997 meters Centerline goodness [0,1] 0.8353531353135314 Centerline is valid? [False, False] Translation: X:5.12, Y:0.15, Z:-1.32 [[ 9.99966461e-01 8.10986603e-03 1.14351566e-03 5.11803833e+00] [-8.10496202e-03 9.99958208e-01 -4.22986595e-03 1.45534842e-01] [-1.17777152e-03 4.22045593e-03 9.99990400e-01 -1.31770733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.34455357399997 meters Centerline goodness [0,1] 0.8320476027487428 Centerline is valid? [False, False] Translation: X:5.12, Y:0.15, Z:-1.32 [[ 9.99965726e-01 8.19061004e-03 1.20860964e-03 5.11816855e+00] [-8.18495939e-03 9.99955883e-01 -4.60847098e-03 1.46677059e-01] [-1.24630251e-03 4.59842061e-03 9.99988651e-01 -1.31844913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.37455357399998 meters Centerline goodness [0,1] 0.8292734366761574 Centerline is valid? [False, False] Translation: X:5.12, Y:0.15, Z:-1.32 [[ 9.99967282e-01 8.01547240e-03 1.08925113e-03 5.11894541e+00] [-8.01013157e-03 9.99956291e-01 -4.82216626e-03 1.47398591e-01] [-1.12785546e-03 4.81328344e-03 9.99987780e-01 -1.31886715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.40455357399998 meters Centerline goodness [0,1] 0.832032280183554 Centerline is valid? [False, False] Translation: X:5.12, Y:0.15, Z:-1.32 [[ 9.99970813e-01 7.60109070e-03 7.72885599e-04 5.12031305e+00] [-7.59732830e-03 9.99959812e-01 -4.75966294e-03 1.47527254e-01] [-8.09033168e-04 4.75365215e-03 9.99988374e-01 -1.31875804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.43455357399998 meters Centerline goodness [0,1] 0.8367373830544209 Centerline is valid? [False, False] Translation: X:5.12, Y:0.15, Z:-1.32 [[ 9.99974656e-01 7.10577211e-03 4.42360408e-04 5.12191739e+00] [-7.10353662e-03 9.99962934e-01 -4.86515456e-03 1.47600920e-01] [-4.76914691e-04 4.86188894e-03 9.99988067e-01 -1.31912026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.46455357399998 meters Centerline goodness [0,1] 0.837208689233365 Centerline is valid? [False, False] Translation: X:5.12, Y:0.15, Z:-1.32 [[ 9.99980737e-01 6.20316054e-03 -2.15455561e-04 5.12486118e+00] [-6.20419233e-03 9.99967370e-01 -5.17361837e-03 1.48058225e-01] [ 1.83355745e-04 5.17485544e-03 9.99986594e-01 -1.31990138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.49455357399998 meters Centerline goodness [0,1] 0.8378463807817933 Centerline is valid? [False, False] Translation: X:5.13, Y:0.15, Z:-1.32 [[ 9.99982670e-01 5.86364836e-03 -5.26887330e-04 5.12606812e+00] [-5.86626310e-03 9.99969756e-01 -5.10624099e-03 1.48106827e-01] [ 4.96930193e-04 5.10924336e-03 9.99986824e-01 -1.31980937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.52455357399998 meters Centerline goodness [0,1] 0.8329288239328866 Centerline is valid? [False, False] Translation: X:5.13, Y:0.15, Z:-1.32 [[ 9.99986007e-01 5.17261354e-03 -1.10899955e-03 5.12834776e+00] [-5.17834968e-03 9.99972898e-01 -5.23343188e-03 1.48492688e-01] [ 1.08189897e-03 5.23910144e-03 9.99985691e-01 -1.32001443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.55455357399998 meters Centerline goodness [0,1] 0.8357201255373579 Centerline is valid? [False, False] Translation: X:5.13, Y:0.15, Z:-1.32 [[ 9.99987983e-01 4.65703292e-03 -1.53170023e-03 5.13010351e+00] [-4.66524069e-03 9.99974541e-01 -5.39940706e-03 1.48902731e-01] [ 1.50651602e-03 5.40648793e-03 9.99984250e-01 -1.32036708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.58455357399998 meters Centerline goodness [0,1] 0.833359687961206 Centerline is valid? [False, False] Translation: X:5.13, Y:0.15, Z:-1.32 [[ 9.99989327e-01 4.24192587e-03 -1.83100295e-03 5.13154155e+00] [-4.25203637e-03 9.99975538e-01 -5.55371881e-03 1.49133195e-01] [ 1.80739970e-03 5.56144502e-03 9.99982902e-01 -1.32078937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.61455357399998 meters Centerline goodness [0,1] 0.8368669177486897 Centerline is valid? [False, False] Translation: X:5.13, Y:0.15, Z:-1.32 [[ 9.99990813e-01 3.55773508e-03 -2.39101647e-03 5.13339879e+00] [-3.57014535e-03 9.99980074e-01 -5.20630564e-03 1.48999609e-01] [ 2.37244617e-03 5.21479409e-03 9.99983589e-01 -1.31972970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.64455357399999 meters Centerline goodness [0,1] 0.8364665133127098 Centerline is valid? [False, False] Translation: X:5.13, Y:0.15, Z:-1.32 [[ 9.99991431e-01 3.02095063e-03 -2.83062072e-03 5.13478348e+00] [-3.03477394e-03 9.99983429e-01 -4.89198711e-03 1.48651197e-01] [ 2.81579536e-03 4.90053549e-03 9.99984028e-01 -1.31881026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.674553574 meters Centerline goodness [0,1] 0.8366467509120711 Centerline is valid? [False, False] Translation: X:5.14, Y:0.15, Z:-1.32 [[ 9.99991867e-01 1.85770141e-03 -3.57967110e-03 5.13740543e+00] [-1.87390920e-03 9.99987985e-01 -4.52970997e-03 1.48526647e-01] [ 3.57121325e-03 4.53638111e-03 9.99983334e-01 -1.31737978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.704553574 meters Centerline goodness [0,1] 0.8359251031418597 Centerline is valid? [False, False] Translation: X:5.14, Y:0.15, Z:-1.32 [[ 9.99991272e-01 1.32458865e-03 -3.96259034e-03 5.13887061e+00] [-1.34254974e-03 9.99988823e-01 -4.53344080e-03 1.48977118e-01] [ 3.95654110e-03 4.53872120e-03 9.99981873e-01 -1.31713393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.734553574 meters Centerline goodness [0,1] 0.834666101784674 Centerline is valid? [False, False] Translation: X:5.14, Y:0.15, Z:-1.32 [[ 9.99989514e-01 5.11531037e-04 -4.55081755e-03 5.14106378e+00] [-5.31642076e-04 9.99990094e-01 -4.41910289e-03 1.48828540e-01] [ 4.54851196e-03 4.42147595e-03 9.99979881e-01 -1.31674503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.764553574 meters Centerline goodness [0,1] 0.8333597506208062 Centerline is valid? [False, False] Translation: X:5.14, Y:0.15, Z:-1.32 [[ 9.99985021e-01 -6.72235638e-04 -5.43195422e-03 5.14401648e+00] [ 6.46876941e-04 9.99988892e-01 -4.66883880e-03 1.50461804e-01] [ 5.43503244e-03 4.66525506e-03 9.99974348e-01 -1.31608078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.794553574 meters Centerline goodness [0,1] 0.833280220947525 Centerline is valid? [False, False] Translation: X:5.16, Y:0.15, Z:-1.32 [[ 0.99995488 -0.00557919 -0.00768887 5.15545831] [ 0.00553819 0.99997039 -0.00534382 0.15021336] [ 0.00771846 0.005301 0.99995616 -1.31622701] [ 0. 0. 0. 1. ]] SLAMing on 186.824553574 meters Centerline goodness [0,1] 0.8336525671721202 Centerline is valid? [False, False] Translation: X:5.16, Y:0.15, Z:-1.32 [[ 9.99910104e-01 -9.14555580e-03 -9.80526696e-03 5.16471838e+00] [ 9.09825628e-03 9.99946811e-01 -4.85769223e-03 1.48209546e-01] [ 9.84917172e-03 4.76804471e-03 9.99940128e-01 -1.31522047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.854553574 meters Centerline goodness [0,1] 0.8374873245450178 Centerline is valid? [False, False] Translation: X:5.18, Y:0.15, Z:-1.31 [[ 9.99837897e-01 -1.34581793e-02 -1.19606699e-02 5.17505921e+00] [ 1.34028549e-02 9.99899161e-01 -4.69371013e-03 1.46437643e-01] [ 1.20226326e-02 4.53264214e-03 9.99917452e-01 -1.31441969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.884553574 meters Centerline goodness [0,1] 0.8406183368869936 Centerline is valid? [False, False] Translation: X:5.19, Y:0.15, Z:-1.31 [[ 9.99708201e-01 -1.90596627e-02 -1.48405247e-02 5.18877994e+00] [ 1.89866883e-02 9.99807020e-01 -5.04271300e-03 1.47396685e-01] [ 1.49337732e-02 4.75946912e-03 9.99877157e-01 -1.31343603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.914553574 meters Centerline goodness [0,1] 0.8392919125303714 Centerline is valid? [False, False] Translation: X:5.20, Y:0.15, Z:-1.31 [[ 9.99612075e-01 -2.22249650e-02 -1.67854464e-02 5.19678629e+00] [ 2.21516123e-02 9.99744299e-01 -4.54339473e-03 1.46365538e-01] [ 1.68821312e-02 4.16980753e-03 9.99848792e-01 -1.31179841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.944553574 meters Centerline goodness [0,1] 0.847297768012647 Centerline is valid? [False, False] Translation: X:5.21, Y:0.15, Z:-1.31 [[ 0.99936051 -0.0304387 -0.01876326 5.20721299] [ 0.03026341 0.99949627 -0.0095566 0.14757486] [ 0.0190447 0.00898265 0.99977828 -1.31310951] [ 0. 0. 0. 1. ]] SLAMing on 186.97455357399997 meters Centerline goodness [0,1] 0.8480846504152156 Centerline is valid? [False, False] Translation: X:5.21, Y:0.15, Z:-1.31 [[ 0.99923214 -0.0332897 -0.02066219 5.21494089] [ 0.03311021 0.99941146 -0.00896937 0.14716652] [ 0.02094861 0.00827835 0.99974628 -1.31146415] [ 0. 0. 0. 1. ]] SLAMing on 187.00455357399997 meters Centerline goodness [0,1] 0.8484872846155908 Centerline is valid? [False, False] Translation: X:5.22, Y:0.15, Z:-1.31 [[ 0.99911086 -0.03577803 -0.02230291 5.22173382] [ 0.03558912 0.99932767 -0.00881015 0.14686258] [ 0.02260312 0.00800858 0.99971244 -1.31081992] [ 0. 0. 0. 1. ]] SLAMing on 187.03455357399997 meters Centerline goodness [0,1] 0.8479585536735297 Centerline is valid? [False, False] Translation: X:5.23, Y:0.15, Z:-1.31 [[ 0.99885177 -0.04096701 -0.0248363 5.23411071] [ 0.04077649 0.99913522 -0.00812954 0.14592511] [ 0.02514786 0.00710746 0.99965848 -1.30810178] [ 0. 0. 0. 1. ]] SLAMing on 187.06455357399997 meters Centerline goodness [0,1] 0.8449593692171534 Centerline is valid? [False, False] Translation: X:5.24, Y:0.15, Z:-1.30 [[ 0.99869247 -0.04364948 -0.02660946 5.24085088] [ 0.04348182 0.99903075 -0.00684753 0.14540785] [ 0.02688256 0.00568155 0.99962245 -1.30428483] [ 0. 0. 0. 1. ]] SLAMing on 187.09455357399997 meters Centerline goodness [0,1] 0.848643006263048 Centerline is valid? [False, False] Translation: X:5.25, Y:0.14, Z:-1.30 [[ 9.98692511e-01 -4.23802838e-02 -2.85863641e-02 5.24779456e+00] [ 4.23827452e-02 9.99101312e-01 -5.20069225e-04 1.43790277e-01] [ 2.85827146e-02 -6.92179347e-04 9.99591191e-01 -1.29845414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.12455357399998 meters Centerline goodness [0,1] 0.8510751827543888 Centerline is valid? [False, False] Translation: X:5.25, Y:0.14, Z:-1.30 [[ 9.98730373e-01 -4.03367627e-02 -3.01759279e-02 5.25280200e+00] [ 4.04793171e-02 9.99171849e-01 4.12798001e-03 1.43357721e-01] [ 2.99844283e-02 -5.34423997e-03 9.99536079e-01 -1.29608750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.15455357399998 meters Centerline goodness [0,1] 0.8488672363762213 Centerline is valid? [False, False] Translation: X:5.26, Y:0.14, Z:-1.29 [[ 0.9987566 -0.03836114 -0.03183819 5.25797175] [ 0.03863736 0.99922042 0.00810618 0.14484976] [ 0.03150241 -0.00932624 0.99946016 -1.29456351] [ 0. 0. 0. 1. ]] SLAMing on 187.18455357399998 meters Centerline goodness [0,1] 0.8504171316222966 Centerline is valid? [False, False] Translation: X:5.26, Y:0.15, Z:-1.29 [[ 0.99875487 -0.03836059 -0.03189316 5.25815406] [ 0.03862922 0.99922278 0.00784959 0.14636766] [ 0.03156726 -0.00907183 0.99946046 -1.29472038] [ 0. 0. 0. 1. ]] SLAMing on 187.21455357399998 meters Centerline goodness [0,1] 0.8537120211360634 Centerline is valid? [False, False] Translation: X:5.26, Y:0.15, Z:-1.29 [[ 0.99881403 -0.03564813 -0.03316228 5.26148 ] [ 0.03605773 0.99927961 0.01183642 0.1479492 ] [ 0.03271644 -0.01301814 0.99937989 -1.29310635] [ 0. 0. 0. 1. ]] SLAMing on 187.24455357399998 meters Centerline goodness [0,1] 0.8505544288461032 Centerline is valid? [False, False] Translation: X:5.26, Y:0.15, Z:-1.29 [[ 0.99881553 -0.03559143 -0.03317802 5.26155342] [ 0.03598395 0.99928837 0.01130951 0.15002263] [ 0.03275188 -0.01248999 0.99938547 -1.29357441] [ 0. 0. 0. 1. ]] SLAMing on 187.27455357399998 meters Centerline goodness [0,1] 0.8511605898898557 Centerline is valid? [False, False] Translation: X:5.28, Y:0.15, Z:-1.30 [[ 9.99046155e-01 -3.40324288e-02 -2.73600937e-02 5.27832715e+00] [ 3.41274788e-02 9.99412942e-01 3.01448879e-03 1.53620093e-01] [ 2.72414414e-02 -3.94534446e-03 9.99621097e-01 -1.30001654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.30455357399998 meters Centerline goodness [0,1] 0.8529796816087138 Centerline is valid? [False, False] Translation: X:5.28, Y:0.15, Z:-1.30 [[ 0.99913554 -0.03060199 -0.02813704 5.27984114] [ 0.03081922 0.99949818 0.00731938 0.15483463] [ 0.02789893 -0.00818022 0.99957728 -1.29781397] [ 0. 0. 0. 1. ]] SLAMing on 187.33455357399998 meters Centerline goodness [0,1] 0.8493849777545145 Centerline is valid? [False, False] Translation: X:5.28, Y:0.16, Z:-1.30 [[ 0.99916162 -0.03003276 -0.02782257 5.27860151] [ 0.03024335 0.99951678 0.00717928 0.15620634] [ 0.02759352 -0.00801471 0.9995871 -1.29790742] [ 0. 0. 0. 1. ]] SLAMing on 187.36455357399998 meters Centerline goodness [0,1] 0.8506867523260966 Centerline is valid? [False, False] Translation: X:5.28, Y:0.16, Z:-1.30 [[ 0.9992532 -0.02626002 -0.02834516 5.28005131] [ 0.02657729 0.99958761 0.01087504 0.15792 ] [ 0.02804789 -0.01162026 0.99953904 -1.29792007] [ 0. 0. 0. 1. ]] SLAMing on 187.39455357399999 meters Centerline goodness [0,1] 0.844857232180075 Centerline is valid? [False, False] Translation: X:5.28, Y:0.16, Z:-1.30 [[ 0.99926381 -0.02595525 -0.02825181 5.27999684] [ 0.02625147 0.99960369 0.01016497 0.1597225 ] [ 0.02797678 -0.01089913 0.99954915 -1.29938878] [ 0. 0. 0. 1. ]] SLAMing on 187.424553574 meters Centerline goodness [0,1] 0.8424819760027069 Centerline is valid? [False, False] Translation: X:5.28, Y:0.16, Z:-1.30 [[ 0.99930754 -0.02476038 -0.02777355 5.27814611] [ 0.02503522 0.99964055 0.00959194 0.16199623] [ 0.02752606 -0.01028062 0.99956822 -1.30085329] [ 0. 0. 0. 1. ]] SLAMing on 187.454553574 meters Centerline goodness [0,1] 0.8464662241311988 Centerline is valid? [False, False] Translation: X:5.28, Y:0.16, Z:-1.30 [[ 0.99932331 -0.02437557 -0.02754562 5.27752635] [ 0.02464233 0.99965226 0.00938658 0.1626785 ] [ 0.02730724 -0.01005902 0.99957648 -1.30135067] [ 0. 0. 0. 1. ]] SLAMing on 187.484553574 meters Centerline goodness [0,1] 0.847773469015954 Centerline is valid? [False, False] Translation: X:5.29, Y:0.17, Z:-1.31 [[ 9.99494746e-01 -2.29424434e-02 -2.19976632e-02 5.29437441e+00] [ 2.29564778e-02 9.99736391e-01 3.85648150e-04 1.65208851e-01] [ 2.19830167e-02 -8.90442166e-04 9.99757948e-01 -1.30864254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.514553574 meters Centerline goodness [0,1] 0.8491159646385855 Centerline is valid? [False, False] Translation: X:5.30, Y:0.16, Z:-1.31 [[ 9.99544359e-01 -1.97462078e-02 -2.28289829e-02 5.29689557e+00] [ 1.98659998e-02 9.99789986e-01 5.03251378e-03 1.64067318e-01] [ 2.27248154e-02 -5.48374132e-03 9.99726718e-01 -1.30720397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.544553574 meters Centerline goodness [0,1] 0.8491159646385855 Centerline is valid? [False, False] Translation: X:5.30, Y:0.16, Z:-1.31 [[ 9.99544359e-01 -1.97462078e-02 -2.28289829e-02 5.29689557e+00] [ 1.98659998e-02 9.99789986e-01 5.03251378e-03 1.64067318e-01] [ 2.27248154e-02 -5.48374132e-03 9.99726718e-01 -1.30720397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.574553574 meters Centerline goodness [0,1] 0.8454692135533233 Centerline is valid? [False, False] Translation: X:5.30, Y:0.17, Z:-1.31 [[ 9.99535740e-01 -1.99328495e-02 -2.30431286e-02 5.29842354e+00] [ 2.00384240e-02 9.99789705e-01 4.35979211e-03 1.65059058e-01] [ 2.29513796e-02 -4.81951602e-03 9.99724965e-01 -1.30928017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.604553574 meters Centerline goodness [0,1] 0.8464636491191602 Centerline is valid? [False, False] Translation: X:5.30, Y:0.16, Z:-1.31 [[ 9.99527990e-01 -2.01336469e-02 -2.32041792e-02 5.29940950e+00] [ 2.02377555e-02 9.99786118e-01 4.26054099e-03 1.64829293e-01] [ 2.31134360e-02 -4.72813048e-03 9.99721668e-01 -1.30979256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.634553574 meters Centerline goodness [0,1] 0.8451725667179715 Centerline is valid? [False, False] Translation: X:5.30, Y:0.16, Z:-1.31 [[ 9.99532886e-01 -1.99533443e-02 -2.31489595e-02 5.29889536e+00] [ 2.00700186e-02 9.99786964e-01 4.81879290e-03 1.64111282e-01] [ 2.30478769e-02 -5.28114202e-03 9.99720413e-01 -1.30866921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.664553574 meters Centerline goodness [0,1] 0.8430190058479532 Centerline is valid? [False, False] Translation: X:5.32, Y:0.17, Z:-1.31 [[ 9.99642721e-01 -2.03129181e-02 -1.73728211e-02 5.31868807e+00] [ 2.02551152e-02 9.99788729e-01 -3.49673476e-03 1.65281416e-01] [ 1.74401796e-02 3.14359696e-03 9.99842967e-01 -1.31463694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.694553574 meters Centerline goodness [0,1] 0.845131125274266 Centerline is valid? [False, False] Translation: X:5.32, Y:0.16, Z:-1.31 [[ 9.99661690e-01 -1.82381429e-02 -1.85438778e-02 5.32309216e+00] [ 1.82678322e-02 9.99832102e-01 1.43288776e-03 1.62864466e-01] [ 1.85146311e-02 -1.77115945e-03 9.99827021e-01 -1.31236584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.72455357399997 meters Centerline goodness [0,1] 0.8479524507750315 Centerline is valid? [False, False] Translation: X:5.32, Y:0.16, Z:-1.31 [[ 9.99657945e-01 -1.83597720e-02 -1.86255769e-02 5.32360774e+00] [ 1.83991686e-02 9.99828827e-01 1.94602487e-03 1.61202881e-01] [ 1.85866601e-02 -2.28805436e-03 9.99824635e-01 -1.31197198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.75455357399997 meters Centerline goodness [0,1] 0.8470631405131969 Centerline is valid? [False, False] Translation: X:5.32, Y:0.16, Z:-1.31 [[ 9.99660176e-01 -1.82829439e-02 -1.85813260e-02 5.32375034e+00] [ 1.83263496e-02 9.99829707e-01 2.16838609e-03 1.60575788e-01] [ 1.85385173e-02 -2.50817710e-03 9.99825001e-01 -1.31211643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.78455357399997 meters Centerline goodness [0,1] 0.8494114569709652 Centerline is valid? [False, False] Translation: X:5.32, Y:0.16, Z:-1.31 [[ 9.99662766e-01 -1.81936902e-02 -1.85295647e-02 5.32443602e+00] [ 1.82380444e-02 9.99831192e-01 2.22751436e-03 1.59455859e-01] [ 1.84859101e-02 -2.56470619e-03 9.99825832e-01 -1.31326126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.81455357399997 meters Centerline goodness [0,1] 0.8482550511676725 Centerline is valid? [False, False] Translation: X:5.32, Y:0.16, Z:-1.31 [[ 9.99672220e-01 -1.78427611e-02 -1.83599679e-02 5.32386238e+00] [ 1.78917071e-02 9.99836792e-01 2.50510390e-03 1.58862523e-01] [ 1.83122734e-02 -2.83277395e-03 9.99828303e-01 -1.31320407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.84455357399997 meters Centerline goodness [0,1] 0.8475723316633004 Centerline is valid? [False, False] Translation: X:5.32, Y:0.16, Z:-1.31 [[ 9.99686276e-01 -1.73395295e-02 -1.80745551e-02 5.32293456e+00] [ 1.73926229e-02 9.99844860e-01 2.78440829e-03 1.58354537e-01] [ 1.80234707e-02 -3.09789868e-03 9.99832765e-01 -1.31321920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.87455357399998 meters Centerline goodness [0,1] 0.8510956960428819 Centerline is valid? [False, False] Translation: X:5.32, Y:0.16, Z:-1.31 [[ 9.99728481e-01 -1.57486510e-02 -1.71739452e-02 5.31997236e+00] [ 1.58023852e-02 9.99870641e-01 2.99761098e-03 1.58100193e-01] [ 1.71245152e-02 -3.26818637e-03 9.99848023e-01 -1.31405017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.90455357399998 meters Centerline goodness [0,1] 0.848004417100489 Centerline is valid? [False, False] Translation: X:5.34, Y:0.16, Z:-1.32 [[ 9.99854296e-01 -1.17061009e-02 -1.24239114e-02 5.33864076e+00] [ 1.16663653e-02 9.99926612e-01 -3.26598776e-03 1.58399664e-01] [ 1.24612316e-02 3.12057000e-03 9.99917486e-01 -1.32079343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.93455357399998 meters Centerline goodness [0,1] 0.8493006625302345 Centerline is valid? [False, False] Translation: X:5.34, Y:0.16, Z:-1.32 [[ 9.99884706e-01 -7.99392286e-03 -1.29101176e-02 5.33990074e+00] [ 8.01873693e-03 9.99966098e-01 1.87144474e-03 1.56511411e-01] [ 1.28947197e-02 -1.97475181e-03 9.99914910e-01 -1.31876399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.96455357399998 meters Centerline goodness [0,1] 0.8453540405369834 Centerline is valid? [False, False] Translation: X:5.34, Y:0.16, Z:-1.32 [[ 9.99901713e-01 -6.88266283e-03 -1.22144989e-02 5.33743243e+00] [ 6.90760911e-03 9.99974139e-01 2.00133762e-03 1.56791718e-01] [ 1.22004084e-02 -2.08551390e-03 9.99923397e-01 -1.31900205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.99455357399998 meters Centerline goodness [0,1] 0.841876629018245 Centerline is valid? [False, False] Translation: X:5.33, Y:0.16, Z:-1.32 [[ 9.99933799e-01 -4.05676331e-03 -1.07675883e-02 5.33178925e+00] [ 4.08331178e-03 9.99988675e-01 2.44475338e-03 1.56839756e-01] [ 1.07575486e-02 -2.48855895e-03 9.99939039e-01 -1.31947610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.02455357399998 meters Centerline goodness [0,1] 0.8433696854749486 Centerline is valid? [False, False] Translation: X:5.33, Y:0.16, Z:-1.32 [[ 9.99944460e-01 -3.01537364e-03 -1.00987403e-02 5.32948963e+00] [ 3.04167124e-03 9.99992021e-01 2.58970188e-03 1.56693795e-01] [ 1.00908508e-02 -2.62027510e-03 9.99945653e-01 -1.31970241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.05455357399998 meters Centerline goodness [0,1] 0.8411384899196205 Centerline is valid? [False, False] Translation: X:5.33, Y:0.16, Z:-1.32 [[ 9.99953562e-01 -2.05502313e-03 -9.41544383e-03 5.32724954e+00] [ 2.08121444e-03 9.99993990e-01 2.77278635e-03 1.56331363e-01] [ 9.40968910e-03 -2.79225315e-03 9.99951829e-01 -1.31983637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.08455357399998 meters Centerline goodness [0,1] 0.8447232862237485 Centerline is valid? [False, False] Translation: X:5.32, Y:0.16, Z:-1.32 [[ 9.99969762e-01 7.25744287e-04 -7.74269001e-03 5.32070831e+00] [-6.96765241e-04 9.99992745e-01 3.74480324e-03 1.55015296e-01] [ 7.74535161e-03 -3.73929516e-03 9.99963013e-01 -1.31901401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.11455357399998 meters Centerline goodness [0,1] 0.8409324920136231 Centerline is valid? [False, False] Translation: X:5.32, Y:0.15, Z:-1.32 [[ 9.99972761e-01 1.29118941e-03 -7.26706328e-03 5.31969099e+00] [-1.26453858e-03 9.99992463e-01 3.67074566e-03 1.54610448e-01] [ 7.27174814e-03 -3.66145619e-03 9.99966857e-01 -1.31999119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.14455357399999 meters Centerline goodness [0,1] 0.841014129143008 Centerline is valid? [False, False] Translation: X:5.32, Y:0.15, Z:-1.32 [[ 9.99974115e-01 1.47888233e-03 -7.04143236e-03 5.31975572e+00] [-1.45473183e-03 9.99993047e-01 3.43365924e-03 1.54189573e-01] [ 7.04646138e-03 -3.42332696e-03 9.99969314e-01 -1.32140947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.174553574 meters Centerline goodness [0,1] 0.8395254614305008 Centerline is valid? [False, False] Translation: X:5.32, Y:0.15, Z:-1.32 [[ 9.99975836e-01 1.64659320e-03 -6.75401099e-03 5.31984596e+00] [-1.62167012e-03 9.99991862e-01 3.69393474e-03 1.51802053e-01] [ 6.76003843e-03 -3.68289270e-03 9.99970369e-01 -1.32244105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.204553574 meters Centerline goodness [0,1] 0.8425484292147406 Centerline is valid? [False, False] Translation: X:5.32, Y:0.15, Z:-1.32 [[ 9.99978026e-01 1.94851065e-03 -6.33653597e-03 5.31868243e+00] [-1.91670580e-03 9.99985555e-01 5.02148664e-03 1.47114083e-01] [ 6.34622886e-03 -5.00923102e-03 9.99967316e-01 -1.32098157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.234553574 meters Centerline goodness [0,1] 0.8430422444718102 Centerline is valid? [False, False] Translation: X:5.32, Y:0.15, Z:-1.32 [[ 9.99986490e-01 -5.99226483e-04 -5.16341309e-03 5.31603223e+00] [ 6.03489212e-04 9.99999478e-01 8.24045818e-04 1.46465332e-01] [ 5.16291660e-03 -8.27150749e-04 9.99986330e-01 -1.32337245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.264553574 meters Centerline goodness [0,1] 0.8418840036416215 Centerline is valid? [False, False] Translation: X:5.32, Y:0.14, Z:-1.32 [[ 9.99984513e-01 -1.02951301e-03 -5.46931948e-03 5.31785896e+00] [ 1.03411224e-03 9.99999114e-01 8.38153294e-04 1.44793891e-01] [ 5.46845175e-03 -8.43796203e-04 9.99984692e-01 -1.32447802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.294553574 meters Centerline goodness [0,1] 0.8384899157174786 Centerline is valid? [False, False] Translation: X:5.32, Y:0.14, Z:-1.33 [[ 9.99980787e-01 -1.83134505e-03 -5.92209852e-03 5.32137079e+00] [ 1.83294186e-03 9.99998285e-01 2.64219828e-04 1.42839383e-01] [ 5.92160448e-03 -2.75069613e-04 9.99982429e-01 -1.32799395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.324553574 meters Centerline goodness [0,1] 0.8372689245715828 Centerline is valid? [False, False] Translation: X:5.32, Y:0.14, Z:-1.33 [[ 9.99977127e-01 -2.41668445e-03 -6.31698782e-03 5.32351455e+00] [ 2.41904525e-03 9.99997007e-01 3.66109074e-04 1.40867049e-01] [ 6.31608414e-03 -3.81381779e-04 9.99979981e-01 -1.32894189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.354553574 meters Centerline goodness [0,1] 0.835354768688102 Centerline is valid? [False, False] Translation: X:5.33, Y:0.14, Z:-1.33 [[ 9.99967803e-01 -3.87562471e-03 -7.02651970e-03 5.32747278e+00] [ 3.88177538e-03 9.99992094e-01 8.61923916e-04 1.36103090e-01] [ 7.02312366e-03 -8.89171536e-04 9.99974942e-01 -1.32944547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.384553574 meters Centerline goodness [0,1] 0.8362249761677788 Centerline is valid? [False, False] Translation: X:5.33, Y:0.13, Z:-1.33 [[ 9.99963296e-01 -4.34499333e-03 -7.38431213e-03 5.32896848e+00] [ 4.35637365e-03 9.99989347e-01 1.52576369e-03 1.33927213e-01] [ 7.37760403e-03 -1.55787651e-03 9.99971572e-01 -1.32876143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.414553574 meters Centerline goodness [0,1] 0.8346426726832848 Centerline is valid? [False, False] Translation: X:5.33, Y:0.13, Z:-1.33 [[ 9.99967723e-01 -3.78170644e-03 -7.08890670e-03 5.32758114e+00] [ 3.79474083e-03 9.99991133e-01 1.82615425e-03 1.33961222e-01] [ 7.08193786e-03 -1.85299587e-03 9.99973206e-01 -1.32805178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.444553574 meters Centerline goodness [0,1] 0.8364743955834761 Centerline is valid? [False, False] Translation: X:5.32, Y:0.13, Z:-1.33 [[ 9.99980430e-01 -1.85021387e-03 -5.97638947e-03 5.32279004e+00] [ 1.86344081e-03 9.99995825e-01 2.20838951e-03 1.34833726e-01] [ 5.97227853e-03 -2.21948294e-03 9.99979703e-01 -1.32707184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.47455357399997 meters Centerline goodness [0,1] 0.8347504521283775 Centerline is valid? [False, False] Translation: X:5.32, Y:0.14, Z:-1.33 [[ 9.99982205e-01 -1.34858608e-03 -5.81131967e-03 5.32297063e+00] [ 1.35482810e-03 9.99998509e-01 1.07031200e-03 1.38738772e-01] [ 5.80986760e-03 -1.07816629e-03 9.99982541e-01 -1.32995433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.50455357399997 meters Centerline goodness [0,1] 0.8331485737461133 Centerline is valid? [False, False] Translation: X:5.32, Y:0.14, Z:-1.33 [[ 9.99981671e-01 -1.44782664e-03 -5.87893330e-03 5.32367127e+00] [ 1.45141079e-03 9.99998763e-01 6.05440110e-04 1.40058162e-01] [ 5.87804946e-03 -6.13961760e-04 9.99982536e-01 -1.33103648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.53455357399997 meters Centerline goodness [0,1] 0.8331933342365533 Centerline is valid? [False, False] Translation: X:5.33, Y:0.14, Z:-1.33 [[ 9.99978265e-01 -1.97764414e-03 -6.28961714e-03 5.32544753e+00] [ 1.98163694e-03 9.99997839e-01 6.28654941e-04 1.40124243e-01] [ 6.28836029e-03 -6.41105014e-04 9.99980023e-01 -1.33110828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.56455357399997 meters Centerline goodness [0,1] 0.8341427679952248 Centerline is valid? [False, False] Translation: X:5.33, Y:0.14, Z:-1.33 [[ 9.99966531e-01 -3.70309281e-03 -7.29546449e-03 5.32957237e+00] [ 3.71493117e-03 9.99991804e-01 1.60981958e-03 1.37139073e-01] [ 7.28944338e-03 -1.63686785e-03 9.99972092e-01 -1.32905232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.59455357399997 meters Centerline goodness [0,1] 0.8321305046433727 Centerline is valid? [False, False] Translation: X:5.33, Y:0.14, Z:-1.33 [[ 9.99957007e-01 -4.69069347e-03 -7.99882123e-03 5.33217375e+00] [ 4.70843621e-03 9.99986494e-01 2.20078286e-03 1.35306978e-01] [ 7.98839000e-03 -2.23835019e-03 9.99965587e-01 -1.32790622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.62455357399998 meters Centerline goodness [0,1] 0.831856235172207 Centerline is valid? [False, False] Translation: X:5.34, Y:0.13, Z:-1.33 [[ 9.99941345e-01 -6.07883154e-03 -8.96407526e-03 5.33585256e+00] [ 6.10355191e-03 9.99977639e-01 2.73294276e-03 1.33539306e-01] [ 8.94726172e-03 -2.78749515e-03 9.99956087e-01 -1.32667363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.65455357399998 meters Centerline goodness [0,1] 0.8310182653396041 Centerline is valid? [False, False] Translation: X:5.34, Y:0.13, Z:-1.33 [[ 9.99940781e-01 -6.11921286e-03 -8.99938438e-03 5.33630961e+00] [ 6.14160997e-03 9.99978106e-01 2.46321136e-03 1.34100090e-01] [ 8.98411444e-03 -2.51833620e-03 9.99956471e-01 -1.32736209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.68455357399998 meters Centerline goodness [0,1] 0.8317069181704192 Centerline is valid? [False, False] Translation: X:5.34, Y:0.14, Z:-1.33 [[ 9.99943283e-01 -5.86050286e-03 -8.89297019e-03 5.33625374e+00] [ 5.87710876e-03 9.99981033e-01 1.84232387e-03 1.35773435e-01] [ 8.88200457e-03 -1.89448433e-03 9.99958760e-01 -1.32873921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.71455357399998 meters Centerline goodness [0,1] 0.8297416132884594 Centerline is valid? [False, False] Translation: X:5.34, Y:0.14, Z:-1.33 [[ 9.99951554e-01 -2.36851707e-03 -9.55401714e-03 5.33914188e+00] [ 2.41796525e-03 9.99983725e-01 5.16741652e-03 1.37893925e-01] [ 9.54162254e-03 -5.19026747e-03 9.99941008e-01 -1.33033970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.74455357399998 meters Centerline goodness [0,1] 0.8259262279485716 Centerline is valid? [False, False] Translation: X:5.34, Y:0.14, Z:-1.33 [[ 9.99955125e-01 -1.92753671e-03 -9.27532179e-03 5.33851904e+00] [ 1.96951512e-03 9.99987851e-01 4.51881402e-03 1.39271727e-01] [ 9.26649892e-03 -4.53687913e-03 9.99946773e-01 -1.33192677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.77455357399998 meters Centerline goodness [0,1] 0.827255745959555 Centerline is valid? [False, False] Translation: X:5.34, Y:0.14, Z:-1.33 [[ 9.99964390e-01 -1.55964588e-04 -8.43771683e-03 5.33508898e+00] [ 1.85517041e-04 9.99993852e-01 3.50175356e-03 1.42353167e-01] [ 8.43711880e-03 -3.50319421e-03 9.99958270e-01 -1.33415969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.80455357399998 meters Centerline goodness [0,1] 0.826221898361806 Centerline is valid? [False, False] Translation: X:5.33, Y:0.15, Z:-1.33 [[ 9.99966979e-01 3.81803649e-04 -8.11757000e-03 5.33397784e+00] [-3.58689463e-04 9.99995878e-01 2.84869203e-03 1.45179589e-01] [ 8.11862418e-03 -2.84568628e-03 9.99962994e-01 -1.33482985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.83455357399998 meters Centerline goodness [0,1] 0.8255667337357478 Centerline is valid? [False, False] Translation: X:5.33, Y:0.15, Z:-1.34 [[ 9.99964560e-01 4.16409583e-04 -8.40863109e-03 5.33462278e+00] [-4.04146002e-04 9.99998852e-01 1.46009810e-03 1.51480614e-01] [ 8.40922944e-03 -1.45664804e-03 9.99963581e-01 -1.33577938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.86455357399998 meters Centerline goodness [0,1] 0.8248502994011976 Centerline is valid? [False, False] Translation: X:5.34, Y:0.15, Z:-1.34 [[ 9.99962287e-01 1.88761415e-04 -8.68273535e-03 5.33569306e+00] [-1.82631183e-04 9.99999734e-01 7.06812864e-04 1.54459578e-01] [ 8.68286646e-03 -7.05200470e-04 9.99962055e-01 -1.33647537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.89455357399999 meters Centerline goodness [0,1] 0.8247546404949861 Centerline is valid? [False, False] Translation: X:5.34, Y:0.16, Z:-1.34 [[ 9.99955094e-01 -6.87225244e-04 -9.45188120e-03 5.33792095e+00] [ 6.85808474e-04 9.99999753e-01 -1.53133309e-04 1.58769979e-01] [ 9.45198411e-03 1.46644252e-04 9.99955318e-01 -1.33613526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.924553574 meters Centerline goodness [0,1] 0.8236693031209918 Centerline is valid? [False, False] Translation: X:5.34, Y:0.16, Z:-1.34 [[ 9.99949348e-01 -1.29155110e-03 -9.98160349e-03 5.33945727e+00] [ 1.28838848e-03 9.99999118e-01 -3.23269042e-04 1.60420787e-01] [ 9.98201220e-03 3.10392485e-04 9.99950130e-01 -1.33543581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.954553574 meters Centerline goodness [0,1] 0.8250478011472275 Centerline is valid? [False, False] Translation: X:5.34, Y:0.16, Z:-1.33 [[ 9.99936274e-01 -2.59682667e-03 -1.09865534e-02 5.34284131e+00] [ 2.58763479e-03 9.99996290e-01 -8.50780624e-04 1.63459714e-01] [ 1.09887220e-02 8.22297219e-04 9.99939284e-01 -1.33485282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.984553574 meters Centerline goodness [0,1] 0.8232063256208872 Centerline is valid? [False, False] Translation: X:5.34, Y:0.17, Z:-1.33 [[ 9.99932424e-01 -2.88161792e-03 -1.12624957e-02 5.34387769e+00] [ 2.86961038e-03 9.99995297e-01 -1.08216762e-03 1.65166395e-01] [ 1.12655611e-02 1.04977551e-03 9.99935991e-01 -1.33482505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.014553574 meters Centerline goodness [0,1] 0.8250562839359026 Centerline is valid? [False, False] Translation: X:5.35, Y:0.17, Z:-1.34 [[ 9.99927543e-01 -3.25249450e-03 -1.15900799e-02 5.34526709e+00] [ 3.23574812e-03 9.99993694e-01 -1.46334788e-03 1.66831750e-01] [ 1.15947664e-02 1.42573927e-03 9.99931762e-01 -1.33526802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.044553574 meters Centerline goodness [0,1] 0.8262475919035178 Centerline is valid? [False, False] Translation: X:5.35, Y:0.17, Z:-1.34 [[ 9.99918400e-01 -3.85405555e-03 -1.21794895e-02 5.34762007e+00] [ 3.82584812e-03 9.99989947e-01 -2.33843002e-03 1.69911153e-01] [ 1.21883795e-02 2.29164233e-03 9.99923093e-01 -1.33637043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.074553574 meters Centerline goodness [0,1] 0.8245646535753983 Centerline is valid? [False, False] Translation: X:5.35, Y:0.17, Z:-1.34 [[ 9.99917911e-01 -3.80727899e-03 -1.22341937e-02 5.34767620e+00] [ 3.77842979e-03 9.99990029e-01 -2.38032914e-03 1.71024351e-01] [ 1.22431343e-02 2.33390770e-03 9.99922326e-01 -1.33611308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.104553574 meters Centerline goodness [0,1] 0.8254375297414477 Centerline is valid? [False, False] Translation: X:5.35, Y:0.17, Z:-1.33 [[ 9.99926039e-01 -2.89807846e-03 -1.18117524e-02 5.34527349e+00] [ 2.87622215e-03 9.99994121e-01 -1.86695414e-03 1.72746290e-01] [ 1.18170936e-02 1.83284284e-03 9.99928496e-01 -1.33407700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.134553574 meters Centerline goodness [0,1] 0.8267627190204772 Centerline is valid? [False, False] Translation: X:5.34, Y:0.17, Z:-1.33 [[ 9.99930809e-01 -2.28838516e-03 -1.15386381e-02 5.34375828e+00] [ 2.27165502e-03 9.99996350e-01 -1.46282104e-03 1.73449665e-01] [ 1.15419435e-02 1.43650802e-03 9.99932358e-01 -1.33284970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.164553574 meters Centerline goodness [0,1] 0.8302378882478464 Centerline is valid? [False, False] Translation: X:5.34, Y:0.17, Z:-1.33 [[ 9.99934120e-01 -1.74756144e-03 -1.13446524e-02 5.34273447e+00] [ 1.73407314e-03 9.99997778e-01 -1.19868481e-03 1.74182681e-01] [ 1.13467219e-02 1.17893338e-03 9.99934929e-01 -1.33215261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.194553574 meters Centerline goodness [0,1] 0.8255590381120447 Centerline is valid? [False, False] Translation: X:5.34, Y:0.18, Z:-1.33 [[ 9.99941925e-01 -5.34314031e-04 -1.07638773e-02 5.34021433e+00] [ 5.23695111e-04 9.99999373e-01 -9.89327417e-04 1.75656374e-01] [ 1.07643992e-02 9.83632971e-04 9.99941578e-01 -1.33167660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.22455357399997 meters Centerline goodness [0,1] 0.8298897165267286 Centerline is valid? [False, False] Translation: X:5.34, Y:0.18, Z:-1.33 [[ 9.99946646e-01 1.96892390e-04 -1.03279845e-02 5.33849532e+00] [-2.04041581e-04 9.99999740e-01 -6.91166393e-04 1.75976440e-01] [ 1.03278457e-02 6.93236855e-04 9.99946426e-01 -1.33120347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.25455357399997 meters Centerline goodness [0,1] 0.8295588736977458 Centerline is valid? [False, False] Translation: X:5.34, Y:0.18, Z:-1.33 [[ 9.99951297e-01 1.13593405e-03 -9.80375210e-03 5.33657495e+00] [-1.14041966e-03 9.99999248e-01 -4.51961848e-04 1.76284396e-01] [ 9.80323132e-03 4.63120228e-04 9.99951840e-01 -1.33102629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.28455357399997 meters Centerline goodness [0,1] 0.8266603614964271 Centerline is valid? [False, False] Translation: X:5.34, Y:0.18, Z:-1.33 [[ 9.99951329e-01 1.27594530e-03 -9.78322340e-03 5.33662995e+00] [-1.27887036e-03 9.99999139e-01 -2.92737156e-04 1.76214421e-01] [ 9.78284147e-03 3.05234383e-04 9.99952100e-01 -1.33104950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.31455357399997 meters Centerline goodness [0,1] 0.8278011572856392 Centerline is valid? [False, False] Translation: X:5.34, Y:0.18, Z:-1.33 [[ 9.99950436e-01 1.21493109e-03 -9.88174086e-03 5.33714882e+00] [-1.21718259e-03 9.99999235e-01 -2.21833820e-04 1.75889205e-01] [ 9.88146378e-03 2.33850708e-04 9.99951150e-01 -1.33128970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.34455357399997 meters Centerline goodness [0,1] 0.8311066430328845 Centerline is valid? [False, False] Translation: X:5.34, Y:0.17, Z:-1.33 [[ 9.99946179e-01 4.16603486e-04 -1.03665234e-02 5.33924427e+00] [-4.14081358e-04 9.99999884e-01 2.45440666e-04 1.73661046e-01] [ 1.03666245e-02 -2.41134873e-04 9.99946236e-01 -1.33087435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.37455357399998 meters Centerline goodness [0,1] 0.8288527374538892 Centerline is valid? [False, False] Translation: X:5.34, Y:0.17, Z:-1.33 [[ 9.99937478e-01 -3.32712571e-03 -1.06757088e-02 5.34375066e+00] [ 3.30481568e-03 9.99992320e-01 -2.10675479e-03 1.70724981e-01] [ 1.06826362e-02 2.07134182e-03 9.99940794e-01 -1.33337792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.40455357399998 meters Centerline goodness [0,1] 0.8288533333333333 Centerline is valid? [False, False] Translation: X:5.35, Y:0.17, Z:-1.33 [[ 9.99926089e-01 -4.29273728e-03 -1.13749382e-02 5.34651601e+00] [ 4.27333125e-03 9.99989373e-01 -1.72979093e-03 1.69288234e-01] [ 1.13822429e-02 1.68105420e-03 9.99933807e-01 -1.33304910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.43455357399998 meters Centerline goodness [0,1] 0.8288533333333333 Centerline is valid? [False, False] Translation: X:5.35, Y:0.17, Z:-1.33 [[ 9.99926089e-01 -4.29273728e-03 -1.13749382e-02 5.34651601e+00] [ 4.27333125e-03 9.99989373e-01 -1.72979093e-03 1.69288234e-01] [ 1.13822429e-02 1.68105420e-03 9.99933807e-01 -1.33304910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.46455357399998 meters Centerline goodness [0,1] 0.8310485266324168 Centerline is valid? [False, False] Translation: X:5.35, Y:0.17, Z:-1.33 [[ 9.99915521e-01 -5.08526033e-03 -1.19620246e-02 5.34864100e+00] [ 5.06920661e-03 9.99986210e-01 -1.37199464e-03 1.68501586e-01] [ 1.19688366e-02 1.31124077e-03 9.99927511e-01 -1.33230154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.49455357399998 meters Centerline goodness [0,1] 0.8341613247863248 Centerline is valid? [False, False] Translation: X:5.35, Y:0.17, Z:-1.33 [[ 9.99899318e-01 -6.25500324e-03 -1.27368772e-02 5.35110825e+00] [ 6.25044451e-03 9.99980387e-01 -3.97691899e-04 1.67113988e-01] [ 1.27391150e-02 3.18040714e-04 9.99918804e-01 -1.32963437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.52455357399998 meters Centerline goodness [0,1] 0.8363758029978587 Centerline is valid? [False, False] Translation: X:5.35, Y:0.17, Z:-1.33 [[ 9.99891693e-01 -6.66051787e-03 -1.31240303e-02 5.35233703e+00] [ 6.65734961e-03 9.99977799e-01 -2.85082450e-04 1.67186953e-01] [ 1.31256378e-02 1.97680316e-04 9.99913836e-01 -1.32913239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.55455357399998 meters Centerline goodness [0,1] 0.8346990145672665 Centerline is valid? [False, False] Translation: X:5.36, Y:0.17, Z:-1.33 [[ 9.99870478e-01 -7.78967272e-03 -1.40836022e-02 5.35607596e+00] [ 7.77841308e-03 9.99969383e-01 -8.54086852e-04 1.68704111e-01] [ 1.40898241e-02 7.44428154e-04 9.99900456e-01 -1.32999032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.58455357399998 meters Centerline goodness [0,1] 0.8339925173703902 Centerline is valid? [False, False] Translation: X:5.36, Y:0.17, Z:-1.33 [[ 9.99854529e-01 -8.57082244e-03 -1.47465729e-02 5.35908203e+00] [ 8.54817544e-03 9.99962187e-01 -1.59809472e-03 1.70101927e-01] [ 1.47597122e-02 1.47180595e-03 9.99889986e-01 -1.33170175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.61455357399998 meters Centerline goodness [0,1] 0.8334627225271047 Centerline is valid? [False, False] Translation: X:5.36, Y:0.17, Z:-1.33 [[ 9.99837377e-01 -9.36101837e-03 -1.54139611e-02 5.36225419e+00] [ 9.32494943e-03 9.99953617e-01 -2.41023075e-03 1.71568003e-01] [ 1.54358084e-02 2.26610438e-03 9.99878293e-01 -1.33369831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.64455357399999 meters Centerline goodness [0,1] 0.8291025812491641 Centerline is valid? [False, False] Translation: X:5.37, Y:0.17, Z:-1.33 [[ 9.99817908e-01 -1.01585914e-02 -1.61540896e-02 5.36529271e+00] [ 1.01103480e-02 9.99944191e-01 -3.06531602e-03 1.73160124e-01] [ 1.61843273e-02 2.90143438e-03 9.99864815e-01 -1.33496189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.674553574 meters Centerline goodness [0,1] 0.8319649113423017 Centerline is valid? [False, False] Translation: X:5.37, Y:0.17, Z:-1.33 [[ 9.99811737e-01 -1.03057697e-02 -1.64402481e-02 5.36605231e+00] [ 1.02583000e-02 9.99942974e-01 -2.96913040e-03 1.73540585e-01] [ 1.64699098e-02 2.79992242e-03 9.99860442e-01 -1.33453159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.704553574 meters Centerline goodness [0,1] 0.8312438183324868 Centerline is valid? [False, False] Translation: X:5.37, Y:0.17, Z:-1.33 [[ 9.99808649e-01 -1.03366313e-02 -1.66078338e-02 5.36657130e+00] [ 1.02884811e-02 9.99942626e-01 -2.98207905e-03 1.74133990e-01] [ 1.66377056e-02 2.81063905e-03 9.99857633e-01 -1.33445139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.734553574 meters Centerline goodness [0,1] 0.8304124812994229 Centerline is valid? [False, False] Translation: X:5.37, Y:0.17, Z:-1.33 [[ 9.99816364e-01 -7.28464869e-03 -1.77248803e-02 5.36983050e+00] [ 7.30893083e-03 9.99972437e-01 1.30555166e-03 1.74916148e-01] [ 1.77148812e-02 -1.43486184e-03 9.99842050e-01 -1.33315159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.764553574 meters Centerline goodness [0,1] 0.8306821821287499 Centerline is valid? [False, False] Translation: X:5.37, Y:0.18, Z:-1.33 [[ 9.99826252e-01 -6.60189199e-03 -1.74321723e-02 5.36854749e+00] [ 6.62600868e-03 9.99977169e-01 1.32606336e-03 1.76133874e-01] [ 1.74230198e-02 -1.44133869e-03 9.99847169e-01 -1.33307663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.794553574 meters Centerline goodness [0,1] 0.825137775884561 Centerline is valid? [False, False] Translation: X:5.36, Y:0.18, Z:-1.33 [[ 9.99853966e-01 -4.24933767e-03 -1.65526139e-02 5.36400157e+00] [ 4.28087463e-03 9.99989088e-01 1.87028968e-03 1.77883209e-01] [ 1.65444858e-02 -1.94087622e-03 9.99861247e-01 -1.33228052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.824553574 meters Centerline goodness [0,1] 0.8277950434297554 Centerline is valid? [False, False] Translation: X:5.36, Y:0.18, Z:-1.33 [[ 9.99860353e-01 -3.56494836e-03 -1.63268180e-02 5.36297505e+00] [ 3.59485838e-03 9.99991913e-01 1.80297472e-03 1.79128638e-01] [ 1.63202585e-02 -1.86141554e-03 9.99865083e-01 -1.33246300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.854553574 meters Centerline goodness [0,1] 0.8248322325667754 Centerline is valid? [False, False] Translation: X:5.36, Y:0.18, Z:-1.33 [[ 9.99872396e-01 -2.26421661e-03 -1.58134534e-02 5.36073393e+00] [ 2.29185622e-03 9.99995877e-01 1.72995097e-03 1.81369396e-01] [ 1.58094712e-02 -1.76597238e-03 9.99873463e-01 -1.33283775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.884553574 meters Centerline goodness [0,1] 0.8257878443097928 Centerline is valid? [False, False] Translation: X:5.36, Y:0.18, Z:-1.33 [[ 9.99872952e-01 -2.14371601e-03 -1.57950925e-02 5.36068896e+00] [ 2.17133159e-03 9.99996144e-01 1.73142274e-03 1.81668564e-01] [ 1.57913199e-02 -1.76549915e-03 9.99873751e-01 -1.33289840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.914553574 meters Centerline goodness [0,1] 0.8256593770709079 Centerline is valid? [False, False] Translation: X:5.36, Y:0.18, Z:-1.33 [[ 9.99868076e-01 -2.48438440e-03 -1.60517301e-02 5.36155551e+00] [ 2.51537965e-03 9.99995010e-01 1.91105960e-03 1.81173696e-01] [ 1.60469022e-02 -1.95118368e-03 9.99869336e-01 -1.33247956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.944553574 meters Centerline goodness [0,1] 0.8260662377888968 Centerline is valid? [False, False] Translation: X:5.36, Y:0.18, Z:-1.33 [[ 9.99859625e-01 -3.00607798e-03 -1.64831342e-02 5.36259280e+00] [ 3.04290240e-03 9.99992930e-01 2.20944203e-03 1.81873266e-01] [ 1.64763759e-02 -2.25928844e-03 9.99861703e-01 -1.33083360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.97455357399997 meters Centerline goodness [0,1] 0.8251329963210968 Centerline is valid? [False, False] Translation: X:5.37, Y:0.18, Z:-1.33 [[ 9.99844318e-01 -3.97486234e-03 -1.71912741e-02 5.36517917e+00] [ 4.01208085e-03 9.99989681e-01 2.13101786e-03 1.81912052e-01] [ 1.71826262e-02 -2.19965888e-03 9.99849948e-01 -1.33060086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.00455357399997 meters Centerline goodness [0,1] 0.8248767297598218 Centerline is valid? [False, False] Translation: X:5.36, Y:0.18, Z:-1.34 [[ 9.99829870e-01 -1.56410581e-02 -9.77690920e-03 5.36325746e+00] [ 1.56396965e-02 9.99877669e-01 -2.15717867e-04 1.82920027e-01] [ 9.77908724e-03 6.27732741e-05 9.99952182e-01 -1.33976576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.03455357399997 meters Centerline goodness [0,1] 0.8245356923978789 Centerline is valid? [False, False] Translation: X:5.37, Y:0.18, Z:-1.34 [[ 9.99744460e-01 -1.93454113e-02 -1.16948981e-02 5.37226236e+00] [ 1.93371468e-02 9.99812684e-01 -8.19347150e-04 1.81631807e-01] [ 1.17085581e-02 5.92991811e-04 9.99931277e-01 -1.34086783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.06455357399997 meters Centerline goodness [0,1] 0.8217689617427983 Centerline is valid? [False, False] Translation: X:5.38, Y:0.18, Z:-1.34 [[ 9.99637577e-01 -2.31919356e-02 -1.36692288e-02 5.38152938e+00] [ 2.31794783e-02 9.99730748e-01 -1.06909224e-03 1.79864130e-01] [ 1.36903427e-02 7.51859188e-04 9.99906000e-01 -1.34122865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.09455357399997 meters Centerline goodness [0,1] 0.8269603619129685 Centerline is valid? [False, False] Translation: X:5.40, Y:0.18, Z:-1.34 [[ 0.99925765 -0.03495212 -0.01620154 5.39825206] [ 0.0348487 0.99937066 -0.00662258 0.1769921 ] [ 0.01642282 0.00605307 0.99984681 -1.3435452 ] [ 0. 0. 0. 1. ]] SLAMing on 190.12455357399998 meters Centerline goodness [0,1] 0.8247534117011215 Centerline is valid? [False, False] Translation: X:5.41, Y:0.17, Z:-1.34 [[ 9.99090870e-01 -3.85499406e-02 -1.82026505e-02 5.40737747e+00] [ 3.84507970e-02 9.99243861e-01 -5.76571002e-03 1.74344043e-01] [ 1.84111545e-02 5.06056182e-03 9.99817693e-01 -1.34195583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.15455357399998 meters Centerline goodness [0,1] 0.8282375322734067 Centerline is valid? [False, False] Translation: X:5.41, Y:0.17, Z:-1.34 [[ 0.99878071 -0.04538595 -0.01942183 5.41396665] [ 0.04521516 0.99893542 -0.00914452 0.17127888] [ 0.01981619 0.00825521 0.99976956 -1.34096079] [ 0. 0. 0. 1. ]] SLAMing on 190.18455357399998 meters Centerline goodness [0,1] 0.8244745928604442 Centerline is valid? [False, False] Translation: X:5.42, Y:0.17, Z:-1.33 [[ 9.98761391e-01 -4.52073026e-02 -2.07842037e-02 5.42108993e+00] [ 4.51797679e-02 9.98977264e-01 -1.79268973e-03 1.66488659e-01] [ 2.08439896e-02 8.51443788e-04 9.99782378e-01 -1.33281628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.21455357399998 meters Centerline goodness [0,1] 0.8316122176507452 Centerline is valid? [False, False] Translation: X:5.42, Y:0.17, Z:-1.33 [[ 9.98785149e-01 -4.47788221e-02 -2.05689635e-02 5.41964781e+00] [ 4.47763910e-02 9.98996867e-01 -5.78958177e-04 1.65183890e-01] [ 2.05742551e-02 -3.42749122e-04 9.99788269e-01 -1.33034982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.24455357399998 meters Centerline goodness [0,1] 0.8276865346965412 Centerline is valid? [False, False] Translation: X:5.42, Y:0.16, Z:-1.33 [[ 9.98896436e-01 -4.16790189e-02 -2.16510813e-02 5.42232576e+00] [ 4.17950910e-02 9.99114009e-01 4.93628233e-03 1.63248256e-01] [ 2.14261593e-02 -5.83574374e-03 9.99753401e-01 -1.32706458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.27455357399998 meters Centerline goodness [0,1] 0.8353688324377138 Centerline is valid? [False, False] Translation: X:5.42, Y:0.16, Z:-1.32 [[ 0.99901301 -0.03830207 -0.02249353 5.42440708] [ 0.03853373 0.99920769 0.0099572 0.1615376 ] [ 0.02209433 -0.01081413 0.9996974 -1.32496089] [ 0. 0. 0. 1. ]] SLAMing on 190.30455357399998 meters Centerline goodness [0,1] 0.8420568086431454 Centerline is valid? [False, False] Translation: X:5.42, Y:0.16, Z:-1.33 [[ 0.99910608 -0.03641735 -0.02146651 5.42019069] [ 0.03664178 0.99927686 0.01015579 0.16160497] [ 0.02108114 -0.01093328 0.99971798 -1.32520201] [ 0. 0. 0. 1. ]] SLAMing on 190.33455357399998 meters Centerline goodness [0,1] 0.8330936813261347 Centerline is valid? [False, False] Translation: X:5.42, Y:0.16, Z:-1.33 [[ 0.99914358 -0.03563658 -0.02102732 5.41842439] [ 0.03585874 0.99930395 0.01028407 0.16154316] [ 0.0206462 -0.01102927 0.99972601 -1.32521186] [ 0. 0. 0. 1. ]] SLAMing on 190.36455357399998 meters Centerline goodness [0,1] 0.8317062588133203 Centerline is valid? [False, False] Translation: X:5.43, Y:0.16, Z:-1.32 [[ 0.99909759 -0.03010996 -0.02995657 5.42943945] [ 0.03032182 0.99951811 0.00664336 0.16017743] [ 0.0297421 -0.00754571 0.99952912 -1.32106715] [ 0. 0. 0. 1. ]] SLAMing on 190.39455357399999 meters Centerline goodness [0,1] 0.8285559174809989 Centerline is valid? [False, False] Translation: X:5.43, Y:0.16, Z:-1.32 [[ 0.99911706 -0.02964531 -0.02977008 5.42872909] [ 0.0298558 0.99953209 0.0066509 0.16041504] [ 0.02955899 -0.00753383 0.99953465 -1.32144026] [ 0. 0. 0. 1. ]] SLAMing on 190.424553574 meters Centerline goodness [0,1] 0.8315447154471545 Centerline is valid? [False, False] Translation: X:5.43, Y:0.16, Z:-1.32 [[ 0.99913307 -0.02928091 -0.02959281 5.42831695] [ 0.02948678 0.99954374 0.00654459 0.1608368 ] [ 0.02938768 -0.00741151 0.99954061 -1.32206027] [ 0. 0. 0. 1. ]] SLAMing on 190.454553574 meters Centerline goodness [0,1] 0.8292788997309124 Centerline is valid? [False, False] Translation: X:5.43, Y:0.16, Z:-1.32 [[ 0.99918056 -0.02822677 -0.02900787 5.42600095] [ 0.02843901 0.9995715 0.00693034 0.16043237] [ 0.02879982 -0.00774962 0.99955516 -1.32193814] [ 0. 0. 0. 1. ]] SLAMing on 190.484553574 meters Centerline goodness [0,1] 0.8290800380486479 Centerline is valid? [False, False] Translation: X:5.42, Y:0.16, Z:-1.32 [[ 0.99920872 -0.02755126 -0.02868553 5.42482947] [ 0.02776897 0.9995883 0.00721896 0.15949556] [ 0.02847483 -0.00800981 0.99956242 -1.32207119] [ 0. 0. 0. 1. ]] SLAMing on 190.514553574 meters Centerline goodness [0,1] 0.8271204901293396 Centerline is valid? [False, False] Translation: X:5.42, Y:0.16, Z:-1.32 [[ 0.99923378 -0.02698391 -0.02834994 5.42354451] [ 0.02720307 0.99960273 0.00737333 0.1592528 ] [ 0.02813971 -0.00813888 0.99957087 -1.32209955] [ 0. 0. 0. 1. ]] SLAMing on 190.544553574 meters Centerline goodness [0,1] 0.8268368871383946 Centerline is valid? [False, False] Translation: X:5.44, Y:0.16, Z:-1.33 [[ 9.99432239e-01 -2.54006509e-02 -2.21360928e-02 5.44032901e+00] [ 2.53947983e-02 9.99677351e-01 -5.45503783e-04 1.61660597e-01] [ 2.21428067e-02 -1.69475433e-05 9.99754818e-01 -1.32946634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.574553574 meters Centerline goodness [0,1] 0.8261319111885067 Centerline is valid? [False, False] Translation: X:5.44, Y:0.16, Z:-1.33 [[ 9.99548157e-01 -2.04802149e-02 -2.20009596e-02 5.43826631e+00] [ 2.05979057e-02 9.99774648e-01 5.13609943e-03 1.59852287e-01] [ 2.18908132e-02 -5.58695241e-03 9.99744757e-01 -1.32597601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.604553574 meters Centerline goodness [0,1] 0.8253659064469876 Centerline is valid? [False, False] Translation: X:5.45, Y:0.16, Z:-1.33 [[ 9.99695111e-01 -1.86488746e-02 -1.61834380e-02 5.45482042e+00] [ 1.86048598e-02 9.99822807e-01 -2.86606376e-03 1.62120791e-01] [ 1.62340193e-02 2.56409934e-03 9.99864932e-01 -1.33281735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.634553574 meters Centerline goodness [0,1] 0.8244221023820493 Centerline is valid? [False, False] Translation: X:5.46, Y:0.16, Z:-1.33 [[ 9.99758908e-01 -1.45039176e-02 -1.64852393e-02 5.45505738e+00] [ 1.45450858e-02 9.99891382e-01 2.38011724e-03 1.60657477e-01] [ 1.64489277e-02 -2.61932263e-03 9.99861276e-01 -1.33043740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.664553574 meters Centerline goodness [0,1] 0.822365219272157 Centerline is valid? [False, False] Translation: X:5.45, Y:0.16, Z:-1.33 [[ 9.99773435e-01 -1.38620721e-02 -1.61530881e-02 5.45359522e+00] [ 1.39059972e-02 9.99899900e-01 2.61015332e-03 1.60816271e-01] [ 1.61152890e-02 -2.83418675e-03 9.99866123e-01 -1.33016242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.694553574 meters Centerline goodness [0,1] 0.8214682228059249 Centerline is valid? [False, False] Translation: X:5.45, Y:0.16, Z:-1.33 [[ 9.99783722e-01 -1.34187572e-02 -1.58885506e-02 5.45258206e+00] [ 1.34666429e-02 9.99905084e-01 2.91069906e-03 1.60532319e-01] [ 1.58479846e-02 -3.12403498e-03 9.99869532e-01 -1.32983227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.72455357399997 meters Centerline goodness [0,1] 0.8291355216119597 Centerline is valid? [False, False] Translation: X:5.45, Y:0.16, Z:-1.33 [[ 9.99792159e-01 -1.30126333e-02 -1.56942803e-02 5.45166960e+00] [ 1.30691101e-02 9.99908465e-01 3.50137917e-03 1.59163317e-01] [ 1.56472816e-02 -3.70576172e-03 9.99870707e-01 -1.32923661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.75455357399997 meters Centerline goodness [0,1] 0.8269497000461468 Centerline is valid? [False, False] Translation: X:5.45, Y:0.16, Z:-1.33 [[ 9.99789734e-01 -1.30729474e-02 -1.57982684e-02 5.45193617e+00] [ 1.31367788e-02 9.99905933e-01 3.94340085e-03 1.58314331e-01] [ 1.57452305e-02 -4.15011004e-03 9.99867423e-01 -1.32858484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.78455357399997 meters Centerline goodness [0,1] 0.8281177782007014 Centerline is valid? [False, False] Translation: X:5.45, Y:0.16, Z:-1.33 [[ 9.99785056e-01 -1.32582759e-02 -1.59392779e-02 5.45223105e+00] [ 1.33366602e-02 9.99899438e-01 4.82147997e-03 1.55896894e-01] [ 1.58737505e-02 -5.03302035e-03 9.99861337e-01 -1.32715272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.81455357399997 meters Centerline goodness [0,1] 0.8320128947655994 Centerline is valid? [False, False] Translation: X:5.45, Y:0.15, Z:-1.33 [[ 9.99783296e-01 -1.33016887e-02 -1.60133127e-02 5.45232647e+00] [ 1.33894356e-02 9.99895857e-01 5.38493588e-03 1.54398559e-01] [ 1.59400163e-02 -5.59817816e-03 9.99857278e-01 -1.32628727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.84455357399997 meters Centerline goodness [0,1] 0.830745214033358 Centerline is valid? [False, False] Translation: X:5.45, Y:0.15, Z:-1.33 [[ 0.99977814 -0.0134732 -0.01619107 5.45300462] [ 0.01356576 0.99989218 0.0056205 0.15324519] [ 0.0161136 -0.0058389 0.99985312 -1.32622151] [ 0. 0. 0. 1. ]] SLAMing on 190.87455357399998 meters Centerline goodness [0,1] 0.8262484523318201 Centerline is valid? [False, False] Translation: X:5.45, Y:0.15, Z:-1.33 [[ 0.99976524 -0.01398129 -0.01655274 5.45484558] [ 0.01407706 0.99988476 0.0056837 0.15161731] [ 0.01647136 -0.00591538 0.99984684 -1.32706654] [ 0. 0. 0. 1. ]] SLAMing on 190.90455357399998 meters Centerline goodness [0,1] 0.8269087907552621 Centerline is valid? [False, False] Translation: X:5.46, Y:0.15, Z:-1.33 [[ 0.99975793 -0.01424261 -0.01676987 5.45593644] [ 0.01433948 0.99988111 0.00567019 0.15089592] [ 0.01668711 -0.00590929 0.9998433 -1.32762675] [ 0. 0. 0. 1. ]] SLAMing on 190.93455357399998 meters Centerline goodness [0,1] 0.8270262831980184 Centerline is valid? [False, False] Translation: X:5.46, Y:0.15, Z:-1.33 [[ 0.99976525 -0.01393683 -0.01658958 5.45543822] [ 0.01403717 0.99988378 0.00594764 0.1494108 ] [ 0.01650476 -0.00617911 0.99984469 -1.32782843] [ 0. 0. 0. 1. ]] SLAMing on 190.96455357399998 meters Centerline goodness [0,1] 0.8278738163400132 Centerline is valid? [False, False] Translation: X:5.45, Y:0.15, Z:-1.33 [[ 0.9997746 -0.01351845 -0.01637097 5.45451422] [ 0.01362032 0.99988847 0.00612672 0.14876422] [ 0.01628632 -0.00634832 0.99984722 -1.32781941] [ 0. 0. 0. 1. ]] SLAMing on 190.99455357399998 meters Centerline goodness [0,1] 0.8281353499668801 Centerline is valid? [False, False] Translation: X:5.45, Y:0.15, Z:-1.33 [[ 0.99980652 -0.01209035 -0.01551617 5.45096768] [ 0.0121933 0.99990416 0.00655708 0.14809585] [ 0.01543541 -0.006745 0.99985812 -1.32746029] [ 0. 0. 0. 1. ]] SLAMing on 191.02455357399998 meters Centerline goodness [0,1] 0.8259146089685359 Centerline is valid? [False, False] Translation: X:5.45, Y:0.15, Z:-1.33 [[ 0.99982145 -0.01138582 -0.01508099 5.44937918] [ 0.01148309 0.99991372 0.00637925 0.14856695] [ 0.01500706 -0.00655129 0.99986593 -1.32798506] [ 0. 0. 0. 1. ]] SLAMing on 191.05455357399998 meters Centerline goodness [0,1] 0.8254072733256541 Centerline is valid? [False, False] Translation: X:5.46, Y:0.15, Z:-1.33 [[ 9.99937176e-01 -4.43909788e-03 -1.02926104e-02 5.46462333e+00] [ 4.45267750e-03 9.99989246e-01 1.29681556e-03 1.52195240e-01] [ 1.02867430e-02 -1.34256377e-03 9.99946189e-01 -1.33348684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.08455357399998 meters Centerline goodness [0,1] 0.8244207992559971 Centerline is valid? [False, False] Translation: X:5.46, Y:0.15, Z:-1.33 [[ 9.99949295e-01 -3.04023922e-03 -9.60019926e-03 5.46177233e+00] [ 3.05144687e-03 9.99994680e-01 1.15300779e-03 1.53808804e-01] [ 9.59664277e-03 -1.18224383e-03 9.99953252e-01 -1.33398172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.11455357399998 meters Centerline goodness [0,1] 0.8215853625282905 Centerline is valid? [False, False] Translation: X:5.46, Y:0.16, Z:-1.33 [[ 9.99959085e-01 -1.73482252e-03 -8.87799538e-03 5.45898872e+00] [ 1.74293151e-03 9.99998071e-01 9.05725053e-04 1.55618641e-01] [ 8.87640698e-03 -9.21161733e-04 9.99960180e-01 -1.33458279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.14455357399999 meters Centerline goodness [0,1] 0.8202051533208173 Centerline is valid? [False, False] Translation: X:5.45, Y:0.16, Z:-1.33 [[ 9.99969785e-01 7.70307012e-04 -7.73530074e-03 5.45384188e+00] [-7.59220933e-04 9.99998681e-01 1.43601423e-03 1.56899308e-01] [ 7.73639670e-03 -1.43009804e-03 9.99969051e-01 -1.33394433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.174553574 meters Centerline goodness [0,1] 0.818982626899758 Centerline is valid? [False, False] Translation: X:5.45, Y:0.16, Z:-1.33 [[ 9.99971450e-01 1.37924041e-03 -7.42948643e-03 5.45233216e+00] [-1.36747852e-03 9.99997804e-01 1.58798358e-03 1.57174912e-01] [ 7.43166033e-03 -1.57777858e-03 9.99971140e-01 -1.33338657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.204553574 meters Centerline goodness [0,1] 0.819393906479118 Centerline is valid? [False, False] Translation: X:5.45, Y:0.16, Z:-1.33 [[ 9.99974437e-01 2.92848832e-03 -6.52301395e-03 5.44842693e+00] [-2.91507307e-03 9.99993619e-01 2.06516071e-03 1.57120696e-01] [ 6.52902012e-03 -2.04609286e-03 9.99976592e-01 -1.33252794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.234553574 meters Centerline goodness [0,1] 0.8228381796915377 Centerline is valid? [False, False] Translation: X:5.45, Y:0.16, Z:-1.33 [[ 9.99975036e-01 3.44186730e-03 -6.17097211e-03 5.44729794e+00] [-3.42983694e-03 9.99992199e-01 1.95903284e-03 1.57277398e-01] [ 6.17766670e-03 -1.93781851e-03 9.99979040e-01 -1.33306041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.264553574 meters Centerline goodness [0,1] 0.8184063399012105 Centerline is valid? [False, False] Translation: X:5.44, Y:0.16, Z:-1.33 [[ 9.99974562e-01 4.56986230e-03 -5.47638514e-03 5.44495079e+00] [-4.56101255e-03 9.99988274e-01 1.62738570e-03 1.58300810e-01] [ 5.48375786e-03 -1.60236644e-03 9.99983680e-01 -1.33428726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.294553574 meters Centerline goodness [0,1] 0.817395534893778 Centerline is valid? [False, False] Translation: X:5.44, Y:0.16, Z:-1.34 [[ 9.99973864e-01 5.10959356e-03 -5.11492037e-03 5.44393898e+00] [-5.10318528e-03 9.99986178e-01 1.26512839e-03 1.59230834e-01] [ 5.12131397e-03 -1.23899294e-03 9.99986118e-01 -1.33525656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.324553574 meters Centerline goodness [0,1] 0.8175763132348183 Centerline is valid? [False, False] Translation: X:5.44, Y:0.16, Z:-1.34 [[ 9.99970551e-01 6.19437823e-03 -4.53054694e-03 5.44153848e+00] [-6.18888524e-03 9.99980098e-01 1.22545007e-03 1.59838237e-01] [ 4.53804767e-03 -1.19737494e-03 9.99988986e-01 -1.33546115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.354553574 meters Centerline goodness [0,1] 0.8175763132348183 Centerline is valid? [False, False] Translation: X:5.44, Y:0.16, Z:-1.34 [[ 9.99970551e-01 6.19437823e-03 -4.53054694e-03 5.44153848e+00] [-6.18888524e-03 9.99980098e-01 1.22545007e-03 1.59838237e-01] [ 4.53804767e-03 -1.19737494e-03 9.99988986e-01 -1.33546115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.384553574 meters Centerline goodness [0,1] 0.8186528497409327 Centerline is valid? [False, False] Translation: X:5.44, Y:0.16, Z:-1.34 [[ 9.99970431e-01 6.21327558e-03 -4.53128967e-03 5.44164987e+00] [-6.20828270e-03 9.99980107e-01 1.11510138e-03 1.59770769e-01] [ 4.53812796e-03 -1.08693688e-03 9.99989112e-01 -1.33574333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.414553574 meters Centerline goodness [0,1] 0.818145107013057 Centerline is valid? [False, False] Translation: X:5.44, Y:0.16, Z:-1.34 [[ 9.99970260e-01 6.22982467e-03 -4.54618864e-03 5.44186460e+00] [-6.22576557e-03 9.99980209e-01 9.06463222e-04 1.59869382e-01] [ 4.55174577e-03 -8.78132759e-04 9.99989255e-01 -1.33627655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.444553574 meters Centerline goodness [0,1] 0.8161279016472999 Centerline is valid? [False, False] Translation: X:5.44, Y:0.16, Z:-1.34 [[ 9.99970420e-01 6.20020538e-03 -4.55165303e-03 5.44231728e+00] [-6.19851966e-03 9.99980715e-01 3.84366337e-04 1.60663049e-01] [ 4.55394840e-03 -3.56141457e-04 9.99989567e-01 -1.33753051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.47455357399997 meters Centerline goodness [0,1] 0.8151237890204521 Centerline is valid? [False, False] Translation: X:5.44, Y:0.16, Z:-1.34 [[ 9.99971037e-01 5.95904836e-03 -4.73447823e-03 5.44329114e+00] [-5.95860052e-03 9.99982241e-01 1.08690437e-04 1.61120158e-01] [ 4.73504184e-03 -8.04764247e-05 9.99988786e-01 -1.33822493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.50455357399997 meters Centerline goodness [0,1] 0.8140847352361408 Centerline is valid? [False, False] Translation: X:5.45, Y:0.16, Z:-1.34 [[ 9.99973045e-01 5.01158600e-03 -5.36593423e-03 5.44624088e+00] [-5.01307223e-03 9.99987400e-01 -2.63562169e-04 1.60541071e-01] [ 5.36454576e-03 2.90454880e-04 9.99985569e-01 -1.33958537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.53455357399997 meters Centerline goodness [0,1] 0.8178136558762386 Centerline is valid? [False, False] Translation: X:5.45, Y:0.16, Z:-1.34 [[ 9.99973360e-01 3.97425763e-03 -6.12242114e-03 5.44939499e+00] [-3.97655611e-03 9.99992027e-01 -3.63293590e-04 1.59460960e-01] [ 6.12092850e-03 3.87630063e-04 9.99981192e-01 -1.34016543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.56455357399997 meters Centerline goodness [0,1] 0.8164196123147093 Centerline is valid? [False, False] Translation: X:5.45, Y:0.16, Z:-1.34 [[ 9.99981120e-01 -3.11707220e-04 -6.13699632e-03 5.45006716e+00] [ 2.83207270e-04 9.99989175e-01 -4.64427888e-03 1.58470788e-01] [ 6.13837754e-03 4.64245315e-03 9.99970384e-01 -1.34148281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.59455357399997 meters Centerline goodness [0,1] 0.8170261313630685 Centerline is valid? [False, False] Translation: X:5.45, Y:0.16, Z:-1.34 [[ 9.99976905e-01 -9.99017243e-04 -6.72242739e-03 5.45213150e+00] [ 9.70062325e-04 9.99990245e-01 -4.30909461e-03 1.57412813e-01] [ 6.72666667e-03 4.30247392e-03 9.99968120e-01 -1.34103189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.62455357399998 meters Centerline goodness [0,1] 0.8181322872398387 Centerline is valid? [False, False] Translation: X:5.45, Y:0.16, Z:-1.34 [[ 9.99972528e-01 -1.69497275e-03 -7.21595674e-03 5.45373287e+00] [ 1.67081203e-03 9.99992983e-01 -3.35294832e-03 1.55028087e-01] [ 7.22158926e-03 3.34079970e-03 9.99968343e-01 -1.33937387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.65455357399998 meters Centerline goodness [0,1] 0.8202911986039917 Centerline is valid? [False, False] Translation: X:5.45, Y:0.15, Z:-1.34 [[ 9.99971030e-01 -1.78750158e-03 -7.39886565e-03 5.45397845e+00] [ 1.76820633e-03 9.99995021e-01 -2.61358593e-03 1.53765112e-01] [ 7.40350060e-03 2.60042750e-03 9.99969213e-01 -1.33797675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.68455357399998 meters Centerline goodness [0,1] 0.8225604443476366 Centerline is valid? [False, False] Translation: X:5.45, Y:0.15, Z:-1.34 [[ 9.99971080e-01 -1.72083782e-03 -7.40793003e-03 5.45379760e+00] [ 1.70547929e-03 9.99996384e-01 -2.07907227e-03 1.52963655e-01] [ 7.41148099e-03 2.06637807e-03 9.99970400e-01 -1.33704873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.71455357399998 meters Centerline goodness [0,1] 0.8213262773125289 Centerline is valid? [False, False] Translation: X:5.45, Y:0.15, Z:-1.34 [[ 9.99971968e-01 -1.50877551e-03 -7.33398440e-03 5.45302665e+00] [ 1.50022151e-03 9.99998188e-01 -1.17171332e-03 1.51552399e-01] [ 7.33573897e-03 1.16067788e-03 9.99972419e-01 -1.33526572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.74455357399998 meters Centerline goodness [0,1] 0.8211907880375464 Centerline is valid? [False, False] Translation: X:5.45, Y:0.15, Z:-1.33 [[ 9.99971362e-01 -1.50221410e-03 -7.41746461e-03 5.45297068e+00] [ 1.49634718e-03 9.99998563e-01 -7.96446610e-04 1.51367915e-01] [ 7.41865039e-03 7.85324699e-04 9.99972173e-01 -1.33427796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.77455357399998 meters Centerline goodness [0,1] 0.8233003893381252 Centerline is valid? [False, False] Translation: X:5.45, Y:0.15, Z:-1.33 [[ 9.99969918e-01 -1.68495455e-03 -7.57121819e-03 5.45349735e+00] [ 1.67928486e-03 9.99998305e-01 -7.55142884e-04 1.52037820e-01] [ 7.57247774e-03 7.42405936e-04 9.99971053e-01 -1.33393854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.80455357399998 meters Centerline goodness [0,1] 0.8266942014020977 Centerline is valid? [False, False] Translation: X:5.45, Y:0.15, Z:-1.33 [[ 9.99966696e-01 -2.07202955e-03 -7.89386065e-03 5.45486096e+00] [ 2.06509674e-03 9.99997475e-01 -8.86303438e-04 1.52458624e-01] [ 7.89567716e-03 8.69972335e-04 9.99968450e-01 -1.33431381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.83455357399998 meters Centerline goodness [0,1] 0.8246672099972834 Centerline is valid? [False, False] Translation: X:5.46, Y:0.15, Z:-1.33 [[ 9.99961416e-01 -2.64080089e-03 -8.37813780e-03 5.45675364e+00] [ 2.63394864e-03 9.99996188e-01 -8.28800479e-04 1.52123965e-01] [ 8.38029456e-03 8.06700916e-04 9.99964559e-01 -1.33447186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.86455357399998 meters Centerline goodness [0,1] 0.8258741639023329 Centerline is valid? [False, False] Translation: X:5.46, Y:0.15, Z:-1.33 [[ 9.99938251e-01 -5.10055918e-03 -9.87316191e-03 5.46310083e+00] [ 5.09187901e-03 9.99986628e-01 -9.04105844e-04 1.50412241e-01] [ 9.87764133e-03 8.53777070e-04 9.99950850e-01 -1.33478570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.89455357399999 meters Centerline goodness [0,1] 0.8229695085365188 Centerline is valid? [False, False] Translation: X:5.47, Y:0.15, Z:-1.33 [[ 9.99918666e-01 -6.51620554e-03 -1.09635672e-02 5.46735444e+00] [ 6.50712174e-03 9.99978455e-01 -8.64013223e-04 1.49284310e-01] [ 1.09689611e-02 7.92601683e-04 9.99939525e-01 -1.33499737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.924553574 meters Centerline goodness [0,1] 0.8259464197666138 Centerline is valid? [False, False] Translation: X:5.48, Y:0.15, Z:-1.33 [[ 9.99866834e-01 -1.04210153e-02 -1.25585631e-02 5.47534546e+00] [ 1.04052417e-02 9.99944992e-01 -1.32069464e-03 1.47090890e-01] [ 1.25716352e-02 1.18984388e-03 9.99920266e-01 -1.33488514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.954553574 meters Centerline goodness [0,1] 0.8249363031149831 Centerline is valid? [False, False] Translation: X:5.48, Y:0.15, Z:-1.33 [[ 9.99842685e-01 -1.15817561e-02 -1.34338251e-02 5.47846334e+00] [ 1.15698028e-02 9.99932600e-01 -9.67174652e-04 1.45869508e-01] [ 1.34441212e-02 8.11595795e-04 9.99909294e-01 -1.33408282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.984553574 meters Centerline goodness [0,1] 0.8256825353272054 Centerline is valid? [False, False] Translation: X:5.48, Y:0.15, Z:-1.33 [[ 9.99800251e-01 -1.35800980e-02 -1.46642118e-02 5.48351844e+00] [ 1.35664754e-02 9.99907443e-01 -1.02804983e-03 1.45188799e-01] [ 1.46768155e-02 8.28902810e-04 9.99891946e-01 -1.33400938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.014553574 meters Centerline goodness [0,1] 0.826150174206469 Centerline is valid? [False, False] Translation: X:5.49, Y:0.14, Z:-1.33 [[ 9.99794288e-01 -1.21012350e-02 -1.62770041e-02 5.48921994e+00] [ 1.21624325e-02 9.99919314e-01 3.66602549e-03 1.44237019e-01] [ 1.62313274e-02 -3.86323931e-03 9.99860800e-01 -1.33127393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.044553574 meters Centerline goodness [0,1] 0.8287957971926561 Centerline is valid? [False, False] Translation: X:5.49, Y:0.15, Z:-1.33 [[ 9.99792295e-01 -1.21364893e-02 -1.63728957e-02 5.48899230e+00] [ 1.22009901e-02 9.99918171e-01 3.84535782e-03 1.45502503e-01] [ 1.63248868e-02 -4.04432465e-03 9.99858561e-01 -1.32987256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.074553574 meters Centerline goodness [0,1] 0.8267459708365311 Centerline is valid? [False, False] Translation: X:5.49, Y:0.15, Z:-1.33 [[ 9.99784241e-01 -1.24395783e-02 -1.66351820e-02 5.49007928e+00] [ 1.24990078e-02 9.99915852e-01 3.47332850e-03 1.46669798e-01] [ 1.65905754e-02 -3.68050237e-03 9.99855593e-01 -1.33035953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.104553574 meters Centerline goodness [0,1] 0.8238575765034047 Centerline is valid? [False, False] Translation: X:5.49, Y:0.15, Z:-1.33 [[ 9.99773585e-01 -1.28105862e-02 -1.69901941e-02 5.49149662e+00] [ 1.28639262e-02 9.99912654e-01 3.03388821e-03 1.48055557e-01] [ 1.69498442e-02 -3.25176189e-03 9.99851053e-01 -1.33100355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.134553574 meters Centerline goodness [0,1] 0.8251572327044026 Centerline is valid? [False, False] Translation: X:5.49, Y:0.15, Z:-1.33 [[ 9.99744950e-01 -1.38791536e-02 -1.78158627e-02 5.49476727e+00] [ 1.39177390e-02 9.99901055e-01 2.04362200e-03 1.50455585e-01] [ 1.77857361e-02 -2.29105730e-03 9.99839196e-01 -1.33235117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.164553574 meters Centerline goodness [0,1] 0.8279384850719769 Centerline is valid? [False, False] Translation: X:5.50, Y:0.15, Z:-1.33 [[ 9.99725963e-01 -1.45127309e-02 -1.83678924e-02 5.49673873e+00] [ 1.45500990e-02 9.99892332e-01 1.90241634e-03 1.50989115e-01] [ 1.83383055e-02 -2.16914966e-03 9.99829486e-01 -1.33237474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.194553574 meters Centerline goodness [0,1] 0.8268017587459376 Centerline is valid? [False, False] Translation: X:5.50, Y:0.15, Z:-1.33 [[ 9.99677240e-01 -1.61527804e-02 -1.96087406e-02 5.50140250e+00] [ 1.61783905e-02 9.99868462e-01 1.14811556e-03 1.52589663e-01] [ 1.95876161e-02 -1.46498286e-03 9.99807071e-01 -1.33316254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.22455357399997 meters Centerline goodness [0,1] 0.8239534693208814 Centerline is valid? [False, False] Translation: X:5.50, Y:0.15, Z:-1.33 [[ 9.99658502e-01 -1.67246573e-02 -2.00789782e-02 5.50308436e+00] [ 1.67477986e-02 9.99859261e-01 9.84900851e-04 1.53543298e-01] [ 2.00596802e-02 -1.32084319e-03 9.99797912e-01 -1.33307490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.25455357399997 meters Centerline goodness [0,1] 0.8248681730007377 Centerline is valid? [False, False] Translation: X:5.50, Y:0.15, Z:-1.33 [[ 9.99639816e-01 -1.72519178e-02 -2.05574647e-02 5.50471393e+00] [ 1.72727560e-02 9.99850465e-01 8.36512583e-04 1.54361879e-01] [ 2.05399592e-02 -1.19129536e-03 9.99788323e-01 -1.33299370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.28455357399997 meters Centerline goodness [0,1] 0.8254794072782741 Centerline is valid? [False, False] Translation: X:5.51, Y:0.16, Z:-1.33 [[ 9.99610514e-01 -1.80832977e-02 -2.12559513e-02 5.50697472e+00] [ 1.80986244e-02 9.99836067e-01 5.28886140e-04 1.56172776e-01] [ 2.12429027e-02 -9.13383624e-04 9.99773927e-01 -1.33261410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.31455357399997 meters Centerline goodness [0,1] 0.8311850424683184 Centerline is valid? [False, False] Translation: X:5.51, Y:0.16, Z:-1.33 [[ 9.99598635e-01 -1.83732028e-02 -2.15637127e-02 5.50766091e+00] [ 1.83823423e-02 9.99831005e-01 2.25675515e-04 1.58569487e-01] [ 2.15559221e-02 -6.21976484e-04 9.99767451e-01 -1.33200762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.34455357399997 meters Centerline goodness [0,1] 0.8305933970695772 Centerline is valid? [False, False] Translation: X:5.51, Y:0.16, Z:-1.33 [[ 9.99597005e-01 -1.83991949e-02 -2.16170733e-02 5.50776860e+00] [ 1.84036164e-02 9.99830639e-01 5.60003748e-06 1.59826271e-01] [ 2.16133092e-02 -4.03430107e-04 9.99766324e-01 -1.33196618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.37455357399998 meters Centerline goodness [0,1] 0.8244613263402634 Centerline is valid? [False, False] Translation: X:5.51, Y:0.16, Z:-1.33 [[ 9.99598967e-01 -1.82729645e-02 -2.16334012e-02 5.50751530e+00] [ 1.82754818e-02 9.99832986e-01 -8.13543501e-05 1.61089736e-01] [ 2.16312747e-02 -3.14039105e-04 9.99765967e-01 -1.33163907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.40455357399998 meters Centerline goodness [0,1] 0.8254336507593947 Centerline is valid? [False, False] Translation: X:5.51, Y:0.16, Z:-1.33 [[ 9.99611911e-01 -1.77836961e-02 -2.14421858e-02 5.50630953e+00] [ 1.77833463e-02 9.99841842e-01 -2.07005110e-04 1.63608675e-01] [ 2.14424759e-02 -1.74389043e-04 9.99770068e-01 -1.33109236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.43455357399998 meters Centerline goodness [0,1] 0.8247964630398448 Centerline is valid? [False, False] Translation: X:5.51, Y:0.16, Z:-1.33 [[ 9.99615837e-01 -1.76151019e-02 -2.13982683e-02 5.50603670e+00] [ 1.76111303e-02 9.99844842e-01 -3.74050293e-04 1.64971790e-01] [ 2.14015371e-02 -2.94109289e-06 9.99770961e-01 -1.33109962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.46455357399998 meters Centerline goodness [0,1] 0.8267917629980106 Centerline is valid? [False, False] Translation: X:5.51, Y:0.17, Z:-1.33 [[ 9.99620817e-01 -1.73781849e-02 -2.13593100e-02 5.50559955e+00] [ 1.73672492e-02 9.99848935e-01 -6.97394523e-04 1.67261431e-01] [ 2.13682028e-02 3.26177624e-04 9.99771621e-01 -1.33106521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.49455357399998 meters Centerline goodness [0,1] 0.8265895953757225 Centerline is valid? [False, False] Translation: X:5.51, Y:0.17, Z:-1.33 [[ 9.99620898e-01 -1.73144478e-02 -2.14072284e-02 5.50550658e+00] [ 1.73061613e-02 9.99850073e-01 -5.72301274e-04 1.67836844e-01] [ 2.14139280e-02 2.01607367e-04 9.99770675e-01 -1.33053648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.52455357399998 meters Centerline goodness [0,1] 0.8272148669334265 Centerline is valid? [False, False] Translation: X:5.51, Y:0.17, Z:-1.33 [[ 9.99613805e-01 -1.74841140e-02 -2.15996972e-02 5.50606739e+00] [ 1.74750564e-02 9.99847115e-01 -6.08030690e-04 1.68420618e-01] [ 2.16070258e-02 2.30339945e-04 9.99766514e-01 -1.33035171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.55455357399998 meters Centerline goodness [0,1] 0.8256225848003436 Centerline is valid? [False, False] Translation: X:5.51, Y:0.17, Z:-1.33 [[ 9.99577937e-01 -1.85262468e-02 -2.23769219e-02 5.50847322e+00] [ 1.85201889e-02 9.99828372e-01 -4.77946347e-04 1.68678898e-01] [ 2.23819360e-02 6.33198022e-05 9.99749491e-01 -1.32921404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.58455357399998 meters Centerline goodness [0,1] 0.8273857581139996 Centerline is valid? [False, False] Translation: X:5.51, Y:0.17, Z:-1.33 [[ 9.99512465e-01 -2.04207832e-02 -2.36182940e-02 5.51270521e+00] [ 2.04166447e-02 9.99791472e-01 -4.16373129e-04 1.68560791e-01] [ 2.36218716e-02 -6.60361840e-05 9.99720962e-01 -1.32802079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.61455357399998 meters Centerline goodness [0,1] 0.8249428225480964 Centerline is valid? [False, False] Translation: X:5.52, Y:0.17, Z:-1.33 [[ 9.99468905e-01 -2.15468576e-02 -2.44467102e-02 5.51581496e+00] [ 2.15393189e-02 9.99767839e-01 -5.71684071e-04 1.68761279e-01] [ 2.44533526e-02 4.48149663e-05 9.99700971e-01 -1.32809996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.64455357399999 meters Centerline goodness [0,1] 0.8343596224690096 Centerline is valid? [False, False] Translation: X:5.52, Y:0.17, Z:-1.33 [[ 9.99419866e-01 -2.27466272e-02 -2.53480300e-02 5.51921691e+00] [ 2.27331780e-02 9.99741233e-01 -8.18656097e-04 1.69018190e-01] [ 2.53600924e-02 2.41939889e-04 9.99678352e-01 -1.32838183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.674553574 meters Centerline goodness [0,1] 0.8284170050283686 Centerline is valid? [False, False] Translation: X:5.53, Y:0.17, Z:-1.33 [[ 9.99301458e-01 -2.56871629e-02 -2.71434318e-02 5.52617141e+00] [ 2.56600621e-02 9.99669820e-01 -1.34633210e-03 1.69440938e-01] [ 2.71690530e-02 6.48889481e-04 9.99630643e-01 -1.32823821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.704553574 meters Centerline goodness [0,1] 0.8238273567368053 Centerline is valid? [False, False] Translation: X:5.53, Y:0.17, Z:-1.33 [[ 9.99256446e-01 -2.66427574e-02 -2.78696598e-02 5.52867351e+00] [ 2.66125419e-02 9.99644765e-01 -1.45458772e-03 1.69695656e-01] [ 2.78985137e-02 7.11823666e-04 9.99610507e-01 -1.32798401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.734553574 meters Centerline goodness [0,1] 0.8360867459506001 Centerline is valid? [False, False] Translation: X:5.53, Y:0.17, Z:-1.33 [[ 9.99161946e-01 -2.86286341e-02 -2.92541717e-02 5.53339938e+00] [ 2.85984828e-02 9.99589930e-01 -1.44863552e-03 1.70129093e-01] [ 2.92836479e-02 6.10796561e-04 9.99570955e-01 -1.32680472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.764553574 meters Centerline goodness [0,1] 0.8359637566208695 Centerline is valid? [False, False] Translation: X:5.53, Y:0.17, Z:-1.33 [[ 9.99130043e-01 -2.92297740e-02 -2.97452126e-02 5.53495248e+00] [ 2.92016935e-02 9.99572590e-01 -1.37809107e-03 1.70699152e-01] [ 2.97727805e-02 5.08281609e-04 9.99556563e-01 -1.32610619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.794553574 meters Centerline goodness [0,1] 0.8330325152878425 Centerline is valid? [False, False] Translation: X:5.54, Y:0.17, Z:-1.33 [[ 9.99114827e-01 -2.94902368e-02 -2.99981344e-02 5.53558670e+00] [ 2.94626175e-02 9.99564954e-01 -1.36239177e-03 1.71648688e-01] [ 3.00252611e-02 4.77362259e-04 9.99549026e-01 -1.32549878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.824553574 meters Centerline goodness [0,1] 0.8353999839310104 Centerline is valid? [False, False] Translation: X:5.54, Y:0.17, Z:-1.32 [[ 9.99102502e-01 -2.77683199e-02 -3.19860975e-02 5.54159179e+00] [ 2.79172262e-02 9.99601339e-01 4.21810851e-03 1.72496247e-01] [ 3.18562160e-02 -5.10728589e-03 9.99479413e-01 -1.32049119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.854553574 meters Centerline goodness [0,1] 0.8416385361410277 Centerline is valid? [False, False] Translation: X:5.54, Y:0.17, Z:-1.32 [[ 9.99117946e-01 -2.73679548e-02 -3.18484734e-02 5.54078351e+00] [ 2.75115511e-02 9.99613162e-01 4.07920861e-03 1.74069797e-01] [ 3.17245136e-02 -4.95181143e-03 9.99484384e-01 -1.32042175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.884553574 meters Centerline goodness [0,1] 0.8374406571718142 Centerline is valid? [False, False] Translation: X:5.54, Y:0.18, Z:-1.32 [[ 0.99919432 -0.02356032 -0.0324903 5.54174012] [ 0.02383603 0.99968287 0.0081247 0.17601469] [ 0.03228857 -0.00889259 0.99943903 -1.31906472] [ 0. 0. 0. 1. ]] SLAMing on 192.914553574 meters Centerline goodness [0,1] 0.8264750418404484 Centerline is valid? [False, False] Translation: X:5.54, Y:0.18, Z:-1.32 [[ 0.99922649 -0.02273762 -0.03208474 5.53988557] [ 0.02300042 0.99970467 0.00784552 0.17820675] [ 0.03189688 -0.00857741 0.99945436 -1.31915454] [ 0. 0. 0. 1. ]] SLAMing on 192.944553574 meters Centerline goodness [0,1] 0.8397696207235184 Centerline is valid? [False, False] Translation: X:5.56, Y:0.18, Z:-1.33 [[ 9.99451741e-01 -2.04462210e-02 -2.60416962e-02 5.55687211e+00] [ 2.04688358e-02 9.99790310e-01 6.02108636e-04 1.81882932e-01] [ 2.60239247e-02 -1.13482173e-03 9.99660676e-01 -1.32600005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.97455357399997 meters Centerline goodness [0,1] 0.8334785478547855 Centerline is valid? [False, False] Translation: X:5.56, Y:0.18, Z:-1.32 [[ 9.99535064e-01 -1.57688744e-02 -2.60959324e-02 5.55577801e+00] [ 1.58998959e-02 9.99861967e-01 4.82089416e-03 1.84064411e-01] [ 2.60163102e-02 -5.23357537e-03 9.99647819e-01 -1.32439280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.00455357399997 meters Centerline goodness [0,1] 0.8309021012164938 Centerline is valid? [False, False] Translation: X:5.56, Y:0.18, Z:-1.32 [[ 0.99956022 -0.01240781 -0.02693363 5.55808442] [ 0.01265426 0.99987943 0.00899925 0.1843234 ] [ 0.02681872 -0.00933612 0.99959672 -1.3233489 ] [ 0. 0. 0. 1. ]] SLAMing on 193.03455357399997 meters Centerline goodness [0,1] 0.836375095191828 Centerline is valid? [False, False] Translation: X:5.58, Y:0.19, Z:-1.33 [[ 9.99722221e-01 -7.60786986e-03 -2.23069649e-02 5.57553845e+00] [ 7.67496767e-03 9.99966272e-01 2.92386109e-03 1.88046459e-01] [ 2.22839681e-02 -3.09425413e-03 9.99746893e-01 -1.32929727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.06455357399997 meters Centerline goodness [0,1] 0.8367304110595211 Centerline is valid? [False, False] Translation: X:5.57, Y:0.19, Z:-1.33 [[ 9.99739238e-01 -6.58120058e-03 -2.18664805e-02 5.57336237e+00] [ 6.64885105e-03 9.99973328e-01 3.02253637e-03 1.89609245e-01] [ 2.18460054e-02 -3.16713518e-03 9.99756331e-01 -1.32880781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.09455357399997 meters Centerline goodness [0,1] 0.8442339891167853 Centerline is valid? [False, False] Translation: X:5.57, Y:0.19, Z:-1.33 [[ 9.99750036e-01 -5.87095638e-03 -2.15730847e-02 5.57224478e+00] [ 5.93224151e-03 9.99978546e-01 2.77791711e-03 1.91403998e-01] [ 2.15563128e-02 -2.90519947e-03 9.99763415e-01 -1.32920798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.12455357399998 meters Centerline goodness [0,1] 0.834337899543379 Centerline is valid? [False, False] Translation: X:5.57, Y:0.19, Z:-1.33 [[ 9.99748743e-01 -2.32272121e-03 -2.22947351e-02 5.57451383e+00] [ 2.47178973e-03 9.99974760e-01 6.66103884e-03 1.92426120e-01] [ 2.22787006e-02 -6.71447310e-03 9.99729251e-01 -1.32916298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.15455357399998 meters Centerline goodness [0,1] 0.8438427492840406 Centerline is valid? [False, False] Translation: X:5.57, Y:0.19, Z:-1.33 [[ 9.99746169e-01 -2.31767185e-03 -2.24103980e-02 5.57491825e+00] [ 2.46042297e-03 9.99976847e-01 6.34438732e-03 1.93248947e-01] [ 2.23951749e-02 -6.39791597e-03 9.99728725e-01 -1.32968839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.18455357399998 meters Centerline goodness [0,1] 0.8325112868289882 Centerline is valid? [False, False] Translation: X:5.58, Y:0.19, Z:-1.33 [[ 9.99741323e-01 -2.53367046e-03 -2.26023794e-02 5.57531347e+00] [ 2.68135631e-03 9.99975240e-01 6.50617274e-03 1.92602677e-01] [ 2.25853353e-02 -6.56509477e-03 9.99723363e-01 -1.32908289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.21455357399998 meters Centerline goodness [0,1] 0.8408734719465051 Centerline is valid? [False, False] Translation: X:5.58, Y:0.19, Z:-1.32 [[ 9.99703243e-01 -1.22301331e-03 -2.43296308e-02 5.58182839e+00] [ 1.54019189e-03 9.99914021e-01 1.30222557e-02 1.89178304e-01] [ 2.43116125e-02 -1.30558635e-02 9.99619172e-01 -1.32330175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.24455357399998 meters Centerline goodness [0,1] 0.8408734719465051 Centerline is valid? [False, False] Translation: X:5.58, Y:0.19, Z:-1.32 [[ 9.99703243e-01 -1.22301331e-03 -2.43296308e-02 5.58182839e+00] [ 1.54019189e-03 9.99914021e-01 1.30222557e-02 1.89178304e-01] [ 2.43116125e-02 -1.30558635e-02 9.99619172e-01 -1.32330175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.27455357399998 meters Centerline goodness [0,1] 0.8417093302685195 Centerline is valid? [False, False] Translation: X:5.60, Y:0.19, Z:-1.33 [[ 9.99825846e-01 -1.22081838e-03 -1.86222036e-02 5.59868245e+00] [ 1.28075685e-03 9.99994037e-01 3.20706961e-03 1.90440311e-01] [ 1.86181773e-02 -3.23036161e-03 9.99821448e-01 -1.32973639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.30455357399998 meters Centerline goodness [0,1] 0.8410308685538044 Centerline is valid? [False, False] Translation: X:5.60, Y:0.19, Z:-1.33 [[ 9.99826759e-01 -1.11848739e-03 -1.85796074e-02 5.59865936e+00] [ 1.17750605e-03 9.99994295e-01 3.16589271e-03 1.90506053e-01] [ 1.85759604e-02 -3.18722184e-03 9.99822372e-01 -1.33001598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.33455357399998 meters Centerline goodness [0,1] 0.8373858193524747 Centerline is valid? [False, False] Translation: X:5.60, Y:0.19, Z:-1.33 [[ 9.99840941e-01 1.76176030e-04 -1.78342865e-02 5.59572750e+00] [-1.12625300e-04 9.99993641e-01 3.56434351e-03 1.90538570e-01] [ 1.78348010e-02 -3.56176798e-03 9.99834603e-01 -1.32974215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.36455357399998 meters Centerline goodness [0,1] 0.8396283209004057 Centerline is valid? [False, False] Translation: X:5.59, Y:0.19, Z:-1.33 [[ 9.99850791e-01 1.14353092e-03 -1.72362544e-02 5.59337455e+00] [-1.07630194e-03 9.99991780e-01 3.90921179e-03 1.90300338e-01] [ 1.72405830e-02 -3.89007708e-03 9.99843803e-01 -1.32933263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.39455357399999 meters Centerline goodness [0,1] 0.8406533005287128 Centerline is valid? [False, False] Translation: X:5.61, Y:0.19, Z:-1.34 [[ 9.99933858e-01 3.46492438e-03 -1.09669578e-02 5.60879359e+00] [-3.50609210e-03 9.99986872e-01 -3.73679789e-03 1.92003312e-01] [ 1.09538661e-02 3.77500189e-03 9.99932879e-01 -1.33634432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.424553574 meters Centerline goodness [0,1] 0.8352074650729994 Centerline is valid? [False, False] Translation: X:5.60, Y:0.19, Z:-1.34 [[ 9.99933912e-01 6.72619479e-03 -9.32360999e-03 5.60183926e+00] [-6.75137364e-03 9.99973640e-01 -2.67170891e-03 1.91431551e-01] [ 9.30539379e-03 2.73447951e-03 9.99952965e-01 -1.33532323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.454553574 meters Centerline goodness [0,1] 0.8331499528450172 Centerline is valid? [False, False] Translation: X:5.60, Y:0.19, Z:-1.34 [[ 9.99930153e-01 8.15404771e-03 -8.55570865e-03 5.59905497e+00] [-8.17440426e-03 9.99963835e-01 -2.34702780e-03 1.91750589e-01] [ 8.53626145e-03 2.41680169e-03 9.99960645e-01 -1.33530641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.484553574 meters Centerline goodness [0,1] 0.8299764582788386 Centerline is valid? [False, False] Translation: X:5.60, Y:0.19, Z:-1.33 [[ 9.99876567e-01 1.35872210e-02 -7.88915688e-03 5.59662298e+00] [-1.35694877e-02 9.99905292e-01 2.29700252e-03 1.91125407e-01] [ 7.91961959e-03 -2.18966717e-03 9.99966242e-01 -1.33495293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.514553574 meters Centerline goodness [0,1] 0.8295163398692811 Centerline is valid? [False, False] Translation: X:5.59, Y:0.19, Z:-1.34 [[ 9.99864746e-01 1.48568088e-02 -7.05443545e-03 5.59370802e+00] [-1.48396080e-02 9.99886800e-01 2.48442151e-03 1.91189714e-01] [ 7.09054746e-03 -2.37940042e-03 9.99972031e-01 -1.33502345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.544553574 meters Centerline goodness [0,1] 0.8318933919782177 Centerline is valid? [False, False] Translation: X:5.59, Y:0.19, Z:-1.33 [[ 9.99851189e-01 1.60739956e-02 -6.26303799e-03 5.59070470e+00] [-1.60557921e-02 9.99866757e-01 2.94602368e-03 1.90968388e-01] [ 6.30955786e-03 -2.84502724e-03 9.99976047e-01 -1.33443650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.574553574 meters Centerline goodness [0,1] 0.8327289802520021 Centerline is valid? [False, False] Translation: X:5.59, Y:0.19, Z:-1.33 [[ 9.99828093e-01 1.78251134e-02 -5.10388145e-03 5.58655201e+00] [-1.78069463e-02 9.99835024e-01 3.58304979e-03 1.90217747e-01] [ 5.16690770e-03 -3.49154930e-03 9.99980556e-01 -1.33387289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.604553574 meters Centerline goodness [0,1] 0.8328101292314132 Centerline is valid? [False, False] Translation: X:5.58, Y:0.19, Z:-1.33 [[ 9.99819249e-01 1.84312792e-02 -4.66455134e-03 5.58484383e+00] [-1.84131477e-02 9.99822855e-01 3.90062372e-03 1.89587282e-01] [ 4.73561852e-03 -3.81402960e-03 9.99981513e-01 -1.33338525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.634553574 meters Centerline goodness [0,1] 0.840601268300321 Centerline is valid? [False, False] Translation: X:5.58, Y:0.19, Z:-1.33 [[ 9.99799251e-01 1.96675925e-02 -3.82672001e-03 5.58166101e+00] [-1.96494377e-02 9.99795764e-01 4.72534790e-03 1.87923337e-01] [ 3.91887467e-03 -4.64920640e-03 9.99981513e-01 -1.33227048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.664553574 meters Centerline goodness [0,1] 0.8382913209122698 Centerline is valid? [False, False] Translation: X:5.58, Y:0.19, Z:-1.33 [[ 9.99792990e-01 2.00395495e-02 -3.52044265e-03 5.58082348e+00] [-2.00230499e-02 9.99788653e-01 4.66114815e-03 1.87544186e-01] [ 3.61310593e-03 -4.58969325e-03 9.99982940e-01 -1.33273864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.694553574 meters Centerline goodness [0,1] 0.8439221830526178 Centerline is valid? [False, False] Translation: X:5.58, Y:0.19, Z:-1.33 [[ 9.99788180e-01 2.03163002e-02 -3.29289946e-03 5.58028157e+00] [-2.03007761e-02 9.99782959e-01 4.68119852e-03 1.87201732e-01] [ 3.38728940e-03 -4.61335854e-03 9.99983621e-01 -1.33306564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.72455357399997 meters Centerline goodness [0,1] 0.8281654760970248 Centerline is valid? [False, False] Translation: X:5.58, Y:0.19, Z:-1.33 [[ 9.99821626e-01 1.88060431e-02 -1.74628550e-03 5.57518620e+00] [-1.88042471e-02 9.99822644e-01 1.03928698e-03 1.86574561e-01] [ 1.76552066e-03 -1.00626402e-03 9.99997935e-01 -1.33431373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.75455357399997 meters Centerline goodness [0,1] 0.8345976770953227 Centerline is valid? [False, False] Translation: X:5.58, Y:0.19, Z:-1.33 [[ 9.99820632e-01 1.88659136e-02 -1.66791466e-03 5.57502355e+00] [-1.88638953e-02 9.99821319e-01 1.21764048e-03 1.85523347e-01] [ 1.69058854e-03 -1.18595871e-03 9.99997868e-01 -1.33433000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.78455357399997 meters Centerline goodness [0,1] 0.8302992092888855 Centerline is valid? [False, False] Translation: X:5.58, Y:0.18, Z:-1.33 [[ 9.99822863e-01 1.87578417e-02 -1.54493068e-03 5.57522345e+00] [-1.87556552e-02 9.99823092e-01 1.41785183e-03 1.83568152e-01] [ 1.57125321e-03 -1.38862449e-03 9.99997801e-01 -1.33486896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.81455357399997 meters Centerline goodness [0,1] 0.839851563322455 Centerline is valid? [False, False] Translation: X:5.58, Y:0.18, Z:-1.34 [[ 9.99830225e-01 1.83404118e-02 -1.77510093e-03 5.57643672e+00] [-1.83377234e-02 9.99830696e-01 1.51913403e-03 1.81949221e-01] [ 1.80266195e-03 -1.48632481e-03 9.99997271e-01 -1.33529868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.84455357399997 meters Centerline goodness [0,1] 0.8357670005271481 Centerline is valid? [False, False] Translation: X:5.57, Y:0.18, Z:-1.34 [[ 9.99883324e-01 1.52475236e-02 -9.23136323e-04 5.57406810e+00] [-1.52500708e-02 9.99879740e-01 -2.81807899e-03 1.81557793e-01] [ 8.80056580e-04 2.83182809e-03 9.99995603e-01 -1.33682119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.87455357399998 meters Centerline goodness [0,1] 0.8415925680159257 Centerline is valid? [False, False] Translation: X:5.57, Y:0.18, Z:-1.34 [[ 9.99927916e-01 1.20059637e-02 -1.39781714e-04 5.57232632e+00] [-1.20066345e-02 9.99905042e-01 -6.76373646e-03 1.79296685e-01] [ 5.85632661e-05 6.76492721e-03 9.99977116e-01 -1.33839169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.90455357399998 meters Centerline goodness [0,1] 0.837892549876142 Centerline is valid? [False, False] Translation: X:5.58, Y:0.18, Z:-1.34 [[ 9.99941578e-01 1.07816812e-02 -7.71540772e-04 5.57593063e+00] [-1.07867289e-02 9.99918234e-01 -6.86822253e-03 1.76301200e-01] [ 6.97426701e-04 6.87614368e-03 9.99976116e-01 -1.34019398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.93455357399998 meters Centerline goodness [0,1] 0.8360660115359966 Centerline is valid? [False, False] Translation: X:5.58, Y:0.17, Z:-1.34 [[ 9.99946923e-01 1.02393064e-02 -1.14340260e-03 5.57790514e+00] [-1.02468938e-02 9.99924107e-01 -6.83971964e-03 1.74826583e-01] [ 1.07328184e-03 6.85107294e-03 9.99975955e-01 -1.34118287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.96455357399998 meters Centerline goodness [0,1] 0.8323871244175459 Centerline is valid? [False, False] Translation: X:5.58, Y:0.17, Z:-1.34 [[ 9.99951782e-01 9.70440410e-03 -1.50294387e-03 5.57985837e+00] [-9.71439594e-03 9.99929760e-01 -6.79005177e-03 1.73432579e-01] [ 1.43694490e-03 6.80432456e-03 9.99975818e-01 -1.34209129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.99455357399998 meters Centerline goodness [0,1] 0.8343273157102944 Centerline is valid? [False, False] Translation: X:5.58, Y:0.17, Z:-1.34 [[ 9.99952717e-01 9.60923267e-03 -1.49221743e-03 5.58045267e+00] [-9.61832141e-03 9.99934472e-01 -6.20796365e-03 1.70116577e-01] [ 1.43246588e-03 6.22202275e-03 9.99979617e-01 -1.34249882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.02455357399998 meters Centerline goodness [0,1] 0.8383204503218509 Centerline is valid? [False, False] Translation: X:5.58, Y:0.17, Z:-1.34 [[ 9.99949845e-01 9.93838182e-03 -1.23923451e-03 5.57954143e+00] [-9.94523130e-03 9.99934587e-01 -5.64927663e-03 1.68627768e-01] [ 1.18300878e-03 5.66131776e-03 9.99983275e-01 -1.34184559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.05455357399998 meters Centerline goodness [0,1] 0.8381602742314233 Centerline is valid? [False, False] Translation: X:5.58, Y:0.17, Z:-1.34 [[ 9.99937368e-01 1.11885656e-02 -2.74312585e-04 5.57596286e+00] [-1.11896567e-02 9.99927868e-01 -4.36470770e-03 1.65234430e-01] [ 2.25457980e-04 4.36750380e-03 9.99990437e-01 -1.34030895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.08455357399998 meters Centerline goodness [0,1] 0.8384681909085996 Centerline is valid? [False, False] Translation: X:5.57, Y:0.16, Z:-1.34 [[ 9.99916892e-01 1.28484881e-02 1.06073028e-03 5.57170086e+00] [-1.28446395e-02 9.99911172e-01 -3.55868358e-03 1.62980219e-01] [-1.10635976e-03 3.54476312e-03 9.99993105e-01 -1.34019202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.11455357399998 meters Centerline goodness [0,1] 0.8438099354385586 Centerline is valid? [False, False] Translation: X:5.57, Y:0.16, Z:-1.34 [[ 9.99906827e-01 1.35515788e-02 1.64096716e-03 5.57013223e+00] [-1.35456342e-02 9.99901841e-01 -3.58108828e-03 1.62612766e-01] [-1.68933549e-03 3.55852668e-03 9.99992241e-01 -1.34106457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.14455357399999 meters Centerline goodness [0,1] 0.8449953786766704 Centerline is valid? [False, False] Translation: X:5.57, Y:0.16, Z:-1.34 [[ 9.99939898e-01 1.06162235e-02 2.73799171e-03 5.56664828e+00] [-1.05968408e-02 9.99919356e-01 -6.99911635e-03 1.60019551e-01] [-2.81207509e-03 6.96968162e-03 9.99971757e-01 -1.34096638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.174553574 meters Centerline goodness [0,1] 0.842666376567217 Centerline is valid? [False, False] Translation: X:5.57, Y:0.16, Z:-1.34 [[ 9.99952688e-01 9.51998718e-03 1.99801627e-03 5.56973658e+00] [-9.50643735e-03 9.99932467e-01 -6.68497484e-03 1.58201138e-01] [-2.06152221e-03 6.66566454e-03 9.99975659e-01 -1.34083186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.204553574 meters Centerline goodness [0,1] 0.8430632994424402 Centerline is valid? [False, False] Translation: X:5.57, Y:0.16, Z:-1.34 [[ 9.99962088e-01 8.59892806e-03 1.37182672e-03 5.57259948e+00] [-8.58954638e-03 9.99940636e-01 -6.70409932e-03 1.56930257e-01] [-1.42939335e-03 6.69206178e-03 9.99976586e-01 -1.34164719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.234553574 meters Centerline goodness [0,1] 0.8352544971661693 Centerline is valid? [False, False] Translation: X:5.57, Y:0.16, Z:-1.34 [[ 9.99967043e-01 8.05649573e-03 1.00280559e-03 5.57443807e+00] [-8.04963738e-03 9.99945389e-01 -6.66497039e-03 1.56281834e-01] [-1.05644714e-03 6.65667851e-03 9.99977286e-01 -1.34216726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.264553574 meters Centerline goodness [0,1] 0.8396415161564392 Centerline is valid? [False, False] Translation: X:5.58, Y:0.16, Z:-1.34 [[ 9.99977833e-01 6.65728937e-03 1.16901641e-04 5.57857938e+00] [-6.65633120e-03 9.99954331e-01 -6.85779519e-03 1.55256138e-01] [-1.62550629e-04 6.85686503e-03 9.99976478e-01 -1.34325939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.294553574 meters Centerline goodness [0,1] 0.8382082337755075 Centerline is valid? [False, False] Translation: X:5.58, Y:0.16, Z:-1.35 [[ 9.99999017e-01 1.29495625e-03 -5.37028651e-04 5.58271853e+00] [-1.30140339e-03 9.99924927e-01 -1.21838372e-02 1.55283444e-01] [ 5.21210799e-04 1.21845241e-02 9.99925630e-01 -1.34719854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.324553574 meters Centerline goodness [0,1] 0.8404044299961431 Centerline is valid? [False, False] Translation: X:5.59, Y:0.15, Z:-1.35 [[ 9.99999244e-01 3.55764730e-04 -1.17711268e-03 5.58525341e+00] [-3.69788419e-04 9.99928708e-01 -1.19349432e-02 1.54442219e-01] [ 1.17278272e-03 1.19353695e-02 9.99928083e-01 -1.34679969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.354553574 meters Centerline goodness [0,1] 0.8388898103610327 Centerline is valid? [False, False] Translation: X:5.59, Y:0.15, Z:-1.34 [[ 9.99993841e-01 -2.44401969e-03 -2.51871368e-03 5.59151202e+00] [ 2.42033976e-03 9.99953245e-01 -9.36214372e-03 1.51258248e-01] [ 2.54147718e-03 9.35598992e-03 9.99953002e-01 -1.34113944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.384553574 meters Centerline goodness [0,1] 0.8395847750865052 Centerline is valid? [False, False] Translation: X:5.59, Y:0.15, Z:-1.34 [[ 9.99987792e-01 -3.64911080e-03 -3.33164727e-03 5.59440141e+00] [ 3.62003357e-03 9.99955669e-01 -8.69229413e-03 1.49807659e-01] [ 3.36321872e-03 8.68012734e-03 9.99956671e-01 -1.33958006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.414553574 meters Centerline goodness [0,1] 0.8397794647309802 Centerline is valid? [False, False] Translation: X:5.60, Y:0.15, Z:-1.34 [[ 9.99980410e-01 -4.78443412e-03 -4.03586345e-03 5.59708678e+00] [ 4.75119572e-03 9.99955047e-01 -8.20552848e-03 1.48948958e-01] [ 4.07494084e-03 8.18619256e-03 9.99958190e-01 -1.33839752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.444553574 meters Centerline goodness [0,1] 0.8418844967915775 Centerline is valid? [False, False] Translation: X:5.60, Y:0.15, Z:-1.34 [[ 9.99962698e-01 -6.87714673e-03 -5.22561078e-03 5.60187843e+00] [ 6.83529483e-03 9.99944757e-01 -7.98508555e-03 1.48531752e-01] [ 5.28023671e-03 7.94906910e-03 9.99954465e-01 -1.33726713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.47455357399997 meters Centerline goodness [0,1] 0.8380201852619936 Centerline is valid? [False, False] Translation: X:5.61, Y:0.15, Z:-1.33 [[ 9.99965369e-01 -4.94936433e-03 -6.69063811e-03 5.60667611e+00] [ 4.93968220e-03 9.99986730e-01 -1.46286669e-03 1.46667513e-01] [ 6.69778958e-03 1.42976641e-03 9.99976547e-01 -1.33091544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.50455357399997 meters Centerline goodness [0,1] 0.838684698138776 Centerline is valid? [False, False] Translation: X:5.61, Y:0.15, Z:-1.33 [[ 9.99943965e-01 -7.02912189e-03 -7.91565703e-03 5.61144194e+00] [ 7.01564928e-03 9.99973896e-01 -1.72850425e-03 1.47451789e-01] [ 7.92760027e-03 1.67287392e-03 9.99967177e-01 -1.33040115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.53455357399997 meters Centerline goodness [0,1] 0.8391475011057055 Centerline is valid? [False, False] Translation: X:5.61, Y:0.15, Z:-1.33 [[ 9.99927424e-01 -8.27134003e-03 -8.75961578e-03 5.61494799e+00] [ 8.25153083e-03 9.99963322e-01 -2.29515511e-03 1.48584006e-01] [ 8.77827850e-03 2.22270830e-03 9.99959000e-01 -1.33131081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.56455357399997 meters Centerline goodness [0,1] 0.8373824559468328 Centerline is valid? [False, False] Translation: X:5.62, Y:0.15, Z:-1.33 [[ 9.99918446e-01 -8.84357775e-03 -9.21371572e-03 5.61664430e+00] [ 8.81763089e-03 9.99957054e-01 -2.85294060e-03 1.50667230e-01] [ 9.23855023e-03 2.77146478e-03 9.99953483e-01 -1.33169904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.59455357399997 meters Centerline goodness [0,1] 0.8424197571471644 Centerline is valid? [False, False] Translation: X:5.62, Y:0.16, Z:-1.33 [[ 9.99892758e-01 -1.04155905e-02 -1.02950099e-02 5.62066381e+00] [ 1.03707504e-02 9.99936545e-01 -4.39934565e-03 1.55296902e-01] [ 1.03401784e-02 4.29210688e-03 9.99937327e-01 -1.33296152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.62455357399998 meters Centerline goodness [0,1] 0.841938566552901 Centerline is valid? [False, False] Translation: X:5.63, Y:0.16, Z:-1.33 [[ 9.99855423e-01 -1.23824775e-02 -1.16536458e-02 5.62634909e+00] [ 1.23183812e-02 9.99908690e-01 -5.55591155e-03 1.57465414e-01] [ 1.17213777e-02 5.41155425e-03 9.99916659e-01 -1.33488020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.65455357399998 meters Centerline goodness [0,1] 0.8412512591543928 Centerline is valid? [False, False] Translation: X:5.64, Y:0.16, Z:-1.34 [[ 0.99970493 -0.01911412 -0.0149899 5.64293428] [ 0.01900334 0.9997913 -0.00749821 0.16080871] [ 0.01513009 0.00721114 0.99985953 -1.33703603] [ 0. 0. 0. 1. ]] SLAMing on 194.68455357399998 meters Centerline goodness [0,1] 0.828270168651064 Centerline is valid? [False, False] Translation: X:5.65, Y:0.16, Z:-1.34 [[ 0.9996058 -0.02227942 -0.01708448 5.65147939] [ 0.02214773 0.99972382 -0.00785899 0.16117057] [ 0.01725486 0.00747751 0.99982316 -1.33726123] [ 0. 0. 0. 1. ]] SLAMing on 194.71455357399998 meters Centerline goodness [0,1] 0.83920555026527 Centerline is valid? [False, False] Translation: X:5.66, Y:0.16, Z:-1.34 [[ 0.99949346 -0.02546322 -0.01909034 5.65976546] [ 0.02531605 0.99964819 -0.00791176 0.16099282] [ 0.01928508 0.00742446 0.99978646 -1.33674473] [ 0. 0. 0. 1. ]] SLAMing on 194.74455357399998 meters Centerline goodness [0,1] 0.79840515593424 Centerline is valid? [False, False] Translation: X:5.68, Y:0.16, Z:-1.34 [[ 0.99922854 -0.03262025 -0.02186894 5.67511714] [ 0.03243997 0.99943713 -0.0085483 0.16113878] [ 0.02213547 0.00783227 0.9997243 -1.33518502] [ 0. 0. 0. 1. ]] SLAMing on 194.77455357399998 meters Centerline goodness [0,1] 0.8413791219298965 Centerline is valid? [False, False] Translation: X:5.68, Y:0.16, Z:-1.34 [[ 0.99915678 -0.03408295 -0.02289277 5.67890384] [ 0.03388864 0.99938667 -0.00882279 0.1616947 ] [ 0.02317943 0.00803955 0.99969899 -1.33506549] [ 0. 0. 0. 1. ]] SLAMing on 194.80455357399998 meters Centerline goodness [0,1] 0.8143805430110452 Centerline is valid? [False, False] Translation: X:5.69, Y:0.16, Z:-1.33 [[ 9.99097825e-01 -3.41693199e-02 -2.52188999e-02 5.68828990e+00] [ 3.41148925e-02 9.99414574e-01 -2.58541676e-03 1.61649801e-01] [ 2.52924780e-02 1.72274421e-03 9.99678610e-01 -1.32817998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.83455357399998 meters Centerline goodness [0,1] 0.8280935545281479 Centerline is valid? [False, False] Translation: X:5.69, Y:0.16, Z:-1.33 [[ 9.99149921e-01 -3.15462249e-02 -2.65381001e-02 5.69187074e+00] [ 3.16091761e-02 9.99498391e-01 1.95585814e-03 1.61757921e-01] [ 2.64630884e-02 -2.79304298e-03 9.99645889e-01 -1.32601848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.86455357399998 meters Centerline goodness [0,1] 0.8391274895000678 Centerline is valid? [False, False] Translation: X:5.69, Y:0.16, Z:-1.32 [[ 0.99921392 -0.02847916 -0.02757687 5.69448335] [ 0.02866424 0.99956899 0.00633934 0.1622633 ] [ 0.02738444 -0.00712482 0.99959958 -1.32429936] [ 0. 0. 0. 1. ]] SLAMing on 194.89455357399999 meters Centerline goodness [0,1] 0.8264667817083693 Centerline is valid? [False, False] Translation: X:5.70, Y:0.17, Z:-1.32 [[ 0.9993046 -0.02457727 -0.02804059 5.69500689] [ 0.02487006 0.99963925 0.01014118 0.16518418] [ 0.02778123 -0.0108315 0.99955534 -1.32323148] [ 0. 0. 0. 1. ]] SLAMing on 194.924553574 meters Centerline goodness [0,1] 0.8138375289741793 Centerline is valid? [False, False] Translation: X:5.69, Y:0.17, Z:-1.32 [[ 0.99932777 -0.0240145 -0.02770038 5.6936559 ] [ 0.02428883 0.99965879 0.00960971 0.16731997] [ 0.02746016 -0.01027606 0.99957008 -1.32377759] [ 0. 0. 0. 1. ]] SLAMing on 194.954553574 meters Centerline goodness [0,1] 0.8218063684690974 Centerline is valid? [False, False] Translation: X:5.71, Y:0.17, Z:-1.33 [[ 9.99561626e-01 -2.06354176e-02 -2.12305360e-02 5.70756015e+00] [ 2.06883054e-02 9.99783387e-01 2.27448571e-03 1.72264808e-01] [ 2.11790022e-02 -2.71271245e-03 9.99772020e-01 -1.32979576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.984553574 meters Centerline goodness [0,1] 0.83786394740373 Centerline is valid? [False, False] Translation: X:5.70, Y:0.17, Z:-1.33 [[ 9.99596004e-01 -1.95778263e-02 -2.06043136e-02 5.70485627e+00] [ 1.96306774e-02 9.99804500e-01 2.36590566e-03 1.74067620e-01] [ 2.05539662e-02 -2.76942648e-03 9.99784909e-01 -1.32911111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.014553574 meters Centerline goodness [0,1] 0.8328347844666417 Centerline is valid? [False, False] Translation: X:5.71, Y:0.18, Z:-1.33 [[ 0.99965996 -0.01556414 -0.02092194 5.70545092] [ 0.01569223 0.99985904 0.00597194 0.17660697] [ 0.02082604 -0.00629822 0.99976328 -1.32899091] [ 0. 0. 0. 1. ]] SLAMing on 195.044553574 meters Centerline goodness [0,1] 0.8335904665638134 Centerline is valid? [False, False] Translation: X:5.71, Y:0.18, Z:-1.33 [[ 9.99660282e-01 -1.54766144e-02 -2.09712674e-02 5.70600199e+00] [ 1.55863526e-02 9.99865623e-01 5.07946957e-03 1.78817173e-01] [ 2.08898364e-02 -5.40460955e-03 9.99767175e-01 -1.33071734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.074553574 meters Centerline goodness [0,1] 0.8317784179506832 Centerline is valid? [False, False] Translation: X:5.71, Y:0.18, Z:-1.33 [[ 0.9996953 -0.01188261 -0.02163575 5.708041 ] [ 0.01206976 0.99989069 0.00854012 0.18101725] [ 0.02153191 -0.00879866 0.99972944 -1.33125354] [ 0. 0. 0. 1. ]] SLAMing on 195.104553574 meters Centerline goodness [0,1] 0.8327693771809241 Centerline is valid? [False, False] Translation: X:5.71, Y:0.18, Z:-1.33 [[ 0.99970373 -0.01152445 -0.02143938 5.70746718] [ 0.01169818 0.99989961 0.00799552 0.18287226] [ 0.02134509 -0.00824395 0.99973818 -1.33208224] [ 0. 0. 0. 1. ]] SLAMing on 195.134553574 meters Centerline goodness [0,1] 0.8271037905184246 Centerline is valid? [False, False] Translation: X:5.72, Y:0.19, Z:-1.34 [[ 9.99826494e-01 -9.81805168e-03 -1.58299912e-02 5.72389743e+00] [ 9.80860219e-03 9.99951667e-01 -6.74467284e-04 1.85835254e-01] [ 1.58358481e-02 5.19080173e-04 9.99874470e-01 -1.33916549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.164553574 meters Centerline goodness [0,1] 0.8271037905184246 Centerline is valid? [False, False] Translation: X:5.72, Y:0.19, Z:-1.34 [[ 9.99826494e-01 -9.81805168e-03 -1.58299912e-02 5.72389743e+00] [ 9.80860219e-03 9.99951667e-01 -6.74467284e-04 1.85835254e-01] [ 1.58358481e-02 5.19080173e-04 9.99874470e-01 -1.33916549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.194553574 meters Centerline goodness [0,1] 0.828839729594655 Centerline is valid? [False, False] Translation: X:5.72, Y:0.19, Z:-1.34 [[ 9.99855318e-01 -5.61826566e-03 -1.60554551e-02 5.72391658e+00] [ 5.67651773e-03 9.99977463e-01 3.58491211e-03 1.87273205e-01] [ 1.60349522e-02 -3.67553251e-03 9.99864676e-01 -1.33785349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.22455357399997 meters Centerline goodness [0,1] 0.8229319756456015 Centerline is valid? [False, False] Translation: X:5.72, Y:0.19, Z:-1.34 [[ 9.99869291e-01 -4.59554018e-03 -1.55010604e-02 5.72171520e+00] [ 4.64834716e-03 9.99983510e-01 3.37236166e-03 1.89262575e-01] [ 1.54853070e-02 -3.44397517e-03 9.99874164e-01 -1.33803581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.25455357399997 meters Centerline goodness [0,1] 0.8209392322978768 Centerline is valid? [False, False] Translation: X:5.72, Y:0.19, Z:-1.34 [[ 9.99887335e-01 7.36585077e-04 -1.49924799e-02 5.71872164e+00] [-6.20342926e-04 9.99969725e-01 7.75653809e-03 1.91533289e-01] [ 1.49977394e-02 -7.74636372e-03 9.99857521e-01 -1.33609290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.28455357399997 meters Centerline goodness [0,1] 0.8212171009729504 Centerline is valid? [False, False] Translation: X:5.72, Y:0.19, Z:-1.34 [[ 9.99896890e-01 2.28375629e-03 -1.41772197e-02 5.71550380e+00] [-2.17558791e-03 9.99968445e-01 7.64047092e-03 1.93745918e-01] [ 1.41942213e-02 -7.60883932e-03 9.99870306e-01 -1.33614487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.31455357399997 meters Centerline goodness [0,1] 0.8220653499779398 Centerline is valid? [False, False] Translation: X:5.73, Y:0.20, Z:-1.34 [[ 9.99954866e-01 5.82997940e-03 -7.50188174e-03 5.72858015e+00] [-5.83085174e-03 9.99982996e-01 -9.44159683e-05 1.97630532e-01] [ 7.50120374e-03 1.38154067e-04 9.99971856e-01 -1.34330090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.34455357399997 meters Centerline goodness [0,1] 0.8192459084317382 Centerline is valid? [False, False] Translation: X:5.73, Y:0.20, Z:-1.34 [[ 9.99911037e-01 1.14822290e-02 -6.78796681e-03 5.72529274e+00] [-1.14545755e-02 9.99925993e-01 4.09884249e-03 2.00211432e-01] [ 6.83452830e-03 -4.02072457e-03 9.99968561e-01 -1.34223259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.37455357399998 meters Centerline goodness [0,1] 0.8186827400662251 Centerline is valid? [False, False] Translation: X:5.72, Y:0.20, Z:-1.34 [[ 9.99899191e-01 1.28704786e-02 -5.99659460e-03 5.72232614e+00] [-1.28462107e-02 9.99909209e-01 4.06804277e-03 2.01790160e-01] [ 6.04840782e-03 -3.99059916e-03 9.99973746e-01 -1.34223680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.40455357399998 meters Centerline goodness [0,1] 0.8188730796989381 Centerline is valid? [False, False] Translation: X:5.72, Y:0.20, Z:-1.34 [[ 9.99855280e-01 1.62889455e-02 -4.90805044e-03 5.71676926e+00] [-1.62656262e-02 9.99856403e-01 4.75425891e-03 2.04034116e-01] [ 4.98478752e-03 -4.67373836e-03 9.99976654e-01 -1.34198617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.43455357399998 meters Centerline goodness [0,1] 0.82038397113774 Centerline is valid? [False, False] Translation: X:5.72, Y:0.20, Z:-1.34 [[ 9.99847658e-01 1.68500993e-02 -4.55355610e-03 5.71584386e+00] [-1.68296672e-02 9.99848295e-01 4.48873235e-03 2.04890593e-01] [ 4.62850089e-03 -4.41141369e-03 9.99979558e-01 -1.34276769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.46455357399998 meters Centerline goodness [0,1] 0.8159352694101579 Centerline is valid? [False, False] Translation: X:5.72, Y:0.21, Z:-1.34 [[ 9.99843731e-01 1.71333093e-02 -4.35463111e-03 5.71554477e+00] [-1.71145970e-02 9.99844294e-01 4.29863833e-03 2.05132609e-01] [ 4.42760297e-03 -4.22343883e-03 9.99981279e-01 -1.34348944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.49455357399998 meters Centerline goodness [0,1] 0.8180576318366926 Centerline is valid? [False, False] Translation: X:5.72, Y:0.20, Z:-1.34 [[ 9.99847005e-01 1.68872918e-02 -4.55925114e-03 5.71678820e+00] [-1.68688093e-02 9.99849459e-01 4.06230949e-03 2.04393859e-01] [ 4.62716619e-03 -3.98477884e-03 9.99981355e-01 -1.34483144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.52455357399998 meters Centerline goodness [0,1] 0.8183341496738934 Centerline is valid? [False, False] Translation: X:5.72, Y:0.21, Z:-1.35 [[ 9.99900380e-01 1.35123920e-02 -4.07979576e-03 5.71585328e+00] [-1.35147500e-02 9.99908520e-01 -5.50958937e-04 2.05209961e-01] [ 4.07197776e-03 6.06041471e-04 9.99991526e-01 -1.34694738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.55455357399998 meters Centerline goodness [0,1] 0.8190125123306162 Centerline is valid? [False, False] Translation: X:5.71, Y:0.20, Z:-1.36 [[ 9.99974927e-01 5.86872384e-03 3.96273412e-03 5.70989094e+00] [-5.85703819e-03 9.99978484e-01 -2.95408006e-03 2.03875912e-01] [-3.97998554e-03 2.93079611e-03 9.99987785e-01 -1.35530909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.58455357399998 meters Centerline goodness [0,1] 0.8157470906068163 Centerline is valid? [False, False] Translation: X:5.71, Y:0.20, Z:-1.36 [[ 9.99986177e-01 4.34523176e-03 2.96053643e-03 5.71414614e+00] [-4.33641273e-03 9.99986161e-01 -2.97879739e-03 2.01732942e-01] [-2.97343902e-03 2.96591811e-03 9.99991181e-01 -1.35616634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.61455357399998 meters Centerline goodness [0,1] 0.8186560934891486 Centerline is valid? [False, False] Translation: X:5.72, Y:0.20, Z:-1.36 [[ 9.99992175e-01 3.29418836e-03 2.19068572e-03 5.71708374e+00] [-3.28846597e-03 9.99991185e-01 -2.61063636e-03 1.99468347e-01] [-2.19926634e-03 2.60341193e-03 9.99994193e-01 -1.35611800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.64455357399999 meters Centerline goodness [0,1] 0.8187419701617766 Centerline is valid? [False, False] Translation: X:5.72, Y:0.20, Z:-1.36 [[ 9.99997324e-01 -1.17342323e-03 1.99386290e-03 5.71855085e+00] [ 1.18620821e-03 9.99978668e-01 -6.42312527e-03 1.96734712e-01] [-1.98628332e-03 6.42547322e-03 9.99977384e-01 -1.35717033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.674553574 meters Centerline goodness [0,1] 0.8179019654274213 Centerline is valid? [False, False] Translation: X:5.72, Y:0.19, Z:-1.36 [[ 9.99997252e-01 -1.79236756e-03 1.51131898e-03 5.72033848e+00] [ 1.80125440e-03 9.99980976e-01 -5.89947695e-03 1.94472576e-01] [-1.50071620e-03 5.90218300e-03 9.99981456e-01 -1.35685664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.704553574 meters Centerline goodness [0,1] 0.8164866221177465 Centerline is valid? [False, False] Translation: X:5.72, Y:0.19, Z:-1.36 [[ 9.99996350e-01 -2.48987434e-03 1.04878697e-03 5.72214556e+00] [ 2.49490793e-03 9.99985243e-01 -4.82579163e-03 1.90710625e-01] [-1.03675588e-03 4.82839065e-03 9.99987806e-01 -1.35581476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.734553574 meters Centerline goodness [0,1] 0.8165316729546475 Centerline is valid? [False, False] Translation: X:5.72, Y:0.19, Z:-1.36 [[ 9.99996102e-01 -2.64499989e-03 8.94095798e-04 5.72276483e+00] [ 2.64880439e-03 9.99987328e-01 -4.28107083e-03 1.89043437e-01] [-8.82761036e-04 4.28342242e-03 9.99990436e-01 -1.35537196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.764553574 meters Centerline goodness [0,1] 0.8185476398485692 Centerline is valid? [False, False] Translation: X:5.72, Y:0.19, Z:-1.35 [[ 9.99996106e-01 -2.66610024e-03 8.24943622e-04 5.72296274e+00] [ 2.66913332e-03 9.99989601e-01 -3.69771844e-03 1.87380468e-01] [-8.15076555e-04 3.69990593e-03 9.99992823e-01 -1.35480708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.794553574 meters Centerline goodness [0,1] 0.8172367272438695 Centerline is valid? [False, False] Translation: X:5.72, Y:0.18, Z:-1.35 [[ 9.99996473e-01 -2.51690666e-03 8.47641002e-04 5.72324595e+00] [ 2.51945647e-03 9.99992264e-01 -3.02061586e-03 1.84718005e-01] [-8.40031837e-04 3.02274081e-03 9.99995079e-01 -1.35495114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.824553574 meters Centerline goodness [0,1] 0.8194025905366111 Centerline is valid? [False, False] Translation: X:5.73, Y:0.18, Z:-1.35 [[ 9.99999997e-01 3.16560322e-05 -7.44593970e-05 5.72699311e+00] [-3.15626927e-05 9.99999214e-01 1.25322888e-03 1.82346596e-01] [ 7.44990108e-05 -1.25322653e-03 9.99999212e-01 -1.35473688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.854553574 meters Centerline goodness [0,1] 0.8136875066341153 Centerline is valid? [False, False] Translation: X:5.73, Y:0.18, Z:-1.36 [[ 9.99999500e-01 8.97248520e-04 4.40970953e-04 5.72565954e+00] [-8.97842178e-04 9.99998689e-01 1.34790170e-03 1.81088935e-01] [-4.39760972e-04 -1.34829695e-03 9.99998994e-01 -1.35591961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.884553574 meters Centerline goodness [0,1] 0.8164060429366552 Centerline is valid? [False, False] Translation: X:5.72, Y:0.18, Z:-1.36 [[ 9.99998489e-01 1.53007481e-03 8.25292583e-04 5.72434355e+00] [-1.53135552e-03 9.99997621e-01 1.55342662e-03 1.80537008e-01] [-8.22913761e-04 -1.55468809e-03 9.99998453e-01 -1.35591433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.914553574 meters Centerline goodness [0,1] 0.8158453132459816 Centerline is valid? [False, False] Translation: X:5.72, Y:0.18, Z:-1.36 [[ 9.99996922e-01 2.15431859e-03 1.23092466e-03 5.72297242e+00] [-2.15655232e-03 9.99996025e-01 1.81624340e-03 1.79733517e-01] [-1.22700700e-03 -1.81889236e-03 9.99997593e-01 -1.35583437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.944553574 meters Centerline goodness [0,1] 0.8160366064540158 Centerline is valid? [False, False] Translation: X:5.72, Y:0.18, Z:-1.36 [[ 9.99991400e-01 3.54967312e-03 2.14466457e-03 5.71968470e+00] [-3.55479928e-03 9.99990823e-01 2.39112920e-03 1.78406437e-01] [-2.13615716e-03 -2.39873249e-03 9.99994841e-01 -1.35545187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.97455357399997 meters Centerline goodness [0,1] 0.8162538535133411 Centerline is valid? [False, False] Translation: X:5.72, Y:0.18, Z:-1.36 [[ 9.99989952e-01 3.82534920e-03 2.33719905e-03 5.71928546e+00] [-3.83091029e-03 9.99989831e-01 2.37955696e-03 1.78125673e-01] [-2.32807265e-03 -2.38848665e-03 9.99994438e-01 -1.35589899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.00455357399997 meters Centerline goodness [0,1] 0.8174058710912572 Centerline is valid? [False, False] Translation: X:5.72, Y:0.18, Z:-1.36 [[ 9.99991208e-01 3.56751356e-03 2.20359282e-03 5.72035366e+00] [-3.57282395e-03 9.99990712e-01 2.41066019e-03 1.76854272e-01] [-2.19497229e-03 -2.41851204e-03 9.99994666e-01 -1.35672881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.03455357399997 meters Centerline goodness [0,1] 0.8171676562208792 Centerline is valid? [False, False] Translation: X:5.72, Y:0.18, Z:-1.36 [[ 9.99994385e-01 2.86554216e-03 1.73758078e-03 5.72248149e+00] [-2.86954333e-03 9.99993227e-01 2.30462484e-03 1.75921654e-01] [-1.73096502e-03 -2.30959796e-03 9.99995835e-01 -1.35739421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.06455357399997 meters Centerline goodness [0,1] 0.8182522508081537 Centerline is valid? [False, False] Translation: X:5.72, Y:0.17, Z:-1.36 [[ 9.99997194e-01 2.02951396e-03 1.22220547e-03 5.72476054e+00] [-2.03220511e-03 9.99995505e-01 2.20467540e-03 1.74804217e-01] [-1.21772556e-03 -2.20715298e-03 9.99996823e-01 -1.35787221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.09455357399997 meters Centerline goodness [0,1] 0.8184417250040079 Centerline is valid? [False, False] Translation: X:5.72, Y:0.17, Z:-1.36 [[ 9.99996726e-01 -2.19631761e-03 1.31319558e-03 5.72493160e+00] [ 2.19839996e-03 9.99996325e-01 -1.58637557e-03 1.72878940e-01] [-1.30970657e-03 1.58925731e-03 9.99997879e-01 -1.35800406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.12455357399998 meters Centerline goodness [0,1] 0.8209863307424283 Centerline is valid? [False, False] Translation: X:5.73, Y:0.17, Z:-1.36 [[ 9.99994450e-01 -3.28593475e-03 5.49237869e-04 5.72777255e+00] [ 3.28652815e-03 9.99994013e-01 -1.08301923e-03 1.71080549e-01] [-5.45675851e-04 1.08481831e-03 9.99999263e-01 -1.35717491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.15455357399998 meters Centerline goodness [0,1] 0.8231459281808141 Centerline is valid? [False, False] Translation: X:5.73, Y:0.17, Z:-1.36 [[ 9.99979358e-01 -6.38264197e-03 -7.37873925e-04 5.73435444e+00] [ 6.38182796e-03 9.99979031e-01 -1.10031867e-03 1.68047066e-01] [ 7.44881393e-04 1.09558698e-03 9.99999122e-01 -1.35722425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.18455357399998 meters Centerline goodness [0,1] 0.821645231739869 Centerline is valid? [False, False] Translation: X:5.74, Y:0.17, Z:-1.36 [[ 9.99971416e-01 -7.40864355e-03 -1.50985877e-03 5.73743962e+00] [ 7.40719133e-03 9.99972101e-01 -9.65158832e-04 1.66871866e-01] [ 1.51696716e-03 9.53947431e-04 9.99998394e-01 -1.35742205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.21455357399998 meters Centerline goodness [0,1] 0.8242793341453512 Centerline is valid? [False, False] Translation: X:5.74, Y:0.17, Z:-1.36 [[ 9.99964608e-01 -8.15348711e-03 -2.07427818e-03 5.73978829e+00] [ 8.15191985e-03 9.99966482e-01 -7.62907130e-04 1.65731566e-01] [ 2.08042901e-03 7.45970780e-04 9.99997558e-01 -1.35755880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.24455357399998 meters Centerline goodness [0,1] 0.8240157799454186 Centerline is valid? [False, False] Translation: X:5.74, Y:0.16, Z:-1.36 [[ 9.99948368e-01 -9.68731566e-03 -3.06885275e-03 5.74415539e+00] [ 9.68522300e-03 9.99952855e-01 -6.96030696e-04 1.64326563e-01] [ 3.07545074e-03 6.66272235e-04 9.99995049e-01 -1.35800986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.27455357399998 meters Centerline goodness [0,1] 0.8246021668062573 Centerline is valid? [False, False] Translation: X:5.75, Y:0.16, Z:-1.36 [[ 9.99942160e-01 -1.01917736e-02 -3.43582193e-03 5.74579287e+00] [ 1.01895803e-02 9.99947870e-01 -6.55269122e-04 1.63755163e-01] [ 3.44232118e-03 6.20221638e-04 9.99993883e-01 -1.35823730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.30455357399998 meters Centerline goodness [0,1] 0.8277783789633156 Centerline is valid? [False, False] Translation: X:5.75, Y:0.16, Z:-1.36 [[ 9.99933579e-01 -1.08129869e-02 -3.98969385e-03 5.74782024e+00] [ 1.08117141e-02 9.99941494e-01 -3.40445995e-04 1.62555018e-01] [ 3.99314167e-03 2.97287953e-04 9.99991983e-01 -1.35795170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.33455357399998 meters Centerline goodness [0,1] 0.8274883821463309 Centerline is valid? [False, False] Translation: X:5.75, Y:0.16, Z:-1.36 [[ 9.99933890e-01 -1.07583267e-02 -4.05892578e-03 5.74810975e+00] [ 1.07572556e-02 9.99942098e-01 -2.85626581e-04 1.62582916e-01] [ 4.06176362e-03 2.41944796e-04 9.99991722e-01 -1.35804331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.36455357399998 meters Centerline goodness [0,1] 0.832467251272058 Centerline is valid? [False, False] Translation: X:5.75, Y:0.16, Z:-1.36 [[ 9.99939115e-01 -1.02775247e-02 -4.01732168e-03 5.74791195e+00] [ 1.02757530e-02 9.99947097e-01 -4.61418548e-04 1.63251415e-01] [ 4.02185140e-03 4.20109449e-04 9.99991824e-01 -1.35889814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.39455357399999 meters Centerline goodness [0,1] 0.8330046199983789 Centerline is valid? [False, False] Translation: X:5.75, Y:0.16, Z:-1.36 [[ 9.99958859e-01 -7.50202405e-03 -5.09900256e-03 5.75134160e+00] [ 7.52424638e-03 9.99962218e-01 4.35305245e-03 1.61388531e-01] [ 5.06615321e-03 -4.39123952e-03 9.99977525e-01 -1.35708706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.424553574 meters Centerline goodness [0,1] 0.8319846274594711 Centerline is valid? [False, False] Translation: X:5.75, Y:0.16, Z:-1.36 [[ 9.99961115e-01 -7.25061499e-03 -5.01959383e-03 5.75087300e+00] [ 7.27354834e-03 9.99963124e-01 4.56568743e-03 1.61127663e-01] [ 4.98630469e-03 -4.60202015e-03 9.99976979e-01 -1.35671304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.454553574 meters Centerline goodness [0,1] 0.8328733766233767 Centerline is valid? [False, False] Translation: X:5.75, Y:0.16, Z:-1.36 [[ 9.99965079e-01 -6.83087674e-03 -4.81460117e-03 5.74994682e+00] [ 6.85390267e-03 9.99965076e-01 4.78235846e-03 1.60871230e-01] [ 4.78176532e-03 -4.81519027e-03 9.99976974e-01 -1.35644209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.484553574 meters Centerline goodness [0,1] 0.8291067373202119 Centerline is valid? [False, False] Translation: X:5.75, Y:0.16, Z:-1.36 [[ 9.99967915e-01 -6.51606786e-03 -4.65946447e-03 5.74917862e+00] [ 6.53886485e-03 9.99966644e-01 4.89424095e-03 1.61155597e-01] [ 4.62741784e-03 -4.92455152e-03 9.99977168e-01 -1.35605413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.514553574 meters Centerline goodness [0,1] 0.8317800054185858 Centerline is valid? [False, False] Translation: X:5.75, Y:0.16, Z:-1.35 [[ 9.99979670e-01 -5.11795622e-03 -3.80339147e-03 5.74521067e+00] [ 5.13907726e-03 9.99971314e-01 5.56434269e-03 1.61172990e-01] [ 3.77480430e-03 -5.58377549e-03 9.99977286e-01 -1.35436393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.544553574 meters Centerline goodness [0,1] 0.8371248068110951 Centerline is valid? [False, False] Translation: X:5.74, Y:0.16, Z:-1.35 [[ 9.99984820e-01 -4.39415105e-03 -3.32447022e-03 5.74320437e+00] [ 4.41321409e-03 9.99973738e-01 5.74871883e-03 1.61526753e-01] [ 3.29912218e-03 -5.76330316e-03 9.99977950e-01 -1.35373437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.574553574 meters Centerline goodness [0,1] 0.8407556989130729 Centerline is valid? [False, False] Translation: X:5.74, Y:0.16, Z:-1.35 [[ 9.99991294e-01 -3.24262843e-03 -2.62613508e-03 5.74051387e+00] [ 3.25762523e-03 9.99978297e-01 5.72659758e-03 1.62081373e-01] [ 2.60750886e-03 -5.73510269e-03 9.99980155e-01 -1.35389718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.604553574 meters Centerline goodness [0,1] 0.8387053051045027 Centerline is valid? [False, False] Translation: X:5.74, Y:0.16, Z:-1.35 [[ 9.99993022e-01 -2.87900440e-03 -2.38054456e-03 5.73991686e+00] [ 2.89167554e-03 9.99981579e-01 5.33659510e-03 1.62729856e-01] [ 2.36513662e-03 -5.34344162e-03 9.99982927e-01 -1.35484609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.634553574 meters Centerline goodness [0,1] 0.8338772757923129 Centerline is valid? [False, False] Translation: X:5.74, Y:0.16, Z:-1.36 [[ 9.99996498e-01 -1.89819516e-03 -1.84415629e-03 5.73828364e+00] [ 1.90673386e-03 9.99987420e-01 4.63946391e-03 1.64073677e-01] [ 1.83532648e-03 -4.64296397e-03 9.99987537e-01 -1.35677936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.664553574 meters Centerline goodness [0,1] 0.8354676608850705 Centerline is valid? [False, False] Translation: X:5.74, Y:0.16, Z:-1.36 [[ 9.99997508e-01 -1.55933851e-03 -1.59794197e-03 5.73788284e+00] [ 1.56592386e-03 9.99990253e-01 4.12821108e-03 1.64854357e-01] [ 1.59148911e-03 -4.13070305e-03 9.99990202e-01 -1.35811900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.694553574 meters Centerline goodness [0,1] 0.834146738246299 Centerline is valid? [False, False] Translation: X:5.74, Y:0.17, Z:-1.36 [[ 9.99998469e-01 -1.10592305e-03 -1.35614774e-03 5.73715639e+00] [ 1.11118353e-03 9.99991838e-01 3.88438485e-03 1.65409408e-01] [ 1.35184084e-03 -3.88588584e-03 9.99991536e-01 -1.35889056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.72455357399997 meters Centerline goodness [0,1] 0.8321412183864612 Centerline is valid? [False, False] Translation: X:5.74, Y:0.17, Z:-1.36 [[ 9.99999486e-01 -3.06800162e-04 -9.66820458e-04 5.73580538e+00] [ 3.10346102e-04 9.99993219e-01 3.66961680e-03 1.65821866e-01] [ 9.65688062e-04 -3.66991496e-03 9.99992800e-01 -1.35966134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.75455357399997 meters Centerline goodness [0,1] 0.8305510534846029 Centerline is valid? [False, False] Translation: X:5.74, Y:0.17, Z:-1.36 [[ 9.99999618e-01 -1.11319229e-04 -8.66715776e-04 5.73554749e+00] [ 1.14409594e-04 9.99993634e-01 3.56637097e-03 1.65729465e-01] [ 8.66313253e-04 -3.56646877e-03 9.99993265e-01 -1.35997651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.78455357399997 meters Centerline goodness [0,1] 0.8293375906483386 Centerline is valid? [False, False] Translation: X:5.73, Y:0.17, Z:-1.36 [[ 9.99999642e-01 7.98552825e-04 -2.81039010e-04 5.73331904e+00] [-7.97475739e-04 9.99992416e-01 3.81198475e-03 1.65458514e-01] [ 2.84080949e-04 -3.81175927e-03 9.99992695e-01 -1.35967010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.81455357399997 meters Centerline goodness [0,1] 0.8304992960034658 Centerline is valid? [False, False] Translation: X:5.73, Y:0.17, Z:-1.36 [[ 9.99999210e-01 1.25561558e-03 6.59019712e-05 5.73226107e+00] [-1.25585368e-03 9.99992192e-01 3.74670362e-03 1.65709474e-01] [-6.11970372e-05 -3.74678342e-03 9.99992979e-01 -1.35989906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.84455357399997 meters Centerline goodness [0,1] 0.8300549257285099 Centerline is valid? [False, False] Translation: X:5.73, Y:0.17, Z:-1.36 [[ 9.99994659e-01 3.03805463e-03 1.20527648e-03 5.72778030e+00] [-3.04319010e-03 9.99986201e-01 4.28212347e-03 1.65683052e-01] [-1.19225052e-03 -4.28576848e-03 9.99990105e-01 -1.35911419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.87455357399998 meters Centerline goodness [0,1] 0.8295065159323314 Centerline is valid? [False, False] Translation: X:5.73, Y:0.17, Z:-1.36 [[ 9.99990905e-01 3.86327108e-03 1.80677590e-03 5.72586344e+00] [-3.87064619e-03 9.99984119e-01 4.09638869e-03 1.66484173e-01] [-1.79092174e-03 -4.10334483e-03 9.99989978e-01 -1.35966556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.90455357399998 meters Centerline goodness [0,1] 0.833207424994604 Centerline is valid? [False, False] Translation: X:5.72, Y:0.17, Z:-1.36 [[ 9.99986698e-01 4.60262781e-03 2.32794569e-03 5.72428714e+00] [-4.61137688e-03 9.99982272e-01 3.76698250e-03 1.67434930e-01] [-2.31056641e-03 -3.77766743e-03 9.99990195e-01 -1.36056498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.93455357399998 meters Centerline goodness [0,1] 0.8319434667244273 Centerline is valid? [False, False] Translation: X:5.72, Y:0.17, Z:-1.36 [[ 9.99973924e-01 6.31479643e-03 3.50365807e-03 5.71995253e+00] [-6.32958849e-03 9.99971034e-01 4.22698768e-03 1.67261235e-01] [-3.47686402e-03 -4.24905416e-03 9.99984928e-01 -1.35999396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.96455357399998 meters Centerline goodness [0,1] 0.8380104457012962 Centerline is valid? [False, False] Translation: X:5.72, Y:0.17, Z:-1.36 [[ 9.99966760e-01 7.07770331e-03 4.04780209e-03 5.71797735e+00] [-7.09569200e-03 9.99964937e-01 4.44710536e-03 1.67199871e-01] [-4.01618486e-03 -4.47567950e-03 9.99981919e-01 -1.35965977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.99455357399998 meters Centerline goodness [0,1] 0.8297360164448773 Centerline is valid? [False, False] Translation: X:5.72, Y:0.17, Z:-1.36 [[ 9.99956885e-01 8.01281222e-03 4.69285539e-03 5.71626021e+00] [-8.03209110e-03 9.99959321e-01 4.10379704e-03 1.67681329e-01] [-4.65978153e-03 -4.14131354e-03 9.99980568e-01 -1.36117849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.02455357399998 meters Centerline goodness [0,1] 0.8314138956474723 Centerline is valid? [False, False] Translation: X:5.72, Y:0.17, Z:-1.36 [[ 9.99956198e-01 8.05517281e-03 4.76616362e-03 5.71662171e+00] [-8.07253193e-03 9.99960813e-01 3.63419931e-03 1.68140073e-01] [-4.73670275e-03 -3.67251513e-03 9.99982038e-01 -1.36253312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.05455357399998 meters Centerline goodness [0,1] 0.8314138956474723 Centerline is valid? [False, False] Translation: X:5.72, Y:0.17, Z:-1.36 [[ 9.99956198e-01 8.05517281e-03 4.76616362e-03 5.71662171e+00] [-8.07253193e-03 9.99960813e-01 3.63419931e-03 1.68140073e-01] [-4.73670275e-03 -3.67251513e-03 9.99982038e-01 -1.36253312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.08455357399998 meters Centerline goodness [0,1] 0.8305827606731238 Centerline is valid? [False, False] Translation: X:5.72, Y:0.17, Z:-1.36 [[ 9.99958941e-01 7.78826556e-03 4.63244456e-03 5.71807034e+00] [-7.80338598e-03 9.99964256e-01 3.25495767e-03 1.67436726e-01] [-4.60692850e-03 -3.29097278e-03 9.99983973e-01 -1.36424000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.11455357399998 meters Centerline goodness [0,1] 0.8333604247941049 Centerline is valid? [False, False] Translation: X:5.72, Y:0.17, Z:-1.37 [[ 9.99972564e-01 4.95478428e-03 5.50646109e-03 5.71597988e+00] [-4.94539283e-03 9.99986296e-01 -1.71784191e-03 1.68602560e-01] [-5.51489717e-03 1.69056317e-03 9.99983364e-01 -1.36736785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.14455357399999 meters Centerline goodness [0,1] 0.8280228758169934 Centerline is valid? [False, False] Translation: X:5.72, Y:0.17, Z:-1.37 [[ 9.99976437e-01 4.49735032e-03 5.18639044e-03 5.71755469e+00] [-4.48945171e-03 9.99988746e-01 -1.53358620e-03 1.67437065e-01] [-5.19322915e-03 1.51026602e-03 9.99985375e-01 -1.36753937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.174553574 meters Centerline goodness [0,1] 0.8284930315955337 Centerline is valid? [False, False] Translation: X:5.72, Y:0.17, Z:-1.37 [[ 9.99979234e-01 4.13608439e-03 4.94204258e-03 5.71923939e+00] [-4.12853746e-03 9.99990297e-01 -1.53631466e-03 1.66303584e-01] [-4.94834896e-03 1.51587935e-03 9.99986608e-01 -1.36848080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.204553574 meters Centerline goodness [0,1] 0.8295575076831025 Centerline is valid? [False, False] Translation: X:5.72, Y:0.17, Z:-1.37 [[ 9.99980569e-01 3.93207573e-03 4.83740956e-03 5.72022427e+00] [-3.92522961e-03 9.99991282e-01 -1.42392476e-03 1.65832811e-01] [-4.84296637e-03 1.40490915e-03 9.99987286e-01 -1.36889428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.234553574 meters Centerline goodness [0,1] 0.8276610758291266 Centerline is valid? [False, False] Translation: X:5.72, Y:0.17, Z:-1.37 [[ 9.99980107e-01 3.94819906e-03 4.91912848e-03 5.72084303e+00] [-3.94143654e-03 9.99991275e-01 -1.38367676e-03 1.65305611e-01] [-4.92454859e-03 1.36426081e-03 9.99986944e-01 -1.36973832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.264553574 meters Centerline goodness [0,1] 0.8296715249075484 Centerline is valid? [False, False] Translation: X:5.72, Y:0.16, Z:-1.37 [[ 9.99979270e-01 4.04050150e-03 5.01342029e-03 5.72093432e+00] [-4.03408005e-03 9.99991031e-01 -1.29030438e-03 1.64919254e-01] [-5.01858880e-03 1.27005309e-03 9.99986600e-01 -1.37001622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.294553574 meters Centerline goodness [0,1] 0.8324527479710224 Centerline is valid? [False, False] Translation: X:5.72, Y:0.16, Z:-1.37 [[ 9.99977840e-01 4.21271591e-03 5.15490902e-03 5.72061130e+00] [-4.20773128e-03 9.99990670e-01 -9.77430461e-04 1.64247254e-01] [-5.15897856e-03 9.55718329e-04 9.99986236e-01 -1.36965069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.324553574 meters Centerline goodness [0,1] 0.8326010424910624 Centerline is valid? [False, False] Translation: X:5.72, Y:0.16, Z:-1.37 [[ 9.99972147e-01 4.85535433e-03 5.66847196e-03 5.71881227e+00] [-4.85380066e-03 9.99988179e-01 -2.87813537e-04 1.62786704e-01] [-5.66980239e-03 2.60291887e-04 9.99983893e-01 -1.36863539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.354553574 meters Centerline goodness [0,1] 0.8283657385945298 Centerline is valid? [False, False] Translation: X:5.72, Y:0.16, Z:-1.37 [[ 9.99970668e-01 4.97473933e-03 5.82361143e-03 5.71878114e+00] [-4.97250369e-03 9.99987558e-01 -3.98308665e-04 1.62791389e-01] [-5.82552045e-03 3.69339053e-04 9.99982963e-01 -1.36919911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.384553574 meters Centerline goodness [0,1] 0.8256925717087522 Centerline is valid? [False, False] Translation: X:5.72, Y:0.16, Z:-1.37 [[ 9.99963046e-01 5.68554798e-03 6.44830443e-03 5.71726797e+00] [-5.68247048e-03 9.99983732e-01 -4.95479184e-04 1.62893839e-01] [-6.45101660e-03 4.58818575e-04 9.99979087e-01 -1.37013087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.414553574 meters Centerline goodness [0,1] 0.8332242582897034 Centerline is valid? [False, False] Translation: X:5.72, Y:0.16, Z:-1.37 [[ 9.99961528e-01 5.77948871e-03 6.59854860e-03 5.71735328e+00] [-5.77512918e-03 9.99983093e-01 -6.79543404e-04 1.63283129e-01] [-6.60236445e-03 6.41409790e-04 9.99977998e-01 -1.37085070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.444553574 meters Centerline goodness [0,1] 0.8323913043478262 Centerline is valid? [False, False] Translation: X:5.72, Y:0.16, Z:-1.37 [[ 9.99955756e-01 6.31568294e-03 6.97121826e-03 5.71629032e+00] [-6.31180552e-03 9.99979913e-01 -5.78065293e-04 1.63064805e-01] [-6.97472911e-03 5.34038744e-04 9.99975534e-01 -1.37104334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.47455357399997 meters Centerline goodness [0,1] 0.8251491134896642 Centerline is valid? [False, False] Translation: X:5.72, Y:0.16, Z:-1.37 [[ 9.99956977e-01 6.14833934e-03 6.94561493e-03 5.71697109e+00] [-6.14310376e-03 9.99980831e-01 -7.74878539e-04 1.63322201e-01] [-6.95024600e-03 7.32177568e-04 9.99975579e-01 -1.37156064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.50455357399997 meters Centerline goodness [0,1] 0.826446055716077 Centerline is valid? [False, False] Translation: X:5.72, Y:0.16, Z:-1.37 [[ 9.99963917e-01 5.38774459e-03 6.56794479e-03 5.71938295e+00] [-5.38087174e-03 9.99984957e-01 -1.06364498e-03 1.63568917e-01] [-6.57357664e-03 1.02826533e-03 9.99977865e-01 -1.37248178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.53455357399997 meters Centerline goodness [0,1] 0.8255817110586191 Centerline is valid? [False, False] Translation: X:5.72, Y:0.16, Z:-1.37 [[ 9.99971104e-01 4.59430011e-03 6.05673833e-03 5.72212985e+00] [-4.58506226e-03 9.99988305e-01 -1.53822283e-03 1.64061693e-01] [-6.06373456e-03 1.51040786e-03 9.99980475e-01 -1.37383615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.56455357399997 meters Centerline goodness [0,1] 0.8244366005973391 Centerline is valid? [False, False] Translation: X:5.72, Y:0.17, Z:-1.37 [[ 9.99976128e-01 4.03346947e-03 5.61023412e-03 5.72430259e+00] [-4.02294050e-03 9.99990128e-01 -1.88676339e-03 1.65161665e-01] [-5.61778894e-03 1.86414872e-03 9.99982483e-01 -1.37467385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.59455357399997 meters Centerline goodness [0,1] 0.8237194277803415 Centerline is valid? [False, False] Translation: X:5.73, Y:0.17, Z:-1.38 [[ 9.99986314e-01 2.45529232e-03 4.61998678e-03 5.72926862e+00] [-2.44325574e-03 9.99993611e-01 -2.60917006e-03 1.66163647e-01] [-4.62636354e-03 2.59784654e-03 9.99985924e-01 -1.37644258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.62455357399998 meters Centerline goodness [0,1] 0.8211273736329506 Centerline is valid? [False, False] Translation: X:5.74, Y:0.17, Z:-1.38 [[ 9.99995776e-01 -5.78426592e-04 2.84847981e-03 5.73740618e+00] [ 5.85568043e-04 9.99996686e-01 -2.50691429e-03 1.65149109e-01] [-2.84702031e-03 2.50857168e-03 9.99992801e-01 -1.37639332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.65455357399998 meters Centerline goodness [0,1] 0.8211681821905464 Centerline is valid? [False, False] Translation: X:5.74, Y:0.16, Z:-1.38 [[ 9.99996377e-01 -1.91663067e-03 1.88987976e-03 5.74122212e+00] [ 1.92098256e-03 9.99995502e-01 -2.30360942e-03 1.64221109e-01] [-1.88545609e-03 2.30723150e-03 9.99995561e-01 -1.37613441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.68455357399998 meters Centerline goodness [0,1] 0.8236718920095798 Centerline is valid? [False, False] Translation: X:5.75, Y:0.16, Z:-1.38 [[ 9.99994130e-01 -3.30570192e-03 9.01402484e-04 5.74525717e+00] [ 3.30751238e-03 9.99992501e-01 -2.01446164e-03 1.63456004e-01] [-8.94736514e-04 2.01743122e-03 9.99997565e-01 -1.37566915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.71455357399998 meters Centerline goodness [0,1] 0.8239700374531835 Centerline is valid? [False, False] Translation: X:5.75, Y:0.16, Z:-1.37 [[ 9.99991240e-01 -4.17431212e-03 3.08375512e-04 5.74687530e+00] [ 4.17457059e-03 9.99990932e-01 -8.42358399e-04 1.62571623e-01] [-3.04856448e-04 8.43638355e-04 9.99999598e-01 -1.37217461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.74455357399998 meters Centerline goodness [0,1] 0.8275456633490101 Centerline is valid? [False, False] Translation: X:5.75, Y:0.16, Z:-1.37 [[ 9.99989020e-01 -4.68506797e-03 -1.03801409e-04 5.74813018e+00] [ 4.68504276e-03 9.99988996e-01 -2.41773701e-04 1.62251902e-01] [ 1.04932993e-04 2.41284732e-04 9.99999965e-01 -1.37058378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.77455357399998 meters Centerline goodness [0,1] 0.8310494789529826 Centerline is valid? [False, False] Translation: X:5.75, Y:0.16, Z:-1.37 [[ 9.99979178e-01 -6.36328374e-03 -1.07307087e-03 5.75229637e+00] [ 6.36285696e-03 9.99979677e-01 -4.00660934e-04 1.62711726e-01] [ 1.07559858e-03 3.93824795e-04 9.99999344e-01 -1.37048088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.80455357399998 meters Centerline goodness [0,1] 0.8287885438384726 Centerline is valid? [False, False] Translation: X:5.76, Y:0.16, Z:-1.37 [[ 9.99971671e-01 -7.33072563e-03 -1.70829177e-03 5.75512512e+00] [ 7.32996051e-03 9.99973033e-01 -4.53717746e-04 1.62572141e-01] [ 1.71157178e-03 4.41183181e-04 9.99998438e-01 -1.37069211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.83455357399998 meters Centerline goodness [0,1] 0.831826896740619 Centerline is valid? [False, False] Translation: X:5.76, Y:0.16, Z:-1.37 [[ 9.99961953e-01 -8.36524127e-03 -2.47298116e-03 5.75810064e+00] [ 8.36439547e-03 9.99964956e-01 -3.52162615e-04 1.62318100e-01] [ 2.47584042e-03 3.31464224e-04 9.99996880e-01 -1.37044038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.86455357399998 meters Centerline goodness [0,1] 0.8348674117904887 Centerline is valid? [False, False] Translation: X:5.76, Y:0.16, Z:-1.37 [[ 9.99936648e-01 -1.05632336e-02 -3.88820900e-03 5.76384382e+00] [ 1.05608899e-02 9.99944038e-01 -6.22797377e-04 1.62783854e-01] [ 3.89457016e-03 5.81694974e-04 9.99992247e-01 -1.37043336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.89455357399999 meters Centerline goodness [0,1] 0.835136612021858 Centerline is valid? [False, False] Translation: X:5.77, Y:0.16, Z:-1.37 [[ 9.99924832e-01 -1.13845594e-02 -4.55223148e-03 5.76643349e+00] [ 1.13815624e-02 9.99934994e-01 -6.83729491e-04 1.63208704e-01] [ 4.55971952e-03 6.31866589e-04 9.99989405e-01 -1.37042334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.924553574 meters Centerline goodness [0,1] 0.8368955419939246 Centerline is valid? [False, False] Translation: X:5.77, Y:0.16, Z:-1.37 [[ 9.99896265e-01 -1.31661613e-02 -5.84044588e-03 5.77141129e+00] [ 1.31585057e-02 9.99912515e-01 -1.34729381e-03 1.64900934e-01] [ 5.85767362e-03 1.27030250e-03 9.99982037e-01 -1.37100595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.954553574 meters Centerline goodness [0,1] 0.8323882224645583 Centerline is valid? [False, False] Translation: X:5.77, Y:0.17, Z:-1.37 [[ 9.99875717e-01 -1.42693541e-02 -6.70337376e-03 5.77495820e+00] [ 1.42568579e-02 9.99896545e-01 -1.90828025e-03 1.66191571e-01] [ 6.72991019e-03 1.81247404e-03 9.99975711e-01 -1.37192754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.984553574 meters Centerline goodness [0,1] 0.8345760313486448 Centerline is valid? [False, False] Translation: X:5.78, Y:0.17, Z:-1.37 [[ 9.99853526e-01 -1.53668780e-02 -7.53568609e-03 5.77831688e+00] [ 1.53503047e-02 9.99879641e-01 -2.25224532e-03 1.67143770e-01] [ 7.56938908e-03 2.13624034e-03 9.99969070e-01 -1.37232724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.014553574 meters Centerline goodness [0,1] 0.8343659981520735 Centerline is valid? [False, False] Translation: X:5.79, Y:0.17, Z:-1.37 [[ 9.99794056e-01 -1.80753503e-02 -9.22644521e-03 5.78550618e+00] [ 1.80504608e-02 9.99833230e-01 -2.77381162e-03 1.68522400e-01] [ 9.27504413e-03 2.60669878e-03 9.99953588e-01 -1.37259548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.044553574 meters Centerline goodness [0,1] 0.835566183863692 Centerline is valid? [False, False] Translation: X:5.79, Y:0.17, Z:-1.37 [[ 9.99731242e-01 -2.05019572e-02 -1.08219232e-02 5.79130843e+00] [ 2.04794923e-02 9.99787891e-01 -2.18263282e-03 1.68463578e-01] [ 1.08643760e-02 1.96041872e-03 9.99939059e-01 -1.37010187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.074553574 meters Centerline goodness [0,1] 0.8383819122854808 Centerline is valid? [False, False] Translation: X:5.79, Y:0.17, Z:-1.37 [[ 9.99707137e-01 -2.13081675e-02 -1.14718334e-02 5.79365640e+00] [ 2.12884270e-02 9.99771682e-01 -1.84016378e-03 1.68185485e-01] [ 1.15084247e-02 1.59540757e-03 9.99932503e-01 -1.36920907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.104553574 meters Centerline goodness [0,1] 0.8389124755062051 Centerline is valid? [False, False] Translation: X:5.80, Y:0.17, Z:-1.37 [[ 9.99710005e-01 -2.01045607e-02 -1.32556498e-02 5.80032690e+00] [ 2.01506769e-02 9.99791327e-01 3.35464207e-03 1.66788705e-01] [ 1.31854401e-02 -3.62077956e-03 9.99906513e-01 -1.36568695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.134553574 meters Centerline goodness [0,1] 0.8375227587706188 Centerline is valid? [False, False] Translation: X:5.80, Y:0.17, Z:-1.37 [[ 9.99692419e-01 -2.06650318e-02 -1.37121850e-02 5.80232782e+00] [ 2.07082707e-02 9.99781003e-01 3.01884987e-03 1.68031281e-01] [ 1.36467975e-02 -3.30187697e-03 9.99901426e-01 -1.36628450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.164553574 meters Centerline goodness [0,1] 0.8390661056060812 Centerline is valid? [False, False] Translation: X:5.81, Y:0.17, Z:-1.36 [[ 0.99972583 -0.01804162 -0.01492498 5.80619101] [ 0.01815527 0.99980694 0.00751485 0.16727819] [ 0.01478652 -0.00778376 0.99986038 -1.36478583] [ 0. 0. 0. 1. ]] SLAMing on 198.194553574 meters Centerline goodness [0,1] 0.8361607866443352 Centerline is valid? [False, False] Translation: X:5.80, Y:0.17, Z:-1.37 [[ 0.99975367 -0.01692384 -0.01435905 5.80413305] [ 0.01702543 0.99983068 0.00698204 0.16942148] [ 0.01423845 -0.00722479 0.99987253 -1.36596276] [ 0. 0. 0. 1. ]] SLAMing on 198.22455357399997 meters Centerline goodness [0,1] 0.836000758252769 Centerline is valid? [False, False] Translation: X:5.80, Y:0.17, Z:-1.37 [[ 0.99976887 -0.01628451 -0.01403608 5.80286734] [ 0.01638413 0.99984118 0.00701219 0.17010575] [ 0.01391966 -0.00724054 0.9998769 -1.36595573] [ 0. 0. 0. 1. ]] SLAMing on 198.25455357399997 meters Centerline goodness [0,1] 0.8359929796138788 Centerline is valid? [False, False] Translation: X:5.80, Y:0.17, Z:-1.37 [[ 0.99981672 -0.01405387 -0.01300069 5.79806154] [ 0.01414714 0.99987465 0.00710999 0.17212666] [ 0.01289914 -0.00729261 0.99989021 -1.36576991] [ 0. 0. 0. 1. ]] SLAMing on 198.28455357399997 meters Centerline goodness [0,1] 0.8318295671846805 Centerline is valid? [False, False] Translation: X:5.80, Y:0.17, Z:-1.37 [[ 0.99983223 -0.01328803 -0.01260706 5.79689621] [ 0.01337074 0.99988949 0.00649907 0.17396877] [ 0.01251931 -0.00666654 0.99989941 -1.3672175 ] [ 0. 0. 0. 1. ]] SLAMing on 198.31455357399997 meters Centerline goodness [0,1] 0.8346297741770516 Centerline is valid? [False, False] Translation: X:5.80, Y:0.18, Z:-1.37 [[ 0.99984804 -0.01243473 -0.01221785 5.79554133] [ 0.01250901 0.99990362 0.00602215 0.17566731] [ 0.01214179 -0.00617407 0.99990722 -1.36840516] [ 0. 0. 0. 1. ]] SLAMing on 198.34455357399997 meters Centerline goodness [0,1] 0.8290447089096172 Centerline is valid? [False, False] Translation: X:5.80, Y:0.18, Z:-1.37 [[ 0.99988951 -0.00813309 -0.01244278 5.79570842] [ 0.0082612 0.99991304 0.01027965 0.17629857] [ 0.01235809 -0.01038131 0.99986974 -1.36767078] [ 0. 0. 0. 1. ]] SLAMing on 198.37455357399998 meters Centerline goodness [0,1] 0.8316009429918559 Centerline is valid? [False, False] Translation: X:5.79, Y:0.18, Z:-1.37 [[ 0.99989877 -0.00747605 -0.01210654 5.79474721] [ 0.00759509 0.99992297 0.00981718 0.17772089] [ 0.01203221 -0.00990814 0.99987852 -1.36886823] [ 0. 0. 0. 1. ]] SLAMing on 198.40455357399998 meters Centerline goodness [0,1] 0.8276092476279567 Centerline is valid? [False, False] Translation: X:5.79, Y:0.18, Z:-1.37 [[ 0.99991761 -0.00594616 -0.01137639 5.79191052] [ 0.00605434 0.99993656 0.00949882 0.17946055] [ 0.01131919 -0.00956691 0.99989017 -1.36983852] [ 0. 0. 0. 1. ]] SLAMing on 198.43455357399998 meters Centerline goodness [0,1] 0.8277382797883146 Centerline is valid? [False, False] Translation: X:5.79, Y:0.18, Z:-1.37 [[ 9.99926717e-01 -5.19281105e-03 -1.09359250e-02 5.79035025e+00] [ 5.29581102e-03 9.99941695e-01 9.41069406e-03 1.79976713e-01] [ 1.08864195e-02 -9.46791901e-03 9.99895917e-01 -1.37016630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.46455357399998 meters Centerline goodness [0,1] 0.8273706609921532 Centerline is valid? [False, False] Translation: X:5.81, Y:0.18, Z:-1.38 [[ 9.99978335e-01 -1.62859793e-03 -6.37784293e-03 5.81022160e+00] [ 1.65038385e-03 9.99992817e-01 3.41210362e-03 1.82590565e-01] [ 6.37224017e-03 -3.42255559e-03 9.99973840e-01 -1.37590044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.49455357399998 meters Centerline goodness [0,1] 0.8285303361210249 Centerline is valid? [False, False] Translation: X:5.81, Y:0.18, Z:-1.38 [[ 9.99982356e-01 -8.14416421e-04 -5.88431724e-03 5.80844157e+00] [ 8.33880707e-04 9.99994187e-01 3.30612811e-03 1.83332233e-01] [ 5.88159047e-03 -3.31097659e-03 9.99977222e-01 -1.37628719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.52455357399998 meters Centerline goodness [0,1] 0.8269896193771626 Centerline is valid? [False, False] Translation: X:5.81, Y:0.18, Z:-1.38 [[ 9.99984259e-01 -3.05358171e-04 -5.60245814e-03 5.80761638e+00] [ 3.22782016e-04 9.99995114e-01 3.10939526e-03 1.83868094e-01] [ 5.60148129e-03 -3.11115469e-03 9.99979472e-01 -1.37693808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.55455357399998 meters Centerline goodness [0,1] 0.8266333661025055 Centerline is valid? [False, False] Translation: X:5.80, Y:0.18, Z:-1.38 [[ 9.99987672e-01 1.19721435e-03 -4.81896451e-03 5.80464363e+00] [-1.18104737e-03 9.99993670e-01 3.35631511e-03 1.84200937e-01] [ 4.82295223e-03 -3.35058231e-03 9.99982756e-01 -1.37702066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.58455357399998 meters Centerline goodness [0,1] 0.8238701277997715 Centerline is valid? [False, False] Translation: X:5.80, Y:0.18, Z:-1.38 [[ 9.99988466e-01 2.62508394e-03 -4.02194316e-03 5.80151228e+00] [-2.60998632e-03 9.99989546e-01 3.75447485e-03 1.84090018e-01] [ 4.03175693e-03 -3.74393433e-03 9.99984864e-01 -1.37662468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.61455357399998 meters Centerline goodness [0,1] 0.8233590220568695 Centerline is valid? [False, False] Translation: X:5.80, Y:0.18, Z:-1.38 [[ 9.99988457e-01 2.93129784e-03 -3.80698565e-03 5.80111162e+00] [-2.91704670e-03 9.99988738e-01 3.74359266e-03 1.83885805e-01] [ 3.81791636e-03 -3.73244429e-03 9.99985746e-01 -1.37702621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.64455357399999 meters Centerline goodness [0,1] 0.8231059398576135 Centerline is valid? [False, False] Translation: X:5.80, Y:0.18, Z:-1.38 [[ 9.99988005e-01 3.27233698e-03 -3.64453076e-03 5.80076951e+00] [-3.25859486e-03 9.99987584e-01 3.77018978e-03 1.83668683e-01] [ 3.65682284e-03 -3.75826851e-03 9.99986251e-01 -1.37741262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.674553574 meters Centerline goodness [0,1] 0.8193091702591941 Centerline is valid? [False, False] Translation: X:5.80, Y:0.18, Z:-1.38 [[ 9.99985852e-01 4.34074616e-03 -3.07474473e-03 5.79937056e+00] [-4.33094448e-03 9.99985542e-01 3.18732211e-03 1.84716490e-01] [ 3.08853563e-03 -3.17396047e-03 9.99990193e-01 -1.37959071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.704553574 meters Centerline goodness [0,1] 0.8179760922233168 Centerline is valid? [False, False] Translation: X:5.80, Y:0.19, Z:-1.38 [[ 9.99984956e-01 4.65978052e-03 -2.89365298e-03 5.79937951e+00] [-4.65213793e-03 9.99985688e-01 2.64229579e-03 1.85688194e-01] [ 2.90592409e-03 -2.62879437e-03 9.99992322e-01 -1.38120806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.734553574 meters Centerline goodness [0,1] 0.8153556163219795 Centerline is valid? [False, False] Translation: X:5.80, Y:0.19, Z:-1.38 [[ 9.99978184e-01 6.25544030e-03 -2.12150036e-03 5.79697034e+00] [-6.25031890e-03 9.99977557e-01 2.41214397e-03 1.86432075e-01] [ 2.13654177e-03 -2.39883130e-03 9.99994840e-01 -1.38292866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.764553574 meters Centerline goodness [0,1] 0.8155393778954335 Centerline is valid? [False, False] Translation: X:5.80, Y:0.19, Z:-1.38 [[ 9.99974858e-01 6.83941915e-03 -1.87211358e-03 5.79631038e+00] [-6.83511699e-03 9.99974007e-01 2.29485549e-03 1.86759029e-01] [ 1.88776039e-03 -2.28200168e-03 9.99995614e-01 -1.38361229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.794553574 meters Centerline goodness [0,1] 0.8112448736605371 Centerline is valid? [False, False] Translation: X:5.79, Y:0.19, Z:-1.38 [[ 9.99958248e-01 9.10934237e-03 -7.22679858e-04 5.79201271e+00] [-9.10735801e-03 9.99954873e-01 2.70318482e-03 1.86818944e-01] [ 7.47271482e-04 -2.69649025e-03 9.99996085e-01 -1.38397436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.824553574 meters Centerline goodness [0,1] 0.8118360353235798 Centerline is valid? [False, False] Translation: X:5.79, Y:0.19, Z:-1.38 [[ 9.99950378e-01 9.95839010e-03 -2.69299269e-04 5.79050583e+00] [-9.95760259e-03 9.99946550e-01 2.78259595e-03 1.87132233e-01] [ 2.96995051e-04 -2.77977630e-03 9.99996092e-01 -1.38426523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.854553574 meters Centerline goodness [0,1] 0.811509613353053 Centerline is valid? [False, False] Translation: X:5.79, Y:0.19, Z:-1.39 [[ 9.99925919e-01 1.21420738e-02 8.52226957e-04 5.78650308e+00] [-1.21446462e-02 9.99921504e-01 3.08109481e-03 1.86879853e-01] [-8.14749180e-04 -3.09121655e-03 9.99994890e-01 -1.38515121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.884553574 meters Centerline goodness [0,1] 0.8114700065919578 Centerline is valid? [False, False] Translation: X:5.79, Y:0.19, Z:-1.39 [[ 9.99918681e-01 1.26995633e-02 1.16272956e-03 5.78580388e+00] [-1.27031739e-02 9.99914342e-01 3.15244282e-03 1.86521878e-01] [-1.12259531e-03 -3.16695682e-03 9.99994355e-01 -1.38578531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.914553574 meters Centerline goodness [0,1] 0.8109300298475923 Centerline is valid? [False, False] Translation: X:5.79, Y:0.18, Z:-1.39 [[ 9.99912412e-01 1.31564828e-02 1.44068914e-03 5.78544556e+00] [-1.31616562e-02 9.99906748e-01 3.64231716e-03 1.84157168e-01] [-1.39263471e-03 -3.66095999e-03 9.99992329e-01 -1.38625410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.944553574 meters Centerline goodness [0,1] 0.8137442267877051 Centerline is valid? [False, False] Translation: X:5.78, Y:0.18, Z:-1.39 [[ 9.99937631e-01 1.08800354e-02 2.52177460e-03 5.78244157e+00] [-1.08779328e-02 9.99940476e-01 -8.45976369e-04 1.84658179e-01] [-2.53082875e-03 8.18491911e-04 9.99996462e-01 -1.38890211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.97455357399997 meters Centerline goodness [0,1] 0.8137442267877051 Centerline is valid? [False, False] Translation: X:5.78, Y:0.18, Z:-1.39 [[ 9.99937631e-01 1.08800354e-02 2.52177460e-03 5.78244157e+00] [-1.08779328e-02 9.99940476e-01 -8.45976369e-04 1.84658179e-01] [-2.53082875e-03 8.18491911e-04 9.99996462e-01 -1.38890211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.00455357399997 meters Centerline goodness [0,1] 0.8130273282037676 Centerline is valid? [False, False] Translation: X:5.78, Y:0.18, Z:-1.39 [[ 9.99934898e-01 1.10949846e-02 2.66481018e-03 5.78228805e+00] [-1.10927499e-02 9.99938111e-01 -8.51906294e-04 1.84313623e-01] [-2.67409715e-03 8.22290761e-04 9.99996087e-01 -1.38930990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.03455357399997 meters Centerline goodness [0,1] 0.8163622385408659 Centerline is valid? [False, False] Translation: X:5.78, Y:0.18, Z:-1.39 [[ 9.99931881e-01 1.13249747e-02 2.82472462e-03 5.78252127e+00] [-1.13222479e-02 9.99935422e-01 -9.79466919e-04 1.83896091e-01] [-2.83563465e-03 9.47417966e-04 9.99995531e-01 -1.39050060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.06455357399997 meters Centerline goodness [0,1] 0.817202875102777 Centerline is valid? [False, False] Translation: X:5.78, Y:0.18, Z:-1.39 [[ 9.99937170e-01 1.09199827e-02 2.53177646e-03 5.78441156e+00] [-1.09167749e-02 9.99939594e-01 -1.27738573e-03 1.83952976e-01] [-2.54557256e-03 1.24966663e-03 9.99995979e-01 -1.39171705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.09455357399997 meters Centerline goodness [0,1] 0.8155635631392083 Centerline is valid? [False, False] Translation: X:5.79, Y:0.18, Z:-1.39 [[ 9.99940227e-01 1.06804612e-02 2.33870822e-03 5.78570428e+00] [-1.06770407e-02 9.99941918e-01 -1.47021581e-03 1.83947354e-01] [-2.35427496e-03 1.44515745e-03 9.99996184e-01 -1.39265130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.12455357399998 meters Centerline goodness [0,1] 0.8152777043809121 Centerline is valid? [False, False] Translation: X:5.79, Y:0.18, Z:-1.39 [[ 9.99948086e-01 1.00243605e-02 1.82698454e-03 5.78820721e+00] [-1.00212099e-02 9.99948298e-01 -1.72557019e-03 1.84053413e-01] [-1.84418782e-03 1.70717201e-03 9.99996842e-01 -1.39360648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.15455357399998 meters Centerline goodness [0,1] 0.814870417193426 Centerline is valid? [False, False] Translation: X:5.79, Y:0.18, Z:-1.40 [[ 9.99965785e-01 8.25101114e-03 5.91391916e-04 5.79396417e+00] [-8.24956457e-03 9.99963072e-01 -2.40812401e-03 1.83455292e-01] [-6.11239535e-04 2.40316289e-03 9.99996926e-01 -1.39576427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.18455357399998 meters Centerline goodness [0,1] 0.8139105673908458 Centerline is valid? [False, False] Translation: X:5.80, Y:0.18, Z:-1.40 [[ 9.99974462e-01 7.14256719e-03 -2.44950607e-04 5.79773029e+00] [-7.14314681e-03 9.99971478e-01 -2.45320894e-03 1.82734918e-01] [ 2.27421411e-04 2.45489601e-03 9.99996961e-01 -1.39648046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.21455357399998 meters Centerline goodness [0,1] 0.8166640165368103 Centerline is valid? [False, False] Translation: X:5.81, Y:0.18, Z:-1.40 [[ 9.99988448e-01 4.43549345e-03 -1.85197796e-03 5.80524890e+00] [-4.44041739e-03 9.99986595e-01 -2.66315207e-03 1.81036914e-01] [ 1.84014074e-03 2.67134486e-03 9.99994739e-01 -1.39737094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.24455357399998 meters Centerline goodness [0,1] 0.8181601588352085 Centerline is valid? [False, False] Translation: X:5.81, Y:0.18, Z:-1.40 [[ 9.99989993e-01 3.73184736e-03 -2.46715721e-03 5.80765802e+00] [-3.73734789e-03 9.99990533e-01 -2.22866239e-03 1.79842356e-01] [ 2.45881682e-03 2.23786071e-03 9.99994473e-01 -1.39685277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.27455357399998 meters Centerline goodness [0,1] 0.8170177722285684 Centerline is valid? [False, False] Translation: X:5.81, Y:0.18, Z:-1.39 [[ 9.99990682e-01 3.21805271e-03 -2.87759809e-03 5.80879243e+00] [-3.22175757e-03 9.99993986e-01 -1.28377876e-03 1.78460369e-01] [ 2.87344951e-03 1.29303772e-03 9.99995036e-01 -1.39439406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.30455357399998 meters Centerline goodness [0,1] 0.8209070150284106 Centerline is valid? [False, False] Translation: X:5.81, Y:0.18, Z:-1.39 [[ 9.99991159e-01 2.71612982e-03 -3.21008711e-03 5.81025099e+00] [-2.71974081e-03 9.99995673e-01 -1.12105759e-03 1.78013030e-01] [ 3.20702829e-03 1.12977829e-03 9.99994219e-01 -1.39411456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.33455357399998 meters Centerline goodness [0,1] 0.8189510656980921 Centerline is valid? [False, False] Translation: X:5.81, Y:0.18, Z:-1.39 [[ 9.99991083e-01 2.49582974e-03 -3.40652279e-03 5.81104751e+00] [-2.49867540e-03 9.99996533e-01 -8.31355637e-04 1.78255479e-01] [ 3.40443606e-03 8.39860019e-04 9.99993852e-01 -1.39348025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.36455357399998 meters Centerline goodness [0,1] 0.8223600508905853 Centerline is valid? [False, False] Translation: X:5.81, Y:0.18, Z:-1.39 [[ 9.99991097e-01 1.65101319e-03 -3.88331798e-03 5.81359041e+00] [-1.65422670e-03 9.99998292e-01 -8.24448597e-04 1.78363557e-01] [ 3.88195017e-03 8.30865145e-04 9.99992120e-01 -1.39362176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.39455357399999 meters Centerline goodness [0,1] 0.8219782556686781 Centerline is valid? [False, False] Translation: X:5.82, Y:0.18, Z:-1.39 [[ 9.99989659e-01 9.96482348e-04 -4.43722800e-03 5.81577179e+00] [-9.99147015e-04 9.99999322e-01 -5.98348870e-04 1.78180147e-01] [ 4.43662874e-03 6.02776126e-04 9.99989976e-01 -1.39324271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.424553574 meters Centerline goodness [0,1] 0.8275165466096064 Centerline is valid? [False, False] Translation: X:5.82, Y:0.18, Z:-1.39 [[ 9.99981818e-01 -1.36238225e-03 -5.87433928e-03 5.82218844e+00] [ 1.35856916e-03 9.99998864e-01 -6.53049836e-04 1.77591691e-01] [ 5.87522231e-03 6.45057266e-04 9.99982533e-01 -1.39316000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.454553574 meters Centerline goodness [0,1] 0.8188700294844211 Centerline is valid? [False, False] Translation: X:5.83, Y:0.18, Z:-1.39 [[ 9.99975376e-01 -2.28923577e-03 -6.63381506e-03 5.82513598e+00] [ 2.28587243e-03 9.99997255e-01 -5.14537630e-04 1.77486789e-01] [ 6.63497475e-03 4.99360905e-04 9.99977864e-01 -1.39276104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.484553574 meters Centerline goodness [0,1] 0.8236731658077884 Centerline is valid? [False, False] Translation: X:5.83, Y:0.18, Z:-1.39 [[ 9.99971753e-01 -2.66305885e-03 -7.02859103e-03 5.82662809e+00] [ 2.65839596e-03 9.99996240e-01 -6.72676882e-04 1.78615120e-01] [ 7.03035599e-03 6.53973103e-04 9.99975073e-01 -1.39276176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.514553574 meters Centerline goodness [0,1] 0.8252481290801974 Centerline is valid? [False, False] Translation: X:5.84, Y:0.18, Z:-1.39 [[ 9.99938598e-01 -6.27111372e-03 -9.13642178e-03 5.83657094e+00] [ 6.26097406e-03 9.99979752e-01 -1.13798652e-03 1.78816679e-01] [ 9.14337324e-03 1.08071375e-03 9.99957614e-01 -1.39342609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.544553574 meters Centerline goodness [0,1] 0.824452244203361 Centerline is valid? [False, False] Translation: X:5.84, Y:0.18, Z:-1.39 [[ 9.99911255e-01 -8.24427914e-03 -1.04648972e-02 5.84221116e+00] [ 8.23407985e-03 9.99965582e-01 -1.01733198e-03 1.78068827e-01] [ 1.04729242e-02 9.31072896e-04 9.99944724e-01 -1.39331832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.574553574 meters Centerline goodness [0,1] 0.827118281867721 Centerline is valid? [False, False] Translation: X:5.85, Y:0.18, Z:-1.40 [[ 9.99796138e-01 -1.60023096e-02 -1.23129108e-02 5.85254061e+00] [ 1.59341310e-02 9.99857275e-01 -5.61548795e-03 1.77250718e-01] [ 1.24010142e-02 5.41814763e-03 9.99908425e-01 -1.39524257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.604553574 meters Centerline goodness [0,1] 0.8285798059494616 Centerline is valid? [False, False] Translation: X:5.86, Y:0.18, Z:-1.39 [[ 9.99816050e-01 -1.32690549e-02 -1.38491241e-02 5.85617414e+00] [ 1.32720716e-02 9.99911914e-01 1.25931500e-04 1.76491811e-01] [ 1.38462332e-02 -3.09714902e-04 9.99904088e-01 -1.39000372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.634553574 meters Centerline goodness [0,1] 0.8306580206229404 Centerline is valid? [False, False] Translation: X:5.86, Y:0.18, Z:-1.39 [[ 9.99847091e-01 -9.63965458e-03 -1.45901128e-02 5.85749211e+00] [ 9.71132094e-03 9.99941086e-01 4.84912796e-03 1.77075475e-01] [ 1.45425093e-02 -4.99007575e-03 9.99881800e-01 -1.38726309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.664553574 meters Centerline goodness [0,1] 0.8294857506766439 Centerline is valid? [False, False] Translation: X:5.86, Y:0.18, Z:-1.39 [[ 9.99835020e-01 -1.02752546e-02 -1.49783699e-02 5.85953165e+00] [ 1.03301939e-02 9.99940179e-01 3.59516711e-03 1.81673443e-01] [ 1.49405326e-02 -3.74930344e-03 9.99881355e-01 -1.38894043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.694553574 meters Centerline goodness [0,1] 0.8286320817301314 Centerline is valid? [False, False] Translation: X:5.87, Y:0.18, Z:-1.39 [[ 9.99779892e-01 -1.29552585e-02 -1.65023658e-02 5.86646306e+00] [ 1.30032191e-02 9.99911528e-01 2.80230181e-03 1.83582645e-01] [ 1.64646013e-02 -3.01626888e-03 9.99859900e-01 -1.38986836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.72455357399997 meters Centerline goodness [0,1] 0.8293698136217822 Centerline is valid? [False, False] Translation: X:5.87, Y:0.18, Z:-1.39 [[ 9.99733881e-01 -1.47596061e-02 -1.77290782e-02 5.87164021e+00] [ 1.48085542e-02 9.99886881e-01 2.63278683e-03 1.83395485e-01] [ 1.76882138e-02 -2.89462822e-03 9.99839361e-01 -1.39024372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.75455357399997 meters Centerline goodness [0,1] 0.8282970686811726 Centerline is valid? [False, False] Translation: X:5.88, Y:0.18, Z:-1.39 [[ 9.99669339e-01 -1.70388142e-02 -1.92585300e-02 5.87796357e+00] [ 1.70945221e-02 9.99850146e-01 2.73170775e-03 1.82495814e-01] [ 1.92090989e-02 -3.06001985e-03 9.99810806e-01 -1.38999529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.78455357399997 meters Centerline goodness [0,1] 0.8314152660314742 Centerline is valid? [False, False] Translation: X:5.88, Y:0.18, Z:-1.39 [[ 9.99498690e-01 -2.39535720e-02 -2.07025362e-02 5.88496054e+00] [ 2.39283165e-02 9.99712601e-01 -1.46681552e-03 1.80784446e-01] [ 2.07317217e-02 9.70703356e-04 9.99784604e-01 -1.39014945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.81455357399997 meters Centerline goodness [0,1] 0.8325480537559565 Centerline is valid? [False, False] Translation: X:5.89, Y:0.18, Z:-1.39 [[ 9.99427252e-01 -2.57198452e-02 -2.19922259e-02 5.88988547e+00] [ 2.57098734e-02 9.99669176e-01 -7.36089681e-04 1.78999469e-01] [ 2.20038825e-02 1.70250741e-04 9.99757871e-01 -1.38864285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.84455357399997 meters Centerline goodness [0,1] 0.8336464651886843 Centerline is valid? [False, False] Translation: X:5.90, Y:0.18, Z:-1.39 [[ 9.99307609e-01 -2.86549591e-02 -2.37317478e-02 5.89751173e+00] [ 2.86526951e-02 9.99589332e-01 -4.35502483e-04 1.77685622e-01] [ 2.37344813e-02 -2.44777590e-04 9.99718268e-01 -1.38777286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.87455357399998 meters Centerline goodness [0,1] 0.8317480788865603 Centerline is valid? [False, False] Translation: X:5.91, Y:0.18, Z:-1.38 [[ 9.99279133e-01 -2.79305012e-02 -2.57119004e-02 5.90563603e+00] [ 2.80598588e-02 9.99595270e-01 4.68399748e-03 1.75621182e-01] [ 2.55706677e-02 -5.40209323e-03 9.99658421e-01 -1.38468486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.90455357399998 meters Centerline goodness [0,1] 0.8361139423850652 Centerline is valid? [False, False] Translation: X:5.91, Y:0.18, Z:-1.38 [[ 9.99244448e-01 -2.86234439e-02 -2.62912713e-02 5.90803834e+00] [ 2.87582850e-02 9.99575038e-01 4.76495070e-03 1.75280946e-01] [ 2.61437092e-02 -5.51744240e-03 9.99642968e-01 -1.38480037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.93455357399998 meters Centerline goodness [0,1] 0.8361025971930957 Centerline is valid? [False, False] Translation: X:5.91, Y:0.18, Z:-1.39 [[ 9.99191317e-01 -2.96853314e-02 -2.71199760e-02 5.91178736e+00] [ 2.98145209e-02 9.99545888e-01 4.37166599e-03 1.75472271e-01] [ 2.69778862e-02 -5.17669979e-03 9.99622627e-01 -1.38605847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.96455357399998 meters Centerline goodness [0,1] 0.8361777491547255 Centerline is valid? [False, False] Translation: X:5.91, Y:0.18, Z:-1.39 [[ 9.99171767e-01 -2.99982229e-02 -2.74934079e-02 5.91323197e+00] [ 3.01377225e-02 9.99534829e-01 4.67358486e-03 1.75080160e-01] [ 2.73404195e-02 -5.49830274e-03 9.99611059e-01 -1.38567173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.99455357399998 meters Centerline goodness [0,1] 0.8398262558679113 Centerline is valid? [False, False] Translation: X:5.91, Y:0.17, Z:-1.38 [[ 9.99142715e-01 -3.05470791e-02 -2.79412121e-02 5.91447229e+00] [ 3.07110989e-02 9.99513391e-01 5.45989518e-03 1.73608112e-01] [ 2.77608318e-02 -6.31331982e-03 9.99594657e-01 -1.38371782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.02455357399998 meters Centerline goodness [0,1] 0.8385558399568908 Centerline is valid? [False, False] Translation: X:5.92, Y:0.17, Z:-1.38 [[ 0.99912431 -0.03084273 -0.02827242 5.91543032] [ 0.03102666 0.9995 0.00609022 0.17297811] [ 0.02807044 -0.00696208 0.9995817 -1.38235625] [ 0. 0. 0. 1. ]] SLAMing on 200.05455357399998 meters Centerline goodness [0,1] 0.8392384553065082 Centerline is valid? [False, False] Translation: X:5.92, Y:0.17, Z:-1.38 [[ 0.99908618 -0.0315626 -0.02882011 5.91767932] [ 0.03174954 0.99947753 0.00605204 0.17313098] [ 0.02861404 -0.00696154 0.99956629 -1.38241383] [ 0. 0. 0. 1. ]] SLAMing on 200.08455357399998 meters Centerline goodness [0,1] 0.8376626883404439 Centerline is valid? [False, False] Translation: X:5.92, Y:0.17, Z:-1.38 [[ 9.98991770e-01 -3.33633336e-02 -3.00388421e-02 5.92297167e+00] [ 3.35492287e-02 9.99420779e-01 5.70576133e-03 1.73304428e-01] [ 2.98310797e-02 -6.70778860e-03 9.99532447e-01 -1.38317815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.11455357399998 meters Centerline goodness [0,1] 0.8372419376602348 Centerline is valid? [False, False] Translation: X:5.93, Y:0.17, Z:-1.38 [[ 0.99894277 -0.03424484 -0.03066962 5.92548798] [ 0.03444266 0.99938899 0.00594497 0.17288531] [ 0.0304473 -0.00699503 0.9995119 -1.38264796] [ 0. 0. 0. 1. ]] SLAMing on 200.14455357399999 meters Centerline goodness [0,1] 0.8387722132471729 Centerline is valid? [False, False] Translation: X:5.93, Y:0.17, Z:-1.38 [[ 0.99884797 -0.03594127 -0.03179547 5.92946355] [ 0.03616978 0.99932359 0.0066411 0.17191378] [ 0.03153528 -0.00778348 0.99947233 -1.38033397] [ 0. 0. 0. 1. ]] SLAMing on 200.174553574 meters Centerline goodness [0,1] 0.8369867076491682 Centerline is valid? [False, False] Translation: X:5.93, Y:0.17, Z:-1.38 [[ 0.99879759 -0.03676559 -0.0324295 5.93180474] [ 0.03700854 0.99929097 0.00692325 0.17137039] [ 0.03215197 -0.0081151 0.99945005 -1.37958424] [ 0. 0. 0. 1. ]] SLAMing on 200.204553574 meters Centerline goodness [0,1] 0.8384083792247058 Centerline is valid? [False, False] Translation: X:5.94, Y:0.17, Z:-1.38 [[ 0.99870116 -0.03827319 -0.03363275 5.93615144] [ 0.03853026 0.99923272 0.00702851 0.17125868] [ 0.03333794 -0.00831526 0.99940954 -1.37894388] [ 0. 0. 0. 1. ]] SLAMing on 200.234553574 meters Centerline goodness [0,1] 0.8381429687710505 Centerline is valid? [False, False] Translation: X:5.94, Y:0.17, Z:-1.38 [[ 0.99865011 -0.03903018 -0.03427237 5.93892674] [ 0.03928455 0.99920506 0.00678005 0.17195746] [ 0.0339805 -0.00811728 0.99938953 -1.37957407] [ 0. 0. 0. 1. ]] SLAMing on 200.264553574 meters Centerline goodness [0,1] 0.8357271336143253 Centerline is valid? [False, False] Translation: X:5.95, Y:0.17, Z:-1.38 [[ 0.99862124 -0.03789756 -0.03632334 5.9467117 ] [ 0.03831765 0.99920573 0.01093966 0.1719883 ] [ 0.0358799 -0.0123164 0.99928021 -1.37824706] [ 0. 0. 0. 1. ]] SLAMing on 200.294553574 meters Centerline goodness [0,1] 0.8365921787709497 Centerline is valid? [False, False] Translation: X:5.95, Y:0.17, Z:-1.38 [[ 0.99858696 -0.03837103 -0.03676605 5.94851213] [ 0.03878478 0.99919129 0.01060709 0.17277687] [ 0.03632931 -0.01201806 0.99926761 -1.37882827] [ 0. 0. 0. 1. ]] SLAMing on 200.324553574 meters Centerline goodness [0,1] 0.8303612254229538 Centerline is valid? [False, False] Translation: X:5.95, Y:0.17, Z:-1.38 [[ 0.9985612 -0.0386818 -0.0371382 5.95008608] [ 0.039087 0.99918327 0.01024696 0.1733561 ] [ 0.0367115 -0.01168383 0.9992576 -1.37967249] [ 0. 0. 0. 1. ]] SLAMing on 200.354553574 meters Centerline goodness [0,1] 0.8372093023255813 Centerline is valid? [False, False] Translation: X:5.95, Y:0.17, Z:-1.38 [[ 0.99854419 -0.03875362 -0.03751874 5.9513655 ] [ 0.03914464 0.99918605 0.00974385 0.17497582] [ 0.03711059 -0.01119832 0.99924842 -1.3805096 ] [ 0. 0. 0. 1. ]] SLAMing on 200.384553574 meters Centerline goodness [0,1] 0.8358276765193222 Centerline is valid? [False, False] Translation: X:5.95, Y:0.18, Z:-1.38 [[ 0.99854308 -0.03871604 -0.03758695 5.9518037 ] [ 0.03909975 0.99918989 0.00952755 0.17586595] [ 0.03718763 -0.01098331 0.99924794 -1.38091186] [ 0. 0. 0. 1. ]] SLAMing on 200.414553574 meters Centerline goodness [0,1] 0.8331553942240966 Centerline is valid? [False, False] Translation: X:5.95, Y:0.18, Z:-1.38 [[ 0.99863271 -0.0353154 -0.03854257 5.95428062] [ 0.0358676 0.99926222 0.01373075 0.1763459 ] [ 0.03802922 -0.0150944 0.99916262 -1.37986352] [ 0. 0. 0. 1. ]] SLAMing on 200.44455357399997 meters Centerline goodness [0,1] 0.8316773660797528 Centerline is valid? [False, False] Translation: X:5.97, Y:0.18, Z:-1.39 [[ 9.98887182e-01 -3.39649804e-02 -3.27227272e-02 5.97202928e+00] [ 3.41586713e-02 9.99401951e-01 5.37825832e-03 1.80022726e-01] [ 3.25204850e-02 -6.49003818e-03 9.99449997e-01 -1.38760476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.47455357399997 meters Centerline goodness [0,1] 0.819721300597213 Centerline is valid? [False, False] Translation: X:5.99, Y:0.18, Z:-1.39 [[ 9.99136793e-01 -3.02730689e-02 -2.84466252e-02 5.99345890e+00] [ 3.02871446e-02 9.99541237e-01 6.39685456e-05 1.83390638e-01] [ 2.84316384e-02 -9.25480377e-04 9.99595311e-01 -1.39306060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.50455357399997 meters Centerline goodness [0,1] 0.8394633784928027 Centerline is valid? [False, False] Translation: X:5.99, Y:0.18, Z:-1.39 [[ 9.99226646e-01 -2.64891306e-02 -2.90591920e-02 5.99467303e+00] [ 2.66378196e-02 9.99633905e-01 4.74156681e-03 1.82958886e-01] [ 2.89229536e-02 -5.51197341e-03 9.99566446e-01 -1.39127689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.53455357399997 meters Centerline goodness [0,1] 0.8379578246392897 Centerline is valid? [False, False] Translation: X:6.01, Y:0.19, Z:-1.40 [[ 9.99460502e-01 -2.37683027e-02 -2.26665481e-02 6.01022897e+00] [ 2.37139302e-02 9.99715234e-01 -2.66461819e-03 1.86373736e-01] [ 2.27234268e-02 2.12566770e-03 9.99739530e-01 -1.39802901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.56455357399997 meters Centerline goodness [0,1] 0.8311171963453488 Centerline is valid? [False, False] Translation: X:6.03, Y:0.19, Z:-1.40 [[ 0.99967862 -0.01777684 -0.01807316 6.02797766] [ 0.01766068 0.99982247 -0.00656673 0.18902393] [ 0.01818669 0.00624544 0.9998151 -1.40177796] [ 0. 0. 0. 1. ]] SLAMing on 200.59455357399997 meters Centerline goodness [0,1] 0.832056042769482 Centerline is valid? [False, False] Translation: X:6.03, Y:0.19, Z:-1.40 [[ 9.99731010e-01 -1.38509408e-02 -1.86026731e-02 6.02884148e+00] [ 1.38258477e-02 9.99903328e-01 -1.47683707e-03 1.87989996e-01] [ 1.86213303e-02 1.21924209e-03 9.99825865e-01 -1.39939442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.62455357399998 meters Centerline goodness [0,1] 0.8301054951976067 Centerline is valid? [False, False] Translation: X:6.03, Y:0.19, Z:-1.40 [[ 9.99784325e-01 -9.16087612e-03 -1.86381755e-02 6.02836258e+00] [ 9.21595517e-03 9.99953409e-01 2.87142942e-03 1.89150352e-01] [ 1.86110023e-02 -3.04257871e-03 9.99822171e-01 -1.39869747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.65455357399998 meters Centerline goodness [0,1] 0.8295525984911987 Centerline is valid? [False, False] Translation: X:6.03, Y:0.19, Z:-1.40 [[ 9.99796770e-01 -8.36444348e-03 -1.83426983e-02 6.02750737e+00] [ 8.41508792e-03 9.99960986e-01 2.68556802e-03 1.90331189e-01] [ 1.83195194e-02 -2.83937765e-03 9.99828152e-01 -1.39976211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.68455357399998 meters Centerline goodness [0,1] 0.829023401751863 Centerline is valid? [False, False] Translation: X:6.03, Y:0.19, Z:-1.40 [[ 9.99798566e-01 -5.34284742e-03 -1.93463482e-02 6.03116258e+00] [ 5.47592079e-03 9.99961668e-01 6.83204552e-03 1.89531714e-01] [ 1.93091040e-02 -6.93660838e-03 9.99789499e-01 -1.39958502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.71455357399998 meters Centerline goodness [0,1] 0.8269497968278936 Centerline is valid? [False, False] Translation: X:6.03, Y:0.19, Z:-1.40 [[ 9.99805197e-01 -4.64592680e-03 -1.91828943e-02 6.03058915e+00] [ 4.77829109e-03 9.99965053e-01 6.86006143e-03 1.89180673e-01] [ 1.91503526e-02 -6.95038652e-03 9.99792457e-01 -1.40032115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.74455357399998 meters Centerline goodness [0,1] 0.8302516152755162 Centerline is valid? [False, False] Translation: X:6.03, Y:0.19, Z:-1.40 [[ 9.99806772e-01 -4.39071606e-03 -1.91609094e-02 6.03025574e+00] [ 4.52845329e-03 9.99964178e-01 7.15099092e-03 1.88446479e-01] [ 1.91288250e-02 -7.23637843e-03 9.99790840e-01 -1.39985939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.77455357399998 meters Centerline goodness [0,1] 0.8297346992382453 Centerline is valid? [False, False] Translation: X:6.05, Y:0.19, Z:-1.41 [[ 9.99896675e-01 -2.30522615e-03 -1.41889074e-02 6.04860375e+00] [ 2.29273688e-03 9.99996970e-01 -8.96417018e-04 1.90050991e-01] [ 1.41909308e-02 8.63792964e-04 9.99898931e-01 -1.40638920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.80455357399998 meters Centerline goodness [0,1] 0.8299367902011698 Centerline is valid? [False, False] Translation: X:6.05, Y:0.19, Z:-1.41 [[ 9.99899848e-01 -1.81014791e-03 -1.40362680e-02 6.04811806e+00] [ 1.80084984e-03 9.99998151e-01 -6.75042724e-04 1.90259291e-01] [ 1.40374639e-02 6.49697907e-04 9.99901259e-01 -1.40654459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.83455357399998 meters Centerline goodness [0,1] 0.8319435703796937 Centerline is valid? [False, False] Translation: X:6.05, Y:0.19, Z:-1.41 [[ 9.99902716e-01 -1.32512642e-03 -1.38853061e-02 6.04757549e+00] [ 1.31902891e-03 9.99999030e-01 -4.48282514e-04 1.90471404e-01] [ 1.38858866e-02 4.29923783e-04 9.99903494e-01 -1.40658732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.86455357399998 meters Centerline goodness [0,1] 0.8319435703796937 Centerline is valid? [False, False] Translation: X:6.05, Y:0.19, Z:-1.41 [[ 9.99902716e-01 -1.32512642e-03 -1.38853061e-02 6.04757549e+00] [ 1.31902891e-03 9.99999030e-01 -4.48282514e-04 1.90471404e-01] [ 1.38858866e-02 4.29923783e-04 9.99903494e-01 -1.40658732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.89455357399999 meters Centerline goodness [0,1] 0.8335473725592976 Centerline is valid? [False, False] Translation: X:6.05, Y:0.19, Z:-1.41 [[ 9.99911343e-01 -5.80535023e-05 -1.33155064e-02 6.04541346e+00] [ 5.95462371e-05 9.99999992e-01 1.11708561e-04 1.89528528e-01] [ 1.33154998e-02 -1.12491546e-04 9.99911338e-01 -1.40645365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.924553574 meters Centerline goodness [0,1] 0.8350353495679497 Centerline is valid? [False, False] Translation: X:6.04, Y:0.19, Z:-1.41 [[ 9.99914015e-01 5.07580171e-04 -1.31036217e-02 6.04438015e+00] [-4.98749148e-04 9.99999646e-01 6.77196681e-04 1.88438358e-01] [ 1.31039608e-02 -6.70603032e-04 9.99913915e-01 -1.40579753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.954553574 meters Centerline goodness [0,1] 0.8349598388320557 Centerline is valid? [False, False] Translation: X:6.04, Y:0.19, Z:-1.41 [[ 9.99915349e-01 9.08554661e-04 -1.29795951e-02 6.04380233e+00] [-8.94235762e-04 9.99998985e-01 1.10894637e-03 1.87276181e-01] [ 1.29805895e-02 -1.09724568e-03 9.99915147e-01 -1.40546516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.984553574 meters Centerline goodness [0,1] 0.8394766571210888 Centerline is valid? [False, False] Translation: X:6.04, Y:0.18, Z:-1.41 [[ 9.99917237e-01 1.29461204e-03 -1.28001328e-02 6.04351542e+00] [-1.27115817e-03 9.99997499e-01 1.84028087e-03 1.84511681e-01] [ 1.28024832e-02 -1.82385757e-03 9.99916381e-01 -1.40525733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.014553574 meters Centerline goodness [0,1] 0.8379704106120942 Centerline is valid? [False, False] Translation: X:6.04, Y:0.18, Z:-1.40 [[ 9.99917995e-01 1.56390979e-03 -1.27105099e-02 6.04320543e+00] [-1.53280425e-03 9.99995808e-01 2.45660324e-03 1.82665577e-01] [ 1.27142985e-02 -2.43691906e-03 9.99916201e-01 -1.40484040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.044553574 meters Centerline goodness [0,1] 0.8425354637979223 Centerline is valid? [False, False] Translation: X:6.05, Y:0.18, Z:-1.41 [[ 9.99915581e-01 1.29948367e-03 -1.29283164e-02 6.04505033e+00] [-1.26788477e-03 9.99996190e-01 2.45205827e-03 1.80059611e-01] [ 1.29314536e-02 -2.43545965e-03 9.99913419e-01 -1.40674252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.074553574 meters Centerline goodness [0,1] 0.8389238664620919 Centerline is valid? [False, False] Translation: X:6.05, Y:0.18, Z:-1.41 [[ 9.99913091e-01 1.03402564e-03 -1.31430959e-02 6.04649500e+00] [-1.00222364e-03 9.99996555e-01 2.42602908e-03 1.78817568e-01] [ 1.31455592e-02 -2.41264592e-03 9.99910683e-01 -1.40785293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.104553574 meters Centerline goodness [0,1] 0.8410490550010619 Centerline is valid? [False, False] Translation: X:6.05, Y:0.18, Z:-1.41 [[ 9.99911667e-01 1.00020247e-03 -1.32536036e-02 6.04715330e+00] [-9.64825240e-04 9.99995956e-01 2.67537854e-03 1.77333488e-01] [ 1.32562259e-02 -2.66235481e-03 9.99908588e-01 -1.40824260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.134553574 meters Centerline goodness [0,1] 0.8390944434159372 Centerline is valid? [False, False] Translation: X:6.06, Y:0.18, Z:-1.41 [[ 9.99924523e-01 6.49900577e-03 -1.04264754e-02 6.06413126e+00] [-6.54217713e-03 9.99970146e-01 -4.11180145e-03 1.77919307e-01] [ 1.03994415e-02 4.17970296e-03 9.99937189e-01 -1.41161066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.164553574 meters Centerline goodness [0,1] 0.8380914722551733 Centerline is valid? [False, False] Translation: X:6.06, Y:0.18, Z:-1.41 [[ 9.99886567e-01 1.04781543e-02 -1.08194602e-02 6.06483898e+00] [-1.04717033e-02 9.99944957e-01 6.52721772e-04 1.77281939e-01] [ 1.08257040e-02 -5.39349554e-04 9.99941255e-01 -1.40969645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.19455357399997 meters Centerline goodness [0,1] 0.8389821615949633 Centerline is valid? [False, False] Translation: X:6.06, Y:0.18, Z:-1.41 [[ 9.99825917e-01 1.52502983e-02 -1.07500877e-02 6.06481932e+00] [-1.52083451e-02 9.99876451e-01 3.97359775e-03 1.80149499e-01] [ 1.08093581e-02 -3.80941497e-03 9.99934321e-01 -1.41136551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.22455357399997 meters Centerline goodness [0,1] 0.8316163781833394 Centerline is valid? [False, False] Translation: X:6.06, Y:0.18, Z:-1.41 [[ 9.99818876e-01 1.58690564e-02 -1.05066269e-02 6.06459709e+00] [-1.58377640e-02 9.99869908e-01 3.05489357e-03 1.82629172e-01] [ 1.05537384e-02 -2.88793878e-03 9.99940137e-01 -1.41378801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.25455357399997 meters Centerline goodness [0,1] 0.8405016984583225 Centerline is valid? [False, False] Translation: X:6.06, Y:0.18, Z:-1.42 [[ 9.99812925e-01 1.63351074e-02 -1.03575472e-02 6.06449546e+00] [-1.63084235e-02 9.99863482e-01 2.65553334e-03 1.84317234e-01] [ 1.03995116e-02 -2.48612129e-03 9.99942833e-01 -1.41505732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.28455357399997 meters Centerline goodness [0,1] 0.8360411660223592 Centerline is valid? [False, False] Translation: X:6.07, Y:0.18, Z:-1.42 [[ 9.99809845e-01 1.64061214e-02 -1.05410323e-02 6.06514778e+00] [-1.63802954e-02 9.99862629e-01 2.53172683e-03 1.84734525e-01] [ 1.05811200e-02 -2.35858019e-03 9.99941237e-01 -1.41547557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.31455357399997 meters Centerline goodness [0,1] 0.8365879800277103 Centerline is valid? [False, False] Translation: X:6.06, Y:0.18, Z:-1.42 [[ 9.99863047e-01 1.30721949e-02 -1.01491829e-02 6.06346987e+00] [-1.30863722e-02 9.99913483e-01 -1.33173581e-03 1.84484830e-01] [ 1.01308961e-02 1.46436941e-03 9.99947609e-01 -1.41534568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.34455357399997 meters Centerline goodness [0,1] 0.8423682695829626 Centerline is valid? [False, False] Translation: X:6.06, Y:0.19, Z:-1.42 [[ 9.99961459e-01 8.56310088e-03 -1.93748541e-03 6.05534193e+00] [-8.56334666e-03 9.99963327e-01 -1.18592735e-04 1.85634965e-01] [ 1.93639883e-03 1.35179524e-04 9.99998116e-01 -1.42078350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.37455357399998 meters Centerline goodness [0,1] 0.8348871314094171 Centerline is valid? [False, False] Translation: X:6.06, Y:0.19, Z:-1.42 [[ 9.99967371e-01 7.64139572e-03 -2.62018588e-03 6.05817125e+00] [-7.64230286e-03 9.99970741e-01 -3.36375322e-04 1.85913428e-01] [ 2.61753883e-03 3.56388601e-04 9.99996511e-01 -1.42107997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.40455357399998 meters Centerline goodness [0,1] 0.8382839149829441 Centerline is valid? [False, False] Translation: X:6.06, Y:0.19, Z:-1.42 [[ 9.99975171e-01 6.04012247e-03 -3.62957923e-03 6.06257813e+00] [-6.04407429e-03 9.99981152e-01 -1.07880140e-03 1.87031053e-01] [ 3.62299473e-03 1.10071206e-03 9.99992831e-01 -1.42215177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.43455357399998 meters Centerline goodness [0,1] 0.8369613621480027 Centerline is valid? [False, False] Translation: X:6.07, Y:0.19, Z:-1.42 [[ 9.99978596e-01 4.76587685e-03 -4.48268705e-03 6.06635358e+00] [-4.77266154e-03 9.99987480e-01 -1.50405455e-03 1.87475288e-01] [ 4.47546279e-03 1.52541671e-03 9.99988822e-01 -1.42291632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.46455357399998 meters Centerline goodness [0,1] 0.837607512033457 Centerline is valid? [False, False] Translation: X:6.06, Y:0.19, Z:-1.43 [[ 9.99993207e-01 -1.79418831e-03 3.21970331e-03 6.05977390e+00] [ 1.80072743e-03 9.99996320e-01 -2.02922248e-03 1.90496563e-01] [-3.21605066e-03 2.03500650e-03 9.99992758e-01 -1.42800149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.49455357399998 meters Centerline goodness [0,1] 0.8365674973085103 Centerline is valid? [False, False] Translation: X:6.06, Y:0.19, Z:-1.43 [[ 9.99992301e-01 -3.31943673e-03 2.09243886e-03 6.06383796e+00] [ 3.32330305e-03 9.99992772e-01 -1.84699644e-03 1.90433435e-01] [-2.08629275e-03 1.85393603e-03 9.99996105e-01 -1.42711742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.52455357399998 meters Centerline goodness [0,1] 0.8373513001368565 Centerline is valid? [False, False] Translation: X:6.07, Y:0.19, Z:-1.43 [[ 9.99985259e-01 -5.39056198e-03 6.50565558e-04 6.06937347e+00] [ 5.39170558e-03 9.99983900e-01 -1.76908434e-03 1.89949462e-01] [-6.41018725e-04 1.77256592e-03 9.99998224e-01 -1.42665986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.55455357399998 meters Centerline goodness [0,1] 0.8386312590831021 Centerline is valid? [False, False] Translation: X:6.08, Y:0.19, Z:-1.43 [[ 9.99888502e-01 -1.47576774e-02 -2.27914311e-03 6.08376914e+00] [ 1.47426595e-02 9.99870380e-01 -6.47122871e-03 1.90821433e-01] [ 2.37434799e-03 6.43690655e-03 9.99976464e-01 -1.42781239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.58455357399998 meters Centerline goodness [0,1] 0.8391412405478293 Centerline is valid? [False, False] Translation: X:6.09, Y:0.19, Z:-1.43 [[ 9.99826638e-01 -1.80855261e-02 -4.42797400e-03 6.09285783e+00] [ 1.80579070e-02 9.99817720e-01 -6.19991738e-03 1.90007733e-01] [ 4.53929564e-03 6.11888261e-03 9.99970977e-01 -1.42714035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.61455357399998 meters Centerline goodness [0,1] 0.8375434039282211 Centerline is valid? [False, False] Translation: X:6.11, Y:0.19, Z:-1.43 [[ 0.99960388 -0.02702715 -0.00785022 6.11308332] [ 0.02697504 0.99961386 -0.0066698 0.18851442] [ 0.00802745 0.0064554 0.99994694 -1.4260234 ] [ 0. 0. 0. 1. ]] SLAMing on 201.64455357399999 meters Centerline goodness [0,1] 0.8458868724334349 Centerline is valid? [False, False] Translation: X:6.12, Y:0.19, Z:-1.42 [[ 9.99501291e-01 -3.00188759e-02 -9.79980422e-03 6.12153434e+00] [ 2.99629916e-02 9.99534178e-01 -5.80049019e-03 1.87268141e-01] [ 9.96936345e-03 5.50396598e-03 9.99935157e-01 -1.42429039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.674553574 meters Centerline goodness [0,1] 0.843318461865307 Centerline is valid? [False, False] Translation: X:6.13, Y:0.19, Z:-1.42 [[ 9.99343458e-01 -3.41137593e-02 -1.22026396e-02 6.13207931e+00] [ 3.40604006e-02 9.99409400e-01 -4.55419537e-03 1.86052582e-01] [ 1.23507935e-02 4.13557855e-03 9.99915174e-01 -1.42098629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.704553574 meters Centerline goodness [0,1] 0.8431970713849908 Centerline is valid? [False, False] Translation: X:6.14, Y:0.18, Z:-1.41 [[ 9.99345980e-01 -3.32424529e-02 -1.42320607e-02 6.13992492e+00] [ 3.32761008e-02 9.99443919e-01 2.13392307e-03 1.83509337e-01] [ 1.41532097e-02 -2.60611492e-03 9.99896442e-01 -1.41468218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.734553574 meters Centerline goodness [0,1] 0.8461456953642384 Centerline is valid? [False, False] Translation: X:6.14, Y:0.18, Z:-1.41 [[ 0.99938787 -0.03128393 -0.0156588 6.144727 ] [ 0.03139375 0.99948385 0.00681715 0.18258685] [ 0.01543745 -0.00730457 0.99985415 -1.41212281] [ 0. 0. 0. 1. ]] SLAMing on 201.764553574 meters Centerline goodness [0,1] 0.8433537182643687 Centerline is valid? [False, False] Translation: X:6.15, Y:0.18, Z:-1.41 [[ 0.99938882 -0.03120247 -0.01576035 6.14528699] [ 0.03131379 0.99948602 0.00686605 0.18353165] [ 0.01553802 -0.00735537 0.99985222 -1.41221478] [ 0. 0. 0. 1. ]] SLAMing on 201.794553574 meters Centerline goodness [0,1] 0.840098498689332 Centerline is valid? [False, False] Translation: X:6.15, Y:0.18, Z:-1.41 [[ 0.99940099 -0.03085497 -0.0156727 6.14508131] [ 0.03096749 0.99949597 0.00698786 0.18426691] [ 0.01544919 -0.00746902 0.99985276 -1.41226809] [ 0. 0. 0. 1. ]] SLAMing on 201.824553574 meters Centerline goodness [0,1] 0.8450882943851116 Centerline is valid? [False, False] Translation: X:6.16, Y:0.18, Z:-1.41 [[ 9.99362893e-01 -2.46296174e-02 -2.58300189e-02 6.16006617e+00] [ 2.47911864e-02 9.99674923e-01 5.95357446e-03 1.83483358e-01] [ 2.56749879e-02 -6.59013821e-03 9.99648621e-01 -1.40768551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.854553574 meters Centerline goodness [0,1] 0.8438623387608374 Centerline is valid? [False, False] Translation: X:6.16, Y:0.18, Z:-1.41 [[ 9.99359132e-01 -2.46716151e-02 -2.59352593e-02 6.16116394e+00] [ 2.48248227e-02 9.99676121e-01 5.60197898e-03 1.83916188e-01] [ 2.57886495e-02 -6.24222706e-03 9.99647928e-01 -1.40897871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.884553574 meters Centerline goodness [0,1] 0.8411750719890101 Centerline is valid? [False, False] Translation: X:6.18, Y:0.18, Z:-1.41 [[ 9.99503131e-01 -2.27140735e-02 -2.18531698e-02 6.18228459e+00] [ 2.26879654e-02 9.99741555e-01 -1.44192584e-03 1.84313908e-01] [ 2.18802740e-02 9.45405433e-04 9.99760151e-01 -1.41421115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.914553574 meters Centerline goodness [0,1] 0.8432317880794702 Centerline is valid? [False, False] Translation: X:6.18, Y:0.18, Z:-1.41 [[ 9.99504572e-01 -2.26208870e-02 -2.18839117e-02 6.18257176e+00] [ 2.26063720e-02 9.99744029e-01 -9.10463039e-04 1.83564360e-01] [ 2.18989055e-02 4.15296121e-04 9.99760104e-01 -1.41362739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.94455357399997 meters Centerline goodness [0,1] 0.8443814719669482 Centerline is valid? [False, False] Translation: X:6.19, Y:0.18, Z:-1.41 [[ 9.99535598e-01 -2.00399845e-02 -2.29561840e-02 6.18638900e+00] [ 2.01405478e-02 9.99788513e-01 4.15784125e-03 1.80830177e-01] [ 2.28680060e-02 -4.61826046e-03 9.99727826e-01 -1.41148386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.97455357399997 meters Centerline goodness [0,1] 0.8414287611207011 Centerline is valid? [False, False] Translation: X:6.19, Y:0.18, Z:-1.41 [[ 9.99525606e-01 -2.03372934e-02 -2.31291262e-02 6.18813844e+00] [ 2.04347258e-02 9.99783251e-01 3.98399781e-03 1.80217837e-01] [ 2.30430893e-02 -4.45474518e-03 9.99724548e-01 -1.41294639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.00455357399997 meters Centerline goodness [0,1] 0.8375768217734856 Centerline is valid? [False, False] Translation: X:6.19, Y:0.18, Z:-1.41 [[ 9.99517247e-01 -2.05458453e-02 -2.33054023e-02 6.18921009e+00] [ 2.06502783e-02 9.99777730e-01 4.24926344e-03 1.79165301e-01] [ 2.32129175e-02 -4.72847514e-03 9.99719362e-01 -1.41312296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.03455357399997 meters Centerline goodness [0,1] 0.8476948554944175 Centerline is valid? [False, False] Translation: X:6.19, Y:0.18, Z:-1.41 [[ 9.99491498e-01 -2.12771866e-02 -2.37492503e-02 6.19126703e+00] [ 2.14081334e-02 9.99756913e-01 5.27313173e-03 1.76050143e-01] [ 2.36312797e-02 -5.77887744e-03 9.99704040e-01 -1.41169111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.06455357399997 meters Centerline goodness [0,1] 0.8367733838882807 Centerline is valid? [False, False] Translation: X:6.19, Y:0.18, Z:-1.41 [[ 9.99479737e-01 -2.15736870e-02 -2.39756484e-02 6.19249101e+00] [ 2.17087626e-02 9.99749819e-01 5.38791427e-03 1.75780277e-01] [ 2.38534130e-02 -5.90559280e-03 9.99698024e-01 -1.41161578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.09455357399997 meters Centerline goodness [0,1] 0.844604200756458 Centerline is valid? [False, False] Translation: X:6.20, Y:0.17, Z:-1.41 [[ 9.99448759e-01 -2.24035530e-02 -2.45001971e-02 6.19513085e+00] [ 2.25503633e-02 9.99729274e-01 5.73239544e-03 1.74691796e-01] [ 2.43651382e-02 -6.28172385e-03 9.99683390e-01 -1.41136334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.12455357399998 meters Centerline goodness [0,1] 0.8397952895152863 Centerline is valid? [False, False] Translation: X:6.20, Y:0.17, Z:-1.41 [[ 9.99426384e-01 -2.29503451e-02 -2.49035195e-02 6.19711604e+00] [ 2.31023361e-02 9.99716090e-01 5.83270643e-03 1.74228484e-01] [ 2.47625866e-02 -6.40469017e-03 9.99672844e-01 -1.41160280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.15455357399998 meters Centerline goodness [0,1] 0.845367446341594 Centerline is valid? [False, False] Translation: X:6.20, Y:0.17, Z:-1.41 [[ 9.99397732e-01 -2.36461416e-02 -2.53974978e-02 6.19941207e+00] [ 2.38030851e-02 9.99699286e-01 5.89500620e-03 1.74047624e-01] [ 2.52504662e-02 -6.49599463e-03 9.99660050e-01 -1.41170322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.18455357399998 meters Centerline goodness [0,1] 0.847732008334669 Centerline is valid? [False, False] Translation: X:6.20, Y:0.17, Z:-1.41 [[ 0.99933443 -0.02528814 -0.0262909 6.20347178] [ 0.02546682 0.99965464 0.00648355 0.17243683] [ 0.02611786 -0.00714878 0.99963331 -1.4104244 ] [ 0. 0. 0. 1. ]] SLAMing on 202.21455357399998 meters Centerline goodness [0,1] 0.8474171474573997 Centerline is valid? [False, False] Translation: X:6.21, Y:0.17, Z:-1.41 [[ 0.99929679 -0.02614952 -0.02687244 6.20593536] [ 0.02634286 0.99962939 0.00686596 0.1714947 ] [ 0.02668294 -0.00756903 0.99961529 -1.4097199 ] [ 0. 0. 0. 1. ]] SLAMing on 202.24455357399998 meters Centerline goodness [0,1] 0.8502678093197643 Centerline is valid? [False, False] Translation: X:6.21, Y:0.17, Z:-1.41 [[ 0.99924786 -0.02721709 -0.02762151 6.20898373] [ 0.02741856 0.99959994 0.00694145 0.17163832] [ 0.02742153 -0.00769357 0.99959435 -1.40922025] [ 0. 0. 0. 1. ]] SLAMing on 202.27455357399998 meters Centerline goodness [0,1] 0.8486039794608472 Centerline is valid? [False, False] Translation: X:6.21, Y:0.17, Z:-1.41 [[ 0.99922639 -0.02767329 -0.02794308 6.21071007] [ 0.0278658 0.99959039 0.00652339 0.1726322 ] [ 0.02775111 -0.007297 0.99958823 -1.40994818] [ 0. 0. 0. 1. ]] SLAMing on 202.30455357399998 meters Centerline goodness [0,1] 0.833769983425119 Centerline is valid? [False, False] Translation: X:6.21, Y:0.17, Z:-1.41 [[ 9.99203536e-01 -2.80919490e-02 -2.83396570e-02 6.21264363e+00] [ 2.82690420e-02 9.99583129e-01 5.86769575e-03 1.74799806e-01] [ 2.81630081e-02 -6.66415730e-03 9.99581129e-01 -1.41116014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.33455357399998 meters Centerline goodness [0,1] 0.8447731649903703 Centerline is valid? [False, False] Translation: X:6.21, Y:0.18, Z:-1.41 [[ 9.99189350e-01 -2.83273209e-02 -2.86042965e-02 6.21382390e+00] [ 2.85010597e-02 9.99577599e-01 5.68445536e-03 1.75861922e-01] [ 2.84311886e-02 -6.49510001e-03 9.99574650e-01 -1.41147573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.36455357399998 meters Centerline goodness [0,1] 0.8498515367947997 Centerline is valid? [False, False] Translation: X:6.22, Y:0.18, Z:-1.41 [[ 9.99173466e-01 -2.85621614e-02 -2.89238106e-02 6.21502280e+00] [ 2.87350174e-02 9.99571499e-01 5.57825444e-03 1.77334784e-01] [ 2.87520897e-02 -6.40477003e-03 9.99566054e-01 -1.41141395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.39455357399999 meters Centerline goodness [0,1] 0.847084002140182 Centerline is valid? [False, False] Translation: X:6.22, Y:0.18, Z:-1.41 [[ 9.99150941e-01 -2.89752580e-02 -2.92887695e-02 6.21684560e+00] [ 2.91380621e-02 9.99562145e-01 5.14706366e-03 1.78204881e-01] [ 2.91268078e-02 -5.99611148e-03 9.99557740e-01 -1.41245397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.424553574 meters Centerline goodness [0,1] 0.8488527571268119 Centerline is valid? [False, False] Translation: X:6.22, Y:0.18, Z:-1.41 [[ 9.99131709e-01 -2.92735353e-02 -2.96460495e-02 6.21837812e+00] [ 2.94367903e-02 9.99553708e-01 5.08532887e-03 1.79108363e-01] [ 2.94839532e-02 -5.95359787e-03 9.99547523e-01 -1.41264396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.454553574 meters Centerline goodness [0,1] 0.8437741892432937 Centerline is valid? [False, False] Translation: X:6.22, Y:0.18, Z:-1.41 [[ 9.99107455e-01 -2.96321394e-02 -3.01036616e-02 6.22023413e+00] [ 2.97873113e-02 9.99545119e-01 4.71917349e-03 1.80734790e-01] [ 2.99501288e-02 -5.61166855e-03 9.99535642e-01 -1.41326936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.484553574 meters Centerline goodness [0,1] 0.8429267772953679 Centerline is valid? [False, False] Translation: X:6.22, Y:0.18, Z:-1.41 [[ 9.99099703e-01 -2.97350443e-02 -3.02590638e-02 6.22097171e+00] [ 2.98916512e-02 9.99541923e-01 4.73631393e-03 1.81239512e-01] [ 3.01043683e-02 -5.63654322e-03 9.99530868e-01 -1.41328451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.514553574 meters Centerline goodness [0,1] 0.8433084067381643 Centerline is valid? [False, False] Translation: X:6.22, Y:0.18, Z:-1.41 [[ 9.99110762e-01 -2.93904215e-02 -3.02305840e-02 6.22078086e+00] [ 2.95604381e-02 9.99549508e-01 5.19244049e-03 1.81764779e-01] [ 3.00643574e-02 -6.08145248e-03 9.99529464e-01 -1.41251140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.544553574 meters Centerline goodness [0,1] 0.8515293118096856 Centerline is valid? [False, False] Translation: X:6.23, Y:0.18, Z:-1.41 [[ 0.99912772 -0.02721143 -0.0316756 6.22600677] [ 0.02754472 0.99956921 0.01013374 0.18040289] [ 0.0313862 -0.01099739 0.99944683 -1.41009437] [ 0. 0. 0. 1. ]] SLAMing on 202.574553574 meters Centerline goodness [0,1] 0.8437433609517739 Centerline is valid? [False, False] Translation: X:6.23, Y:0.18, Z:-1.41 [[ 0.99915141 -0.0266044 -0.03144315 6.2254198 ] [ 0.02693493 0.99958581 0.01013543 0.18137492] [ 0.03116048 -0.01097375 0.99945415 -1.41045986] [ 0. 0. 0. 1. ]] SLAMing on 202.604553574 meters Centerline goodness [0,1] 0.8469073533315636 Centerline is valid? [False, False] Translation: X:6.23, Y:0.18, Z:-1.41 [[ 0.99919646 -0.02355284 -0.0324298 6.22859389] [ 0.02404377 0.99960087 0.01483234 0.18027777] [ 0.03206751 -0.01560016 0.99936395 -1.40875974] [ 0. 0. 0. 1. ]] SLAMing on 202.634553574 meters Centerline goodness [0,1] 0.8492791264709001 Centerline is valid? [False, False] Translation: X:6.24, Y:0.18, Z:-1.42 [[ 9.99407699e-01 -2.18853144e-02 -2.65571978e-02 6.24421434e+00] [ 2.20339821e-02 9.99743077e-01 5.31832332e-03 1.83306848e-01] [ 2.64339815e-02 -5.90033409e-03 9.99633148e-01 -1.41679904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.664553574 meters Centerline goodness [0,1] 0.8486795146324054 Centerline is valid? [False, False] Translation: X:6.26, Y:0.18, Z:-1.42 [[ 9.99617001e-01 -1.67537400e-02 -2.20264133e-02 6.26243385e+00] [ 1.67676577e-02 9.99859313e-01 4.47315765e-04 1.84808649e-01] [ 2.20158203e-02 -8.16475803e-04 9.99757289e-01 -1.42097614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.69455357399997 meters Centerline goodness [0,1] 0.8458537614001792 Centerline is valid? [False, False] Translation: X:6.28, Y:0.19, Z:-1.43 [[ 0.99978065 -0.01351238 -0.01600199 6.27817023] [ 0.0134088 0.99988856 -0.00656271 0.18742525] [ 0.01608889 0.0063467 0.99985042 -1.42728531] [ 0. 0. 0. 1. ]] SLAMing on 202.72455357399997 meters Centerline goodness [0,1] 0.8454805897968303 Centerline is valid? [False, False] Translation: X:6.28, Y:0.19, Z:-1.43 [[ 9.99845187e-01 -7.98911120e-03 -1.56772254e-02 6.27612234e+00] [ 7.96428433e-03 9.99966931e-01 -1.64542201e-03 1.88267107e-01] [ 1.56898524e-02 1.52030940e-03 9.99875751e-01 -1.42603866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.75455357399997 meters Centerline goodness [0,1] 0.8471959175084175 Centerline is valid? [False, False] Translation: X:6.28, Y:0.19, Z:-1.42 [[ 9.99864510e-01 -3.88058589e-03 -1.59969369e-02 6.27685062e+00] [ 3.93096994e-03 9.99987408e-01 3.11936672e-03 1.87631136e-01] [ 1.59846305e-02 -3.18182756e-03 9.99867175e-01 -1.42477706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.78455357399997 meters Centerline goodness [0,1] 0.8471959175084175 Centerline is valid? [False, False] Translation: X:6.28, Y:0.19, Z:-1.42 [[ 9.99864510e-01 -3.88058589e-03 -1.59969369e-02 6.27685062e+00] [ 3.93096994e-03 9.99987408e-01 3.11936672e-03 1.87631136e-01] [ 1.59846305e-02 -3.18182756e-03 9.99867175e-01 -1.42477706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.81455357399997 meters Centerline goodness [0,1] 0.8445917508417509 Centerline is valid? [False, False] Translation: X:6.27, Y:0.19, Z:-1.43 [[ 9.99895981e-01 -3.05611014e-04 -1.44199270e-02 6.27084427e+00] [ 3.40083703e-04 9.99997090e-01 2.38823700e-03 1.89520174e-01] [ 1.44191552e-02 -2.39289256e-03 9.99893175e-01 -1.42850805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.84455357399997 meters Centerline goodness [0,1] 0.8439973701512163 Centerline is valid? [False, False] Translation: X:6.27, Y:0.19, Z:-1.43 [[ 9.99900885e-01 5.13168340e-04 -1.40697121e-02 6.27000229e+00] [-4.80204067e-04 9.99997132e-01 2.34620266e-03 1.90012932e-01] [ 1.40708758e-02 -2.33921379e-03 9.99898264e-01 -1.42947967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.87455357399998 meters Centerline goodness [0,1] 0.8407177436329194 Centerline is valid? [False, False] Translation: X:6.27, Y:0.19, Z:-1.43 [[ 9.99909323e-01 2.30440015e-03 -1.32678646e-02 6.26737848e+00] [-2.27416514e-03 9.99994784e-01 2.29345202e-03 1.90238784e-01] [ 1.32730804e-02 -2.26307074e-03 9.99909348e-01 -1.43124177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.90455357399998 meters Centerline goodness [0,1] 0.8416371507280598 Centerline is valid? [False, False] Translation: X:6.27, Y:0.19, Z:-1.43 [[ 9.99911068e-01 2.86093040e-03 -1.30257532e-02 6.26674539e+00] [-2.83071201e-03 9.99993261e-01 2.33774125e-03 1.90318748e-01] [ 1.30323536e-02 -2.30066119e-03 9.99912429e-01 -1.43171551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.93455357399998 meters Centerline goodness [0,1] 0.8425190659643054 Centerline is valid? [False, False] Translation: X:6.27, Y:0.19, Z:-1.43 [[ 9.99912528e-01 3.39139747e-03 -1.27841643e-02 6.26613356e+00] [-3.35987739e-03 9.99991265e-01 2.48622834e-03 1.90039840e-01] [ 1.27924844e-02 -2.44305764e-03 9.99915188e-01 -1.43205578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.96455357399998 meters Centerline goodness [0,1] 0.8421992333140786 Centerline is valid? [False, False] Translation: X:6.26, Y:0.19, Z:-1.43 [[ 9.99916569e-01 4.81461141e-03 -1.19864051e-02 6.26310822e+00] [-4.77496253e-03 9.99983041e-01 3.33424504e-03 1.88079545e-01] [ 1.20022549e-02 -3.27673223e-03 9.99922601e-01 -1.43137963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.99455357399998 meters Centerline goodness [0,1] 0.8422365139782124 Centerline is valid? [False, False] Translation: X:6.26, Y:0.19, Z:-1.43 [[ 9.99916555e-01 5.02393902e-03 -1.19014255e-02 6.26320573e+00] [-4.98323072e-03 9.99981640e-01 3.44764500e-03 1.87148862e-01] [ 1.19185277e-02 -3.38804976e-03 9.99923232e-01 -1.43189046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.02455357399998 meters Centerline goodness [0,1] 0.843343409120778 Centerline is valid? [False, False] Translation: X:6.26, Y:0.19, Z:-1.43 [[ 9.99915497e-01 4.97475048e-03 -1.20104218e-02 6.26405142e+00] [-4.93230142e-03 9.99981494e-01 3.56138957e-03 1.85989929e-01] [ 1.20279166e-02 -3.50184960e-03 9.99921530e-01 -1.43253070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.05455357399998 meters Centerline goodness [0,1] 0.8427334178284749 Centerline is valid? [False, False] Translation: X:6.26, Y:0.18, Z:-1.43 [[ 9.99915330e-01 4.96871852e-03 -1.20268550e-02 6.26455901e+00] [-4.92034413e-03 9.99979700e-01 4.04845130e-03 1.83540901e-01] [ 1.20467265e-02 -3.98893225e-03 9.99919479e-01 -1.43271069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.08455357399998 meters Centerline goodness [0,1] 0.8422787814849004 Centerline is valid? [False, False] Translation: X:6.26, Y:0.18, Z:-1.43 [[ 9.99915955e-01 5.78019267e-03 -1.16048460e-02 6.26291975e+00] [-5.73048822e-03 9.99974285e-01 4.31177106e-03 1.83518525e-01] [ 1.16294704e-02 -4.24490724e-03 9.99923365e-01 -1.43238287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.11455357399998 meters Centerline goodness [0,1] 0.838725865666517 Centerline is valid? [False, False] Translation: X:6.26, Y:0.18, Z:-1.43 [[ 9.99912977e-01 8.32087477e-03 -1.02372137e-02 6.25712903e+00] [-8.26971075e-03 9.99953154e-01 5.03006741e-03 1.83659593e-01] [ 1.02785887e-02 -4.94497089e-03 9.99934947e-01 -1.43142883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.14455357399999 meters Centerline goodness [0,1] 0.837993399339934 Centerline is valid? [False, False] Translation: X:6.26, Y:0.18, Z:-1.43 [[ 9.99910902e-01 8.98060535e-03 -9.87608425e-03 6.25622330e+00] [-8.93514851e-03 9.99949328e-01 4.63725072e-03 1.84887001e-01] [ 9.91722913e-03 -4.54859327e-03 9.99940478e-01 -1.43263440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.174553574 meters Centerline goodness [0,1] 0.8353731067114272 Centerline is valid? [False, False] Translation: X:6.26, Y:0.19, Z:-1.44 [[ 9.99910221e-01 9.14545273e-03 -9.79344312e-03 6.25719707e+00] [-9.11180951e-03 9.99952451e-01 3.47440715e-03 1.86117689e-01] [ 9.82475248e-03 -3.38485924e-03 9.99946007e-01 -1.43619754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.204553574 meters Centerline goodness [0,1] 0.8369651242547353 Centerline is valid? [False, False] Translation: X:6.26, Y:0.19, Z:-1.44 [[ 9.99910932e-01 8.33282020e-03 -1.04255112e-02 6.26043501e+00] [-8.30178987e-03 9.99960991e-01 3.01612932e-03 1.85836567e-01] [ 1.04502373e-02 -2.92931027e-03 9.99941104e-01 -1.43796184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.234553574 meters Centerline goodness [0,1] 0.8383552213514086 Centerline is valid? [False, False] Translation: X:6.25, Y:0.19, Z:-1.45 [[ 9.99989756e-01 3.69434591e-03 -2.61520509e-03 6.25398238e+00] [-3.68650170e-03 9.99988711e-01 2.99795814e-03 1.86324316e-01] [ 2.62625107e-03 -2.98828647e-03 9.99992086e-01 -1.44537694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.264553574 meters Centerline goodness [0,1] 0.8382395649074637 Centerline is valid? [False, False] Translation: X:6.26, Y:0.19, Z:-1.45 [[ 9.99990080e-01 3.06923441e-03 -3.22809583e-03 6.25645071e+00] [-3.06063722e-03 9.99991766e-01 2.66481589e-03 1.86728919e-01] [ 3.23624819e-03 -2.65490942e-03 9.99991239e-01 -1.44610961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.294553574 meters Centerline goodness [0,1] 0.8366082025583542 Centerline is valid? [False, False] Translation: X:6.26, Y:0.19, Z:-1.45 [[ 9.99990141e-01 2.32378626e-03 -3.78392911e-03 6.25867207e+00] [-2.31359988e-03 9.99993694e-01 2.69416836e-03 1.86035662e-01] [ 3.79016592e-03 -2.68538730e-03 9.99989212e-01 -1.44612068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.324553574 meters Centerline goodness [0,1] 0.8401377665916016 Centerline is valid? [False, False] Translation: X:6.26, Y:0.19, Z:-1.45 [[ 9.99984135e-01 -3.19797403e-03 -4.63711459e-03 6.26295767e+00] [ 3.18900869e-03 9.99993034e-01 -1.93949345e-03 1.85403784e-01] [ 4.64328474e-03 1.92467488e-03 9.99987368e-01 -1.44804515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.354553574 meters Centerline goodness [0,1] 0.8382603147596768 Centerline is valid? [False, False] Translation: X:6.27, Y:0.18, Z:-1.45 [[ 9.99972799e-01 -4.64808048e-03 -5.72691074e-03 6.26710966e+00] [ 4.63963871e-03 9.99988132e-01 -1.48645849e-03 1.84116812e-01] [ 5.73375195e-03 1.45984726e-03 9.99982496e-01 -1.44734509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.384553574 meters Centerline goodness [0,1] 0.8399329394858694 Centerline is valid? [False, False] Translation: X:6.27, Y:0.18, Z:-1.45 [[ 9.99957908e-01 -6.11668303e-03 -6.83876234e-03 6.27142337e+00] [ 6.11033672e-03 9.99980882e-01 -9.48500008e-04 1.82492815e-01] [ 6.84443327e-03 9.06672943e-04 9.99976166e-01 -1.44659777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.414553574 meters Centerline goodness [0,1] 0.8415605309022657 Centerline is valid? [False, False] Translation: X:6.28, Y:0.18, Z:-1.45 [[ 9.99899490e-01 -1.18660542e-02 -7.75923847e-03 6.27591368e+00] [ 1.18281148e-02 9.99917954e-01 -4.91733141e-03 1.80068713e-01] [ 7.81695118e-03 4.82506001e-03 9.99957806e-01 -1.44735043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.44455357399997 meters Centerline goodness [0,1] 0.8414037727736874 Centerline is valid? [False, False] Translation: X:6.28, Y:0.18, Z:-1.45 [[ 9.99873111e-01 -1.32729395e-02 -8.80861762e-03 6.27986215e+00] [ 1.32362580e-02 9.99903536e-01 -4.20958801e-03 1.77854065e-01] [ 8.86364151e-03 4.09246072e-03 9.99952343e-01 -1.44627357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.47455357399997 meters Centerline goodness [0,1] 0.841266846361186 Centerline is valid? [False, False] Translation: X:6.28, Y:0.18, Z:-1.44 [[ 9.99844077e-01 -1.46511141e-02 -9.85728283e-03 6.28353467e+00] [ 1.46193341e-02 9.99887724e-01 -3.28839052e-03 1.76078314e-01] [ 9.90435468e-03 3.14377087e-03 9.99946009e-01 -1.44427619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.50455357399997 meters Centerline goodness [0,1] 0.8444557969455797 Centerline is valid? [False, False] Translation: X:6.29, Y:0.17, Z:-1.44 [[ 9.99867145e-01 -1.19316009e-02 -1.11053428e-02 6.28698283e+00] [ 1.19594452e-02 9.99925496e-01 2.44426511e-03 1.74170104e-01] [ 1.10753514e-02 -2.57675411e-03 9.99935346e-01 -1.44009893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.53455357399997 meters Centerline goodness [0,1] 0.8454699293561471 Centerline is valid? [False, False] Translation: X:6.29, Y:0.17, Z:-1.44 [[ 9.99862368e-01 -1.20847196e-02 -1.13667958e-02 6.28789300e+00] [ 1.21145327e-02 9.99923345e-01 2.55763766e-03 1.74539460e-01] [ 1.13350162e-02 -2.69498907e-03 9.99932125e-01 -1.43987463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.56455357399997 meters Centerline goodness [0,1] 0.8411911335066606 Centerline is valid? [False, False] Translation: X:6.29, Y:0.18, Z:-1.44 [[ 0.99988285 -0.00896307 -0.01240763 6.29096725] [ 0.00904497 0.99993757 0.00656021 0.17570066] [ 0.01234806 -0.00667167 0.9999015 -1.4391214 ] [ 0. 0. 0. 1. ]] SLAMing on 203.59455357399997 meters Centerline goodness [0,1] 0.8413442227875217 Centerline is valid? [False, False] Translation: X:6.29, Y:0.18, Z:-1.44 [[ 9.99873994e-01 -9.28204073e-03 -1.28779198e-02 6.29298038e+00] [ 9.35584334e-03 9.99940086e-01 5.68258231e-03 1.77947644e-01] [ 1.28244023e-02 -5.80235007e-03 9.99900929e-01 -1.44098379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.62455357399998 meters Centerline goodness [0,1] 0.8388011015748242 Centerline is valid? [False, False] Translation: X:6.29, Y:0.18, Z:-1.44 [[ 9.99867068e-01 -9.56376147e-03 -1.32053663e-02 6.29439088e+00] [ 9.63429381e-03 9.99939607e-01 5.28794228e-03 1.78630715e-01] [ 1.31539962e-02 -5.41446372e-03 9.99898823e-01 -1.44195076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.65455357399998 meters Centerline goodness [0,1] 0.8405552429187769 Centerline is valid? [False, False] Translation: X:6.30, Y:0.18, Z:-1.44 [[ 9.99857331e-01 -9.98261001e-03 -1.36258921e-02 6.29611009e+00] [ 1.00538922e-02 9.99936078e-01 5.17293655e-03 1.78666010e-01] [ 1.35733817e-02 -5.30919178e-03 9.99893782e-01 -1.44242634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.68455357399998 meters Centerline goodness [0,1] 0.8374331550802139 Centerline is valid? [False, False] Translation: X:6.30, Y:0.18, Z:-1.44 [[ 9.99846890e-01 -1.03936082e-02 -1.40772754e-02 6.29748491e+00] [ 1.04734486e-02 9.99929416e-01 5.60978107e-03 1.77949299e-01] [ 1.40179759e-02 -5.75635977e-03 9.99885174e-01 -1.44155756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.71455357399998 meters Centerline goodness [0,1] 0.8411182263358984 Centerline is valid? [False, False] Translation: X:6.30, Y:0.18, Z:-1.44 [[ 9.99811226e-01 -1.20231942e-02 -1.52628855e-02 6.30187782e+00] [ 1.21177181e-02 9.99907875e-01 6.11575663e-03 1.75665042e-01] [ 1.51879485e-02 -6.29955348e-03 9.99864812e-01 -1.44062691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.74455357399998 meters Centerline goodness [0,1] 0.8400431150633252 Centerline is valid? [False, False] Translation: X:6.31, Y:0.17, Z:-1.44 [[ 0.99978124 -0.01325112 -0.01618284 6.30540578] [ 0.01335583 0.99989046 0.00637941 0.17421825] [ 0.01609653 -0.00659415 0.9998487 -1.4404121 ] [ 0. 0. 0. 1. ]] SLAMing on 203.77455357399998 meters Centerline goodness [0,1] 0.8371886120996441 Centerline is valid? [False, False] Translation: X:6.31, Y:0.17, Z:-1.44 [[ 0.99978324 -0.01303944 -0.01623131 6.30530882] [ 0.01314421 0.99989335 0.00636464 0.17449596] [ 0.01614659 -0.00657661 0.99984801 -1.44044428] [ 0. 0. 0. 1. ]] SLAMing on 203.80455357399998 meters Centerline goodness [0,1] 0.8435667007479954 Centerline is valid? [False, False] Translation: X:6.30, Y:0.17, Z:-1.44 [[ 0.99979551 -0.01238629 -0.01598524 6.30407833] [ 0.01249196 0.99990067 0.00652745 0.17495575] [ 0.01590281 -0.00672581 0.99985092 -1.44008701] [ 0. 0. 0. 1. ]] SLAMing on 203.83455357399998 meters Centerline goodness [0,1] 0.8402368456466155 Centerline is valid? [False, False] Translation: X:6.30, Y:0.18, Z:-1.44 [[ 0.99980623 -0.01181364 -0.01574599 6.30311002] [ 0.0119171 0.9999079 0.00649341 0.17542715] [ 0.01566783 -0.00667979 0.99985494 -1.44034168] [ 0. 0. 0. 1. ]] SLAMing on 203.86455357399998 meters Centerline goodness [0,1] 0.842058586401505 Centerline is valid? [False, False] Translation: X:6.30, Y:0.18, Z:-1.44 [[ 9.99823029e-01 -1.08898422e-02 -1.53401965e-02 6.30213200e+00] [ 1.09788209e-02 9.99923324e-01 5.72813614e-03 1.76861034e-01] [ 1.52766417e-02 -5.89553969e-03 9.99865924e-01 -1.44276596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.89455357399999 meters Centerline goodness [0,1] 0.8422325531400316 Centerline is valid? [False, False] Translation: X:6.30, Y:0.18, Z:-1.45 [[ 9.99838465e-01 -1.00384846e-02 -1.49088257e-02 6.30123988e+00] [ 1.01166144e-02 9.99935438e-01 5.17436337e-03 1.77477345e-01] [ 1.48559203e-02 -5.32435437e-03 9.99875469e-01 -1.44507103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.924553574 meters Centerline goodness [0,1] 0.8321270012108166 Centerline is valid? [False, False] Translation: X:6.30, Y:0.18, Z:-1.45 [[ 9.99845578e-01 -9.56985640e-03 -1.47390271e-02 6.30068394e+00] [ 9.64814380e-03 9.99939675e-01 5.24965501e-03 1.77197460e-01] [ 1.46878996e-02 -5.39104860e-03 9.99877594e-01 -1.44563400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.954553574 meters Centerline goodness [0,1] 0.8366973956513559 Centerline is valid? [False, False] Translation: X:6.30, Y:0.18, Z:-1.45 [[ 9.99846454e-01 -9.40692229e-03 -1.47843712e-02 6.30104692e+00] [ 9.48378053e-03 9.99941832e-01 5.13712881e-03 1.76850246e-01] [ 1.47351866e-02 -5.27655176e-03 9.99877509e-01 -1.44648853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.984553574 meters Centerline goodness [0,1] 0.8349621732224106 Centerline is valid? [False, False] Translation: X:6.30, Y:0.17, Z:-1.45 [[ 9.99858188e-01 -8.61021616e-03 -1.44730152e-02 6.29945103e+00] [ 8.69754177e-03 9.99944285e-01 5.98160898e-03 1.74576152e-01] [ 1.44207058e-02 -6.10664037e-03 9.99877369e-01 -1.44547327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.014553574 meters Centerline goodness [0,1] 0.833256924031175 Centerline is valid? [False, False] Translation: X:6.30, Y:0.17, Z:-1.45 [[ 9.99862740e-01 -8.23650849e-03 -1.43757135e-02 6.29908168e+00] [ 8.32709705e-03 9.99945778e-01 6.25305942e-03 1.73619061e-01] [ 1.43234307e-02 -6.37190908e-03 9.99877112e-01 -1.44560590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.044553574 meters Centerline goodness [0,1] 0.8371623259446793 Centerline is valid? [False, False] Translation: X:6.30, Y:0.17, Z:-1.45 [[ 9.99868555e-01 -7.69732772e-03 -1.42696623e-02 6.29933191e+00] [ 7.78062740e-03 9.99952961e-01 5.79123934e-03 1.73252794e-01] [ 1.42244140e-02 -5.90150504e-03 9.99881412e-01 -1.44803804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.074553574 meters Centerline goodness [0,1] 0.8354685901921731 Centerline is valid? [False, False] Translation: X:6.30, Y:0.17, Z:-1.45 [[ 9.99878708e-01 -6.98243931e-03 -1.39217518e-02 6.29838121e+00] [ 7.05731975e-03 9.99960856e-01 5.33681156e-03 1.74071199e-01] [ 1.38839429e-02 -5.43441450e-03 9.99888845e-01 -1.44963149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.104553574 meters Centerline goodness [0,1] 0.8327785234899329 Centerline is valid? [False, False] Translation: X:6.30, Y:0.18, Z:-1.45 [[ 9.99890522e-01 -5.91031514e-03 -1.35651090e-02 6.29692581e+00] [ 5.97577613e-03 9.99970671e-01 4.79023933e-03 1.75817200e-01] [ 1.35363993e-02 -4.87077696e-03 9.99896515e-01 -1.45117678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.134553574 meters Centerline goodness [0,1] 0.8282378204267884 Centerline is valid? [False, False] Translation: X:6.29, Y:0.18, Z:-1.45 [[ 9.99921222e-01 -2.90791544e-03 -1.22103950e-02 6.29108153e+00] [ 2.94885330e-03 9.99990088e-01 3.33604044e-03 1.78765853e-01] [ 1.22005730e-02 -3.37178430e-03 9.99919885e-01 -1.45493373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.164553574 meters Centerline goodness [0,1] 0.8281835707400664 Centerline is valid? [False, False] Translation: X:6.29, Y:0.18, Z:-1.46 [[ 9.99929819e-01 -1.02023308e-03 -1.18032701e-02 6.28882046e+00] [ 1.05990714e-03 9.99993809e-01 3.35551032e-03 1.80437985e-01] [ 1.17997737e-02 -3.36778519e-03 9.99924709e-01 -1.45594921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.19455357399997 meters Centerline goodness [0,1] 0.8282259578004773 Centerline is valid? [False, False] Translation: X:6.29, Y:0.18, Z:-1.46 [[ 9.99933522e-01 -3.54884326e-04 -1.15249576e-02 6.28774837e+00] [ 3.92221023e-04 9.99994682e-01 3.23753993e-03 1.81037987e-01] [ 1.15237474e-02 -3.24184504e-03 9.99928344e-01 -1.45651186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.22455357399997 meters Centerline goodness [0,1] 0.8272659135928048 Centerline is valid? [False, False] Translation: X:6.29, Y:0.18, Z:-1.46 [[ 9.99935845e-01 1.33183271e-04 -1.13264332e-02 6.28711744e+00] [-9.93758934e-05 9.99995539e-01 2.98533159e-03 1.81948866e-01] [ 1.13267803e-02 -2.98401449e-03 9.99931397e-01 -1.45726852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.25455357399997 meters Centerline goodness [0,1] 0.8288150591263777 Centerline is valid? [False, False] Translation: X:6.29, Y:0.18, Z:-1.46 [[ 9.99938210e-01 7.40968798e-04 -1.10917480e-02 6.28600459e+00] [-7.08123337e-04 9.99995354e-01 2.96488644e-03 1.82653233e-01] [ 1.10938933e-02 -2.95684892e-03 9.99934089e-01 -1.45738963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.28455357399997 meters Centerline goodness [0,1] 0.8278172316762696 Centerline is valid? [False, False] Translation: X:6.28, Y:0.18, Z:-1.46 [[ 9.99941874e-01 1.88369200e-03 -1.06160863e-02 6.28354548e+00] [-1.84964074e-03 9.99993117e-01 3.21642181e-03 1.83504393e-01] [ 1.06220719e-02 -3.19659890e-03 9.99938475e-01 -1.45661204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.31455357399997 meters Centerline goodness [0,1] 0.8228170980560627 Centerline is valid? [False, False] Translation: X:6.28, Y:0.18, Z:-1.46 [[ 9.99943212e-01 2.63444795e-03 -1.03263261e-02 6.28224134e+00] [-2.60303181e-03 9.99991947e-01 3.05459474e-03 1.84380425e-01] [ 1.03342901e-02 -3.02754152e-03 9.99942017e-01 -1.45699379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.34455357399997 meters Centerline goodness [0,1] 0.8273113850926693 Centerline is valid? [False, False] Translation: X:6.28, Y:0.19, Z:-1.46 [[ 9.99943005e-01 2.83590881e-03 -1.02928840e-02 6.28229949e+00] [-2.80741177e-03 9.99992189e-01 2.78201000e-03 1.85194903e-01] [ 1.03006931e-02 -2.75295508e-03 9.99943157e-01 -1.45775346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.37455357399998 meters Centerline goodness [0,1] 0.8263018676356642 Centerline is valid? [False, False] Translation: X:6.28, Y:0.19, Z:-1.46 [[ 9.99943103e-01 3.04811821e-03 -1.02224705e-02 6.28220998e+00] [-3.02279555e-03 9.99992327e-01 2.49169319e-03 1.85930947e-01] [ 1.02299870e-02 -2.46065098e-03 9.99944645e-01 -1.45853071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.40455357399998 meters Centerline goodness [0,1] 0.8240995380877366 Centerline is valid? [False, False] Translation: X:6.28, Y:0.19, Z:-1.46 [[ 9.99943694e-01 3.52603534e-03 -1.00087993e-02 6.28137248e+00] [-3.50178988e-03 9.99990895e-01 2.43890675e-03 1.86352283e-01] [ 1.00173079e-02 -2.40372071e-03 9.99946936e-01 -1.45878699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.43455357399998 meters Centerline goodness [0,1] 0.8237693989653885 Centerline is valid? [False, False] Translation: X:6.28, Y:0.19, Z:-1.46 [[ 9.99943054e-01 3.58575490e-03 -1.00514291e-02 6.28144075e+00] [-3.56096050e-03 9.99990576e-01 2.48356616e-03 1.86152920e-01] [ 1.00602399e-02 -2.44763199e-03 9.99946399e-01 -1.45869967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.46455357399998 meters Centerline goodness [0,1] 0.8261078099602974 Centerline is valid? [False, False] Translation: X:6.28, Y:0.19, Z:-1.46 [[ 9.99942269e-01 3.75314659e-03 -1.00684016e-02 6.28139832e+00] [-3.72811740e-03 9.99989917e-01 2.50353324e-03 1.85956933e-01] [ 1.00776962e-02 -2.46585252e-03 9.99946178e-01 -1.45873323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.49455357399998 meters Centerline goodness [0,1] 0.8249580123163872 Centerline is valid? [False, False] Translation: X:6.28, Y:0.19, Z:-1.46 [[ 9.99940855e-01 3.69642386e-03 -1.02285278e-02 6.28218772e+00] [-3.67278882e-03 9.99990544e-01 2.32851825e-03 1.86057198e-01] [ 1.02370383e-02 -2.29081331e-03 9.99944976e-01 -1.45943597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.52455357399998 meters Centerline goodness [0,1] 0.8220025051301868 Centerline is valid? [False, False] Translation: X:6.28, Y:0.19, Z:-1.46 [[ 9.99939246e-01 3.65757467e-03 -1.03983739e-02 6.28346004e+00] [-3.64407959e-03 9.99992494e-01 1.31645804e-03 1.87416380e-01] [ 1.04031109e-02 -1.27848556e-03 9.99945069e-01 -1.46210190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.55455357399998 meters Centerline goodness [0,1] 0.8233973159386194 Centerline is valid? [False, False] Translation: X:6.28, Y:0.19, Z:-1.46 [[ 9.99937722e-01 3.62323518e-03 -1.05557359e-02 6.28418946e+00] [-3.61183770e-03 9.99992874e-01 1.09860633e-03 1.87935821e-01] [ 1.05596412e-02 -1.06041230e-03 9.99943683e-01 -1.46281445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.58455357399998 meters Centerline goodness [0,1] 0.8195637628797002 Centerline is valid? [False, False] Translation: X:6.28, Y:0.19, Z:-1.46 [[ 9.99936192e-01 3.56115556e-03 -1.07205096e-02 6.28492398e+00] [-3.55051079e-03 9.99993185e-01 1.01180368e-03 1.87963838e-01] [ 1.07240397e-02 -9.73675831e-04 9.99942022e-01 -1.46328693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.61455357399998 meters Centerline goodness [0,1] 0.8280920191305742 Centerline is valid? [False, False] Translation: X:6.29, Y:0.19, Z:-1.46 [[ 9.99932350e-01 3.00617122e-03 -1.12365016e-02 6.28699541e+00] [-2.99595979e-03 9.99995084e-01 9.25495443e-04 1.87350277e-01] [ 1.12392286e-02 -8.91768726e-04 9.99936440e-01 -1.46379155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.64455357399999 meters Centerline goodness [0,1] 0.8217512994802079 Centerline is valid? [False, False] Translation: X:6.29, Y:0.19, Z:-1.46 [[ 9.99930849e-01 3.11691480e-03 -1.13394100e-02 6.28755708e+00] [-3.11059844e-03 9.99994997e-01 5.74621601e-04 1.88609490e-01] [ 1.13411443e-02 -5.39309515e-04 9.99935542e-01 -1.46462790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.674553574 meters Centerline goodness [0,1] 0.8217512994802079 Centerline is valid? [False, False] Translation: X:6.29, Y:0.19, Z:-1.46 [[ 9.99930849e-01 3.11691480e-03 -1.13394100e-02 6.28755708e+00] [-3.11059844e-03 9.99994997e-01 5.74621601e-04 1.88609490e-01] [ 1.13411443e-02 -5.39309515e-04 9.99935542e-01 -1.46462790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.704553574 meters Centerline goodness [0,1] 0.8245024278320261 Centerline is valid? [False, False] Translation: X:6.29, Y:0.19, Z:-1.46 [[ 9.99930584e-01 3.49905159e-03 -1.12509546e-02 6.28709540e+00] [-3.49397203e-03 9.99993785e-01 4.71102194e-04 1.89259934e-01] [ 1.12525331e-02 -4.31758971e-04 9.99936595e-01 -1.46498128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.734553574 meters Centerline goodness [0,1] 0.8210697873249974 Centerline is valid? [False, False] Translation: X:6.29, Y:0.19, Z:-1.47 [[ 9.99926808e-01 3.21319168e-03 -1.16642220e-02 6.28879281e+00] [-3.21126414e-03 9.99994827e-01 1.83977880e-04 1.89367967e-01] [ 1.16647528e-02 -1.46507517e-04 9.99931954e-01 -1.46608305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.764553574 meters Centerline goodness [0,1] 0.8244038070794567 Centerline is valid? [False, False] Translation: X:6.29, Y:0.19, Z:-1.47 [[ 9.99923551e-01 2.87147893e-03 -1.20269464e-02 6.29044277e+00] [-2.87252522e-03 9.99995872e-01 -6.97223436e-05 1.89296992e-01] [ 1.20266965e-02 1.04264720e-04 9.99927671e-01 -1.46709038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.794553574 meters Centerline goodness [0,1] 0.8267684887459807 Centerline is valid? [False, False] Translation: X:6.29, Y:0.19, Z:-1.47 [[ 9.99918553e-01 2.19191218e-03 -1.25731219e-02 6.29251266e+00] [-2.18797569e-03 9.99997553e-01 3.26834746e-04 1.87800765e-01] [ 1.25738075e-02 -2.99298441e-04 9.99920902e-01 -1.46673715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.824553574 meters Centerline goodness [0,1] 0.8303777122957408 Centerline is valid? [False, False] Translation: X:6.29, Y:0.19, Z:-1.47 [[ 9.99912908e-01 1.48647169e-03 -1.31136081e-02 6.29444129e+00] [-1.47389072e-03 9.99998444e-01 9.68995193e-04 1.85698699e-01] [ 1.31150281e-02 -9.49582776e-04 9.99913543e-01 -1.46571523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.854553574 meters Centerline goodness [0,1] 0.8259330324568278 Centerline is valid? [False, False] Translation: X:6.29, Y:0.18, Z:-1.47 [[ 9.99965328e-01 -7.15609100e-03 -4.25823337e-03 6.28516290e+00] [ 7.15799043e-03 9.99974288e-01 4.30986411e-04 1.84082056e-01] [ 4.25503970e-03 -4.61451862e-04 9.99990841e-01 -1.47038242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.884553574 meters Centerline goodness [0,1] 0.8320319887607057 Centerline is valid? [False, False] Translation: X:6.29, Y:0.18, Z:-1.47 [[ 9.99958501e-01 -7.72594139e-03 -4.82770846e-03 6.28695472e+00] [ 7.73071449e-03 9.99969646e-01 9.70811793e-04 1.83236985e-01] [ 4.82006149e-03 -1.00809314e-03 9.99987875e-01 -1.46928626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.914553574 meters Centerline goodness [0,1] 0.8284074682759921 Centerline is valid? [False, False] Translation: X:6.29, Y:0.18, Z:-1.47 [[ 9.99954674e-01 -7.98881308e-03 -5.17973858e-03 6.28809846e+00] [ 7.99547900e-03 9.99967232e-01 1.26749377e-03 1.83163793e-01] [ 5.16944308e-03 -1.30885081e-03 9.99985782e-01 -1.46870379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.94455357399997 meters Centerline goodness [0,1] 0.8298459042984591 Centerline is valid? [False, False] Translation: X:6.29, Y:0.18, Z:-1.47 [[ 9.99931622e-01 -9.80297669e-03 -6.37595672e-03 6.29253909e+00] [ 9.81394011e-03 9.99950413e-01 1.69048478e-03 1.82407566e-01] [ 6.35906877e-03 -1.75294245e-03 9.99978244e-01 -1.46721673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.97455357399997 meters Centerline goodness [0,1] 0.8320734780134926 Centerline is valid? [False, False] Translation: X:6.30, Y:0.18, Z:-1.47 [[ 9.99812254e-01 -1.74320502e-02 -8.46048942e-03 6.30177592e+00] [ 1.74065580e-02 9.99843758e-01 -3.07743290e-03 1.83044227e-01] [ 8.51281351e-03 2.92958712e-03 9.99959474e-01 -1.46797453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.00455357399997 meters Centerline goodness [0,1] 0.8300598476605006 Centerline is valid? [False, False] Translation: X:6.31, Y:0.18, Z:-1.47 [[ 9.99771983e-01 -1.90035221e-02 -9.73903057e-03 6.30686115e+00] [ 1.89689902e-02 9.99813498e-01 -3.62591990e-03 1.83729555e-01] [ 9.80611947e-03 3.44035355e-03 9.99946001e-01 -1.46916674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.03455357399997 meters Centerline goodness [0,1] 0.8284216530407149 Centerline is valid? [False, False] Translation: X:6.32, Y:0.18, Z:-1.47 [[ 9.99743891e-01 -1.89364088e-02 -1.23920907e-02 6.31747983e+00] [ 1.89491902e-02 9.99820029e-01 9.14808390e-04 1.83048877e-01] [ 1.23725373e-02 -1.14939418e-03 9.99922797e-01 -1.46722714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.06455357399997 meters Centerline goodness [0,1] 0.8239762130017569 Centerline is valid? [False, False] Translation: X:6.33, Y:0.18, Z:-1.47 [[ 9.99721750e-01 -1.82429020e-02 -1.49538772e-02 6.32708138e+00] [ 1.83095422e-02 9.99822983e-01 4.33165056e-03 1.84998180e-01] [ 1.48722083e-02 -4.60424393e-03 9.99878802e-01 -1.46728491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.09455357399997 meters Centerline goodness [0,1] 0.8220917014020462 Centerline is valid? [False, False] Translation: X:6.33, Y:0.19, Z:-1.47 [[ 9.99706645e-01 -1.86739725e-02 -1.54242346e-02 6.32903889e+00] [ 1.87359169e-02 9.99816934e-01 3.88133600e-03 1.86232665e-01] [ 1.53489310e-02 -4.16918457e-03 9.99873506e-01 -1.46828233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.12455357399998 meters Centerline goodness [0,1] 0.8254135582225105 Centerline is valid? [False, False] Translation: X:6.33, Y:0.19, Z:-1.47 [[ 9.99679176e-01 -1.95050115e-02 -1.61586000e-02 6.33126393e+00] [ 1.95723356e-02 9.99800366e-01 4.01883456e-03 1.86680335e-01] [ 1.60769868e-02 -4.33380676e-03 9.99861365e-01 -1.46721055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.15455357399998 meters Centerline goodness [0,1] 0.8248252031422941 Centerline is valid? [False, False] Translation: X:6.33, Y:0.19, Z:-1.47 [[ 9.99664055e-01 -1.98994216e-02 -1.66069169e-02 6.33223085e+00] [ 1.99804880e-02 9.99789182e-01 4.72990524e-03 1.85628012e-01] [ 1.65092935e-02 -5.06013055e-03 9.99850908e-01 -1.46540886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.18455357399998 meters Centerline goodness [0,1] 0.8265906932573599 Centerline is valid? [False, False] Translation: X:6.33, Y:0.18, Z:-1.46 [[ 9.99643919e-01 -2.04315834e-02 -1.71634940e-02 6.33352319e+00] [ 2.05286852e-02 9.99774134e-01 5.50043859e-03 1.84620625e-01] [ 1.70472347e-02 -5.85082395e-03 9.99837567e-01 -1.46335724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.21455357399998 meters Centerline goodness [0,1] 0.8273439830761303 Centerline is valid? [False, False] Translation: X:6.34, Y:0.18, Z:-1.46 [[ 9.99598223e-01 -2.18346377e-02 -1.80732006e-02 6.33674559e+00] [ 2.19487235e-02 9.99740254e-01 6.13830304e-03 1.83100610e-01] [ 1.79344786e-02 -6.53252050e-03 9.99817824e-01 -1.46156485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.24455357399998 meters Centerline goodness [0,1] 0.8243824137555773 Centerline is valid? [False, False] Translation: X:6.34, Y:0.18, Z:-1.46 [[ 9.99595829e-01 -2.18663873e-02 -1.81669796e-02 6.33709048e+00] [ 2.19802970e-02 9.99739829e-01 6.09429336e-03 1.83477651e-01] [ 1.80289929e-02 -6.49114583e-03 9.99816393e-01 -1.46162417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.27455357399998 meters Centerline goodness [0,1] 0.8236475120733626 Centerline is valid? [False, False] Translation: X:6.34, Y:0.18, Z:-1.46 [[ 9.99585149e-01 -2.21017005e-02 -1.84673786e-02 6.33834152e+00] [ 2.22148610e-02 9.99735543e-01 5.94505629e-03 1.83815952e-01] [ 1.83310989e-02 -6.35284022e-03 9.99811788e-01 -1.46209976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.30455357399998 meters Centerline goodness [0,1] 0.8246892181025377 Centerline is valid? [False, False] Translation: X:6.34, Y:0.18, Z:-1.46 [[ 9.99574136e-01 -2.23687372e-02 -1.87399682e-02 6.33953918e+00] [ 2.24803157e-02 9.99730666e-01 5.76466382e-03 1.83948988e-01] [ 1.86059726e-02 -6.18348925e-03 9.99807773e-01 -1.46268741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.33455357399998 meters Centerline goodness [0,1] 0.8235549172109157 Centerline is valid? [False, False] Translation: X:6.34, Y:0.18, Z:-1.46 [[ 9.99560891e-01 -2.26473773e-02 -1.91081324e-02 6.34089758e+00] [ 2.27627675e-02 9.99723819e-01 5.84304542e-03 1.83544657e-01] [ 1.89705255e-02 -6.27543366e-03 9.99800349e-01 -1.46286046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.36455357399998 meters Centerline goodness [0,1] 0.822582399651909 Centerline is valid? [False, False] Translation: X:6.34, Y:0.18, Z:-1.46 [[ 9.99512278e-01 -2.39526977e-02 -2.00368319e-02 6.34493861e+00] [ 2.40781759e-02 9.99691804e-01 6.04471361e-03 1.81286461e-01] [ 1.98858694e-02 -6.52421583e-03 9.99780969e-01 -1.46317001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.39455357399999 meters Centerline goodness [0,1] 0.8277879541788555 Centerline is valid? [False, False] Translation: X:6.35, Y:0.18, Z:-1.46 [[ 9.99437407e-01 -2.59598757e-02 -2.12356746e-02 6.35047993e+00] [ 2.60965654e-02 9.99640292e-01 6.18515832e-03 1.78030563e-01] [ 2.10674700e-02 -6.73585677e-03 9.99755365e-01 -1.46372935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.424553574 meters Centerline goodness [0,1] 0.8289632143639151 Centerline is valid? [False, False] Translation: X:6.35, Y:0.18, Z:-1.46 [[ 0.9994063 -0.02662867 -0.02186244 6.35306869] [ 0.02677354 0.99962129 0.00636088 0.17689852] [ 0.02168478 -0.00694244 0.99974075 -1.46406473] [ 0. 0. 0. 1. ]] SLAMing on 205.454553574 meters Centerline goodness [0,1] 0.82401203336524 Centerline is valid? [False, False] Translation: X:6.35, Y:0.18, Z:-1.46 [[ 0.99947949 -0.02302782 -0.02259377 6.35472657] [ 0.02327643 0.9996707 0.01080306 0.17735011] [ 0.02233756 -0.01132333 0.99968636 -1.46249778] [ 0. 0. 0. 1. ]] SLAMing on 205.484553574 meters Centerline goodness [0,1] 0.824418731579522 Centerline is valid? [False, False] Translation: X:6.37, Y:0.18, Z:-1.47 [[ 9.99661997e-01 -1.95858499e-02 -1.70963552e-02 6.37087265e+00] [ 1.96306155e-02 9.99804288e-01 2.45453220e-03 1.81746296e-01] [ 1.70449352e-02 -2.78931454e-03 9.99850834e-01 -1.47042120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.514553574 meters Centerline goodness [0,1] 0.821718123003849 Centerline is valid? [False, False] Translation: X:6.37, Y:0.18, Z:-1.47 [[ 9.99669267e-01 -1.92816643e-02 -1.70168466e-02 6.37053745e+00] [ 1.93244009e-02 9.99810503e-01 2.35056655e-03 1.82727292e-01] [ 1.69682991e-02 -2.67862951e-03 9.99852440e-01 -1.47068117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.544553574 meters Centerline goodness [0,1] 0.8198924731182795 Centerline is valid? [False, False] Translation: X:6.37, Y:0.18, Z:-1.47 [[ 0.9997098 -0.01608024 -0.01793703 6.37297537] [ 0.01620183 0.9998466 0.00665446 0.18345524] [ 0.01782727 -0.00694314 0.99981697 -1.46903511] [ 0. 0. 0. 1. ]] SLAMing on 205.574553574 meters Centerline goodness [0,1] 0.8202741213190392 Centerline is valid? [False, False] Translation: X:6.37, Y:0.18, Z:-1.47 [[ 0.99971816 -0.01574882 -0.01776424 6.37216741] [ 0.01587109 0.99985118 0.00676272 0.18385684] [ 0.01765509 -0.00704275 0.99981933 -1.46866156] [ 0. 0. 0. 1. ]] SLAMing on 205.604553574 meters Centerline goodness [0,1] 0.81752655538695 Centerline is valid? [False, False] Translation: X:6.37, Y:0.18, Z:-1.47 [[ 0.99971578 -0.01581011 -0.01784385 6.37267707] [ 0.01592735 0.99985237 0.00644712 0.1843943 ] [ 0.01773929 -0.0067295 0.99982 -1.46921899] [ 0. 0. 0. 1. ]] SLAMing on 205.634553574 meters Centerline goodness [0,1] 0.8203550806756246 Centerline is valid? [False, False] Translation: X:6.37, Y:0.19, Z:-1.47 [[ 9.99721464e-01 -1.54703012e-02 -1.78231126e-02 6.37221633e+00] [ 1.55845980e-02 9.99858756e-01 6.29189104e-03 1.85984567e-01] [ 1.77232577e-02 -6.56790457e-03 9.99821358e-01 -1.46907615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.664553574 meters Centerline goodness [0,1] 0.8173242777059078 Centerline is valid? [False, False] Translation: X:6.37, Y:0.19, Z:-1.47 [[ 9.99724092e-01 -1.53519539e-02 -1.77780304e-02 6.37221978e+00] [ 1.54584180e-02 9.99863300e-01 5.86666012e-03 1.87072891e-01] [ 1.76855355e-02 -6.13986168e-03 9.99824747e-01 -1.46987723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.69455357399997 meters Centerline goodness [0,1] 0.8167694337488893 Centerline is valid? [False, False] Translation: X:6.37, Y:0.19, Z:-1.47 [[ 9.99730572e-01 -1.50090539e-02 -1.77062473e-02 6.37213529e+00] [ 1.51076512e-02 9.99871031e-01 5.44793657e-03 1.88148375e-01] [ 1.76221954e-02 -5.71396855e-03 9.99828390e-01 -1.47103385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.72455357399997 meters Centerline goodness [0,1] 0.8185364541296745 Centerline is valid? [False, False] Translation: X:6.37, Y:0.19, Z:-1.47 [[ 9.99729366e-01 -1.49812289e-02 -1.77976579e-02 6.37264401e+00] [ 1.50781346e-02 9.99872149e-01 5.32319777e-03 1.88340583e-01] [ 1.77156344e-02 -5.59011262e-03 9.99827439e-01 -1.47161301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.75455357399997 meters Centerline goodness [0,1] 0.816362851903786 Centerline is valid? [False, False] Translation: X:6.37, Y:0.19, Z:-1.47 [[ 9.99723980e-01 -1.51173825e-02 -1.79840935e-02 6.37361231e+00] [ 1.52140160e-02 9.99870484e-01 5.24864628e-03 1.88371142e-01] [ 1.79024185e-02 -5.52080784e-03 9.99824497e-01 -1.47219565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.78455357399997 meters Centerline goodness [0,1] 0.8169192600183377 Centerline is valid? [False, False] Translation: X:6.38, Y:0.19, Z:-1.47 [[ 9.99712519e-01 -1.54797258e-02 -1.83100162e-02 6.37542462e+00] [ 1.55739884e-02 9.99866132e-01 5.01679869e-03 1.87633290e-01] [ 1.82299065e-02 -5.30051644e-03 9.99819771e-01 -1.47350889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.81455357399997 meters Centerline goodness [0,1] 0.8141983787132046 Centerline is valid? [False, False] Translation: X:6.38, Y:0.19, Z:-1.47 [[ 9.99713662e-01 -1.53204083e-02 -1.83814878e-02 6.37537424e+00] [ 1.54232794e-02 9.99866104e-01 5.46779469e-03 1.86794433e-01] [ 1.82952578e-02 -5.74973188e-03 9.99816095e-01 -1.47280443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.84455357399997 meters Centerline goodness [0,1] 0.8161058662147986 Centerline is valid? [False, False] Translation: X:6.38, Y:0.19, Z:-1.47 [[ 9.99713878e-01 -1.51714114e-02 -1.84930003e-02 6.37536049e+00] [ 1.52821679e-02 9.99866034e-01 5.86256476e-03 1.86249560e-01] [ 1.84015795e-02 -6.14350048e-03 9.99811802e-01 -1.47182295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.87455357399998 meters Centerline goodness [0,1] 0.8146623621199892 Centerline is valid? [False, False] Translation: X:6.37, Y:0.19, Z:-1.47 [[ 9.99719751e-01 -1.48716511e-02 -1.84188478e-02 6.37472683e+00] [ 1.49849145e-02 9.99869557e-01 6.02664278e-03 1.86709466e-01] [ 1.83268191e-02 -6.30095868e-03 9.99812195e-01 -1.47128794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.90455357399998 meters Centerline goodness [0,1] 0.8169685925608319 Centerline is valid? [False, False] Translation: X:6.37, Y:0.19, Z:-1.47 [[ 9.99737893e-01 -1.40844280e-02 -1.80492309e-02 6.37306581e+00] [ 1.41897290e-02 9.99882963e-01 5.71936301e-03 1.88955871e-01] [ 1.79665645e-02 -5.97397762e-03 9.99820741e-01 -1.47145424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.93455357399998 meters Centerline goodness [0,1] 0.8175834760273972 Centerline is valid? [False, False] Translation: X:6.37, Y:0.19, Z:-1.47 [[ 9.99753065e-01 -1.34481661e-02 -1.76905621e-02 6.37171114e+00] [ 1.35445714e-02 9.99894003e-01 5.34105089e-03 1.90896764e-01] [ 1.76168596e-02 -5.57934308e-03 9.99829244e-01 -1.47200921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.96455357399998 meters Centerline goodness [0,1] 0.8168368298989683 Centerline is valid? [False, False] Translation: X:6.37, Y:0.19, Z:-1.47 [[ 9.99764944e-01 -1.29123347e-02 -1.74163134e-02 6.37103068e+00] [ 1.29968244e-02 9.99904271e-01 4.74674603e-03 1.93062540e-01] [ 1.73533546e-02 -4.97198705e-03 9.99837057e-01 -1.47326049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.99455357399998 meters Centerline goodness [0,1] 0.8174256158686147 Centerline is valid? [False, False] Translation: X:6.37, Y:0.19, Z:-1.47 [[ 9.99791212e-01 -1.16598965e-02 -1.67802955e-02 6.36832354e+00] [ 1.17405680e-02 9.99919951e-01 4.71705269e-03 1.94843548e-01] [ 1.67239519e-02 -4.91307803e-03 9.99848074e-01 -1.47340960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.02455357399998 meters Centerline goodness [0,1] 0.8157369191851951 Centerline is valid? [False, False] Translation: X:6.37, Y:0.19, Z:-1.47 [[ 9.99796994e-01 -1.13093805e-02 -1.66754152e-02 6.36755201e+00] [ 1.13923646e-02 9.99923149e-01 4.88986172e-03 1.94953032e-01] [ 1.66188324e-02 -5.07884146e-03 9.99848998e-01 -1.47290465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.05455357399998 meters Centerline goodness [0,1] 0.8174110118650847 Centerline is valid? [False, False] Translation: X:6.37, Y:0.19, Z:-1.47 [[ 9.99804965e-01 -1.08843493e-02 -1.64791526e-02 6.36634749e+00] [ 1.09785664e-02 9.99923841e-01 5.63772069e-03 1.93713349e-01] [ 1.64165346e-02 -5.81753861e-03 9.99848315e-01 -1.47138248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.08455357399998 meters Centerline goodness [0,1] 0.8185425877590156 Centerline is valid? [False, False] Translation: X:6.37, Y:0.19, Z:-1.47 [[ 9.99800828e-01 -1.10173630e-02 -1.66409553e-02 6.36708937e+00] [ 1.11132946e-02 9.99922094e-01 5.68335849e-03 1.93271985e-01] [ 1.65770432e-02 -5.86716236e-03 9.99845377e-01 -1.47158881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.11455357399998 meters Centerline goodness [0,1] 0.81741243058522 Centerline is valid? [False, False] Translation: X:6.37, Y:0.19, Z:-1.47 [[ 9.99803685e-01 -1.07932582e-02 -1.66161508e-02 6.36724660e+00] [ 1.08827236e-02 9.99926718e-01 5.30326904e-03 1.93610144e-01] [ 1.65576936e-02 -5.48305691e-03 9.99847878e-01 -1.47279525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.14455357399999 meters Centerline goodness [0,1] 0.814551860353387 Centerline is valid? [False, False] Translation: X:6.37, Y:0.19, Z:-1.47 [[ 9.99809801e-01 -1.04328211e-02 -1.64777858e-02 6.36709597e+00] [ 1.05135404e-02 9.99933116e-01 4.81966670e-03 1.94700420e-01] [ 1.64264010e-02 -4.99198988e-03 9.99852616e-01 -1.47419136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.174553574 meters Centerline goodness [0,1] 0.816783104901072 Centerline is valid? [False, False] Translation: X:6.37, Y:0.20, Z:-1.48 [[ 9.99807644e-01 -1.04584705e-02 -1.65920034e-02 6.36795757e+00] [ 1.05334846e-02 9.99934663e-01 4.44016406e-03 1.95407700e-01] [ 1.65444820e-02 -4.61408158e-03 9.99852484e-01 -1.47542367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.204553574 meters Centerline goodness [0,1] 0.8138162093171666 Centerline is valid? [False, False] Translation: X:6.37, Y:0.20, Z:-1.48 [[ 9.99826673e-01 -9.32518672e-03 -1.61141009e-02 6.36574515e+00] [ 9.39642023e-03 9.99946389e-01 4.35052506e-03 1.96885807e-01] [ 1.60726676e-02 -4.50118586e-03 9.99860695e-01 -1.47567023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.234553574 meters Centerline goodness [0,1] 0.8121658642976833 Centerline is valid? [False, False] Translation: X:6.37, Y:0.20, Z:-1.48 [[ 9.99831793e-01 -9.04311421e-03 -1.59564383e-02 6.36530820e+00] [ 9.11254064e-03 9.99949305e-01 4.28366797e-03 1.97139870e-01] [ 1.59168917e-02 -4.42835112e-03 9.99863512e-01 -1.47601268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.264553574 meters Centerline goodness [0,1] 0.8095795635976584 Centerline is valid? [False, False] Translation: X:6.36, Y:0.20, Z:-1.48 [[ 9.99839610e-01 -8.49337129e-03 -1.57675982e-02 6.36478240e+00] [ 8.55147948e-03 9.99956877e-01 3.62153269e-03 1.99280417e-01] [ 1.57361592e-02 -3.75578813e-03 9.99869125e-01 -1.47760419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.294553574 meters Centerline goodness [0,1] 0.809967359286681 Centerline is valid? [False, False] Translation: X:6.37, Y:0.20, Z:-1.48 [[ 9.99841077e-01 -8.36116700e-03 -1.57452062e-02 6.36505333e+00] [ 8.41199667e-03 9.99959610e-01 3.16480502e-03 2.00487469e-01] [ 1.57181088e-02 -3.29675068e-03 9.99871028e-01 -1.47866732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.324553574 meters Centerline goodness [0,1] 0.8158622156070593 Centerline is valid? [False, False] Translation: X:6.36, Y:0.20, Z:-1.48 [[ 9.99849503e-01 -7.83989136e-03 -1.54760450e-02 6.36390722e+00] [ 7.89189470e-03 9.99963407e-01 3.30204035e-03 2.00771885e-01] [ 1.54495910e-02 -3.42367871e-03 9.99874786e-01 -1.47848611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.354553574 meters Centerline goodness [0,1] 0.813946083634048 Centerline is valid? [False, False] Translation: X:6.36, Y:0.20, Z:-1.48 [[ 9.99869004e-01 -6.56720847e-03 -1.47934885e-02 6.36100921e+00] [ 6.61986541e-03 9.99971917e-01 3.51331522e-03 2.01445876e-01] [ 1.47700004e-02 -3.61078589e-03 9.99884398e-01 -1.47810779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.384553574 meters Centerline goodness [0,1] 0.8112661855232435 Centerline is valid? [False, False] Translation: X:6.36, Y:0.20, Z:-1.48 [[ 9.99879820e-01 -5.80900708e-03 -1.43735959e-02 6.35917761e+00] [ 5.86545145e-03 9.99975240e-01 3.88791333e-03 2.01457224e-01] [ 1.43506551e-02 -3.97175372e-03 9.99889136e-01 -1.47747817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.414553574 meters Centerline goodness [0,1] 0.8114514758972181 Centerline is valid? [False, False] Translation: X:6.36, Y:0.20, Z:-1.48 [[ 9.99898258e-01 -4.40998676e-03 -1.35655844e-02 6.35587265e+00] [ 4.46734355e-03 9.99981198e-01 4.20071733e-03 2.01512021e-01] [ 1.35468042e-02 -4.26089207e-03 9.99899159e-01 -1.47715941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.44455357399997 meters Centerline goodness [0,1] 0.8135597710894447 Centerline is valid? [False, False] Translation: X:6.36, Y:0.20, Z:-1.48 [[ 9.99903037e-01 -3.98448367e-03 -1.33431754e-02 6.35515844e+00] [ 4.04205575e-03 9.99982626e-01 4.29053638e-03 2.01279011e-01] [ 1.33258481e-02 -4.34405422e-03 9.99901771e-01 -1.47737866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.47455357399997 meters Centerline goodness [0,1] 0.8099427602289591 Centerline is valid? [False, False] Translation: X:6.35, Y:0.20, Z:-1.48 [[ 9.99920017e-01 -2.26633723e-03 -1.24428086e-02 6.35145870e+00] [ 2.31991221e-03 9.99988094e-01 4.29295467e-03 2.02171119e-01] [ 1.24329312e-02 -4.32147753e-03 9.99913370e-01 -1.47785890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.50455357399997 meters Centerline goodness [0,1] 0.8099011993448513 Centerline is valid? [False, False] Translation: X:6.35, Y:0.20, Z:-1.48 [[ 9.99922106e-01 -2.03039025e-03 -1.23149998e-02 6.35125790e+00] [ 2.08264251e-03 9.99988878e-01 4.23163772e-03 2.02167281e-01] [ 1.23062710e-02 -4.25695585e-03 9.99915213e-01 -1.47834722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.53455357399997 meters Centerline goodness [0,1] 0.8183962264150944 Centerline is valid? [False, False] Translation: X:6.35, Y:0.20, Z:-1.48 [[ 9.99923892e-01 -1.80394261e-03 -1.22047787e-02 6.35087460e+00] [ 1.85790128e-03 9.99988545e-01 4.41121749e-03 2.01525412e-01] [ 1.21966813e-02 -4.43355703e-03 9.99915789e-01 -1.47836347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.56455357399997 meters Centerline goodness [0,1] 0.8153095843935538 Centerline is valid? [False, False] Translation: X:6.35, Y:0.20, Z:-1.48 [[ 9.99920233e-01 -2.30367379e-03 -1.24185289e-02 6.35244930e+00] [ 2.36082134e-03 9.99986683e-01 4.58910348e-03 1.99459968e-01] [ 1.24077918e-02 -4.61805535e-03 9.99912356e-01 -1.47908483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.59455357399997 meters Centerline goodness [0,1] 0.8153095843935538 Centerline is valid? [False, False] Translation: X:6.35, Y:0.20, Z:-1.48 [[ 9.99920233e-01 -2.30367379e-03 -1.24185289e-02 6.35244930e+00] [ 2.36082134e-03 9.99986683e-01 4.58910348e-03 1.99459968e-01] [ 1.24077918e-02 -4.61805535e-03 9.99912356e-01 -1.47908483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.62455357399998 meters Centerline goodness [0,1] 0.80859905698074 Centerline is valid? [False, False] Translation: X:6.35, Y:0.20, Z:-1.48 [[ 9.99908837e-01 -6.25085819e-03 -1.19684763e-02 6.35241043e+00] [ 6.25729846e-03 9.99980298e-01 5.00731557e-04 1.97536276e-01] [ 1.19651105e-02 -5.75576237e-04 9.99928250e-01 -1.48104159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.65455357399998 meters Centerline goodness [0,1] 0.8117835671342686 Centerline is valid? [False, False] Translation: X:6.35, Y:0.20, Z:-1.48 [[ 9.99896979e-01 -7.00125161e-03 -1.25305148e-02 6.35453416e+00] [ 7.01674184e-03 9.99974671e-01 1.19266379e-03 1.95165137e-01] [ 1.25218473e-02 -1.28046431e-03 9.99920779e-01 -1.48015103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.68455357399998 meters Centerline goodness [0,1] 0.8086494322300073 Centerline is valid? [False, False] Translation: X:6.36, Y:0.19, Z:-1.48 [[ 9.99883065e-01 -7.81178100e-03 -1.31465455e-02 6.35675520e+00] [ 7.83978906e-03 9.99967105e-01 2.08026428e-03 1.92315991e-01] [ 1.31298625e-02 -2.18308717e-03 9.99911416e-01 -1.47891363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.71455357399998 meters Centerline goodness [0,1] 0.8126603472953631 Centerline is valid? [False, False] Translation: X:6.36, Y:0.19, Z:-1.48 [[ 9.99830995e-01 -1.26284375e-02 -1.33605673e-02 6.35834791e+00] [ 1.26142246e-02 9.99919779e-01 -1.14753078e-03 1.87968773e-01] [ 1.33739870e-02 9.78803650e-04 9.99910085e-01 -1.47861139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.74455357399998 meters Centerline goodness [0,1] 0.8088339030875251 Centerline is valid? [False, False] Translation: X:6.36, Y:0.18, Z:-1.48 [[ 9.99808090e-01 -1.36061482e-02 -1.40945030e-02 6.36097886e+00] [ 1.36071570e-02 9.99907418e-01 -2.43302650e-05 1.84694116e-01] [ 1.40935291e-02 -1.67460519e-04 9.99900667e-01 -1.47684855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.77455357399998 meters Centerline goodness [0,1] 0.813342025206432 Centerline is valid? [False, False] Translation: X:6.37, Y:0.18, Z:-1.48 [[ 9.99758132e-01 -1.60335379e-02 -1.50533179e-02 6.36636600e+00] [ 1.60456175e-02 9.99871028e-01 6.82012854e-04 1.80114026e-01] [ 1.50404414e-02 -9.23387679e-04 9.99886460e-01 -1.47617992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.80455357399998 meters Centerline goodness [0,1] 0.8124489906959029 Centerline is valid? [False, False] Translation: X:6.37, Y:0.18, Z:-1.48 [[ 9.99749782e-01 -1.62993475e-02 -1.53200753e-02 6.36746448e+00] [ 1.63173689e-02 9.99866309e-01 1.05205843e-03 1.79335975e-01] [ 1.53008793e-02 -1.30177851e-03 9.99882087e-01 -1.47591866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.83455357399998 meters Centerline goodness [0,1] 0.8105349122090649 Centerline is valid? [False, False] Translation: X:6.37, Y:0.18, Z:-1.48 [[ 9.99753295e-01 -1.61192779e-02 -1.52813046e-02 6.36733589e+00] [ 1.61374671e-02 9.99869213e-01 1.06772474e-03 1.79896038e-01] [ 1.52620950e-02 -1.31406288e-03 9.99882664e-01 -1.47598434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.86455357399998 meters Centerline goodness [0,1] 0.8133992073402465 Centerline is valid? [False, False] Translation: X:6.37, Y:0.18, Z:-1.47 [[ 9.99784814e-01 -1.29578362e-02 -1.61993574e-02 6.36999346e+00] [ 1.30521803e-02 9.99898388e-01 5.73184179e-03 1.79341665e-01] [ 1.61234391e-02 -5.94204532e-03 9.99852353e-01 -1.47402893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.89455357399999 meters Centerline goodness [0,1] 0.8127576480798437 Centerline is valid? [False, False] Translation: X:6.37, Y:0.18, Z:-1.48 [[ 9.99768602e-01 -1.35744269e-02 -1.66876226e-02 6.37229826e+00] [ 1.36639434e-02 9.99892798e-01 5.26198297e-03 1.80337879e-01] [ 1.66144053e-02 -5.48878409e-03 9.99846906e-01 -1.47516916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.924553574 meters Centerline goodness [0,1] 0.81160285458443 Centerline is valid? [False, False] Translation: X:6.37, Y:0.18, Z:-1.48 [[ 9.99760444e-01 -1.38504950e-02 -1.69475205e-02 6.37330571e+00] [ 1.39406483e-02 9.99889235e-01 5.21302309e-03 1.80650837e-01] [ 1.68734404e-02 -5.44803371e-03 9.99842791e-01 -1.47525733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.954553574 meters Centerline goodness [0,1] 0.8137910496250372 Centerline is valid? [False, False] Translation: X:6.37, Y:0.18, Z:-1.48 [[ 9.99751480e-01 -1.41427936e-02 -1.72325386e-02 6.37432531e+00] [ 1.42346210e-02 9.99885069e-01 5.21776085e-03 1.80924563e-01] [ 1.71567643e-02 -5.46176279e-03 9.99837894e-01 -1.47513697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.984553574 meters Centerline goodness [0,1] 0.8155410508145431 Centerline is valid? [False, False] Translation: X:6.38, Y:0.18, Z:-1.48 [[ 9.99727104e-01 -1.50328820e-02 -1.78809927e-02 6.37675019e+00] [ 1.51242610e-02 9.99873189e-01 4.98618786e-03 1.81823690e-01] [ 1.78037684e-02 -5.25526395e-03 9.99827689e-01 -1.47501357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.014553574 meters Centerline goodness [0,1] 0.8132814820816117 Centerline is valid? [False, False] Translation: X:6.38, Y:0.18, Z:-1.47 [[ 9.99711688e-01 -1.55213344e-02 -1.83201860e-02 6.37839750e+00] [ 1.56149621e-02 9.99865684e-01 4.97868915e-03 1.82058485e-01] [ 1.82404495e-02 -5.26332275e-03 9.99819775e-01 -1.47493372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.044553574 meters Centerline goodness [0,1] 0.8132356506046812 Centerline is valid? [False, False] Translation: X:6.38, Y:0.18, Z:-1.48 [[ 9.99678350e-01 -1.65758776e-02 -1.91947167e-02 6.38163617e+00] [ 1.66651969e-02 9.99850987e-01 4.50274740e-03 1.83369440e-01] [ 1.91172194e-02 -4.82118283e-03 9.99805625e-01 -1.47535402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.074553574 meters Centerline goodness [0,1] 0.81403735400183 Centerline is valid? [False, False] Translation: X:6.38, Y:0.18, Z:-1.48 [[ 9.99675650e-01 -1.66080174e-02 -1.93072017e-02 6.38209236e+00] [ 1.66901822e-02 9.99852293e-01 4.10232681e-03 1.84793367e-01] [ 1.92362184e-02 -4.42323694e-03 9.99805182e-01 -1.47587836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.104553574 meters Centerline goodness [0,1] 0.8174015981059485 Centerline is valid? [False, False] Translation: X:6.38, Y:0.19, Z:-1.48 [[ 9.99666400e-01 -1.68546155e-02 -1.95706606e-02 6.38312384e+00] [ 1.69360819e-02 9.99848555e-01 4.00441517e-03 1.85556992e-01] [ 1.95002038e-02 -4.33452961e-03 9.99800457e-01 -1.47598047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.134553574 meters Centerline goodness [0,1] 0.8148307477213454 Centerline is valid? [False, False] Translation: X:6.39, Y:0.19, Z:-1.48 [[ 9.99621687e-01 -1.82495171e-02 -2.05776255e-02 6.38733474e+00] [ 1.83215110e-02 9.99826650e-01 3.31555261e-03 1.86816941e-01] [ 2.05135511e-02 -3.69131148e-03 9.99782761e-01 -1.47705721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.164553574 meters Centerline goodness [0,1] 0.8145349931438711 Centerline is valid? [False, False] Translation: X:6.39, Y:0.19, Z:-1.48 [[ 9.99607993e-01 -1.86228117e-02 -2.09057904e-02 6.38879336e+00] [ 1.86912344e-02 9.99820553e-01 3.08227954e-03 1.87659358e-01] [ 2.08446382e-02 -3.47182629e-03 9.99776699e-01 -1.47752775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.19455357399997 meters Centerline goodness [0,1] 0.8141048141048142 Centerline is valid? [False, False] Translation: X:6.39, Y:0.19, Z:-1.48 [[ 9.99598141e-01 -1.88427404e-02 -2.11780189e-02 6.38979224e+00] [ 1.89095919e-02 9.99816814e-01 2.96081509e-03 1.88546724e-01] [ 2.11183495e-02 -3.36009295e-03 9.99771336e-01 -1.47764995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.22455357399997 meters Centerline goodness [0,1] 0.8157703781343224 Centerline is valid? [False, False] Translation: X:6.39, Y:0.19, Z:-1.48 [[ 9.99583798e-01 -1.91940012e-02 -2.15365084e-02 6.39127357e+00] [ 1.92580126e-02 9.99810714e-01 2.76875237e-03 1.88914448e-01] [ 2.14792884e-02 -3.18235036e-03 9.99764229e-01 -1.47807070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.25455357399997 meters Centerline goodness [0,1] 0.8131992559242984 Centerline is valid? [False, False] Translation: X:6.39, Y:0.19, Z:-1.48 [[ 9.99566070e-01 -1.96094399e-02 -2.19804844e-02 6.39287172e+00] [ 1.96778278e-02 9.99802169e-01 2.89932167e-03 1.88349901e-01] [ 2.19192819e-02 -3.33059176e-03 9.99754196e-01 -1.47792197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.28455357399997 meters Centerline goodness [0,1] 0.815110150020273 Centerline is valid? [False, False] Translation: X:6.39, Y:0.19, Z:-1.48 [[ 9.99565689e-01 -1.95361198e-02 -2.20629569e-02 6.39294614e+00] [ 1.96127372e-02 9.99802332e-01 3.26162484e-03 1.88016096e-01] [ 2.19948762e-02 -3.69292325e-03 9.99751263e-01 -1.47724583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.31455357399997 meters Centerline goodness [0,1] 0.8119020593481434 Centerline is valid? [False, False] Translation: X:6.39, Y:0.19, Z:-1.48 [[ 9.99582728e-01 -1.90013751e-02 -2.17558573e-02 6.39147997e+00] [ 1.90894763e-02 9.99810370e-01 3.84902697e-03 1.87190209e-01] [ 2.16785949e-02 -4.26272880e-03 9.99755904e-01 -1.47614411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.34455357399997 meters Centerline goodness [0,1] 0.811387034885292 Centerline is valid? [False, False] Translation: X:6.39, Y:0.19, Z:-1.48 [[ 9.99580841e-01 -1.90175523e-02 -2.18283082e-02 6.39193475e+00] [ 1.91067409e-02 9.99809903e-01 3.88463581e-03 1.87095592e-01] [ 2.17502824e-02 -4.30007536e-03 9.99754187e-01 -1.47639811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.37455357399998 meters Centerline goodness [0,1] 0.8109650546359407 Centerline is valid? [False, False] Translation: X:6.39, Y:0.19, Z:-1.48 [[ 9.99583355e-01 -1.89106822e-02 -2.18060302e-02 6.39202604e+00] [ 1.90016692e-02 9.99811558e-01 3.97291708e-03 1.86823234e-01] [ 2.17267905e-02 -4.38561276e-03 9.99754326e-01 -1.47665016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.40455357399998 meters Centerline goodness [0,1] 0.811553698377381 Centerline is valid? [False, False] Translation: X:6.39, Y:0.19, Z:-1.48 [[ 9.99590236e-01 -1.86791664e-02 -2.16898405e-02 6.39152313e+00] [ 1.87826833e-02 9.99813106e-01 4.57870820e-03 1.85323780e-01] [ 2.16002603e-02 -4.98422541e-03 9.99754263e-01 -1.47583376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.43455357399998 meters Centerline goodness [0,1] 0.8110642925105342 Centerline is valid? [False, False] Translation: X:6.39, Y:0.18, Z:-1.48 [[ 9.99595834e-01 -1.84697015e-02 -2.16110900e-02 6.39111658e+00] [ 1.85835803e-02 9.99814402e-01 5.08053471e-03 1.83933318e-01] [ 2.15132431e-02 -5.48009275e-03 9.99753544e-01 -1.47527706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.46455357399998 meters Centerline goodness [0,1] 0.8111289751205821 Centerline is valid? [False, False] Translation: X:6.39, Y:0.18, Z:-1.48 [[ 9.99598844e-01 -1.83590497e-02 -2.15660773e-02 6.39131285e+00] [ 1.84771627e-02 9.99815286e-01 5.29034009e-03 1.82331894e-01] [ 2.14649681e-02 -5.68669776e-03 9.99753428e-01 -1.47582857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.49455357399998 meters Centerline goodness [0,1] 0.8111727568394873 Centerline is valid? [False, False] Translation: X:6.39, Y:0.18, Z:-1.48 [[ 9.99605514e-01 -1.80818851e-02 -2.14909561e-02 6.39106499e+00] [ 1.82044554e-02 9.99819039e-01 5.52144024e-03 1.81528399e-01] [ 2.13872291e-02 -5.91049327e-03 9.99753796e-01 -1.47597019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.52455357399998 meters Centerline goodness [0,1] 0.8128015702096338 Centerline is valid? [False, False] Translation: X:6.41, Y:0.18, Z:-1.48 [[ 9.99739302e-01 -1.66813268e-02 -1.55904374e-02 6.40881140e+00] [ 1.66368078e-02 9.99857155e-01 -2.98088702e-03 1.84808827e-01] [ 1.56379356e-02 2.72073480e-03 9.99874018e-01 -1.48382764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.55455357399998 meters Centerline goodness [0,1] 0.8123199043114229 Centerline is valid? [False, False] Translation: X:6.41, Y:0.18, Z:-1.48 [[ 9.99818319e-01 -1.13605684e-02 -1.53057806e-02 6.40634926e+00] [ 1.13926407e-02 9.99933082e-01 2.00987421e-03 1.84643721e-01] [ 1.52819231e-02 -2.18388231e-03 9.99880840e-01 -1.48176848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.58455357399998 meters Centerline goodness [0,1] 0.8120597274730057 Centerline is valid? [False, False] Translation: X:6.41, Y:0.18, Z:-1.48 [[ 9.99833689e-01 -8.21391968e-03 -1.62826853e-02 6.40966357e+00] [ 8.31803051e-03 9.99945328e-01 6.33657922e-03 1.84058068e-01] [ 1.62297469e-02 -6.47096525e-03 9.99847349e-01 -1.48123260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.61455357399998 meters Centerline goodness [0,1] 0.8088697442566103 Centerline is valid? [False, False] Translation: X:6.41, Y:0.19, Z:-1.48 [[ 9.99853411e-01 -6.97684226e-03 -1.56358371e-02 6.40782732e+00] [ 7.05729503e-03 9.99962111e-01 5.09615191e-03 1.86555809e-01] [ 1.55996896e-02 -5.20575159e-03 9.99864766e-01 -1.48466981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.64455357399999 meters Centerline goodness [0,1] 0.8089318600368324 Centerline is valid? [False, False] Translation: X:6.41, Y:0.19, Z:-1.48 [[ 9.99856585e-01 -6.69279011e-03 -1.55568696e-02 6.40744629e+00] [ 6.76978509e-03 9.99965070e-01 4.90187751e-03 1.87427419e-01] [ 1.55235189e-02 -5.00649117e-03 9.99866969e-01 -1.48499515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.674553574 meters Centerline goodness [0,1] 0.8081898305084746 Centerline is valid? [False, False] Translation: X:6.41, Y:0.19, Z:-1.48 [[ 9.99844834e-01 -7.31247611e-03 -1.60260990e-02 6.40926987e+00] [ 7.39302633e-03 9.99960307e-01 4.97272168e-03 1.87347116e-01] [ 1.59891000e-02 -5.09043145e-03 9.99859208e-01 -1.48477731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.704553574 meters Centerline goodness [0,1] 0.8072882824344813 Centerline is valid? [False, False] Translation: X:6.41, Y:0.19, Z:-1.48 [[ 9.99833682e-01 -7.83556651e-03 -1.64685273e-02 6.41077949e+00] [ 7.92232645e-03 9.99955047e-01 5.20960637e-03 1.86801739e-01] [ 1.64269668e-02 -5.33920897e-03 9.99850813e-01 -1.48416291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.734553574 meters Centerline goodness [0,1] 0.8094020349311715 Centerline is valid? [False, False] Translation: X:6.41, Y:0.19, Z:-1.48 [[ 9.99824571e-01 -8.22292470e-03 -1.68288668e-02 6.41167644e+00] [ 8.32183686e-03 9.99948459e-01 5.81596371e-03 1.86027641e-01] [ 1.67801752e-02 -5.95499050e-03 9.99841469e-01 -1.48255628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.764553574 meters Centerline goodness [0,1] 0.8085366848934955 Centerline is valid? [False, False] Translation: X:6.41, Y:0.18, Z:-1.48 [[ 9.99802057e-01 -9.36353612e-03 -1.75548041e-02 6.41422563e+00] [ 9.47526174e-03 9.99935313e-01 6.29205294e-03 1.84928441e-01] [ 1.74947526e-02 -6.45714384e-03 9.99826104e-01 -1.48101726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.794553574 meters Centerline goodness [0,1] 0.8095302853101967 Centerline is valid? [False, False] Translation: X:6.42, Y:0.19, Z:-1.48 [[ 9.99787106e-01 -9.98798972e-03 -1.80550153e-02 6.41619021e+00] [ 1.01003644e-02 9.99930117e-01 6.14357438e-03 1.85082015e-01] [ 1.79923916e-02 -6.32462868e-03 9.99818120e-01 -1.48122954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.824553574 meters Centerline goodness [0,1] 0.8104274435066703 Centerline is valid? [False, False] Translation: X:6.42, Y:0.18, Z:-1.48 [[ 9.99777746e-01 -1.03496160e-02 -1.83669255e-02 6.41728199e+00] [ 1.04663947e-02 9.99925547e-01 6.27339985e-03 1.84977366e-01] [ 1.83006307e-02 -6.46424106e-03 9.99811633e-01 -1.48085521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.854553574 meters Centerline goodness [0,1] 0.8109220786302416 Centerline is valid? [False, False] Translation: X:6.42, Y:0.19, Z:-1.48 [[ 9.99764903e-01 -1.08612454e-02 -1.87662458e-02 6.41871435e+00] [ 1.09802958e-02 9.99920166e-01 6.25250479e-03 1.85492472e-01] [ 1.86968377e-02 -6.45709378e-03 9.99804348e-01 -1.48053949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.884553574 meters Centerline goodness [0,1] 0.8099765705879147 Centerline is valid? [False, False] Translation: X:6.42, Y:0.19, Z:-1.48 [[ 9.99757995e-01 -1.11108003e-02 -1.89868778e-02 6.41981383e+00] [ 1.12258271e-02 9.99919212e-01 5.96241802e-03 1.85957150e-01] [ 1.89190967e-02 -6.17411849e-03 9.99801954e-01 -1.48131782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.914553574 meters Centerline goodness [0,1] 0.8084165400477534 Centerline is valid? [False, False] Translation: X:6.42, Y:0.19, Z:-1.48 [[ 9.99741463e-01 -1.16993794e-02 -1.94969485e-02 6.42207291e+00] [ 1.18036898e-02 9.99916585e-01 5.24361788e-03 1.87457355e-01] [ 1.94339751e-02 -5.47239814e-03 9.99796166e-01 -1.48274996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.94455357399997 meters Centerline goodness [0,1] 0.8076620238386142 Centerline is valid? [False, False] Translation: X:6.42, Y:0.19, Z:-1.48 [[ 9.99735211e-01 -1.18669074e-02 -1.97150613e-02 6.42307852e+00] [ 1.19675375e-02 9.99915915e-01 4.99410288e-03 1.88043095e-01] [ 1.96541390e-02 -5.22872124e-03 9.99793166e-01 -1.48341411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.97455357399997 meters Centerline goodness [0,1] 0.8084022225233771 Centerline is valid? [False, False] Translation: X:6.43, Y:0.19, Z:-1.48 [[ 9.99718418e-01 -1.24234412e-02 -2.02173775e-02 6.42531872e+00] [ 1.25132149e-02 9.99912375e-01 4.31998792e-03 1.89355584e-01] [ 2.01619368e-02 -4.57175588e-03 9.99786275e-01 -1.48476189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.00455357399997 meters Centerline goodness [0,1] 0.8064874833880286 Centerline is valid? [False, False] Translation: X:6.43, Y:0.19, Z:-1.49 [[ 9.99709533e-01 -1.26781194e-02 -2.04967187e-02 6.42645593e+00] [ 1.27664929e-02 9.99909741e-01 4.18649992e-03 1.89833595e-01] [ 2.04417917e-02 -4.44695510e-03 9.99781155e-01 -1.48509476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.03455357399997 meters Centerline goodness [0,1] 0.8048932480762978 Centerline is valid? [False, False] Translation: X:6.43, Y:0.19, Z:-1.49 [[ 9.99697854e-01 -1.29961390e-02 -2.08638641e-02 6.42788943e+00] [ 1.30813665e-02 9.99906619e-01 3.95365928e-03 1.90548670e-01] [ 2.08105335e-02 -4.22539255e-03 9.99774508e-01 -1.48554907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.06455357399997 meters Centerline goodness [0,1] 0.8047026502908856 Centerline is valid? [False, False] Translation: X:6.43, Y:0.19, Z:-1.48 [[ 0.99971668 -0.0097178 -0.02172857 6.43035478] [ 0.00989828 0.99991727 0.00821413 0.19120967] [ 0.02164695 -0.00842688 0.99973016 -1.48420176] [ 0. 0. 0. 1. ]] SLAMing on 208.09455357399997 meters Centerline goodness [0,1] 0.8055847834884662 Centerline is valid? [False, False] Translation: X:6.43, Y:0.19, Z:-1.48 [[ 0.99971541 -0.00964231 -0.02182049 6.43063893] [ 0.00981701 0.9999205 0.00791316 0.19228251] [ 0.02174246 -0.00812512 0.99973059 -1.48469219] [ 0. 0. 0. 1. ]] SLAMing on 208.12455357399998 meters Centerline goodness [0,1] 0.8046887631366209 Centerline is valid? [False, False] Translation: X:6.43, Y:0.19, Z:-1.48 [[ 0.99971118 -0.00974704 -0.02196718 6.43122277] [ 0.00991747 0.99992146 0.00766281 0.19351261] [ 0.02189077 -0.00787846 0.99972933 -1.4849334 ] [ 0. 0. 0. 1. ]] SLAMing on 208.15455357399998 meters Centerline goodness [0,1] 0.8080748346863071 Centerline is valid? [False, False] Translation: X:6.45, Y:0.20, Z:-1.49 [[ 9.99821362e-01 -1.01528002e-02 -1.59425446e-02 6.45007961e+00] [ 1.01266788e-02 9.99947247e-01 -1.71834964e-03 1.96912070e-01] [ 1.59591496e-02 1.55659765e-03 9.99871433e-01 -1.49272843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.18455357399998 meters Centerline goodness [0,1] 0.8076436889809311 Centerline is valid? [False, False] Translation: X:6.45, Y:0.20, Z:-1.49 [[ 9.99818038e-01 -1.02308689e-02 -1.61003406e-02 6.45044308e+00] [ 1.02112830e-02 9.99947021e-01 -1.29822423e-03 1.96337908e-01] [ 1.61127695e-02 1.13358287e-03 9.99869538e-01 -1.49196157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.21455357399998 meters Centerline goodness [0,1] 0.8089914879862083 Centerline is valid? [False, False] Translation: X:6.45, Y:0.19, Z:-1.49 [[ 9.99811271e-01 -1.04774312e-02 -1.63598727e-02 6.45092452e+00] [ 1.04719299e-02 9.99945079e-01 -4.21897812e-04 1.94726879e-01] [ 1.63633946e-02 2.50498748e-04 9.99866079e-01 -1.49011212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.24455357399998 meters Centerline goodness [0,1] 0.8098362418994864 Centerline is valid? [False, False] Translation: X:6.45, Y:0.19, Z:-1.49 [[ 9.99809350e-01 -1.04648344e-02 -1.64848831e-02 6.45117499e+00] [ 1.04698739e-02 9.99945165e-01 2.19426430e-04 1.93590714e-01] [ 1.64816829e-02 -3.91979244e-04 9.99864091e-01 -1.48917312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.27455357399998 meters Centerline goodness [0,1] 0.8108166343460461 Centerline is valid? [False, False] Translation: X:6.45, Y:0.19, Z:-1.49 [[ 9.99805829e-01 -1.05529225e-02 -1.66415388e-02 6.45168501e+00] [ 1.05705620e-02 9.99943657e-01 9.72362853e-04 1.91540398e-01] [ 1.66303399e-02 -1.14808447e-03 9.99861047e-01 -1.48831611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.30455357399998 meters Centerline goodness [0,1] 0.8119528801469793 Centerline is valid? [False, False] Translation: X:6.45, Y:0.19, Z:-1.49 [[ 9.99799334e-01 -1.07403108e-02 -1.69096833e-02 6.45287028e+00] [ 1.07618840e-02 9.99941387e-01 1.18530562e-03 1.90623616e-01] [ 1.68959616e-02 -1.36704782e-03 9.99856319e-01 -1.48860279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.33455357399998 meters Centerline goodness [0,1] 0.8113345422068257 Centerline is valid? [False, False] Translation: X:6.45, Y:0.19, Z:-1.49 [[ 9.99793255e-01 -1.09268234e-02 -1.71479215e-02 6.45394257e+00] [ 1.09554227e-02 9.99938748e-01 1.57474364e-03 1.89396117e-01] [ 1.71296642e-02 -1.76228080e-03 9.99851723e-01 -1.48856942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.36455357399998 meters Centerline goodness [0,1] 0.8116153430578066 Centerline is valid? [False, False] Translation: X:6.46, Y:0.19, Z:-1.49 [[ 9.99783313e-01 -1.13047885e-02 -1.74793811e-02 6.45586694e+00] [ 1.13385247e-02 9.99934038e-01 1.83215569e-03 1.87165439e-01] [ 1.74575160e-02 -2.02994908e-03 9.99845545e-01 -1.48945378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.39455357399999 meters Centerline goodness [0,1] 0.8102734723687414 Centerline is valid? [False, False] Translation: X:6.45, Y:0.19, Z:-1.49 [[ 9.99821461e-01 -9.23733899e-03 -1.64838848e-02 6.45142910e+00] [ 9.27510942e-03 9.99954529e-01 2.21637632e-03 1.87796936e-01] [ 1.64626619e-02 -2.36887045e-03 9.99861675e-01 -1.48925802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.424553574 meters Centerline goodness [0,1] 0.8102446276523855 Centerline is valid? [False, False] Translation: X:6.45, Y:0.19, Z:-1.49 [[ 9.99828842e-01 -8.74273229e-03 -1.63049183e-02 6.45059380e+00] [ 8.78278102e-03 9.99958583e-01 2.38624849e-03 1.87760147e-01] [ 1.62833806e-02 -2.52904259e-03 9.99864219e-01 -1.48923239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.454553574 meters Centerline goodness [0,1] 0.8092206842376142 Centerline is valid? [False, False] Translation: X:6.45, Y:0.19, Z:-1.49 [[ 9.99834247e-01 -8.34827388e-03 -1.61797521e-02 6.44999571e+00] [ 8.39051663e-03 9.99961561e-01 2.54471695e-03 1.87817869e-01] [ 1.61578862e-02 -2.68005163e-03 9.99865861e-01 -1.48920309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.484553574 meters Centerline goodness [0,1] 0.8092206842376142 Centerline is valid? [False, False] Translation: X:6.45, Y:0.19, Z:-1.49 [[ 9.99834247e-01 -8.34827388e-03 -1.61797521e-02 6.44999571e+00] [ 8.39051663e-03 9.99961561e-01 2.54471695e-03 1.87817869e-01] [ 1.61578862e-02 -2.68005163e-03 9.99865861e-01 -1.48920309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.514553574 meters Centerline goodness [0,1] 0.8066475861324117 Centerline is valid? [False, False] Translation: X:6.45, Y:0.19, Z:-1.49 [[ 9.99856890e-01 -6.79212094e-03 -1.54940700e-02 6.44707327e+00] [ 6.83135171e-03 9.99973590e-01 2.48046646e-03 1.89511561e-01] [ 1.54768132e-02 -2.58595692e-03 9.99876883e-01 -1.48975102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.544553574 meters Centerline goodness [0,1] 0.8074302401038287 Centerline is valid? [False, False] Translation: X:6.45, Y:0.19, Z:-1.49 [[ 9.99856930e-01 -6.72028430e-03 -1.55228071e-02 6.44749957e+00] [ 6.75539169e-03 9.99974739e-01 2.21033809e-03 1.90022660e-01] [ 1.55075608e-02 -2.31488450e-03 9.99877071e-01 -1.49069429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.574553574 meters Centerline goodness [0,1] 0.8045186108251612 Centerline is valid? [False, False] Translation: X:6.45, Y:0.19, Z:-1.49 [[ 9.99850472e-01 -6.96658020e-03 -1.58272339e-02 6.44890064e+00] [ 7.00176600e-03 9.99973135e-01 2.16879302e-03 1.89877217e-01] [ 1.58116996e-02 -2.27928731e-03 9.99872389e-01 -1.49133922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.604553574 meters Centerline goodness [0,1] 0.8051592994613324 Centerline is valid? [False, False] Translation: X:6.45, Y:0.19, Z:-1.49 [[ 9.99843410e-01 -7.26458873e-03 -1.61363041e-02 6.45005675e+00] [ 7.30676298e-03 9.99970038e-01 2.55620753e-03 1.88815273e-01] [ 1.61172509e-02 -2.67371140e-03 9.99866534e-01 -1.49090663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.634553574 meters Centerline goodness [0,1] 0.8046207663313176 Centerline is valid? [False, False] Translation: X:6.45, Y:0.19, Z:-1.49 [[ 9.99831244e-01 -7.80709051e-03 -1.66292564e-02 6.45175988e+00] [ 7.85948996e-03 9.99964346e-01 3.08801973e-03 1.87252842e-01] [ 1.66045551e-02 -3.21819608e-03 9.99856956e-01 -1.49008434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.664553574 meters Centerline goodness [0,1] 0.806719485964769 Centerline is valid? [False, False] Translation: X:6.45, Y:0.19, Z:-1.49 [[ 9.99832911e-01 -7.60351229e-03 -1.66233562e-02 6.45091879e+00] [ 7.66976562e-03 9.99962882e-01 3.92544249e-03 1.86645310e-01] [ 1.65928920e-02 -4.05228384e-03 9.99854117e-01 -1.48789142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.69455357399997 meters Centerline goodness [0,1] 0.8071641791044776 Centerline is valid? [False, False] Translation: X:6.45, Y:0.19, Z:-1.49 [[ 9.99835932e-01 -7.37720525e-03 -1.65434651e-02 6.45047402e+00] [ 7.44238515e-03 9.99964771e-01 3.88181928e-03 1.87422902e-01] [ 1.65142454e-02 -4.00430523e-03 9.99855612e-01 -1.48761539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.72455357399997 meters Centerline goodness [0,1] 0.808251569592042 Centerline is valid? [False, False] Translation: X:6.45, Y:0.19, Z:-1.49 [[ 9.99828198e-01 -7.71100664e-03 -1.68557316e-02 6.45156750e+00] [ 7.77602406e-03 9.99962564e-01 3.79515721e-03 1.88252485e-01] [ 1.68258361e-02 -3.92557576e-03 9.99850729e-01 -1.48752365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.75455357399997 meters Centerline goodness [0,1] 0.8089661730743105 Centerline is valid? [False, False] Translation: X:6.45, Y:0.19, Z:-1.49 [[ 9.99809267e-01 -8.60118399e-03 -1.75342454e-02 6.45454969e+00] [ 8.66351075e-03 9.99956410e-01 3.48171647e-03 1.88493529e-01] [ 1.75035342e-02 -3.63296052e-03 9.99840201e-01 -1.48845502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.78455357399997 meters Centerline goodness [0,1] 0.8095796303364048 Centerline is valid? [False, False] Translation: X:6.46, Y:0.19, Z:-1.49 [[ 9.99748299e-01 -1.16063345e-02 -1.91998042e-02 6.46238093e+00] [ 1.16614068e-02 9.99928197e-01 2.75890852e-03 1.87901938e-01] [ 1.91664048e-02 -2.98211082e-03 9.99811860e-01 -1.48989787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.81455357399997 meters Centerline goodness [0,1] 0.8095107952992621 Centerline is valid? [False, False] Translation: X:6.47, Y:0.19, Z:-1.49 [[ 9.99713334e-01 -1.29573129e-02 -2.01335049e-02 6.46613591e+00] [ 1.30217023e-02 9.99910500e-01 3.07031251e-03 1.86352697e-01] [ 2.00919200e-02 -3.33160487e-03 9.99792586e-01 -1.48944889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.84455357399997 meters Centerline goodness [0,1] 0.8082776743676776 Centerline is valid? [False, False] Translation: X:6.47, Y:0.19, Z:-1.49 [[ 9.99675281e-01 -1.42805698e-02 -2.11044297e-02 6.46923052e+00] [ 1.43601759e-02 9.99890315e-01 3.62527855e-03 1.85465258e-01] [ 2.10503438e-02 -3.92716468e-03 9.99770704e-01 -1.48742804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.87455357399998 meters Centerline goodness [0,1] 0.8096150687181733 Centerline is valid? [False, False] Translation: X:6.47, Y:0.18, Z:-1.49 [[ 9.99657728e-01 -1.47779968e-02 -2.15879136e-02 6.47061762e+00] [ 1.48664398e-02 9.99881717e-01 3.94214128e-03 1.84892053e-01] [ 2.15271032e-02 -4.26172741e-03 9.99759182e-01 -1.48648311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.90455357399998 meters Centerline goodness [0,1] 0.8104123852582545 Centerline is valid? [False, False] Translation: X:6.47, Y:0.18, Z:-1.49 [[ 9.99631571e-01 -1.55787952e-02 -2.22266245e-02 6.47308569e+00] [ 1.56679232e-02 9.99869871e-01 3.84146346e-03 1.84698217e-01] [ 2.21638868e-02 -4.18829320e-03 9.99745578e-01 -1.48662667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.93455357399998 meters Centerline goodness [0,1] 0.8102508178844057 Centerline is valid? [False, False] Translation: X:6.48, Y:0.19, Z:-1.49 [[ 9.99582261e-01 -1.70577127e-02 -2.33310582e-02 6.47808940e+00] [ 1.71218750e-02 9.99850150e-01 2.55307352e-03 1.87293937e-01] [ 2.32840125e-02 -2.95147846e-03 9.99724534e-01 -1.48911161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.96455357399998 meters Centerline goodness [0,1] 0.8068342583523779 Centerline is valid? [False, False] Translation: X:6.48, Y:0.19, Z:-1.49 [[ 9.99580366e-01 -1.70284326e-02 -2.34334161e-02 6.47853187e+00] [ 1.70788957e-02 9.99852234e-01 1.95500477e-03 1.89638131e-01] [ 2.33966627e-02 -2.35440126e-03 9.99723488e-01 -1.49001992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.99455357399998 meters Centerline goodness [0,1] 0.8086594459260872 Centerline is valid? [False, False] Translation: X:6.48, Y:0.19, Z:-1.49 [[ 9.99546931e-01 -1.79241052e-02 -2.41797144e-02 6.48148566e+00] [ 1.79609608e-02 9.99837833e-01 1.30790223e-03 1.91604617e-01] [ 2.41523503e-02 -1.74160056e-03 9.99706772e-01 -1.49092013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.02455357399998 meters Centerline goodness [0,1] 0.8071358642445339 Centerline is valid? [False, False] Translation: X:6.48, Y:0.19, Z:-1.49 [[ 9.99527928e-01 -1.84194716e-02 -2.45895104e-02 6.48302818e+00] [ 1.84571164e-02 9.99828801e-01 1.30482968e-03 1.91987246e-01] [ 2.45612664e-02 -1.75806516e-03 9.99696781e-01 -1.49072084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.05455357399998 meters Centerline goodness [0,1] 0.808446332298644 Centerline is valid? [False, False] Translation: X:6.48, Y:0.19, Z:-1.49 [[ 9.99509579e-01 -1.88337660e-02 -2.50178088e-02 6.48416662e+00] [ 1.88820896e-02 9.99820278e-01 1.69672490e-03 1.91903920e-01] [ 2.49813568e-02 -2.16828130e-03 9.99685566e-01 -1.48950254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.08455357399998 meters Centerline goodness [0,1] 0.8113582532465764 Centerline is valid? [False, False] Translation: X:6.49, Y:0.19, Z:-1.49 [[ 9.99461654e-01 -2.01412052e-02 -2.58985333e-02 6.48715563e+00] [ 2.02091698e-02 9.99792976e-01 2.36518254e-03 1.90770440e-01] [ 2.58455340e-02 -2.88729711e-03 9.99661779e-01 -1.48749148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.11455357399998 meters Centerline goodness [0,1] 0.8107276144814624 Centerline is valid? [False, False] Translation: X:6.49, Y:0.19, Z:-1.49 [[ 9.99423031e-01 -2.10492470e-02 -2.66558478e-02 6.48990371e+00] [ 2.11289509e-02 9.99773081e-01 2.71196350e-03 1.89887309e-01] [ 2.65927143e-02 -3.27360888e-03 9.99640991e-01 -1.48680213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.14455357399999 meters Centerline goodness [0,1] 0.8075286415711947 Centerline is valid? [False, False] Translation: X:6.50, Y:0.19, Z:-1.49 [[ 9.99337608e-01 -2.32937749e-02 -2.79596958e-02 6.49520809e+00] [ 2.33865077e-02 9.99722014e-01 2.99420692e-03 1.88639329e-01] [ 2.78821771e-02 -3.64610323e-03 9.99604567e-01 -1.48565544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.174553574 meters Centerline goodness [0,1] 0.8076399106315733 Centerline is valid? [False, False] Translation: X:6.50, Y:0.19, Z:-1.48 [[ 9.99288168e-01 -2.44013990e-02 -2.87702906e-02 6.49827896e+00] [ 2.45072614e-02 9.99694097e-01 3.33266769e-03 1.87572137e-01] [ 2.86801679e-02 -4.03537642e-03 9.99580494e-01 -1.48492719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.204553574 meters Centerline goodness [0,1] 0.8046828042183487 Centerline is valid? [False, False] Translation: X:6.50, Y:0.19, Z:-1.48 [[ 9.99236898e-01 -2.55333014e-02 -2.95579315e-02 6.50133738e+00] [ 2.56500344e-02 9.99664585e-01 3.57682937e-03 1.86572351e-01] [ 2.94566891e-02 -4.33226185e-03 9.99556669e-01 -1.48436124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.234553574 meters Centerline goodness [0,1] 0.8071932993923469 Centerline is valid? [False, False] Translation: X:6.51, Y:0.18, Z:-1.48 [[ 9.99111907e-01 -2.84451601e-02 -3.10849020e-02 6.50772877e+00] [ 2.86080702e-02 9.99579139e-01 4.80860067e-03 1.84015532e-01] [ 3.09350381e-02 -5.69360924e-03 9.99505181e-01 -1.48091294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.264553574 meters Centerline goodness [0,1] 0.8056591357753893 Centerline is valid? [False, False] Translation: X:6.51, Y:0.18, Z:-1.48 [[ 9.99062285e-01 -2.94130461e-02 -3.17714257e-02 6.51039382e+00] [ 2.95910714e-02 9.99548833e-01 5.14762655e-03 1.82921647e-01] [ 3.16056841e-02 -6.08295007e-03 9.99481905e-01 -1.48016110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.294553574 meters Centerline goodness [0,1] 0.813794983642312 Centerline is valid? [False, False] Translation: X:6.52, Y:0.18, Z:-1.47 [[ 0.99902492 -0.0283592 -0.03383724 6.51836461] [ 0.0287423 0.99952754 0.01088959 0.18203859] [ 0.03351243 -0.01185153 0.99936803 -1.47498244] [ 0. 0. 0. 1. ]] SLAMing on 209.324553574 meters Centerline goodness [0,1] 0.8100455127681029 Centerline is valid? [False, False] Translation: X:6.52, Y:0.18, Z:-1.48 [[ 0.99903584 -0.02807286 -0.03375372 6.51808449] [ 0.02843372 0.99954304 0.01025879 0.18434614] [ 0.03345031 -0.01120864 0.99937753 -1.47597097] [ 0. 0. 0. 1. ]] SLAMing on 209.354553574 meters Centerline goodness [0,1] 0.8145010183299389 Centerline is valid? [False, False] Translation: X:6.52, Y:0.19, Z:-1.48 [[ 0.99904458 -0.027781 -0.03373645 6.51822632] [ 0.02811425 0.9995601 0.00944407 0.18716884] [ 0.03345925 -0.01038353 0.99938614 -1.47755549] [ 0. 0. 0. 1. ]] SLAMing on 209.384553574 meters Centerline goodness [0,1] 0.8134863701578192 Centerline is valid? [False, False] Translation: X:6.52, Y:0.19, Z:-1.48 [[ 0.99911899 -0.02402087 -0.03441275 6.52007003] [ 0.02446861 0.99962057 0.01264928 0.19065092] [ 0.03409585 -0.01348017 0.99932765 -1.47820575] [ 0. 0. 0. 1. ]] SLAMing on 209.414553574 meters Centerline goodness [0,1] 0.812884262754827 Centerline is valid? [False, False] Translation: X:6.54, Y:0.20, Z:-1.49 [[ 9.99339128e-01 -2.21873491e-02 -2.87928644e-02 6.53799954e+00] [ 2.23268477e-02 9.99740451e-01 4.53244436e-03 1.95085045e-01] [ 2.86848283e-02 -5.17230289e-03 9.99575124e-01 -1.48592394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.44455357399997 meters Centerline goodness [0,1] 0.8057536532199467 Centerline is valid? [False, False] Translation: X:6.56, Y:0.20, Z:-1.49 [[ 9.99526589e-01 -1.86979606e-02 -2.44332783e-02 6.55837920e+00] [ 1.86569586e-02 9.99824129e-01 -1.90502376e-03 1.99164724e-01] [ 2.44646012e-02 1.44827124e-03 9.99699648e-01 -1.49228622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.47455357399997 meters Centerline goodness [0,1] 0.8115524437861855 Centerline is valid? [False, False] Translation: X:6.56, Y:0.20, Z:-1.49 [[ 9.99565347e-01 -1.52480508e-02 -2.52312104e-02 6.56024157e+00] [ 1.53280588e-02 9.99878076e-01 2.98062463e-03 1.98079696e-01] [ 2.51826853e-02 -3.36607457e-03 9.99677199e-01 -1.48992471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.50455357399997 meters Centerline goodness [0,1] 0.8089341355968626 Centerline is valid? [False, False] Translation: X:6.58, Y:0.20, Z:-1.50 [[ 9.99728495e-01 -1.30787190e-02 -1.92842648e-02 6.57701415e+00] [ 1.29861328e-02 9.99903579e-01 -4.91856362e-03 2.01693538e-01] [ 1.93467339e-02 4.66680019e-03 9.99801943e-01 -1.49740893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.53455357399997 meters Centerline goodness [0,1] 0.8071045576407507 Centerline is valid? [False, False] Translation: X:6.57, Y:0.20, Z:-1.50 [[ 9.99789696e-01 -7.79778678e-03 -1.89673011e-02 6.57473354e+00] [ 7.79373261e-03 9.99969587e-01 -2.87656228e-04 2.02842682e-01] [ 1.89689673e-02 1.39769660e-04 9.99820063e-01 -1.49591605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.56455357399997 meters Centerline goodness [0,1] 0.8061147997429856 Centerline is valid? [False, False] Translation: X:6.59, Y:0.21, Z:-1.50 [[ 9.99903583e-01 -4.80745980e-03 -1.30273650e-02 6.59188333e+00] [ 4.71306202e-03 9.99962487e-01 -7.26715303e-03 2.05844252e-01] [ 1.30618128e-02 7.20505358e-03 9.99888732e-01 -1.50319009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.59455357399997 meters Centerline goodness [0,1] 0.8053772070626003 Centerline is valid? [False, False] Translation: X:6.59, Y:0.20, Z:-1.50 [[ 9.99922411e-01 7.25751321e-04 -1.24356133e-02 6.58845803e+00] [-7.46124329e-04 9.99998387e-01 -1.63371820e-03 2.04524961e-01] [ 1.24344075e-02 1.64286996e-03 9.99921340e-01 -1.50000516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.62455357399998 meters Centerline goodness [0,1] 0.8037962839192622 Centerline is valid? [False, False] Translation: X:6.59, Y:0.20, Z:-1.50 [[ 9.99928765e-01 2.04477621e-03 -1.17593921e-02 6.58579383e+00] [-2.06011742e-03 9.99997043e-01 -1.29262656e-03 2.04953059e-01] [ 1.17567142e-02 1.31676021e-03 9.99930020e-01 -1.49984197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.65455357399998 meters Centerline goodness [0,1] 0.8038259664828284 Centerline is valid? [False, False] Translation: X:6.58, Y:0.20, Z:-1.50 [[ 9.99910836e-01 7.18827862e-03 -1.12538492e-02 6.58356277e+00] [-7.14721916e-03 9.99967670e-01 3.68445920e-03 2.03577842e-01] [ 1.12799702e-02 -3.60369695e-03 9.99929885e-01 -1.49849705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.68455357399998 meters Centerline goodness [0,1] 0.8038317034826401 Centerline is valid? [False, False] Translation: X:6.58, Y:0.20, Z:-1.50 [[ 9.99909953e-01 8.14406972e-03 -1.06658798e-02 6.58177079e+00] [-8.10626560e-03 9.99960725e-01 3.58284673e-03 2.03653446e-01] [ 1.06946398e-02 -3.49606364e-03 9.99936699e-01 -1.49944394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.71455357399998 meters Centerline goodness [0,1] 0.80347174225105 Centerline is valid? [False, False] Translation: X:6.58, Y:0.20, Z:-1.50 [[ 9.99897725e-01 1.09342937e-02 -9.21854463e-03 6.57622821e+00] [-1.08972844e-02 9.99932399e-01 4.05536653e-03 2.03414653e-01] [ 9.26226402e-03 -3.95449466e-03 9.99949285e-01 -1.50007852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.74455357399998 meters Centerline goodness [0,1] 0.8064344589204999 Centerline is valid? [False, False] Translation: X:6.57, Y:0.20, Z:-1.50 [[ 9.99892822e-01 1.17765967e-02 -8.69800718e-03 6.57454058e+00] [-1.17420488e-02 9.99923010e-01 4.01237396e-03 2.03340543e-01] [ 8.74458963e-03 -3.90981149e-03 9.99954122e-01 -1.50071073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.77455357399998 meters Centerline goodness [0,1] 0.8079368034683618 Centerline is valid? [False, False] Translation: X:6.57, Y:0.20, Z:-1.50 [[ 9.99887138e-01 1.25784549e-02 -8.21541081e-03 6.57298950e+00] [-1.25452109e-02 9.99912959e-01 4.08562424e-03 2.02997116e-01] [ 8.26608657e-03 -3.98209907e-03 9.99957906e-01 -1.50116959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.80455357399998 meters Centerline goodness [0,1] 0.805726297863282 Centerline is valid? [False, False] Translation: X:6.57, Y:0.20, Z:-1.50 [[ 9.99873783e-01 1.40886809e-02 -7.34344478e-03 6.57029283e+00] [-1.40569414e-02 9.99891708e-01 4.35600480e-03 2.02025707e-01] [ 7.40401990e-03 -4.25222863e-03 9.99963549e-01 -1.50211118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.83455357399998 meters Centerline goodness [0,1] 0.8055363505823538 Centerline is valid? [False, False] Translation: X:6.57, Y:0.20, Z:-1.50 [[ 9.99868481e-01 1.46310545e-02 -6.99663386e-03 6.56902474e+00] [-1.46001368e-02 9.99883511e-01 4.44978979e-03 2.01944202e-01] [ 7.06092395e-03 -4.34705274e-03 9.99965623e-01 -1.50199796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.86455357399998 meters Centerline goodness [0,1] 0.8108403249434013 Centerline is valid? [False, False] Translation: X:6.57, Y:0.20, Z:-1.50 [[ 9.99918449e-01 1.09089786e-02 -6.63997582e-03 6.56698492e+00] [-1.09042960e-02 9.99940272e-01 7.41005163e-04 2.01860188e-01] [ 6.64766283e-03 -6.68540472e-04 9.99977681e-01 -1.50035076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.89455357399999 meters Centerline goodness [0,1] 0.8132209877199511 Centerline is valid? [False, False] Translation: X:6.57, Y:0.20, Z:-1.50 [[ 9.99922947e-01 1.01531285e-02 -7.14246911e-03 6.56940540e+00] [-1.01525118e-02 9.99948454e-01 1.22594541e-04 2.02686041e-01] [ 7.14334567e-03 -5.00710928e-05 9.99974485e-01 -1.50167009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.924553574 meters Centerline goodness [0,1] 0.8084502559478026 Centerline is valid? [False, False] Translation: X:6.56, Y:0.21, Z:-1.51 [[ 9.99985928e-01 5.14417023e-03 1.29655141e-03 6.56326895e+00] [-5.14654314e-03 9.99985076e-01 1.83352426e-03 2.07157108e-01] [-1.28710010e-03 -1.84017121e-03 9.99997479e-01 -1.51173399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.954553574 meters Centerline goodness [0,1] 0.8089617023529101 Centerline is valid? [False, False] Translation: X:6.57, Y:0.21, Z:-1.51 [[ 9.99989177e-01 4.56967980e-03 8.74480667e-04 6.56556619e+00] [-4.57072069e-03 9.99988844e-01 1.19202535e-03 2.08003048e-01] [-8.69023737e-04 -1.19600946e-03 9.99998907e-01 -1.51342668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.984553574 meters Centerline goodness [0,1] 0.8094154383550769 Centerline is valid? [False, False] Translation: X:6.57, Y:0.21, Z:-1.51 [[ 9.99990654e-01 4.27146521e-03 6.67709092e-04 6.56665785e+00] [-4.27214194e-03 9.99990359e-01 1.01538075e-03 2.07926055e-01] [-6.63365490e-04 -1.01822381e-03 9.99999262e-01 -1.51391642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.014553574 meters Centerline goodness [0,1] 0.8103059410406772 Centerline is valid? [False, False] Translation: X:6.57, Y:0.21, Z:-1.51 [[ 9.99992672e-01 3.81249761e-03 3.46139658e-04 6.56743817e+00] [-3.81307291e-03 9.99991324e-01 1.67688559e-03 2.05594377e-01] [-3.39743533e-04 -1.67819316e-03 9.99998534e-01 -1.51225886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.044553574 meters Centerline goodness [0,1] 0.8107012243599936 Centerline is valid? [False, False] Translation: X:6.57, Y:0.20, Z:-1.51 [[ 9.99993734e-01 3.53833904e-03 1.06966230e-04 6.56823259e+00] [-3.53853322e-03 9.99991985e-01 1.87316734e-03 2.04926937e-01] [-1.00337472e-04 -1.87353411e-03 9.99998240e-01 -1.51170287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.074553574 meters Centerline goodness [0,1] 0.812506635523941 Centerline is valid? [False, False] Translation: X:6.57, Y:0.21, Z:-1.51 [[ 9.99993442e-01 3.62010304e-03 1.01164962e-04 6.56810643e+00] [-3.62029107e-03 9.99991594e-01 1.92480437e-03 2.05011657e-01] [-9.41961220e-05 -1.92515800e-03 9.99998142e-01 -1.51129445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.104553574 meters Centerline goodness [0,1] 0.8095920207968592 Centerline is valid? [False, False] Translation: X:6.57, Y:0.21, Z:-1.51 [[ 9.99993887e-01 3.49633931e-03 2.45939875e-05 6.56889501e+00] [-3.49636984e-03 9.99992941e-01 1.37587640e-03 2.06186997e-01] [-1.97832831e-05 -1.37595398e-03 9.99999053e-01 -1.51245203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.134553574 meters Centerline goodness [0,1] 0.8111355156262404 Centerline is valid? [False, False] Translation: X:6.57, Y:0.21, Z:-1.51 [[ 9.99994630e-01 3.27340698e-03 -1.54349893e-04 6.57005316e+00] [-3.27327100e-03 9.99994262e-01 8.73196127e-04 2.07353856e-01] [ 1.57207333e-04 -8.72686209e-04 9.99999607e-01 -1.51357345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.164553574 meters Centerline goodness [0,1] 0.8087218203896309 Centerline is valid? [False, False] Translation: X:6.57, Y:0.21, Z:-1.52 [[ 9.99996912e-01 2.32309800e-03 -8.83044987e-04 6.57357002e+00] [-2.32321056e-03 9.99997293e-01 -1.26470180e-04 2.09089032e-01] [ 8.82748795e-04 1.28521289e-04 9.99999602e-01 -1.51585757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.19455357399997 meters Centerline goodness [0,1] 0.8088360012721297 Centerline is valid? [False, False] Translation: X:6.58, Y:0.21, Z:-1.52 [[ 9.99997698e-01 1.42517965e-03 -1.60402856e-03 6.57641270e+00] [-1.42610310e-03 9.99998818e-01 -5.74713442e-04 2.09950872e-01] [ 1.60320759e-03 5.76999629e-04 9.99998548e-01 -1.51655230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.22455357399997 meters Centerline goodness [0,1] 0.8099335469010617 Centerline is valid? [False, False] Translation: X:6.58, Y:0.21, Z:-1.52 [[ 9.99997494e-01 7.71092900e-04 -2.10171207e-03 6.57870045e+00] [-7.73317713e-04 9.99999141e-01 -1.05796450e-03 2.10579652e-01] [ 2.10089448e-03 1.05958714e-03 9.99997232e-01 -1.51759986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.25455357399997 meters Centerline goodness [0,1] 0.811525118508514 Centerline is valid? [False, False] Translation: X:6.58, Y:0.21, Z:-1.52 [[ 9.99996557e-01 1.98143212e-04 -2.61653700e-03 6.58073173e+00] [-2.01237108e-04 9.99999281e-01 -1.18222921e-03 2.10851919e-01] [ 2.61630087e-03 1.18275169e-03 9.99995878e-01 -1.51796526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.28455357399997 meters Centerline goodness [0,1] 0.8108301526717557 Centerline is valid? [False, False] Translation: X:6.58, Y:0.21, Z:-1.52 [[ 9.99994856e-01 -3.97387523e-04 -3.18272025e-03 6.58308733e+00] [ 3.91519110e-04 9.99998223e-01 -1.84424663e-03 2.12616594e-01] [ 3.18344748e-03 1.84299105e-03 9.99993235e-01 -1.51917470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.31455357399997 meters Centerline goodness [0,1] 0.8096033070991335 Centerline is valid? [False, False] Translation: X:6.58, Y:0.21, Z:-1.52 [[ 9.99995004e-01 -2.05856024e-04 -3.15443258e-03 6.58306514e+00] [ 1.99539627e-04 9.99997975e-01 -2.00257162e-03 2.13896930e-01] [ 3.15483843e-03 2.00193218e-03 9.99993020e-01 -1.51943229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.34455357399997 meters Centerline goodness [0,1] 0.8098742554599603 Centerline is valid? [False, False] Translation: X:6.59, Y:0.21, Z:-1.52 [[ 9.99992433e-01 -9.04803217e-04 -3.78343556e-03 6.58589941e+00] [ 8.95391695e-04 9.99996503e-01 -2.48851389e-03 2.14268660e-01] [ 3.78567394e-03 2.48510741e-03 9.99989746e-01 -1.52097261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.37455357399998 meters Centerline goodness [0,1] 0.8104079359185189 Centerline is valid? [False, False] Translation: X:6.59, Y:0.21, Z:-1.52 [[ 9.99990129e-01 -1.41467413e-03 -4.21201570e-03 6.58783184e+00] [ 1.40367458e-03 9.99995600e-01 -2.61328151e-03 2.14040725e-01] [ 4.21569411e-03 2.60734341e-03 9.99987715e-01 -1.52167209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.40455357399998 meters Centerline goodness [0,1] 0.8104079359185189 Centerline is valid? [False, False] Translation: X:6.59, Y:0.21, Z:-1.52 [[ 9.99990129e-01 -1.41467413e-03 -4.21201570e-03 6.58783184e+00] [ 1.40367458e-03 9.99995600e-01 -2.61328151e-03 2.14040725e-01] [ 4.21569411e-03 2.60734341e-03 9.99987715e-01 -1.52167209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.43455357399998 meters Centerline goodness [0,1] 0.8098400722597099 Centerline is valid? [False, False] Translation: X:6.59, Y:0.21, Z:-1.52 [[ 9.99986515e-01 -2.01073888e-03 -4.78825545e-03 6.59000430e+00] [ 1.99933001e-03 9.99995154e-01 -2.38627289e-03 2.13259684e-01] [ 4.79303042e-03 2.37666741e-03 9.99985689e-01 -1.52160081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.46455357399998 meters Centerline goodness [0,1] 0.8108743256956684 Centerline is valid? [False, False] Translation: X:6.59, Y:0.21, Z:-1.52 [[ 9.99977677e-01 -3.52650862e-03 -5.67535390e-03 6.59357697e+00] [ 3.51817793e-03 9.99992720e-01 -1.47718690e-03 2.09582421e-01] [ 5.68052190e-03 1.45718702e-03 9.99982804e-01 -1.52022591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.49455357399998 meters Centerline goodness [0,1] 0.8120139447573076 Centerline is valid? [False, False] Translation: X:6.60, Y:0.21, Z:-1.52 [[ 9.99969334e-01 -4.50279772e-03 -6.40743445e-03 6.59637017e+00] [ 4.49673699e-03 9.99989429e-01 -9.59982737e-04 2.07531736e-01] [ 6.41168933e-03 9.31140751e-04 9.99979011e-01 -1.51963450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.52455357399998 meters Centerline goodness [0,1] 0.8134193409084776 Centerline is valid? [False, False] Translation: X:6.60, Y:0.20, Z:-1.52 [[ 9.99951818e-01 -6.26754117e-03 -7.55508829e-03 6.60088099e+00] [ 6.26510793e-03 9.99980314e-01 -3.45691013e-04 2.04696483e-01] [ 7.55710619e-03 2.98340914e-04 9.99971400e-01 -1.51876242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.55455357399998 meters Centerline goodness [0,1] 0.8135442969967227 Centerline is valid? [False, False] Translation: X:6.60, Y:0.20, Z:-1.52 [[ 9.99952798e-01 -6.09208780e-03 -7.56893112e-03 6.60044336e+00] [ 6.09390605e-03 9.99981408e-01 2.17185783e-04 2.04522080e-01] [ 7.56746729e-03 -2.63299887e-04 9.99971332e-01 -1.51734337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.58455357399998 meters Centerline goodness [0,1] 0.8152638511787951 Centerline is valid? [False, False] Translation: X:6.60, Y:0.20, Z:-1.51 [[ 9.99956492e-01 -5.68013546e-03 -7.39936234e-03 6.59890395e+00] [ 5.68737198e-03 9.99983369e-01 9.57318152e-04 2.04658670e-01] [ 7.39380158e-03 -9.99359427e-04 9.99972166e-01 -1.51496346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.61455357399998 meters Centerline goodness [0,1] 0.8150407050162551 Centerline is valid? [False, False] Translation: X:6.60, Y:0.21, Z:-1.52 [[ 9.99955406e-01 -5.72511153e-03 -7.51066057e-03 6.59932588e+00] [ 5.73158756e-03 9.99983221e-01 8.41004418e-04 2.05460420e-01] [ 7.50571970e-03 -8.84014923e-04 9.99971441e-01 -1.51506277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.64455357399999 meters Centerline goodness [0,1] 0.8157322669815625 Centerline is valid? [False, False] Translation: X:6.60, Y:0.21, Z:-1.51 [[ 9.99955405e-01 -5.63300738e-03 -7.58010445e-03 6.59948716e+00] [ 5.63937013e-03 9.99983764e-01 8.18289220e-04 2.06543795e-01] [ 7.57537195e-03 -8.60999743e-04 9.99970936e-01 -1.51494982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.674553574 meters Centerline goodness [0,1] 0.8134948282330243 Centerline is valid? [False, False] Translation: X:6.60, Y:0.21, Z:-1.52 [[ 9.99951305e-01 -5.93614779e-03 -7.88352550e-03 6.60074374e+00] [ 5.94090507e-03 9.99982184e-01 5.80164651e-04 2.07730230e-01] [ 7.87994111e-03 -6.26971676e-04 9.99968756e-01 -1.51528793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.704553574 meters Centerline goodness [0,1] 0.8127041062155361 Centerline is valid? [False, False] Translation: X:6.60, Y:0.21, Z:-1.52 [[ 9.99950305e-01 -5.92221352e-03 -8.01970967e-03 6.60115330e+00] [ 5.92650834e-03 9.99982307e-01 5.11873271e-04 2.08598714e-01] [ 8.01653635e-03 -5.59376710e-04 9.99967711e-01 -1.51528474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.734553574 meters Centerline goodness [0,1] 0.8138533925038764 Centerline is valid? [False, False] Translation: X:6.60, Y:0.21, Z:-1.51 [[ 9.99953048e-01 -5.53424484e-03 -7.95449253e-03 6.60055363e+00] [ 5.53970925e-03 9.99984435e-01 6.65090358e-04 2.09643733e-01] [ 7.95068794e-03 -7.09124706e-04 9.99968141e-01 -1.51470540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.764553574 meters Centerline goodness [0,1] 0.8132364335907233 Centerline is valid? [False, False] Translation: X:6.60, Y:0.21, Z:-1.51 [[ 9.99956179e-01 -5.16267136e-03 -7.80942274e-03 6.59981129e+00] [ 5.16862354e-03 9.99986367e-01 7.42189489e-04 2.10675521e-01] [ 7.80548459e-03 -7.82520932e-04 9.99969231e-01 -1.51426206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.794553574 meters Centerline goodness [0,1] 0.8110753517567891 Centerline is valid? [False, False] Translation: X:6.60, Y:0.21, Z:-1.51 [[ 9.99960200e-01 -4.68840660e-03 -7.59058481e-03 6.59895984e+00] [ 4.69456547e-03 9.99988665e-01 7.93768435e-04 2.11696474e-01] [ 7.58677727e-03 -8.29371340e-04 9.99970876e-01 -1.51402784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.824553574 meters Centerline goodness [0,1] 0.8107992857333226 Centerline is valid? [False, False] Translation: X:6.60, Y:0.21, Z:-1.51 [[ 9.99968457e-01 -3.60282581e-03 -7.07850756e-03 6.59669050e+00] [ 3.60869013e-03 9.99993156e-01 8.15871031e-04 2.13517650e-01] [ 7.07551968e-03 -8.41389436e-04 9.99974614e-01 -1.51380285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.854553574 meters Centerline goodness [0,1] 0.8086736730078489 Centerline is valid? [False, False] Translation: X:6.60, Y:0.21, Z:-1.51 [[ 9.99971525e-01 -3.06397310e-03 -6.89639464e-03 6.59613746e+00] [ 3.06872109e-03 9.99995062e-01 6.77998032e-04 2.14411809e-01] [ 6.89428321e-03 -6.99141838e-04 9.99975990e-01 -1.51442340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.884553574 meters Centerline goodness [0,1] 0.809239029317173 Centerline is valid? [False, False] Translation: X:6.60, Y:0.21, Z:-1.51 [[ 9.99972812e-01 -2.81108837e-03 -6.81706054e-03 6.59572322e+00] [ 2.81701339e-03 9.99995663e-01 8.59698618e-04 2.14161392e-01] [ 6.81461428e-03 -8.78878995e-04 9.99976394e-01 -1.51415950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.914553574 meters Centerline goodness [0,1] 0.80916580020795 Centerline is valid? [False, False] Translation: X:6.60, Y:0.21, Z:-1.51 [[ 9.99973712e-01 -2.61527815e-03 -6.76282094e-03 6.59545624e+00] [ 2.62289160e-03 9.99995936e-01 1.11715542e-03 2.13836721e-01] [ 6.75987179e-03 -1.13486420e-03 9.99976508e-01 -1.51384285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.94455357399997 meters Centerline goodness [0,1] 0.808138140538812 Centerline is valid? [False, False] Translation: X:6.59, Y:0.21, Z:-1.51 [[ 9.99983282e-01 -9.24830525e-04 -5.70796118e-03 6.59111808e+00] [ 9.33427064e-04 9.99998434e-01 1.50358114e-03 2.14445280e-01] [ 5.70656169e-03 -1.50888397e-03 9.99982579e-01 -1.51298532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.97455357399997 meters Centerline goodness [0,1] 0.8083337773751799 Centerline is valid? [False, False] Translation: X:6.59, Y:0.21, Z:-1.51 [[ 9.99985092e-01 -4.59622978e-04 -5.44102776e-03 6.59006163e+00] [ 4.68741518e-04 9.99998488e-01 1.67472912e-03 2.14599247e-01] [ 5.44024979e-03 -1.67725459e-03 9.99983795e-01 -1.51263320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.00455357399997 meters Centerline goodness [0,1] 0.809370510296387 Centerline is valid? [False, False] Translation: X:6.59, Y:0.22, Z:-1.51 [[ 9.99989163e-01 9.41943959e-04 -4.55933620e-03 6.58668480e+00] [-9.33452315e-04 9.99997827e-01 1.86424349e-03 2.15374303e-01] [ 4.56108230e-03 -1.85996737e-03 9.99987868e-01 -1.51236977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.03455357399997 meters Centerline goodness [0,1] 0.8061823884326077 Centerline is valid? [False, False] Translation: X:6.59, Y:0.22, Z:-1.51 [[ 9.99990131e-01 1.59752712e-03 -4.14546646e-03 6.58545958e+00] [-1.58994001e-03 9.99997056e-01 1.83286824e-03 2.15903024e-01] [ 4.14838231e-03 -1.82625911e-03 9.99989728e-01 -1.51278836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.06455357399997 meters Centerline goodness [0,1] 0.8108890896529733 Centerline is valid? [False, False] Translation: X:6.58, Y:0.22, Z:-1.51 [[ 9.99990525e-01 2.32000384e-03 -3.68348565e-03 6.58423748e+00] [-2.31310191e-03 9.99995563e-01 1.87690454e-03 2.15536750e-01] [ 3.68782373e-03 -1.86836648e-03 9.99991455e-01 -1.51351568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.09455357399997 meters Centerline goodness [0,1] 0.8058151609553479 Centerline is valid? [False, False] Translation: X:6.58, Y:0.22, Z:-1.51 [[ 9.99990361e-01 2.52576017e-03 -3.59151830e-03 6.58403259e+00] [-2.51875326e-03 9.99994919e-01 1.95414615e-03 2.15244170e-01] [ 3.59643576e-03 -1.94508116e-03 9.99991641e-01 -1.51369639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.12455357399998 meters Centerline goodness [0,1] 0.8113609152587469 Centerline is valid? [False, False] Translation: X:6.59, Y:0.21, Z:-1.51 [[ 9.99990111e-01 2.34326311e-03 -3.77992593e-03 6.58548396e+00] [-2.33565112e-03 9.99995238e-01 2.01695255e-03 2.13730166e-01] [ 3.78463418e-03 -2.00810402e-03 9.99990822e-01 -1.51483741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.15455357399998 meters Centerline goodness [0,1] 0.8073463068257655 Centerline is valid? [False, False] Translation: X:6.59, Y:0.21, Z:-1.52 [[ 9.99989611e-01 1.77250853e-03 -4.19949388e-03 6.58750727e+00] [-1.76393028e-03 9.99996352e-01 2.04551118e-03 2.12261574e-01] [ 4.20310425e-03 -2.03808231e-03 9.99989090e-01 -1.51555327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.18455357399998 meters Centerline goodness [0,1] 0.8088747255101494 Centerline is valid? [False, False] Translation: X:6.59, Y:0.21, Z:-1.52 [[ 9.99987385e-01 5.44554422e-04 -4.99339253e-03 6.59149810e+00] [-5.34138156e-04 9.99997679e-01 2.08710630e-03 2.09310878e-01] [ 4.99451749e-03 -2.08441280e-03 9.99985355e-01 -1.51688018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.21455357399998 meters Centerline goodness [0,1] 0.8079957070029514 Centerline is valid? [False, False] Translation: X:6.59, Y:0.21, Z:-1.52 [[ 9.99986339e-01 2.31983928e-04 -5.22178302e-03 6.59278313e+00] [-2.20561423e-04 9.99997582e-01 2.18794177e-03 2.07976192e-01] [ 5.22227796e-03 -2.18676016e-03 9.99983973e-01 -1.51749268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.24455357399998 meters Centerline goodness [0,1] 0.8104949218120264 Centerline is valid? [False, False] Translation: X:6.59, Y:0.21, Z:-1.52 [[ 9.99984448e-01 -3.46047588e-04 -5.56638473e-03 6.59492141e+00] [ 3.58993895e-04 9.99997233e-01 2.32497067e-03 2.05455030e-01] [ 5.56556478e-03 -2.32693281e-03 9.99981805e-01 -1.51864259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.27455357399998 meters Centerline goodness [0,1] 0.8094751009421265 Centerline is valid? [False, False] Translation: X:6.59, Y:0.20, Z:-1.52 [[ 9.99985204e-01 -7.73644740e-05 -5.43922776e-03 6.59442870e+00] [ 9.11143398e-05 9.99996801e-01 2.52770537e-03 2.04775192e-01] [ 5.43901481e-03 -2.52816356e-03 9.99982013e-01 -1.51851431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.30455357399998 meters Centerline goodness [0,1] 0.815092816787732 Centerline is valid? [False, False] Translation: X:6.59, Y:0.20, Z:-1.52 [[ 9.99988889e-01 2.02278511e-03 -4.25802770e-03 6.58956345e+00] [-2.01034973e-03 9.99993708e-01 2.92271366e-03 2.04949967e-01] [ 4.26391293e-03 -2.91412106e-03 9.99986663e-01 -1.51814279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.33455357399998 meters Centerline goodness [0,1] 0.8169982013905667 Centerline is valid? [False, False] Translation: X:6.59, Y:0.21, Z:-1.52 [[ 9.99988747e-01 2.84841387e-03 -3.79378229e-03 6.58780785e+00] [-2.83728037e-03 9.99991662e-01 2.93682543e-03 2.05512657e-01] [ 3.80211595e-03 -2.92602836e-03 9.99988491e-01 -1.51824515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.36455357399998 meters Centerline goodness [0,1] 0.8174256044221428 Centerline is valid? [False, False] Translation: X:6.59, Y:0.20, Z:-1.52 [[ 9.99988478e-01 2.99146080e-03 -3.75435035e-03 6.58776144e+00] [-2.97966409e-03 9.99990619e-01 3.14381346e-03 2.04859575e-01] [ 3.76371973e-03 -3.13259053e-03 9.99988011e-01 -1.51808636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.39455357399999 meters Centerline goodness [0,1] 0.816252518468771 Centerline is valid? [False, False] Translation: X:6.59, Y:0.20, Z:-1.52 [[ 9.99988514e-01 2.71663145e-03 -3.94855594e-03 6.58897505e+00] [-2.70542088e-03 9.99992303e-01 2.84173208e-03 2.04994102e-01] [ 3.95624549e-03 -2.83101694e-03 9.99988167e-01 -1.51908105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.424553574 meters Centerline goodness [0,1] 0.8223463387127091 Centerline is valid? [False, False] Translation: X:6.59, Y:0.20, Z:-1.52 [[ 9.99988432e-01 1.91246877e-03 -4.41343079e-03 6.59101870e+00] [-1.89933406e-03 9.99993761e-01 2.97835129e-03 2.03916739e-01] [ 4.41909925e-03 -2.96993426e-03 9.99985825e-01 -1.51898082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.454553574 meters Centerline goodness [0,1] 0.8165808941781924 Centerline is valid? [False, False] Translation: X:6.59, Y:0.20, Z:-1.52 [[ 9.99987641e-01 1.52048069e-03 -4.73356204e-03 6.59234780e+00] [-1.50658130e-03 9.99994548e-01 2.93853110e-03 2.03668673e-01] [ 4.73800421e-03 -2.93136328e-03 9.99984479e-01 -1.51913430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.484553574 meters Centerline goodness [0,1] 0.8185492505353319 Centerline is valid? [False, False] Translation: X:6.59, Y:0.20, Z:-1.52 [[ 9.99986211e-01 1.07462112e-03 -5.14036614e-03 6.59388785e+00] [-1.05925916e-03 9.99994968e-01 2.99028387e-03 2.03267241e-01] [ 5.14355370e-03 -2.98479766e-03 9.99982317e-01 -1.51918087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.514553574 meters Centerline goodness [0,1] 0.8189250770674172 Centerline is valid? [False, False] Translation: X:6.60, Y:0.20, Z:-1.52 [[ 9.99984026e-01 3.57919715e-04 -5.64096026e-03 6.59625531e+00] [-3.43072397e-04 9.99996475e-01 2.63280295e-03 2.03161167e-01] [ 5.64188271e-03 -2.63082563e-03 9.99980624e-01 -1.52017035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.544553574 meters Centerline goodness [0,1] 0.8181866995999678 Centerline is valid? [False, False] Translation: X:6.60, Y:0.20, Z:-1.52 [[ 9.99980907e-01 -4.18954714e-04 -6.16531180e-03 6.59848274e+00] [ 4.35070297e-04 9.99996492e-01 2.61280305e-03 2.02481874e-01] [ 6.16419553e-03 -2.61543551e-03 9.99977581e-01 -1.52034610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.574553574 meters Centerline goodness [0,1] 0.821308815575987 Centerline is valid? [False, False] Translation: X:6.60, Y:0.20, Z:-1.52 [[ 9.99968146e-01 -4.93485628e-03 -6.27323983e-03 6.59944000e+00] [ 4.92656191e-03 9.99986971e-01 -1.33694861e-03 2.01293826e-01] [ 6.27975575e-03 1.30600052e-03 9.99979429e-01 -1.52060583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.604553574 meters Centerline goodness [0,1] 0.8185550303848751 Centerline is valid? [False, False] Translation: X:6.60, Y:0.20, Z:-1.52 [[ 9.99967219e-01 -4.93503174e-03 -6.41920518e-03 6.59933313e+00] [ 4.92881441e-03 9.99987369e-01 -9.84011076e-04 2.01840725e-01] [ 6.42398023e-03 9.52339748e-04 9.99978913e-01 -1.51919232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.634553574 meters Centerline goodness [0,1] 0.8216936663596468 Centerline is valid? [False, False] Translation: X:6.60, Y:0.20, Z:-1.52 [[ 9.99957361e-01 -5.88319558e-03 -7.11782513e-03 6.60146189e+00] [ 5.87872876e-03 9.99982510e-01 -6.48313885e-04 2.02212066e-01] [ 7.12151479e-03 6.06442478e-04 9.99974458e-01 -1.51754885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.664553574 meters Centerline goodness [0,1] 0.8237730435018001 Centerline is valid? [False, False] Translation: X:6.61, Y:0.20, Z:-1.52 [[ 9.99941781e-01 -7.20813529e-03 -8.02979995e-03 6.60506000e+00] [ 7.20513020e-03 9.99973961e-01 -4.03107243e-04 2.01504357e-01] [ 8.03249652e-03 3.45228020e-04 9.99967679e-01 -1.51697908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.69455357399997 meters Centerline goodness [0,1] 0.8254451542748402 Centerline is valid? [False, False] Translation: X:6.61, Y:0.20, Z:-1.52 [[ 9.99862352e-01 -1.37216156e-02 -9.32706278e-03 6.61135963e+00] [ 1.36747780e-02 9.99893657e-01 -5.06705184e-03 2.01330184e-01] [ 9.39559905e-03 4.93880885e-03 9.99943664e-01 -1.51828536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.72455357399997 meters Centerline goodness [0,1] 0.8239482730397774 Centerline is valid? [False, False] Translation: X:6.62, Y:0.20, Z:-1.52 [[ 9.99801898e-01 -1.65094336e-02 -1.11177472e-02 6.61895607e+00] [ 1.64575445e-02 9.99853317e-01 -4.74267071e-03 1.99810525e-01] [ 1.11944152e-02 4.55876036e-03 9.99926949e-01 -1.51763833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.75455357399997 meters Centerline goodness [0,1] 0.8234765071405211 Centerline is valid? [False, False] Translation: X:6.62, Y:0.20, Z:-1.52 [[ 9.99764211e-01 -1.79350924e-02 -1.22415208e-02 6.62268589e+00] [ 1.78822303e-02 9.99830356e-01 -4.41414889e-03 1.99732486e-01] [ 1.23186122e-02 4.19420239e-03 9.99915327e-01 -1.51616221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.78455357399997 meters Centerline goodness [0,1] 0.8262505111080823 Centerline is valid? [False, False] Translation: X:6.63, Y:0.20, Z:-1.51 [[ 9.99673807e-01 -2.11237182e-02 -1.43550912e-02 6.63015973e+00] [ 2.10803519e-02 9.99772773e-01 -3.16561140e-03 1.99911391e-01] [ 1.44186989e-02 2.86196842e-03 9.99891949e-01 -1.51132943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.81455357399997 meters Centerline goodness [0,1] 0.8283679816663938 Centerline is valid? [False, False] Translation: X:6.64, Y:0.20, Z:-1.51 [[ 9.99478566e-01 -2.73013777e-02 -1.72403800e-02 6.64436494e+00] [ 2.72411865e-02 9.99621981e-01 -3.71658412e-03 2.00988820e-01] [ 1.73353307e-02 3.24499776e-03 9.99844466e-01 -1.51005069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.84455357399997 meters Centerline goodness [0,1] 0.8275956060729959 Centerline is valid? [False, False] Translation: X:6.65, Y:0.20, Z:-1.51 [[ 9.99356831e-01 -3.03045015e-02 -1.91718827e-02 6.65295802e+00] [ 3.02329342e-02 9.99534829e-01 -4.01188424e-03 2.01483121e-01] [ 1.92845426e-02 3.42968166e-03 9.99808153e-01 -1.51048502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.87455357399998 meters Centerline goodness [0,1] 0.8249836280288146 Centerline is valid? [False, False] Translation: X:6.66, Y:0.20, Z:-1.51 [[ 9.99227753e-01 -3.31772243e-02 -2.10515683e-02 6.66093250e+00] [ 3.30927251e-02 9.99442820e-01 -4.34976141e-03 2.01722861e-01] [ 2.11841518e-02 3.64974856e-03 9.99768929e-01 -1.51087279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.90455357399998 meters Centerline goodness [0,1] 0.8282007062494867 Centerline is valid? [False, False] Translation: X:6.68, Y:0.20, Z:-1.51 [[ 9.98879264e-01 -4.08416687e-02 -2.39201619e-02 6.67756331e+00] [ 4.07386043e-02 9.99158403e-01 -4.78046021e-03 2.01399125e-01] [ 2.40952727e-02 3.80062857e-03 9.99702442e-01 -1.50888960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.93455357399998 meters Centerline goodness [0,1] 0.8378341404689595 Centerline is valid? [False, False] Translation: X:6.68, Y:0.20, Z:-1.51 [[ 9.98816633e-01 -4.18868245e-02 -2.47149234e-02 6.68001294e+00] [ 4.17901734e-02 9.99116657e-01 -4.41448962e-03 2.01183829e-01] [ 2.48780006e-02 3.37642472e-03 9.99684793e-01 -1.50720703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.96455357399998 meters Centerline goodness [0,1] 0.8375655307994758 Centerline is valid? [False, False] Translation: X:6.68, Y:0.20, Z:-1.50 [[ 9.98733553e-01 -4.32579354e-02 -2.56912812e-02 6.68291951e+00] [ 4.31665038e-02 9.99059466e-01 -4.10310786e-03 2.02026958e-01] [ 2.58446096e-02 2.98890870e-03 9.99661504e-01 -1.50483046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.99455357399998 meters Centerline goodness [0,1] 0.839837464888598 Centerline is valid? [False, False] Translation: X:6.69, Y:0.20, Z:-1.50 [[ 9.98770427e-01 -4.12860082e-02 -2.74426608e-02 6.68840419e+00] [ 4.13275991e-02 9.99145198e-01 9.49872501e-04 2.01322534e-01] [ 2.73799863e-02 -2.08284385e-03 9.99622928e-01 -1.50172578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.02455357399998 meters Centerline goodness [0,1] 0.8391771602257925 Centerline is valid? [False, False] Translation: X:6.69, Y:0.20, Z:-1.50 [[ 9.98853116e-01 -3.83514446e-02 -2.86639024e-02 6.69201506e+00] [ 3.85033828e-02 9.99247097e-01 4.76746989e-03 2.03341112e-01] [ 2.84594819e-02 -5.86565936e-03 9.99577737e-01 -1.50124285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.05455357399998 meters Centerline goodness [0,1] 0.8411619785039391 Centerline is valid? [False, False] Translation: X:6.69, Y:0.20, Z:-1.50 [[ 0.99894284 -0.03510443 -0.02967958 6.69484887] [ 0.03538691 0.99933274 0.00904666 0.20341621] [ 0.0293422 -0.01008736 0.99951852 -1.50036667] [ 0. 0. 0. 1. ]] SLAMing on 212.08455357399998 meters Centerline goodness [0,1] 0.8355117472319741 Centerline is valid? [False, False] Translation: X:6.69, Y:0.21, Z:-1.50 [[ 0.9989836 -0.03424121 -0.02931385 6.69341633] [ 0.03451117 0.99936598 0.00875325 0.20514018] [ 0.02899554 -0.00975601 0.99953193 -1.50121439] [ 0. 0. 0. 1. ]] SLAMing on 212.11455357399998 meters Centerline goodness [0,1] 0.8335396372638717 Centerline is valid? [False, False] Translation: X:6.71, Y:0.21, Z:-1.51 [[ 9.99240187e-01 -2.94230564e-02 -2.55603540e-02 6.71278865e+00] [ 2.94884837e-02 9.99562729e-01 2.18648680e-03 2.09285257e-01] [ 2.54848441e-02 -2.93856156e-03 9.99670890e-01 -1.50803401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.14455357399999 meters Centerline goodness [0,1] 0.8431714984282221 Centerline is valid? [False, False] Translation: X:6.71, Y:0.21, Z:-1.51 [[ 0.99933573 -0.02547504 -0.02605985 6.71353463] [ 0.02566364 0.99964662 0.00692843 0.20858257] [ 0.02587414 -0.00759261 0.99963637 -1.50628933] [ 0. 0. 0. 1. ]] SLAMing on 212.174553574 meters Centerline goodness [0,1] 0.8381680613854503 Centerline is valid? [False, False] Translation: X:6.73, Y:0.21, Z:-1.51 [[ 9.99558158e-01 -1.98259841e-02 -2.21454192e-02 6.73112736e+00] [ 1.98470294e-02 9.99802761e-01 7.30917973e-04 2.12247241e-01] [ 2.21265601e-02 -1.17011581e-03 9.99754493e-01 -1.51259832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.204553574 meters Centerline goodness [0,1] 0.8389891696750902 Centerline is valid? [False, False] Translation: X:6.73, Y:0.21, Z:-1.51 [[ 9.99615385e-01 -1.59785179e-02 -2.26664718e-02 6.73207156e+00] [ 1.61081983e-02 9.99854850e-01 5.55023423e-03 2.11259575e-01] [ 2.25744972e-02 -5.91321554e-03 9.99727676e-01 -1.51071545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.234553574 meters Centerline goodness [0,1] 0.8383259089332871 Centerline is valid? [False, False] Translation: X:6.75, Y:0.21, Z:-1.52 [[ 9.99754663e-01 -1.29132654e-02 -1.79961665e-02 6.75281477e+00] [ 1.28985922e-02 9.99916376e-01 -9.31186706e-04 2.14579131e-01] [ 1.80066863e-02 6.98833038e-04 9.99837622e-01 -1.51781711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.264553574 meters Centerline goodness [0,1] 0.8305938141034179 Centerline is valid? [False, False] Translation: X:6.76, Y:0.21, Z:-1.52 [[ 9.99771656e-01 -9.96289577e-03 -1.89044068e-02 6.75560849e+00] [ 1.00385824e-02 9.99941956e-01 3.91298493e-03 2.13123146e-01] [ 1.88643249e-02 -4.10186487e-03 9.99813639e-01 -1.51571663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.294553574 meters Centerline goodness [0,1] 0.8305938141034179 Centerline is valid? [False, False] Translation: X:6.76, Y:0.21, Z:-1.52 [[ 9.99771656e-01 -9.96289577e-03 -1.89044068e-02 6.75560849e+00] [ 1.00385824e-02 9.99941956e-01 3.91298493e-03 2.13123146e-01] [ 1.88643249e-02 -4.10186487e-03 9.99813639e-01 -1.51571663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.324553574 meters Centerline goodness [0,1] 0.8291078305519897 Centerline is valid? [False, False] Translation: X:6.75, Y:0.21, Z:-1.51 [[ 9.99791311e-01 -9.12274728e-03 -1.82786835e-02 6.75254867e+00] [ 9.21460452e-03 9.99945305e-01 4.94746899e-03 2.12202934e-01] [ 1.82325493e-02 -5.11486735e-03 9.99820690e-01 -1.51309719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.354553574 meters Centerline goodness [0,1] 0.8288760052365812 Centerline is valid? [False, False] Translation: X:6.75, Y:0.21, Z:-1.51 [[ 9.99813018e-01 -8.12171266e-03 -1.75489737e-02 6.74897836e+00] [ 8.22726713e-03 9.99948447e-01 5.95105003e-03 2.11221682e-01] [ 1.74997363e-02 -6.09431739e-03 9.99828295e-01 -1.51039495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.384553574 meters Centerline goodness [0,1] 0.8268568223700024 Centerline is valid? [False, False] Translation: X:6.75, Y:0.21, Z:-1.51 [[ 9.99819847e-01 -7.73772336e-03 -1.73320892e-02 6.74825507e+00] [ 7.84113786e-03 9.99951813e-01 5.90665970e-03 2.11659586e-01] [ 1.72855500e-02 -6.04149890e-03 9.99832341e-01 -1.51054238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.414553574 meters Centerline goodness [0,1] 0.8295821652649846 Centerline is valid? [False, False] Translation: X:6.75, Y:0.21, Z:-1.51 [[ 9.99831063e-01 -7.07188517e-03 -1.69656486e-02 6.74689047e+00] [ 7.17305506e-03 9.99956810e-01 5.90979641e-03 2.12138501e-01] [ 1.69231224e-02 -6.03049356e-03 9.99838608e-01 -1.51080974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.44455357399997 meters Centerline goodness [0,1] 0.8250445703946143 Centerline is valid? [False, False] Translation: X:6.77, Y:0.21, Z:-1.52 [[ 9.99923432e-01 -2.90443333e-03 -1.20288985e-02 6.76537679e+00] [ 2.90224703e-03 9.99995769e-01 -1.99206658e-04 2.13936636e-01] [ 1.20294262e-02 1.64280570e-04 9.99927630e-01 -1.51725452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.47455357399997 meters Centerline goodness [0,1] 0.8273134089819403 Centerline is valid? [False, False] Translation: X:6.76, Y:0.21, Z:-1.52 [[ 9.99933793e-01 -1.74091747e-03 -1.13744695e-02 6.76281602e+00] [ 1.74387475e-03 9.99998448e-01 2.50079176e-04 2.13724046e-01] [ 1.13740165e-02 -2.69898270e-04 9.99935277e-01 -1.51687973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.50455357399997 meters Centerline goodness [0,1] 0.8226665246791971 Centerline is valid? [False, False] Translation: X:6.76, Y:0.21, Z:-1.52 [[ 9.99931415e-01 2.39575828e-03 -1.14641162e-02 6.76314843e+00] [-2.33861592e-03 9.99984789e-01 4.99526641e-03 2.11648035e-01] [ 1.14759093e-02 -4.96811365e-03 9.99921808e-01 -1.51609227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.53455357399997 meters Centerline goodness [0,1] 0.8240960640426951 Centerline is valid? [False, False] Translation: X:6.76, Y:0.21, Z:-1.52 [[ 9.99933019e-01 2.76391039e-03 -1.12391447e-02 6.76271250e+00] [-2.70940531e-03 9.99984510e-01 4.86191296e-03 2.11119279e-01] [ 1.12524085e-02 -4.83113590e-03 9.99925019e-01 -1.51707701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.56455357399997 meters Centerline goodness [0,1] 0.8200016056948645 Centerline is valid? [False, False] Translation: X:6.76, Y:0.21, Z:-1.52 [[ 9.99936085e-01 3.55138819e-03 -1.07337297e-02 6.76164892e+00] [-3.49662491e-03 9.99980798e-01 5.11644835e-03 2.08868288e-01] [ 1.07516941e-02 -5.07858951e-03 9.99929302e-01 -1.51834808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.59455357399997 meters Centerline goodness [0,1] 0.8210283011261321 Centerline is valid? [False, False] Translation: X:6.76, Y:0.21, Z:-1.52 [[ 9.99937544e-01 3.96617460e-03 -1.04487661e-02 6.76100580e+00] [-3.91220829e-03 9.99978930e-01 5.18023687e-03 2.07788677e-01] [ 1.04690916e-02 -5.13903559e-03 9.99931992e-01 -1.51911730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.62455357399998 meters Centerline goodness [0,1] 0.8188925606512453 Centerline is valid? [False, False] Translation: X:6.76, Y:0.21, Z:-1.52 [[ 9.99937874e-01 4.18870619e-03 -1.03296984e-02 6.76106365e+00] [-4.13605095e-03 9.99978372e-01 5.11356682e-03 2.06934551e-01] [ 1.03508942e-02 -5.07052497e-03 9.99933572e-01 -1.52016203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.65455357399998 meters Centerline goodness [0,1] 0.8209188344913018 Centerline is valid? [False, False] Translation: X:6.76, Y:0.20, Z:-1.52 [[ 9.99938185e-01 4.67120591e-03 -1.00899330e-02 6.76096778e+00] [-4.61750466e-03 9.99975086e-01 5.33901498e-03 2.04691359e-01] [ 1.01146213e-02 -5.29209463e-03 9.99934842e-01 -1.52166048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.68455357399998 meters Centerline goodness [0,1] 0.8205314594943866 Centerline is valid? [False, False] Translation: X:6.76, Y:0.20, Z:-1.52 [[ 9.99937579e-01 6.84105476e-03 -8.83387423e-03 6.75614591e+00] [-6.78987009e-03 9.99960063e-01 5.81118581e-03 2.03859527e-01] [ 8.87327607e-03 -5.75084221e-03 9.99944095e-01 -1.52177662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.71455357399998 meters Centerline goodness [0,1] 0.820037604082729 Centerline is valid? [False, False] Translation: X:6.75, Y:0.20, Z:-1.52 [[ 9.99933422e-01 8.37829191e-03 -7.93441337e-03 6.75237980e+00] [-8.32913155e-03 9.99946037e-01 6.20874845e-03 2.04036844e-01] [ 7.98600392e-03 -6.14224832e-03 9.99949247e-01 -1.52100313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.74455357399998 meters Centerline goodness [0,1] 0.8196047897760833 Centerline is valid? [False, False] Translation: X:6.75, Y:0.20, Z:-1.52 [[ 9.99925027e-01 9.96681666e-03 -7.11358912e-03 6.74909089e+00] [-9.92168395e-03 9.99930604e-01 6.35191448e-03 2.04373913e-01] [ 7.17640384e-03 -6.28085947e-03 9.99954524e-01 -1.52124341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.77455357399998 meters Centerline goodness [0,1] 0.8182086192109777 Centerline is valid? [False, False] Translation: X:6.75, Y:0.21, Z:-1.52 [[ 9.99922052e-01 1.04321647e-02 -6.85997063e-03 6.74844503e+00] [-1.03910257e-02 9.99927978e-01 6.00550765e-03 2.05306570e-01] [ 6.92212701e-03 -5.93375741e-03 9.99958436e-01 -1.52216489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.80455357399998 meters Centerline goodness [0,1] 0.8186340414089809 Centerline is valid? [False, False] Translation: X:6.75, Y:0.21, Z:-1.52 [[ 9.99918647e-01 1.09560923e-02 -6.53173549e-03 6.74747620e+00] [-1.09193474e-02 9.99924505e-01 5.63496003e-03 2.06359138e-01] [ 6.59297951e-03 -5.56317932e-03 9.99962791e-01 -1.52304463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.83455357399998 meters Centerline goodness [0,1] 0.8159267881512402 Centerline is valid? [False, False] Translation: X:6.75, Y:0.21, Z:-1.53 [[ 9.99914795e-01 1.14516498e-02 -6.26592748e-03 6.74712837e+00] [-1.14215681e-02 9.99923175e-01 4.81574194e-03 2.08135755e-01] [ 6.32059429e-03 -4.74376490e-03 9.99968773e-01 -1.52519744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.86455357399998 meters Centerline goodness [0,1] 0.8145327791929213 Centerline is valid? [False, False] Translation: X:6.75, Y:0.21, Z:-1.53 [[ 9.99916692e-01 1.11668187e-02 -6.47394424e-03 6.74844800e+00] [-1.11400955e-02 9.99929338e-01 4.14928427e-03 2.08854667e-01] [ 6.51982109e-03 -4.07681825e-03 9.99970435e-01 -1.52685579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.89455357399999 meters Centerline goodness [0,1] 0.8154980560396836 Centerline is valid? [False, False] Translation: X:6.75, Y:0.21, Z:-1.53 [[ 9.99952273e-01 7.68522801e-03 -6.03237009e-03 6.74775730e+00] [-7.68912245e-03 9.99970244e-01 -6.22663157e-04 2.09532693e-01] [ 6.02740529e-03 6.69017071e-04 9.99981611e-01 -1.52944064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.924553574 meters Centerline goodness [0,1] 0.8145020306070305 Centerline is valid? [False, False] Translation: X:6.75, Y:0.21, Z:-1.53 [[ 9.99953711e-01 7.21371360e-03 -6.36693286e-03 6.74898419e+00] [-7.21683993e-03 9.99973849e-01 -4.68187288e-04 2.08429535e-01] [ 6.36338898e-03 5.14114751e-04 9.99979621e-01 -1.52923553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.954553574 meters Centerline goodness [0,1] 0.8167587228883201 Centerline is valid? [False, False] Translation: X:6.75, Y:0.21, Z:-1.53 [[ 9.99957830e-01 5.66127545e-03 -7.23100163e-03 6.75282821e+00] [-5.66251641e-03 9.99983956e-01 -1.51154777e-04 2.05358954e-01] [ 7.23002989e-03 1.92094068e-04 9.99973845e-01 -1.52912236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.984553574 meters Centerline goodness [0,1] 0.8156465342521281 Centerline is valid? [False, False] Translation: X:6.75, Y:0.20, Z:-1.53 [[ 9.99957830e-01 5.12376263e-03 -7.62132411e-03 6.75427067e+00] [-5.12394966e-03 9.99986872e-01 -5.01534353e-06 2.04132868e-01] [ 7.62119836e-03 4.40664131e-05 9.99970957e-01 -1.52897331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.014553574 meters Centerline goodness [0,1] 0.8162558510782219 Centerline is valid? [False, False] Translation: X:6.75, Y:0.20, Z:-1.53 [[ 9.99957204e-01 5.38986903e-03 -7.51927642e-03 6.75374593e+00] [-5.38987225e-03 9.99985474e-01 1.98361840e-05 2.04185247e-01] [ 7.51927412e-03 2.06926043e-05 9.99971730e-01 -1.52890658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.044553574 meters Centerline goodness [0,1] 0.8152250256631909 Centerline is valid? [False, False] Translation: X:6.75, Y:0.20, Z:-1.53 [[ 9.99956401e-01 5.47812558e-03 -7.56220317e-03 6.75409290e+00] [-5.47894997e-03 9.99984987e-01 -8.83010348e-05 2.04585765e-01] [ 7.56160592e-03 1.29730118e-04 9.99971402e-01 -1.52938077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.074553574 meters Centerline goodness [0,1] 0.8139836344486754 Centerline is valid? [False, False] Translation: X:6.75, Y:0.21, Z:-1.53 [[ 9.99954916e-01 5.92509491e-03 -7.42021182e-03 6.75387840e+00] [-5.93154252e-03 9.99982049e-01 -8.47219870e-04 2.06613291e-01] [ 7.41505877e-03 8.91194976e-04 9.99972111e-01 -1.53112162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.104553574 meters Centerline goodness [0,1] 0.8121581202338929 Centerline is valid? [False, False] Translation: X:6.75, Y:0.21, Z:-1.53 [[ 9.99954003e-01 6.08247636e-03 -7.41585058e-03 6.75408555e+00] [-6.09147274e-03 9.99980737e-01 -1.19114516e-03 2.07630760e-01] [ 7.40846261e-03 1.23626382e-03 9.99971793e-01 -1.53198426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.134553574 meters Centerline goodness [0,1] 0.8116289726932097 Centerline is valid? [False, False] Translation: X:6.75, Y:0.21, Z:-1.53 [[ 9.99953157e-01 6.43226750e-03 -7.23260079e-03 6.75375587e+00] [-6.44254940e-03 9.99978268e-01 -1.39920505e-03 2.08235553e-01] [ 7.22344355e-03 1.44573590e-03 9.99972865e-01 -1.53285427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.164553574 meters Centerline goodness [0,1] 0.8143364546335163 Centerline is valid? [False, False] Translation: X:6.75, Y:0.21, Z:-1.53 [[ 9.99952688e-01 6.26602839e-03 -7.44032233e-03 6.75452610e+00] [-6.27515306e-03 9.99979587e-01 -1.20367007e-03 2.07928578e-01] [ 7.43262822e-03 1.25030228e-03 9.99971596e-01 -1.53258490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.19455357399997 meters Centerline goodness [0,1] 0.8121176185214134 Centerline is valid? [False, False] Translation: X:6.75, Y:0.21, Z:-1.53 [[ 9.99952393e-01 6.24066612e-03 -7.50105259e-03 6.75457401e+00] [-6.24748292e-03 9.99980092e-01 -8.85691469e-04 2.07112423e-01] [ 7.49537595e-03 9.32512001e-04 9.99971474e-01 -1.53198043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.22455357399997 meters Centerline goodness [0,1] 0.8123378728923476 Centerline is valid? [False, False] Translation: X:6.76, Y:0.21, Z:-1.53 [[ 9.99952922e-01 5.62383768e-03 -7.90733629e-03 6.75637267e+00] [-5.62896820e-03 9.99983961e-01 -6.26724886e-04 2.05380777e-01] [ 7.90368487e-03 6.71205526e-04 9.99968540e-01 -1.53203611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.25455357399997 meters Centerline goodness [0,1] 0.8134640840694816 Centerline is valid? [False, False] Translation: X:6.76, Y:0.20, Z:-1.53 [[ 9.99953043e-01 5.23891563e-03 -8.15263680e-03 6.75780305e+00] [-5.24543785e-03 9.99985939e-01 -7.78836820e-04 2.04918859e-01] [ 8.14844191e-03 8.21564398e-04 9.99966463e-01 -1.53298454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.28455357399997 meters Centerline goodness [0,1] 0.81231552438463 Centerline is valid? [False, False] Translation: X:6.76, Y:0.20, Z:-1.53 [[ 9.99953242e-01 4.23143173e-03 -8.69538432e-03 6.76054863e+00] [-4.23780385e-03 9.99990765e-01 -7.14521501e-04 2.02877078e-01] [ 8.69228057e-03 7.51337424e-04 9.99961939e-01 -1.53365277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.31455357399997 meters Centerline goodness [0,1] 0.8100620747607817 Centerline is valid? [False, False] Translation: X:6.76, Y:0.20, Z:-1.53 [[ 9.99952262e-01 4.01939428e-03 -8.90608024e-03 6.76118303e+00] [-4.02172631e-03 9.99991883e-01 -2.43953356e-04 2.01197536e-01] [ 8.90502740e-03 2.79759527e-04 9.99960310e-01 -1.53301792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.34455357399997 meters Centerline goodness [0,1] 0.811891156462585 Centerline is valid? [False, False] Translation: X:6.76, Y:0.20, Z:-1.53 [[ 9.99952526e-01 4.30323391e-03 -8.74234022e-03 6.76026256e+00] [-4.29857299e-03 9.99990609e-01 5.51863453e-04 1.98549651e-01] [ 8.74463292e-03 -5.14257666e-04 9.99961633e-01 -1.53181381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.37455357399998 meters Centerline goodness [0,1] 0.8110133238876325 Centerline is valid? [False, False] Translation: X:6.76, Y:0.20, Z:-1.53 [[ 9.99952223e-01 4.27236085e-03 -8.79192872e-03 6.76066986e+00] [-4.26739573e-03 9.99990724e-01 5.83417744e-04 1.97582738e-01] [ 8.79433974e-03 -5.45871231e-04 9.99961180e-01 -1.53232422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.40455357399998 meters Centerline goodness [0,1] 0.8126576100219637 Centerline is valid? [False, False] Translation: X:6.76, Y:0.20, Z:-1.53 [[ 9.99925873e-01 7.97841117e-03 -9.19745535e-03 6.76241568e+00] [-7.93695807e-03 9.99958220e-01 4.53474260e-03 1.97957031e-01] [ 9.23325112e-03 -4.46140663e-03 9.99947420e-01 -1.53258116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.43455357399998 meters Centerline goodness [0,1] 0.8115839947985805 Centerline is valid? [False, False] Translation: X:6.76, Y:0.20, Z:-1.53 [[ 9.99925738e-01 7.72642738e-03 -9.42447893e-03 6.76361514e+00] [-7.68947728e-03 9.99962632e-01 3.95060716e-03 1.99091487e-01] [ 9.45465083e-03 -3.87784447e-03 9.99947785e-01 -1.53382325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.46455357399998 meters Centerline goodness [0,1] 0.8109036796536797 Centerline is valid? [False, False] Translation: X:6.77, Y:0.20, Z:-1.54 [[ 9.99926685e-01 7.30782365e-03 -9.65511088e-03 6.76501310e+00] [-7.27621356e-03 9.99968066e-01 3.30500481e-03 1.99728430e-01] [ 9.67895495e-03 -3.23450986e-03 9.99947927e-01 -1.53523719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.49455357399998 meters Centerline goodness [0,1] 0.8123511582593634 Centerline is valid? [False, False] Translation: X:6.77, Y:0.20, Z:-1.54 [[ 9.99926622e-01 6.42251501e-03 -1.02714568e-02 6.76773833e+00] [-6.39423454e-03 9.99975682e-01 2.78378125e-03 2.00150228e-01] [ 1.02890859e-02 -2.71789888e-03 9.99943372e-01 -1.53633945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.52455357399998 meters Centerline goodness [0,1] 0.8092543455894298 Centerline is valid? [False, False] Translation: X:6.77, Y:0.20, Z:-1.54 [[ 9.99925564e-01 6.12404392e-03 -1.05528555e-02 6.76884567e+00] [-6.09729402e-03 9.99978121e-01 2.56516154e-03 2.00414086e-01] [ 1.05683338e-02 -2.50062673e-03 9.99941027e-01 -1.53676621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.55455357399998 meters Centerline goodness [0,1] 0.8125050795112833 Centerline is valid? [False, False] Translation: X:6.77, Y:0.20, Z:-1.54 [[ 9.99925321e-01 5.91772320e-03 -1.06926475e-02 6.76962686e+00] [-5.89330932e-03 9.99979959e-01 2.31330792e-03 2.00511669e-01] [ 1.07061227e-02 -2.25012008e-03 9.99940156e-01 -1.53743955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.58455357399998 meters Centerline goodness [0,1] 0.8125473843821076 Centerline is valid? [False, False] Translation: X:6.77, Y:0.20, Z:-1.54 [[ 9.99924444e-01 5.52892216e-03 -1.09789590e-02 6.77096026e+00] [-5.50688191e-03 9.99982763e-01 2.03671618e-03 2.00898015e-01] [ 1.09900306e-02 -1.97610247e-03 9.99937655e-01 -1.53802808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.61455357399998 meters Centerline goodness [0,1] 0.8118873544543731 Centerline is valid? [False, False] Translation: X:6.76, Y:0.20, Z:-1.55 [[ 9.99997240e-01 7.51193355e-04 -2.22591882e-03 6.76276758e+00] [-7.43623597e-04 9.99993945e-01 3.39961257e-03 2.02735742e-01] [ 2.22845911e-03 -3.39794795e-03 9.99991744e-01 -1.54517350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.64455357399999 meters Centerline goodness [0,1] 0.8127981352992194 Centerline is valid? [False, False] Translation: X:6.76, Y:0.20, Z:-1.55 [[ 9.99996416e-01 1.23599957e-04 -2.67448669e-03 6.76469799e+00] [-1.15265335e-04 9.99995138e-01 3.11627430e-03 2.02651512e-01] [ 2.67485886e-03 -3.11595485e-03 9.99991568e-01 -1.54580936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.674553574 meters Centerline goodness [0,1] 0.812479626208845 Centerline is valid? [False, False] Translation: X:6.77, Y:0.20, Z:-1.55 [[ 9.99992952e-01 -1.28752600e-03 -3.52679941e-03 6.76815597e+00] [ 1.29815705e-03 9.99994616e-01 3.01373267e-03 2.02128470e-01] [ 3.52290017e-03 -3.01828977e-03 9.99989239e-01 -1.54565952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.704553574 meters Centerline goodness [0,1] 0.8110969005959345 Centerline is valid? [False, False] Translation: X:6.77, Y:0.20, Z:-1.55 [[ 9.99988079e-01 -2.33728304e-03 -4.28699832e-03 6.77112038e+00] [ 2.35032172e-03 9.99992620e-01 3.03893640e-03 2.01536299e-01] [ 4.27986383e-03 -3.04897600e-03 9.99986193e-01 -1.54557562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.734553574 meters Centerline goodness [0,1] 0.809732824427481 Centerline is valid? [False, False] Translation: X:6.78, Y:0.20, Z:-1.55 [[ 9.99973473e-01 -4.63970950e-03 -5.61479454e-03 6.77671082e+00] [ 4.65641124e-03 9.99984763e-01 2.96518764e-03 2.01056326e-01] [ 5.60095138e-03 -2.99125378e-03 9.99979841e-01 -1.54524950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.764553574 meters Centerline goodness [0,1] 0.8118235487044932 Centerline is valid? [False, False] Translation: X:6.78, Y:0.20, Z:-1.55 [[ 9.99963564e-01 -5.68729509e-03 -6.36587429e-03 6.77957013e+00] [ 5.70659721e-03 9.99979163e-01 3.01807880e-03 2.00639219e-01] [ 6.34857693e-03 -3.05429632e-03 9.99975183e-01 -1.54503047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.794553574 meters Centerline goodness [0,1] 0.8104283563706035 Centerline is valid? [False, False] Translation: X:6.78, Y:0.20, Z:-1.54 [[ 9.99939235e-01 -7.83684083e-03 -7.75310575e-03 6.78476705e+00] [ 7.86076579e-03 9.99964421e-01 3.06020900e-03 2.00129942e-01] [ 7.72884753e-03 -3.12096839e-03 9.99965262e-01 -1.54413213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.824553574 meters Centerline goodness [0,1] 0.8136121361213612 Centerline is valid? [False, False] Translation: X:6.79, Y:0.20, Z:-1.54 [[ 9.99932826e-01 -8.23468845e-03 -8.15686023e-03 6.78593804e+00] [ 8.26109656e-03 9.99960727e-01 3.20914800e-03 2.00508831e-01] [ 8.13011356e-03 -3.27631704e-03 9.99961583e-01 -1.54335060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.854553574 meters Centerline goodness [0,1] 0.8130889623337249 Centerline is valid? [False, False] Translation: X:6.79, Y:0.20, Z:-1.54 [[ 9.99901212e-01 -1.02898151e-02 -9.57529093e-03 6.79177011e+00] [ 1.03147943e-02 9.99943516e-01 2.56300168e-03 2.01116907e-01] [ 9.54837727e-03 -2.66151564e-03 9.99950871e-01 -1.54447389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.884553574 meters Centerline goodness [0,1] 0.8132074957038815 Centerline is valid? [False, False] Translation: X:6.79, Y:0.20, Z:-1.55 [[ 9.99883707e-01 -1.12317139e-02 -1.03160607e-02 6.79494690e+00] [ 1.12539863e-02 9.99934459e-01 2.10349392e-03 2.01717916e-01] [ 1.02917587e-02 -2.21934610e-03 9.99944576e-01 -1.54561479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.914553574 meters Centerline goodness [0,1] 0.8106273344420514 Centerline is valid? [False, False] Translation: X:6.80, Y:0.20, Z:-1.55 [[ 9.99861750e-01 -1.23217597e-02 -1.11648646e-02 6.79849345e+00] [ 1.23353052e-02 9.99923261e-01 1.14518019e-03 2.03968207e-01] [ 1.11498971e-02 -1.28274388e-03 9.99937015e-01 -1.54727122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.94455357399997 meters Centerline goodness [0,1] 0.8114903702089405 Centerline is valid? [False, False] Translation: X:6.80, Y:0.20, Z:-1.55 [[ 9.99849575e-01 -1.28282508e-02 -1.16731480e-02 6.80031520e+00] [ 1.28402202e-02 9.99917109e-01 9.51011390e-04 2.04750199e-01] [ 1.16599806e-02 -1.10075413e-03 9.99931414e-01 -1.54746854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.97455357399997 meters Centerline goodness [0,1] 0.8122176870748299 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.55 [[ 9.99825338e-01 -1.38824575e-02 -1.25128492e-02 6.80336970e+00] [ 1.38919645e-02 9.99903275e-01 6.73181983e-04 2.05637152e-01] [ 1.25022935e-02 -8.46892461e-04 9.99921485e-01 -1.54749636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.00455357399997 meters Centerline goodness [0,1] 0.8145536710859445 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.55 [[ 9.99814976e-01 -1.42464079e-02 -1.29249258e-02 6.80464204e+00] [ 1.42562938e-02 9.99898147e-01 6.73058785e-04 2.06254070e-01] [ 1.29140207e-02 -8.57195793e-04 9.99916243e-01 -1.54719791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.03455357399997 meters Centerline goodness [0,1] 0.8123759549767543 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.55 [[ 9.99816866e-01 -1.41052520e-02 -1.29335106e-02 6.80434380e+00] [ 1.41149172e-02 9.99900164e-01 6.56318530e-04 2.07659435e-01] [ 1.29229618e-02 -8.38753767e-04 9.99916143e-01 -1.54664620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.06455357399997 meters Centerline goodness [0,1] 0.813131997722775 Centerline is valid? [False, False] Translation: X:6.81, Y:0.21, Z:-1.55 [[ 9.99838306e-01 -1.12262558e-02 -1.40475012e-02 6.80789433e+00] [ 1.12940944e-02 9.99924894e-01 4.75925643e-03 2.08339411e-01] [ 1.39930175e-02 -4.91714069e-03 9.99890003e-01 -1.54591007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.09455357399997 meters Centerline goodness [0,1] 0.8140037848067045 Centerline is valid? [False, False] Translation: X:6.81, Y:0.21, Z:-1.55 [[ 9.99838831e-01 -1.11315668e-02 -1.40854744e-02 6.80820532e+00] [ 1.11942048e-02 9.99927768e-01 4.37598925e-03 2.09587866e-01] [ 1.40357454e-02 -4.53295966e-03 9.99891219e-01 -1.54677944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.12455357399998 meters Centerline goodness [0,1] 0.8129737019554957 Centerline is valid? [False, False] Translation: X:6.81, Y:0.21, Z:-1.55 [[ 9.99849801e-01 -1.04698645e-02 -1.38115274e-02 6.80705079e+00] [ 1.05240576e-02 9.99937182e-01 3.85693191e-03 2.11472931e-01] [ 1.37702782e-02 -4.00170591e-03 9.99897178e-01 -1.54772354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.15455357399998 meters Centerline goodness [0,1] 0.8101081474689177 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.55 [[ 9.99872865e-01 -9.10653533e-03 -1.30891431e-02 6.80386232e+00] [ 9.15806447e-03 9.99950528e-01 3.88225133e-03 2.12870985e-01] [ 1.30531417e-02 -4.00162897e-03 9.99906797e-01 -1.54752299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.18455357399998 meters Centerline goodness [0,1] 0.8101081474689177 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.55 [[ 9.99872865e-01 -9.10653533e-03 -1.30891431e-02 6.80386232e+00] [ 9.15806447e-03 9.99950528e-01 3.88225133e-03 2.12870985e-01] [ 1.30531417e-02 -4.00162897e-03 9.99906797e-01 -1.54752299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.21455357399998 meters Centerline goodness [0,1] 0.8101081474689177 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.55 [[ 9.99872865e-01 -9.10653533e-03 -1.30891431e-02 6.80386232e+00] [ 9.15806447e-03 9.99950528e-01 3.88225133e-03 2.12870985e-01] [ 1.30531417e-02 -4.00162897e-03 9.99906797e-01 -1.54752299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.24455357399998 meters Centerline goodness [0,1] 0.8145949720670391 Centerline is valid? [False, False] Translation: X:6.80, Y:0.22, Z:-1.55 [[ 9.99892333e-01 -7.75127157e-03 -1.24595316e-02 6.80114660e+00] [ 7.79710094e-03 9.99962999e-01 3.63389948e-03 2.15090924e-01] [ 1.24309032e-02 -3.73065646e-03 9.99915774e-01 -1.54805354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.27455357399998 meters Centerline goodness [0,1] 0.8127031892313066 Centerline is valid? [False, False] Translation: X:6.80, Y:0.22, Z:-1.55 [[ 9.99898022e-01 -7.26048340e-03 -1.22976411e-02 6.80027326e+00] [ 7.30645439e-03 9.99966472e-01 3.69740183e-03 2.15843754e-01] [ 1.22703839e-02 -3.78687693e-03 9.99917545e-01 -1.54794779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.30455357399998 meters Centerline goodness [0,1] 0.8126360484802881 Centerline is valid? [False, False] Translation: X:6.80, Y:0.22, Z:-1.55 [[ 9.99887125e-01 -7.79461456e-03 -1.28445036e-02 6.80305845e+00] [ 7.83020710e-03 9.99965636e-01 2.72307603e-03 2.16449437e-01] [ 1.28228369e-02 -2.82334378e-03 9.99913798e-01 -1.55085043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.33455357399998 meters Centerline goodness [0,1] 0.8134822389666307 Centerline is valid? [False, False] Translation: X:6.81, Y:0.22, Z:-1.55 [[ 9.99876035e-01 -8.29572583e-03 -1.33826629e-02 6.80507735e+00] [ 8.33200381e-03 9.99961757e-01 2.65734488e-03 2.16246168e-01] [ 1.33601066e-02 -2.76851987e-03 9.99906917e-01 -1.55135278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.36455357399998 meters Centerline goodness [0,1] 0.8133103318148738 Centerline is valid? [False, False] Translation: X:6.81, Y:0.21, Z:-1.55 [[ 9.99854790e-01 -9.48176056e-03 -1.41596390e-02 6.80821938e+00] [ 9.52350245e-03 9.99950493e-01 2.88343479e-03 2.14492328e-01] [ 1.41315980e-02 -3.01786544e-03 9.99895590e-01 -1.55115553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.39455357399999 meters Centerline goodness [0,1] 0.8155111315497606 Centerline is valid? [False, False] Translation: X:6.81, Y:0.21, Z:-1.55 [[ 9.99845210e-01 -9.91842376e-03 -1.45320374e-02 6.80935173e+00] [ 9.97073991e-03 9.99944053e-01 3.53203635e-03 2.12843301e-01] [ 1.44961922e-02 -3.67638480e-03 9.99888166e-01 -1.54997261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.424553574 meters Centerline goodness [0,1] 0.8152809353686261 Centerline is valid? [False, False] Translation: X:6.81, Y:0.21, Z:-1.55 [[ 9.99838414e-01 -1.02536868e-02 -1.47650597e-02 6.81000900e+00] [ 1.03139194e-02 9.99938773e-01 4.00905153e-03 2.11297410e-01] [ 1.47230482e-02 -4.16068936e-03 9.99882953e-01 -1.54897921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.454553574 meters Centerline goodness [0,1] 0.8171132285473844 Centerline is valid? [False, False] Translation: X:6.81, Y:0.21, Z:-1.55 [[ 9.99831543e-01 -1.06824236e-02 -1.49255557e-02 6.81054369e+00] [ 1.07574942e-02 9.99929843e-01 4.95846266e-03 2.08582400e-01] [ 1.48715402e-02 -5.11818895e-03 9.99876313e-01 -1.54717067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.484553574 meters Centerline goodness [0,1] 0.8147019615311369 Centerline is valid? [False, False] Translation: X:6.81, Y:0.21, Z:-1.55 [[ 9.99831996e-01 -1.07278308e-02 -1.48624543e-02 6.81063850e+00] [ 1.08092917e-02 9.99926935e-01 5.41153631e-03 2.06800542e-01] [ 1.48033143e-02 -5.57127975e-03 9.99874904e-01 -1.54703931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.514553574 meters Centerline goodness [0,1] 0.815302782324059 Centerline is valid? [False, False] Translation: X:6.81, Y:0.21, Z:-1.55 [[ 9.99831914e-01 -1.07010120e-02 -1.48873037e-02 6.81078850e+00] [ 1.07885138e-02 9.99924924e-01 5.80977452e-03 2.05381442e-01] [ 1.48240156e-02 -5.96940986e-03 9.99872299e-01 -1.54689292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.544553574 meters Centerline goodness [0,1] 0.8163560455153218 Centerline is valid? [False, False] Translation: X:6.81, Y:0.20, Z:-1.55 [[ 0.99983516 -0.01065602 -0.01470031 6.81035474] [ 0.01075809 0.99991845 0.00688203 0.20171623] [ 0.01462578 -0.00703904 0.99986826 -1.54573354] [ 0. 0. 0. 1. ]] SLAMing on 214.574553574 meters Centerline goodness [0,1] 0.8166835214693744 Centerline is valid? [False, False] Translation: X:6.81, Y:0.20, Z:-1.55 [[ 0.99983174 -0.01080986 -0.0148203 6.81109538] [ 0.01091794 0.99991425 0.00723136 0.19964709] [ 0.01474086 -0.00739195 0.99986402 -1.54588792] [ 0. 0. 0. 1. ]] SLAMing on 214.604553574 meters Centerline goodness [0,1] 0.815978775197615 Centerline is valid? [False, False] Translation: X:6.81, Y:0.20, Z:-1.55 [[ 0.99985319 -0.0096496 -0.01415906 6.80860176] [ 0.0097585 0.99992318 0.00764298 0.19785416] [ 0.01408422 -0.00778003 0.99987054 -1.54602373] [ 0. 0. 0. 1. ]] SLAMing on 214.634553574 meters Centerline goodness [0,1] 0.8156708466519138 Centerline is valid? [False, False] Translation: X:6.80, Y:0.20, Z:-1.55 [[ 0.99988941 -0.00747737 -0.0128551 6.80380438] [ 0.00757156 0.99994473 0.00729395 0.19798862] [ 0.01279985 -0.00739048 0.99989077 -1.54789602] [ 0. 0. 0. 1. ]] SLAMing on 214.664553574 meters Centerline goodness [0,1] 0.8180284143487018 Centerline is valid? [False, False] Translation: X:6.80, Y:0.20, Z:-1.55 [[ 9.99902537e-01 -6.57934197e-03 -1.23137978e-02 6.80218369e+00] [ 6.66245123e-03 9.99955223e-01 6.72047050e-03 1.99240598e-01] [ 1.22690301e-02 -6.80185558e-03 9.99901598e-01 -1.54955972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.69455357399997 meters Centerline goodness [0,1] 0.8121144596320552 Centerline is valid? [False, False] Translation: X:6.80, Y:0.20, Z:-1.56 [[ 9.99920842e-01 -5.11748788e-03 -1.14943488e-02 6.79983618e+00] [ 5.16866305e-03 9.99976843e-01 4.42691741e-03 2.02295440e-01] [ 1.14714279e-02 -4.48597740e-03 9.99924138e-01 -1.55543851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.72455357399997 meters Centerline goodness [0,1] 0.8131185769679221 Centerline is valid? [False, False] Translation: X:6.80, Y:0.20, Z:-1.56 [[ 9.99922855e-01 -4.93536901e-03 -1.13984920e-02 6.80008061e+00] [ 4.97883017e-03 9.99980432e-01 3.78766281e-03 2.03175141e-01] [ 1.13795754e-02 -3.84412177e-03 9.99927861e-01 -1.55737019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.75455357399997 meters Centerline goodness [0,1] 0.8136691427641924 Centerline is valid? [False, False] Translation: X:6.80, Y:0.20, Z:-1.56 [[ 9.99925152e-01 -4.68946989e-03 -1.13004110e-02 6.80000494e+00] [ 4.72909228e-03 9.99982755e-01 3.48211196e-03 2.03813575e-01] [ 1.12838869e-02 -3.53529202e-03 9.99930085e-01 -1.55839237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.78455357399997 meters Centerline goodness [0,1] 0.8117981328642945 Centerline is valid? [False, False] Translation: X:6.80, Y:0.20, Z:-1.56 [[ 9.99931655e-01 -4.02036959e-03 -1.09782145e-02 6.79895717e+00] [ 4.05421913e-03 9.99987091e-01 3.06282592e-03 2.04689019e-01] [ 1.09657591e-02 -3.10712468e-03 9.99935047e-01 -1.55958885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.81455357399997 meters Centerline goodness [0,1] 0.812735810645748 Centerline is valid? [False, False] Translation: X:6.80, Y:0.20, Z:-1.56 [[ 9.99932077e-01 -3.86065487e-03 -1.09971109e-02 6.79888178e+00] [ 3.89506964e-03 9.99987579e-01 3.10974032e-03 2.04564075e-01] [ 1.09849687e-02 -3.15236361e-03 9.99934694e-01 -1.55963516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.84455357399997 meters Centerline goodness [0,1] 0.8123844731977818 Centerline is valid? [False, False] Translation: X:6.80, Y:0.20, Z:-1.56 [[ 9.99929144e-01 -4.04276187e-03 -1.11965925e-02 6.79953038e+00] [ 4.08254062e-03 9.99985428e-01 3.53218053e-03 2.03111834e-01] [ 1.11821495e-02 -3.57764079e-03 9.99931078e-01 -1.55906918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.87455357399998 meters Centerline goodness [0,1] 0.8128 Centerline is valid? [False, False] Translation: X:6.80, Y:0.20, Z:-1.56 [[ 9.99935277e-01 -3.38442474e-03 -1.08621929e-02 6.79767951e+00] [ 3.42832443e-03 9.99986021e-01 4.02544071e-03 2.02845957e-01] [ 1.08484173e-02 -4.06241929e-03 9.99932902e-01 -1.55791675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.90455357399998 meters Centerline goodness [0,1] 0.812611976763125 Centerline is valid? [False, False] Translation: X:6.80, Y:0.20, Z:-1.56 [[ 9.99940778e-01 -2.76970210e-03 -1.05246946e-02 6.79605391e+00] [ 2.81465760e-03 9.99986969e-01 4.25902171e-03 2.03080391e-01] [ 1.05127613e-02 -4.28839289e-03 9.99935544e-01 -1.55731003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.93455357399998 meters Centerline goodness [0,1] 0.8144452879297256 Centerline is valid? [False, False] Translation: X:6.79, Y:0.20, Z:-1.56 [[ 9.99947865e-01 -1.94537830e-03 -1.00240619e-02 6.79366006e+00] [ 1.99073074e-03 9.99987820e-01 4.51636734e-03 2.03437771e-01] [ 1.00151537e-02 -4.53608709e-03 9.99939558e-01 -1.55638706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.96455357399998 meters Centerline goodness [0,1] 0.8147526334317203 Centerline is valid? [False, False] Translation: X:6.79, Y:0.20, Z:-1.55 [[ 9.99954981e-01 -9.33505854e-04 -9.44272583e-03 6.79074856e+00] [ 9.81410127e-04 9.99986667e-01 5.06977942e-03 2.03698463e-01] [ 9.43786726e-03 -5.07881837e-03 9.99942564e-01 -1.55474403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.99455357399998 meters Centerline goodness [0,1] 0.814214463840399 Centerline is valid? [False, False] Translation: X:6.79, Y:0.20, Z:-1.56 [[ 9.99959470e-01 -2.11069175e-04 -9.00075164e-03 6.78923853e+00] [ 2.53227689e-04 9.99989003e-01 4.68300572e-03 2.04711670e-01] [ 8.99966422e-03 -4.68509516e-03 9.99948527e-01 -1.55577485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.02455357399998 meters Centerline goodness [0,1] 0.8148308407929253 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-1.56 [[ 9.99958448e-01 -2.70289262e-04 -9.11203299e-03 6.78993330e+00] [ 3.08190957e-04 9.99991306e-01 4.15837384e-03 2.05751589e-01] [ 9.11082981e-03 -4.16100929e-03 9.99949838e-01 -1.55696121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.05455357399998 meters Centerline goodness [0,1] 0.8165813493675687 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-1.56 [[ 9.99958675e-01 -1.56697511e-04 -9.08972412e-03 6.79016396e+00] [ 1.90844366e-04 9.99992928e-01 3.75589795e-03 2.06591000e-01] [ 9.08907130e-03 -3.75747746e-03 9.99951634e-01 -1.55805137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.08455357399998 meters Centerline goodness [0,1] 0.8165813493675687 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-1.56 [[ 9.99958675e-01 -1.56697511e-04 -9.08972412e-03 6.79016396e+00] [ 1.90844366e-04 9.99992928e-01 3.75589795e-03 2.06591000e-01] [ 9.08907130e-03 -3.75747746e-03 9.99951634e-01 -1.55805137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.11455357399998 meters Centerline goodness [0,1] 0.810028020260804 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-1.56 [[ 9.99964425e-01 1.47435837e-03 -8.30506813e-03 6.78708244e+00] [-1.44698263e-03 9.99993504e-01 3.30131389e-03 2.08430919e-01] [ 8.30988150e-03 -3.28917916e-03 9.99960063e-01 -1.55936915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.14455357399999 meters Centerline goodness [0,1] 0.8120049571636403 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-1.56 [[ 9.99965171e-01 1.78292023e-03 -8.15345651e-03 6.78688107e+00] [-1.75964448e-03 9.99994359e-01 2.86099276e-03 2.09261721e-01] [ 8.15851144e-03 -2.84654593e-03 9.99962667e-01 -1.56069245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.174553574 meters Centerline goodness [0,1] 0.8129301075268818 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-1.56 [[ 9.99966962e-01 2.57748993e-03 -7.70914214e-03 6.78572728e+00] [-2.56117935e-03 9.99994463e-01 2.12486956e-03 2.10530129e-01] [ 7.71457628e-03 -2.10505486e-03 9.99968027e-01 -1.56287093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.204553574 meters Centerline goodness [0,1] 0.8098606702888805 Centerline is valid? [False, False] Translation: X:6.78, Y:0.21, Z:-1.56 [[ 9.99968295e-01 3.22950256e-03 -7.27875017e-03 6.78406227e+00] [-3.21346589e-03 9.99992386e-01 2.21383670e-03 2.10363433e-01] [ 7.28584434e-03 -2.19037649e-03 9.99971059e-01 -1.56291961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.234553574 meters Centerline goodness [0,1] 0.8103917081706824 Centerline is valid? [False, False] Translation: X:6.78, Y:0.21, Z:-1.56 [[ 9.99967981e-01 3.06894353e-03 -7.39039767e-03 6.78455296e+00] [-3.05255447e-03 9.99992859e-01 2.22787455e-03 2.10109265e-01] [ 7.39718212e-03 -2.20524362e-03 9.99970209e-01 -1.56292475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.264553574 meters Centerline goodness [0,1] 0.8115369100443728 Centerline is valid? [False, False] Translation: X:6.78, Y:0.21, Z:-1.56 [[ 9.99968467e-01 3.71228259e-03 -7.02032397e-03 6.78263261e+00] [-3.69360314e-03 9.99989609e-01 2.67186369e-03 2.09765964e-01] [ 7.03016973e-03 -2.64584914e-03 9.99971788e-01 -1.56160456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.294553574 meters Centerline goodness [0,1] 0.8085466867469879 Centerline is valid? [False, False] Translation: X:6.78, Y:0.21, Z:-1.56 [[ 9.99968844e-01 3.59839177e-03 -7.02586641e-03 6.78314183e+00] [-3.58311864e-03 9.99991193e-01 2.18522053e-03 2.10708588e-01] [ 7.03366781e-03 -2.15997793e-03 9.99972931e-01 -1.56277793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.324553574 meters Centerline goodness [0,1] 0.8085466867469879 Centerline is valid? [False, False] Translation: X:6.78, Y:0.21, Z:-1.56 [[ 9.99968844e-01 3.59839177e-03 -7.02586641e-03 6.78314183e+00] [-3.58311864e-03 9.99991193e-01 2.18522053e-03 2.10708588e-01] [ 7.03366781e-03 -2.15997793e-03 9.99972931e-01 -1.56277793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.354553574 meters Centerline goodness [0,1] 0.8123524361450956 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-1.56 [[ 9.99967070e-01 2.47042482e-03 -7.73025105e-03 6.78644930e+00] [-2.45489529e-03 9.99994951e-01 2.01777420e-03 2.09709397e-01] [ 7.73519678e-03 -1.99873079e-03 9.99968085e-01 -1.56364723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.384553574 meters Centerline goodness [0,1] 0.8127202776507305 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-1.57 [[ 9.99969254e-01 -1.61095550e-03 -7.67442756e-03 6.78723173e+00] [ 1.59269730e-03 9.99995888e-01 -2.38461349e-03 2.08255523e-01] [ 7.67823751e-03 2.37231713e-03 9.99967708e-01 -1.56584105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.414553574 meters Centerline goodness [0,1] 0.8133954445738428 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-1.57 [[ 9.99964452e-01 -2.13042962e-03 -8.15813978e-03 6.78915096e+00] [ 2.11341458e-03 9.99995575e-01 -2.09370533e-03 2.06763972e-01] [ 8.16256417e-03 2.07638937e-03 9.99964530e-01 -1.56594417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.44455357399997 meters Centerline goodness [0,1] 0.8133647415590394 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-1.57 [[ 9.99959947e-01 -2.50549582e-03 -8.59228751e-03 6.79066913e+00] [ 2.49134745e-03 9.99995524e-01 -1.65694444e-03 2.05439371e-01] [ 8.59640052e-03 1.63547170e-03 9.99961713e-01 -1.56560575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.47455357399997 meters Centerline goodness [0,1] 0.8159878105188691 Centerline is valid? [False, False] Translation: X:6.79, Y:0.20, Z:-1.57 [[ 9.99957017e-01 -2.69340165e-03 -8.87190021e-03 6.79170171e+00] [ 2.68424065e-03 9.99995852e-01 -1.04433219e-03 2.03189336e-01] [ 8.87467622e-03 1.02047298e-03 9.99960099e-01 -1.56531682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.50455357399997 meters Centerline goodness [0,1] 0.81689566045436 Centerline is valid? [False, False] Translation: X:6.79, Y:0.20, Z:-1.56 [[ 9.99960687e-01 -2.11729077e-03 -8.61049391e-03 6.79043101e+00] [ 2.11221264e-03 9.99997590e-01 -5.98811986e-04 2.02675591e-01] [ 8.61174102e-03 5.80601252e-04 9.99962750e-01 -1.56466319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.53455357399997 meters Centerline goodness [0,1] 0.8174324655186485 Centerline is valid? [False, False] Translation: X:6.79, Y:0.20, Z:-1.56 [[ 9.99968576e-01 -9.38315901e-04 -7.87192732e-03 6.78671866e+00] [ 9.41752183e-04 9.99999463e-01 4.32828155e-04 2.02030524e-01] [ 7.87151696e-03 -4.40227959e-04 9.99968922e-01 -1.56195727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.56455357399997 meters Centerline goodness [0,1] 0.816760900293574 Centerline is valid? [False, False] Translation: X:6.79, Y:0.20, Z:-1.56 [[ 9.99969448e-01 -7.00580308e-04 -7.78538156e-03 6.78624827e+00] [ 7.04531141e-04 9.99999624e-01 5.04737056e-04 2.02738217e-01] [ 7.78502502e-03 -5.10206679e-04 9.99969566e-01 -1.56172994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.59455357399997 meters Centerline goodness [0,1] 0.8152003035723966 Centerline is valid? [False, False] Translation: X:6.79, Y:0.20, Z:-1.56 [[ 9.99967349e-01 -1.00558895e-03 -8.01807069e-03 6.78798149e+00] [ 1.00199371e-03 9.99999396e-01 -4.52397004e-04 2.04906629e-01] [ 8.01852077e-03 4.44348176e-04 9.99967752e-01 -1.56414512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.62455357399998 meters Centerline goodness [0,1] 0.815685210312076 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-1.56 [[ 9.99963384e-01 -1.49971031e-03 -8.42503569e-03 6.78973662e+00] [ 1.49473656e-03 9.99998705e-01 -5.96619145e-04 2.05170785e-01] [ 8.42591954e-03 5.84004090e-04 9.99964331e-01 -1.56462783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.65455357399998 meters Centerline goodness [0,1] 0.8134767220255922 Centerline is valid? [False, False] Translation: X:6.79, Y:0.20, Z:-1.56 [[ 9.99958266e-01 -2.00139493e-03 -8.91412144e-03 6.79126295e+00] [ 2.00066557e-03 9.99997995e-01 -9.07373097e-05 2.03890587e-01] [ 8.91428516e-03 7.28993469e-05 9.99960264e-01 -1.56361245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.68455357399998 meters Centerline goodness [0,1] 0.8185158972125436 Centerline is valid? [False, False] Translation: X:6.79, Y:0.20, Z:-1.56 [[ 9.99957157e-01 -1.99865801e-03 -9.03821815e-03 6.79129246e+00] [ 2.00224524e-03 9.99997920e-01 3.87864587e-04 2.03052985e-01] [ 9.03742414e-03 -4.05944699e-04 9.99959079e-01 -1.56248287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.71455357399998 meters Centerline goodness [0,1] 0.8181124673060157 Centerline is valid? [False, False] Translation: X:6.79, Y:0.20, Z:-1.56 [[ 9.99956662e-01 -1.88399907e-03 -9.11722177e-03 6.79135302e+00] [ 1.88996335e-03 9.99998006e-01 6.45606263e-04 2.02620686e-01] [ 9.11598727e-03 -6.62809499e-04 9.99958229e-01 -1.56211162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.74455357399998 meters Centerline goodness [0,1] 0.8165390171441032 Centerline is valid? [False, False] Translation: X:6.79, Y:0.20, Z:-1.56 [[ 9.99955787e-01 -1.89333044e-03 -9.21084301e-03 6.79165008e+00] [ 1.89871377e-03 9.99998032e-01 5.75745529e-04 2.03009808e-01] [ 9.20973480e-03 -5.93208828e-04 9.99957414e-01 -1.56226191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.77455357399998 meters Centerline goodness [0,1] 0.8172563962983125 Centerline is valid? [False, False] Translation: X:6.79, Y:0.20, Z:-1.56 [[ 9.99955144e-01 -1.92462862e-03 -9.27391343e-03 6.79198679e+00] [ 1.92845539e-03 9.99998059e-01 4.03714043e-04 2.03585426e-01] [ 9.27311843e-03 -4.21580262e-04 9.99956915e-01 -1.56256033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.80455357399998 meters Centerline goodness [0,1] 0.8170662022802101 Centerline is valid? [False, False] Translation: X:6.79, Y:0.20, Z:-1.56 [[ 9.99953513e-01 -2.05503808e-03 -9.42061112e-03 6.79256846e+00] [ 2.05826547e-03 9.99997826e-01 3.32904955e-04 2.04717948e-01] [ 9.41990651e-03 -3.52279598e-04 9.99955570e-01 -1.56254410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.83455357399998 meters Centerline goodness [0,1] 0.8195929443690637 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-1.56 [[ 9.99951506e-01 -2.18190578e-03 -9.60338404e-03 6.79283927e+00] [ 2.18685408e-03 9.99997481e-01 5.04795218e-04 2.05454787e-01] [ 9.60225844e-03 -5.25771938e-04 9.99953759e-01 -1.56168396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.86455357399998 meters Centerline goodness [0,1] 0.8172823398298404 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-1.56 [[ 9.99950496e-01 -2.20963911e-03 -9.70173143e-03 6.79313435e+00] [ 2.21542994e-03 9.99997374e-01 5.86179979e-04 2.05666219e-01] [ 9.70041071e-03 -6.07644467e-04 9.99952765e-01 -1.56148961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.89455357399999 meters Centerline goodness [0,1] 0.816013258347597 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-1.56 [[ 9.99948956e-01 -2.32602665e-03 -9.83238889e-03 6.79367251e+00] [ 2.33153612e-03 9.99997131e-01 5.48913890e-04 2.05971518e-01] [ 9.83108389e-03 -5.71810441e-04 9.99951510e-01 -1.56157968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.924553574 meters Centerline goodness [0,1] 0.8166349551508563 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.56 [[ 9.99942932e-01 -2.89392908e-03 -1.02839134e-02 6.79543958e+00] [ 2.89932746e-03 9.99995667e-01 5.10063898e-04 2.06010354e-01] [ 1.02823928e-02 -5.39851222e-04 9.99946989e-01 -1.56163639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.954553574 meters Centerline goodness [0,1] 0.8155882193415415 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.56 [[ 9.99932614e-01 -3.74270142e-03 -1.09890714e-02 6.79800203e+00] [ 3.74884019e-03 9.99992828e-01 5.38079375e-04 2.05858686e-01] [ 1.09869787e-02 -5.79239388e-04 9.99939474e-01 -1.56146116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.984553574 meters Centerline goodness [0,1] 0.8186009927038975 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.56 [[ 9.99928548e-01 -4.03369917e-03 -1.12529237e-02 6.79885920e+00] [ 4.04064247e-03 9.99991660e-01 5.94354048e-04 2.06132109e-01] [ 1.12504324e-02 -6.39780621e-04 9.99936507e-01 -1.56112608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.014553574 meters Centerline goodness [0,1] 0.81784658767387 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.56 [[ 9.99923747e-01 -4.30533448e-03 -1.15742761e-02 6.79986591e+00] [ 4.31316360e-03 9.99990486e-01 6.51547997e-04 2.06475520e-01] [ 1.15713609e-02 -7.01420061e-04 9.99932804e-01 -1.56085077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.044553574 meters Centerline goodness [0,1] 0.8153979332359466 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.56 [[ 9.99914767e-01 -4.86366382e-03 -1.21162357e-02 6.80199766e+00] [ 4.86614495e-03 9.99988145e-01 1.75304429e-04 2.07788972e-01] [ 1.21152394e-02 -2.34248847e-04 9.99926580e-01 -1.56176426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.074553574 meters Centerline goodness [0,1] 0.8157851956215455 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.56 [[ 9.99907234e-01 -5.33732070e-03 -1.25314271e-02 6.80381606e+00] [ 5.33470221e-03 9.99985741e-01 -2.42371933e-04 2.08856152e-01] [ 1.25325420e-02 1.75498017e-04 9.99921449e-01 -1.56259972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.104553574 meters Centerline goodness [0,1] 0.8157851956215455 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.56 [[ 9.99907234e-01 -5.33732070e-03 -1.25314271e-02 6.80381606e+00] [ 5.33470221e-03 9.99985741e-01 -2.42371933e-04 2.08856152e-01] [ 1.25325420e-02 1.75498017e-04 9.99921449e-01 -1.56259972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.134553574 meters Centerline goodness [0,1] 0.8177024176537401 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.56 [[ 9.99909980e-01 -4.91885344e-03 -1.24834321e-02 6.80326754e+00] [ 4.91337048e-03 9.99987819e-01 -4.69850059e-04 2.10862446e-01] [ 1.24855912e-02 4.08472036e-04 9.99921969e-01 -1.56273725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.164553574 meters Centerline goodness [0,1] 0.8131352619233776 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.56 [[ 9.99911858e-01 -4.62783568e-03 -1.24442528e-02 6.80278504e+00] [ 4.62481423e-03 9.99989269e-01 -2.71565244e-04 2.11262164e-01] [ 1.24453760e-02 2.13988950e-04 9.99922530e-01 -1.56224216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.19455357399997 meters Centerline goodness [0,1] 0.8174367822289319 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.56 [[ 9.99913487e-01 -4.30341357e-03 -1.24297396e-02 6.80239871e+00] [ 4.30131231e-03 9.99990730e-01 -1.95780090e-04 2.11839556e-01] [ 1.24304669e-02 1.42298960e-04 9.99922729e-01 -1.56208245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.22455357399997 meters Centerline goodness [0,1] 0.8154232076387765 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.56 [[ 9.99913857e-01 -4.16693541e-03 -1.24464884e-02 6.80228978e+00] [ 4.16798752e-03 9.99991312e-01 5.85929221e-05 2.11394939e-01] [ 1.24461361e-02 -1.10464683e-04 9.99922538e-01 -1.56174173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.25455357399997 meters Centerline goodness [0,1] 0.8161909648151648 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.56 [[ 9.99912831e-01 -4.15030110e-03 -1.25341864e-02 6.80263619e+00] [ 4.15622670e-03 9.99991263e-01 4.46743507e-04 2.10010075e-01] [ 1.25322228e-02 -4.98799485e-04 9.99921344e-01 -1.56155785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.28455357399997 meters Centerline goodness [0,1] 0.8177783791097281 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.56 [[ 9.99921007e-01 -3.32075507e-03 -1.21223507e-02 6.80045843e+00] [ 3.33120911e-03 9.99994097e-01 8.42287408e-04 2.10406879e-01] [ 1.21194821e-02 -8.82602959e-04 9.99926167e-01 -1.56055062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.31455357399997 meters Centerline goodness [0,1] 0.8195712048387968 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.56 [[ 9.99932541e-01 -2.19712791e-03 -1.14055394e-02 6.79734975e+00] [ 2.21169813e-03 9.99996754e-01 1.26501316e-03 2.10851454e-01] [ 1.14027230e-02 -1.29015344e-03 9.99934155e-01 -1.55948506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.34455357399997 meters Centerline goodness [0,1] 0.8217632485997415 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-1.56 [[ 9.99943383e-01 -8.97783708e-04 -1.06030401e-02 6.79379903e+00] [ 9.17819413e-04 9.99997802e-01 1.88490416e-03 2.10896227e-01] [ 1.06013246e-02 -1.89452912e-03 9.99942010e-01 -1.55817356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.37455357399998 meters Centerline goodness [0,1] 0.8198508627883813 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-1.56 [[ 9.99949191e-01 -3.11224630e-05 -1.00804160e-02 6.79140517e+00] [ 5.39126744e-05 9.99997443e-01 2.26057651e-03 2.11131698e-01] [ 1.00803199e-02 -2.26100512e-03 9.99946636e-01 -1.55730918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.40455357399998 meters Centerline goodness [0,1] 0.8236240746700998 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-1.56 [[ 9.99955126e-01 1.14172264e-03 -9.40438068e-03 6.78874535e+00] [-1.12170090e-03 9.99997094e-01 2.13397990e-03 2.12781399e-01] [ 9.40678976e-03 -2.12333524e-03 9.99953501e-01 -1.55758943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.43455357399998 meters Centerline goodness [0,1] 0.8172298650995058 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-1.56 [[ 9.99954257e-01 1.06034684e-03 -9.50578408e-03 6.78967085e+00] [-1.04523527e-03 9.99998182e-01 1.59455097e-03 2.13755197e-01] [ 9.50745758e-03 -1.58454225e-03 9.99953548e-01 -1.55916353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.46455357399998 meters Centerline goodness [0,1] 0.8172298650995058 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-1.56 [[ 9.99954257e-01 1.06034684e-03 -9.50578408e-03 6.78967085e+00] [-1.04523527e-03 9.99998182e-01 1.59455097e-03 2.13755197e-01] [ 9.50745758e-03 -1.58454225e-03 9.99953548e-01 -1.55916353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.49455357399998 meters Centerline goodness [0,1] 0.8176502002670227 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-1.56 [[ 9.99950014e-01 4.90781566e-04 -9.98643967e-03 6.79168515e+00] [-4.75431886e-04 9.99998702e-01 1.53936828e-03 2.13270062e-01] [ 9.98718220e-03 -1.53454347e-03 9.99948949e-01 -1.55966953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.52455357399998 meters Centerline goodness [0,1] 0.8161946143117691 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-1.56 [[ 9.99944402e-01 -1.35486228e-04 -1.05439809e-02 6.79376467e+00] [ 1.52012899e-04 9.99998761e-01 1.56661770e-03 2.12734305e-01] [ 1.05437555e-02 -1.56813342e-03 9.99943183e-01 -1.55978956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.55455357399998 meters Centerline goodness [0,1] 0.8154865713289152 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.56 [[ 9.99929160e-01 -1.80390293e-03 -1.17652546e-02 6.79908388e+00] [ 1.81678904e-03 9.99997761e-01 1.08467237e-03 2.11676101e-01] [ 1.17632716e-02 -1.10597052e-03 9.99930199e-01 -1.56149462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.58455357399998 meters Centerline goodness [0,1] 0.8157116749086218 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.56 [[ 9.99922019e-01 -2.34531962e-03 -1.22660120e-02 6.80096103e+00] [ 2.35941545e-03 9.99996573e-01 1.13483381e-03 2.11114423e-01] [ 1.22633084e-02 -1.16368593e-03 9.99924126e-01 -1.56161351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.61455357399998 meters Centerline goodness [0,1] 0.8187518501574316 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.56 [[ 9.99913782e-01 -2.91729063e-03 -1.28030334e-02 6.80284057e+00] [ 2.93413686e-03 9.99994854e-01 1.29721384e-03 2.10258983e-01] [ 1.27991831e-02 -1.33466784e-03 9.99917196e-01 -1.56138815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.64455357399999 meters Centerline goodness [0,1] 0.8166410691671382 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.56 [[ 9.99913976e-01 -2.77738079e-03 -1.28190242e-02 6.80258371e+00] [ 2.79687864e-03 9.99994959e-01 1.50333240e-03 2.10159839e-01] [ 1.28147843e-02 -1.53905633e-03 9.99916703e-01 -1.56090873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.674553574 meters Centerline goodness [0,1] 0.8162711317762786 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.56 [[ 9.99924008e-01 -1.63768684e-03 -1.22186529e-02 6.79964181e+00] [ 1.65953355e-03 9.99997042e-01 1.77805530e-03 2.11627483e-01] [ 1.22157049e-02 -1.79819745e-03 9.99923769e-01 -1.55990161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.704553574 meters Centerline goodness [0,1] 0.8172283032568647 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.56 [[ 9.99931581e-01 -8.17752083e-04 -1.16689909e-02 6.79739361e+00] [ 8.38183759e-04 9.99998124e-01 1.74615463e-03 2.12780315e-01] [ 1.16675410e-02 -1.75581591e-03 9.99930390e-01 -1.55970364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.734553574 meters Centerline goodness [0,1] 0.8131638236240747 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.56 [[ 9.99936955e-01 -1.21207631e-04 -1.12281719e-02 6.79561621e+00] [ 1.40203356e-04 9.99998560e-01 1.69101980e-03 2.13747200e-01] [ 1.12279507e-02 -1.69248741e-03 9.99935532e-01 -1.55964616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.764553574 meters Centerline goodness [0,1] 0.8160626626250704 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-1.56 [[ 9.99942150e-01 6.60702847e-04 -1.07359310e-02 6.79350543e+00] [-6.41016566e-04 9.99998107e-01 1.83701941e-03 2.14430239e-01] [ 1.07371244e-02 -1.83003123e-03 9.99940681e-01 -1.55910682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.794553574 meters Centerline goodness [0,1] 0.8132465584659061 Centerline is valid? [False, False] Translation: X:6.79, Y:0.22, Z:-1.56 [[ 9.99947622e-01 1.92792604e-03 -1.00516694e-02 6.79035087e+00] [-1.90669442e-03 9.99995932e-01 2.12140402e-03 2.15085838e-01] [ 1.00557184e-02 -2.10212745e-03 9.99947230e-01 -1.55837216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.824553574 meters Centerline goodness [0,1] 0.8114490735782371 Centerline is valid? [False, False] Translation: X:6.79, Y:0.22, Z:-1.56 [[ 9.99949445e-01 2.36897808e-03 -9.77214490e-03 6.78937073e+00] [-2.35012096e-03 9.99995355e-01 1.94071359e-03 2.15660867e-01] [ 9.77669702e-03 -1.91764975e-03 9.99950368e-01 -1.55875357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.854553574 meters Centerline goodness [0,1] 0.8115375344813733 Centerline is valid? [False, False] Translation: X:6.79, Y:0.22, Z:-1.56 [[ 9.99951030e-01 2.89295260e-03 -9.46406636e-03 6.78843849e+00] [-2.87842811e-03 9.99994659e-01 1.54796023e-03 2.16651790e-01] [ 9.46849399e-03 -1.52064279e-03 9.99954017e-01 -1.55977271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.884553574 meters Centerline goodness [0,1] 0.8153214774281805 Centerline is valid? [False, False] Translation: X:6.79, Y:0.22, Z:-1.56 [[ 9.99950566e-01 2.77510033e-03 -9.54801851e-03 6.78901163e+00] [-2.76194885e-03 9.99995219e-01 1.39031344e-03 2.16765997e-01] [ 9.55183113e-03 -1.36387357e-03 9.99953450e-01 -1.56028815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.914553574 meters Centerline goodness [0,1] 0.8106691749529696 Centerline is valid? [False, False] Translation: X:6.79, Y:0.22, Z:-1.56 [[ 9.99948737e-01 2.38193542e-03 -9.84120023e-03 6.79032268e+00] [-2.37051630e-03 9.99996504e-01 1.17184044e-03 2.16940473e-01] [ 9.84395707e-03 -1.14845165e-03 9.99950888e-01 -1.56079076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.94455357399997 meters Centerline goodness [0,1] 0.8176632043485281 Centerline is valid? [False, False] Translation: X:6.79, Y:0.22, Z:-1.56 [[ 9.99946573e-01 2.04162635e-03 -1.01332563e-02 6.79133237e+00] [-2.02819409e-03 9.99997051e-01 1.33566181e-03 2.16489821e-01] [ 1.01359533e-02 -1.31503824e-03 9.99947765e-01 -1.56040030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.97455357399997 meters Centerline goodness [0,1] 0.8176632043485281 Centerline is valid? [False, False] Translation: X:6.79, Y:0.22, Z:-1.56 [[ 9.99946573e-01 2.04162635e-03 -1.01332563e-02 6.79133237e+00] [-2.02819409e-03 9.99997051e-01 1.33566181e-03 2.16489821e-01] [ 1.01359533e-02 -1.31503824e-03 9.99947765e-01 -1.56040030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.00455357399997 meters Centerline goodness [0,1] 0.8168703235183291 Centerline is valid? [False, False] Translation: X:6.79, Y:0.22, Z:-1.56 [[ 9.99945992e-01 2.08774595e-03 -1.01810768e-02 6.79154151e+00] [-2.07678627e-03 9.99997253e-01 1.08692875e-03 2.16871203e-01] [ 1.01833181e-02 -1.06572613e-03 9.99947581e-01 -1.56088456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.03455357399997 meters Centerline goodness [0,1] 0.815308535798753 Centerline is valid? [False, False] Translation: X:6.79, Y:0.22, Z:-1.56 [[ 9.99944892e-01 1.90283217e-03 -1.03243251e-02 6.79254819e+00] [-1.89508170e-03 9.99997915e-01 7.60430873e-04 2.17173566e-01] [ 1.03257505e-02 -7.40823528e-04 9.99946414e-01 -1.56194757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.06455357399997 meters Centerline goodness [0,1] 0.815308535798753 Centerline is valid? [False, False] Translation: X:6.79, Y:0.22, Z:-1.56 [[ 9.99944892e-01 1.90283217e-03 -1.03243251e-02 6.79254819e+00] [-1.89508170e-03 9.99997915e-01 7.60430873e-04 2.17173566e-01] [ 1.03257505e-02 -7.40823528e-04 9.99946414e-01 -1.56194757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.09455357399997 meters Centerline goodness [0,1] 0.8157191808542212 Centerline is valid? [False, False] Translation: X:6.79, Y:0.22, Z:-1.56 [[ 9.99943302e-01 1.56259101e-03 -1.05333630e-02 6.79323966e+00] [-1.55009618e-03 9.99998085e-01 1.19427482e-03 2.15753757e-01] [ 1.05352090e-02 -1.17787938e-03 9.99943809e-01 -1.56112748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.12455357399998 meters Centerline goodness [0,1] 0.817676876617774 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-1.56 [[ 9.99940828e-01 1.21247969e-03 -1.08106509e-02 6.79413869e+00] [-1.19534707e-03 9.99998020e-01 1.59111090e-03 2.14507872e-01] [ 1.08125587e-02 -1.57809427e-03 9.99940297e-01 -1.56032552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.15455357399998 meters Centerline goodness [0,1] 0.8219739090342003 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-1.56 [[ 9.99943873e-01 -2.45231426e-03 -1.03071334e-02 6.79278140e+00] [ 2.42513957e-03 9.99993553e-01 -2.64816598e-03 2.14616905e-01] [ 1.03135610e-02 2.62302111e-03 9.99943374e-01 -1.56116169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.18455357399998 meters Centerline goodness [0,1] 0.8219895287958116 Centerline is valid? [False, False] Translation: X:6.79, Y:0.21, Z:-1.56 [[ 9.99937068e-01 -3.01190539e-03 -1.08068545e-02 6.79459147e+00] [ 2.98608356e-03 9.99992650e-01 -2.40473411e-03 2.14006534e-01] [ 1.08140179e-02 2.37231261e-03 9.99938713e-01 -1.56079814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.21455357399998 meters Centerline goodness [0,1] 0.8218015134665979 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.56 [[ 9.99928484e-01 -3.72919284e-03 -1.13631394e-02 6.79684759e+00] [ 3.70323945e-03 9.99990488e-01 -2.30418371e-03 2.13521055e-01] [ 1.13716240e-02 2.26193850e-03 9.99932783e-01 -1.56074267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.24455357399998 meters Centerline goodness [0,1] 0.8271920753279268 Centerline is valid? [False, False] Translation: X:6.80, Y:0.21, Z:-1.56 [[ 9.99909103e-01 -5.26701341e-03 -1.24114210e-02 6.80105011e+00] [ 5.24038107e-03 9.99983899e-01 -2.17733800e-03 2.12547248e-01] [ 1.24226892e-02 2.11209951e-03 9.99920605e-01 -1.56043849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.27455357399998 meters Centerline goodness [0,1] 0.8261438978472619 Centerline is valid? [False, False] Translation: X:6.81, Y:0.21, Z:-1.56 [[ 9.99881624e-01 -7.16432714e-03 -1.36165827e-02 6.80604678e+00] [ 7.13657380e-03 9.99972359e-01 -2.08570052e-03 2.11628664e-01] [ 1.36311489e-02 1.98827787e-03 9.99905115e-01 -1.55999619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.30455357399998 meters Centerline goodness [0,1] 0.8218027062418158 Centerline is valid? [False, False] Translation: X:6.81, Y:0.21, Z:-1.56 [[ 9.99864865e-01 -8.07206600e-03 -1.43210930e-02 6.80882731e+00] [ 8.04394927e-03 9.99965607e-01 -2.01982688e-03 2.11174914e-01] [ 1.43369046e-02 1.90435578e-03 9.99895408e-01 -1.55991706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.33455357399998 meters Centerline goodness [0,1] 0.8279429023717897 Centerline is valid? [False, False] Translation: X:6.81, Y:0.21, Z:-1.56 [[ 9.99851220e-01 -8.73794286e-03 -1.48723158e-02 6.81106944e+00] [ 8.70664702e-03 9.99959747e-01 -2.16775081e-03 2.11529066e-01] [ 1.48906588e-02 2.03794029e-03 9.99887051e-01 -1.56024746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.36455357399998 meters Centerline goodness [0,1] 0.8245700111756208 Centerline is valid? [False, False] Translation: X:6.81, Y:0.21, Z:-1.56 [[ 9.99841592e-01 -9.19247028e-03 -1.52410443e-02 6.81267981e+00] [ 9.15501456e-03 9.99954903e-01 -2.52550891e-03 2.12715197e-01] [ 1.52635726e-02 2.38557686e-03 9.99880659e-01 -1.56081814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.39455357399999 meters Centerline goodness [0,1] 0.8270623468554316 Centerline is valid? [False, False] Translation: X:6.82, Y:0.21, Z:-1.56 [[ 9.99816778e-01 -1.03728487e-02 -1.60877093e-02 6.81619094e+00] [ 1.03255228e-02 9.99942124e-01 -3.02201920e-03 2.13934633e-01] [ 1.61181251e-02 2.85535149e-03 9.99866018e-01 -1.56149519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.424553574 meters Centerline goodness [0,1] 0.8248562944397526 Centerline is valid? [False, False] Translation: X:6.82, Y:0.22, Z:-1.56 [[ 9.99787889e-01 -1.16593774e-02 -1.69775388e-02 6.81983467e+00] [ 1.16017331e-02 9.99926608e-01 -3.48987412e-03 2.15074905e-01] [ 1.70169825e-02 3.29216501e-03 9.99849781e-01 -1.56201084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.454553574 meters Centerline goodness [0,1] 0.8248971025158776 Centerline is valid? [False, False] Translation: X:6.82, Y:0.21, Z:-1.56 [[ 9.99765706e-01 -1.25370534e-02 -1.76452783e-02 6.82236431e+00] [ 1.24801653e-02 9.99916573e-01 -3.33041993e-03 2.14930775e-01] [ 1.76855598e-02 3.10942364e-03 9.99838763e-01 -1.56151104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.484553574 meters Centerline goodness [0,1] 0.8260432241402745 Centerline is valid? [False, False] Translation: X:6.82, Y:0.21, Z:-1.56 [[ 9.99747815e-01 -1.31509777e-02 -1.82032688e-02 6.82411006e+00] [ 1.30998544e-02 9.99909915e-01 -2.92486798e-03 2.14227860e-01] [ 1.82400938e-02 2.68567020e-03 9.99830029e-01 -1.56046158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.514553574 meters Centerline goodness [0,1] 0.8277957971053994 Centerline is valid? [False, False] Translation: X:6.82, Y:0.21, Z:-1.56 [[ 9.99755923e-01 -1.26672044e-02 -1.81007235e-02 6.82260748e+00] [ 1.26302708e-02 9.99917916e-01 -2.15331774e-03 2.14224631e-01] [ 1.81265142e-02 1.92417513e-03 9.99833850e-01 -1.55802655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.544553574 meters Centerline goodness [0,1] 0.825631395602003 Centerline is valid? [False, False] Translation: X:6.83, Y:0.21, Z:-1.56 [[ 9.99769623e-01 -9.72268531e-03 -1.91355751e-02 6.82576030e+00] [ 9.77352937e-03 9.99948947e-01 2.56531838e-03 2.13524679e-01] [ 1.91096564e-02 -2.75174950e-03 9.99813607e-01 -1.55597519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.574553574 meters Centerline goodness [0,1] 0.830294149571258 Centerline is valid? [False, False] Translation: X:6.83, Y:0.22, Z:-1.56 [[ 9.99772753e-01 -9.56238229e-03 -1.90526446e-02 6.82606061e+00] [ 9.60272765e-03 9.99951838e-01 2.02721019e-03 2.15021238e-01] [ 1.90323420e-02 -2.20970687e-03 9.99816427e-01 -1.55762322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.604553574 meters Centerline goodness [0,1] 0.8287702890079117 Centerline is valid? [False, False] Translation: X:6.83, Y:0.21, Z:-1.56 [[ 9.99773081e-01 -9.53049911e-03 -1.90513891e-02 6.82621167e+00] [ 9.57359851e-03 9.99951812e-01 2.17234675e-03 2.14375962e-01] [ 1.90297675e-02 -2.35424415e-03 9.99816146e-01 -1.55778267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.634553574 meters Centerline goodness [0,1] 0.8282039378464732 Centerline is valid? [False, False] Translation: X:6.83, Y:0.21, Z:-1.56 [[ 9.99774796e-01 -9.44530562e-03 -1.90037961e-02 6.82613630e+00] [ 9.50386454e-03 9.99950357e-01 2.99348147e-03 2.12096492e-01] [ 1.89745784e-02 -3.17341683e-03 9.99814930e-01 -1.55694289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.664553574 meters Centerline goodness [0,1] 0.8307192929816426 Centerline is valid? [False, False] Translation: X:6.83, Y:0.21, Z:-1.56 [[ 9.99771474e-01 -9.53319658e-03 -1.91342320e-02 6.82670736e+00] [ 9.59818050e-03 9.99948467e-01 3.30725334e-03 2.10797067e-01] [ 1.91017173e-02 -3.49015136e-03 9.99811454e-01 -1.55679378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.69455357399997 meters Centerline goodness [0,1] 0.8314020224104947 Centerline is valid? [False, False] Translation: X:6.83, Y:0.21, Z:-1.56 [[ 9.99774627e-01 -9.32326163e-03 -1.90728078e-02 6.82630497e+00] [ 9.39876129e-03 9.99948331e-01 3.87269449e-03 2.09013314e-01] [ 1.90357162e-02 -4.05108246e-03 9.99810597e-01 -1.55612849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.72455357399997 meters Centerline goodness [0,1] 0.8267426639031308 Centerline is valid? [False, False] Translation: X:6.84, Y:0.21, Z:-1.56 [[ 9.99843590e-01 -3.23103368e-03 -1.73884094e-02 6.84482389e+00] [ 3.18044539e-03 9.99990632e-01 -2.93617838e-03 2.10810980e-01] [ 1.73977333e-02 2.88041625e-03 9.99844499e-01 -1.55979335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.75455357399997 meters Centerline goodness [0,1] 0.8291027074188183 Centerline is valid? [False, False] Translation: X:6.85, Y:0.21, Z:-1.56 [[ 9.99836887e-01 2.10440884e-04 -1.80597543e-02 6.84717548e+00] [-1.80080848e-04 9.99998568e-01 1.68269776e-03 2.09627686e-01] [ 1.80600826e-02 -1.67917107e-03 9.99835493e-01 -1.55871326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.78455357399997 meters Centerline goodness [0,1] 0.8304460510162325 Centerline is valid? [False, False] Translation: X:6.85, Y:0.21, Z:-1.56 [[ 9.99844722e-01 1.07774042e-03 -1.75889027e-02 6.84545351e+00] [-1.05074380e-03 9.99998256e-01 1.54403585e-03 2.10870207e-01] [ 1.75905361e-02 -1.52531467e-03 9.99844111e-01 -1.55929860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.81455357399997 meters Centerline goodness [0,1] 0.8265878636016996 Centerline is valid? [False, False] Translation: X:6.84, Y:0.21, Z:-1.56 [[ 9.99851526e-01 1.81120083e-03 -1.71360696e-02 6.84420207e+00] [-1.79484201e-03 9.99997919e-01 9.69973767e-04 2.13143447e-01] [ 1.71377908e-02 -9.39073214e-04 9.99852696e-01 -1.56079085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.84455357399997 meters Centerline goodness [0,1] 0.8220417506949365 Centerline is valid? [False, False] Translation: X:6.83, Y:0.22, Z:-1.57 [[ 9.99967305e-01 -1.63759630e-03 -7.91875892e-03 6.83306253e+00] [ 1.66416992e-03 9.99993003e-01 3.35035751e-03 2.15155926e-01] [ 7.91321697e-03 -3.36342613e-03 9.99963033e-01 -1.56678818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.87455357399998 meters Centerline goodness [0,1] 0.8250970175581427 Centerline is valid? [False, False] Translation: X:6.83, Y:0.22, Z:-1.57 [[ 9.99966862e-01 -1.63972460e-03 -7.97405953e-03 6.83310880e+00] [ 1.66640060e-03 9.99993034e-01 3.33985464e-03 2.15596141e-01] [ 7.96852754e-03 -3.35303194e-03 9.99962629e-01 -1.56635768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.90455357399998 meters Centerline goodness [0,1] 0.8285162728731069 Centerline is valid? [False, False] Translation: X:6.83, Y:0.22, Z:-1.57 [[ 9.99966235e-01 -1.60986405e-03 -8.05832862e-03 6.83322192e+00] [ 1.63721604e-03 9.99992918e-01 3.38880594e-03 2.15806106e-01] [ 8.05281604e-03 -3.40188475e-03 9.99961789e-01 -1.56611198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.93455357399998 meters Centerline goodness [0,1] 0.8339938114108898 Centerline is valid? [False, False] Translation: X:6.83, Y:0.22, Z:-1.57 [[ 9.99965412e-01 -1.73809181e-03 -8.13351204e-03 6.83384443e+00] [ 1.76222552e-03 9.99994064e-01 2.96096870e-03 2.16485857e-01] [ 8.12831732e-03 -2.97519937e-03 9.99962539e-01 -1.56697944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.96455357399998 meters Centerline goodness [0,1] 0.8309350564726325 Centerline is valid? [False, False] Translation: X:6.84, Y:0.22, Z:-1.57 [[ 9.99962611e-01 -2.05914552e-03 -8.39860775e-03 6.83509684e+00] [ 2.08051771e-03 9.99994618e-01 2.53678708e-03 2.17469523e-01] [ 8.39333893e-03 -2.55416568e-03 9.99961513e-01 -1.56779049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.99455357399998 meters Centerline goodness [0,1] 0.824226285900606 Centerline is valid? [False, False] Translation: X:6.84, Y:0.22, Z:-1.57 [[ 9.99960699e-01 -2.27325404e-03 -8.56926110e-03 6.83576630e+00] [ 2.29565140e-03 9.99993973e-01 2.60475631e-03 2.17587911e-01] [ 8.56328818e-03 -2.62432597e-03 9.99959891e-01 -1.56756032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.02455357399998 meters Centerline goodness [0,1] 0.824226285900606 Centerline is valid? [False, False] Translation: X:6.84, Y:0.22, Z:-1.57 [[ 9.99960699e-01 -2.27325404e-03 -8.56926110e-03 6.83576630e+00] [ 2.29565140e-03 9.99993973e-01 2.60475631e-03 2.17587911e-01] [ 8.56328818e-03 -2.62432597e-03 9.99959891e-01 -1.56756032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.05455357399998 meters Centerline goodness [0,1] 0.8285333912948976 Centerline is valid? [False, False] Translation: X:6.84, Y:0.22, Z:-1.57 [[ 9.99957635e-01 -2.58106459e-03 -8.83552160e-03 6.83629111e+00] [ 2.60970729e-03 9.99991372e-01 3.23177352e-03 2.16585696e-01] [ 8.82710395e-03 -3.25469474e-03 9.99955744e-01 -1.56585744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.08455357399998 meters Centerline goodness [0,1] 0.8235933382237075 Centerline is valid? [False, False] Translation: X:6.84, Y:0.22, Z:-1.56 [[ 9.99957891e-01 -2.39771714e-03 -8.85816546e-03 6.83578954e+00] [ 2.43064867e-03 9.99990169e-01 3.70875245e-03 2.16527564e-01] [ 8.84918583e-03 -3.73012737e-03 9.99953888e-01 -1.56445822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.11455357399998 meters Centerline goodness [0,1] 0.8261978403603016 Centerline is valid? [False, False] Translation: X:6.84, Y:0.22, Z:-1.56 [[ 9.99958948e-01 -2.22468906e-03 -8.78367906e-03 6.83546360e+00] [ 2.25650650e-03 9.99990923e-01 3.61408984e-03 2.17162009e-01] [ 8.77555911e-03 -3.63376191e-03 9.99954892e-01 -1.56443624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.14455357399999 meters Centerline goodness [0,1] 0.8248990323367577 Centerline is valid? [False, False] Translation: X:6.83, Y:0.22, Z:-1.56 [[ 9.99964249e-01 -1.47102505e-03 -8.32692775e-03 6.83362892e+00] [ 1.49864891e-03 9.99993392e-01 3.31214554e-03 2.19714760e-01] [ 8.32200048e-03 -3.32450627e-03 9.99959845e-01 -1.56459623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.174553574 meters Centerline goodness [0,1] 0.8271431656229756 Centerline is valid? [False, False] Translation: X:6.83, Y:0.22, Z:-1.57 [[ 9.99966451e-01 -1.18884609e-03 -8.10450724e-03 6.83337866e+00] [ 1.20823236e-03 9.99996420e-01 2.38756003e-03 2.22040374e-01] [ 8.10163978e-03 -2.39727206e-03 9.99964308e-01 -1.56642645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.204553574 meters Centerline goodness [0,1] 0.8234707357183296 Centerline is valid? [False, False] Translation: X:6.83, Y:0.22, Z:-1.57 [[ 9.99966791e-01 -1.11409350e-03 -8.07311430e-03 6.83343379e+00] [ 1.13150818e-03 9.99997042e-01 2.15287434e-03 2.23078828e-01] [ 8.07069192e-03 -2.16193764e-03 9.99965094e-01 -1.56676725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.234553574 meters Centerline goodness [0,1] 0.8211875843454791 Centerline is valid? [False, False] Translation: X:6.83, Y:0.22, Z:-1.57 [[ 9.99966833e-01 -1.11201833e-03 -8.06826668e-03 6.83354613e+00] [ 1.12920970e-03 9.99997101e-01 2.12649637e-03 2.23399664e-01] [ 8.06587859e-03 -2.13553661e-03 9.99965190e-01 -1.56672039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.264553574 meters Centerline goodness [0,1] 0.8232629620642239 Centerline is valid? [False, False] Translation: X:6.83, Y:0.22, Z:-1.57 [[ 9.99964762e-01 -1.38532850e-03 -8.27982233e-03 6.83430541e+00] [ 1.40458717e-03 9.99996321e-01 2.32061306e-03 2.22883611e-01] [ 8.27657706e-03 -2.33216102e-03 9.99963029e-01 -1.56624230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.294553574 meters Centerline goodness [0,1] 0.8241579872852698 Centerline is valid? [False, False] Translation: X:6.84, Y:0.22, Z:-1.56 [[ 9.99955658e-01 -2.57311295e-03 -9.05875189e-03 6.83705478e+00] [ 2.60034232e-03 9.99992133e-01 2.99536943e-03 2.20948924e-01] [ 9.05097320e-03 -3.01879246e-03 9.99954482e-01 -1.56446364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.324553574 meters Centerline goodness [0,1] 0.8253025064822818 Centerline is valid? [False, False] Translation: X:6.85, Y:0.23, Z:-1.57 [[ 9.99871004e-01 -1.12405845e-02 -1.14727432e-02 6.84979867e+00] [ 1.11954685e-02 9.99929372e-01 -3.98913521e-03 2.26056802e-01] [ 1.15167731e-02 3.86017789e-03 9.99926229e-01 -1.56991244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.354553574 meters Centerline goodness [0,1] 0.8260610653962754 Centerline is valid? [False, False] Translation: X:6.86, Y:0.22, Z:-1.57 [[ 9.99826219e-01 -1.34188111e-02 -1.29408881e-02 6.85500823e+00] [ 1.33841230e-02 9.99906610e-01 -2.76339616e-03 2.24252695e-01] [ 1.29767611e-02 2.58971349e-03 9.99912445e-01 -1.56650160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.384553574 meters Centerline goodness [0,1] 0.8305296288257 Centerline is valid? [False, False] Translation: X:6.86, Y:0.22, Z:-1.56 [[ 9.99781391e-01 -1.53622356e-02 -1.41834813e-02 6.85967979e+00] [ 1.53334700e-02 9.99880157e-01 -2.13463858e-03 2.22614420e-01] [ 1.42145743e-02 1.91668995e-03 9.99897131e-01 -1.56461841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.414553574 meters Centerline goodness [0,1] 0.8343758498776176 Centerline is valid? [False, False] Translation: X:6.88, Y:0.22, Z:-1.56 [[ 9.99610123e-01 -2.19877788e-02 -1.72087333e-02 6.87553435e+00] [ 2.19379481e-02 9.99754593e-01 -3.07912710e-03 2.23855704e-01] [ 1.72722133e-02 2.70040232e-03 9.99847178e-01 -1.56458857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.44455357399997 meters Centerline goodness [0,1] 0.8349966009517336 Centerline is valid? [False, False] Translation: X:6.88, Y:0.22, Z:-1.56 [[ 9.99559604e-01 -2.34019867e-02 -1.82467774e-02 6.87943863e+00] [ 2.33488199e-02 9.99722506e-01 -3.12140671e-03 2.24003943e-01] [ 1.83147612e-02 2.69399134e-03 9.99828641e-01 -1.56423778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.47455357399997 meters Centerline goodness [0,1] 0.8429210784848815 Centerline is valid? [False, False] Translation: X:6.88, Y:0.22, Z:-1.56 [[ 9.99502914e-01 -2.48964165e-02 -1.93415153e-02 6.88339718e+00] [ 2.48501744e-02 9.99687734e-01 -2.62753532e-03 2.22732745e-01] [ 1.94008918e-02 2.14558918e-03 9.99809483e-01 -1.56289180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.50455357399997 meters Centerline goodness [0,1] 0.8412117903930131 Centerline is valid? [False, False] Translation: X:6.89, Y:0.22, Z:-1.56 [[ 9.99505173e-01 -2.33440395e-02 -2.10823258e-02 6.88999789e+00] [ 2.33979161e-02 9.99723557e-01 2.31246009e-03 2.20798338e-01] [ 2.10225156e-02 -2.80459832e-03 9.99775069e-01 -1.56058516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.53455357399997 meters Centerline goodness [0,1] 0.8362104229730836 Centerline is valid? [False, False] Translation: X:6.89, Y:0.22, Z:-1.56 [[ 9.99482189e-01 -2.38936347e-02 -2.15510651e-02 6.89197941e+00] [ 2.39462951e-02 9.99710850e-01 2.18873373e-03 2.21025641e-01] [ 2.14925368e-02 -2.70366855e-03 9.99765353e-01 -1.56098677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.56455357399997 meters Centerline goodness [0,1] 0.8319775060056781 Centerline is valid? [False, False] Translation: X:6.89, Y:0.22, Z:-1.56 [[ 9.99467326e-01 -2.42364058e-02 -2.18554485e-02 6.89316278e+00] [ 2.42986684e-02 9.99701395e-01 2.58775252e-03 2.20307311e-01] [ 2.17862045e-02 -3.11743239e-03 9.99757792e-01 -1.56029235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.59455357399997 meters Centerline goodness [0,1] 0.8407987342462764 Centerline is valid? [False, False] Translation: X:6.89, Y:0.22, Z:-1.56 [[ 9.99504068e-01 -2.32275026e-02 -2.12626604e-02 6.89052169e+00] [ 2.32982603e-02 9.99723795e-01 3.08610969e-03 2.20928221e-01] [ 2.11851050e-02 -3.57996219e-03 9.99769161e-01 -1.55907679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.62455357399998 meters Centerline goodness [0,1] 0.8404064066245369 Centerline is valid? [False, False] Translation: X:6.90, Y:0.22, Z:-1.56 [[ 9.99710010e-01 -1.85908753e-02 -1.53060612e-02 6.90426882e+00] [ 1.85403130e-02 9.99822200e-01 -3.43872195e-03 2.23866440e-01] [ 1.53672686e-02 3.15394559e-03 9.99876942e-01 -1.56341880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.65455357399998 meters Centerline goodness [0,1] 0.8357385514336186 Centerline is valid? [False, False] Translation: X:6.91, Y:0.22, Z:-1.56 [[ 9.99759578e-01 -1.49985680e-02 -1.59946391e-02 6.90578548e+00] [ 1.50284709e-02 9.99885533e-01 1.75099749e-03 2.22502887e-01] [ 1.59665458e-02 -1.99095148e-03 9.99870544e-01 -1.56074500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.68455357399998 meters Centerline goodness [0,1] 0.8330215027522438 Centerline is valid? [False, False] Translation: X:6.91, Y:0.22, Z:-1.56 [[ 9.99804142e-01 -1.10837370e-02 -1.63960047e-02 6.90657952e+00] [ 1.11875724e-02 9.99917854e-01 6.25485615e-03 2.22841384e-01] [ 1.63253306e-02 -6.43706258e-03 9.99846012e-01 -1.55932465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.71455357399998 meters Centerline goodness [0,1] 0.8300029663187983 Centerline is valid? [False, False] Translation: X:6.91, Y:0.23, Z:-1.56 [[ 0.99983585 -0.00711944 -0.01666086 6.90809562] [ 0.00727739 0.99992897 0.00943921 0.22549258] [ 0.01659247 -0.00955891 0.99981664 -1.56118972] [ 0. 0. 0. 1. ]] SLAMing on 218.74455357399998 meters Centerline goodness [0,1] 0.8280833176147234 Centerline is valid? [False, False] Translation: X:6.91, Y:0.23, Z:-1.56 [[ 9.99847518e-01 -6.47315925e-03 -1.62184802e-02 6.90679476e+00] [ 6.62162192e-03 9.99936515e-01 9.11700332e-03 2.26552728e-01] [ 1.61584347e-02 -9.22300578e-03 9.99826906e-01 -1.56204570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.77455357399998 meters Centerline goodness [0,1] 0.8288344220698591 Centerline is valid? [False, False] Translation: X:6.90, Y:0.23, Z:-1.56 [[ 9.99860717e-01 -5.68625045e-03 -1.56911589e-02 6.90481537e+00] [ 5.83528712e-03 9.99938144e-01 9.46874917e-03 2.25959563e-01] [ 1.56363467e-02 -9.55899276e-03 9.99832051e-01 -1.56139932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.80455357399998 meters Centerline goodness [0,1] 0.8309346701164295 Centerline is valid? [False, False] Translation: X:6.91, Y:0.23, Z:-1.56 [[ 9.99855565e-01 -6.00889563e-03 -1.58978985e-02 6.90586861e+00] [ 6.15640027e-03 9.99938307e-01 9.24563351e-03 2.25896195e-01] [ 1.58413617e-02 -9.34217194e-03 9.99830873e-01 -1.56183271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.83455357399998 meters Centerline goodness [0,1] 0.8269111500606714 Centerline is valid? [False, False] Translation: X:6.91, Y:0.23, Z:-1.56 [[ 9.99849545e-01 -6.30476498e-03 -1.61597567e-02 6.90689090e+00] [ 6.45355205e-03 9.99937114e-01 9.17170925e-03 2.25928364e-01] [ 1.61009150e-02 -9.27461715e-03 9.99827356e-01 -1.56189867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.86455357399998 meters Centerline goodness [0,1] 0.8300702878840923 Centerline is valid? [False, False] Translation: X:6.91, Y:0.23, Z:-1.56 [[ 9.99842187e-01 -6.72751418e-03 -1.64420919e-02 6.90820925e+00] [ 6.87597127e-03 9.99935955e-01 8.98929626e-03 2.26262306e-01] [ 1.63805633e-02 -9.10093298e-03 9.99824410e-01 -1.56211146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.89455357399999 meters Centerline goodness [0,1] 0.8284457084596604 Centerline is valid? [False, False] Translation: X:6.91, Y:0.23, Z:-1.56 [[ 0.99983532 -0.00714346 -0.0166822 6.90978664] [ 0.00728143 0.99993967 0.00822435 0.22751882] [ 0.01662244 -0.00834446 0.99982702 -1.56371623] [ 0. 0. 0. 1. ]] SLAMing on 218.924553574 meters Centerline goodness [0,1] 0.8314963170062907 Centerline is valid? [False, False] Translation: X:6.91, Y:0.23, Z:-1.57 [[ 0.99982052 -0.00785636 -0.01723986 6.91238661] [ 0.00798139 0.99994226 0.00719558 0.23009451] [ 0.01718234 -0.00733188 0.99982549 -1.56559853] [ 0. 0. 0. 1. ]] SLAMing on 218.954553574 meters Centerline goodness [0,1] 0.8282602850228556 Centerline is valid? [False, False] Translation: X:6.91, Y:0.23, Z:-1.57 [[ 0.99981448 -0.00813501 -0.01745917 6.91333213] [ 0.00825835 0.99994137 0.00700411 0.23059517] [ 0.01740117 -0.007147 0.99982304 -1.56582266] [ 0. 0. 0. 1. ]] SLAMing on 218.984553574 meters Centerline goodness [0,1] 0.8305034577402255 Centerline is valid? [False, False] Translation: X:6.91, Y:0.23, Z:-1.57 [[ 9.99802653e-01 -8.69869959e-03 -1.78602339e-02 6.91496372e+00] [ 8.82129488e-03 9.99937992e-01 6.79687779e-03 2.30610315e-01] [ 1.78000025e-02 -6.95308683e-03 9.99817391e-01 -1.56602595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.014553574 meters Centerline goodness [0,1] 0.8321857012211523 Centerline is valid? [False, False] Translation: X:6.92, Y:0.23, Z:-1.57 [[ 9.99784196e-01 -9.53609903e-03 -1.84560221e-02 6.91712713e+00] [ 9.66459041e-03 9.99929591e-01 6.88540280e-03 2.30409576e-01] [ 1.83890628e-02 -7.06228679e-03 9.99805964e-01 -1.56537003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.044553574 meters Centerline goodness [0,1] 0.8327466208045575 Centerline is valid? [False, False] Translation: X:6.92, Y:0.23, Z:-1.57 [[ 9.99772923e-01 -1.00279097e-02 -1.88027585e-02 6.91864423e+00] [ 1.01548885e-02 9.99926192e-01 6.66992321e-03 2.30916692e-01] [ 1.87344853e-02 -6.85934854e-03 9.99800964e-01 -1.56564542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.074553574 meters Centerline goodness [0,1] 0.8319061552089765 Centerline is valid? [False, False] Translation: X:6.92, Y:0.23, Z:-1.57 [[ 9.99756449e-01 -1.07559338e-02 -1.92704905e-02 6.92052279e+00] [ 1.08795047e-02 9.99920849e-01 6.31911986e-03 2.31745854e-01] [ 1.92009972e-02 -6.52723422e-03 9.99794337e-01 -1.56572414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.104553574 meters Centerline goodness [0,1] 0.834045871312952 Centerline is valid? [False, False] Translation: X:6.92, Y:0.23, Z:-1.57 [[ 9.99752885e-01 -1.08994682e-02 -1.93744790e-02 6.92094164e+00] [ 1.10227566e-02 9.99919602e-01 6.26808033e-03 2.32346151e-01] [ 1.93046025e-02 -6.48009156e-03 9.99792649e-01 -1.56557190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.134553574 meters Centerline goodness [0,1] 0.8311311633902675 Centerline is valid? [False, False] Translation: X:6.92, Y:0.23, Z:-1.57 [[ 9.99742955e-01 -1.12978510e-02 -1.96565944e-02 6.92230940e+00] [ 1.14172760e-02 9.99916975e-01 5.97399018e-03 2.33119875e-01] [ 1.95874692e-02 -6.19687936e-03 9.99788943e-01 -1.56611122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.164553574 meters Centerline goodness [0,1] 0.8324254702551855 Centerline is valid? [False, False] Translation: X:6.93, Y:0.24, Z:-1.57 [[ 9.99703665e-01 -1.28134505e-02 -2.06977739e-02 6.92697445e+00] [ 1.29172375e-02 9.99904619e-01 4.88851198e-03 2.35112164e-01] [ 2.06331610e-02 -5.15442140e-03 9.99773827e-01 -1.56815850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.19455357399997 meters Centerline goodness [0,1] 0.8302979910414934 Centerline is valid? [False, False] Translation: X:6.93, Y:0.24, Z:-1.57 [[ 9.99683679e-01 -1.34975787e-02 -2.12216457e-02 6.92896958e+00] [ 1.36031342e-02 9.99895771e-01 4.83748419e-03 2.35299636e-01] [ 2.11541395e-02 -5.12463488e-03 9.99763092e-01 -1.56804058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.22455357399997 meters Centerline goodness [0,1] 0.8254372786779698 Centerline is valid? [False, False] Translation: X:6.93, Y:0.23, Z:-1.57 [[ 9.99640746e-01 -1.49526632e-02 -2.22440491e-02 6.93210941e+00] [ 1.50764166e-02 9.99871729e-01 5.40617117e-03 2.34312923e-01] [ 2.21603592e-02 -5.73958953e-03 9.99737953e-01 -1.56565008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.25455357399997 meters Centerline goodness [0,1] 0.831476958587187 Centerline is valid? [False, False] Translation: X:6.93, Y:0.23, Z:-1.57 [[ 9.99621444e-01 -1.55447177e-02 -2.27009063e-02 6.93376115e+00] [ 1.56708143e-02 9.99862691e-01 5.38739223e-03 2.34508380e-01] [ 2.26140438e-02 -5.74109449e-03 9.99727785e-01 -1.56537434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.28455357399997 meters Centerline goodness [0,1] 0.833293182365695 Centerline is valid? [False, False] Translation: X:6.94, Y:0.24, Z:-1.57 [[ 9.99586290e-01 -1.66156116e-02 -2.34770349e-02 6.93693730e+00] [ 1.67277264e-02 9.99849559e-01 4.58720923e-03 2.36833730e-01] [ 2.33972837e-02 -4.97802886e-03 9.99713852e-01 -1.56636410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.31455357399997 meters Centerline goodness [0,1] 0.8290194192910757 Centerline is valid? [False, False] Translation: X:6.94, Y:0.24, Z:-1.57 [[ 9.99569120e-01 -1.70966727e-02 -2.38595592e-02 6.93874875e+00] [ 1.71975610e-02 9.99843991e-01 4.02963799e-03 2.38450507e-01] [ 2.37869435e-02 -4.43822792e-03 9.99707199e-01 -1.56736916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.34455357399997 meters Centerline goodness [0,1] 0.832416408503365 Centerline is valid? [False, False] Translation: X:6.94, Y:0.24, Z:-1.57 [[ 9.99556574e-01 -1.74604109e-02 -2.41203246e-02 6.93997728e+00] [ 1.75533734e-02 9.99839274e-01 3.64776311e-03 2.39701173e-01] [ 2.40527563e-02 -4.06953866e-03 9.99702408e-01 -1.56790904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.37455357399998 meters Centerline goodness [0,1] 0.8269909139497595 Centerline is valid? [False, False] Translation: X:6.94, Y:0.24, Z:-1.57 [[ 9.99519940e-01 -1.84845812e-02 -2.48638073e-02 6.94284381e+00] [ 1.85680290e-02 9.99822702e-01 3.12950052e-03 2.41048654e-01] [ 2.48015514e-02 -3.58967007e-03 9.99685949e-01 -1.56831241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.40455357399998 meters Centerline goodness [0,1] 0.8282523312047452 Centerline is valid? [False, False] Translation: X:6.94, Y:0.24, Z:-1.57 [[ 9.99512250e-01 -1.86610674e-02 -2.50405134e-02 6.94351924e+00] [ 1.87415807e-02 9.99819907e-01 2.98447558e-03 2.42306652e-01] [ 2.49803103e-02 -3.45231870e-03 9.99681982e-01 -1.56812555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.43455357399998 meters Centerline goodness [0,1] 0.8287671232876712 Centerline is valid? [False, False] Translation: X:6.95, Y:0.24, Z:-1.57 [[ 9.99481127e-01 -1.94892107e-02 -2.56446256e-02 6.94580731e+00] [ 1.95625930e-02 9.99805218e-01 2.61372391e-03 2.43597081e-01] [ 2.55886910e-02 -3.11404309e-03 9.99667706e-01 -1.56827302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.46455357399998 meters Centerline goodness [0,1] 0.8283962138381549 Centerline is valid? [False, False] Translation: X:6.95, Y:0.24, Z:-1.57 [[ 9.99458079e-01 -2.00580431e-02 -2.61002618e-02 6.94766883e+00] [ 2.01273593e-02 9.99794554e-01 2.39574993e-03 2.44063654e-01] [ 2.60468455e-02 -2.91978097e-03 9.99656459e-01 -1.56869869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.49455357399998 meters Centerline goodness [0,1] 0.8295054886496855 Centerline is valid? [False, False] Translation: X:6.95, Y:0.24, Z:-1.57 [[ 9.99439982e-01 -2.04837507e-02 -2.64601362e-02 6.94915723e+00] [ 2.05545233e-02 9.99785840e-01 2.40544860e-03 2.44148432e-01] [ 2.64051969e-02 -2.94797699e-03 9.99646975e-01 -1.56879631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.52455357399998 meters Centerline goodness [0,1] 0.8276524756439343 Centerline is valid? [False, False] Translation: X:6.95, Y:0.24, Z:-1.57 [[ 9.99404815e-01 -2.13562091e-02 -2.70911223e-02 6.95162276e+00] [ 2.14313238e-02 9.99767234e-01 2.48532053e-03 2.43665893e-01] [ 2.70317394e-02 -3.06443991e-03 9.99629879e-01 -1.56863121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.55455357399998 meters Centerline goodness [0,1] 0.8279434598704288 Centerline is valid? [False, False] Translation: X:6.95, Y:0.24, Z:-1.57 [[ 9.99366881e-01 -2.22608213e-02 -2.77541531e-02 6.95451160e+00] [ 2.23405320e-02 9.99747128e-01 2.56522558e-03 2.42332366e-01] [ 2.76900308e-02 -3.18364404e-03 9.99611488e-01 -1.56910944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.58455357399998 meters Centerline goodness [0,1] 0.8281865173956129 Centerline is valid? [False, False] Translation: X:6.96, Y:0.24, Z:-1.57 [[ 9.99349015e-01 -2.26137358e-02 -2.81098897e-02 6.95597573e+00] [ 2.26984730e-02 9.99738713e-01 2.69903323e-03 2.41611218e-01] [ 2.80415097e-02 -3.33532777e-03 9.99601195e-01 -1.56931862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.61455357399998 meters Centerline goodness [0,1] 0.831009331760163 Centerline is valid? [False, False] Translation: X:6.96, Y:0.24, Z:-1.57 [[ 9.99344006e-01 -2.26830670e-02 -2.82318135e-02 6.95661983e+00] [ 2.27729024e-02 9.99736560e-01 2.86457750e-03 2.41024258e-01] [ 2.81593987e-02 -3.50561869e-03 9.99597298e-01 -1.56949379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.64455357399999 meters Centerline goodness [0,1] 0.8320674199522263 Centerline is valid? [False, False] Translation: X:6.96, Y:0.24, Z:-1.57 [[ 9.99351830e-01 -2.24292072e-02 -2.81575908e-02 6.95679719e+00] [ 2.25240903e-02 9.99741627e-01 3.05703842e-03 2.40102938e-01] [ 2.80817487e-02 -3.68928106e-03 9.99598822e-01 -1.57011974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.674553574 meters Centerline goodness [0,1] 0.8242709313264346 Centerline is valid? [False, False] Translation: X:6.96, Y:0.24, Z:-1.57 [[ 9.99384933e-01 -2.15143852e-02 -2.76927080e-02 6.95551052e+00] [ 2.16102884e-02 9.99761450e-01 3.16847640e-03 2.39883257e-01] [ 2.76179341e-02 -3.76497498e-03 9.99611462e-01 -1.57108075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.704553574 meters Centerline goodness [0,1] 0.8244995695221696 Centerline is valid? [False, False] Translation: X:6.96, Y:0.24, Z:-1.57 [[ 0.99942606 -0.01828418 -0.0285173 6.95817879] [ 0.01850896 0.99979952 0.007638 0.23795974] [ 0.02837193 -0.00816144 0.99956412 -1.57026046] [ 0. 0. 0. 1. ]] SLAMing on 219.734553574 meters Centerline goodness [0,1] 0.8266153970260023 Centerline is valid? [False, False] Translation: X:6.97, Y:0.24, Z:-1.58 [[ 9.99613950e-01 -1.61350857e-02 -2.26188036e-02 6.97451303e+00] [ 1.61283468e-02 9.99869814e-01 -4.80339024e-04 2.39914847e-01] [ 2.26236093e-02 1.15349680e-04 9.99744047e-01 -1.57733302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.764553574 meters Centerline goodness [0,1] 0.8210089468578204 Centerline is valid? [False, False] Translation: X:6.99, Y:0.24, Z:-1.58 [[ 9.99780046e-01 -1.34945821e-02 -1.60547758e-02 6.98996291e+00] [ 1.33825699e-02 9.99885497e-01 -7.06397831e-03 2.41343794e-01] [ 1.61482629e-02 6.84757041e-03 9.99846160e-01 -1.58272779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.794553574 meters Centerline goodness [0,1] 0.8215295924139975 Centerline is valid? [False, False] Translation: X:6.99, Y:0.24, Z:-1.58 [[ 9.99855036e-01 -7.68687378e-03 -1.51927215e-02 6.98519104e+00] [ 7.67693600e-03 9.99970278e-01 -7.12327491e-04 2.38949926e-01] [ 1.51977456e-02 5.95590678e-04 9.99884330e-01 -1.57808561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.824553574 meters Centerline goodness [0,1] 0.8166206026779724 Centerline is valid? [False, False] Translation: X:7.00, Y:0.24, Z:-1.58 [[ 9.99954411e-01 -1.83987263e-03 -9.36964949e-03 7.00065891e+00] [ 1.78835773e-03 9.99983257e-01 -5.50347440e-03 2.40655071e-01] [ 9.37961831e-03 5.48646722e-03 9.99940959e-01 -1.58404228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.854553574 meters Centerline goodness [0,1] 0.814915126974337 Centerline is valid? [False, False] Translation: X:7.00, Y:0.24, Z:-1.58 [[ 9.99963187e-01 -5.49946392e-04 -8.56283386e-03 6.99771270e+00] [ 5.07134765e-04 9.99987366e-01 -5.00107197e-03 2.40699722e-01] [ 8.56547600e-03 4.99654535e-03 9.99950832e-01 -1.58357920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.884553574 meters Centerline goodness [0,1] 0.8148605150214592 Centerline is valid? [False, False] Translation: X:7.00, Y:0.24, Z:-1.58 [[ 9.99955522e-01 3.81165666e-03 -8.62695382e-03 6.99752790e+00] [-3.81106004e-03 9.99992734e-01 8.55962269e-05 2.37965871e-01] [ 8.62721740e-03 -5.27145809e-05 9.99962783e-01 -1.58212090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.914553574 meters Centerline goodness [0,1] 0.8148605150214592 Centerline is valid? [False, False] Translation: X:7.00, Y:0.24, Z:-1.58 [[ 9.99955522e-01 3.81165666e-03 -8.62695382e-03 6.99752790e+00] [-3.81106004e-03 9.99992734e-01 8.55962269e-05 2.37965871e-01] [ 8.62721740e-03 -5.27145809e-05 9.99962783e-01 -1.58212090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.94455357399997 meters Centerline goodness [0,1] 0.8132917350259541 Centerline is valid? [False, False] Translation: X:7.00, Y:0.24, Z:-1.58 [[ 9.99956565e-01 4.96401515e-03 -7.88832586e-03 6.99509464e+00] [-4.95767747e-03 9.99987372e-01 8.22777004e-04 2.35430142e-01] [ 7.89231052e-03 -7.83633491e-04 9.99968548e-01 -1.58203481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.97455357399997 meters Centerline goodness [0,1] 0.8143334771354616 Centerline is valid? [False, False] Translation: X:7.00, Y:0.23, Z:-1.58 [[ 9.99956743e-01 5.09926233e-03 -7.77876500e-03 6.99545631e+00] [-5.08858436e-03 9.99986084e-01 1.39188219e-03 2.31823969e-01] [ 7.78575433e-03 -1.35223908e-03 9.99968776e-01 -1.58284439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.00455357399997 meters Centerline goodness [0,1] 0.8143334771354616 Centerline is valid? [False, False] Translation: X:7.00, Y:0.23, Z:-1.58 [[ 9.99956743e-01 5.09926233e-03 -7.77876500e-03 6.99545631e+00] [-5.08858436e-03 9.99986084e-01 1.39188219e-03 2.31823969e-01] [ 7.78575433e-03 -1.35223908e-03 9.99968776e-01 -1.58284439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.03455357399997 meters Centerline goodness [0,1] 0.8119955731908117 Centerline is valid? [False, False] Translation: X:7.00, Y:0.23, Z:-1.58 [[ 9.99956904e-01 5.12688937e-03 -7.73979810e-03 6.99581560e+00] [-5.11358668e-03 9.99985416e-01 1.73755040e-03 2.29627543e-01] [ 7.74859345e-03 -1.69789740e-03 9.99968538e-01 -1.58338925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.06455357399997 meters Centerline goodness [0,1] 0.8123278794751336 Centerline is valid? [False, False] Translation: X:7.00, Y:0.23, Z:-1.58 [[ 9.99956043e-01 5.46299351e-03 -7.62025660e-03 6.99548069e+00] [-5.44589957e-03 9.99982612e-01 2.26217270e-03 2.27752975e-01] [ 7.63248233e-03 -2.22057411e-03 9.99968407e-01 -1.58331403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.09455357399997 meters Centerline goodness [0,1] 0.8111706445851599 Centerline is valid? [False, False] Translation: X:6.99, Y:0.23, Z:-1.58 [[ 9.99933542e-01 1.01581151e-02 -5.45198193e-03 6.98593196e+00] [-1.01442882e-02 9.99945274e-01 2.55781580e-03 2.27406847e-01] [ 5.47766616e-03 -2.50233934e-03 9.99981867e-01 -1.58498688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.12455357399998 meters Centerline goodness [0,1] 0.8105012964563526 Centerline is valid? [False, False] Translation: X:6.98, Y:0.23, Z:-1.59 [[ 9.99920241e-01 1.17593858e-02 -4.60748406e-03 6.98299567e+00] [-1.17490139e-02 9.99928397e-01 2.27172695e-03 2.28352183e-01] [ 4.63386827e-03 -2.21741236e-03 9.99986805e-01 -1.58642716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.15455357399998 meters Centerline goodness [0,1] 0.8073614023767275 Centerline is valid? [False, False] Translation: X:6.98, Y:0.23, Z:-1.59 [[ 9.99850071e-01 1.68086438e-02 -4.15992274e-03 6.98126530e+00] [-1.67793833e-02 9.99834911e-01 6.97159291e-03 2.27351842e-01] [ 4.27641900e-03 -6.90074673e-03 9.99967045e-01 -1.58575879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.18455357399998 meters Centerline goodness [0,1] 0.8100204279109773 Centerline is valid? [False, False] Translation: X:6.98, Y:0.23, Z:-1.59 [[ 9.99827933e-01 1.82615010e-02 -3.25927335e-03 6.97782445e+00] [-1.82378214e-02 9.99808091e-01 7.15288265e-03 2.27659241e-01] [ 3.38927024e-03 -7.09220982e-03 9.99969106e-01 -1.58572722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.21455357399998 meters Centerline goodness [0,1] 0.812820306420886 Centerline is valid? [False, False] Translation: X:6.98, Y:0.23, Z:-1.59 [[ 9.99809153e-01 1.93651316e-02 -2.57869495e-03 6.97516071e+00] [-1.93456890e-02 9.99785746e-01 7.36248427e-03 2.27763001e-01] [ 2.72071793e-03 -7.31119253e-03 9.99969572e-01 -1.58554778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.24455357399998 meters Centerline goodness [0,1] 0.8095596133190118 Centerline is valid? [False, False] Translation: X:6.97, Y:0.23, Z:-1.59 [[ 9.99769516e-01 2.14201385e-02 -1.44648615e-03 6.97075588e+00] [-2.14086185e-02 9.99742238e-01 7.55835339e-03 2.28203221e-01] [ 1.60801427e-03 -7.52564405e-03 9.99970389e-01 -1.58595047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.27455357399998 meters Centerline goodness [0,1] 0.8066723925063074 Centerline is valid? [False, False] Translation: X:6.97, Y:0.23, Z:-1.59 [[ 9.99770483e-01 2.13706410e-02 -1.50887418e-03 6.97135330e+00] [-2.13591874e-02 9.99745669e-01 7.23763193e-03 2.28671150e-01] [ 1.66316326e-03 -7.20374244e-03 9.99972670e-01 -1.58691481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.30455357399998 meters Centerline goodness [0,1] 0.806459413708789 Centerline is valid? [False, False] Translation: X:6.97, Y:0.23, Z:-1.59 [[ 9.99846879e-01 1.74374453e-02 -1.46790715e-03 6.97244345e+00] [-1.74360465e-02 9.99847519e-01 9.60405271e-04 2.31128944e-01] [ 1.48443034e-03 -9.34663715e-04 9.99998461e-01 -1.59267266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.33455357399998 meters Centerline goodness [0,1] 0.8073002124969739 Centerline is valid? [False, False] Translation: X:6.98, Y:0.23, Z:-1.59 [[ 9.99865152e-01 1.62501488e-02 -2.36862083e-03 6.97632529e+00] [-1.62488738e-02 9.99867823e-01 5.56573142e-04 2.30508800e-01] [ 2.37735215e-03 -5.18010669e-04 9.99997040e-01 -1.59405465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.36455357399998 meters Centerline goodness [0,1] 0.80725586911404 Centerline is valid? [False, False] Translation: X:6.97, Y:0.23, Z:-1.60 [[ 9.99943744e-01 8.56598520e-03 6.25554725e-03 6.96859884e+00] [-8.56048036e-03 9.99962948e-01 -9.06238724e-04 2.31443340e-01] [-6.26307830e-03 8.52637253e-04 9.99980023e-01 -1.60208988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.39455357399999 meters Centerline goodness [0,1] 0.8071731897974088 Centerline is valid? [False, False] Translation: X:6.97, Y:0.23, Z:-1.60 [[ 9.99970289e-01 4.40574494e-03 6.32533813e-03 6.96917098e+00] [-4.37100405e-03 9.99975346e-01 -5.49569583e-03 2.31462258e-01] [-6.34939482e-03 5.46788447e-03 9.99964893e-01 -1.60388351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.424553574 meters Centerline goodness [0,1] 0.806895431032148 Centerline is valid? [False, False] Translation: X:6.97, Y:0.23, Z:-1.60 [[ 9.99980464e-01 3.20333763e-03 5.36757224e-03 6.97241101e+00] [-3.17691630e-03 9.99982832e-01 -4.92371607e-03 2.30085817e-01] [-5.38325242e-03 4.90656756e-03 9.99973473e-01 -1.60255667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.454553574 meters Centerline goodness [0,1] 0.808625774506886 Centerline is valid? [False, False] Translation: X:6.97, Y:0.23, Z:-1.60 [[ 9.99985119e-01 2.56129743e-03 4.81685414e-03 6.97458075e+00] [-2.53745177e-03 9.99984529e-01 -4.95007584e-03 2.29980225e-01] [-4.82945823e-03 4.93777964e-03 9.99976147e-01 -1.60282194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.484553574 meters Centerline goodness [0,1] 0.8050054112554113 Centerline is valid? [False, False] Translation: X:6.98, Y:0.23, Z:-1.60 [[ 9.99992405e-01 1.16258535e-03 3.71994337e-03 6.97920301e+00] [-1.14318450e-03 9.99985758e-01 -5.21324371e-03 2.29938872e-01] [-3.72595123e-03 5.20895154e-03 9.99979492e-01 -1.60391578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.514553574 meters Centerline goodness [0,1] 0.8046315561920718 Centerline is valid? [False, False] Translation: X:6.98, Y:0.23, Z:-1.60 [[ 9.99994522e-01 6.11928145e-04 3.25306163e-03 6.98120497e+00] [-5.94623487e-04 9.99985684e-01 -5.31780734e-03 2.30033963e-01] [-3.25626917e-03 5.31584386e-03 9.99980569e-01 -1.60448694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.544553574 meters Centerline goodness [0,1] 0.8055487622618951 Centerline is valid? [False, False] Translation: X:6.98, Y:0.23, Z:-1.60 [[ 9.99996958e-01 -5.05159529e-04 2.41422862e-03 6.98457725e+00] [ 5.17069830e-04 9.99987688e-01 -4.93530195e-03 2.28208386e-01] [-2.41170578e-03 4.93653526e-03 9.99984907e-01 -1.60447748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.574553574 meters Centerline goodness [0,1] 0.8061806914546641 Centerline is valid? [False, False] Translation: X:6.99, Y:0.23, Z:-1.60 [[ 9.99997686e-01 -1.21186409e-03 1.77766539e-03 6.98688100e+00] [ 1.21979832e-03 9.99989270e-01 -4.46900930e-03 2.26665812e-01] [-1.77223048e-03 4.47116735e-03 9.99988434e-01 -1.60401805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.604553574 meters Centerline goodness [0,1] 0.8047366271947733 Centerline is valid? [False, False] Translation: X:6.99, Y:0.23, Z:-1.60 [[ 9.99997614e-01 -1.79781225e-03 1.24102616e-03 6.98878904e+00] [ 1.80281577e-03 9.99990204e-01 -4.04248754e-03 2.25192031e-01] [-1.23374637e-03 4.04471524e-03 9.99991059e-01 -1.60361488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.634553574 meters Centerline goodness [0,1] 0.805573716900948 Centerline is valid? [False, False] Translation: X:6.99, Y:0.22, Z:-1.60 [[ 9.99997001e-01 -2.33288896e-03 7.44730981e-04 6.99074406e+00] [ 2.33556508e-03 9.99990746e-01 -3.61299489e-03 2.23439520e-01] [-7.36295374e-04 3.61472342e-03 9.99993196e-01 -1.60354675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.664553574 meters Centerline goodness [0,1] 0.803593370286432 Centerline is valid? [False, False] Translation: X:6.99, Y:0.22, Z:-1.60 [[ 9.99998081e-01 -1.70046781e-03 9.72671242e-04 6.98961616e+00] [ 1.70335811e-03 9.99994114e-01 -2.97843377e-03 2.22107931e-01] [-9.67600786e-04 2.98008486e-03 9.99995091e-01 -1.60301959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.69455357399997 meters Centerline goodness [0,1] 0.8060971286777738 Centerline is valid? [False, False] Translation: X:6.99, Y:0.22, Z:-1.60 [[ 9.99998644e-01 -1.06868665e-03 1.25286430e-03 6.98848451e+00] [ 1.07187876e-03 9.99996174e-01 -2.54995144e-03 2.21841107e-01] [-1.25013440e-03 2.55129091e-03 9.99995964e-01 -1.60267655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.72455357399997 meters Centerline goodness [0,1] 0.8049464767248659 Centerline is valid? [False, False] Translation: X:6.99, Y:0.22, Z:-1.60 [[ 9.99998502e-01 -9.00236811e-05 1.72842510e-03 6.98615542e+00] [ 9.36493210e-05 9.99997795e-01 -2.09768889e-03 2.22448483e-01] [-1.72823245e-03 2.09784761e-03 9.99996306e-01 -1.60153930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.75455357399997 meters Centerline goodness [0,1] 0.8021322192984836 Centerline is valid? [False, False] Translation: X:6.98, Y:0.22, Z:-1.60 [[ 9.99995805e-01 1.74949020e-03 2.30872415e-03 6.98292280e+00] [-1.74497448e-03 9.99996564e-01 -1.95650718e-03 2.24867723e-01] [-2.31213911e-03 1.95247031e-03 9.99995421e-01 -1.60129387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.78455357399997 meters Centerline goodness [0,1] 0.8022058227232179 Centerline is valid? [False, False] Translation: X:6.98, Y:0.23, Z:-1.60 [[ 9.99994831e-01 2.25633471e-03 2.29053257e-03 6.98320440e+00] [-2.24974644e-03 9.99993337e-01 -2.87481852e-03 2.28666571e-01] [-2.29700386e-03 2.86965055e-03 9.99993244e-01 -1.60346760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.81455357399997 meters Centerline goodness [0,1] 0.8008064079666612 Centerline is valid? [False, False] Translation: X:6.98, Y:0.23, Z:-1.60 [[ 9.99995569e-01 2.12755563e-03 2.08216106e-03 6.98390733e+00] [-2.12163486e-03 9.99993712e-01 -2.84165913e-03 2.29261479e-01] [-2.08819375e-03 2.83722896e-03 9.99993795e-01 -1.60339284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.84455357399997 meters Centerline goodness [0,1] 0.8005740434865019 Centerline is valid? [False, False] Translation: X:6.99, Y:0.23, Z:-1.60 [[ 9.99997002e-01 1.72959631e-03 1.73341198e-03 6.98515850e+00] [-1.72515322e-03 9.99995231e-01 -2.56143414e-03 2.28920311e-01] [-1.73783396e-03 2.55843606e-03 9.99995217e-01 -1.60287664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.87455357399998 meters Centerline goodness [0,1] 0.8005137912385073 Centerline is valid? [False, False] Translation: X:6.99, Y:0.23, Z:-1.60 [[ 9.99998832e-01 1.03516948e-03 1.12429287e-03 6.98723862e+00] [-1.03267024e-03 9.99997000e-01 -2.22125467e-03 2.28412535e-01] [-1.12658887e-03 2.22009105e-03 9.99996901e-01 -1.60215026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.90455357399998 meters Centerline goodness [0,1] 0.8008724868585054 Centerline is valid? [False, False] Translation: X:6.99, Y:0.23, Z:-1.60 [[ 9.99999685e-01 -7.87138551e-04 -1.02439237e-04 6.99149351e+00] [ 7.86992582e-04 9.99998686e-01 -1.41725318e-03 2.26966835e-01] [ 1.03554677e-04 1.41717211e-03 9.99998990e-01 -1.59982951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.93455357399998 meters Centerline goodness [0,1] 0.8016306563391765 Centerline is valid? [False, False] Translation: X:6.99, Y:0.23, Z:-1.60 [[ 9.99997603e-01 -1.93973767e-03 -1.01525940e-03 6.99466282e+00] [ 1.93861262e-03 9.99997507e-01 -1.10795443e-03 2.26017529e-01] [ 1.01740601e-03 1.10598358e-03 9.99998871e-01 -1.59909114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.96455357399998 meters Centerline goodness [0,1] 0.8015675001355969 Centerline is valid? [False, False] Translation: X:7.00, Y:0.23, Z:-1.60 [[ 9.99987399e-01 -4.31806685e-03 -2.56039362e-03 7.00082980e+00] [ 4.31456334e-03 9.99989751e-01 -1.37229747e-03 2.25742667e-01] [ 2.56629305e-03 1.36123319e-03 9.99995781e-01 -1.59923839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.99455357399998 meters Centerline goodness [0,1] 0.800390805221592 Centerline is valid? [False, False] Translation: X:7.00, Y:0.23, Z:-1.60 [[ 9.99980570e-01 -5.26058771e-03 -3.34441357e-03 7.00380895e+00] [ 5.25551569e-03 9.99985029e-01 -1.52354969e-03 2.25980956e-01] [ 3.35237827e-03 1.50594347e-03 9.99993247e-01 -1.59956322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.02455357399998 meters Centerline goodness [0,1] 0.8032849089332177 Centerline is valid? [False, False] Translation: X:7.01, Y:0.23, Z:-1.60 [[ 9.99972633e-01 -6.14679185e-03 -4.11709909e-03 7.00657524e+00] [ 6.14050571e-03 9.99979965e-01 -1.53774236e-03 2.26121078e-01] [ 4.12646878e-03 1.51241920e-03 9.99990342e-01 -1.59953538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.05455357399998 meters Centerline goodness [0,1] 0.8045078196872125 Centerline is valid? [False, False] Translation: X:7.01, Y:0.23, Z:-1.60 [[ 9.99955195e-01 -7.77683849e-03 -5.39713856e-03 7.01150516e+00] [ 7.76506224e-03 9.99967433e-01 -2.19947988e-03 2.27480686e-01] [ 5.41406778e-03 2.15747222e-03 9.99983016e-01 -1.60050551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.08455357399998 meters Centerline goodness [0,1] 0.8030352127889393 Centerline is valid? [False, False] Translation: X:7.01, Y:0.23, Z:-1.60 [[ 9.99945270e-01 -8.50162944e-03 -6.09742486e-03 7.01432171e+00] [ 8.48350202e-03 9.99959536e-01 -2.99269114e-03 2.29664833e-01] [ 6.12262089e-03 2.94079984e-03 9.99976932e-01 -1.60198300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.11455357399998 meters Centerline goodness [0,1] 0.8057005975130538 Centerline is valid? [False, False] Translation: X:7.02, Y:0.23, Z:-1.60 [[ 9.99949111e-01 -6.50231978e-03 -7.71326442e-03 7.01998421e+00] [ 6.51296101e-03 9.99977872e-01 1.35528536e-03 2.28994589e-01] [ 7.70428125e-03 -1.40545259e-03 9.99969334e-01 -1.60090750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.14455357399999 meters Centerline goodness [0,1] 0.801073969660357 Centerline is valid? [False, False] Translation: X:7.02, Y:0.23, Z:-1.60 [[ 9.99954849e-01 -5.74022121e-03 -7.57301379e-03 7.01915033e+00] [ 5.74662480e-03 9.99983148e-01 8.24091387e-04 2.31733617e-01] [ 7.56815570e-03 -8.67573447e-04 9.99970985e-01 -1.60202242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.174553574 meters Centerline goodness [0,1] 0.8036510067114094 Centerline is valid? [False, False] Translation: X:7.02, Y:0.23, Z:-1.60 [[ 9.99956113e-01 -5.50594367e-03 -7.57998451e-03 7.01905239e+00] [ 5.51246940e-03 9.99984453e-01 8.40292371e-04 2.32343073e-01] [ 7.57524007e-03 -8.82039926e-04 9.99970918e-01 -1.60213093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.204553574 meters Centerline goodness [0,1] 0.8025018750669667 Centerline is valid? [False, False] Translation: X:7.02, Y:0.23, Z:-1.60 [[ 9.99959800e-01 -5.04322876e-03 -7.41380011e-03 7.01824396e+00] [ 5.04995794e-03 9.99986854e-01 8.89216496e-04 2.32944501e-01] [ 7.40921812e-03 -9.26620128e-04 9.99972122e-01 -1.60210323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.234553574 meters Centerline goodness [0,1] 0.8042042202669092 Centerline is valid? [False, False] Translation: X:7.01, Y:0.23, Z:-1.60 [[ 9.99972749e-01 -3.31040254e-03 -6.59867993e-03 7.01426005e+00] [ 3.32116675e-03 9.99993171e-01 1.62097746e-03 2.33258289e-01] [ 6.59326878e-03 -1.64284860e-03 9.99976915e-01 -1.60057676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.264553574 meters Centerline goodness [0,1] 0.8020003209070974 Centerline is valid? [False, False] Translation: X:7.01, Y:0.23, Z:-1.60 [[ 9.99983720e-01 -1.27219706e-03 -5.56248753e-03 7.00978039e+00] [ 1.28369016e-03 9.99997048e-01 2.06309638e-03 2.33830762e-01] [ 5.55984644e-03 -2.07020331e-03 9.99982401e-01 -1.60018666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.294553574 meters Centerline goodness [0,1] 0.802863171389653 Centerline is valid? [False, False] Translation: X:7.01, Y:0.23, Z:-1.60 [[ 9.99985869e-01 -6.50101680e-04 -5.27627420e-03 7.00885133e+00] [ 6.60132656e-04 9.99997978e-01 1.89962884e-03 2.34353231e-01] [ 5.27502858e-03 -1.90308504e-03 9.99984276e-01 -1.60092385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.324553574 meters Centerline goodness [0,1] 0.8008801173489799 Centerline is valid? [False, False] Translation: X:7.01, Y:0.23, Z:-1.60 [[ 9.99987788e-01 3.82146083e-05 -4.94198435e-03 7.00783713e+00] [-2.97161062e-05 9.99998521e-01 1.71971578e-03 2.34651358e-01] [ 4.94204276e-03 -1.71954792e-03 9.99986310e-01 -1.60196020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.354553574 meters Centerline goodness [0,1] 0.8016735955655048 Centerline is valid? [False, False] Translation: X:7.00, Y:0.23, Z:-1.60 [[ 9.99990149e-01 1.78811787e-03 -4.06254423e-03 7.00497748e+00] [-1.78132563e-03 9.99997011e-01 1.67492105e-03 2.34811241e-01] [ 4.06552704e-03 -1.66766784e-03 9.99990345e-01 -1.60355087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.384553574 meters Centerline goodness [0,1] 0.8028033640368442 Centerline is valid? [False, False] Translation: X:7.00, Y:0.23, Z:-1.60 [[ 9.99989937e-01 2.20567061e-03 -3.90645053e-03 7.00442345e+00] [-2.19883796e-03 9.99996047e-01 1.75249999e-03 2.34158206e-01] [ 3.91030053e-03 -1.74389271e-03 9.99990834e-01 -1.60399731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.414553574 meters Centerline goodness [0,1] 0.804602912155315 Centerline is valid? [False, False] Translation: X:7.00, Y:0.23, Z:-1.60 [[ 9.99988903e-01 3.36770429e-03 -3.29431576e-03 7.00165829e+00] [-3.35780556e-03 9.99989845e-01 3.00572185e-03 2.31239303e-01] [ 3.30440469e-03 -2.99462682e-03 9.99990057e-01 -1.60224818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.44455357399997 meters Centerline goodness [0,1] 0.8046762781294887 Centerline is valid? [False, False] Translation: X:6.99, Y:0.23, Z:-1.60 [[ 9.99977674e-01 6.44285969e-03 -1.77233086e-03 6.99490749e+00] [-6.43601275e-03 9.99971907e-01 3.84219118e-03 2.31505650e-01] [ 1.79703577e-03 -3.83069866e-03 9.99991048e-01 -1.60107254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.47455357399997 meters Centerline goodness [0,1] 0.802974076233897 Centerline is valid? [False, False] Translation: X:6.99, Y:0.23, Z:-1.60 [[ 9.99972953e-01 7.21425884e-03 -1.43077199e-03 6.99392537e+00] [-7.20939818e-03 9.99968321e-01 3.37377328e-03 2.32933892e-01] [ 1.45506594e-03 -3.36336703e-03 9.99993285e-01 -1.60258432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.50455357399997 meters Centerline goodness [0,1] 0.804908980422204 Centerline is valid? [False, False] Translation: X:6.99, Y:0.23, Z:-1.60 [[ 9.99961870e-01 8.70424324e-03 -7.03875244e-04 6.99124350e+00] [-8.70205727e-03 9.99957481e-01 3.05124316e-03 2.34826095e-01] [ 7.30404079e-04 -3.04500165e-03 9.99995097e-01 -1.60374316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.53455357399997 meters Centerline goodness [0,1] 0.8028143034072044 Centerline is valid? [False, False] Translation: X:6.99, Y:0.24, Z:-1.61 [[ 9.99944097e-01 1.05709807e-02 2.41051207e-04 6.98802442e+00] [-1.05716103e-02 9.99940253e-01 2.78047576e-03 2.36358412e-01] [-2.11644449e-04 -2.78286863e-03 9.99996105e-01 -1.60533937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.56455357399997 meters Centerline goodness [0,1] 0.8031755226710201 Centerline is valid? [False, False] Translation: X:6.99, Y:0.24, Z:-1.61 [[ 9.99942183e-01 1.07496588e-02 2.73017032e-04 6.98796778e+00] [-1.07503976e-02 9.99938104e-01 2.86660527e-03 2.35794267e-01] [-2.42185105e-04 -2.86937457e-03 9.99995854e-01 -1.60561627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.59455357399997 meters Centerline goodness [0,1] 0.8045855565534366 Centerline is valid? [False, False] Translation: X:6.99, Y:0.23, Z:-1.61 [[ 9.99968727e-01 7.83256364e-03 1.09382198e-03 6.98605344e+00] [-7.83114264e-03 9.99968494e-01 -1.29740855e-03 2.34764884e-01] [-1.10394955e-03 1.28880210e-03 9.99998560e-01 -1.60766717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.62455357399998 meters Centerline goodness [0,1] 0.8057536789075964 Centerline is valid? [False, False] Translation: X:6.98, Y:0.23, Z:-1.61 [[ 9.99988974e-01 4.41444594e-03 1.60120910e-03 6.98499136e+00] [-4.40548139e-03 9.99974841e-01 -5.55959008e-03 2.34043473e-01] [-1.62571133e-03 5.55247469e-03 9.99983263e-01 -1.60934454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.65455357399998 meters Centerline goodness [0,1] 0.8048209439684989 Centerline is valid? [False, False] Translation: X:6.99, Y:0.23, Z:-1.61 [[ 9.99992975e-01 3.61433955e-03 9.93474221e-04 6.98712248e+00] [-3.60994226e-03 9.99983835e-01 -4.39289377e-03 2.30408073e-01] [-1.00933557e-03 4.38927652e-03 9.99989858e-01 -1.60773414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.68455357399998 meters Centerline goodness [0,1] 0.8081646728029921 Centerline is valid? [False, False] Translation: X:6.99, Y:0.23, Z:-1.61 [[ 9.99990415e-01 4.18964469e-03 1.27182221e-03 6.98607762e+00] [-4.18417851e-03 9.99982127e-01 -4.27057089e-03 2.31109499e-01] [-1.28969166e-03 4.26520842e-03 9.99990072e-01 -1.60767693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.71455357399998 meters Centerline goodness [0,1] 0.8077565411022454 Centerline is valid? [False, False] Translation: X:6.99, Y:0.23, Z:-1.61 [[ 9.99988922e-01 4.51110560e-03 1.34356846e-03 6.98570062e+00] [-4.50577618e-03 9.99982073e-01 -3.94357547e-03 2.30874236e-01] [-1.36133426e-03 3.93747797e-03 9.99991321e-01 -1.60731173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.74455357399998 meters Centerline goodness [0,1] 0.8079892137683076 Centerline is valid? [False, False] Translation: X:6.99, Y:0.23, Z:-1.61 [[ 9.99989807e-01 4.38141143e-03 1.09014065e-03 6.98692028e+00] [-4.37675545e-03 9.99981444e-01 -4.23733486e-03 2.31672313e-01] [-1.10868593e-03 4.23252039e-03 9.99990428e-01 -1.60830010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.77455357399998 meters Centerline goodness [0,1] 0.8085864316436657 Centerline is valid? [False, False] Translation: X:6.99, Y:0.23, Z:-1.61 [[ 9.99987437e-01 4.87022717e-03 1.18630381e-03 6.98681838e+00] [-4.86437063e-03 9.99976209e-01 -4.89063982e-03 2.34249322e-01] [-1.21009412e-03 4.88480776e-03 9.99987337e-01 -1.60986619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.80455357399998 meters Centerline goodness [0,1] 0.80806273354034 Centerline is valid? [False, False] Translation: X:6.99, Y:0.23, Z:-1.61 [[ 9.99991438e-01 4.11849513e-03 4.03604352e-04 6.99011298e+00] [-4.11628318e-03 9.99977291e-01 -5.33608253e-03 2.34788700e-01] [-4.25571816e-04 5.33437549e-03 9.99985682e-01 -1.61144945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.83455357399998 meters Centerline goodness [0,1] 0.80806273354034 Centerline is valid? [False, False] Translation: X:6.99, Y:0.23, Z:-1.61 [[ 9.99991438e-01 4.11849513e-03 4.03604352e-04 6.99011298e+00] [-4.11628318e-03 9.99977291e-01 -5.33608253e-03 2.34788700e-01] [-4.25571816e-04 5.33437549e-03 9.99985682e-01 -1.61144945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.86455357399998 meters Centerline goodness [0,1] 0.8103944070703073 Centerline is valid? [False, False] Translation: X:6.99, Y:0.23, Z:-1.61 [[ 9.99993715e-01 3.54035584e-03 -1.87260608e-04 6.99228930e+00] [-3.54129853e-03 9.99979688e-01 -5.29928360e-03 2.34406513e-01] [ 1.68495454e-04 5.29991344e-03 9.99985941e-01 -1.61173489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.89455357399999 meters Centerline goodness [0,1] 0.8123745642759058 Centerline is valid? [False, False] Translation: X:7.00, Y:0.23, Z:-1.61 [[ 9.99997426e-01 1.21564733e-03 -1.91588582e-03 6.99904831e+00] [-1.22470560e-03 9.99988045e-01 -4.73392088e-03 2.32553795e-01] [ 1.91010813e-03 4.73625509e-03 9.99986960e-01 -1.61098101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.924553574 meters Centerline goodness [0,1] 0.8133199322894625 Centerline is valid? [False, False] Translation: X:7.00, Y:0.23, Z:-1.61 [[ 9.99995430e-01 -2.25566841e-04 -3.01469339e-03 7.00312910e+00] [ 2.12156207e-04 9.99990085e-01 -4.44800341e-03 2.30846701e-01] [ 3.01566682e-03 4.44734350e-03 9.99985563e-01 -1.61067241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.954553574 meters Centerline goodness [0,1] 0.8167660526035566 Centerline is valid? [False, False] Translation: X:7.01, Y:0.23, Z:-1.61 [[ 9.99971633e-01 -6.26558952e-03 -4.18041104e-03 7.00801040e+00] [ 6.23109353e-03 9.99946847e-01 -8.21443580e-03 2.28341373e-01] [ 4.23165712e-03 8.18815424e-03 9.99957523e-01 -1.61043816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.984553574 meters Centerline goodness [0,1] 0.816143139032585 Centerline is valid? [False, False] Translation: X:7.01, Y:0.23, Z:-1.61 [[ 9.99953028e-01 -8.01577342e-03 -5.44881508e-03 7.01265117e+00] [ 7.97428766e-03 9.99939375e-01 -7.59327918e-03 2.26460942e-01] [ 5.50935075e-03 7.54947208e-03 9.99956325e-01 -1.60910821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.014553574 meters Centerline goodness [0,1] 0.8176771989752348 Centerline is valid? [False, False] Translation: X:7.02, Y:0.22, Z:-1.60 [[ 9.99902425e-01 -1.17668198e-02 -7.52883794e-03 7.02146919e+00] [ 1.17284608e-02 9.99918116e-01 -5.11897452e-03 2.23232133e-01] [ 7.58845550e-03 5.03017335e-03 9.99958555e-01 -1.60311567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.044553574 meters Centerline goodness [0,1] 0.8188574331007565 Centerline is valid? [False, False] Translation: X:7.03, Y:0.22, Z:-1.60 [[ 9.99883691e-01 -1.17733594e-02 -9.69502072e-03 7.03065547e+00] [ 1.17814056e-02 9.99930298e-01 7.73231668e-04 2.20632293e-01] [ 9.68524142e-03 -8.87362705e-04 9.99952703e-01 -1.59786864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.074553574 meters Centerline goodness [0,1] 0.8222370350619918 Centerline is valid? [False, False] Translation: X:7.04, Y:0.22, Z:-1.60 [[ 9.99852788e-01 -1.32976389e-02 -1.08432520e-02 7.03503502e+00] [ 1.33013462e-02 9.99911497e-01 2.69851474e-04 2.22014609e-01] [ 1.08387040e-02 -4.14041597e-04 9.99941174e-01 -1.59838019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.104553574 meters Centerline goodness [0,1] 0.8201547913508338 Centerline is valid? [False, False] Translation: X:7.04, Y:0.22, Z:-1.60 [[ 9.99853042e-01 -1.15948117e-02 -1.26275427e-02 7.04099500e+00] [ 1.16542184e-02 9.99921316e-01 4.64115387e-03 2.21754243e-01] [ 1.25727358e-02 -4.78763596e-03 9.99909498e-01 -1.59655560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.134553574 meters Centerline goodness [0,1] 0.8205271268398958 Centerline is valid? [False, False] Translation: X:7.04, Y:0.22, Z:-1.60 [[ 9.99841870e-01 -1.20179280e-02 -1.31074123e-02 7.04260738e+00] [ 1.20773485e-02 9.99917103e-01 4.46365082e-03 2.22839778e-01] [ 1.30526819e-02 -4.62124777e-03 9.99904131e-01 -1.59663629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.164553574 meters Centerline goodness [0,1] 0.8177662006272925 Centerline is valid? [False, False] Translation: X:7.05, Y:0.22, Z:-1.60 [[ 9.99813447e-01 -1.31927089e-02 -1.41075574e-02 7.04628495e+00] [ 1.32475204e-02 9.99905031e-01 3.79888938e-03 2.24773745e-01] [ 1.40560999e-02 -3.98507084e-03 9.99893267e-01 -1.59736110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.19455357399997 meters Centerline goodness [0,1] 0.818302422457481 Centerline is valid? [False, False] Translation: X:7.05, Y:0.23, Z:-1.60 [[ 9.99800422e-01 -1.36795992e-02 -1.45596845e-02 7.04781365e+00] [ 1.37340672e-02 9.99899030e-01 3.64762094e-03 2.25260367e-01] [ 1.45083164e-02 -3.84685664e-03 9.99887349e-01 -1.59732032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.22455357399997 meters Centerline goodness [0,1] 0.820136437236217 Centerline is valid? [False, False] Translation: X:7.05, Y:0.23, Z:-1.60 [[ 9.99779799e-01 -1.44360752e-02 -1.52300058e-02 7.04952585e+00] [ 1.44989431e-02 9.99886781e-01 4.02558302e-03 2.25586312e-01] [ 1.51701679e-02 -4.24551557e-03 9.99875913e-01 -1.59538657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.25455357399997 meters Centerline goodness [0,1] 0.8213006447504577 Centerline is valid? [False, False] Translation: X:7.05, Y:0.23, Z:-1.60 [[ 9.99770507e-01 -1.47353260e-02 -1.55500431e-02 7.05064094e+00] [ 1.47971087e-02 9.99883045e-01 3.86559795e-03 2.26401093e-01] [ 1.54912636e-02 -4.09480650e-03 9.99871618e-01 -1.59546500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.28455357399997 meters Centerline goodness [0,1] 0.8202181741156535 Centerline is valid? [False, False] Translation: X:7.05, Y:0.23, Z:-1.60 [[ 9.99758159e-01 -1.51452475e-02 -1.59450588e-02 7.05227333e+00] [ 1.52014600e-02 9.99878636e-01 3.41010099e-03 2.27703787e-01] [ 1.58914768e-02 -3.65166446e-03 9.99867054e-01 -1.59630118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.31455357399997 meters Centerline goodness [0,1] 0.8203272995158915 Centerline is valid? [False, False] Translation: X:7.05, Y:0.23, Z:-1.60 [[ 0.99979269 -0.01162378 -0.01671724 7.05412613] [ 0.01174465 0.99990547 0.00715012 0.23070465] [ 0.01663255 -0.00734498 0.99983469 -1.59540393] [ 0. 0. 0. 1. ]] SLAMing on 222.34455357399997 meters Centerline goodness [0,1] 0.8218220060470619 Centerline is valid? [False, False] Translation: X:7.05, Y:0.23, Z:-1.60 [[ 9.99801215e-01 -1.11761314e-02 -1.65113517e-02 7.05344101e+00] [ 1.12848128e-02 9.99915173e-01 6.50377932e-03 2.33138329e-01] [ 1.64372640e-02 -6.68881397e-03 9.99842526e-01 -1.59635207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.37455357399998 meters Centerline goodness [0,1] 0.8207874015748031 Centerline is valid? [False, False] Translation: X:7.05, Y:0.23, Z:-1.60 [[ 9.99801201e-01 -1.11286496e-02 -1.65442491e-02 7.05375010e+00] [ 1.12320516e-02 9.99917881e-01 6.17029607e-03 2.33993752e-01] [ 1.64742234e-02 -6.35489528e-03 9.99844095e-01 -1.59705140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.40455357399998 meters Centerline goodness [0,1] 0.8206370828312464 Centerline is valid? [False, False] Translation: X:7.05, Y:0.24, Z:-1.60 [[ 9.99805844e-01 -1.07969660e-02 -1.64832950e-02 7.05360511e+00] [ 1.08934080e-02 9.99924004e-01 5.77235677e-03 2.35151540e-01] [ 1.64197184e-02 -5.95079529e-03 9.99847479e-01 -1.59808378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.43455357399998 meters Centerline goodness [0,1] 0.819289419902531 Centerline is valid? [False, False] Translation: X:7.07, Y:0.24, Z:-1.61 [[ 9.99893324e-01 -9.04033678e-03 -1.14722835e-02 7.07238263e+00] [ 9.00935664e-03 9.99955636e-01 -2.74924796e-03 2.37719330e-01] [ 1.14966286e-02 2.64559678e-03 9.99930412e-01 -1.60556912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.46455357399998 meters Centerline goodness [0,1] 0.8220546109169273 Centerline is valid? [False, False] Translation: X:7.07, Y:0.24, Z:-1.61 [[ 9.99897514e-01 -8.68396848e-03 -1.13820406e-02 7.07193599e+00] [ 8.65689076e-03 9.99959585e-01 -2.42609992e-03 2.37411713e-01] [ 1.14026488e-02 2.32731820e-03 9.99932279e-01 -1.60530571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.49455357399998 meters Centerline goodness [0,1] 0.8237044449125763 Centerline is valid? [False, False] Translation: X:7.07, Y:0.23, Z:-1.60 [[ 9.99910814e-01 -5.34528102e-03 -1.22389630e-02 7.07453163e+00] [ 5.37642226e-03 9.99982389e-01 2.51294759e-03 2.34938759e-01] [ 1.22253151e-02 -2.57852531e-03 9.99921943e-01 -1.60386746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.52455357399998 meters Centerline goodness [0,1] 0.8204595646229887 Centerline is valid? [False, False] Translation: X:7.07, Y:0.23, Z:-1.61 [[ 9.99914132e-01 -5.00538156e-03 -1.21109410e-02 7.07460639e+00] [ 5.03572651e-03 9.99984254e-01 2.47638508e-03 2.34108812e-01] [ 1.20983551e-02 -2.53715982e-03 9.99923593e-01 -1.60510632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.55455357399998 meters Centerline goodness [0,1] 0.8212356738242655 Centerline is valid? [False, False] Translation: X:7.07, Y:0.23, Z:-1.60 [[ 9.99917848e-01 -4.63969307e-03 -1.19486825e-02 7.07403577e+00] [ 4.67380705e-03 9.99985077e-01 2.82870157e-03 2.33277105e-01] [ 1.19353798e-02 -2.88431502e-03 9.99924611e-01 -1.60499928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.58455357399998 meters Centerline goodness [0,1] 0.8205797101449275 Centerline is valid? [False, False] Translation: X:7.07, Y:0.23, Z:-1.60 [[ 9.99922668e-01 -4.17388854e-03 -1.17148147e-02 7.07307977e+00] [ 4.21162530e-03 9.99986016e-01 3.19846614e-03 2.32438201e-01] [ 1.17013008e-02 -3.24755721e-03 9.99926264e-01 -1.60468827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.61455357399998 meters Centerline goodness [0,1] 0.8205304492688473 Centerline is valid? [False, False] Translation: X:7.07, Y:0.23, Z:-1.60 [[ 9.99936727e-01 -2.75154057e-03 -1.09073997e-02 7.06992642e+00] [ 2.79624229e-03 9.99987746e-01 4.08516336e-03 2.30590766e-01] [ 1.08960256e-02 -4.11540461e-03 9.99932168e-01 -1.60383975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.64455357399999 meters Centerline goodness [0,1] 0.8194959229058562 Centerline is valid? [False, False] Translation: X:7.07, Y:0.23, Z:-1.60 [[ 9.99942898e-01 -2.02441234e-03 -1.04929293e-02 7.06840116e+00] [ 2.06967571e-03 9.99988593e-01 4.30464009e-03 2.30012875e-01] [ 1.04840952e-02 -4.32611125e-03 9.99935682e-01 -1.60398446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.674553574 meters Centerline goodness [0,1] 0.8199268253884087 Centerline is valid? [False, False] Translation: X:7.07, Y:0.23, Z:-1.60 [[ 9.99954733e-01 -4.49380549e-04 -9.50417280e-03 7.06529797e+00] [ 4.93576483e-04 9.99989075e-01 4.64832673e-03 2.28815847e-01] [ 9.50198009e-03 -4.65280736e-03 9.99944030e-01 -1.60480387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.704553574 meters Centerline goodness [0,1] 0.8184755548493035 Centerline is valid? [False, False] Translation: X:7.06, Y:0.23, Z:-1.61 [[ 9.99957014e-01 -7.57695969e-05 -9.27170266e-03 7.06497442e+00] [ 1.17348413e-04 9.99989940e-01 4.48402368e-03 2.28457953e-01] [ 9.27126963e-03 -4.48491895e-03 9.99946963e-01 -1.60602135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.734553574 meters Centerline goodness [0,1] 0.8174035199321459 Centerline is valid? [False, False] Translation: X:7.06, Y:0.23, Z:-1.61 [[ 9.99958973e-01 2.50290306e-04 -9.05484301e-03 7.06482348e+00] [-2.11327924e-04 9.99990717e-01 4.30363384e-03 2.28156689e-01] [ 9.05583611e-03 -4.30154373e-03 9.99949743e-01 -1.60732173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.764553574 meters Centerline goodness [0,1] 0.8191763362629776 Centerline is valid? [False, False] Translation: X:7.06, Y:0.23, Z:-1.61 [[ 9.99965594e-01 1.65298879e-03 -8.12890235e-03 7.06184337e+00] [-1.61388844e-03 9.99987109e-01 4.81425023e-03 2.26484106e-01] [ 8.13675546e-03 -4.80096545e-03 9.99955371e-01 -1.60768715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.794553574 meters Centerline goodness [0,1] 0.8185303514376997 Centerline is valid? [False, False] Translation: X:7.06, Y:0.22, Z:-1.61 [[ 9.99968472e-01 2.84352184e-03 -7.41410354e-03 7.05914142e+00] [-2.80003227e-03 9.99978854e-01 5.86958675e-03 2.23506306e-01] [ 7.43063706e-03 -5.84864197e-03 9.99955289e-01 -1.60670373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.824553574 meters Centerline goodness [0,1] 0.8182157223154586 Centerline is valid? [False, False] Translation: X:7.06, Y:0.22, Z:-1.61 [[ 9.99968534e-01 3.08441555e-03 -7.30871796e-03 7.05885595e+00] [-3.03923436e-03 9.99976255e-01 6.18488481e-03 2.22084664e-01] [ 7.32762116e-03 -6.16247729e-03 9.99954164e-01 -1.60673757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.854553574 meters Centerline goodness [0,1] 0.8179510474561779 Centerline is valid? [False, False] Translation: X:7.06, Y:0.22, Z:-1.61 [[ 9.99968585e-01 3.08278683e-03 -7.30237536e-03 7.05913084e+00] [-3.03559001e-03 9.99974491e-01 6.46550502e-03 2.20751567e-01] [ 7.32212086e-03 -6.44313490e-03 9.99952435e-01 -1.60678229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.884553574 meters Centerline goodness [0,1] 0.8204027997532785 Centerline is valid? [False, False] Translation: X:7.06, Y:0.22, Z:-1.61 [[ 9.99969541e-01 3.50757979e-03 -6.97242966e-03 7.05814404e+00] [-3.45652357e-03 9.99967226e-01 7.32119906e-03 2.17689110e-01] [ 6.99788083e-03 -7.29687569e-03 9.99948891e-01 -1.60629867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.914553574 meters Centerline goodness [0,1] 0.8196541385587321 Centerline is valid? [False, False] Translation: X:7.05, Y:0.22, Z:-1.61 [[ 9.99968940e-01 5.21542631e-03 -5.90923406e-03 7.05417865e+00] [-5.17061770e-03 9.99957957e-01 7.57288327e-03 2.18000325e-01] [ 5.94848144e-03 -7.54209367e-03 9.99953865e-01 -1.60643175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.94455357399997 meters Centerline goodness [0,1] 0.8201801415397812 Centerline is valid? [False, False] Translation: X:7.05, Y:0.22, Z:-1.61 [[ 9.99967063e-01 6.20833591e-03 -5.22776833e-03 7.05171020e+00] [-6.16895252e-03 9.99952724e-01 7.51622273e-03 2.18768685e-01] [ 5.27418442e-03 -7.48372531e-03 9.99958088e-01 -1.60666794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.97455357399997 meters Centerline goodness [0,1] 0.8228812879415933 Centerline is valid? [False, False] Translation: X:7.05, Y:0.22, Z:-1.61 [[ 9.99965586e-01 6.63011194e-03 -4.98678683e-03 7.05083649e+00] [-6.59262976e-03 9.99950176e-01 7.49555100e-03 2.18983724e-01] [ 5.03623471e-03 -7.46241701e-03 9.99959474e-01 -1.60680575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.00455357399997 meters Centerline goodness [0,1] 0.8198246507762018 Centerline is valid? [False, False] Translation: X:7.05, Y:0.22, Z:-1.61 [[ 9.99985234e-01 3.28222588e-03 -4.33124137e-03 7.04998607e+00] [-3.27592051e-03 9.99993565e-01 1.46208023e-03 2.21510856e-01] [ 4.33601238e-03 -1.44786984e-03 9.99989551e-01 -1.61194717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.03455357399997 meters Centerline goodness [0,1] 0.8187009087740933 Centerline is valid? [False, False] Translation: X:7.05, Y:0.22, Z:-1.61 [[ 9.99984636e-01 2.26226420e-03 -5.06071173e-03 7.05342532e+00] [-2.25706356e-03 9.99996919e-01 1.03312484e-03 2.21564392e-01] [ 5.06303334e-03 -1.02168662e-03 9.99986661e-01 -1.61333608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.06455357399997 meters Centerline goodness [0,1] 0.8206148963068564 Centerline is valid? [False, False] Translation: X:7.06, Y:0.22, Z:-1.61 [[ 9.99981188e-01 7.83697598e-04 -6.08361150e-03 7.05810576e+00] [-7.80501808e-04 9.99999556e-01 5.27667668e-04 2.21366451e-01] [ 6.08402233e-03 -5.22909471e-04 9.99981355e-01 -1.61486963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.09455357399997 meters Centerline goodness [0,1] 0.8184331302504093 Centerline is valid? [False, False] Translation: X:7.06, Y:0.22, Z:-1.62 [[ 9.99978732e-01 2.57798673e-04 -6.51684973e-03 7.06009488e+00] [-2.56770971e-04 9.99999954e-01 1.58535476e-04 2.21878032e-01] [ 6.51689030e-03 -1.56858766e-04 9.99978753e-01 -1.61576920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.12455357399998 meters Centerline goodness [0,1] 0.8144697986577181 Centerline is valid? [False, False] Translation: X:7.06, Y:0.22, Z:-1.62 [[ 9.99975821e-01 -2.92564082e-04 -6.94772256e-03 7.06213688e+00] [ 2.89797495e-04 9.99999878e-01 -3.99203937e-04 2.23025778e-01] [ 6.94783851e-03 3.97180852e-04 9.99975785e-01 -1.61686750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.15455357399998 meters Centerline goodness [0,1] 0.8151402773298936 Centerline is valid? [False, False] Translation: X:7.06, Y:0.22, Z:-1.62 [[ 9.99972421e-01 -8.40380285e-04 -7.37908862e-03 7.06414513e+00] [ 8.35863466e-04 9.99999461e-01 -6.15173377e-04 2.23303783e-01] [ 7.37960162e-03 6.08988501e-04 9.99972585e-01 -1.61760764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.18455357399998 meters Centerline goodness [0,1] 0.8130411400914224 Centerline is valid? [False, False] Translation: X:7.07, Y:0.22, Z:-1.62 [[ 9.99964008e-01 -2.00043740e-03 -8.24505841e-03 7.06790606e+00] [ 1.99339811e-03 9.99997642e-01 -8.61889057e-04 2.23418450e-01] [ 8.24676312e-03 8.45422352e-04 9.99965637e-01 -1.61843720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.21455357399998 meters Centerline goodness [0,1] 0.8148477259875596 Centerline is valid? [False, False] Translation: X:7.07, Y:0.22, Z:-1.62 [[ 9.99960472e-01 -2.31077327e-03 -8.58574911e-03 7.06889101e+00] [ 2.30877762e-03 9.99997305e-01 -2.42341702e-04 2.22205982e-01] [ 8.58628597e-03 2.22509538e-04 9.99963112e-01 -1.61731759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.24455357399998 meters Centerline goodness [0,1] 0.8148929837378576 Centerline is valid? [False, False] Translation: X:7.07, Y:0.22, Z:-1.61 [[ 9.99949122e-01 -3.61485808e-03 -9.41729724e-03 7.07193971e+00] [ 3.62532085e-03 9.99992830e-01 1.09418267e-03 2.18952513e-01] [ 9.41327441e-03 -1.12826773e-03 9.99955058e-01 -1.61465699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.27455357399998 meters Centerline goodness [0,1] 0.8172645133365796 Centerline is valid? [False, False] Translation: X:7.07, Y:0.22, Z:-1.61 [[ 9.99942455e-01 -4.20941270e-03 -9.86744844e-03 7.07358559e+00] [ 4.22550903e-03 9.99989775e-01 1.61097513e-03 2.17462814e-01] [ 9.86056628e-03 -1.65257742e-03 9.99950018e-01 -1.61380355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.30455357399998 meters Centerline goodness [0,1] 0.8179970185662013 Centerline is valid? [False, False] Translation: X:7.07, Y:0.22, Z:-1.61 [[ 9.99944613e-01 -4.01761929e-03 -9.72782212e-03 7.07230087e+00] [ 4.04526035e-03 9.99987832e-01 2.82343723e-03 2.16363680e-01] [ 9.71636025e-03 -2.86263242e-03 9.99948698e-01 -1.61068374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.33455357399998 meters Centerline goodness [0,1] 0.8204947761598008 Centerline is valid? [False, False] Translation: X:7.07, Y:0.22, Z:-1.61 [[ 9.99940785e-01 -4.44880534e-03 -9.93154229e-03 7.07288039e+00] [ 4.48095753e-03 9.99984784e-01 3.21748004e-03 2.16244258e-01] [ 9.91707723e-03 -3.26179233e-03 9.99945505e-01 -1.60922193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.36455357399998 meters Centerline goodness [0,1] 0.8203169289744351 Centerline is valid? [False, False] Translation: X:7.07, Y:0.22, Z:-1.61 [[ 9.99938253e-01 -4.66791793e-03 -1.00847162e-02 7.07358116e+00] [ 4.70017468e-03 9.99983907e-01 3.17724844e-03 2.16784789e-01] [ 1.00697228e-02 -3.22445218e-03 9.99944100e-01 -1.60919145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.39455357399999 meters Centerline goodness [0,1] 0.8194222595229715 Centerline is valid? [False, False] Translation: X:7.08, Y:0.22, Z:-1.61 [[ 9.99931718e-01 -5.17893853e-03 -1.04756006e-02 7.07519776e+00] [ 5.21066042e-03 9.99981915e-01 3.00314580e-03 2.17522915e-01] [ 1.04598581e-02 -3.05752554e-03 9.99940620e-01 -1.60941359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.424553574 meters Centerline goodness [0,1] 0.8191518171478092 Centerline is valid? [False, False] Translation: X:7.08, Y:0.22, Z:-1.61 [[ 9.99913191e-01 -6.55694708e-03 -1.14287412e-02 7.07889732e+00] [ 6.59152859e-03 9.99973803e-01 2.99080011e-03 2.17179891e-01] [ 1.14088313e-02 -3.06587336e-03 9.99930217e-01 -1.60914556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.454553574 meters Centerline goodness [0,1] 0.819537638205971 Centerline is valid? [False, False] Translation: X:7.08, Y:0.22, Z:-1.61 [[ 9.99901221e-01 -7.27128077e-03 -1.20281221e-02 7.08099529e+00] [ 7.30856263e-03 9.99968615e-01 3.05851066e-03 2.16949918e-01] [ 1.20055053e-02 -3.14611683e-03 9.99922982e-01 -1.60876717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.484553574 meters Centerline goodness [0,1] 0.8194534808067664 Centerline is valid? [False, False] Translation: X:7.09, Y:0.22, Z:-1.61 [[ 9.99870364e-01 -9.10030001e-03 -1.32830946e-02 7.08617479e+00] [ 9.13679389e-03 9.99954642e-01 2.68929676e-03 2.17267710e-01] [ 1.32580187e-02 -2.81031303e-03 9.99908159e-01 -1.60921122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.514553574 meters Centerline goodness [0,1] 0.8176969106219371 Centerline is valid? [False, False] Translation: X:7.09, Y:0.22, Z:-1.61 [[ 9.99851633e-01 -1.00544582e-02 -1.39863838e-02 7.08927560e+00] [ 1.00852424e-02 9.99946869e-01 2.13222263e-03 2.18446763e-01] [ 1.39642023e-02 -2.27296235e-03 9.99899912e-01 -1.61031482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.544553574 meters Centerline goodness [0,1] 0.818680872927878 Centerline is valid? [False, False] Translation: X:7.09, Y:0.22, Z:-1.61 [[ 9.99831062e-01 -1.11111679e-02 -1.46420640e-02 7.09195517e+00] [ 1.11348551e-02 9.99936824e-01 1.53721896e-03 2.21065615e-01] [ 1.46240587e-02 -1.69999653e-03 9.99891618e-01 -1.61054127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.574553574 meters Centerline goodness [0,1] 0.8170936013834846 Centerline is valid? [False, False] Translation: X:7.10, Y:0.22, Z:-1.61 [[ 9.99803606e-01 -1.23427310e-02 -1.55050646e-02 7.09535636e+00] [ 1.23666537e-02 9.99922482e-01 1.44796180e-03 2.21276589e-01] [ 1.54859909e-02 -1.63942319e-03 9.99878741e-01 -1.61041020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.604553574 meters Centerline goodness [0,1] 0.8189014802364041 Centerline is valid? [False, False] Translation: X:7.10, Y:0.22, Z:-1.61 [[ 9.99707292e-01 -1.79015339e-02 -1.62746900e-02 7.09909112e+00] [ 1.78469487e-02 9.99834629e-01 -3.49307676e-03 2.22756694e-01] [ 1.63345300e-02 3.20160075e-03 9.99861457e-01 -1.61166334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.634553574 meters Centerline goodness [0,1] 0.8194968382772003 Centerline is valid? [False, False] Translation: X:7.10, Y:0.22, Z:-1.61 [[ 9.99658179e-01 -1.94854534e-02 -1.74310902e-02 7.10337828e+00] [ 1.94281588e-02 9.99805302e-01 -3.45025645e-03 2.22625630e-01] [ 1.74949262e-02 3.11042309e-03 9.99842114e-01 -1.61101895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.664553574 meters Centerline goodness [0,1] 0.8202024588161858 Centerline is valid? [False, False] Translation: X:7.11, Y:0.22, Z:-1.61 [[ 9.99592014e-01 -2.14984098e-02 -1.88048832e-02 7.10876733e+00] [ 2.14391875e-02 9.99764557e-01 -3.34527637e-03 2.22116352e-01] [ 1.88723738e-02 2.94075013e-03 9.99817576e-01 -1.61037663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.69455357399997 meters Centerline goodness [0,1] 0.8195445920303606 Centerline is valid? [False, False] Translation: X:7.12, Y:0.22, Z:-1.61 [[ 9.99378453e-01 -2.79850005e-02 -2.14370780e-02 7.12313731e+00] [ 2.79209607e-02 9.99604750e-01 -3.28090184e-03 2.21543069e-01] [ 2.15204210e-02 2.68031880e-03 9.99764816e-01 -1.60789897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.72455357399997 meters Centerline goodness [0,1] 0.8195445920303606 Centerline is valid? [False, False] Translation: X:7.12, Y:0.22, Z:-1.61 [[ 9.99378453e-01 -2.79850005e-02 -2.14370780e-02 7.12313731e+00] [ 2.79209607e-02 9.99604750e-01 -3.28090184e-03 2.21543069e-01] [ 2.15204210e-02 2.68031880e-03 9.99764816e-01 -1.60789897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.75455357399997 meters Centerline goodness [0,1] 0.8193665995537901 Centerline is valid? [False, False] Translation: X:7.14, Y:0.22, Z:-1.61 [[ 9.99109933e-01 -3.46320243e-02 -2.40824560e-02 7.13800222e+00] [ 3.45474976e-02 9.99395380e-01 -3.91725361e-03 2.21298352e-01] [ 2.42035577e-02 3.08177841e-03 9.99702301e-01 -1.60705734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.78455357399997 meters Centerline goodness [0,1] 0.8247594122297648 Centerline is valid? [False, False] Translation: X:7.14, Y:0.22, Z:-1.61 [[ 9.99010864e-01 -3.65239813e-02 -2.53632248e-02 7.14310824e+00] [ 3.64380731e-02 9.99328530e-01 -3.84121901e-03 2.20855152e-01] [ 2.54864908e-02 2.91323248e-03 9.99670922e-01 -1.60658374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.81455357399997 meters Centerline goodness [0,1] 0.8187800349497597 Centerline is valid? [False, False] Translation: X:7.15, Y:0.22, Z:-1.61 [[ 9.98916901e-01 -3.82066845e-02 -2.65570007e-02 7.14764995e+00] [ 3.81206912e-02 9.99266155e-01 -3.73701914e-03 2.20331029e-01] [ 2.66802911e-02 2.72060036e-03 9.99640316e-01 -1.60597751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.84455357399997 meters Centerline goodness [0,1] 0.8317302437424855 Centerline is valid? [False, False] Translation: X:7.15, Y:0.22, Z:-1.60 [[ 9.98786304e-01 -4.04826784e-02 -2.80548061e-02 7.15332576e+00] [ 4.04100463e-02 9.99178211e-01 -3.15130938e-03 2.20137641e-01] [ 2.81593244e-02 2.01378863e-03 9.99601419e-01 -1.60376205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.87455357399998 meters Centerline goodness [0,1] 0.8215754077381763 Centerline is valid? [False, False] Translation: X:7.16, Y:0.22, Z:-1.60 [[ 9.98817348e-01 -3.84818222e-02 -2.97162203e-02 7.15864723e+00] [ 3.85666250e-02 9.99253417e-01 2.28567847e-03 2.18841829e-01] [ 2.96060776e-02 -3.42902963e-03 9.99555762e-01 -1.59992727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.90455357399998 meters Centerline goodness [0,1] 0.8203858398410928 Centerline is valid? [False, False] Translation: X:7.16, Y:0.22, Z:-1.60 [[ 9.98910825e-01 -3.51524395e-02 -3.06833718e-02 7.16081209e+00] [ 3.53802856e-02 9.99350001e-01 6.91448944e-03 2.19387216e-01] [ 3.04203664e-02 -7.99254481e-03 9.99505238e-01 -1.59763783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.93455357399998 meters Centerline goodness [0,1] 0.8171821119226697 Centerline is valid? [False, False] Translation: X:7.16, Y:0.22, Z:-1.60 [[ 9.98943102e-01 -3.44982552e-02 -3.03735003e-02 7.15947113e+00] [ 3.47189150e-02 9.99374203e-01 6.76755817e-03 2.20943855e-01] [ 3.01210237e-02 -7.81494052e-03 9.99515708e-01 -1.59780616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.96455357399998 meters Centerline goodness [0,1] 0.8258612297874641 Centerline is valid? [False, False] Translation: X:7.18, Y:0.22, Z:-1.60 [[ 9.99256196e-01 -2.92964860e-02 -2.50753037e-02 7.17661503e+00] [ 2.93374122e-02 9.99568764e-01 1.26573515e-03 2.24899605e-01] [ 2.50274088e-02 -2.00043821e-03 9.99684764e-01 -1.60400689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.99455357399998 meters Centerline goodness [0,1] 0.8232009925558312 Centerline is valid? [False, False] Translation: X:7.18, Y:0.22, Z:-1.60 [[ 9.99357463e-01 -2.52195697e-02 -2.54682909e-02 7.17691948e+00] [ 2.53846729e-02 9.99658653e-01 6.18028372e-03 2.24235299e-01] [ 2.53037333e-02 -6.82281690e-03 9.99656526e-01 -1.60185439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.02455357399998 meters Centerline goodness [0,1] 0.8241784924189284 Centerline is valid? [False, False] Translation: X:7.17, Y:0.22, Z:-1.60 [[ 0.99948585 -0.01991885 -0.02512514 7.17453785] [ 0.02019166 0.99973939 0.0106515 0.22491826] [ 0.02490643 -0.01115334 0.99962757 -1.60091692] [ 0. 0. 0. 1. ]] SLAMing on 224.05455357399998 meters Centerline goodness [0,1] 0.8191168551427033 Centerline is valid? [False, False] Translation: X:7.19, Y:0.23, Z:-1.61 [[ 9.99661040e-01 -1.72358042e-02 -1.95123581e-02 7.19004499e+00] [ 1.72680047e-02 9.99849797e-01 1.48296423e-03 2.28386903e-01] [ 1.94838672e-02 -1.81940105e-03 9.99808516e-01 -1.60981449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.08455357399998 meters Centerline goodness [0,1] 0.8215149723133165 Centerline is valid? [False, False] Translation: X:7.19, Y:0.23, Z:-1.61 [[ 9.99730645e-01 -1.25957026e-02 -1.94932392e-02 7.18978272e+00] [ 1.27043918e-02 9.99904378e-01 5.46198089e-03 2.28708780e-01] [ 1.94225778e-02 -5.70815942e-03 9.99795069e-01 -1.61049240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.11455357399998 meters Centerline goodness [0,1] 0.8201293994469651 Centerline is valid? [False, False] Translation: X:7.19, Y:0.23, Z:-1.61 [[ 9.99750429e-01 -1.17103421e-02 -1.90249055e-02 7.18826984e+00] [ 1.18097840e-02 9.99917138e-01 5.12301244e-03 2.29656758e-01] [ 1.89633369e-02 -5.34641391e-03 9.99805885e-01 -1.61173063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.14455357399999 meters Centerline goodness [0,1] 0.8163413453782868 Centerline is valid? [False, False] Translation: X:7.18, Y:0.23, Z:-1.61 [[ 9.99814924e-01 -8.55501695e-03 -1.72316365e-02 7.18119490e+00] [ 8.63185595e-03 9.99953109e-01 4.38975145e-03 2.30215016e-01] [ 1.71932741e-02 -4.53768001e-03 9.99841888e-01 -1.61463307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.174553574 meters Centerline goodness [0,1] 0.8241235728676964 Centerline is valid? [False, False] Translation: X:7.18, Y:0.23, Z:-1.61 [[ 9.99832605e-01 -7.57993399e-03 -1.66525274e-02 7.17903914e+00] [ 7.65586686e-03 9.99960564e-01 4.50083275e-03 2.30069826e-01] [ 1.66177546e-02 -4.62756887e-03 9.99851207e-01 -1.61487918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.204553574 meters Centerline goodness [0,1] 0.8171805574256092 Centerline is valid? [False, False] Translation: X:7.17, Y:0.23, Z:-1.62 [[ 9.99877453e-01 -4.70091301e-03 -1.49325532e-02 7.17228065e+00] [ 4.77692961e-03 9.99975793e-01 5.05908096e-03 2.29134167e-01] [ 1.49084094e-02 -5.12979274e-03 9.99875705e-01 -1.61510643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.234553574 meters Centerline goodness [0,1] 0.8221637018326436 Centerline is valid? [False, False] Translation: X:7.19, Y:0.23, Z:-1.62 [[ 9.99964048e-01 -1.95042991e-03 -8.25213570e-03 7.18598874e+00] [ 1.92456483e-03 9.99993215e-01 -3.14113040e-03 2.31185649e-01] [ 8.25820626e-03 3.12513570e-03 9.99961017e-01 -1.62231604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.264553574 meters Centerline goodness [0,1] 0.8179346363000054 Centerline is valid? [False, False] Translation: X:7.18, Y:0.23, Z:-1.62 [[ 9.99978588e-01 1.51561472e-03 -6.36611404e-03 7.17867337e+00] [-1.52604484e-03 9.99997501e-01 -1.63384311e-03 2.29242526e-01] [ 6.36362186e-03 1.64352310e-03 9.99978401e-01 -1.62160847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.294553574 meters Centerline goodness [0,1] 0.8182771696743135 Centerline is valid? [False, False] Translation: X:7.18, Y:0.23, Z:-1.62 [[ 9.99980471e-01 2.64875915e-03 -5.66049473e-03 7.17607167e+00] [-2.65565176e-03 9.99995741e-01 -1.21049941e-03 2.28309044e-01] [ 5.65726431e-03 1.22550807e-03 9.99983247e-01 -1.62152267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.324553574 meters Centerline goodness [0,1] 0.819454917591296 Centerline is valid? [False, False] Translation: X:7.17, Y:0.23, Z:-1.62 [[ 9.99975738e-01 5.89819382e-03 -3.70612168e-03 7.16869490e+00] [-5.89746538e-03 9.99982588e-01 2.07447074e-04 2.25172038e-01] [ 3.70728071e-03 -1.85585317e-04 9.99993111e-01 -1.62085539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.354553574 meters Centerline goodness [0,1] 0.8188214362734527 Centerline is valid? [False, False] Translation: X:7.17, Y:0.22, Z:-1.62 [[ 9.99971200e-01 6.94291248e-03 -3.06511490e-03 7.16627622e+00] [-6.94079967e-03 9.99975668e-01 6.99410832e-04 2.23997107e-01] [ 3.06989627e-03 -6.78116341e-04 9.99995058e-01 -1.62063538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.384553574 meters Centerline goodness [0,1] 0.8183780283818054 Centerline is valid? [False, False] Translation: X:7.16, Y:0.22, Z:-1.62 [[ 9.99955820e-01 9.27764646e-03 -1.51112953e-03 7.16109817e+00] [-9.27531571e-03 9.99955794e-01 1.54216110e-03 2.21248238e-01] [ 1.52537035e-03 -1.52807676e-03 9.99997669e-01 -1.62110103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.414553574 meters Centerline goodness [0,1] 0.8162455458373825 Centerline is valid? [False, False] Translation: X:7.16, Y:0.22, Z:-1.62 [[ 9.99951283e-01 9.80592744e-03 -1.12899201e-03 7.16007838e+00] [-9.80415276e-03 9.99950711e-01 1.56686529e-03 2.20317153e-01] [ 1.14430093e-03 -1.55572015e-03 9.99998135e-01 -1.62186050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.44455357399997 meters Centerline goodness [0,1] 0.8227967795969093 Centerline is valid? [False, False] Translation: X:7.16, Y:0.22, Z:-1.62 [[ 9.99950196e-01 9.92018971e-03 -1.09355484e-03 7.15995041e+00] [-9.91842951e-03 9.99949526e-01 1.60345073e-03 2.19750835e-01] [ 1.10940618e-03 -1.59252453e-03 9.99998117e-01 -1.62197302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.47455357399997 meters Centerline goodness [0,1] 0.8218327166662165 Centerline is valid? [False, False] Translation: X:7.16, Y:0.22, Z:-1.62 [[ 9.99949234e-01 1.00208171e-02 -1.05519609e-03 7.15982514e+00] [-1.00192233e-02 9.99948674e-01 1.50504521e-03 2.19684898e-01] [ 1.07022372e-03 -1.49439656e-03 9.99998311e-01 -1.62216765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.50455357399997 meters Centerline goodness [0,1] 0.8172926236152391 Centerline is valid? [False, False] Translation: X:7.16, Y:0.22, Z:-1.63 [[ 9.99956727e-01 9.15392934e-03 -1.65802522e-03 7.16320583e+00] [-9.15375579e-03 9.99958097e-01 1.12233974e-04 2.21458314e-01] [ 1.65898312e-03 -9.70519593e-05 9.99998619e-01 -1.62552054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.53455357399997 meters Centerline goodness [0,1] 0.8173311635475997 Centerline is valid? [False, False] Translation: X:7.17, Y:0.22, Z:-1.63 [[ 9.99972525e-01 6.66443905e-03 -3.24560322e-03 7.17115734e+00] [-6.67017237e-03 9.99976207e-01 -1.75888138e-03 2.23234579e-01] [ 3.23380404e-03 1.78048179e-03 9.99993186e-01 -1.63019624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.56455357399997 meters Centerline goodness [0,1] 0.8129252622733064 Centerline is valid? [False, False] Translation: X:7.18, Y:0.22, Z:-1.63 [[ 9.99977123e-01 5.31500630e-03 -4.18384529e-03 7.17512268e+00] [-5.32363865e-03 9.99983718e-01 -2.05483171e-03 2.22908081e-01] [ 4.17285573e-03 2.07705798e-03 9.99989136e-01 -1.63095882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.59455357399997 meters Centerline goodness [0,1] 0.8143215122296672 Centerline is valid? [False, False] Translation: X:7.18, Y:0.22, Z:-1.63 [[ 9.99987071e-01 -2.96264216e-04 -5.07637054e-03 7.17885415e+00] [ 2.65464115e-04 9.99981561e-01 -6.06694687e-03 2.21529424e-01] [ 5.07807435e-03 6.06552083e-03 9.99968711e-01 -1.63088223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.62455357399998 meters Centerline goodness [0,1] 0.8154755390171828 Centerline is valid? [False, False] Translation: X:7.18, Y:0.22, Z:-1.63 [[ 9.99974572e-01 -2.61668021e-03 -6.63393557e-03 7.18484156e+00] [ 2.58569161e-03 9.99985727e-01 -4.67550619e-03 2.18853692e-01] [ 6.64607518e-03 4.65823399e-03 9.99967065e-01 -1.62783255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.65455357399998 meters Centerline goodness [0,1] 0.8190366215770373 Centerline is valid? [False, False] Translation: X:7.19, Y:0.22, Z:-1.63 [[ 0.99992461 -0.00924734 -0.00807837 7.19097136] [ 0.00918489 0.99992791 -0.0077342 0.21656743] [ 0.00814931 0.00765942 0.99993746 -1.62538842] [ 0. 0. 0. 1. ]] SLAMing on 224.68455357399998 meters Centerline goodness [0,1] 0.8215665324237692 Centerline is valid? [False, False] Translation: X:7.20, Y:0.22, Z:-1.62 [[ 0.99989661 -0.01096587 -0.00930173 7.19570993] [ 0.01089728 0.9999133 -0.00739243 0.21566559] [ 0.00938199 0.00729031 0.99992941 -1.62445309] [ 0. 0. 0. 1. ]] SLAMing on 224.71455357399998 meters Centerline goodness [0,1] 0.8199052132701422 Centerline is valid? [False, False] Translation: X:7.20, Y:0.22, Z:-1.63 [[ 0.99984011 -0.01391792 -0.01122674 7.20393666] [ 0.01382816 0.99987211 -0.00803382 0.21716244] [ 0.01133712 0.00787729 0.9999047 -1.62516827] [ 0. 0. 0. 1. ]] SLAMing on 224.74455357399998 meters Centerline goodness [0,1] 0.8204244612186851 Centerline is valid? [False, False] Translation: X:7.21, Y:0.22, Z:-1.62 [[ 9.99826799e-01 -1.29568488e-02 -1.33601015e-02 7.21227668e+00] [ 1.29132078e-02 9.99911017e-01 -3.34762685e-03 2.16930577e-01] [ 1.34022873e-02 3.17452527e-03 9.99905146e-01 -1.62300667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.77455357399998 meters Centerline goodness [0,1] 0.8171070552982839 Centerline is valid? [False, False] Translation: X:7.22, Y:0.22, Z:-1.62 [[ 9.99798297e-01 -1.24456870e-02 -1.57629628e-02 7.22196447e+00] [ 1.24479764e-02 9.99922520e-01 4.71283227e-05 2.19149494e-01] [ 1.57611550e-02 -2.43335806e-04 9.99875756e-01 -1.62297131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.80455357399998 meters Centerline goodness [0,1] 0.815855384950452 Centerline is valid? [False, False] Translation: X:7.22, Y:0.22, Z:-1.62 [[ 9.99786879e-01 -1.28971527e-02 -1.61201902e-02 7.22347303e+00] [ 1.28953248e-02 9.99916828e-01 -2.17333867e-04 2.20164588e-01] [ 1.61216524e-02 9.41245980e-06 9.99870038e-01 -1.62331307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.83455357399998 meters Centerline goodness [0,1] 0.8193685241086726 Centerline is valid? [False, False] Translation: X:7.22, Y:0.22, Z:-1.62 [[ 9.99772295e-01 -1.34113849e-02 -1.65979523e-02 7.22474215e+00] [ 1.34101217e-02 9.99910063e-01 -1.87403098e-04 2.21115069e-01] [ 1.65989729e-02 -3.52201361e-05 9.99862227e-01 -1.62225361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.86455357399998 meters Centerline goodness [0,1] 0.8183297180043384 Centerline is valid? [False, False] Translation: X:7.22, Y:0.22, Z:-1.62 [[ 9.99775527e-01 -1.32111775e-02 -1.65638309e-02 7.22410763e+00] [ 1.32160640e-02 9.99912647e-01 1.85577516e-04 2.21537802e-01] [ 1.65599323e-02 -4.04444508e-04 9.99862793e-01 -1.62095475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.89455357399999 meters Centerline goodness [0,1] 0.8178858259170827 Centerline is valid? [False, False] Translation: X:7.22, Y:0.22, Z:-1.62 [[ 9.99773326e-01 -1.32297671e-02 -1.66814278e-02 7.22426502e+00] [ 1.32360470e-02 9.99912364e-01 2.66104797e-04 2.22185186e-01] [ 1.66764454e-02 -4.86840640e-04 9.99860820e-01 -1.62038755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.924553574 meters Centerline goodness [0,1] 0.8174842051031752 Centerline is valid? [False, False] Translation: X:7.23, Y:0.22, Z:-1.62 [[ 9.99767760e-01 -1.33561565e-02 -1.69127043e-02 7.22554481e+00] [ 1.33465124e-02 9.99910698e-01 -6.82978489e-04 2.24877014e-01] [ 1.69203159e-02 4.57094256e-04 9.99856737e-01 -1.62232858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.954553574 meters Centerline goodness [0,1] 0.8147887514547866 Centerline is valid? [False, False] Translation: X:7.23, Y:0.23, Z:-1.62 [[ 9.99773594e-01 -1.08461703e-02 -1.83063353e-02 7.23066655e+00] [ 1.09071450e-02 9.99935285e-01 3.23424409e-03 2.25125149e-01] [ 1.82700714e-02 -3.43318169e-03 9.99827194e-01 -1.62244912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.984553574 meters Centerline goodness [0,1] 0.8134709426417746 Centerline is valid? [False, False] Translation: X:7.23, Y:0.23, Z:-1.62 [[ 9.99776161e-01 -1.06765914e-02 -1.82657664e-02 7.23062709e+00] [ 1.07339723e-02 9.99937749e-01 3.04628804e-03 2.25817301e-01] [ 1.82321054e-02 -3.24167039e-03 9.99828526e-01 -1.62293273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.014553574 meters Centerline goodness [0,1] 0.8161661445392676 Centerline is valid? [False, False] Translation: X:7.23, Y:0.23, Z:-1.62 [[ 9.99784177e-01 -1.02633137e-02 -1.80627533e-02 7.22984918e+00] [ 1.03174982e-02 9.99942541e-01 2.90916481e-03 2.26515458e-01] [ 1.80318578e-02 -3.09489937e-03 9.99832623e-01 -1.62325483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.044553574 meters Centerline goodness [0,1] 0.8159933068847327 Centerline is valid? [False, False] Translation: X:7.23, Y:0.23, Z:-1.62 [[ 9.99796441e-01 -9.57678547e-03 -1.77584067e-02 7.22886569e+00] [ 9.62070738e-03 9.99950865e-01 2.38952086e-03 2.27746543e-01] [ 1.77346502e-02 -2.55988289e-03 9.99839452e-01 -1.62456728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.074553574 meters Centerline goodness [0,1] 0.8169207934151936 Centerline is valid? [False, False] Translation: X:7.23, Y:0.23, Z:-1.62 [[ 9.99818996e-01 -8.31406073e-03 -1.71129292e-02 7.22585529e+00] [ 8.36425550e-03 9.99960919e-01 2.86366660e-03 2.27922031e-01] [ 1.70884517e-02 -3.00628518e-03 9.99849462e-01 -1.62366115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.104553574 meters Centerline goodness [0,1] 0.8127650379493828 Centerline is valid? [False, False] Translation: X:7.22, Y:0.23, Z:-1.62 [[ 9.99833635e-01 -7.50909235e-03 -1.66227232e-02 7.22376460e+00] [ 7.56328597e-03 9.99966279e-01 3.19975149e-03 2.27788107e-01] [ 1.65981355e-02 -3.32494157e-03 9.99856713e-01 -1.62318305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.134553574 meters Centerline goodness [0,1] 0.8152220784821044 Centerline is valid? [False, False] Translation: X:7.22, Y:0.23, Z:-1.62 [[ 9.99845462e-01 -6.81348833e-03 -1.62057989e-02 7.22239241e+00] [ 6.86487908e-03 9.99971577e-01 3.11762074e-03 2.28219842e-01] [ 1.61840964e-02 -3.22838980e-03 9.99863817e-01 -1.62384417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.164553574 meters Centerline goodness [0,1] 0.81455525606469 Centerline is valid? [False, False] Translation: X:7.22, Y:0.23, Z:-1.62 [[ 9.99874665e-01 -4.80158359e-03 -1.50863976e-02 7.21797967e+00] [ 4.85687563e-03 9.99981615e-01 3.63052736e-03 2.28059714e-01] [ 1.50686880e-02 -3.70334508e-03 9.99879603e-01 -1.62370581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.19455357399997 meters Centerline goodness [0,1] 0.8141149870801033 Centerline is valid? [False, False] Translation: X:7.22, Y:0.23, Z:-1.62 [[ 9.99889741e-01 -3.69347748e-03 -1.43827646e-02 7.21511038e+00] [ 3.75181635e-03 9.99984836e-01 4.03129766e-03 2.27660407e-01] [ 1.43676570e-02 -4.08481466e-03 9.99888436e-01 -1.62319003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.22455357399997 meters Centerline goodness [0,1] 0.813451298875921 Centerline is valid? [False, False] Translation: X:7.23, Y:0.23, Z:-1.63 [[ 9.99974754e-01 9.73848753e-04 -7.03864695e-03 7.22695892e+00] [-9.91495939e-04 9.99996373e-01 -2.50413000e-03 2.28869769e-01] [ 7.03618278e-03 2.51104557e-03 9.99972093e-01 -1.62955683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.25455357399997 meters Centerline goodness [0,1] 0.8167384284176534 Centerline is valid? [False, False] Translation: X:7.22, Y:0.23, Z:-1.63 [[ 9.99977513e-01 1.98497500e-03 -6.40575281e-03 7.22437291e+00] [-1.99724204e-03 9.99996183e-01 -1.90917558e-03 2.28068174e-01] [ 6.40193870e-03 1.92192648e-03 9.99977660e-01 -1.62869750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.28455357399997 meters Centerline goodness [0,1] 0.8137693260787588 Centerline is valid? [False, False] Translation: X:7.22, Y:0.23, Z:-1.63 [[ 9.99978831e-01 2.79749447e-03 -5.87470227e-03 7.22234636e+00] [-2.80566390e-03 9.99995108e-01 -1.38283179e-03 2.27140268e-01] [ 5.87080507e-03 1.39928495e-03 9.99981788e-01 -1.62806212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.31455357399997 meters Centerline goodness [0,1] 0.811978465679677 Centerline is valid? [False, False] Translation: X:7.22, Y:0.23, Z:-1.63 [[ 9.99978319e-01 4.37735336e-03 -4.91943851e-03 7.21920483e+00] [-4.38233073e-03 9.99989896e-01 -1.00145207e-03 2.26076372e-01] [ 4.91500509e-03 1.02298897e-03 9.99987398e-01 -1.62875771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.34455357399997 meters Centerline goodness [0,1] 0.8131823695915892 Centerline is valid? [False, False] Translation: X:7.22, Y:0.23, Z:-1.63 [[ 9.99978371e-01 4.71513723e-03 -4.58532556e-03 7.21853772e+00] [-4.72043639e-03 9.99988203e-01 -1.14554389e-03 2.26216538e-01] [ 4.57987007e-03 1.16716385e-03 9.99988831e-01 -1.62956528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.37455357399998 meters Centerline goodness [0,1] 0.8151633138654553 Centerline is valid? [False, False] Translation: X:7.22, Y:0.23, Z:-1.63 [[ 9.99978130e-01 4.65784457e-03 -4.69519868e-03 7.21848783e+00] [-4.66250201e-03 9.99988649e-01 -9.81500617e-04 2.26546862e-01] [ 4.69057370e-03 1.00337052e-03 9.99988496e-01 -1.62850570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.40455357399998 meters Centerline goodness [0,1] 0.8149359424833775 Centerline is valid? [False, False] Translation: X:7.22, Y:0.23, Z:-1.63 [[ 9.99978744e-01 4.00089348e-03 -5.14817485e-03 7.22054037e+00] [-4.00685856e-03 9.99991313e-01 -1.14888796e-03 2.26281705e-01] [ 5.14353355e-03 1.16949155e-03 9.99986088e-01 -1.62897912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.43455357399998 meters Centerline goodness [0,1] 0.8141516323604987 Centerline is valid? [False, False] Translation: X:7.23, Y:0.23, Z:-1.63 [[ 9.99977575e-01 2.47624709e-03 -6.22234599e-03 7.22537943e+00] [-2.48815447e-03 9.99995087e-01 -1.90663626e-03 2.27417592e-01] [ 6.21759411e-03 1.92207566e-03 9.99978823e-01 -1.63076250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.46455357399998 meters Centerline goodness [0,1] 0.813362244206532 Centerline is valid? [False, False] Translation: X:7.23, Y:0.23, Z:-1.63 [[ 9.99975613e-01 1.84123461e-03 -6.73671214e-03 7.22746776e+00] [-1.85397328e-03 9.99996504e-01 -1.88517750e-03 2.27152039e-01] [ 6.73321754e-03 1.89762121e-03 9.99975531e-01 -1.63095829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.49455357399998 meters Centerline goodness [0,1] 0.814815817984832 Centerline is valid? [False, False] Translation: X:7.23, Y:0.23, Z:-1.63 [[ 9.99973261e-01 1.29710591e-03 -7.19684140e-03 7.22921838e+00] [-1.30953378e-03 9.99997659e-01 -1.72240707e-03 2.26388218e-01] [ 7.19459041e-03 1.73178552e-03 9.99972619e-01 -1.63083646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.52455357399998 meters Centerline goodness [0,1] 0.8147186147186147 Centerline is valid? [False, False] Translation: X:7.23, Y:0.23, Z:-1.63 [[ 9.99972975e-01 1.52769283e-03 -7.19140094e-03 7.22872616e+00] [-1.53908417e-03 9.99997569e-01 -1.57875582e-03 2.27438989e-01] [ 7.18897161e-03 1.58978133e-03 9.99972895e-01 -1.62996321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.55455357399998 meters Centerline goodness [0,1] 0.813689446366782 Centerline is valid? [False, False] Translation: X:7.23, Y:0.23, Z:-1.63 [[ 9.99968842e-01 6.64480119e-04 -7.86600971e-03 7.23173040e+00] [-6.80853309e-04 9.99997607e-01 -2.07901668e-03 2.28124167e-01] [ 7.86460943e-03 2.08430750e-03 9.99966901e-01 -1.63123098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.58455357399998 meters Centerline goodness [0,1] 0.8115566356149588 Centerline is valid? [False, False] Translation: X:7.23, Y:0.23, Z:-1.63 [[ 9.99966758e-01 3.72641302e-04 -8.14517620e-03 7.23306706e+00] [-3.91262820e-04 9.99997313e-01 -2.28472813e-03 2.28741760e-01] [ 8.14430293e-03 2.28783909e-03 9.99964217e-01 -1.63186342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.61455357399998 meters Centerline goodness [0,1] 0.813911545398261 Centerline is valid? [False, False] Translation: X:7.23, Y:0.23, Z:-1.63 [[ 9.99966168e-01 4.25022874e-04 -8.21470182e-03 7.23331700e+00] [-4.45335080e-04 9.99996848e-01 -2.47099397e-03 2.30137014e-01] [ 8.21362570e-03 2.47456867e-03 9.99963206e-01 -1.63197758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.64455357399999 meters Centerline goodness [0,1] 0.813911545398261 Centerline is valid? [False, False] Translation: X:7.23, Y:0.23, Z:-1.63 [[ 9.99966168e-01 4.25022874e-04 -8.21470182e-03 7.23331700e+00] [-4.45335080e-04 9.99996848e-01 -2.47099397e-03 2.30137014e-01] [ 8.21362570e-03 2.47456867e-03 9.99963206e-01 -1.63197758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.674553574 meters Centerline goodness [0,1] 0.8139585017515494 Centerline is valid? [False, False] Translation: X:7.23, Y:0.23, Z:-1.63 [[ 9.99968287e-01 1.09202788e-03 -7.88872106e-03 7.23168236e+00] [-1.10834127e-03 9.99997256e-01 -2.06386173e-03 2.30306766e-01] [ 7.88644562e-03 2.07253967e-03 9.99966754e-01 -1.63097162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.704553574 meters Centerline goodness [0,1] 0.8125857938793637 Centerline is valid? [False, False] Translation: X:7.23, Y:0.23, Z:-1.63 [[ 9.99968244e-01 1.19772347e-03 -7.87887501e-03 7.23175371e+00] [-1.21450101e-03 9.99997005e-01 -2.12499411e-03 2.30934385e-01] [ 7.87630625e-03 2.13449553e-03 9.99966703e-01 -1.63107285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.734553574 meters Centerline goodness [0,1] 0.8126261403083879 Centerline is valid? [False, False] Translation: X:7.23, Y:0.23, Z:-1.63 [[ 9.99969078e-01 1.66199791e-03 -7.68638292e-03 7.23098165e+00] [-1.67872518e-03 9.99996236e-01 -2.17028164e-03 2.31936342e-01] [ 7.68274698e-03 2.18311786e-03 9.99968104e-01 -1.63120938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.764553574 meters Centerline goodness [0,1] 0.8136894376593746 Centerline is valid? [False, False] Translation: X:7.23, Y:0.23, Z:-1.63 [[ 9.99969935e-01 2.02924023e-03 -7.48410457e-03 7.23027766e+00] [-2.04569950e-03 9.99995505e-01 -2.19223037e-03 2.32886542e-01] [ 7.47962236e-03 2.20747469e-03 9.99969591e-01 -1.63127231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.794553574 meters Centerline goodness [0,1] 0.8159309640303243 Centerline is valid? [False, False] Translation: X:7.23, Y:0.23, Z:-1.63 [[ 9.99970688e-01 2.41480498e-03 -7.26575362e-03 7.22959218e+00] [-2.43169095e-03 9.99994361e-01 -2.31611392e-03 2.33941153e-01] [ 7.26011968e-03 2.33371410e-03 9.99970922e-01 -1.63162404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.824553574 meters Centerline goodness [0,1] 0.8075522228173541 Centerline is valid? [False, False] Translation: X:7.23, Y:0.24, Z:-1.63 [[ 9.99970893e-01 2.88364569e-03 -7.06389559e-03 7.22929231e+00] [-2.90401467e-03 9.99991651e-01 -2.87497490e-03 2.36076153e-01] [ 7.05554620e-03 2.89540487e-03 9.99970918e-01 -1.63308935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.854553574 meters Centerline goodness [0,1] 0.8127886797490322 Centerline is valid? [False, False] Translation: X:7.23, Y:0.24, Z:-1.63 [[ 9.99970698e-01 3.19090321e-03 -6.95852694e-03 7.22882675e+00] [-3.20982059e-03 9.99991179e-01 -2.70911903e-03 2.36436077e-01] [ 6.94982102e-03 2.73137527e-03 9.99972119e-01 -1.63275643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.884553574 meters Centerline goodness [0,1] 0.8109323553818562 Centerline is valid? [False, False] Translation: X:7.23, Y:0.24, Z:-1.63 [[ 9.99970861e-01 4.44048088e-03 -6.20955599e-03 7.22577577e+00] [-4.45536074e-03 9.99987232e-01 -2.38450834e-03 2.36723552e-01] [ 6.19888834e-03 2.41210467e-03 9.99977878e-01 -1.63228471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.914553574 meters Centerline goodness [0,1] 0.8183962264150944 Centerline is valid? [False, False] Translation: X:7.23, Y:0.24, Z:-1.63 [[ 9.99970634e-01 4.75792554e-03 -6.00774158e-03 7.22539614e+00] [-4.77428663e-03 9.99984926e-01 -2.71193534e-03 2.37588852e-01] [ 5.99474783e-03 2.74053838e-03 9.99978276e-01 -1.63313707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.94455357399997 meters Centerline goodness [0,1] 0.8076613983391374 Centerline is valid? [False, False] Translation: X:7.22, Y:0.24, Z:-1.63 [[ 9.99970006e-01 5.11026322e-03 -5.82006026e-03 7.22488196e+00] [-5.12602220e-03 9.99983228e-01 -2.69600940e-03 2.37981203e-01] [ 5.80618532e-03 2.72576229e-03 9.99979429e-01 -1.63339931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.97455357399997 meters Centerline goodness [0,1] 0.8124732219365896 Centerline is valid? [False, False] Translation: X:7.22, Y:0.24, Z:-1.63 [[ 9.99969929e-01 5.13060165e-03 -5.81527770e-03 7.22461761e+00] [-5.14334467e-03 9.99984400e-01 -2.17846701e-03 2.37424239e-01] [ 5.80401013e-03 2.20831148e-03 9.99980718e-01 -1.63199808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.00455357399997 meters Centerline goodness [0,1] 0.8110563267056112 Centerline is valid? [False, False] Translation: X:7.22, Y:0.24, Z:-1.63 [[ 9.99984288e-01 1.39477791e-03 -5.42938101e-03 7.22319766e+00] [-1.42854647e-03 9.99979631e-01 -6.22069550e-03 2.37843553e-01] [ 5.42059392e-03 6.22835388e-03 9.99965912e-01 -1.63171754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.03455357399997 meters Centerline goodness [0,1] 0.8144617780522514 Centerline is valid? [False, False] Translation: X:7.23, Y:0.24, Z:-1.63 [[ 9.99977350e-01 -3.92911748e-04 -6.71907372e-03 7.22782914e+00] [ 3.59793806e-04 9.99987785e-01 -4.92944312e-03 2.35831044e-01] [ 6.72092849e-03 4.92691398e-03 9.99965277e-01 -1.62878438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.06455357399997 meters Centerline goodness [0,1] 0.8158834027364664 Centerline is valid? [False, False] Translation: X:7.22, Y:0.24, Z:-1.64 [[ 9.99937373e-01 -1.10640706e-02 1.68433989e-03 7.22223080e+00] [ 1.10753622e-02 9.99915210e-01 -6.84906591e-03 2.36419326e-01] [-1.60841853e-03 6.86729165e-03 9.99975126e-01 -1.63656873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.09455357399997 meters Centerline goodness [0,1] 0.8176284392500609 Centerline is valid? [False, False] Translation: X:7.23, Y:0.24, Z:-1.64 [[ 9.99925343e-01 -1.21913580e-02 8.23685247e-04 7.22541532e+00] [ 1.21966138e-02 9.99903108e-01 -6.70947292e-03 2.36229580e-01] [-7.41807852e-04 6.71901818e-03 9.99977152e-01 -1.63600911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.12455357399998 meters Centerline goodness [0,1] 0.8180343382452345 Centerline is valid? [False, False] Translation: X:7.23, Y:0.23, Z:-1.63 [[ 9.99887697e-01 -1.49600852e-02 -8.88538272e-04 7.23240452e+00] [ 1.49552647e-02 9.99874620e-01 -5.20435705e-03 2.34382429e-01] [ 9.66284491e-04 5.19048426e-03 9.99986062e-01 -1.63244002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.15455357399998 meters Centerline goodness [0,1] 0.8178634450929823 Centerline is valid? [False, False] Translation: X:7.24, Y:0.23, Z:-1.63 [[ 9.99858997e-01 -1.66701405e-02 -2.02282910e-03 7.23707562e+00] [ 1.66601571e-02 9.99849419e-01 -4.85571584e-03 2.33056373e-01] [ 2.10346997e-03 4.82133052e-03 9.99986165e-01 -1.63189287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.18455357399998 meters Centerline goodness [0,1] 0.8216351244942843 Centerline is valid? [False, False] Translation: X:7.24, Y:0.23, Z:-1.63 [[ 9.99824777e-01 -1.84406310e-02 -3.21846684e-03 7.24202659e+00] [ 1.84255822e-02 9.99819447e-01 -4.64442681e-03 2.31965058e-01] [ 3.30353190e-03 4.58431087e-03 9.99984035e-01 -1.63167670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.21455357399998 meters Centerline goodness [0,1] 0.8215598203348305 Centerline is valid? [False, False] Translation: X:7.26, Y:0.23, Z:-1.63 [[ 9.99671037e-01 -2.50552316e-02 -5.48200652e-03 7.25653278e+00] [ 2.50272390e-02 9.99673675e-01 -5.11665229e-03 2.29478638e-01] [ 5.60841652e-03 4.97776961e-03 9.99971883e-01 -1.63158537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.24455357399998 meters Centerline goodness [0,1] 0.825462292753544 Centerline is valid? [False, False] Translation: X:7.26, Y:0.23, Z:-1.63 [[ 9.99620159e-01 -2.67395924e-02 -6.67317834e-03 7.26135018e+00] [ 2.67078065e-02 9.99631721e-01 -4.80775036e-03 2.27961329e-01] [ 6.79927804e-03 4.62769823e-03 9.99966177e-01 -1.63118140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.27455357399998 meters Centerline goodness [0,1] 0.824234098090397 Centerline is valid? [False, False] Translation: X:7.27, Y:0.23, Z:-1.63 [[ 9.99528088e-01 -2.95813092e-02 -8.27935686e-03 7.26842274e+00] [ 2.95517492e-02 9.99556513e-01 -3.67021230e-03 2.25176071e-01] [ 8.38425476e-03 3.42381081e-03 9.99958990e-01 -1.62870478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.30455357399998 meters Centerline goodness [0,1] 0.8256620602323405 Centerline is valid? [False, False] Translation: X:7.27, Y:0.22, Z:-1.63 [[ 9.99572121e-01 -2.75418223e-02 -9.84997618e-03 7.27342793e+00] [ 2.75600529e-02 9.99618670e-01 1.71987507e-03 2.23445730e-01] [ 9.79885160e-03 -1.99060504e-03 9.99950009e-01 -1.62504300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.33455357399998 meters Centerline goodness [0,1] 0.8247810449441287 Centerline is valid? [False, False] Translation: X:7.28, Y:0.22, Z:-1.62 [[ 9.99605215e-01 -2.56621525e-02 -1.14397921e-02 7.27919107e+00] [ 2.57322796e-02 9.99650710e-01 6.02562267e-03 2.23073502e-01] [ 1.12811658e-02 -6.31761577e-03 9.99916408e-01 -1.62364363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.36455357399998 meters Centerline goodness [0,1] 0.8195064501109255 Centerline is valid? [False, False] Translation: X:7.28, Y:0.22, Z:-1.62 [[ 9.99606717e-01 -2.55870338e-02 -1.14767225e-02 7.27950660e+00] [ 2.56556347e-02 9.99653603e-01 5.87051592e-03 2.24095850e-01] [ 1.13225379e-02 -6.16264974e-03 9.99916907e-01 -1.62414261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.39455357399999 meters Centerline goodness [0,1] 0.8204139665873732 Centerline is valid? [False, False] Translation: X:7.28, Y:0.22, Z:-1.62 [[ 0.99965909 -0.02284165 -0.01264766 7.28353417] [ 0.0229686 0.99968633 0.00998446 0.22452161] [ 0.01241563 -0.01027156 0.99987017 -1.62365672] [ 0. 0. 0. 1. ]] SLAMing on 226.424553574 meters Centerline goodness [0,1] 0.8196443228454172 Centerline is valid? [False, False] Translation: X:7.28, Y:0.22, Z:-1.62 [[ 0.99965377 -0.02299864 -0.01278319 7.2843634 ] [ 0.02312171 0.9996869 0.00956474 0.22492162] [ 0.01255921 -0.009857 0.99987254 -1.62473062] [ 0. 0. 0. 1. ]] SLAMing on 226.454553574 meters Centerline goodness [0,1] 0.8223732700024569 Centerline is valid? [False, False] Translation: X:7.30, Y:0.22, Z:-1.62 [[ 9.99548239e-01 -1.98224788e-02 -2.25917693e-02 7.29850312e+00] [ 1.99414202e-02 9.99788388e-01 5.05172122e-03 2.24104170e-01] [ 2.24868510e-02 -5.49995102e-03 9.99732010e-01 -1.62090163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.484553574 meters Centerline goodness [0,1] 0.8206817374190197 Centerline is valid? [False, False] Translation: X:7.30, Y:0.22, Z:-1.62 [[ 9.99543212e-01 -1.99098972e-02 -2.27368283e-02 7.29898761e+00] [ 2.00273638e-02 9.99787177e-01 4.95036463e-03 2.24222767e-01] [ 2.26334281e-02 -5.40346209e-03 9.99729229e-01 -1.62108058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.514553574 meters Centerline goodness [0,1] 0.8257412214783441 Centerline is valid? [False, False] Translation: X:7.30, Y:0.22, Z:-1.62 [[ 9.99561444e-01 -1.93769277e-02 -2.23931805e-02 7.29748946e+00] [ 1.94932765e-02 9.99797540e-01 4.98915527e-03 2.24758029e-01] [ 2.22919722e-02 -5.42348370e-03 9.99736792e-01 -1.62065458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.544553574 meters Centerline goodness [0,1] 0.8196645175390668 Centerline is valid? [False, False] Translation: X:7.29, Y:0.23, Z:-1.62 [[ 9.99594138e-01 -1.83384044e-02 -2.18005247e-02 7.29477027e+00] [ 1.84545119e-02 9.99816506e-01 5.13669061e-03 2.26126471e-01] [ 2.17023258e-02 -5.53692386e-03 9.99749144e-01 -1.62007200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.574553574 meters Centerline goodness [0,1] 0.8197774089090859 Centerline is valid? [False, False] Translation: X:7.31, Y:0.23, Z:-1.63 [[ 9.99718335e-01 -1.76847833e-02 -1.58271371e-02 7.31445515e+00] [ 1.76405906e-02 9.99840107e-01 -2.92748930e-03 2.30031842e-01] [ 1.58763785e-02 2.64746468e-03 9.99870457e-01 -1.62810440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.604553574 meters Centerline goodness [0,1] 0.8179318979830698 Centerline is valid? [False, False] Translation: X:7.31, Y:0.23, Z:-1.63 [[ 9.99720871e-01 -1.75718695e-02 -1.57927319e-02 7.31430443e+00] [ 1.75288400e-02 9.99842271e-01 -2.85895860e-03 2.30870715e-01] [ 1.58404781e-02 2.58133231e-03 9.99871200e-01 -1.62781585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.634553574 meters Centerline goodness [0,1] 0.8236476757138588 Centerline is valid? [False, False] Translation: X:7.31, Y:0.23, Z:-1.63 [[ 9.99720150e-01 -1.75222332e-02 -1.58931732e-02 7.31412917e+00] [ 1.74881667e-02 9.99844471e-01 -2.27993203e-03 2.31038031e-01] [ 1.59306509e-02 2.00135153e-03 9.99871096e-01 -1.62619086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.664553574 meters Centerline goodness [0,1] 0.8239534314392187 Centerline is valid? [False, False] Translation: X:7.32, Y:0.23, Z:-1.63 [[ 9.99705703e-01 -1.79968276e-02 -1.62672185e-02 7.31553615e+00] [ 1.79660811e-02 9.99836527e-01 -2.03426740e-03 2.30380769e-01] [ 1.63011696e-02 1.74141055e-03 9.99865611e-01 -1.62577249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.69455357399997 meters Centerline goodness [0,1] 0.8313082714941966 Centerline is valid? [False, False] Translation: X:7.32, Y:0.23, Z:-1.62 [[ 9.99658080e-01 -1.95943688e-02 -1.73142559e-02 7.31945072e+00] [ 1.95733251e-02 9.99807466e-01 -1.38404029e-03 2.28707204e-01] [ 1.73380417e-02 1.04466950e-03 9.99849139e-01 -1.62408641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.72455357399997 meters Centerline goodness [0,1] 0.823554999728128 Centerline is valid? [False, False] Translation: X:7.32, Y:0.23, Z:-1.62 [[ 9.99636983e-01 -2.02159121e-02 -1.78106695e-02 7.32109923e+00] [ 2.02073276e-02 9.99795592e-01 -6.61840058e-04 2.27226922e-01] [ 1.78204086e-02 3.01693766e-04 9.99841158e-01 -1.62264637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.75455357399997 meters Centerline goodness [0,1] 0.8239142880510346 Centerline is valid? [False, False] Translation: X:7.32, Y:0.23, Z:-1.62 [[ 9.99615492e-01 -2.08323574e-02 -1.82997385e-02 7.32267777e+00] [ 2.08347777e-02 9.99782931e-01 -5.84042149e-05 2.25914566e-01] [ 1.82969829e-02 -3.22889226e-04 9.99832544e-01 -1.62138658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.78455357399997 meters Centerline goodness [0,1] 0.8324776054183963 Centerline is valid? [False, False] Translation: X:7.32, Y:0.22, Z:-1.62 [[ 9.99592339e-01 -2.15473400e-02 -1.87314746e-02 7.32414785e+00] [ 2.15692329e-02 9.99766889e-01 9.67509015e-04 2.23729374e-01] [ 1.87062608e-02 -1.37113814e-03 9.99824082e-01 -1.61929853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.81455357399997 meters Centerline goodness [0,1] 0.8349326116077531 Centerline is valid? [False, False] Translation: X:7.32, Y:0.22, Z:-1.62 [[ 9.99591776e-01 -2.15251961e-02 -1.87868897e-02 7.32416632e+00] [ 2.15585959e-02 9.99766343e-01 1.57708689e-03 2.22554558e-01] [ 1.87485529e-02 -1.98146205e-03 9.99822267e-01 -1.61833214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.84455357399997 meters Centerline goodness [0,1] 0.8291192987262019 Centerline is valid? [False, False] Translation: X:7.32, Y:0.22, Z:-1.62 [[ 9.99660780e-01 -1.92320898e-02 -1.75628196e-02 7.31835648e+00] [ 1.92763205e-02 9.99811427e-01 2.35260678e-03 2.23295521e-01] [ 1.75142622e-02 -2.69035527e-03 9.99842994e-01 -1.61670614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.87455357399998 meters Centerline goodness [0,1] 0.8354023739518676 Centerline is valid? [False, False] Translation: X:7.32, Y:0.22, Z:-1.62 [[ 9.99720831e-01 -1.53284185e-02 -1.79805207e-02 7.31921542e+00] [ 1.54518363e-02 9.99857861e-01 6.74523468e-03 2.23563534e-01] [ 1.78745712e-02 -7.02118369e-03 9.99815584e-01 -1.61553882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.90455357399998 meters Centerline goodness [0,1] 0.8242044437210059 Centerline is valid? [False, False] Translation: X:7.32, Y:0.23, Z:-1.62 [[ 9.99758391e-01 -1.38262693e-02 -1.70878463e-02 7.31607036e+00] [ 1.39299678e-02 9.99885184e-01 5.96449935e-03 2.26391143e-01] [ 1.70034176e-02 -6.20109142e-03 9.99836202e-01 -1.61746189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.93455357399998 meters Centerline goodness [0,1] 0.8206622945510484 Centerline is valid? [False, False] Translation: X:7.31, Y:0.23, Z:-1.62 [[ 0.99982598 -0.00845964 -0.01662633 7.31415425] [ 0.00861189 0.99992144 0.00910735 0.22996737] [ 0.01654798 -0.00924895 0.99982029 -1.61939562] [ 0. 0. 0. 1. ]] SLAMing on 226.96455357399998 meters Centerline goodness [0,1] 0.819935864615053 Centerline is valid? [False, False] Translation: X:7.31, Y:0.23, Z:-1.62 [[ 0.99984519 -0.00739235 -0.01596738 7.31190333] [ 0.00752967 0.99993504 0.00855743 0.2317057 ] [ 0.01590309 -0.00867634 0.99983589 -1.62073234] [ 0. 0. 0. 1. ]] SLAMing on 226.99455357399998 meters Centerline goodness [0,1] 0.8194280184926352 Centerline is valid? [False, False] Translation: X:7.33, Y:0.23, Z:-1.63 [[ 9.99864572e-01 -2.26062177e-03 -1.63011208e-02 7.33347291e+00] [ 2.26787143e-03 9.99997338e-01 4.26261774e-04 2.34495889e-01] [ 1.63001138e-02 -4.63172892e-04 9.99867037e-01 -1.62603215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.02455357399998 meters Centerline goodness [0,1] 0.8182111287245761 Centerline is valid? [False, False] Translation: X:7.33, Y:0.23, Z:-1.63 [[ 9.99871190e-01 -1.59889930e-03 -1.59702120e-02 7.33209701e+00] [ 1.60621234e-03 9.99998611e-01 4.45101377e-04 2.34905430e-01] [ 1.59694782e-02 -4.70695595e-04 9.99872369e-01 -1.62610094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.05455357399998 meters Centerline goodness [0,1] 0.8193706030825412 Centerline is valid? [False, False] Translation: X:7.33, Y:0.24, Z:-1.63 [[ 9.99876259e-01 -1.10319858e-03 -1.56923128e-02 7.33073692e+00] [ 1.11238130e-03 9.99999215e-01 5.76457001e-04 2.35447215e-01] [ 1.56916646e-02 -5.93841505e-04 9.99876702e-01 -1.62549709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.08455357399998 meters Centerline goodness [0,1] 0.8173174781723713 Centerline is valid? [False, False] Translation: X:7.33, Y:0.24, Z:-1.63 [[ 9.99879990e-01 -6.16960600e-04 -1.54798258e-02 7.32967200e+00] [ 6.24389087e-04 9.99999692e-01 4.75053379e-04 2.37500110e-01] [ 1.54795279e-02 -4.84661802e-04 9.99880067e-01 -1.62519419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.11455357399998 meters Centerline goodness [0,1] 0.8169658382600786 Centerline is valid? [False, False] Translation: X:7.32, Y:0.24, Z:-1.63 [[ 9.99967671e-01 -2.45521864e-03 -7.65690952e-03 7.32161280e+00] [ 2.47500836e-03 9.99993619e-01 2.57615275e-03 2.39679709e-01] [ 7.65053565e-03 -2.59502038e-03 9.99967367e-01 -1.63085505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.14455357399999 meters Centerline goodness [0,1] 0.8180239392967832 Centerline is valid? [False, False] Translation: X:7.32, Y:0.24, Z:-1.63 [[ 9.99966714e-01 -2.54784125e-03 -7.75103275e-03 7.32207960e+00] [ 2.56349282e-03 9.99994694e-01 2.01002419e-03 2.42234893e-01] [ 7.74587040e-03 -2.02982700e-03 9.99967940e-01 -1.63151866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.174553574 meters Centerline goodness [0,1] 0.8208523958584156 Centerline is valid? [False, False] Translation: X:7.32, Y:0.24, Z:-1.63 [[ 9.99966567e-01 -2.51342044e-03 -7.78126102e-03 7.32195799e+00] [ 2.52912540e-03 9.99994783e-01 2.00912281e-03 2.42770138e-01] [ 7.77617066e-03 -2.02873543e-03 9.99967707e-01 -1.63118008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.204553574 meters Centerline goodness [0,1] 0.8162538492435399 Centerline is valid? [False, False] Translation: X:7.32, Y:0.24, Z:-1.63 [[ 9.99968531e-01 -2.19415593e-03 -7.62378222e-03 7.32088713e+00] [ 2.21223705e-03 9.99994759e-01 2.36405032e-03 2.42870201e-01] [ 7.61855517e-03 -2.38084154e-03 9.99968144e-01 -1.63002167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.234553574 meters Centerline goodness [0,1] 0.8181330759744786 Centerline is valid? [False, False] Translation: X:7.32, Y:0.24, Z:-1.63 [[ 9.99973051e-01 -1.39551070e-03 -7.20767929e-03 7.31847039e+00] [ 1.41596824e-03 9.99994982e-01 2.83397458e-03 2.43038874e-01] [ 7.20368828e-03 -2.84410406e-03 9.99970009e-01 -1.62834474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.264553574 meters Centerline goodness [0,1] 0.8204695740636629 Centerline is valid? [False, False] Translation: X:7.32, Y:0.24, Z:-1.63 [[ 9.99974808e-01 -1.09179159e-03 -7.01359416e-03 7.31777435e+00] [ 1.10947718e-03 9.99996214e-01 2.51821918e-03 2.43997431e-01] [ 7.01081823e-03 -2.52593717e-03 9.99972234e-01 -1.62874605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.294553574 meters Centerline goodness [0,1] 0.815744499038667 Centerline is valid? [False, False] Translation: X:7.32, Y:0.25, Z:-1.63 [[ 9.99979306e-01 1.62873087e-04 -6.43118018e-03 7.31559990e+00] [-1.50545193e-04 9.99998151e-01 1.91733221e-03 2.47196415e-01] [ 6.43148057e-03 -1.91632435e-03 9.99977482e-01 -1.63004430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.324553574 meters Centerline goodness [0,1] 0.8141408751334045 Centerline is valid? [False, False] Translation: X:7.31, Y:0.25, Z:-1.63 [[ 9.99982151e-01 8.81864486e-04 -5.90936765e-03 7.31395675e+00] [-8.73323964e-04 9.99998571e-01 1.44767612e-03 2.48946268e-01] [ 5.91063586e-03 -1.44248949e-03 9.99981492e-01 -1.63095553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.354553574 meters Centerline goodness [0,1] 0.8148079223713944 Centerline is valid? [False, False] Translation: X:7.31, Y:0.25, Z:-1.63 [[ 9.99983781e-01 1.46546178e-03 -5.50372379e-03 7.31263716e+00] [-1.45959271e-03 9.99998362e-01 1.07024845e-03 2.50387087e-01] [ 5.50528318e-03 -1.06219789e-03 9.99984282e-01 -1.63162019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.384553574 meters Centerline goodness [0,1] 0.8109442173982273 Centerline is valid? [False, False] Translation: X:7.31, Y:0.25, Z:-1.63 [[ 9.99985333e-01 2.88590083e-03 -4.58307671e-03 7.30926348e+00] [-2.88125538e-03 9.99995329e-01 1.01988864e-03 2.52100809e-01] [ 4.58599860e-03 -1.00666867e-03 9.99988978e-01 -1.63171139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.414553574 meters Centerline goodness [0,1] 0.8118995807016612 Centerline is valid? [False, False] Translation: X:7.31, Y:0.25, Z:-1.63 [[ 9.99985405e-01 3.23090441e-03 -4.33023991e-03 7.30866902e+00] [-3.22817991e-03 9.99994587e-01 6.36020328e-04 2.52965763e-01] [ 4.33227139e-03 -6.22032252e-04 9.99990422e-01 -1.63259378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.44455357399997 meters Centerline goodness [0,1] 0.8100738144548882 Centerline is valid? [False, False] Translation: X:7.31, Y:0.25, Z:-1.63 [[ 9.99983840e-01 4.26455923e-03 -3.75940373e-03 7.30673434e+00] [-4.26367628e-03 9.99990881e-01 2.42847328e-04 2.54051591e-01] [ 3.76040508e-03 -2.26814523e-04 9.99992904e-01 -1.63381104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.47455357399997 meters Centerline goodness [0,1] 0.8093622435455654 Centerline is valid? [False, False] Translation: X:7.31, Y:0.25, Z:-1.63 [[ 9.99983220e-01 4.63842869e-03 -3.47046768e-03 7.30602348e+00] [-4.63861266e-03 9.99989241e-01 -4.49612539e-05 2.54545631e-01] [ 3.47022179e-03 6.10586547e-05 9.99993977e-01 -1.63460232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.50455357399997 meters Centerline goodness [0,1] 0.812107230928327 Centerline is valid? [False, False] Translation: X:7.31, Y:0.25, Z:-1.64 [[ 9.99982454e-01 4.95599809e-03 -3.24484840e-03 7.30545551e+00] [-4.95678923e-03 9.99987687e-01 -2.35817341e-04 2.54962679e-01] [ 3.24363974e-03 2.51897233e-04 9.99994708e-01 -1.63511782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.53455357399997 meters Centerline goodness [0,1] 0.812107230928327 Centerline is valid? [False, False] Translation: X:7.31, Y:0.25, Z:-1.64 [[ 9.99982454e-01 4.95599809e-03 -3.24484840e-03 7.30545551e+00] [-4.95678923e-03 9.99987687e-01 -2.35817341e-04 2.54962679e-01] [ 3.24363974e-03 2.51897233e-04 9.99994708e-01 -1.63511782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.56455357399997 meters Centerline goodness [0,1] 0.8102108473677231 Centerline is valid? [False, False] Translation: X:7.30, Y:0.26, Z:-1.64 [[ 9.99977157e-01 6.28442070e-03 -2.48823684e-03 7.30273923e+00] [-6.28540889e-03 9.99980171e-01 -3.89526697e-04 2.55792322e-01] [ 2.48573955e-03 4.05157385e-04 9.99996828e-01 -1.63600651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.59455357399997 meters Centerline goodness [0,1] 0.812516566823941 Centerline is valid? [False, False] Translation: X:7.30, Y:0.26, Z:-1.64 [[ 9.99974608e-01 6.80949730e-03 -2.10095176e-03 7.30169664e+00] [-6.81082540e-03 9.99976610e-01 -6.25635866e-04 2.56404356e-01] [ 2.09664236e-03 6.39929195e-04 9.99997597e-01 -1.63674984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.62455357399998 meters Centerline goodness [0,1] 0.8078476934857807 Centerline is valid? [False, False] Translation: X:7.30, Y:0.26, Z:-1.64 [[ 9.99966882e-01 8.01149181e-03 -1.43196267e-03 7.29964468e+00] [-8.01266538e-03 9.99967565e-01 -8.15697889e-04 2.57212038e-01] [ 1.42538127e-03 8.27144713e-04 9.99998642e-01 -1.63804077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.65455357399998 meters Centerline goodness [0,1] 0.8073202959830867 Centerline is valid? [False, False] Translation: X:7.30, Y:0.26, Z:-1.64 [[ 9.99962605e-01 8.57970708e-03 -1.08522351e-03 7.29864707e+00] [-8.58106249e-03 9.99962400e-01 -1.25053934e-03 2.58413143e-01] [ 1.07445344e-03 1.25980495e-03 9.99998629e-01 -1.63906560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.68455357399998 meters Centerline goodness [0,1] 0.8131728942368588 Centerline is valid? [False, False] Translation: X:7.30, Y:0.26, Z:-1.64 [[ 9.99959900e-01 8.91538871e-03 -8.44750187e-04 7.29825936e+00] [-8.91668082e-03 9.99959062e-01 -1.53835855e-03 2.58846924e-01] [ 8.31000541e-04 1.54582923e-03 9.99998460e-01 -1.64010737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.71455357399998 meters Centerline goodness [0,1] 0.8112719205577857 Centerline is valid? [False, False] Translation: X:7.30, Y:0.26, Z:-1.64 [[ 9.99960495e-01 8.84462829e-03 -8.84050541e-04 7.29913239e+00] [-8.84625586e-03 9.99959152e-01 -1.85439907e-03 2.58230029e-01] [ 8.67612959e-04 1.86214635e-03 9.99997890e-01 -1.64168537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.74455357399998 meters Centerline goodness [0,1] 0.8110209154128877 Centerline is valid? [False, False] Translation: X:7.30, Y:0.26, Z:-1.64 [[ 9.99963403e-01 8.47820134e-03 -1.14609051e-03 7.30040093e+00] [-8.48028625e-03 9.99962373e-01 -1.82669229e-03 2.57383798e-01] [ 1.13056032e-03 1.83634461e-03 9.99997675e-01 -1.64207086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.77455357399998 meters Centerline goodness [0,1] 0.8102066192227307 Centerline is valid? [False, False] Translation: X:7.30, Y:0.26, Z:-1.64 [[ 9.99966677e-01 8.03360780e-03 -1.45103778e-03 7.30195652e+00] [-8.03631744e-03 9.99965957e-01 -1.87130547e-03 2.56405036e-01] [ 1.43595505e-03 1.88290411e-03 9.99997196e-01 -1.64274432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.80455357399998 meters Centerline goodness [0,1] 0.8139701397544352 Centerline is valid? [False, False] Translation: X:7.31, Y:0.25, Z:-1.64 [[ 9.99976185e-01 6.51745010e-03 -2.27003459e-03 7.30598216e+00] [-6.52135537e-03 9.99977261e-01 -1.71722371e-03 2.53010590e-01] [ 2.25879106e-03 1.73198651e-03 9.99995949e-01 -1.64349888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.83455357399998 meters Centerline goodness [0,1] 0.8148760330578513 Centerline is valid? [False, False] Translation: X:7.30, Y:0.25, Z:-1.64 [[ 9.99993503e-01 3.24508443e-03 -1.56946487e-03 7.30408017e+00] [-3.25415473e-03 9.99977818e-01 -5.81162425e-03 2.52681406e-01] [ 1.55057085e-03 5.81669377e-03 9.99981881e-01 -1.64453670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.86455357399998 meters Centerline goodness [0,1] 0.8171378091872792 Centerline is valid? [False, False] Translation: X:7.30, Y:0.25, Z:-1.65 [[ 9.99999202e-01 -4.83582934e-04 -1.16727732e-03 7.30330194e+00] [ 4.72646755e-04 9.99956166e-01 -9.35112679e-03 2.49789545e-01] [ 1.17174820e-03 9.35056762e-03 9.99955596e-01 -1.64511609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.89455357399999 meters Centerline goodness [0,1] 0.8159644044172831 Centerline is valid? [False, False] Translation: X:7.30, Y:0.25, Z:-1.64 [[ 9.99998985e-01 -5.44001567e-04 -1.31685210e-03 7.30370014e+00] [ 5.32590229e-04 9.99962442e-01 -8.65051366e-03 2.48234318e-01] [ 1.32150853e-03 8.64980354e-03 9.99961717e-01 -1.64422900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.924553574 meters Centerline goodness [0,1] 0.8149951835598844 Centerline is valid? [False, False] Translation: X:7.30, Y:0.25, Z:-1.64 [[ 9.99991098e-01 3.97504474e-03 -1.41501382e-03 7.30258178e+00] [-3.97860004e-03 9.99988913e-01 -2.51867003e-03 2.46828905e-01] [ 1.40498630e-03 2.52427738e-03 9.99995827e-01 -1.63938418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.954553574 meters Centerline goodness [0,1] 0.8145364078968488 Centerline is valid? [False, False] Translation: X:7.30, Y:0.25, Z:-1.64 [[ 9.99989378e-01 4.48705581e-03 -1.05393769e-03 7.30134317e+00] [-4.48945772e-03 9.99987305e-01 -2.28778651e-03 2.46789623e-01] [ 1.04365889e-03 2.29249381e-03 9.99996828e-01 -1.63912992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.984553574 meters Centerline goodness [0,1] 0.8136430383126418 Centerline is valid? [False, False] Translation: X:7.30, Y:0.25, Z:-1.64 [[ 9.99983725e-01 5.69544430e-03 -3.32794511e-04 7.29870376e+00] [-5.69619355e-03 9.99981142e-01 -2.29558400e-03 2.47934215e-01] [ 3.19713865e-04 2.29744231e-03 9.99997310e-01 -1.63950780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.014553574 meters Centerline goodness [0,1] 0.8155926044672438 Centerline is valid? [False, False] Translation: X:7.30, Y:0.25, Z:-1.64 [[ 9.99982677e-01 5.88174085e-03 -2.27483560e-04 7.29837301e+00] [-5.88223709e-03 9.99980177e-01 -2.24604030e-03 2.47926904e-01] [ 2.14268424e-04 2.24733950e-03 9.99997452e-01 -1.63947964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.044553574 meters Centerline goodness [0,1] 0.8173613521668314 Centerline is valid? [False, False] Translation: X:7.30, Y:0.25, Z:-1.64 [[ 9.99981591e-01 6.06648891e-03 -1.27266735e-04 7.29800234e+00] [-6.06672999e-03 9.99979621e-01 -1.98815735e-03 2.47435545e-01] [ 1.15203007e-04 1.98889284e-03 9.99998016e-01 -1.63910280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.074553574 meters Centerline goodness [0,1] 0.815450986658145 Centerline is valid? [False, False] Translation: X:7.30, Y:0.25, Z:-1.64 [[ 9.99981092e-01 6.14899547e-03 -6.73892435e-05 7.29843852e+00] [-6.14914154e-03 9.99978120e-01 -2.43864717e-03 2.47506885e-01] [ 5.23925387e-05 2.43901544e-03 9.99997024e-01 -1.64064620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.104553574 meters Centerline goodness [0,1] 0.8152516142803778 Centerline is valid? [False, False] Translation: X:7.30, Y:0.25, Z:-1.64 [[ 9.99982381e-01 5.93189164e-03 -2.23314176e-04 7.29938931e+00] [-5.93242690e-03 9.99979333e-01 -2.47784205e-03 2.47192438e-01] [ 2.08611271e-04 2.47912319e-03 9.99996905e-01 -1.64116315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.134553574 meters Centerline goodness [0,1] 0.8114276551392379 Centerline is valid? [False, False] Translation: X:7.30, Y:0.25, Z:-1.64 [[ 9.99988365e-01 4.72010797e-03 -9.95120480e-04 7.30317306e+00] [-4.72284289e-03 9.99985027e-01 -2.76413336e-03 2.45831834e-01] [ 9.82058573e-04 2.76880100e-03 9.99995685e-01 -1.64271236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.164553574 meters Centerline goodness [0,1] 0.8111709972380876 Centerline is valid? [False, False] Translation: X:7.31, Y:0.24, Z:-1.64 [[ 9.99991122e-01 3.88314177e-03 -1.63595154e-03 7.30588478e+00] [-3.88757501e-03 9.99988756e-01 -2.71547316e-03 2.44837969e-01] [ 1.62538858e-03 2.72180894e-03 9.99994975e-01 -1.64319104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.19455357399997 meters Centerline goodness [0,1] 0.8120855815951249 Centerline is valid? [False, False] Translation: X:7.31, Y:0.24, Z:-1.64 [[ 9.99993256e-01 2.65675245e-03 -2.53574321e-03 7.30962599e+00] [-2.66337950e-03 9.99993038e-01 -2.61366785e-03 2.43083960e-01] [ 2.52878168e-03 2.62040386e-03 9.99993369e-01 -1.64364320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.22455357399997 meters Centerline goodness [0,1] 0.8110442363229062 Centerline is valid? [False, False] Translation: X:7.31, Y:0.24, Z:-1.64 [[ 9.99993153e-01 1.31758840e-03 -3.45793979e-03 7.31307745e+00] [-1.32525042e-03 9.99996670e-01 -2.21442101e-03 2.40801800e-01] [ 3.45501058e-03 2.21898849e-03 9.99991569e-01 -1.64279542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.25455357399997 meters Centerline goodness [0,1] 0.8118629862932223 Centerline is valid? [False, False] Translation: X:7.31, Y:0.24, Z:-1.64 [[ 9.99991842e-01 7.85311046e-04 -3.96211048e-03 7.31466391e+00] [-7.92212626e-04 9.99998171e-01 -1.74062625e-03 2.39686350e-01] [ 3.96073630e-03 1.74375088e-03 9.99990636e-01 -1.64182224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.28455357399997 meters Centerline goodness [0,1] 0.8125371681894361 Centerline is valid? [False, False] Translation: X:7.32, Y:0.24, Z:-1.64 [[ 9.99990362e-01 2.02278235e-04 -4.38573855e-03 7.31616496e+00] [-2.08317324e-04 9.99999031e-01 -1.37657018e-03 2.39287651e-01] [ 4.38545585e-03 1.37747054e-03 9.99989435e-01 -1.64082906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.31455357399997 meters Centerline goodness [0,1] 0.8122468815810788 Centerline is valid? [False, False] Translation: X:7.32, Y:0.24, Z:-1.64 [[ 9.99987783e-01 -5.00978858e-04 -4.91763608e-03 7.31830213e+00] [ 4.94391713e-04 9.99998979e-01 -1.34061846e-03 2.39232490e-01] [ 4.91830268e-03 1.33817085e-03 9.99987010e-01 -1.64076531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.34455357399997 meters Centerline goodness [0,1] 0.8124290425474401 Centerline is valid? [False, False] Translation: X:7.32, Y:0.24, Z:-1.64 [[ 9.99983898e-01 -1.26633642e-03 -5.53171183e-03 7.32050796e+00] [ 1.26020986e-03 9.99998589e-01 -1.11088071e-03 2.39316312e-01] [ 5.53311078e-03 1.10389170e-03 9.99984083e-01 -1.64008972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.37455357399998 meters Centerline goodness [0,1] 0.8163425387465851 Centerline is valid? [False, False] Translation: X:7.32, Y:0.24, Z:-1.64 [[ 9.99975294e-01 -2.74527669e-03 -6.47103801e-03 7.32384246e+00] [ 2.74050761e-03 9.99995967e-01 -7.45740027e-04 2.39403638e-01] [ 6.47305917e-03 7.27987674e-04 9.99978785e-01 -1.63835740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.40455357399998 meters Centerline goodness [0,1] 0.8168200588378182 Centerline is valid? [False, False] Translation: X:7.33, Y:0.24, Z:-1.64 [[ 9.99966348e-01 -3.80134188e-03 -7.26995145e-03 7.32668048e+00] [ 3.79816557e-03 9.99992685e-01 -4.50665114e-04 2.39251766e-01] [ 7.27161140e-03 4.23037469e-04 9.99973472e-01 -1.63733539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.43455357399998 meters Centerline goodness [0,1] 0.8170348711284383 Centerline is valid? [False, False] Translation: X:7.33, Y:0.24, Z:-1.64 [[ 9.99940235e-01 -6.35640740e-03 -8.89508902e-03 7.33308220e+00] [ 6.34957174e-03 9.99979524e-01 -7.96505122e-04 2.40027809e-01] [ 8.89996980e-03 7.39977513e-04 9.99960121e-01 -1.63693221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.46455357399998 meters Centerline goodness [0,1] 0.8192001731695437 Centerline is valid? [False, False] Translation: X:7.34, Y:0.24, Z:-1.64 [[ 9.99925196e-01 -7.42152459e-03 -9.72234671e-03 7.33619715e+00] [ 7.41281511e-03 9.99972091e-01 -9.31550693e-04 2.40597976e-01] [ 9.72898889e-03 8.59411050e-04 9.99952303e-01 -1.63685015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.49455357399998 meters Centerline goodness [0,1] 0.8186455774784744 Centerline is valid? [False, False] Translation: X:7.34, Y:0.24, Z:-1.64 [[ 9.99904360e-01 -8.75711164e-03 -1.07044290e-02 7.34012274e+00] [ 8.74633476e-03 9.99961195e-01 -1.05316933e-03 2.40717973e-01] [ 1.07132364e-02 9.59444089e-04 9.99942151e-01 -1.63702607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.52455357399998 meters Centerline goodness [0,1] 0.8163608728693953 Centerline is valid? [False, False] Translation: X:7.35, Y:0.24, Z:-1.64 [[ 9.99833468e-01 -1.30057326e-02 -1.28018133e-02 7.35044153e+00] [ 1.29818522e-02 9.99913837e-01 -1.94673339e-03 2.40639266e-01] [ 1.28260290e-02 1.78021795e-03 9.99916158e-01 -1.63804853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.55455357399998 meters Centerline goodness [0,1] 0.8198686684286531 Centerline is valid? [False, False] Translation: X:7.36, Y:0.24, Z:-1.64 [[ 9.99731375e-01 -1.77016455e-02 -1.49609665e-02 7.36145248e+00] [ 1.76807873e-02 9.99842519e-01 -1.52530193e-03 2.38480244e-01] [ 1.49856108e-02 1.26037053e-03 9.99886915e-01 -1.63636061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.58455357399998 meters Centerline goodness [0,1] 0.8217775836654474 Centerline is valid? [False, False] Translation: X:7.37, Y:0.24, Z:-1.64 [[ 9.99693387e-01 -1.89661420e-02 -1.59190704e-02 7.36515807e+00] [ 1.89479634e-02 9.99819636e-01 -1.29200459e-03 2.37299527e-01] [ 1.59407035e-02 9.89974486e-04 9.99872449e-01 -1.63608517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.61455357399998 meters Centerline goodness [0,1] 0.8218650045107849 Centerline is valid? [False, False] Translation: X:7.37, Y:0.24, Z:-1.64 [[ 9.99665066e-01 -1.98382106e-02 -1.66193110e-02 7.36788765e+00] [ 1.98226047e-02 9.99802904e-01 -1.10324595e-03 2.36363256e-01] [ 1.66379218e-02 7.73438407e-04 9.99861281e-01 -1.63600302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.64455357399999 meters Centerline goodness [0,1] 0.8210641499110929 Centerline is valid? [False, False] Translation: X:7.37, Y:0.23, Z:-1.64 [[ 9.99640233e-01 -2.05912249e-02 -1.71873913e-02 7.37020472e+00] [ 2.05832186e-02 9.99787937e-01 -6.42608260e-04 2.34933984e-01] [ 1.71969786e-02 2.88605237e-04 9.99852079e-01 -1.63549697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.674553574 meters Centerline goodness [0,1] 0.8210641499110929 Centerline is valid? [False, False] Translation: X:7.37, Y:0.23, Z:-1.64 [[ 9.99640233e-01 -2.05912249e-02 -1.71873913e-02 7.37020472e+00] [ 2.05832186e-02 9.99787937e-01 -6.42608260e-04 2.34933984e-01] [ 1.71969786e-02 2.88605237e-04 9.99852079e-01 -1.63549697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.704553574 meters Centerline goodness [0,1] 0.8203495870263151 Centerline is valid? [False, False] Translation: X:7.37, Y:0.23, Z:-1.63 [[ 9.99661872e-01 -1.98702267e-02 -1.67724899e-02 7.36842743e+00] [ 1.98727804e-02 9.99802517e-01 -1.44190629e-05 2.34312678e-01] [ 1.67694641e-02 -3.18901821e-04 9.99859332e-01 -1.63457641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.734553574 meters Centerline goodness [0,1] 0.8218282305945444 Centerline is valid? [False, False] Translation: X:7.37, Y:0.23, Z:-1.63 [[ 9.99722600e-01 -1.60341956e-02 -1.72518644e-02 7.36951771e+00] [ 1.61253370e-02 9.99856680e-01 5.15691107e-03 2.32508039e-01] [ 1.71667049e-02 -5.43367267e-03 9.99837877e-01 -1.63245043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.764553574 meters Centerline goodness [0,1] 0.8226893980923145 Centerline is valid? [False, False] Translation: X:7.37, Y:0.23, Z:-1.63 [[ 9.99737210e-01 -1.55109151e-02 -1.68796448e-02 7.36844625e+00] [ 1.55966427e-02 9.99866068e-01 4.95901030e-03 2.32741019e-01] [ 1.68004652e-02 -5.22097291e-03 9.99845231e-01 -1.63334642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.794553574 meters Centerline goodness [0,1] 0.8213316520928703 Centerline is valid? [False, False] Translation: X:7.37, Y:0.23, Z:-1.63 [[ 9.99747636e-01 -1.50851709e-02 -1.66464025e-02 7.36760626e+00] [ 1.51708337e-02 9.99872255e-01 5.03179312e-03 2.32505613e-01] [ 1.65683705e-02 -5.28306307e-03 9.99848778e-01 -1.63358595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.824553574 meters Centerline goodness [0,1] 0.8232615553422027 Centerline is valid? [False, False] Translation: X:7.38, Y:0.23, Z:-1.64 [[ 9.99848077e-01 -1.37008090e-02 -1.07754924e-02 7.38484872e+00] [ 1.36570561e-02 9.99898235e-01 -4.12356508e-03 2.33931836e-01] [ 1.08308920e-02 3.97577712e-03 9.99933440e-01 -1.64168361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.854553574 meters Centerline goodness [0,1] 0.8209385290889133 Centerline is valid? [False, False] Translation: X:7.39, Y:0.23, Z:-1.64 [[ 9.99887126e-01 -9.86780284e-03 -1.13297181e-02 7.38551099e+00] [ 9.88745638e-03 9.99949707e-01 1.67998758e-03 2.31700610e-01] [ 1.13125706e-02 -1.79182004e-03 9.99934405e-01 -1.63766126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.884553574 meters Centerline goodness [0,1] 0.8183328793244348 Centerline is valid? [False, False] Translation: X:7.40, Y:0.24, Z:-1.64 [[ 9.99972551e-01 -4.78416629e-03 -5.65757362e-03 7.40184414e+00] [ 4.76153153e-03 9.99980634e-01 -4.00751448e-03 2.35084253e-01] [ 5.67663667e-03 3.98046576e-03 9.99975966e-01 -1.64377313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.914553574 meters Centerline goodness [0,1] 0.8183450790454682 Centerline is valid? [False, False] Translation: X:7.40, Y:0.23, Z:-1.64 [[ 9.99978698e-01 -1.36791304e-03 -6.38218378e-03 7.40381995e+00] [ 1.37432463e-03 9.99998555e-01 1.00033074e-03 2.34185479e-01] [ 6.38080619e-03 -1.00908062e-03 9.99979133e-01 -1.64148887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.94455357399997 meters Centerline goodness [0,1] 0.8169607656543136 Centerline is valid? [False, False] Translation: X:7.40, Y:0.24, Z:-1.64 [[ 9.99981922e-01 -7.50567315e-04 -5.96589565e-03 7.40244669e+00] [ 7.55467574e-04 9.99999379e-01 8.19167442e-04 2.35466603e-01] [ 5.96527711e-03 -8.23659674e-04 9.99981868e-01 -1.64197058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.97455357399997 meters Centerline goodness [0,1] 0.8153182484128276 Centerline is valid? [False, False] Translation: X:7.40, Y:0.24, Z:-1.64 [[ 9.99982229e-01 -6.89525948e-04 -5.92167592e-03 7.40294087e+00] [ 6.91875773e-04 9.99999683e-01 3.94778261e-04 2.36930793e-01] [ 5.92140183e-03 -3.98868310e-04 9.99982389e-01 -1.64329752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.00455357399997 meters Centerline goodness [0,1] 0.8144985860343703 Centerline is valid? [False, False] Translation: X:7.40, Y:0.24, Z:-1.64 [[ 9.99981450e-01 -8.27647148e-04 -6.03447119e-03 7.40343635e+00] [ 8.30627088e-04 9.99999534e-01 4.91330135e-04 2.36620227e-01] [ 6.03406173e-03 -4.96333416e-04 9.99981672e-01 -1.64328263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.03455357399997 meters Centerline goodness [0,1] 0.8168837196603598 Centerline is valid? [False, False] Translation: X:7.41, Y:0.23, Z:-1.64 [[ 9.99974774e-01 -2.03648266e-03 -6.80472429e-03 7.40644375e+00] [ 2.04403652e-03 9.99997302e-01 1.10331947e-03 2.34218548e-01] [ 6.80245905e-03 -1.11720074e-03 9.99976239e-01 -1.64218697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.06455357399997 meters Centerline goodness [0,1] 0.818492401880398 Centerline is valid? [False, False] Translation: X:7.41, Y:0.23, Z:-1.64 [[ 9.99967987e-01 -2.91896525e-03 -7.45016928e-03 7.40898514e+00] [ 2.92925033e-03 9.99994771e-01 1.36997828e-03 2.32846133e-01] [ 7.44613141e-03 -1.39175784e-03 9.99971309e-01 -1.64196791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.09455357399997 meters Centerline goodness [0,1] 0.818853670553457 Centerline is valid? [False, False] Translation: X:7.41, Y:0.23, Z:-1.64 [[ 9.99953960e-01 -4.52783326e-03 -8.46028552e-03 7.41331374e+00] [ 4.54078219e-03 9.99988548e-01 1.51197317e-03 2.31208840e-01] [ 8.45334267e-03 -1.55031987e-03 9.99963068e-01 -1.64195563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.12455357399998 meters Centerline goodness [0,1] 0.8200693932191351 Centerline is valid? [False, False] Translation: X:7.41, Y:0.23, Z:-1.64 [[ 9.99954199e-01 -4.43863226e-03 -8.47929726e-03 7.41298664e+00] [ 4.45400710e-03 9.99988469e-01 1.79519816e-03 2.31465863e-01] [ 8.47123126e-03 -1.83288279e-03 9.99962439e-01 -1.64096631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.15455357399998 meters Centerline goodness [0,1] 0.8197799797996342 Centerline is valid? [False, False] Translation: X:7.41, Y:0.23, Z:-1.64 [[ 9.99951190e-01 -4.74479476e-03 -8.66633891e-03 7.41364703e+00] [ 4.76125180e-03 9.99986899e-01 1.87931761e-03 2.31851129e-01] [ 8.65730840e-03 -1.92048850e-03 9.99960681e-01 -1.64041437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.18455357399998 meters Centerline goodness [0,1] 0.818784620842088 Centerline is valid? [False, False] Translation: X:7.41, Y:0.23, Z:-1.64 [[ 9.99949845e-01 -4.79244169e-03 -8.79428483e-03 7.41405148e+00] [ 4.80858232e-03 9.99986791e-01 1.81512879e-03 2.32842113e-01] [ 8.78546977e-03 -1.85732579e-03 9.99959682e-01 -1.64035485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.21455357399998 meters Centerline goodness [0,1] 0.8188608010505581 Centerline is valid? [False, False] Translation: X:7.42, Y:0.23, Z:-1.64 [[ 9.99944123e-01 -5.23156056e-03 -9.18593606e-03 7.41567154e+00] [ 5.24547363e-03 9.99985131e-01 1.49116674e-03 2.33730410e-01] [ 9.17799834e-03 -1.53926800e-03 9.99956697e-01 -1.64101515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.24455357399998 meters Centerline goodness [0,1] 0.8182637182637182 Centerline is valid? [False, False] Translation: X:7.42, Y:0.24, Z:-1.64 [[ 9.99934555e-01 -5.95970952e-03 -9.76558862e-03 7.41798101e+00] [ 5.96754767e-03 9.99981895e-01 7.73686800e-04 2.36063519e-01] [ 9.76080087e-03 -8.31912782e-04 9.99952016e-01 -1.64186759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.27455357399998 meters Centerline goodness [0,1] 0.8204349610176447 Centerline is valid? [False, False] Translation: X:7.42, Y:0.24, Z:-1.64 [[ 9.99922670e-01 -6.79746401e-03 -1.04138671e-02 7.42044031e+00] [ 6.80466724e-03 9.99976633e-01 6.56419928e-04 2.36279606e-01] [ 1.04091618e-02 -7.27232067e-04 9.99945559e-01 -1.64189246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.30455357399998 meters Centerline goodness [0,1] 0.8205583479020979 Centerline is valid? [False, False] Translation: X:7.43, Y:0.24, Z:-1.64 [[ 9.99887439e-01 -9.08399237e-03 -1.19411103e-02 7.42623275e+00] [ 9.09294788e-03 9.99958416e-01 6.95894249e-04 2.35975606e-01] [ 1.19342922e-02 -8.04395812e-04 9.99928460e-01 -1.64107996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.33455357399998 meters Centerline goodness [0,1] 0.8187144108628996 Centerline is valid? [False, False] Translation: X:7.43, Y:0.24, Z:-1.64 [[ 9.99861702e-01 -1.04334401e-02 -1.29506620e-02 7.43017326e+00] [ 1.04418551e-02 9.99945313e-01 5.82329081e-04 2.35739278e-01] [ 1.29438781e-02 -7.17477483e-04 9.99915967e-01 -1.64129392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.36455357399998 meters Centerline goodness [0,1] 0.8193297982834964 Centerline is valid? [False, False] Translation: X:7.43, Y:0.24, Z:-1.64 [[ 9.99854375e-01 -1.07103575e-02 -1.32859778e-02 7.43103406e+00] [ 1.07195882e-02 9.99942349e-01 6.23752935e-04 2.36618050e-01] [ 1.32785313e-02 -7.66082312e-04 9.99911543e-01 -1.64063262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.39455357399999 meters Centerline goodness [0,1] 0.8156186944429296 Centerline is valid? [False, False] Translation: X:7.44, Y:0.24, Z:-1.64 [[ 9.99823944e-01 -1.21476378e-02 -1.43008943e-02 7.43523931e+00] [ 1.21465069e-02 9.99926215e-01 -1.65939364e-04 2.38167898e-01] [ 1.43018548e-02 -7.79576129e-06 9.99897723e-01 -1.64182601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.424553574 meters Centerline goodness [0,1] 0.8173147668746764 Centerline is valid? [False, False] Translation: X:7.44, Y:0.24, Z:-1.64 [[ 9.99805581e-01 -1.29173130e-02 -1.48977544e-02 7.43781093e+00] [ 1.29096990e-02 9.99916482e-01 -6.07143251e-04 2.39205909e-01] [ 1.49043528e-02 4.14699687e-04 9.99888838e-01 -1.64271838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.454553574 meters Centerline goodness [0,1] 0.8173147668746764 Centerline is valid? [False, False] Translation: X:7.44, Y:0.24, Z:-1.64 [[ 9.99805581e-01 -1.29173130e-02 -1.48977544e-02 7.43781093e+00] [ 1.29096990e-02 9.99916482e-01 -6.07143251e-04 2.39205909e-01] [ 1.49043528e-02 4.14699687e-04 9.99888838e-01 -1.64271838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.484553574 meters Centerline goodness [0,1] 0.8164408900495077 Centerline is valid? [False, False] Translation: X:7.44, Y:0.24, Z:-1.64 [[ 9.99781844e-01 -1.38538748e-02 -1.56312258e-02 7.44047688e+00] [ 1.38391910e-02 9.99903685e-01 -1.04717150e-03 2.41232909e-01] [ 1.56442277e-02 8.30619535e-04 9.99877277e-01 -1.64284654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.514553574 meters Centerline goodness [0,1] 0.8160640819551536 Centerline is valid? [False, False] Translation: X:7.44, Y:0.24, Z:-1.64 [[ 9.99764695e-01 -1.44819766e-02 -1.61501528e-02 7.44215745e+00] [ 1.44729441e-02 9.99895033e-01 -6.76025304e-04 2.40703179e-01] [ 1.61582478e-02 4.42125972e-04 9.99869349e-01 -1.64186032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.544553574 meters Centerline goodness [0,1] 0.8170316036320999 Centerline is valid? [False, False] Translation: X:7.44, Y:0.24, Z:-1.64 [[ 9.99739093e-01 -1.53891831e-02 -1.68795516e-02 7.44462766e+00] [ 1.53859480e-02 9.99881578e-01 -3.21514200e-04 2.39878632e-01] [ 1.68825006e-02 6.17224110e-05 9.99857479e-01 -1.64093196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.574553574 meters Centerline goodness [0,1] 0.8180009267587974 Centerline is valid? [False, False] Translation: X:7.45, Y:0.24, Z:-1.64 [[ 9.99676701e-01 -1.76269290e-02 -1.83244249e-02 7.45040702e+00] [ 1.76222420e-02 9.99844629e-01 -4.17230072e-04 2.39284429e-01] [ 1.83289323e-02 9.41777316e-05 9.99832007e-01 -1.64083977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.604553574 meters Centerline goodness [0,1] 0.8169865251122908 Centerline is valid? [False, False] Translation: X:7.45, Y:0.24, Z:-1.64 [[ 9.99653485e-01 -1.83375256e-02 -1.88850476e-02 7.45253535e+00] [ 1.83357554e-02 9.99831850e-01 -2.66896566e-04 2.38927265e-01] [ 1.88867663e-02 -7.94675325e-05 9.99821626e-01 -1.64058870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.634553574 meters Centerline goodness [0,1] 0.8219121983182265 Centerline is valid? [False, False] Translation: X:7.46, Y:0.24, Z:-1.64 [[ 9.99619828e-01 -1.93668541e-02 -1.96246012e-02 7.45541408e+00] [ 1.93691386e-02 9.99812398e-01 -7.36790642e-05 2.37888589e-01] [ 1.96223465e-02 -3.06460567e-04 9.99807416e-01 -1.64036338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.664553574 meters Centerline goodness [0,1] 0.8168791112809455 Centerline is valid? [False, False] Translation: X:7.46, Y:0.24, Z:-1.64 [[ 9.99614233e-01 -1.94915379e-02 -1.97854570e-02 7.45607628e+00] [ 1.94958502e-02 9.99809938e-01 2.50673652e-05 2.37833544e-01] [ 1.97812079e-02 -4.10792000e-04 9.99804248e-01 -1.64038346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.69455357399997 meters Centerline goodness [0,1] 0.820210080612328 Centerline is valid? [False, False] Translation: X:7.47, Y:0.24, Z:-1.65 [[ 9.99766295e-01 -1.65510849e-02 -1.39074422e-02 7.47401940e+00] [ 1.64587156e-02 9.99841895e-01 -6.73014027e-03 2.41965325e-01] [ 1.40166345e-02 6.49966877e-03 9.99880637e-01 -1.64713157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.72455357399997 meters Centerline goodness [0,1] 0.8169350677565652 Centerline is valid? [False, False] Translation: X:7.48, Y:0.24, Z:-1.64 [[ 9.99806719e-01 -1.30637069e-02 -1.46923190e-02 7.47565278e+00] [ 1.30453955e-02 9.99914005e-01 -1.34147765e-03 2.40389421e-01] [ 1.47085802e-02 1.14955126e-03 9.99891162e-01 -1.64382909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.75455357399997 meters Centerline goodness [0,1] 0.820192437999729 Centerline is valid? [False, False] Translation: X:7.48, Y:0.24, Z:-1.64 [[ 9.99829729e-01 -9.87490355e-03 -1.55884527e-02 7.47803093e+00] [ 9.93277453e-03 9.99944046e-01 3.63937679e-03 2.39019076e-01] [ 1.55516420e-02 -3.79359370e-03 9.99871869e-01 -1.64135285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.78455357399997 meters Centerline goodness [0,1] 0.8185686024768977 Centerline is valid? [False, False] Translation: X:7.48, Y:0.24, Z:-1.64 [[ 9.99835872e-01 -9.49925054e-03 -1.54270564e-02 7.47744560e+00] [ 9.54998630e-03 9.99949218e-01 3.21841841e-03 2.40734330e-01] [ 1.53957004e-02 -3.36521835e-03 9.99875816e-01 -1.64214209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.81455357399997 meters Centerline goodness [0,1] 0.8157459387627803 Centerline is valid? [False, False] Translation: X:7.48, Y:0.24, Z:-1.64 [[ 9.99832062e-01 -9.65855560e-03 -1.55743492e-02 7.47823019e+00] [ 9.70454398e-03 9.99948763e-01 2.87995956e-03 2.41418105e-01] [ 1.55457350e-02 -3.03061786e-03 9.99874565e-01 -1.64297618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.84455357399997 meters Centerline goodness [0,1] 0.8157687823658596 Centerline is valid? [False, False] Translation: X:7.48, Y:0.24, Z:-1.64 [[ 9.99825754e-01 -9.88343220e-03 -1.58360177e-02 7.47923763e+00] [ 9.92955436e-03 9.99946678e-01 2.83650733e-03 2.41466466e-01] [ 1.58071388e-02 -2.99325768e-03 9.99870579e-01 -1.64329448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.87455357399998 meters Centerline goodness [0,1] 0.8153140935228382 Centerline is valid? [False, False] Translation: X:7.48, Y:0.24, Z:-1.64 [[ 9.99835632e-01 -9.33065233e-03 -1.55450511e-02 7.47783974e+00] [ 9.37808480e-03 9.99951581e-01 2.98119277e-03 2.41816333e-01] [ 1.55164820e-02 -3.12648557e-03 9.99874724e-01 -1.64282481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.90455357399998 meters Centerline goodness [0,1] 0.8172579202688419 Centerline is valid? [False, False] Translation: X:7.48, Y:0.24, Z:-1.64 [[ 9.99839969e-01 -9.03074715e-03 -1.54428679e-02 7.47724361e+00] [ 9.08153108e-03 9.99953573e-01 3.22154404e-03 2.41736697e-01] [ 1.54130580e-02 -3.36127338e-03 9.99875562e-01 -1.64237603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.93455357399998 meters Centerline goodness [0,1] 0.8157375098055127 Centerline is valid? [False, False] Translation: X:7.48, Y:0.24, Z:-1.64 [[ 9.99846958e-01 -8.53016616e-03 -1.52740331e-02 7.47632968e+00] [ 8.58182761e-03 9.99957664e-01 3.31996143e-03 2.42313090e-01] [ 1.52450666e-02 -3.45053245e-03 9.99877833e-01 -1.64229515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.96455357399998 meters Centerline goodness [0,1] 0.8118795812934462 Centerline is valid? [False, False] Translation: X:7.48, Y:0.24, Z:-1.64 [[ 9.99854712e-01 -8.02951967e-03 -1.50359973e-02 7.47524641e+00] [ 8.08134542e-03 9.99961602e-01 3.38919587e-03 2.42916446e-01] [ 1.50082063e-02 -3.51021454e-03 9.99881209e-01 -1.64219365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.99455357399998 meters Centerline goodness [0,1] 0.8120531980900483 Centerline is valid? [False, False] Translation: X:7.47, Y:0.24, Z:-1.64 [[ 9.99865974e-01 -7.33763381e-03 -1.46353222e-02 7.47359008e+00] [ 7.38876322e-03 9.99966777e-01 3.44255497e-03 2.43602337e-01] [ 1.46095758e-02 -3.55023051e-03 9.99886972e-01 -1.64207375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.02455357399998 meters Centerline goodness [0,1] 0.815038567344517 Centerline is valid? [False, False] Translation: X:7.47, Y:0.24, Z:-1.64 [[ 9.99894215e-01 -5.36356058e-03 -1.35200584e-02 7.46871301e+00] [ 5.41739250e-03 9.99977532e-01 3.94815973e-03 2.43903634e-01] [ 1.34985784e-02 -4.02098554e-03 9.99900805e-01 -1.64119393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.05455357399998 meters Centerline goodness [0,1] 0.8143380372724335 Centerline is valid? [False, False] Translation: X:7.47, Y:0.24, Z:-1.64 [[ 9.99906402e-01 -4.40522333e-03 -1.29530537e-02 7.46641820e+00] [ 4.45724487e-03 9.99982106e-01 3.99003826e-03 2.44583075e-01] [ 1.29352449e-02 -4.04739973e-03 9.99908145e-01 -1.64117262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.08455357399998 meters Centerline goodness [0,1] 0.8124260036594554 Centerline is valid? [False, False] Translation: X:7.46, Y:0.25, Z:-1.64 [[ 9.99920866e-01 -2.89340207e-03 -1.22429503e-02 7.46389835e+00] [ 2.93803621e-03 9.99989098e-01 3.62928720e-03 2.45714574e-01] [ 1.22323159e-02 -3.66497023e-03 9.99918466e-01 -1.64290736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.11455357399998 meters Centerline goodness [0,1] 0.812249939582718 Centerline is valid? [False, False] Translation: X:7.46, Y:0.25, Z:-1.64 [[ 9.99927515e-01 -2.19519683e-03 -1.18383057e-02 7.46253343e+00] [ 2.23696348e-03 9.99991317e-01 3.51600679e-03 2.45797419e-01] [ 1.18304846e-02 -3.54223379e-03 9.99923743e-01 -1.64371797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.14455357399999 meters Centerline goodness [0,1] 0.8088752786955704 Centerline is valid? [False, False] Translation: X:7.46, Y:0.25, Z:-1.64 [[ 9.99931611e-01 -1.76666559e-03 -1.15608227e-02 7.46178871e+00] [ 1.80599348e-03 9.99992615e-01 3.39226902e-03 2.45625319e-01] [ 1.15547443e-02 -3.41291579e-03 9.99927417e-01 -1.64449496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.174553574 meters Centerline goodness [0,1] 0.8087795413511547 Centerline is valid? [False, False] Translation: X:7.46, Y:0.24, Z:-1.64 [[ 9.99945011e-01 -1.20351376e-04 -1.04861723e-02 7.45730919e+00] [ 1.65106208e-04 9.99990882e-01 4.26722444e-03 2.43916028e-01] [ 1.04855631e-02 -4.26872112e-03 9.99935913e-01 -1.64334526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.204553574 meters Centerline goodness [0,1] 0.8117707157068345 Centerline is valid? [False, False] Translation: X:7.46, Y:0.24, Z:-1.64 [[ 9.99947617e-01 2.57965425e-04 -1.02321116e-02 7.45642287e+00] [-2.12732987e-04 9.99990203e-01 4.42147778e-03 2.43230774e-01] [ 1.02331519e-02 -4.41906946e-03 9.99937875e-01 -1.64334840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.234553574 meters Centerline goodness [0,1] 0.8115965393089366 Centerline is valid? [False, False] Translation: X:7.46, Y:0.24, Z:-1.64 [[ 9.99950174e-01 6.39797573e-04 -9.96196922e-03 7.45559657e+00] [-5.94864818e-04 9.99989641e-01 4.51273900e-03 2.42507447e-01] [ 9.96475326e-03 -4.50658812e-03 9.99940195e-01 -1.64366548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.264553574 meters Centerline goodness [0,1] 0.8130732707456566 Centerline is valid? [False, False] Translation: X:7.45, Y:0.24, Z:-1.64 [[ 9.99955161e-01 1.63452414e-03 -9.32763437e-03 7.45305259e+00] [-1.58531459e-03 9.99984801e-01 5.28062998e-03 2.40317946e-01] [ 9.33612391e-03 -5.26560596e-03 9.99942553e-01 -1.64290387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.294553574 meters Centerline goodness [0,1] 0.8144813456976494 Centerline is valid? [False, False] Translation: X:7.45, Y:0.24, Z:-1.64 [[ 9.99961234e-01 3.55341804e-03 -8.05623925e-03 7.44850673e+00] [-3.51000014e-03 9.99979275e-01 5.39709927e-03 2.40023825e-01] [ 8.07525044e-03 -5.36861265e-03 9.99952983e-01 -1.64367951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.324553574 meters Centerline goodness [0,1] 0.8132496024580222 Centerline is valid? [False, False] Translation: X:7.45, Y:0.24, Z:-1.64 [[ 9.99961585e-01 4.12525565e-03 -7.73379727e-03 7.44756493e+00] [-4.08466880e-03 9.99977842e-01 5.25645504e-03 2.39957524e-01] [ 7.75531013e-03 -5.22466311e-03 9.99956278e-01 -1.64460687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.354553574 meters Centerline goodness [0,1] 0.8110153514678158 Centerline is valid? [False, False] Translation: X:7.45, Y:0.24, Z:-1.65 [[ 9.99961816e-01 4.61907212e-03 -7.41825012e-03 7.44683844e+00] [-4.58322700e-03 9.99977775e-01 4.84177008e-03 2.40292997e-01] [ 7.44044974e-03 -4.80758568e-03 9.99960763e-01 -1.64603585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.384553574 meters Centerline goodness [0,1] 0.8105429937160964 Centerline is valid? [False, False] Translation: X:7.44, Y:0.24, Z:-1.65 [[ 9.99960426e-01 5.72930079e-03 -6.80594183e-03 7.44459785e+00] [-5.69869680e-03 9.99973603e-01 4.50757301e-03 2.41347651e-01] [ 6.83158742e-03 -4.46860963e-03 9.99966680e-01 -1.64708744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.41455357399997 meters Centerline goodness [0,1] 0.8081997104091811 Centerline is valid? [False, False] Translation: X:7.44, Y:0.24, Z:-1.65 [[ 9.99951687e-01 8.29613322e-03 -5.27232753e-03 7.43915407e+00] [-8.27979742e-03 9.99960877e-01 3.11271429e-03 2.43132590e-01] [ 5.29794476e-03 -3.06891010e-03 9.99981257e-01 -1.65113454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.44455357399997 meters Centerline goodness [0,1] 0.8073875083948959 Centerline is valid? [False, False] Translation: X:7.43, Y:0.24, Z:-1.65 [[ 9.99934748e-01 1.07032454e-02 -3.99246872e-03 7.43410828e+00] [-1.06930535e-02 9.99939537e-01 2.56546322e-03 2.44892673e-01] [ 4.01968610e-03 -2.52260414e-03 9.99988739e-01 -1.65299861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.47455357399997 meters Centerline goodness [0,1] 0.8066276069662438 Centerline is valid? [False, False] Translation: X:7.43, Y:0.25, Z:-1.65 [[ 9.99934023e-01 1.07821549e-02 -3.96178868e-03 7.43433470e+00] [-1.07735489e-02 9.99939572e-01 2.18721393e-03 2.45114532e-01] [ 3.98513215e-03 -2.14438710e-03 9.99989760e-01 -1.65411233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.50455357399997 meters Centerline goodness [0,1] 0.802578219417215 Centerline is valid? [False, False] Translation: X:7.44, Y:0.25, Z:-1.65 [[ 9.99935328e-01 1.05962258e-02 -4.13029312e-03 7.43522467e+00] [-1.05881925e-02 9.99942019e-01 1.96200389e-03 2.45138766e-01] [ 4.15084347e-03 -1.91814467e-03 9.99989546e-01 -1.65476162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.53455357399997 meters Centerline goodness [0,1] 0.8052298153389945 Centerline is valid? [False, False] Translation: X:7.44, Y:0.24, Z:-1.66 [[ 9.99937772e-01 1.02773548e-02 -4.33915089e-03 7.43638321e+00] [-1.02702880e-02 9.99945902e-01 1.64776953e-03 2.44855256e-01] [ 4.35585086e-03 -1.60310266e-03 9.99989228e-01 -1.65576329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.56455357399997 meters Centerline goodness [0,1] 0.8043302197505534 Centerline is valid? [False, False] Translation: X:7.44, Y:0.25, Z:-1.66 [[ 9.99972896e-01 5.97106225e-03 -4.30745868e-03 7.43767213e+00] [-5.98610363e-03 9.99976002e-01 -3.48753689e-03 2.45205376e-01] [ 4.28653101e-03 3.51322726e-03 9.99984641e-01 -1.65921240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.59455357399997 meters Centerline goodness [0,1] 0.8058992727667427 Centerline is valid? [False, False] Translation: X:7.44, Y:0.24, Z:-1.66 [[ 9.99987846e-01 8.32813999e-04 -4.85954011e-03 7.44059182e+00] [-8.69915378e-04 9.99970454e-01 -7.63763881e-03 2.43165226e-01] [ 4.85303580e-03 7.64177337e-03 9.99959025e-01 -1.66058601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.62455357399998 meters Centerline goodness [0,1] 0.8061235588427236 Centerline is valid? [False, False] Translation: X:7.44, Y:0.24, Z:-1.66 [[ 9.99982521e-01 -6.18658590e-04 -5.88012108e-03 7.44449253e+00] [ 5.77404358e-04 9.99975228e-01 -7.01499149e-03 2.40828324e-01] [ 5.88431530e-03 7.01147367e-03 9.99958106e-01 -1.65962592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.65455357399998 meters Centerline goodness [0,1] 0.8068188007189151 Centerline is valid? [False, False] Translation: X:7.45, Y:0.24, Z:-1.66 [[ 9.99974145e-01 -2.05511842e-03 -6.89105641e-03 7.44819902e+00] [ 2.01446761e-03 9.99980561e-01 -5.90082889e-03 2.37777145e-01] [ 6.90304936e-03 5.88679451e-03 9.99958846e-01 -1.65763450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.68455357399998 meters Centerline goodness [0,1] 0.8101907685560794 Centerline is valid? [False, False] Translation: X:7.45, Y:0.23, Z:-1.66 [[ 9.99948813e-01 -7.04098660e-03 -7.26608286e-03 7.44992358e+00] [ 6.97521866e-03 9.99934834e-01 -9.03735249e-03 2.34134483e-01] [ 7.32924124e-03 8.98620738e-03 9.99932763e-01 -1.65637513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.71455357399998 meters Centerline goodness [0,1] 0.80894364841451 Centerline is valid? [False, False] Translation: X:7.45, Y:0.23, Z:-1.65 [[ 9.99946260e-01 -7.18126451e-03 -7.47712180e-03 7.45006623e+00] [ 7.12102978e-03 9.99942230e-01 -8.05156885e-03 2.32689136e-01] [ 7.53451029e-03 7.99789135e-03 9.99939631e-01 -1.65413286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.74455357399998 meters Centerline goodness [0,1] 0.8108270512400306 Centerline is valid? [False, False] Translation: X:7.45, Y:0.23, Z:-1.65 [[ 9.99954690e-01 -4.36031876e-03 -8.46204233e-03 7.45263415e+00] [ 4.35548226e-03 9.99990341e-01 -5.89896287e-04 2.30199573e-01] [ 8.46453273e-03 5.53013284e-04 9.99964022e-01 -1.64575757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.77455357399998 meters Centerline goodness [0,1] 0.8120651551117295 Centerline is valid? [False, False] Translation: X:7.45, Y:0.23, Z:-1.65 [[ 9.99950746e-01 -4.72189015e-03 -8.72975196e-03 7.45402596e+00] [ 4.71370855e-03 9.99988432e-01 -9.57545921e-04 2.31453140e-01] [ 8.73417240e-03 9.16349252e-04 9.99961437e-01 -1.64656733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.80455357399998 meters Centerline goodness [0,1] 0.810796103825434 Centerline is valid? [False, False] Translation: X:7.46, Y:0.23, Z:-1.65 [[ 9.99947809e-01 -4.99308869e-03 -8.91340968e-03 7.45512101e+00] [ 4.98009881e-03 9.99986506e-01 -1.47894264e-03 2.33160268e-01] [ 8.92067389e-03 1.43447579e-03 9.99959181e-01 -1.64756230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.83455357399998 meters Centerline goodness [0,1] 0.8091874711363451 Centerline is valid? [False, False] Translation: X:7.46, Y:0.23, Z:-1.65 [[ 9.99925111e-01 -6.85816266e-03 -1.01359656e-02 7.46054205e+00] [ 6.83500707e-03 9.99973956e-01 -2.31737607e-03 2.34620773e-01] [ 1.01515946e-02 2.24792313e-03 9.99945945e-01 -1.64915645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.86455357399998 meters Centerline goodness [0,1] 0.8086629822221012 Centerline is valid? [False, False] Translation: X:7.46, Y:0.23, Z:-1.65 [[ 9.99901098e-01 -8.40444173e-03 -1.12765060e-02 7.46488265e+00] [ 8.37969927e-03 9.99962382e-01 -2.23961879e-03 2.33819152e-01] [ 1.12949045e-02 2.14490356e-03 9.99933910e-01 -1.64888549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.89455357399999 meters Centerline goodness [0,1] 0.8122184915240357 Centerline is valid? [False, False] Translation: X:7.47, Y:0.23, Z:-1.65 [[ 9.99814322e-01 -1.46767111e-02 -1.24865903e-02 7.47017343e+00] [ 1.45976025e-02 9.99872946e-01 -6.40321384e-03 2.32328583e-01] [ 1.25789820e-02 6.21975063e-03 9.99901537e-01 -1.64877980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.924553574 meters Centerline goodness [0,1] 0.8121690233116776 Centerline is valid? [False, False] Translation: X:7.47, Y:0.23, Z:-1.65 [[ 9.99777892e-01 -1.61491074e-02 -1.35415353e-02 7.47389616e+00] [ 1.60705739e-02 9.99853521e-01 -5.88835664e-03 2.30832082e-01] [ 1.36346434e-02 5.66942855e-03 9.99890971e-01 -1.64735878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.954553574 meters Centerline goodness [0,1] 0.8132012120219474 Centerline is valid? [False, False] Translation: X:7.48, Y:0.23, Z:-1.65 [[ 9.99712525e-01 -1.86407704e-02 -1.50794369e-02 7.48050383e+00] [ 1.85512508e-02 9.99809577e-01 -6.05480031e-03 2.30471661e-01] [ 1.51894315e-02 5.77331729e-03 9.99867966e-01 -1.64743200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.984553574 meters Centerline goodness [0,1] 0.8124282041463815 Centerline is valid? [False, False] Translation: X:7.49, Y:0.23, Z:-1.65 [[ 9.99715672e-01 -1.69279644e-02 -1.67934152e-02 7.48695072e+00] [ 1.69017037e-02 9.99855703e-01 -1.70445875e-03 2.29693252e-01] [ 1.68198449e-02 1.42013679e-03 9.99857528e-01 -1.64642497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.014553574 meters Centerline goodness [0,1] 0.8139407993452462 Centerline is valid? [False, False] Translation: X:7.49, Y:0.23, Z:-1.65 [[ 9.99729010e-01 -1.44844783e-02 -1.82237995e-02 7.49185737e+00] [ 1.45357273e-02 9.99890751e-01 2.68288510e-03 2.29283360e-01] [ 1.81829484e-02 -2.94705424e-03 9.99830333e-01 -1.64543497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.044553574 meters Centerline goodness [0,1] 0.8080783286968853 Centerline is valid? [False, False] Translation: X:7.49, Y:0.23, Z:-1.65 [[ 9.99734031e-01 -1.41790897e-02 -1.81884718e-02 7.49202572e+00] [ 1.42153042e-02 9.99897221e-01 1.86332311e-03 2.31401317e-01] [ 1.81601822e-02 -2.12138218e-03 9.99832840e-01 -1.64733932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.074553574 meters Centerline goodness [0,1] 0.8084670256087896 Centerline is valid? [False, False] Translation: X:7.49, Y:0.23, Z:-1.65 [[ 9.99732788e-01 -1.41730426e-02 -1.82613413e-02 7.49213672e+00] [ 1.42108116e-02 9.99897139e-01 1.94013700e-03 2.31608329e-01] [ 1.82319653e-02 -2.19912705e-03 9.99831365e-01 -1.64697474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.104553574 meters Centerline goodness [0,1] 0.8045232039817322 Centerline is valid? [False, False] Translation: X:7.49, Y:0.23, Z:-1.65 [[ 9.99722830e-01 -1.44592520e-02 -1.85793791e-02 7.49277064e+00] [ 1.45042678e-02 9.99892184e-01 2.29042248e-03 2.31524591e-01] [ 1.85442582e-02 -2.55926793e-03 9.99824765e-01 -1.64557509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.134553574 meters Centerline goodness [0,1] 0.8041090650784111 Centerline is valid? [False, False] Translation: X:7.49, Y:0.23, Z:-1.65 [[ 9.99714881e-01 -1.47149421e-02 -1.88049530e-02 7.49369769e+00] [ 1.47593084e-02 9.99888605e-01 2.22267553e-03 2.31804255e-01] [ 1.87701517e-02 -2.49958990e-03 9.99820701e-01 -1.64572167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.16455357399997 meters Centerline goodness [0,1] 0.8052631578947369 Centerline is valid? [False, False] Translation: X:7.50, Y:0.23, Z:-1.65 [[ 9.99682213e-01 -1.58202997e-02 -1.96262688e-02 7.49724645e+00] [ 1.58558980e-02 9.99872910e-01 1.65951565e-03 2.32915360e-01] [ 1.95975204e-02 -1.97018039e-03 9.99806009e-01 -1.64693924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.19455357399997 meters Centerline goodness [0,1] 0.8112123450710006 Centerline is valid? [False, False] Translation: X:7.50, Y:0.23, Z:-1.65 [[ 9.99666681e-01 -1.63024111e-02 -2.00189271e-02 7.49874539e+00] [ 1.63400085e-02 9.99865021e-01 1.71594624e-03 2.33028515e-01] [ 1.99882509e-02 -2.04248372e-03 9.99798129e-01 -1.64678634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.22455357399997 meters Centerline goodness [0,1] 0.8075670052290087 Centerline is valid? [False, False] Translation: X:7.50, Y:0.23, Z:-1.65 [[ 9.99655821e-01 -1.65776860e-02 -2.03327253e-02 7.49953527e+00] [ 1.66238806e-02 9.99859598e-01 2.10501100e-03 2.32814050e-01] [ 2.02949743e-02 -2.44229530e-03 9.99791053e-01 -1.64576176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.25455357399997 meters Centerline goodness [0,1] 0.8096797969044305 Centerline is valid? [False, False] Translation: X:7.50, Y:0.23, Z:-1.64 [[ 9.99654194e-01 -1.65966533e-02 -2.03971376e-02 7.49948549e+00] [ 1.66525491e-02 9.99858025e-01 2.57357215e-03 2.32553536e-01] [ 2.03515291e-02 -2.91234653e-03 9.99788644e-01 -1.64447318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.28455357399997 meters Centerline goodness [0,1] 0.8062085346875256 Centerline is valid? [False, False] Translation: X:7.50, Y:0.23, Z:-1.64 [[ 9.99661652e-01 -1.63212418e-02 -2.02533546e-02 7.49881439e+00] [ 1.63793662e-02 9.99862184e-01 2.70729879e-03 2.32931518e-01] [ 2.02063768e-02 -3.03811990e-03 9.99791214e-01 -1.64409849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.31455357399997 meters Centerline goodness [0,1] 0.8093641839042869 Centerline is valid? [False, False] Translation: X:7.50, Y:0.23, Z:-1.64 [[ 9.99709501e-01 -1.32989184e-02 -2.01010775e-02 7.49634207e+00] [ 1.34154708e-02 9.99893906e-01 5.67462880e-03 2.33773815e-01] [ 2.00234785e-02 -5.94264575e-03 9.99781849e-01 -1.64149858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.34455357399997 meters Centerline goodness [0,1] 0.8093641839042869 Centerline is valid? [False, False] Translation: X:7.50, Y:0.23, Z:-1.64 [[ 9.99709501e-01 -1.32989184e-02 -2.01010775e-02 7.49634207e+00] [ 1.34154708e-02 9.99893906e-01 5.67462880e-03 2.33773815e-01] [ 2.00234785e-02 -5.94264575e-03 9.99781849e-01 -1.64149858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.37455357399998 meters Centerline goodness [0,1] 0.8078669095060755 Centerline is valid? [False, False] Translation: X:7.49, Y:0.23, Z:-1.64 [[ 9.99728599e-01 -1.25435909e-02 -1.96312458e-02 7.49473621e+00] [ 1.26506918e-02 9.99905712e-01 5.34098681e-03 2.34921599e-01] [ 1.95623996e-02 -5.58788610e-03 9.99793023e-01 -1.64226583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.40455357399998 meters Centerline goodness [0,1] 0.8096867025031221 Centerline is valid? [False, False] Translation: X:7.51, Y:0.24, Z:-1.65 [[ 9.99855788e-01 -1.00248698e-02 -1.37078794e-02 7.51122036e+00] [ 9.98978012e-03 9.99946653e-01 -2.62589816e-03 2.37907400e-01] [ 1.37334724e-02 2.48858077e-03 9.99902595e-01 -1.64951178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.43455357399998 meters Centerline goodness [0,1] 0.8099437351222679 Centerline is valid? [False, False] Translation: X:7.51, Y:0.24, Z:-1.65 [[ 9.99903084e-01 -4.60690810e-03 -1.31376780e-02 7.50808162e+00] [ 4.64070386e-03 9.99985998e-01 2.54310554e-03 2.37609540e-01] [ 1.31257782e-02 -2.60382714e-03 9.99910463e-01 -1.64715100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.46455357399998 meters Centerline goodness [0,1] 0.8048925049841047 Centerline is valid? [False, False] Translation: X:7.51, Y:0.24, Z:-1.65 [[ 9.99917873e-01 3.09952871e-04 -1.28121264e-02 7.50651275e+00] [-2.17734404e-04 9.99974067e-01 7.19851702e-03 2.37064550e-01] [ 1.28140254e-02 -7.19513619e-03 9.99892010e-01 -1.64622471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.49455357399998 meters Centerline goodness [0,1] 0.8084870749034332 Centerline is valid? [False, False] Translation: X:7.50, Y:0.24, Z:-1.65 [[ 9.99925662e-01 1.27238126e-03 -1.21264666e-02 7.50429772e+00] [-1.18803983e-03 9.99975074e-01 6.95981998e-03 2.37651740e-01] [ 1.21350199e-02 -6.94489588e-03 9.99902250e-01 -1.64706596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.52455357399998 meters Centerline goodness [0,1] 0.808834974906739 Centerline is valid? [False, False] Translation: X:7.50, Y:0.24, Z:-1.65 [[ 9.99931626e-01 2.33087714e-03 -1.14590646e-02 7.50187738e+00] [-2.25618506e-03 9.99976155e-01 6.52677804e-03 2.39443363e-01] [ 1.14740044e-02 -6.50047801e-03 9.99913042e-01 -1.64779996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.55455357399998 meters Centerline goodness [0,1] 0.8059250140498301 Centerline is valid? [False, False] Translation: X:7.50, Y:0.24, Z:-1.65 [[ 9.99935201e-01 5.50810313e-03 -9.96268525e-03 7.49508624e+00] [-5.45620793e-03 9.99971445e-01 5.22865834e-03 2.44112006e-01] [ 9.99120075e-03 -5.17396104e-03 9.99936701e-01 -1.65027242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.58455357399998 meters Centerline goodness [0,1] 0.8043652276001921 Centerline is valid? [False, False] Translation: X:7.49, Y:0.25, Z:-1.65 [[ 9.99936055e-01 5.89981649e-03 -9.64766031e-03 7.49439389e+00] [-5.85646088e-03 9.99972653e-01 4.51599235e-03 2.45994928e-01] [ 9.67404000e-03 -4.45920243e-03 9.99943263e-01 -1.65157861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.61455357399998 meters Centerline goodness [0,1] 0.8038981385591758 Centerline is valid? [False, False] Translation: X:7.49, Y:0.25, Z:-1.65 [[ 9.99935542e-01 6.55039433e-03 -9.27382611e-03 7.49353122e+00] [-6.51957895e-03 9.99973139e-01 3.34917540e-03 2.49459495e-01] [ 9.29551542e-03 -3.28849808e-03 9.99951388e-01 -1.65387350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.64455357399999 meters Centerline goodness [0,1] 0.801210415947761 Centerline is valid? [False, False] Translation: X:7.49, Y:0.25, Z:-1.66 [[ 9.99936270e-01 6.57884127e-03 -9.17467823e-03 7.49369351e+00] [-6.55393116e-03 9.99974762e-01 2.74252237e-03 2.50790672e-01] [ 9.19248929e-03 -2.68221738e-03 9.99954151e-01 -1.65509256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.674553574 meters Centerline goodness [0,1] 0.8013733131843368 Centerline is valid? [False, False] Translation: X:7.49, Y:0.25, Z:-1.66 [[ 9.99935811e-01 6.96620610e-03 -8.93561121e-03 7.49308031e+00] [-6.94727146e-03 9.99973560e-01 2.14830104e-03 2.52544607e-01] [ 8.95034046e-03 -2.08608503e-03 9.99957769e-01 -1.65608650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.704553574 meters Centerline goodness [0,1] 0.8012059344669823 Centerline is valid? [False, False] Translation: X:7.49, Y:0.25, Z:-1.66 [[ 9.99935552e-01 6.87697736e-03 -9.03325627e-03 7.49353581e+00] [-6.85990494e-03 9.99974628e-01 1.91957876e-03 2.52978724e-01] [ 9.04622798e-03 -1.85748777e-03 9.99957357e-01 -1.65644939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.734553574 meters Centerline goodness [0,1] 0.8020260262378333 Centerline is valid? [False, False] Translation: X:7.49, Y:0.25, Z:-1.66 [[ 9.99935481e-01 6.89270886e-03 -9.02906912e-03 7.49353920e+00] [-6.87657989e-03 9.99974707e-01 1.81616818e-03 2.53443407e-01] [ 9.04135907e-03 -1.75396189e-03 9.99957588e-01 -1.65644015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.764553574 meters Centerline goodness [0,1] 0.803579939628237 Centerline is valid? [False, False] Translation: X:7.49, Y:0.25, Z:-1.66 [[ 9.99935549e-01 7.20957003e-03 -8.77037341e-03 7.49272129e+00] [-7.19623463e-03 9.99972904e-01 1.55111436e-03 2.54242636e-01] [ 8.78131863e-03 -1.48790072e-03 9.99960337e-01 -1.65680707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.794553574 meters Centerline goodness [0,1] 0.8034061849147136 Centerline is valid? [False, False] Translation: X:7.49, Y:0.26, Z:-1.66 [[ 9.99935472e-01 7.29921324e-03 -8.70482188e-03 7.49286219e+00] [-7.28980361e-03 9.99972811e-01 1.11220742e-03 2.55322253e-01] [ 8.71270344e-03 -1.04867921e-03 9.99961494e-01 -1.65771162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.824553574 meters Centerline goodness [0,1] 0.8021755162241888 Centerline is valid? [False, False] Translation: X:7.49, Y:0.26, Z:-1.66 [[ 9.99933721e-01 7.87981318e-03 -8.39421612e-03 7.49237005e+00] [-7.87958973e-03 9.99968954e-01 5.96917288e-05 2.58143837e-01] [ 8.39442588e-03 6.45520672e-06 9.99964766e-01 -1.66013273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.854553574 meters Centerline goodness [0,1] 0.7997532031085907 Centerline is valid? [False, False] Translation: X:7.49, Y:0.26, Z:-1.66 [[ 9.99932924e-01 8.13010071e-03 -8.24915585e-03 7.49236657e+00] [-8.13566668e-03 9.99966699e-01 -6.41399355e-04 2.59948711e-01] [ 8.24366651e-03 7.08468715e-04 9.99965769e-01 -1.66163707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.884553574 meters Centerline goodness [0,1] 0.8048883270122208 Centerline is valid? [False, False] Translation: X:7.48, Y:0.26, Z:-1.67 [[ 9.99985314e-01 5.29824623e-03 1.14022916e-03 7.48031971e+00] [-5.29957838e-03 9.99985274e-01 1.16848620e-03 2.61955763e-01] [-1.13402144e-03 -1.17451178e-03 9.99998667e-01 -1.66765106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.91455357399997 meters Centerline goodness [0,1] 0.8016263585883839 Centerline is valid? [False, False] Translation: X:7.48, Y:0.26, Z:-1.67 [[ 9.99984679e-01 5.39123307e-03 1.25557092e-03 7.48021201e+00] [-5.39244534e-03 9.99984996e-01 9.64133574e-04 2.62432297e-01] [-1.25035421e-03 -9.70889400e-04 9.99998747e-01 -1.66808306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.94455357399997 meters Centerline goodness [0,1] 0.8018262196726488 Centerline is valid? [False, False] Translation: X:7.48, Y:0.26, Z:-1.67 [[ 9.99984025e-01 5.49957145e-03 1.30527443e-03 7.48017911e+00] [-5.50058050e-03 9.99984575e-01 7.70728271e-04 2.63041867e-01] [-1.30101562e-03 -7.77895726e-04 9.99998851e-01 -1.66842082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.97455357399997 meters Centerline goodness [0,1] 0.8027946632983343 Centerline is valid? [False, False] Translation: X:7.48, Y:0.26, Z:-1.67 [[ 9.99981349e-01 5.90201870e-03 1.57111252e-03 7.47939391e+00] [-5.90269727e-03 9.99982487e-01 4.27620559e-04 2.64144505e-01] [-1.56856118e-03 -4.36886385e-04 9.99998674e-01 -1.66905371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.00455357399997 meters Centerline goodness [0,1] 0.8020701643489254 Centerline is valid? [False, False] Translation: X:7.48, Y:0.26, Z:-1.67 [[ 9.99976800e-01 6.50608308e-03 2.01772481e-03 7.47800297e+00] [-6.50679649e-03 9.99978770e-01 3.47209420e-04 2.64540282e-01] [-2.01542300e-03 -3.60330290e-04 9.99997904e-01 -1.66940630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.03455357399997 meters Centerline goodness [0,1] 0.8040264565601202 Centerline is valid? [False, False] Translation: X:7.48, Y:0.27, Z:-1.67 [[ 9.99976870e-01 6.49643327e-03 2.01365919e-03 7.47820826e+00] [-6.49685184e-03 9.99978875e-01 2.01396974e-04 2.65013182e-01] [-2.01230829e-03 -2.14474761e-04 9.99997952e-01 -1.66957776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.06455357399997 meters Centerline goodness [0,1] 0.8035037878787878 Centerline is valid? [False, False] Translation: X:7.48, Y:0.27, Z:-1.67 [[ 9.99978829e-01 6.23591800e-03 1.85887320e-03 7.47929712e+00] [-6.23563937e-03 9.99980546e-01 -1.55654178e-04 2.65497580e-01] [-1.85980769e-03 1.44059620e-04 9.99998260e-01 -1.67053712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.09455357399997 meters Centerline goodness [0,1] 0.8032014322196772 Centerline is valid? [False, False] Translation: X:7.48, Y:0.27, Z:-1.67 [[ 9.99985577e-01 5.22515013e-03 1.24225803e-03 7.48257434e+00] [-5.22410363e-03 9.99985998e-01 -8.44174773e-04 2.65664597e-01] [-1.24665158e-03 8.37672913e-04 9.99998872e-01 -1.67247196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.12455357399998 meters Centerline goodness [0,1] 0.8053754940711463 Centerline is valid? [False, False] Translation: X:7.49, Y:0.27, Z:-1.67 [[ 9.99990399e-01 4.33729998e-03 6.25079884e-04 7.48540910e+00] [-4.33661356e-03 9.99989997e-01 -1.09532367e-03 2.65049881e-01] [-6.29824378e-04 1.09260243e-03 9.99999205e-01 -1.67344019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.15455357399998 meters Centerline goodness [0,1] 0.8059764981124049 Centerline is valid? [False, False] Translation: X:7.49, Y:0.26, Z:-1.68 [[ 9.99999676e-01 -8.03397287e-04 5.49319292e-05 7.48857756e+00] [ 8.03681356e-04 9.99985188e-01 -5.38318020e-03 2.63213066e-01] [-5.06062832e-05 5.38322261e-03 9.99985509e-01 -1.67511726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.18455357399998 meters Centerline goodness [0,1] 0.8057936190094781 Centerline is valid? [False, False] Translation: X:7.49, Y:0.26, Z:-1.67 [[ 9.99995278e-01 -2.81545823e-03 -1.23200697e-03 7.49374879e+00] [ 2.80960896e-03 9.99984895e-01 -4.72400762e-03 2.60370608e-01] [ 1.24528861e-03 4.72052385e-03 9.99988083e-01 -1.67405081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.21455357399998 meters Centerline goodness [0,1] 0.807095046854083 Centerline is valid? [False, False] Translation: X:7.50, Y:0.26, Z:-1.67 [[ 9.99984196e-01 -4.98340781e-03 -2.60269583e-03 7.49892468e+00] [ 4.97461766e-03 9.99981938e-01 -3.37294645e-03 2.56961661e-01] [ 2.61945758e-03 3.35994572e-03 9.99990925e-01 -1.67122441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.24455357399998 meters Centerline goodness [0,1] 0.8063473247481007 Centerline is valid? [False, False] Translation: X:7.50, Y:0.25, Z:-1.67 [[ 9.99934210e-01 -1.08920567e-02 -3.59691228e-03 7.50370530e+00] [ 1.08648588e-02 9.99912876e-01 -7.49635539e-03 2.54988207e-01] [ 3.67824963e-03 7.45678226e-03 9.99965433e-01 -1.67191422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.27455357399998 meters Centerline goodness [0,1] 0.8099166890620801 Centerline is valid? [False, False] Translation: X:7.51, Y:0.25, Z:-1.67 [[ 9.99942996e-01 -9.20127982e-03 -5.41670306e-03 7.50990529e+00] [ 9.19466061e-03 9.99956952e-01 -1.24563765e-03 2.52636805e-01] [ 5.42793134e-03 1.19576190e-03 9.99984554e-01 -1.66664815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.30455357399998 meters Centerline goodness [0,1] 0.8094609520217666 Centerline is valid? [False, False] Translation: X:7.51, Y:0.25, Z:-1.67 [[ 9.99920647e-01 -1.07834942e-02 -6.51269852e-03 7.51438771e+00] [ 1.07724184e-02 9.99940473e-01 -1.73334346e-03 2.53766091e-01] [ 6.53100234e-03 1.66304840e-03 9.99977290e-01 -1.66735934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.33455357399998 meters Centerline goodness [0,1] 0.8108173464452684 Centerline is valid? [False, False] Translation: X:7.52, Y:0.25, Z:-1.66 [[ 9.99918288e-01 -9.69795842e-03 -8.32863553e-03 7.52133347e+00] [ 9.72243626e-03 9.99948520e-01 2.90355513e-03 2.52965728e-01] [ 8.30004822e-03 -2.98429250e-03 9.99961101e-01 -1.66490819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.36455357399998 meters Centerline goodness [0,1] 0.809425293532873 Centerline is valid? [False, False] Translation: X:7.52, Y:0.25, Z:-1.66 [[ 9.99901830e-01 -1.06716283e-02 -9.08003898e-03 7.52418085e+00] [ 1.06978157e-02 9.99938743e-01 2.84039601e-03 2.53276584e-01] [ 9.04917111e-03 -2.93725375e-03 9.99954741e-01 -1.66487938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.39455357399999 meters Centerline goodness [0,1] 0.8064074700152942 Centerline is valid? [False, False] Translation: X:7.53, Y:0.25, Z:-1.66 [[ 9.99843599e-01 -1.38868054e-02 -1.09514777e-02 7.53174463e+00] [ 1.39193560e-02 9.99898911e-01 2.90165116e-03 2.53132237e-01] [ 1.09100760e-02 -3.05363485e-03 9.99935821e-01 -1.66346149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.424553574 meters Centerline goodness [0,1] 0.8096309992764692 Centerline is valid? [False, False] Translation: X:7.54, Y:0.25, Z:-1.66 [[ 9.99811017e-01 -1.52883242e-02 -1.20082180e-02 7.53553543e+00] [ 1.53264857e-02 9.99877761e-01 3.09236988e-03 2.52742913e-01] [ 1.19594730e-02 -3.27582926e-03 9.99923117e-01 -1.66267409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.454553574 meters Centerline goodness [0,1] 0.8108304219295888 Centerline is valid? [False, False] Translation: X:7.54, Y:0.25, Z:-1.66 [[ 9.99710310e-01 -1.93829047e-02 -1.42688218e-02 7.54480780e+00] [ 1.94338241e-02 9.99805232e-01 3.43860358e-03 2.52481155e-01] [ 1.41993925e-02 -3.71490522e-03 9.99892283e-01 -1.66000462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.484553574 meters Centerline goodness [0,1] 0.8151030485186775 Centerline is valid? [False, False] Translation: X:7.55, Y:0.25, Z:-1.66 [[ 9.99665831e-01 -2.08409073e-02 -1.52932180e-02 7.54866323e+00] [ 2.08932468e-02 9.99776363e-01 3.27062668e-03 2.52703606e-01] [ 1.52216351e-02 -3.58905872e-03 9.99877703e-01 -1.65981481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.514553574 meters Centerline goodness [0,1] 0.8101669480397674 Centerline is valid? [False, False] Translation: X:7.55, Y:0.25, Z:-1.66 [[ 9.99623931e-01 -2.21006353e-02 -1.62344659e-02 7.55200106e+00] [ 2.21567883e-02 9.99749104e-01 3.28717269e-03 2.52994259e-01] [ 1.61577441e-02 -3.64564011e-03 9.99862809e-01 -1.65919768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.544553574 meters Centerline goodness [0,1] 0.8121819253227621 Centerline is valid? [False, False] Translation: X:7.56, Y:0.26, Z:-1.66 [[ 9.99548844e-01 -2.42847006e-02 -1.76737701e-02 7.55762321e+00] [ 2.43310760e-02 9.99701042e-01 2.41365315e-03 2.55050745e-01] [ 1.76098716e-02 -2.84258606e-03 9.99840893e-01 -1.65983232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.574553574 meters Centerline goodness [0,1] 0.807308702879511 Centerline is valid? [False, False] Translation: X:7.56, Y:0.26, Z:-1.66 [[ 9.99508252e-01 -2.53493822e-02 -1.84570590e-02 7.56089572e+00] [ 2.53774146e-02 9.99677114e-01 1.28612448e-03 2.58243070e-01] [ 1.84184970e-02 -1.75388447e-03 9.99828827e-01 -1.66138909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.604553574 meters Centerline goodness [0,1] 0.8114066811326315 Centerline is valid? [False, False] Translation: X:7.56, Y:0.26, Z:-1.66 [[ 9.99508183e-01 -2.53157126e-02 -1.85069634e-02 7.56100071e+00] [ 2.53417666e-02 9.99678156e-01 1.17459979e-03 2.59380495e-01] [ 1.84712712e-02 -1.64302125e-03 9.99828042e-01 -1.66132214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.634553574 meters Centerline goodness [0,1] 0.8114725708043589 Centerline is valid? [False, False] Translation: X:7.56, Y:0.26, Z:-1.66 [[ 9.99556584e-01 -2.23837268e-02 -1.96368043e-02 7.56371175e+00] [ 2.25072471e-02 9.99728119e-01 6.09192387e-03 2.59024271e-01] [ 1.94951054e-02 -6.53119302e-03 9.99788620e-01 -1.65825899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.66455357399997 meters Centerline goodness [0,1] 0.8246094165161016 Centerline is valid? [False, False] Translation: X:7.56, Y:0.26, Z:-1.66 [[ 9.99562936e-01 -2.21782457e-02 -1.95463968e-02 7.56336092e+00] [ 2.22983638e-02 9.99733661e-01 5.94888273e-03 2.60157996e-01] [ 1.94092550e-02 -6.38213536e-03 9.99791253e-01 -1.65835851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.69455357399997 meters Centerline goodness [0,1] 0.8210565377581043 Centerline is valid? [False, False] Translation: X:7.56, Y:0.26, Z:-1.66 [[ 9.99571404e-01 -2.18906058e-02 -1.94373324e-02 7.56289166e+00] [ 2.20046982e-02 9.99741758e-01 5.67538475e-03 2.62007645e-01] [ 1.93080753e-02 -6.10066493e-03 9.99794969e-01 -1.65858047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.72455357399997 meters Centerline goodness [0,1] 0.8158713419456894 Centerline is valid? [False, False] Translation: X:7.56, Y:0.26, Z:-1.66 [[ 0.99964075 -0.01796368 -0.01989147 7.5640293 ] [ 0.01815634 0.99978957 0.00954801 0.2638414 ] [ 0.01971577 -0.00990573 0.99975655 -1.65837052] [ 0. 0. 0. 1. ]] SLAMing on 232.75455357399997 meters Centerline goodness [0,1] 0.8101165881516962 Centerline is valid? [False, False] Translation: X:7.56, Y:0.27, Z:-1.66 [[ 0.99965466 -0.01744776 -0.01965028 7.56336533] [ 0.01762439 0.9998055 0.00885118 0.26591848] [ 0.01949202 -0.00919445 0.99976773 -1.65985783] [ 0. 0. 0. 1. ]] SLAMing on 232.78455357399997 meters Centerline goodness [0,1] 0.8136480867414074 Centerline is valid? [False, False] Translation: X:7.56, Y:0.27, Z:-1.66 [[ 0.99966228 -0.01713339 -0.01953901 7.56338606] [ 0.01729495 0.99981738 0.00812999 0.26761887] [ 0.01939615 -0.00846517 0.99977604 -1.66160195] [ 0. 0. 0. 1. ]] SLAMing on 232.81455357399997 meters Centerline goodness [0,1] 0.8075567015734357 Centerline is valid? [False, False] Translation: X:7.56, Y:0.27, Z:-1.66 [[ 0.99966555 -0.01694163 -0.01953889 7.56336841] [ 0.01709838 0.99982273 0.00788319 0.26865639] [ 0.01940187 -0.00821464 0.99977802 -1.66201953] [ 0. 0. 0. 1. ]] SLAMing on 232.84455357399997 meters Centerline goodness [0,1] 0.8269685349582392 Centerline is valid? [False, False] Translation: X:7.56, Y:0.27, Z:-1.66 [[ 0.9996614 -0.01706523 -0.01964331 7.56356023] [ 0.01722589 0.9998193 0.00803936 0.26859342] [ 0.01950256 -0.00837501 0.99977473 -1.66116698] [ 0. 0. 0. 1. ]] SLAMing on 232.87455357399998 meters Centerline goodness [0,1] 0.828262410416612 Centerline is valid? [False, False] Translation: X:7.56, Y:0.27, Z:-1.66 [[ 0.99964106 -0.01776375 -0.02005485 7.5648992 ] [ 0.01793113 0.99980562 0.0081972 0.26815142] [ 0.01990534 -0.00855387 0.99976528 -1.6601245 ] [ 0. 0. 0. 1. ]] SLAMing on 232.90455357399998 meters Centerline goodness [0,1] 0.8253955737791094 Centerline is valid? [False, False] Translation: X:7.57, Y:0.27, Z:-1.66 [[ 0.99963423 -0.01798523 -0.02019731 7.56524845] [ 0.01815873 0.9997995 0.0084396 0.26804663] [ 0.02004147 -0.00880327 0.99976039 -1.65932271] [ 0. 0. 0. 1. ]] SLAMing on 232.93455357399998 meters Centerline goodness [0,1] 0.8220541505816854 Centerline is valid? [False, False] Translation: X:7.57, Y:0.27, Z:-1.66 [[ 0.99962203 -0.01838671 -0.02043835 7.56628293] [ 0.01855922 0.99979345 0.00828288 0.26831817] [ 0.02028184 -0.00865906 0.9997568 -1.65941308] [ 0. 0. 0. 1. ]] SLAMing on 232.96455357399998 meters Centerline goodness [0,1] 0.8257683215130024 Centerline is valid? [False, False] Translation: X:7.57, Y:0.27, Z:-1.66 [[ 0.99961149 -0.01872615 -0.02064457 7.56714918] [ 0.01889759 0.99978828 0.00814103 0.26863197] [ 0.02048775 -0.008528 0.99975373 -1.65953437] [ 0. 0. 0. 1. ]] SLAMing on 232.99455357399998 meters Centerline goodness [0,1] 0.8245701535634598 Centerline is valid? [False, False] Translation: X:7.57, Y:0.27, Z:-1.66 [[ 0.99957979 -0.0197217 -0.02124372 7.56941879] [ 0.01989691 0.99976948 0.00806813 0.26896912] [ 0.02107971 -0.00848743 0.99974177 -1.65907285] [ 0. 0. 0. 1. ]] SLAMing on 233.02455357399998 meters Centerline goodness [0,1] 0.8281106594991477 Centerline is valid? [False, False] Translation: X:7.57, Y:0.27, Z:-1.66 [[ 0.99956152 -0.0202593 -0.02159466 7.57075213] [ 0.02043788 0.99975846 0.00808121 0.26897002] [ 0.02142573 -0.00851902 0.99973415 -1.65875883] [ 0. 0. 0. 1. ]] SLAMing on 233.05455357399998 meters Centerline goodness [0,1] 0.8282775270284455 Centerline is valid? [False, False] Translation: X:7.57, Y:0.27, Z:-1.66 [[ 0.99950461 -0.02193213 -0.02257256 7.57468679] [ 0.02211879 0.99972291 0.00805325 0.26817655] [ 0.02238968 -0.00854854 0.99971277 -1.65828164] [ 0. 0. 0. 1. ]] SLAMing on 233.08455357399998 meters Centerline goodness [0,1] 0.7481006335602933 Centerline is valid? [False, False] Translation: X:7.58, Y:0.27, Z:-1.66 [[ 0.9994767 -0.02263682 -0.02310607 7.57684738] [ 0.02282508 0.99970813 0.00791651 0.26800725] [ 0.02292012 -0.00843977 0.99970167 -1.65862406] [ 0. 0. 0. 1. ]] SLAMing on 233.11455357399998 meters Centerline goodness [0,1] 0.8331361568998606 Centerline is valid? [False, False] Translation: X:7.58, Y:0.27, Z:-1.66 [[ 0.99944397 -0.02351156 -0.02364228 7.57914944] [ 0.02370055 0.9996891 0.00774551 0.26808717] [ 0.02345282 -0.00830154 0.99969048 -1.65875228] [ 0. 0. 0. 1. ]] SLAMing on 233.14455357399999 meters Centerline goodness [0,1] 0.7727165261249902 Centerline is valid? [False, False] Translation: X:7.58, Y:0.27, Z:-1.66 [[ 9.99428032e-01 -2.39215915e-02 -2.39032804e-02 7.58051150e+00] [ 2.41036416e-02 9.99682393e-01 7.35720428e-03 2.68552081e-01] [ 2.37196925e-02 -7.92915230e-03 9.99687203e-01 -1.65953249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.174553574 meters Centerline goodness [0,1] 0.7768373462306802 Centerline is valid? [False, False] Translation: X:7.58, Y:0.27, Z:-1.66 [[ 9.99419756e-01 -2.40921421e-02 -2.40773626e-02 7.58135022e+00] [ 2.42710947e-02 9.99679716e-01 7.16797104e-03 2.68775648e-01] [ 2.38969592e-02 -7.74819582e-03 9.99684401e-01 -1.66007391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.204553574 meters Centerline goodness [0,1] 0.8271789622864342 Centerline is valid? [False, False] Translation: X:7.58, Y:0.27, Z:-1.66 [[ 9.99418799e-01 -2.41030545e-02 -2.41061585e-02 7.58251723e+00] [ 2.42568427e-02 9.99687102e-01 6.10764980e-03 2.70475045e-01] [ 2.39514027e-02 -6.68883933e-03 9.99690747e-01 -1.66302077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.234553574 meters Centerline goodness [0,1] 0.8120131147540983 Centerline is valid? [False, False] Translation: X:7.58, Y:0.27, Z:-1.66 [[ 9.99426492e-01 -2.38437674e-02 -2.40449876e-02 7.58259480e+00] [ 2.39889344e-02 9.99695590e-01 5.76700094e-03 2.71383327e-01] [ 2.39001610e-02 -6.34050715e-03 9.99694243e-01 -1.66419180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.264553574 meters Centerline goodness [0,1] 0.8120131147540983 Centerline is valid? [False, False] Translation: X:7.58, Y:0.27, Z:-1.66 [[ 9.99426492e-01 -2.38437674e-02 -2.40449876e-02 7.58259480e+00] [ 2.39889344e-02 9.99695590e-01 5.76700094e-03 2.71383327e-01] [ 2.39001610e-02 -6.34050715e-03 9.99694243e-01 -1.66419180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.294553574 meters Centerline goodness [0,1] 0.8217119216569349 Centerline is valid? [False, False] Translation: X:7.58, Y:0.27, Z:-1.67 [[ 9.99458568e-01 -2.29183636e-02 -2.36076114e-02 7.58135170e+00] [ 2.30508328e-02 9.99719955e-01 5.35450191e-03 2.72840524e-01] [ 2.34782838e-02 -5.89577791e-03 9.99706962e-01 -1.66574055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.324553574 meters Centerline goodness [0,1] 0.8236477658740528 Centerline is valid? [False, False] Translation: X:7.58, Y:0.27, Z:-1.67 [[ 9.99474279e-01 -2.24856103e-02 -2.33572839e-02 7.58076105e+00] [ 2.26111493e-02 9.99731201e-01 5.12456567e-03 2.73429113e-01] [ 2.32357765e-02 -5.65000662e-03 9.99714047e-01 -1.66657818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.354553574 meters Centerline goodness [0,1] 0.8172636646694053 Centerline is valid? [False, False] Translation: X:7.58, Y:0.27, Z:-1.67 [[ 9.99487842e-01 -2.20936156e-02 -2.31500891e-02 7.58014002e+00] [ 2.22145521e-02 9.99740824e-01 4.97990701e-03 2.73845025e-01] [ 2.30340649e-02 -5.49162537e-03 9.99719598e-01 -1.66709388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.384553574 meters Centerline goodness [0,1] 0.8290311590974606 Centerline is valid? [False, False] Translation: X:7.60, Y:0.28, Z:-1.67 [[ 9.99684604e-01 -1.82851493e-02 -1.72147175e-02 7.59517200e+00] [ 1.82485212e-02 9.99830877e-01 -2.28241723e-03 2.75641786e-01] [ 1.72535405e-02 1.96755422e-03 9.99849211e-01 -1.67372412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.41455357399997 meters Centerline goodness [0,1] 0.8277591973244147 Centerline is valid? [False, False] Translation: X:7.60, Y:0.27, Z:-1.67 [[ 9.99737322e-01 -1.45009598e-02 -1.77484812e-02 7.59640412e+00] [ 1.45498313e-02 9.99890693e-01 2.62753114e-03 2.74279599e-01] [ 1.77084395e-02 -2.88507835e-03 9.99839031e-01 -1.67197894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.44455357399997 meters Centerline goodness [0,1] 0.8277625570776256 Centerline is valid? [False, False] Translation: X:7.60, Y:0.27, Z:-1.67 [[ 9.99793322e-01 -9.93951728e-03 -1.77346670e-02 7.59643194e+00] [ 1.00571365e-02 9.99927938e-01 6.55534871e-03 2.74940978e-01] [ 1.76682320e-02 -6.73235383e-03 9.99821239e-01 -1.67284621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.47455357399997 meters Centerline goodness [0,1] 0.8259215839520646 Centerline is valid? [False, False] Translation: X:7.60, Y:0.28, Z:-1.67 [[ 9.99805180e-01 -9.31744782e-03 -1.74008102e-02 7.59580806e+00] [ 9.42048946e-03 9.99938519e-01 5.84910584e-03 2.76482707e-01] [ 1.73452417e-02 -6.01189046e-03 9.99831486e-01 -1.67485045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.50455357399997 meters Centerline goodness [0,1] 0.8204512220597451 Centerline is valid? [False, False] Translation: X:7.59, Y:0.28, Z:-1.68 [[ 9.99841189e-01 -7.37102322e-03 -1.62254209e-02 7.59139691e+00] [ 7.47176666e-03 9.99953130e-01 6.15714863e-03 2.76610790e-01] [ 1.61792759e-02 -6.27740336e-03 9.99849401e-01 -1.67506316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.53455357399997 meters Centerline goodness [0,1] 0.818229275422844 Centerline is valid? [False, False] Translation: X:7.59, Y:0.28, Z:-1.67 [[ 9.99849736e-01 -6.89072650e-03 -1.59067076e-02 7.59020446e+00] [ 6.99289024e-03 9.99955222e-01 6.37602195e-03 2.76203592e-01] [ 1.58620599e-02 -6.48629772e-03 9.99853151e-01 -1.67475594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.56455357399997 meters Centerline goodness [0,1] 0.8163600782778865 Centerline is valid? [False, False] Translation: X:7.61, Y:0.28, Z:-1.68 [[ 9.99933613e-01 -6.02891272e-03 -9.81942431e-03 7.60614461e+00] [ 5.99485615e-03 9.99975926e-01 -3.49403470e-03 2.78698158e-01] [ 9.84025316e-03 3.43493671e-03 9.99945684e-01 -1.68291597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.59455357399997 meters Centerline goodness [0,1] 0.8181532334136883 Centerline is valid? [False, False] Translation: X:7.60, Y:0.28, Z:-1.68 [[ 9.99946016e-01 -4.97249794e-03 -9.12358362e-03 7.60333090e+00] [ 4.94758911e-03 9.99983977e-01 -2.75070055e-03 2.78185046e-01] [ 9.13711529e-03 2.70541231e-03 9.99954596e-01 -1.68174300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.62455357399998 meters Centerline goodness [0,1] 0.8222111814235658 Centerline is valid? [False, False] Translation: X:7.60, Y:0.28, Z:-1.68 [[ 9.99950006e-01 -4.53925506e-03 -8.90954836e-03 7.60235851e+00] [ 4.51978350e-03 9.99987356e-01 -2.20439002e-03 2.77910983e-01] [ 8.91944200e-03 2.16401059e-03 9.99957879e-01 -1.68082392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.65455357399998 meters Centerline goodness [0,1] 0.818600392413342 Centerline is valid? [False, False] Translation: X:7.60, Y:0.28, Z:-1.68 [[ 9.99958317e-01 -3.66650358e-03 -8.36184488e-03 7.60034387e+00] [ 3.65401525e-03 9.99992187e-01 -1.50827842e-03 2.76902811e-01] [ 8.36730965e-03 1.47766124e-03 9.99963902e-01 -1.68011324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.68455357399998 meters Centerline goodness [0,1] 0.8161965184563759 Centerline is valid? [False, False] Translation: X:7.60, Y:0.28, Z:-1.68 [[ 9.99960425e-01 -3.37132681e-03 -8.23304105e-03 7.59999565e+00] [ 3.36134775e-03 9.99993600e-01 -1.22561213e-03 2.76392323e-01] [ 8.23712029e-03 1.19788951e-03 9.99965357e-01 -1.68014896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.71455357399998 meters Centerline goodness [0,1] 0.817373980969357 Centerline is valid? [False, False] Translation: X:7.60, Y:0.28, Z:-1.68 [[ 9.99961036e-01 -3.24327223e-03 -8.21024706e-03 7.60010413e+00] [ 3.23472796e-03 9.99994213e-01 -1.05374953e-03 2.75802309e-01] [ 8.21361714e-03 1.02715056e-03 9.99965740e-01 -1.68031585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.74455357399998 meters Centerline goodness [0,1] 0.815547777573094 Centerline is valid? [False, False] Translation: X:7.60, Y:0.27, Z:-1.68 [[ 9.99964365e-01 -2.79262008e-03 -7.96676797e-03 7.59934558e+00] [ 2.79059926e-03 9.99996071e-01 -2.64761225e-04 2.73179305e-01] [ 7.96747605e-03 2.42519734e-04 9.99968230e-01 -1.67985311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.77455357399998 meters Centerline goodness [0,1] 0.818622798692397 Centerline is valid? [False, False] Translation: X:7.60, Y:0.27, Z:-1.68 [[ 9.99965105e-01 -2.64817465e-03 -7.92311759e-03 7.59922791e+00] [ 2.65018186e-03 9.99996459e-01 2.42847200e-04 2.71777828e-01] [ 7.92244644e-03 -2.63836428e-04 9.99968582e-01 -1.67948446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.80455357399998 meters Centerline goodness [0,1] 0.8194952547584964 Centerline is valid? [False, False] Translation: X:7.60, Y:0.27, Z:-1.68 [[ 9.99963040e-01 -3.03015452e-03 -8.04597974e-03 7.60035131e+00] [ 3.03807762e-03 9.99994912e-01 9.72688361e-04 2.68393776e-01] [ 8.04299140e-03 -9.97096721e-04 9.99967158e-01 -1.67945634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.83455357399998 meters Centerline goodness [0,1] 0.8208626410086264 Centerline is valid? [False, False] Translation: X:7.60, Y:0.27, Z:-1.68 [[ 9.99960923e-01 -3.27140500e-03 -8.21280351e-03 7.60121065e+00] [ 3.28179134e-03 9.99993832e-01 1.25149533e-03 2.66662274e-01] [ 8.20865870e-03 -1.27839913e-03 9.99965491e-01 -1.67959450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.86455357399998 meters Centerline goodness [0,1] 0.8192207516079306 Centerline is valid? [False, False] Translation: X:7.60, Y:0.26, Z:-1.68 [[ 9.99965489e-01 -2.67961183e-03 -7.86384963e-03 7.59993169e+00] [ 2.69515890e-03 9.99994433e-01 1.96709941e-03 2.64440481e-01] [ 7.85853479e-03 -1.98822585e-03 9.99967145e-01 -1.67913405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.89455357399999 meters Centerline goodness [0,1] 0.818116539453738 Centerline is valid? [False, False] Translation: X:7.60, Y:0.26, Z:-1.68 [[ 9.99970951e-01 -1.92286504e-03 -7.37563293e-03 7.59791311e+00] [ 1.93929669e-03 9.99995652e-01 2.22132476e-03 2.64449204e-01] [ 7.37132956e-03 -2.23556377e-03 9.99970332e-01 -1.67856335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.924553574 meters Centerline goodness [0,1] 0.820628636713872 Centerline is valid? [False, False] Translation: X:7.60, Y:0.26, Z:-1.68 [[ 9.99974897e-01 -1.32263742e-03 -6.96106339e-03 7.59636051e+00] [ 1.33849187e-03 9.99996520e-01 2.27342470e-03 2.64773691e-01] [ 6.95803225e-03 -2.28268496e-03 9.99973187e-01 -1.67843750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.954553574 meters Centerline goodness [0,1] 0.8187092672071212 Centerline is valid? [False, False] Translation: X:7.59, Y:0.27, Z:-1.68 [[ 9.99979064e-01 -2.73680653e-04 -6.46503818e-03 7.59471865e+00] [ 2.86209865e-04 9.99998083e-01 1.93714939e-03 2.66440519e-01] [ 6.46449563e-03 -1.93895919e-03 9.99977225e-01 -1.67959746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.984553574 meters Centerline goodness [0,1] 0.8177789501450805 Centerline is valid? [False, False] Translation: X:7.59, Y:0.27, Z:-1.68 [[ 9.99980434e-01 1.62514724e-04 -6.25340357e-03 7.59454835e+00] [-1.55738125e-04 9.99999400e-01 1.08413726e-03 2.68692740e-01] [ 6.25357600e-03 -1.08314215e-03 9.99979860e-01 -1.68167458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.014553574 meters Centerline goodness [0,1] 0.8168296015978135 Centerline is valid? [False, False] Translation: X:7.60, Y:0.27, Z:-1.68 [[ 9.99969513e-01 4.46704698e-03 -6.40457709e-03 7.59562683e+00] [-4.44163763e-03 9.99982231e-01 3.97612190e-03 2.72480061e-01] [ 6.42222482e-03 -3.94755387e-03 9.99971586e-01 -1.68423939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.044553574 meters Centerline goodness [0,1] 0.8162478358952836 Centerline is valid? [False, False] Translation: X:7.60, Y:0.27, Z:-1.69 [[ 9.99968832e-01 4.92488342e-03 -6.17093842e-03 7.59519960e+00] [-4.90463576e-03 9.99982554e-01 3.29197917e-03 2.74362532e-01] [ 6.18704337e-03 -3.26161036e-03 9.99975541e-01 -1.68582475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.074553574 meters Centerline goodness [0,1] 0.8135095447870778 Centerline is valid? [False, False] Translation: X:7.59, Y:0.28, Z:-1.69 [[ 9.99968145e-01 5.36369752e-03 -5.91105093e-03 7.59448844e+00] [-5.34600956e-03 9.99981198e-01 3.00410372e-03 2.75301397e-01] [ 5.92705290e-03 -2.97240749e-03 9.99978017e-01 -1.68650597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.104553574 meters Centerline goodness [0,1] 0.8141794562883033 Centerline is valid? [False, False] Translation: X:7.59, Y:0.28, Z:-1.69 [[ 9.99964199e-01 6.62193810e-03 -5.26797055e-03 7.59155670e+00] [-6.60474687e-03 9.99972828e-01 3.27408206e-03 2.76296701e-01] [ 5.28950818e-03 -3.23917123e-03 9.99980764e-01 -1.68558778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.134553574 meters Centerline goodness [0,1] 0.8139949643306756 Centerline is valid? [False, False] Translation: X:7.59, Y:0.28, Z:-1.69 [[ 9.99962773e-01 7.00114799e-03 -5.04346156e-03 7.59066196e+00] [-6.98433028e-03 9.99970016e-01 3.34448784e-03 2.76560154e-01] [ 5.06672560e-03 -3.30913813e-03 9.99981689e-01 -1.68530740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.16455357399997 meters Centerline goodness [0,1] 0.8140985324947589 Centerline is valid? [False, False] Translation: X:7.59, Y:0.28, Z:-1.68 [[ 9.99957731e-01 8.09426291e-03 -4.36099039e-03 7.58788802e+00] [-8.07823046e-03 9.99960594e-01 3.68148796e-03 2.77007834e-01] [ 4.39061747e-03 -3.64610326e-03 9.99983714e-01 -1.68443943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.19455357399997 meters Centerline goodness [0,1] 0.8151300112597868 Centerline is valid? [False, False] Translation: X:7.59, Y:0.28, Z:-1.69 [[ 9.99956138e-01 8.35992567e-03 -4.22290657e-03 7.58770763e+00] [-8.34565213e-03 9.99959440e-01 3.38641531e-03 2.77880323e-01] [ 4.25104547e-03 -3.35102386e-03 9.99985350e-01 -1.68527872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.22455357399997 meters Centerline goodness [0,1] 0.8171549871586561 Centerline is valid? [False, False] Translation: X:7.59, Y:0.28, Z:-1.69 [[ 9.99956228e-01 8.35601849e-03 -4.20929759e-03 7.58834763e+00] [-8.34468833e-03 9.99961532e-01 2.70210814e-03 2.79011409e-01] [ 4.23171453e-03 -2.66686459e-03 9.99987490e-01 -1.68703442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.25455357399997 meters Centerline goodness [0,1] 0.8143270241850684 Centerline is valid? [False, False] Translation: X:7.59, Y:0.28, Z:-1.69 [[ 9.99953748e-01 8.78135033e-03 -3.92292384e-03 7.58775532e+00] [-8.77119535e-03 9.99958156e-01 2.59837385e-03 2.78848340e-01] [ 3.94557692e-03 -2.56384494e-03 9.99988929e-01 -1.68777753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.28455357399997 meters Centerline goodness [0,1] 0.8139974779319041 Centerline is valid? [False, False] Translation: X:7.59, Y:0.28, Z:-1.69 [[ 9.99954005e-01 8.71633618e-03 -4.00172516e-03 7.58824440e+00] [-8.70522864e-03 9.99958231e-01 2.78476658e-03 2.77839135e-01] [ 4.02583098e-03 -2.74980256e-03 9.99988116e-01 -1.68781374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.31455357399997 meters Centerline goodness [0,1] 0.8133477595397688 Centerline is valid? [False, False] Translation: X:7.58, Y:0.28, Z:-1.69 [[ 9.99973972e-01 6.65694125e-03 -2.78205116e-03 7.58420789e+00] [-6.65968246e-03 9.99977347e-01 -9.77223429e-04 2.77088660e-01] [ 2.77548282e-03 9.95725572e-04 9.99995653e-01 -1.68876408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.34455357399997 meters Centerline goodness [0,1] 0.8143329366653445 Centerline is valid? [False, False] Translation: X:7.59, Y:0.28, Z:-1.69 [[ 9.99976783e-01 5.99626376e-03 -3.23692444e-03 7.58632844e+00] [-5.99941284e-03 9.99981539e-01 -9.64030591e-04 2.75843758e-01] [ 3.23108410e-03 9.83427856e-04 9.99994296e-01 -1.68928538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.37455357399998 meters Centerline goodness [0,1] 0.8122653978324081 Centerline is valid? [False, False] Translation: X:7.59, Y:0.27, Z:-1.69 [[ 9.99979126e-01 5.24592736e-03 -3.77187544e-03 7.58874320e+00] [-5.24967155e-03 9.99985737e-01 -9.83444467e-04 2.74927467e-01] [ 3.76666256e-03 1.00322505e-03 9.99992403e-01 -1.68980467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.40455357399998 meters Centerline goodness [0,1] 0.8136805573952897 Centerline is valid? [False, False] Translation: X:7.59, Y:0.28, Z:-1.69 [[ 9.99978229e-01 5.51793594e-03 -3.61852981e-03 7.58836360e+00] [-5.52190055e-03 9.99984164e-01 -1.08656577e-03 2.75360175e-01] [ 3.61247690e-03 1.10652328e-03 9.99992863e-01 -1.69017638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.43455357399998 meters Centerline goodness [0,1] 0.8138045980052382 Centerline is valid? [False, False] Translation: X:7.59, Y:0.28, Z:-1.69 [[ 9.99973545e-01 6.64456561e-03 -2.95951237e-03 7.58618116e+00] [-6.64781011e-03 9.99977311e-01 -1.08780936e-03 2.76013296e-01] [ 2.95221720e-03 1.10745486e-03 9.99995029e-01 -1.69070611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.46455357399998 meters Centerline goodness [0,1] 0.8145048446286665 Centerline is valid? [False, False] Translation: X:7.59, Y:0.28, Z:-1.69 [[ 9.99975480e-01 6.21943426e-03 -3.21837781e-03 7.58831978e+00] [-6.22514481e-03 9.99979062e-01 -1.76739057e-03 2.76380548e-01] [ 3.20731825e-03 1.78738210e-03 9.99993259e-01 -1.69301320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.49455357399998 meters Centerline goodness [0,1] 0.8141005291005291 Centerline is valid? [False, False] Translation: X:7.59, Y:0.28, Z:-1.69 [[ 9.99976260e-01 5.98966060e-03 -3.40628488e-03 7.58952801e+00] [-5.99660329e-03 9.99979956e-01 -2.03165024e-03 2.76391412e-01] [ 3.39404771e-03 2.05202815e-03 9.99992135e-01 -1.69411384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.52455357399998 meters Centerline goodness [0,1] 0.8132650080981334 Centerline is valid? [False, False] Translation: X:7.59, Y:0.28, Z:-1.70 [[ 9.99978630e-01 5.28286627e-03 -3.85112193e-03 7.59207886e+00] [-5.29296343e-03 9.99982569e-01 -2.61641465e-03 2.76370301e-01] [ 3.83723263e-03 2.63674258e-03 9.99989162e-01 -1.69596779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.55455357399998 meters Centerline goodness [0,1] 0.8144854213819731 Centerline is valid? [False, False] Translation: X:7.60, Y:0.27, Z:-1.70 [[ 9.99981825e-01 3.31294513e-03 -5.03729853e-03 7.59788948e+00] [-3.32791935e-03 9.99990060e-01 -2.96719882e-03 2.74468166e-01] [ 5.02741829e-03 2.98390862e-03 9.99982911e-01 -1.69759886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.58455357399998 meters Centerline goodness [0,1] 0.8150520416333067 Centerline is valid? [False, False] Translation: X:7.60, Y:0.27, Z:-1.70 [[ 9.99980595e-01 2.44524306e-03 -5.72977153e-03 7.60056582e+00] [-2.45991141e-03 9.99993712e-01 -2.55437635e-03 2.72717007e-01] [ 5.72348943e-03 2.56842152e-03 9.99980322e-01 -1.69722358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.61455357399998 meters Centerline goodness [0,1] 0.8152127317543671 Centerline is valid? [False, False] Translation: X:7.61, Y:0.27, Z:-1.70 [[ 9.99976283e-01 2.09321533e-04 -6.88400946e-03 7.60596528e+00] [-2.26150423e-04 9.99996988e-01 -2.44394736e-03 2.70502094e-01] [ 6.88347715e-03 2.44544621e-03 9.99973318e-01 -1.69702049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.64455357399999 meters Centerline goodness [0,1] 0.814500537056928 Centerline is valid? [False, False] Translation: X:7.61, Y:0.27, Z:-1.70 [[ 9.99972484e-01 -4.37138576e-04 -7.40534978e-03 7.60799793e+00] [ 4.18923041e-04 9.99996884e-01 -2.46115307e-03 2.70643861e-01] [ 7.40640257e-03 2.45798308e-03 9.99969551e-01 -1.69705975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.674553574 meters Centerline goodness [0,1] 0.8141479099678457 Centerline is valid? [False, False] Translation: X:7.61, Y:0.27, Z:-1.70 [[ 9.99966489e-01 -1.33450543e-03 -8.07717370e-03 7.61079525e+00] [ 1.31404701e-03 9.99995917e-01 -2.53764516e-03 2.70517839e-01] [ 8.08052722e-03 2.52694633e-03 9.99964159e-01 -1.69733530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.704553574 meters Centerline goodness [0,1] 0.8160700889508091 Centerline is valid? [False, False] Translation: X:7.61, Y:0.27, Z:-1.70 [[ 9.99959606e-01 -2.17386606e-03 -8.72124791e-03 7.61338234e+00] [ 2.14736413e-03 9.99993052e-01 -3.04699069e-03 2.72907266e-01] [ 8.72781107e-03 3.02813991e-03 9.99957327e-01 -1.69770777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.734553574 meters Centerline goodness [0,1] 0.8154003059663437 Centerline is valid? [False, False] Translation: X:7.62, Y:0.27, Z:-1.70 [[ 9.99948493e-01 -3.32551017e-03 -9.58921704e-03 7.61661920e+00] [ 3.29711315e-03 9.99990137e-01 -2.97563939e-03 2.72867000e-01] [ 9.59901799e-03 2.94386939e-03 9.99949595e-01 -1.69729646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.764553574 meters Centerline goodness [0,1] 0.8151960652565378 Centerline is valid? [False, False] Translation: X:7.63, Y:0.27, Z:-1.70 [[ 9.99874354e-01 -1.01991624e-02 -1.21347991e-02 7.63145923e+00] [ 1.01552486e-02 9.99941681e-01 -3.67496366e-03 2.71853613e-01] [ 1.21715730e-02 3.55127001e-03 9.99919617e-01 -1.69658254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.794553574 meters Centerline goodness [0,1] 0.8148158128755827 Centerline is valid? [False, False] Translation: X:7.64, Y:0.27, Z:-1.70 [[ 9.99812759e-01 -1.33175528e-02 -1.40388351e-02 7.63977656e+00] [ 1.32682143e-02 9.99905487e-01 -3.60173418e-03 2.70806669e-01] [ 1.40854745e-02 3.41478951e-03 9.99894964e-01 -1.69622989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.824553574 meters Centerline goodness [0,1] 0.8148960958031917 Centerline is valid? [False, False] Translation: X:7.65, Y:0.27, Z:-1.70 [[ 9.99726220e-01 -1.69970091e-02 -1.60806068e-02 7.64914608e+00] [ 1.69462286e-02 9.99850993e-01 -3.28889041e-03 2.69110685e-01] [ 1.61341119e-02 3.01548434e-03 9.99865290e-01 -1.69530876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.854553574 meters Centerline goodness [0,1] 0.8167311148630249 Centerline is valid? [False, False] Translation: X:7.66, Y:0.27, Z:-1.70 [[ 9.99465927e-01 -2.69818691e-02 -1.84347187e-02 7.66335890e+00] [ 2.68465758e-02 9.99611072e-01 -7.54757350e-03 2.67010899e-01] [ 1.86311965e-02 7.04863347e-03 9.99801578e-01 -1.69547423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.884553574 meters Centerline goodness [0,1] 0.8201688478456872 Centerline is valid? [False, False] Translation: X:7.68, Y:0.27, Z:-1.69 [[ 9.99268391e-01 -3.20736686e-02 -2.08317903e-02 7.67582059e+00] [ 3.19442325e-02 9.99468407e-01 -6.51680331e-03 2.65083649e-01] [ 2.10297341e-02 5.84658000e-03 9.99761756e-01 -1.69250884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.91455357399997 meters Centerline goodness [0,1] 0.8191541744173323 Centerline is valid? [False, False] Translation: X:7.68, Y:0.26, Z:-1.69 [[ 9.99271207e-01 -3.06628671e-02 -2.27341827e-02 7.68274967e+00] [ 3.06682827e-02 9.99529611e-01 -1.10483966e-04 2.62694080e-01] [ 2.27268766e-02 -5.86814897e-04 9.99741539e-01 -1.68680969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.94455357399997 meters Centerline goodness [0,1] 0.8200158552253902 Centerline is valid? [False, False] Translation: X:7.68, Y:0.26, Z:-1.69 [[ 9.99251671e-01 -3.10372566e-02 -2.30821573e-02 7.68398432e+00] [ 3.10450973e-02 9.99517985e-01 -1.86669510e-05 2.63019354e-01] [ 2.30716107e-02 -6.97934835e-04 9.99733571e-01 -1.68642615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.97455357399997 meters Centerline goodness [0,1] 0.8219388034375171 Centerline is valid? [False, False] Translation: X:7.69, Y:0.26, Z:-1.68 [[ 9.99209432e-01 -3.06361957e-02 -2.53364434e-02 7.69327386e+00] [ 3.07729268e-02 9.99513773e-01 5.02434949e-03 2.62256392e-01] [ 2.51701971e-02 -5.80005391e-03 9.99666355e-01 -1.68313690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.00455357399997 meters Centerline goodness [0,1] 0.819230558447964 Centerline is valid? [False, False] Translation: X:7.69, Y:0.26, Z:-1.68 [[ 9.99194360e-01 -3.09303313e-02 -2.55723501e-02 7.69430257e+00] [ 3.10653721e-02 9.99505342e-01 4.90034093e-03 2.62889403e-01] [ 2.54081314e-02 -5.69080760e-03 9.99660963e-01 -1.68334844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.03455357399997 meters Centerline goodness [0,1] 0.8241219785935233 Centerline is valid? [False, False] Translation: X:7.70, Y:0.26, Z:-1.68 [[ 9.99171464e-01 -3.13905834e-02 -2.59039736e-02 7.69588101e+00] [ 3.15230116e-02 9.99491883e-01 4.71975139e-03 2.63788431e-01] [ 2.57426556e-02 -5.53241217e-03 9.99653294e-01 -1.68359704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.06455357399997 meters Centerline goodness [0,1] 0.8233587033893665 Centerline is valid? [False, False] Translation: X:7.70, Y:0.26, Z:-1.68 [[ 9.99163785e-01 -3.14779848e-02 -2.60934451e-02 7.69652404e+00] [ 3.16128565e-02 9.99488795e-01 4.77239784e-03 2.64205195e-01] [ 2.59298806e-02 -5.59329543e-03 9.99648116e-01 -1.68353605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.09455357399997 meters Centerline goodness [0,1] 0.8214549533528495 Centerline is valid? [False, False] Translation: X:7.70, Y:0.26, Z:-1.68 [[ 9.99158321e-01 -3.15303450e-02 -2.62390171e-02 7.69700766e+00] [ 3.16671639e-02 9.99486871e-01 4.81513745e-03 2.64487927e-01] [ 2.60737302e-02 -5.64199991e-03 9.99644101e-01 -1.68345351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.12455357399998 meters Centerline goodness [0,1] 0.827077124969243 Centerline is valid? [False, False] Translation: X:7.70, Y:0.26, Z:-1.68 [[ 9.99159017e-01 -3.14190929e-02 -2.63457697e-02 7.69707340e+00] [ 3.15618205e-02 9.99489199e-01 5.01915428e-03 2.64895327e-01] [ 2.61746150e-02 -5.84645371e-03 9.99640290e-01 -1.68281777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.15455357399998 meters Centerline goodness [0,1] 0.827077124969243 Centerline is valid? [False, False] Translation: X:7.70, Y:0.26, Z:-1.68 [[ 9.99159017e-01 -3.14190929e-02 -2.63457697e-02 7.69707340e+00] [ 3.15618205e-02 9.99489199e-01 5.01915428e-03 2.64895327e-01] [ 2.61746150e-02 -5.84645371e-03 9.99640290e-01 -1.68281777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.18455357399998 meters Centerline goodness [0,1] 0.8247211845226734 Centerline is valid? [False, False] Translation: X:7.70, Y:0.27, Z:-1.68 [[ 9.99156638e-01 -3.13991080e-02 -2.64595774e-02 7.69745462e+00] [ 3.15471166e-02 9.99488765e-01 5.19491472e-03 2.65103266e-01] [ 2.62829347e-02 -6.02525690e-03 9.99636386e-01 -1.68261149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.21455357399998 meters Centerline goodness [0,1] 0.8262931269417344 Centerline is valid? [False, False] Translation: X:7.70, Y:0.27, Z:-1.68 [[ 9.99155281e-01 -3.13415586e-02 -2.65787877e-02 7.69776666e+00] [ 3.14929391e-02 9.99489943e-01 5.29609533e-03 2.65972285e-01] [ 2.63992431e-02 -6.12866576e-03 9.99632692e-01 -1.68238201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.24455357399998 meters Centerline goodness [0,1] 0.8225859247135843 Centerline is valid? [False, False] Translation: X:7.70, Y:0.27, Z:-1.68 [[ 9.99155256e-01 -3.12917182e-02 -2.66383809e-02 7.69795911e+00] [ 3.14443912e-02 9.99491282e-01 5.33175141e-03 2.66445306e-01] [ 2.64579898e-02 -6.16487511e-03 9.99630916e-01 -1.68238560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.27455357399998 meters Centerline goodness [0,1] 0.8203412969283277 Centerline is valid? [False, False] Translation: X:7.70, Y:0.27, Z:-1.68 [[ 9.99157267e-01 -3.11906706e-02 -2.66814173e-02 7.69815901e+00] [ 3.13410339e-02 9.99495035e-01 5.23590250e-03 2.67093270e-01] [ 2.65046328e-02 -6.06771324e-03 9.99630275e-01 -1.68273599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.30455357399998 meters Centerline goodness [0,1] 0.8233299608979793 Centerline is valid? [False, False] Translation: X:7.70, Y:0.27, Z:-1.68 [[ 9.99156470e-01 -3.11434348e-02 -2.67662892e-02 7.69877660e+00] [ 3.12861383e-02 9.99498314e-01 4.92921885e-03 2.68177980e-01] [ 2.65993481e-02 -5.76247474e-03 9.99629566e-01 -1.68370099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.33455357399998 meters Centerline goodness [0,1] 0.8228089795695699 Centerline is valid? [False, False] Translation: X:7.70, Y:0.27, Z:-1.68 [[ 9.99156966e-01 -3.10962335e-02 -2.68026448e-02 7.69906260e+00] [ 3.12375443e-02 9.99500126e-01 4.86969112e-03 2.68187944e-01] [ 2.66378178e-02 -5.70283461e-03 9.99628883e-01 -1.68407341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.36455357399998 meters Centerline goodness [0,1] 0.8243091808565884 Centerline is valid? [False, False] Translation: X:7.70, Y:0.27, Z:-1.68 [[ 9.99181765e-01 -3.04854277e-02 -2.65789091e-02 7.69788690e+00] [ 3.06396520e-02 9.99515830e-01 5.41459393e-03 2.67444094e-01] [ 2.64009742e-02 -6.22453205e-03 9.99632054e-01 -1.68335662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.39455357399999 meters Centerline goodness [0,1] 0.8241656197083083 Centerline is valid? [False, False] Translation: X:7.70, Y:0.27, Z:-1.68 [[ 9.99189065e-01 -3.02718297e-02 -2.65485994e-02 7.69782805e+00] [ 3.04294741e-02 9.99521485e-01 5.55410191e-03 2.67290182e-01] [ 2.63677627e-02 -6.35745781e-03 9.99632094e-01 -1.68344562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.424553574 meters Centerline goodness [0,1] 0.8224533813853169 Centerline is valid? [False, False] Translation: X:7.70, Y:0.27, Z:-1.68 [[ 9.99210283e-01 -2.97693137e-02 -2.63172702e-02 7.69692926e+00] [ 2.99262990e-02 9.99536469e-01 5.59142306e-03 2.67614039e-01] [ 2.61386185e-02 -6.37458591e-03 9.99638003e-01 -1.68367388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.454553574 meters Centerline goodness [0,1] 0.8253894633454287 Centerline is valid? [False, False] Translation: X:7.70, Y:0.27, Z:-1.68 [[ 0.99931812 -0.02554723 -0.02665787 7.69729262] [ 0.02582365 0.99961572 0.01007678 0.26787855] [ 0.02639019 -0.01075832 0.99959383 -1.68239645] [ 0. 0. 0. 1. ]] SLAMing on 235.484553574 meters Centerline goodness [0,1] 0.8223304669641885 Centerline is valid? [False, False] Translation: X:7.70, Y:0.27, Z:-1.68 [[ 0.99933704 -0.02510057 -0.02637127 7.69671206] [ 0.02535862 0.99963331 0.00949667 0.26907359] [ 0.02612323 -0.01015912 0.99960711 -1.68386189] [ 0. 0. 0. 1. ]] SLAMing on 235.514553574 meters Centerline goodness [0,1] 0.8226236465531314 Centerline is valid? [False, False] Translation: X:7.69, Y:0.27, Z:-1.68 [[ 0.99937707 -0.02408406 -0.02579598 7.69465831] [ 0.02432809 0.9996618 0.00918808 0.2708124 ] [ 0.02556597 -0.00980992 0.999625 -1.68474507] [ 0. 0. 0. 1. ]] SLAMing on 235.544553574 meters Centerline goodness [0,1] 0.8209384323298075 Centerline is valid? [False, False] Translation: X:7.69, Y:0.27, Z:-1.69 [[ 0.99939292 -0.02367638 -0.02555801 7.69376139] [ 0.0239102 0.99967465 0.00888199 0.27215959] [ 0.0253394 -0.00948769 0.99963388 -1.68506886] [ 0. 0. 0. 1. ]] SLAMing on 235.574553574 meters Centerline goodness [0,1] 0.8190158239014196 Centerline is valid? [False, False] Translation: X:7.69, Y:0.27, Z:-1.68 [[ 0.99940353 -0.02340869 -0.02538922 7.69302804] [ 0.02364164 0.99968075 0.0089143 0.27280521] [ 0.02517244 -0.00950922 0.9996379 -1.68475628] [ 0. 0. 0. 1. ]] SLAMing on 235.604553574 meters Centerline goodness [0,1] 0.8191273259120826 Centerline is valid? [False, False] Translation: X:7.69, Y:0.27, Z:-1.69 [[ 0.99939076 -0.02375476 -0.0255701 7.69384178] [ 0.02397566 0.99967753 0.0083672 0.27470601] [ 0.0253631 -0.00897517 0.99963801 -1.6851034 ] [ 0. 0. 0. 1. ]] SLAMing on 235.634553574 meters Centerline goodness [0,1] 0.8229964025858105 Centerline is valid? [False, False] Translation: X:7.70, Y:0.28, Z:-1.69 [[ 0.99934266 -0.02489912 -0.02634923 7.69688198] [ 0.02511345 0.9996539 0.0078351 0.27632062] [ 0.02614503 -0.00849167 0.99962209 -1.68518646] [ 0. 0. 0. 1. ]] SLAMing on 235.66455357399997 meters Centerline goodness [0,1] 0.8202469805943818 Centerline is valid? [False, False] Translation: X:7.70, Y:0.28, Z:-1.69 [[ 9.99309754e-01 -2.55963674e-02 -2.69228666e-02 7.69893756e+00] [ 2.58108224e-02 9.99637586e-01 7.64835546e-03 2.77184822e-01] [ 2.67173392e-02 -8.33797754e-03 9.99608254e-01 -1.68514868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.69455357399997 meters Centerline goodness [0,1] 0.8218851570964247 Centerline is valid? [False, False] Translation: X:7.70, Y:0.28, Z:-1.69 [[ 9.99263706e-01 -2.66163199e-02 -2.76336198e-02 7.70202396e+00] [ 2.68215440e-02 9.99615146e-01 7.08263696e-03 2.77886722e-01] [ 2.74344711e-02 -7.81859840e-03 9.99593027e-01 -1.68619280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.72455357399997 meters Centerline goodness [0,1] 0.8186240069177971 Centerline is valid? [False, False] Translation: X:7.71, Y:0.28, Z:-1.69 [[ 9.99112081e-01 -2.99165865e-02 -2.96655817e-02 7.71084770e+00] [ 3.01096539e-02 9.99528093e-01 6.08281748e-03 2.78975177e-01] [ 2.94696052e-02 -6.97063683e-03 9.99541371e-01 -1.68748058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.75455357399997 meters Centerline goodness [0,1] 0.8190242057488654 Centerline is valid? [False, False] Translation: X:7.71, Y:0.28, Z:-1.69 [[ 9.99047665e-01 -3.11070029e-02 -3.05960430e-02 7.71438157e+00] [ 3.13036180e-02 9.99492103e-01 5.96817982e-03 2.79015303e-01] [ 3.03948511e-02 -6.92026295e-03 9.99514013e-01 -1.68754938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.78455357399997 meters Centerline goodness [0,1] 0.8224847272530681 Centerline is valid? [False, False] Translation: X:7.72, Y:0.28, Z:-1.69 [[ 9.98940870e-01 -3.31094542e-02 -3.19515582e-02 7.72002510e+00] [ 3.32979851e-02 9.99430953e-01 5.38643144e-03 2.79525677e-01] [ 3.17550345e-02 -6.44464902e-03 9.99474904e-01 -1.68843179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.81455357399997 meters Centerline goodness [0,1] 0.8213744998377852 Centerline is valid? [False, False] Translation: X:7.72, Y:0.28, Z:-1.69 [[ 9.98915786e-01 -3.35102052e-02 -3.23159216e-02 7.72147783e+00] [ 3.36979958e-02 9.99418093e-01 5.28391285e-03 2.79819374e-01] [ 3.21200518e-02 -6.36716574e-03 9.99463737e-01 -1.68867988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.84455357399997 meters Centerline goodness [0,1] 0.8172591572866899 Centerline is valid? [False, False] Translation: X:7.72, Y:0.28, Z:-1.69 [[ 9.98917686e-01 -3.33713816e-02 -3.24007215e-02 7.72145761e+00] [ 3.35678390e-02 9.99421096e-01 5.53831142e-03 2.80071100e-01] [ 3.21971435e-02 -6.61993944e-03 9.99459614e-01 -1.68811040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.87455357399998 meters Centerline goodness [0,1] 0.8183820961285296 Centerline is valid? [False, False] Translation: X:7.73, Y:0.28, Z:-1.69 [[ 0.99896525 -0.0306321 -0.03361701 7.72536342] [ 0.03098719 0.99946882 0.01009285 0.2790364 ] [ 0.03328999 -0.0111241 0.99938383 -1.68649262] [ 0. 0. 0. 1. ]] SLAMing on 235.90455357399998 meters Centerline goodness [0,1] 0.8201154827447295 Centerline is valid? [False, False] Translation: X:7.72, Y:0.28, Z:-1.69 [[ 0.99898355 -0.03024274 -0.03342524 7.72484877] [ 0.03058111 0.99948562 0.00965844 0.28011934] [ 0.03311595 -0.0106708 0.99939455 -1.68749574] [ 0. 0. 0. 1. ]] SLAMing on 235.93455357399998 meters Centerline goodness [0,1] 0.8158841856467555 Centerline is valid? [False, False] Translation: X:7.72, Y:0.28, Z:-1.69 [[ 0.9990516 -0.02869044 -0.03275308 7.72235991] [ 0.02901165 0.99953512 0.00937423 0.28150444] [ 0.0324689 -0.01031556 0.99941951 -1.68891602] [ 0. 0. 0. 1. ]] SLAMing on 235.96455357399998 meters Centerline goodness [0,1] 0.8132000967040052 Centerline is valid? [False, False] Translation: X:7.72, Y:0.28, Z:-1.69 [[ 0.99907993 -0.02807753 -0.03241817 7.72145704] [ 0.02838357 0.99955641 0.00901923 0.2823383 ] [ 0.03215055 -0.00993107 0.9994337 -1.69000967] [ 0. 0. 0. 1. ]] SLAMing on 235.99455357399998 meters Centerline goodness [0,1] 0.812334589782661 Centerline is valid? [False, False] Translation: X:7.74, Y:0.29, Z:-1.70 [[ 9.99340195e-01 -2.32319729e-02 -2.79186203e-02 7.74042692e+00] [ 2.33190309e-02 9.99724163e-01 2.79670908e-03 2.85005788e-01] [ 2.78459463e-02 -3.44589897e-03 9.99606287e-01 -1.69739008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.02455357399998 meters Centerline goodness [0,1] 0.8097351046483654 Centerline is valid? [False, False] Translation: X:7.74, Y:0.29, Z:-1.70 [[ 9.99386094e-01 -2.19686787e-02 -2.72912581e-02 7.73786120e+00] [ 2.20597692e-02 9.99752028e-01 3.04110140e-03 2.85571139e-01] [ 2.72176816e-02 -3.64127330e-03 9.99622898e-01 -1.69740907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.05455357399998 meters Centerline goodness [0,1] 0.8092231970896641 Centerline is valid? [False, False] Translation: X:7.74, Y:0.28, Z:-1.70 [[ 9.99485314e-01 -1.71195990e-02 -2.71297941e-02 7.73671388e+00] [ 1.73328505e-02 9.99820548e-01 7.64483130e-03 2.84698595e-01] [ 2.69940492e-02 -8.11113328e-03 9.99602686e-01 -1.69674988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.08455357399998 meters Centerline goodness [0,1] 0.8065860107363192 Centerline is valid? [False, False] Translation: X:7.75, Y:0.29, Z:-1.70 [[ 9.99665532e-01 -1.54948044e-02 -2.07059016e-02 7.75289489e+00] [ 1.54836200e-02 9.99879876e-01 -7.00373858e-04 2.87369417e-01] [ 2.07142665e-02 3.79537294e-04 9.99785365e-01 -1.70429811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.11455357399998 meters Centerline goodness [0,1] 0.8081142399572935 Centerline is valid? [False, False] Translation: X:7.75, Y:0.29, Z:-1.70 [[ 9.99695833e-01 -1.43575137e-02 -2.00525051e-02 7.75023085e+00] [ 1.43694492e-02 9.99896652e-01 4.51246434e-04 2.85085945e-01] [ 2.00439539e-02 -7.39252633e-04 9.99798826e-01 -1.70297155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.14455357399999 meters Centerline goodness [0,1] 0.805675574758628 Centerline is valid? [False, False] Translation: X:7.75, Y:0.28, Z:-1.70 [[ 9.99705758e-01 -1.18909360e-02 -2.11424315e-02 7.75431178e+00] [ 1.19998108e-02 9.99915347e-01 5.03019367e-03 2.82219723e-01] [ 2.10808280e-02 -5.28241875e-03 9.99763819e-01 -1.70175698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.174553574 meters Centerline goodness [0,1] 0.8044535928143712 Centerline is valid? [False, False] Translation: X:7.75, Y:0.28, Z:-1.70 [[ 9.99711797e-01 -1.16078326e-02 -2.10138269e-02 7.75386587e+00] [ 1.17259295e-02 9.99916093e-01 5.50548965e-03 2.80799164e-01] [ 2.09481569e-02 -5.75030960e-03 9.99764026e-01 -1.70145109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.204553574 meters Centerline goodness [0,1] 0.8088964744786389 Centerline is valid? [False, False] Translation: X:7.77, Y:0.28, Z:-1.71 [[ 9.99846118e-01 -8.98476253e-03 -1.50669790e-02 7.77134223e+00] [ 8.95666561e-03 9.99958023e-01 -1.93124548e-03 2.82549192e-01] [ 1.50836983e-02 1.79599840e-03 9.99884622e-01 -1.70899241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.234553574 meters Centerline goodness [0,1] 0.8084896347482724 Centerline is valid? [False, False] Translation: X:7.77, Y:0.28, Z:-1.71 [[ 9.99865468e-01 -5.19875373e-03 -1.55569240e-02 7.77234526e+00] [ 5.24991785e-03 9.99980938e-01 3.24980282e-03 2.80767298e-01] [ 1.55397326e-02 -3.33103819e-03 9.99873702e-01 -1.70661113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.264553574 meters Centerline goodness [0,1] 0.8078811162691425 Centerline is valid? [False, False] Translation: X:7.77, Y:0.28, Z:-1.71 [[ 9.99867065e-01 -5.02146322e-03 -1.55124713e-02 7.77285211e+00] [ 5.06983212e-03 9.99982404e-01 3.08031526e-03 2.80104829e-01] [ 1.54967307e-02 -3.15855141e-03 9.99874930e-01 -1.70807924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.294553574 meters Centerline goodness [0,1] 0.8108382545493413 Centerline is valid? [False, False] Translation: X:7.77, Y:0.28, Z:-1.71 [[ 9.99862152e-01 -5.25720145e-03 -1.57492495e-02 7.77398931e+00] [ 5.30851509e-03 9.99980731e-01 3.21813254e-03 2.79165760e-01] [ 1.57320277e-02 -3.30129406e-03 9.99870794e-01 -1.70844276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.324553574 meters Centerline goodness [0,1] 0.8092530508247284 Centerline is valid? [False, False] Translation: X:7.77, Y:0.28, Z:-1.71 [[ 9.99856759e-01 -5.51784296e-03 -1.60004726e-02 7.77496454e+00] [ 5.57620556e-03 9.99977954e-01 3.60523782e-03 2.77719573e-01] [ 1.59802267e-02 -3.69394333e-03 9.99865485e-01 -1.70817387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.354553574 meters Centerline goodness [0,1] 0.8105458756362265 Centerline is valid? [False, False] Translation: X:7.78, Y:0.27, Z:-1.71 [[ 9.99823971e-01 -7.69034331e-03 -1.71139150e-02 7.78034306e+00] [ 7.75585147e-03 9.99962836e-01 3.76469713e-03 2.74070585e-01] [ 1.70843271e-02 -3.89676741e-03 9.99846459e-01 -1.70834176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.384553574 meters Centerline goodness [0,1] 0.8106062653728681 Centerline is valid? [False, False] Translation: X:7.78, Y:0.27, Z:-1.71 [[ 9.99796838e-01 -8.99262338e-03 -1.80393019e-02 7.78411223e+00] [ 9.06669120e-03 9.99950783e-01 4.02833788e-03 2.72205397e-01] [ 1.80021887e-02 -4.19107625e-03 9.99829163e-01 -1.70814141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.41455357399997 meters Centerline goodness [0,1] 0.8109761047817498 Centerline is valid? [False, False] Translation: X:7.78, Y:0.27, Z:-1.71 [[ 9.99796827e-01 -8.95627654e-03 -1.80579814e-02 7.78427335e+00] [ 9.02884662e-03 9.99951472e-01 3.94120953e-03 2.72682588e-01] [ 1.80218065e-02 -4.10345152e-03 9.99829173e-01 -1.70831216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.44455357399997 meters Centerline goodness [0,1] 0.8133242876526459 Centerline is valid? [False, False] Translation: X:7.79, Y:0.27, Z:-1.71 [[ 9.99777004e-01 -9.80628551e-03 -1.87023885e-02 7.78687703e+00] [ 9.88231891e-03 9.99943259e-01 3.97735836e-03 2.72224415e-01] [ 1.86623242e-02 -4.16129439e-03 9.99817184e-01 -1.70834845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.47455357399997 meters Centerline goodness [0,1] 0.8116284117423626 Centerline is valid? [False, False] Translation: X:7.79, Y:0.27, Z:-1.71 [[ 9.99716329e-01 -1.24916994e-02 -2.02785572e-02 7.79373416e+00] [ 1.25731123e-02 9.99913380e-01 3.89220594e-03 2.71497744e-01] [ 2.02281804e-02 -4.14606641e-03 9.99786793e-01 -1.70814027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.50455357399997 meters Centerline goodness [0,1] 0.813047843903498 Centerline is valid? [False, False] Translation: X:7.80, Y:0.27, Z:-1.71 [[ 9.99674861e-01 -1.40578059e-02 -2.12732140e-02 7.79781159e+00] [ 1.41477508e-02 9.99891577e-01 4.08350091e-03 2.70594773e-01] [ 2.12135024e-02 -4.38314133e-03 9.99765360e-01 -1.70761745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.53455357399997 meters Centerline goodness [0,1] 0.8125221855118369 Centerline is valid? [False, False] Translation: X:7.80, Y:0.27, Z:-1.71 [[ 9.99518376e-01 -2.12253148e-02 -2.26384912e-02 7.80445205e+00] [ 2.12354932e-02 9.99774480e-01 2.09272055e-04 2.68587492e-01] [ 2.26289439e-02 -6.89910790e-04 9.99743695e-01 -1.70657869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.56455357399997 meters Centerline goodness [0,1] 0.8139751128127991 Centerline is valid? [False, False] Translation: X:7.81, Y:0.27, Z:-1.70 [[ 9.99453023e-01 -2.29248068e-02 -2.38349986e-02 7.80852659e+00] [ 2.29568035e-02 9.99735886e-01 1.06962734e-03 2.67348582e-01] [ 2.38041825e-02 -1.61621765e-03 9.99715334e-01 -1.70384673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.59455357399997 meters Centerline goodness [0,1] 0.8084222039923434 Centerline is valid? [False, False] Translation: X:7.82, Y:0.27, Z:-1.70 [[ 9.99323764e-01 -2.62308983e-02 -2.57673089e-02 7.81594927e+00] [ 2.62983126e-02 9.99651538e-01 2.28083271e-03 2.67483484e-01] [ 2.56985016e-02 -2.95692708e-03 9.99665366e-01 -1.69893026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.62455357399998 meters Centerline goodness [0,1] 0.8149989075813852 Centerline is valid? [False, False] Translation: X:7.82, Y:0.27, Z:-1.70 [[ 9.99261780e-01 -2.76287732e-02 -2.66935485e-02 7.81974661e+00] [ 2.76875645e-02 9.99614941e-01 1.83529144e-03 2.69043938e-01] [ 2.66325630e-02 -2.57301594e-03 9.99641979e-01 -1.69910569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.65455357399998 meters Centerline goodness [0,1] 0.8081700323431087 Centerline is valid? [False, False] Translation: X:7.82, Y:0.27, Z:-1.70 [[ 9.99208423e-01 -2.87877528e-02 -2.74552840e-02 7.82315444e+00] [ 2.88300586e-02 9.99583670e-01 1.14621957e-03 2.71195188e-01] [ 2.74108565e-02 -1.93684970e-03 9.99622375e-01 -1.69994356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.68455357399998 meters Centerline goodness [0,1] 0.8090970441355109 Centerline is valid? [False, False] Translation: X:7.83, Y:0.28, Z:-1.70 [[ 9.99089243e-01 -3.13784123e-02 -2.89150604e-02 7.83075967e+00] [ 3.13695181e-02 9.99507566e-01 -7.61277791e-04 2.76303230e-01] [ 2.89247093e-02 -1.46467058e-04 9.99581582e-01 -1.70296577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.71455357399998 meters Centerline goodness [0,1] 0.8075577326801959 Centerline is valid? [False, False] Translation: X:7.84, Y:0.28, Z:-1.70 [[ 9.99073854e-01 -3.00407413e-02 -3.08056374e-02 7.83796505e+00] [ 3.01591757e-02 9.99539370e-01 3.38705261e-03 2.76541359e-01] [ 3.06896978e-02 -4.31298834e-03 9.99519655e-01 -1.70173323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.74455357399998 meters Centerline goodness [0,1] 0.7762190869588541 Centerline is valid? [False, False] Translation: X:7.84, Y:0.28, Z:-1.70 [[ 9.99022834e-01 -3.10148447e-02 -3.14873898e-02 7.84105754e+00] [ 3.11163899e-02 9.99512012e-01 2.73995855e-03 2.78894822e-01] [ 3.13870450e-02 -3.71705506e-03 9.99500394e-01 -1.70244353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.77455357399998 meters Centerline goodness [0,1] 0.8086476047422348 Centerline is valid? [False, False] Translation: X:7.84, Y:0.28, Z:-1.70 [[ 9.99011127e-01 -3.12057531e-02 -3.16696914e-02 7.84185179e+00] [ 3.13049656e-02 9.99506389e-01 2.64162306e-03 2.79642022e-01] [ 3.15716251e-02 -3.63042943e-03 9.99494899e-01 -1.70242540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.80455357399998 meters Centerline goodness [0,1] 0.7878552694963336 Centerline is valid? [False, False] Translation: X:7.84, Y:0.28, Z:-1.70 [[ 9.99013507e-01 -3.11136599e-02 -3.16852315e-02 7.84185210e+00] [ 3.12133875e-02 9.99509210e-01 2.65757811e-03 2.80498068e-01] [ 3.15869937e-02 -3.64395984e-03 9.99494364e-01 -1.70216868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.83455357399998 meters Centerline goodness [0,1] 0.789145717937793 Centerline is valid? [False, False] Translation: X:7.85, Y:0.28, Z:-1.70 [[ 9.99074716e-01 -2.80309732e-02 -3.26186543e-02 7.84545841e+00] [ 2.82622331e-02 9.99578420e-01 6.65038244e-03 2.81079484e-01] [ 3.24184862e-02 -7.56610495e-03 9.99445744e-01 -1.70204161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.86455357399998 meters Centerline goodness [0,1] 0.8030959917014655 Centerline is valid? [False, False] Translation: X:7.84, Y:0.28, Z:-1.70 [[ 9.99105098e-01 -2.73920879e-02 -3.22285030e-02 7.84431142e+00] [ 2.76130743e-02 9.99597994e-01 6.43179728e-03 2.82290471e-01] [ 3.20393666e-02 -7.31596950e-03 9.99459832e-01 -1.70277477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.89455357399999 meters Centerline goodness [0,1] 0.8083015469379106 Centerline is valid? [False, False] Translation: X:7.86, Y:0.28, Z:-1.71 [[ 9.99395725e-01 -2.22495960e-02 -2.67046874e-02 7.86223157e+00] [ 2.23030812e-02 9.99749799e-01 1.70662496e-03 2.84909569e-01] [ 2.66600342e-02 -2.30119050e-03 9.99641909e-01 -1.70907993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.924553574 meters Centerline goodness [0,1] 0.8047593865679534 Centerline is valid? [False, False] Translation: X:7.88, Y:0.29, Z:-1.72 [[ 9.99611577e-01 -1.89765377e-02 -2.04104608e-02 7.87804676e+00] [ 1.88760679e-02 9.99808804e-01 -5.10392567e-03 2.87539495e-01] [ 2.05034133e-02 4.71667394e-03 9.99778657e-01 -1.71610341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.954553574 meters Centerline goodness [0,1] 0.8056655578436032 Centerline is valid? [False, False] Translation: X:7.88, Y:0.29, Z:-1.71 [[ 9.99683707e-01 -1.45667107e-02 -2.05011326e-02 7.87749843e+00] [ 1.45706995e-02 9.99893841e-01 4.51966314e-05 2.86516996e-01] [ 2.04982979e-02 -3.43898178e-04 9.99789829e-01 -1.71376949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.984553574 meters Centerline goodness [0,1] 0.8046167614234576 Centerline is valid? [False, False] Translation: X:7.89, Y:0.29, Z:-1.72 [[ 9.99876919e-01 -6.57992909e-03 -1.42425799e-02 7.89050588e+00] [ 6.53757256e-03 9.99974074e-01 -3.01845535e-03 2.88909207e-01] [ 1.42620719e-02 2.92497193e-03 9.99894013e-01 -1.71807268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.014553574 meters Centerline goodness [0,1] 0.8008329186201839 Centerline is valid? [False, False] Translation: X:7.88, Y:0.29, Z:-1.72 [[ 9.99919277e-01 1.12135716e-04 -1.27053593e-02 7.88421810e+00] [-8.82957821e-05 9.99998235e-01 1.87691377e-03 2.89714147e-01] [ 1.27055474e-02 -1.87564043e-03 9.99917522e-01 -1.71648528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.044553574 meters Centerline goodness [0,1] 0.8013854398117893 Centerline is valid? [False, False] Translation: X:7.88, Y:0.29, Z:-1.72 [[ 9.99929652e-01 1.72691795e-03 -1.17348973e-02 7.88088110e+00] [-1.70520744e-03 9.99996817e-01 1.85983484e-03 2.91050957e-01] [ 1.17380717e-02 -1.83969357e-03 9.99929414e-01 -1.71701774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.074553574 meters Centerline goodness [0,1] 0.8013854398117893 Centerline is valid? [False, False] Translation: X:7.88, Y:0.29, Z:-1.72 [[ 9.99929652e-01 1.72691795e-03 -1.17348973e-02 7.88088110e+00] [-1.70520744e-03 9.99996817e-01 1.85983484e-03 2.91050957e-01] [ 1.17380717e-02 -1.83969357e-03 9.99929414e-01 -1.71701774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.104553574 meters Centerline goodness [0,1] 0.8026580328468106 Centerline is valid? [False, False] Translation: X:7.88, Y:0.29, Z:-1.72 [[ 9.99935818e-01 3.08886542e-03 -1.09004117e-02 7.87822790e+00] [-3.06971053e-03 9.99993716e-01 1.77355666e-03 2.92186276e-01] [ 1.09058215e-02 -1.73998172e-03 9.99939016e-01 -1.71789671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.134553574 meters Centerline goodness [0,1] 0.8014459209944608 Centerline is valid? [False, False] Translation: X:7.88, Y:0.29, Z:-1.72 [[ 9.99913162e-01 7.96663836e-03 -1.04977141e-02 7.87717428e+00] [-7.90420871e-03 9.99950910e-01 5.97510585e-03 2.92697220e-01] [ 1.05448002e-02 -5.89161086e-03 9.99927045e-01 -1.71812705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.16455357399997 meters Centerline goodness [0,1] 0.8031219968312511 Centerline is valid? [False, False] Translation: X:7.88, Y:0.29, Z:-1.72 [[ 9.99912324e-01 8.78129456e-03 -9.91128331e-03 7.87561280e+00] [-8.72490785e-03 9.99945588e-01 5.71811629e-03 2.93551525e-01] [ 9.96095648e-03 -5.63113991e-03 9.99934533e-01 -1.71910047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.19455357399997 meters Centerline goodness [0,1] 0.8075100349605076 Centerline is valid? [False, False] Translation: X:7.87, Y:0.29, Z:-1.72 [[ 9.99908227e-01 1.01869179e-02 -8.93107995e-03 7.87263206e+00] [-1.01347652e-02 9.99931439e-01 5.86540602e-03 2.93973361e-01] [ 8.99021804e-03 -5.77435333e-03 9.99942915e-01 -1.71959543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.22455357399997 meters Centerline goodness [0,1] 0.8042954480686029 Centerline is valid? [False, False] Translation: X:7.87, Y:0.29, Z:-1.72 [[ 9.99907777e-01 1.04229632e-02 -8.70627034e-03 7.87231645e+00] [-1.03728409e-02 9.99929481e-01 5.78247811e-03 2.94048135e-01] [ 8.76592694e-03 -5.69163608e-03 9.99945380e-01 -1.72014430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.25455357399997 meters Centerline goodness [0,1] 0.8062043606608318 Centerline is valid? [False, False] Translation: X:7.87, Y:0.29, Z:-1.72 [[ 9.99908205e-01 1.04685240e-02 -8.60181315e-03 7.87240201e+00] [-1.04202218e-02 9.99929796e-01 5.64111418e-03 2.93841734e-01] [ 8.66026341e-03 -5.55096356e-03 9.99947092e-01 -1.72069729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.28455357399997 meters Centerline goodness [0,1] 0.8103457199047718 Centerline is valid? [False, False] Translation: X:7.87, Y:0.29, Z:-1.72 [[ 9.99909418e-01 1.03460890e-02 -8.60891301e-03 7.87295662e+00] [-1.02959107e-02 9.99929868e-01 5.85269101e-03 2.92327807e-01] [ 8.66886171e-03 -5.76352427e-03 9.99945815e-01 -1.72087205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.31455357399997 meters Centerline goodness [0,1] 0.8101331265348326 Centerline is valid? [False, False] Translation: X:7.87, Y:0.29, Z:-1.72 [[ 9.99913330e-01 9.72861256e-03 -8.87058882e-03 7.87492918e+00] [-9.67718591e-03 9.99936226e-01 5.82204121e-03 2.90576149e-01] [ 8.92666349e-03 -5.73569428e-03 9.99943707e-01 -1.72180183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.34455357399997 meters Centerline goodness [0,1] 0.8087357991388702 Centerline is valid? [False, False] Translation: X:7.87, Y:0.29, Z:-1.72 [[ 9.99946018e-01 6.57507551e-03 -8.04547607e-03 7.87321519e+00] [-6.56670374e-03 9.99977870e-01 1.06653088e-03 2.91396454e-01] [ 8.05231055e-03 -1.01364105e-03 9.99967066e-01 -1.72439783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.37455357399998 meters Centerline goodness [0,1] 0.8085853201944827 Centerline is valid? [False, False] Translation: X:7.87, Y:0.29, Z:-1.73 [[ 9.99946836e-01 6.02110341e-03 -8.37090214e-03 7.87498852e+00] [-6.01199451e-03 9.99981309e-01 1.11290037e-03 2.89831804e-01] [ 8.37744656e-03 -1.06251539e-03 9.99964344e-01 -1.72501392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.40455357399998 meters Centerline goodness [0,1] 0.8112550713257427 Centerline is valid? [False, False] Translation: X:7.87, Y:0.29, Z:-1.73 [[ 9.99967608e-01 2.59714015e-03 -7.61823279e-03 7.87387877e+00] [-2.61716453e-03 9.99993144e-01 -2.61968937e-03 2.87614306e-01] [ 7.61137686e-03 2.63954268e-03 9.99967549e-01 -1.72645521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.43455357399998 meters Centerline goodness [0,1] 0.8110091743119265 Centerline is valid? [False, False] Translation: X:7.88, Y:0.29, Z:-1.73 [[ 9.99966132e-01 2.10909517e-03 -7.95523987e-03 7.87548277e+00] [-2.12694795e-03 9.99995237e-01 -2.23636153e-03 2.85832386e-01] [ 7.95048529e-03 2.25320618e-03 9.99965856e-01 -1.72644977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.46455357399998 meters Centerline goodness [0,1] 0.8105157947342119 Centerline is valid? [False, False] Translation: X:7.88, Y:0.28, Z:-1.73 [[ 9.99963543e-01 1.18534358e-03 -8.45620617e-03 7.87824710e+00] [-1.19972292e-03 9.99997843e-01 -1.69557739e-03 2.82159033e-01] [ 8.45417808e-03 1.70566068e-03 9.99962808e-01 -1.72677000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.49455357399998 meters Centerline goodness [0,1] 0.814757086624574 Centerline is valid? [False, False] Translation: X:7.88, Y:0.28, Z:-1.73 [[ 9.99963474e-01 1.35153857e-03 -8.43938188e-03 7.87807857e+00] [-1.36102551e-03 9.99998448e-01 -1.11848550e-03 2.80706044e-01] [ 8.43785711e-03 1.12993086e-03 9.99963762e-01 -1.72610113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.52455357399998 meters Centerline goodness [0,1] 0.8150704781978659 Centerline is valid? [False, False] Translation: X:7.88, Y:0.28, Z:-1.73 [[ 9.99967011e-01 2.69985456e-03 -7.66084682e-03 7.87549917e+00] [-2.70494107e-03 9.99996128e-01 -6.53677757e-04 2.80048329e-01] [ 7.65905232e-03 6.74378332e-04 9.99970442e-01 -1.72606462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.55455357399998 meters Centerline goodness [0,1] 0.8126170319381808 Centerline is valid? [False, False] Translation: X:7.88, Y:0.28, Z:-1.73 [[ 9.99965914e-01 2.35197210e-03 -7.91452987e-03 7.87710033e+00] [-2.35845988e-03 9.99996890e-01 -8.10497320e-04 2.79696374e-01] [ 7.91259900e-03 8.29135795e-04 9.99968351e-01 -1.72718947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.58455357399998 meters Centerline goodness [0,1] 0.8124769190187285 Centerline is valid? [False, False] Translation: X:7.88, Y:0.28, Z:-1.73 [[ 9.99964245e-01 1.95610510e-03 -8.22691454e-03 7.87899046e+00] [-1.96535139e-03 9.99997446e-01 -1.11597320e-03 2.79620951e-01] [ 8.22471057e-03 1.13210207e-03 9.99965536e-01 -1.72868054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.61455357399998 meters Centerline goodness [0,1] 0.8129231908590775 Centerline is valid? [False, False] Translation: X:7.88, Y:0.28, Z:-1.73 [[ 9.99963461e-01 1.99382613e-03 -8.31266082e-03 7.88042498e+00] [-2.00830267e-03 9.99996481e-01 -1.73352158e-03 2.80212402e-01] [ 8.30917523e-03 1.75015257e-03 9.99963947e-01 -1.73139996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.64455357399999 meters Centerline goodness [0,1] 0.8101493802309567 Centerline is valid? [False, False] Translation: X:7.89, Y:0.28, Z:-1.73 [[ 9.99956617e-01 6.67587629e-04 -9.29076442e-03 7.88529555e+00] [-6.88042344e-04 9.99997346e-01 -2.19859592e-03 2.78804328e-01] [ 9.28927201e-03 2.20489298e-03 9.99954423e-01 -1.73390840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.674553574 meters Centerline goodness [0,1] 0.8107048224695284 Centerline is valid? [False, False] Translation: X:7.89, Y:0.28, Z:-1.73 [[ 9.99952318e-01 1.90398653e-04 -9.76343285e-03 7.88710815e+00] [-2.09702226e-04 9.99998025e-01 -1.97614403e-03 2.77869122e-01] [ 9.76303731e-03 1.97809722e-03 9.99950384e-01 -1.73387128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.704553574 meters Centerline goodness [0,1] 0.8100686498855836 Centerline is valid? [False, False] Translation: X:7.89, Y:0.28, Z:-1.73 [[ 9.99947889e-01 -2.93213789e-04 -1.02045560e-02 7.88888866e+00] [ 2.75273695e-04 9.99998414e-01 -1.75940762e-03 2.76904504e-01] [ 1.02050557e-02 1.75650689e-03 9.99946384e-01 -1.73379422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.734553574 meters Centerline goodness [0,1] 0.8090163715514248 Centerline is valid? [False, False] Translation: X:7.89, Y:0.28, Z:-1.73 [[ 9.99942361e-01 -8.42829101e-04 -1.07035031e-02 7.89089052e+00] [ 8.26858529e-04 9.99998539e-01 -1.49642597e-03 2.75692683e-01] [ 1.07047487e-02 1.48748943e-03 9.99941596e-01 -1.73365789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.764553574 meters Centerline goodness [0,1] 0.8084975862160937 Centerline is valid? [False, False] Translation: X:7.89, Y:0.28, Z:-1.73 [[ 9.99942134e-01 -7.28783649e-04 -1.07329870e-02 7.89079908e+00] [ 7.15859098e-04 9.99999014e-01 -1.20798208e-03 2.75870969e-01] [ 1.07338568e-02 1.20022887e-03 9.99941670e-01 -1.73294239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.794553574 meters Centerline goodness [0,1] 0.8090288881782326 Centerline is valid? [False, False] Translation: X:7.89, Y:0.28, Z:-1.73 [[ 9.99944449e-01 -2.77316085e-04 -1.05366573e-02 7.89001116e+00] [ 2.64694251e-04 9.99999246e-01 -1.19927306e-03 2.78025714e-01] [ 1.05369819e-02 1.19641745e-03 9.99943769e-01 -1.73256095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.824553574 meters Centerline goodness [0,1] 0.8093642817260908 Centerline is valid? [False, False] Translation: X:7.89, Y:0.28, Z:-1.73 [[ 9.99944714e-01 -1.98828759e-04 -1.05132929e-02 7.89029399e+00] [ 1.83710422e-04 9.99998948e-01 -1.43896730e-03 2.79711378e-01] [ 1.05135679e-02 1.43695634e-03 9.99943698e-01 -1.73298677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.854553574 meters Centerline goodness [0,1] 0.8110250884614362 Centerline is valid? [False, False] Translation: X:7.89, Y:0.28, Z:-1.73 [[ 9.99945899e-01 9.98868549e-05 -1.04013679e-02 7.88994528e+00] [-1.16659302e-04 9.99998694e-01 -1.61192895e-03 2.82229770e-01] [ 1.04011933e-02 1.61305516e-03 9.99944605e-01 -1.73291243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.884553574 meters Centerline goodness [0,1] 0.8093403820099354 Centerline is valid? [False, False] Translation: X:7.89, Y:0.28, Z:-1.73 [[ 9.99943635e-01 -3.06677680e-05 -1.06172622e-02 7.89076613e+00] [ 1.48330488e-05 9.99998888e-01 -1.49148819e-03 2.82823483e-01] [ 1.06172961e-02 1.49124664e-03 9.99942523e-01 -1.73262604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.91455357399997 meters Centerline goodness [0,1] 0.8130331942488107 Centerline is valid? [False, False] Translation: X:7.89, Y:0.28, Z:-1.73 [[ 9.99940981e-01 -2.09155752e-04 -1.08623214e-02 7.89163270e+00] [ 1.94071579e-04 9.99999016e-01 -1.38970491e-03 2.83036784e-01] [ 1.08626014e-02 1.38751482e-03 9.99940038e-01 -1.73238611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.94455357399997 meters Centerline goodness [0,1] 0.8105277150073109 Centerline is valid? [False, False] Translation: X:7.89, Y:0.28, Z:-1.73 [[ 9.99934793e-01 -8.23522631e-04 -1.13900022e-02 7.89362599e+00] [ 8.09739135e-04 9.99998934e-01 -1.21469858e-03 2.83235805e-01] [ 1.13909904e-02 1.20539644e-03 9.99934394e-01 -1.73180798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.97455357399997 meters Centerline goodness [0,1] 0.8153172285638439 Centerline is valid? [False, False] Translation: X:7.89, Y:0.28, Z:-1.73 [[ 9.99931078e-01 -1.12305674e-03 -1.16866577e-02 7.89471513e+00] [ 1.11061099e-03 9.99998809e-01 -1.07138954e-03 2.83425080e-01] [ 1.16878471e-02 1.05833636e-03 9.99931135e-01 -1.73145314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.00455357399997 meters Centerline goodness [0,1] 0.8158076331015447 Centerline is valid? [False, False] Translation: X:7.90, Y:0.28, Z:-1.73 [[ 9.99925740e-01 -1.57864574e-03 -1.20840029e-02 7.89606556e+00] [ 1.56680502e-03 9.99998283e-01 -9.89271271e-04 2.84018274e-01] [ 1.20855438e-02 9.70264532e-04 9.99926496e-01 -1.73090437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.03455357399997 meters Centerline goodness [0,1] 0.8167761067570429 Centerline is valid? [False, False] Translation: X:7.90, Y:0.28, Z:-1.73 [[ 9.99922199e-01 -1.83088512e-03 -1.23387518e-02 7.89704130e+00] [ 1.81979315e-03 9.99997930e-01 -9.10121464e-04 2.84426927e-01] [ 1.23403925e-02 8.87596680e-04 9.99923461e-01 -1.73066796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.06455357399997 meters Centerline goodness [0,1] 0.8151249335459861 Centerline is valid? [False, False] Translation: X:7.90, Y:0.28, Z:-1.73 [[ 9.99918204e-01 -2.13069243e-03 -1.26113143e-02 7.89814720e+00] [ 2.11814421e-03 9.99997248e-01 -1.00827025e-03 2.84866446e-01] [ 1.26134279e-02 9.81475194e-04 9.99919966e-01 -1.73081171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.09455357399997 meters Centerline goodness [0,1] 0.816428077271034 Centerline is valid? [False, False] Translation: X:7.90, Y:0.28, Z:-1.73 [[ 9.99910363e-01 -2.63606548e-03 -1.31269353e-02 7.89993290e+00] [ 2.62581946e-03 9.99996234e-01 -7.97708268e-04 2.84985183e-01] [ 1.31289887e-02 7.63167802e-04 9.99913520e-01 -1.73024571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.12455357399998 meters Centerline goodness [0,1] 0.8174752645958778 Centerline is valid? [False, False] Translation: X:7.90, Y:0.29, Z:-1.73 [[ 9.99904036e-01 -2.95345846e-03 -1.35350015e-02 7.90146667e+00] [ 2.94048157e-03 9.99995198e-01 -9.78565714e-04 2.86112727e-01] [ 1.35378266e-02 9.38672384e-04 9.99907919e-01 -1.73045570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.15455357399998 meters Centerline goodness [0,1] 0.8173436133852635 Centerline is valid? [False, False] Translation: X:7.90, Y:0.29, Z:-1.73 [[ 9.99901975e-01 -3.00097972e-03 -1.36760264e-02 7.90209677e+00] [ 2.98714423e-03 9.99995006e-01 -1.03197523e-03 2.86872515e-01] [ 1.36790550e-02 9.91021812e-04 9.99905946e-01 -1.73056940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.18455357399998 meters Centerline goodness [0,1] 0.8193954191990234 Centerline is valid? [False, False] Translation: X:7.90, Y:0.29, Z:-1.73 [[ 9.99899728e-01 -3.04491294e-03 -1.38297779e-02 7.90280715e+00] [ 3.02894198e-03 9.99994722e-01 -1.17562312e-03 2.87742356e-01] [ 1.38332846e-02 1.13361565e-03 9.99903673e-01 -1.73095986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.21455357399998 meters Centerline goodness [0,1] 0.8155273102026794 Centerline is valid? [False, False] Translation: X:7.90, Y:0.29, Z:-1.73 [[ 9.99895870e-01 -3.06197697e-03 -1.41022444e-02 7.90407043e+00] [ 3.04093614e-03 9.99994231e-01 -1.51322139e-03 2.89734816e-01] [ 1.41067965e-02 1.47017980e-03 9.99899413e-01 -1.73176585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.24455357399998 meters Centerline goodness [0,1] 0.8171144489105141 Centerline is valid? [False, False] Translation: X:7.90, Y:0.29, Z:-1.73 [[ 9.99900031e-01 -2.61090533e-03 -1.38964196e-02 7.90320329e+00] [ 2.59054017e-03 9.99995544e-01 -1.48329583e-03 2.91072117e-01] [ 1.39002304e-02 1.44714832e-03 9.99902340e-01 -1.73150978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.27455357399998 meters Centerline goodness [0,1] 0.8154975702514262 Centerline is valid? [False, False] Translation: X:7.90, Y:0.29, Z:-1.73 [[ 9.99903121e-01 -2.13667792e-03 -1.37544141e-02 7.90233084e+00] [ 2.12212175e-03 9.99997173e-01 -1.07279835e-03 2.91956739e-01] [ 1.37566674e-02 1.04350588e-03 9.99904828e-01 -1.73041780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.30455357399998 meters Centerline goodness [0,1] 0.8156396605345 Centerline is valid? [False, False] Translation: X:7.90, Y:0.29, Z:-1.73 [[ 9.99901499e-01 -2.11297581e-03 -1.38754494e-02 7.90269811e+00] [ 2.10097611e-03 9.99997406e-01 -8.79335192e-04 2.92258584e-01] [ 1.38772714e-02 8.50096589e-04 9.99903345e-01 -1.73008323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.33455357399998 meters Centerline goodness [0,1] 0.816156282998944 Centerline is valid? [False, False] Translation: X:7.90, Y:0.29, Z:-1.73 [[ 9.99898576e-01 -2.22190871e-03 -1.40677067e-02 7.90341946e+00] [ 2.21154653e-03 9.99997272e-01 -7.52106813e-04 2.92120586e-01] [ 1.40693394e-02 7.20919144e-04 9.99900762e-01 -1.73004221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.36455357399998 meters Centerline goodness [0,1] 0.8172724153403542 Centerline is valid? [False, False] Translation: X:7.90, Y:0.29, Z:-1.73 [[ 9.99893367e-01 -2.44889516e-03 -1.43964705e-02 7.90459166e+00] [ 2.44428205e-03 9.99996956e-01 -3.38020686e-04 2.91403909e-01] [ 1.43972544e-02 3.02795607e-04 9.99896308e-01 -1.72951926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.39455357399999 meters Centerline goodness [0,1] 0.8167761682366289 Centerline is valid? [False, False] Translation: X:7.91, Y:0.29, Z:-1.73 [[ 9.99890713e-01 -2.50229342e-03 -1.45705657e-02 7.90510454e+00] [ 2.50507489e-03 9.99996847e-01 1.72647953e-04 2.90619220e-01] [ 1.45700877e-02 -2.09129443e-04 9.99893829e-01 -1.72880514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.424553574 meters Centerline goodness [0,1] 0.8163362536724809 Centerline is valid? [False, False] Translation: X:7.91, Y:0.29, Z:-1.73 [[ 9.99883573e-01 -2.98096330e-03 -1.49650934e-02 7.90689529e+00] [ 2.99104150e-03 9.99995315e-01 6.51110227e-04 2.88806848e-01] [ 1.49630824e-02 -6.95795636e-04 9.99887805e-01 -1.72867906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.454553574 meters Centerline goodness [0,1] 0.8178749439594926 Centerline is valid? [False, False] Translation: X:7.91, Y:0.29, Z:-1.73 [[ 9.99870967e-01 -1.11644875e-04 -1.60635223e-02 7.91049905e+00] [ 1.94630302e-04 9.99986644e-01 5.16460851e-03 2.87480007e-01] [ 1.60627312e-02 -5.16706855e-03 9.99857635e-01 -1.72716648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.484553574 meters Centerline goodness [0,1] 0.8193323841164373 Centerline is valid? [False, False] Translation: X:7.91, Y:0.29, Z:-1.73 [[ 9.99881665e-01 1.06669752e-03 -1.53466164e-02 7.90765839e+00] [-9.86427933e-04 9.99985800e-01 5.23706097e-03 2.88211148e-01] [ 1.53519848e-02 -5.22130291e-03 9.99868519e-01 -1.72701174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.514553574 meters Centerline goodness [0,1] 0.8147379482464205 Centerline is valid? [False, False] Translation: X:7.91, Y:0.29, Z:-1.73 [[ 9.99860985e-01 4.32043753e-03 -1.61041726e-02 7.91073407e+00] [-4.16524889e-03 9.99944689e-01 9.65766464e-03 2.87526774e-01] [ 1.61450072e-02 -9.58924419e-03 9.99823677e-01 -1.72642780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.544553574 meters Centerline goodness [0,1] 0.8165441176470588 Centerline is valid? [False, False] Translation: X:7.91, Y:0.29, Z:-1.73 [[ 9.99861236e-01 4.36775929e-03 -1.60757927e-02 7.91116643e+00] [-4.21975655e-03 9.99948508e-01 9.22899375e-03 2.88231301e-01] [ 1.61152750e-02 -9.15987717e-03 9.99828183e-01 -1.72761827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.574553574 meters Centerline goodness [0,1] 0.815965220124139 Centerline is valid? [False, False] Translation: X:7.93, Y:0.29, Z:-1.73 [[ 9.99903781e-01 7.69996852e-03 -1.15385615e-02 7.93142739e+00] [-7.67624721e-03 9.99968335e-01 2.09870911e-03 2.91928674e-01] [ 1.15543561e-02 -2.00993432e-03 9.99931226e-01 -1.73472675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.604553574 meters Centerline goodness [0,1] 0.815940773411042 Centerline is valid? [False, False] Translation: X:7.92, Y:0.29, Z:-1.74 [[ 9.99987389e-01 4.30492406e-03 -2.58631777e-03 7.92145364e+00] [-4.29501205e-03 9.99983458e-01 3.82588688e-03 2.94140673e-01] [ 2.60274514e-03 -3.81473036e-03 9.99989337e-01 -1.74172839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.634553574 meters Centerline goodness [0,1] 0.8138729233918589 Centerline is valid? [False, False] Translation: X:7.93, Y:0.29, Z:-1.74 [[ 9.99989665e-01 2.81831040e-03 -3.56740871e-03 7.92631400e+00] [-2.80813061e-03 9.99991981e-01 2.85535194e-03 2.94327681e-01] [ 3.57542737e-03 -2.84530468e-03 9.99989560e-01 -1.74445276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.66455357399997 meters Centerline goodness [0,1] 0.814932674100568 Centerline is valid? [False, False] Translation: X:7.93, Y:0.29, Z:-1.75 [[ 9.99988956e-01 1.91488529e-03 -4.29189027e-03 7.92928702e+00] [-1.90351768e-03 9.99994674e-01 2.65114720e-03 2.93804772e-01] [ 4.29694405e-03 -2.64294823e-03 9.99987275e-01 -1.74520511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.69455357399997 meters Centerline goodness [0,1] 0.8156867914579489 Centerline is valid? [False, False] Translation: X:7.94, Y:0.29, Z:-1.75 [[ 9.99984344e-01 -3.47190525e-04 -5.58487067e-03 7.93526985e+00] [ 3.60477878e-04 9.99997107e-01 2.37833867e-03 2.91682727e-01] [ 5.58402878e-03 -2.38031466e-03 9.99981576e-01 -1.74618556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.72455357399997 meters Centerline goodness [0,1] 0.8172503037025299 Centerline is valid? [False, False] Translation: X:7.94, Y:0.29, Z:-1.75 [[ 9.99978970e-01 -1.35675622e-03 -6.34190282e-03 7.93825444e+00] [ 1.37380736e-03 9.99995452e-01 2.68506554e-03 2.89974908e-01] [ 6.33823099e-03 -2.69372163e-03 9.99976285e-01 -1.74596062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.75455357399997 meters Centerline goodness [0,1] 0.8167103764338128 Centerline is valid? [False, False] Translation: X:7.94, Y:0.29, Z:-1.75 [[ 9.99973104e-01 -2.17293896e-03 -7.00498548e-03 7.94058609e+00] [ 2.19493350e-03 9.99992681e-01 3.13368319e-03 2.87934494e-01] [ 6.99812490e-03 -3.14897439e-03 9.99970555e-01 -1.74533931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.78455357399997 meters Centerline goodness [0,1] 0.8203054568595216 Centerline is valid? [False, False] Translation: X:7.94, Y:0.29, Z:-1.74 [[ 9.99966310e-01 -3.19553723e-03 -7.56097903e-03 7.94301287e+00] [ 3.22344348e-03 9.99988028e-01 3.68152180e-03 2.85248742e-01] [ 7.54912407e-03 -3.70577016e-03 9.99964638e-01 -1.74450502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.81455357399997 meters Centerline goodness [0,1] 0.8208792378519346 Centerline is valid? [False, False] Translation: X:7.94, Y:0.28, Z:-1.74 [[ 9.99963278e-01 -3.47005143e-03 -7.83593115e-03 7.94413227e+00] [ 3.50098160e-03 9.99986122e-01 3.93696255e-03 2.84540296e-01] [ 7.82216094e-03 -3.96425143e-03 9.99961549e-01 -1.74437672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.84455357399997 meters Centerline goodness [0,1] 0.8206569518075499 Centerline is valid? [False, False] Translation: X:7.94, Y:0.28, Z:-1.74 [[ 9.99961915e-01 -3.59314707e-03 -7.95348323e-03 7.94469019e+00] [ 3.62790318e-03 9.99983915e-01 4.35981691e-03 2.82877205e-01] [ 7.93768983e-03 -4.38850534e-03 9.99958866e-01 -1.74398230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.87455357399998 meters Centerline goodness [0,1] 0.8220832665277109 Centerline is valid? [False, False] Translation: X:7.94, Y:0.28, Z:-1.74 [[ 9.99963175e-01 -3.37787341e-03 -7.88917075e-03 7.94432109e+00] [ 3.41622520e-03 9.99982389e-01 4.85291535e-03 2.81885549e-01] [ 7.87263928e-03 -4.87968783e-03 9.99957104e-01 -1.74324279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.90455357399998 meters Centerline goodness [0,1] 0.8239712345185777 Centerline is valid? [False, False] Translation: X:7.94, Y:0.28, Z:-1.74 [[ 9.99970887e-01 -2.13177068e-03 -7.32671330e-03 7.94168201e+00] [ 2.16885229e-03 9.99984862e-01 5.05693891e-03 2.82872582e-01] [ 7.31582215e-03 -5.07268225e-03 9.99960373e-01 -1.74245880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.93455357399998 meters Centerline goodness [0,1] 0.8224982710006916 Centerline is valid? [False, False] Translation: X:7.94, Y:0.28, Z:-1.74 [[ 9.99972570e-01 -1.79909619e-03 -7.18491826e-03 7.94121964e+00] [ 1.83450014e-03 9.99986194e-01 4.92398993e-03 2.83583664e-01] [ 7.17596033e-03 -4.93703559e-03 9.99962065e-01 -1.74277439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.96455357399998 meters Centerline goodness [0,1] 0.8224982710006916 Centerline is valid? [False, False] Translation: X:7.94, Y:0.28, Z:-1.74 [[ 9.99972570e-01 -1.79909619e-03 -7.18491826e-03 7.94121964e+00] [ 1.83450014e-03 9.99986194e-01 4.92398993e-03 2.83583664e-01] [ 7.17596033e-03 -4.93703559e-03 9.99962065e-01 -1.74277439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.99455357399998 meters Centerline goodness [0,1] 0.822906692201298 Centerline is valid? [False, False] Translation: X:7.94, Y:0.28, Z:-1.74 [[ 9.99973690e-01 -1.57055710e-03 -7.08184702e-03 7.94109115e+00] [ 1.60244331e-03 9.99988595e-01 4.49910334e-03 2.84920082e-01] [ 7.07470015e-03 -4.51033322e-03 9.99964802e-01 -1.74365099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.02455357399998 meters Centerline goodness [0,1] 0.8235698061380804 Centerline is valid? [False, False] Translation: X:7.94, Y:0.29, Z:-1.75 [[ 9.99973598e-01 -1.46472660e-03 -7.11744535e-03 7.94223580e+00] [ 1.48846585e-03 9.99993344e-01 3.33120893e-03 2.88417961e-01] [ 7.11251866e-03 -3.34171505e-03 9.99969122e-01 -1.74639056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.05455357399998 meters Centerline goodness [0,1] 0.8242039899590434 Centerline is valid? [False, False] Translation: X:7.94, Y:0.29, Z:-1.75 [[ 9.99968849e-01 -1.99424816e-03 -7.63702938e-03 7.94467337e+00] [ 2.01441066e-03 9.99994504e-01 2.63331581e-03 2.90566038e-01] [ 7.63173592e-03 -2.64861790e-03 9.99967370e-01 -1.74790758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.08455357399998 meters Centerline goodness [0,1] 0.8245873107958441 Centerline is valid? [False, False] Translation: X:7.95, Y:0.29, Z:-1.75 [[ 9.99965447e-01 -2.30778532e-03 -7.98614920e-03 7.94592404e+00] [ 2.32889138e-03 9.99993818e-01 2.63454277e-03 2.91039809e-01] [ 7.98001987e-03 -2.65305061e-03 9.99964640e-01 -1.74778457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.11455357399998 meters Centerline goodness [0,1] 0.8250151759085751 Centerline is valid? [False, False] Translation: X:7.95, Y:0.29, Z:-1.75 [[ 9.99962960e-01 -2.48873975e-03 -8.23920072e-03 7.94663512e+00] [ 2.51268772e-03 9.99992645e-01 2.89751426e-03 2.90859494e-01] [ 8.23192896e-03 -2.91810947e-03 9.99961859e-01 -1.74711880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.14455357399999 meters Centerline goodness [0,1] 0.8272640911969601 Centerline is valid? [False, False] Translation: X:7.95, Y:0.29, Z:-1.75 [[ 9.99961151e-01 -2.53754521e-03 -8.44142014e-03 7.94701857e+00] [ 2.56426796e-03 9.99991731e-01 3.15635412e-03 2.91259899e-01] [ 8.43334094e-03 -3.17787756e-03 9.99959389e-01 -1.74610776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.174553574 meters Centerline goodness [0,1] 0.8264715173212593 Centerline is valid? [False, False] Translation: X:7.95, Y:0.29, Z:-1.75 [[ 9.99961569e-01 -2.47133478e-03 -8.41146579e-03 7.94715110e+00] [ 2.49645793e-03 9.99992451e-01 2.97758642e-03 2.91948295e-01] [ 8.40404368e-03 -2.99847086e-03 9.99960190e-01 -1.74647688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.204553574 meters Centerline goodness [0,1] 0.8251689411269754 Centerline is valid? [False, False] Translation: X:7.95, Y:0.29, Z:-1.75 [[ 9.99965880e-01 -1.73744936e-03 -8.07589362e-03 7.94594136e+00] [ 1.75984856e-03 9.99994622e-01 2.76730969e-03 2.93687296e-01] [ 8.07104213e-03 -2.78142762e-03 9.99963560e-01 -1.74692407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.234553574 meters Centerline goodness [0,1] 0.8269190325972661 Centerline is valid? [False, False] Translation: X:7.95, Y:0.29, Z:-1.75 [[ 9.99969147e-01 -1.23210964e-03 -7.75808693e-03 7.94510079e+00] [ 1.25141333e-03 9.99996132e-01 2.48383899e-03 2.94982015e-01] [ 7.75499656e-03 -2.49347093e-03 9.99966821e-01 -1.74765355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.264553574 meters Centerline goodness [0,1] 0.823769954651498 Centerline is valid? [False, False] Translation: X:7.94, Y:0.30, Z:-1.75 [[ 9.99971174e-01 -8.47651628e-04 -7.54536244e-03 7.94481531e+00] [ 8.63287804e-04 9.99997486e-01 2.06927391e-03 2.96477480e-01] [ 7.54358945e-03 -2.07572808e-03 9.99969392e-01 -1.74872640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.294553574 meters Centerline goodness [0,1] 0.8273996235884566 Centerline is valid? [False, False] Translation: X:7.94, Y:0.30, Z:-1.75 [[ 9.99976139e-01 2.82712774e-04 -6.90225979e-03 7.94258599e+00] [-2.68200895e-04 9.99997752e-01 2.10331741e-03 2.98128694e-01] [ 6.90283891e-03 -2.10141603e-03 9.99973967e-01 -1.74888645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.324553574 meters Centerline goodness [0,1] 0.8253604108553403 Centerline is valid? [False, False] Translation: X:7.94, Y:0.30, Z:-1.75 [[ 9.99976673e-01 4.63547906e-04 -6.81465466e-03 7.94257502e+00] [-4.50836331e-04 9.99998156e-01 1.86674721e-03 2.98965929e-01] [ 6.81550742e-03 -1.86363137e-03 9.99975038e-01 -1.74942342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.354553574 meters Centerline goodness [0,1] 0.8259226438698916 Centerline is valid? [False, False] Translation: X:7.94, Y:0.30, Z:-1.75 [[ 9.99978188e-01 1.03977914e-03 -6.52240563e-03 7.94138994e+00] [-1.02577925e-03 9.99997164e-01 2.14940953e-03 2.99646392e-01] [ 6.52462204e-03 -2.14267210e-03 9.99976419e-01 -1.74874699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.384553574 meters Centerline goodness [0,1] 0.8271232306411324 Centerline is valid? [False, False] Translation: X:7.94, Y:0.30, Z:-1.75 [[ 9.99977989e-01 9.67936355e-04 -6.56389784e-03 7.94189305e+00] [-9.55130116e-04 9.99997635e-01 1.95386554e-03 3.00280944e-01] [ 6.56577353e-03 -1.94755315e-03 9.99976549e-01 -1.74912407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.41455357399997 meters Centerline goodness [0,1] 0.8270383926485476 Centerline is valid? [False, False] Translation: X:7.94, Y:0.30, Z:-1.75 [[ 9.99976730e-01 7.47472398e-04 -6.78094177e-03 7.94294426e+00] [-7.35697894e-04 9.99998218e-01 1.73873955e-03 3.00764669e-01] [ 6.78222934e-03 -1.73371036e-03 9.99975498e-01 -1.74960677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.44455357399997 meters Centerline goodness [0,1] 0.8272493439684065 Centerline is valid? [False, False] Translation: X:7.94, Y:0.30, Z:-1.75 [[ 9.99974723e-01 4.88213377e-04 -7.09331695e-03 7.94427285e+00] [-4.77431271e-04 9.99998728e-01 1.52165100e-03 3.02101379e-01] [ 7.09405082e-03 -1.51822596e-03 9.99973684e-01 -1.74991492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.47455357399997 meters Centerline goodness [0,1] 0.8300801582344368 Centerline is valid? [False, False] Translation: X:7.95, Y:0.30, Z:-1.75 [[ 9.99969186e-01 -4.09518373e-04 -7.83957899e-03 7.94720752e+00] [ 4.20890105e-04 9.99998862e-01 1.44895895e-03 3.02070083e-01] [ 7.83897669e-03 -1.45221390e-03 9.99968220e-01 -1.75003500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.50455357399997 meters Centerline goodness [0,1] 0.8288447540813143 Centerline is valid? [False, False] Translation: X:7.95, Y:0.30, Z:-1.75 [[ 9.99963393e-01 -1.22365943e-03 -8.46849217e-03 7.94972106e+00] [ 1.23628445e-03 9.99998132e-01 1.48574775e-03 3.01438177e-01] [ 8.46665830e-03 -1.49616282e-03 9.99963038e-01 -1.75013982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.53455357399997 meters Centerline goodness [0,1] 0.8289120171114067 Centerline is valid? [False, False] Translation: X:7.95, Y:0.30, Z:-1.75 [[ 9.99955680e-01 -2.08295769e-03 -9.18141292e-03 7.95252142e+00] [ 2.09688746e-03 9.99996665e-01 1.50780555e-03 3.00988990e-01] [ 9.17824161e-03 -1.52699111e-03 9.99956713e-01 -1.75032203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.56455357399997 meters Centerline goodness [0,1] 0.8299495028372117 Centerline is valid? [False, False] Translation: X:7.96, Y:0.30, Z:-1.75 [[ 9.99941996e-01 -3.51132451e-03 -1.01821347e-02 7.95711207e+00] [ 3.52147528e-03 9.99993320e-01 9.79162695e-04 3.01314224e-01] [ 1.01786286e-02 -1.01496203e-03 9.99947681e-01 -1.75188271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.59455357399997 meters Centerline goodness [0,1] 0.8295777216245083 Centerline is valid? [False, False] Translation: X:7.96, Y:0.30, Z:-1.75 [[ 9.99938217e-01 -3.76447284e-03 -1.04589834e-02 7.95821723e+00] [ 3.77538779e-03 9.99992349e-01 1.02404740e-03 3.01632861e-01] [ 1.04550484e-02 -1.06347085e-03 9.99944779e-01 -1.75191764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.62455357399998 meters Centerline goodness [0,1] 0.8303096653112293 Centerline is valid? [False, False] Translation: X:7.96, Y:0.30, Z:-1.75 [[ 9.99935298e-01 -3.89492679e-03 -1.06877838e-02 7.95912743e+00] [ 3.90572591e-03 9.99991883e-01 9.89731021e-04 3.02930202e-01] [ 1.06838421e-02 -1.03141054e-03 9.99942394e-01 -1.75178481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.65455357399998 meters Centerline goodness [0,1] 0.8287473692415621 Centerline is valid? [False, False] Translation: X:7.96, Y:0.30, Z:-1.75 [[ 9.99936237e-01 -3.71026833e-03 -1.06656130e-02 7.95901667e+00] [ 3.72134248e-03 9.99992557e-01 1.01864505e-03 3.03983885e-01] [ 1.06617541e-02 -1.05827050e-03 9.99942602e-01 -1.75158244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.68455357399998 meters Centerline goodness [0,1] 0.8275180183696302 Centerline is valid? [False, False] Translation: X:7.96, Y:0.31, Z:-1.75 [[ 9.99939596e-01 -3.26941601e-03 -1.04935985e-02 7.95808479e+00] [ 3.28295090e-03 9.99993801e-01 1.27285722e-03 3.05042651e-01] [ 1.04893720e-02 -1.30723030e-03 9.99944131e-01 -1.75075407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.71455357399998 meters Centerline goodness [0,1] 0.8285914724452412 Centerline is valid? [False, False] Translation: X:7.96, Y:0.31, Z:-1.75 [[ 9.99946526e-01 -2.39528976e-03 -1.00601574e-02 7.95596465e+00] [ 2.41185144e-03 9.99995756e-01 1.63445548e-03 3.06692325e-01] [ 1.00561997e-02 -1.65863168e-03 9.99948060e-01 -1.74926504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.74455357399998 meters Centerline goodness [0,1] 0.8288988203502572 Centerline is valid? [False, False] Translation: X:7.96, Y:0.31, Z:-1.75 [[ 9.99948679e-01 -2.04183244e-03 -9.92318977e-03 7.95541766e+00] [ 2.05821711e-03 9.99996535e-01 1.64121787e-03 3.07753369e-01] [ 9.91980430e-03 -1.66155772e-03 9.99949417e-01 -1.74912598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.77455357399998 meters Centerline goodness [0,1] 0.8275745872106587 Centerline is valid? [False, False] Translation: X:7.96, Y:0.31, Z:-1.75 [[ 9.99942484e-01 1.50362485e-03 -1.06192579e-02 7.95759250e+00] [-1.44744188e-03 9.99984927e-01 5.29637327e-03 3.10168245e-01] [ 1.06270616e-02 -5.28069788e-03 9.99929587e-01 -1.74892367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.80455357399998 meters Centerline goodness [0,1] 0.8287662421201596 Centerline is valid? [False, False] Translation: X:7.96, Y:0.31, Z:-1.75 [[ 9.99925221e-01 5.86798314e-03 -1.07293513e-02 7.95749772e+00] [-5.76976888e-03 9.99941383e-01 9.16194744e-03 3.12792457e-01] [ 1.07824845e-02 -9.09935644e-03 9.99900465e-01 -1.74817043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.83455357399998 meters Centerline goodness [0,1] 0.8250057505047665 Centerline is valid? [False, False] Translation: X:7.96, Y:0.32, Z:-1.75 [[ 0.99988846 0.0106483 -0.01047319 7.95643538] [-0.01051692 0.9998663 0.01252079 0.31774338] [ 0.01060511 -0.01240925 0.99986676 -1.74812314] [ 0. 0. 0. 1. ]] SLAMing on 239.86455357399998 meters Centerline goodness [0,1] 0.8253445635528331 Centerline is valid? [False, False] Translation: X:7.96, Y:0.32, Z:-1.75 [[ 9.99920277e-01 8.02285167e-03 -9.75059317e-03 7.95522935e+00] [-7.96168672e-03 9.99948487e-01 6.29565752e-03 3.22580025e-01] [ 9.80060001e-03 -6.21752444e-03 9.99932643e-01 -1.75401480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.89455357399999 meters Centerline goodness [0,1] 0.823764302352369 Centerline is valid? [False, False] Translation: X:7.96, Y:0.32, Z:-1.76 [[ 9.99920894e-01 7.01842116e-03 -1.04378067e-02 7.95840992e+00] [-6.96289113e-03 9.99961463e-01 5.34694399e-03 3.24212358e-01] [ 1.04749315e-02 -5.27384370e-03 9.99931229e-01 -1.75580062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.924553574 meters Centerline goodness [0,1] 0.8228218215394085 Centerline is valid? [False, False] Translation: X:7.95, Y:0.33, Z:-1.76 [[ 9.99994937e-01 -1.90665699e-03 -2.54781435e-03 7.95334002e+00] [ 1.91349602e-03 9.99994566e-01 2.68453637e-03 3.27089617e-01] [ 2.54268202e-03 -2.68939801e-03 9.99993151e-01 -1.76454472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.954553574 meters Centerline goodness [0,1] 0.8237740693196406 Centerline is valid? [False, False] Translation: X:7.96, Y:0.33, Z:-1.76 [[ 9.99984351e-01 -3.92479431e-03 -3.98670012e-03 7.95872013e+00] [ 3.93488884e-03 9.99989064e-01 2.52737139e-03 3.25977280e-01] [ 3.97673711e-03 -2.54301906e-03 9.99988859e-01 -1.76486508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.984553574 meters Centerline goodness [0,1] 0.8253587281924228 Centerline is valid? [False, False] Translation: X:7.97, Y:0.32, Z:-1.77 [[ 9.99921542e-01 -1.11726844e-02 -5.66401313e-03 7.96667355e+00] [ 1.11602159e-02 9.99935240e-01 -2.22820494e-03 3.24374141e-01] [ 5.68854136e-03 2.16481851e-03 9.99981477e-01 -1.76668087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.014553574 meters Centerline goodness [0,1] 0.8275638868032001 Centerline is valid? [False, False] Translation: X:7.97, Y:0.32, Z:-1.77 [[ 9.99883437e-01 -1.34410528e-02 -7.24223505e-03 7.97275442e+00] [ 1.34271898e-02 9.99907931e-01 -1.95942339e-03 3.22194105e-01] [ 7.26790498e-03 1.86195213e-03 9.99971855e-01 -1.76639243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.044553574 meters Centerline goodness [0,1] 0.8289067165147856 Centerline is valid? [False, False] Translation: X:7.98, Y:0.32, Z:-1.77 [[ 9.99847414e-01 -1.52582097e-02 -8.50508004e-03 7.97773771e+00] [ 1.52434597e-02 9.99882198e-01 -1.79639974e-03 3.20181718e-01] [ 8.53148797e-03 1.66647879e-03 9.99962218e-01 -1.76644260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.074553574 meters Centerline goodness [0,1] 0.8303158004266167 Centerline is valid? [False, False] Translation: X:7.99, Y:0.32, Z:-1.77 [[ 9.99779800e-01 -1.83145816e-02 -1.02434430e-02 7.98554267e+00] [ 1.83016621e-02 9.99831594e-01 -1.35358052e-03 3.16812456e-01] [ 1.02665082e-02 1.16581043e-03 9.99946618e-01 -1.76614669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.104553574 meters Centerline goodness [0,1] 0.8331377610889462 Centerline is valid? [False, False] Translation: X:7.99, Y:0.31, Z:-1.77 [[ 9.99762646e-01 -1.89462071e-02 -1.07560422e-02 7.98750263e+00] [ 1.89430662e-02 9.99820486e-01 -3.93832018e-04 3.14024835e-01] [ 1.07615729e-02 1.89986123e-04 9.99942075e-01 -1.76510200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.134553574 meters Centerline goodness [0,1] 0.8414367516918272 Centerline is valid? [False, False] Translation: X:7.99, Y:0.31, Z:-1.76 [[ 9.99796168e-01 -1.63423292e-02 -1.18553674e-02 7.99124468e+00] [ 1.64006931e-02 9.99853773e-01 4.84258897e-03 3.11064223e-01] [ 1.17744946e-02 -5.03603814e-03 9.99917996e-01 -1.76275171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.16455357399997 meters Centerline goodness [0,1] 0.8340189543845032 Centerline is valid? [False, False] Translation: X:7.99, Y:0.31, Z:-1.76 [[ 9.99798585e-01 -1.62121039e-02 -1.18303836e-02 7.99139433e+00] [ 1.62733931e-02 9.99854558e-01 5.10291197e-03 3.10145722e-01] [ 1.17459340e-02 -5.29440465e-03 9.99916998e-01 -1.76286571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.19455357399997 meters Centerline goodness [0,1] 0.836953125 Centerline is valid? [False, False] Translation: X:7.99, Y:0.31, Z:-1.76 [[ 9.99815260e-01 -1.54681827e-02 -1.14097202e-02 7.99055760e+00] [ 1.55294501e-02 9.99865360e-01 5.30083801e-03 3.09282405e-01] [ 1.13261897e-02 -5.47704541e-03 9.99920857e-01 -1.76382462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.22455357399997 meters Centerline goodness [0,1] 0.8356896911519198 Centerline is valid? [False, False] Translation: X:7.99, Y:0.31, Z:-1.76 [[ 9.99829501e-01 -1.48132525e-02 -1.10243606e-02 7.98953373e+00] [ 1.48733070e-02 9.99874883e-01 5.38552745e-03 3.09010952e-01] [ 1.09432041e-02 -5.54857792e-03 9.99924727e-01 -1.76450229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.25455357399997 meters Centerline goodness [0,1] 0.829238971356889 Centerline is valid? [False, False] Translation: X:8.01, Y:0.31, Z:-1.77 [[ 9.99890248e-01 -1.06006467e-02 -1.03497645e-02 8.01238010e+00] [ 1.05830707e-02 9.99942464e-01 -1.75150410e-03 3.08806909e-01] [ 1.03677361e-02 1.64177958e-03 9.99944906e-01 -1.76955711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.28455357399997 meters Centerline goodness [0,1] 0.8298473861940787 Centerline is valid? [False, False] Translation: X:8.01, Y:0.31, Z:-1.77 [[ 9.99903669e-01 -9.77116511e-03 -9.85788769e-03 8.01088111e+00] [ 9.75971891e-03 9.99951642e-01 -1.20856154e-03 3.07973969e-01] [ 9.86922004e-03 1.11223491e-03 9.99950679e-01 -1.76944164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.31455357399997 meters Centerline goodness [0,1] 0.8301570680628272 Centerline is valid? [False, False] Translation: X:8.01, Y:0.31, Z:-1.77 [[ 9.99923139e-01 -6.41754418e-03 -1.06080623e-02 8.01327839e+00] [ 6.45820807e-03 9.99971912e-01 3.80349987e-03 3.05343275e-01] [ 1.05833552e-02 -3.87171660e-03 9.99936499e-01 -1.76797961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.34455357399997 meters Centerline goodness [0,1] 0.8280408688571954 Centerline is valid? [False, False] Translation: X:8.01, Y:0.30, Z:-1.77 [[ 9.99937526e-01 -5.24850923e-03 -9.86899858e-03 8.01150865e+00] [ 5.28995240e-03 9.99977280e-01 4.17792433e-03 3.03924206e-01] [ 9.84684648e-03 -4.22986985e-03 9.99942572e-01 -1.76891866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.37455357399998 meters Centerline goodness [0,1] 0.827280383178062 Centerline is valid? [False, False] Translation: X:8.01, Y:0.30, Z:-1.77 [[ 9.99941151e-01 -4.89426840e-03 -9.68199744e-03 8.01101893e+00] [ 4.93869059e-03 9.99977364e-01 4.56954693e-03 3.02422671e-01] [ 9.65941369e-03 -4.61709440e-03 9.99942687e-01 -1.76895514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.40455357399998 meters Centerline goodness [0,1] 0.8303752736095361 Centerline is valid? [False, False] Translation: X:8.01, Y:0.30, Z:-1.77 [[ 9.99941708e-01 -4.80345424e-03 -9.66991247e-03 8.01159657e+00] [ 4.85259128e-03 9.99975402e-01 5.06440253e-03 2.99740389e-01] [ 9.64534799e-03 -5.11103145e-03 9.99940421e-01 -1.76940611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.43455357399998 meters Centerline goodness [0,1] 0.8295055104791607 Centerline is valid? [False, False] Translation: X:8.01, Y:0.30, Z:-1.77 [[ 9.99938175e-01 -5.10035082e-03 -9.88088846e-03 8.01287747e+00] [ 5.15227858e-03 9.99973013e-01 5.23706591e-03 2.98265450e-01] [ 9.85391093e-03 -5.28765122e-03 9.99937469e-01 -1.76988618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.46455357399998 meters Centerline goodness [0,1] 0.8289372734728432 Centerline is valid? [False, False] Translation: X:8.01, Y:0.30, Z:-1.77 [[ 9.99933916e-01 -5.37291682e-03 -1.01634673e-02 8.01402511e+00] [ 5.43139524e-03 9.99968805e-01 5.73496126e-03 2.96347284e-01] [ 1.01323368e-02 -5.78978408e-03 9.99931905e-01 -1.76959594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.49455357399998 meters Centerline goodness [0,1] 0.8335280994369489 Centerline is valid? [False, False] Translation: X:8.02, Y:0.29, Z:-1.77 [[ 9.99923886e-01 -6.14286185e-03 -1.06998401e-02 8.01695066e+00] [ 6.20815276e-03 9.99962248e-01 6.07955793e-03 2.93305267e-01] [ 1.06620903e-02 -6.14552144e-03 9.99924273e-01 -1.77046617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.52455357399998 meters Centerline goodness [0,1] 0.8252447793668904 Centerline is valid? [False, False] Translation: X:8.02, Y:0.29, Z:-1.77 [[ 9.99933715e-01 -5.32054510e-03 -1.02106233e-02 8.01500058e+00] [ 5.38335429e-03 9.99966698e-01 6.13376311e-03 2.94195082e-01] [ 1.01776483e-02 -6.18832394e-03 9.99929058e-01 -1.77012355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.55455357399998 meters Centerline goodness [0,1] 0.827847564530662 Centerline is valid? [False, False] Translation: X:8.01, Y:0.29, Z:-1.77 [[ 9.99940638e-01 -4.66637943e-03 -9.84609142e-03 8.01374797e+00] [ 4.72851325e-03 9.99968996e-01 6.29669216e-03 2.94833979e-01] [ 9.81640340e-03 -6.34287575e-03 9.99931701e-01 -1.76973057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.58455357399998 meters Centerline goodness [0,1] 0.8293887685561836 Centerline is valid? [False, False] Translation: X:8.01, Y:0.30, Z:-1.77 [[ 9.99940457e-01 -4.66101662e-03 -9.86693911e-03 8.01411809e+00] [ 4.71897163e-03 9.99971704e-01 5.85854656e-03 2.96112409e-01] [ 9.83935313e-03 -5.90475953e-03 9.99934158e-01 -1.77058818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.61455357399998 meters Centerline goodness [0,1] 0.8309970697711253 Centerline is valid? [False, False] Translation: X:8.02, Y:0.30, Z:-1.77 [[ 9.99938826e-01 -4.70547304e-03 -1.00101293e-02 8.01547937e+00] [ 4.75411428e-03 9.99976981e-01 4.84096817e-03 2.98922231e-01] [ 9.98711988e-03 -4.88826133e-03 9.99938179e-01 -1.77299868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.64455357399999 meters Centerline goodness [0,1] 0.8294728629248549 Centerline is valid? [False, False] Translation: X:8.06, Y:0.30, Z:-1.77 [[ 9.99952216e-01 -5.15774589e-03 -8.30444518e-03 8.05592227e+00] [ 5.21514850e-03 9.99962557e-01 6.90552219e-03 2.98271952e-01] [ 8.26851731e-03 -6.94850113e-03 9.99941673e-01 -1.77196260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.674553574 meters Centerline goodness [0,1] 0.8316876122082585 Centerline is valid? [False, False] Translation: X:8.03, Y:0.30, Z:-1.77 [[ 9.99895929e-01 -5.40182003e-03 -1.33772579e-02 8.02846803e+00] [ 5.55288139e-03 9.99920948e-01 1.12811233e-02 2.96920387e-01] [ 1.33152618e-02 -1.13542316e-02 9.99846881e-01 -1.76779352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.704553574 meters Centerline goodness [0,1] 0.8282523552450514 Centerline is valid? [False, False] Translation: X:8.03, Y:0.30, Z:-1.77 [[ 9.99871973e-01 -9.20424706e-03 -1.30888779e-02 8.02884892e+00] [ 9.27736356e-03 9.99941637e-01 5.53645119e-03 2.99078781e-01] [ 1.30371551e-02 -5.65717266e-03 9.99899009e-01 -1.77213105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.734553574 meters Centerline goodness [0,1] 0.8288367157447938 Centerline is valid? [False, False] Translation: X:8.03, Y:0.30, Z:-1.77 [[ 9.99860761e-01 -9.72135529e-03 -1.35629529e-02 8.03061891e+00] [ 9.79886457e-03 9.99935971e-01 5.66007584e-03 2.98448379e-01] [ 1.35070609e-02 -5.79218927e-03 9.99891999e-01 -1.77199088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.764553574 meters Centerline goodness [0,1] 0.8293706665249847 Centerline is valid? [False, False] Translation: X:8.03, Y:0.30, Z:-1.77 [[ 9.99850936e-01 -1.01441992e-02 -1.39714284e-02 8.03213882e+00] [ 1.02265987e-02 9.99930659e-01 5.83894987e-03 2.97684249e-01] [ 1.39112282e-02 -5.98095968e-03 9.99885346e-01 -1.77183684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.794553574 meters Centerline goodness [0,1] 0.82756601362862 Centerline is valid? [False, False] Translation: X:8.03, Y:0.30, Z:-1.77 [[ 9.99839989e-01 -1.06610078e-02 -1.43645457e-02 8.03392973e+00] [ 1.07503765e-02 9.99923247e-01 6.15869201e-03 2.96363273e-01] [ 1.42977853e-02 -6.31213082e-03 9.99877858e-01 -1.77165328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.824553574 meters Centerline goodness [0,1] 0.8280154604824737 Centerline is valid? [False, False] Translation: X:8.03, Y:0.30, Z:-1.77 [[ 9.99835941e-01 -1.08183843e-02 -1.45277000e-02 8.03470626e+00] [ 1.09094838e-02 9.99921230e-01 6.20620534e-03 2.96021594e-01] [ 1.44594146e-02 -6.36367687e-03 9.99875207e-01 -1.77185504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.854553574 meters Centerline goodness [0,1] 0.8281633088156912 Centerline is valid? [False, False] Translation: X:8.04, Y:0.30, Z:-1.77 [[ 9.99836710e-01 -1.07369407e-02 -1.45352099e-02 8.03537728e+00] [ 1.08276785e-02 9.99922291e-01 6.17838214e-03 2.95708922e-01] [ 1.44677435e-02 -6.33475585e-03 9.99875270e-01 -1.77287092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.884553574 meters Centerline goodness [0,1] 0.8281633088156912 Centerline is valid? [False, False] Translation: X:8.04, Y:0.30, Z:-1.77 [[ 9.99836710e-01 -1.07369407e-02 -1.45352099e-02 8.03537728e+00] [ 1.08276785e-02 9.99922291e-01 6.17838214e-03 2.95708922e-01] [ 1.44677435e-02 -6.33475585e-03 9.99875270e-01 -1.77287092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.91455357399997 meters Centerline goodness [0,1] 0.8271381403770369 Centerline is valid? [False, False] Translation: X:8.04, Y:0.30, Z:-1.77 [[ 9.99840781e-01 -1.05260779e-02 -1.44088528e-02 8.03534289e+00] [ 1.06145457e-02 9.99925197e-01 6.07717102e-03 2.95641324e-01] [ 1.43438062e-02 -6.22914684e-03 9.99877719e-01 -1.77362778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.94455357399997 meters Centerline goodness [0,1] 0.8286428685428526 Centerline is valid? [False, False] Translation: X:8.04, Y:0.30, Z:-1.77 [[ 9.99845126e-01 -1.02359910e-02 -1.43160002e-02 8.03504894e+00] [ 1.03265968e-02 9.99927025e-01 6.26945253e-03 2.95249398e-01] [ 1.42507814e-02 -6.41631712e-03 9.99877866e-01 -1.77368606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.97455357399997 meters Centerline goodness [0,1] 0.8290418683832527 Centerline is valid? [False, False] Translation: X:8.03, Y:0.29, Z:-1.77 [[ 9.99855571e-01 -9.66890778e-03 -1.39767670e-02 8.03418488e+00] [ 9.75946290e-03 9.99931732e-01 6.42535254e-03 2.94467786e-01] [ 1.39136867e-02 -6.56083027e-03 9.99881675e-01 -1.77402908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.00455357399997 meters Centerline goodness [0,1] 0.8269379071931924 Centerline is valid? [False, False] Translation: X:8.03, Y:0.29, Z:-1.77 [[ 9.99862719e-01 -9.23352336e-03 -1.37580868e-02 8.03329665e+00] [ 9.32533009e-03 9.99934580e-01 6.62378423e-03 2.94111148e-01] [ 1.36960258e-02 -6.75117362e-03 9.99883413e-01 -1.77388971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.03455357399997 meters Centerline goodness [0,1] 0.8271548965222957 Centerline is valid? [False, False] Translation: X:8.03, Y:0.29, Z:-1.77 [[ 9.99870984e-01 -8.66054294e-03 -1.35281255e-02 8.03235655e+00] [ 8.75704192e-03 9.99936519e-01 7.09033708e-03 2.93308100e-01] [ 1.34658605e-02 -7.20788868e-03 9.99883352e-01 -1.77342618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.06455357399997 meters Centerline goodness [0,1] 0.8265989685788718 Centerline is valid? [False, False] Translation: X:8.03, Y:0.29, Z:-1.77 [[ 9.99871673e-01 -8.59460425e-03 -1.35192490e-02 8.03252664e+00] [ 8.69111896e-03 9.99937050e-01 7.09658031e-03 2.93096897e-01] [ 1.34574057e-02 -7.21316703e-03 9.99883427e-01 -1.77368999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.09455357399997 meters Centerline goodness [0,1] 0.827915513939136 Centerline is valid? [False, False] Translation: X:8.03, Y:0.29, Z:-1.77 [[ 9.99869495e-01 -8.65394418e-03 -1.36418971e-02 8.03319865e+00] [ 8.75014212e-03 9.99937161e-01 7.00780910e-03 2.93102674e-01] [ 1.35803947e-02 -7.12626308e-03 9.99882388e-01 -1.77423034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.12455357399998 meters Centerline goodness [0,1] 0.8243203585625484 Centerline is valid? [False, False] Translation: X:8.04, Y:0.29, Z:-1.78 [[ 9.99855295e-01 -9.32873033e-03 -1.42254570e-02 8.03603973e+00] [ 9.42429766e-03 9.99933372e-01 6.66587643e-03 2.92863283e-01] [ 1.41623250e-02 -6.79897679e-03 9.99876594e-01 -1.77574811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.15455357399998 meters Centerline goodness [0,1] 0.8236266225977557 Centerline is valid? [False, False] Translation: X:8.04, Y:0.29, Z:-1.78 [[ 9.99842328e-01 -9.91386158e-03 -1.47320624e-02 8.03824485e+00] [ 1.00129482e-02 9.99927640e-01 6.66744929e-03 2.92080861e-01] [ 1.46648962e-02 -6.81390940e-03 9.99869247e-01 -1.77626239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.18455357399998 meters Centerline goodness [0,1] 0.8238788397730922 Centerline is valid? [False, False] Translation: X:8.04, Y:0.29, Z:-1.78 [[ 9.99808089e-01 -1.16515987e-02 -1.57488194e-02 8.04279144e+00] [ 1.17612506e-02 9.99907110e-01 6.88795506e-03 2.89391786e-01] [ 1.56671008e-02 -7.07185900e-03 9.99852254e-01 -1.77620106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.21455357399998 meters Centerline goodness [0,1] 0.8251232847341338 Centerline is valid? [False, False] Translation: X:8.05, Y:0.29, Z:-1.78 [[ 9.99785294e-01 -1.25501825e-02 -1.64881552e-02 8.04574804e+00] [ 1.26680462e-02 9.99894808e-01 7.06349300e-03 2.88167304e-01] [ 1.63977726e-02 -7.27084913e-03 9.99839111e-01 -1.77627449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.24455357399998 meters Centerline goodness [0,1] 0.8238740191336128 Centerline is valid? [False, False] Translation: X:8.05, Y:0.29, Z:-1.78 [[ 9.99761855e-01 -1.34577317e-02 -1.71791152e-02 8.04869507e+00] [ 1.35811901e-02 9.99882633e-01 7.09021488e-03 2.87318548e-01] [ 1.70816808e-02 -7.32183921e-03 9.99827289e-01 -1.77665196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.27455357399998 meters Centerline goodness [0,1] 0.8251714400968132 Centerline is valid? [False, False] Translation: X:8.05, Y:0.29, Z:-1.78 [[ 9.99729587e-01 -1.46830657e-02 -1.80321948e-02 8.05245407e+00] [ 1.48112990e-02 9.99865814e-01 6.99850362e-03 2.86396531e-01] [ 1.79270156e-02 -7.26369136e-03 9.99812913e-01 -1.77722160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.30455357399998 meters Centerline goodness [0,1] 0.8325513670927034 Centerline is valid? [False, False] Translation: X:8.06, Y:0.29, Z:-1.78 [[ 9.99693670e-01 -1.59115968e-02 -1.89575190e-02 8.05631867e+00] [ 1.60452815e-02 9.99847315e-01 6.92068321e-03 2.85155535e-01] [ 1.88445053e-02 -7.22274192e-03 9.99796338e-01 -1.77772062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.33455357399998 meters Centerline goodness [0,1] 0.8268267729255291 Centerline is valid? [False, False] Translation: X:8.06, Y:0.29, Z:-1.78 [[ 9.99690326e-01 -1.59424047e-02 -1.91073797e-02 8.05689013e+00] [ 1.60708567e-02 9.99849151e-01 6.58803900e-03 2.86133078e-01] [ 1.89994682e-02 -6.89307082e-03 9.99795732e-01 -1.77830196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.36455357399998 meters Centerline goodness [0,1] 0.8219524668263667 Centerline is valid? [False, False] Translation: X:8.06, Y:0.29, Z:-1.78 [[ 9.99696676e-01 -1.56619316e-02 -1.90068154e-02 8.05662478e+00] [ 1.57870383e-02 9.99854572e-01 6.45009847e-03 2.87246626e-01] [ 1.89030302e-02 -6.74820332e-03 9.99798548e-01 -1.77863390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.39455357399999 meters Centerline goodness [0,1] 0.8247178299167632 Centerline is valid? [False, False] Translation: X:8.06, Y:0.29, Z:-1.78 [[ 9.99695448e-01 -1.56095809e-02 -1.91141835e-02 8.05693470e+00] [ 1.57333868e-02 9.99856097e-01 6.34400566e-03 2.88225946e-01] [ 1.90124057e-02 -6.64280442e-03 9.99797180e-01 -1.77873433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.424553574 meters Centerline goodness [0,1] 0.8267991407089151 Centerline is valid? [False, False] Translation: X:8.06, Y:0.29, Z:-1.78 [[ 9.99691470e-01 -1.56481496e-02 -1.92899221e-02 8.05798482e+00] [ 1.57607307e-02 9.99859556e-01 5.69811096e-03 2.90548018e-01] [ 1.91980480e-02 -6.00037618e-03 9.99797695e-01 -1.77990864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.454553574 meters Centerline goodness [0,1] 0.824619350680738 Centerline is valid? [False, False] Translation: X:8.06, Y:0.29, Z:-1.78 [[ 9.99687906e-01 -1.56308827e-02 -1.94876073e-02 8.05893074e+00] [ 1.57328261e-02 9.99863281e-01 5.08889219e-03 2.93149346e-01] [ 1.94053991e-02 -5.39389911e-03 9.99797148e-01 -1.78107812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.484553574 meters Centerline goodness [0,1] 0.826035756343004 Centerline is valid? [False, False] Translation: X:8.06, Y:0.29, Z:-1.78 [[ 9.99677669e-01 -1.59348770e-02 -1.97645528e-02 8.06029452e+00] [ 1.60307639e-02 9.99860441e-01 4.70253847e-03 2.94278972e-01] [ 1.96868601e-02 -5.01786357e-03 9.99793603e-01 -1.78180589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.514553574 meters Centerline goodness [0,1] 0.8338115798224678 Centerline is valid? [False, False] Translation: X:8.06, Y:0.29, Z:-1.78 [[ 9.99671584e-01 -1.60846648e-02 -1.99501340e-02 8.06074455e+00] [ 1.61874045e-02 9.99856478e-01 4.99906296e-03 2.94518630e-01] [ 1.98668625e-02 -5.32036208e-03 9.99788478e-01 -1.78088380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.544553574 meters Centerline goodness [0,1] 0.8253546812562019 Centerline is valid? [False, False] Translation: X:8.06, Y:0.30, Z:-1.78 [[ 9.99659758e-01 -1.63841911e-02 -2.02959873e-02 8.06177064e+00] [ 1.64857940e-02 9.99852343e-01 4.84888949e-03 2.96220718e-01] [ 2.02135453e-02 -5.18183516e-03 9.99782257e-01 -1.78018218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.574553574 meters Centerline goodness [0,1] 0.8284413497589715 Centerline is valid? [False, False] Translation: X:8.06, Y:0.30, Z:-1.78 [[ 9.99641061e-01 -1.69122659e-02 -2.07779911e-02 8.06355541e+00] [ 1.70130567e-02 9.99844297e-01 4.68367859e-03 2.96825944e-01] [ 2.06955442e-02 -5.03549457e-03 9.99773143e-01 -1.78030033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.604553574 meters Centerline goodness [0,1] 0.8312025248742912 Centerline is valid? [False, False] Translation: X:8.07, Y:0.30, Z:-1.78 [[ 9.99581302e-01 -1.87359891e-02 -2.20495845e-02 8.06852407e+00] [ 1.88381905e-02 9.99812702e-01 4.43650357e-03 2.97441229e-01] [ 2.19623323e-02 -4.85002029e-03 9.99747035e-01 -1.78018843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.634553574 meters Centerline goodness [0,1] 0.8388685203521824 Centerline is valid? [False, False] Translation: X:8.07, Y:0.30, Z:-1.78 [[ 9.99548543e-01 -1.96066582e-02 -2.27659789e-02 8.07118699e+00] [ 1.97141253e-02 9.99795505e-01 4.50569233e-03 2.97329704e-01] [ 2.26729818e-02 -4.95246957e-03 9.99730668e-01 -1.77991186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.66455357399997 meters Centerline goodness [0,1] 0.8364784924650017 Centerline is valid? [False, False] Translation: X:8.07, Y:0.30, Z:-1.78 [[ 9.99511547e-01 -2.05871878e-02 -2.35124284e-02 8.07424763e+00] [ 2.06970287e-02 9.99775944e-01 4.43782557e-03 2.97104562e-01] [ 2.34157979e-02 -4.92229531e-03 9.99713695e-01 -1.78013016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.69455357399997 meters Centerline goodness [0,1] 0.837633630737079 Centerline is valid? [False, False] Translation: X:8.08, Y:0.30, Z:-1.78 [[ 9.99416650e-01 -2.30857517e-02 -2.51675965e-02 8.08125026e+00] [ 2.31959164e-02 9.99722555e-01 4.09408878e-03 2.96626327e-01] [ 2.50660988e-02 -4.67548596e-03 9.99674862e-01 -1.78069877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.72455357399997 meters Centerline goodness [0,1] 0.8391304347826087 Centerline is valid? [False, False] Translation: X:8.08, Y:0.30, Z:-1.78 [[ 9.99376937e-01 -2.39677546e-02 -2.59091666e-02 8.08401807e+00] [ 2.40858925e-02 9.99700828e-01 4.25723408e-03 2.96072063e-01] [ 2.57993790e-02 -4.87862696e-03 9.99655236e-01 -1.78042575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.75455357399997 meters Centerline goodness [0,1] 0.8367401828940291 Centerline is valid? [False, False] Translation: X:8.09, Y:0.29, Z:-1.78 [[ 9.99320060e-01 -2.52554161e-02 -2.68622612e-02 8.08784630e+00] [ 2.53823491e-02 9.99668156e-01 4.39484140e-03 2.94992339e-01] [ 2.67423535e-02 -5.07368047e-03 9.99629484e-01 -1.78038736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.78455357399997 meters Centerline goodness [0,1] 0.8346708177889905 Centerline is valid? [False, False] Translation: X:8.09, Y:0.30, Z:-1.78 [[ 9.99297377e-01 -2.56809821e-02 -2.72990751e-02 8.08985807e+00] [ 2.58084963e-02 9.99657532e-01 4.32891846e-03 2.95013074e-01] [ 2.71785552e-02 -5.03042494e-03 9.99617937e-01 -1.78105360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.81455357399997 meters Centerline goodness [0,1] 0.8383275448940581 Centerline is valid? [False, False] Translation: X:8.09, Y:0.30, Z:-1.78 [[ 9.99282869e-01 -2.59017795e-02 -2.76196763e-02 8.09113513e+00] [ 2.60336130e-02 9.99651278e-01 4.42425436e-03 2.95096919e-01] [ 2.74954486e-02 -5.14012155e-03 9.99608713e-01 -1.78119232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.84455357399997 meters Centerline goodness [0,1] 0.8365309791504548 Centerline is valid? [False, False] Translation: X:8.10, Y:0.29, Z:-1.78 [[ 0.99928398 -0.02408114 -0.02918278 8.09742556] [ 0.02433707 0.99966813 0.00844659 0.293897 ] [ 0.02896969 -0.00915076 0.9995384 -1.78086208] [ 0. 0. 0. 1. ]] SLAMing on 241.87455357399998 meters Centerline goodness [0,1] 0.8370709750020096 Centerline is valid? [False, False] Translation: X:8.10, Y:0.29, Z:-1.78 [[ 0.99927138 -0.02431132 -0.02942223 8.09862607] [ 0.02456619 0.99966348 0.00833213 0.29400194] [ 0.02920976 -0.00904885 0.99953234 -1.781318 ] [ 0. 0. 0. 1. ]] SLAMing on 241.90455357399998 meters Centerline goodness [0,1] 0.827753504704211 Centerline is valid? [False, False] Translation: X:8.12, Y:0.30, Z:-1.79 [[ 9.99427414e-01 -2.41160411e-02 -2.37331208e-02 8.11730810e+00] [ 2.41134044e-02 9.99709151e-01 -3.97317176e-04 2.96019180e-01] [ 2.37357997e-02 -1.75196662e-04 9.99718251e-01 -1.78684479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.93455357399998 meters Centerline goodness [0,1] 0.8315148915636812 Centerline is valid? [False, False] Translation: X:8.12, Y:0.29, Z:-1.78 [[ 9.99450524e-01 -2.18257747e-02 -2.49456433e-02 8.12142032e+00] [ 2.19565549e-02 9.99746519e-01 4.98075130e-03 2.93257442e-01] [ 2.48306113e-02 -5.52573488e-03 9.99676401e-01 -1.78329427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.96455357399998 meters Centerline goodness [0,1] 0.8322903294822421 Centerline is valid? [False, False] Translation: X:8.12, Y:0.29, Z:-1.78 [[ 9.99449879e-01 -2.18008471e-02 -2.49932579e-02 8.12159333e+00] [ 2.19349594e-02 9.99746369e-01 5.10436847e-03 2.93339144e-01] [ 2.48756393e-02 -5.64978655e-03 9.99674588e-01 -1.78303212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.99455357399998 meters Centerline goodness [0,1] 0.8329990104041296 Centerline is valid? [False, False] Translation: X:8.12, Y:0.29, Z:-1.78 [[ 9.99444817e-01 -2.18280103e-02 -2.51713453e-02 8.12234498e+00] [ 2.19654072e-02 9.99745234e-01 5.19492028e-03 2.93883835e-01] [ 2.50515377e-02 -5.74493500e-03 9.99669654e-01 -1.78309434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.02455357399998 meters Centerline goodness [0,1] 0.8323973042362003 Centerline is valid? [False, False] Translation: X:8.12, Y:0.29, Z:-1.78 [[ 9.99444680e-01 -2.17400237e-02 -2.52527735e-02 8.12288084e+00] [ 2.18723564e-02 9.99748388e-01 4.97595166e-03 2.94497995e-01] [ 2.51382423e-02 -5.52552608e-03 9.99668714e-01 -1.78384190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.05455357399998 meters Centerline goodness [0,1] 0.8289871352536842 Centerline is valid? [False, False] Translation: X:8.12, Y:0.30, Z:-1.78 [[ 9.99431429e-01 -2.19408105e-02 -2.56011705e-02 8.12439433e+00] [ 2.20688628e-02 9.99745264e-01 4.73000553e-03 2.95236770e-01] [ 2.54908688e-02 -5.29230490e-03 9.99661046e-01 -1.78476897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.08455357399998 meters Centerline goodness [0,1] 0.8230572297189184 Centerline is valid? [False, False] Translation: X:8.13, Y:0.30, Z:-1.79 [[ 9.99424626e-01 -2.19998124e-02 -2.58152246e-02 8.12526837e+00] [ 2.21245546e-02 9.99744839e-01 4.55645290e-03 2.96228373e-01] [ 2.57083965e-02 -5.12498158e-03 9.99656347e-01 -1.78516790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.11455357399998 meters Centerline goodness [0,1] 0.8324997339576461 Centerline is valid? [False, False] Translation: X:8.13, Y:0.30, Z:-1.78 [[ 0.99941204 -0.02043909 -0.02752836 8.13175342] [ 0.02069699 0.99974423 0.00911638 0.29511665] [ 0.02733499 -0.00968078 0.99957945 -1.783111 ] [ 0. 0. 0. 1. ]] SLAMing on 242.14455357399999 meters Centerline goodness [0,1] 0.8292211061935176 Centerline is valid? [False, False] Translation: X:8.13, Y:0.30, Z:-1.78 [[ 0.99939445 -0.02073972 -0.02793907 8.13320097] [ 0.020983 0.99974418 0.00844273 0.29739781] [ 0.02775682 -0.00902386 0.99957397 -1.78382386] [ 0. 0. 0. 1. ]] SLAMing on 242.174553574 meters Centerline goodness [0,1] 0.8238493168855285 Centerline is valid? [False, False] Translation: X:8.13, Y:0.30, Z:-1.78 [[ 9.99381058e-01 -2.10053748e-02 -2.82183314e-02 8.13423379e+00] [ 2.12408654e-02 9.99741804e-01 8.07160579e-03 2.98896403e-01] [ 2.80414985e-02 -8.66599172e-03 9.99569195e-01 -1.78423069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.204553574 meters Centerline goodness [0,1] 0.8376765676567657 Centerline is valid? [False, False] Translation: X:8.14, Y:0.30, Z:-1.78 [[ 9.99333114e-01 -2.20906135e-02 -2.90746036e-02 8.13755242e+00] [ 2.23169062e-02 9.99722951e-01 7.48178903e-03 3.00960174e-01] [ 2.89012711e-02 -8.12565473e-03 9.99549244e-01 -1.78473266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.234553574 meters Centerline goodness [0,1] 0.8196080502878875 Centerline is valid? [False, False] Translation: X:8.14, Y:0.30, Z:-1.78 [[ 9.99298968e-01 -2.28175277e-02 -2.96805166e-02 8.13978405e+00] [ 2.30427577e-02 9.99708056e-01 7.26866570e-03 3.01477677e-01] [ 2.95059985e-02 -7.94749108e-03 9.99533008e-01 -1.78489505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.264553574 meters Centerline goodness [0,1] 0.8232900958972869 Centerline is valid? [False, False] Translation: X:8.15, Y:0.30, Z:-1.79 [[ 9.99201982e-01 -2.49605604e-02 -3.11828261e-02 8.14600587e+00] [ 2.51649134e-02 9.99664222e-01 6.17814943e-03 3.03069699e-01] [ 3.10181455e-02 -6.95793227e-03 9.99494603e-01 -1.78669618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.294553574 meters Centerline goodness [0,1] 0.8359757703450093 Centerline is valid? [False, False] Translation: X:8.15, Y:0.30, Z:-1.79 [[ 9.99139567e-01 -2.62081008e-02 -3.21443847e-02 8.15005074e+00] [ 2.64030617e-02 9.99635379e-01 5.65569791e-03 3.03861872e-01] [ 3.19844391e-02 -6.49954173e-03 9.99467234e-01 -1.78771095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.324553574 meters Centerline goodness [0,1] 0.8347335984619031 Centerline is valid? [False, False] Translation: X:8.15, Y:0.30, Z:-1.79 [[ 9.99092929e-01 -2.70896550e-02 -3.28552820e-02 8.15278123e+00] [ 2.72833359e-02 9.99612824e-01 5.46096023e-03 3.04171851e-01] [ 3.26946257e-02 -6.35240845e-03 9.99445200e-01 -1.78792195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.354553574 meters Centerline goodness [0,1] 0.8272933481036029 Centerline is valid? [False, False] Translation: X:8.16, Y:0.30, Z:-1.79 [[ 9.99028128e-01 -2.83283528e-02 -3.37683820e-02 8.15594279e+00] [ 2.85216708e-02 9.99579352e-01 5.25683642e-03 3.04744054e-01] [ 3.36052599e-02 -6.21485813e-03 9.99415860e-01 -1.78744652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.384553574 meters Centerline goodness [0,1] 0.8329204659252623 Centerline is valid? [False, False] Translation: X:8.16, Y:0.31, Z:-1.79 [[ 9.99011689e-01 -2.85729153e-02 -3.40475250e-02 8.15683072e+00] [ 2.87680511e-02 9.99572300e-01 5.25514306e-03 3.05254797e-01] [ 3.38828081e-02 -6.22943029e-03 9.99406399e-01 -1.78723947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41455357399997 meters Centerline goodness [0,1] 0.8323155418087609 Centerline is valid? [False, False] Translation: X:8.17, Y:0.30, Z:-1.78 [[ 0.99893764 -0.02841968 -0.03627545 8.16641358] [ 0.02884772 0.99951959 0.01133122 0.30398297] [ 0.03593599 -0.01236564 0.99927759 -1.78127848] [ 0. 0. 0. 1. ]] SLAMing on 242.44455357399997 meters Centerline goodness [0,1] 0.8361197820221152 Centerline is valid? [False, False] Translation: X:8.17, Y:0.30, Z:-1.78 [[ 0.99892134 -0.02869601 -0.03650609 8.16749539] [ 0.02911523 0.99951549 0.01100424 0.30457082] [ 0.03617263 -0.01205525 0.99927284 -1.78186773] [ 0. 0. 0. 1. ]] SLAMing on 242.47455357399997 meters Centerline goodness [0,1] 0.7827038140172382 Centerline is valid? [False, False] Translation: X:8.18, Y:0.30, Z:-1.78 [[ 0.99888491 -0.02733191 -0.03849558 8.1750681 ] [ 0.02796224 0.99948201 0.01593188 0.30314993] [ 0.03804019 -0.01699054 0.99913176 -1.77935787] [ 0. 0. 0. 1. ]] SLAMing on 242.50455357399997 meters Centerline goodness [0,1] 0.7880534933923025 Centerline is valid? [False, False] Translation: X:8.18, Y:0.30, Z:-1.78 [[ 0.99885218 -0.02781161 -0.03899792 8.17742393] [ 0.02841261 0.99948459 0.01494236 0.30482546] [ 0.03856225 -0.01603325 0.99912756 -1.78155158] [ 0. 0. 0. 1. ]] SLAMing on 242.53455357399997 meters Centerline goodness [0,1] 0.8310395545516626 Centerline is valid? [False, False] Translation: X:8.20, Y:0.31, Z:-1.79 [[ 9.99067968e-01 -2.72616777e-02 -3.34663326e-02 8.19583065e+00] [ 2.74733795e-02 9.99605228e-01 5.88226520e-03 3.08181757e-01] [ 3.32927606e-02 -6.79621600e-03 9.99422535e-01 -1.78937863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.56455357399997 meters Centerline goodness [0,1] 0.8243112171337196 Centerline is valid? [False, False] Translation: X:8.20, Y:0.31, Z:-1.79 [[ 0.99910493 -0.02434645 -0.03459171 8.19950646] [ 0.02470585 0.99964474 0.01000059 0.30760813] [ 0.03433595 -0.01084626 0.99935149 -1.78874458] [ 0. 0. 0. 1. ]] SLAMing on 242.59455357399997 meters Centerline goodness [0,1] 0.8312721543914927 Centerline is valid? [False, False] Translation: X:8.22, Y:0.31, Z:-1.80 [[ 9.99315385e-01 -2.28863708e-02 -2.90684626e-02 8.21692159e+00] [ 2.29342665e-02 9.99736110e-01 1.31531162e-03 3.10270834e-01] [ 2.90306890e-02 -1.98107501e-03 9.99576558e-01 -1.79614020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.62455357399998 meters Centerline goodness [0,1] 0.8260960497764764 Centerline is valid? [False, False] Translation: X:8.22, Y:0.31, Z:-1.79 [[ 9.99355428e-01 -1.96534595e-02 -3.00411310e-02 8.21971221e+00] [ 1.98375980e-02 9.99786137e-01 5.84381811e-03 3.09122010e-01] [ 2.99198551e-02 -6.43599523e-03 9.99531580e-01 -1.79496016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.65455357399998 meters Centerline goodness [0,1] 0.8377717673983147 Centerline is valid? [False, False] Translation: X:8.24, Y:0.31, Z:-1.80 [[ 9.99539090e-01 -1.58373291e-02 -2.58995632e-02 8.24118400e+00] [ 1.58430548e-02 9.99874491e-01 1.58738044e-05 3.11587143e-01] [ 2.58960611e-02 -4.26194686e-04 9.99664550e-01 -1.80191956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.68455357399998 meters Centerline goodness [0,1] 0.8359618988132418 Centerline is valid? [False, False] Translation: X:8.24, Y:0.31, Z:-1.80 [[ 9.99574245e-01 -1.21312385e-02 -2.65360392e-02 8.24268073e+00] [ 1.22611984e-02 9.99913593e-01 4.74026598e-03 3.10619851e-01] [ 2.64762410e-02 -5.06361143e-03 9.99636618e-01 -1.80035377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.71455357399998 meters Centerline goodness [0,1] 0.8369576526896265 Centerline is valid? [False, False] Translation: X:8.26, Y:0.31, Z:-1.81 [[ 9.99752546e-01 -5.99515560e-03 -2.14220427e-02 8.25876552e+00] [ 5.99912331e-03 9.99981998e-01 1.20956316e-04 3.12643317e-01] [ 2.14209319e-02 -2.49439861e-04 9.99770514e-01 -1.80524339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.74455357399998 meters Centerline goodness [0,1] 0.8320876154884251 Centerline is valid? [False, False] Translation: X:8.27, Y:0.31, Z:-1.81 [[ 9.99889579e-01 -2.45231188e-03 -1.46566085e-02 8.27308249e+00] [ 2.35909609e-03 9.99976904e-01 -6.37389215e-03 3.14757891e-01] [ 1.46719008e-02 6.33861199e-03 9.99872271e-01 -1.81130744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.77455357399998 meters Centerline goodness [0,1] 0.8320876154884251 Centerline is valid? [False, False] Translation: X:8.27, Y:0.31, Z:-1.81 [[ 9.99889579e-01 -2.45231188e-03 -1.46566085e-02 8.27308249e+00] [ 2.35909609e-03 9.99976904e-01 -6.37389215e-03 3.14757891e-01] [ 1.46719008e-02 6.33861199e-03 9.99872271e-01 -1.81130744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.80455357399998 meters Centerline goodness [0,1] 0.8310886207343973 Centerline is valid? [False, False] Translation: X:8.27, Y:0.31, Z:-1.81 [[ 9.99889699e-01 2.01427196e-03 -1.47150378e-02 8.27224534e+00] [-2.03064504e-03 9.99997336e-01 -1.09782045e-03 3.13444158e-01] [ 1.47127872e-02 1.12758038e-03 9.99891125e-01 -1.80856720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.83455357399998 meters Centerline goodness [0,1] 0.8282371778317236 Centerline is valid? [False, False] Translation: X:8.27, Y:0.31, Z:-1.81 [[ 9.99871248e-01 7.80711938e-03 -1.40191501e-02 8.26924198e+00] [-7.75775038e-03 9.99963527e-01 3.57247607e-03 3.14076243e-01] [ 1.40465296e-02 -3.46325903e-03 9.99895345e-01 -1.80763730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.86455357399998 meters Centerline goodness [0,1] 0.8252304355684077 Centerline is valid? [False, False] Translation: X:8.27, Y:0.32, Z:-1.81 [[ 9.99868763e-01 9.21072358e-03 -1.33273925e-02 8.26672380e+00] [-9.16559390e-03 9.99952066e-01 3.44336258e-03 3.15325862e-01] [ 1.33584695e-02 -3.32075721e-03 9.99905257e-01 -1.80846107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.89455357399999 meters Centerline goodness [0,1] 0.822835355643146 Centerline is valid? [False, False] Translation: X:8.27, Y:0.31, Z:-1.81 [[ 9.99813799e-01 1.42103651e-02 -1.30549649e-02 8.26552860e+00] [-1.41069041e-02 9.99868623e-01 7.98322982e-03 3.14912973e-01] [ 1.31666944e-02 -7.79757820e-03 9.99882911e-01 -1.80791796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.924553574 meters Centerline goodness [0,1] 0.8200133628000206 Centerline is valid? [False, False] Translation: X:8.26, Y:0.32, Z:-1.81 [[ 9.99808528e-01 1.48900954e-02 -1.26961627e-02 8.26440999e+00] [-1.47914499e-02 9.99859954e-01 7.82853747e-03 3.15217885e-01] [ 1.28109523e-02 -7.63924387e-03 9.99888755e-01 -1.80869013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.954553574 meters Centerline goodness [0,1] 0.8215803983201504 Centerline is valid? [False, False] Translation: X:8.26, Y:0.31, Z:-1.81 [[ 9.99803555e-01 1.54666763e-02 -1.23948887e-02 8.26342880e+00] [-1.53667526e-02 9.99848979e-01 8.11678412e-03 3.14282868e-01] [ 1.25185565e-02 -7.92472043e-03 9.99890236e-01 -1.80879228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.984553574 meters Centerline goodness [0,1] 0.8192886068766283 Centerline is valid? [False, False] Translation: X:8.27, Y:0.31, Z:-1.81 [[ 9.99805155e-01 1.50002159e-02 -1.28314479e-02 8.26518845e+00] [-1.48957610e-02 9.99855446e-01 8.19774438e-03 3.13055168e-01] [ 1.29525610e-02 -8.00501291e-03 9.99884069e-01 -1.80920267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.014553574 meters Centerline goodness [0,1] 0.8189943265718505 Centerline is valid? [False, False] Translation: X:8.26, Y:0.31, Z:-1.82 [[ 9.99953795e-01 8.73791223e-03 -4.00703476e-03 8.25595145e+00] [-8.71436338e-03 9.99944875e-01 5.85715504e-03 3.12819166e-01] [ 4.05799318e-03 -5.82196566e-03 9.99974818e-01 -1.81790986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.044553574 meters Centerline goodness [0,1] 0.8237035498195227 Centerline is valid? [False, False] Translation: X:8.26, Y:0.31, Z:-1.82 [[ 9.99980626e-01 4.91749747e-03 -3.81661730e-03 8.25633096e+00] [-4.91396307e-03 9.99987489e-01 9.34880399e-04 3.13322395e-01] [ 3.82116682e-03 -9.16107570e-04 9.99992280e-01 -1.82088278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.074553574 meters Centerline goodness [0,1] 0.818661098786376 Centerline is valid? [False, False] Translation: X:8.26, Y:0.31, Z:-1.82 [[ 9.99991656e-01 4.27855379e-04 -4.06263348e-03 8.25796591e+00] [-4.40230326e-04 9.99995265e-01 -3.04563520e-03 3.11305462e-01] [ 4.06131115e-03 3.04739828e-03 9.99987109e-01 -1.82218020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.104553574 meters Centerline goodness [0,1] 0.8223173948241193 Centerline is valid? [False, False] Translation: X:8.26, Y:0.31, Z:-1.82 [[ 9.99989138e-01 -2.20670036e-04 -4.65560839e-03 8.26008303e+00] [ 2.09411221e-04 9.99997053e-01 -2.41868266e-03 3.09254674e-01] [ 4.65612840e-03 2.41768146e-03 9.99986238e-01 -1.82157359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.134553574 meters Centerline goodness [0,1] 0.8227639727208591 Centerline is valid? [False, False] Translation: X:8.26, Y:0.31, Z:-1.82 [[ 9.99987682e-01 -4.03575752e-04 -4.94700963e-03 8.26091919e+00] [ 3.94351393e-04 9.99998182e-01 -1.86546690e-03 3.08183511e-01] [ 4.94775350e-03 1.86349306e-03 9.99986023e-01 -1.82077819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.16455357399997 meters Centerline goodness [0,1] 0.8187209363080621 Centerline is valid? [False, False] Translation: X:8.26, Y:0.31, Z:-1.82 [[ 9.99988567e-01 1.19486818e-04 -4.78024823e-03 8.25991166e+00] [-1.26662945e-04 9.99998866e-01 -1.50092942e-03 3.08452204e-01] [ 4.78006347e-03 1.50151774e-03 9.99987448e-01 -1.81996581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.19455357399997 meters Centerline goodness [0,1] 0.8206605322837108 Centerline is valid? [False, False] Translation: X:8.26, Y:0.31, Z:-1.82 [[ 9.99988097e-01 2.52411579e-04 -4.87258343e-03 8.26026230e+00] [-2.60157460e-04 9.99998704e-01 -1.58911822e-03 3.09729834e-01] [ 4.87217600e-03 1.59036695e-03 9.99986866e-01 -1.82014429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.22455357399997 meters Centerline goodness [0,1] 0.8163121859787051 Centerline is valid? [False, False] Translation: X:8.26, Y:0.31, Z:-1.82 [[ 9.99984861e-01 -3.20998476e-04 -5.49311339e-03 8.26289643e+00] [ 3.07695314e-04 9.99997018e-01 -2.42246294e-03 3.12238713e-01] [ 5.49387462e-03 2.42073606e-03 9.99981979e-01 -1.82189119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.25455357399997 meters Centerline goodness [0,1] 0.8191411935953421 Centerline is valid? [False, False] Translation: X:8.26, Y:0.31, Z:-1.82 [[ 9.99981533e-01 -8.81775036e-04 -6.01306048e-03 8.26477173e+00] [ 8.67505731e-04 9.99996803e-01 -2.37524739e-03 3.12341452e-01] [ 6.01513568e-03 2.36998717e-03 9.99979100e-01 -1.82177975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.28455357399997 meters Centerline goodness [0,1] 0.823356792271535 Centerline is valid? [False, False] Translation: X:8.27, Y:0.31, Z:-1.82 [[ 9.99977539e-01 -1.43565479e-03 -6.54681261e-03 8.26650636e+00] [ 1.42105115e-03 9.99996493e-01 -2.23475589e-03 3.12333967e-01] [ 6.54999799e-03 2.22540234e-03 9.99976072e-01 -1.82129428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.31455357399997 meters Centerline goodness [0,1] 0.8236813272812646 Centerline is valid? [False, False] Translation: X:8.27, Y:0.31, Z:-1.82 [[ 9.99956076e-01 -4.51588255e-03 -8.21301333e-03 8.27340135e+00] [ 4.49248137e-03 9.99985803e-01 -2.86550115e-03 3.11735528e-01] [ 8.22583699e-03 2.82847848e-03 9.99962167e-01 -1.82160172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.34455357399997 meters Centerline goodness [0,1] 0.8241377513806398 Centerline is valid? [False, False] Translation: X:8.28, Y:0.31, Z:-1.82 [[ 9.99936560e-01 -6.20486576e-03 -9.40084119e-03 8.27787750e+00] [ 6.17879932e-03 9.99976993e-01 -2.79928895e-03 3.10720650e-01] [ 9.41799412e-03 2.74102546e-03 9.99951893e-01 -1.82140648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.37455357399998 meters Centerline goodness [0,1] 0.8179063144969564 Centerline is valid? [False, False] Translation: X:8.29, Y:0.31, Z:-1.82 [[ 9.99858886e-01 -1.20740431e-02 -1.16801307e-02 8.28992776e+00] [ 1.20339807e-02 9.99921484e-01 -3.49418805e-03 3.08982101e-01] [ 1.17214026e-02 3.35313651e-03 9.99925680e-01 -1.82091442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.40455357399998 meters Centerline goodness [0,1] 0.8224643361028374 Centerline is valid? [False, False] Translation: X:8.29, Y:0.31, Z:-1.82 [[ 9.99826063e-01 -1.35837933e-02 -1.27798077e-02 8.29418120e+00] [ 1.35394834e-02 9.99902045e-01 -3.54733887e-03 3.08565566e-01] [ 1.28267422e-02 3.37368986e-03 9.99912043e-01 -1.82106414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.43455357399998 meters Centerline goodness [0,1] 0.8267132940132574 Centerline is valid? [False, False] Translation: X:8.30, Y:0.31, Z:-1.82 [[ 9.99793323e-01 -1.49453853e-02 -1.37821263e-02 8.29819824e+00] [ 1.48956242e-02 9.99882185e-01 -3.70617598e-03 3.08428144e-01] [ 1.38358928e-02 3.50011663e-03 9.99898153e-01 -1.82151954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.46455357399998 meters Centerline goodness [0,1] 0.8318290901502504 Centerline is valid? [False, False] Translation: X:8.31, Y:0.31, Z:-1.82 [[ 9.99721677e-01 -1.77253251e-02 -1.55686108e-02 8.30554771e+00] [ 1.76640290e-02 9.99835712e-01 -4.06589806e-03 3.08309081e-01] [ 1.56381225e-02 3.78976203e-03 9.99870535e-01 -1.82190083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.49455357399998 meters Centerline goodness [0,1] 0.821157507628909 Centerline is valid? [False, False] Translation: X:8.31, Y:0.31, Z:-1.82 [[ 9.99706726e-01 -1.81600652e-02 -1.60210707e-02 8.30686663e+00] [ 1.81032527e-02 9.99829335e-01 -3.68405038e-03 3.07792983e-01] [ 1.60852390e-02 3.39293645e-03 9.99864867e-01 -1.82099518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.52455357399998 meters Centerline goodness [0,1] 0.8189848350617541 Centerline is valid? [False, False] Translation: X:8.31, Y:0.31, Z:-1.82 [[ 9.99686347e-01 -1.87426176e-02 -1.66108716e-02 8.30811985e+00] [ 1.86924728e-02 9.99820258e-01 -3.16894057e-03 3.07948927e-01] [ 1.66672802e-02 2.85744836e-03 9.99857008e-01 -1.81888210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.55455357399998 meters Centerline goodness [0,1] 0.8265396428757353 Centerline is valid? [False, False] Translation: X:8.31, Y:0.31, Z:-1.82 [[ 9.99712078e-01 -1.61499276e-02 -1.77466019e-02 8.31143009e+00] [ 1.61862641e-02 9.99867178e-01 1.90578539e-03 3.06252649e-01] [ 1.77134665e-02 -2.19248785e-03 9.99840700e-01 -1.81586278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.58455357399998 meters Centerline goodness [0,1] 0.8231326051423086 Centerline is valid? [False, False] Translation: X:8.31, Y:0.31, Z:-1.82 [[ 9.99716605e-01 -1.58432210e-02 -1.77680267e-02 8.31124249e+00] [ 1.58764702e-02 9.99872461e-01 1.73179166e-03 3.08374709e-01] [ 1.77383234e-02 -2.01339442e-03 9.99840636e-01 -1.81584571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.61455357399998 meters Centerline goodness [0,1] 0.8237564766839378 Centerline is valid? [False, False] Translation: X:8.31, Y:0.31, Z:-1.81 [[ 9.99738380e-01 -1.30507859e-02 -1.87842748e-02 8.31459536e+00] [ 1.31647677e-02 9.99895595e-01 5.95712133e-03 3.07964239e-01] [ 1.87045686e-02 -6.20285344e-03 9.99805813e-01 -1.81496255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.64455357399999 meters Centerline goodness [0,1] 0.8177912363796361 Centerline is valid? [False, False] Translation: X:8.32, Y:0.31, Z:-1.82 [[ 9.99734014e-01 -1.31195741e-02 -1.89678225e-02 8.31559234e+00] [ 1.32238221e-02 9.99898082e-01 5.38110325e-03 3.09410487e-01] [ 1.88952915e-02 -5.63049906e-03 9.99805614e-01 -1.81632233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.674553574 meters Centerline goodness [0,1] 0.8244012208369975 Centerline is valid? [False, False] Translation: X:8.32, Y:0.31, Z:-1.82 [[ 9.99728426e-01 -1.31865338e-02 -1.92143166e-02 8.31654285e+00] [ 1.32818684e-02 9.99900066e-01 4.84250120e-03 3.11483418e-01] [ 1.91485407e-02 -5.09638813e-03 9.99803661e-01 -1.81722065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.704553574 meters Centerline goodness [0,1] 0.8230097639096967 Centerline is valid? [False, False] Translation: X:8.32, Y:0.31, Z:-1.82 [[ 9.99723832e-01 -1.32842347e-02 -1.93852853e-02 8.31691318e+00] [ 1.33814722e-02 9.99898483e-01 4.89497990e-03 3.11573777e-01] [ 1.93182913e-02 -5.15303172e-03 9.99800105e-01 -1.81686649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.734553574 meters Centerline goodness [0,1] 0.8320541644055095 Centerline is valid? [False, False] Translation: X:8.32, Y:0.31, Z:-1.82 [[ 9.99704411e-01 -1.39914674e-02 -1.98828959e-02 8.31888530e+00] [ 1.40826746e-02 9.99890911e-01 4.45462676e-03 3.11991613e-01] [ 1.98184002e-02 -4.73331437e-03 9.99792392e-01 -1.81725956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.764553574 meters Centerline goodness [0,1] 0.8314995609277338 Centerline is valid? [False, False] Translation: X:8.32, Y:0.31, Z:-1.82 [[ 9.99693240e-01 -1.43348443e-02 -2.01974699e-02 8.32014847e+00] [ 1.44234864e-02 9.99886944e-01 4.24994804e-03 3.12268243e-01] [ 2.01342641e-02 -4.53996226e-03 9.99786977e-01 -1.81766834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.794553574 meters Centerline goodness [0,1] 0.8328729638330279 Centerline is valid? [False, False] Translation: X:8.32, Y:0.31, Z:-1.82 [[ 9.99680447e-01 -1.47069875e-02 -2.05598785e-02 8.32154603e+00] [ 1.47923308e-02 9.99882566e-01 4.00505788e-03 3.12893256e-01] [ 2.04985618e-02 -4.30790658e-03 9.99780601e-01 -1.81807379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.824553574 meters Centerline goodness [0,1] 0.8319872009908911 Centerline is valid? [False, False] Translation: X:8.32, Y:0.31, Z:-1.82 [[ 9.99656004e-01 -1.54424011e-02 -2.11992035e-02 8.32412103e+00] [ 1.55185860e-02 9.99873683e-01 3.43396265e-03 3.14064220e-01] [ 2.11434970e-02 -3.76176304e-03 9.99769374e-01 -1.81921690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.854553574 meters Centerline goodness [0,1] 0.8319615206543547 Centerline is valid? [False, False] Translation: X:8.33, Y:0.32, Z:-1.82 [[ 9.99642067e-01 -1.58261713e-02 -2.15701034e-02 8.32572778e+00] [ 1.58931259e-02 9.99869385e-01 2.93614984e-03 3.15256952e-01] [ 2.15208180e-02 -3.27791526e-03 9.99763027e-01 -1.82015338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.884553574 meters Centerline goodness [0,1] 0.8308997429305913 Centerline is valid? [False, False] Translation: X:8.33, Y:0.32, Z:-1.82 [[ 9.99642707e-01 -1.37056480e-02 -2.29480651e-02 8.33090204e+00] [ 1.38630025e-02 9.99881376e-01 6.71198977e-03 3.15038692e-01] [ 2.28533507e-02 -7.02772071e-03 9.99714127e-01 -1.82005701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91455357399997 meters Centerline goodness [0,1] 0.8287727600041148 Centerline is valid? [False, False] Translation: X:8.33, Y:0.32, Z:-1.82 [[ 9.99637643e-01 -1.38077605e-02 -2.31068833e-02 8.33157253e+00] [ 1.39591149e-02 9.99882073e-01 6.40175075e-03 3.15780341e-01] [ 2.30157645e-02 -6.72198267e-03 9.99712503e-01 -1.82066243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.94455357399997 meters Centerline goodness [0,1] 0.8274799753542822 Centerline is valid? [False, False] Translation: X:8.33, Y:0.32, Z:-1.82 [[ 9.99636353e-01 -1.37111572e-02 -2.32199614e-02 8.33202556e+00] [ 1.38504626e-02 9.99886969e-01 5.84921376e-03 3.17537477e-01] [ 2.31371373e-02 -6.16869392e-03 9.99713269e-01 -1.82164208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.97455357399997 meters Centerline goodness [0,1] 0.8228232088228489 Centerline is valid? [False, False] Translation: X:8.33, Y:0.32, Z:-1.82 [[ 9.99642513e-01 -1.34140637e-02 -2.31281218e-02 8.33154244e+00] [ 1.35490259e-02 9.99892026e-01 5.68861449e-03 3.18595164e-01] [ 2.30493171e-02 -5.99994441e-03 9.99716325e-01 -1.82173910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.00455357399997 meters Centerline goodness [0,1] 0.8252978024234956 Centerline is valid? [False, False] Translation: X:8.35, Y:0.32, Z:-1.83 [[ 9.99778960e-01 -1.19727507e-02 -1.72824934e-02 8.34869500e+00] [ 1.19329843e-02 9.99925914e-01 -2.40226102e-03 3.21310381e-01] [ 1.73099747e-02 2.19549830e-03 9.99847761e-01 -1.82862669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.03455357399997 meters Centerline goodness [0,1] 0.8214900228562624 Centerline is valid? [False, False] Translation: X:8.35, Y:0.32, Z:-1.83 [[ 9.99811208e-01 -8.00777864e-03 -1.77037584e-02 8.34911045e+00] [ 8.05033613e-03 9.99964872e-01 2.33390859e-03 3.21146628e-01] [ 1.76844470e-02 -2.47598917e-03 9.99840552e-01 -1.82636565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.06455357399997 meters Centerline goodness [0,1] 0.8230773185276579 Centerline is valid? [False, False] Translation: X:8.35, Y:0.32, Z:-1.83 [[ 9.99821805e-01 -7.29187019e-03 -1.74122738e-02 8.34790566e+00] [ 7.33212687e-03 9.99970590e-01 2.24925150e-03 3.22283044e-01] [ 1.73953605e-02 -2.37651969e-03 9.99845865e-01 -1.82660167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.09455357399997 meters Centerline goodness [0,1] 0.821958913595445 Centerline is valid? [False, False] Translation: X:8.35, Y:0.32, Z:-1.83 [[ 9.99832431e-01 -3.51869094e-03 -1.79646662e-02 8.34980146e+00] [ 3.62533210e-03 9.99975982e-01 5.90704991e-03 3.23696994e-01] [ 1.79434497e-02 -5.97118795e-03 9.99821173e-01 -1.82723211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.12455357399998 meters Centerline goodness [0,1] 0.8234030034024917 Centerline is valid? [False, False] Translation: X:8.37, Y:0.33, Z:-1.84 [[ 9.99923384e-01 -1.44140464e-03 -1.22942719e-02 8.36747962e+00] [ 1.41709611e-03 9.99997024e-01 -1.98570610e-03 3.26796016e-01] [ 1.22970975e-02 1.96813180e-03 9.99922451e-01 -1.83518482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.15455357399998 meters Centerline goodness [0,1] 0.8280894568690096 Centerline is valid? [False, False] Translation: X:8.37, Y:0.33, Z:-1.83 [[ 9.99929383e-01 -6.30472862e-04 -1.18672153e-02 8.36575089e+00] [ 6.11026988e-04 9.99998465e-01 -1.64217584e-03 3.27129591e-01] [ 1.18682324e-02 1.63480869e-03 9.99928234e-01 -1.83468723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.18455357399998 meters Centerline goodness [0,1] 0.8179679308492954 Centerline is valid? [False, False] Translation: X:8.36, Y:0.33, Z:-1.83 [[ 9.99938189e-01 6.48610775e-04 -1.10993939e-02 8.36213622e+00] [-6.56193400e-04 9.99999554e-01 -6.79528576e-04 3.26812610e-01] [ 1.10989482e-02 6.86769923e-04 9.99938169e-01 -1.83236816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.21455357399998 meters Centerline goodness [0,1] 0.8221846760361468 Centerline is valid? [False, False] Translation: X:8.36, Y:0.33, Z:-1.83 [[ 9.99941023e-01 1.21156757e-03 -1.07926890e-02 8.36065100e+00] [-1.21220465e-03 9.99999264e-01 -5.24868288e-05 3.26183132e-01] [ 1.07926175e-02 6.55666811e-05 9.99941756e-01 -1.83109482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.24455357399998 meters Centerline goodness [0,1] 0.8152288168183566 Centerline is valid? [False, False] Translation: X:8.36, Y:0.33, Z:-1.83 [[ 9.99944319e-01 1.92212708e-03 -1.03761863e-02 8.35880690e+00] [-1.91660138e-03 9.99998016e-01 5.42454708e-04 3.25226760e-01] [ 1.03772084e-02 -5.22537491e-04 9.99946019e-01 -1.83010270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.27455357399998 meters Centerline goodness [0,1] 0.8235535284169528 Centerline is valid? [False, False] Translation: X:8.36, Y:0.33, Z:-1.83 [[ 9.99944720e-01 2.13149959e-03 -1.02962945e-02 8.35878360e+00] [-2.12599240e-03 9.99997591e-01 5.45787104e-04 3.25296270e-01] [ 1.02974331e-02 -5.23867089e-04 9.99946843e-01 -1.83050421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.30455357399998 meters Centerline goodness [0,1] 0.8240617309269893 Centerline is valid? [False, False] Translation: X:8.36, Y:0.33, Z:-1.83 [[ 9.99946825e-01 3.23769860e-03 -9.79107455e-03 8.35715118e+00] [-3.23306828e-03 9.99994654e-01 4.88703696e-04 3.26170006e-01] [ 9.79260448e-03 -4.57022496e-04 9.99951947e-01 -1.83155785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.33455357399998 meters Centerline goodness [0,1] 0.81533493926503 Centerline is valid? [False, False] Translation: X:8.36, Y:0.33, Z:-1.83 [[ 9.99947207e-01 3.66141288e-03 -9.60090345e-03 8.35680047e+00] [-3.65975712e-03 9.99993285e-01 1.90022349e-04 3.26785578e-01] [ 9.60153473e-03 -1.54875342e-04 9.99953892e-01 -1.83265437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.36455357399998 meters Centerline goodness [0,1] 0.8177160715200573 Centerline is valid? [False, False] Translation: X:8.36, Y:0.33, Z:-1.83 [[ 9.99947552e-01 4.13373203e-03 -9.37044671e-03 8.35623669e+00] [-4.13269809e-03 9.99991452e-01 1.29700416e-04 3.26745021e-01] [ 9.37090276e-03 -9.09683867e-05 9.99956088e-01 -1.83332118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.39455357399999 meters Centerline goodness [0,1] 0.8151113848680833 Centerline is valid? [False, False] Translation: X:8.35, Y:0.33, Z:-1.83 [[ 9.99947533e-01 5.25938593e-03 -8.79032710e-03 8.35413859e+00] [-5.25400147e-03 9.99985996e-01 6.35524571e-04 3.25428413e-01] [ 8.79354647e-03 -5.89306836e-04 9.99961162e-01 -1.83324716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.424553574 meters Centerline goodness [0,1] 0.8110885594635563 Centerline is valid? [False, False] Translation: X:8.35, Y:0.32, Z:-1.83 [[ 9.99947307e-01 5.73771016e-03 -8.51247070e-03 8.35327337e+00] [-5.73114297e-03 9.99983260e-01 7.95672563e-04 3.24860716e-01] [ 8.51689354e-03 -7.46844450e-04 9.99963452e-01 -1.83342352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.454553574 meters Centerline goodness [0,1] 0.8100558659217877 Centerline is valid? [False, False] Translation: X:8.35, Y:0.32, Z:-1.83 [[ 9.99945294e-01 6.82196808e-03 -7.92907283e-03 8.35156762e+00] [-6.81562345e-03 9.99976431e-01 8.26919970e-04 3.24604473e-01] [ 7.93452717e-03 -7.72833158e-04 9.99968222e-01 -1.83457821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.484553574 meters Centerline goodness [0,1] 0.8091591282894737 Centerline is valid? [False, False] Translation: X:8.35, Y:0.32, Z:-1.84 [[ 9.99943997e-01 7.27124557e-03 -7.68971360e-03 8.35094823e+00] [-7.26511304e-03 9.99973268e-01 8.25130546e-04 3.24393513e-01] [ 7.69550777e-03 -7.69217698e-04 9.99970093e-01 -1.83522676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.514553574 meters Centerline goodness [0,1] 0.8185271695885418 Centerline is valid? [False, False] Translation: X:8.35, Y:0.32, Z:-1.84 [[ 9.99942618e-01 7.65595602e-03 -7.49315745e-03 8.35046067e+00] [-7.64871541e-03 9.99970254e-01 9.94477803e-04 3.23763886e-01] [ 7.50054824e-03 -9.37107709e-04 9.99971431e-01 -1.83552843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.544553574 meters Centerline goodness [0,1] 0.8152372145590917 Centerline is valid? [False, False] Translation: X:8.35, Y:0.32, Z:-1.84 [[ 9.99939221e-01 8.40661997e-03 -7.13327659e-03 8.34932906e+00] [-8.39661393e-03 9.99963723e-01 1.43151842e-03 3.22439010e-01] [ 7.14505205e-03 -1.37153604e-03 9.99973533e-01 -1.83569670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.574553574 meters Centerline goodness [0,1] 0.809884099178333 Centerline is valid? [False, False] Translation: X:8.40, Y:0.32, Z:-1.83 [[ 9.99890188e-01 1.20890959e-02 -8.57121621e-03 8.40265480e+00] [-1.20991515e-02 9.99926173e-01 -1.12229365e-03 3.19262823e-01] [ 8.55701590e-03 1.22587485e-03 9.99962637e-01 -1.83430229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.604553574 meters Centerline goodness [0,1] 0.8167830726012216 Centerline is valid? [False, False] Translation: X:8.34, Y:0.32, Z:-1.83 [[ 9.99917217e-01 1.15509790e-02 -5.66861142e-03 8.34150241e+00] [-1.15180117e-02 9.99916761e-01 5.81435057e-03 3.18260795e-01] [ 5.73530101e-03 -5.74857811e-03 9.99967030e-01 -1.83276878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.634553574 meters Centerline goodness [0,1] 0.8143292998241803 Centerline is valid? [False, False] Translation: X:8.34, Y:0.32, Z:-1.83 [[ 9.99944601e-01 9.49469106e-03 -4.54367173e-03 8.33816934e+00] [-9.48630864e-03 9.99953269e-01 1.86286658e-03 3.18442204e-01] [ 4.56114674e-03 -1.81966071e-03 9.99987942e-01 -1.83447987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.66455357399997 meters Centerline goodness [0,1] 0.8153328153328153 Centerline is valid? [False, False] Translation: X:8.34, Y:0.32, Z:-1.83 [[ 9.99939563e-01 1.01905671e-02 -4.12593533e-03 8.33690754e+00] [-1.01797312e-02 9.99944703e-01 2.63883221e-03 3.15731310e-01] [ 4.15259838e-03 -2.59667182e-03 9.99988007e-01 -1.83419030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.69455357399997 meters Centerline goodness [0,1] 0.8153328153328153 Centerline is valid? [False, False] Translation: X:8.34, Y:0.32, Z:-1.83 [[ 9.99939563e-01 1.01905671e-02 -4.12593533e-03 8.33690754e+00] [-1.01797312e-02 9.99944703e-01 2.63883221e-03 3.15731310e-01] [ 4.15259838e-03 -2.59667182e-03 9.99988007e-01 -1.83419030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.72455357399997 meters Centerline goodness [0,1] 0.8122197164113332 Centerline is valid? [False, False] Translation: X:8.34, Y:0.31, Z:-1.83 [[ 9.99938366e-01 1.03175032e-02 -4.10035556e-03 8.33722589e+00] [-1.03062946e-02 9.99943120e-01 2.74535234e-03 3.14591509e-01] [ 4.12844752e-03 -2.70292366e-03 9.99987825e-01 -1.83492849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.75455357399997 meters Centerline goodness [0,1] 0.8114200828750879 Centerline is valid? [False, False] Translation: X:8.34, Y:0.31, Z:-1.84 [[ 9.99935222e-01 1.07077143e-02 -3.85969003e-03 8.33735482e+00] [-1.06967790e-02 9.99938747e-01 2.84279893e-03 3.12418114e-01] [ 3.88989349e-03 -2.80132852e-03 9.99988511e-01 -1.83677060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.78455357399997 meters Centerline goodness [0,1] 0.81018265197113 Centerline is valid? [False, False] Translation: X:8.34, Y:0.31, Z:-1.84 [[ 9.99934386e-01 1.08170385e-02 -3.77034624e-03 8.33752124e+00] [-1.08061325e-02 9.99937404e-01 2.90102834e-03 3.11291805e-01] [ 3.80149076e-03 -2.86009514e-03 9.99988684e-01 -1.83752531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.81455357399997 meters Centerline goodness [0,1] 0.8106422401419662 Centerline is valid? [False, False] Translation: X:8.34, Y:0.31, Z:-1.84 [[ 9.99934351e-01 1.08115236e-02 -3.79545765e-03 8.33793502e+00] [-1.07996510e-02 9.99936768e-01 3.13480840e-03 3.09686706e-01] [ 3.82910971e-03 -3.09361299e-03 9.99987884e-01 -1.83790385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.84455357399997 meters Centerline goodness [0,1] 0.8113197650020982 Centerline is valid? [False, False] Translation: X:8.33, Y:0.31, Z:-1.84 [[ 9.99959045e-01 8.72554877e-03 -2.40276568e-03 8.33465876e+00] [-8.72729529e-03 9.99961659e-01 -7.17352654e-04 3.07474092e-01] [ 2.39641426e-03 7.38292920e-04 9.99996856e-01 -1.84059073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.87455357399998 meters Centerline goodness [0,1] 0.8110002625360987 Centerline is valid? [False, False] Translation: X:8.34, Y:0.31, Z:-1.84 [[ 9.99959035e-01 8.71023760e-03 -2.46189916e-03 8.33520395e+00] [-8.71139549e-03 9.99961949e-01 -4.59990234e-04 3.05769621e-01] [ 2.45779886e-03 4.81417967e-04 9.99996864e-01 -1.84097283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.90455357399998 meters Centerline goodness [0,1] 0.8109793147174597 Centerline is valid? [False, False] Translation: X:8.33, Y:0.30, Z:-1.84 [[ 9.99955206e-01 9.23187435e-03 -2.08759598e-03 8.33436938e+00] [-9.23089773e-03 9.99957281e-01 4.76972822e-04 3.01937035e-01] [ 2.09191015e-03 -4.57681072e-04 9.99997707e-01 -1.84089586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.93455357399998 meters Centerline goodness [0,1] 0.8116156673983761 Centerline is valid? [False, False] Translation: X:8.33, Y:0.30, Z:-1.84 [[ 9.99954093e-01 9.37509011e-03 -1.97980982e-03 8.33420048e+00] [-9.37322174e-03 9.99955618e-01 9.50889940e-04 2.99966129e-01] [ 1.98863664e-03 -9.32289091e-04 9.99997588e-01 -1.84076627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.96455357399998 meters Centerline goodness [0,1] 0.8099690123685674 Centerline is valid? [False, False] Translation: X:8.33, Y:0.30, Z:-1.84 [[ 9.99954139e-01 9.36481819e-03 -2.00524951e-03 8.33455293e+00] [-9.36191729e-03 9.99955123e-01 1.45118237e-03 2.97681791e-01] [ 2.01874958e-03 -1.43234284e-03 9.99996937e-01 -1.84070574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.99455357399998 meters Centerline goodness [0,1] 0.8104045936863274 Centerline is valid? [False, False] Translation: X:8.33, Y:0.30, Z:-1.84 [[ 9.99947375e-01 1.01330072e-02 -1.60287064e-03 8.33337956e+00] [-1.01298750e-02 9.99946790e-01 1.95033133e-03 2.95484022e-01] [ 1.62254807e-03 -1.93399182e-03 9.99996814e-01 -1.84112461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.02455357399998 meters Centerline goodness [0,1] 0.810919934554283 Centerline is valid? [False, False] Translation: X:8.33, Y:0.30, Z:-1.84 [[ 9.99859163e-01 1.67815199e-02 -1.88355638e-04 8.32678763e+00] [-1.67797906e-02 9.99834703e-01 7.00032644e-03 2.95728544e-01] [ 3.05800621e-04 -6.99617996e-03 9.99975480e-01 -1.83858437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.05455357399998 meters Centerline goodness [0,1] 0.8087571590699147 Centerline is valid? [False, False] Translation: X:8.33, Y:0.30, Z:-1.84 [[ 9.99854375e-01 1.70653656e-02 -3.32333378e-05 8.32693417e+00] [-1.70648145e-02 9.99834400e-01 6.32172333e-03 2.96694540e-01] [ 1.41110354e-04 -6.32023562e-03 9.99980017e-01 -1.84060471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.08455357399998 meters Centerline goodness [0,1] 0.8083802409385028 Centerline is valid? [False, False] Translation: X:8.33, Y:0.30, Z:-1.84 [[ 9.99843380e-01 1.76957133e-02 2.77287030e-04 8.32636161e+00] [-1.76969685e-02 9.99828352e-01 5.48496145e-03 2.98871435e-01] [-1.80179128e-04 -5.48900953e-03 9.99984919e-01 -1.84277953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.11455357399998 meters Centerline goodness [0,1] 0.8119108263529659 Centerline is valid? [False, False] Translation: X:8.33, Y:0.30, Z:-1.85 [[ 9.99831733e-01 1.83333800e-02 6.27510957e-04 8.32595623e+00] [-1.83359288e-02 9.99822504e-01 4.33072579e-03 3.01343538e-01] [-5.48002734e-04 -4.34150307e-03 9.99990425e-01 -1.84581836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.14455357399999 meters Centerline goodness [0,1] 0.8089123470405966 Centerline is valid? [False, False] Translation: X:8.32, Y:0.30, Z:-1.85 [[ 9.99869187e-01 1.61009555e-02 1.53902037e-03 8.32281764e+00] [-1.61007936e-02 9.99870367e-01 -1.17587349e-04 3.03193044e-01] [-1.54071413e-03 9.27925182e-05 9.99998809e-01 -1.84774126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.174553574 meters Centerline goodness [0,1] 0.8107347604270763 Centerline is valid? [False, False] Translation: X:8.32, Y:0.30, Z:-1.85 [[ 9.99917886e-01 1.26727512e-02 1.90325847e-03 8.32188778e+00] [-1.26635346e-02 9.99908394e-01 -4.77891488e-03 3.04877086e-01] [-1.96364612e-03 4.75442048e-03 9.99986770e-01 -1.84938498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.204553574 meters Centerline goodness [0,1] 0.8091947353150635 Centerline is valid? [False, False] Translation: X:8.32, Y:0.30, Z:-1.85 [[ 9.99928807e-01 1.18582911e-02 1.32709601e-03 8.32402511e+00] [-1.18518681e-02 9.99918494e-01 -4.74741083e-03 3.04552327e-01] [-1.38328402e-03 4.73134429e-03 9.99987850e-01 -1.84907138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.234553574 meters Centerline goodness [0,1] 0.8087674547032372 Centerline is valid? [False, False] Translation: X:8.33, Y:0.30, Z:-1.85 [[ 9.99939570e-01 1.09730365e-02 6.70150980e-04 8.32654966e+00] [-1.09698236e-02 9.99929142e-01 -4.62326224e-03 3.04258297e-01] [-7.20834720e-04 4.61563142e-03 9.99989088e-01 -1.84865333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.264553574 meters Centerline goodness [0,1] 0.813130382113607 Centerline is valid? [False, False] Translation: X:8.33, Y:0.30, Z:-1.85 [[ 9.99947290e-01 1.02660197e-02 1.62504908e-04 8.32799366e+00] [-1.02651955e-02 9.99937420e-01 -4.44767362e-03 3.04492365e-01] [-2.08154643e-04 4.44577104e-03 9.99990096e-01 -1.84733694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.294553574 meters Centerline goodness [0,1] 0.8134562211981566 Centerline is valid? [False, False] Translation: X:8.33, Y:0.30, Z:-1.85 [[ 9.99962666e-01 8.57842093e-03 -1.03835576e-03 8.33290986e+00] [-8.58302215e-03 9.99952990e-01 -4.51102205e-03 3.03983776e-01] [ 9.99609505e-04 4.51976586e-03 9.99989286e-01 -1.84763216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.324553574 meters Centerline goodness [0,1] 0.8113421949737057 Centerline is valid? [False, False] Translation: X:8.33, Y:0.31, Z:-1.86 [[ 9.99973633e-01 -1.80741346e-03 7.03330761e-03 8.32855345e+00] [ 1.84844165e-03 9.99981289e-01 -5.83129171e-03 3.05358162e-01] [-7.02263646e-03 5.84413862e-03 9.99958263e-01 -1.85645474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.354553574 meters Centerline goodness [0,1] 0.815716438030291 Centerline is valid? [False, False] Translation: X:8.34, Y:0.30, Z:-1.86 [[ 9.99975264e-01 -4.72190107e-03 5.21301553e-03 8.33636755e+00] [ 4.74873810e-03 9.99975475e-01 -5.14776284e-03 3.03075419e-01] [-5.18858045e-03 5.17239075e-03 9.99973162e-01 -1.85542914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.384553574 meters Centerline goodness [0,1] 0.8134375997446537 Centerline is valid? [False, False] Translation: X:8.35, Y:0.30, Z:-1.85 [[ 9.99958962e-01 -8.46771540e-03 3.22066313e-03 8.34550526e+00] [ 8.48082792e-03 9.99955715e-01 -4.07974296e-03 2.99908076e-01] [-3.18597440e-03 4.10688942e-03 9.99986491e-01 -1.85328065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.41455357399997 meters Centerline goodness [0,1] 0.8192722804017952 Centerline is valid? [False, False] Translation: X:8.36, Y:0.30, Z:-1.85 [[ 9.99808584e-01 -1.95300102e-02 1.17228862e-03 8.36004711e+00] [ 1.95391152e-02 9.99774343e-01 -8.33580704e-03 2.95662931e-01] [-1.00922568e-03 8.35711692e-03 9.99964569e-01 -1.85283159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.44455357399997 meters Centerline goodness [0,1] 0.8148853937409415 Centerline is valid? [False, False] Translation: X:8.37, Y:0.29, Z:-1.85 [[ 9.99737871e-01 -2.28867979e-02 -6.18861761e-04 8.36836961e+00] [ 2.28816875e-02 9.99711635e-01 -7.28529701e-03 2.92571927e-01] [ 7.85420423e-04 7.26922673e-03 9.99973270e-01 -1.85086106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.47455357399997 meters Centerline goodness [0,1] 0.8254169248592289 Centerline is valid? [False, False] Translation: X:8.38, Y:0.29, Z:-1.85 [[ 9.99644844e-01 -2.65331858e-02 -2.48507414e-03 8.37688000e+00] [ 2.65190231e-02 9.99632799e-01 -5.56849461e-03 2.89498254e-01] [ 2.63191152e-03 5.50061519e-03 9.99981408e-01 -1.84678876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.50455357399997 meters Centerline goodness [0,1] 0.8251030469570839 Centerline is valid? [False, False] Translation: X:8.38, Y:0.29, Z:-1.84 [[ 9.99708854e-01 -2.38468202e-02 -3.67912043e-03 8.37996290e+00] [ 2.38480808e-02 9.99715549e-01 2.99159099e-04 2.87669548e-01] [ 3.67093991e-03 -3.86811962e-04 9.99993187e-01 -1.84205794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.53455357399997 meters Centerline goodness [0,1] 0.8247258816239662 Centerline is valid? [False, False] Translation: X:8.38, Y:0.29, Z:-1.84 [[ 9.99707063e-01 -2.38996234e-02 -3.82054745e-03 8.38037342e+00] [ 2.39011309e-02 9.99714266e-01 3.49402614e-04 2.88439636e-01] [ 3.81110520e-03 -4.40615666e-04 9.99992641e-01 -1.84181917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.56455357399997 meters Centerline goodness [0,1] 0.8241569720688361 Centerline is valid? [False, False] Translation: X:8.39, Y:0.29, Z:-1.84 [[ 9.99753758e-01 -2.15689928e-02 -5.21559277e-03 8.38504833e+00] [ 2.15917587e-02 9.99757413e-01 4.34878395e-03 2.89472094e-01] [ 5.12052864e-03 -4.46032692e-03 9.99976943e-01 -1.84105826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.59455357399997 meters Centerline goodness [0,1] 0.8221079140545464 Centerline is valid? [False, False] Translation: X:8.39, Y:0.29, Z:-1.84 [[ 9.99747986e-01 -2.17825281e-02 -5.43016096e-03 8.38617147e+00] [ 2.18047824e-02 9.99753949e-01 4.07332384e-03 2.90549866e-01] [ 5.34009757e-03 -4.19070078e-03 9.99976960e-01 -1.84177535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.62455357399998 meters Centerline goodness [0,1] 0.821271021041093 Centerline is valid? [False, False] Translation: X:8.39, Y:0.29, Z:-1.84 [[ 9.99739233e-01 -2.21032068e-02 -5.73707739e-03 8.38745933e+00] [ 2.21252274e-02 9.99747972e-01 3.80362889e-03 2.91727167e-01] [ 5.65155908e-03 -3.92957117e-03 9.99976309e-01 -1.84215905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.65455357399998 meters Centerline goodness [0,1] 0.8218447772389958 Centerline is valid? [False, False] Translation: X:8.39, Y:0.29, Z:-1.84 [[ 9.99731664e-01 -2.23804508e-02 -5.97619699e-03 8.38850352e+00] [ 2.24029845e-02 9.99742061e-01 3.73063223e-03 2.91878459e-01] [ 5.89116227e-03 -3.86351582e-03 9.99975183e-01 -1.84240742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.68455357399998 meters Centerline goodness [0,1] 0.8250300842358604 Centerline is valid? [False, False] Translation: X:8.40, Y:0.29, Z:-1.84 [[ 9.99678008e-01 -1.96742488e-02 -1.60250974e-02 8.40281631e+00] [ 1.97007304e-02 9.99804802e-01 1.49630908e-03 2.90662047e-01] [ 1.59925306e-02 -1.81153340e-03 9.99870470e-01 -1.83627312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.71455357399998 meters Centerline goodness [0,1] 0.8193209810431616 Centerline is valid? [False, False] Translation: X:8.41, Y:0.29, Z:-1.84 [[ 9.99643972e-01 -2.07058937e-02 -1.68283932e-02 8.40608557e+00] [ 2.07303068e-02 9.99784288e-01 1.27754578e-03 2.90516990e-01] [ 1.67983104e-02 -1.62594869e-03 9.99857576e-01 -1.83679966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.74455357399998 meters Centerline goodness [0,1] 0.8232050115114847 Centerline is valid? [False, False] Translation: X:8.41, Y:0.29, Z:-1.84 [[ 9.99614985e-01 -2.15513817e-02 -1.74762669e-02 8.40882671e+00] [ 2.15745692e-02 9.99766593e-01 1.13932912e-03 2.90655519e-01] [ 1.74476337e-02 -1.51593339e-03 9.99846629e-01 -1.83726901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.77455357399998 meters Centerline goodness [0,1] 0.8207190541301376 Centerline is valid? [False, False] Translation: X:8.41, Y:0.29, Z:-1.84 [[ 9.99610210e-01 -2.16429094e-02 -1.76355611e-02 8.40940418e+00] [ 2.16672873e-02 9.99764526e-01 1.19239973e-03 2.90992244e-01] [ 1.76056014e-02 -1.57404972e-03 9.99843770e-01 -1.83724835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.80455357399998 meters Centerline goodness [0,1] 0.8240158428559959 Centerline is valid? [False, False] Translation: X:8.41, Y:0.29, Z:-1.84 [[ 9.99639976e-01 -1.91719818e-02 -1.87710678e-02 8.41339445e+00] [ 1.92810140e-02 9.99798169e-01 5.64486081e-03 2.89709659e-01] [ 1.86590560e-02 -6.00475374e-03 9.99807873e-01 -1.83589367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.83455357399998 meters Centerline goodness [0,1] 0.8196107784431138 Centerline is valid? [False, False] Translation: X:8.41, Y:0.29, Z:-1.84 [[ 9.99643726e-01 -1.89476051e-02 -1.87991758e-02 8.41345706e+00] [ 1.90536871e-02 9.99803444e-01 5.47991792e-03 2.90542240e-01] [ 1.86916494e-02 -5.83615918e-03 9.99808262e-01 -1.83646391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.86455357399998 meters Centerline goodness [0,1] 0.8204013020972304 Centerline is valid? [False, False] Translation: X:8.41, Y:0.29, Z:-1.84 [[ 9.99639688e-01 -1.90385840e-02 -1.89215882e-02 8.41425926e+00] [ 1.91354061e-02 9.99804652e-01 4.94918963e-03 2.91456107e-01] [ 1.88236664e-02 -5.30947865e-03 9.99808721e-01 -1.83767064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.89455357399999 meters Centerline goodness [0,1] 0.8209717985765506 Centerline is valid? [False, False] Translation: X:8.41, Y:0.29, Z:-1.84 [[ 9.99652570e-01 -1.85423521e-02 -1.87328617e-02 8.41333918e+00] [ 1.86368286e-02 9.99814403e-01 4.88141439e-03 2.92468413e-01] [ 1.86388721e-02 -5.22883957e-03 9.99812608e-01 -1.83771527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.924553574 meters Centerline goodness [0,1] 0.8183373429564288 Centerline is valid? [False, False] Translation: X:8.41, Y:0.29, Z:-1.84 [[ 9.99658707e-01 -1.82917039e-02 -1.86516287e-02 8.41283927e+00] [ 1.83870859e-02 9.99818664e-01 4.95525094e-03 2.92762783e-01] [ 1.85576065e-02 -5.29650884e-03 9.99813764e-01 -1.83751942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.954553574 meters Centerline goodness [0,1] 0.8186442493039194 Centerline is valid? [False, False] Translation: X:8.41, Y:0.29, Z:-1.84 [[ 9.99660508e-01 -1.81885213e-02 -1.86559885e-02 8.41269743e+00] [ 1.82871188e-02 9.99819626e-01 5.12811222e-03 2.93099212e-01] [ 1.85593507e-02 -5.46753555e-03 9.99812811e-01 -1.83704915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.984553574 meters Centerline goodness [0,1] 0.8218743332622146 Centerline is valid? [False, False] Translation: X:8.41, Y:0.29, Z:-1.84 [[ 9.99654299e-01 -1.83607357e-02 -1.88192745e-02 8.41346076e+00] [ 1.84548459e-02 9.99817983e-01 4.83930849e-03 2.94193704e-01] [ 1.87269958e-02 -5.18494235e-03 9.99811190e-01 -1.83740063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.014553574 meters Centerline goodness [0,1] 0.81967737634982 Centerline is valid? [False, False] Translation: X:8.41, Y:0.30, Z:-1.84 [[ 9.99661276e-01 -1.81224974e-02 -1.86790783e-02 8.41290043e+00] [ 1.82168161e-02 9.99822094e-01 4.89169331e-03 2.95323622e-01] [ 1.85871054e-02 -5.23030971e-03 9.99813564e-01 -1.83709839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.044553574 meters Centerline goodness [0,1] 0.8215207728954302 Centerline is valid? [False, False] Translation: X:8.41, Y:0.30, Z:-1.84 [[ 9.99666992e-01 -1.79181814e-02 -1.85699543e-02 8.41235447e+00] [ 1.80118721e-02 9.99825813e-01 4.89035605e-03 2.95921792e-01] [ 1.84790934e-02 -5.22320716e-03 9.99815604e-01 -1.83686633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.074553574 meters Centerline goodness [0,1] 0.8156489867466999 Centerline is valid? [False, False] Translation: X:8.41, Y:0.30, Z:-1.84 [[ 9.99680179e-01 -1.74145432e-02 -1.83377490e-02 8.41124012e+00] [ 1.75089950e-02 9.99834190e-01 5.00277216e-03 2.96516743e-01] [ 1.82475875e-02 -5.32224772e-03 9.99819333e-01 -1.83657281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.104553574 meters Centerline goodness [0,1] 0.8137299163457709 Centerline is valid? [False, False] Translation: X:8.41, Y:0.30, Z:-1.84 [[ 9.99704500e-01 -1.64207195e-02 -1.79240788e-02 8.40921789e+00] [ 1.65113650e-02 9.99851568e-01 4.92096047e-03 2.98361519e-01] [ 1.78406126e-02 -5.21545734e-03 9.99827241e-01 -1.83646624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.134553574 meters Centerline goodness [0,1] 0.814581291228442 Centerline is valid? [False, False] Translation: X:8.41, Y:0.30, Z:-1.84 [[ 9.99713882e-01 -1.60316960e-02 -1.77521296e-02 8.40829160e+00] [ 1.61238417e-02 9.99857200e-01 5.05976797e-03 2.98748481e-01] [ 1.76684780e-02 -5.34455281e-03 9.99829616e-01 -1.83597403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.16455357399997 meters Centerline goodness [0,1] 0.8232473106883578 Centerline is valid? [False, False] Translation: X:8.41, Y:0.30, Z:-1.84 [[ 9.99717833e-01 -1.58840089e-02 -1.76621660e-02 8.40807549e+00] [ 1.59739808e-02 9.99860082e-01 4.96468202e-03 2.99176580e-01] [ 1.75808357e-02 -5.24541625e-03 9.99831686e-01 -1.83618730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.19455357399997 meters Centerline goodness [0,1] 0.8235963380430756 Centerline is valid? [False, False] Translation: X:8.41, Y:0.30, Z:-1.84 [[ 9.99710207e-01 -1.61060179e-02 -1.78912796e-02 8.40897009e+00] [ 1.61948761e-02 9.99857175e-01 4.83282012e-03 2.99707178e-01] [ 1.78108868e-02 -5.12116666e-03 9.99828258e-01 -1.83642497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.22455357399997 meters Centerline goodness [0,1] 0.8169223025775517 Centerline is valid? [False, False] Translation: X:8.41, Y:0.30, Z:-1.84 [[ 9.99697150e-01 -1.65237998e-02 -1.82365861e-02 8.41050952e+00] [ 1.66121485e-02 9.99850944e-01 4.70376656e-03 2.99966421e-01] [ 1.81561437e-02 -5.00529090e-03 9.99822635e-01 -1.83686854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.25455357399997 meters Centerline goodness [0,1] 0.8262031378151705 Centerline is valid? [False, False] Translation: X:8.41, Y:0.30, Z:-1.84 [[ 9.99664021e-01 -1.76179453e-02 -1.90119375e-02 8.41404449e+00] [ 1.77015807e-02 9.99834325e-01 4.23980169e-03 3.00305200e-01] [ 1.89340911e-02 -4.57491855e-03 9.99810267e-01 -1.83819035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.28455357399997 meters Centerline goodness [0,1] 0.826925624652235 Centerline is valid? [False, False] Translation: X:8.42, Y:0.30, Z:-1.84 [[ 9.99645809e-01 -1.81539981e-02 -1.94599459e-02 8.41577100e+00] [ 1.82408809e-02 9.99824390e-01 4.29651851e-03 3.00040684e-01] [ 1.93785295e-02 -4.64996328e-03 9.99801405e-01 -1.83815874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.31455357399997 meters Centerline goodness [0,1] 0.8273907721781704 Centerline is valid? [False, False] Translation: X:8.42, Y:0.30, Z:-1.84 [[ 9.99610264e-01 -1.92475446e-02 -2.02201036e-02 8.41840340e+00] [ 1.93465821e-02 9.99801725e-01 4.71380720e-03 2.98532086e-01] [ 2.01253653e-02 -5.10315996e-03 9.99784440e-01 -1.83705259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.34455357399997 meters Centerline goodness [0,1] 0.8245674832724655 Centerline is valid? [False, False] Translation: X:8.42, Y:0.30, Z:-1.84 [[ 9.99593636e-01 -1.97171245e-02 -2.05863316e-02 8.41966452e+00] [ 1.98215674e-02 9.99791615e-01 4.88172576e-03 2.97980341e-01] [ 2.04857881e-02 -5.28779537e-03 9.99776161e-01 -1.83660863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.37455357399998 meters Centerline goodness [0,1] 0.8105428670415479 Centerline is valid? [False, False] Translation: X:8.42, Y:0.30, Z:-1.84 [[ 9.99554357e-01 -2.08838233e-02 -2.13296361e-02 8.42272412e+00] [ 2.09915753e-02 9.99767935e-01 4.84038229e-03 2.97686345e-01] [ 2.12236005e-02 -5.28596786e-03 9.99760780e-01 -1.83651086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.40455357399998 meters Centerline goodness [0,1] 0.8233714437649562 Centerline is valid? [False, False] Translation: X:8.42, Y:0.30, Z:-1.84 [[ 9.99541778e-01 -2.11967661e-02 -2.16086107e-02 8.42382573e+00] [ 2.13085602e-02 9.99760661e-01 4.95650664e-03 2.97409082e-01] [ 2.14983770e-02 -5.41468383e-03 9.99754220e-01 -1.83641798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.43455357399998 meters Centerline goodness [0,1] 0.8255937799552668 Centerline is valid? [False, False] Translation: X:8.42, Y:0.30, Z:-1.84 [[ 9.99534492e-01 -2.13695158e-02 -2.17748338e-02 8.42449068e+00] [ 2.14821776e-02 9.99756961e-01 4.95321000e-03 2.97542295e-01] [ 2.16636939e-02 -5.41867508e-03 9.99750630e-01 -1.83642916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.46455357399998 meters Centerline goodness [0,1] 0.8226304579339723 Centerline is valid? [False, False] Translation: X:8.42, Y:0.30, Z:-1.84 [[ 9.99538556e-01 -2.11735067e-02 -2.17797612e-02 8.42431540e+00] [ 2.12876291e-02 9.99760783e-01 5.02138020e-03 2.98238653e-01] [ 2.16682309e-02 -5.48270259e-03 9.99750183e-01 -1.83617196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.49455357399998 meters Centerline goodness [0,1] 0.8259321268170825 Centerline is valid? [False, False] Translation: X:8.43, Y:0.30, Z:-1.84 [[ 9.99531614e-01 -2.13073725e-02 -2.19669845e-02 8.42526266e+00] [ 2.14159748e-02 9.99759507e-01 4.72052090e-03 2.98928095e-01] [ 2.18611197e-02 -5.18875426e-03 9.99747552e-01 -1.83684149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.52455357399998 meters Centerline goodness [0,1] 0.8277977857809791 Centerline is valid? [False, False] Translation: X:8.43, Y:0.30, Z:-1.84 [[ 9.99534573e-01 -2.11808020e-02 -2.19547397e-02 8.42501570e+00] [ 2.12952393e-02 9.99760769e-01 4.99176736e-03 2.98685646e-01] [ 2.18437578e-02 -5.45697549e-03 9.99746504e-01 -1.83627130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.55455357399998 meters Centerline goodness [0,1] 0.8248726225091365 Centerline is valid? [False, False] Translation: X:8.43, Y:0.30, Z:-1.84 [[ 9.99526856e-01 -2.13658165e-02 -2.21261174e-02 8.42578884e+00] [ 2.14796539e-02 9.99757179e-01 4.92009074e-03 2.98630666e-01] [ 2.20156230e-02 -5.39302418e-03 9.99743081e-01 -1.83647217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.58455357399998 meters Centerline goodness [0,1] 0.8248726225091365 Centerline is valid? [False, False] Translation: X:8.43, Y:0.30, Z:-1.84 [[ 9.99526856e-01 -2.13658165e-02 -2.21261174e-02 8.42578884e+00] [ 2.14796539e-02 9.99757179e-01 4.92009074e-03 2.98630666e-01] [ 2.20156230e-02 -5.39302418e-03 9.99743081e-01 -1.83647217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.61455357399998 meters Centerline goodness [0,1] 0.8310477965650379 Centerline is valid? [False, False] Translation: X:8.43, Y:0.30, Z:-1.84 [[ 9.99518799e-01 -2.15728596e-02 -2.22886328e-02 8.42689395e+00] [ 2.16813946e-02 9.99754166e-01 4.63936816e-03 2.99303071e-01] [ 2.21830690e-02 -5.12038433e-03 9.99740813e-01 -1.83740421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.64455357399999 meters Centerline goodness [0,1] 0.8302610548748002 Centerline is valid? [False, False] Translation: X:8.43, Y:0.30, Z:-1.84 [[ 9.99508823e-01 -2.17828015e-02 -2.25304557e-02 8.42822901e+00] [ 2.18823434e-02 9.99751810e-01 4.18100904e-03 2.99935746e-01] [ 2.24337898e-02 -4.67197459e-03 9.99737414e-01 -1.83879770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.674553574 meters Centerline goodness [0,1] 0.829188411971456 Centerline is valid? [False, False] Translation: X:8.43, Y:0.30, Z:-1.84 [[ 9.99511747e-01 -2.16293812e-02 -2.25485700e-02 8.42812537e+00] [ 2.17323146e-02 9.99754449e-01 4.32992850e-03 3.00002412e-01] [ 2.24493795e-02 -4.81784702e-03 9.99736372e-01 -1.83855608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.704553574 meters Centerline goodness [0,1] 0.8283930524799231 Centerline is valid? [False, False] Translation: X:8.43, Y:0.30, Z:-1.84 [[ 9.99521225e-01 -2.13242434e-02 -2.24187044e-02 8.42749427e+00] [ 2.14311403e-02 9.99760024e-01 4.53877897e-03 3.00088784e-01] [ 2.23165384e-02 -5.01706432e-03 9.99738366e-01 -1.83815149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.734553574 meters Centerline goodness [0,1] 0.8292786911455141 Centerline is valid? [False, False] Translation: X:8.43, Y:0.30, Z:-1.84 [[ 9.99550321e-01 -2.04159272e-02 -2.19623603e-02 8.42509532e+00] [ 2.05294934e-02 9.99776954e-01 4.95794836e-03 3.00758073e-01] [ 2.18562406e-02 -5.40659501e-03 9.99746505e-01 -1.83688491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.764553574 meters Centerline goodness [0,1] 0.8245548764283817 Centerline is valid? [False, False] Translation: X:8.43, Y:0.30, Z:-1.84 [[ 9.99552955e-01 -2.03193327e-02 -2.19320691e-02 8.42516875e+00] [ 2.04292085e-02 9.99779792e-01 4.79742316e-03 3.01330030e-01] [ 2.18297591e-02 -5.24333331e-03 9.99747953e-01 -1.83717093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.794553574 meters Centerline goodness [0,1] 0.8241989097194522 Centerline is valid? [False, False] Translation: X:8.42, Y:0.30, Z:-1.84 [[ 9.99561163e-01 -1.99959355e-02 -2.18550869e-02 8.42474202e+00] [ 2.01047452e-02 9.99786499e-01 4.77033956e-03 3.02674925e-01] [ 2.17550334e-02 -5.20763711e-03 9.99749768e-01 -1.83716304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.824553574 meters Centerline goodness [0,1] 0.8273536050989244 Centerline is valid? [False, False] Translation: X:8.43, Y:0.30, Z:-1.84 [[ 9.99552654e-01 -2.02004723e-02 -2.20552142e-02 8.42549925e+00] [ 2.03111105e-02 9.99782167e-01 4.80396349e-03 3.03190585e-01] [ 2.19533675e-02 -5.24978035e-03 9.99745212e-01 -1.83699425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.854553574 meters Centerline goodness [0,1] 0.8277466174007815 Centerline is valid? [False, False] Translation: X:8.43, Y:0.30, Z:-1.84 [[ 9.99540194e-01 -2.05434796e-02 -2.23017144e-02 8.42642289e+00] [ 2.06586029e-02 9.99774364e-01 4.94400333e-03 3.03122931e-01] [ 2.21951153e-02 -5.40245231e-03 9.99739061e-01 -1.83657558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.884553574 meters Centerline goodness [0,1] 0.8321349924385132 Centerline is valid? [False, False] Translation: X:8.43, Y:0.30, Z:-1.84 [[ 9.99482161e-01 -2.22013006e-02 -2.32918924e-02 8.43013662e+00] [ 2.23282614e-02 9.99737144e-01 5.20499176e-03 3.02499985e-01] [ 2.31702124e-02 -5.72236388e-03 9.99715157e-01 -1.83528817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.91455357399997 meters Centerline goodness [0,1] 0.8250006644871488 Centerline is valid? [False, False] Translation: X:8.43, Y:0.30, Z:-1.84 [[ 9.99436843e-01 -2.33502869e-02 -2.40989727e-02 8.43341682e+00] [ 2.34766221e-02 9.99712018e-01 4.97276671e-03 3.02618540e-01] [ 2.39759172e-02 -5.53572874e-03 9.99697210e-01 -1.83564890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.94455357399997 meters Centerline goodness [0,1] 0.8321401006041572 Centerline is valid? [False, False] Translation: X:8.44, Y:0.30, Z:-1.84 [[ 9.99328672e-01 -2.60878626e-02 -2.57221582e-02 8.44024925e+00] [ 2.62142042e-02 9.99645826e-01 4.58682053e-03 3.02129473e-01] [ 2.55933877e-02 -5.25802718e-03 9.99658608e-01 -1.83584103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.97455357399997 meters Centerline goodness [0,1] 0.8301317965956992 Centerline is valid? [False, False] Translation: X:8.44, Y:0.30, Z:-1.84 [[ 9.99285488e-01 -2.70212298e-02 -2.64266109e-02 8.44289876e+00] [ 2.71498466e-02 9.99621155e-01 4.52024559e-03 3.02014989e-01] [ 2.62944567e-02 -5.23449426e-03 9.99640536e-01 -1.83574733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.00455357399997 meters Centerline goodness [0,1] 0.829644016389081 Centerline is valid? [False, False] Translation: X:8.45, Y:0.30, Z:-1.84 [[ 9.99249447e-01 -2.77726438e-02 -2.70041421e-02 8.44524908e+00] [ 2.79007555e-02 9.99601107e-01 4.37892282e-03 3.02306433e-01] [ 2.68717560e-02 -5.12907217e-03 9.99625731e-01 -1.83591605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.03455357399997 meters Centerline goodness [0,1] 0.825916648902153 Centerline is valid? [False, False] Translation: X:8.45, Y:0.30, Z:-1.84 [[ 9.99187136e-01 -2.90546603e-02 -2.79444670e-02 8.44919424e+00] [ 2.91697225e-02 9.99567556e-01 3.71865279e-03 3.03521244e-01] [ 2.78243384e-02 -4.53076238e-03 9.99602560e-01 -1.83698956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.06455357399997 meters Centerline goodness [0,1] 0.8014112364355589 Centerline is valid? [False, False] Translation: X:8.45, Y:0.30, Z:-1.84 [[ 9.99165689e-01 -2.94621213e-02 -2.82826776e-02 8.45074075e+00] [ 2.95701971e-02 9.99556888e-01 3.41057377e-03 3.04249900e-01] [ 2.81696624e-02 -4.24405264e-03 9.99594147e-01 -1.83761368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.09455357399997 meters Centerline goodness [0,1] 0.8272059805099452 Centerline is valid? [False, False] Translation: X:8.46, Y:0.30, Z:-1.84 [[ 9.99194948e-01 -2.70471517e-02 -2.96295000e-02 8.45528379e+00] [ 2.72783545e-02 9.99600287e-01 7.42683649e-03 3.04586977e-01] [ 2.94167819e-02 -8.22910150e-03 9.99533359e-01 -1.83669928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.12455357399998 meters Centerline goodness [0,1] 0.8198070602068357 Centerline is valid? [False, False] Translation: X:8.46, Y:0.31, Z:-1.84 [[ 9.99205310e-01 -2.67690412e-02 -2.95324577e-02 8.45504523e+00] [ 2.69872525e-02 9.99611163e-01 7.01511422e-03 3.06142609e-01] [ 2.93331865e-02 -7.80653928e-03 9.99539205e-01 -1.83738493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.15455357399998 meters Centerline goodness [0,1] 0.8297481007596961 Centerline is valid? [False, False] Translation: X:8.47, Y:0.31, Z:-1.84 [[ 9.99418852e-01 -2.46456107e-02 -2.35489109e-02 8.47180581e+00] [ 2.46382079e-02 9.99696251e-01 -6.04490600e-04 3.09297660e-01] [ 2.35566560e-02 2.39363374e-05 9.99722503e-01 -1.84418148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.18455357399998 meters Centerline goodness [0,1] 0.8309230114844747 Centerline is valid? [False, False] Translation: X:8.47, Y:0.31, Z:-1.84 [[ 9.99525494e-01 -1.98704996e-02 -2.35361267e-02 8.47064919e+00] [ 1.99683950e-02 9.99792881e-01 3.93164913e-03 3.10425387e-01] [ 2.34531281e-02 -4.39976222e-03 9.99715256e-01 -1.84270554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.21455357399998 meters Centerline goodness [0,1] 0.8224958861935348 Centerline is valid? [False, False] Translation: X:8.49, Y:0.31, Z:-1.85 [[ 9.99696445e-01 -1.70049117e-02 -1.78283758e-02 8.48769546e+00] [ 1.69486929e-02 9.99850916e-01 -3.29970796e-03 3.13428553e-01] [ 1.78818291e-02 2.99653865e-03 9.99835617e-01 -1.84966694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.24455357399998 meters Centerline goodness [0,1] 0.8316802800466745 Centerline is valid? [False, False] Translation: X:8.49, Y:0.31, Z:-1.85 [[ 9.99772511e-01 -1.20102155e-02 -1.76261343e-02 8.48561226e+00] [ 1.20454461e-02 9.99925657e-01 1.89396655e-03 3.13381490e-01] [ 1.76020770e-02 -2.10585035e-03 9.99842854e-01 -1.84689075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.27455357399998 meters Centerline goodness [0,1] 0.8277613203554803 Centerline is valid? [False, False] Translation: X:8.50, Y:0.32, Z:-1.85 [[ 9.99895079e-01 -9.02728952e-03 -1.13286707e-02 8.50088501e+00] [ 8.96660242e-03 9.99945238e-01 -5.39635471e-03 3.16084282e-01] [ 1.13767648e-02 5.29420884e-03 9.99921267e-01 -1.85380233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.30455357399998 meters Centerline goodness [0,1] 0.8279772155252352 Centerline is valid? [False, False] Translation: X:8.50, Y:0.32, Z:-1.85 [[ 9.99920065e-01 -4.96873604e-03 -1.16264828e-02 8.50113210e+00] [ 4.96572325e-03 9.99987629e-01 -2.87985796e-04 3.15001762e-01] [ 1.16277699e-02 2.30228880e-04 9.99932369e-01 -1.85142813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.33455357399998 meters Centerline goodness [0,1] 0.821805485756606 Centerline is valid? [False, False] Translation: X:8.50, Y:0.32, Z:-1.85 [[ 9.99934566e-01 -1.24763537e-04 -1.14389257e-02 8.49975679e+00] [ 1.76061260e-04 9.99989933e-01 4.48359052e-03 3.15001846e-01] [ 1.14382511e-02 -4.48531109e-03 9.99924521e-01 -1.84986513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.36455357399998 meters Centerline goodness [0,1] 0.8216708459812591 Centerline is valid? [False, False] Translation: X:8.50, Y:0.32, Z:-1.85 [[ 9.99938417e-01 6.54349170e-04 -1.10785745e-02 8.49863889e+00] [-6.09071450e-04 9.99991451e-01 4.08984346e-03 3.16366436e-01] [ 1.10811560e-02 -4.08284395e-03 9.99930267e-01 -1.85103135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.39455357399999 meters Centerline goodness [0,1] 0.8155892034233048 Centerline is valid? [False, False] Translation: X:8.50, Y:0.32, Z:-1.85 [[ 9.99943664e-01 1.96127515e-03 -1.04318162e-02 8.49632471e+00] [-1.92117046e-03 9.99990731e-01 3.85309186e-03 3.17633868e-01] [ 1.04392764e-02 -3.83283350e-03 9.99938164e-01 -1.85204863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.424553574 meters Centerline goodness [0,1] 0.8151483328957732 Centerline is valid? [False, False] Translation: X:8.50, Y:0.32, Z:-1.85 [[ 9.99943990e-01 1.99043532e-03 -1.03949821e-02 8.49641987e+00] [-1.95067042e-03 9.99990747e-01 3.83413295e-03 3.17433669e-01] [ 1.04025175e-02 -3.81364102e-03 9.99938620e-01 -1.85220074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.454553574 meters Centerline goodness [0,1] 0.8150468569021796 Centerline is valid? [False, False] Translation: X:8.50, Y:0.32, Z:-1.85 [[ 9.99943823e-01 1.65828246e-03 -1.04690611e-02 8.49651492e+00] [-1.61101576e-03 9.99988479e-01 4.52171384e-03 3.16160758e-01] [ 1.04764387e-02 -4.50459400e-03 9.99934974e-01 -1.85038738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.484553574 meters Centerline goodness [0,1] 0.8211672082639825 Centerline is valid? [False, False] Translation: X:8.50, Y:0.32, Z:-1.85 [[ 9.99948935e-01 -1.70506390e-03 -9.96098005e-03 8.49502518e+00] [ 1.70728632e-03 9.99998520e-01 2.14612989e-04 3.17209213e-01] [ 9.96059937e-03 -2.31608274e-04 9.99950365e-01 -1.85132982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.514553574 meters Centerline goodness [0,1] 0.8140372243255407 Centerline is valid? [False, False] Translation: X:8.50, Y:0.32, Z:-1.85 [[ 9.99940551e-01 -2.59577070e-03 -1.05904257e-02 8.49731957e+00] [ 2.60189932e-03 9.99996455e-01 5.64956547e-04 3.16027830e-01] [ 1.05889217e-02 -5.92478182e-04 9.99943760e-01 -1.85064676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.544553574 meters Centerline goodness [0,1] 0.8182952403705768 Centerline is valid? [False, False] Translation: X:8.50, Y:0.31, Z:-1.85 [[ 9.99919399e-01 -4.77139546e-03 -1.17655555e-02 8.50227525e+00] [ 4.78148641e-03 9.99988224e-01 8.29688504e-04 3.13843025e-01] [ 1.17614582e-02 -8.85878474e-04 9.99930439e-01 -1.84998525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.574553574 meters Centerline goodness [0,1] 0.8239518736418084 Centerline is valid? [False, False] Translation: X:8.50, Y:0.31, Z:-1.85 [[ 9.99908354e-01 -5.50400325e-03 -1.23688576e-02 8.50439545e+00] [ 5.51793856e-03 9.99984179e-01 1.09280046e-03 3.13134881e-01] [ 1.23626471e-02 -1.16095090e-03 9.99922906e-01 -1.84952795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.604553574 meters Centerline goodness [0,1] 0.8219997881580341 Centerline is valid? [False, False] Translation: X:8.51, Y:0.31, Z:-1.85 [[ 9.99891933e-01 -6.54206487e-03 -1.31652704e-02 8.50775633e+00] [ 6.55425493e-03 9.99978131e-01 8.82992013e-04 3.13009663e-01] [ 1.31592059e-02 -9.69185129e-04 9.99912944e-01 -1.85034449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.634553574 meters Centerline goodness [0,1] 0.8231503579952267 Centerline is valid? [False, False] Translation: X:8.51, Y:0.31, Z:-1.85 [[ 9.99887793e-01 -6.71924633e-03 -1.33885561e-02 8.50862590e+00] [ 6.73336034e-03 9.99976821e-01 1.00938605e-03 3.12821510e-01] [ 1.33814634e-02 -1.09942277e-03 9.99909860e-01 -1.85036648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.66455357399997 meters Centerline goodness [0,1] 0.8221803413585327 Centerline is valid? [False, False] Translation: X:8.51, Y:0.31, Z:-1.85 [[ 9.99887994e-01 -6.62587816e-03 -1.34199937e-02 8.50887590e+00] [ 6.64384938e-03 9.99977091e-01 1.29499801e-03 3.11891190e-01] [ 1.34111057e-02 -1.38401338e-03 9.99909109e-01 -1.85036452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.69455357399997 meters Centerline goodness [0,1] 0.8262996941896025 Centerline is valid? [False, False] Translation: X:8.51, Y:0.31, Z:-1.85 [[ 9.99890696e-01 -6.36735502e-03 -1.33436141e-02 8.50861994e+00] [ 6.38753885e-03 9.99978518e-01 1.47054849e-03 3.11649298e-01] [ 1.33339640e-02 -1.55562061e-03 9.99909889e-01 -1.85038805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.72455357399997 meters Centerline goodness [0,1] 0.8201385387085645 Centerline is valid? [False, False] Translation: X:8.51, Y:0.31, Z:-1.85 [[ 9.99903308e-01 -5.31485993e-03 -1.28501637e-02 8.50675808e+00] [ 5.33582358e-03 9.99984488e-01 1.59765739e-03 3.11900802e-01] [ 1.28414730e-02 -1.66606911e-03 9.99916157e-01 -1.85092205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.75455357399997 meters Centerline goodness [0,1] 0.8202860169491526 Centerline is valid? [False, False] Translation: X:8.51, Y:0.31, Z:-1.85 [[ 9.99909498e-01 -4.72329507e-03 -1.25971041e-02 8.50587598e+00] [ 4.74666929e-03 9.99987067e-01 1.82627105e-03 3.11825222e-01] [ 1.25883151e-02 -1.88590006e-03 9.99918986e-01 -1.85100308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.78455357399997 meters Centerline goodness [0,1] 0.8269138819529299 Centerline is valid? [False, False] Translation: X:8.50, Y:0.31, Z:-1.85 [[ 9.99915835e-01 -4.14308316e-03 -1.22945931e-02 8.50481451e+00] [ 4.16800521e-03 9.99989310e-01 2.00214321e-03 3.11576624e-01] [ 1.22861667e-02 -2.05321862e-03 9.99922414e-01 -1.85118893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.81455357399997 meters Centerline goodness [0,1] 0.8264454046602868 Centerline is valid? [False, False] Translation: X:8.50, Y:0.31, Z:-1.85 [[ 9.99924496e-01 -3.25144442e-03 -1.18503435e-02 8.50330443e+00] [ 3.28263141e-03 9.99991198e-01 2.61323657e-03 3.09720029e-01] [ 1.18417424e-02 -2.65193957e-03 9.99926367e-01 -1.85117243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.84455357399997 meters Centerline goodness [0,1] 0.8289914402679568 Centerline is valid? [False, False] Translation: X:8.50, Y:0.31, Z:-1.85 [[ 9.99926896e-01 -2.94697582e-03 -1.17267828e-02 8.50277755e+00] [ 2.98291052e-03 9.99990906e-01 3.04801725e-03 3.08367958e-01] [ 1.17176938e-02 -3.08277437e-03 9.99926593e-01 -1.85087127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.87455357399998 meters Centerline goodness [0,1] 0.8298611111111112 Centerline is valid? [False, False] Translation: X:8.50, Y:0.31, Z:-1.85 [[ 9.99921874e-01 -3.34289496e-03 -1.20445695e-02 8.50450269e+00] [ 3.38267856e-03 9.99988886e-01 3.28417512e-03 3.05569406e-01] [ 1.20334570e-02 -3.32466145e-03 9.99922068e-01 -1.85183075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.90455357399998 meters Centerline goodness [0,1] 0.8267735470941884 Centerline is valid? [False, False] Translation: X:8.51, Y:0.30, Z:-1.85 [[ 9.99915519e-01 -3.79713948e-03 -1.24312833e-02 8.50625890e+00] [ 3.84029589e-03 9.99986676e-01 3.44956912e-03 3.03975959e-01] [ 1.24180191e-02 -3.49701750e-03 9.99916778e-01 -1.85242031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.93455357399998 meters Centerline goodness [0,1] 0.82684040838259 Centerline is valid? [False, False] Translation: X:8.51, Y:0.30, Z:-1.85 [[ 9.99902610e-01 -4.98821267e-03 -1.30340895e-02 8.50933020e+00] [ 5.03847538e-03 9.99979987e-01 3.82626249e-03 3.00372631e-01] [ 1.30147424e-02 -3.89156179e-03 9.99907732e-01 -1.85278962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.96455357399998 meters Centerline goodness [0,1] 0.8248738498070645 Centerline is valid? [False, False] Translation: X:8.51, Y:0.30, Z:-1.85 [[ 9.99892704e-01 -5.67529914e-03 -1.35045301e-02 8.51122288e+00] [ 5.73329777e-03 9.99974491e-01 4.25992124e-03 2.98290423e-01] [ 1.34800093e-02 -4.33688966e-03 9.99899735e-01 -1.85241239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.99455357399998 meters Centerline goodness [0,1] 0.8291267377513835 Centerline is valid? [False, False] Translation: X:8.51, Y:0.30, Z:-1.85 [[ 9.99889680e-01 -5.76492520e-03 -1.36892004e-02 8.51157544e+00] [ 5.82822899e-03 9.99972486e-01 4.58897820e-03 2.97693333e-01] [ 1.36623686e-02 -4.66825574e-03 9.99895768e-01 -1.85161771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.02455357399998 meters Centerline goodness [0,1] 0.8290933512424445 Centerline is valid? [False, False] Translation: X:8.51, Y:0.30, Z:-1.85 [[ 9.99892704e-01 -5.43263283e-03 -1.36039653e-02 8.51063390e+00] [ 5.49606442e-03 9.99974179e-01 4.62969154e-03 2.99250568e-01] [ 1.35784626e-02 -4.70396306e-03 9.99896744e-01 -1.85061143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.05455357399998 meters Centerline goodness [0,1] 0.8297377496190552 Centerline is valid? [False, False] Translation: X:8.51, Y:0.30, Z:-1.85 [[ 9.99885369e-01 -5.80992291e-03 -1.39818986e-02 8.51171516e+00] [ 5.86867184e-03 9.99974108e-01 4.16442948e-03 3.02201445e-01] [ 1.39573416e-02 -4.24600728e-03 9.99893576e-01 -1.85042382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.08455357399998 meters Centerline goodness [0,1] 0.8325218825657807 Centerline is valid? [False, False] Translation: X:8.51, Y:0.30, Z:-1.85 [[ 9.99876339e-01 -6.34768047e-03 -1.43879452e-02 8.51330240e+00] [ 6.40489186e-03 9.99971751e-01 3.93375636e-03 3.03452182e-01] [ 1.43625685e-02 -4.02542314e-03 9.99888750e-01 -1.85048513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.11455357399998 meters Centerline goodness [0,1] 0.8320110382890652 Centerline is valid? [False, False] Translation: X:8.51, Y:0.31, Z:-1.85 [[ 9.99870742e-01 -6.61199318e-03 -1.46554090e-02 8.51401630e+00] [ 6.66690223e-03 9.99970927e-01 3.70099052e-03 3.05301917e-01] [ 1.46305120e-02 -3.79821831e-03 9.99885754e-01 -1.85012251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.14455357399999 meters Centerline goodness [0,1] 0.8330504879083581 Centerline is valid? [False, False] Translation: X:8.52, Y:0.31, Z:-1.85 [[ 9.99829439e-01 -8.92610471e-03 -1.61683875e-02 8.51939169e+00] [ 8.97490798e-03 9.99955378e-01 2.94839566e-03 3.07578085e-01] [ 1.61413484e-02 -3.09300257e-03 9.99864936e-01 -1.84981946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.174553574 meters Centerline goodness [0,1] 0.8351636691601676 Centerline is valid? [False, False] Translation: X:8.52, Y:0.31, Z:-1.85 [[ 9.99795240e-01 -1.05286657e-02 -1.72807807e-02 8.52361670e+00] [ 1.05763203e-02 9.99940508e-01 2.66858931e-03 3.08001354e-01] [ 1.72516560e-02 -2.85080996e-03 9.99847115e-01 -1.84976542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.204553574 meters Centerline goodness [0,1] 0.836116854885743 Centerline is valid? [False, False] Translation: X:8.53, Y:0.31, Z:-1.85 [[ 9.99678171e-01 -1.70991347e-02 -1.87396345e-02 8.53003010e+00] [ 1.70468098e-02 9.99850345e-01 -2.94840645e-03 3.10536025e-01] [ 1.87872452e-02 2.62800658e-03 9.99820050e-01 -1.85200365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.234553574 meters Centerline goodness [0,1] 0.838170531119011 Centerline is valid? [False, False] Translation: X:8.53, Y:0.31, Z:-1.85 [[ 9.99624321e-01 -1.88114214e-02 -1.99335833e-02 8.53456795e+00] [ 1.87497982e-02 9.99818847e-01 -3.27383732e-03 3.10683949e-01] [ 1.99915578e-02 2.89885674e-03 9.99795946e-01 -1.85222111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.264553574 meters Centerline goodness [0,1] 0.8434041875646843 Centerline is valid? [False, False] Translation: X:8.54, Y:0.31, Z:-1.85 [[ 9.99570300e-01 -2.03859639e-02 -2.10624590e-02 8.53879506e+00] [ 2.03164609e-02 9.99787443e-01 -3.50860156e-03 3.10720669e-01] [ 2.11295083e-02 3.07917929e-03 9.99772005e-01 -1.85226537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.294553574 meters Centerline goodness [0,1] 0.8480999259024029 Centerline is valid? [False, False] Translation: X:8.55, Y:0.31, Z:-1.85 [[ 9.99458419e-01 -2.34600451e-02 -2.30758371e-02 8.54679131e+00] [ 2.33691061e-02 9.99718071e-01 -4.20271766e-03 3.12425588e-01] [ 2.31679273e-02 3.66117986e-03 9.99724884e-01 -1.85240794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.324553574 meters Centerline goodness [0,1] 0.8468941151655769 Centerline is valid? [False, False] Translation: X:8.55, Y:0.31, Z:-1.85 [[ 9.99429820e-01 -2.24493654e-02 -2.52202414e-02 8.55437387e+00] [ 2.24433072e-02 9.99747980e-01 -5.23282217e-04 3.14181694e-01] [ 2.52256328e-02 -4.30417731e-05 9.99681782e-01 -1.85121932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.354553574 meters Centerline goodness [0,1] 0.8474688052338618 Centerline is valid? [False, False] Translation: X:8.56, Y:0.32, Z:-1.85 [[ 9.99420139e-01 -2.26330003e-02 -2.54388104e-02 8.55514662e+00] [ 2.26170624e-02 9.99743784e-01 -9.14101554e-04 3.15881869e-01] [ 2.54529815e-02 3.38220338e-04 9.99675963e-01 -1.85156773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.384553574 meters Centerline goodness [0,1] 0.8423145806995365 Centerline is valid? [False, False] Translation: X:8.56, Y:0.32, Z:-1.85 [[ 9.99413165e-01 -2.27172196e-02 -2.56369541e-02 8.55565500e+00] [ 2.26947535e-02 9.99741760e-01 -1.16697539e-03 3.17344764e-01] [ 2.56568440e-02 5.84466219e-04 9.99670638e-01 -1.85159380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.41455357399997 meters Centerline goodness [0,1] 0.846298767564173 Centerline is valid? [False, False] Translation: X:8.56, Y:0.32, Z:-1.85 [[ 9.99425127e-01 -2.03289627e-02 -2.71320608e-02 8.56004718e+00] [ 2.04353514e-02 9.99784515e-01 3.64961382e-03 3.18222528e-01] [ 2.70520214e-02 -4.20196896e-03 9.99625196e-01 -1.84842849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.44455357399997 meters Centerline goodness [0,1] 0.8434828082102236 Centerline is valid? [False, False] Translation: X:8.56, Y:0.32, Z:-1.85 [[ 9.99430285e-01 -2.01015203e-02 -2.71115157e-02 8.55962333e+00] [ 2.02015143e-02 9.99790081e-01 3.41937920e-03 3.20190547e-01] [ 2.70370898e-02 -3.96512480e-03 9.99626567e-01 -1.84822692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.47455357399997 meters Centerline goodness [0,1] 0.8464684886538312 Centerline is valid? [False, False] Translation: X:8.58, Y:0.32, Z:-1.85 [[ 9.99621258e-01 -1.78250651e-02 -2.09668263e-02 8.57590915e+00] [ 1.77614772e-02 9.99837083e-01 -3.21512179e-03 3.24394627e-01] [ 2.10207202e-02 2.84150228e-03 9.99775002e-01 -1.85262755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.50455357399997 meters Centerline goodness [0,1] 0.8464684886538312 Centerline is valid? [False, False] Translation: X:8.58, Y:0.32, Z:-1.85 [[ 9.99621258e-01 -1.78250651e-02 -2.09668263e-02 8.57590915e+00] [ 1.77614772e-02 9.99837083e-01 -3.21512179e-03 3.24394627e-01] [ 2.10207202e-02 2.84150228e-03 9.99775002e-01 -1.85262755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.53455357399997 meters Centerline goodness [0,1] 0.8444484921027295 Centerline is valid? [False, False] Translation: X:8.58, Y:0.32, Z:-1.85 [[ 9.99667573e-01 -1.41883560e-02 -2.15275406e-02 8.57664129e+00] [ 1.42282805e-02 9.99897323e-01 1.70253831e-03 3.23707151e-01] [ 2.15011740e-02 -2.00827222e-03 9.99766806e-01 -1.84977065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.56455357399997 meters Centerline goodness [0,1] 0.8480595621043894 Centerline is valid? [False, False] Translation: X:8.58, Y:0.32, Z:-1.85 [[ 9.99694229e-01 -1.08244102e-02 -2.22324193e-02 8.57858930e+00] [ 1.09600386e-02 9.99922009e-01 5.98771252e-03 3.23532847e-01] [ 2.21658720e-02 -6.22954982e-03 9.99734898e-01 -1.84857233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.59455357399997 meters Centerline goodness [0,1] 0.8365598058954107 Centerline is valid? [False, False] Translation: X:8.58, Y:0.33, Z:-1.85 [[ 9.99721720e-01 -6.72803507e-03 -2.26100835e-02 8.57949871e+00] [ 6.94568507e-03 9.99930165e-01 9.56153072e-03 3.26542504e-01] [ 2.25441742e-02 -9.71591246e-03 9.99698635e-01 -1.84868825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.62455357399998 meters Centerline goodness [0,1] 0.8351654009525036 Centerline is valid? [False, False] Translation: X:8.60, Y:0.33, Z:-1.86 [[ 9.99846333e-01 -4.14755690e-03 -1.70325752e-02 8.59661288e+00] [ 4.17701067e-03 9.99989841e-01 1.69404961e-03 3.30584254e-01] [ 1.70253760e-02 -1.76493454e-03 9.99853500e-01 -1.85679999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.65455357399998 meters Centerline goodness [0,1] 0.8394413121476166 Centerline is valid? [False, False] Translation: X:8.59, Y:0.33, Z:-1.86 [[ 9.99859425e-01 8.51120787e-04 -1.67453003e-02 8.59452933e+00] [-7.51739631e-04 9.99982074e-01 5.94026822e-03 3.33193868e-01] [ 1.67500560e-02 -5.92684506e-03 9.99842142e-01 -1.85512823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.68455357399998 meters Centerline goodness [0,1] 0.8422395753585464 Centerline is valid? [False, False] Translation: X:8.60, Y:0.33, Z:-1.85 [[ 9.99842017e-01 4.60447680e-03 -1.71679609e-02 8.59563191e+00] [-4.43152890e-03 9.99939191e-01 1.00983456e-02 3.33772303e-01] [ 1.72134146e-02 -1.00206699e-02 9.99801623e-01 -1.85409173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.71455357399998 meters Centerline goodness [0,1] 0.834180819688803 Centerline is valid? [False, False] Translation: X:8.59, Y:0.34, Z:-1.85 [[ 9.99842927e-01 6.87460370e-03 -1.63358876e-02 8.59142895e+00] [-6.71369105e-03 9.99928606e-01 9.88476402e-03 3.38258069e-01] [ 1.64026752e-02 -9.77353728e-03 9.99817698e-01 -1.85390755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.74455357399998 meters Centerline goodness [0,1] 0.8385818772856563 Centerline is valid? [False, False] Translation: X:8.61, Y:0.34, Z:-1.86 [[ 9.99908179e-01 8.33428080e-03 -1.06851688e-02 8.60889457e+00] [-8.31079464e-03 9.99962955e-01 2.24053737e-03 3.41375357e-01] [ 1.07034463e-02 -2.15152940e-03 9.99940402e-01 -1.85974705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.77455357399998 meters Centerline goodness [0,1] 0.847506215434573 Centerline is valid? [False, False] Translation: X:8.61, Y:0.34, Z:-1.86 [[ 9.99907348e-01 8.37829165e-03 -1.07284145e-02 8.60887880e+00] [-8.35662409e-03 9.99962955e-01 2.06288065e-03 3.42440241e-01] [ 1.07453005e-02 -1.97303620e-03 9.99940321e-01 -1.85958388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.80455357399998 meters Centerline goodness [0,1] 0.8451042324699937 Centerline is valid? [False, False] Translation: X:8.60, Y:0.35, Z:-1.86 [[ 9.99981848e-01 4.99991263e-03 -3.36214872e-03 8.60174498e+00] [-4.99211372e-03 9.99984839e-01 2.32402553e-03 3.45789313e-01] [ 3.37371767e-03 -2.30719912e-03 9.99991647e-01 -1.86476612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.83455357399998 meters Centerline goodness [0,1] 0.8488640105367139 Centerline is valid? [False, False] Translation: X:8.60, Y:0.35, Z:-1.87 [[ 9.99994044e-01 1.86392624e-03 -2.90489640e-03 8.60002936e+00] [-1.86983558e-03 9.99996186e-01 -2.03288491e-03 3.48434348e-01] [ 2.90109618e-03 2.03830448e-03 9.99993714e-01 -1.86538474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.86455357399998 meters Centerline goodness [0,1] 0.8440225886149347 Centerline is valid? [False, False] Translation: X:8.60, Y:0.35, Z:-1.86 [[ 9.99991984e-01 1.63237312e-04 -4.00070117e-03 8.60369999e+00] [-1.71974180e-04 9.99997601e-01 -2.18358760e-03 3.48894574e-01] [ 4.00033513e-03 2.18425811e-03 9.99989613e-01 -1.86466331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.89455357399999 meters Centerline goodness [0,1] 0.8426266700277287 Centerline is valid? [False, False] Translation: X:8.61, Y:0.35, Z:-1.86 [[ 9.99989437e-01 -5.89782614e-04 -4.55833020e-03 8.60549143e+00] [ 5.80010858e-04 9.99997532e-01 -2.14473858e-03 3.48725802e-01] [ 4.55958388e-03 2.14207205e-03 9.99987311e-01 -1.86424285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.924553574 meters Centerline goodness [0,1] 0.8497691667297359 Centerline is valid? [False, False] Translation: X:8.61, Y:0.35, Z:-1.86 [[ 9.99985995e-01 -1.34755433e-03 -5.11809340e-03 8.60739351e+00] [ 1.33630280e-03 9.99996685e-01 -2.20116608e-03 3.48730232e-01] [ 5.12104262e-03 2.19429592e-03 9.99984480e-01 -1.86409847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.954553574 meters Centerline goodness [0,1] 0.8506684794924088 Centerline is valid? [False, False] Translation: X:8.61, Y:0.35, Z:-1.86 [[ 9.99977189e-01 -2.88973950e-03 -6.10500561e-03 8.61096800e+00] [ 2.87407872e-03 9.99992561e-01 -2.57245515e-03 3.49068460e-01] [ 6.11239392e-03 2.55485020e-03 9.99978055e-01 -1.86428873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.984553574 meters Centerline goodness [0,1] 0.8503502494582472 Centerline is valid? [False, False] Translation: X:8.61, Y:0.35, Z:-1.86 [[ 9.99972444e-01 -3.47168740e-03 -6.56193747e-03 8.61256052e+00] [ 3.45419569e-03 9.99990456e-01 -2.67508857e-03 3.49424662e-01] [ 6.57116192e-03 2.65234864e-03 9.99974892e-01 -1.86424602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.014553574 meters Centerline goodness [0,1] 0.8517679627532402 Centerline is valid? [False, False] Translation: X:8.61, Y:0.35, Z:-1.86 [[ 9.99965248e-01 -4.30640823e-03 -7.13849141e-03 8.61458273e+00] [ 4.28488709e-03 9.99986237e-01 -3.02735947e-03 3.50759334e-01] [ 7.15143021e-03 2.99666663e-03 9.99969938e-01 -1.86428277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.044553574 meters Centerline goodness [0,1] 0.8496028953453303 Centerline is valid? [False, False] Translation: X:8.62, Y:0.35, Z:-1.86 [[ 9.99962599e-01 -4.51569486e-03 -7.37624885e-03 8.61530890e+00] [ 4.49335252e-03 9.99985276e-01 -3.04272676e-03 3.51229344e-01] [ 7.38988027e-03 3.00946888e-03 9.99968166e-01 -1.86413850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.074553574 meters Centerline goodness [0,1] 0.8535161655554158 Centerline is valid? [False, False] Translation: X:8.62, Y:0.35, Z:-1.86 [[ 9.99960742e-01 -4.63443271e-03 -7.55229385e-03 8.61577959e+00] [ 4.61134961e-03 9.99984652e-01 -3.07098846e-03 3.51723629e-01] [ 7.56641022e-03 3.03604163e-03 9.99966765e-01 -1.86394585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.104553574 meters Centerline goodness [0,1] 0.8516609248874695 Centerline is valid? [False, False] Translation: X:8.62, Y:0.35, Z:-1.86 [[ 9.99961816e-01 -1.83822586e-03 -8.54321441e-03 8.61896577e+00] [ 1.84659125e-03 9.99997823e-01 9.71400189e-04 3.51395901e-01] [ 8.54141016e-03 -9.87138923e-04 9.99963034e-01 -1.86334751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.134553574 meters Centerline goodness [0,1] 0.8495799373040752 Centerline is valid? [False, False] Translation: X:8.62, Y:0.35, Z:-1.86 [[ 9.99965499e-01 -6.17146931e-04 -8.28376525e-03 8.61773304e+00] [ 6.22920232e-04 9.99999565e-01 6.94379643e-04 3.54837372e-01] [ 8.28333312e-03 -6.99515811e-04 9.99965448e-01 -1.86423821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.16455357399997 meters Centerline goodness [0,1] 0.8508027149547925 Centerline is valid? [False, False] Translation: X:8.62, Y:0.36, Z:-1.86 [[ 9.99968208e-01 1.03027019e-04 -7.97327941e-03 8.61649460e+00] [-9.81884337e-05 9.99999811e-01 6.07239184e-04 3.56467415e-01] [ 7.97334046e-03 -6.06436994e-04 9.99968029e-01 -1.86432182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.19455357399997 meters Centerline goodness [0,1] 0.8191872685416876 Centerline is valid? [False, False] Translation: X:8.62, Y:0.36, Z:-1.86 [[ 9.99970237e-01 8.08600233e-04 -7.67274140e-03 8.61531783e+00] [-8.05050349e-04 9.99999567e-01 4.65739034e-04 3.57822921e-01] [ 7.67311468e-03 -4.59548230e-04 9.99970456e-01 -1.86452058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.22455357399997 meters Centerline goodness [0,1] 0.8461749383054565 Centerline is valid? [False, False] Translation: X:8.61, Y:0.36, Z:-1.86 [[ 9.99971433e-01 2.66517770e-03 -7.07312510e-03 8.61230605e+00] [-2.65980917e-03 9.99996168e-01 7.68301256e-04 3.60071157e-01] [ 7.07514565e-03 -7.49466146e-04 9.99974690e-01 -1.86392614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.25455357399997 meters Centerline goodness [0,1] 0.8346186377431712 Centerline is valid? [False, False] Translation: X:8.61, Y:0.36, Z:-1.86 [[ 9.99971480e-01 3.15972366e-03 -6.85973854e-03 8.61165460e+00] [-3.15685160e-03 9.99994925e-01 4.29471059e-04 3.61475989e-01] [ 6.86106074e-03 -4.07803633e-04 9.99976379e-01 -1.86452252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.28455357399997 meters Centerline goodness [0,1] 0.8473473846230233 Centerline is valid? [False, False] Translation: X:8.61, Y:0.36, Z:-1.86 [[ 9.99969495e-01 4.33422544e-03 -6.49794875e-03 8.61001662e+00] [-4.33361817e-03 9.99990604e-01 1.07531969e-04 3.64826347e-01] [ 6.49835376e-03 -7.93690595e-05 9.99978882e-01 -1.86494713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.31455357399997 meters Centerline goodness [0,1] 0.8450557878330571 Centerline is valid? [False, False] Translation: X:8.61, Y:0.37, Z:-1.86 [[ 9.99969052e-01 4.42592790e-03 -6.50431598e-03 8.61004848e+00] [-4.42649816e-03 9.99990200e-01 -7.32811812e-05 3.66161939e-01] [ 6.50392791e-03 1.02070256e-04 9.99978844e-01 -1.86498882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.34455357399997 meters Centerline goodness [0,1] 0.8369683481701286 Centerline is valid? [False, False] Translation: X:8.61, Y:0.37, Z:-1.86 [[ 9.99968784e-01 4.41374437e-03 -6.55363325e-03 8.60978267e+00] [-4.41370615e-03 9.99990259e-01 2.02961735e-05 3.67021465e-01] [ 6.55365899e-03 8.63027145e-06 9.99978525e-01 -1.86401186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.37455357399998 meters Centerline goodness [0,1] 0.8410022216736608 Centerline is valid? [False, False] Translation: X:8.61, Y:0.37, Z:-1.86 [[ 9.99968183e-01 3.98974314e-03 -6.90760474e-03 8.61097316e+00] [-3.99006861e-03 9.99992039e-01 -3.33377826e-05 3.67197698e-01] [ 6.90741674e-03 6.08985388e-05 9.99976142e-01 -1.86383672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.40455357399998 meters Centerline goodness [0,1] 0.8396328826606139 Centerline is valid? [False, False] Translation: X:8.61, Y:0.37, Z:-1.86 [[ 9.99967608e-01 3.30385949e-03 -7.33944430e-03 8.61214100e+00] [-3.30522399e-03 9.99994523e-01 -1.73791892e-04 3.67869949e-01] [ 7.33882991e-03 1.98044770e-04 9.99973051e-01 -1.86309866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.43455357399998 meters Centerline goodness [0,1] 0.8513426794352849 Centerline is valid? [False, False] Translation: X:8.61, Y:0.37, Z:-1.86 [[ 9.99966632e-01 2.99781988e-03 -7.59916841e-03 8.61292699e+00] [-2.99943542e-03 9.99995481e-01 -2.01206816e-04 3.68076883e-01] [ 7.59853089e-03 2.23993317e-04 9.99971106e-01 -1.86288230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.46455357399998 meters Centerline goodness [0,1] 0.8490738003744212 Centerline is valid? [False, False] Translation: X:8.61, Y:0.37, Z:-1.86 [[ 9.99964825e-01 2.44570531e-03 -8.02293524e-03 8.61438173e+00] [-2.44844597e-03 9.99996948e-01 -3.31799664e-04 3.68233390e-01] [ 8.02209927e-03 3.51431716e-04 9.99967761e-01 -1.86288751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.49455357399998 meters Centerline goodness [0,1] 0.8539753086419752 Centerline is valid? [False, False] Translation: X:8.62, Y:0.37, Z:-1.86 [[ 9.99960932e-01 1.25638126e-03 -8.74964143e-03 8.61712449e+00] [-1.26047917e-03 9.99999098e-01 -4.62852098e-04 3.67667715e-01] [ 8.74905202e-03 4.73862756e-04 9.99961614e-01 -1.86303538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.52455357399998 meters Centerline goodness [0,1] 0.8504374907311285 Centerline is valid? [False, False] Translation: X:8.62, Y:0.37, Z:-1.86 [[ 9.99959029e-01 1.00471113e-03 -8.99620655e-03 8.61795003e+00] [-1.00738856e-03 9.99999450e-01 -2.93090568e-04 3.67178315e-01] [ 8.99590712e-03 3.02141235e-04 9.99959490e-01 -1.86298042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.55455357399998 meters Centerline goodness [0,1] 0.8554681703516842 Centerline is valid? [False, False] Translation: X:8.62, Y:0.37, Z:-1.86 [[ 9.99957959e-01 1.00346240e-03 -9.11446931e-03 8.61838894e+00] [-1.00466605e-03 9.99999487e-01 -1.27481602e-04 3.66518949e-01] [ 9.11433672e-03 1.36633240e-04 9.99958454e-01 -1.86315443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.58455357399998 meters Centerline goodness [0,1] 0.8541841935962785 Centerline is valid? [False, False] Translation: X:8.62, Y:0.37, Z:-1.86 [[ 9.99958032e-01 1.14713333e-03 -9.08943655e-03 8.61852326e+00] [-1.14891567e-03 9.99999322e-01 -1.90870074e-04 3.66365373e-01] [ 9.08921144e-03 2.01305060e-04 9.99958672e-01 -1.86368835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.61455357399998 meters Centerline goodness [0,1] 0.8494328032892455 Centerline is valid? [False, False] Translation: X:8.62, Y:0.37, Z:-1.86 [[ 9.99959299e-01 2.10008544e-03 -8.77436867e-03 8.61756813e+00] [-2.10090348e-03 9.99997790e-01 -8.40147230e-05 3.66285194e-01] [ 8.77417283e-03 1.02445405e-04 9.99961501e-01 -1.86456694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.64455357399999 meters Centerline goodness [0,1] 0.8449949117625158 Centerline is valid? [False, False] Translation: X:8.62, Y:0.37, Z:-1.86 [[ 9.99959975e-01 2.68171562e-03 -8.53562308e-03 8.61671105e+00] [-2.68149289e-03 9.99996404e-01 3.75391136e-05 3.66248016e-01] [ 8.53569306e-03 -1.46493985e-05 9.99963570e-01 -1.86474187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.674553574 meters Centerline goodness [0,1] 0.8491620111731844 Centerline is valid? [False, False] Translation: X:8.62, Y:0.37, Z:-1.87 [[ 9.99960526e-01 3.10971287e-03 -8.32328331e-03 8.61620619e+00] [-3.10949941e-03 9.99995165e-01 3.85875146e-05 3.65931697e-01] [ 8.32336306e-03 -1.27047468e-05 9.99965360e-01 -1.86531747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.704553574 meters Centerline goodness [0,1] 0.8491222835546273 Centerline is valid? [False, False] Translation: X:8.61, Y:0.37, Z:-1.87 [[ 9.99960842e-01 4.10562912e-03 -7.83949999e-03 8.61489391e+00] [-4.10410936e-03 9.99991556e-01 2.09936373e-04 3.65207095e-01] [ 7.84029571e-03 -1.77753987e-04 9.99969249e-01 -1.86622829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.734553574 meters Centerline goodness [0,1] 0.8431782020684169 Centerline is valid? [False, False] Translation: X:8.61, Y:0.37, Z:-1.87 [[ 9.99960312e-01 4.38965629e-03 -7.75282031e-03 8.61495243e+00] [-4.38916949e-03 9.99990364e-01 7.98041625e-05 3.65506936e-01] [ 7.75309592e-03 -4.57725529e-05 9.99969943e-01 -1.86711990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.764553574 meters Centerline goodness [0,1] 0.837503108679433 Centerline is valid? [False, False] Translation: X:8.62, Y:0.37, Z:-1.87 [[ 9.99959734e-01 4.75859328e-03 -7.60823395e-03 8.61503404e+00] [-4.75932933e-03 9.99988671e-01 -7.86412969e-05 3.65263006e-01] [ 7.60777354e-03 1.14848221e-04 9.99971054e-01 -1.86857787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.794553574 meters Centerline goodness [0,1] 0.8416149841839149 Centerline is valid? [False, False] Translation: X:8.62, Y:0.36, Z:-1.87 [[ 9.99959647e-01 4.85314954e-03 -7.55982694e-03 8.61502056e+00] [-4.85280363e-03 9.99988223e-01 6.40987812e-05 3.64640489e-01] [ 7.56004899e-03 -2.74098390e-05 9.99971422e-01 -1.86865086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.824553574 meters Centerline goodness [0,1] 0.8451810835079318 Centerline is valid? [False, False] Translation: X:8.61, Y:0.36, Z:-1.87 [[ 9.99959685e-01 5.03894082e-03 -7.43224719e-03 8.61472001e+00] [-5.03531720e-03 9.99987195e-01 5.06184908e-04 3.62721431e-01] [ 7.43470265e-03 -4.68740779e-04 9.99972252e-01 -1.86851583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.854553574 meters Centerline goodness [0,1] 0.8396832138306642 Centerline is valid? [False, False] Translation: X:8.61, Y:0.36, Z:-1.87 [[ 9.99959696e-01 5.12818114e-03 -7.36938545e-03 8.61448727e+00] [-5.12291793e-03 9.99986609e-01 7.32898249e-04 3.61787935e-01] [ 7.37304520e-03 -6.95115953e-04 9.99972577e-01 -1.86832643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.884553574 meters Centerline goodness [0,1] 0.8401107673884842 Centerline is valid? [False, False] Translation: X:8.61, Y:0.36, Z:-1.87 [[ 9.99959474e-01 5.40791568e-03 -7.19759910e-03 8.61383588e+00] [-5.39862424e-03 9.99984570e-01 1.30971194e-03 3.60008544e-01] [ 7.20457085e-03 -1.27080173e-03 9.99973239e-01 -1.86768326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.91455357399997 meters Centerline goodness [0,1] 0.8475008755691199 Centerline is valid? [False, False] Translation: X:8.61, Y:0.36, Z:-1.87 [[ 9.99959547e-01 5.38163808e-03 -7.20713471e-03 8.61410310e+00] [-5.37125473e-03 9.99984510e-01 1.45928648e-03 3.59036394e-01] [ 7.21487642e-03 -1.42051609e-03 9.99972963e-01 -1.86783906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.94455357399997 meters Centerline goodness [0,1] 0.8423926656981113 Centerline is valid? [False, False] Translation: X:8.61, Y:0.36, Z:-1.87 [[ 9.99960016e-01 5.11398849e-03 -7.33581808e-03 8.61490774e+00] [-5.10311810e-03 9.99985854e-01 1.49977755e-03 3.57917828e-01] [ 7.34338416e-03 -1.46228203e-03 9.99971968e-01 -1.86822014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.97455357399997 meters Centerline goodness [0,1] 0.8398550542288432 Centerline is valid? [False, False] Translation: X:8.62, Y:0.36, Z:-1.87 [[ 9.99960391e-01 4.50143353e-03 -7.67809131e-03 8.61653622e+00] [-4.48778424e-03 9.99988321e-01 1.79399777e-03 3.55178249e-01] [ 7.68607719e-03 -1.75946909e-03 9.99968914e-01 -1.86851348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.00455357399997 meters Centerline goodness [0,1] 0.8390200782927137 Centerline is valid? [False, False] Translation: X:8.62, Y:0.35, Z:-1.87 [[ 9.99959906e-01 4.05064331e-03 -7.98612286e-03 8.61799775e+00] [-4.03762902e-03 9.99990496e-01 1.64506326e-03 3.54321994e-01] [ 7.99271052e-03 -1.61275230e-03 9.99966757e-01 -1.86931297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.03455357399997 meters Centerline goodness [0,1] 0.8446129269467759 Centerline is valid? [False, False] Translation: X:8.62, Y:0.35, Z:-1.87 [[ 9.99958242e-01 3.03273272e-03 -8.62076623e-03 8.62100299e+00] [-3.01907485e-03 9.99994168e-01 1.59687160e-03 3.52088772e-01] [ 8.62555884e-03 -1.57077818e-03 9.99961565e-01 -1.87054258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.06455357399997 meters Centerline goodness [0,1] 0.8422376982513217 Centerline is valid? [False, False] Translation: X:8.62, Y:0.35, Z:-1.87 [[ 9.99956579e-01 2.55284987e-03 -8.96231267e-03 8.62235016e+00] [-2.53759091e-03 9.99995312e-01 1.71352781e-03 3.50807217e-01] [ 8.96664503e-03 -1.69071072e-03 9.99958370e-01 -1.87070069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.09455357399997 meters Centerline goodness [0,1] 0.845816885266777 Centerline is valid? [False, False] Translation: X:8.62, Y:0.35, Z:-1.87 [[ 9.99953600e-01 1.92886401e-03 -9.43808147e-03 8.62424538e+00] [-1.91389482e-03 9.99996897e-01 1.59481656e-03 3.49830165e-01] [ 9.44112837e-03 -1.57667906e-03 9.99954189e-01 -1.87125842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.12455357399998 meters Centerline goodness [0,1] 0.840737143441366 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99948798e-01 1.03125169e-03 -1.00667160e-02 8.62662204e+00] [-1.01351469e-03 9.99997925e-01 1.76688783e-03 3.48097370e-01] [ 1.00685172e-02 -1.75659460e-03 9.99947768e-01 -1.87130764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.15455357399998 meters Centerline goodness [0,1] 0.8409775780172634 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99947249e-01 7.85317121e-04 -1.02412527e-02 8.62725218e+00] [-7.65649884e-04 9.99997856e-01 1.92417309e-03 3.47550490e-01] [ 1.02427418e-02 -1.91623037e-03 9.99945706e-01 -1.87108676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.18455357399998 meters Centerline goodness [0,1] 0.8507011976660865 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99945098e-01 5.28098768e-04 -1.04652439e-02 8.62762370e+00] [-5.04203125e-04 9.99997260e-01 2.28584041e-03 3.47250218e-01] [ 1.04664224e-02 -2.28043830e-03 9.99942625e-01 -1.86987391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.21455357399998 meters Centerline goodness [0,1] 0.8494362488175287 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99943029e-01 3.18503350e-04 -1.06694788e-02 8.62842665e+00] [-2.95156176e-04 9.99997559e-01 2.18972386e-03 3.47400662e-01] [ 1.06701502e-02 -2.18644995e-03 9.99940682e-01 -1.87010943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.24455357399998 meters Centerline goodness [0,1] 0.8497635782747603 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99943124e-01 3.85124952e-04 -1.06583615e-02 8.62831664e+00] [-3.59529211e-04 9.99997047e-01 2.40328241e-03 3.47168410e-01] [ 1.06592556e-02 -2.39931373e-03 9.99940310e-01 -1.86975798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.27455357399998 meters Centerline goodness [0,1] 0.8478477455613744 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99943513e-01 4.96410822e-04 -1.06171617e-02 8.62803715e+00] [-4.69270595e-04 9.99996617e-01 2.55859861e-03 3.47132319e-01] [ 1.06183958e-02 -2.55347176e-03 9.99940363e-01 -1.86931150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.30455357399998 meters Centerline goodness [0,1] 0.8492394222165409 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99944206e-01 6.93055281e-04 -1.05406080e-02 8.62769063e+00] [-6.65486619e-04 9.99996350e-01 2.61875423e-03 3.47316921e-01] [ 1.05423844e-02 -2.61159348e-03 9.99941017e-01 -1.86914301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.33455357399998 meters Centerline goodness [0,1] 0.8527623038789799 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99947694e-01 1.36514114e-03 -1.01363041e-02 8.62663505e+00] [-1.34326259e-03 9.99996754e-01 2.16492927e-03 3.49107234e-01] [ 1.01392266e-02 -2.15120031e-03 9.99946283e-01 -1.87031759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.36455357399998 meters Centerline goodness [0,1] 0.8422019753464512 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99948202e-01 1.67302489e-03 -1.00396248e-02 8.62644293e+00] [-1.65345213e-03 9.99996717e-01 1.95753512e-03 3.49747118e-01] [ 1.00428669e-02 -1.94083369e-03 9.99947686e-01 -1.87102798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.39455357399999 meters Centerline goodness [0,1] 0.8422019753464512 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99948202e-01 1.67302489e-03 -1.00396248e-02 8.62644293e+00] [-1.65345213e-03 9.99996717e-01 1.95753512e-03 3.49747118e-01] [ 1.00428669e-02 -1.94083369e-03 9.99947686e-01 -1.87102798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.424553574 meters Centerline goodness [0,1] 0.8402853866734616 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99948879e-01 1.98071867e-03 -9.91549020e-03 8.62626995e+00] [-1.96299336e-03 9.99996459e-01 1.79705112e-03 3.49508791e-01] [ 9.91901454e-03 -1.77749521e-03 9.99949226e-01 -1.87184160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.454553574 meters Centerline goodness [0,1] 0.8509197751660705 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99947441e-01 1.89727189e-03 -1.00755064e-02 8.62691727e+00] [-1.87987990e-03 9.99996727e-01 1.73535520e-03 3.49364395e-01] [ 1.00787659e-02 -1.71632325e-03 9.99947735e-01 -1.87222669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.484553574 meters Centerline goodness [0,1] 0.8469918865132418 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99945085e-01 1.58878142e-03 -1.03586750e-02 8.62819127e+00] [-1.57391179e-03 9.99997720e-01 1.44347017e-03 3.49737544e-01] [ 1.03609448e-02 -1.42708727e-03 9.99945306e-01 -1.87306807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.514553574 meters Centerline goodness [0,1] 0.8432183908045977 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99939439e-01 7.69755845e-04 -1.09784661e-02 8.63091045e+00] [-7.60873580e-04 9.99999380e-01 8.13216358e-04 3.50407238e-01] [ 1.09790853e-02 -8.04813884e-04 9.99939404e-01 -1.87463288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.544553574 meters Centerline goodness [0,1] 0.8413286017003242 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99936585e-01 4.08049719e-04 -1.12542803e-02 8.63193756e+00] [-3.98371098e-04 9.99999549e-01 8.62222938e-04 3.50069687e-01] [ 1.12546271e-02 -8.57684881e-04 9.99936297e-01 -1.87460634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.574553574 meters Centerline goodness [0,1] 0.8535363859362224 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99933546e-01 -1.21500734e-04 -1.15277091e-02 8.63291876e+00] [ 1.33332757e-04 9.99999465e-01 1.02563551e-03 3.49292835e-01] [ 1.15275783e-02 -1.02710438e-03 9.99933028e-01 -1.87399350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.604553574 meters Centerline goodness [0,1] 0.8412484076433121 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99931672e-01 -2.15691496e-04 -1.16878369e-02 8.63326462e+00] [ 2.29808941e-04 9.99999246e-01 1.20654532e-03 3.49103971e-01] [ 1.16875679e-02 -1.20914885e-03 9.99930967e-01 -1.87351021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.634553574 meters Centerline goodness [0,1] 0.8526815328876869 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99930365e-01 -2.94428646e-04 -1.17974035e-02 8.63358546e+00] [ 3.08275122e-04 9.99999266e-01 1.17188716e-03 3.49590003e-01] [ 1.17970498e-02 -1.17544240e-03 9.99929722e-01 -1.87338164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.66455357399997 meters Centerline goodness [0,1] 0.8539242890965097 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99929274e-01 -2.71009674e-04 -1.18900674e-02 8.63395857e+00] [ 2.80439707e-04 9.99999647e-01 7.91441616e-04 3.51405962e-01] [ 1.18898487e-02 -7.94720088e-04 9.99928997e-01 -1.87383769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.69455357399997 meters Centerline goodness [0,1] 0.849018608208004 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99931508e-01 1.00771149e-04 -1.17033976e-02 8.63309393e+00] [-8.95785163e-05 9.99999538e-01 9.56877819e-04 3.51859541e-01] [ 1.17034886e-02 -9.55763908e-04 9.99931055e-01 -1.87330071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.72455357399997 meters Centerline goodness [0,1] 0.8498423675378827 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99932208e-01 2.62464816e-04 -1.16408926e-02 8.63290275e+00] [-2.50150110e-04 9.99999408e-01 1.05932670e-03 3.51870260e-01] [ 1.16411638e-02 -1.05634292e-03 9.99931681e-01 -1.87314877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.75455357399997 meters Centerline goodness [0,1] 0.8516029217814751 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99933405e-01 5.21981921e-04 -1.15287917e-02 8.63260290e+00] [-5.09256579e-04 9.99999258e-01 1.10669611e-03 3.52000809e-01] [ 1.15293608e-02 -1.10075130e-03 9.99932929e-01 -1.87336183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.78455357399997 meters Centerline goodness [0,1] 0.8516317460317461 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99935678e-01 1.06189148e-03 -1.12921148e-02 8.63215290e+00] [-1.05228212e-03 9.99999079e-01 8.56887503e-04 3.53070301e-01] [ 1.12930143e-02 -8.44949896e-04 9.99935875e-01 -1.87455769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.81455357399997 meters Centerline goodness [0,1] 0.8504509081671536 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.88 [[ 9.99938178e-01 1.59037829e-03 -1.10050687e-02 8.63143460e+00] [-1.57993291e-03 9.99998293e-01 9.57772128e-04 3.53057120e-01] [ 1.10065731e-02 -9.40325646e-04 9.99938984e-01 -1.87507632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.84455357399997 meters Centerline goodness [0,1] 0.8490527705825588 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.88 [[ 9.99940017e-01 1.83874036e-03 -1.07972439e-02 8.63094017e+00] [-1.82781238e-03 9.99997807e-01 1.02188972e-03 3.52757545e-01] [ 1.07990993e-02 -1.00209309e-03 9.99941186e-01 -1.87516680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.87455357399998 meters Centerline goodness [0,1] 0.8484470468431772 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99942732e-01 2.31862032e-03 -1.04478208e-02 8.62944371e+00] [-2.30318620e-03 9.99996239e-01 1.48904791e-03 3.52014795e-01] [ 1.04512340e-02 -1.46489936e-03 9.99944311e-01 -1.87419268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.90455357399998 meters Centerline goodness [0,1] 0.8480625684661045 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99946518e-01 3.05832307e-03 -9.87970328e-03 8.62696033e+00] [-3.03574275e-03 9.99992748e-01 2.29971489e-03 3.50710000e-01] [ 9.88666490e-03 -2.26959966e-03 9.99948550e-01 -1.87236643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.93455357399998 meters Centerline goodness [0,1] 0.8455485382499746 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99947549e-01 3.25894238e-03 -9.70971223e-03 8.62656028e+00] [-3.23730257e-03 9.99992243e-01 2.24356146e-03 3.51065209e-01] [ 9.71694855e-03 -2.21201050e-03 9.99950343e-01 -1.87256153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.96455357399998 meters Centerline goodness [0,1] 0.8472236321185667 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99947196e-01 3.32613818e-03 -9.72322689e-03 8.62709628e+00] [-3.31033170e-03 9.99993174e-01 1.64128319e-03 3.52467296e-01] [ 9.72861966e-03 -1.60900942e-03 9.99951381e-01 -1.87404590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.99455357399998 meters Centerline goodness [0,1] 0.8452483636917144 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99947326e-01 3.38719255e-03 -9.68879461e-03 8.62702976e+00] [-3.37064999e-03 9.99992835e-01 1.72321066e-03 3.52130402e-01] [ 9.69456203e-03 -1.69046235e-03 9.99951578e-01 -1.87397197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.02455357399998 meters Centerline goodness [0,1] 0.8394194041252865 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99947943e-01 3.61620673e-03 -9.54122759e-03 8.62612797e+00] [-3.59433118e-03 9.99990875e-01 2.30889236e-03 3.50505990e-01] [ 9.54948996e-03 -2.27447784e-03 9.99951816e-01 -1.87272677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.05455357399998 meters Centerline goodness [0,1] 0.839015199735214 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99947416e-01 3.54862772e-03 -9.62144811e-03 8.62657506e+00] [-3.52789997e-03 9.99991422e-01 2.17044521e-03 3.50529760e-01] [ 9.62906768e-03 -2.13638758e-03 9.99951357e-01 -1.87314981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.08455357399998 meters Centerline goodness [0,1] 0.8377340252340253 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99946694e-01 3.37902482e-03 -9.75660233e-03 8.62737623e+00] [-3.36109908e-03 9.99992634e-01 1.85310618e-03 3.50930599e-01] [ 9.76279216e-03 -1.82021450e-03 9.99950686e-01 -1.87393075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.11455357399998 meters Centerline goodness [0,1] 0.8324361558282521 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99945610e-01 3.23407435e-03 -9.91549321e-03 8.62819507e+00] [-3.21709412e-03 9.99993332e-01 1.72796683e-03 3.51159149e-01] [ 9.92101547e-03 -1.69597377e-03 9.99949347e-01 -1.87450797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.14455357399999 meters Centerline goodness [0,1] 0.8319441603599919 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99945560e-01 3.19203290e-03 -9.93416912e-03 8.62851857e+00] [-3.17554610e-03 9.99993555e-01 1.67493621e-03 3.50792454e-01] [ 9.93945155e-03 -1.64329861e-03 9.99949252e-01 -1.87491722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.174553574 meters Centerline goodness [0,1] 0.8370510590402128 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99945889e-01 3.18718125e-03 -9.90256238e-03 8.62856978e+00] [-3.16983250e-03 9.99993415e-01 1.76714660e-03 3.50072302e-01] [ 9.90812939e-03 -1.73566152e-03 9.99949407e-01 -1.87495428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.204553574 meters Centerline goodness [0,1] 0.8293544177477546 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.87 [[ 9.99946304e-01 3.36753931e-03 -9.80046928e-03 8.62815918e+00] [-3.34788165e-03 9.99992353e-01 2.02150284e-03 3.49555095e-01] [ 9.80720182e-03 -1.98858349e-03 9.99949931e-01 -1.87464590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.234553574 meters Centerline goodness [0,1] 0.8253238292327738 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.88 [[ 9.99946760e-01 3.72677523e-03 -9.62228309e-03 8.62774455e+00] [-3.70733904e-03 9.99991053e-01 2.03696227e-03 3.49490523e-01] [ 9.62978830e-03 -2.00118076e-03 9.99951630e-01 -1.87518619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.264553574 meters Centerline goodness [0,1] 0.8313837666649639 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.88 [[ 9.99947066e-01 3.95414864e-03 -9.49897657e-03 8.62757381e+00] [-3.93505485e-03 9.99990201e-01 2.02793811e-03 3.49273279e-01] [ 9.50690226e-03 -1.99045177e-03 9.99952827e-01 -1.87569468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.294553574 meters Centerline goodness [0,1] 0.8324444331028147 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.88 [[ 9.99948158e-01 4.78541301e-03 -8.98781574e-03 8.62581872e+00] [-4.76408086e-03 9.99985788e-01 2.39336366e-03 3.48187757e-01] [ 8.99914124e-03 -2.35042091e-03 9.99956745e-01 -1.87573972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.324553574 meters Centerline goodness [0,1] 0.8356052274877881 Centerline is valid? [False, False] Translation: X:8.63, Y:0.35, Z:-1.88 [[ 9.99948293e-01 5.14203232e-03 -8.77326484e-03 8.62523098e+00] [-5.12009965e-03 9.99983716e-01 2.52057589e-03 3.47609591e-01] [ 8.78608285e-03 -2.47552556e-03 9.99958337e-01 -1.87597028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.354553574 meters Centerline goodness [0,1] 0.8291997650123879 Centerline is valid? [False, False] Translation: X:8.62, Y:0.35, Z:-1.88 [[ 9.99947027e-01 5.89503047e-03 -8.43750627e-03 8.62442543e+00] [-5.87242397e-03 9.99979108e-01 2.70155814e-03 3.46701980e-01] [ 8.45325576e-03 -2.65186642e-03 9.99960754e-01 -1.87687679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.384553574 meters Centerline goodness [0,1] 0.8315579737910951 Centerline is valid? [False, False] Translation: X:8.62, Y:0.35, Z:-1.88 [[ 9.99946434e-01 5.96728540e-03 -8.45694424e-03 8.62499865e+00] [-5.94649436e-03 9.99979241e-01 2.48147375e-03 3.46513744e-01] [ 8.47157634e-03 -2.43105166e-03 9.99961160e-01 -1.87812866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.41455357399997 meters Centerline goodness [0,1] 0.8251652903192611 Centerline is valid? [False, False] Translation: X:8.63, Y:0.34, Z:-1.88 [[ 9.99945910e-01 5.92818449e-03 -8.54602727e-03 8.62600090e+00] [-5.90596604e-03 9.99979120e-01 2.62275377e-03 3.44271472e-01] [ 8.56139700e-03 -2.57213936e-03 9.99960042e-01 -1.87949715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.44455357399997 meters Centerline goodness [0,1] 0.8314713511569972 Centerline is valid? [False, False] Translation: X:8.63, Y:0.34, Z:-1.88 [[ 9.99945520e-01 5.46846086e-03 -8.89120287e-03 8.62765764e+00] [-5.44532975e-03 9.99981732e-01 2.62370355e-03 3.42765174e-01] [ 8.90538807e-03 -2.57514508e-03 9.99957030e-01 -1.88031340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.47455357399997 meters Centerline goodness [0,1] 0.826237202465379 Centerline is valid? [False, False] Translation: X:8.63, Y:0.34, Z:-1.88 [[ 9.99945397e-01 5.00726437e-03 -9.17225641e-03 8.62896529e+00] [-4.98165480e-03 9.99983636e-01 2.81279204e-03 3.41060966e-01] [ 9.18619070e-03 -2.76694544e-03 9.99953978e-01 -1.88057858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.50455357399997 meters Centerline goodness [0,1] 0.822662271936882 Centerline is valid? [False, False] Translation: X:8.63, Y:0.34, Z:-1.88 [[ 9.99956533e-01 5.28734798e-04 -9.30877421e-03 8.63001440e+00] [-5.38433455e-04 9.99999315e-01 -1.03940806e-03 3.38645965e-01] [ 9.30821826e-03 1.04437504e-03 9.99956132e-01 -1.88138463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.53455357399997 meters Centerline goodness [0,1] 0.8265443965293292 Centerline is valid? [False, False] Translation: X:8.63, Y:0.34, Z:-1.88 [[ 9.99948425e-01 -8.14976193e-04 -1.01233842e-02 8.63328946e+00] [ 8.08532383e-04 9.99999468e-01 -6.40603668e-04 3.35842602e-01] [ 1.01239008e-02 6.32385545e-04 9.99948552e-01 -1.88115913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.56455357399997 meters Centerline goodness [0,1] 0.8362397535634104 Centerline is valid? [False, False] Translation: X:8.64, Y:0.33, Z:-1.88 [[ 9.99924011e-01 -6.16349016e-03 -1.06762857e-02 8.63632600e+00] [ 6.11498017e-03 9.99970859e-01 -4.57041384e-03 3.32725505e-01] [ 1.07041442e-02 4.50478126e-03 9.99932562e-01 -1.88223144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.59455357399997 meters Centerline goodness [0,1] 0.825870255239894 Centerline is valid? [False, False] Translation: X:8.64, Y:0.33, Z:-1.88 [[ 9.99908879e-01 -7.20580092e-03 -1.14153272e-02 8.63910735e+00] [ 7.16064688e-03 9.99966396e-01 -3.99150904e-03 3.30491010e-01] [ 1.14437056e-02 3.90940420e-03 9.99926876e-01 -1.88164930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.62455357399998 meters Centerline goodness [0,1] 0.822919129041578 Centerline is valid? [False, False] Translation: X:8.64, Y:0.33, Z:-1.88 [[ 9.99883625e-01 -9.03378269e-03 -1.22934181e-02 8.64292782e+00] [ 8.99322559e-03 9.99953947e-01 -3.35038303e-03 3.26967165e-01] [ 1.23231186e-02 3.23943564e-03 9.99918820e-01 -1.88073885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.65455357399998 meters Centerline goodness [0,1] 0.8345018450184502 Centerline is valid? [False, False] Translation: X:8.64, Y:0.33, Z:-1.88 [[ 9.99873115e-01 -9.58590904e-03 -1.27225534e-02 8.64446838e+00] [ 9.55034738e-03 9.99950324e-01 -2.85298553e-03 3.25405821e-01] [ 1.27492699e-02 2.73111873e-03 9.99914995e-01 -1.88012753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.68455357399998 meters Centerline goodness [0,1] 0.8374388125690826 Centerline is valid? [False, False] Translation: X:8.65, Y:0.32, Z:-1.88 [[ 9.99865802e-01 -9.95406287e-03 -1.30113096e-02 8.64545404e+00] [ 9.92400206e-03 9.99947940e-01 -2.37288870e-03 3.23897533e-01] [ 1.30342522e-02 2.24344600e-03 9.99912534e-01 -1.87949565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.71455357399998 meters Centerline goodness [0,1] 0.8330252455899441 Centerline is valid? [False, False] Translation: X:8.65, Y:0.32, Z:-1.88 [[ 9.99852509e-01 -1.06582908e-02 -1.34670139e-02 8.64707951e+00] [ 1.06379459e-02 9.99942165e-01 -1.58145997e-03 3.21227953e-01] [ 1.34830906e-02 1.43796536e-03 9.99908065e-01 -1.87836602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.74455357399998 meters Centerline goodness [0,1] 0.8330025667486968 Centerline is valid? [False, False] Translation: X:8.65, Y:0.32, Z:-1.88 [[ 9.99847244e-01 -1.08802104e-02 -1.36788321e-02 8.64799053e+00] [ 1.08628649e-02 9.99940097e-01 -1.34171012e-03 3.20496606e-01] [ 1.36926108e-02 1.19291386e-03 9.99905540e-01 -1.87834894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.77455357399998 meters Centerline goodness [0,1] 0.8301652674375627 Centerline is valid? [False, False] Translation: X:8.65, Y:0.32, Z:-1.88 [[ 9.99833384e-01 -1.14977822e-02 -1.41776514e-02 8.65026983e+00] [ 1.14774368e-02 9.99932983e-01 -1.51557424e-03 3.20322204e-01] [ 1.41941271e-02 1.35259862e-03 9.99898343e-01 -1.87937645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.80455357399998 meters Centerline goodness [0,1] 0.8349730244366868 Centerline is valid? [False, False] Translation: X:8.65, Y:0.32, Z:-1.88 [[ 9.99823922e-01 -1.18835589e-02 -1.45225896e-02 8.65171897e+00] [ 1.18628974e-02 9.99928496e-01 -1.50803235e-03 3.19924696e-01] [ 1.45394720e-02 1.33548683e-03 9.99893404e-01 -1.87979993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.83455357399998 meters Centerline goodness [0,1] 0.8372344922329071 Centerline is valid? [False, False] Translation: X:8.65, Y:0.32, Z:-1.88 [[ 9.99813486e-01 -1.22880461e-02 -1.48995611e-02 8.65316625e+00] [ 1.22695654e-02 9.99923840e-01 -1.33112907e-03 3.19314608e-01] [ 1.49147833e-02 1.14806966e-03 9.99888109e-01 -1.87979667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.86455357399998 meters Centerline goodness [0,1] 0.835242150924432 Centerline is valid? [False, False] Translation: X:8.66, Y:0.32, Z:-1.88 [[ 9.99787214e-01 -1.34171420e-02 -1.56686904e-02 8.65629878e+00] [ 1.33965944e-02 9.99909260e-01 -1.41561265e-03 3.18683635e-01] [ 1.56862621e-02 1.20540433e-03 9.99876236e-01 -1.88017684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.89455357399999 meters Centerline goodness [0,1] 0.833592904469023 Centerline is valid? [False, False] Translation: X:8.66, Y:0.32, Z:-1.88 [[ 9.99772114e-01 -1.39914145e-02 -1.61232924e-02 8.65801006e+00] [ 1.39704016e-02 9.99901408e-01 -1.41516754e-03 3.18808025e-01] [ 1.61415030e-02 1.18959618e-03 9.99869010e-01 -1.88011101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.924553574 meters Centerline goodness [0,1] 0.8300479628946398 Centerline is valid? [False, False] Translation: X:8.66, Y:0.32, Z:-1.88 [[ 9.99753977e-01 -1.47352227e-02 -1.65788568e-02 8.65970764e+00] [ 1.47122697e-02 9.99890635e-01 -1.50559608e-03 3.19682818e-01] [ 1.65992289e-02 1.26131306e-03 9.99861428e-01 -1.87977397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.954553574 meters Centerline goodness [0,1] 0.8340694006309148 Centerline is valid? [False, False] Translation: X:8.66, Y:0.32, Z:-1.88 [[ 9.99748235e-01 -1.49467451e-02 -1.67350335e-02 8.66023193e+00] [ 1.49250258e-02 9.99887604e-01 -1.42198426e-03 3.20127568e-01] [ 1.67544066e-02 1.17185545e-03 9.99858948e-01 -1.87931840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.984553574 meters Centerline goodness [0,1] 0.8031733543141883 Centerline is valid? [False, False] Translation: X:8.66, Y:0.32, Z:-1.88 [[ 9.99737084e-01 -1.53831348e-02 -1.70035985e-02 8.66099312e+00] [ 1.53571586e-02 9.99880699e-01 -1.65722008e-03 3.21715616e-01] [ 1.70270631e-02 1.39565742e-03 9.99854055e-01 -1.87878495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.014553574 meters Centerline goodness [0,1] 0.8266146964187616 Centerline is valid? [False, False] Translation: X:8.66, Y:0.32, Z:-1.88 [[ 9.99739438e-01 -1.52481803e-02 -1.69867147e-02 8.66064969e+00] [ 1.52205630e-02 9.99882622e-01 -1.75392326e-03 3.23339885e-01] [ 1.70114650e-02 1.49491889e-03 9.99854177e-01 -1.87829813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.044553574 meters Centerline goodness [0,1] 0.8365967000835421 Centerline is valid? [False, False] Translation: X:8.66, Y:0.32, Z:-1.88 [[ 9.99765731e-01 -1.22274046e-02 -1.78598179e-02 8.66284746e+00] [ 1.22780463e-02 9.99920899e-01 2.72861730e-03 3.23416759e-01] [ 1.78250412e-02 -2.94726174e-03 9.99836777e-01 -1.87617028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.074553574 meters Centerline goodness [0,1] 0.8361143448454275 Centerline is valid? [False, False] Translation: X:8.66, Y:0.33, Z:-1.87 [[ 9.99794981e-01 -8.53113501e-03 -1.83634494e-02 8.66353948e+00] [ 8.65095596e-03 9.99941742e-01 6.45545069e-03 3.26758334e-01] [ 1.83073072e-02 -6.61298859e-03 9.99810537e-01 -1.87475473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.104553574 meters Centerline goodness [0,1] 0.8382852729145212 Centerline is valid? [False, False] Translation: X:8.66, Y:0.33, Z:-1.88 [[ 9.99800638e-01 -8.13137241e-03 -1.82363631e-02 8.66316344e+00] [ 8.23705720e-03 9.99949671e-01 5.72767066e-03 3.29536639e-01] [ 1.81888715e-02 -5.87674275e-03 9.99817298e-01 -1.87575788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.134553574 meters Centerline goodness [0,1] 0.8236588298498299 Centerline is valid? [False, False] Translation: X:8.66, Y:0.33, Z:-1.88 [[ 9.99815480e-01 -4.39580656e-03 -1.86998223e-02 8.66463905e+00] [ 4.56143692e-03 9.99950665e-01 8.82390976e-03 3.32926296e-01] [ 1.86601115e-02 -8.90757963e-03 9.99786205e-01 -1.87649893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.16455357399997 meters Centerline goodness [0,1] 0.8293789342236041 Centerline is valid? [False, False] Translation: X:8.66, Y:0.34, Z:-1.88 [[ 9.99817998e-01 -4.03518722e-03 -1.86463928e-02 8.66471814e+00] [ 4.18066635e-03 9.99961077e-01 7.76961525e-03 3.36003607e-01] [ 1.86143151e-02 -7.84615552e-03 9.99795952e-01 -1.87853563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.19455357399997 meters Centerline goodness [0,1] 0.8332571370517119 Centerline is valid? [False, False] Translation: X:8.67, Y:0.34, Z:-1.88 [[ 9.99817363e-01 -3.84106485e-03 -1.87212980e-02 8.66536999e+00] [ 3.96569913e-03 9.99970192e-01 6.62478019e-03 3.39039624e-01] [ 1.86952938e-02 -6.69781330e-03 9.99802793e-01 -1.88076506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.22455357399997 meters Centerline goodness [0,1] 0.8370430053378991 Centerline is valid? [False, False] Translation: X:8.67, Y:0.34, Z:-1.88 [[ 9.99809272e-01 -4.63676563e-04 -1.95244559e-02 8.66818315e+00] [ 6.50084928e-04 9.99954261e-01 9.54216522e-03 3.42210632e-01] [ 1.95191384e-02 -9.55303781e-03 9.99763843e-01 -1.88215910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.25455357399997 meters Centerline goodness [0,1] 0.837508157221023 Centerline is valid? [False, False] Translation: X:8.67, Y:0.34, Z:-1.88 [[ 9.99809587e-01 -3.03094363e-04 -1.95115044e-02 8.66839265e+00] [ 4.73760238e-04 9.99961668e-01 8.74290774e-03 3.44627022e-01] [ 1.95081065e-02 -8.75048675e-03 9.99771405e-01 -1.88341243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.28455357399997 meters Centerline goodness [0,1] 0.8369711466586933 Centerline is valid? [False, False] Translation: X:8.69, Y:0.35, Z:-1.89 [[ 9.99881203e-01 2.41597126e-03 -1.52231166e-02 8.68714068e+00] [-2.40532459e-03 9.99996850e-01 7.17645524e-04 3.49591967e-01] [ 1.52248025e-02 -6.80943733e-04 9.99883864e-01 -1.89044734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.31455357399997 meters Centerline goodness [0,1] 0.8369711466586933 Centerline is valid? [False, False] Translation: X:8.69, Y:0.35, Z:-1.89 [[ 9.99881203e-01 2.41597126e-03 -1.52231166e-02 8.68714068e+00] [-2.40532459e-03 9.99996850e-01 7.17645524e-04 3.49591967e-01] [ 1.52248025e-02 -6.80943733e-04 9.99883864e-01 -1.89044734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.34455357399997 meters Centerline goodness [0,1] 0.8417934227887176 Centerline is valid? [False, False] Translation: X:8.68, Y:0.35, Z:-1.90 [[ 9.99976771e-01 6.50483487e-04 -6.78478783e-03 8.67679387e+00] [-6.32650092e-04 9.99996341e-01 2.63025328e-03 3.52640890e-01] [ 6.78647394e-03 -2.62589978e-03 9.99973524e-01 -1.89524414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.37455357399998 meters Centerline goodness [0,1] 0.8347892796159271 Centerline is valid? [False, False] Translation: X:8.67, Y:0.36, Z:-1.89 [[ 9.99978469e-01 1.70446154e-03 -6.33687577e-03 8.67434939e+00] [-1.68842321e-03 9.99995360e-01 2.53544045e-03 3.56089360e-01] [ 6.34116793e-03 -2.52468653e-03 9.99976708e-01 -1.89413634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.40455357399998 meters Centerline goodness [0,1] 0.8358688930117502 Centerline is valid? [False, False] Translation: X:8.67, Y:0.36, Z:-1.89 [[ 9.99979139e-01 2.02594799e-03 -6.13335036e-03 8.67357429e+00] [-2.01286420e-03 9.99995687e-01 2.13864279e-03 3.58205470e-01] [ 6.13765669e-03 -2.12625257e-03 9.99978904e-01 -1.89412625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.43455357399998 meters Centerline goodness [0,1] 0.8395986885892475 Centerline is valid? [False, False] Translation: X:8.67, Y:0.36, Z:-1.89 [[ 9.99979754e-01 2.57894081e-03 -5.81732932e-03 8.67200938e+00] [-2.56838990e-03 9.99995045e-01 1.82044610e-03 3.61260408e-01] [ 5.82199532e-03 -1.80546807e-03 9.99981422e-01 -1.89330310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.46455357399998 meters Centerline goodness [0,1] 0.840354384146492 Centerline is valid? [False, False] Translation: X:8.67, Y:0.36, Z:-1.89 [[ 9.99979674e-01 2.77751890e-03 -5.73899624e-03 8.67154278e+00] [-2.76772205e-03 9.99994700e-01 1.71430373e-03 3.62371697e-01] [ 5.74372734e-03 -1.69838494e-03 9.99982062e-01 -1.89296804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.49455357399998 meters Centerline goodness [0,1] 0.8404871820056969 Centerline is valid? [False, False] Translation: X:8.67, Y:0.36, Z:-1.89 [[ 9.99978718e-01 2.49013196e-03 -6.03016095e-03 8.67282340e+00] [-2.48334629e-03 9.99996275e-01 1.13251475e-03 3.63838163e-01] [ 6.03295860e-03 -1.11751567e-03 9.99981177e-01 -1.89388703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.52455357399998 meters Centerline goodness [0,1] 0.837159060221442 Centerline is valid? [False, False] Translation: X:8.67, Y:0.37, Z:-1.89 [[ 9.99977301e-01 2.38390339e-03 -6.30198549e-03 8.67379093e+00] [-2.37991450e-03 9.99996963e-01 6.40381218e-04 3.65712704e-01] [ 6.30349296e-03 -6.25368495e-04 9.99979937e-01 -1.89469293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.55455357399998 meters Centerline goodness [0,1] 0.839491291941356 Centerline is valid? [False, False] Translation: X:8.68, Y:0.37, Z:-1.90 [[ 9.99975312e-01 1.94417442e-03 -6.75246255e-03 8.67565827e+00] [-1.94400486e-03 9.99998110e-01 3.16732336e-05 3.66756978e-01] [ 6.75251137e-03 -1.85456316e-05 9.99977201e-01 -1.89598793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.58455357399998 meters Centerline goodness [0,1] 0.840276755483586 Centerline is valid? [False, False] Translation: X:8.68, Y:0.37, Z:-1.90 [[ 9.99972804e-01 1.42541604e-03 -7.23595414e-03 8.67782333e+00] [-1.42853784e-03 9.99998889e-01 -4.26278610e-04 3.67200731e-01] [ 7.23533847e-03 4.36603851e-04 9.99973729e-01 -1.89721697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.61455357399998 meters Centerline goodness [0,1] 0.8343684791947956 Centerline is valid? [False, False] Translation: X:8.68, Y:0.37, Z:-1.90 [[ 9.99971138e-01 1.28964239e-03 -7.48734496e-03 8.67875376e+00] [-1.29344176e-03 9.99999037e-01 -5.02618662e-04 3.67384371e-01] [ 7.48668955e-03 5.12288600e-04 9.99971843e-01 -1.89762260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.64455357399999 meters Centerline goodness [0,1] 0.8337015218458518 Centerline is valid? [False, False] Translation: X:8.68, Y:0.37, Z:-1.90 [[ 9.99969390e-01 1.18851613e-03 -7.73353010e-03 8.68008433e+00] [-1.19701561e-03 9.99998685e-01 -1.09450697e-03 3.68665701e-01] [ 7.73221909e-03 1.10373063e-03 9.99969497e-01 -1.89919282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.674553574 meters Centerline goodness [0,1] 0.8355159897979203 Centerline is valid? [False, False] Translation: X:8.68, Y:0.37, Z:-1.90 [[ 9.99968824e-01 1.42448034e-03 -7.76665772e-03 8.68020652e+00] [-1.43349390e-03 9.99998305e-01 -1.15510279e-03 3.69522268e-01] [ 7.76499914e-03 1.16620023e-03 9.99969172e-01 -1.89950206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.704553574 meters Centerline goodness [0,1] 0.8392235674721827 Centerline is valid? [False, False] Translation: X:8.68, Y:0.37, Z:-1.90 [[ 9.99968201e-01 2.03324597e-03 -7.71123457e-03 8.67973802e+00] [-2.04141403e-03 9.99997363e-01 -1.05151763e-03 3.70591518e-01] [ 7.70907624e-03 1.06722601e-03 9.99969715e-01 -1.89955353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.734553574 meters Centerline goodness [0,1] 0.83818088260518 Centerline is valid? [False, False] Translation: X:8.68, Y:0.37, Z:-1.90 [[ 9.99968518e-01 2.44669639e-03 -7.54823298e-03 8.67903043e+00] [-2.45389037e-03 9.99996544e-01 -9.43953765e-04 3.70936410e-01] [ 7.54589732e-03 9.62446584e-04 9.99971066e-01 -1.89933307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.764553574 meters Centerline goodness [0,1] 0.8376443474636526 Centerline is valid? [False, False] Translation: X:8.68, Y:0.37, Z:-1.90 [[ 9.99969160e-01 2.98127928e-03 -7.26580007e-03 8.67788757e+00] [-2.98708274e-03 9.99995228e-01 -7.88015358e-04 3.71274948e-01] [ 7.26341611e-03 8.09694602e-04 9.99973293e-01 -1.89899396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.794553574 meters Centerline goodness [0,1] 0.8331702065185476 Centerline is valid? [False, False] Translation: X:8.68, Y:0.37, Z:-1.90 [[ 9.99968574e-01 3.83033189e-03 -6.94112709e-03 8.67640667e+00] [-3.83594346e-03 9.99992326e-01 -7.95320622e-04 3.72793647e-01] [ 6.93802748e-03 8.21921400e-04 9.99975594e-01 -1.89867970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.824553574 meters Centerline goodness [0,1] 0.8367187117615389 Centerline is valid? [False, False] Translation: X:8.68, Y:0.37, Z:-1.90 [[ 9.99968360e-01 4.29544318e-03 -6.69537117e-03 8.67547094e+00] [-4.30069078e-03 9.99990456e-01 -7.69563849e-04 3.73684489e-01] [ 6.69200165e-03 7.98334221e-04 9.99977290e-01 -1.89841456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.854553574 meters Centerline goodness [0,1] 0.8273889554355001 Centerline is valid? [False, False] Translation: X:8.67, Y:0.37, Z:-1.90 [[ 9.99966875e-01 5.00403089e-03 -6.41940098e-03 8.67432897e+00] [-5.00963766e-03 9.99987084e-01 -8.57627677e-04 3.74912865e-01] [ 6.41502647e-03 8.89758141e-04 9.99979028e-01 -1.89842608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.884553574 meters Centerline goodness [0,1] 0.830820729591712 Centerline is valid? [False, False] Translation: X:8.67, Y:0.38, Z:-1.90 [[ 9.99966239e-01 5.00522112e-03 -6.51682860e-03 8.67484758e+00] [-5.01148996e-03 9.99986995e-01 -9.45971833e-04 3.75381440e-01] [ 6.51200905e-03 9.78598917e-04 9.99978318e-01 -1.89870936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.91455357399997 meters Centerline goodness [0,1] 0.8357960661512869 Centerline is valid? [False, False] Translation: X:8.68, Y:0.38, Z:-1.90 [[ 9.99965700e-01 4.96395122e-03 -6.63013204e-03 8.67547340e+00] [-4.97085766e-03 9.99987119e-01 -1.02560168e-03 3.75256487e-01] [ 6.62495560e-03 1.05852395e-03 9.99977494e-01 -1.89924988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.94455357399997 meters Centerline goodness [0,1] 0.8341626020245594 Centerline is valid? [False, False] Translation: X:8.68, Y:0.37, Z:-1.90 [[ 9.99965402e-01 4.34225594e-03 -7.09504102e-03 8.67753432e+00] [-4.35166356e-03 9.99989672e-01 -1.31104349e-03 3.74465526e-01] [ 7.08927486e-03 1.34187336e-03 9.99973970e-01 -1.90042046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.97455357399997 meters Centerline goodness [0,1] 0.8374043555032372 Centerline is valid? [False, False] Translation: X:8.68, Y:0.37, Z:-1.90 [[ 9.99963422e-01 3.44086553e-03 -7.83035605e-03 8.68066123e+00] [-3.45301751e-03 9.99992854e-01 -1.53891626e-03 3.73778544e-01] [ 7.82500490e-03 1.56589833e-03 9.99968158e-01 -1.90161034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.00455357399997 meters Centerline goodness [0,1] 0.8291807068893425 Centerline is valid? [False, False] Translation: X:8.68, Y:0.37, Z:-1.90 [[ 9.99959223e-01 1.86827887e-03 -8.83522959e-03 8.68492720e+00] [-1.88366040e-03 9.99996724e-01 -1.73293021e-03 3.71944593e-01] [ 8.83196305e-03 1.74950212e-03 9.99959467e-01 -1.90282050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.03455357399997 meters Centerline goodness [0,1] 0.8331240922630037 Centerline is valid? [False, False] Translation: X:8.69, Y:0.37, Z:-1.90 [[ 9.99956193e-01 1.30367759e-03 -9.26889277e-03 8.68648266e+00] [-1.31601293e-03 9.99998256e-01 -1.32485801e-03 3.70147973e-01] [ 9.26714942e-03 1.33699795e-03 9.99956165e-01 -1.90247486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.06455357399997 meters Centerline goodness [0,1] 0.8345224282222825 Centerline is valid? [False, False] Translation: X:8.69, Y:0.37, Z:-1.90 [[ 9.99952667e-01 7.40347488e-04 -9.70136201e-03 8.68788080e+00] [-7.48728087e-04 9.99999350e-01 -8.60254570e-04 3.68182998e-01] [ 9.70071881e-03 8.67477533e-04 9.99952571e-01 -1.90184244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.09455357399997 meters Centerline goodness [0,1] 0.8311013194049063 Centerline is valid? [False, False] Translation: X:8.69, Y:0.37, Z:-1.90 [[ 9.99943876e-01 -9.50271147e-04 -1.05518478e-02 8.69156524e+00] [ 9.41353543e-04 9.99999196e-01 -8.50057025e-04 3.65529225e-01] [ 1.05526471e-02 8.40076297e-04 9.99943966e-01 -1.90217777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.12455357399998 meters Centerline goodness [0,1] 0.8309164373714087 Centerline is valid? [False, False] Translation: X:8.70, Y:0.36, Z:-1.90 [[ 9.99929948e-01 -2.68679181e-03 -1.15273445e-02 8.69573289e+00] [ 2.67697517e-03 9.99996041e-01 -8.66941342e-04 3.63345927e-01] [ 1.15296282e-02 8.36022196e-04 9.99933182e-01 -1.90271408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.15455357399998 meters Centerline goodness [0,1] 0.8302585778219791 Centerline is valid? [False, False] Translation: X:8.70, Y:0.36, Z:-1.90 [[ 9.99919883e-01 -3.48129580e-03 -1.21699891e-02 8.69810261e+00] [ 3.47382955e-03 9.99993765e-01 -6.34582175e-04 3.61738725e-01] [ 1.21721224e-02 5.92254867e-04 9.99925742e-01 -1.90282887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.18455357399998 meters Centerline goodness [0,1] 0.8280506934242959 Centerline is valid? [False, False] Translation: X:8.70, Y:0.36, Z:-1.90 [[ 9.99907789e-01 -4.36800933e-03 -1.28582515e-02 8.70059864e+00] [ 4.36271001e-03 9.99990386e-01 -4.40154499e-04 3.60137348e-01] [ 1.28600505e-02 3.84017090e-04 9.99917232e-01 -1.90283323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.21455357399998 meters Centerline goodness [0,1] 0.8263734617976687 Centerline is valid? [False, False] Translation: X:8.70, Y:0.36, Z:-1.90 [[ 9.99884896e-01 -6.39329644e-03 -1.37593660e-02 8.70475984e+00] [ 6.39046469e-03 9.99979550e-01 -2.49762827e-04 3.56357171e-01] [ 1.37606815e-02 1.61805335e-04 9.99905304e-01 -1.90283888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.24455357399998 meters Centerline goodness [0,1] 0.8312848882324965 Centerline is valid? [False, False] Translation: X:8.71, Y:0.35, Z:-1.90 [[ 9.99872128e-01 -7.08985714e-03 -1.43339156e-02 8.70694800e+00] [ 7.09234801e-03 9.99974841e-01 1.22948083e-04 3.54281541e-01] [ 1.43326833e-02 -2.24593479e-04 9.99897257e-01 -1.90286353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.27455357399998 meters Centerline goodness [0,1] 0.8306558732863838 Centerline is valid? [False, False] Translation: X:8.71, Y:0.35, Z:-1.90 [[ 9.99849463e-01 -8.38600765e-03 -1.51896453e-02 8.71062759e+00] [ 8.39285020e-03 9.99964705e-01 3.86783274e-04 3.51371039e-01] [ 1.51858656e-02 -5.14209466e-04 9.99884556e-01 -1.90351433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.30455357399998 meters Centerline goodness [0,1] 0.8331614299011345 Centerline is valid? [False, False] Translation: X:8.71, Y:0.35, Z:-1.90 [[ 9.99845918e-01 -8.52119495e-03 -1.53469613e-02 8.71136148e+00] [ 8.53358548e-03 9.99963313e-01 7.42053682e-04 3.50199573e-01] [ 1.53400751e-02 -8.72903951e-04 9.99881953e-01 -1.90348297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.33455357399998 meters Centerline goodness [0,1] 0.8260738204340601 Centerline is valid? [False, False] Translation: X:8.71, Y:0.35, Z:-1.90 [[ 9.99848010e-01 -8.31380806e-03 -1.53243776e-02 8.71116949e+00] [ 8.33399079e-03 9.99964486e-01 1.25364374e-03 3.49105186e-01] [ 1.53134108e-02 -1.38116643e-03 9.99881789e-01 -1.90300400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.36455357399998 meters Centerline goodness [0,1] 0.8338079278280373 Centerline is valid? [False, False] Translation: X:8.71, Y:0.35, Z:-1.90 [[ 9.99859373e-01 -7.58394545e-03 -1.49571802e-02 8.70972681e+00] [ 7.61502140e-03 9.99968961e-01 2.02180276e-03 3.47594910e-01] [ 1.49413827e-02 -2.13541768e-03 9.99886091e-01 -1.90216334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.39455357399999 meters Centerline goodness [0,1] 0.8276403016041698 Centerline is valid? [False, False] Translation: X:8.71, Y:0.35, Z:-1.90 [[ 9.99868404e-01 -7.01070965e-03 -1.46295656e-02 8.70823975e+00] [ 7.04970182e-03 9.99971730e-01 2.61543279e-03 3.46890903e-01] [ 1.46108160e-02 -2.71822268e-03 9.99889562e-01 -1.90109214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.424553574 meters Centerline goodness [0,1] 0.8262121212121212 Centerline is valid? [False, False] Translation: X:8.71, Y:0.35, Z:-1.90 [[ 9.99874060e-01 -6.63177512e-03 -1.44181988e-02 8.70753282e+00] [ 6.67471073e-03 9.99973426e-01 2.93179666e-03 3.46491209e-01] [ 1.43983726e-02 -3.02766473e-03 9.99891754e-01 -1.90065517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.454553574 meters Centerline goodness [0,1] 0.8119944211994421 Centerline is valid? [False, False] Translation: X:8.71, Y:0.35, Z:-1.90 [[ 9.99873871e-01 -6.55736044e-03 -1.44652434e-02 8.70767570e+00] [ 6.60316104e-03 9.99973329e-01 3.12076615e-03 3.46457238e-01] [ 1.44443936e-02 -3.21588886e-03 9.99890503e-01 -1.90047725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.484553574 meters Centerline goodness [0,1] 0.8309980272143255 Centerline is valid? [False, False] Translation: X:8.71, Y:0.35, Z:-1.90 [[ 9.99871468e-01 -6.65659263e-03 -1.45855436e-02 8.70828768e+00] [ 6.70202065e-03 9.99972835e-01 3.06792953e-03 3.46589160e-01] [ 1.45647254e-02 -3.16528782e-03 9.99888919e-01 -1.90074491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.514553574 meters Centerline goodness [0,1] 0.8251555465628003 Centerline is valid? [False, False] Translation: X:8.71, Y:0.35, Z:-1.90 [[ 9.99871625e-01 -6.49814188e-03 -1.46460891e-02 8.70809762e+00] [ 6.54522517e-03 9.99973558e-01 3.16909618e-03 3.47049138e-01] [ 1.46251086e-02 -3.26455130e-03 9.99887718e-01 -1.90022165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.544553574 meters Centerline goodness [0,1] 0.8311937733751137 Centerline is valid? [False, False] Translation: X:8.71, Y:0.35, Z:-1.90 [[ 9.99870924e-01 -6.45046353e-03 -1.47148196e-02 8.70832819e+00] [ 6.49546273e-03 9.99974367e-01 3.01234707e-03 3.47976429e-01] [ 1.46950114e-02 -3.10753781e-03 9.99887194e-01 -1.90038317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.574553574 meters Centerline goodness [0,1] 0.824220617467227 Centerline is valid? [False, False] Translation: X:8.71, Y:0.35, Z:-1.90 [[ 9.99864870e-01 -6.53609314e-03 -1.50837737e-02 8.70969117e+00] [ 6.57204972e-03 9.99975677e-01 2.33545521e-03 3.50270733e-01] [ 1.50681421e-02 -2.43427093e-03 9.99883506e-01 -1.90168420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.604553574 meters Centerline goodness [0,1] 0.8066456891126494 Centerline is valid? [False, False] Translation: X:8.71, Y:0.35, Z:-1.90 [[ 9.99859518e-01 -6.72746673e-03 -1.53520534e-02 8.71080820e+00] [ 6.75971327e-03 9.99975053e-01 2.04954685e-03 3.51224363e-01] [ 1.53378822e-02 -2.15303441e-03 9.99880050e-01 -1.90232505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.634553574 meters Centerline goodness [0,1] 0.8369245468031077 Centerline is valid? [False, False] Translation: X:8.71, Y:0.35, Z:-1.90 [[ 9.99854153e-01 -6.91307441e-03 -1.56167255e-02 8.71179221e+00] [ 6.94137898e-03 9.99974361e-01 1.75897540e-03 3.52402447e-01] [ 1.56041652e-02 -1.86712047e-03 9.99876504e-01 -1.90274296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.66455357399997 meters Centerline goodness [0,1] 0.8299018374024667 Centerline is valid? [False, False] Translation: X:8.71, Y:0.35, Z:-1.90 [[ 9.99848735e-01 -6.98357967e-03 -1.59290855e-02 8.71252363e+00] [ 7.00710738e-03 9.99974439e-01 1.42169423e-03 3.54332577e-01] [ 1.59187499e-02 -1.53309599e-03 9.99872113e-01 -1.90281200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.69455357399997 meters Centerline goodness [0,1] 0.8354166666666667 Centerline is valid? [False, False] Translation: X:8.71, Y:0.36, Z:-1.90 [[ 9.99850404e-01 -6.78123540e-03 -1.59117670e-02 8.71229633e+00] [ 6.80678884e-03 9.99975629e-01 1.55233810e-03 3.55078147e-01] [ 1.59008524e-02 -1.66041391e-03 9.99872195e-01 -1.90234332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.72455357399997 meters Centerline goodness [0,1] 0.8363845826341757 Centerline is valid? [False, False] Translation: X:8.71, Y:0.36, Z:-1.90 [[ 9.99860089e-01 -6.06132363e-03 -1.55904913e-02 8.71052395e+00] [ 6.09092581e-03 9.99979735e-01 1.85195102e-03 3.56463837e-01] [ 1.55789501e-02 -1.94665244e-03 9.99876746e-01 -1.90105505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.75455357399997 meters Centerline goodness [0,1] 0.8373011903571072 Centerline is valid? [False, False] Translation: X:8.71, Y:0.36, Z:-1.90 [[ 9.99866342e-01 -5.59223175e-03 -1.53630916e-02 8.70954059e+00] [ 5.62343073e-03 9.99982212e-01 1.98832645e-03 3.57153228e-01] [ 1.53516991e-02 -2.07445398e-03 9.99880004e-01 -1.90063568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.78455357399997 meters Centerline goodness [0,1] 0.8266420166387688 Centerline is valid? [False, False] Translation: X:8.71, Y:0.36, Z:-1.90 [[ 9.99875256e-01 -4.85246499e-03 -1.50308314e-02 8.70805596e+00] [ 4.88590548e-03 9.99985668e-01 2.18887022e-03 3.58145990e-01] [ 1.50199946e-02 -2.26203639e-03 9.99884635e-01 -1.90017660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.81455357399997 meters Centerline goodness [0,1] 0.8366756460141674 Centerline is valid? [False, False] Translation: X:8.71, Y:0.36, Z:-1.90 [[ 9.99884573e-01 -6.07729795e-04 -1.51812663e-02 8.70823682e+00] [ 7.03446504e-04 9.99979905e-01 6.30037851e-03 3.59054568e-01] [ 1.51771323e-02 -6.31033049e-03 9.99864908e-01 -1.89976033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.84455357399997 meters Centerline goodness [0,1] 0.8286716767033295 Centerline is valid? [False, False] Translation: X:8.72, Y:0.36, Z:-1.91 [[ 9.99951919e-01 2.30876691e-03 -9.53045564e-03 8.72414351e+00] [-2.32081979e-03 9.99996521e-01 -1.25380456e-03 3.61842561e-01] [ 9.52752774e-03 1.27586275e-03 9.99953798e-01 -1.90690777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.87455357399998 meters Centerline goodness [0,1] 0.8275750324060225 Centerline is valid? [False, False] Translation: X:8.72, Y:0.36, Z:-1.91 [[ 9.99954369e-01 4.49891651e-03 -8.42731093e-03 8.71956013e+00] [-4.50655301e-03 9.99989452e-01 -8.87390511e-04 3.63663649e-01] [ 8.42322974e-03 9.25328142e-04 9.99964096e-01 -1.90603358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.90455357399998 meters Centerline goodness [0,1] 0.8254324310851902 Centerline is valid? [False, False] Translation: X:8.72, Y:0.36, Z:-1.91 [[ 9.99954241e-01 5.29091891e-03 -7.97007433e-03 8.71772094e+00] [-5.29675271e-03 9.99985719e-01 -7.11032582e-04 3.64325963e-01] [ 7.96619849e-03 7.53215558e-04 9.99967986e-01 -1.90550086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.93455357399998 meters Centerline goodness [0,1] 0.8246441966170736 Centerline is valid? [False, False] Translation: X:8.72, Y:0.36, Z:-1.91 [[ 9.99953725e-01 5.53209786e-03 -7.87039841e-03 8.71751163e+00] [-5.53877585e-03 9.99984319e-01 -8.26951061e-04 3.64975856e-01] [ 7.86570022e-03 8.70505167e-04 9.99968686e-01 -1.90573058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.96455357399998 meters Centerline goodness [0,1] 0.8275870628242361 Centerline is valid? [False, False] Translation: X:8.72, Y:0.37, Z:-1.91 [[ 9.99953229e-01 5.50667714e-03 -7.95089343e-03 8.71785217e+00] [-5.51451480e-03 9.99984330e-01 -9.64172131e-04 3.65524980e-01] [ 7.94545946e-03 1.00797235e-03 9.99967926e-01 -1.90586895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.99455357399998 meters Centerline goodness [0,1] 0.824176369820502 Centerline is valid? [False, False] Translation: X:8.72, Y:0.37, Z:-1.91 [[ 9.99952840e-01 5.23491415e-03 -8.18006271e-03 8.71884753e+00] [-5.24302946e-03 9.99985784e-01 -9.70954236e-04 3.65260871e-01] [ 8.17486356e-03 1.01379676e-03 9.99966071e-01 -1.90617726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.02455357399998 meters Centerline goodness [0,1] 0.8321209705545314 Centerline is valid? [False, False] Translation: X:8.72, Y:0.36, Z:-1.91 [[ 9.99950709e-01 3.61122340e-03 -9.24868387e-03 8.72339206e+00] [-3.62570207e-03 9.99992227e-01 -1.54919606e-03 3.64487801e-01] [ 9.24301749e-03 1.58265267e-03 9.99956030e-01 -1.90791171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.05455357399998 meters Centerline goodness [0,1] 0.8232847715103973 Centerline is valid? [False, False] Translation: X:8.73, Y:0.36, Z:-1.91 [[ 9.99946409e-01 2.44796043e-03 -1.00591095e-02 8.72675268e+00] [-2.46670309e-03 9.99995244e-01 -1.85126851e-03 3.63829020e-01] [ 1.00545298e-02 1.87598214e-03 9.99947692e-01 -1.90895708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.08455357399998 meters Centerline goodness [0,1] 0.8285 Centerline is valid? [False, False] Translation: X:8.73, Y:0.36, Z:-1.91 [[ 9.99935010e-01 -2.98623317e-03 -1.10026001e-02 8.73094090e+00] [ 2.91312266e-03 9.99973613e-01 -6.65488459e-03 3.63953844e-01] [ 1.10221828e-02 6.62240017e-03 9.99917324e-01 -1.91122864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.11455357399998 meters Centerline goodness [0,1] 0.8302986343854735 Centerline is valid? [False, False] Translation: X:8.73, Y:0.36, Z:-1.91 [[ 9.99920202e-01 -4.29188977e-03 -1.18814755e-02 8.73422361e+00] [ 4.21378045e-03 9.99969399e-01 -6.59128846e-03 3.63058886e-01] [ 1.19094010e-02 6.54069655e-03 9.99907688e-01 -1.91102397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.14455357399999 meters Centerline goodness [0,1] 0.8266319713763856 Centerline is valid? [False, False] Translation: X:8.74, Y:0.36, Z:-1.91 [[ 9.99905555e-01 -5.41832062e-03 -1.26302540e-02 8.73685929e+00] [ 5.33750577e-03 9.99965124e-01 -6.42346450e-03 3.62294518e-01] [ 1.26646179e-02 6.35544378e-03 9.99899603e-01 -1.91041124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.174553574 meters Centerline goodness [0,1] 0.8286113676643119 Centerline is valid? [False, False] Translation: X:8.74, Y:0.36, Z:-1.91 [[ 9.99866630e-01 -8.08253795e-03 -1.41913902e-02 8.74255587e+00] [ 7.99466965e-03 9.99948588e-01 -6.23751511e-03 3.61947839e-01] [ 1.42410755e-02 6.12322773e-03 9.99879842e-01 -1.90871175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.204553574 meters Centerline goodness [0,1] 0.8286113676643119 Centerline is valid? [False, False] Translation: X:8.74, Y:0.36, Z:-1.91 [[ 9.99866630e-01 -8.08253795e-03 -1.41913902e-02 8.74255587e+00] [ 7.99466965e-03 9.99948588e-01 -6.23751511e-03 3.61947839e-01] [ 1.42410755e-02 6.12322773e-03 9.99879842e-01 -1.90871175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.234553574 meters Centerline goodness [0,1] 0.8310034636565249 Centerline is valid? [False, False] Translation: X:8.74, Y:0.36, Z:-1.91 [[ 9.99848740e-01 -9.04287850e-03 -1.48567645e-02 8.74483078e+00] [ 8.95024964e-03 9.99940166e-01 -6.28949888e-03 3.62075238e-01] [ 1.49127507e-02 6.15557578e-03 9.99869851e-01 -1.90826987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.264553574 meters Centerline goodness [0,1] 0.8369791666666666 Centerline is valid? [False, False] Translation: X:8.75, Y:0.36, Z:-1.91 [[ 9.99804931e-01 -1.12925950e-02 -1.62042053e-02 8.74979446e+00] [ 1.11791839e-02 9.99912499e-01 -7.07246283e-03 3.63642525e-01] [ 1.62826539e-02 6.88993343e-03 9.99843690e-01 -1.90830869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.294553574 meters Centerline goodness [0,1] 0.8344670640908304 Centerline is valid? [False, False] Translation: X:8.75, Y:0.36, Z:-1.91 [[ 9.99786846e-01 -1.20100321e-02 -1.67935203e-02 8.75191003e+00] [ 1.18850525e-02 9.99901076e-01 -7.52223861e-03 3.64964258e-01] [ 1.68822013e-02 7.32104335e-03 9.99830682e-01 -1.90872416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.324553574 meters Centerline goodness [0,1] 0.8361172702636117 Centerline is valid? [False, False] Translation: X:8.76, Y:0.36, Z:-1.91 [[ 9.99786402e-01 -1.00960751e-02 -1.80338305e-02 8.75645931e+00] [ 1.00327481e-02 9.99943195e-01 -3.59859700e-03 3.64511081e-01] [ 1.80691378e-02 3.41689947e-03 9.99830901e-01 -1.90787987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.354553574 meters Centerline goodness [0,1] 0.831106425752041 Centerline is valid? [False, False] Translation: X:8.76, Y:0.37, Z:-1.91 [[ 9.99774270e-01 -1.05382203e-02 -1.84487169e-02 8.75786760e+00] [ 1.04599296e-02 9.99935897e-01 -4.33505674e-03 3.67333692e-01] [ 1.84932181e-02 4.14110590e-03 9.99820410e-01 -1.90839184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.384553574 meters Centerline goodness [0,1] 0.8376502330144714 Centerline is valid? [False, False] Translation: X:8.76, Y:0.37, Z:-1.91 [[ 9.99770469e-01 -1.05753025e-02 -1.86325642e-02 8.75847196e+00] [ 1.04915589e-02 9.99934443e-01 -4.58650874e-03 3.68746402e-01] [ 1.86798464e-02 4.38997135e-03 9.99815879e-01 -1.90867250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41455357399997 meters Centerline goodness [0,1] 0.8386655928935745 Centerline is valid? [False, False] Translation: X:8.76, Y:0.37, Z:-1.91 [[ 9.99780576e-01 -7.47718288e-03 -1.95675933e-02 8.76149094e+00] [ 7.46069470e-03 9.99971750e-01 -9.15493606e-04 3.69933294e-01] [ 1.95738858e-02 7.69304885e-04 9.99808117e-01 -1.90872708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.44455357399997 meters Centerline goodness [0,1] 0.8381764992686495 Centerline is valid? [False, False] Translation: X:8.76, Y:0.37, Z:-1.91 [[ 9.99781780e-01 -7.11517972e-03 -1.96409482e-02 8.76162357e+00] [ 7.09447207e-03 9.99974202e-01 -1.12378757e-03 3.71679549e-01] [ 1.96484374e-02 9.84200182e-04 9.99806466e-01 -1.90922668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.47455357399997 meters Centerline goodness [0,1] 0.8335317990716664 Centerline is valid? [False, False] Translation: X:8.76, Y:0.37, Z:-1.91 [[ 9.99783456e-01 -3.85094903e-03 -2.04501910e-02 8.76427135e+00] [ 3.90955761e-03 9.99988362e-01 2.82671207e-03 3.71824030e-01] [ 2.04390675e-02 -2.90605116e-03 9.99786877e-01 -1.90914418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.50455357399997 meters Centerline goodness [0,1] 0.8256149279050042 Centerline is valid? [False, False] Translation: X:8.76, Y:0.37, Z:-1.91 [[ 9.99787662e-01 4.93574899e-04 -2.06006839e-02 8.76436490e+00] [-3.52517514e-04 9.99976474e-01 6.85028844e-03 3.73241070e-01] [ 2.06035804e-02 -6.84157176e-03 9.99764315e-01 -1.90867388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.53455357399997 meters Centerline goodness [0,1] 0.8350667927364415 Centerline is valid? [False, False] Translation: X:8.78, Y:0.38, Z:-1.92 [[ 9.99888195e-01 3.42051433e-03 -1.45567028e-02 8.77958327e+00] [-3.42597277e-03 9.99994070e-01 -3.50057545e-04 3.75506137e-01] [ 1.45554191e-02 3.99889274e-04 9.99893984e-01 -1.91515765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.56455357399997 meters Centerline goodness [0,1] 0.835867588213896 Centerline is valid? [False, False] Translation: X:8.78, Y:0.38, Z:-1.91 [[ 9.99864804e-01 8.02773759e-03 -1.43501985e-02 8.77825855e+00] [-7.96618148e-03 9.99958844e-01 4.34159292e-03 3.75559114e-01] [ 1.43844611e-02 -4.22668967e-03 9.99887605e-01 -1.91316465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.59455357399997 meters Centerline goodness [0,1] 0.8304941199245027 Centerline is valid? [False, False] Translation: X:8.78, Y:0.38, Z:-1.91 [[ 9.99862921e-01 8.85063095e-03 -1.39930453e-02 8.77668225e+00] [-8.79044963e-03 9.99951873e-01 4.35647520e-03 3.76703569e-01] [ 1.40309294e-02 -4.23287286e-03 9.99892602e-01 -1.91295165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.62455357399998 meters Centerline goodness [0,1] 0.8279863646253899 Centerline is valid? [False, False] Translation: X:8.77, Y:0.38, Z:-1.91 [[ 9.99861281e-01 9.80631250e-03 -1.34630665e-02 8.77472177e+00] [-9.74758713e-03 9.99942719e-01 4.42067395e-03 3.78038534e-01] [ 1.35056458e-02 -4.28882831e-03 9.99899597e-01 -1.91280373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.65455357399998 meters Centerline goodness [0,1] 0.8243376804956247 Centerline is valid? [False, False] Translation: X:8.77, Y:0.38, Z:-1.91 [[ 9.99849936e-01 1.19247460e-02 -1.25660932e-02 8.77080653e+00] [-1.18656606e-02 9.99918242e-01 4.76608505e-03 3.80728446e-01] [ 1.26219002e-02 -4.61626483e-03 9.99909685e-01 -1.91218755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.68455357399998 meters Centerline goodness [0,1] 0.8317594912314512 Centerline is valid? [False, False] Translation: X:8.77, Y:0.38, Z:-1.91 [[ 9.99845141e-01 1.27574406e-02 -1.21219879e-02 8.76898978e+00] [-1.26999643e-02 9.99907799e-01 4.80670781e-03 3.81741423e-01] [ 1.21821916e-02 -4.65201463e-03 9.99914973e-01 -1.91186463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.71455357399998 meters Centerline goodness [0,1] 0.8249466593148419 Centerline is valid? [False, False] Translation: X:8.77, Y:0.38, Z:-1.91 [[ 9.99838448e-01 1.35507825e-02 -1.18090499e-02 8.76785123e+00] [-1.34962478e-02 9.99897943e-01 4.68557250e-03 3.82918709e-01] [ 1.18713379e-02 -4.52543768e-03 9.99919293e-01 -1.91219935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.74455357399998 meters Centerline goodness [0,1] 0.8289508440794371 Centerline is valid? [False, False] Translation: X:8.77, Y:0.38, Z:-1.91 [[ 9.99836288e-01 1.37163497e-02 -1.18008196e-02 8.76790024e+00] [-1.36631448e-02 9.99896177e-01 4.57744568e-03 3.83522575e-01] [ 1.18623802e-02 -4.41545999e-03 9.99919891e-01 -1.91255590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.77455357399998 meters Centerline goodness [0,1] 0.827137635856497 Centerline is valid? [False, False] Translation: X:8.77, Y:0.38, Z:-1.91 [[ 9.99833531e-01 1.39804495e-02 -1.17241839e-02 8.76756137e+00] [-1.39291215e-02 9.99893091e-01 4.44825889e-03 3.84324046e-01] [ 1.17851191e-02 -4.28421081e-03 9.99921375e-01 -1.91265239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.80455357399998 meters Centerline goodness [0,1] 0.832358252076562 Centerline is valid? [False, False] Translation: X:8.77, Y:0.38, Z:-1.91 [[ 9.99833009e-01 1.39583685e-02 -1.17948413e-02 8.76777447e+00] [-1.39079850e-02 9.99893848e-01 4.34294053e-03 3.84640923e-01] [ 1.18542096e-02 -4.17817282e-03 9.99921007e-01 -1.91276493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.83455357399998 meters Centerline goodness [0,1] 0.8299038461538462 Centerline is valid? [False, False] Translation: X:8.77, Y:0.39, Z:-1.91 [[ 9.99830625e-01 1.40451154e-02 -1.18935619e-02 8.76794310e+00] [-1.39965126e-02 9.99893391e-01 4.15991376e-03 3.85927582e-01] [ 1.19507204e-02 -3.99274079e-03 9.99920616e-01 -1.91285859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.86455357399998 meters Centerline goodness [0,1] 0.8277168829299882 Centerline is valid? [False, False] Translation: X:8.77, Y:0.39, Z:-1.91 [[ 9.99831526e-01 1.38141984e-02 -1.20866815e-02 8.76867948e+00] [-1.37674232e-02 9.99897444e-01 3.94466334e-03 3.86589302e-01] [ 1.21399343e-02 -3.77759631e-03 9.99919173e-01 -1.91308307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.89455357399999 meters Centerline goodness [0,1] 0.8309825311771631 Centerline is valid? [False, False] Translation: X:8.77, Y:0.39, Z:-1.91 [[ 9.99833129e-01 1.35061339e-02 -1.23003115e-02 8.76941408e+00] [-1.34595332e-02 9.99901952e-01 3.86351818e-03 3.86672804e-01] [ 1.23512867e-02 -3.69731702e-03 9.99916884e-01 -1.91305547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.924553574 meters Centerline goodness [0,1] 0.8250054077438893 Centerline is valid? [False, False] Translation: X:8.77, Y:0.39, Z:-1.91 [[ 9.99878008e-01 9.56234354e-03 -1.23503262e-02 8.76943560e+00] [-9.56994694e-03 9.99954052e-01 -5.56690556e-04 3.88244060e-01] [ 1.23444355e-02 6.74814611e-04 9.99923577e-01 -1.91368495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.954553574 meters Centerline goodness [0,1] 0.8295094556974176 Centerline is valid? [False, False] Translation: X:8.77, Y:0.39, Z:-1.91 [[ 9.99877374e-01 9.20051610e-03 -1.26722838e-02 8.77044994e+00] [-9.20927166e-03 9.99957394e-01 -6.32740604e-04 3.88655235e-01] [ 1.26659223e-02 7.49365518e-04 9.99919503e-01 -1.91358011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.984553574 meters Centerline goodness [0,1] 0.8334934434891206 Centerline is valid? [False, False] Translation: X:8.76, Y:0.39, Z:-1.92 [[ 9.99978505e-01 5.04923139e-03 -4.18279098e-03 8.76055362e+00] [-5.04634604e-03 9.99987022e-01 7.00083071e-04 3.91291946e-01] [ 4.18627158e-03 -6.78960212e-04 9.99991007e-01 -1.91838566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.014553574 meters Centerline goodness [0,1] 0.8403984637542007 Centerline is valid? [False, False] Translation: X:8.76, Y:0.39, Z:-1.92 [[ 9.99977882e-01 5.12069056e-03 -4.24436790e-03 8.76063224e+00] [-5.11803898e-03 9.99986701e-01 6.35356076e-04 3.91823632e-01] [ 4.24756492e-03 -6.13619182e-04 9.99990791e-01 -1.91832924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.044553574 meters Centerline goodness [0,1] 0.8376811594202899 Centerline is valid? [False, False] Translation: X:8.76, Y:0.39, Z:-1.92 [[ 9.99976163e-01 5.35687605e-03 -4.35621397e-03 8.76093982e+00] [-5.35632269e-03 9.99985645e-01 1.38685428e-04 3.93942854e-01] [ 4.35689436e-03 -1.15348835e-04 9.99990502e-01 -1.91902735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.074553574 meters Centerline goodness [0,1] 0.8368661828459198 Centerline is valid? [False, False] Translation: X:8.76, Y:0.39, Z:-1.92 [[ 9.99974949e-01 5.63854458e-03 -4.27880414e-03 8.76069078e+00] [-5.63860911e-03 9.99984103e-01 -3.01872049e-06 3.94866308e-01] [ 4.27871910e-03 2.71451489e-05 9.99990846e-01 -1.91927105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.104553574 meters Centerline goodness [0,1] 0.8336363636363636 Centerline is valid? [False, False] Translation: X:8.76, Y:0.40, Z:-1.92 [[ 9.99973428e-01 6.00386058e-03 -4.13476330e-03 8.76017757e+00] [-6.00389182e-03 9.99981976e-01 4.85612301e-06 3.95284346e-01] [ 4.13471793e-03 1.99686776e-05 9.99991452e-01 -1.91929627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.134553574 meters Centerline goodness [0,1] 0.8334049152946791 Centerline is valid? [False, False] Translation: X:8.76, Y:0.40, Z:-1.92 [[ 9.99970299e-01 6.58151222e-03 -4.01066135e-03 8.75952822e+00] [-6.58108640e-03 9.99978337e-01 1.19360354e-04 3.95614891e-01] [ 4.01136004e-03 -9.29622995e-05 9.99991950e-01 -1.91930844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.16455357399997 meters Centerline goodness [0,1] 0.8316682600382409 Centerline is valid? [False, False] Translation: X:8.76, Y:0.40, Z:-1.92 [[ 9.99969701e-01 6.56275510e-03 -4.18663773e-03 8.76025297e+00] [-6.56311442e-03 9.99978460e-01 -7.20922450e-05 3.95916280e-01] [ 4.18607443e-03 9.95674431e-05 9.99991233e-01 -1.92002401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.19455357399997 meters Centerline goodness [0,1] 0.8310031415621477 Centerline is valid? [False, False] Translation: X:8.76, Y:0.40, Z:-1.92 [[ 9.99969412e-01 6.34838408e-03 -4.56878131e-03 8.76174970e+00] [-6.34930408e-03 9.99979826e-01 -1.86889480e-04 3.95299986e-01] [ 4.56750269e-03 2.15892346e-04 9.99989546e-01 -1.92102938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.22455357399997 meters Centerline goodness [0,1] 0.8346398178113388 Centerline is valid? [False, False] Translation: X:8.76, Y:0.39, Z:-1.92 [[ 9.99969035e-01 6.26850763e-03 -4.75764370e-03 8.76244108e+00] [-6.26915476e-03 9.99980341e-01 -1.21117664e-04 3.94476438e-01] [ 4.75679094e-03 1.50940318e-04 9.99988675e-01 -1.92135089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.25455357399997 meters Centerline goodness [0,1] 0.8315392378297852 Centerline is valid? [False, False] Translation: X:8.76, Y:0.39, Z:-1.92 [[ 9.99964902e-01 7.08498377e-03 -4.47184940e-03 8.76150053e+00] [-7.08468137e-03 9.99974900e-01 8.34604151e-05 3.94219692e-01] [ 4.47232847e-03 -5.17758577e-05 9.99989998e-01 -1.92193329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.28455357399997 meters Centerline goodness [0,1] 0.8270835838845461 Centerline is valid? [False, False] Translation: X:8.76, Y:0.39, Z:-1.92 [[ 9.99963709e-01 7.14227257e-03 -4.64416742e-03 8.76248854e+00] [-7.14386672e-03 9.99974429e-01 -3.26759825e-04 3.94807294e-01] [ 4.64171485e-03 3.59925280e-04 9.99989162e-01 -1.92342659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.31455357399997 meters Centerline goodness [0,1] 0.8250120365912373 Centerline is valid? [False, False] Translation: X:8.76, Y:0.39, Z:-1.92 [[ 9.99959992e-01 7.64993829e-03 -4.63598842e-03 8.76268780e+00] [-7.65111304e-03 9.99970702e-01 -2.35715180e-04 3.94204063e-01] [ 4.63404939e-03 2.71176221e-04 9.99989226e-01 -1.92456190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.34455357399997 meters Centerline goodness [0,1] 0.8257573928786964 Centerline is valid? [False, False] Translation: X:8.76, Y:0.39, Z:-1.93 [[ 9.99959651e-01 7.64029248e-03 -4.72463453e-03 8.76322169e+00] [-7.64117801e-03 9.99970791e-01 -1.69404884e-04 3.93168935e-01] [ 4.72320223e-03 2.05499822e-04 9.99988825e-01 -1.92508420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.37455357399998 meters Centerline goodness [0,1] 0.822611049349896 Centerline is valid? [False, False] Translation: X:8.76, Y:0.39, Z:-1.93 [[ 9.99959909e-01 7.51038207e-03 -4.87586196e-03 8.76398278e+00] [-7.51116835e-03 9.99971781e-01 -1.42968896e-04 3.92242619e-01] [ 4.87465062e-03 1.79586584e-04 9.99988103e-01 -1.92556112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.40455357399998 meters Centerline goodness [0,1] 0.8253806367013914 Centerline is valid? [False, False] Translation: X:8.76, Y:0.39, Z:-1.93 [[ 9.99979924e-01 4.62410199e-03 -4.33244715e-03 8.76238809e+00] [-4.64004120e-03 9.99982478e-01 -3.67623177e-03 3.90995589e-01] [ 4.31537196e-03 3.69626070e-03 9.99983857e-01 -1.92619602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.43455357399998 meters Centerline goodness [0,1] 0.819878652013938 Centerline is valid? [False, False] Translation: X:8.76, Y:0.39, Z:-1.93 [[ 9.99980199e-01 4.29744634e-03 -4.59709625e-03 8.76333240e+00] [-4.31261692e-03 9.99985271e-01 -3.29522728e-03 3.89357607e-01] [ 4.58286748e-03 3.31498754e-03 9.99984004e-01 -1.92601485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.46455357399998 meters Centerline goodness [0,1] 0.8185664327113545 Centerline is valid? [False, False] Translation: X:8.77, Y:0.39, Z:-1.93 [[ 9.99981386e-01 3.20371187e-03 -5.19274244e-03 8.76591148e+00] [-3.21912121e-03 9.99990432e-01 -2.96183987e-03 3.86257515e-01] [ 5.18320388e-03 2.97850080e-03 9.99982131e-01 -1.92618906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.49455357399998 meters Centerline goodness [0,1] 0.8212510711225365 Centerline is valid? [False, False] Translation: X:8.77, Y:0.38, Z:-1.93 [[ 9.99980995e-01 2.82950406e-03 -5.47746573e-03 8.76695216e+00] [-2.84314065e-03 9.99992875e-01 -2.48339767e-03 3.84379452e-01] [ 5.47039992e-03 2.49892368e-03 9.99981915e-01 -1.92585374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.52455357399998 meters Centerline goodness [0,1] 0.8227841897620622 Centerline is valid? [False, False] Translation: X:8.77, Y:0.38, Z:-1.93 [[ 9.99980287e-01 2.29731425e-03 -5.84356697e-03 8.76845539e+00] [-2.31043735e-03 9.99994822e-01 -2.23997586e-03 3.82421482e-01] [ 5.83839079e-03 2.25343290e-03 9.99980417e-01 -1.92606903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.55455357399998 meters Centerline goodness [0,1] 0.828171310017783 Centerline is valid? [False, False] Translation: X:8.77, Y:0.38, Z:-1.93 [[ 9.99983739e-01 -3.48547184e-04 -5.69213328e-03 8.76949397e+00] [ 3.23080493e-04 9.99989938e-01 -4.47432199e-03 3.79212323e-01] [ 5.69363552e-03 4.47241022e-03 9.99973790e-01 -1.92754805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.58455357399998 meters Centerline goodness [0,1] 0.81900474871389 Centerline is valid? [False, False] Translation: X:8.77, Y:0.38, Z:-1.93 [[ 9.99980577e-01 -8.53597345e-04 -6.17386546e-03 8.77104978e+00] [ 8.28600196e-04 9.99991454e-01 -4.05029043e-03 3.77521002e-01] [ 6.17727002e-03 4.04509610e-03 9.99972739e-01 -1.92725885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.61455357399998 meters Centerline goodness [0,1] 0.8265557073655446 Centerline is valid? [False, False] Translation: X:8.77, Y:0.37, Z:-1.93 [[ 9.99971550e-01 -2.61164596e-03 -7.07664552e-03 8.77485522e+00] [ 2.58583963e-03 9.99989983e-01 -3.65338924e-03 3.73850601e-01] [ 7.08611600e-03 3.63498623e-03 9.99968286e-01 -1.92710095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.64455357399999 meters Centerline goodness [0,1] 0.8161992214791896 Centerline is valid? [False, False] Translation: X:8.78, Y:0.37, Z:-1.93 [[ 9.99966041e-01 -3.31939482e-03 -7.54310925e-03 8.77650637e+00] [ 3.29499940e-03 9.99989309e-01 -3.24426230e-03 3.72046479e-01] [ 7.55379759e-03 3.21929758e-03 9.99966288e-01 -1.92661967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.674553574 meters Centerline goodness [0,1] 0.8276429658079159 Centerline is valid? [False, False] Translation: X:8.78, Y:0.37, Z:-1.93 [[ 9.99959335e-01 -4.04395599e-03 -8.06067747e-03 8.77817826e+00] [ 4.02152244e-03 9.99988001e-01 -2.79735318e-03 3.70348726e-01] [ 8.07189312e-03 2.76482323e-03 9.99963599e-01 -1.92586589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.704553574 meters Centerline goodness [0,1] 0.8164077159798844 Centerline is valid? [False, False] Translation: X:8.78, Y:0.37, Z:-1.93 [[ 9.99942261e-01 -5.97834267e-03 -8.92944706e-03 8.78189677e+00] [ 5.95615859e-03 9.99979115e-01 -2.50890329e-03 3.67804734e-01] [ 8.94425965e-03 2.45557323e-03 9.99956984e-01 -1.92509706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.734553574 meters Centerline goodness [0,1] 0.8254051884188871 Centerline is valid? [False, False] Translation: X:8.78, Y:0.37, Z:-1.93 [[ 9.99931719e-01 -6.76371712e-03 -9.52936436e-03 8.78418327e+00] [ 6.74077208e-03 9.99974309e-01 -2.43788932e-03 3.67011447e-01] [ 9.54560874e-03 2.37348759e-03 9.99951623e-01 -1.92526764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.764553574 meters Centerline goodness [0,1] 0.8193110384712095 Centerline is valid? [False, False] Translation: X:8.79, Y:0.37, Z:-1.93 [[ 9.99915109e-01 -8.01792488e-03 -1.02707586e-02 8.78721846e+00] [ 7.99349784e-03 9.99965130e-01 -2.41715631e-03 3.65914681e-01] [ 1.02897810e-02 2.33485183e-03 9.99944333e-01 -1.92541257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.794553574 meters Centerline goodness [0,1] 0.8233623960401015 Centerline is valid? [False, False] Translation: X:8.79, Y:0.37, Z:-1.92 [[ 9.99911203e-01 -8.23368636e-03 -1.04782156e-02 8.78777552e+00] [ 8.21323995e-03 9.99964285e-01 -1.99286394e-03 3.65080303e-01] [ 1.04942500e-02 1.90662688e-03 9.99943116e-01 -1.92465853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.824553574 meters Centerline goodness [0,1] 0.8224649535650467 Centerline is valid? [False, False] Translation: X:8.79, Y:0.36, Z:-1.92 [[ 9.99913121e-01 -8.06286860e-03 -1.04278984e-02 8.78736913e+00] [ 8.04668194e-03 9.99966356e-01 -1.59327236e-03 3.64428310e-01] [ 1.04403939e-02 1.50922396e-03 9.99944359e-01 -1.92393455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.854553574 meters Centerline goodness [0,1] 0.8248813011415295 Centerline is valid? [False, False] Translation: X:8.79, Y:0.36, Z:-1.92 [[ 9.99918839e-01 -7.57657201e-03 -1.02425815e-02 8.78661396e+00] [ 7.56209647e-03 9.99970354e-01 -1.45126185e-03 3.64760084e-01] [ 1.02532735e-02 1.37368868e-03 9.99946490e-01 -1.92385690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.884553574 meters Centerline goodness [0,1] 0.824969153677637 Centerline is valid? [False, False] Translation: X:8.79, Y:0.36, Z:-1.92 [[ 9.99931899e-01 -4.23987149e-03 -1.08729507e-02 8.78861340e+00] [ 4.27292829e-03 9.99986314e-01 3.01885270e-03 3.63691061e-01] [ 1.08600023e-02 -3.06510645e-03 9.99936331e-01 -1.92286794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91455357399997 meters Centerline goodness [0,1] 0.8224829769592201 Centerline is valid? [False, False] Translation: X:8.79, Y:0.37, Z:-1.92 [[ 9.99943402e-01 -2.51148824e-03 -1.03385109e-02 8.78620952e+00] [ 2.54387750e-03 9.99991894e-01 3.12091798e-03 3.65218024e-01] [ 1.03305889e-02 -3.14704125e-03 9.99941686e-01 -1.92347867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.94455357399997 meters Centerline goodness [0,1] 0.822059857386763 Centerline is valid? [False, False] Translation: X:8.78, Y:0.37, Z:-1.92 [[ 9.99949152e-01 -1.64235990e-03 -9.94963280e-03 8.78466024e+00] [ 1.67395594e-03 9.99993580e-01 3.16810355e-03 3.66023197e-01] [ 9.94436576e-03 -3.18459771e-03 9.99945482e-01 -1.92357597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.97455357399997 meters Centerline goodness [0,1] 0.8187976716178241 Centerline is valid? [False, False] Translation: X:8.78, Y:0.37, Z:-1.92 [[ 9.99957573e-01 7.11877723e-05 -9.21125314e-03 8.78158974e+00] [-4.06002674e-05 9.99994485e-01 3.32081145e-03 3.67596359e-01] [ 9.21143874e-03 -3.32029658e-03 9.99952061e-01 -1.92365772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.004553574 meters Centerline goodness [0,1] 0.8179408307700002 Centerline is valid? [False, False] Translation: X:8.78, Y:0.37, Z:-1.92 [[ 9.99958297e-01 3.88945624e-04 -9.12428630e-03 8.78139458e+00] [-3.60401207e-04 9.99995037e-01 3.12983558e-03 3.68386839e-01] [ 9.12545835e-03 -3.12641666e-03 9.99953475e-01 -1.92420096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.034553574 meters Centerline goodness [0,1] 0.8217819308414951 Centerline is valid? [False, False] Translation: X:8.78, Y:0.37, Z:-1.92 [[ 9.99959205e-01 6.46912435e-04 -9.00945982e-03 8.78120205e+00] [-6.20209250e-04 9.99995408e-01 2.96638381e-03 3.68937717e-01] [ 9.01133744e-03 -2.96067505e-03 9.99955014e-01 -1.92474578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.064553574 meters Centerline goodness [0,1] 0.8212933439617378 Centerline is valid? [False, False] Translation: X:8.78, Y:0.37, Z:-1.92 [[ 9.99959151e-01 7.12996848e-04 -9.01045465e-03 8.78142280e+00] [-6.86087007e-04 9.99995297e-01 2.98925135e-03 3.68789591e-01] [ 9.01254360e-03 -2.98294728e-03 9.99954937e-01 -1.92498868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.094553574 meters Centerline goodness [0,1] 0.8236205130767117 Centerline is valid? [False, False] Translation: X:8.78, Y:0.37, Z:-1.93 [[ 9.99958094e-01 6.29180680e-04 -9.13312834e-03 8.78192344e+00] [-6.01038389e-04 9.99995065e-01 3.08375958e-03 3.68370809e-01] [ 9.13502351e-03 -3.07814099e-03 9.99953537e-01 -1.92512826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.124553574 meters Centerline goodness [0,1] 0.8236205130767117 Centerline is valid? [False, False] Translation: X:8.78, Y:0.37, Z:-1.93 [[ 9.99958094e-01 6.29180680e-04 -9.13312834e-03 8.78192344e+00] [-6.01038389e-04 9.99995065e-01 3.08375958e-03 3.68370809e-01] [ 9.13502351e-03 -3.07814099e-03 9.99953537e-01 -1.92512826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.154553574 meters Centerline goodness [0,1] 0.8221833624781414 Centerline is valid? [False, False] Translation: X:8.78, Y:0.37, Z:-1.93 [[ 9.99954030e-01 -8.58181164e-05 -9.58807763e-03 8.78403254e+00] [ 1.14581446e-04 9.99995495e-01 2.99939677e-03 3.67071077e-01] [ 9.58777704e-03 -3.00035751e-03 9.99949535e-01 -1.92583254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.184553574 meters Centerline goodness [0,1] 0.8235073319653671 Centerline is valid? [False, False] Translation: X:8.78, Y:0.37, Z:-1.93 [[ 9.99953306e-01 -1.85214804e-04 -9.66189046e-03 8.78430802e+00] [ 2.15896603e-04 9.99994938e-01 3.17460190e-03 3.66419745e-01] [ 9.66125357e-03 -3.17653964e-03 9.99948284e-01 -1.92564095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.214553574 meters Centerline goodness [0,1] 0.8228700112598524 Centerline is valid? [False, False] Translation: X:8.79, Y:0.37, Z:-1.93 [[ 9.99951825e-01 -3.77514215e-04 -9.80837623e-03 8.78506565e+00] [ 4.07981467e-04 9.99995098e-01 3.10443312e-03 3.66420535e-01] [ 9.80715618e-03 -3.10828520e-03 9.99947078e-01 -1.92601896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.244553574 meters Centerline goodness [0,1] 0.81729662077597 Centerline is valid? [False, False] Translation: X:8.79, Y:0.37, Z:-1.93 [[ 9.99949072e-01 -7.32597936e-04 -1.00656078e-02 8.78636610e+00] [ 7.63385878e-04 9.99995041e-01 3.05522501e-03 3.66282863e-01] [ 1.00633196e-02 -3.06275336e-03 9.99944673e-01 -1.92655222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.274553574 meters Centerline goodness [0,1] 0.8213990325572069 Centerline is valid? [False, False] Translation: X:8.79, Y:0.37, Z:-1.93 [[ 9.99947580e-01 -8.41366455e-04 -1.02043557e-02 8.78681562e+00] [ 8.74015661e-04 9.99994512e-01 3.19549895e-03 3.66014574e-01] [ 1.02016112e-02 -3.20425021e-03 9.99942828e-01 -1.92635007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.30455357399995 meters Centerline goodness [0,1] 0.8192978946842027 Centerline is valid? [False, False] Translation: X:8.79, Y:0.36, Z:-1.93 [[ 9.99945729e-01 -1.23366405e-03 -1.03448824e-02 8.78744938e+00] [ 1.26998075e-03 9.99993052e-01 3.50476181e-03 3.64661056e-01] [ 1.03404869e-02 -3.51770940e-03 9.99940348e-01 -1.92571853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.334553574 meters Centerline goodness [0,1] 0.8089425800145367 Centerline is valid? [False, False] Translation: X:8.79, Y:0.36, Z:-1.92 [[ 9.99943752e-01 -1.48888275e-03 -1.05012533e-02 8.78789369e+00] [ 1.52899758e-03 9.99991562e-01 3.81301083e-03 3.64033069e-01] [ 1.04954876e-02 -3.82885275e-03 9.99937590e-01 -1.92497964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.36455357399996 meters Centerline goodness [0,1] 0.8192145651519711 Centerline is valid? [False, False] Translation: X:8.79, Y:0.36, Z:-1.92 [[ 9.99941861e-01 -1.78341485e-03 -1.06346055e-02 8.78827887e+00] [ 1.82728612e-03 9.99989855e-01 4.11704260e-03 3.63409727e-01] [ 1.06271552e-02 -4.13623571e-03 9.99934975e-01 -1.92418579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.394553574 meters Centerline goodness [0,1] 0.8202058654111047 Centerline is valid? [False, False] Translation: X:8.79, Y:0.36, Z:-1.92 [[ 9.99930917e-01 -3.23865110e-03 -1.12992369e-02 8.79131875e+00] [ 3.28295889e-03 9.99986987e-01 3.90496659e-03 3.63192494e-01] [ 1.12864430e-02 -3.94179175e-03 9.99928537e-01 -1.92420338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.42455357399996 meters Centerline goodness [0,1] 0.8137306544259664 Centerline is valid? [False, False] Translation: X:8.80, Y:0.36, Z:-1.92 [[ 9.99911049e-01 -5.24996555e-03 -1.22609579e-02 8.79566049e+00] [ 5.29239579e-03 9.99980110e-01 3.43071884e-03 3.63010545e-01] [ 1.22427029e-02 -3.49530351e-03 9.99918946e-01 -1.92467404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.454553574 meters Centerline goodness [0,1] 0.8193674600586893 Centerline is valid? [False, False] Translation: X:8.80, Y:0.36, Z:-1.92 [[ 9.99901025e-01 -6.01110386e-03 -1.27203037e-02 8.79740731e+00] [ 6.05381130e-03 9.99976159e-01 3.32158551e-03 3.63065366e-01] [ 1.27000340e-02 -3.39826308e-03 9.99913577e-01 -1.92454153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.48455357399996 meters Centerline goodness [0,1] 0.8242003969749504 Centerline is valid? [False, False] Translation: X:8.80, Y:0.36, Z:-1.92 [[ 9.99888823e-01 -6.79356809e-03 -1.32736327e-02 8.79938015e+00] [ 6.83598468e-03 9.99971664e-01 3.15279780e-03 3.63386375e-01] [ 1.32518378e-02 -3.24318563e-03 9.99906931e-01 -1.92451975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.514553574 meters Centerline goodness [0,1] 0.7964743992165332 Centerline is valid? [False, False] Translation: X:8.81, Y:0.37, Z:-1.93 [[ 9.99851887e-01 -8.94884762e-03 -1.47011257e-02 8.80523910e+00] [ 8.97811093e-03 9.99957842e-01 1.92575789e-03 3.65606268e-01] [ 1.46832726e-02 -2.05746100e-03 9.99890078e-01 -1.92629369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.54455357399996 meters Centerline goodness [0,1] 0.8152252952533788 Centerline is valid? [False, False] Translation: X:8.81, Y:0.37, Z:-1.93 [[ 9.99837007e-01 -9.64067347e-03 -1.52649067e-02 8.80757017e+00] [ 9.66129618e-03 9.99952512e-01 1.27782007e-03 3.67061488e-01] [ 1.52518628e-02 -1.42509058e-03 9.99882668e-01 -1.92743501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.574553574 meters Centerline goodness [0,1] 0.8225850679297021 Centerline is valid? [False, False] Translation: X:8.81, Y:0.37, Z:-1.93 [[ 9.99816886e-01 -1.05029710e-02 -1.59963152e-02 8.81038920e+00] [ 1.05069352e-02 9.99944787e-01 1.63795283e-04 3.70489718e-01] [ 1.59937117e-02 -3.31837536e-04 9.99872037e-01 -1.92875321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.60455357399997 meters Centerline goodness [0,1] 0.8230400556259158 Centerline is valid? [False, False] Translation: X:8.81, Y:0.37, Z:-1.93 [[ 9.99813727e-01 -1.05742232e-02 -1.61461284e-02 8.81089314e+00] [ 1.05726120e-02 9.99944091e-01 -1.85148652e-04 3.72375399e-01] [ 1.61471835e-02 1.44074134e-05 9.99869626e-01 -1.92889677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.634553574 meters Centerline goodness [0,1] 0.8258581066053822 Centerline is valid? [False, False] Translation: X:8.81, Y:0.37, Z:-1.93 [[ 9.99811283e-01 -1.05841729e-02 -1.62902977e-02 8.81128122e+00] [ 1.05777890e-02 9.99943939e-01 -4.77999751e-04 3.74038125e-01] [ 1.62944437e-02 3.05594212e-04 9.99867190e-01 -1.92900557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.66455357399997 meters Centerline goodness [0,1] 0.8286825139032432 Centerline is valid? [False, False] Translation: X:8.81, Y:0.38, Z:-1.93 [[ 9.99805113e-01 -1.07487749e-02 -1.65589541e-02 8.81223008e+00] [ 1.07285016e-02 9.99941586e-01 -1.31266054e-03 3.77651453e-01] [ 1.65720963e-02 1.13475196e-03 9.99862029e-01 -1.92972478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.694553574 meters Centerline goodness [0,1] 0.8256202407270941 Centerline is valid? [False, False] Translation: X:8.81, Y:0.38, Z:-1.93 [[ 9.99805751e-01 -1.06588361e-02 -1.65786101e-02 8.81218081e+00] [ 1.06345442e-02 9.99942246e-01 -1.55272774e-03 3.79477055e-01] [ 1.65942029e-02 1.37612016e-03 9.99861360e-01 -1.92956951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.72455357399997 meters Centerline goodness [0,1] 0.8284354405662679 Centerline is valid? [False, False] Translation: X:8.81, Y:0.38, Z:-1.93 [[ 9.99817819e-01 -9.88063124e-03 -1.63309954e-02 8.81055005e+00] [ 9.85329924e-03 9.99949918e-01 -1.75324548e-03 3.83298443e-01] [ 1.63475007e-02 1.59201189e-03 9.99865103e-01 -1.92862036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.754553574 meters Centerline goodness [0,1] 0.8252304399640051 Centerline is valid? [False, False] Translation: X:8.81, Y:0.38, Z:-1.93 [[ 9.99837504e-01 -6.39386286e-03 -1.68547984e-02 8.81180200e+00] [ 6.43543928e-03 9.99976379e-01 2.41365792e-03 3.83951467e-01] [ 1.68389676e-02 -2.52173375e-03 9.99855035e-01 -1.92738889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.784553574 meters Centerline goodness [0,1] 0.8195826255763164 Centerline is valid? [False, False] Translation: X:8.81, Y:0.39, Z:-1.93 [[ 9.99845538e-01 -5.72115723e-03 -1.66183301e-02 8.81064696e+00] [ 5.76003647e-03 9.99980783e-01 2.29261782e-03 3.86272904e-01] [ 1.66048944e-02 -2.38798588e-03 9.99859278e-01 -1.92714532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.814553574 meters Centerline goodness [0,1] 0.8210709201032793 Centerline is valid? [False, False] Translation: X:8.81, Y:0.39, Z:-1.93 [[ 9.99855559e-01 -1.81830263e-03 -1.68983953e-02 8.81116108e+00] [ 1.92063275e-03 9.99979906e-01 6.04135693e-03 3.88772802e-01] [ 1.68870708e-02 -6.07293992e-03 9.99838960e-01 -1.92637778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.844553574 meters Centerline goodness [0,1] 0.8199052132701422 Centerline is valid? [False, False] Translation: X:8.81, Y:0.39, Z:-1.93 [[ 9.99860890e-01 -1.23700501e-03 -1.66333948e-02 8.81021702e+00] [ 1.33117655e-03 9.99983143e-01 5.65171522e-03 3.91173520e-01] [ 1.66261233e-02 -5.67307100e-03 9.99845682e-01 -1.92674621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.874553574 meters Centerline goodness [0,1] 0.8274275085845098 Centerline is valid? [False, False] Translation: X:8.83, Y:0.40, Z:-1.93 [[ 9.99924985e-01 1.52891738e-03 -1.21526108e-02 8.83065945e+00] [-1.53567093e-03 9.99998672e-01 -5.46415721e-04 3.95620930e-01] [ 1.21517592e-02 5.65037143e-04 9.99926005e-01 -1.93268586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.904553574 meters Centerline goodness [0,1] 0.8303230122324159 Centerline is valid? [False, False] Translation: X:8.82, Y:0.40, Z:-1.94 [[ 9.99993483e-01 -9.25777246e-04 -3.48947061e-03 8.82019758e+00] [ 9.31978151e-04 9.99997989e-01 1.77582618e-03 3.98274304e-01] [ 3.48781958e-03 -1.77906672e-03 9.99992335e-01 -1.93722083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.934553574 meters Centerline goodness [0,1] 0.8255860905916724 Centerline is valid? [False, False] Translation: X:8.82, Y:0.40, Z:-1.94 [[ 9.99992251e-01 -1.14445712e-03 -3.76661908e-03 8.82122932e+00] [ 1.14969599e-03 9.99998374e-01 1.38899653e-03 3.99692851e-01] [ 3.76502331e-03 -1.39331623e-03 9.99991942e-01 -1.93772404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.964553574 meters Centerline goodness [0,1] 0.8293116947825467 Centerline is valid? [False, False] Translation: X:8.82, Y:0.40, Z:-1.94 [[ 9.99988510e-01 -1.98629609e-03 -4.36289451e-03 8.82328318e+00] [ 1.98947776e-03 9.99997758e-01 7.25038502e-04 4.01452897e-01] [ 4.36144458e-03 -7.33710053e-04 9.99990220e-01 -1.93808819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.994553574 meters Centerline goodness [0,1] 0.8326275697286556 Centerline is valid? [False, False] Translation: X:8.82, Y:0.40, Z:-1.94 [[ 9.99986110e-01 -2.45762216e-03 -4.66268017e-03 8.82423482e+00] [ 2.45924728e-03 9.99996917e-01 3.42837907e-04 4.03213181e-01] [ 4.66182323e-03 -3.54299828e-04 9.99989071e-01 -1.93777956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.024553574 meters Centerline goodness [0,1] 0.8325387084592145 Centerline is valid? [False, False] Translation: X:8.82, Y:0.40, Z:-1.94 [[ 9.99985367e-01 -2.46876429e-03 -4.81372516e-03 8.82480743e+00] [ 2.46851057e-03 9.99996952e-01 -5.86469256e-05 4.04979003e-01] [ 4.81385527e-03 4.67633359e-05 9.99988412e-01 -1.93830560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.05455357399995 meters Centerline goodness [0,1] 0.8253102670176758 Centerline is valid? [False, False] Translation: X:8.82, Y:0.41, Z:-1.94 [[ 9.99985634e-01 -2.22733925e-03 -4.87546252e-03 8.82485696e+00] [ 2.22601171e-03 9.99997484e-01 -2.77699755e-04 4.06960173e-01] [ 4.87606879e-03 2.66842929e-04 9.99988076e-01 -1.93844692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.084553574 meters Centerline goodness [0,1] 0.8318104274263279 Centerline is valid? [False, False] Translation: X:8.83, Y:0.41, Z:-1.94 [[ 9.99985025e-01 1.35900685e-03 -5.30113169e-03 8.82604478e+00] [-1.34053408e-03 9.99993023e-01 3.48668349e-03 4.08319931e-01] [ 5.30583313e-03 -3.47952493e-03 9.99979870e-01 -1.93797100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.11455357399996 meters Centerline goodness [0,1] 0.8290843722276696 Centerline is valid? [False, False] Translation: X:8.83, Y:0.41, Z:-1.94 [[ 9.99984918e-01 1.64818588e-03 -5.23891822e-03 8.82585207e+00] [-1.63150277e-03 9.99993590e-01 3.18713769e-03 4.09583205e-01] [ 5.24413764e-03 -3.17854231e-03 9.99981198e-01 -1.93837846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.144553574 meters Centerline goodness [0,1] 0.8271075919888216 Centerline is valid? [False, False] Translation: X:8.82, Y:0.41, Z:-1.94 [[ 9.99984270e-01 2.60497834e-03 -4.96719243e-03 8.82479067e+00] [-2.59089035e-03 9.99992609e-01 2.84053632e-03 4.12363583e-01] [ 4.97455525e-03 -2.82762219e-03 9.99983629e-01 -1.93902568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.17455357399996 meters Centerline goodness [0,1] 0.8229588276343336 Centerline is valid? [False, False] Translation: X:8.82, Y:0.41, Z:-1.94 [[ 9.99983727e-01 2.99734224e-03 -4.85404917e-03 8.82451446e+00] [-2.98508163e-03 9.99992341e-01 2.53113033e-03 4.13844222e-01] [ 4.86159866e-03 -2.51659940e-03 9.99985016e-01 -1.93957292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.204553574 meters Centerline goodness [0,1] 0.8266477642465371 Centerline is valid? [False, False] Translation: X:8.82, Y:0.41, Z:-1.94 [[ 9.99982938e-01 3.48771313e-03 -4.68606030e-03 8.82400226e+00] [-3.47663390e-03 9.99991147e-01 2.37036618e-03 4.14919901e-01] [ 4.69428597e-03 -2.35403402e-03 9.99986211e-01 -1.93991347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.23455357399996 meters Centerline goodness [0,1] 0.8237713489020565 Centerline is valid? [False, False] Translation: X:8.82, Y:0.42, Z:-1.94 [[ 9.99978804e-01 5.02153302e-03 -4.14444649e-03 8.82174798e+00] [-5.01043941e-03 9.99983849e-01 2.68279732e-03 4.16229859e-01] [ 4.15785131e-03 -2.66197495e-03 9.99987813e-01 -1.93965908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.264553574 meters Centerline goodness [0,1] 0.8212369649534338 Centerline is valid? [False, False] Translation: X:8.82, Y:0.42, Z:-1.94 [[ 9.99977397e-01 5.36414229e-03 -4.05367149e-03 8.82149713e+00] [-5.35345882e-03 9.99982181e-01 2.64177627e-03 4.16613193e-01] [ 4.06777012e-03 -2.62001539e-03 9.99988294e-01 -1.93995980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.29455357399996 meters Centerline goodness [0,1] 0.8194998018786566 Centerline is valid? [False, False] Translation: X:8.82, Y:0.42, Z:-1.94 [[ 9.99975661e-01 5.79863469e-03 -3.87981491e-03 8.82101181e+00] [-5.78805442e-03 9.99979515e-01 2.73269600e-03 4.16608953e-01] [ 3.89558134e-03 -2.71017291e-03 9.99988740e-01 -1.94016244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.324553574 meters Centerline goodness [0,1] 0.8184905221537389 Centerline is valid? [False, False] Translation: X:8.82, Y:0.42, Z:-1.94 [[ 9.99976085e-01 5.53786378e-03 -4.14268301e-03 8.82224357e+00] [-5.52779864e-03 9.99981752e-01 2.43713758e-03 4.16772053e-01] [ 4.15610395e-03 -2.41417937e-03 9.99988449e-01 -1.94107393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.35455357399997 meters Centerline goodness [0,1] 0.8157753948500849 Centerline is valid? [False, False] Translation: X:8.82, Y:0.42, Z:-1.94 [[ 9.99976786e-01 5.20924611e-03 -4.39213196e-03 8.82350966e+00] [-5.19992491e-03 9.99984210e-01 2.13100459e-03 4.16936701e-01] [ 4.40316353e-03 -2.10811637e-03 9.99988084e-01 -1.94207603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.384553574 meters Centerline goodness [0,1] 0.8211491897932576 Centerline is valid? [False, False] Translation: X:8.83, Y:0.42, Z:-1.94 [[ 9.99978237e-01 4.43845136e-03 -4.88123298e-03 8.82551083e+00] [-4.42911079e-03 9.99988343e-01 1.92271425e-03 4.16234193e-01] [ 4.88970996e-03 -1.90105289e-03 9.99986238e-01 -1.94269130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.41455357399997 meters Centerline goodness [0,1] 0.8281621243885395 Centerline is valid? [False, False] Translation: X:8.83, Y:0.42, Z:-1.94 [[ 9.99978774e-01 3.94861171e-03 -5.18270344e-03 8.82655546e+00] [-3.93851030e-03 9.99990327e-01 1.95782354e-03 4.15295406e-01] [ 5.19038399e-03 -1.93736986e-03 9.99984653e-01 -1.94257329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.444553574 meters Centerline goodness [0,1] 0.8288284078962738 Centerline is valid? [False, False] Translation: X:8.83, Y:0.42, Z:-1.94 [[ 9.99987025e-01 8.77135329e-05 -5.09335252e-03 8.82629757e+00] [-9.84026123e-05 9.99997793e-01 -2.09842067e-03 4.15440378e-01] [ 5.09315722e-03 2.09889464e-03 9.99984827e-01 -1.94292642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.47455357399997 meters Centerline goodness [0,1] 0.8265220433869839 Centerline is valid? [False, False] Translation: X:8.83, Y:0.42, Z:-1.94 [[ 9.99983340e-01 -7.52605942e-04 -5.72297165e-03 8.82863261e+00] [ 7.39491566e-04 9.99997097e-01 -2.29330359e-03 4.15208523e-01] [ 5.72468099e-03 2.28903330e-03 9.99980994e-01 -1.94347874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.504553574 meters Centerline goodness [0,1] 0.8294778122738626 Centerline is valid? [False, False] Translation: X:8.83, Y:0.41, Z:-1.94 [[ 9.99978353e-01 -1.65725656e-03 -6.36765641e-03 8.83086460e+00] [ 1.64196438e-03 9.99995758e-01 -2.40601806e-03 4.14866493e-01] [ 6.37161678e-03 2.39551051e-03 9.99976832e-01 -1.94366795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.534553574 meters Centerline goodness [0,1] 0.8309659090909091 Centerline is valid? [False, False] Translation: X:8.84, Y:0.41, Z:-1.94 [[ 9.99963410e-01 -4.16835925e-03 -7.47022303e-03 8.83530823e+00] [ 4.14632016e-03 9.99987013e-01 -2.96332176e-03 4.13703572e-01] [ 7.48247820e-03 2.93223939e-03 9.99967707e-01 -1.94386764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.564553574 meters Centerline goodness [0,1] 0.8336895414208056 Centerline is valid? [False, False] Translation: X:8.84, Y:0.41, Z:-1.94 [[ 9.99953843e-01 -5.13258185e-03 -8.12215752e-03 8.83761352e+00] [ 5.10700419e-03 9.99981945e-01 -3.16673521e-03 4.13269859e-01] [ 8.13826440e-03 3.12510914e-03 9.99962000e-01 -1.94415247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.594553574 meters Centerline goodness [0,1] 0.8344230102806978 Centerline is valid? [False, False] Translation: X:8.84, Y:0.41, Z:-1.95 [[ 9.99930297e-01 -7.28621364e-03 -9.29047911e-03 8.84213317e+00] [ 7.25008268e-03 9.99966047e-01 -3.91679798e-03 4.13115026e-01] [ 9.31870230e-03 3.84916823e-03 9.99949172e-01 -1.94503989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.624553574 meters Centerline goodness [0,1] 0.8339579863039053 Centerline is valid? [False, False] Translation: X:8.84, Y:0.41, Z:-1.95 [[ 9.99919239e-01 -8.04219046e-03 -9.84062362e-03 8.84402326e+00] [ 8.00246282e-03 9.99959698e-01 -4.06984447e-03 4.12814605e-01] [ 9.87295748e-03 3.99076656e-03 9.99943298e-01 -1.94519735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.654553574 meters Centerline goodness [0,1] 0.8411669741697417 Centerline is valid? [False, False] Translation: X:8.85, Y:0.41, Z:-1.95 [[ 9.99907802e-01 -8.75418043e-03 -1.03803502e-02 8.84585274e+00] [ 8.71084022e-03 9.99953184e-01 -4.21310459e-03 4.12733509e-01] [ 1.04167465e-02 4.12229457e-03 9.99937247e-01 -1.94527550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.684553574 meters Centerline goodness [0,1] 0.8344905538511223 Centerline is valid? [False, False] Translation: X:8.85, Y:0.41, Z:-1.95 [[ 9.99893412e-01 -9.59504435e-03 -1.10045468e-02 8.84794923e+00] [ 9.54686435e-03 9.99944648e-01 -4.42239765e-03 4.12859871e-01] [ 1.10463708e-02 4.31686736e-03 9.99929669e-01 -1.94540374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.714553574 meters Centerline goodness [0,1] 0.8403781851723741 Centerline is valid? [False, False] Translation: X:8.85, Y:0.41, Z:-1.95 [[ 9.99902368e-01 -7.26704413e-03 -1.19350382e-02 8.85139881e+00] [ 7.25935575e-03 9.99973414e-01 -6.87381635e-04 4.11515055e-01] [ 1.19397162e-02 6.00673836e-04 9.99928539e-01 -1.94550613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.744553574 meters Centerline goodness [0,1] 0.8403252931554819 Centerline is valid? [False, False] Translation: X:8.85, Y:0.41, Z:-1.95 [[ 9.99900181e-01 -7.21226017e-03 -1.21495246e-02 8.85211160e+00] [ 7.20270058e-03 9.99973715e-01 -8.30402107e-04 4.12048871e-01] [ 1.21551943e-02 7.42809830e-04 9.99925847e-01 -1.94607721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.774553574 meters Centerline goodness [0,1] 0.8300121813877589 Centerline is valid? [False, False] Translation: X:8.85, Y:0.41, Z:-1.95 [[ 9.99906998e-01 -4.36580832e-03 -1.29203477e-02 8.85495231e+00] [ 4.40515930e-03 9.99985741e-01 3.01876851e-03 4.11062417e-01] [ 1.29069841e-02 -3.07540395e-03 9.99911972e-01 -1.94627639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.80455357399995 meters Centerline goodness [0,1] 0.8356006985936207 Centerline is valid? [False, False] Translation: X:8.86, Y:0.41, Z:-1.95 [[ 9.99905699e-01 -4.25752023e-03 -1.30562744e-02 8.85537366e+00] [ 4.29481481e-03 9.99986773e-01 2.82974178e-03 4.11858673e-01] [ 1.30440540e-02 -2.88554922e-03 9.99910759e-01 -1.94674445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.834553574 meters Centerline goodness [0,1] 0.8323788495595574 Centerline is valid? [False, False] Translation: X:8.86, Y:0.41, Z:-1.95 [[ 9.99903699e-01 -4.22742954e-03 -1.32182408e-02 8.85587269e+00] [ 4.26353207e-03 9.99987255e-01 2.70428028e-03 4.12217855e-01] [ 1.32066401e-02 -2.76037625e-03 9.99908978e-01 -1.94709637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.86455357399996 meters Centerline goodness [0,1] 0.8348619635427441 Centerline is valid? [False, False] Translation: X:8.86, Y:0.41, Z:-1.95 [[ 9.99896025e-01 -4.67547882e-03 -1.36411064e-02 8.85745664e+00] [ 4.71064632e-03 9.99985661e-01 2.54706303e-03 4.12026317e-01] [ 1.36290021e-02 -2.61105663e-03 9.99903712e-01 -1.94769265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.894553574 meters Centerline goodness [0,1] 0.8420375137918352 Centerline is valid? [False, False] Translation: X:8.86, Y:0.41, Z:-1.95 [[ 9.99889541e-01 -5.05986514e-03 -1.39751010e-02 8.85868548e+00] [ 5.09407815e-03 9.99984112e-01 2.41362913e-03 4.11880680e-01] [ 1.39626663e-02 -2.48455278e-03 9.99899430e-01 -1.94804095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.92455357399996 meters Centerline goodness [0,1] 0.828434189055641 Centerline is valid? [False, False] Translation: X:8.86, Y:0.41, Z:-1.95 [[ 9.99886656e-01 -5.24622843e-03 -1.41121656e-02 8.85919727e+00] [ 5.28292175e-03 9.99982758e-01 2.56409873e-03 4.11368044e-01] [ 1.40984704e-02 -2.63836157e-03 9.99897131e-01 -1.94793080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.954553574 meters Centerline goodness [0,1] 0.8375931232091691 Centerline is valid? [False, False] Translation: X:8.86, Y:0.41, Z:-1.95 [[ 9.99880147e-01 -5.67492594e-03 -1.44043699e-02 8.86021006e+00] [ 5.71032991e-03 9.99980773e-01 2.41792558e-03 4.11857993e-01] [ 1.43903714e-02 -2.49988949e-03 9.99893328e-01 -1.94794215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.98455357399996 meters Centerline goodness [0,1] 0.8376516365300984 Centerline is valid? [False, False] Translation: X:8.86, Y:0.41, Z:-1.95 [[ 9.99879177e-01 -5.68499671e-03 -1.44675994e-02 8.86044310e+00] [ 5.71801658e-03 9.99981139e-01 2.24199083e-03 4.12795155e-01] [ 1.44545808e-02 -2.32444592e-03 9.99892825e-01 -1.94808702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.014553574 meters Centerline goodness [0,1] 0.8376516365300984 Centerline is valid? [False, False] Translation: X:8.86, Y:0.41, Z:-1.95 [[ 9.99879177e-01 -5.68499671e-03 -1.44675994e-02 8.86044310e+00] [ 5.71801658e-03 9.99981139e-01 2.24199083e-03 4.12795155e-01] [ 1.44545808e-02 -2.32444592e-03 9.99892825e-01 -1.94808702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.04455357399996 meters Centerline goodness [0,1] 0.8326974480820635 Centerline is valid? [False, False] Translation: X:8.86, Y:0.41, Z:-1.95 [[ 9.99882807e-01 -5.27898476e-03 -1.43702812e-02 8.85974446e+00] [ 5.31008667e-03 9.99983639e-01 2.12702617e-03 4.14634614e-01] [ 1.43588176e-02 -2.20308434e-03 9.99894480e-01 -1.94767428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.074553574 meters Centerline goodness [0,1] 0.841129160875806 Centerline is valid? [False, False] Translation: X:8.86, Y:0.42, Z:-1.95 [[ 9.99887095e-01 -4.83306418e-03 -1.42281222e-02 8.85911584e+00] [ 4.86458686e-03 9.99985788e-01 2.18174475e-03 4.15510461e-01] [ 1.42173754e-02 -2.25071235e-03 9.99896395e-01 -1.94748501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.10455357399997 meters Centerline goodness [0,1] 0.8388984665638327 Centerline is valid? [False, False] Translation: X:8.86, Y:0.42, Z:-1.95 [[ 9.99892804e-01 -4.26793213e-03 -1.40058854e-02 8.85808486e+00] [ 4.29881185e-03 9.99988394e-01 2.17540241e-03 4.16880744e-01] [ 1.39964384e-02 -2.23537789e-03 9.99899546e-01 -1.94717512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.134553574 meters Centerline goodness [0,1] 0.8326943893198628 Centerline is valid? [False, False] Translation: X:8.86, Y:0.42, Z:-1.95 [[ 9.99903509e-01 3.49929771e-05 -1.38914267e-02 8.85723002e+00] [ 5.09243461e-05 9.99980874e-01 6.18451524e-03 4.18645330e-01] [ 1.38913775e-02 -6.18462590e-03 9.99884383e-01 -1.94593823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.16455357399997 meters Centerline goodness [0,1] 0.8363521956042969 Centerline is valid? [False, False] Translation: X:8.86, Y:0.42, Z:-1.95 [[ 9.99907826e-01 7.09173514e-04 -1.35586354e-02 8.85605006e+00] [-6.28777961e-04 9.99982203e-01 5.93281596e-03 4.20869967e-01] [ 1.35626015e-02 -5.92374374e-03 9.99890477e-01 -1.94604466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.194553574 meters Centerline goodness [0,1] 0.8367351501196039 Centerline is valid? [False, False] Translation: X:8.85, Y:0.42, Z:-1.95 [[ 9.99909945e-01 1.66310738e-03 -1.33167921e-02 8.85494581e+00] [-1.59224085e-03 9.99984526e-01 5.33042687e-03 4.24945041e-01] [ 1.33254511e-02 -5.30874329e-03 9.99897120e-01 -1.94669687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.22455357399997 meters Centerline goodness [0,1] 0.8357134900300769 Centerline is valid? [False, False] Translation: X:8.86, Y:0.43, Z:-1.95 [[ 9.99907891e-01 1.65237791e-03 -1.34714036e-02 8.85535349e+00] [-1.58416499e-03 9.99985879e-01 5.07263443e-03 4.26139824e-01] [ 1.34795952e-02 -5.05082627e-03 9.99896389e-01 -1.94688023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.254553574 meters Centerline goodness [0,1] 0.834619919467865 Centerline is valid? [False, False] Translation: X:8.86, Y:0.43, Z:-1.95 [[ 9.99906287e-01 1.36920624e-03 -1.36214127e-02 8.85600585e+00] [-1.30504820e-03 9.99988019e-01 4.71786097e-03 4.26709263e-01] [ 1.36277093e-02 -4.69964224e-03 9.99896094e-01 -1.94718746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.284553574 meters Centerline goodness [0,1] 0.839252874836594 Centerline is valid? [False, False] Translation: X:8.86, Y:0.43, Z:-1.95 [[ 9.99902703e-01 4.70333773e-04 -1.39414060e-02 8.85706298e+00] [-4.13186851e-04 9.99991503e-01 4.10167577e-03 4.28091950e-01] [ 1.39432167e-02 -4.09551629e-03 9.99894401e-01 -1.94694524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.314553574 meters Centerline goodness [0,1] 0.8401597740212738 Centerline is valid? [False, False] Translation: X:8.86, Y:0.43, Z:-1.95 [[ 9.99900150e-01 1.12597298e-04 -1.41307422e-02 8.85768738e+00] [-5.90720418e-05 9.99992823e-01 3.78821901e-03 4.28988094e-01] [ 1.41310673e-02 -3.78700602e-03 9.99892980e-01 -1.94694812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.344553574 meters Centerline goodness [0,1] 0.843784354250033 Centerline is valid? [False, False] Translation: X:8.86, Y:0.43, Z:-1.95 [[ 9.99896714e-01 -4.26887464e-04 -1.43659128e-02 8.85836621e+00] [ 4.72398422e-04 9.99994881e-01 3.16473807e-03 4.31192755e-01] [ 1.43644883e-02 -3.17119763e-03 9.99891797e-01 -1.94683327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.374553574 meters Centerline goodness [0,1] 0.8471213152176299 Centerline is valid? [False, False] Translation: X:8.86, Y:0.43, Z:-1.95 [[ 9.99896567e-01 -3.88812932e-04 -1.43772005e-02 8.85821852e+00] [ 4.32933010e-04 9.99995207e-01 3.06576808e-03 4.32225015e-01] [ 1.43759396e-02 -3.07167534e-03 9.99891943e-01 -1.94644485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.404553574 meters Centerline goodness [0,1] 0.8486866606786865 Centerline is valid? [False, False] Translation: X:8.86, Y:0.43, Z:-1.95 [[ 9.99895629e-01 -4.02971524e-04 -1.44418785e-02 8.85830632e+00] [ 4.43446347e-04 9.99995983e-01 2.79950828e-03 4.33394515e-01] [ 1.44406924e-02 -2.80562029e-03 9.99891792e-01 -1.94638980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.434553574 meters Centerline goodness [0,1] 0.8485537009525475 Centerline is valid? [False, False] Translation: X:8.86, Y:0.44, Z:-1.95 [[ 9.99892932e-01 -5.51548333e-04 -1.46225881e-02 8.85887062e+00] [ 5.84013588e-04 9.99997374e-01 2.21603552e-03 4.35717238e-01] [ 1.46213274e-02 -2.22433805e-03 9.99890629e-01 -1.94660104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.464553574 meters Centerline goodness [0,1] 0.8514309397085769 Centerline is valid? [False, False] Translation: X:8.86, Y:0.44, Z:-1.95 [[ 9.99891105e-01 -6.74892177e-04 -1.47418656e-02 8.85937285e+00] [ 7.01392468e-04 9.99998147e-01 1.79252500e-03 4.37091022e-01] [ 1.47406285e-02 -1.80266964e-03 9.99889726e-01 -1.94701716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.494553574 meters Centerline goodness [0,1] 0.8318112633181126 Centerline is valid? [False, False] Translation: X:8.86, Y:0.44, Z:-1.95 [[ 9.99889375e-01 -5.99742130e-04 -1.48619674e-02 8.85963035e+00] [ 6.16612628e-04 9.99999171e-01 1.13058940e-03 4.40182398e-01] [ 1.48612770e-02 -1.13962840e-03 9.99888916e-01 -1.94743469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.524553574 meters Centerline goodness [0,1] 0.8533515316954807 Centerline is valid? [False, False] Translation: X:8.86, Y:0.44, Z:-1.95 [[ 9.99889762e-01 -3.92830932e-04 -1.48428247e-02 8.85949683e+00] [ 4.05725154e-04 9.99999543e-01 8.65716335e-04 4.41874718e-01] [ 1.48424778e-02 -8.71643007e-04 9.99889464e-01 -1.94753542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.55455357399995 meters Centerline goodness [0,1] 0.8277771768523526 Centerline is valid? [False, False] Translation: X:8.86, Y:0.44, Z:-1.95 [[ 9.99891477e-01 -5.88304896e-05 -1.47319859e-02 8.85899881e+00] [ 6.91643302e-05 9.99999752e-01 7.00947537e-04 4.43459725e-01] [ 1.47319410e-02 -7.01890396e-04 9.99891233e-01 -1.94745482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.584553574 meters Centerline goodness [0,1] 0.8571829526318062 Centerline is valid? [False, False] Translation: X:8.86, Y:0.45, Z:-1.95 [[ 9.99898155e-01 1.30903453e-03 -1.42114426e-02 8.85653161e+00] [-1.29643476e-03 9.99998758e-01 8.95769594e-04 4.46331577e-01] [ 1.42125976e-02 -8.77254157e-04 9.99898611e-01 -1.94649874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.61455357399996 meters Centerline goodness [0,1] 0.8566117212181127 Centerline is valid? [False, False] Translation: X:8.86, Y:0.45, Z:-1.95 [[ 9.99881458e-01 5.26412689e-03 -1.44692729e-02 8.85759481e+00] [-5.20341120e-03 9.99977513e-01 4.23063001e-03 4.48594706e-01] [ 1.44912181e-02 -4.15483893e-03 9.99886364e-01 -1.94726611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.644553574 meters Centerline goodness [0,1] 0.8573147153598282 Centerline is valid? [False, False] Translation: X:8.86, Y:0.45, Z:-1.95 [[ 9.99880542e-01 5.77510754e-03 -1.43369864e-02 8.85725942e+00] [-5.71996317e-03 9.99976097e-01 3.88433200e-03 4.50449152e-01] [ 1.43590762e-02 -3.80186095e-03 9.99889675e-01 -1.94797152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.67455357399996 meters Centerline goodness [0,1] 0.8538522637013503 Centerline is valid? [False, False] Translation: X:8.86, Y:0.45, Z:-1.95 [[ 9.99879102e-01 6.25906815e-03 -1.42339875e-02 8.85695997e+00] [-6.20785388e-03 9.99974108e-01 3.63936903e-03 4.52019012e-01] [ 1.42563981e-02 -3.55056652e-03 9.99892068e-01 -1.94849269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.704553574 meters Centerline goodness [0,1] 0.8583271018053626 Centerline is valid? [False, False] Translation: X:8.86, Y:0.45, Z:-1.95 [[ 9.99876365e-01 7.20321781e-03 -1.39774209e-02 8.85607688e+00] [-7.15921952e-03 9.99969267e-01 3.19529942e-03 4.54730374e-01] [ 1.40000078e-02 -3.09483694e-03 9.99897206e-01 -1.94927834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.73455357399996 meters Centerline goodness [0,1] 0.8566429836352386 Centerline is valid? [False, False] Translation: X:8.86, Y:0.46, Z:-1.95 [[ 9.99875842e-01 7.55223330e-03 -1.38298552e-02 8.85558031e+00] [-7.51121223e-03 9.99967243e-01 3.01566914e-03 4.56055777e-01] [ 1.38521772e-02 -2.91141574e-03 9.99899815e-01 -1.94932227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.764553574 meters Centerline goodness [0,1] 0.8568357878607304 Centerline is valid? [False, False] Translation: X:8.85, Y:0.46, Z:-1.95 [[ 9.99874923e-01 8.20716217e-03 -1.35196296e-02 8.85432648e+00] [-8.17113880e-03 9.99962923e-01 2.71761059e-03 4.58858021e-01] [ 1.35414322e-02 -2.60679991e-03 9.99904913e-01 -1.94907117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.79455357399996 meters Centerline goodness [0,1] 0.8559208426428344 Centerline is valid? [False, False] Translation: X:8.85, Y:0.46, Z:-1.95 [[ 9.99874567e-01 8.11361669e-03 -1.36022060e-02 8.85464553e+00] [-8.08131242e-03 9.99964397e-01 2.42821376e-03 4.59663232e-01] [ 1.36214233e-02 -2.31798550e-03 9.99904537e-01 -1.94928294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.824553574 meters Centerline goodness [0,1] 0.8551232248614914 Centerline is valid? [False, False] Translation: X:8.86, Y:0.46, Z:-1.95 [[ 9.99874521e-01 7.81398950e-03 -1.37798087e-02 8.85534068e+00] [-7.78575965e-03 9.99967483e-01 2.10109665e-03 4.60351097e-01] [ 1.37957785e-02 -1.99354673e-03 9.99902846e-01 -1.94955386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.85455357399997 meters Centerline goodness [0,1] 0.854524312896406 Centerline is valid? [False, False] Translation: X:8.85, Y:0.46, Z:-1.95 [[ 9.99978902e-01 2.72931141e-03 -5.89460758e-03 8.84624905e+00] [-2.70874612e-03 9.99990227e-01 3.49400058e-03 4.63412960e-01] [ 5.90408619e-03 -3.47795987e-03 9.99976523e-01 -1.95334075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.884553574 meters Centerline goodness [0,1] 0.8531723454917083 Centerline is valid? [False, False] Translation: X:8.85, Y:0.46, Z:-1.95 [[ 9.99978620e-01 2.11207584e-03 -6.18854800e-03 8.84724738e+00] [-2.09352529e-03 9.99993301e-01 3.00250723e-03 4.64324941e-01] [ 6.19484807e-03 -2.98948715e-03 9.99976343e-01 -1.95354525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.91455357399997 meters Centerline goodness [0,1] 0.8550107057391159 Centerline is valid? [False, False] Translation: X:8.85, Y:0.47, Z:-1.95 [[ 9.99977590e-01 7.37741799e-04 -6.65403782e-03 8.84891273e+00] [-7.24334453e-04 9.99997703e-01 2.01710369e-03 4.65907386e-01] [ 6.65551064e-03 -2.01223874e-03 9.99975827e-01 -1.95366421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.944553574 meters Centerline goodness [0,1] 0.8565047810770006 Centerline is valid? [False, False] Translation: X:8.85, Y:0.47, Z:-1.95 [[ 9.99977094e-01 4.22086643e-04 -6.75527288e-03 8.84923146e+00] [-4.10136252e-04 9.99998349e-01 1.77033385e-03 4.66650083e-01] [ 6.75600896e-03 -1.76752272e-03 9.99975616e-01 -1.95343652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.97455357399997 meters Centerline goodness [0,1] 0.8506023592403581 Centerline is valid? [False, False] Translation: X:8.85, Y:0.47, Z:-1.95 [[ 9.99976678e-01 1.77096907e-04 -6.82737201e-03 8.84945146e+00] [-1.66684773e-04 9.99998822e-01 1.52559622e-03 4.67481361e-01] [ 6.82763414e-03 -1.52442263e-03 9.99975529e-01 -1.95320857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.004553574 meters Centerline goodness [0,1] 0.85546103126235 Centerline is valid? [False, False] Translation: X:8.85, Y:0.47, Z:-1.95 [[ 9.99975865e-01 -1.48846547e-04 -6.94598616e-03 8.84972401e+00] [ 1.55111361e-04 9.99999582e-01 9.01403052e-04 4.69684533e-01] [ 6.94584908e-03 -9.02458698e-04 9.99975470e-01 -1.95309058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.034553574 meters Centerline goodness [0,1] 0.8568389748249726 Centerline is valid? [False, False] Translation: X:8.85, Y:0.47, Z:-1.95 [[ 9.99974962e-01 -1.99345085e-04 -7.07363935e-03 8.85024423e+00] [ 2.00688562e-04 9.99999962e-01 1.89218074e-04 4.72522757e-01] [ 7.07360136e-03 -1.90632935e-04 9.99974964e-01 -1.95377523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.064553574 meters Centerline goodness [0,1] 0.8579683323051615 Centerline is valid? [False, False] Translation: X:8.85, Y:0.47, Z:-1.95 [[ 9.99974500e-01 -7.26520774e-05 -7.14100779e-03 8.85053499e+00] [ 7.27547812e-05 9.99999997e-01 1.41224894e-05 4.73441587e-01] [ 7.14100674e-03 -1.46416717e-05 9.99974503e-01 -1.95412288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.094553574 meters Centerline goodness [0,1] 0.8537747473917687 Centerline is valid? [False, False] Translation: X:8.85, Y:0.47, Z:-1.95 [[ 9.99974801e-01 2.82820465e-04 -7.09352594e-03 8.85023586e+00] [-2.82715020e-04 9.99999960e-01 1.58677858e-05 4.74362406e-01] [ 7.09353015e-03 -1.38619396e-05 9.99974841e-01 -1.95406263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.124553574 meters Centerline goodness [0,1] 0.8581310629937374 Centerline is valid? [False, False] Translation: X:8.85, Y:0.48, Z:-1.95 [[ 9.99974912e-01 7.41504904e-04 -7.04456724e-03 8.84996266e+00] [-7.41570179e-04 9.99999725e-01 -6.65384369e-06 4.75544331e-01] [ 7.04456037e-03 1.18777177e-05 9.99975187e-01 -1.95421790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.154553574 meters Centerline goodness [0,1] 0.8573144660490686 Centerline is valid? [False, False] Translation: X:8.85, Y:0.48, Z:-1.95 [[ 9.99973069e-01 2.62987573e-03 -6.85170114e-03 8.84877214e+00] [-2.62506640e-03 9.99996302e-01 7.10816863e-04 4.78542059e-01] [ 6.85354516e-03 -6.92811549e-04 9.99976274e-01 -1.95426224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.184553574 meters Centerline goodness [0,1] 0.8572763657788343 Centerline is valid? [False, False] Translation: X:8.85, Y:0.48, Z:-1.95 [[ 9.99968736e-01 4.20832769e-03 -6.69455779e-03 8.84755784e+00] [-4.20174638e-03 9.99990676e-01 9.96844742e-04 4.80786213e-01] [ 6.69869042e-03 -9.68684742e-04 9.99977094e-01 -1.95421357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.214553574 meters Centerline goodness [0,1] 0.85512546987707 Centerline is valid? [False, False] Translation: X:8.85, Y:0.48, Z:-1.95 [[ 9.99967344e-01 4.63669166e-03 -6.61913285e-03 8.84730473e+00] [-4.63074346e-03 9.99988861e-01 9.13680757e-04 4.81607572e-01] [ 6.62329557e-03 -8.82999413e-04 9.99977676e-01 -1.95442168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.244553574 meters Centerline goodness [0,1] 0.858445726356841 Centerline is valid? [False, False] Translation: X:8.85, Y:0.48, Z:-1.95 [[ 9.99965721e-01 5.23069736e-03 -6.41846793e-03 8.84649176e+00] [-5.22419976e-03 9.99985825e-01 1.02867847e-03 4.82354391e-01] [ 6.42375766e-03 -9.95111850e-04 9.99978872e-01 -1.95424618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.274553574 meters Centerline goodness [0,1] 0.855241298269784 Centerline is valid? [False, False] Translation: X:8.85, Y:0.48, Z:-1.95 [[ 9.99962258e-01 5.89589040e-03 -6.38128664e-03 8.84636896e+00] [-5.89029767e-03 9.99982252e-01 8.94865128e-04 4.83904231e-01] [ 6.38644941e-03 -8.57243677e-04 9.99979239e-01 -1.95490377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.30455357399995 meters Centerline goodness [0,1] 0.8563827635039449 Centerline is valid? [False, False] Translation: X:8.85, Y:0.48, Z:-1.96 [[ 9.99962050e-01 5.73169081e-03 -6.56101710e-03 8.84720401e+00] [-5.72806791e-03 9.99983432e-01 5.70844686e-04 4.84379503e-01] [ 6.56418030e-03 -5.33241071e-04 9.99978313e-01 -1.95561113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.334553574 meters Centerline goodness [0,1] 0.8597162345416641 Centerline is valid? [False, False] Translation: X:8.85, Y:0.48, Z:-1.96 [[ 9.99963169e-01 5.44733017e-03 -6.63225407e-03 8.84761703e+00] [-5.44516786e-03 9.99985116e-01 3.44044256e-04 4.84443018e-01] [ 6.63402948e-03 -3.07917848e-04 9.99977947e-01 -1.95576214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.36455357399996 meters Centerline goodness [0,1] 0.8578803522623748 Centerline is valid? [False, False] Translation: X:8.85, Y:0.48, Z:-1.96 [[ 9.99963289e-01 5.21051912e-03 -6.80234408e-03 8.84832616e+00] [-5.20945210e-03 9.99986415e-01 1.74570049e-04 4.84470101e-01] [ 6.80316128e-03 -1.39127154e-04 9.99976849e-01 -1.95606661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.394553574 meters Centerline goodness [0,1] 0.8530870947492052 Centerline is valid? [False, False] Translation: X:8.85, Y:0.48, Z:-1.96 [[ 9.99963776e-01 5.17714817e-03 -6.75604357e-03 8.84813394e+00] [-5.17603964e-03 9.99986588e-01 1.81553863e-04 4.84853123e-01] [ 6.75689289e-03 -1.46577737e-04 9.99977161e-01 -1.95572679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.42455357399996 meters Centerline goodness [0,1] 0.8612915629490215 Centerline is valid? [False, False] Translation: X:8.85, Y:0.49, Z:-1.96 [[ 9.99963619e-01 4.94884726e-03 -6.94756471e-03 8.84891150e+00] [-4.94945970e-03 9.99987749e-01 -7.09613366e-05 4.85155595e-01] [ 6.94712842e-03 1.05345447e-04 9.99975863e-01 -1.95619029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.454553574 meters Centerline goodness [0,1] 0.8570388349514563 Centerline is valid? [False, False] Translation: X:8.85, Y:0.49, Z:-1.96 [[ 9.99963646e-01 4.65855701e-03 -7.14175820e-03 8.84978527e+00] [-4.66128227e-03 9.99989070e-01 -3.64997471e-04 4.85409700e-01] [ 7.13997977e-03 3.98273953e-04 9.99974431e-01 -1.95673331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.48455357399996 meters Centerline goodness [0,1] 0.8538153584859881 Centerline is valid? [False, False] Translation: X:8.85, Y:0.49, Z:-1.96 [[ 9.99964329e-01 4.46856870e-03 -7.16753300e-03 8.84997441e+00] [-4.47219605e-03 9.99989880e-01 -4.90133511e-04 4.85350941e-01] [ 7.16527026e-03 5.22170640e-04 9.99974193e-01 -1.95674776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.514553574 meters Centerline goodness [0,1] 0.8512607594936709 Centerline is valid? [False, False] Translation: X:8.85, Y:0.49, Z:-1.96 [[ 9.99964356e-01 4.27842064e-03 -7.27882578e-03 8.85045131e+00] [-4.28293373e-03 9.99990645e-01 -6.04556132e-04 4.85281884e-01] [ 7.27617115e-03 6.35709312e-04 9.99973326e-01 -1.95698979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.54455357399996 meters Centerline goodness [0,1] 0.8579146516662957 Centerline is valid? [False, False] Translation: X:8.85, Y:0.49, Z:-1.96 [[ 9.99964487e-01 3.93218674e-03 -7.45397272e-03 8.85123048e+00] [-3.93925317e-03 9.99991805e-01 -9.33564301e-04 4.85779626e-01] [ 7.45024069e-03 9.62894234e-04 9.99971783e-01 -1.95747497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.574553574 meters Centerline goodness [0,1] 0.8496246686765271 Centerline is valid? [False, False] Translation: X:8.85, Y:0.49, Z:-1.96 [[ 9.99963859e-01 3.92861592e-03 -7.53962836e-03 8.85161963e+00] [-3.93667706e-03 9.99991695e-01 -1.05462741e-03 4.86242269e-01] [ 7.53542252e-03 1.08427037e-03 9.99971020e-01 -1.95784386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.60455357399997 meters Centerline goodness [0,1] 0.8566069110966905 Centerline is valid? [False, False] Translation: X:8.85, Y:0.49, Z:-1.96 [[ 9.99962826e-01 3.93189878e-03 -7.67383447e-03 8.85207063e+00] [-3.94076184e-03 9.99991585e-01 -1.14019387e-03 4.86470056e-01] [ 7.66928677e-03 1.17039223e-03 9.99969906e-01 -1.95815481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.634553574 meters Centerline goodness [0,1] 0.8546670720583764 Centerline is valid? [False, False] Translation: X:8.85, Y:0.49, Z:-1.96 [[ 9.99961556e-01 3.95325591e-03 -7.82670726e-03 8.85271471e+00] [-3.96191035e-03 9.99991557e-01 -1.09056198e-03 4.85900238e-01] [ 7.82232991e-03 1.12152877e-03 9.99968776e-01 -1.95852312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.66455357399997 meters Centerline goodness [0,1] 0.854880998353692 Centerline is valid? [False, False] Translation: X:8.85, Y:0.49, Z:-1.96 [[ 9.99960804e-01 4.13115652e-03 -7.83096706e-03 8.85282182e+00] [-4.13879165e-03 9.99990975e-01 -9.59036952e-04 4.85539023e-01] [ 7.82693446e-03 9.91410103e-04 9.99968878e-01 -1.95873637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.694553574 meters Centerline goodness [0,1] 0.859082949871727 Centerline is valid? [False, False] Translation: X:8.85, Y:0.49, Z:-1.96 [[ 9.99958458e-01 4.46178456e-03 -7.94824715e-03 8.85328750e+00] [-4.46789331e-03 9.99989737e-01 -7.50975896e-04 4.85035585e-01] [ 7.94481488e-03 7.86456619e-04 9.99968130e-01 -1.95927173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.72455357399997 meters Centerline goodness [0,1] 0.8509249627771319 Centerline is valid? [False, False] Translation: X:8.85, Y:0.48, Z:-1.96 [[ 9.99957404e-01 4.72462570e-03 -7.92895365e-03 8.85334138e+00] [-4.72955649e-03 9.99988634e-01 -6.03235948e-04 4.84894757e-01] [ 7.92601347e-03 6.40710687e-04 9.99968383e-01 -1.95960212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.754553574 meters Centerline goodness [0,1] 0.8481583511886542 Centerline is valid? [False, False] Translation: X:8.85, Y:0.48, Z:-1.96 [[ 9.99955714e-01 5.02546064e-03 -7.95711744e-03 8.85343314e+00] [-5.02866895e-03 9.99987283e-01 -3.83243210e-04 4.84514307e-01] [ 7.95509027e-03 4.23239947e-04 9.99968268e-01 -1.95979723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.784553574 meters Centerline goodness [0,1] 0.8544073817008941 Centerline is valid? [False, False] Translation: X:8.85, Y:0.48, Z:-1.96 [[ 9.99952984e-01 5.80165156e-03 -7.76980519e-03 8.85270882e+00] [-5.79818019e-03 9.99983080e-01 4.69228801e-04 4.82833520e-01] [ 7.77239603e-03 -4.24156010e-04 9.99969705e-01 -1.95941142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.814553574 meters Centerline goodness [0,1] 0.8576692391148595 Centerline is valid? [False, False] Translation: X:8.85, Y:0.48, Z:-1.96 [[ 9.99951657e-01 6.02151697e-03 -7.77337448e-03 8.85270190e+00] [-6.01558607e-03 9.99981597e-01 7.86132546e-04 4.81925947e-01] [ 7.77796514e-03 -7.39333139e-04 9.99969478e-01 -1.95933579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.844553574 meters Centerline goodness [0,1] 0.8571369950142597 Centerline is valid? [False, False] Translation: X:8.85, Y:0.48, Z:-1.96 [[ 9.99949269e-01 6.49188143e-03 -7.70160539e-03 8.85245685e+00] [-6.48037261e-03 9.99977849e-01 1.51835572e-03 4.80074093e-01] [ 7.71129178e-03 -1.46836942e-03 9.99969189e-01 -1.95916589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.874553574 meters Centerline goodness [0,1] 0.8576008549292011 Centerline is valid? [False, False] Translation: X:8.85, Y:0.48, Z:-1.96 [[ 9.99948568e-01 6.50270450e-03 -7.78304481e-03 8.85281779e+00] [-6.48943250e-03 9.99977448e-01 1.72928669e-03 4.78972765e-01] [ 7.79411433e-03 -1.67869021e-03 9.99968216e-01 -1.95926278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.904553574 meters Centerline goodness [0,1] 0.8540045295449866 Centerline is valid? [False, False] Translation: X:8.85, Y:0.48, Z:-1.96 [[ 9.99947857e-01 6.58304243e-03 -7.80687736e-03 8.85284728e+00] [-6.56660483e-03 9.99976173e-01 2.12929438e-03 4.77610367e-01] [ 7.82070858e-03 -2.07791868e-03 9.99967259e-01 -1.95891546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.934553574 meters Centerline goodness [0,1] 0.8540045295449866 Centerline is valid? [False, False] Translation: X:8.85, Y:0.48, Z:-1.96 [[ 9.99947857e-01 6.58304243e-03 -7.80687736e-03 8.85284728e+00] [-6.56660483e-03 9.99976173e-01 2.12929438e-03 4.77610367e-01] [ 7.82070858e-03 -2.07791868e-03 9.99967259e-01 -1.95891546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.964553574 meters Centerline goodness [0,1] 0.8519167714927928 Centerline is valid? [False, False] Translation: X:8.85, Y:0.48, Z:-1.96 [[ 9.99946704e-01 6.82351992e-03 -7.74784443e-03 8.85247852e+00] [-6.80206371e-03 9.99972967e-01 2.79229501e-03 4.75449551e-01] [ 7.76668826e-03 -2.73944486e-03 9.99966086e-01 -1.95816224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.994553574 meters Centerline goodness [0,1] 0.8540436774965942 Centerline is valid? [False, False] Translation: X:8.85, Y:0.47, Z:-1.96 [[ 9.99946280e-01 6.64933434e-03 -7.95132359e-03 8.85338060e+00] [-6.62739429e-03 9.99974167e-01 2.78246775e-03 4.74746941e-01] [ 7.96961974e-03 -2.72962171e-03 9.99964517e-01 -1.95861979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.024553574 meters Centerline goodness [0,1] 0.8540819486015069 Centerline is valid? [False, False] Translation: X:8.85, Y:0.47, Z:-1.96 [[ 9.99946987e-01 6.18719261e-03 -8.23048866e-03 8.85485655e+00] [-6.16661430e-03 9.99977803e-01 2.52328692e-03 4.74159517e-01] [ 8.24591803e-03 -2.47239891e-03 9.99962945e-01 -1.95962749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.05455357399995 meters Centerline goodness [0,1] 0.8525858502275548 Centerline is valid? [False, False] Translation: X:8.86, Y:0.47, Z:-1.96 [[ 9.99947313e-01 5.71879767e-03 -8.52446721e-03 8.85624305e+00] [-5.70017348e-03 9.99981317e-01 2.20748977e-03 4.74036593e-01] [ 8.53693214e-03 -2.15878252e-03 9.99961229e-01 -1.96041772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.084553574 meters Centerline goodness [0,1] 0.8578617133627384 Centerline is valid? [False, False] Translation: X:8.86, Y:0.47, Z:-1.96 [[ 9.99947731e-01 5.28758426e-03 -8.75082255e-03 8.85718076e+00] [-5.26904483e-03 9.99983828e-01 2.14029291e-03 4.73248289e-01] [ 8.76199801e-03 -2.09407256e-03 9.99959420e-01 -1.96068420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.11455357399996 meters Centerline goodness [0,1] 0.8573919541661477 Centerline is valid? [False, False] Translation: X:8.86, Y:0.47, Z:-1.96 [[ 9.99962609e-01 1.48815543e-03 -8.51854222e-03 8.85649173e+00] [-1.50140685e-03 9.99997673e-01 -1.54941259e-03 4.72218759e-01] [ 8.51621663e-03 1.56214446e-03 9.99962516e-01 -1.96055844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.144553574 meters Centerline goodness [0,1] 0.8472736347377615 Centerline is valid? [False, False] Translation: X:8.86, Y:0.47, Z:-1.96 [[ 9.99957503e-01 -1.19496531e-04 -9.21834030e-03 8.85965492e+00] [ 1.01432581e-04 9.99998074e-01 -1.96000903e-03 4.70212854e-01] [ 9.21855676e-03 1.95899069e-03 9.99955589e-01 -1.96181995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.17455357399996 meters Centerline goodness [0,1] 0.8503606393814047 Centerline is valid? [False, False] Translation: X:8.86, Y:0.47, Z:-1.96 [[ 9.99952296e-01 -7.85133378e-04 -9.73601151e-03 8.86162191e+00] [ 7.65242372e-04 9.99997613e-01 -2.04659136e-03 4.69271923e-01] [ 9.73759512e-03 2.03904332e-03 9.99950510e-01 -1.96263357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.204553574 meters Centerline goodness [0,1] 0.8505950399467377 Centerline is valid? [False, False] Translation: X:8.86, Y:0.47, Z:-1.96 [[ 9.99947480e-01 -1.35391785e-03 -1.01589641e-02 8.86317151e+00] [ 1.33337077e-03 9.99997053e-01 -2.02905730e-03 4.68209606e-01] [ 1.01616813e-02 2.01540507e-03 9.99946338e-01 -1.96312127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.23455357399996 meters Centerline goodness [0,1] 0.8526935851106051 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.96 [[ 9.99938908e-01 -2.50837610e-03 -1.07651097e-02 8.86563163e+00] [ 2.48601134e-03 9.99994725e-01 -2.09040155e-03 4.65903214e-01] [ 1.07702965e-02 2.06351166e-03 9.99939870e-01 -1.96376713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.264553574 meters Centerline goodness [0,1] 0.8508458273215816 Centerline is valid? [False, False] Translation: X:8.87, Y:0.46, Z:-1.96 [[ 9.99936467e-01 -2.69015785e-03 -1.09464407e-02 8.86626747e+00] [ 2.66972067e-03 9.99994667e-01 -1.88120025e-03 4.64989247e-01] [ 1.09514431e-02 1.85185679e-03 9.99938316e-01 -1.96379220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.29455357399996 meters Centerline goodness [0,1] 0.8552441551374093 Centerline is valid? [False, False] Translation: X:8.87, Y:0.46, Z:-1.96 [[ 9.99935791e-01 -2.66233279e-03 -1.10147614e-02 8.86636464e+00] [ 2.64551939e-03 9.99995314e-01 -1.54073097e-03 4.64072452e-01] [ 1.10188117e-02 1.51149228e-03 9.99938149e-01 -1.96350298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.324553574 meters Centerline goodness [0,1] 0.857731915606162 Centerline is valid? [False, False] Translation: X:8.87, Y:0.46, Z:-1.96 [[ 9.99936932e-01 -2.47729711e-03 -1.09542580e-02 8.86620746e+00] [ 2.46181449e-03 9.99995952e-01 -1.42664642e-03 4.64131643e-01] [ 1.09577479e-02 1.39958909e-03 9.99938983e-01 -1.96348250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.35455357399997 meters Centerline goodness [0,1] 0.8558256496227996 Centerline is valid? [False, False] Translation: X:8.87, Y:0.46, Z:-1.96 [[ 9.99938945e-01 -2.11139833e-03 -1.08465378e-02 8.86568769e+00] [ 2.09876476e-03 9.99997106e-01 -1.17600696e-03 4.64313624e-01] [ 1.08489895e-02 1.15317082e-03 9.99940483e-01 -1.96316052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.384553574 meters Centerline goodness [0,1] 0.857277191516038 Centerline is valid? [False, False] Translation: X:8.87, Y:0.46, Z:-1.96 [[ 9.99937740e-01 1.18871396e-03 -1.10952277e-02 8.86685312e+00] [-1.16032067e-03 9.99996037e-01 2.56514119e-03 4.64208618e-01] [ 1.10982329e-02 -2.55210746e-03 9.99935156e-01 -1.96314093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.41455357399997 meters Centerline goodness [0,1] 0.8562304320601127 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.96 [[ 9.99937972e-01 1.40618268e-03 -1.10487688e-02 8.86657616e+00] [-1.37839183e-03 9.99995869e-01 2.52250161e-03 4.65038676e-01] [ 1.10522703e-02 -2.50711561e-03 9.99935779e-01 -1.96304624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.444553574 meters Centerline goodness [0,1] 0.8592105810422992 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.96 [[ 9.99938206e-01 1.54258268e-03 -1.10092964e-02 8.86635945e+00] [-1.51751722e-03 9.99996239e-01 2.28474485e-03 4.66251696e-01] [ 1.10127794e-02 -2.26789687e-03 9.99936786e-01 -1.96300964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.47455357399997 meters Centerline goodness [0,1] 0.8584997817637645 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.96 [[ 9.99938005e-01 1.56717252e-03 -1.10241038e-02 8.86641102e+00] [-1.54171539e-03 9.99996127e-01 2.31734397e-03 4.66385496e-01] [ 1.10276928e-02 -2.30020428e-03 9.99936548e-01 -1.96300188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.504553574 meters Centerline goodness [0,1] 0.8579860823461187 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.96 [[ 9.99936932e-01 1.38298343e-03 -1.11453614e-02 8.86693102e+00] [-1.35942100e-03 9.99996826e-01 2.12140024e-03 4.66736274e-01] [ 1.11482599e-02 -2.10611521e-03 9.99935638e-01 -1.96332573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.534553574 meters Centerline goodness [0,1] 0.8610017114460689 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.96 [[ 9.99934701e-01 9.50093422e-04 -1.13881708e-02 8.86798946e+00] [-9.29509266e-04 9.99997925e-01 1.81265984e-03 4.67383465e-01] [ 1.13898693e-02 -1.80195606e-03 9.99933510e-01 -1.96396660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.564553574 meters Centerline goodness [0,1] 0.8587995386009722 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.96 [[ 9.99933254e-01 4.43019232e-04 -1.15451781e-02 8.86861455e+00] [-4.24664180e-04 9.99998642e-01 1.59224875e-03 4.67542860e-01] [ 1.15458678e-02 -1.58723965e-03 9.99932084e-01 -1.96401447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.594553574 meters Centerline goodness [0,1] 0.8567375886524823 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.96 [[ 9.99931640e-01 3.51045742e-04 -1.16872272e-02 8.86897760e+00] [-3.32129650e-04 9.99998632e-01 1.62042848e-03 4.67482475e-01] [ 1.16877800e-02 -1.61643603e-03 9.99930389e-01 -1.96399213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.624553574 meters Centerline goodness [0,1] 0.8561327057082365 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.96 [[ 9.99931478e-01 3.73332958e-04 -1.17004097e-02 8.86898827e+00] [-3.53626196e-04 9.99998516e-01 1.68630328e-03 4.67441781e-01] [ 1.17010219e-02 -1.68205016e-03 9.99930126e-01 -1.96389845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.654553574 meters Centerline goodness [0,1] 0.8526045412514127 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.96 [[ 9.99932211e-01 5.17163127e-04 -1.16321202e-02 8.86866478e+00] [-4.97055373e-04 9.99998377e-01 1.73146506e-03 4.67720908e-01] [ 1.16329968e-02 -1.72556588e-03 9.99930846e-01 -1.96364480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.684553574 meters Centerline goodness [0,1] 0.8502144777620426 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.96 [[ 9.99933361e-01 7.81916417e-04 -1.15179495e-02 8.86819965e+00] [-7.60550385e-04 9.99997982e-01 1.85928378e-03 4.67946941e-01] [ 1.15193801e-02 -1.85039990e-03 9.99931938e-01 -1.96346293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.714553574 meters Centerline goodness [0,1] 0.8531792381303662 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.96 [[ 9.99933764e-01 9.47887061e-04 -1.14703226e-02 8.86826031e+00] [-9.29406841e-04 9.99998262e-01 1.61635664e-03 4.68937407e-01] [ 1.14718348e-02 -1.60558899e-03 9.99932907e-01 -1.96394844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.744553574 meters Centerline goodness [0,1] 0.8532416906032007 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.96 [[ 9.99934656e-01 1.26511191e-03 -1.13614486e-02 8.86783128e+00] [-1.24653412e-03 9.99997875e-01 1.64209333e-03 4.69550067e-01] [ 1.13635019e-02 -1.62782359e-03 9.99934108e-01 -1.96393307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.774553574 meters Centerline goodness [0,1] 0.8525840853158326 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.96 [[ 9.99936066e-01 1.95005045e-03 -1.11383042e-02 8.86687907e+00] [-1.92934438e-03 9.99996391e-01 1.86943960e-03 4.70222690e-01] [ 1.11419095e-02 -1.84783046e-03 9.99936220e-01 -1.96368935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.80455357399995 meters Centerline goodness [0,1] 0.860644473160626 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.96 [[ 9.99936294e-01 2.22302414e-03 -1.10664164e-02 8.86683366e+00] [-2.20364667e-03 9.99996018e-01 1.76290203e-03 4.70664818e-01] [ 1.10702913e-02 -1.73840325e-03 9.99937211e-01 -1.96409353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.834553574 meters Centerline goodness [0,1] 0.8611633805121492 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.96 [[ 9.99936381e-01 2.76940111e-03 -1.09345850e-02 8.86652240e+00] [-2.75134006e-03 9.99994827e-01 1.66643420e-03 4.71520256e-01] [ 1.09391434e-02 -1.63624342e-03 9.99938827e-01 -1.96464347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.86455357399996 meters Centerline goodness [0,1] 0.8593068719166445 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.97 [[ 9.99935896e-01 3.06768482e-03 -1.08992616e-02 8.86647371e+00] [-3.05016558e-03 9.99994030e-01 1.62363815e-03 4.72137174e-01] [ 1.09041774e-02 -1.59028951e-03 9.99939283e-01 -1.96503414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.894553574 meters Centerline goodness [0,1] 0.862012521995335 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.97 [[ 9.99933874e-01 3.23572574e-03 -1.10352768e-02 8.86731745e+00] [-3.21963493e-03 9.99993728e-01 1.47557782e-03 4.72429675e-01] [ 1.10399822e-02 -1.43995068e-03 9.99938021e-01 -1.96622445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.92455357399996 meters Centerline goodness [0,1] 0.8623445280003279 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.97 [[ 9.99932076e-01 3.09276931e-03 -1.12373611e-02 8.86806224e+00] [-3.07586948e-03 9.99994113e-01 1.52086824e-03 4.71940855e-01] [ 1.12419987e-02 -1.48620028e-03 9.99935702e-01 -1.96652603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.954553574 meters Centerline goodness [0,1] 0.8633850690036446 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.97 [[ 9.99930841e-01 2.88661235e-03 -1.14008755e-02 8.86884760e+00] [-2.87011784e-03 9.99994811e-01 1.46287236e-03 4.71589594e-01] [ 1.14050391e-02 -1.43004933e-03 9.99933938e-01 -1.96709052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.98455357399996 meters Centerline goodness [0,1] 0.8611895697736297 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.97 [[ 9.99928818e-01 2.26405676e-03 -1.17146592e-02 8.87000417e+00] [-2.24706163e-03 9.99996404e-01 1.46371600e-03 4.70710273e-01] [ 1.17179310e-02 -1.43728824e-03 9.99930310e-01 -1.96728016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.014553574 meters Centerline goodness [0,1] 0.8598449103516186 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.97 [[ 9.99927202e-01 1.91631793e-03 -1.19129121e-02 8.87068043e+00] [-1.89842948e-03 9.99997054e-01 1.51272882e-03 4.70007217e-01] [ 1.19157759e-02 -1.49000287e-03 9.99927894e-01 -1.96726652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.04455357399996 meters Centerline goodness [0,1] 0.8619383891106335 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.97 [[ 9.99926925e-01 1.53573349e-03 -1.19910941e-02 8.87100939e+00] [-1.51769929e-03 9.99997704e-01 1.51292110e-03 4.69641439e-01] [ 1.19933900e-02 -1.49461167e-03 9.99926960e-01 -1.96707578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.074553574 meters Centerline goodness [0,1] 0.8484885620915033 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.97 [[ 9.99925943e-01 1.34204133e-03 -1.20957879e-02 8.87138950e+00] [-1.32492374e-03 9.99998110e-01 1.42307125e-03 4.69590435e-01] [ 1.20976748e-02 -1.40693986e-03 9.99925831e-01 -1.96712003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.10455357399997 meters Centerline goodness [0,1] 0.8615180575392777 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.97 [[ 9.99925794e-01 1.29114357e-03 -1.21136168e-02 8.87130820e+00] [-1.27312640e-03 9.99998072e-01 1.49494144e-03 4.69532166e-01] [ 1.21155237e-02 -1.47940834e-03 9.99925510e-01 -1.96672570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.134553574 meters Centerline goodness [0,1] 0.8628253993998865 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.97 [[ 9.99925721e-01 1.40737344e-03 -1.21066717e-02 8.87091258e+00] [-1.38941262e-03 9.99997922e-01 1.49183021e-03 4.70166016e-01] [ 1.21087461e-02 -1.47489823e-03 9.99925599e-01 -1.96610954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.16455357399997 meters Centerline goodness [0,1] 0.8625184705382264 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.97 [[ 9.99926113e-01 1.63558145e-03 -1.20454954e-02 8.87052881e+00] [-1.61893381e-03 9.99997721e-01 1.39168499e-03 4.71292048e-01] [ 1.20477442e-02 -1.37208130e-03 9.99926482e-01 -1.96584448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.194553574 meters Centerline goodness [0,1] 0.8666371556771766 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.96 [[ 9.99929145e-01 2.68544010e-03 -1.15971153e-02 8.86833954e+00] [-2.66798955e-03 9.99995286e-01 1.51994089e-03 4.73866294e-01] [ 1.16011423e-02 -1.48889221e-03 9.99931596e-01 -1.96467849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.22455357399997 meters Centerline goodness [0,1] 0.8695224719101123 Centerline is valid? [False, False] Translation: X:8.87, Y:0.48, Z:-1.96 [[ 9.99930387e-01 3.34007457e-03 -1.13166211e-02 8.86719334e+00] [-3.32165199e-03 9.99993128e-01 1.64632687e-03 4.75130301e-01] [ 1.13220422e-02 -1.60862239e-03 9.99934610e-01 -1.96421159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.254553574 meters Centerline goodness [0,1] 0.8685052597896084 Centerline is valid? [False, False] Translation: X:8.87, Y:0.48, Z:-1.96 [[ 9.99929827e-01 3.64476754e-03 -1.12719164e-02 8.86711831e+00] [-3.62996274e-03 9.99992522e-01 1.33360383e-03 4.76564328e-01] [ 1.12766928e-02 -1.29259362e-03 9.99935581e-01 -1.96460399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.284553574 meters Centerline goodness [0,1] 0.8669264588329336 Centerline is valid? [False, False] Translation: X:8.86, Y:0.48, Z:-1.96 [[ 9.99928363e-01 5.30973874e-03 -1.07273597e-02 8.86472611e+00] [-5.29053865e-03 9.99984353e-01 1.81741011e-03 4.78609671e-01] [ 1.07368418e-02 -1.76052641e-03 9.99940809e-01 -1.96393549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.314553574 meters Centerline goodness [0,1] 0.8628347746200395 Centerline is valid? [False, False] Translation: X:8.86, Y:0.48, Z:-1.96 [[ 9.99927654e-01 5.67704015e-03 -1.06046040e-02 8.86455928e+00] [-5.65990909e-03 9.99982630e-01 1.64474941e-03 4.79506975e-01] [ 1.06137571e-02 -1.58460933e-03 9.99942417e-01 -1.96442735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.344553574 meters Centerline goodness [0,1] 0.8721822541966426 Centerline is valid? [False, False] Translation: X:8.86, Y:0.48, Z:-1.96 [[ 9.99924169e-01 7.03946501e-03 -1.01045527e-02 8.86269231e+00] [-7.01750565e-03 9.99972941e-01 2.20702717e-03 4.80073266e-01] [ 1.01198155e-02 -2.13595105e-03 9.99946512e-01 -1.96392706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.374553574 meters Centerline goodness [0,1] 0.8685759904201178 Centerline is valid? [False, False] Translation: X:8.86, Y:0.48, Z:-1.96 [[ 9.99921429e-01 7.43405383e-03 -1.00931154e-02 8.86277303e+00] [-7.41183773e-03 9.99970030e-01 2.23673856e-03 4.80361074e-01] [ 1.01094409e-02 -2.16175428e-03 9.99946562e-01 -1.96431849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.404553574 meters Centerline goodness [0,1] 0.8715227013278324 Centerline is valid? [False, False] Translation: X:8.86, Y:0.48, Z:-1.97 [[ 9.99913656e-01 8.59754654e-03 -9.93791105e-03 8.86236723e+00] [-8.57295253e-03 9.99960090e-01 2.51472308e-03 4.80676316e-01] [ 9.95913487e-03 -2.42930871e-03 9.99947456e-01 -1.96512761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.434553574 meters Centerline goodness [0,1] 0.8723872827740851 Centerline is valid? [False, False] Translation: X:8.86, Y:0.48, Z:-1.97 [[ 9.99910786e-01 8.81914012e-03 -1.00321173e-02 8.86289787e+00] [-8.79389938e-03 9.99958063e-01 2.55732963e-03 4.80476175e-01] [ 1.00542500e-02 -2.46888005e-03 9.99946407e-01 -1.96575688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.464553574 meters Centerline goodness [0,1] 0.873103780399711 Centerline is valid? [False, False] Translation: X:8.86, Y:0.48, Z:-1.97 [[ 9.99908108e-01 8.90378565e-03 -1.02224410e-02 8.86389517e+00] [-8.87811890e-03 9.99957329e-01 2.55346444e-03 4.79975391e-01] [ 1.02447403e-02 -2.46247375e-03 9.99944489e-01 -1.96670746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.494553574 meters Centerline goodness [0,1] 0.8691323188551849 Centerline is valid? [False, False] Translation: X:8.86, Y:0.48, Z:-1.97 [[ 9.99901522e-01 9.71452262e-03 -1.01279079e-02 8.86386148e+00] [-9.68294723e-03 9.99948120e-01 3.16205010e-03 4.78321914e-01] [ 1.01581002e-02 -3.06367071e-03 9.99943712e-01 -1.96722652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.524553574 meters Centerline goodness [0,1] 0.8701101789143839 Centerline is valid? [False, False] Translation: X:8.86, Y:0.48, Z:-1.97 [[ 9.99898680e-01 9.89054934e-03 -1.02375316e-02 8.86450067e+00] [-9.85675267e-03 9.99945821e-01 3.34646089e-03 4.77557051e-01] [ 1.02700753e-02 -3.24521301e-03 9.99941995e-01 -1.96787762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.55455357399995 meters Centerline goodness [0,1] 0.8699117736537877 Centerline is valid? [False, False] Translation: X:8.87, Y:0.48, Z:-1.97 [[ 9.99894136e-01 1.03158328e-02 -1.02616458e-02 8.86509642e+00] [-1.02779072e-02 9.99940180e-01 3.74175870e-03 4.76218095e-01] [ 1.02996313e-02 -3.63589433e-03 9.99940347e-01 -1.96893144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.584553574 meters Centerline goodness [0,1] 0.8704739057067925 Centerline is valid? [False, False] Translation: X:8.87, Y:0.48, Z:-1.97 [[ 9.99892827e-01 1.03069258e-02 -1.03972244e-02 8.86581851e+00] [-1.02671842e-02 9.99939808e-01 3.86848946e-03 4.75355018e-01] [ 1.04364708e-02 -3.76132465e-03 9.99938464e-01 -1.96947980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.61455357399996 meters Centerline goodness [0,1] 0.8661272526664214 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.97 [[ 9.99892115e-01 1.02237191e-02 -1.05467296e-02 8.86655038e+00] [-1.01815237e-02 9.99939978e-01 4.04677000e-03 4.74007189e-01] [ 1.05874696e-02 -3.93895164e-03 9.99936193e-01 -1.96991322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.644553574 meters Centerline goodness [0,1] 0.8659685863874346 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.97 [[ 9.99892613e-01 9.69382783e-03 -1.09905489e-02 8.86858777e+00] [-9.64706555e-03 9.99944221e-01 4.29983383e-03 4.71003156e-01] [ 1.10316177e-02 -4.19334553e-03 9.99930357e-01 -1.97096078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.67455357399996 meters Centerline goodness [0,1] 0.8684221345173491 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.97 [[ 9.99892986e-01 9.07161644e-03 -1.14770175e-02 8.87071126e+00] [-9.02488696e-03 9.99950800e-01 4.11683093e-03 4.69726907e-01] [ 1.15137991e-02 -4.01281158e-03 9.99925662e-01 -1.97212476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.704553574 meters Centerline goodness [0,1] 0.8649263610789343 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.97 [[ 9.99921860e-01 5.55402668e-03 -1.11993762e-02 8.87027304e+00] [-5.54870916e-03 9.99984478e-01 5.05821702e-04 4.68300525e-01] [ 1.12020117e-02 -4.43640096e-04 9.99937157e-01 -1.97289179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.73455357399996 meters Centerline goodness [0,1] 0.8694408160726503 Centerline is valid? [False, False] Translation: X:8.87, Y:0.47, Z:-1.97 [[ 9.99921467e-01 5.10660393e-03 -1.14447290e-02 8.87132312e+00] [-5.10030072e-03 9.99986825e-01 5.79870695e-04 4.66851526e-01] [ 1.14475394e-02 -5.21453596e-04 9.99934339e-01 -1.97319609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.764553574 meters Centerline goodness [0,1] 0.8689129211727199 Centerline is valid? [False, False] Translation: X:8.87, Y:0.46, Z:-1.97 [[ 9.99934834e-01 1.08926884e-03 -1.13640067e-02 8.87133307e+00] [-1.12221182e-03 9.99995186e-01 -2.89291473e-03 4.64139855e-01] [ 1.13608009e-02 2.90547903e-03 9.99931243e-01 -1.97330288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.79455357399996 meters Centerline goodness [0,1] 0.8664963671768672 Centerline is valid? [False, False] Translation: X:8.87, Y:0.46, Z:-1.97 [[ 9.99931834e-01 6.12452712e-04 -1.16598393e-02 8.87215480e+00] [-6.39516650e-04 9.99997110e-01 -2.31753751e-03 4.61473680e-01] [ 1.16583862e-02 2.32483620e-03 9.99929336e-01 -1.97268822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.824553574 meters Centerline goodness [0,1] 0.8664963671768672 Centerline is valid? [False, False] Translation: X:8.87, Y:0.46, Z:-1.97 [[ 9.99931834e-01 6.12452712e-04 -1.16598393e-02 8.87215480e+00] [-6.39516650e-04 9.99997110e-01 -2.31753751e-03 4.61473680e-01] [ 1.16583862e-02 2.32483620e-03 9.99929336e-01 -1.97268822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.85455357399997 meters Centerline goodness [0,1] 0.8615646831074826 Centerline is valid? [False, False] Translation: X:8.87, Y:0.46, Z:-1.97 [[ 9.99923417e-01 -3.80117038e-03 -1.17775596e-02 8.87296445e+00] [ 3.73118780e-03 9.99975288e-01 -5.95831362e-03 4.58921009e-01] [ 1.17999171e-02 5.91391303e-03 9.99912890e-01 -1.97318257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.884553574 meters Centerline goodness [0,1] 0.8684072228878938 Centerline is valid? [False, False] Translation: X:8.87, Y:0.46, Z:-1.97 [[ 9.99914237e-01 -4.51328882e-03 -1.22942292e-02 8.87481158e+00] [ 4.44282175e-03 9.99973582e-01 -5.75301387e-03 4.57210639e-01] [ 1.23198694e-02 5.69789941e-03 9.99907873e-01 -1.97345109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.91455357399997 meters Centerline goodness [0,1] 0.8669223959870168 Centerline is valid? [False, False] Translation: X:8.88, Y:0.45, Z:-1.97 [[ 9.99904138e-01 -5.26841646e-03 -1.28046606e-02 8.87670160e+00] [ 5.19887372e-03 9.99971589e-01 -5.45828111e-03 4.54968122e-01] [ 1.28330533e-02 5.39118805e-03 9.99903119e-01 -1.97363914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.944553574 meters Centerline goodness [0,1] 0.8676878747431089 Centerline is valid? [False, False] Translation: X:8.88, Y:0.45, Z:-1.97 [[ 0.99985865 -0.01020012 -0.01336572 8.87936113] [ 0.01007832 0.99990736 -0.00914912 0.45105847] [ 0.0134578 0.00901313 0.99986882 -1.97492313] [ 0. 0. 0. 1. ]] SLAMing on 261.97455357399997 meters Centerline goodness [0,1] 0.8666937657781011 Centerline is valid? [False, False] Translation: X:8.88, Y:0.45, Z:-1.98 [[ 0.99978818 -0.01511549 -0.01396836 8.88241221] [ 0.01493583 0.99980552 -0.01287801 0.44720396] [ 0.0141603 0.01266666 0.9998195 -1.97660043] [ 0. 0. 0. 1. ]] SLAMing on 262.004553574 meters Centerline goodness [0,1] 0.8649552853374509 Centerline is valid? [False, False] Translation: X:8.88, Y:0.45, Z:-1.98 [[ 0.99976729 -0.01587981 -0.01460107 8.8848376 ] [ 0.01569526 0.99979656 -0.0126685 0.44501644] [ 0.01479927 0.01243639 0.99981314 -1.97727963] [ 0. 0. 0. 1. ]] SLAMing on 262.034553574 meters Centerline goodness [0,1] 0.8584501431862713 Centerline is valid? [False, False] Translation: X:8.89, Y:0.44, Z:-1.98 [[ 0.99974765 -0.01654983 -0.01518983 8.88720989] [ 0.01636026 0.99978777 -0.01252064 0.44322009] [ 0.01539382 0.01226897 0.99980623 -1.97808214] [ 0. 0. 0. 1. ]] SLAMing on 262.064553574 meters Centerline goodness [0,1] 0.8257845006934813 Centerline is valid? [False, False] Translation: X:8.89, Y:0.44, Z:-1.98 [[ 0.99972218 -0.01739948 -0.01590016 8.89006889] [ 0.01720745 0.99977829 -0.01213533 0.44017234] [ 0.01610779 0.01185835 0.99979994 -1.978929 ] [ 0. 0. 0. 1. ]] SLAMing on 262.094553574 meters Centerline goodness [0,1] 0.8411322558220369 Centerline is valid? [False, False] Translation: X:8.89, Y:0.44, Z:-1.98 [[ 9.99742117e-01 -1.53212448e-02 -1.67618526e-02 8.89366737e+00] [ 1.51831662e-02 9.99849995e-01 -8.33415129e-03 4.37124826e-01] [ 1.68870278e-02 8.07750406e-03 9.99824776e-01 -1.97918686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.124553574 meters Centerline goodness [0,1] 0.8554287962234461 Centerline is valid? [False, False] Translation: X:8.90, Y:0.43, Z:-1.98 [[ 9.99715622e-01 -1.61821560e-02 -1.75160770e-02 8.89670289e+00] [ 1.60401072e-02 9.99837560e-01 -8.21997331e-03 4.34851170e-01] [ 1.76462486e-02 7.93667598e-03 9.99812792e-01 -1.98025666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.154553574 meters Centerline goodness [0,1] 0.8412569801817584 Centerline is valid? [False, False] Translation: X:8.90, Y:0.43, Z:-1.98 [[ 9.99693625e-01 -1.68614037e-02 -1.81204081e-02 8.89916319e+00] [ 1.67113463e-02 9.99825063e-01 -8.40089760e-03 4.33959477e-01] [ 1.82588891e-02 8.09550736e-03 9.99800518e-01 -1.98131397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.184553574 meters Centerline goodness [0,1] 0.8518234080835564 Centerline is valid? [False, False] Translation: X:8.90, Y:0.43, Z:-1.98 [[ 9.99658527e-01 -1.79721900e-02 -1.89691611e-02 8.90267985e+00] [ 1.78092734e-02 9.99803352e-01 -8.72277736e-03 4.32844620e-01] [ 1.91221982e-02 8.38197180e-03 9.99782018e-01 -1.98278265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.214553574 meters Centerline goodness [0,1] 0.8521429826102231 Centerline is valid? [False, False] Translation: X:8.91, Y:0.43, Z:-1.98 [[ 9.99677028e-01 -1.58168158e-02 -1.98913873e-02 8.90629315e+00] [ 1.57185204e-02 9.99863509e-01 -5.08829079e-03 4.31174866e-01] [ 1.99691529e-02 4.77398424e-03 9.99789199e-01 -1.98303238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.244553574 meters Centerline goodness [0,1] 0.8583494208494209 Centerline is valid? [False, False] Translation: X:8.91, Y:0.43, Z:-1.98 [[ 9.99660595e-01 -1.63396464e-02 -2.02906760e-02 8.90761907e+00] [ 1.62393378e-02 9.99855134e-01 -5.09856435e-03 4.30867823e-01] [ 2.03710453e-02 4.76732673e-03 9.99781123e-01 -1.98298989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.274553574 meters Centerline goodness [0,1] 0.8612348822406111 Centerline is valid? [False, False] Translation: X:8.91, Y:0.43, Z:-1.98 [[ 9.99653215e-01 -1.64876219e-02 -2.05330918e-02 8.90835134e+00] [ 1.63890485e-02 9.99853389e-01 -4.95978215e-03 4.30446028e-01] [ 2.06118565e-02 4.62154434e-03 9.99776871e-01 -1.98290535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.30455357399995 meters Centerline goodness [0,1] 0.8629103036685974 Centerline is valid? [False, False] Translation: X:8.91, Y:0.43, Z:-1.98 [[ 9.99676464e-01 -1.39386616e-02 -2.12762834e-02 8.91106496e+00] [ 1.39181722e-02 9.99902521e-01 -1.11079662e-03 4.28572492e-01] [ 2.12896924e-02 8.14310261e-04 9.99773017e-01 -1.98268797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.334553574 meters Centerline goodness [0,1] 0.8635815595063244 Centerline is valid? [False, False] Translation: X:8.91, Y:0.43, Z:-1.98 [[ 9.99686469e-01 -1.13822258e-02 -2.23026484e-02 8.91481327e+00] [ 1.14426470e-02 9.99931194e-01 2.58340392e-03 4.27249169e-01] [ 2.22717089e-02 -2.83779527e-03 9.99747927e-01 -1.98307951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.36455357399996 meters Centerline goodness [0,1] 0.8609203221346909 Centerline is valid? [False, False] Translation: X:8.92, Y:0.43, Z:-1.98 [[ 9.99687901e-01 -1.11789743e-02 -2.23412267e-02 8.91524177e+00] [ 1.12352876e-02 9.99934010e-01 2.39666594e-03 4.28078210e-01] [ 2.23129601e-02 -2.64692805e-03 9.99747531e-01 -1.98387214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.394553574 meters Centerline goodness [0,1] 0.863894429952432 Centerline is valid? [False, False] Translation: X:8.93, Y:0.43, Z:-1.99 [[ 9.99818000e-01 -6.74090808e-03 -1.78473058e-02 8.93377903e+00] [ 6.68890632e-03 9.99973213e-01 -2.97179694e-03 4.29553548e-01] [ 1.78668603e-02 2.85187712e-03 9.99836308e-01 -1.99005877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.42455357399996 meters Centerline goodness [0,1] 0.8641994255771634 Centerline is valid? [False, False] Translation: X:8.94, Y:0.43, Z:-1.99 [[ 9.99826144e-01 -3.25209730e-03 -1.83604505e-02 8.93517348e+00] [ 3.28170158e-03 9.99993363e-01 1.58249496e-03 4.27879060e-01] [ 1.83551822e-02 -1.64247335e-03 9.99830180e-01 -1.98883671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.454553574 meters Centerline goodness [0,1] 0.867368236043676 Centerline is valid? [False, False] Translation: X:8.95, Y:0.43, Z:-1.99 [[ 9.99910963e-01 6.69773810e-04 -1.33272977e-02 8.94991558e+00] [-7.36239365e-04 9.99987314e-01 -4.98289310e-03 4.28182339e-01] [ 1.33237912e-02 4.99226153e-03 9.99898772e-01 -1.99245783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.48455357399996 meters Centerline goodness [0,1] 0.8642097398030942 Centerline is valid? [False, False] Translation: X:8.95, Y:0.43, Z:-1.99 [[ 9.99915053e-01 1.32444451e-03 -1.29666120e-02 8.94826753e+00] [-1.38175052e-03 9.99989314e-01 -4.41154452e-03 4.28096264e-01] [ 1.29606306e-02 4.42908640e-03 9.99906198e-01 -1.99118805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.514553574 meters Centerline goodness [0,1] 0.8639022030693462 Centerline is valid? [False, False] Translation: X:8.95, Y:0.43, Z:-1.99 [[ 9.99917093e-01 1.73064868e-03 -1.27597470e-02 8.94716556e+00] [-1.78212254e-03 9.99990316e-01 -4.02381569e-03 4.28292018e-01] [ 1.27526596e-02 4.04622152e-03 9.99910495e-01 -1.99012506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.54455357399996 meters Centerline goodness [0,1] 0.8588994909539654 Centerline is valid? [False, False] Translation: X:8.94, Y:0.43, Z:-1.99 [[ 9.99988466e-01 -1.04801039e-03 -4.68711419e-03 8.93754338e+00] [ 1.04264297e-03 9.99998798e-01 -1.14743929e-03 4.28995987e-01] [ 4.68831109e-03 1.14253907e-03 9.99988357e-01 -1.99231808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.574553574 meters Centerline goodness [0,1] 0.8603812581077812 Centerline is valid? [False, False] Translation: X:8.94, Y:0.43, Z:-1.99 [[ 9.99986196e-01 -1.58667610e-03 -5.00898130e-03 8.93858974e+00] [ 1.58096433e-03 9.99998096e-01 -1.14406107e-03 4.28773869e-01] [ 5.01078702e-03 1.13612626e-03 9.99986801e-01 -1.99198033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.60455357399997 meters Centerline goodness [0,1] 0.8613706478624945 Centerline is valid? [False, False] Translation: X:8.94, Y:0.43, Z:-1.99 [[ 9.99978383e-01 -3.26830301e-03 -5.70543393e-03 8.94103274e+00] [ 3.26081923e-03 9.99993812e-01 -1.32050267e-03 4.27855480e-01] [ 5.70971443e-03 1.30186974e-03 9.99982852e-01 -1.99126924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.634553574 meters Centerline goodness [0,1] 0.8590113398656831 Centerline is valid? [False, False] Translation: X:8.94, Y:0.43, Z:-1.99 [[ 9.99972332e-01 -4.06115264e-03 -6.23237002e-03 8.94282227e+00] [ 4.05257803e-03 9.99990825e-01 -1.38783205e-03 4.27321181e-01] [ 6.23794904e-03 1.36253648e-03 9.99979616e-01 -1.99128484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.66455357399997 meters Centerline goodness [0,1] 0.8611184500220167 Centerline is valid? [False, False] Translation: X:8.94, Y:0.43, Z:-1.99 [[ 9.99964517e-01 -4.91326534e-03 -6.84287292e-03 8.94498621e+00] [ 4.90200037e-03 9.99986604e-01 -1.66203337e-03 4.27282975e-01] [ 6.85094727e-03 1.62843063e-03 9.99975206e-01 -1.99170892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.694553574 meters Centerline goodness [0,1] 0.6879092481878106 Centerline is valid? [False, False] Translation: X:8.95, Y:0.43, Z:-1.99 [[ 9.99950076e-01 -6.32578223e-03 -7.73504592e-03 8.94828661e+00] [ 6.30629654e-03 9.99976887e-01 -2.54094485e-03 4.28692299e-01] [ 7.75094060e-03 2.49203850e-03 9.99966856e-01 -1.99275205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.72455357399997 meters Centerline goodness [0,1] 0.8661888738364725 Centerline is valid? [False, False] Translation: X:8.95, Y:0.43, Z:-1.99 [[ 9.99945575e-01 -6.61342198e-03 -8.06909967e-03 8.94944154e+00] [ 6.59029961e-03 9.99974111e-01 -2.88877799e-03 4.29882019e-01] [ 8.08799548e-03 2.83544298e-03 9.99963272e-01 -1.99318495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.754553574 meters Centerline goodness [0,1] 0.8668970914308074 Centerline is valid? [False, False] Translation: X:8.95, Y:0.43, Z:-1.99 [[ 9.99954562e-01 -3.59559477e-03 -8.82870450e-03 8.95147359e+00] [ 3.60403723e-03 9.99993063e-01 9.40527767e-04 4.30609974e-01] [ 8.82526150e-03 -9.72304010e-04 9.99960584e-01 -1.99231525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.784553574 meters Centerline goodness [0,1] 0.8688556566970091 Centerline is valid? [False, False] Translation: X:8.95, Y:0.43, Z:-1.99 [[ 9.99955177e-01 -3.29047027e-03 -8.87787379e-03 8.95134705e+00] [ 3.29812999e-03 9.99994201e-01 8.48284415e-04 4.31957524e-01] [ 8.87503106e-03 -8.77526775e-04 9.99960231e-01 -1.99222085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.814553574 meters Centerline goodness [0,1] 0.8432255423659435 Centerline is valid? [False, False] Translation: X:8.95, Y:0.44, Z:-1.99 [[ 9.99954024e-01 -2.80217150e-03 -9.17044185e-03 8.95197322e+00] [ 2.80382087e-03 9.99996055e-01 1.67005388e-04 4.35343092e-01] [ 9.16993770e-03 -1.92709986e-04 9.99957937e-01 -1.99342405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.844553574 meters Centerline goodness [0,1] 0.8493348258492273 Centerline is valid? [False, False] Translation: X:8.95, Y:0.44, Z:-1.99 [[ 9.99954513e-01 -2.38388178e-03 -9.23517417e-03 8.95199491e+00] [ 2.38394226e-03 9.99997158e-01 -4.45973924e-06 4.37049452e-01] [ 9.23515855e-03 -1.75565856e-05 9.99957355e-01 -1.99377962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.874553574 meters Centerline goodness [0,1] 0.7712275282104089 Centerline is valid? [False, False] Translation: X:8.95, Y:0.44, Z:-1.99 [[ 9.99954353e-01 -2.03339520e-03 -9.33583113e-03 8.95219736e+00] [ 2.03172137e-03 9.99997918e-01 -1.88772224e-04 4.38593500e-01] [ 9.33619554e-03 1.69795799e-04 9.99956402e-01 -1.99416655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.904553574 meters Centerline goodness [0,1] 0.8639072211187288 Centerline is valid? [False, False] Translation: X:8.95, Y:0.44, Z:-1.99 [[ 9.99951993e-01 2.01447384e-03 -9.58925210e-03 8.95276455e+00] [-1.98032130e-03 9.99991668e-01 3.56970773e-03 4.40232840e-01] [ 9.59636328e-03 -3.55054656e-03 9.99947650e-01 -1.99399906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.934553574 meters Centerline goodness [0,1] 0.8264323389352751 Centerline is valid? [False, False] Translation: X:8.95, Y:0.44, Z:-1.99 [[ 9.99952305e-01 2.61037213e-03 -9.41140939e-03 8.95216473e+00] [-2.57935241e-03 9.99991207e-01 3.30660197e-03 4.42033359e-01] [ 9.41995810e-03 -3.28216891e-03 9.99950245e-01 -1.99436289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.964553574 meters Centerline goodness [0,1] 0.8317760987549218 Centerline is valid? [False, False] Translation: X:8.95, Y:0.44, Z:-1.99 [[ 9.99949419e-01 4.30114852e-03 -9.09174236e-03 8.95025826e+00] [-4.27022960e-03 9.99985043e-01 3.41745079e-03 4.44562304e-01] [ 9.10630534e-03 -3.37845411e-03 9.99952830e-01 -1.99432191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.994553574 meters Centerline goodness [0,1] 0.8487127198572522 Centerline is valid? [False, False] Translation: X:8.95, Y:0.45, Z:-1.99 [[ 9.99948517e-01 4.77520421e-03 -8.95330890e-03 8.94991243e+00] [-4.74637449e-03 9.99983492e-01 3.23849522e-03 4.45601171e-01] [ 8.96862557e-03 -3.19583274e-03 9.99954674e-01 -1.99477030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.024553574 meters Centerline goodness [0,1] 0.8612254423558365 Centerline is valid? [False, False] Translation: X:8.95, Y:0.45, Z:-2.00 [[ 9.99947434e-01 5.12800259e-03 -8.87880412e-03 8.94973333e+00] [-5.10074719e-03 9.99982218e-01 3.08964314e-03 4.46542431e-01] [ 8.89448994e-03 -3.04419220e-03 9.99955809e-01 -1.99502585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.05455357399995 meters Centerline goodness [0,1] 0.8588883006881948 Centerline is valid? [False, False] Translation: X:8.95, Y:0.45, Z:-1.99 [[ 9.99942735e-01 6.79261557e-03 -8.26967620e-03 8.94704464e+00] [-6.76302974e-03 9.99970649e-01 3.60035233e-03 4.48133010e-01] [ 8.29388929e-03 -3.54421809e-03 9.99959324e-01 -1.99415683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.084553574 meters Centerline goodness [0,1] 0.8596535752807564 Centerline is valid? [False, False] Translation: X:8.95, Y:0.45, Z:-1.99 [[ 9.99941031e-01 7.16304644e-03 -8.16239758e-03 8.94679858e+00] [-7.13416173e-03 9.99968206e-01 3.56239200e-03 4.48692201e-01] [ 8.18765565e-03 -3.50395006e-03 9.99960342e-01 -1.99444048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.11455357399996 meters Centerline goodness [0,1] 0.8650508044030483 Centerline is valid? [False, False] Translation: X:8.95, Y:0.45, Z:-1.99 [[ 9.99937099e-01 8.00899448e-03 -7.85202069e-03 8.94551307e+00] [-7.97703138e-03 9.99959804e-01 4.09358725e-03 4.48336600e-01] [ 7.88449059e-03 -4.03069394e-03 9.99960793e-01 -1.99383222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.144553574 meters Centerline goodness [0,1] 0.8641789781145494 Centerline is valid? [False, False] Translation: X:8.95, Y:0.45, Z:-1.99 [[ 9.99936603e-01 7.94723990e-03 -7.97694971e-03 8.94609503e+00] [-7.91398683e-03 9.99959899e-01 4.19158946e-03 4.47504612e-01] [ 8.00994139e-03 -4.12819425e-03 9.99959399e-01 -1.99404920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.17455357399996 meters Centerline goodness [0,1] 0.861174174110458 Centerline is valid? [False, False] Translation: X:8.95, Y:0.45, Z:-1.99 [[ 9.99936089e-01 7.95323796e-03 -8.03518438e-03 8.94641294e+00] [-7.91846520e-03 9.99959186e-01 4.35014722e-03 4.46755613e-01] [ 8.06945419e-03 -4.28624287e-03 9.99958255e-01 -1.99401232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.204553574 meters Centerline goodness [0,1] 0.8640129491193321 Centerline is valid? [False, False] Translation: X:8.95, Y:0.45, Z:-1.99 [[ 9.99934632e-01 8.27108266e-03 -7.89439487e-03 8.94603627e+00] [-8.23421052e-03 9.99955091e-01 4.69180420e-03 4.45810159e-01] [ 7.93284665e-03 -4.62649340e-03 9.99957832e-01 -1.99392532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.23455357399996 meters Centerline goodness [0,1] 0.8653427290198591 Centerline is valid? [False, False] Translation: X:8.95, Y:0.45, Z:-2.00 [[ 9.99953010e-01 5.92880784e-03 -7.66982449e-03 8.94519393e+00] [-5.92010805e-03 9.99981807e-01 1.15649488e-03 4.46909028e-01] [ 7.67654159e-03 -1.11103434e-03 9.99969918e-01 -1.99511565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.264553574 meters Centerline goodness [0,1] 0.8617314555595923 Centerline is valid? [False, False] Translation: X:8.95, Y:0.45, Z:-2.00 [[ 9.99952877e-01 5.70087885e-03 -7.85776981e-03 8.94619805e+00] [-5.69319415e-03 9.99983294e-01 9.99997125e-04 4.46667137e-01] [ 7.86333940e-03 -9.55214192e-04 9.99968627e-01 -1.99573912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.29455357399996 meters Centerline goodness [0,1] 0.8629508056038274 Centerline is valid? [False, False] Translation: X:8.95, Y:0.45, Z:-2.00 [[ 9.99952939e-01 5.52418963e-03 -7.97511974e-03 8.94681665e+00] [-5.51654456e-03 9.99984303e-01 9.80294278e-04 4.46007315e-01] [ 7.98040989e-03 -9.36253042e-04 9.99967718e-01 -1.99604118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.324553574 meters Centerline goodness [0,1] 0.8605692632304182 Centerline is valid? [False, False] Translation: X:8.95, Y:0.44, Z:-2.00 [[ 9.99952138e-01 4.91267711e-03 -8.46087699e-03 8.94875489e+00] [-4.90415903e-03 9.99987447e-01 1.02721340e-03 4.44000670e-01] [ 8.46581714e-03 -9.85670751e-04 9.99963679e-01 -1.99657058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.35455357399997 meters Centerline goodness [0,1] 0.859078064669212 Centerline is valid? [False, False] Translation: X:8.95, Y:0.44, Z:-2.00 [[ 9.99950439e-01 4.37442155e-03 -8.94334851e-03 8.95071293e+00] [-4.36686080e-03 9.99990091e-01 8.64756976e-04 4.43139114e-01] [ 8.94704270e-03 -8.25659760e-04 9.99959634e-01 -1.99741268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.384553574 meters Centerline goodness [0,1] 0.8596681487908036 Centerline is valid? [False, False] Translation: X:8.95, Y:0.44, Z:-2.00 [[ 9.99948944e-01 4.07918771e-03 -9.24498778e-03 8.95214356e+00] [-4.07167042e-03 9.99991365e-01 8.31796051e-04 4.41960448e-01] [ 9.24830100e-03 -7.94111039e-04 9.99956918e-01 -1.99835353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.41455357399997 meters Centerline goodness [0,1] 0.8587931296549628 Centerline is valid? [False, False] Translation: X:8.95, Y:0.44, Z:-2.00 [[ 9.99947864e-01 4.09889354e-03 -9.35247765e-03 8.95264875e+00] [-4.08971825e-03 9.99991137e-01 9.99968098e-04 4.41230395e-01] [ 9.35649352e-03 -9.61666965e-04 9.99955765e-01 -1.99862653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.444553574 meters Centerline goodness [0,1] 0.8569409718447657 Centerline is valid? [False, False] Translation: X:8.95, Y:0.44, Z:-2.00 [[ 9.99946650e-01 4.04566957e-03 -9.50421148e-03 8.95341229e+00] [-4.03546979e-03 9.99991261e-01 1.09211756e-03 4.40350653e-01] [ 9.50854677e-03 -1.05370534e-03 9.99954238e-01 -1.99916382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.47455357399997 meters Centerline goodness [0,1] 0.8585014723524921 Centerline is valid? [False, False] Translation: X:8.95, Y:0.44, Z:-2.00 [[ 9.99946107e-01 4.96397502e-03 -9.11825951e-03 8.95205789e+00] [-4.94559032e-03 9.99985694e-01 2.03769378e-03 4.38034461e-01] [ 9.12824413e-03 -1.99248879e-03 9.99956352e-01 -1.99868781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.504553574 meters Centerline goodness [0,1] 0.858060118301559 Centerline is valid? [False, False] Translation: X:8.95, Y:0.43, Z:-2.00 [[ 9.99945237e-01 6.32126404e-03 -8.34054979e-03 8.94935385e+00] [-6.29284066e-03 9.99974318e-01 3.42970932e-03 4.34744648e-01] [ 8.36201569e-03 -3.37703575e-03 9.99959335e-01 -1.99747963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.534553574 meters Centerline goodness [0,1] 0.858845823325915 Centerline is valid? [False, False] Translation: X:8.95, Y:0.43, Z:-2.00 [[ 9.99943519e-01 6.71825161e-03 -8.23553311e-03 8.94919456e+00] [-6.68717814e-03 9.99970440e-01 3.79484638e-03 4.33570444e-01] [ 8.26078440e-03 -3.73955957e-03 9.99958887e-01 -1.99772983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.564553574 meters Centerline goodness [0,1] 0.8562951153624729 Centerline is valid? [False, False] Translation: X:8.95, Y:0.43, Z:-2.00 [[ 9.99942429e-01 7.09587779e-03 -8.04906789e-03 8.94902268e+00] [-7.06344481e-03 9.99966849e-01 4.05070465e-03 4.32622638e-01] [ 8.07754436e-03 -3.99361730e-03 9.99959401e-01 -1.99826526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.594553574 meters Centerline goodness [0,1] 0.8558118800846986 Centerline is valid? [False, False] Translation: X:8.95, Y:0.43, Z:-2.00 [[ 9.99936367e-01 8.61515477e-03 -7.28288915e-03 8.94665771e+00] [-8.57756214e-03 9.99949809e-01 5.17734701e-03 4.29977190e-01] [ 7.32712726e-03 -5.11454812e-03 9.99960077e-01 -1.99804228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.624553574 meters Centerline goodness [0,1] 0.8559858603485693 Centerline is valid? [False, False] Translation: X:8.95, Y:0.43, Z:-2.00 [[ 9.99933385e-01 9.21068412e-03 -6.95615590e-03 8.94573557e+00] [-9.17033104e-03 9.99941068e-01 5.81084624e-03 4.28003612e-01] [ 7.00926783e-03 -5.74666890e-03 9.99958922e-01 -1.99783335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.654553574 meters Centerline goodness [0,1] 0.8527093374172334 Centerline is valid? [False, False] Translation: X:8.95, Y:0.43, Z:-2.00 [[ 9.99928903e-01 9.97394456e-03 -6.53518227e-03 8.94509637e+00] [-9.93087283e-03 9.99928970e-01 6.59037860e-03 4.25045883e-01] [ 6.60045014e-03 -6.52500998e-03 9.99956928e-01 -1.99852962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.684553574 meters Centerline goodness [0,1] 0.8534919486158856 Centerline is valid? [False, False] Translation: X:8.94, Y:0.43, Z:-2.00 [[ 9.99957663e-01 6.92701179e-03 -6.05707449e-03 8.94429914e+00] [-6.91245865e-03 9.99973180e-01 2.42031110e-03 4.25149544e-01] [ 6.07367756e-03 -2.37833935e-03 9.99978727e-01 -2.00054778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.714553574 meters Centerline goodness [0,1] 0.853022009221614 Centerline is valid? [False, False] Translation: X:8.94, Y:0.42, Z:-2.00 [[ 9.99977176e-01 3.53113552e-03 -5.76000016e-03 8.94401621e+00] [-3.53982510e-03 9.99992611e-01 -1.49911155e-03 4.24416842e-01] [ 5.75466403e-03 1.51946673e-03 9.99982287e-01 -2.00195843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.744553574 meters Centerline goodness [0,1] 0.853022009221614 Centerline is valid? [False, False] Translation: X:8.94, Y:0.42, Z:-2.00 [[ 9.99977176e-01 3.53113552e-03 -5.76000016e-03 8.94401621e+00] [-3.53982510e-03 9.99992611e-01 -1.49911155e-03 4.24416842e-01] [ 5.75466403e-03 1.51946673e-03 9.99982287e-01 -2.00195843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.774553574 meters Centerline goodness [0,1] 0.8529283866980981 Centerline is valid? [False, False] Translation: X:8.95, Y:0.42, Z:-2.00 [[ 9.99982122e-01 -8.82761968e-04 -5.91403091e-03 8.94544663e+00] [ 8.53368092e-04 9.99987281e-01 -4.97087426e-03 4.20430210e-01] [ 5.91834379e-03 4.96573854e-03 9.99970157e-01 -2.00296850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.80455357399995 meters Centerline goodness [0,1] 0.8501222832356605 Centerline is valid? [False, False] Translation: X:8.95, Y:0.42, Z:-2.01 [[ 9.99959632e-01 -6.12858234e-03 -6.57077895e-03 8.94896321e+00] [ 6.06860676e-03 9.99940097e-01 -9.10903243e-03 4.17260993e-01] [ 6.62621080e-03 9.06878924e-03 9.99936923e-01 -2.00510079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.834553574 meters Centerline goodness [0,1] 0.850716219656122 Centerline is valid? [False, False] Translation: X:8.95, Y:0.41, Z:-2.01 [[ 9.99945445e-01 -7.40257964e-03 -7.36948193e-03 8.95210922e+00] [ 7.33750342e-03 9.99934193e-01 -8.81871839e-03 4.14641074e-01] [ 7.43427824e-03 8.76416368e-03 9.99933958e-01 -2.00522216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.86455357399996 meters Centerline goodness [0,1] 0.8527500580181017 Centerline is valid? [False, False] Translation: X:8.96, Y:0.41, Z:-2.01 [[ 9.99929317e-01 -8.65431717e-03 -8.15247881e-03 8.95521059e+00] [ 8.58480600e-03 9.99926826e-01 -8.52313800e-03 4.11975440e-01] [ 8.22564420e-03 8.45254811e-03 9.99930444e-01 -2.00532644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.894553574 meters Centerline goodness [0,1] 0.8514323007715079 Centerline is valid? [False, False] Translation: X:8.96, Y:0.41, Z:-2.01 [[ 9.99909011e-01 -1.00398798e-02 -9.00952058e-03 8.95858473e+00] [ 9.96505234e-03 9.99915799e-01 -8.31218459e-03 4.09406889e-01] [ 9.09221530e-03 8.22164793e-03 9.99924865e-01 -2.00546640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.92455357399996 meters Centerline goodness [0,1] 0.8519065709863515 Centerline is valid? [False, False] Translation: X:8.96, Y:0.41, Z:-2.01 [[ 0.99982788 -0.01580258 -0.00972101 8.9620113 ] [ 0.01568604 0.99980555 -0.01194992 0.40530032] [ 0.00990796 0.01179537 0.99988134 -2.00556102] [ 0. 0. 0. 1. ]] SLAMing on 263.954553574 meters Centerline goodness [0,1] 0.8542380086436956 Centerline is valid? [False, False] Translation: X:8.97, Y:0.40, Z:-2.01 [[ 0.99971627 -0.02140656 -0.01044658 8.96557388] [ 0.02123874 0.99964767 -0.01591986 0.402396 ] [ 0.01078369 0.01569347 0.9998187 -2.00630145] [ 0. 0. 0. 1. ]] SLAMing on 263.98455357399996 meters Centerline goodness [0,1] 0.8517431540081891 Centerline is valid? [False, False] Translation: X:8.97, Y:0.40, Z:-2.01 [[ 0.99967869 -0.02266994 -0.01134018 8.96909055] [ 0.02248682 0.99961874 -0.01602267 0.40126559] [ 0.01169909 0.01576252 0.99980732 -2.0068758 ] [ 0. 0. 0. 1. ]] SLAMing on 264.014553574 meters Centerline goodness [0,1] 0.8470571523272883 Centerline is valid? [False, False] Translation: X:8.98, Y:0.40, Z:-2.00 [[ 0.99966993 -0.02200274 -0.01326287 8.97668648] [ 0.02186695 0.99970785 -0.01029811 0.39783975] [ 0.01348558 0.01000469 0.99985901 -2.00317202] [ 0. 0. 0. 1. ]] SLAMing on 264.04455357399996 meters Centerline goodness [0,1] 0.8516622213755001 Centerline is valid? [False, False] Translation: X:8.98, Y:0.40, Z:-2.00 [[ 0.99962556 -0.02339933 -0.01418509 8.98003504] [ 0.02325663 0.99967808 -0.01014213 0.39634784] [ 0.01441785 0.00980844 0.99984795 -2.00294923] [ 0. 0. 0. 1. ]] SLAMing on 264.074553574 meters Centerline goodness [0,1] 0.8418244611170657 Centerline is valid? [False, False] Translation: X:8.99, Y:0.39, Z:-2.00 [[ 9.99635884e-01 -2.18850836e-02 -1.57842760e-02 8.98546683e+00] [ 2.18171763e-02 9.99752021e-01 -4.46167032e-03 3.93127983e-01] [ 1.58780059e-02 4.11567742e-03 9.99865466e-01 -1.99908355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.10455357399997 meters Centerline goodness [0,1] 0.8506792732134756 Centerline is valid? [False, False] Translation: X:8.99, Y:0.39, Z:-2.00 [[ 9.99601098e-01 -2.29710813e-02 -1.64308751e-02 8.98797211e+00] [ 2.29007159e-02 9.99727805e-01 -4.45794356e-03 3.92002265e-01] [ 1.65288065e-02 4.07988647e-03 9.99855066e-01 -1.99907442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.134553574 meters Centerline goodness [0,1] 0.8488094099646171 Centerline is valid? [False, False] Translation: X:8.99, Y:0.39, Z:-2.00 [[ 9.99625032e-01 -2.09822483e-02 -1.75937429e-02 8.99216377e+00] [ 2.09744524e-02 9.99779815e-01 -6.27536522e-04 3.90518894e-01] [ 1.76030362e-02 2.58282093e-04 9.99845021e-01 -1.99876029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.16455357399997 meters Centerline goodness [0,1] 0.851476873850856 Centerline is valid? [False, False] Translation: X:9.00, Y:0.39, Z:-2.00 [[ 9.99650748e-01 -1.87235762e-02 -1.86496803e-02 8.99584786e+00] [ 1.87873938e-02 9.99818211e-01 3.25259325e-03 3.89391613e-01] [ 1.85853898e-02 -3.60183617e-03 9.99820789e-01 -1.99832066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.194553574 meters Centerline goodness [0,1] 0.8504047954529171 Centerline is valid? [False, False] Translation: X:9.00, Y:0.39, Z:-2.00 [[ 9.99635192e-01 -1.91026774e-02 -1.90937447e-02 8.99750025e+00] [ 1.91603699e-02 9.99812381e-01 2.84316610e-03 3.90482218e-01] [ 1.90358502e-02 -3.20797210e-03 9.99813655e-01 -1.99918765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.22455357399997 meters Centerline goodness [0,1] 0.8462236226487158 Centerline is valid? [False, False] Translation: X:9.00, Y:0.39, Z:-2.00 [[ 9.99633314e-01 -1.90951485e-02 -1.91992993e-02 8.99790525e+00] [ 1.91497134e-02 9.99813083e-01 2.66219099e-03 3.91404710e-01] [ 1.91448757e-02 -3.02887588e-03 9.99812132e-01 -1.99950085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.254553574 meters Centerline goodness [0,1] 0.8477588503996955 Centerline is valid? [False, False] Translation: X:9.00, Y:0.39, Z:-2.00 [[ 9.99635496e-01 -1.89496845e-02 -1.92298015e-02 8.99779448e+00] [ 1.89989418e-02 9.99816666e-01 2.38204736e-03 3.93404261e-01] [ 1.91811370e-02 -2.74652497e-03 9.99812253e-01 -1.99941191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.284553574 meters Centerline goodness [0,1] 0.8507743178628351 Centerline is valid? [False, False] Translation: X:9.00, Y:0.39, Z:-2.00 [[ 9.99630175e-01 -1.90738311e-02 -1.93830394e-02 8.99843330e+00] [ 1.91148181e-02 9.99815429e-01 1.93149691e-03 3.94753470e-01] [ 1.93426209e-02 -2.30128586e-03 9.99810266e-01 -1.99988788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.314553574 meters Centerline goodness [0,1] 0.8529767408777296 Centerline is valid? [False, False] Translation: X:9.00, Y:0.40, Z:-2.00 [[ 9.99631390e-01 -1.89304856e-02 -1.94607407e-02 8.99840047e+00] [ 1.89686789e-02 9.99818494e-01 1.77985440e-03 3.96398518e-01] [ 1.94235150e-02 -2.14834287e-03 9.99809038e-01 -1.99967389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.344553574 meters Centerline goodness [0,1] 0.8312333670898 Centerline is valid? [False, False] Translation: X:9.00, Y:0.40, Z:-2.00 [[ 9.99657835e-01 -1.61880163e-02 -2.05465431e-02 9.00153743e+00] [ 1.62971726e-02 9.99853896e-01 5.15634896e-03 3.98449471e-01] [ 2.04600701e-02 -5.48943520e-03 9.99775601e-01 -1.99946519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.374553574 meters Centerline goodness [0,1] 0.8492964033171235 Centerline is valid? [False, False] Translation: X:9.02, Y:0.40, Z:-2.01 [[ 9.99771645e-01 -1.47552365e-02 -1.54577009e-02 9.01915939e+00] [ 1.47114211e-02 9.99887446e-01 -2.94442563e-03 4.01373427e-01] [ 1.54994068e-02 2.71634851e-03 9.99876187e-01 -2.00581820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.404553574 meters Centerline goodness [0,1] 0.8489090738833224 Centerline is valid? [False, False] Translation: X:9.02, Y:0.40, Z:-2.00 [[ 9.99799209e-01 -1.16721459e-02 -1.62880867e-02 9.02106852e+00] [ 1.16893701e-02 9.99931214e-01 9.62665974e-04 4.02529507e-01] [ 1.62757300e-02 -1.15287015e-03 9.99866877e-01 -2.00432522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.434553574 meters Centerline goodness [0,1] 0.845185548471473 Centerline is valid? [False, False] Translation: X:9.02, Y:0.40, Z:-2.00 [[ 9.99817549e-01 -8.64782163e-03 -1.70318627e-02 9.02334509e+00] [ 8.73051690e-03 9.99950430e-01 4.78697173e-03 4.02894174e-01] [ 1.69896216e-02 -4.93479530e-03 9.99843488e-01 -2.00376151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.464553574 meters Centerline goodness [0,1] 0.8422643263977683 Centerline is valid? [False, False] Translation: X:9.02, Y:0.41, Z:-2.00 [[ 9.99830960e-01 -5.10446309e-03 -1.76633983e-02 9.02486997e+00] [ 5.24885090e-03 9.99953112e-01 8.13772499e-03 4.06072090e-01] [ 1.76210314e-02 -8.22906193e-03 9.99810873e-01 -2.00353573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.494553574 meters Centerline goodness [0,1] 0.8462285529297507 Centerline is valid? [False, False] Translation: X:9.04, Y:0.41, Z:-2.01 [[ 9.99914835e-01 -2.78227891e-03 -1.27507742e-02 9.04104775e+00] [ 2.77061563e-03 9.99995727e-01 -9.32284567e-04 4.09655007e-01] [ 1.27533136e-02 8.96877675e-04 9.99918271e-01 -2.01124998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.524553574 meters Centerline goodness [0,1] 0.8229929114040961 Centerline is valid? [False, False] Translation: X:9.04, Y:0.41, Z:-2.01 [[ 9.99924538e-01 -1.11069934e-03 -1.22345495e-02 9.03814721e+00] [ 1.10391871e-03 9.99999233e-01 -5.60958921e-04 4.12640848e-01] [ 1.22351632e-02 5.47410642e-04 9.99924998e-01 -2.01003242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.55455357399995 meters Centerline goodness [0,1] 0.8490040299366725 Centerline is valid? [False, False] Translation: X:9.04, Y:0.41, Z:-2.01 [[ 9.99928611e-01 -3.97499419e-04 -1.19421668e-02 9.03672272e+00] [ 3.91639697e-04 9.99999802e-01 -4.93009554e-04 4.14269250e-01] [ 1.19423604e-02 4.88297331e-04 9.99928568e-01 -2.00943820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.584553574 meters Centerline goodness [0,1] 0.8443095878445165 Centerline is valid? [False, False] Translation: X:9.04, Y:0.42, Z:-2.01 [[ 9.99931945e-01 3.03052420e-04 -1.16624509e-02 9.03542111e+00] [-3.07676568e-04 9.99999875e-01 -3.94706678e-04 4.15871947e-01] [ 1.16623299e-02 3.98268080e-04 9.99931913e-01 -2.00886922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.61455357399996 meters Centerline goodness [0,1] 0.8409392290456811 Centerline is valid? [False, False] Translation: X:9.03, Y:0.42, Z:-2.01 [[ 9.99934136e-01 1.43797742e-03 -1.13866911e-02 9.03365009e+00] [-1.44093772e-03 9.99998930e-01 -2.51778718e-04 4.18569530e-01] [ 1.13863169e-02 2.68169648e-04 9.99935138e-01 -2.00813669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.644553574 meters Centerline goodness [0,1] 0.8426260225766646 Centerline is valid? [False, False] Translation: X:9.03, Y:0.42, Z:-2.01 [[ 9.99934971e-01 1.87080727e-03 -1.12496591e-02 9.03294460e+00] [-1.87303230e-03 9.99998228e-01 -1.87253728e-04 4.19580191e-01] [ 1.12492888e-02 2.08312526e-04 9.99936703e-01 -2.00779479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.67455357399996 meters Centerline goodness [0,1] 0.8484938519906752 Centerline is valid? [False, False] Translation: X:9.03, Y:0.42, Z:-2.01 [[ 9.99935471e-01 2.52716652e-03 -1.10755096e-02 9.03206327e+00] [-2.52868456e-03 9.99996795e-01 -1.23060383e-04 4.20427894e-01] [ 1.10751631e-02 1.51058912e-04 9.99938657e-01 -2.00762274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.704553574 meters Centerline goodness [0,1] 0.8471996892351987 Centerline is valid? [False, False] Translation: X:9.03, Y:0.42, Z:-2.01 [[ 9.99935198e-01 2.85671463e-03 -1.10199323e-02 9.03166937e+00] [-2.85726994e-03 9.99995917e-01 -3.46470849e-05 4.20850965e-01] [ 1.10197884e-02 6.61317610e-05 9.99939278e-01 -2.00750669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.73455357399996 meters Centerline goodness [0,1] 0.8499965689974611 Centerline is valid? [False, False] Translation: X:9.03, Y:0.42, Z:-2.01 [[ 9.99934631e-01 2.92475315e-03 -1.10534649e-02 9.03192482e+00] [-2.92692620e-03 9.99995700e-01 -1.80423196e-04 4.21327374e-01] [ 1.10528896e-02 2.12764078e-04 9.99938892e-01 -2.00789543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.764553574 meters Centerline goodness [0,1] 0.8415696677262229 Centerline is valid? [False, False] Translation: X:9.03, Y:0.42, Z:-2.01 [[ 9.99935479e-01 3.03839560e-03 -1.09455976e-02 9.03127946e+00] [-3.03585268e-03 9.99995361e-01 2.48931127e-04 4.20836046e-01] [ 1.09463032e-02 -2.15685844e-04 9.99940064e-01 -2.00686135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.79455357399996 meters Centerline goodness [0,1] 0.8445202187793213 Centerline is valid? [False, False] Translation: X:9.03, Y:0.42, Z:-2.01 [[ 9.99933864e-01 2.65820288e-03 -1.11893785e-02 9.03211962e+00] [-2.65596927e-03 9.99996450e-01 2.14474330e-04 4.20445612e-01] [ 1.11899089e-02 -1.84741500e-04 9.99937374e-01 -2.00677409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.824553574 meters Centerline goodness [0,1] 0.8481567296001469 Centerline is valid? [False, False] Translation: X:9.03, Y:0.42, Z:-2.01 [[ 9.99932693e-01 1.97646547e-03 -1.14325559e-02 9.03300241e+00] [-1.97288920e-03 9.99998001e-01 3.24084718e-04 4.19531867e-01] [ 1.14331736e-02 -3.01507739e-04 9.99934594e-01 -2.00624689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.85455357399997 meters Centerline goodness [0,1] 0.8402429242580497 Centerline is valid? [False, False] Translation: X:9.03, Y:0.42, Z:-2.01 [[ 9.99929577e-01 1.40956725e-03 -1.17836084e-02 9.03440303e+00] [-1.40618301e-03 9.99998968e-01 2.95478916e-04 4.19100338e-01] [ 1.17840128e-02 -2.78888198e-04 9.99930527e-01 -2.00635261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.884553574 meters Centerline goodness [0,1] 0.8451927052230236 Centerline is valid? [False, False] Translation: X:9.04, Y:0.42, Z:-2.01 [[ 9.99921071e-01 -1.97990963e-04 -1.25623412e-02 9.03749778e+00] [ 1.97728640e-04 9.99999980e-01 -2.21237257e-05 4.17833275e-01] [ 1.25623453e-02 1.96380448e-05 9.99921090e-01 -2.00659324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.91455357399997 meters Centerline goodness [0,1] 0.8492674961477427 Centerline is valid? [False, False] Translation: X:9.04, Y:0.42, Z:-2.01 [[ 9.99916532e-01 -7.60847059e-04 -1.28977035e-02 9.03872686e+00] [ 7.60980841e-04 9.99999710e-01 5.46491643e-06 4.17175961e-01] [ 1.28976956e-02 -1.52793656e-05 9.99916821e-01 -2.00651646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.944553574 meters Centerline goodness [0,1] 0.8475276617235206 Centerline is valid? [False, False] Translation: X:9.04, Y:0.42, Z:-2.01 [[ 9.99910699e-01 -1.35140302e-03 -1.32954226e-02 9.04021747e+00] [ 1.35074465e-03 9.99999086e-01 -5.84982932e-05 4.16843025e-01] [ 1.32954895e-02 4.05343483e-05 9.99911610e-01 -2.00666815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.97455357399997 meters Centerline goodness [0,1] 0.8413173652694611 Centerline is valid? [False, False] Translation: X:9.04, Y:0.42, Z:-2.01 [[ 9.99896280e-01 -2.70940792e-03 -1.41452542e-02 9.04357735e+00] [ 2.70210758e-03 9.99996206e-01 -5.35184696e-04 4.16287795e-01] [ 1.41466505e-02 4.96907188e-04 9.99899808e-01 -2.00772788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.004553574 meters Centerline goodness [0,1] 0.8477057874106525 Centerline is valid? [False, False] Translation: X:9.04, Y:0.42, Z:-2.01 [[ 9.99892040e-01 -2.95521545e-03 -1.43935586e-02 9.04454092e+00] [ 2.94703623e-03 9.99995484e-01 -5.89432889e-04 4.16372913e-01] [ 1.43952355e-02 5.46950916e-04 9.99896234e-01 -2.00799639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.034553574 meters Centerline goodness [0,1] 0.8354070961933563 Centerline is valid? [False, False] Translation: X:9.05, Y:0.42, Z:-2.01 [[ 9.99887298e-01 -3.10471720e-03 -1.46884816e-02 9.04575442e+00] [ 3.09380631e-03 9.99994921e-01 -7.65484234e-04 4.16714266e-01] [ 1.46907836e-02 7.19954646e-04 9.99891825e-01 -2.00882398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.064553574 meters Centerline goodness [0,1] 0.8383705650459921 Centerline is valid? [False, False] Translation: X:9.05, Y:0.42, Z:-2.01 [[ 9.99883649e-01 -3.14355256e-03 -1.49267024e-02 9.04665749e+00] [ 3.13016173e-03 9.99994677e-01 -9.20383523e-04 4.17101654e-01] [ 1.49295162e-02 8.73553443e-04 9.99888167e-01 -2.00938550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.094553574 meters Centerline goodness [0,1] 0.8437809341835678 Centerline is valid? [False, False] Translation: X:9.05, Y:0.42, Z:-2.01 [[ 9.99880054e-01 3.06373557e-04 -1.54849842e-02 9.04868851e+00] [-2.56918902e-04 9.99994861e-01 3.19560524e-03 4.16199485e-01] [ 1.54858837e-02 -3.19124355e-03 9.99874994e-01 -2.00942824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.124553574 meters Centerline goodness [0,1] 0.8471488851483779 Centerline is valid? [False, False] Translation: X:9.05, Y:0.42, Z:-2.01 [[ 9.99882408e-01 7.53514872e-04 -1.53167410e-02 9.04831613e+00] [-7.06241876e-04 9.99994972e-01 3.09153600e-03 4.16858075e-01] [ 1.53189935e-02 -3.08035513e-03 9.99877912e-01 -2.01000842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.154553574 meters Centerline goodness [0,1] 0.8509967312738824 Centerline is valid? [False, False] Translation: X:9.05, Y:0.42, Z:-2.01 [[ 9.99881682e-01 9.86185246e-04 -1.53508897e-02 9.04879546e+00] [-9.42501763e-04 9.99995487e-01 2.85263904e-03 4.17521215e-01] [ 1.53536337e-02 -2.83783328e-03 9.99878099e-01 -2.01089128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.184553574 meters Centerline goodness [0,1] 0.8433056325023084 Centerline is valid? [False, False] Translation: X:9.05, Y:0.42, Z:-2.01 [[ 9.99887847e-01 2.85863592e-03 -1.47010772e-02 9.04588821e+00] [-2.80903483e-03 9.99990297e-01 3.39351931e-03 4.18561363e-01] [ 1.47106354e-02 -3.35184288e-03 9.99886175e-01 -2.01056180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.214553574 meters Centerline goodness [0,1] 0.8476634650905062 Centerline is valid? [False, False] Translation: X:9.05, Y:0.42, Z:-2.01 [[ 9.99888893e-01 3.37530145e-03 -1.45192358e-02 9.04541967e+00] [-3.32755810e-03 9.99988982e-01 3.31118500e-03 4.19260131e-01] [ 1.45302521e-02 -3.26250350e-03 9.99889108e-01 -2.01105581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.244553574 meters Centerline goodness [0,1] 0.8395307402179698 Centerline is valid? [False, False] Translation: X:9.04, Y:0.42, Z:-2.01 [[ 9.99889962e-01 4.27759542e-03 -1.42044561e-02 9.04427890e+00] [-4.22964516e-03 9.99985261e-01 3.40404688e-03 4.19978075e-01] [ 1.42188079e-02 -3.34359250e-03 9.99893317e-01 -2.01128575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.274553574 meters Centerline goodness [0,1] 0.8464580586970096 Centerline is valid? [False, False] Translation: X:9.04, Y:0.42, Z:-2.01 [[ 9.99891540e-01 4.64255377e-03 -1.39769280e-02 9.04366674e+00] [-4.59626282e-03 9.99983852e-01 3.34225757e-03 4.20433561e-01] [ 1.39922189e-02 -3.27765344e-03 9.99896732e-01 -2.01150142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.30455357399995 meters Centerline goodness [0,1] 0.8434055756228582 Centerline is valid? [False, False] Translation: X:9.04, Y:0.42, Z:-2.01 [[ 9.99893451e-01 5.39560894e-03 -1.35637372e-02 9.04212201e+00] [-5.34739251e-03 9.99979264e-01 3.58856142e-03 4.20988480e-01] [ 1.35828184e-02 -3.51564844e-03 9.99901569e-01 -2.01105923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.334553574 meters Centerline goodness [0,1] 0.8431971137167835 Centerline is valid? [False, False] Translation: X:9.04, Y:0.42, Z:-2.01 [[ 9.99894122e-01 5.61130579e-03 -1.34260092e-02 9.04185672e+00] [-5.56393324e-03 9.99978173e-01 3.56317145e-03 4.21493282e-01] [ 1.34457102e-02 -3.48809277e-03 9.99903518e-01 -2.01123850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.36455357399996 meters Centerline goodness [0,1] 0.8447545650211762 Centerline is valid? [False, False] Translation: X:9.04, Y:0.42, Z:-2.01 [[ 9.99892668e-01 5.41189573e-03 -1.36148418e-02 9.04276566e+00] [-5.36711503e-03 9.99980074e-01 3.32349966e-03 4.21643304e-01] [ 1.36325570e-02 -3.25007052e-03 9.99901790e-01 -2.01187758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.394553574 meters Centerline goodness [0,1] 0.8408436977909783 Centerline is valid? [False, False] Translation: X:9.04, Y:0.42, Z:-2.01 [[ 9.99893043e-01 4.96389556e-03 -1.37572826e-02 9.04341277e+00] [-4.91677087e-03 9.99981937e-01 3.45714420e-03 4.20261656e-01] [ 1.37741950e-02 -3.38913303e-03 9.99899388e-01 -2.01161122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.42455357399996 meters Centerline goodness [0,1] 0.8456622277998559 Centerline is valid? [False, False] Translation: X:9.04, Y:0.42, Z:-2.01 [[ 9.99891575e-01 4.37618086e-03 -1.40601212e-02 9.04462955e+00] [-4.32759650e-03 9.99984567e-01 3.48404119e-03 4.19142135e-01] [ 1.40751510e-02 -3.42281690e-03 9.99895082e-01 -2.01155775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.454553574 meters Centerline goodness [0,1] 0.8446370581501297 Centerline is valid? [False, False] Translation: X:9.04, Y:0.42, Z:-2.01 [[ 9.99902326e-01 2.91393433e-04 -1.39733251e-02 9.04472565e+00] [-2.99863908e-04 9.99999773e-01 -6.04097647e-04 4.18960136e-01] [ 1.39731459e-02 6.08228739e-04 9.99902186e-01 -2.01221388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.48455357399996 meters Centerline goodness [0,1] 0.8348761103319309 Centerline is valid? [False, False] Translation: X:9.05, Y:0.42, Z:-2.01 [[ 9.99893352e-01 -6.27535097e-04 -1.45907668e-02 9.04719624e+00] [ 6.16544563e-04 9.99999523e-01 -7.57738577e-04 4.18137062e-01] [ 1.45912354e-02 7.48661908e-04 9.99893262e-01 -2.01285294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.514553574 meters Centerline goodness [0,1] 0.8446504459907533 Centerline is valid? [False, False] Translation: X:9.05, Y:0.42, Z:-2.01 [[ 9.99882661e-01 -1.54506919e-03 -1.52406227e-02 9.04968219e+00] [ 1.53252457e-03 9.99998477e-01 -8.34748684e-04 4.17060229e-01] [ 1.52418893e-02 8.11294106e-04 9.99883507e-01 -2.01337958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.54455357399996 meters Centerline goodness [0,1] 0.8351016384207315 Centerline is valid? [False, False] Translation: X:9.05, Y:0.42, Z:-2.02 [[ 9.99852633e-01 -6.55725642e-03 -1.58655068e-02 9.05271241e+00] [ 6.47376285e-03 9.99964956e-01 -5.30823223e-03 4.15812185e-01] [ 1.58997582e-02 5.20474044e-03 9.99860044e-01 -2.01542000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.574553574 meters Centerline goodness [0,1] 0.8450508242730124 Centerline is valid? [False, False] Translation: X:9.06, Y:0.41, Z:-2.02 [[ 9.99827019e-01 -8.21850195e-03 -1.66849655e-02 9.05634467e+00] [ 8.13146857e-03 9.99953013e-01 -5.27743422e-03 4.12570485e-01] [ 1.67275541e-02 5.14084805e-03 9.99846869e-01 -2.01604168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.60455357399997 meters Centerline goodness [0,1] 0.8439669421487603 Centerline is valid? [False, False] Translation: X:9.06, Y:0.41, Z:-2.02 [[ 9.99817078e-01 -8.65911457e-03 -1.70537408e-02 9.05769029e+00] [ 8.57507880e-03 9.99950759e-01 -4.99467851e-03 4.11387058e-01] [ 1.70961506e-02 4.84752770e-03 9.99842099e-01 -2.01601112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.634553574 meters Centerline goodness [0,1] 0.8439669421487603 Centerline is valid? [False, False] Translation: X:9.06, Y:0.41, Z:-2.02 [[ 9.99817078e-01 -8.65911457e-03 -1.70537408e-02 9.05769029e+00] [ 8.57507880e-03 9.99950759e-01 -4.99467851e-03 4.11387058e-01] [ 1.70961506e-02 4.84752770e-03 9.99842099e-01 -2.01601112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.66455357399997 meters Centerline goodness [0,1] 0.8452887250732445 Centerline is valid? [False, False] Translation: X:9.06, Y:0.41, Z:-2.02 [[ 9.99809682e-01 -8.92525679e-03 -1.73475824e-02 9.05884840e+00] [ 8.84244682e-03 9.99949170e-01 -4.84443129e-03 4.10582429e-01] [ 1.73899384e-02 4.69011424e-03 9.99837783e-01 -2.01629599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.694553574 meters Centerline goodness [0,1] 0.80919616589162 Centerline is valid? [False, False] Translation: X:9.06, Y:0.41, Z:-2.02 [[ 9.99811675e-01 -8.70606585e-03 -1.73441459e-02 9.05872719e+00] [ 8.63531943e-03 9.99954105e-01 -4.14970586e-03 4.08933647e-01] [ 1.73794775e-02 3.99915212e-03 9.99840968e-01 -2.01576381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.72455357399997 meters Centerline goodness [0,1] 0.8458706444027457 Centerline is valid? [False, False] Translation: X:9.06, Y:0.41, Z:-2.01 [[ 9.99818560e-01 -8.21963817e-03 -1.71838484e-02 9.05780096e+00] [ 8.16210108e-03 9.99960856e-01 -3.41578131e-03 4.07795506e-01] [ 1.72112523e-02 3.27490525e-03 9.99846512e-01 -2.01472959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.754553574 meters Centerline goodness [0,1] 0.8380723121290845 Centerline is valid? [False, False] Translation: X:9.06, Y:0.40, Z:-2.01 [[ 9.99831634e-01 -4.95216947e-03 -1.76686300e-02 9.05943641e+00] [ 4.98194774e-03 9.99986242e-01 1.64175732e-03 4.03796737e-01] [ 1.76602567e-02 -1.72950510e-03 9.99842550e-01 -2.01309620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.784553574 meters Centerline goodness [0,1] 0.8451178451178452 Centerline is valid? [False, False] Translation: X:9.06, Y:0.40, Z:-2.01 [[ 9.99837666e-01 -4.52098143e-03 -1.74413926e-02 9.05863318e+00] [ 4.55610702e-03 9.99987671e-01 1.97471145e-03 4.03331415e-01] [ 1.74322500e-02 -2.05385574e-03 9.99845937e-01 -2.01287457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.814553574 meters Centerline goodness [0,1] 0.8444960053580826 Centerline is valid? [False, False] Translation: X:9.06, Y:0.40, Z:-2.01 [[ 9.99837667e-01 -4.32419506e-03 -1.74911869e-02 9.05913104e+00] [ 4.36453840e-03 9.99987901e-01 2.26897979e-03 4.02159054e-01] [ 1.74811638e-02 -2.34495242e-03 9.99844443e-01 -2.01361333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.844553574 meters Centerline goodness [0,1] 0.8431607446630088 Centerline is valid? [False, False] Translation: X:9.06, Y:0.40, Z:-2.01 [[ 9.99835896e-01 -4.29586885e-03 -1.75990746e-02 9.05972081e+00] [ 4.34049249e-03 9.99987460e-01 2.49815541e-03 4.01084803e-01] [ 1.75881222e-02 -2.57413410e-03 9.99842003e-01 -2.01406201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.874553574 meters Centerline goodness [0,1] 0.8358287743545446 Centerline is valid? [False, False] Translation: X:9.06, Y:0.40, Z:-2.01 [[ 9.99833998e-01 -4.24053651e-03 -1.77198663e-02 9.06020067e+00] [ 4.28972080e-03 9.99987049e-01 2.73857058e-03 4.00073009e-01] [ 1.77080239e-02 -2.81412925e-03 9.99839240e-01 -2.01435161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.904553574 meters Centerline goodness [0,1] 0.8400327151139015 Centerline is valid? [False, False] Translation: X:9.06, Y:0.40, Z:-2.02 [[ 9.99836581e-01 -3.83287534e-03 -1.76669561e-02 9.06020135e+00] [ 3.88635990e-03 9.99987966e-01 2.99404008e-03 3.98400110e-01] [ 1.76552677e-02 -3.06221094e-03 9.99839444e-01 -2.01505964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.934553574 meters Centerline goodness [0,1] 0.8378235095667261 Centerline is valid? [False, False] Translation: X:9.06, Y:0.40, Z:-2.02 [[ 9.99838745e-01 -3.49667428e-03 -1.76141413e-02 9.06024570e+00] [ 3.55049996e-03 9.99989120e-01 3.02547703e-03 3.98066278e-01] [ 1.76033705e-02 -3.08752816e-03 9.99840282e-01 -2.01572276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.964553574 meters Centerline goodness [0,1] 0.8427478705692155 Centerline is valid? [False, False] Translation: X:9.06, Y:0.40, Z:-2.02 [[ 9.99840240e-01 6.09194567e-04 -1.78640218e-02 9.06107993e+00] [-4.74129694e-04 9.99971280e-01 7.56398116e-03 3.96336209e-01] [ 1.78681167e-02 -7.55430288e-03 9.99811814e-01 -2.01546641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.994553574 meters Centerline goodness [0,1] 0.8416563987340243 Centerline is valid? [False, False] Translation: X:9.08, Y:0.40, Z:-2.02 [[ 9.99920691e-01 3.20556270e-03 -1.21793168e-02 9.07585798e+00] [-3.21411005e-03 9.99994602e-01 -6.82283118e-04 3.97875544e-01] [ 1.21770640e-02 7.21374672e-04 9.99925597e-01 -2.02236109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.024553574 meters Centerline goodness [0,1] 0.8370893950763719 Centerline is valid? [False, False] Translation: X:9.07, Y:0.40, Z:-2.02 [[ 9.99922626e-01 3.90221303e-03 -1.18115949e-02 9.07449891e+00] [-3.90626368e-03 9.99992319e-01 -3.19887389e-04 3.97415992e-01] [ 1.18102559e-02 3.66001842e-04 9.99930190e-01 -2.02203095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.05455357399995 meters Centerline goodness [0,1] 0.8269361084220717 Centerline is valid? [False, False] Translation: X:9.07, Y:0.40, Z:-2.02 [[ 9.99924746e-01 5.50300619e-03 -1.09644253e-02 9.07126683e+00] [-5.49620075e-03 9.99984684e-01 6.50719360e-04 3.96465828e-01] [ 1.09678383e-02 -5.90407709e-04 9.99939677e-01 -2.02097927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.084553574 meters Centerline goodness [0,1] 0.8263636803639708 Centerline is valid? [False, False] Translation: X:9.07, Y:0.40, Z:-2.02 [[ 9.99922664e-01 7.32334408e-03 -1.00515897e-02 9.06760833e+00] [-7.30952041e-03 9.99972289e-01 1.41132116e-03 3.96307108e-01] [ 1.00616467e-02 -1.33773971e-03 9.99948486e-01 -2.02008419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.11455357399996 meters Centerline goodness [0,1] 0.8313771991384943 Centerline is valid? [False, False] Translation: X:9.07, Y:0.40, Z:-2.02 [[ 9.99920566e-01 8.12241281e-03 -9.63781556e-03 9.06600413e+00] [-8.10591595e-03 9.99965616e-01 1.74951135e-03 3.95948701e-01] [ 9.65169443e-03 -1.67124905e-03 9.99952025e-01 -2.01964803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.144553574 meters Centerline goodness [0,1] 0.8312318137730359 Centerline is valid? [False, False] Translation: X:9.06, Y:0.40, Z:-2.02 [[ 9.99917874e-01 8.89077190e-03 -9.23030102e-03 9.06454011e+00] [-8.87177918e-03 9.99958447e-01 2.09656020e-03 3.95609824e-01] [ 9.24855752e-03 -2.01449882e-03 9.99955202e-01 -2.01935720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.17455357399996 meters Centerline goodness [0,1] 0.8260996071965472 Centerline is valid? [False, False] Translation: X:9.06, Y:0.40, Z:-2.02 [[ 9.99909236e-01 1.04156946e-02 -8.54597594e-03 9.06236688e+00] [-1.03947829e-02 9.99942878e-01 2.48774514e-03 3.95501999e-01] [ 8.57139937e-03 -2.39868577e-03 9.99960388e-01 -2.01999709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.204553574 meters Centerline goodness [0,1] 0.8271563015426409 Centerline is valid? [False, False] Translation: X:9.06, Y:0.40, Z:-2.02 [[ 9.99906014e-01 1.08930848e-02 -8.32491733e-03 9.06190466e+00] [-1.08728440e-02 9.99937831e-01 2.47275560e-03 3.95572975e-01] [ 8.35133572e-03 -2.38200766e-03 9.99962290e-01 -2.02066662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.23455357399996 meters Centerline goodness [0,1] 0.822462623070378 Centerline is valid? [False, False] Translation: X:9.06, Y:0.39, Z:-2.02 [[ 9.99899329e-01 1.17772301e-02 -7.91380364e-03 9.06088632e+00] [-1.17554554e-02 9.99927003e-01 2.79240183e-03 3.94606156e-01] [ 7.94611271e-03 -2.69909035e-03 9.99964786e-01 -2.02136317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.264553574 meters Centerline goodness [0,1] 0.8200511633572908 Centerline is valid? [False, False] Translation: X:9.06, Y:0.39, Z:-2.02 [[ 9.99898558e-01 1.18721497e-02 -7.86926598e-03 9.06085464e+00] [-1.18482736e-02 9.99925082e-01 3.07380725e-03 3.93457156e-01] [ 7.90516913e-03 -2.98025823e-03 9.99964313e-01 -2.02132778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.29455357399996 meters Centerline goodness [0,1] 0.8224945785921396 Centerline is valid? [False, False] Translation: X:9.06, Y:0.39, Z:-2.02 [[ 9.99899991e-01 1.16067537e-02 -8.08030059e-03 9.06181562e+00] [-1.15808770e-02 9.99927684e-01 3.24190135e-03 3.92149170e-01] [ 8.11734421e-03 -3.14800016e-03 9.99962099e-01 -2.02148255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.324553574 meters Centerline goodness [0,1] 0.821508167813671 Centerline is valid? [False, False] Translation: X:9.06, Y:0.39, Z:-2.02 [[ 9.99937377e-01 8.22065602e-03 -7.59364303e-03 9.06047662e+00] [-8.22457857e-03 9.99966060e-01 -4.85474258e-04 3.90872843e-01] [ 7.58939439e-03 5.47898370e-04 9.99971050e-01 -2.02202765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.35455357399997 meters Centerline goodness [0,1] 0.8255640202826837 Centerline is valid? [False, False] Translation: X:9.06, Y:0.39, Z:-2.02 [[ 9.99939161e-01 7.59063356e-03 -8.00352042e-03 9.06213766e+00] [-7.59418557e-03 9.99971078e-01 -4.13508301e-04 3.89603680e-01] [ 8.00015015e-03 4.74263363e-04 9.99967886e-01 -2.02225667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.384553574 meters Centerline goodness [0,1] 0.8251115578875104 Centerline is valid? [False, False] Translation: X:9.06, Y:0.39, Z:-2.02 [[ 9.99961660e-01 3.44262734e-03 -8.05154987e-03 9.06296939e+00] [-3.47937401e-03 9.99983576e-01 -4.55437919e-03 3.88856562e-01] [ 8.03573860e-03 4.58221892e-03 9.99957214e-01 -2.02371949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.41455357399997 meters Centerline goodness [0,1] 0.8268792152053954 Centerline is valid? [False, False] Translation: X:9.07, Y:0.39, Z:-2.02 [[ 9.99958930e-01 2.66149189e-03 -8.66337856e-03 9.06516368e+00] [-2.69836425e-03 9.99987340e-01 -4.24721621e-03 3.87216369e-01] [ 8.65196495e-03 4.27041873e-03 9.99953452e-01 -2.02358475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.444553574 meters Centerline goodness [0,1] 0.8239909764111618 Centerline is valid? [False, False] Translation: X:9.07, Y:0.39, Z:-2.02 [[ 9.99954181e-01 1.64499220e-03 -9.43022360e-03 9.06797005e+00] [-1.68281985e-03 9.99990565e-01 -4.00478983e-03 3.85336969e-01] [ 9.42354678e-03 4.02047570e-03 9.99947515e-01 -2.02359816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.47455357399997 meters Centerline goodness [0,1] 0.8290075210145996 Centerline is valid? [False, False] Translation: X:9.07, Y:0.38, Z:-2.02 [[ 9.99947390e-01 -3.03422153e-03 -9.79853939e-03 9.06966366e+00] [ 2.95588359e-03 9.99963635e-01 -7.99946907e-03 3.83974141e-01] [ 9.82245522e-03 7.97008487e-03 9.99919995e-01 -2.02425844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.504553574 meters Centerline goodness [0,1] 0.831177487040237 Centerline is valid? [False, False] Translation: X:9.07, Y:0.38, Z:-2.02 [[ 9.99928187e-01 -5.01830110e-03 -1.08829422e-02 9.07406452e+00] [ 4.93451657e-03 9.99958087e-01 -7.71193745e-03 3.81200926e-01] [ 1.09211869e-02 7.65768157e-03 9.99911040e-01 -2.02384697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.534553574 meters Centerline goodness [0,1] 0.8337336866348035 Centerline is valid? [False, False] Translation: X:9.08, Y:0.38, Z:-2.02 [[ 9.99918578e-01 -5.64390987e-03 -1.14447840e-02 9.07595004e+00] [ 5.55993145e-03 9.99957485e-01 -7.35629144e-03 3.79833094e-01] [ 1.14858157e-02 7.29206026e-03 9.99907447e-01 -2.02348634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.564553574 meters Centerline goodness [0,1] 0.831885564382409 Centerline is valid? [False, False] Translation: X:9.08, Y:0.38, Z:-2.02 [[ 9.99909344e-01 -6.18841389e-03 -1.19585397e-02 9.07778956e+00] [ 6.10422829e-03 9.99956422e-01 -7.06351361e-03 3.78672003e-01] [ 1.20017305e-02 6.98987561e-03 9.99903545e-01 -2.02339241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.594553574 meters Centerline goodness [0,1] 0.8371902874132805 Centerline is valid? [False, False] Translation: X:9.08, Y:0.38, Z:-2.02 [[ 9.99894276e-01 -7.08237920e-03 -1.26994970e-02 9.08070699e+00] [ 6.99467390e-03 9.99951473e-01 -6.93737059e-03 3.77219443e-01] [ 1.27480138e-02 6.84780830e-03 9.99895292e-01 -2.02392041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.624553574 meters Centerline goodness [0,1] 0.8220904719667615 Centerline is valid? [False, False] Translation: X:9.12, Y:0.37, Z:-2.02 [[ 9.99923215e-01 -7.47611141e-03 -9.88289997e-03 9.11972132e+00] [ 7.43676235e-03 9.99964297e-01 -4.01230181e-03 3.74130810e-01] [ 9.91254354e-03 3.93849695e-03 9.99943113e-01 -2.02242163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.654553574 meters Centerline goodness [0,1] 0.8297830080937485 Centerline is valid? [False, False] Translation: X:9.06, Y:0.37, Z:-2.02 [[ 9.99934774e-01 -8.76475104e-03 -7.32308159e-03 9.05571988e+00] [ 8.77383512e-03 9.99960778e-01 1.20926771e-03 3.74899841e-01] [ 7.31219544e-03 -1.27344034e-03 9.99972455e-01 -2.01849954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.684553574 meters Centerline goodness [0,1] 0.8368119551681196 Centerline is valid? [False, False] Translation: X:9.06, Y:0.37, Z:-2.02 [[ 9.99938566e-01 -8.41427880e-03 -7.21551716e-03 9.05523779e+00] [ 8.42621061e-03 9.99963179e-01 1.62482936e-03 3.74426659e-01] [ 7.20157971e-03 -1.68552900e-03 9.99972648e-01 -2.01810120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.714553574 meters Centerline goodness [0,1] 0.8294656640605548 Centerline is valid? [False, False] Translation: X:9.05, Y:0.37, Z:-2.02 [[ 9.99942428e-01 -8.04368762e-03 -7.10215415e-03 9.05476049e+00] [ 8.05708052e-03 9.99965813e-01 1.85915854e-03 3.74379192e-01] [ 7.08695686e-03 -1.91627413e-03 9.99973051e-01 -2.01794875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.744553574 meters Centerline goodness [0,1] 0.8321923775858207 Centerline is valid? [False, False] Translation: X:9.05, Y:0.37, Z:-2.02 [[ 9.99948335e-01 -7.45432656e-03 -6.91092945e-03 9.05377879e+00] [ 7.47106444e-03 9.99969213e-01 2.39929842e-03 3.73723707e-01] [ 6.89283153e-03 -2.45080646e-03 9.99973241e-01 -2.01735721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.774553574 meters Centerline goodness [0,1] 0.8324994399223359 Centerline is valid? [False, False] Translation: X:9.05, Y:0.37, Z:-2.02 [[ 9.99949867e-01 -7.28122825e-03 -6.87369487e-03 9.05369951e+00] [ 7.29959818e-03 9.99969843e-01 2.65120325e-03 3.73089897e-01] [ 6.85418357e-03 -2.70124555e-03 9.99972861e-01 -2.01726121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.80455357399995 meters Centerline goodness [0,1] 0.8265217066054908 Centerline is valid? [False, False] Translation: X:9.05, Y:0.37, Z:-2.02 [[ 9.99952463e-01 -7.00950913e-03 -6.77773425e-03 9.05321510e+00] [ 7.03117962e-03 9.99970228e-01 3.17878008e-03 3.72071776e-01] [ 6.75525078e-03 -3.22628444e-03 9.99971978e-01 -2.01653090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.834553574 meters Centerline goodness [0,1] 0.827108057464085 Centerline is valid? [False, False] Translation: X:9.05, Y:0.37, Z:-2.02 [[ 9.99951687e-01 -7.04958120e-03 -6.85029405e-03 9.05356098e+00] [ 7.07200765e-03 9.99969695e-01 3.25510282e-03 3.71558730e-01] [ 6.82713934e-03 -3.30339089e-03 9.99971238e-01 -2.01667676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.86455357399996 meters Centerline goodness [0,1] 0.8234100135317998 Centerline is valid? [False, False] Translation: X:9.05, Y:0.37, Z:-2.02 [[ 9.99949674e-01 -7.16873554e-03 -7.01844340e-03 9.05420540e+00] [ 7.19289899e-03 9.99968270e-01 3.42368354e-03 3.71171847e-01] [ 6.99367722e-03 -3.47399419e-03 9.99969509e-01 -2.01665287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.894553574 meters Centerline goodness [0,1] 0.8238245772492347 Centerline is valid? [False, False] Translation: X:9.06, Y:0.37, Z:-2.02 [[ 9.99942397e-01 -7.76239825e-03 -7.41264282e-03 9.05590526e+00] [ 7.78920433e-03 9.99963204e-01 3.59426819e-03 3.70005860e-01] [ 7.38446992e-03 -3.65179974e-03 9.99966066e-01 -2.01679284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.92455357399996 meters Centerline goodness [0,1] 0.828490414533775 Centerline is valid? [False, False] Translation: X:9.06, Y:0.37, Z:-2.02 [[ 9.99937276e-01 -8.13963259e-03 -7.69358182e-03 9.05696173e+00] [ 8.16882013e-03 9.99959528e-01 3.76997037e-03 3.69115811e-01] [ 7.66258428e-03 -3.83258139e-03 9.99963297e-01 -2.01669463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.954553574 meters Centerline goodness [0,1] 0.8285405187812916 Centerline is valid? [False, False] Translation: X:9.06, Y:0.37, Z:-2.02 [[ 9.99921257e-01 -9.34975842e-03 -8.37031932e-03 9.05983476e+00] [ 9.38230776e-03 9.99948543e-01 3.85787676e-03 3.67215364e-01] [ 8.33381840e-03 -3.93610589e-03 9.99957526e-01 -2.01683082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.98455357399996 meters Centerline goodness [0,1] 0.8247059119877075 Centerline is valid? [False, False] Translation: X:9.06, Y:0.37, Z:-2.02 [[ 9.99913901e-01 -9.79977482e-03 -8.72672670e-03 9.06108594e+00] [ 9.83628324e-03 9.99943009e-01 4.15047124e-03 3.66180496e-01] [ 8.68555567e-03 -4.23595244e-03 9.99953308e-01 -2.01647541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.014553574 meters Centerline goodness [0,1] 0.8281238212588327 Centerline is valid? [False, False] Translation: X:9.06, Y:0.37, Z:-2.02 [[ 9.99907643e-01 -1.01647383e-02 -9.02133519e-03 9.06213477e+00] [ 1.02032419e-02 9.99938989e-01 4.23234987e-03 3.65605329e-01] [ 8.97776406e-03 -4.32400584e-03 9.99950350e-01 -2.01636199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.04455357399996 meters Centerline goodness [0,1] 0.8235279264720735 Centerline is valid? [False, False] Translation: X:9.06, Y:0.36, Z:-2.02 [[ 9.99904348e-01 -1.03165416e-02 -9.21215068e-03 9.06255632e+00] [ 1.03597211e-02 9.99935516e-01 4.65188361e-03 3.64810776e-01] [ 9.16356530e-03 -4.74687396e-03 9.99946747e-01 -2.01553543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.074553574 meters Centerline goodness [0,1] 0.8234432604413918 Centerline is valid? [False, False] Translation: X:9.06, Y:0.36, Z:-2.02 [[ 9.99905228e-01 -1.02132725e-02 -9.23165008e-03 9.06254167e+00] [ 1.02577759e-02 9.99935933e-01 4.78631321e-03 3.64744644e-01] [ 9.18217471e-03 -4.88055581e-03 9.99945932e-01 -2.01541404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.10455357399997 meters Centerline goodness [0,1] 0.8229313468894706 Centerline is valid? [False, False] Translation: X:9.06, Y:0.37, Z:-2.02 [[ 9.99913007e-01 -9.53769139e-03 -9.11103065e-03 9.06190292e+00] [ 9.58098265e-03 9.99942963e-01 4.71974983e-03 3.66174165e-01] [ 9.06549546e-03 -4.80663188e-03 9.99947355e-01 -2.01586725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.134553574 meters Centerline goodness [0,1] 0.8223211142957711 Centerline is valid? [False, False] Translation: X:9.06, Y:0.37, Z:-2.02 [[ 9.99918074e-01 -9.10515464e-03 -8.99673694e-03 9.06150180e+00] [ 9.14596960e-03 9.99948022e-01 4.50595878e-03 3.67551701e-01] [ 8.95524186e-03 -4.58787351e-03 9.99949376e-01 -2.01643000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.16455357399997 meters Centerline goodness [0,1] 0.8205495278280088 Centerline is valid? [False, False] Translation: X:9.06, Y:0.37, Z:-2.02 [[ 9.99926330e-01 -8.43538302e-03 -8.72807198e-03 9.06041239e+00] [ 8.47508875e-03 9.99953860e-01 4.52225535e-03 3.68766698e-01] [ 8.68952231e-03 -4.59589338e-03 9.99951684e-01 -2.01646569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.194553574 meters Centerline goodness [0,1] 0.8258124326626745 Centerline is valid? [False, False] Translation: X:9.06, Y:0.37, Z:-2.02 [[ 9.99944525e-01 -6.79750631e-03 -8.04620652e-03 9.05721684e+00] [ 6.83718733e-03 9.99964550e-01 4.91445315e-03 3.70363344e-01] [ 8.01251526e-03 -4.96919394e-03 9.99955552e-01 -2.01562372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.22455357399997 meters Centerline goodness [0,1] 0.8242043948901278 Centerline is valid? [False, False] Translation: X:9.06, Y:0.37, Z:-2.02 [[ 9.99952136e-01 -6.06215088e-03 -7.67956102e-03 9.05573752e+00] [ 6.10008481e-03 9.99969262e-01 4.92584038e-03 3.71437594e-01] [ 7.64946378e-03 -4.97245058e-03 9.99958379e-01 -2.01547881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.254553574 meters Centerline goodness [0,1] 0.8238810431143988 Centerline is valid? [False, False] Translation: X:9.05, Y:0.37, Z:-2.01 [[ 9.99963428e-01 -4.76543614e-03 -7.10163894e-03 9.05302122e+00] [ 4.80133768e-03 9.99975737e-01 5.04694274e-03 3.73838471e-01] [ 7.07741575e-03 -5.08085553e-03 9.99962047e-01 -2.01466401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.284553574 meters Centerline goodness [0,1] 0.8324451604907671 Centerline is valid? [False, False] Translation: X:9.05, Y:0.38, Z:-2.01 [[ 9.99966004e-01 -4.42245157e-03 -6.95941322e-03 9.05241483e+00] [ 4.45654933e-03 9.99978105e-01 4.89165940e-03 3.75288899e-01] [ 6.93762772e-03 -4.92250807e-03 9.99963818e-01 -2.01456491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.314553574 meters Centerline goodness [0,1] 0.8329871928002769 Centerline is valid? [False, False] Translation: X:9.05, Y:0.38, Z:-2.01 [[ 9.99969047e-01 -3.98766514e-03 -6.78261608e-03 9.05156557e+00] [ 4.01843126e-03 9.99981672e-01 4.52846248e-03 3.78478667e-01] [ 6.76443378e-03 -4.55557779e-03 9.99966744e-01 -2.01440686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.344553574 meters Centerline goodness [0,1] 0.8225094344276447 Centerline is valid? [False, False] Translation: X:9.05, Y:0.38, Z:-2.01 [[ 9.99966554e-01 -4.22293594e-03 -7.00412737e-03 9.05229799e+00] [ 4.25323078e-03 9.99981641e-01 4.31604349e-03 3.79544481e-01] [ 6.98577240e-03 -4.34568931e-03 9.99966156e-01 -2.01434461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.374553574 meters Centerline goodness [0,1] 0.8260987253309711 Centerline is valid? [False, False] Translation: X:9.05, Y:0.38, Z:-2.01 [[ 9.99961650e-01 -4.70452055e-03 -7.38691138e-03 9.05334065e+00] [ 4.73666099e-03 9.99979366e-01 4.33954874e-03 3.79894490e-01] [ 7.36634346e-03 -4.37437161e-03 9.99963300e-01 -2.01365721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.404553574 meters Centerline goodness [0,1] 0.8321557814923315 Centerline is valid? [False, False] Translation: X:9.06, Y:0.38, Z:-2.01 [[ 9.99921468e-01 -9.74984148e-03 -7.87389360e-03 9.05524499e+00] [ 9.74650098e-03 9.99952395e-01 -4.62511078e-04 3.81816916e-01] [ 7.87802817e-03 3.85731844e-04 9.99968893e-01 -2.01395470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.434553574 meters Centerline goodness [0,1] 0.83653940765522 Centerline is valid? [False, False] Translation: X:9.06, Y:0.38, Z:-2.01 [[ 9.99896174e-01 -1.13506420e-02 -8.87722053e-03 9.05891408e+00] [ 1.13427084e-02 9.99935224e-01 -9.43545830e-04 3.82077785e-01] [ 8.88735535e-03 8.42756141e-04 9.99960152e-01 -2.01426510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.464553574 meters Centerline goodness [0,1] 0.839381423022078 Centerline is valid? [False, False] Translation: X:9.07, Y:0.38, Z:-2.01 [[ 9.99811150e-01 -1.59936027e-02 -1.10394042e-02 9.06789865e+00] [ 1.59686919e-02 9.99869752e-01 -2.34100929e-03 3.83671805e-01] [ 1.10754075e-02 2.16428235e-03 9.99936324e-01 -2.01435883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.494553574 meters Centerline goodness [0,1] 0.8364092104293122 Centerline is valid? [False, False] Translation: X:9.07, Y:0.38, Z:-2.01 [[ 9.99780856e-01 -1.72590805e-02 -1.18475772e-02 9.07080262e+00] [ 1.72267071e-02 9.99847607e-01 -2.82913649e-03 3.84485661e-01] [ 1.18946000e-02 2.62442176e-03 9.99925813e-01 -2.01458355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.524553574 meters Centerline goodness [0,1] 0.8336714987654925 Centerline is valid? [False, False] Translation: X:9.08, Y:0.39, Z:-2.02 [[ 9.99717204e-01 -1.96976115e-02 -1.33235316e-02 9.07594957e+00] [ 1.96445103e-02 9.99798602e-01 -4.10473892e-03 3.87117207e-01] [ 1.34017018e-02 3.84184386e-03 9.99902813e-01 -2.01508689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.55455357399995 meters Centerline goodness [0,1] 0.8336714987654925 Centerline is valid? [False, False] Translation: X:9.08, Y:0.39, Z:-2.02 [[ 9.99717204e-01 -1.96976115e-02 -1.33235316e-02 9.07594957e+00] [ 1.96445103e-02 9.99798602e-01 -4.10473892e-03 3.87117207e-01] [ 1.34017018e-02 3.84184386e-03 9.99902813e-01 -2.01508689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.584553574 meters Centerline goodness [0,1] 0.8294545277127244 Centerline is valid? [False, False] Translation: X:9.08, Y:0.39, Z:-2.02 [[ 9.99723087e-01 -1.82733179e-02 -1.48268346e-02 9.08118707e+00] [ 1.82617076e-02 9.99832820e-01 -9.18077491e-04 3.87611031e-01] [ 1.48411322e-02 6.47059945e-04 9.99889655e-01 -2.01510835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.61455357399996 meters Centerline goodness [0,1] 0.8341523939275983 Centerline is valid? [False, False] Translation: X:9.09, Y:0.39, Z:-2.01 [[ 9.99736289e-01 -1.62840007e-02 -1.61920985e-02 9.08556413e+00] [ 1.63273552e-02 9.99863451e-01 2.54891817e-03 3.88075042e-01] [ 1.61483809e-02 -2.81262014e-03 9.99865650e-01 -2.01486697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.644553574 meters Centerline goodness [0,1] 0.8380487093481115 Centerline is valid? [False, False] Translation: X:9.09, Y:0.39, Z:-2.02 [[ 9.99725028e-01 -1.65471546e-02 -1.66150674e-02 9.08659787e+00] [ 1.65745163e-02 9.99861492e-01 1.51044050e-03 3.92592609e-01] [ 1.65877726e-02 -1.78541187e-03 9.99860819e-01 -2.01525273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.67455357399996 meters Centerline goodness [0,1] 0.837899985477078 Centerline is valid? [False, False] Translation: X:9.09, Y:0.39, Z:-2.02 [[ 9.99752998e-01 -1.37109857e-02 -1.74914780e-02 9.08935266e+00] [ 1.37985257e-02 9.99892820e-01 4.89388588e-03 3.93913219e-01] [ 1.74225033e-02 -5.13403369e-03 9.99835035e-01 -2.01529776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.704553574 meters Centerline goodness [0,1] 0.8235350809560524 Centerline is valid? [False, False] Translation: X:9.09, Y:0.40, Z:-2.02 [[ 9.99776642e-01 -1.03919865e-02 -1.84030800e-02 9.09182465e+00] [ 1.05358495e-02 9.99914558e-01 7.73770394e-03 3.98299745e-01] [ 1.83210975e-02 -7.92986774e-03 9.99800707e-01 -2.01583798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.73455357399996 meters Centerline goodness [0,1] 0.83396996996997 Centerline is valid? [False, False] Translation: X:9.09, Y:0.40, Z:-2.02 [[ 9.99778528e-01 -1.00943481e-02 -1.84661440e-02 9.09199938e+00] [ 1.02265359e-02 9.99922657e-01 7.07801442e-03 4.00771977e-01] [ 1.83932679e-02 -7.26529152e-03 9.99804432e-01 -2.01673248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.764553574 meters Centerline goodness [0,1] 0.8376305952266846 Centerline is valid? [False, False] Translation: X:9.09, Y:0.40, Z:-2.02 [[ 9.99781287e-01 -9.70304049e-03 -1.85264379e-02 9.09215009e+00] [ 9.82285377e-03 9.99931356e-01 6.38714023e-03 4.03443617e-01] [ 1.84631915e-02 -6.56772577e-03 9.99807969e-01 -2.01778163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.79455357399996 meters Centerline goodness [0,1] 0.8344901354884716 Centerline is valid? [False, False] Translation: X:9.11, Y:0.41, Z:-2.02 [[ 9.99883420e-01 -3.85865205e-03 -1.47735408e-02 9.11163772e+00] [ 3.88643660e-03 9.99990732e-01 1.85244895e-03 4.09038253e-01] [ 1.47662559e-02 -1.90964942e-03 9.99889149e-01 -2.02406459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.824553574 meters Centerline goodness [0,1] 0.8314088857210739 Centerline is valid? [False, False] Translation: X:9.11, Y:0.41, Z:-2.02 [[ 9.99892277e-01 -2.56871696e-03 -1.44511568e-02 9.10993651e+00] [ 2.59693550e-03 9.99994757e-01 1.93425754e-03 4.12066349e-01] [ 1.44461125e-02 -1.97157790e-03 9.99893706e-01 -2.02383966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.85455357399997 meters Centerline goodness [0,1] 0.8341065919314194 Centerline is valid? [False, False] Translation: X:9.11, Y:0.41, Z:-2.02 [[ 9.99895956e-01 2.34271336e-03 -1.42333435e-02 9.10874110e+00] [-2.26093053e-03 9.99980859e-01 5.75923886e-03 4.14905412e-01] [ 1.42465633e-02 -5.72645904e-03 9.99882115e-01 -2.02321200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.884553574 meters Centerline goodness [0,1] 0.833090550256097 Centerline is valid? [False, False] Translation: X:9.11, Y:0.42, Z:-2.02 [[ 9.99899898e-01 3.50938497e-03 -1.37068931e-02 9.10653211e+00] [-3.43126603e-03 9.99977762e-01 5.71861013e-03 4.16994032e-01] [ 1.37266571e-02 -5.67100568e-03 9.99889703e-01 -2.02286157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.91455357399997 meters Centerline goodness [0,1] 0.8331654052534152 Centerline is valid? [False, False] Translation: X:9.10, Y:0.42, Z:-2.02 [[ 9.99901301e-01 4.52149412e-03 -1.33020407e-02 9.10493355e+00] [-4.44830622e-03 9.99974835e-01 5.52645669e-03 4.19421630e-01] [ 1.33266938e-02 -5.46673969e-03 9.99896252e-01 -2.02285865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.944553574 meters Centerline goodness [0,1] 0.813623154713472 Centerline is valid? [False, False] Translation: X:9.10, Y:0.42, Z:-2.02 [[ 0.99987197 0.00955219 -0.01283754 9.10275413] [-0.00942784 0.99990839 0.00971182 0.42216925] [ 0.01292913 -0.00958955 0.99987043 -2.02117191] [ 0. 0. 0. 1. ]] SLAMing on 267.97455357399997 meters Centerline goodness [0,1] 0.8245231354712953 Centerline is valid? [False, False] Translation: X:9.10, Y:0.42, Z:-2.02 [[ 0.99986777 0.01037905 -0.01251882 9.10157746] [-0.0102599 0.99990181 0.00954532 0.42425679] [ 0.01261666 -0.00941561 0.99987608 -2.02132121] [ 0. 0. 0. 1. ]] SLAMing on 268.004553574 meters Centerline goodness [0,1] 0.8266088080509648 Centerline is valid? [False, False] Translation: X:9.10, Y:0.43, Z:-2.02 [[ 0.99985094 0.01246139 -0.0119508 9.09871596] [-0.01234396 0.99987529 0.00985029 0.42766208] [ 0.01207206 -0.0097013 0.99988007 -2.02076141] [ 0. 0. 0. 1. ]] SLAMing on 268.034553574 meters Centerline goodness [0,1] 0.8225144175317186 Centerline is valid? [False, False] Translation: X:9.10, Y:0.43, Z:-2.02 [[ 0.9998468 0.01284829 -0.01188702 9.09853846] [-0.0127348 0.99987307 0.00957436 0.42909086] [ 0.01200853 -0.00942152 0.99988351 -2.02118594] [ 0. 0. 0. 1. ]] SLAMing on 268.064553574 meters Centerline goodness [0,1] 0.8233913283623309 Centerline is valid? [False, False] Translation: X:9.10, Y:0.43, Z:-2.02 [[ 9.99843986e-01 1.30793783e-02 -1.18715073e-02 9.09865903e+00] [-1.29707218e-02 9.99873699e-01 9.18402483e-03 4.30422230e-01] [ 1.19901293e-02 -9.02860998e-03 9.99887354e-01 -2.02183444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.094553574 meters Centerline goodness [0,1] 0.8189309831750029 Centerline is valid? [False, False] Translation: X:9.10, Y:0.43, Z:-2.02 [[ 9.99838960e-01 1.34192488e-02 -1.19154504e-02 9.09890989e+00] [-1.33161895e-02 9.99873601e-01 8.68683226e-03 4.32329843e-01] [ 1.20305151e-02 -8.52676493e-03 9.99891275e-01 -2.02270514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.124553574 meters Centerline goodness [0,1] 0.817364858684716 Centerline is valid? [False, False] Translation: X:9.10, Y:0.43, Z:-2.02 [[ 9.99838892e-01 1.32296934e-02 -1.21312094e-02 9.09981903e+00] [-1.31294074e-02 9.99879278e-01 8.30949489e-03 4.33165524e-01] [ 1.22396769e-02 -8.14888057e-03 9.99891887e-01 -2.02330835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.154553574 meters Centerline goodness [0,1] 0.8210183984899138 Centerline is valid? [False, False] Translation: X:9.10, Y:0.43, Z:-2.02 [[ 9.99840325e-01 1.29634023e-02 -1.22993719e-02 9.10062634e+00] [-1.28678714e-02 9.99886667e-01 7.81474264e-03 4.34326254e-01] [ 1.23992837e-02 -7.65522808e-03 9.99893822e-01 -2.02385337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.184553574 meters Centerline goodness [0,1] 0.8196736215282513 Centerline is valid? [False, False] Translation: X:9.10, Y:0.43, Z:-2.02 [[ 9.99841870e-01 1.25910459e-02 -1.25578544e-02 9.10161881e+00] [-1.24958696e-02 9.99892821e-01 7.62891272e-03 4.34421349e-01] [ 1.26525644e-02 -7.47078505e-03 9.99892044e-01 -2.02411059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.214553574 meters Centerline goodness [0,1] 0.8178547028011842 Centerline is valid? [False, False] Translation: X:9.10, Y:0.43, Z:-2.02 [[ 9.99883248e-01 8.69519912e-03 -1.25651462e-02 9.10177657e+00] [-8.65151753e-03 9.99956356e-01 3.52659503e-03 4.34568248e-01] [ 1.25952623e-02 -3.41747571e-03 9.99914836e-01 -2.02489023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.244553574 meters Centerline goodness [0,1] 0.8156324038636777 Centerline is valid? [False, False] Translation: X:9.10, Y:0.43, Z:-2.03 [[ 9.99882231e-01 7.68898705e-03 -1.32817167e-02 9.10451166e+00] [-7.64611596e-03 9.99965403e-01 3.27559710e-03 4.33544107e-01] [ 1.33064432e-02 -3.17365779e-03 9.99906429e-01 -2.02572028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.274553574 meters Centerline goodness [0,1] 0.8253192315599516 Centerline is valid? [False, False] Translation: X:9.11, Y:0.43, Z:-2.03 [[ 9.99880040e-01 6.78985187e-03 -1.39213495e-02 9.10693927e+00] [-6.74692587e-03 9.99972347e-01 3.12811588e-03 4.32511515e-01] [ 1.39422040e-02 -3.03381431e-03 9.99898200e-01 -2.02639185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.30455357399995 meters Centerline goodness [0,1] 0.8164796585668066 Centerline is valid? [False, False] Translation: X:9.11, Y:0.43, Z:-2.03 [[ 9.99899015e-01 2.63707279e-03 -1.39644072e-02 9.10721952e+00] [-2.64844292e-03 9.99996176e-01 -7.95791638e-04 4.31525752e-01] [ 1.39622552e-02 8.32695210e-04 9.99902176e-01 -2.02684844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.334553574 meters Centerline goodness [0,1] 0.8209411332199807 Centerline is valid? [False, False] Translation: X:9.11, Y:0.43, Z:-2.03 [[ 9.99897717e-01 2.43018405e-03 -1.40942975e-02 9.10761240e+00] [-2.43590067e-03 9.99996958e-01 -3.88444687e-04 4.30095551e-01] [ 1.40933107e-02 4.22737264e-04 9.99900595e-01 -2.02636244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.36455357399996 meters Centerline goodness [0,1] 0.8174155362612561 Centerline is valid? [False, False] Translation: X:9.11, Y:0.43, Z:-2.03 [[ 9.99895994e-01 2.24699119e-03 -1.42461084e-02 9.10809162e+00] [-2.24904441e-03 9.99997463e-01 -1.28105808e-04 4.29185865e-01] [ 1.42457844e-02 1.60132614e-04 9.99898511e-01 -2.02614425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.394553574 meters Centerline goodness [0,1] 0.8149295123642246 Centerline is valid? [False, False] Translation: X:9.11, Y:0.43, Z:-2.03 [[ 9.99888337e-01 1.35550396e-03 -1.48820882e-02 9.11078699e+00] [-1.35620884e-03 9.99999080e-01 -3.72722754e-05 4.26619073e-01] [ 1.48820239e-02 5.74513330e-05 9.99889255e-01 -2.02708817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.42455357399996 meters Centerline goodness [0,1] 0.8251954257614066 Centerline is valid? [False, False] Translation: X:9.11, Y:0.42, Z:-2.03 [[ 9.99886632e-01 1.31776123e-03 -1.49995658e-02 9.11109839e+00] [-1.31143990e-03 9.99999047e-01 4.31262434e-04 4.24808964e-01] [ 1.50001198e-02 -4.11542513e-04 9.99887407e-01 -2.02684132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.454553574 meters Centerline goodness [0,1] 0.8065109992542878 Centerline is valid? [False, False] Translation: X:9.11, Y:0.42, Z:-2.03 [[ 9.99884569e-01 1.38896352e-03 -1.51300596e-02 9.11195549e+00] [-1.37569153e-03 9.99998660e-01 8.87565748e-04 4.22381525e-01] [ 1.51312721e-02 -8.66649001e-04 9.99885140e-01 -2.02759497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.48455357399996 meters Centerline goodness [0,1] 0.8158588048774802 Centerline is valid? [False, False] Translation: X:9.11, Y:0.42, Z:-2.03 [[ 9.99885025e-01 1.71412460e-03 -1.50664950e-02 9.11194429e+00] [-1.69736555e-03 9.99997927e-01 1.12505613e-03 4.21649266e-01] [ 1.50683923e-02 -1.09935343e-03 9.99885861e-01 -2.02808633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.514553574 meters Centerline goodness [0,1] 0.8125845737483085 Centerline is valid? [False, False] Translation: X:9.11, Y:0.42, Z:-2.03 [[ 9.99887281e-01 2.16538953e-03 -1.48572234e-02 9.11155529e+00] [-2.14501917e-03 9.99996738e-01 1.38687236e-03 4.20835978e-01] [ 1.48601781e-02 -1.35484700e-03 9.99888664e-01 -2.02859306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.54455357399996 meters Centerline goodness [0,1] 0.8167579716252282 Centerline is valid? [False, False] Translation: X:9.11, Y:0.42, Z:-2.03 [[ 9.99867027e-01 5.89509584e-03 -1.52044589e-02 9.11316117e+00] [-5.80182618e-03 9.99964127e-01 6.17119413e-03 4.16751875e-01] [ 1.52402932e-02 -6.08215990e-03 9.99865361e-01 -2.02867166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.574553574 meters Centerline goodness [0,1] 0.8113632630072047 Centerline is valid? [False, False] Translation: X:9.11, Y:0.42, Z:-2.03 [[ 9.99866358e-01 6.27774404e-03 -1.50948922e-02 9.11299271e+00] [-6.18198048e-03 9.99960523e-01 6.38241744e-03 4.15887486e-01] [ 1.51343635e-02 -6.28824815e-03 9.99865695e-01 -2.02916912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.60455357399997 meters Centerline goodness [0,1] 0.8070344438701189 Centerline is valid? [False, False] Translation: X:9.13, Y:0.41, Z:-2.04 [[ 9.99889626e-01 1.07676995e-02 -1.02367752e-02 9.12918651e+00] [-1.07682155e-02 9.99942021e-01 4.71389823e-06 4.14915236e-01] [ 1.02362325e-02 1.05518423e-04 9.99947603e-01 -2.03563247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.634553574 meters Centerline goodness [0,1] 0.8058586477505715 Centerline is valid? [False, False] Translation: X:9.13, Y:0.41, Z:-2.04 [[ 9.99885642e-01 1.14566075e-02 -9.87159950e-03 9.12803121e+00] [-1.14535261e-02 9.99934338e-01 3.68627018e-04 4.14314709e-01] [ 9.87517453e-03 -2.55520239e-04 9.99951207e-01 -2.03560469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.66455357399997 meters Centerline goodness [0,1] 0.8084715416509611 Centerline is valid? [False, False] Translation: X:9.13, Y:0.41, Z:-2.04 [[ 9.99881642e-01 1.19450145e-02 -9.69629108e-03 9.12759597e+00] [-1.19406834e-02 9.99928580e-01 5.04444930e-04 4.13876083e-01] [ 9.70162418e-03 -3.88604883e-04 9.99952863e-01 -2.03601820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.694553574 meters Centerline goodness [0,1] 0.8035207939508506 Centerline is valid? [False, False] Translation: X:9.13, Y:0.41, Z:-2.04 [[ 9.99873828e-01 1.29947578e-02 -9.13587463e-03 9.12576827e+00] [-1.29837312e-02 9.99914907e-01 1.26523774e-03 4.12209822e-01] [ 9.15153870e-03 -1.14646036e-03 9.99957467e-01 -2.03565897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.72455357399997 meters Centerline goodness [0,1] 0.8082217746712475 Centerline is valid? [False, False] Translation: X:9.13, Y:0.41, Z:-2.04 [[ 9.99875323e-01 1.27992825e-02 -9.24751524e-03 9.12634878e+00] [-1.27831724e-02 9.99916673e-01 1.79911847e-03 4.09213914e-01] [ 9.26977210e-03 -1.68068158e-03 9.99955622e-01 -2.03552616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.754553574 meters Centerline goodness [0,1] 0.8080764941751488 Centerline is valid? [False, False] Translation: X:9.13, Y:0.41, Z:-2.04 [[ 9.99878234e-01 1.23365142e-02 -9.55650649e-03 9.12758450e+00] [-1.23172714e-02 9.99921997e-01 2.06982854e-03 4.07342923e-01] [ 9.58129552e-03 -1.95186642e-03 9.99952193e-01 -2.03563100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.784553574 meters Centerline goodness [0,1] 0.8078634838279743 Centerline is valid? [False, False] Translation: X:9.13, Y:0.41, Z:-2.04 [[ 9.99882896e-01 1.15174116e-02 -1.00768456e-02 9.12974934e+00] [-1.14957734e-02 9.99931495e-01 2.20262284e-03 4.05423582e-01] [ 1.01015238e-02 -2.08652377e-03 9.99946801e-01 -2.03614450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.814553574 meters Centerline goodness [0,1] 0.8058301222985425 Centerline is valid? [False, False] Translation: X:9.12, Y:0.40, Z:-2.04 [[ 9.99994537e-01 2.63730197e-03 -1.99250226e-03 9.12288201e+00] [-2.63752943e-03 9.99996515e-01 -1.11538119e-04 4.03414394e-01] [ 1.99220116e-03 1.16792793e-04 9.99998009e-01 -2.04342577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.844553574 meters Centerline goodness [0,1] 0.810227573114171 Centerline is valid? [False, False] Translation: X:9.13, Y:0.40, Z:-2.04 [[ 9.99995573e-01 5.78474087e-04 -2.91867477e-03 9.12710852e+00] [-5.80017274e-04 9.99999692e-01 -5.27910080e-04 4.00409975e-01] [ 2.91836849e-03 5.29600625e-04 9.99995601e-01 -2.04457477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.874553574 meters Centerline goodness [0,1] 0.817966503129758 Centerline is valid? [False, False] Translation: X:9.13, Y:0.40, Z:-2.05 [[ 9.99975098e-01 -5.82723185e-03 -3.98083331e-03 9.13216847e+00] [ 5.80795763e-03 9.99971439e-01 -4.83627789e-03 3.96759142e-01] [ 4.00890173e-03 4.81303695e-03 9.99980381e-01 -2.04613792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.904553574 meters Centerline goodness [0,1] 0.8120654149000606 Centerline is valid? [False, False] Translation: X:9.14, Y:0.39, Z:-2.05 [[ 9.99961070e-01 -7.34211873e-03 -4.89399112e-03 9.13571165e+00] [ 7.31895756e-03 9.99962011e-01 -4.73379957e-03 3.94371888e-01] [ 4.92856132e-03 4.69779637e-03 9.99976820e-01 -2.04638882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.934553574 meters Centerline goodness [0,1] 0.8179568666456418 Centerline is valid? [False, False] Translation: X:9.14, Y:0.39, Z:-2.05 [[ 9.99945040e-01 -8.73663400e-03 -5.79560553e-03 9.13924984e+00] [ 8.70891151e-03 9.99950597e-01 -4.79147833e-03 3.92561921e-01] [ 5.83718060e-03 4.74074157e-03 9.99971726e-01 -2.04698471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.964553574 meters Centerline goodness [0,1] 0.8118042530387548 Centerline is valid? [False, False] Translation: X:9.14, Y:0.39, Z:-2.05 [[ 9.99915872e-01 -1.09326704e-02 -6.98043880e-03 9.14403937e+00] [ 1.08976255e-02 9.99927923e-01 -5.03888678e-03 3.90400273e-01] [ 7.03502416e-03 4.96239266e-03 9.99962941e-01 -2.04763491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.994553574 meters Centerline goodness [0,1] 0.8143692157817828 Centerline is valid? [False, False] Translation: X:9.15, Y:0.39, Z:-2.05 [[ 9.99903542e-01 -1.16717492e-02 -7.52842301e-03 9.14598049e+00] [ 1.16347919e-02 9.99920139e-01 -4.93428851e-03 3.89469011e-01] [ 7.58541356e-03 4.84622092e-03 9.99959487e-01 -2.04756023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.024553574 meters Centerline goodness [0,1] 0.8208547675354121 Centerline is valid? [False, False] Translation: X:9.15, Y:0.39, Z:-2.05 [[ 9.99881740e-01 -1.29403352e-02 -8.30985890e-03 9.14901139e+00] [ 1.28992092e-02 9.99904382e-01 -4.98373323e-03 3.88121796e-01] [ 8.37355551e-03 4.87595324e-03 9.99953053e-01 -2.04777202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.05455357399995 meters Centerline goodness [0,1] 0.8238823443330651 Centerline is valid? [False, False] Translation: X:9.15, Y:0.39, Z:-2.05 [[ 9.99891910e-01 -1.12564895e-02 -9.45836558e-03 9.15357421e+00] [ 1.12449787e-02 9.99935968e-01 -1.26929624e-03 3.86371072e-01] [ 9.47204776e-03 1.16279992e-03 9.99954463e-01 -2.04770496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.084553574 meters Centerline goodness [0,1] 0.8272662906809248 Centerline is valid? [False, False] Translation: X:9.16, Y:0.39, Z:-2.05 [[ 9.99882551e-01 -1.17117732e-02 -9.88525352e-03 9.15508928e+00] [ 1.16989060e-02 9.99930643e-01 -1.35848017e-03 3.86431604e-01] [ 9.90047812e-03 1.24267397e-03 9.99950217e-01 -2.04802952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.11455357399996 meters Centerline goodness [0,1] 0.823183095150849 Centerline is valid? [False, False] Translation: X:9.16, Y:0.39, Z:-2.05 [[ 9.99862660e-01 -1.26618797e-02 -1.06928830e-02 9.15817330e+00] [ 1.26419581e-02 9.99918227e-01 -1.92862004e-03 3.87201860e-01] [ 1.07164285e-02 1.79317619e-03 9.99940970e-01 -2.04929217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.144553574 meters Centerline goodness [0,1] 0.8251019262225043 Centerline is valid? [False, False] Translation: X:9.16, Y:0.39, Z:-2.05 [[ 9.99867231e-01 -1.10325478e-02 -1.19917612e-02 9.16274352e+00] [ 1.10497442e-02 9.99938013e-01 1.36870355e-03 3.86958451e-01] [ 1.19759176e-02 -1.50102772e-03 9.99927160e-01 -2.04921932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.17455357399996 meters Centerline goodness [0,1] 0.8265216543113538 Centerline is valid? [False, False] Translation: X:9.16, Y:0.39, Z:-2.05 [[ 9.99867440e-01 -1.09481384e-02 -1.20515442e-02 9.16275959e+00] [ 1.09646168e-02 9.99939039e-01 1.30210007e-03 3.87900625e-01] [ 1.20365540e-02 -1.43406802e-03 9.99926530e-01 -2.04901618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.204553574 meters Centerline goodness [0,1] 0.8196916642349966 Centerline is valid? [False, False] Translation: X:9.16, Y:0.39, Z:-2.05 [[ 9.99867992e-01 -1.08388157e-02 -1.21045192e-02 9.16272527e+00] [ 1.08539872e-02 9.99940388e-01 1.18838039e-03 3.89124683e-01] [ 1.20909170e-02 -1.31960581e-03 9.99926031e-01 -2.04881008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.23455357399996 meters Centerline goodness [0,1] 0.8239835430784124 Centerline is valid? [False, False] Translation: X:9.17, Y:0.39, Z:-2.05 [[ 9.99884138e-01 -7.82418882e-03 -1.30572533e-02 9.16538147e+00] [ 7.88839447e-03 9.99957013e-01 4.87300199e-03 3.90481098e-01] [ 1.30185647e-02 -4.97543816e-03 9.99902876e-01 -2.04833368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.264553574 meters Centerline goodness [0,1] 0.8276036766302381 Centerline is valid? [False, False] Translation: X:9.17, Y:0.39, Z:-2.05 [[ 9.99885457e-01 -7.58064716e-03 -1.30998382e-02 9.16549815e+00] [ 7.64000742e-03 9.99960747e-01 4.48728618e-03 3.92388089e-01] [ 1.30653075e-02 -4.58685506e-03 9.99904125e-01 -2.04892080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.29455357399996 meters Centerline goodness [0,1] 0.829717117290484 Centerline is valid? [False, False] Translation: X:9.16, Y:0.40, Z:-2.05 [[ 9.99893596e-01 -6.54510293e-03 -1.30368073e-02 9.16468776e+00] [ 6.60064887e-03 9.99969302e-01 4.22223953e-03 3.95758145e-01] [ 1.30087721e-02 -4.30784166e-03 9.99906103e-01 -2.04935831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.324553574 meters Centerline goodness [0,1] 0.826010839848434 Centerline is valid? [False, False] Translation: X:9.16, Y:0.40, Z:-2.05 [[ 9.99903511e-01 -5.71315337e-03 -1.26621102e-02 9.16310108e+00] [ 5.76653571e-03 9.99974623e-01 4.18341934e-03 3.97712472e-01] [ 1.26378884e-02 -4.25603219e-03 9.99911081e-01 -2.04913944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.35455357399997 meters Centerline goodness [0,1] 0.8311232169736936 Centerline is valid? [False, False] Translation: X:9.16, Y:0.40, Z:-2.05 [[ 9.99918615e-01 -4.06506334e-03 -1.20929308e-02 9.16041179e+00] [ 4.11509346e-03 9.99983066e-01 4.11513581e-03 4.01191366e-01] [ 1.20759978e-02 -4.16456444e-03 9.99918410e-01 -2.04894045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.384553574 meters Centerline goodness [0,1] 0.8314896667064867 Centerline is valid? [False, False] Translation: X:9.16, Y:0.40, Z:-2.05 [[ 9.99925875e-01 -3.24916719e-03 -1.17340018e-02 9.15870787e+00] [ 3.29955125e-03 9.99985410e-01 4.27704802e-03 4.02349309e-01] [ 1.17199337e-02 -4.31544793e-03 9.99922007e-01 -2.04832375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.41455357399997 meters Centerline goodness [0,1] 0.8277171446994483 Centerline is valid? [False, False] Translation: X:9.16, Y:0.40, Z:-2.05 [[ 9.99931459e-01 -2.55461374e-03 -1.14258652e-02 9.15737457e+00] [ 2.60276364e-03 9.99987788e-01 4.20123185e-03 4.03747052e-01] [ 1.14149931e-02 -4.23068272e-03 9.99925897e-01 -2.04813025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.444553574 meters Centerline goodness [0,1] 0.8277171446994483 Centerline is valid? [False, False] Translation: X:9.16, Y:0.40, Z:-2.05 [[ 9.99931459e-01 -2.55461374e-03 -1.14258652e-02 9.15737457e+00] [ 2.60276364e-03 9.99987788e-01 4.20123185e-03 4.03747052e-01] [ 1.14149931e-02 -4.23068272e-03 9.99925897e-01 -2.04813025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.47455357399997 meters Centerline goodness [0,1] 0.8288194031625252 Centerline is valid? [False, False] Translation: X:9.15, Y:0.41, Z:-2.05 [[ 9.99942852e-01 -5.28687551e-04 -1.06777391e-02 9.15384973e+00] [ 5.76718800e-04 9.99989728e-01 4.49568208e-03 4.06662220e-01] [ 1.06752526e-02 -4.50158321e-03 9.99932885e-01 -2.04734956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.504553574 meters Centerline goodness [0,1] 0.8246675013583425 Centerline is valid? [False, False] Translation: X:9.15, Y:0.41, Z:-2.05 [[ 9.99950166e-01 1.23790188e-03 -9.90620364e-03 9.15045446e+00] [-1.19049143e-03 9.99987817e-01 4.79040165e-03 4.09368281e-01] [ 9.91201300e-03 -4.77836967e-03 9.99939458e-01 -2.04639034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.534553574 meters Centerline goodness [0,1] 0.8251649387370406 Centerline is valid? [False, False] Translation: X:9.15, Y:0.41, Z:-2.05 [[ 9.99950174e-01 1.48426288e-03 -9.87153161e-03 9.15035321e+00] [-1.44058788e-03 9.99989150e-01 4.42997870e-03 4.10876042e-01] [ 9.87799976e-03 -4.41553717e-03 9.99941462e-01 -2.04683384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.564553574 meters Centerline goodness [0,1] 0.8253968253968254 Centerline is valid? [False, False] Translation: X:9.15, Y:0.41, Z:-2.05 [[ 9.99949637e-01 1.48231560e-03 -9.92606589e-03 9.15079074e+00] [-1.44285307e-03 9.99991032e-01 3.98162838e-03 4.12167922e-01] [ 9.93187891e-03 -3.96710599e-03 9.99942808e-01 -2.04759704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.594553574 meters Centerline goodness [0,1] 0.8245729767934975 Centerline is valid? [False, False] Translation: X:9.15, Y:0.41, Z:-2.05 [[ 9.99945235e-01 6.63542800e-04 -1.04444853e-02 9.15260398e+00] [-6.27549899e-04 9.99993855e-01 3.44901547e-03 4.13377599e-01] [ 1.04467096e-02 -3.44227215e-03 9.99939507e-01 -2.04775109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.624553574 meters Centerline goodness [0,1] 0.8258881214492821 Centerline is valid? [False, False] Translation: X:9.15, Y:0.41, Z:-2.05 [[ 9.99938803e-01 -2.59209171e-04 -1.10599679e-02 9.15466287e+00] [ 2.94823047e-04 9.99994777e-01 3.21856153e-03 4.13121062e-01] [ 1.10590759e-02 -3.22162530e-03 9.99933657e-01 -2.04774891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.654553574 meters Centerline goodness [0,1] 0.8247204735506906 Centerline is valid? [False, False] Translation: X:9.16, Y:0.41, Z:-2.05 [[ 9.99917951e-01 -5.41673847e-03 -1.16082028e-02 9.15680604e+00] [ 5.39820497e-03 9.99984105e-01 -1.62732582e-03 4.14752631e-01] [ 1.16168331e-02 1.56452884e-03 9.99931298e-01 -2.04849494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.684553574 meters Centerline goodness [0,1] 0.825312360814834 Centerline is valid? [False, False] Translation: X:9.16, Y:0.42, Z:-2.05 [[ 9.99902494e-01 -6.54497872e-03 -1.23355856e-02 9.15929910e+00] [ 6.52084997e-03 9.99976749e-01 -1.99523530e-03 4.15184246e-01] [ 1.23483576e-02 1.91460225e-03 9.99921923e-01 -2.04864655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.714553574 meters Centerline goodness [0,1] 0.8269986893840104 Centerline is valid? [False, False] Translation: X:9.16, Y:0.42, Z:-2.05 [[ 9.99887339e-01 -7.52010720e-03 -1.29906739e-02 9.16146331e+00] [ 7.49085924e-03 9.99969301e-01 -2.29865162e-03 4.15653999e-01] [ 1.30075612e-02 2.20108134e-03 9.99912976e-01 -2.04866742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.744553574 meters Centerline goodness [0,1] 0.8263754685790123 Centerline is valid? [False, False] Translation: X:9.16, Y:0.42, Z:-2.05 [[ 9.99861986e-01 -9.07567773e-03 -1.39154977e-02 9.16447505e+00] [ 9.03536491e-03 9.99954808e-01 -2.95711134e-03 4.16916090e-01] [ 1.39417067e-02 2.83097162e-03 9.99898802e-01 -2.04858041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.774553574 meters Centerline goodness [0,1] 0.8327380676283687 Centerline is valid? [False, False] Translation: X:9.17, Y:0.42, Z:-2.05 [[ 9.99856077e-01 -9.33448541e-03 -1.41666086e-02 9.16525038e+00] [ 9.28990215e-03 9.99951697e-01 -3.20961842e-03 4.18042537e-01] [ 1.41958844e-02 3.07755007e-03 9.99894497e-01 -2.04860203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.80455357399995 meters Centerline goodness [0,1] 0.8235796372363502 Centerline is valid? [False, False] Translation: X:9.17, Y:0.42, Z:-2.05 [[ 9.99856861e-01 -9.10715004e-03 -1.42589529e-02 9.16517217e+00] [ 9.05739342e-03 9.99952679e-01 -3.55019936e-03 4.20674483e-01] [ 1.42906103e-02 3.42054225e-03 9.99892033e-01 -2.04844833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.834553574 meters Centerline goodness [0,1] 0.8299910412790297 Centerline is valid? [False, False] Translation: X:9.17, Y:0.42, Z:-2.05 [[ 9.99869013e-01 -6.02152174e-03 -1.50232273e-02 9.16754882e+00] [ 6.02759649e-03 9.99981769e-01 3.59110098e-04 4.20274034e-01] [ 1.50207910e-02 -4.49617011e-04 9.99887080e-01 -2.04823580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.86455357399996 meters Centerline goodness [0,1] 0.830592331302396 Centerline is valid? [False, False] Translation: X:9.17, Y:0.42, Z:-2.05 [[ 9.99874548e-01 -2.66171514e-03 -1.56141944e-02 9.16926581e+00] [ 2.73012743e-03 9.99986761e-01 4.36173874e-03 4.20021691e-01] [ 1.56023779e-02 -4.40382029e-03 9.99868577e-01 -2.04780711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.894553574 meters Centerline goodness [0,1] 0.8268792191205985 Centerline is valid? [False, False] Translation: X:9.17, Y:0.42, Z:-2.05 [[ 9.99880602e-01 -1.07252784e-03 -1.54152869e-02 9.16823899e+00] [ 1.13650817e-03 9.99990775e-01 4.14228584e-03 4.22820555e-01] [ 1.54107020e-02 -4.15931086e-03 9.99872597e-01 -2.04924410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.92455357399996 meters Centerline goodness [0,1] 0.8301693759236103 Centerline is valid? [False, False] Translation: X:9.18, Y:0.42, Z:-2.06 [[ 9.99943445e-01 2.24349183e-03 -1.03958574e-02 9.18471499e+00] [-2.27436359e-03 9.99993037e-01 -2.95875119e-03 4.24627863e-01] [ 1.03891470e-02 2.98222782e-03 9.99941584e-01 -2.05634019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.954553574 meters Centerline goodness [0,1] 0.7861011241068584 Centerline is valid? [False, False] Translation: X:9.18, Y:0.42, Z:-2.06 [[ 9.99923283e-01 6.63131263e-03 -1.04620341e-02 9.18477522e+00] [-6.61846847e-03 9.99977302e-01 1.26183800e-03 4.24915279e-01] [ 1.04701643e-02 -1.19249855e-03 9.99944475e-01 -2.05606192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.98455357399996 meters Centerline goodness [0,1] 0.8257479312539784 Centerline is valid? [False, False] Translation: X:9.18, Y:0.43, Z:-2.06 [[ 9.99921376e-01 7.17120761e-03 -1.02866224e-02 9.18428034e+00] [-7.16052631e-03 9.99973785e-01 1.07482184e-03 4.25987410e-01] [ 1.02940605e-02 -1.00107971e-03 9.99946514e-01 -2.05662160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.014553574 meters Centerline goodness [0,1] 0.8355580736543909 Centerline is valid? [False, False] Translation: X:9.18, Y:0.43, Z:-2.06 [[ 9.99915027e-01 8.35046975e-03 -1.00103743e-02 9.18311440e+00] [-8.33874591e-03 9.99964497e-01 1.21233599e-03 4.27443106e-01] [ 1.00201425e-02 -1.12875900e-03 9.99949160e-01 -2.05695375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.04455357399996 meters Centerline goodness [0,1] 0.8301236248156969 Centerline is valid? [False, False] Translation: X:9.18, Y:0.43, Z:-2.06 [[ 9.99913975e-01 8.39790393e-03 -1.00755692e-02 9.18358048e+00] [-8.38837060e-03 9.99964329e-01 9.88071096e-04 4.27808890e-01] [ 1.00835075e-02 -9.03468489e-04 9.99948752e-01 -2.05761183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.074553574 meters Centerline goodness [0,1] 0.8351785471210127 Centerline is valid? [False, False] Translation: X:9.18, Y:0.43, Z:-2.06 [[ 9.99912204e-01 8.54028805e-03 -1.01315475e-02 9.18375609e+00] [-8.53111393e-03 9.99963160e-01 9.48373336e-04 4.27977205e-01] [ 1.01392737e-02 -8.61856686e-04 9.99948225e-01 -2.05786991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.10455357399997 meters Centerline goodness [0,1] 0.8322847343675472 Centerline is valid? [False, False] Translation: X:9.18, Y:0.43, Z:-2.06 [[ 9.99909893e-01 9.12487201e-03 -9.84591095e-03 9.18273348e+00] [-9.11369038e-03 9.99957773e-01 1.17993383e-03 4.28228021e-01] [ 9.85626193e-03 -1.09009492e-03 9.99950832e-01 -2.05756458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.134553574 meters Centerline goodness [0,1] 0.8346170449639879 Centerline is valid? [False, False] Translation: X:9.18, Y:0.43, Z:-2.06 [[ 9.99908942e-01 9.29998425e-03 -9.77843339e-03 9.18250095e+00] [-9.28853439e-03 9.99956122e-01 1.21569445e-03 4.28300936e-01] [ 9.78931027e-03 -1.12475644e-03 9.99951451e-01 -2.05752090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.16455357399997 meters Centerline goodness [0,1] 0.8343374178734626 Centerline is valid? [False, False] Translation: X:9.18, Y:0.43, Z:-2.06 [[ 9.99907574e-01 9.79242596e-03 -9.43138743e-03 9.18110586e+00] [-9.77843673e-03 9.99951022e-01 1.52823651e-03 4.28110407e-01] [ 9.44589064e-03 -1.43587103e-03 9.99954356e-01 -2.05663425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.194553574 meters Centerline goodness [0,1] 0.827316006469101 Centerline is valid? [False, False] Translation: X:9.18, Y:0.43, Z:-2.06 [[ 9.99906740e-01 9.99561826e-03 -9.30584252e-03 9.18060396e+00] [-9.98102968e-03 9.99948888e-01 1.61280530e-03 4.28111501e-01] [ 9.32148786e-03 -1.51977300e-03 9.99955399e-01 -2.05633370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.22455357399997 meters Centerline goodness [0,1] 0.8341635391788923 Centerline is valid? [False, False] Translation: X:9.18, Y:0.43, Z:-2.06 [[ 9.99905097e-01 1.02033029e-02 -9.25683840e-03 9.18067699e+00] [-1.01904290e-02 9.99947044e-01 1.43684502e-03 4.28710345e-01] [ 9.27100876e-03 -1.34237750e-03 9.99956122e-01 -2.05687672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.254553574 meters Centerline goodness [0,1] 0.8348644767137028 Centerline is valid? [False, False] Translation: X:9.18, Y:0.43, Z:-2.06 [[ 9.99904758e-01 1.01715183e-02 -9.32821066e-03 9.18113460e+00] [-1.01596788e-02 9.99947524e-01 1.31572499e-03 4.28681535e-01] [ 9.34110406e-03 -1.22082805e-03 9.99955626e-01 -2.05741985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.284553574 meters Centerline goodness [0,1] 0.8365437283184225 Centerline is valid? [False, False] Translation: X:9.18, Y:0.43, Z:-2.06 [[ 9.99906564e-01 9.41785274e-03 -9.90793029e-03 9.18363608e+00] [-9.40892362e-03 9.99955286e-01 9.47437828e-04 4.27980458e-01] [ 9.91641010e-03 -8.54126344e-04 9.99950466e-01 -2.05873411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.314553574 meters Centerline goodness [0,1] 0.835262363328606 Centerline is valid? [False, False] Translation: X:9.19, Y:0.43, Z:-2.06 [[ 9.99907006e-01 8.96804028e-03 -1.02739720e-02 9.18508530e+00] [-8.95953150e-03 9.99959481e-01 8.73916099e-04 4.27274818e-01] [ 1.02813930e-02 -7.81784854e-04 9.99946839e-01 -2.05932997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.344553574 meters Centerline goodness [0,1] 0.837229020578395 Centerline is valid? [False, False] Translation: X:9.19, Y:0.43, Z:-2.06 [[ 9.99907011e-01 8.46413564e-03 -1.06924016e-02 9.18661997e+00] [-8.45527506e-03 9.99963872e-01 8.73613993e-04 4.26399938e-01] [ 1.06994097e-02 -7.83125560e-04 9.99942453e-01 -2.05970988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.374553574 meters Centerline goodness [0,1] 0.8327510917030567 Centerline is valid? [False, False] Translation: X:9.18, Y:0.43, Z:-2.07 [[ 9.99992562e-01 2.61140241e-03 -2.83852646e-03 9.17832334e+00] [-2.61209607e-03 9.99996560e-01 -2.40691503e-04 4.26723120e-01] [ 2.83788815e-03 2.48104217e-04 9.99995942e-01 -2.06511620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.404553574 meters Centerline goodness [0,1] 0.8337250564542145 Centerline is valid? [False, False] Translation: X:9.18, Y:0.43, Z:-2.07 [[ 9.99992619e-01 1.91505490e-03 -3.33087116e-03 9.18017129e+00] [-1.91581225e-03 9.99998140e-01 -2.24198557e-04 4.25507875e-01] [ 3.33043561e-03 2.30578226e-04 9.99994428e-01 -2.06546200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.434553574 meters Centerline goodness [0,1] 0.8367979281799893 Centerline is valid? [False, False] Translation: X:9.18, Y:0.42, Z:-2.07 [[ 9.99992003e-01 2.99706502e-04 -3.98791360e-03 9.18306666e+00] [-3.01336750e-04 9.99999871e-01 -4.08202612e-04 4.23199405e-01] [ 3.98779074e-03 4.09401053e-04 9.99991965e-01 -2.06577144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.464553574 meters Centerline goodness [0,1] 0.840439082003659 Centerline is valid? [False, False] Translation: X:9.18, Y:0.42, Z:-2.07 [[ 9.99990470e-01 -2.42383494e-04 -4.35914406e-03 9.18423712e+00] [ 2.41538245e-04 9.99999952e-01 -1.94427876e-04 4.22021898e-01] [ 4.35919098e-03 1.93373123e-04 9.99990480e-01 -2.06545630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.494553574 meters Centerline goodness [0,1] 0.8366296459458833 Centerline is valid? [False, False] Translation: X:9.19, Y:0.42, Z:-2.07 [[ 9.99986302e-01 -1.65131018e-03 -4.96686618e-03 9.18672676e+00] [ 1.65075870e-03 9.99998631e-01 -1.15129629e-04 4.20007975e-01] [ 4.96704949e-03 1.06928955e-04 9.99987658e-01 -2.06525359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.524553574 meters Centerline goodness [0,1] 0.8403692707366859 Centerline is valid? [False, False] Translation: X:9.19, Y:0.42, Z:-2.06 [[ 9.99984535e-01 -2.00969866e-03 -5.18555168e-03 9.18742524e+00] [ 2.01012718e-03 9.99997977e-01 7.74266415e-05 4.19170890e-01] [ 5.18538558e-03 -8.78490625e-05 9.99986552e-01 -2.06492379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.55455357399995 meters Centerline goodness [0,1] 0.8344330855018587 Centerline is valid? [False, False] Translation: X:9.19, Y:0.42, Z:-2.06 [[ 9.99982241e-01 -2.51304571e-03 -5.40390914e-03 9.18811132e+00] [ 2.51564767e-03 9.99996723e-01 4.74752719e-04 4.17890944e-01] [ 5.40269835e-03 -4.88338620e-04 9.99985286e-01 -2.06408231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.584553574 meters Centerline goodness [0,1] 0.8356422295569709 Centerline is valid? [False, False] Translation: X:9.19, Y:0.42, Z:-2.06 [[ 9.99981987e-01 -2.51826382e-03 -5.44834103e-03 9.18812007e+00] [ 2.52221605e-03 9.99996561e-01 7.18650584e-04 4.17476771e-01] [ 5.44651254e-03 -7.32379532e-04 9.99984899e-01 -2.06367813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.61455357399996 meters Centerline goodness [0,1] 0.8340936598082115 Centerline is valid? [False, False] Translation: X:9.19, Y:0.42, Z:-2.06 [[ 9.99981665e-01 -2.51611729e-03 -5.50807791e-03 9.18829851e+00] [ 2.52093601e-03 9.99996446e-01 8.68077437e-04 4.17125798e-01] [ 5.50587415e-03 -8.81947033e-04 9.99984454e-01 -2.06357353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.644553574 meters Centerline goodness [0,1] 0.8400894083680644 Centerline is valid? [False, False] Translation: X:9.19, Y:0.42, Z:-2.06 [[ 9.99979913e-01 -2.64401683e-03 -5.76042304e-03 9.18924616e+00] [ 2.64858952e-03 9.99996183e-01 7.86327063e-04 4.17056391e-01] [ 5.75832199e-03 -8.01568265e-04 9.99983099e-01 -2.06408854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.67455357399996 meters Centerline goodness [0,1] 0.8295946386186996 Centerline is valid? [False, False] Translation: X:9.19, Y:0.42, Z:-2.06 [[ 9.99978847e-01 -2.68539825e-03 -5.92410170e-03 9.18994475e+00] [ 2.68926167e-03 9.99996176e-01 6.44282058e-04 4.17546834e-01] [ 5.92234890e-03 -6.60199888e-04 9.99982245e-01 -2.06465435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.704553574 meters Centerline goodness [0,1] 0.8284426477079994 Centerline is valid? [False, False] Translation: X:9.19, Y:0.42, Z:-2.06 [[ 9.99979443e-01 -2.38906019e-03 -5.95031408e-03 9.18996916e+00] [ 2.39244779e-03 9.99996980e-01 5.62260602e-04 4.18655979e-01] [ 5.94895283e-03 -5.76484859e-04 9.99982139e-01 -2.06491572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.73455357399996 meters Centerline goodness [0,1] 0.8403219073240874 Centerline is valid? [False, False] Translation: X:9.19, Y:0.42, Z:-2.06 [[ 9.99980682e-01 -2.08730970e-03 -5.85486284e-03 9.18944302e+00] [ 2.09122056e-03 9.99997594e-01 6.61925088e-04 4.19081452e-01] [ 5.85346712e-03 -6.74156110e-04 9.99982641e-01 -2.06464168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.764553574 meters Centerline goodness [0,1] 0.8427491568787069 Centerline is valid? [False, False] Translation: X:9.19, Y:0.42, Z:-2.06 [[ 9.99981537e-01 -1.83649076e-03 -5.79240636e-03 9.18914306e+00] [ 1.84031561e-03 9.99998092e-01 6.55060743e-04 4.19607261e-01] [ 5.79119230e-03 -6.65708504e-04 9.99983009e-01 -2.06463690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.79455357399996 meters Centerline goodness [0,1] 0.8414180838212062 Centerline is valid? [False, False] Translation: X:9.19, Y:0.42, Z:-2.07 [[ 9.99981118e-01 -1.60685925e-03 -5.93137750e-03 9.18949035e+00] [ 1.60972271e-03 9.99998590e-01 4.78022877e-04 4.20769437e-01] [ 5.93060102e-03 -4.87561724e-04 9.99982295e-01 -2.06506614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.824553574 meters Centerline goodness [0,1] 0.8342402678945166 Centerline is valid? [False, False] Translation: X:9.19, Y:0.42, Z:-2.07 [[ 9.99979307e-01 -1.72699174e-03 -6.19698113e-03 9.19054046e+00] [ 1.72845808e-03 9.99998479e-01 2.31273441e-04 4.21351263e-01] [ 6.19657230e-03 -2.41979877e-04 9.99980772e-01 -2.06589899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.85455357399997 meters Centerline goodness [0,1] 0.8357629443630699 Centerline is valid? [False, False] Translation: X:9.19, Y:0.42, Z:-2.07 [[ 9.99978164e-01 -1.71740887e-03 -6.38140863e-03 9.19131293e+00] [ 1.71702016e-03 9.99998524e-01 -6.63903897e-05 4.22362283e-01] [ 6.38151322e-03 5.54319327e-05 9.99979636e-01 -2.06674459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.884553574 meters Centerline goodness [0,1] 0.8414965512436424 Centerline is valid? [False, False] Translation: X:9.19, Y:0.42, Z:-2.07 [[ 9.99979125e-01 -1.44487348e-03 -6.29775458e-03 9.19082387e+00] [ 1.44569187e-03 9.99998947e-01 1.25398754e-04 4.22624718e-01] [ 6.29756676e-03 -1.34500749e-04 9.99980161e-01 -2.06625772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.91455357399997 meters Centerline goodness [0,1] 0.8377686796315251 Centerline is valid? [False, False] Translation: X:9.19, Y:0.42, Z:-2.07 [[ 9.99983250e-01 -3.64619189e-04 -5.77638305e-03 9.18858809e+00] [ 3.66475595e-04 9.99999882e-01 3.20323317e-04 4.24080872e-01] [ 5.77626557e-03 -3.22434855e-04 9.99983265e-01 -2.06542001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.944553574 meters Centerline goodness [0,1] 0.8007107518639816 Centerline is valid? [False, False] Translation: X:9.19, Y:0.43, Z:-2.07 [[ 9.99984391e-01 2.41154287e-04 -5.58206124e-03 9.18774206e+00] [-2.39562680e-04 9.99999930e-01 2.85795839e-04 4.25463208e-01] [ 5.58212978e-03 -2.84454124e-04 9.99984379e-01 -2.06538734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.97455357399997 meters Centerline goodness [0,1] 0.8265202076381164 Centerline is valid? [False, False] Translation: X:9.19, Y:0.43, Z:-2.07 [[ 9.99985917e-01 9.41163859e-04 -5.22303653e-03 9.18647152e+00] [-9.39965591e-04 9.99999531e-01 2.31869814e-04 4.26979041e-01] [ 5.22325231e-03 -2.26957074e-04 9.99986333e-01 -2.06530419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.004553574 meters Centerline goodness [0,1] 0.8363151796060255 Centerline is valid? [False, False] Translation: X:9.18, Y:0.43, Z:-2.06 [[ 9.99986877e-01 2.20427037e-03 -4.62456886e-03 9.18395249e+00] [-2.20200349e-03 9.99997453e-01 4.95216379e-04 4.28498571e-01] [ 4.62564867e-03 -4.85026564e-04 9.99989184e-01 -2.06441840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.034553574 meters Centerline goodness [0,1] 0.8316606791053425 Centerline is valid? [False, False] Translation: X:9.18, Y:0.43, Z:-2.06 [[ 9.99986617e-01 2.29250774e-03 -4.63798970e-03 9.18412083e+00] [-2.29111668e-03 9.99997329e-01 3.05219660e-04 4.29044945e-01] [ 4.63867703e-03 -2.94589400e-04 9.99989198e-01 -2.06479203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.064553574 meters Centerline goodness [0,1] 0.8313534251640935 Centerline is valid? [False, False] Translation: X:9.19, Y:0.43, Z:-2.07 [[ 9.99986002e-01 1.95940334e-03 -4.91496499e-03 9.18550537e+00] [-1.95948636e-03 9.99998080e-01 -1.20745696e-05 4.29916486e-01] [ 4.91493190e-03 2.17052074e-05 9.99987921e-01 -2.06567613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.094553574 meters Centerline goodness [0,1] 0.8383462125769284 Centerline is valid? [False, False] Translation: X:9.19, Y:0.43, Z:-2.07 [[ 9.99985139e-01 1.49076750e-03 -5.24399429e-03 9.18663508e+00] [-1.49162628e-03 9.99998875e-01 -1.59856304e-04 4.30052331e-01] [ 5.24375008e-03 1.67676008e-04 9.99986237e-01 -2.06580958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.124553574 meters Centerline goodness [0,1] 0.8387880189661154 Centerline is valid? [False, False] Translation: X:9.19, Y:0.43, Z:-2.07 [[ 9.99983538e-01 8.40334761e-04 -5.67605505e-03 9.18802742e+00] [-8.40879751e-04 9.99999642e-01 -9.36298212e-05 4.29287616e-01] [ 5.67597434e-03 9.84011596e-05 9.99983887e-01 -2.06554603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.154553574 meters Centerline goodness [0,1] 0.8398804836244036 Centerline is valid? [False, False] Translation: X:9.19, Y:0.43, Z:-2.06 [[ 9.99979557e-01 -1.68230855e-03 -6.16885144e-03 9.19055015e+00] [ 1.67854600e-03 9.99998402e-01 -6.15053836e-04 4.27163066e-01] [ 6.16987629e-03 6.04686562e-04 9.99980783e-01 -2.06468978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.184553574 meters Centerline goodness [0,1] 0.8386581099552858 Centerline is valid? [False, False] Translation: X:9.19, Y:0.43, Z:-2.07 [[ 9.99965415e-01 -4.30307883e-03 -7.11709662e-03 9.19469405e+00] [ 4.29331046e-03 9.99989821e-01 -1.38723124e-03 4.25968781e-01] [ 7.12299354e-03 1.35662736e-03 9.99973711e-01 -2.06502975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.214553574 meters Centerline goodness [0,1] 0.8355212891574634 Centerline is valid? [False, False] Translation: X:9.20, Y:0.43, Z:-2.07 [[ 9.99956665e-01 -5.18201441e-03 -7.73399484e-03 9.19686164e+00] [ 5.16969902e-03 9.99985339e-01 -1.61151491e-03 4.25910200e-01] [ 7.74223234e-03 1.57146265e-03 9.99968794e-01 -2.06529665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.244553574 meters Centerline goodness [0,1] 0.8354929185693424 Centerline is valid? [False, False] Translation: X:9.20, Y:0.43, Z:-2.07 [[ 9.99948009e-01 -5.95277894e-03 -8.27915497e-03 9.19888371e+00] [ 5.93748942e-03 9.99980624e-01 -1.87010357e-03 4.25890825e-01] [ 8.29012687e-03 1.82084894e-03 9.99963979e-01 -2.06579989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.274553574 meters Centerline goodness [0,1] 0.834432946732412 Centerline is valid? [False, False] Translation: X:9.20, Y:0.43, Z:-2.07 [[ 9.99939489e-01 -6.61749793e-03 -8.78787613e-03 9.20078411e+00] [ 6.59870243e-03 9.99975882e-01 -2.16607420e-03 4.26046969e-01] [ 8.80199818e-03 2.10795454e-03 9.99959040e-01 -2.06644290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.30455357399995 meters Centerline goodness [0,1] 0.8363627954303686 Centerline is valid? [False, False] Translation: X:9.20, Y:0.43, Z:-2.07 [[ 9.99927684e-01 -7.46180690e-03 -9.43119103e-03 9.20299213e+00] [ 7.43739597e-03 9.99968908e-01 -2.62074712e-03 4.26824805e-01] [ 9.45045331e-03 2.55041410e-03 9.99952091e-01 -2.06691753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.334553574 meters Centerline goodness [0,1] 0.8035813436979455 Centerline is valid? [False, False] Translation: X:9.21, Y:0.43, Z:-2.07 [[ 9.99932175e-01 -5.44995728e-03 -1.02928992e-02 9.20629049e+00] [ 5.45757862e-03 9.99984853e-01 7.12503296e-04 4.25689190e-01] [ 1.02888602e-02 -7.68629277e-04 9.99946773e-01 -2.06691638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.36455357399996 meters Centerline goodness [0,1] 0.8035813436979455 Centerline is valid? [False, False] Translation: X:9.21, Y:0.43, Z:-2.07 [[ 9.99932175e-01 -5.44995728e-03 -1.02928992e-02 9.20629049e+00] [ 5.45757862e-03 9.99984853e-01 7.12503296e-04 4.25689190e-01] [ 1.02888602e-02 -7.68629277e-04 9.99946773e-01 -2.06691638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.394553574 meters Centerline goodness [0,1] 0.8315540837829701 Centerline is valid? [False, False] Translation: X:9.21, Y:0.43, Z:-2.07 [[ 9.99931618e-01 -5.38004348e-03 -1.03833773e-02 9.20651565e+00] [ 5.38769891e-03 9.99985235e-01 7.09445873e-04 4.26074274e-01] [ 1.03794072e-02 -7.65339870e-04 9.99945840e-01 -2.06695207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.42455357399996 meters Centerline goodness [0,1] 0.8390964217932695 Centerline is valid? [False, False] Translation: X:9.21, Y:0.43, Z:-2.07 [[ 9.99930485e-01 -5.30143652e-03 -1.05318554e-02 9.20691175e+00] [ 5.30776650e-03 9.99985749e-01 5.73171633e-04 4.26892543e-01] [ 1.05286667e-02 -6.29032418e-04 9.99944374e-01 -2.06724371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.454553574 meters Centerline goodness [0,1] 0.8399842508743081 Centerline is valid? [False, False] Translation: X:9.21, Y:0.43, Z:-2.07 [[ 9.99931335e-01 -5.07262409e-03 -1.05637842e-02 9.20695080e+00] [ 5.07838243e-03 9.99986971e-01 5.18348209e-04 4.27685995e-01] [ 1.05610171e-02 -5.71959552e-04 9.99944067e-01 -2.06748916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.48455357399996 meters Centerline goodness [0,1] 0.8359385871329839 Centerline is valid? [False, False] Translation: X:9.21, Y:0.43, Z:-2.07 [[ 9.99937590e-01 -4.31344147e-03 -1.03058049e-02 9.20566791e+00] [ 4.32066767e-03 9.99990435e-01 6.79015411e-04 4.29088232e-01] [ 1.03027775e-02 -7.23500992e-04 9.99946663e-01 -2.06702661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.514553574 meters Centerline goodness [0,1] 0.8382147838214784 Centerline is valid? [False, False] Translation: X:9.21, Y:0.43, Z:-2.07 [[ 9.99940002e-01 -3.91448668e-03 -1.02307539e-02 9.20532715e+00] [ 3.92082795e-03 9.99992134e-01 5.99841182e-04 4.29855629e-01] [ 1.02283254e-02 -6.39918218e-04 9.99947485e-01 -2.06723613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.54455357399996 meters Centerline goodness [0,1] 0.8362247630580071 Centerline is valid? [False, False] Translation: X:9.21, Y:0.43, Z:-2.07 [[ 9.99940181e-01 -3.79382977e-03 -1.02586839e-02 9.20544997e+00] [ 3.79962387e-03 9.99992633e-01 5.45368648e-04 4.30183139e-01] [ 1.02565393e-02 -5.84315165e-04 9.99947230e-01 -2.06745239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.574553574 meters Centerline goodness [0,1] 0.8349521347215428 Centerline is valid? [False, False] Translation: X:9.21, Y:0.43, Z:-2.07 [[ 9.99940685e-01 -3.59361870e-03 -1.02816291e-02 9.20539152e+00] [ 3.59893593e-03 9.99993399e-01 4.98703065e-04 4.30926920e-01] [ 1.02797691e-02 -5.35676409e-04 9.99947018e-01 -2.06754354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.60455357399997 meters Centerline goodness [0,1] 0.8347143885059072 Centerline is valid? [False, False] Translation: X:9.20, Y:0.43, Z:-2.07 [[ 9.99944297e-01 -3.00708385e-03 -1.01173002e-02 9.20467204e+00] [ 3.01057992e-03 9.99995414e-01 3.30341468e-04 4.33336142e-01] [ 1.01162604e-02 -3.60782007e-04 9.99948764e-01 -2.06769674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.634553574 meters Centerline goodness [0,1] 0.8283713596735299 Centerline is valid? [False, False] Translation: X:9.20, Y:0.43, Z:-2.07 [[ 9.99946648e-01 -2.66260849e-03 -9.98052776e-03 9.20406402e+00] [ 2.66615059e-03 9.99996387e-01 3.41612274e-04 4.34265333e-01] [ 9.97958212e-03 -3.68203639e-04 9.99950135e-01 -2.06744574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.66455357399997 meters Centerline goodness [0,1] 0.8213350026662957 Centerline is valid? [False, False] Translation: X:9.20, Y:0.44, Z:-2.07 [[ 9.99949655e-01 -2.19183024e-03 -9.79204712e-03 9.20295053e+00] [ 2.19575688e-03 9.99997513e-01 3.90269765e-04 4.35638279e-01] [ 9.79116736e-03 -4.11751071e-04 9.99951981e-01 -2.06667012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.694553574 meters Centerline goodness [0,1] 0.8327276094354036 Centerline is valid? [False, False] Translation: X:9.20, Y:0.44, Z:-2.07 [[ 9.99951497e-01 -1.80613981e-03 -9.68197231e-03 9.20224695e+00] [ 1.81033897e-03 9.99998271e-01 4.24962532e-04 4.36808982e-01] [ 9.68118803e-03 -4.42469572e-04 9.99953038e-01 -2.06616584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.72455357399997 meters Centerline goodness [0,1] 0.8288760181830768 Centerline is valid? [False, False] Translation: X:9.20, Y:0.44, Z:-2.07 [[ 9.99952859e-01 -1.49880534e-03 -9.59344309e-03 9.20177227e+00] [ 1.50247747e-03 9.99998801e-01 3.75579381e-04 4.37986773e-01] [ 9.59286866e-03 -3.89975608e-04 9.99953911e-01 -2.06600536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.754553574 meters Centerline goodness [0,1] 0.8316224595246297 Centerline is valid? [False, False] Translation: X:9.20, Y:0.44, Z:-2.07 [[ 9.99951462e-01 -1.57031356e-03 -9.72663827e-03 9.20217095e+00] [ 1.57083143e-03 9.99998765e-01 4.56029974e-05 4.39486088e-01] [ 9.72655465e-03 -6.08796930e-05 9.99952694e-01 -2.06617810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.784553574 meters Centerline goodness [0,1] 0.8275395551479019 Centerline is valid? [False, False] Translation: X:9.20, Y:0.44, Z:-2.07 [[ 9.99948644e-01 -1.84665490e-03 -9.96490129e-03 9.20303267e+00] [ 1.84496230e-03 9.99998282e-01 -1.79046055e-04 4.40324030e-01] [ 9.96521480e-03 1.60651993e-04 9.99950333e-01 -2.06636535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.814553574 meters Centerline goodness [0,1] 0.8259551381416979 Centerline is valid? [False, False] Translation: X:9.20, Y:0.44, Z:-2.07 [[ 9.99945106e-01 -2.32202462e-03 -1.02172723e-02 9.20400396e+00] [ 2.31504935e-03 9.99997079e-01 -6.94468333e-04 4.42165142e-01] [ 1.02188550e-02 6.70776722e-04 9.99947561e-01 -2.06665483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.844553574 meters Centerline goodness [0,1] 0.8323068881667159 Centerline is valid? [False, False] Translation: X:9.20, Y:0.44, Z:-2.07 [[ 9.99941986e-01 -2.64891799e-03 -1.04406831e-02 9.20471674e+00] [ 2.64069467e-03 9.99996192e-01 -8.01329509e-04 4.42630920e-01] [ 1.04427660e-02 7.73712365e-04 9.99945174e-01 -2.06649374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.874553574 meters Centerline goodness [0,1] 0.8308616780045351 Centerline is valid? [False, False] Translation: X:9.21, Y:0.44, Z:-2.07 [[ 9.99936710e-01 -3.18862449e-03 -1.07892539e-02 9.20588169e+00] [ 3.17837305e-03 9.99994481e-01 -9.67165976e-04 4.42854384e-01] [ 1.07922783e-02 9.32812490e-04 9.99941327e-01 -2.06642128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.904553574 meters Centerline goodness [0,1] 0.8341242937853107 Centerline is valid? [False, False] Translation: X:9.21, Y:0.44, Z:-2.07 [[ 9.99925361e-01 -4.41969689e-03 -1.13903322e-02 9.20812728e+00] [ 4.40116233e-03 9.99988951e-01 -1.65177076e-03 4.44066746e-01] [ 1.13975067e-02 1.60151678e-03 9.99933764e-01 -2.06671599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.934553574 meters Centerline goodness [0,1] 0.837146520888169 Centerline is valid? [False, False] Translation: X:9.21, Y:0.45, Z:-2.07 [[ 9.99917094e-01 -5.27642412e-03 -1.17458504e-02 9.20927564e+00] [ 5.25283826e-03 9.99984127e-01 -2.03796249e-03 4.45251345e-01] [ 1.17564171e-02 1.97609448e-03 9.99928938e-01 -2.06614969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.964553574 meters Centerline goodness [0,1] 0.82356110263087 Centerline is valid? [False, False] Translation: X:9.21, Y:0.45, Z:-2.07 [[ 9.99914903e-01 -5.44800004e-03 -1.18535601e-02 9.20949248e+00] [ 5.42453908e-03 9.99983266e-01 -2.01048474e-03 4.45457320e-01] [ 1.18643149e-02 1.94601355e-03 9.99927723e-01 -2.06571462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.994553574 meters Centerline goodness [0,1] 0.8225047080979284 Centerline is valid? [False, False] Translation: X:9.21, Y:0.45, Z:-2.07 [[ 9.99914325e-01 -5.50374403e-03 -1.18764929e-02 9.20950470e+00] [ 5.47940466e-03 9.99982823e-01 -2.08094085e-03 4.46167291e-01] [ 1.18877418e-02 2.01568645e-03 9.99927307e-01 -2.06538532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.024553574 meters Centerline goodness [0,1] 0.8346483016849425 Centerline is valid? [False, False] Translation: X:9.21, Y:0.45, Z:-2.07 [[ 9.99917077e-01 -5.17579244e-03 -1.17919691e-02 9.20901894e+00] [ 5.14900134e-03 9.99984096e-01 -2.30120694e-03 4.48475581e-01] [ 1.18036921e-02 2.24029925e-03 9.99927824e-01 -2.06511118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.05455357399995 meters Centerline goodness [0,1] 0.8192776443376923 Centerline is valid? [False, False] Translation: X:9.21, Y:0.45, Z:-2.06 [[ 9.99920151e-01 -4.81065517e-03 -1.16854209e-02 9.20852910e+00] [ 4.78375873e-03 9.99985847e-01 -2.32857071e-03 4.49726233e-01] [ 1.16964574e-02 2.27248455e-03 9.99929012e-01 -2.06493883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.084553574 meters Centerline goodness [0,1] 0.8292726066769843 Centerline is valid? [False, False] Translation: X:9.21, Y:0.45, Z:-2.06 [[ 9.99927847e-01 -1.00275327e-03 -1.19705918e-02 9.20944935e+00] [ 1.02245023e-03 9.99998133e-01 1.63943923e-03 4.50641546e-01] [ 1.19689255e-02 -1.65156027e-03 9.99927006e-01 -2.06469468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.11455357399996 meters Centerline goodness [0,1] 0.823685139428168 Centerline is valid? [False, False] Translation: X:9.21, Y:0.45, Z:-2.06 [[ 9.99931941e-01 -1.50713971e-04 -1.16658110e-02 9.20806296e+00] [ 1.72864790e-04 9.99998184e-01 1.89779583e-03 4.51860798e-01] [ 1.16655038e-02 -1.89968328e-03 9.99930151e-01 -2.06414701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.144553574 meters Centerline goodness [0,1] 0.8322650278640499 Centerline is valid? [False, False] Translation: X:9.21, Y:0.45, Z:-2.06 [[ 9.99935491e-01 6.90429314e-04 -1.13374279e-02 9.20674463e+00] [-6.67380290e-04 9.99997703e-01 2.03666041e-03 4.53011070e-01] [ 1.13388081e-02 -2.02896265e-03 9.99933655e-01 -2.06390479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.17455357399996 meters Centerline goodness [0,1] 0.8284698758172803 Centerline is valid? [False, False] Translation: X:9.21, Y:0.45, Z:-2.06 [[ 9.99920646e-01 5.05930429e-03 -1.15370787e-02 9.20729701e+00] [-4.98924548e-03 9.99968990e-01 6.09320937e-03 4.53718718e-01] [ 1.15675483e-02 -6.03516453e-03 9.99914881e-01 -2.06386555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.204553574 meters Centerline goodness [0,1] 0.8190087002372792 Centerline is valid? [False, False] Translation: X:9.21, Y:0.46, Z:-2.06 [[ 9.99918128e-01 5.80830625e-03 -1.14017662e-02 9.20677511e+00] [-5.74004116e-03 9.99965460e-01 6.01085996e-03 4.55089861e-01] [ 1.14362853e-02 -5.94492123e-03 9.99916931e-01 -2.06426566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.23455357399996 meters Centerline goodness [0,1] 0.8254844006568145 Centerline is valid? [False, False] Translation: X:9.21, Y:0.46, Z:-2.06 [[ 0.99988084 0.01063126 -0.01119287 9.20602884] [-0.01051722 0.99989268 0.01019896 0.45630029] [ 0.0113001 -0.01008002 0.99988534 -2.06403837] [ 0. 0. 0. 1. ]] SLAMing on 272.264553574 meters Centerline goodness [0,1] 0.8215728668457489 Centerline is valid? [False, False] Translation: X:9.21, Y:0.46, Z:-2.06 [[ 0.99987585 0.0112576 -0.01102488 9.20552412] [-0.01114669 0.99988717 0.01007011 0.45772842] [ 0.011137 -0.00994597 0.99988852 -2.06437456] [ 0. 0. 0. 1. ]] SLAMing on 272.29455357399996 meters Centerline goodness [0,1] 0.8207944792644843 Centerline is valid? [False, False] Translation: X:9.20, Y:0.46, Z:-2.06 [[ 0.99986358 0.01288535 -0.01033348 9.20275172] [-0.01277446 0.99986086 0.01072688 0.45858822] [ 0.01047026 -0.01059341 0.99988907 -2.06329598] [ 0. 0. 0. 1. ]] SLAMing on 272.324553574 meters Centerline goodness [0,1] 0.818879391382288 Centerline is valid? [False, False] Translation: X:9.20, Y:0.46, Z:-2.06 [[ 9.99894069e-01 1.06719715e-02 -9.89748160e-03 9.20071738e+00] [-1.05990768e-02 9.99916532e-01 7.38841028e-03 4.59679606e-01] [ 9.97550438e-03 -7.28272345e-03 9.99923723e-01 -2.06316274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.35455357399997 meters Centerline goodness [0,1] 0.8193342854004174 Centerline is valid? [False, False] Translation: X:9.20, Y:0.46, Z:-2.06 [[ 9.99925171e-01 7.89260255e-03 -9.34666265e-03 9.19896932e+00] [-7.85678706e-03 9.99961675e-01 3.86244105e-03 4.59552034e-01] [ 9.37678916e-03 -3.78871729e-03 9.99948859e-01 -2.06337815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.384553574 meters Centerline goodness [0,1] 0.8192032012664351 Centerline is valid? [False, False] Translation: X:9.20, Y:0.46, Z:-2.06 [[ 9.99948140e-01 4.82151635e-03 -8.97048836e-03 9.19779126e+00] [-4.82046985e-03 9.99988372e-01 1.38277757e-04 4.59870948e-01] [ 8.97105076e-03 -9.50286171e-05 9.99959755e-01 -2.06374292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.41455357399997 meters Centerline goodness [0,1] 0.8178866457569466 Centerline is valid? [False, False] Translation: X:9.20, Y:0.46, Z:-2.06 [[ 9.99948256e-01 3.90839291e-03 -9.39195634e-03 9.19985913e+00] [-3.90715681e-03 9.99992356e-01 1.49957861e-04 4.57560753e-01] [ 9.39247064e-03 -1.13254255e-04 9.99955883e-01 -2.06445481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.444553574 meters Centerline goodness [0,1] 0.8176618673262079 Centerline is valid? [False, False] Translation: X:9.20, Y:0.46, Z:-2.07 [[ 9.99946822e-01 3.33544307e-03 -9.75851869e-03 9.20152489e+00] [-3.33489093e-03 9.99994437e-01 7.28523449e-05 4.56541893e-01] [ 9.75870739e-03 -4.03048753e-05 9.99952382e-01 -2.06517099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.47455357399997 meters Centerline goodness [0,1] 0.8209697104182847 Centerline is valid? [False, False] Translation: X:9.20, Y:0.46, Z:-2.07 [[ 9.99945560e-01 2.98555036e-03 -9.99813720e-03 9.20244233e+00] [-2.98213172e-03 9.99995490e-01 3.56818742e-04 4.55018121e-01] [ 9.99915741e-03 -3.26983555e-04 9.99949954e-01 -2.06517790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.504553574 meters Centerline goodness [0,1] 0.8185215017675751 Centerline is valid? [False, False] Translation: X:9.21, Y:0.45, Z:-2.07 [[ 9.99941971e-01 1.72904180e-03 -1.06332327e-02 9.20528453e+00] [-1.72545170e-03 9.99998451e-01 3.46794421e-04 4.51712841e-01] [ 1.06338159e-02 -3.28427168e-04 9.99943405e-01 -2.06592564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.534553574 meters Centerline goodness [0,1] 0.8244996750409 Centerline is valid? [False, False] Translation: X:9.21, Y:0.45, Z:-2.07 [[ 9.99940236e-01 1.39305750e-03 -1.08435920e-02 9.20625071e+00] [-1.38703215e-03 9.99998879e-01 5.63160240e-04 4.50306516e-01] [ 1.08443644e-02 -5.48086172e-04 9.99941048e-01 -2.06607550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.564553574 meters Centerline goodness [0,1] 0.8272476012853066 Centerline is valid? [False, False] Translation: X:9.21, Y:0.45, Z:-2.07 [[ 9.99935200e-01 4.63671320e-04 -1.13746108e-02 9.20872344e+00] [-4.55848565e-04 9.99999658e-01 6.90321231e-04 4.48112544e-01] [ 1.13749270e-02 -6.85091397e-04 9.99935069e-01 -2.06684316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.594553574 meters Centerline goodness [0,1] 0.8270852542334766 Centerline is valid? [False, False] Translation: X:9.21, Y:0.45, Z:-2.07 [[ 9.99931754e-01 -9.46516543e-06 -1.16827397e-02 9.21013141e+00] [ 1.75471521e-05 9.99999761e-01 6.91686333e-04 4.47189175e-01] [ 1.16827304e-02 -6.91844127e-04 9.99931515e-01 -2.06736555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.624553574 meters Centerline goodness [0,1] 0.8154503542111773 Centerline is valid? [False, False] Translation: X:9.21, Y:0.45, Z:-2.07 [[ 9.99928421e-01 -3.81975962e-04 -1.19585250e-02 9.21116369e+00] [ 3.93781129e-04 9.99999438e-01 9.84836866e-04 4.45910427e-01] [ 1.19581421e-02 -9.89475414e-04 9.99928009e-01 -2.06731471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.654553574 meters Centerline goodness [0,1] 0.8257768377472268 Centerline is valid? [False, False] Translation: X:9.21, Y:0.44, Z:-2.07 [[ 9.99923387e-01 -1.06714229e-03 -1.23321067e-02 9.21282070e+00] [ 1.08404981e-03 9.99998482e-01 1.36441300e-03 4.43486960e-01] [ 1.23306319e-02 -1.37767709e-03 9.99923026e-01 -2.06741236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.684553574 meters Centerline goodness [0,1] 0.8265730804706306 Centerline is valid? [False, False] Translation: X:9.21, Y:0.44, Z:-2.07 [[ 9.99921873e-01 -1.25692898e-03 -1.24365832e-02 9.21324453e+00] [ 1.27907690e-03 9.99997610e-01 1.77307502e-03 4.42056185e-01] [ 1.24343248e-02 -1.78884384e-03 9.99921091e-01 -2.06686835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.714553574 meters Centerline goodness [0,1] 0.8267603097424816 Centerline is valid? [False, False] Translation: X:9.21, Y:0.44, Z:-2.07 [[ 9.99923621e-01 -1.05602741e-03 -1.23140668e-02 9.21279298e+00] [ 1.08253208e-03 9.99997112e-01 2.14592272e-03 4.41389715e-01] [ 1.23117651e-02 -2.15908919e-03 9.99921876e-01 -2.06633062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.744553574 meters Centerline goodness [0,1] 0.8235678697837996 Centerline is valid? [False, False] Translation: X:9.21, Y:0.44, Z:-2.07 [[ 9.99924806e-01 -9.28020443e-04 -1.22278913e-02 9.21269847e+00] [ 9.56333719e-04 9.99996875e-01 2.30982307e-03 4.40966582e-01] [ 1.22257095e-02 -2.32134333e-03 9.99922569e-01 -2.06627449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.774553574 meters Centerline goodness [0,1] 0.8229262906460554 Centerline is valid? [False, False] Translation: X:9.21, Y:0.44, Z:-2.07 [[ 9.99926081e-01 -6.17224207e-04 -1.21429510e-02 9.21241089e+00] [ 6.48668138e-04 9.99996447e-01 2.58571206e-03 4.40813907e-01] [ 1.21413119e-02 -2.59339767e-03 9.99922928e-01 -2.06613520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.80455357399995 meters Centerline goodness [0,1] 0.8243918918918919 Centerline is valid? [False, False] Translation: X:9.21, Y:0.44, Z:-2.07 [[ 9.99926785e-01 -1.37757481e-04 -1.20998369e-02 9.21247919e+00] [ 1.71136093e-04 9.99996183e-01 2.75760802e-03 4.40810160e-01] [ 1.20994109e-02 -2.75947684e-03 9.99922992e-01 -2.06666398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.834553574 meters Centerline goodness [0,1] 0.8282941984286004 Centerline is valid? [False, False] Translation: X:9.21, Y:0.44, Z:-2.07 [[ 9.99927956e-01 1.66191113e-04 -1.20022860e-02 9.21227139e+00] [-1.31311330e-04 9.99995767e-01 2.90682459e-03 4.40675223e-01] [ 1.20027183e-02 -2.90503914e-03 9.99923745e-01 -2.06679859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.86455357399996 meters Centerline goodness [0,1] 0.830004508566276 Centerline is valid? [False, False] Translation: X:9.21, Y:0.44, Z:-2.07 [[ 9.99931508e-01 1.05560610e-03 -1.16561354e-02 9.21129285e+00] [-1.01877359e-03 9.99994471e-01 3.16541003e-03 4.40871598e-01] [ 1.16594124e-02 -3.15331826e-03 9.99927055e-01 -2.06700342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.894553574 meters Centerline goodness [0,1] 0.8238959631536169 Centerline is valid? [False, False] Translation: X:9.21, Y:0.44, Z:-2.07 [[ 9.99931733e-01 1.29873990e-03 -1.16121460e-02 9.21145313e+00] [-1.26387566e-03 9.99994674e-01 3.00922875e-03 4.41458737e-01] [ 1.16159923e-02 -2.99434701e-03 9.99928049e-01 -2.06767647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.92455357399996 meters Centerline goodness [0,1] 0.8239312372766343 Centerline is valid? [False, False] Translation: X:9.21, Y:0.44, Z:-2.07 [[ 9.99932917e-01 1.61979001e-03 -1.14690060e-02 9.21137269e+00] [-1.58332181e-03 9.99993665e-01 3.18808343e-03 4.40903314e-01] [ 1.14740973e-02 -3.16971044e-03 9.99929147e-01 -2.06797457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.954553574 meters Centerline goodness [0,1] 0.8350407978241161 Centerline is valid? [False, False] Translation: X:9.21, Y:0.44, Z:-2.07 [[ 9.99932974e-01 1.66883312e-03 -1.14570168e-02 9.21148009e+00] [-1.62977861e-03 9.99992833e-01 3.41727601e-03 4.40065824e-01] [ 1.14626375e-02 -3.39837456e-03 9.99928527e-01 -2.06796071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.98455357399996 meters Centerline goodness [0,1] 0.8312227622241997 Centerline is valid? [False, False] Translation: X:9.21, Y:0.44, Z:-2.07 [[ 9.99930741e-01 1.35593241e-03 -1.16907624e-02 9.21277914e+00] [-1.31576045e-03 9.99993206e-01 3.44322039e-03 4.39002209e-01] [ 1.16953518e-02 -3.42759968e-03 9.99925732e-01 -2.06856421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.014553574 meters Centerline goodness [0,1] 0.8220594276324797 Centerline is valid? [False, False] Translation: X:9.21, Y:0.44, Z:-2.07 [[ 9.99930951e-01 1.34663760e-03 -1.16739204e-02 9.21299787e+00] [-1.30557655e-03 9.99992938e-01 3.52423911e-03 4.38395471e-01] [ 1.16785838e-02 -3.50875456e-03 9.99925647e-01 -2.06874457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.04455357399996 meters Centerline goodness [0,1] 0.8300704418625926 Centerline is valid? [False, False] Translation: X:9.21, Y:0.44, Z:-2.07 [[ 9.99932263e-01 1.56572357e-03 -1.15333549e-02 9.21258312e+00] [-1.52264472e-03 9.99991836e-01 3.74298715e-03 4.37960087e-01] [ 1.15391213e-02 -3.72517241e-03 9.99926483e-01 -2.06851174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.074553574 meters Centerline goodness [0,1] 0.8242775626188785 Centerline is valid? [False, False] Translation: X:9.21, Y:0.44, Z:-2.07 [[ 9.99934262e-01 1.91169923e-03 -1.13056389e-02 9.21221740e+00] [-1.86855391e-03 9.99990937e-01 3.82559756e-03 4.37790903e-01] [ 1.13128498e-02 -3.80422088e-03 9.99928771e-01 -2.06875078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.10455357399997 meters Centerline goodness [0,1] 0.8132187857961054 Centerline is valid? [False, False] Translation: X:9.21, Y:0.44, Z:-2.07 [[ 9.99934039e-01 1.96906720e-03 -1.13155360e-02 9.21260344e+00] [-1.92645879e-03 9.99991018e-01 3.77514558e-03 4.37854654e-01] [ 1.13228679e-02 -3.75309765e-03 9.99928851e-01 -2.06926622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.134553574 meters Centerline goodness [0,1] 0.817380957828982 Centerline is valid? [False, False] Translation: X:9.21, Y:0.44, Z:-2.07 [[ 9.99934594e-01 2.10723590e-03 -1.12413134e-02 9.21250708e+00] [-2.06300829e-03 9.99990092e-01 3.94452670e-03 4.37593720e-01] [ 1.12495141e-02 -3.92107778e-03 9.99929034e-01 -2.06926225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.16455357399997 meters Centerline goodness [0,1] 0.8218638321268212 Centerline is valid? [False, False] Translation: X:9.21, Y:0.44, Z:-2.07 [[ 9.99930752e-01 1.07538404e-03 -1.17189910e-02 9.21475809e+00] [-1.03127273e-03 9.99992364e-01 3.76948102e-03 4.35796470e-01] [ 1.17229551e-02 -3.75713452e-03 9.99924225e-01 -2.06980699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.194553574 meters Centerline goodness [0,1] 0.8194460327988838 Centerline is valid? [False, False] Translation: X:9.22, Y:0.43, Z:-2.07 [[ 9.99922856e-01 -8.41015118e-05 -1.24207450e-02 9.21781404e+00] [ 1.25608509e-04 9.99994411e-01 3.34100549e-03 4.34821576e-01] [ 1.24203946e-02 -3.34230790e-03 9.99917278e-01 -2.07099438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.22455357399997 meters Centerline goodness [0,1] 0.8259374639436945 Centerline is valid? [False, False] Translation: X:9.22, Y:0.43, Z:-2.07 [[ 9.99899560e-01 -5.48106608e-03 -1.30700763e-02 9.22119295e+00] [ 5.46460305e-03 9.99984230e-01 -1.29497796e-03 4.34107423e-01] [ 1.30769680e-02 1.22342511e-03 9.99913744e-01 -2.07300596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.254553574 meters Centerline goodness [0,1] 0.8259374639436945 Centerline is valid? [False, False] Translation: X:9.22, Y:0.43, Z:-2.07 [[ 9.99899560e-01 -5.48106608e-03 -1.30700763e-02 9.22119295e+00] [ 5.46460305e-03 9.99984230e-01 -1.29497796e-03 4.34107423e-01] [ 1.30769680e-02 1.22342511e-03 9.99913744e-01 -2.07300596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.284553574 meters Centerline goodness [0,1] 0.8251090040833275 Centerline is valid? [False, False] Translation: X:9.22, Y:0.43, Z:-2.07 [[ 9.99876732e-01 -7.15429823e-03 -1.39762622e-02 9.22483060e+00] [ 7.13284283e-03 9.99973306e-01 -1.58437714e-03 4.32492992e-01] [ 1.39872242e-02 1.48449136e-03 9.99901072e-01 -2.07361971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.314553574 meters Centerline goodness [0,1] 0.8181145684035322 Centerline is valid? [False, False] Translation: X:9.23, Y:0.43, Z:-2.07 [[ 9.99803477e-01 -1.31924069e-02 -1.47975821e-02 9.22873058e+00] [ 1.31015432e-02 9.99894821e-01 -6.22067337e-03 4.31287613e-01] [ 1.48780913e-02 6.02557971e-03 9.99871159e-01 -2.07479658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.344553574 meters Centerline goodness [0,1] 0.8296301423594288 Centerline is valid? [False, False] Translation: X:9.23, Y:0.43, Z:-2.08 [[ 9.99769808e-01 -1.47358307e-02 -1.55944221e-02 9.23204579e+00] [ 1.46340644e-02 9.99871002e-01 -6.61993242e-03 4.30564461e-01] [ 1.56899607e-02 6.39019879e-03 9.99856485e-01 -2.07546291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.374553574 meters Centerline goodness [0,1] 0.8133785748909356 Centerline is valid? [False, False] Translation: X:9.23, Y:0.43, Z:-2.08 [[ 9.99738802e-01 -1.59650510e-02 -1.63537658e-02 9.23488642e+00] [ 1.58528929e-02 9.99850075e-01 -6.96508316e-03 4.30290165e-01] [ 1.64625118e-02 6.70400940e-03 9.99842009e-01 -2.07595581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.404553574 meters Centerline goodness [0,1] 0.832879096718045 Centerline is valid? [False, False] Translation: X:9.24, Y:0.43, Z:-2.08 [[ 9.99687581e-01 -1.79198329e-02 -1.74246682e-02 9.23910648e+00] [ 1.77834264e-02 9.99810239e-01 -7.95205445e-03 4.31233309e-01] [ 1.75638612e-02 7.63969978e-03 9.99816556e-01 -2.07705323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.434553574 meters Centerline goodness [0,1] 0.8332000274229301 Centerline is valid? [False, False] Translation: X:9.24, Y:0.43, Z:-2.08 [[ 9.99705608e-01 -1.57196582e-02 -1.84821493e-02 9.24274495e+00] [ 1.56406611e-02 9.99867947e-01 -4.41105452e-03 4.30645279e-01] [ 1.85490489e-02 4.12068291e-03 9.99819460e-01 -2.07717483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.464553574 meters Centerline goodness [0,1] 0.7855244326313637 Centerline is valid? [False, False] Translation: X:9.25, Y:0.43, Z:-2.08 [[ 9.99724494e-01 -1.30853442e-02 -1.94861235e-02 9.24602664e+00] [ 1.30662122e-02 9.99914019e-01 -1.10882590e-03 4.31891943e-01] [ 1.94989574e-02 8.53910587e-04 9.99809513e-01 -2.07747890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.494553574 meters Centerline goodness [0,1] 0.8006743759759216 Centerline is valid? [False, False] Translation: X:9.25, Y:0.43, Z:-2.08 [[ 9.99745030e-01 -1.00098676e-02 -2.02404855e-02 9.24849035e+00] [ 1.00663527e-02 9.99945713e-01 2.69073897e-03 4.31608626e-01] [ 2.02124527e-02 -2.89380078e-03 9.99791520e-01 -2.07757760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.524553574 meters Centerline goodness [0,1] 0.836146701918514 Centerline is valid? [False, False] Translation: X:9.25, Y:0.43, Z:-2.08 [[ 9.99751177e-01 -9.53128730e-03 -2.01677849e-02 9.24829809e+00] [ 9.58449421e-03 9.99950834e-01 2.54319859e-03 4.33236936e-01] [ 2.01425534e-02 -2.73586380e-03 9.99793375e-01 -2.07794125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.55455357399995 meters Centerline goodness [0,1] 0.8353779095892873 Centerline is valid? [False, False] Translation: X:9.27, Y:0.44, Z:-2.08 [[ 9.99872260e-01 -4.68564953e-03 -1.52809870e-02 9.26633773e+00] [ 4.65289147e-03 9.99986802e-01 -2.17856200e-03 4.36416440e-01] [ 1.52909933e-02 2.10718294e-03 9.99880866e-01 -2.08418657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.584553574 meters Centerline goodness [0,1] 0.8326423593214262 Centerline is valid? [False, False] Translation: X:9.27, Y:0.44, Z:-2.08 [[ 9.99879649e-01 -3.92643915e-03 -1.50089954e-02 9.26520461e+00] [ 3.89626217e-03 9.99990330e-01 -2.03930595e-03 4.37876528e-01] [ 1.50168575e-02 1.98058154e-03 9.99885279e-01 -2.08390516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.61455357399996 meters Centerline goodness [0,1] 0.8315775317165015 Centerline is valid? [False, False] Translation: X:9.27, Y:0.44, Z:-2.08 [[ 9.99885863e-01 3.78957172e-04 -1.51035566e-02 9.26526447e+00] [-3.46063503e-04 9.99997563e-01 2.18042973e-03 4.38335639e-01] [ 1.51043461e-02 -2.17495407e-03 9.99883557e-01 -2.08333989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.644553574 meters Centerline goodness [0,1] 0.8311178857232522 Centerline is valid? [False, False] Translation: X:9.27, Y:0.44, Z:-2.08 [[ 9.99868669e-01 3.48619057e-03 -1.58268978e-02 9.26809402e+00] [-3.39367346e-03 9.99977021e-01 5.86866065e-03 4.37608108e-01] [ 1.58469934e-02 -5.81417859e-03 9.99857524e-01 -2.08409049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.67455357399996 meters Centerline goodness [0,1] 0.831572572505215 Centerline is valid? [False, False] Translation: X:9.28, Y:0.44, Z:-2.09 [[ 9.99907761e-01 8.46640326e-03 -1.06202860e-02 9.28393053e+00] [-8.46229690e-03 9.99964101e-01 4.31530793e-04 4.38889268e-01] [ 1.06235583e-02 -3.41618975e-04 9.99943510e-01 -2.08983714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.704553574 meters Centerline goodness [0,1] 0.8303884542756946 Centerline is valid? [False, False] Translation: X:9.28, Y:0.44, Z:-2.09 [[ 9.99905042e-01 9.19983446e-03 -1.02601298e-02 9.28282643e+00] [-9.19487287e-03 9.99957585e-01 5.30647586e-04 4.39667166e-01] [ 1.02645765e-02 -4.36256607e-04 9.99947223e-01 -2.08985558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.73455357399996 meters Centerline goodness [0,1] 0.8232033038559949 Centerline is valid? [False, False] Translation: X:9.28, Y:0.44, Z:-2.09 [[ 9.99887658e-01 1.14174051e-02 -9.71154443e-03 9.28050299e+00] [-1.14054730e-02 9.99934132e-01 1.28315377e-03 4.41462555e-01] [ 9.72555504e-03 -1.17224486e-03 9.99952019e-01 -2.08961566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.764553574 meters Centerline goodness [0,1] 0.8250437671140638 Centerline is valid? [False, False] Translation: X:9.28, Y:0.44, Z:-2.09 [[ 9.99882604e-01 1.20675379e-02 -9.44206125e-03 9.27966547e+00] [-1.20559119e-02 9.99926496e-01 1.28724895e-03 4.42477044e-01] [ 9.45690115e-03 -1.17326517e-03 9.99954594e-01 -2.08968333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.79455357399996 meters Centerline goodness [0,1] 0.8217917133258679 Centerline is valid? [False, False] Translation: X:9.28, Y:0.44, Z:-2.09 [[ 9.99877235e-01 1.27250594e-02 -9.14261586e-03 9.27875685e+00] [-1.27139900e-02 9.99918370e-01 1.26785148e-03 4.43459569e-01] [ 9.15800303e-03 -1.15145670e-03 9.99957402e-01 -2.08979064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.824553574 meters Centerline goodness [0,1] 0.8240713757313547 Centerline is valid? [False, False] Translation: X:9.28, Y:0.45, Z:-2.09 [[ 9.99862383e-01 1.42455354e-02 -8.50173536e-03 9.27640436e+00] [-1.42325025e-02 9.99897446e-01 1.59150985e-03 4.45077200e-01] [ 8.52353538e-03 -1.47028986e-03 9.99962593e-01 -2.08934669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.85455357399997 meters Centerline goodness [0,1] 0.817711714535157 Centerline is valid? [False, False] Translation: X:9.28, Y:0.45, Z:-2.09 [[ 9.99860839e-01 1.43268600e-02 -8.54658311e-03 9.27691777e+00] [-1.43167253e-02 9.99896734e-01 1.24581843e-03 4.46102196e-01] [ 8.56354921e-03 -1.12328598e-03 9.99962701e-01 -2.09015696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.884553574 meters Centerline goodness [0,1] 0.8229287693270176 Centerline is valid? [False, False] Translation: X:9.28, Y:0.45, Z:-2.09 [[ 9.99858883e-01 1.43994674e-02 -8.65276013e-03 9.27763288e+00] [-1.43922791e-02 9.99896028e-01 8.92446568e-04 4.47269589e-01] [ 8.66471123e-03 -7.67787690e-04 9.99962166e-01 -2.09105465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.91455357399997 meters Centerline goodness [0,1] 0.8233884334542848 Centerline is valid? [False, False] Translation: X:9.28, Y:0.45, Z:-2.09 [[ 9.99863422e-01 1.38696108e-02 -8.98723318e-03 9.27895714e+00] [-1.38638438e-02 9.99903645e-01 7.03682632e-04 4.46958327e-01] [ 8.99612701e-03 -5.78988929e-04 9.99959366e-01 -2.09138986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.944553574 meters Centerline goodness [0,1] 0.8227001302024873 Centerline is valid? [False, False] Translation: X:9.28, Y:0.45, Z:-2.09 [[ 9.99867721e-01 1.32601579e-02 -9.41849600e-03 9.28069847e+00] [-1.32572583e-02 9.99912050e-01 3.70230750e-04 4.47033339e-01] [ 9.42257696e-03 -2.45318342e-04 9.99955576e-01 -2.09212485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.97455357399997 meters Centerline goodness [0,1] 0.823646710880086 Centerline is valid? [False, False] Translation: X:9.28, Y:0.45, Z:-2.09 [[ 9.99871993e-01 1.26632836e-02 -9.77952627e-03 9.28214258e+00] [-1.26624983e-02 9.99919817e-01 1.42218988e-04 4.46969748e-01] [ 9.78054308e-03 -1.83675486e-05 9.99952169e-01 -2.09258702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.004553574 meters Centerline goodness [0,1] 0.8204294079375407 Centerline is valid? [False, False] Translation: X:9.27, Y:0.45, Z:-2.10 [[ 9.99971709e-01 7.14974520e-03 -2.33702260e-03 9.27438742e+00] [-7.15104024e-03 9.99974282e-01 -5.46256152e-04 4.49562753e-01] [ 2.33305690e-03 5.62952840e-04 9.99997120e-01 -2.09725375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.034553574 meters Centerline goodness [0,1] 0.8245834361193963 Centerline is valid? [False, False] Translation: X:9.28, Y:0.45, Z:-2.10 [[ 9.99975347e-01 6.46511585e-03 -2.74011820e-03 9.27596274e+00] [-6.46771555e-03 9.99978641e-01 -9.40957681e-04 4.49818624e-01] [ 2.73397627e-03 9.58656789e-04 9.99995803e-01 -2.09772960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.064553574 meters Centerline goodness [0,1] 0.8240262365784626 Centerline is valid? [False, False] Translation: X:9.28, Y:0.45, Z:-2.10 [[ 9.99991684e-01 3.07153549e-03 -2.68289398e-03 9.27544745e+00] [-3.08497576e-03 9.99982641e-01 -5.01992815e-03 4.51830319e-01] [ 2.66742853e-03 5.02816306e-03 9.99983801e-01 -2.09787885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.094553574 meters Centerline goodness [0,1] 0.8238523065892949 Centerline is valid? [False, False] Translation: X:9.28, Y:0.45, Z:-2.10 [[ 9.99991655e-01 2.91628476e-03 -2.86087133e-03 9.27599715e+00] [-2.93079252e-03 9.99982801e-01 -5.08008074e-03 4.52229426e-01] [ 2.84600717e-03 5.08842297e-03 9.99983004e-01 -2.09779110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.124553574 meters Centerline goodness [0,1] 0.8224215246636771 Centerline is valid? [False, False] Translation: X:9.28, Y:0.45, Z:-2.10 [[ 9.99991412e-01 2.93009733e-03 -2.93079005e-03 9.27618437e+00] [-2.94502284e-03 9.99982651e-01 -5.10137062e-03 4.52661361e-01] [ 2.91579170e-03 5.10995805e-03 9.99982693e-01 -2.09769966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.154553574 meters Centerline goodness [0,1] 0.8243900253175901 Centerline is valid? [False, False] Translation: X:9.28, Y:0.45, Z:-2.10 [[ 9.99990547e-01 3.20160923e-03 -2.94206075e-03 9.27627719e+00] [-3.21712932e-03 9.99980855e-01 -5.28574040e-03 4.54359870e-01] [ 2.92508155e-03 5.29515542e-03 9.99981702e-01 -2.09805369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.184553574 meters Centerline goodness [0,1] 0.823429693076374 Centerline is valid? [False, False] Translation: X:9.28, Y:0.46, Z:-2.10 [[ 9.99989751e-01 3.37052420e-03 -3.02294652e-03 9.27661375e+00] [-3.38675314e-03 9.99979795e-01 -5.37962729e-03 4.55359826e-01] [ 3.00475328e-03 5.38981013e-03 9.99980961e-01 -2.09846833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.214553574 meters Centerline goodness [0,1] 0.8201751453974196 Centerline is valid? [False, False] Translation: X:9.28, Y:0.46, Z:-2.10 [[ 9.99987310e-01 4.09720250e-03 -2.93142035e-03 9.27606463e+00] [-4.11223984e-03 9.99978323e-01 -5.14220775e-03 4.56540817e-01] [ 2.91028814e-03 5.15419719e-03 9.99982482e-01 -2.09840158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.244553574 meters Centerline goodness [0,1] 0.810962268363474 Centerline is valid? [False, False] Translation: X:9.28, Y:0.46, Z:-2.10 [[ 9.99985586e-01 4.60543832e-03 -2.76009597e-03 9.27534517e+00] [-4.61902461e-03 9.99977148e-01 -4.93640554e-03 4.56899614e-01] [ 2.73729858e-03 4.94908333e-03 9.99984007e-01 -2.09815649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.274553574 meters Centerline goodness [0,1] 0.818238434163701 Centerline is valid? [False, False] Translation: X:9.27, Y:0.46, Z:-2.10 [[ 9.99978942e-01 5.98145278e-03 -2.51730373e-03 9.27434922e+00] [-5.99276691e-03 9.99971867e-01 -4.51126315e-03 4.58132547e-01] [ 2.49024900e-03 4.52625376e-03 9.99986656e-01 -2.09843621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.30455357399995 meters Centerline goodness [0,1] 0.8229318815562342 Centerline is valid? [False, False] Translation: X:9.27, Y:0.46, Z:-2.10 [[ 9.99975491e-01 6.55557874e-03 -2.45811529e-03 9.27413294e+00] [-6.56686764e-03 9.99967798e-01 -4.61290551e-03 4.59553285e-01] [ 2.42779587e-03 4.62893456e-03 9.99986339e-01 -2.09897279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.334553574 meters Centerline goodness [0,1] 0.818326622715809 Centerline is valid? [False, False] Translation: X:9.27, Y:0.46, Z:-2.10 [[ 9.99970873e-01 7.25952439e-03 -2.35635383e-03 9.27358678e+00] [-7.27022737e-03 9.99963148e-01 -4.56584689e-03 4.60941138e-01] [ 2.32312112e-03 4.58284513e-03 9.99986800e-01 -2.09912661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.36455357399996 meters Centerline goodness [0,1] 0.8160223670306446 Centerline is valid? [False, False] Translation: X:9.27, Y:0.46, Z:-2.10 [[ 9.99960327e-01 8.66896811e-03 -2.04769627e-03 9.27206601e+00] [-8.67710359e-03 9.99954361e-01 -3.99809400e-03 4.62057977e-01] [ 2.01294347e-03 4.01570346e-03 9.99989911e-01 -2.09865431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.394553574 meters Centerline goodness [0,1] 0.814894457366042 Centerline is valid? [False, False] Translation: X:9.27, Y:0.46, Z:-2.10 [[ 9.99957269e-01 9.03752856e-03 -1.94512591e-03 9.27181880e+00] [-9.04516962e-03 9.99951266e-01 -3.95603209e-03 4.62799466e-01] [ 1.90927836e-03 3.97345704e-03 9.99990283e-01 -2.09865726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.42455357399996 meters Centerline goodness [0,1] 0.8095959928820932 Centerline is valid? [False, False] Translation: X:9.27, Y:0.46, Z:-2.10 [[ 9.99958147e-01 8.92599270e-03 -2.00765369e-03 9.27197205e+00] [-8.93379481e-03 9.99952443e-01 -3.91138016e-03 4.62719510e-01] [ 1.97264526e-03 3.92915242e-03 9.99990335e-01 -2.09844431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.454553574 meters Centerline goodness [0,1] 0.8165294698715838 Centerline is valid? [False, False] Translation: X:9.27, Y:0.46, Z:-2.10 [[ 9.99960709e-01 8.58384738e-03 -2.21309736e-03 9.27276741e+00] [-8.59262155e-03 9.99955138e-01 -3.98610653e-03 4.62678734e-01] [ 2.17878194e-03 4.00496622e-03 9.99989607e-01 -2.09856296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.48455357399996 meters Centerline goodness [0,1] 0.8155129857364409 Centerline is valid? [False, False] Translation: X:9.27, Y:0.46, Z:-2.10 [[ 9.99980110e-01 3.48342295e-03 5.25789772e-03 9.26553681e+00] [-3.47282826e-03 9.99991924e-01 -2.02279078e-03 4.64451506e-01] [-5.26490150e-03 2.00449077e-03 9.99984131e-01 -2.10352586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.514553574 meters Centerline goodness [0,1] 0.8168946379408295 Centerline is valid? [False, False] Translation: X:9.27, Y:0.46, Z:-2.10 [[ 9.99986255e-01 2.56414973e-03 4.57328573e-03 9.26787510e+00] [-2.55379729e-03 9.99994167e-01 -2.26808115e-03 4.64019062e-01] [-4.57907476e-03 2.25637073e-03 9.99986970e-01 -2.10404172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.54455357399996 meters Centerline goodness [0,1] 0.8156577250169432 Centerline is valid? [False, False] Translation: X:9.27, Y:0.46, Z:-2.10 [[ 9.99988688e-01 -2.11848342e-03 4.25851133e-03 9.26907593e+00] [ 2.14667019e-03 9.99975748e-01 -6.62528940e-03 4.63897496e-01] [-4.24437249e-03 6.63435607e-03 9.99968985e-01 -2.10452443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.574553574 meters Centerline goodness [0,1] 0.8147211993114418 Centerline is valid? [False, False] Translation: X:9.27, Y:0.46, Z:-2.10 [[ 9.99988447e-01 -3.02097358e-03 3.73885447e-03 9.27097228e+00] [ 3.04658220e-03 9.99971811e-01 -6.86268530e-03 4.63517133e-01] [-3.71801708e-03 6.87399675e-03 9.99969462e-01 -2.10492081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.60455357399997 meters Centerline goodness [0,1] 0.8186107185563648 Centerline is valid? [False, False] Translation: X:9.27, Y:0.46, Z:-2.11 [[ 9.99987299e-01 -3.91208616e-03 3.17757572e-03 9.27297783e+00] [ 3.93500445e-03 9.99966059e-01 -7.23856642e-03 4.63832478e-01] [-3.14914997e-03 7.25097826e-03 9.99968753e-01 -2.10544082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.634553574 meters Centerline goodness [0,1] 0.8161318300086731 Centerline is valid? [False, False] Translation: X:9.28, Y:0.46, Z:-2.11 [[ 9.99977910e-01 -6.32773036e-03 2.03454736e-03 9.27754485e+00] [ 6.34430410e-03 9.99945878e-01 -8.24559852e-03 4.64091251e-01] [-1.98226132e-03 8.25832416e-03 9.99963935e-01 -2.10668283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.66455357399997 meters Centerline goodness [0,1] 0.8123888816616799 Centerline is valid? [False, False] Translation: X:9.28, Y:0.46, Z:-2.11 [[ 9.99973544e-01 -7.10860000e-03 1.54223748e-03 9.27933016e+00] [ 7.12134379e-03 9.99939182e-01 -8.42135046e-03 4.63844159e-01] [-1.48227967e-03 8.43211047e-03 9.99963351e-01 -2.10698058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.694553574 meters Centerline goodness [0,1] 0.8104962575174144 Centerline is valid? [False, False] Translation: X:9.28, Y:0.46, Z:-2.11 [[ 9.99963539e-01 -8.49921430e-03 8.27392952e-04 9.28219810e+00] [ 8.50634285e-03 9.99923035e-01 -9.03141882e-03 4.63977226e-01] [-7.50569308e-04 9.03812761e-03 9.99958874e-01 -2.10796101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.72455357399997 meters Centerline goodness [0,1] 0.8110806197195273 Centerline is valid? [False, False] Translation: X:9.29, Y:0.46, Z:-2.11 [[ 9.99980488e-01 -6.24646033e-03 7.40322915e-05 9.28508475e+00] [ 6.24677431e-03 9.99965185e-01 -5.53227941e-03 4.62938146e-01] [-3.94725502e-05 5.53263393e-03 9.99984694e-01 -2.10827451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.754553574 meters Centerline goodness [0,1] 0.8165408669398317 Centerline is valid? [False, False] Translation: X:9.29, Y:0.46, Z:-2.11 [[ 9.99993204e-01 -3.60886123e-03 -7.53992513e-04 9.28799133e+00] [ 3.60741816e-03 9.99991676e-01 -1.90657714e-03 4.62178527e-01] [ 7.60866809e-04 1.90384422e-03 9.99997898e-01 -2.10871663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.784553574 meters Centerline goodness [0,1] 0.8173763440860216 Centerline is valid? [False, False] Translation: X:9.29, Y:0.46, Z:-2.11 [[ 9.99994192e-01 -3.30772830e-03 -8.21601430e-04 9.28806635e+00] [ 3.30618079e-03 9.99992771e-01 -1.87780663e-03 4.62808867e-01] [ 8.27806765e-04 1.87507936e-03 9.99997899e-01 -2.10897042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.814553574 meters Centerline goodness [0,1] 0.8119401061247288 Centerline is valid? [False, False] Translation: X:9.29, Y:0.46, Z:-2.11 [[ 9.99995450e-01 -2.89470939e-03 -8.48383547e-04 9.28801716e+00] [ 2.89308763e-03 9.99993997e-01 -1.90661871e-03 4.63841114e-01] [ 8.53897561e-04 1.90415559e-03 9.99997823e-01 -2.10934624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.844553574 meters Centerline goodness [0,1] 0.8188247396168188 Centerline is valid? [False, False] Translation: X:9.29, Y:0.47, Z:-2.11 [[ 9.99998987e-01 -1.22225848e-03 -7.28811359e-04 9.28653487e+00] [ 1.22147674e-03 9.99998679e-01 -1.07210685e-03 4.65210008e-01] [ 7.30120788e-04 1.07121554e-03 9.99999160e-01 -2.10874448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.874553574 meters Centerline goodness [0,1] 0.8178878848871569 Centerline is valid? [False, False] Translation: X:9.29, Y:0.47, Z:-2.11 [[ 9.99999728e-01 5.23446891e-04 -5.19011317e-04 9.28507452e+00] [-5.23651177e-04 9.99999785e-01 -3.93547897e-04 4.66449534e-01] [ 5.18805204e-04 3.93819571e-04 9.99999788e-01 -2.10844973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.904553574 meters Centerline goodness [0,1] 0.8175138829560017 Centerline is valid? [False, False] Translation: X:9.29, Y:0.47, Z:-2.11 [[ 9.99999395e-01 9.10718186e-04 -6.16407148e-04 9.28533747e+00] [-9.11028034e-04 9.99999459e-01 -5.02574090e-04 4.67448839e-01] [ 6.15949111e-04 5.03135350e-04 9.99999684e-01 -2.10895113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.934553574 meters Centerline goodness [0,1] 0.817605904184975 Centerline is valid? [False, False] Translation: X:9.29, Y:0.47, Z:-2.11 [[ 9.99998950e-01 1.30140537e-03 -6.38124049e-04 9.28538128e+00] [-1.30177527e-03 9.99998985e-01 -5.79597446e-04 4.68284406e-01] [ 6.37369110e-04 5.80427531e-04 9.99999628e-01 -2.10934387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.964553574 meters Centerline goodness [0,1] 0.8166188502815854 Centerline is valid? [False, False] Translation: X:9.28, Y:0.47, Z:-2.11 [[ 9.99996160e-01 2.74419333e-03 -3.86630546e-04 9.28383902e+00] [-2.74421536e-03 9.99996233e-01 -5.64511574e-05 4.70088909e-01] [ 3.86474176e-04 5.75119381e-05 9.99999924e-01 -2.10871810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.994553574 meters Centerline goodness [0,1] 0.8125808846929033 Centerline is valid? [False, False] Translation: X:9.28, Y:0.47, Z:-2.11 [[ 9.99994581e-01 3.26472121e-03 -4.24346839e-04 9.28380111e+00] [-3.26479938e-03 9.99994654e-01 -1.83641594e-04 4.71511564e-01] [ 4.23745032e-04 1.85026006e-04 9.99999893e-01 -2.10906525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.024553574 meters Centerline goodness [0,1] 0.8165477526305761 Centerline is valid? [False, False] Translation: X:9.28, Y:0.47, Z:-2.11 [[ 9.99994494e-01 3.27362571e-03 -5.43352215e-04 9.28411144e+00] [-3.27373100e-03 9.99994623e-01 -1.92990110e-04 4.71499656e-01] [ 5.42717516e-04 1.94767837e-04 9.99999834e-01 -2.10910447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.05455357399995 meters Centerline goodness [0,1] 0.8149386373254337 Centerline is valid? [False, False] Translation: X:9.28, Y:0.47, Z:-2.11 [[ 9.99994912e-01 3.09928149e-03 -7.55257194e-04 9.28485044e+00] [-3.09951006e-03 9.99995151e-01 -3.01660521e-04 4.71388460e-01] [ 7.54318600e-04 3.03999914e-04 9.99999669e-01 -2.10934447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.084553574 meters Centerline goodness [0,1] 0.8145012803961821 Centerline is valid? [False, False] Translation: X:9.29, Y:0.47, Z:-2.11 [[ 9.99995541e-01 2.82756650e-03 -9.60569442e-04 9.28550852e+00] [-2.82789218e-03 9.99995944e-01 -3.37860525e-04 4.71170244e-01] [ 9.59610223e-04 3.40575405e-04 9.99999482e-01 -2.10936185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.11455357399996 meters Centerline goodness [0,1] 0.8148022622804973 Centerline is valid? [False, False] Translation: X:9.29, Y:0.47, Z:-2.11 [[ 9.99996012e-01 2.51514324e-03 -1.28420815e-03 9.28661398e+00] [-2.51579575e-03 9.99996707e-01 -5.06742871e-04 4.71119463e-01] [ 1.28292939e-03 5.09971656e-04 9.99999047e-01 -2.10979017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.144553574 meters Centerline goodness [0,1] 0.8138997285374958 Centerline is valid? [False, False] Translation: X:9.29, Y:0.47, Z:-2.11 [[ 9.99996316e-01 2.17333709e-03 -1.62620463e-03 9.28764981e+00] [-2.17425582e-03 9.99997478e-01 -5.63395741e-04 4.70944846e-01] [ 1.62497608e-03 5.66929450e-04 9.99998519e-01 -2.10987710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.17455357399996 meters Centerline goodness [0,1] 0.8138997285374958 Centerline is valid? [False, False] Translation: X:9.29, Y:0.47, Z:-2.11 [[ 9.99996316e-01 2.17333709e-03 -1.62620463e-03 9.28764981e+00] [-2.17425582e-03 9.99997478e-01 -5.63395741e-04 4.70944846e-01] [ 1.62497608e-03 5.66929450e-04 9.99998519e-01 -2.10987710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.204553574 meters Centerline goodness [0,1] 0.8124536379628255 Centerline is valid? [False, False] Translation: X:9.29, Y:0.47, Z:-2.11 [[ 9.99996317e-01 1.90550794e-03 -1.93239308e-03 9.28880878e+00] [-1.90696615e-03 9.99997898e-01 -7.53052013e-04 4.71095903e-01] [ 1.93095407e-03 7.56734248e-04 9.99997849e-01 -2.11046961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.23455357399996 meters Centerline goodness [0,1] 0.8141921258507007 Centerline is valid? [False, False] Translation: X:9.29, Y:0.47, Z:-2.11 [[ 9.99996093e-01 1.89240232e-03 -2.05724149e-03 9.28912350e+00] [-1.89378751e-03 9.99997981e-01 -6.71586978e-04 4.71072436e-01] [ 2.05596643e-03 6.75480333e-04 9.99997658e-01 -2.11046624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.264553574 meters Centerline goodness [0,1] 0.812920335207383 Centerline is valid? [False, False] Translation: X:9.29, Y:0.47, Z:-2.11 [[ 9.99995822e-01 1.28031755e-03 -2.59177430e-03 9.29096919e+00] [-1.28280004e-03 9.99998720e-01 -9.56399751e-04 4.71059974e-01] [ 2.59054649e-03 9.59720483e-04 9.99996184e-01 -2.11118583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.29455357399996 meters Centerline goodness [0,1] 0.8102050345969352 Centerline is valid? [False, False] Translation: X:9.29, Y:0.47, Z:-2.11 [[ 9.99995186e-01 9.25019867e-04 -2.96167070e-03 9.29216123e+00] [-9.27907017e-04 9.99999096e-01 -9.73612720e-04 4.70664867e-01] [ 2.96076741e-03 9.76356188e-04 9.99995140e-01 -2.11149577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.324553574 meters Centerline goodness [0,1] 0.8117854188320641 Centerline is valid? [False, False] Translation: X:9.29, Y:0.47, Z:-2.11 [[ 9.99993488e-01 -1.18183442e-04 -3.60687640e-03 9.29440737e+00] [ 1.14082649e-04 9.99999347e-01 -1.13712209e-03 4.69643757e-01] [ 3.60700843e-03 1.13670320e-03 9.99992849e-01 -2.11183159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.35455357399997 meters Centerline goodness [0,1] 0.8112319531895948 Centerline is valid? [False, False] Translation: X:9.30, Y:0.47, Z:-2.11 [[ 9.99992288e-01 -4.93800573e-04 -3.89622077e-03 9.29523002e+00] [ 4.89312831e-04 9.99999216e-01 -1.15268845e-03 4.69460187e-01] [ 3.89678692e-03 1.15077309e-03 9.99991745e-01 -2.11168360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.384553574 meters Centerline goodness [0,1] 0.8175515725397362 Centerline is valid? [False, False] Translation: X:9.30, Y:0.47, Z:-2.11 [[ 9.99990572e-01 -1.11233297e-03 -4.19744404e-03 9.29613128e+00] [ 1.10683763e-03 9.99998528e-01 -1.31130615e-03 4.69574097e-01] [ 4.19889647e-03 1.30664790e-03 9.99990331e-01 -2.11137441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.41455357399997 meters Centerline goodness [0,1] 0.8150098331535875 Centerline is valid? [False, False] Translation: X:9.30, Y:0.47, Z:-2.11 [[ 9.99989394e-01 -1.32940152e-03 -4.40952394e-03 9.29657785e+00] [ 1.32367953e-03 9.99998279e-01 -1.30030906e-03 4.69693882e-01] [ 4.41124499e-03 1.29445848e-03 9.99989433e-01 -2.11104732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.444553574 meters Centerline goodness [0,1] 0.8171884229178972 Centerline is valid? [False, False] Translation: X:9.30, Y:0.47, Z:-2.11 [[ 9.99988096e-01 -1.50100686e-03 -4.64280148e-03 9.29705373e+00] [ 1.49488805e-03 9.99998010e-01 -1.32110238e-03 4.70066745e-01] [ 4.64477522e-03 1.31414619e-03 9.99988349e-01 -2.11075538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.47455357399997 meters Centerline goodness [0,1] 0.8136405684971828 Centerline is valid? [False, False] Translation: X:9.30, Y:0.47, Z:-2.11 [[ 9.99985383e-01 -1.88118206e-03 -5.06905838e-03 9.29830607e+00] [ 1.87186786e-03 9.99996552e-01 -1.84157948e-03 4.71752339e-01] [ 5.07250525e-03 1.83206396e-03 9.99985457e-01 -2.11115894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.504553574 meters Centerline goodness [0,1] 0.8184882041405874 Centerline is valid? [False, False] Translation: X:9.30, Y:0.47, Z:-2.11 [[ 9.99984018e-01 -1.93107017e-03 -5.31371976e-03 9.29901647e+00] [ 1.91979070e-03 9.99995895e-01 -2.12698896e-03 4.72836255e-01] [ 5.31780531e-03 2.11675373e-03 9.99983620e-01 -2.11155403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.534553574 meters Centerline goodness [0,1] 0.8241620810405202 Centerline is valid? [False, False] Translation: X:9.30, Y:0.48, Z:-2.11 [[ 9.99982107e-01 -1.82235768e-03 -5.69770759e-03 9.30001019e+00] [ 1.80715327e-03 9.99994796e-01 -2.67252449e-03 4.75331922e-01] [ 5.70254823e-03 2.66218004e-03 9.99980197e-01 -2.11222831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.564553574 meters Centerline goodness [0,1] 0.8219354838709677 Centerline is valid? [False, False] Translation: X:9.30, Y:0.48, Z:-2.11 [[ 9.99981163e-01 -1.73396014e-03 -5.88779414e-03 9.30055633e+00] [ 1.71674282e-03 9.99994240e-01 -2.92803469e-03 4.76568626e-01] [ 5.89283732e-03 2.91787171e-03 9.99978380e-01 -2.11266293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.594553574 meters Centerline goodness [0,1] 0.8178342890384775 Centerline is valid? [False, False] Translation: X:9.30, Y:0.48, Z:-2.11 [[ 9.99981069e-01 -1.45155562e-03 -5.97955121e-03 9.30061337e+00] [ 1.43347330e-03 9.99994391e-01 -3.02720229e-03 4.77722804e-01] [ 5.98391182e-03 3.01857346e-03 9.99977540e-01 -2.11279176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.624553574 meters Centerline goodness [0,1] 0.8233172329442981 Centerline is valid? [False, False] Translation: X:9.30, Y:0.48, Z:-2.11 [[ 9.99982366e-01 -4.60767276e-04 -5.92084076e-03 9.29981916e+00] [ 4.43198911e-04 9.99995497e-01 -2.96817735e-03 4.80211094e-01] [ 5.92218174e-03 2.96550089e-03 9.99978067e-01 -2.11266117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.654553574 meters Centerline goodness [0,1] 0.8208004288748222 Centerline is valid? [False, False] Translation: X:9.30, Y:0.48, Z:-2.11 [[ 9.99973968e-01 3.34909766e-03 -6.39111590e-03 9.30136917e+00] [-3.34351178e-03 9.99994019e-01 8.84491946e-04 4.80785941e-01] [ 6.39403993e-03 -8.63100150e-04 9.99979185e-01 -2.11316272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.684553574 meters Centerline goodness [0,1] 0.8206068346138793 Centerline is valid? [False, False] Translation: X:9.30, Y:0.48, Z:-2.11 [[ 9.99972765e-01 3.73087453e-03 -6.36790132e-03 9.30129849e+00] [-3.72605608e-03 9.99992763e-01 7.68374145e-04 4.81823480e-01] [ 6.37072195e-03 -7.44626061e-04 9.99979430e-01 -2.11359923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.714553574 meters Centerline goodness [0,1] 0.8217122864786993 Centerline is valid? [False, False] Translation: X:9.30, Y:0.48, Z:-2.11 [[ 9.99971046e-01 3.83727153e-03 -6.57130549e-03 9.30212033e+00] [-3.83412912e-03 9.99992529e-01 4.90732634e-04 4.82590754e-01] [ 6.57313947e-03 -4.65523192e-04 9.99978288e-01 -2.11455452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.744553574 meters Centerline goodness [0,1] 0.8189206427586775 Centerline is valid? [False, False] Translation: X:9.30, Y:0.48, Z:-2.11 [[ 9.99967038e-01 4.83279509e-03 -6.52441120e-03 9.30166283e+00] [-4.82653214e-03 9.99987877e-01 9.75330198e-04 4.82296657e-01] [ 6.52904567e-03 -9.43807768e-04 9.99978240e-01 -2.11471513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.774553574 meters Centerline goodness [0,1] 0.8179421155628798 Centerline is valid? [False, False] Translation: X:9.30, Y:0.48, Z:-2.11 [[ 9.99964754e-01 5.26463701e-03 -6.54013863e-03 9.30154387e+00] [-5.25689132e-03 9.99985461e-01 1.20095881e-03 4.82024554e-01] [ 6.54636616e-03 -1.16653568e-03 9.99977892e-01 -2.11471799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.80455357399995 meters Centerline goodness [0,1] 0.8154309154247315 Centerline is valid? [False, False] Translation: X:9.30, Y:0.48, Z:-2.11 [[ 9.99955485e-01 7.30545827e-03 -5.97151218e-03 9.29884188e+00] [-7.29140132e-03 9.99970603e-01 2.37239235e-03 4.81919061e-01] [ 5.98866805e-03 -2.32874605e-03 9.99979356e-01 -2.11347642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.834553574 meters Centerline goodness [0,1] 0.8214802264556387 Centerline is valid? [False, False] Translation: X:9.30, Y:0.48, Z:-2.11 [[ 9.99951278e-01 8.00641451e-03 -5.77402519e-03 9.29801194e+00] [-7.99110155e-03 9.99964505e-01 2.67025607e-03 4.82012542e-01] [ 5.79519942e-03 -2.62398515e-03 9.99979765e-01 -2.11326198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.86455357399996 meters Centerline goodness [0,1] 0.8204011366229025 Centerline is valid? [False, False] Translation: X:9.29, Y:0.48, Z:-2.11 [[ 9.99933961e-01 1.03899191e-02 -4.91145400e-03 9.29423858e+00] [-1.03692943e-02 9.99937390e-01 4.20630670e-03 4.81129793e-01] [ 4.95484968e-03 -4.15510061e-03 9.99979092e-01 -2.11129098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.894553574 meters Centerline goodness [0,1] 0.8144306323535526 Centerline is valid? [False, False] Translation: X:9.29, Y:0.48, Z:-2.11 [[ 9.99926692e-01 1.11561013e-02 -4.70663388e-03 9.29346743e+00] [-1.11346778e-02 9.99927639e-01 4.55367756e-03 4.81094475e-01] [ 4.75709459e-03 -4.50093689e-03 9.99978556e-01 -2.11117455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.92455357399996 meters Centerline goodness [0,1] 0.8187153977438288 Centerline is valid? [False, False] Translation: X:9.29, Y:0.48, Z:-2.11 [[ 9.99920763e-01 1.17120183e-02 -4.61489984e-03 9.29315548e+00] [-1.16901424e-02 9.99920438e-01 4.73906849e-03 4.81088076e-01] [ 4.67003673e-03 -4.68474414e-03 9.99978122e-01 -2.11136914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.954553574 meters Centerline goodness [0,1] 0.8077657676566271 Centerline is valid? [False, False] Translation: X:9.29, Y:0.48, Z:-2.11 [[ 9.99908745e-01 1.27990627e-02 -4.32272607e-03 9.29204296e+00] [-1.27750858e-02 9.99903106e-01 5.52950710e-03 4.79798569e-01] [ 4.39307973e-03 -5.47377931e-03 9.99975369e-01 -2.11113566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.98455357399996 meters Centerline goodness [0,1] 0.8096723211463492 Centerline is valid? [False, False] Translation: X:9.29, Y:0.48, Z:-2.11 [[ 9.99901539e-01 1.33816481e-02 -4.22414105e-03 9.29161344e+00] [-1.33549880e-02 9.99891111e-01 6.27770554e-03 4.77842109e-01] [ 4.30768714e-03 -6.22067407e-03 9.99971373e-01 -2.11087087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.014553574 meters Centerline goodness [0,1] 0.8101391650099403 Centerline is valid? [False, False] Translation: X:9.29, Y:0.48, Z:-2.11 [[ 9.99932874e-01 1.09486563e-02 -3.79128592e-03 9.28997625e+00] [-1.09374978e-02 9.99935828e-01 2.95154744e-03 4.78029029e-01] [ 3.82335810e-03 -2.90988213e-03 9.99988457e-01 -2.11099196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.04455357399996 meters Centerline goodness [0,1] 0.8038832476526321 Centerline is valid? [False, False] Translation: X:9.29, Y:0.48, Z:-2.11 [[ 9.99958017e-01 8.61049342e-03 -3.13439621e-03 9.28751686e+00] [-8.61135895e-03 9.99962887e-01 -2.62746924e-04 4.77851737e-01] [ 3.13201750e-03 2.89727304e-04 9.99995053e-01 -2.11065545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.074553574 meters Centerline goodness [0,1] 0.8044083030173337 Centerline is valid? [False, False] Translation: X:9.29, Y:0.47, Z:-2.11 [[ 9.99954681e-01 9.04716313e-03 -2.96381210e-03 9.28690808e+00] [-9.04512264e-03 9.99958846e-01 7.01148668e-04 4.74568348e-01] [ 2.97003354e-03 -6.74308849e-04 9.99995362e-01 -2.11004936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.10455357399997 meters Centerline goodness [0,1] 0.8037735849056604 Centerline is valid? [False, False] Translation: X:9.29, Y:0.47, Z:-2.11 [[ 9.99953367e-01 9.17404972e-03 -3.01660659e-03 9.28728980e+00] [-9.17119254e-03 9.99957483e-01 9.59623048e-04 4.73514235e-01] [ 3.02528196e-03 -9.31912418e-04 9.99994990e-01 -2.11044046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.134553574 meters Centerline goodness [0,1] 0.8039828444578547 Centerline is valid? [False, False] Translation: X:9.29, Y:0.47, Z:-2.11 [[ 9.99946988e-01 9.90445435e-03 -2.81481989e-03 9.28672964e+00] [-9.89909402e-03 9.99949175e-01 1.91191636e-03 4.70854317e-01] [ 2.83361332e-03 -1.88395084e-03 9.99994211e-01 -2.11039439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.16455357399997 meters Centerline goodness [0,1] 0.8054971950876129 Centerline is valid? [False, False] Translation: X:9.29, Y:0.47, Z:-2.11 [[ 9.99944566e-01 1.01735903e-02 -2.71335782e-03 9.28651715e+00] [-1.01669921e-02 9.99945351e-01 2.43455252e-03 4.69053388e-01] [ 2.73797768e-03 -2.40683088e-03 9.99993355e-01 -2.11025710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.194553574 meters Centerline goodness [0,1] 0.8031099335447162 Centerline is valid? [False, False] Translation: X:9.29, Y:0.47, Z:-2.11 [[ 9.99940747e-01 1.05789899e-02 -2.56663014e-03 9.28588476e+00] [-1.05709923e-02 9.99939290e-01 3.10978233e-03 4.67045198e-01] [ 2.59937268e-03 -3.08246624e-03 9.99991871e-01 -2.10972051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.22455357399997 meters Centerline goodness [0,1] 0.8021809917174764 Centerline is valid? [False, False] Translation: X:9.28, Y:0.46, Z:-2.11 [[ 9.99932982e-01 1.13643714e-02 -2.20944934e-03 9.28479547e+00] [-1.13548203e-02 9.99926336e-01 4.28836114e-03 4.63519453e-01] [ 2.25802111e-03 -4.26298584e-03 9.99988364e-01 -2.10924500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.254553574 meters Centerline goodness [0,1] 0.8047936906571498 Centerline is valid? [False, False] Translation: X:9.29, Y:0.46, Z:-2.11 [[ 9.99931970e-01 1.14535116e-02 -2.20729743e-03 9.28533471e+00] [-1.14421269e-02 9.99921515e-01 5.10315659e-03 4.59540115e-01] [ 2.26557325e-03 -5.07755325e-03 9.99984543e-01 -2.10972560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.284553574 meters Centerline goodness [0,1] 0.8009190729735104 Centerline is valid? [False, False] Translation: X:9.28, Y:0.46, Z:-2.11 [[ 9.99961858e-01 8.58666550e-03 -1.59754030e-03 9.28378217e+00] [-8.58424199e-03 9.99962003e-01 1.51775016e-03 4.58813075e-01] [ 1.61051201e-03 -1.50397859e-03 9.99997572e-01 -2.11046466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.314553574 meters Centerline goodness [0,1] 0.8032306085719999 Centerline is valid? [False, False] Translation: X:9.28, Y:0.46, Z:-2.11 [[ 9.99983602e-01 5.63000414e-03 -1.04802949e-03 9.28239887e+00] [-5.63213501e-03 9.99982056e-01 -2.04149139e-03 4.57912946e-01] [ 1.03651708e-03 2.04736055e-03 9.99997367e-01 -2.11113985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.344553574 meters Centerline goodness [0,1] 0.8014268461779308 Centerline is valid? [False, False] Translation: X:9.29, Y:0.45, Z:-2.11 [[ 9.99987879e-01 4.65022592e-03 -1.61754347e-03 9.28503860e+00] [-4.65269811e-03 9.99988009e-01 -1.52796804e-03 4.52693909e-01] [ 1.61041868e-03 1.53547546e-03 9.99997524e-01 -2.11210251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.374553574 meters Centerline goodness [0,1] 0.8006187924579065 Centerline is valid? [False, False] Translation: X:9.29, Y:0.45, Z:-2.11 [[ 9.99989507e-01 4.10737902e-03 -2.02860756e-03 9.28680923e+00] [-4.10992682e-03 9.99990769e-01 -1.25336508e-03 4.49874252e-01] [ 2.02344079e-03 1.26168936e-03 9.99997157e-01 -2.11275378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.404553574 meters Centerline goodness [0,1] 0.800618063701164 Centerline is valid? [False, False] Translation: X:9.29, Y:0.44, Z:-2.11 [[ 9.99992869e-01 2.63640910e-03 -2.70412417e-03 9.29037902e+00] [-2.63953466e-03 9.99995852e-01 -1.15293312e-03 4.44899931e-01] [ 2.70107335e-03 1.16006253e-03 9.99995679e-01 -2.11443220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.434553574 meters Centerline goodness [0,1] 0.7973477562289257 Centerline is valid? [False, False] Translation: X:9.29, Y:0.44, Z:-2.12 [[ 9.99992999e-01 1.81654005e-03 -3.27127511e-03 9.29287048e+00] [-1.82034310e-03 9.99997670e-01 -1.15995477e-03 4.42642292e-01] [ 3.26916039e-03 1.16590150e-03 9.99993977e-01 -2.11554272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.464553574 meters Centerline goodness [0,1] 0.7943013448826077 Centerline is valid? [False, False] Translation: X:9.29, Y:0.44, Z:-2.12 [[ 9.99992448e-01 1.16504754e-03 -3.70754247e-03 9.29468933e+00] [-1.16871074e-03 9.99998831e-01 -9.86025828e-04 4.40183179e-01] [ 3.70638937e-03 9.90351426e-04 9.99992641e-01 -2.11607733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.494553574 meters Centerline goodness [0,1] 0.7939630437277632 Centerline is valid? [False, False] Translation: X:9.29, Y:0.44, Z:-2.12 [[ 9.99990803e-01 -2.55825576e-03 -3.44226554e-03 9.29450363e+00] [ 2.54414742e-03 9.99988372e-01 -4.09671761e-03 4.36310797e-01] [ 3.45270597e-03 4.08792230e-03 9.99985684e-01 -2.11638361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.524553574 meters Centerline goodness [0,1] 0.7923041474654378 Centerline is valid? [False, False] Translation: X:9.30, Y:0.43, Z:-2.12 [[ 9.99988030e-01 -3.06870114e-03 -3.81086844e-03 9.29570492e+00] [ 3.05563251e-03 9.99989448e-01 -3.43040541e-03 4.33400845e-01] [ 3.82135512e-03 3.41871974e-03 9.99986855e-01 -2.11580553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.55455357399995 meters Centerline goodness [0,1] 0.7866040007408779 Centerline is valid? [False, False] Translation: X:9.30, Y:0.43, Z:-2.12 [[ 9.99979747e-01 -4.65880405e-03 -4.33602575e-03 9.29845886e+00] [ 4.64676882e-03 9.99985335e-01 -2.78158290e-03 4.28387857e-01] [ 4.34892102e-03 2.76137805e-03 9.99986731e-01 -2.11543874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.584553574 meters Centerline goodness [0,1] 0.7919055023090669 Centerline is valid? [False, False] Translation: X:9.30, Y:0.43, Z:-2.12 [[ 9.99974109e-01 -5.31014905e-03 -4.85620412e-03 9.30028609e+00] [ 5.29866261e-03 9.99983141e-01 -2.37512766e-03 4.26201590e-01] [ 4.86873453e-03 2.34933478e-03 9.99985388e-01 -2.11539920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.61455357399996 meters Centerline goodness [0,1] 0.7870121366601969 Centerline is valid? [False, False] Translation: X:9.30, Y:0.42, Z:-2.12 [[ 9.99956579e-01 -7.27726751e-03 -5.82077583e-03 9.30462193e+00] [ 7.26424839e-03 9.99971073e-01 -2.25468813e-03 4.22451982e-01] [ 5.83701542e-03 2.21230667e-03 9.99980517e-01 -2.11618289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.644553574 meters Centerline goodness [0,1] 0.7923996523944853 Centerline is valid? [False, False] Translation: X:9.31, Y:0.42, Z:-2.12 [[ 9.99946763e-01 -8.10479555e-03 -6.38621624e-03 9.30675052e+00] [ 8.09270637e-03 9.99965417e-01 -1.91658582e-03 4.20031872e-01] [ 6.40152892e-03 1.86480202e-03 9.99977771e-01 -2.11618901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.67455357399996 meters Centerline goodness [0,1] 0.7790157405651432 Centerline is valid? [False, False] Translation: X:9.31, Y:0.42, Z:-2.12 [[ 9.99896594e-01 -1.27603450e-02 -6.63141284e-03 9.30808777e+00] [ 1.27261549e-02 9.99905640e-01 -5.17265518e-03 4.15788298e-01] [ 6.69679196e-03 5.08772791e-03 9.99964633e-01 -2.11606208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.704553574 meters Centerline goodness [0,1] 0.786784643927501 Centerline is valid? [False, False] Translation: X:9.31, Y:0.41, Z:-2.12 [[ 9.99885131e-01 -1.33865768e-02 -7.10811785e-03 9.30958989e+00] [ 1.33550463e-02 9.99900849e-01 -4.46492776e-03 4.13098041e-01] [ 7.16718317e-03 4.36948563e-03 9.99964769e-01 -2.11532295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.73455357399996 meters Centerline goodness [0,1] 0.7921206039755352 Centerline is valid? [False, False] Translation: X:9.31, Y:0.41, Z:-2.12 [[ 9.99854674e-01 -1.51167099e-02 -7.88138147e-03 9.31335101e+00] [ 1.50855673e-02 9.99878221e-01 -3.99599603e-03 4.08906193e-01] [ 7.94082800e-03 3.87652020e-03 9.99960957e-01 -2.11563261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.764553574 meters Centerline goodness [0,1] 0.8010954579157598 Centerline is valid? [False, False] Translation: X:9.32, Y:0.41, Z:-2.12 [[ 9.99835587e-01 -1.59791868e-02 -8.57114885e-03 9.31602747e+00] [ 1.59482726e-02 9.99866108e-01 -3.66308106e-03 4.06564284e-01] [ 8.62853430e-03 3.52578378e-03 9.99956558e-01 -2.11607091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.79455357399996 meters Centerline goodness [0,1] 0.790085782252445 Centerline is valid? [False, False] Translation: X:9.32, Y:0.40, Z:-2.12 [[ 9.99816891e-01 -1.68098905e-02 -9.14395301e-03 9.31824186e+00] [ 1.67816264e-02 9.99854188e-01 -3.15901904e-03 4.03723023e-01] [ 9.19572247e-03 3.00499019e-03 9.99953203e-01 -2.11602764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.824553574 meters Centerline goodness [0,1] 0.7968511565944048 Centerline is valid? [False, False] Translation: X:9.32, Y:0.40, Z:-2.12 [[ 9.99771039e-01 -1.90699452e-02 -9.70599920e-03 9.32193047e+00] [ 1.90448238e-02 9.99815055e-01 -2.67412402e-03 3.98034296e-01] [ 9.75519952e-03 2.48866270e-03 9.99949320e-01 -2.11595375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.85455357399997 meters Centerline goodness [0,1] 0.7906925827717907 Centerline is valid? [False, False] Translation: X:9.32, Y:0.40, Z:-2.12 [[ 9.99755045e-01 -1.96914236e-02 -1.01043636e-02 9.32348026e+00] [ 1.96710729e-02 9.99804280e-01 -2.10950787e-03 3.95490027e-01] [ 1.01439251e-02 1.91022747e-03 9.99946724e-01 -2.11568156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.884553574 meters Centerline goodness [0,1] 0.7999315587494806 Centerline is valid? [False, False] Translation: X:9.33, Y:0.39, Z:-2.12 [[ 9.99725089e-01 -2.08819044e-02 -1.06626227e-02 9.32606945e+00] [ 2.08690697e-02 9.99781354e-01 -1.31356839e-03 3.91010581e-01] [ 1.06877212e-02 1.09068826e-03 9.99942290e-01 -2.11535886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.91455357399997 meters Centerline goodness [0,1] 0.7938025826648405 Centerline is valid? [False, False] Translation: X:9.33, Y:0.39, Z:-2.12 [[ 9.99711574e-01 -2.13250729e-02 -1.10458186e-02 9.32770199e+00] [ 2.13145623e-02 9.99772248e-01 -1.06841569e-03 3.89129860e-01] [ 1.10660869e-02 8.32670742e-04 9.99938422e-01 -2.11583638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.944553574 meters Centerline goodness [0,1] 0.789643058933353 Centerline is valid? [False, False] Translation: X:9.33, Y:0.39, Z:-2.12 [[ 9.99708886e-01 -2.13560551e-02 -1.12277474e-02 9.32878523e+00] [ 2.13513610e-02 9.99771889e-01 -5.37797321e-04 3.86232699e-01] [ 1.12366714e-02 2.97913073e-04 9.99936822e-01 -2.11647321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.97455357399997 meters Centerline goodness [0,1] 0.7931068366619991 Centerline is valid? [False, False] Translation: X:9.33, Y:0.38, Z:-2.12 [[ 9.99766308e-01 -1.80689734e-02 -1.18676860e-02 9.33078315e+00] [ 1.81176794e-02 9.99827822e-01 4.00947179e-03 3.83702505e-01] [ 1.17931956e-02 -4.22354974e-03 9.99921538e-01 -2.11573281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.004553574 meters Centerline goodness [0,1] 0.79016571048679 Centerline is valid? [False, False] Translation: X:9.33, Y:0.38, Z:-2.12 [[ 9.99785587e-01 -1.72353263e-02 -1.14770725e-02 9.32927257e+00] [ 1.72865358e-02 9.99840993e-01 4.37773714e-03 3.83512117e-01] [ 1.13997959e-02 -4.57519732e-03 9.99924553e-01 -2.11553370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.034553574 meters Centerline goodness [0,1] 0.7972969646242092 Centerline is valid? [False, False] Translation: X:9.35, Y:0.38, Z:-2.12 [[ 9.99880866e-01 -1.11140095e-02 -1.07113475e-02 9.34825101e+00] [ 1.10765532e-02 9.99932352e-01 -3.54989001e-03 3.84705040e-01] [ 1.07500764e-02 3.43082229e-03 9.99936331e-01 -2.12289081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.064553574 meters Centerline goodness [0,1] 0.7972969646242092 Centerline is valid? [False, False] Translation: X:9.35, Y:0.38, Z:-2.12 [[ 9.99880866e-01 -1.11140095e-02 -1.07113475e-02 9.34825101e+00] [ 1.10765532e-02 9.99932352e-01 -3.54989001e-03 3.84705040e-01] [ 1.07500764e-02 3.43082229e-03 9.99936331e-01 -2.12289081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.094553574 meters Centerline goodness [0,1] 0.7952284813866457 Centerline is valid? [False, False] Translation: X:9.35, Y:0.38, Z:-2.12 [[ 9.99933424e-01 -5.65322307e-03 -1.00592425e-02 9.34525919e+00] [ 5.66794047e-03 9.99982907e-01 1.43516586e-03 3.83974902e-01] [ 1.00509572e-02 -1.49208550e-03 9.99948375e-01 -2.12136986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.124553574 meters Centerline goodness [0,1] 0.7951421392323988 Centerline is valid? [False, False] Translation: X:9.34, Y:0.38, Z:-2.12 [[ 9.99946934e-01 -4.40966057e-03 -9.31042093e-03 9.34232540e+00] [ 4.42752197e-03 9.99988396e-01 1.89869107e-03 3.84010689e-01] [ 9.30194030e-03 -1.93981241e-03 9.99954854e-01 -2.12058390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.154553574 meters Centerline goodness [0,1] 0.7895151948340029 Centerline is valid? [False, False] Translation: X:9.34, Y:0.38, Z:-2.12 [[ 9.99954941e-01 -3.59665924e-03 -8.78518962e-03 9.34041640e+00] [ 3.61626033e-03 9.99991005e-01 2.21628740e-03 3.83773377e-01] [ 8.77713937e-03 -2.24795707e-03 9.99958953e-01 -2.12015727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.184553574 meters Centerline goodness [0,1] 0.7945202095068683 Centerline is valid? [False, False] Translation: X:9.34, Y:0.38, Z:-2.12 [[ 9.99959009e-01 -3.08487168e-03 -8.51258118e-03 9.33940260e+00] [ 3.10616892e-03 9.99992076e-01 2.48976800e-03 3.83331812e-01] [ 8.50483311e-03 -2.51610746e-03 9.99960668e-01 -2.11995916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.214553574 meters Centerline goodness [0,1] 0.7947520569268401 Centerline is valid? [False, False] Translation: X:9.34, Y:0.38, Z:-2.12 [[ 9.99959463e-01 -3.06246726e-03 -8.46718830e-03 9.33945065e+00] [ 3.08595942e-03 9.99991422e-01 2.76282304e-03 3.82375670e-01] [ 8.45865462e-03 -2.78884044e-03 9.99960336e-01 -2.11990867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.24455357399995 meters Centerline goodness [0,1] 0.7980965160777298 Centerline is valid? [False, False] Translation: X:9.34, Y:0.38, Z:-2.12 [[ 9.99943183e-01 -6.94550816e-03 -8.08644248e-03 9.33854076e+00] [ 6.93774328e-03 9.99975446e-01 -9.87890494e-04 3.81594359e-01] [ 8.09310533e-03 9.31732703e-04 9.99966816e-01 -2.11992664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.274553574 meters Centerline goodness [0,1] 0.7979216507177034 Centerline is valid? [False, False] Translation: X:9.34, Y:0.38, Z:-2.12 [[ 9.99931651e-01 -7.89812885e-03 -8.62046081e-03 9.34038311e+00] [ 7.89379060e-03 9.99968699e-01 -5.37158942e-04 3.79710779e-01] [ 8.62443354e-03 4.69074115e-04 9.99962699e-01 -2.11901583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.30455357399995 meters Centerline goodness [0,1] 0.8003759398496241 Centerline is valid? [False, False] Translation: X:9.34, Y:0.38, Z:-2.12 [[ 9.99874430e-01 -1.30472211e-02 -8.99412190e-03 9.34208683e+00] [ 1.30078847e-02 9.99905632e-01 -4.41828660e-03 3.78265240e-01] [ 9.05091951e-03 4.30073730e-03 9.99949791e-01 -2.11847681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.334553574 meters Centerline goodness [0,1] 0.7998138505270043 Centerline is valid? [False, False] Translation: X:9.35, Y:0.38, Z:-2.12 [[ 9.99847075e-01 -1.44372528e-02 -9.86879130e-03 9.34544923e+00] [ 1.43942414e-02 9.99886648e-01 -4.41555274e-03 3.77204097e-01] [ 9.93142110e-03 4.27282373e-03 9.99941553e-01 -2.11851620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.36455357399996 meters Centerline goodness [0,1] 0.7995013975976429 Centerline is valid? [False, False] Translation: X:9.35, Y:0.38, Z:-2.12 [[ 9.99773120e-01 -1.78594075e-02 -1.16081991e-02 9.35322149e+00] [ 1.78010630e-02 9.99828489e-01 -5.11019309e-03 3.76607920e-01] [ 1.16974731e-02 4.90239540e-03 9.99919565e-01 -2.11943909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.394553574 meters Centerline goodness [0,1] 0.7982387524917363 Centerline is valid? [False, False] Translation: X:9.36, Y:0.38, Z:-2.12 [[ 9.99746749e-01 -1.88524275e-02 -1.22892154e-02 9.35582667e+00] [ 1.87888274e-02 9.99809584e-01 -5.27036083e-03 3.76284064e-01] [ 1.23862344e-02 5.03812616e-03 9.99910595e-01 -2.11974346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.42455357399996 meters Centerline goodness [0,1] 0.7958972547436415 Centerline is valid? [False, False] Translation: X:9.36, Y:0.38, Z:-2.12 [[ 9.99724676e-01 -1.96208816e-02 -1.28683350e-02 9.35795213e+00] [ 1.95558392e-02 9.99795446e-01 -5.16096268e-03 3.75701691e-01] [ 1.29669653e-02 4.90789065e-03 9.99903881e-01 -2.11952255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.454553574 meters Centerline goodness [0,1] 0.7925985559385141 Centerline is valid? [False, False] Translation: X:9.36, Y:0.38, Z:-2.12 [[ 9.99701886e-01 -2.04161881e-02 -1.33910181e-02 9.35979607e+00] [ 2.03480453e-02 9.99779406e-01 -5.20536694e-03 3.75832321e-01] [ 1.34943379e-02 4.93133410e-03 9.99896787e-01 -2.11911120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.48455357399996 meters Centerline goodness [0,1] 0.7941538075523773 Centerline is valid? [False, False] Translation: X:9.36, Y:0.38, Z:-2.12 [[ 9.99736648e-01 -1.78332222e-02 -1.44433687e-02 9.36305102e+00] [ 1.78216824e-02 9.99840751e-01 -9.27297702e-04 3.75189852e-01] [ 1.44576053e-02 6.69648367e-04 9.99895259e-01 -2.11784288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.514553574 meters Centerline goodness [0,1] 0.7939103044847757 Centerline is valid? [False, False] Translation: X:9.37, Y:0.38, Z:-2.12 [[ 9.99767787e-01 -1.50036571e-02 -1.54681209e-02 9.36615877e+00] [ 1.50492069e-02 9.99882742e-01 2.83256134e-03 3.76529698e-01] [ 1.54238084e-02 -3.06468653e-03 9.99876349e-01 -2.11728607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.54455357399996 meters Centerline goodness [0,1] 0.7941857858157089 Centerline is valid? [False, False] Translation: X:9.37, Y:0.38, Z:-2.12 [[ 9.99771059e-01 -1.48065270e-02 -1.54465554e-02 9.36598362e+00] [ 1.48492563e-02 9.99886218e-01 2.65524672e-03 3.77950297e-01] [ 1.54054829e-02 -2.88400869e-03 9.99877169e-01 -2.11736916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.574553574 meters Centerline goodness [0,1] 0.7860411899313501 Centerline is valid? [False, False] Translation: X:9.37, Y:0.38, Z:-2.12 [[ 9.99781485e-01 -1.42827906e-02 -1.52638221e-02 9.36516681e+00] [ 1.43195415e-02 9.99894822e-01 2.30113507e-03 3.80490474e-01] [ 1.52293501e-02 -2.51920317e-03 9.99880853e-01 -2.11760511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.60455357399997 meters Centerline goodness [0,1] 0.794873707239459 Centerline is valid? [False, False] Translation: X:9.37, Y:0.38, Z:-2.12 [[ 9.99781571e-01 -1.42076451e-02 -1.53281938e-02 9.36531994e+00] [ 1.42419018e-02 9.99896314e-01 2.12804390e-03 3.81584120e-01] [ 1.52963700e-02 -2.34588171e-03 9.99880252e-01 -2.11765596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.634553574 meters Centerline goodness [0,1] 0.7856575288041319 Centerline is valid? [False, False] Translation: X:9.37, Y:0.38, Z:-2.12 [[ 9.99778903e-01 -1.42326044e-02 -1.54782921e-02 9.36598884e+00] [ 1.42617558e-02 9.99896721e-01 1.77461592e-03 3.82684188e-01] [ 1.54514361e-02 -1.99497118e-03 9.99878629e-01 -2.11841396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.66455357399997 meters Centerline goodness [0,1] 0.7931863230921705 Centerline is valid? [False, False] Translation: X:9.37, Y:0.38, Z:-2.12 [[ 9.99788769e-01 -1.18091862e-02 -1.68214186e-02 9.37099917e+00] [ 1.18932978e-02 9.99917222e-01 4.90903403e-03 3.84600359e-01] [ 1.67620544e-02 -5.10805923e-03 9.99846459e-01 -2.11980705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.694553574 meters Centerline goodness [0,1] 0.7872534967627144 Centerline is valid? [False, False] Translation: X:9.37, Y:0.39, Z:-2.12 [[ 9.99781663e-01 -1.20053888e-02 -1.71025207e-02 9.37235539e+00] [ 1.20792556e-02 9.99918128e-01 4.22232063e-03 3.86402808e-01] [ 1.70504299e-02 -4.42798446e-03 9.99844826e-01 -2.12122788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.72455357399997 meters Centerline goodness [0,1] 0.7865787393795692 Centerline is valid? [False, False] Translation: X:9.37, Y:0.39, Z:-2.12 [[ 9.99782227e-01 -1.18800671e-02 -1.71569933e-02 9.37259087e+00] [ 1.19464684e-02 9.99921520e-01 3.77292376e-03 3.88098896e-01] [ 1.71108243e-02 -3.97706760e-03 9.99845689e-01 -2.12194035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.754553574 meters Centerline goodness [0,1] 0.7849475632325724 Centerline is valid? [False, False] Translation: X:9.37, Y:0.39, Z:-2.12 [[ 9.99784038e-01 -1.17818692e-02 -1.71191264e-02 9.37255881e+00] [ 1.18470001e-02 9.99922946e-01 3.70814592e-03 3.88452603e-01] [ 1.70741185e-02 -3.91015539e-03 9.99846581e-01 -2.12200360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.784553574 meters Centerline goodness [0,1] 0.7882891804902203 Centerline is valid? [False, False] Translation: X:9.37, Y:0.39, Z:-2.12 [[ 9.99799065e-01 -1.10612582e-02 -1.67176030e-02 9.37058474e+00] [ 1.11301681e-02 9.99929918e-01 4.03458828e-03 3.89069622e-01] [ 1.66718038e-02 -4.21984732e-03 9.99852111e-01 -2.12082682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.814553574 meters Centerline goodness [0,1] 0.7905492330529441 Centerline is valid? [False, False] Translation: X:9.39, Y:0.39, Z:-2.13 [[ 9.99893831e-01 -9.86073156e-03 -1.07281420e-02 9.38667706e+00] [ 9.81447754e-03 9.99942351e-01 -4.35560519e-03 3.91360901e-01] [ 1.07704730e-02 4.24985165e-03 9.99932966e-01 -2.12776844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.844553574 meters Centerline goodness [0,1] 0.7855302917719325 Centerline is valid? [False, False] Translation: X:9.39, Y:0.39, Z:-2.13 [[ 9.99898290e-01 -9.53881366e-03 -1.06029059e-02 9.38613080e+00] [ 9.49401213e-03 9.99945824e-01 -4.26773469e-03 3.92271223e-01] [ 1.06430406e-02 4.16663650e-03 9.99934680e-01 -2.12750143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.874553574 meters Centerline goodness [0,1] 0.7880296164227522 Centerline is valid? [False, False] Translation: X:9.39, Y:0.39, Z:-2.13 [[ 9.99918610e-01 -6.27783418e-03 -1.11068133e-02 9.38779067e+00] [ 6.28300247e-03 9.99980169e-01 4.30494280e-04 3.91068307e-01] [ 1.11038905e-02 -5.00243377e-04 9.99938225e-01 -2.12594021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.904553574 meters Centerline goodness [0,1] 0.7840468858647065 Centerline is valid? [False, False] Translation: X:9.39, Y:0.39, Z:-2.12 [[ 9.99924245e-01 -5.88024824e-03 -1.08132650e-02 9.38642408e+00] [ 5.89311303e-03 9.99981965e-01 1.15824495e-03 3.89970473e-01] [ 1.08062592e-02 -1.22188100e-03 9.99940864e-01 -2.12442520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.934553574 meters Centerline goodness [0,1] 0.785015153773538 Centerline is valid? [False, False] Translation: X:9.39, Y:0.39, Z:-2.12 [[ 9.99925739e-01 -5.73709500e-03 -1.07518608e-02 9.38597439e+00] [ 5.75425893e-03 9.99982218e-01 1.56611353e-03 3.89427459e-01] [ 1.07426847e-02 -1.62786622e-03 9.99940971e-01 -2.12360612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.964553574 meters Centerline goodness [0,1] 0.7836729622266402 Centerline is valid? [False, False] Translation: X:9.39, Y:0.39, Z:-2.12 [[ 9.99924833e-01 -5.77308642e-03 -1.08166006e-02 9.38610257e+00] [ 5.79192192e-03 9.99981763e-01 1.71083468e-03 3.89456486e-01] [ 1.08065265e-02 -1.77335499e-03 9.99940035e-01 -2.12320150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99455357399995 meters Centerline goodness [0,1] 0.7969064230205825 Centerline is valid? [False, False] Translation: X:9.39, Y:0.39, Z:-2.12 [[ 9.99920699e-01 -6.05928957e-03 -1.10399345e-02 9.38700259e+00] [ 6.07910620e-03 9.99979969e-01 1.76232252e-03 3.89531490e-01] [ 1.10290349e-02 -1.82929570e-03 9.99937505e-01 -2.12308361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.024553574 meters Centerline goodness [0,1] 0.7966651801199147 Centerline is valid? [False, False] Translation: X:9.39, Y:0.39, Z:-2.12 [[ 9.99908220e-01 -7.00577300e-03 -1.15961860e-02 9.38921634e+00] [ 7.02569340e-03 9.99973912e-01 1.67799567e-03 3.89111329e-01] [ 1.15841279e-02 -1.75931291e-03 9.99931354e-01 -2.12302460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.05455357399995 meters Centerline goodness [0,1] 0.792969426909271 Centerline is valid? [False, False] Translation: X:9.39, Y:0.39, Z:-2.12 [[ 9.99897046e-01 -7.70786673e-03 -1.21031691e-02 9.39111622e+00] [ 7.72838360e-03 9.99968775e-01 1.64930912e-03 3.88893135e-01] [ 1.20900785e-02 -1.74267725e-03 9.99925394e-01 -2.12305710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.084553574 meters Centerline goodness [0,1] 0.7979652961706973 Centerline is valid? [False, False] Translation: X:9.39, Y:0.39, Z:-2.12 [[ 9.99884314e-01 -8.46058667e-03 -1.26403002e-02 9.39316385e+00] [ 8.48097970e-03 9.99962818e-01 1.56060185e-03 3.88838159e-01] [ 1.26266266e-02 -1.66762344e-03 9.99918890e-01 -2.12318464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.11455357399996 meters Centerline goodness [0,1] 0.7927569862743162 Centerline is valid? [False, False] Translation: X:9.40, Y:0.39, Z:-2.12 [[ 9.99853562e-01 -1.02487608e-02 -1.37046194e-02 9.39727212e+00] [ 1.02656745e-02 9.99946629e-01 1.16438184e-03 3.89176100e-01] [ 1.36919545e-02 -1.30489849e-03 9.99905409e-01 -2.12331189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.144553574 meters Centerline goodness [0,1] 0.7916800078815793 Centerline is valid? [False, False] Translation: X:9.40, Y:0.39, Z:-2.12 [[ 9.99841293e-01 -1.08256387e-02 -1.41489986e-02 9.39881821e+00] [ 1.08424581e-02 9.99940600e-01 1.11256611e-03 3.89444465e-01] [ 1.41361139e-02 -1.26579946e-03 9.99899279e-01 -2.12312839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.17455357399996 meters Centerline goodness [0,1] 0.7921852458615546 Centerline is valid? [False, False] Translation: X:9.40, Y:0.39, Z:-2.12 [[ 9.99832685e-01 -1.12549736e-02 -1.44197129e-02 9.39968644e+00] [ 1.12686953e-02 9.99936127e-01 8.70695883e-04 3.91203400e-01] [ 1.44089923e-02 -1.03304155e-03 9.99895651e-01 -2.12260432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.204553574 meters Centerline goodness [0,1] 0.7935238466790208 Centerline is valid? [False, False] Translation: X:9.40, Y:0.39, Z:-2.12 [[ 9.99836138e-01 -1.10292652e-02 -1.43545203e-02 9.39925155e+00] [ 1.10424252e-02 9.99938680e-01 8.37853480e-04 3.92627430e-01] [ 1.43443992e-02 -9.96224906e-04 9.99896618e-01 -2.12213626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.23455357399996 meters Centerline goodness [0,1] 0.8014096788257521 Centerline is valid? [False, False] Translation: X:9.40, Y:0.39, Z:-2.12 [[ 9.99861327e-01 -7.54110086e-03 -1.48478369e-02 9.40071518e+00] [ 7.61000682e-03 9.99960510e-01 4.58978984e-03 3.94446850e-01] [ 1.48126385e-02 -4.70214550e-03 9.99879230e-01 -2.12159055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.264553574 meters Centerline goodness [0,1] 0.801581751983218 Centerline is valid? [False, False] Translation: X:9.40, Y:0.40, Z:-2.12 [[ 9.99866761e-01 -7.16278343e-03 -1.46681854e-02 9.40023612e+00] [ 7.22681064e-03 9.99964569e-01 4.31669639e-03 3.96189912e-01] [ 1.46367461e-02 -4.42212543e-03 9.99883098e-01 -2.12197736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.29455357399996 meters Centerline goodness [0,1] 0.799884784330669 Centerline is valid? [False, False] Translation: X:9.40, Y:0.40, Z:-2.12 [[ 9.99879833e-01 -5.95314448e-03 -1.43136006e-02 9.39852790e+00] [ 6.01480642e-03 9.99972800e-01 4.26874332e-03 3.99395526e-01] [ 1.42877988e-02 -4.35432389e-03 9.99888443e-01 -2.12201386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.324553574 meters Centerline goodness [0,1] 0.8011947030035506 Centerline is valid? [False, False] Translation: X:9.40, Y:0.40, Z:-2.12 [[ 9.99882742e-01 -5.70113514e-03 -1.42126250e-02 9.39834167e+00] [ 5.75832111e-03 9.99975477e-01 3.98593325e-03 4.00473179e-01] [ 1.41895521e-02 -4.06730673e-03 9.99891051e-01 -2.12252495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.35455357399997 meters Centerline goodness [0,1] 0.8022719119933038 Centerline is valid? [False, False] Translation: X:9.40, Y:0.40, Z:-2.12 [[ 9.99883747e-01 -5.55055244e-03 -1.42015657e-02 9.39842455e+00] [ 5.60492938e-03 9.99977102e-01 3.79200741e-03 4.01237760e-01] [ 1.41801927e-02 -3.87116535e-03 9.99891962e-01 -2.12291934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.384553574 meters Centerline goodness [0,1] 0.8022900763358779 Centerline is valid? [False, False] Translation: X:9.40, Y:0.40, Z:-2.12 [[ 9.99891457e-01 -4.73353745e-03 -1.39523086e-02 9.39726833e+00] [ 4.78614016e-03 9.99981555e-01 3.73920341e-03 4.03048389e-01] [ 1.39343516e-02 -3.80557526e-03 9.99895670e-01 -2.12292315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.41455357399997 meters Centerline goodness [0,1] 0.8037312192922077 Centerline is valid? [False, False] Translation: X:9.40, Y:0.40, Z:-2.12 [[ 9.99898354e-01 -3.97593293e-03 -1.36921358e-02 9.39633469e+00] [ 4.02515702e-03 9.99985529e-01 3.56938362e-03 4.04669495e-01] [ 1.36777460e-02 -3.62413381e-03 9.99899887e-01 -2.12338761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.444553574 meters Centerline goodness [0,1] 0.8016304993701424 Centerline is valid? [False, False] Translation: X:9.40, Y:0.40, Z:-2.12 [[ 9.99899416e-01 -3.80678897e-03 -1.36625792e-02 9.39640612e+00] [ 3.85564857e-03 9.99986260e-01 3.55160562e-03 4.04905935e-01] [ 1.36488713e-02 -3.60392649e-03 9.99900355e-01 -2.12366115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.47455357399997 meters Centerline goodness [0,1] 0.8007286928773844 Centerline is valid? [False, False] Translation: X:9.40, Y:0.41, Z:-2.12 [[ 9.99901156e-01 -3.53980347e-03 -1.36068770e-02 9.39618620e+00] [ 3.58964282e-03 9.99986932e-01 3.64012946e-03 4.05076046e-01] [ 1.35938139e-02 -3.68861349e-03 9.99900796e-01 -2.12370249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.504553574 meters Centerline goodness [0,1] 0.8018686256329791 Centerline is valid? [False, False] Translation: X:9.40, Y:0.41, Z:-2.12 [[ 9.99902906e-01 -3.29180544e-03 -1.35404053e-02 9.39624413e+00] [ 3.33855573e-03 9.99988539e-01 3.43149702e-03 4.05670422e-01] [ 1.35289543e-02 -3.47636924e-03 9.99902436e-01 -2.12436784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.534553574 meters Centerline goodness [0,1] 0.8041717150119972 Centerline is valid? [False, False] Translation: X:9.40, Y:0.41, Z:-2.12 [[ 9.99904144e-01 -3.14738254e-03 -1.34831813e-02 9.39608999e+00] [ 3.19454399e-03 9.99988850e-01 3.47769011e-03 4.05826236e-01] [ 1.34720853e-02 -3.52042937e-03 9.99903050e-01 -2.12433309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.564553574 meters Centerline goodness [0,1] 0.8063762866946245 Centerline is valid? [False, False] Translation: X:9.40, Y:0.41, Z:-2.12 [[ 9.99908368e-01 -2.80802698e-03 -1.32427635e-02 9.39503950e+00] [ 2.85782709e-03 9.99988911e-01 3.74312970e-03 4.06161528e-01] [ 1.32321058e-02 -3.78063224e-03 9.99905305e-01 -2.12335562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.594553574 meters Centerline goodness [0,1] 0.8061166158536586 Centerline is valid? [False, False] Translation: X:9.40, Y:0.41, Z:-2.12 [[ 9.99907626e-01 -2.85125008e-03 -1.32894987e-02 9.39508246e+00] [ 2.90301222e-03 9.99988269e-01 3.87730351e-03 4.05967664e-01] [ 1.32782876e-02 -3.91552492e-03 9.99904173e-01 -2.12290502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.624553574 meters Centerline goodness [0,1] 0.8067254948724064 Centerline is valid? [False, False] Translation: X:9.40, Y:0.41, Z:-2.12 [[ 9.99904668e-01 -3.05699090e-03 -1.34651051e-02 9.39553296e+00] [ 3.11109659e-03 9.99987164e-01 3.99910320e-03 4.05643368e-01] [ 1.34527071e-02 -4.04061320e-03 9.99901344e-01 -2.12242266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.654553574 meters Centerline goodness [0,1] 0.8124210877385235 Centerline is valid? [False, False] Translation: X:9.40, Y:0.41, Z:-2.12 [[ 9.99899329e-01 -3.51733723e-03 -1.37462621e-02 9.39637424e+00] [ 3.57394519e-03 9.99985226e-01 4.09566883e-03 4.05503472e-01] [ 1.37316532e-02 -4.14438491e-03 9.99897128e-01 -2.12175702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.684553574 meters Centerline goodness [0,1] 0.81071301035591 Centerline is valid? [False, False] Translation: X:9.40, Y:0.41, Z:-2.12 [[ 9.99896585e-01 -3.78131756e-03 -1.38751996e-02 9.39700439e+00] [ 3.83638327e-03 9.99984863e-01 3.94417431e-03 4.06240321e-01] [ 1.38600753e-02 -3.99699701e-03 9.99895956e-01 -2.12191058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.714553574 meters Centerline goodness [0,1] 0.8037129596572653 Centerline is valid? [False, False] Translation: X:9.40, Y:0.41, Z:-2.12 [[ 9.99894510e-01 -3.93406523e-03 -1.39818483e-02 9.39754762e+00] [ 3.98747535e-03 9.99984852e-01 3.79413859e-03 4.06497102e-01] [ 1.39667101e-02 -3.84949062e-03 9.99895051e-01 -2.12221647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.74455357399995 meters Centerline goodness [0,1] 0.7906053038411226 Centerline is valid? [False, False] Translation: X:9.40, Y:0.41, Z:-2.12 [[ 9.99893867e-01 -3.98356564e-03 -1.40138003e-02 9.39773199e+00] [ 4.03811767e-03 9.99984371e-01 3.86659654e-03 4.06562115e-01] [ 1.39981785e-02 -3.92277554e-03 9.99894326e-01 -2.12207451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.774553574 meters Centerline goodness [0,1] 0.8077985145686536 Centerline is valid? [False, False] Translation: X:9.40, Y:0.41, Z:-2.12 [[ 9.99891611e-01 -4.10381261e-03 -1.41394553e-02 9.39830068e+00] [ 4.15683622e-03 9.99984431e-01 3.72269965e-03 4.07193719e-01] [ 1.41239579e-02 -3.78107155e-03 9.99893103e-01 -2.12235638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.80455357399995 meters Centerline goodness [0,1] 0.8147707535273263 Centerline is valid? [False, False] Translation: X:9.40, Y:0.41, Z:-2.12 [[ 9.99890004e-01 -4.12643280e-03 -1.42461328e-02 9.39864897e+00] [ 4.17960402e-03 9.99984403e-01 3.70457310e-03 4.07432723e-01] [ 1.42306240e-02 -3.76370881e-03 9.99891656e-01 -2.12241993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.834553574 meters Centerline goodness [0,1] 0.814652919656008 Centerline is valid? [False, False] Translation: X:9.40, Y:0.41, Z:-2.12 [[ 9.99885697e-01 -4.35702975e-03 -1.44779081e-02 9.39932845e+00] [ 4.41312614e-03 9.99982870e-01 3.84493335e-03 4.06933059e-01] [ 1.44609076e-02 -3.90838670e-03 9.99887797e-01 -2.12208203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.86455357399996 meters Centerline goodness [0,1] 0.8020133431467984 Centerline is valid? [False, False] Translation: X:9.40, Y:0.41, Z:-2.12 [[ 9.99884233e-01 -4.39046321e-03 -1.45686148e-02 9.39962329e+00] [ 4.44744238e-03 9.99982579e-01 3.88100003e-03 4.06897291e-01] [ 1.45513216e-02 -3.94534382e-03 9.99886340e-01 -2.12207911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.894553574 meters Centerline goodness [0,1] 0.8131271200512371 Centerline is valid? [False, False] Translation: X:9.40, Y:0.41, Z:-2.12 [[ 9.99875701e-01 -4.80951367e-03 -1.50150614e-02 9.40157782e+00] [ 4.86029616e-03 9.99982586e-01 3.34744672e-03 4.07997585e-01] [ 1.49987004e-02 -3.42000828e-03 9.99881664e-01 -2.12345918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.92455357399996 meters Centerline goodness [0,1] 0.8104491422877074 Centerline is valid? [False, False] Translation: X:9.40, Y:0.41, Z:-2.12 [[ 9.99866711e-01 -5.24319038e-03 -1.54618749e-02 9.40343863e+00] [ 5.29098916e-03 9.99981345e-01 3.05211154e-03 4.08308168e-01] [ 1.54455836e-02 -3.13351334e-03 9.99875800e-01 -2.12446265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.954553574 meters Centerline goodness [0,1] 0.8134181360799297 Centerline is valid? [False, False] Translation: X:9.41, Y:0.41, Z:-2.13 [[ 9.99857147e-01 -5.68812623e-03 -1.59163457e-02 9.40513445e+00] [ 5.73518164e-03 9.99979313e-01 2.91233909e-03 4.08088698e-01] [ 1.58994507e-02 -3.00320619e-03 9.99869086e-01 -2.12509481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.98455357399996 meters Centerline goodness [0,1] 0.8134181360799297 Centerline is valid? [False, False] Translation: X:9.41, Y:0.41, Z:-2.13 [[ 9.99857147e-01 -5.68812623e-03 -1.59163457e-02 9.40513445e+00] [ 5.73518164e-03 9.99979313e-01 2.91233909e-03 4.08088698e-01] [ 1.58994507e-02 -3.00320619e-03 9.99869086e-01 -2.12509481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.014553574 meters Centerline goodness [0,1] 0.8182227488151659 Centerline is valid? [False, False] Translation: X:9.41, Y:0.41, Z:-2.13 [[ 9.99842107e-01 -6.50310929e-03 -1.65369524e-02 9.40772958e+00] [ 6.54652984e-03 9.99975261e-01 2.57289087e-03 4.07598202e-01] [ 1.65198115e-02 -2.68074428e-03 9.99859945e-01 -2.12604389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.04455357399996 meters Centerline goodness [0,1] 0.7935494549667779 Centerline is valid? [False, False] Translation: X:9.41, Y:0.41, Z:-2.13 [[ 9.99845103e-01 -6.22606405e-03 -1.64622399e-02 9.40720080e+00] [ 6.27285475e-03 9.99976427e-01 2.79219721e-03 4.08187598e-01] [ 1.64444675e-02 -2.89502995e-03 9.99860589e-01 -2.12541378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.074553574 meters Centerline goodness [0,1] 0.7781953998534383 Centerline is valid? [False, False] Translation: X:9.41, Y:0.41, Z:-2.13 [[ 9.99849007e-01 -5.90291616e-03 -1.63437941e-02 9.40666992e+00] [ 5.95117985e-03 9.99978069e-01 2.90596888e-03 4.09023776e-01] [ 1.63262820e-02 -3.00279496e-03 9.99862208e-01 -2.12505316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.10455357399997 meters Centerline goodness [0,1] 0.8099239884802417 Centerline is valid? [False, False] Translation: X:9.41, Y:0.41, Z:-2.13 [[ 9.99849770e-01 -5.79287156e-03 -1.63364691e-02 9.40680380e+00] [ 5.83804265e-03 9.99979263e-01 2.71871323e-03 4.09913690e-01] [ 1.63203812e-02 -2.81367780e-03 9.99862855e-01 -2.12543569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.134553574 meters Centerline goodness [0,1] 0.7960410038882998 Centerline is valid? [False, False] Translation: X:9.41, Y:0.41, Z:-2.13 [[ 9.99853480e-01 -5.39851743e-03 -1.62441973e-02 9.40647436e+00] [ 5.44172869e-03 9.99981769e-01 2.61707985e-03 4.10935209e-01] [ 1.62297728e-02 -2.70509291e-03 9.99864629e-01 -2.12568632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.16455357399997 meters Centerline goodness [0,1] 0.8164904265090318 Centerline is valid? [False, False] Translation: X:9.40, Y:0.41, Z:-2.13 [[ 9.99864965e-01 -4.45963204e-03 -1.58165536e-02 9.40476709e+00] [ 4.50468087e-03 9.99985895e-01 2.81372548e-03 4.12137811e-01] [ 1.58037823e-02 -2.88459405e-03 9.99870951e-01 -2.12514341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.194553574 meters Centerline goodness [0,1] 0.8097419991540956 Centerline is valid? [False, False] Translation: X:9.40, Y:0.41, Z:-2.13 [[ 9.99871312e-01 -4.05030746e-03 -1.55226995e-02 9.40395914e+00] [ 4.09199110e-03 9.99988105e-01 2.65451438e-03 4.13296607e-01] [ 1.55117632e-02 -2.71769152e-03 9.99875992e-01 -2.12531820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.22455357399997 meters Centerline goodness [0,1] 0.8035143018441852 Centerline is valid? [False, False] Translation: X:9.40, Y:0.41, Z:-2.13 [[ 9.99876384e-01 -3.64564356e-03 -1.52946614e-02 9.40319643e+00] [ 3.68624620e-03 9.99989754e-01 2.62734270e-03 4.14561047e-01] [ 1.52849263e-02 -2.68339780e-03 9.99879578e-01 -2.12522016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.254553574 meters Centerline goodness [0,1] 0.8107252561727671 Centerline is valid? [False, False] Translation: X:9.40, Y:0.42, Z:-2.13 [[ 9.99878096e-01 -3.33114467e-03 -1.52543758e-02 9.40320516e+00] [ 3.36669393e-03 9.99991675e-01 2.30534386e-03 4.16870947e-01] [ 1.52465693e-02 -2.35641964e-03 9.99880988e-01 -2.12570851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.284553574 meters Centerline goodness [0,1] 0.7889873833309882 Centerline is valid? [False, False] Translation: X:9.40, Y:0.42, Z:-2.13 [[ 9.99877196e-01 -3.27072940e-03 -1.53262669e-02 9.40338375e+00] [ 3.30614091e-03 9.99991922e-01 2.28574355e-03 4.17295668e-01] [ 1.53186671e-02 -2.33613365e-03 9.99879933e-01 -2.12567958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.314553574 meters Centerline goodness [0,1] 0.8011643739142683 Centerline is valid? [False, False] Translation: X:9.40, Y:0.42, Z:-2.13 [[ 9.99873893e-01 -3.38601213e-03 -1.55155762e-02 9.40409255e+00] [ 3.42042567e-03 9.99991748e-01 2.19200007e-03 4.17703955e-01] [ 1.55080260e-02 -2.24479352e-03 9.99877223e-01 -2.12577582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.344553574 meters Centerline goodness [0,1] 0.8137701224949547 Centerline is valid? [False, False] Translation: X:9.41, Y:0.42, Z:-2.13 [[ 9.99869080e-01 -3.72130524e-03 -1.57472170e-02 9.40503853e+00] [ 3.75428113e-03 9.99990820e-01 2.06503380e-03 4.17962251e-01] [ 1.57393879e-02 -2.12388292e-03 9.99873872e-01 -2.12592852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.374553574 meters Centerline goodness [0,1] 0.7921273149778185 Centerline is valid? [False, False] Translation: X:9.41, Y:0.42, Z:-2.13 [[ 9.99861659e-01 -4.18413335e-03 -1.60983307e-02 9.40628491e+00] [ 4.21653339e-03 9.99989152e-01 1.97921823e-03 4.18120762e-01] [ 1.60898748e-02 -2.04682358e-03 9.99868455e-01 -2.12593347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.404553574 meters Centerline goodness [0,1] 0.8180218645896871 Centerline is valid? [False, False] Translation: X:9.41, Y:0.42, Z:-2.13 [[ 9.99841073e-01 -5.72320080e-03 -1.68841522e-02 9.40937284e+00] [ 5.74817924e-03 9.99982455e-01 1.43124195e-03 4.18509743e-01] [ 1.68756647e-02 -1.52806762e-03 9.99856428e-01 -2.12624103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.434553574 meters Centerline goodness [0,1] 0.8132616403296626 Centerline is valid? [False, False] Translation: X:9.41, Y:0.42, Z:-2.13 [[ 9.99826284e-01 -6.58699193e-03 -1.74359612e-02 9.41122201e+00] [ 6.61023448e-03 9.99977338e-01 1.27572647e-03 4.18450430e-01] [ 1.74271629e-02 -1.39076065e-03 9.99847168e-01 -2.12610372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.464553574 meters Centerline goodness [0,1] 0.7755144995322731 Centerline is valid? [False, False] Translation: X:9.41, Y:0.42, Z:-2.13 [[ 9.99775901e-01 -1.14971180e-02 -1.77753956e-02 9.41291887e+00] [ 1.14390099e-02 9.99928903e-01 -3.36725067e-03 4.19824145e-01] [ 1.78128455e-02 3.16316315e-03 9.99836335e-01 -2.12680770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49455357399995 meters Centerline goodness [0,1] 0.8243407518234525 Centerline is valid? [False, False] Translation: X:9.42, Y:0.42, Z:-2.13 [[ 9.99750627e-01 -1.25887066e-02 -1.84447286e-02 9.41530959e+00] [ 1.25230467e-02 9.99914845e-01 -3.67101247e-03 4.19828271e-01] [ 1.84893712e-02 3.43911282e-03 9.99823142e-01 -2.12691515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.524553574 meters Centerline goodness [0,1] 0.8062089524430575 Centerline is valid? [False, False] Translation: X:9.41, Y:0.42, Z:-2.13 [[ 9.99773186e-01 -1.83519506e-02 -1.08065682e-02 9.40810064e+00] [ 1.83225011e-02 9.99828158e-01 -2.81788207e-03 4.21667149e-01] [ 1.08564248e-02 2.61923958e-03 9.99937637e-01 -2.13123187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.55455357399995 meters Centerline goodness [0,1] 0.8052673028814973 Centerline is valid? [False, False] Translation: X:9.41, Y:0.42, Z:-2.13 [[ 9.99741631e-01 -1.95347302e-02 -1.16217336e-02 9.41102923e+00] [ 1.94923405e-02 9.99802975e-01 -3.74961707e-03 4.23926535e-01] [ 1.16926916e-02 3.52211350e-03 9.99925435e-01 -2.13212463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.584553574 meters Centerline goodness [0,1] 0.8078897470286269 Centerline is valid? [False, False] Translation: X:9.41, Y:0.42, Z:-2.13 [[ 9.99776770e-01 -1.70025961e-02 -1.25428234e-02 9.41416994e+00] [ 1.70019506e-02 9.99855444e-01 -1.58100905e-04 4.24025584e-01] [ 1.25436984e-02 -5.51868528e-05 9.99921323e-01 -2.13221058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.61455357399996 meters Centerline goodness [0,1] 0.8151603095632947 Centerline is valid? [False, False] Translation: X:9.42, Y:0.42, Z:-2.13 [[ 9.99811346e-01 -1.41096260e-02 -1.33488311e-02 9.41670245e+00] [ 1.41593375e-02 9.99893137e-01 3.63687353e-03 4.24049374e-01] [ 1.32960897e-02 -3.82519802e-03 9.99904286e-01 -2.13198787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.644553574 meters Centerline goodness [0,1] 0.8263951008050643 Centerline is valid? [False, False] Translation: X:9.42, Y:0.43, Z:-2.13 [[ 9.99852994e-01 -1.03645852e-02 -1.36589398e-02 9.41757849e+00] [ 1.04662893e-02 9.99917877e-01 7.39563948e-03 4.25363571e-01] [ 1.35811654e-02 -7.53751069e-03 9.99879362e-01 -2.13179196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.67455357399996 meters Centerline goodness [0,1] 0.8255324021067094 Centerline is valid? [False, False] Translation: X:9.42, Y:0.43, Z:-2.13 [[ 9.99860544e-01 -9.83381298e-03 -1.34977524e-02 9.41700516e+00] [ 9.93070822e-03 9.99925266e-01 7.13046562e-03 4.27102092e-01] [ 1.34266240e-02 -7.26351347e-03 9.99883477e-01 -2.13221221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.704553574 meters Centerline goodness [0,1] 0.8256363636363636 Centerline is valid? [False, False] Translation: X:9.42, Y:0.43, Z:-2.13 [[ 9.99884322e-01 -7.54052809e-03 -1.32092151e-02 9.41504547e+00] [ 7.64028820e-03 9.99942550e-01 7.51819818e-03 4.30801112e-01] [ 1.31517651e-02 -7.61825070e-03 9.99884490e-01 -2.13265502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.73455357399996 meters Centerline goodness [0,1] 0.8247140106467323 Centerline is valid? [False, False] Translation: X:9.43, Y:0.43, Z:-2.14 [[ 9.99960879e-01 -4.10461347e-03 -7.83531958e-03 9.42965528e+00] [ 4.10036169e-03 9.99991437e-01 -5.58630173e-04 4.33604105e-01] [ 7.83754545e-03 5.26480675e-04 9.99969147e-01 -2.14000010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.764553574 meters Centerline goodness [0,1] 0.8262024860385516 Centerline is valid? [False, False] Translation: X:9.43, Y:0.44, Z:-2.14 [[ 9.99970811e-01 6.63426901e-04 -7.61162656e-03 9.42863791e+00] [-6.36849547e-04 9.99993695e-01 3.49357123e-03 4.35686721e-01] [ 7.61389629e-03 -3.48862179e-03 9.99964928e-01 -2.13943301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.79455357399996 meters Centerline goodness [0,1] 0.8273001169169889 Centerline is valid? [False, False] Translation: X:9.43, Y:0.44, Z:-2.14 [[ 9.99972560e-01 1.48888198e-03 -7.25686274e-03 9.42732654e+00] [-1.46456728e-03 9.99993300e-01 3.35474335e-03 4.37490414e-01] [ 7.26180894e-03 -3.34402313e-03 9.99968041e-01 -2.13944346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.824553574 meters Centerline goodness [0,1] 0.8274239096328836 Centerline is valid? [False, False] Translation: X:9.42, Y:0.44, Z:-2.14 [[ 9.99973240e-01 3.38476291e-03 -6.48562242e-03 9.42421972e+00] [-3.36111433e-03 9.99987676e-01 3.65374616e-03 4.40073282e-01] [ 6.49790956e-03 -3.63184946e-03 9.99972293e-01 -2.13881046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.85455357399997 meters Centerline goodness [0,1] 0.8181329751511082 Centerline is valid? [False, False] Translation: X:9.42, Y:0.44, Z:-2.14 [[ 9.99972817e-01 3.86231422e-03 -6.28072357e-03 9.42352516e+00] [-3.84002227e-03 9.99986299e-01 3.55745923e-03 4.41199739e-01] [ 6.29437755e-03 -3.53324441e-03 9.99973948e-01 -2.13881288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.884553574 meters Centerline goodness [0,1] 0.8066499709315326 Centerline is valid? [False, False] Translation: X:9.42, Y:0.44, Z:-2.14 [[ 9.99971683e-01 4.78251271e-03 -5.81040471e-03 9.42177386e+00] [-4.76213223e-03 9.99982478e-01 3.51637085e-03 4.43204318e-01] [ 5.82711999e-03 -3.48860136e-03 9.99976937e-01 -2.13838408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.91455357399997 meters Centerline goodness [0,1] 0.8125321006676939 Centerline is valid? [False, False] Translation: X:9.42, Y:0.44, Z:-2.14 [[ 9.99971504e-01 4.84316603e-03 -5.79090941e-03 9.42182913e+00] [-4.82415800e-03 9.99982945e-01 3.29186609e-03 4.44000459e-01] [ 5.80675371e-03 -3.26383603e-03 9.99977814e-01 -2.13865405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.944553574 meters Centerline goodness [0,1] 0.8239045601516334 Centerline is valid? [False, False] Translation: X:9.42, Y:0.44, Z:-2.14 [[ 9.99972102e-01 4.59970544e-03 -5.88544746e-03 9.42252325e+00] [-4.58263945e-03 9.99985266e-01 2.90990017e-03 4.44809145e-01] [ 5.89874543e-03 -2.88284810e-03 9.99978447e-01 -2.13918095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.97455357399997 meters Centerline goodness [0,1] 0.8190529247910864 Centerline is valid? [False, False] Translation: X:9.42, Y:0.45, Z:-2.14 [[ 9.99972311e-01 4.18765766e-03 -6.15152745e-03 9.42373684e+00] [-4.17216217e-03 9.99988097e-01 2.52964404e-03 4.45119401e-01] [ 6.16204751e-03 -2.50390883e-03 9.99977880e-01 -2.13990203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.004553574 meters Centerline goodness [0,1] 0.8185156336931123 Centerline is valid? [False, False] Translation: X:9.43, Y:0.45, Z:-2.14 [[ 9.99972792e-01 3.46463226e-03 -6.51248707e-03 9.42541622e+00] [-3.45097086e-03 9.99991824e-01 2.10779142e-03 4.45432488e-01] [ 6.51973655e-03 -2.08525967e-03 9.99976572e-01 -2.14072049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.034553574 meters Centerline goodness [0,1] 0.8232268121590023 Centerline is valid? [False, False] Translation: X:9.43, Y:0.45, Z:-2.14 [[ 9.99972028e-01 2.95754126e-03 -6.86999291e-03 9.42680940e+00] [-2.94515230e-03 9.99994020e-01 1.81276101e-03 4.45529701e-01] [ 6.87531314e-03 -1.79247713e-03 9.99974758e-01 -2.14126254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.064553574 meters Centerline goodness [0,1] 0.8268448318029215 Centerline is valid? [False, False] Translation: X:9.43, Y:0.45, Z:-2.14 [[ 9.99971203e-01 2.28116212e-03 -7.23807334e-03 9.42829578e+00] [-2.26994169e-03 9.99996210e-01 1.55803219e-03 4.45612158e-01] [ 7.24160003e-03 -1.54155732e-03 9.99972591e-01 -2.14160909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.094553574 meters Centerline goodness [0,1] 0.824582418313702 Centerline is valid? [False, False] Translation: X:9.43, Y:0.45, Z:-2.14 [[ 9.99970599e-01 2.06077530e-03 -7.38607069e-03 9.42899307e+00] [-2.05067911e-03 9.99996953e-01 1.37423670e-03 4.46000625e-01] [ 7.38888018e-03 -1.35904983e-03 9.99971778e-01 -2.14202707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.124553574 meters Centerline goodness [0,1] 0.8278543263479686 Centerline is valid? [False, False] Translation: X:9.43, Y:0.45, Z:-2.14 [[ 9.99969484e-01 1.83795731e-03 -7.59292802e-03 9.42974349e+00] [-1.82879856e-03 9.99997592e-01 1.21298796e-03 4.46304409e-01] [ 7.59513916e-03 -1.19906501e-03 9.99970438e-01 -2.14235192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.154553574 meters Centerline goodness [0,1] 0.8279848515048834 Centerline is valid? [False, False] Translation: X:9.43, Y:0.45, Z:-2.14 [[ 9.99967908e-01 1.41234572e-03 -7.88594202e-03 9.43082168e+00] [-1.40335753e-03 9.99998360e-01 1.14519062e-03 4.46065358e-01] [ 7.88754649e-03 -1.13408707e-03 9.99968250e-01 -2.14254870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.184553574 meters Centerline goodness [0,1] 0.8205889521614854 Centerline is valid? [False, False] Translation: X:9.43, Y:0.45, Z:-2.14 [[ 9.99967095e-01 1.21068616e-03 -8.02140341e-03 9.43144433e+00] [-1.20227944e-03 9.99998723e-01 1.05277530e-03 4.46065667e-01] [ 8.02266775e-03 -1.04309669e-03 9.99967274e-01 -2.14281888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.214553574 meters Centerline goodness [0,1] 0.8312483364386478 Centerline is valid? [False, False] Translation: X:9.43, Y:0.44, Z:-2.14 [[ 9.99966463e-01 9.92102540e-04 -8.12954027e-03 9.43181017e+00] [-9.81373420e-04 9.99998642e-01 1.32365249e-03 4.44987199e-01] [ 8.13084243e-03 -1.31562998e-03 9.99966079e-01 -2.14253907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.24455357399995 meters Centerline goodness [0,1] 0.8306761834878705 Centerline is valid? [False, False] Translation: X:9.43, Y:0.44, Z:-2.14 [[ 9.99964810e-01 7.73784823e-04 -8.35342913e-03 9.43277702e+00] [-7.62154278e-04 9.99998736e-01 1.39540146e-03 4.43959369e-01] [ 8.35449831e-03 -1.38898576e-03 9.99964136e-01 -2.14298152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.274553574 meters Centerline goodness [0,1] 0.8300448829045016 Centerline is valid? [False, False] Translation: X:9.43, Y:0.44, Z:-2.14 [[ 9.99964871e-01 1.00311721e-03 -8.32164489e-03 9.43275301e+00] [-9.91229881e-04 9.99998483e-01 1.43248460e-03 4.44154237e-01] [ 8.32306922e-03 -1.42418561e-03 9.99964348e-01 -2.14328656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.30455357399995 meters Centerline goodness [0,1] 0.8264698034332474 Centerline is valid? [False, False] Translation: X:9.43, Y:0.44, Z:-2.14 [[ 9.99964596e-01 1.80374788e-03 -8.21908347e-03 9.43263308e+00] [-1.79125659e-03 9.99997230e-01 1.52689907e-03 4.44505570e-01] [ 8.22181485e-03 -1.51212252e-03 9.99965057e-01 -2.14432708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.334553574 meters Centerline goodness [0,1] 0.8264698034332474 Centerline is valid? [False, False] Translation: X:9.43, Y:0.44, Z:-2.14 [[ 9.99964596e-01 1.80374788e-03 -8.21908347e-03 9.43263308e+00] [-1.79125659e-03 9.99997230e-01 1.52689907e-03 4.44505570e-01] [ 8.22181485e-03 -1.51212252e-03 9.99965057e-01 -2.14432708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.36455357399996 meters Centerline goodness [0,1] 0.8259172521467604 Centerline is valid? [False, False] Translation: X:9.43, Y:0.44, Z:-2.14 [[ 9.99964583e-01 3.44924227e-03 -7.67694999e-03 9.43037398e+00] [-3.43123867e-03 9.99991335e-01 2.35708692e-03 4.44170461e-01] [ 7.68501364e-03 -2.33066199e-03 9.99967754e-01 -2.14374840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.394553574 meters Centerline goodness [0,1] 0.8232849162011173 Centerline is valid? [False, False] Translation: X:9.43, Y:0.44, Z:-2.14 [[ 9.99962898e-01 4.82825786e-03 -7.13374391e-03 9.42832652e+00] [-4.80548497e-03 9.99983314e-01 3.20597649e-03 4.43379891e-01] [ 7.14910416e-03 -3.17157644e-03 9.99969415e-01 -2.14313223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.42455357399996 meters Centerline goodness [0,1] 0.8229953937659318 Centerline is valid? [False, False] Translation: X:9.43, Y:0.44, Z:-2.14 [[ 9.99962055e-01 4.96411994e-03 -7.15869699e-03 9.42864463e+00] [-4.94107280e-03 9.99982565e-01 3.23356083e-03 4.43112748e-01] [ 7.17462396e-03 -3.19806649e-03 9.99969148e-01 -2.14365729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.454553574 meters Centerline goodness [0,1] 0.8206179561291479 Centerline is valid? [False, False] Translation: X:9.43, Y:0.44, Z:-2.14 [[ 9.99961464e-01 4.95176132e-03 -7.24913297e-03 9.42925615e+00] [-4.92871263e-03 9.99982753e-01 3.19392927e-03 4.42746480e-01] [ 7.26482352e-03 -3.15807729e-03 9.99968624e-01 -2.14435647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.48455357399996 meters Centerline goodness [0,1] 0.8197178662226922 Centerline is valid? [False, False] Translation: X:9.43, Y:0.44, Z:-2.15 [[ 9.99961090e-01 4.55461049e-03 -7.55479435e-03 9.43072401e+00] [-4.52925794e-03 9.99984066e-01 3.36954375e-03 4.40552418e-01] [ 7.57002093e-03 -3.33519503e-03 9.99965785e-01 -2.14519256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.514553574 meters Centerline goodness [0,1] 0.8223967054351269 Centerline is valid? [False, False] Translation: X:9.43, Y:0.44, Z:-2.15 [[ 9.99960993e-01 3.91139685e-03 -7.91915927e-03 9.43232303e+00] [-3.88175990e-03 9.99985418e-01 3.75435473e-03 4.36922446e-01] [ 7.93372856e-03 -3.72346801e-03 9.99961595e-01 -2.14553535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.54455357399996 meters Centerline goodness [0,1] 0.8225813774004631 Centerline is valid? [False, False] Translation: X:9.43, Y:0.44, Z:-2.15 [[ 9.99960344e-01 3.87095678e-03 -8.02035318e-03 9.43277057e+00] [-3.83924815e-03 9.99984769e-01 3.96515110e-03 4.35636834e-01] [ 8.03557995e-03 -3.93420173e-03 9.99959975e-01 -2.14571862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.574553574 meters Centerline goodness [0,1] 0.8220776562109047 Centerline is valid? [False, False] Translation: X:9.43, Y:0.43, Z:-2.15 [[ 9.99959836e-01 4.01461088e-03 -8.01305383e-03 9.43282209e+00] [-3.98121393e-03 9.99983341e-01 4.17942726e-03 4.34738482e-01] [ 8.02969911e-03 -4.14735772e-03 9.99959161e-01 -2.14586544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.60455357399997 meters Centerline goodness [0,1] 0.826016408803163 Centerline is valid? [False, False] Translation: X:9.43, Y:0.43, Z:-2.15 [[ 9.99958419e-01 5.01762580e-03 -7.61469336e-03 9.43142229e+00] [-4.97982298e-03 9.99975223e-01 4.97532339e-03 4.33116846e-01] [ 7.63946900e-03 -4.93719668e-03 9.99958630e-01 -2.14557687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.634553574 meters Centerline goodness [0,1] 0.8223464199001329 Centerline is valid? [False, False] Translation: X:9.43, Y:0.43, Z:-2.15 [[ 9.99957065e-01 5.65002046e-03 -7.34480014e-03 9.43042669e+00] [-5.61030565e-03 9.99969592e-01 5.41660570e-03 4.32187457e-01] [ 7.37518073e-03 -5.37516656e-03 9.99958356e-01 -2.14529527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.66455357399997 meters Centerline goodness [0,1] 0.8208371665133395 Centerline is valid? [False, False] Translation: X:9.43, Y:0.43, Z:-2.14 [[ 9.99952169e-01 7.14243223e-03 -6.68167208e-03 9.42804316e+00] [-7.09880476e-03 9.99953479e-01 6.53051119e-03 4.29992635e-01] [ 6.72800497e-03 -6.48276694e-03 9.99956353e-01 -2.14464176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.694553574 meters Centerline goodness [0,1] 0.8224604343025396 Centerline is valid? [False, False] Translation: X:9.43, Y:0.43, Z:-2.15 [[ 9.99950931e-01 7.27031359e-03 -6.72893783e-03 9.42843732e+00] [-7.22590314e-03 9.99952106e-01 6.60086717e-03 4.29489470e-01] [ 6.77660594e-03 -6.55192061e-03 9.99955574e-01 -2.14522739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.72455357399997 meters Centerline goodness [0,1] 0.8179784608998455 Centerline is valid? [False, False] Translation: X:9.43, Y:0.43, Z:-2.15 [[ 9.99968944e-01 4.68874367e-03 -6.33449592e-03 9.42726630e+00] [-4.67106499e-03 9.99985163e-01 2.80277585e-03 4.30422508e-01] [ 6.34754343e-03 -2.77309996e-03 9.99976009e-01 -2.14654703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.754553574 meters Centerline goodness [0,1] 0.818611329843902 Centerline is valid? [False, False] Translation: X:9.43, Y:0.43, Z:-2.15 [[ 9.99981542e-01 1.47877387e-03 -5.89306889e-03 9.42594902e+00] [-1.48362892e-03 9.99998564e-01 -8.19571622e-04 4.29572632e-01] [ 5.89184846e-03 8.28299622e-04 9.99982300e-01 -2.14684280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.784553574 meters Centerline goodness [0,1] 0.8171247848937259 Centerline is valid? [False, False] Translation: X:9.43, Y:0.43, Z:-2.15 [[ 9.99979984e-01 8.21780649e-04 -6.27352448e-03 9.42736391e+00] [-8.25985085e-04 9.99999436e-01 -6.67625808e-04 4.27617864e-01] [ 6.27297230e-03 6.72794282e-04 9.99980098e-01 -2.14688515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.814553574 meters Centerline goodness [0,1] 0.8196847815919932 Centerline is valid? [False, False] Translation: X:9.43, Y:0.43, Z:-2.15 [[ 9.99970971e-01 -3.91703830e-03 -6.53559659e-03 9.42860797e+00] [ 3.88783990e-03 9.99982432e-01 -4.47433540e-03 4.25268124e-01] [ 6.55300791e-03 4.44879616e-03 9.99968633e-01 -2.14724347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.844553574 meters Centerline goodness [0,1] 0.8188432923120116 Centerline is valid? [False, False] Translation: X:9.43, Y:0.42, Z:-2.15 [[ 9.99959694e-01 -5.11986037e-03 -7.37545497e-03 9.43158712e+00] [ 5.08665737e-03 9.99976877e-01 -4.51357084e-03 4.23767637e-01] [ 7.39839328e-03 4.47587251e-03 9.99962614e-01 -2.14763766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.874553574 meters Centerline goodness [0,1] 0.8188432923120116 Centerline is valid? [False, False] Translation: X:9.43, Y:0.42, Z:-2.15 [[ 9.99959694e-01 -5.11986037e-03 -7.37545497e-03 9.43158712e+00] [ 5.08665737e-03 9.99976877e-01 -4.51357084e-03 4.23767637e-01] [ 7.39839328e-03 4.47587251e-03 9.99962614e-01 -2.14763766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.904553574 meters Centerline goodness [0,1] 0.8204472993248312 Centerline is valid? [False, False] Translation: X:9.44, Y:0.42, Z:-2.15 [[ 9.99904199e-01 -1.09613898e-02 -8.45231655e-03 9.43639468e+00] [ 1.08812944e-02 9.99896004e-01 -9.46461206e-03 4.23044622e-01] [ 8.55518284e-03 9.37173319e-03 9.99919486e-01 -2.15028147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.934553574 meters Centerline goodness [0,1] 0.8220736570490266 Centerline is valid? [False, False] Translation: X:9.44, Y:0.42, Z:-2.15 [[ 9.99879620e-01 -1.23866052e-02 -9.34442185e-03 9.43986347e+00] [ 1.22957870e-02 9.99877212e-01 -9.71462049e-03 4.21662940e-01] [ 9.46360564e-03 9.59855402e-03 9.99909150e-01 -2.15107579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.964553574 meters Centerline goodness [0,1] 0.8203713702199582 Centerline is valid? [False, False] Translation: X:9.44, Y:0.42, Z:-2.15 [[ 0.99978074 -0.01817434 -0.0104001 9.44456155] [ 0.01802083 0.99972999 -0.01466932 0.42116071] [ 0.0106639 0.01447868 0.99983831 -2.1535366 ] [ 0. 0. 0. 1. ]] SLAMing on 280.99455357399995 meters Centerline goodness [0,1] 0.818739568886486 Centerline is valid? [False, False] Translation: X:9.45, Y:0.42, Z:-2.15 [[ 0.99974436 -0.01954991 -0.01135891 9.44829249] [ 0.01937706 0.99969771 -0.01513327 0.4206659 ] [ 0.01165133 0.0149093 0.99982096 -2.15461465] [ 0. 0. 0. 1. ]] SLAMing on 281.024553574 meters Centerline goodness [0,1] 0.8269375117282792 Centerline is valid? [False, False] Translation: X:9.45, Y:0.42, Z:-2.16 [[ 0.99966595 -0.02234721 -0.01298405 9.45482902] [ 0.02213759 0.99962577 -0.01606976 0.42049752] [ 0.01333831 0.01577695 0.99978657 -2.15616718] [ 0. 0. 0. 1. ]] SLAMing on 281.05455357399995 meters Centerline goodness [0,1] 0.8185506566604128 Centerline is valid? [False, False] Translation: X:9.46, Y:0.42, Z:-2.15 [[ 0.99965228 -0.02164342 -0.01506262 9.46210619] [ 0.02147842 0.99970846 -0.01103074 0.41870354] [ 0.01529697 0.01070338 0.9998257 -2.1532879 ] [ 0. 0. 0. 1. ]] SLAMing on 281.084553574 meters Centerline goodness [0,1] 0.8216422601448095 Centerline is valid? [False, False] Translation: X:9.47, Y:0.42, Z:-2.15 [[ 0.99960309 -0.02313687 -0.01607309 9.46563452] [ 0.02294663 0.99966562 -0.0119209 0.42005499] [ 0.01634353 0.01154734 0.99979975 -2.15407363] [ 0. 0. 0. 1. ]] SLAMing on 281.11455357399996 meters Centerline goodness [0,1] 0.8220370456339074 Centerline is valid? [False, False] Translation: X:9.47, Y:0.42, Z:-2.15 [[ 9.99627245e-01 -2.11091577e-02 -1.73139937e-02 9.46962097e+00] [ 2.09674286e-02 9.99745482e-01 -8.32691777e-03 4.19359789e-01] [ 1.74853612e-02 7.96078395e-03 9.99815427e-01 -2.15378454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.144553574 meters Centerline goodness [0,1] 0.8273109049794638 Centerline is valid? [False, False] Translation: X:9.47, Y:0.42, Z:-2.15 [[ 9.99644731e-01 -1.90604042e-02 -1.86309516e-02 9.47343712e+00] [ 1.89679865e-02 9.99806958e-01 -5.12464447e-03 4.21036517e-01] [ 1.87250329e-02 4.76943221e-03 9.99813295e-01 -2.15327186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.17455357399996 meters Centerline goodness [0,1] 0.8237676781546066 Centerline is valid? [False, False] Translation: X:9.48, Y:0.42, Z:-2.15 [[ 9.99667272e-01 -1.66138655e-02 -1.97313233e-02 9.47706647e+00] [ 1.65816196e-02 9.99860901e-01 -1.79673857e-03 4.22100611e-01] [ 1.97584295e-02 1.46896344e-03 9.99803704e-01 -2.15351176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.204553574 meters Centerline goodness [0,1] 0.8223056788437464 Centerline is valid? [False, False] Translation: X:9.47, Y:0.43, Z:-2.16 [[ 9.99786628e-01 -1.69593790e-02 -1.17931716e-02 9.46694366e+00] [ 1.70038127e-02 9.99848661e-01 3.67773707e-03 4.27917258e-01] [ 1.17290147e-02 -3.87748122e-03 9.99923695e-01 -2.15564110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.23455357399996 meters Centerline goodness [0,1] 0.7913881019830028 Centerline is valid? [False, False] Translation: X:9.47, Y:0.43, Z:-2.16 [[ 9.99796413e-01 -1.64892230e-02 -1.16291947e-02 9.46592545e+00] [ 1.65293228e-02 9.99857734e-01 3.36055147e-03 4.30874314e-01] [ 1.15721273e-02 -3.55209002e-03 9.99926732e-01 -2.15512130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.264553574 meters Centerline goodness [0,1] 0.8053284212418007 Centerline is valid? [False, False] Translation: X:9.46, Y:0.44, Z:-2.15 [[ 9.99816411e-01 -1.54819442e-02 -1.12895239e-02 9.46381799e+00] [ 1.55156458e-02 9.99875409e-01 2.90375612e-03 4.36019970e-01] [ 1.12431616e-02 -3.07838727e-03 9.99932055e-01 -2.15385038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.29455357399996 meters Centerline goodness [0,1] 0.8323039324594534 Centerline is valid? [False, False] Translation: X:9.46, Y:0.44, Z:-2.15 [[ 9.99862924e-01 -1.17374174e-02 -1.16775658e-02 9.46391278e+00] [ 1.18094119e-02 9.99911566e-01 6.11545697e-03 4.40311039e-01] [ 1.16047535e-02 -6.25252388e-03 9.99913114e-01 -2.15271994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.324553574 meters Centerline goodness [0,1] 0.701335688265813 Centerline is valid? [False, False] Translation: X:9.46, Y:0.44, Z:-2.15 [[ 9.99874923e-01 -1.09828541e-02 -1.13804906e-02 9.46251446e+00] [ 1.10497550e-02 9.99921940e-01 5.83245129e-03 4.43478712e-01] [ 1.13155452e-02 -5.95747342e-03 9.99918230e-01 -2.15234033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.35455357399997 meters Centerline goodness [0,1] 0.8323559772462717 Centerline is valid? [False, False] Translation: X:9.46, Y:0.45, Z:-2.15 [[ 9.99883883e-01 -1.03578061e-02 -1.11774957e-02 9.46150414e+00] [ 1.04204599e-02 9.99930238e-01 5.56173951e-03 4.46336013e-01] [ 1.11191085e-02 -5.67756834e-03 9.99922062e-01 -2.15211376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.384553574 meters Centerline goodness [0,1] 0.8346627040492997 Centerline is valid? [False, False] Translation: X:9.46, Y:0.45, Z:-2.15 [[ 9.99888355e-01 -9.93905820e-03 -1.11576291e-02 9.46128870e+00] [ 9.99630423e-03 9.99937098e-01 5.08667040e-03 4.49226018e-01] [ 1.11063706e-02 -5.19763756e-03 9.99924814e-01 -2.15252573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.41455357399997 meters Centerline goodness [0,1] 0.8336731152945259 Centerline is valid? [False, False] Translation: X:9.46, Y:0.45, Z:-2.15 [[ 9.99914925e-01 -6.12729209e-03 -1.15151821e-02 9.46213396e+00] [ 6.22363435e-03 9.99945775e-01 8.34941557e-03 4.52404177e-01] [ 1.14633983e-02 -8.42037153e-03 9.99898839e-01 -2.15256684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.444553574 meters Centerline goodness [0,1] 0.833930189411917 Centerline is valid? [False, False] Translation: X:9.46, Y:0.46, Z:-2.15 [[ 9.99928951e-01 -4.42780853e-03 -1.10674470e-02 9.45980739e+00] [ 4.51806672e-03 9.99956633e-01 8.14363088e-03 4.56946068e-01] [ 1.10309086e-02 -8.19305575e-03 9.99905592e-01 -2.15219900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.47455357399997 meters Centerline goodness [0,1] 0.8306558996606674 Centerline is valid? [False, False] Translation: X:9.46, Y:0.46, Z:-2.15 [[ 9.99935621e-01 -3.57566011e-03 -1.07688737e-02 9.45854778e+00] [ 3.66047942e-03 9.99962355e-01 7.86695606e-03 4.59646282e-01] [ 1.07403388e-02 -7.90586883e-03 9.99911067e-01 -2.15220644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.504553574 meters Centerline goodness [0,1] 0.8347718073372883 Centerline is valid? [False, False] Translation: X:9.46, Y:0.46, Z:-2.15 [[ 9.99942854e-01 -2.57206783e-03 -1.03766159e-02 9.45700867e+00] [ 2.65096437e-03 9.99967631e-01 7.59672615e-03 4.62540503e-01] [ 1.03567407e-02 -7.62380007e-03 9.99917304e-01 -2.15222710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.534553574 meters Centerline goodness [0,1] 0.8328090460805986 Centerline is valid? [False, False] Translation: X:9.46, Y:0.47, Z:-2.15 [[ 9.99945745e-01 2.57582760e-03 -1.00931445e-02 9.45539081e+00] [-2.46110620e-03 9.99932419e-01 1.13622523e-02 4.66328536e-01] [ 1.01217296e-02 -1.13367956e-02 9.99884507e-01 -2.15144482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.564553574 meters Centerline goodness [0,1] 0.8291729196170023 Centerline is valid? [False, False] Translation: X:9.45, Y:0.47, Z:-2.15 [[ 9.99923457e-01 7.59516046e-03 -9.76695680e-03 9.45408586e+00] [-7.44677645e-03 9.99857651e-01 1.51401148e-02 4.69235406e-01] [ 9.88055808e-03 -1.50662236e-02 9.99837679e-01 -2.15113927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.594553574 meters Centerline goodness [0,1] 0.8371137928855753 Centerline is valid? [False, False] Translation: X:9.45, Y:0.47, Z:-2.15 [[ 9.99920088e-01 8.12492894e-03 -9.68517644e-03 9.45389281e+00] [-7.98153810e-03 9.99859312e-01 1.47530176e-02 4.71344269e-01] [ 9.80368107e-03 -1.46745361e-02 9.99844261e-01 -2.15168356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.624553574 meters Centerline goodness [0,1] 0.8288358397307813 Centerline is valid? [False, False] Translation: X:9.45, Y:0.47, Z:-2.15 [[ 9.99917850e-01 8.51737622e-03 -9.57848285e-03 9.45369340e+00] [-8.37965493e-03 9.99862242e-01 1.43275653e-02 4.73146267e-01] [ 9.69919660e-03 -1.42461239e-02 9.99851476e-01 -2.15226044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.654553574 meters Centerline goodness [0,1] 0.8351363865970702 Centerline is valid? [False, False] Translation: X:9.45, Y:0.48, Z:-2.15 [[ 9.99916534e-01 8.78542162e-03 -9.47318650e-03 9.45351953e+00] [-8.65515274e-03 9.99868612e-01 1.37057352e-02 4.75477491e-01] [ 9.59235250e-03 -1.36225994e-02 9.99861196e-01 -2.15285612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.684553574 meters Centerline goodness [0,1] 0.8334946757018393 Centerline is valid? [False, False] Translation: X:9.45, Y:0.48, Z:-2.15 [[ 9.99941066e-01 5.79512016e-03 -9.18052463e-03 9.45232523e+00] [-5.70648862e-03 9.99937143e-01 9.65125502e-03 4.77559975e-01] [ 9.23587775e-03 -9.59829767e-03 9.99911282e-01 -2.15319729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.714553574 meters Centerline goodness [0,1] 0.823167649536647 Centerline is valid? [False, False] Translation: X:9.45, Y:0.48, Z:-2.15 [[ 9.99956890e-01 1.66433698e-03 -9.13500572e-03 9.45247572e+00] [-1.61749813e-03 9.99985521e-01 5.13239838e-03 4.78321278e-01] [ 9.14341549e-03 -5.11740127e-03 9.99945104e-01 -2.15393381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.74455357399995 meters Centerline goodness [0,1] 0.8333825079030559 Centerline is valid? [False, False] Translation: X:9.45, Y:0.48, Z:-2.15 [[ 9.99953794e-01 8.73946616e-04 -9.57315000e-03 9.45421338e+00] [-8.27713496e-04 9.99987982e-01 4.83235521e-03 4.77692710e-01] [ 9.57725817e-03 -4.82420810e-03 9.99942500e-01 -2.15449151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.774553574 meters Centerline goodness [0,1] 0.8297675202156334 Centerline is valid? [False, False] Translation: X:9.46, Y:0.48, Z:-2.16 [[ 9.99945913e-01 -3.51763525e-03 -9.78763637e-03 9.45510171e+00] [ 3.52291639e-03 9.99993658e-01 5.22384033e-04 4.77961395e-01] [ 9.78573674e-03 -5.56836804e-04 9.99951963e-01 -2.15526964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.80455357399995 meters Centerline goodness [0,1] 0.8312359029490504 Centerline is valid? [False, False] Translation: X:9.46, Y:0.48, Z:-2.16 [[ 9.99938728e-01 -4.23811151e-03 -1.02264074e-02 9.45670205e+00] [ 4.24300306e-03 9.99990894e-01 4.56676861e-04 4.77043412e-01] [ 1.02243788e-02 -5.00039557e-04 9.99947605e-01 -2.15559951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.834553574 meters Centerline goodness [0,1] 0.825865924144623 Centerline is valid? [False, False] Translation: X:9.46, Y:0.48, Z:-2.16 [[ 9.99922867e-01 -5.97587276e-03 -1.08880616e-02 9.45950360e+00] [ 5.97648383e-03 9.99982140e-01 2.35861416e-05 4.75416842e-01] [ 1.08877262e-02 -8.86566465e-05 9.99940723e-01 -2.15613815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.86455357399996 meters Centerline goodness [0,1] 0.8327429896689859 Centerline is valid? [False, False] Translation: X:9.46, Y:0.47, Z:-2.16 [[ 9.99918749e-01 -6.37208947e-03 -1.10404870e-02 9.46005772e+00] [ 6.37430600e-03 9.99979670e-01 1.65585766e-04 4.74468991e-01] [ 1.10392074e-02 -2.35947754e-04 9.99939038e-01 -2.15589486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.894553574 meters Centerline goodness [0,1] 0.8304098516747423 Centerline is valid? [False, False] Translation: X:9.46, Y:0.47, Z:-2.16 [[ 9.99915453e-01 -6.64472507e-03 -1.11774342e-02 9.46044788e+00] [ 6.64927982e-03 9.99977825e-01 3.70382129e-04 4.73558403e-01] [ 1.11747252e-02 -4.44672702e-04 9.99937462e-01 -2.15553945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.92455357399996 meters Centerline goodness [0,1] 0.8298043533497078 Centerline is valid? [False, False] Translation: X:9.46, Y:0.47, Z:-2.16 [[ 9.99908582e-01 -7.26893858e-03 -1.14013645e-02 9.46129775e+00] [ 7.27499024e-03 9.99973417e-01 4.89399043e-04 4.72278683e-01] [ 1.13975040e-02 -5.72299118e-04 9.99934883e-01 -2.15520439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.954553574 meters Centerline goodness [0,1] 0.831802404334575 Centerline is valid? [False, False] Translation: X:9.46, Y:0.47, Z:-2.16 [[ 9.99904196e-01 -7.51998984e-03 -1.16210675e-02 9.46210606e+00] [ 7.52543627e-03 9.99971593e-01 4.25010504e-04 4.72209642e-01] [ 1.16175413e-02 -5.12423389e-04 9.99932383e-01 -2.15547964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.98455357399996 meters Centerline goodness [0,1] 0.8286487744009474 Centerline is valid? [False, False] Translation: X:9.47, Y:0.47, Z:-2.16 [[ 9.99886373e-01 -8.57153203e-03 -1.24004207e-02 9.46536122e+00] [ 8.56862296e-03 9.99963247e-01 -2.87705461e-04 4.72492526e-01] [ 1.24024311e-02 1.81418240e-04 9.99923070e-01 -2.15742647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.014553574 meters Centerline goodness [0,1] 0.8306934252542982 Centerline is valid? [False, False] Translation: X:9.47, Y:0.47, Z:-2.16 [[ 9.99878279e-01 -8.96563645e-03 -1.27689236e-02 9.46682316e+00] [ 8.95932000e-03 9.99959712e-01 -5.51791863e-04 4.72677967e-01] [ 1.27733563e-02 4.37323826e-04 9.99918322e-01 -2.15827869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.04455357399996 meters Centerline goodness [0,1] 0.8304830673085044 Centerline is valid? [False, False] Translation: X:9.47, Y:0.47, Z:-2.16 [[ 9.99858509e-01 -9.99352345e-03 -1.35311241e-02 9.46971293e+00] [ 9.97721899e-03 9.99949417e-01 -1.27193070e-03 4.73510108e-01] [ 1.35431507e-02 1.13674774e-03 9.99907641e-01 -2.15961270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.074553574 meters Centerline goodness [0,1] 0.8295118655518959 Centerline is valid? [False, False] Translation: X:9.47, Y:0.47, Z:-2.16 [[ 9.99849141e-01 -1.04430037e-02 -1.38794170e-02 9.47107921e+00] [ 1.04221175e-02 9.99944446e-01 -1.57631023e-03 4.73821585e-01] [ 1.38951073e-02 1.43141951e-03 9.99902434e-01 -2.16032653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.10455357399997 meters Centerline goodness [0,1] 0.8275978550014779 Centerline is valid? [False, False] Translation: X:9.47, Y:0.47, Z:-2.16 [[ 9.99840220e-01 -1.07972556e-02 -1.42461661e-02 9.47232140e+00] [ 1.07723370e-02 9.99940312e-01 -1.82472606e-03 4.74294606e-01] [ 1.42650178e-02 1.67097000e-03 9.99896853e-01 -2.16079550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.134553574 meters Centerline goodness [0,1] 0.8301612699482084 Centerline is valid? [False, False] Translation: X:9.48, Y:0.47, Z:-2.16 [[ 9.99839971e-01 -9.17607939e-03 -1.53567914e-02 9.47694145e+00] [ 9.18978941e-03 9.99957435e-01 8.22435559e-04 4.74281305e-01] [ 1.53485910e-02 -9.63429625e-04 9.99881739e-01 -2.16252159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.16455357399997 meters Centerline goodness [0,1] 0.8252998130762607 Centerline is valid? [False, False] Translation: X:9.48, Y:0.48, Z:-2.16 [[ 9.99840905e-01 -8.91144119e-03 -1.54515467e-02 9.47706987e+00] [ 8.92068313e-03 9.99960070e-01 5.29302492e-04 4.76301986e-01] [ 1.54462129e-02 -6.67056635e-04 9.99880478e-01 -2.16280778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.194553574 meters Centerline goodness [0,1] 0.8196328307362312 Centerline is valid? [False, False] Translation: X:9.48, Y:0.48, Z:-2.16 [[ 9.99847360e-01 -8.47220498e-03 -1.52799836e-02 9.47634972e+00] [ 8.48221493e-03 9.99963851e-01 5.90411629e-04 4.77484360e-01] [ 1.52744291e-02 -7.19929613e-04 9.99883080e-01 -2.16249884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.22455357399997 meters Centerline goodness [0,1] 0.8210857262628379 Centerline is valid? [False, False] Translation: X:9.48, Y:0.48, Z:-2.16 [[ 9.99861225e-01 -5.39093160e-03 -1.57628646e-02 9.47819775e+00] [ 5.45582665e-03 9.99976806e-01 4.07685770e-03 4.77347682e-01] [ 1.57405209e-02 -4.16229139e-03 9.99867447e-01 -2.16284271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.254553574 meters Centerline goodness [0,1] 0.8192531918005725 Centerline is valid? [False, False] Translation: X:9.49, Y:0.48, Z:-2.17 [[ 9.99949658e-01 -4.09210178e-04 -1.00256751e-02 9.49288770e+00] [ 3.96307853e-04 9.99999091e-01 -1.28888119e-03 4.80324868e-01] [ 1.00261934e-02 1.28484305e-03 9.99948911e-01 -2.16863123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.284553574 meters Centerline goodness [0,1] 0.819376026272578 Centerline is valid? [False, False] Translation: X:9.49, Y:0.48, Z:-2.17 [[ 9.99952589e-01 2.27989618e-03 -9.46685434e-03 9.49013527e+00] [-2.27438594e-03 9.99997238e-01 5.92781778e-04 4.82968010e-01] [ 9.46817967e-03 -5.71222393e-04 9.99955013e-01 -2.16696847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.314553574 meters Centerline goodness [0,1] 0.8191736979924352 Centerline is valid? [False, False] Translation: X:9.49, Y:0.48, Z:-2.17 [[ 9.99954446e-01 3.01516185e-03 -9.05625027e-03 9.48857943e+00] [-3.00870234e-03 9.99995210e-01 7.26804604e-04 4.84204583e-01] [ 9.05839832e-03 -6.99523933e-04 9.99958727e-01 -2.16638990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.344553574 meters Centerline goodness [0,1] 0.8237037344054379 Centerline is valid? [False, False] Translation: X:9.49, Y:0.49, Z:-2.17 [[ 9.99954677e-01 3.46391390e-03 -8.86822855e-03 9.48797434e+00] [-3.45901970e-03 9.99993857e-01 5.67158874e-04 4.85775514e-01] [ 8.87013866e-03 -5.36457792e-04 9.99960516e-01 -2.16641882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.374553574 meters Centerline goodness [0,1] 0.8250707776239383 Centerline is valid? [False, False] Translation: X:9.49, Y:0.49, Z:-2.17 [[ 9.99953613e-01 4.60805087e-03 -8.45795663e-03 9.48649784e+00] [-4.60396684e-03 9.99989276e-01 5.02269717e-04 4.88760893e-01] [ 8.46018041e-03 -4.63306266e-04 9.99964105e-01 -2.16655094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.404553574 meters Centerline goodness [0,1] 0.8234312210200927 Centerline is valid? [False, False] Translation: X:9.49, Y:0.49, Z:-2.17 [[ 9.99952093e-01 4.66316642e-03 -8.60618654e-03 9.48718994e+00] [-4.66120122e-03 9.99989106e-01 2.48391731e-04 4.89502349e-01] [ 8.60725108e-03 -2.08264664e-04 9.99962935e-01 -2.16719519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.434553574 meters Centerline goodness [0,1] 0.823540357260999 Centerline is valid? [False, False] Translation: X:9.49, Y:0.49, Z:-2.17 [[ 9.99950231e-01 4.96855271e-03 -8.65149508e-03 9.48738522e+00] [-4.96661679e-03 9.99987636e-01 2.45237259e-04 4.89606333e-01] [ 8.65260658e-03 -2.02256393e-04 9.99962545e-01 -2.16770742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.464553574 meters Centerline goodness [0,1] 0.8229868894495223 Centerline is valid? [False, False] Translation: X:9.49, Y:0.49, Z:-2.17 [[ 9.99949293e-01 4.93436838e-03 -8.77860931e-03 9.48807251e+00] [-4.93319861e-03 9.99987820e-01 1.54901360e-04 4.89585021e-01] [ 8.77926672e-03 -1.11586882e-04 9.99961455e-01 -2.16837380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49455357399995 meters Centerline goodness [0,1] 0.8222732159100306 Centerline is valid? [False, False] Translation: X:9.49, Y:0.49, Z:-2.17 [[ 9.99948073e-01 5.08429366e-03 -8.83182989e-03 9.48810914e+00] [-5.08201547e-03 9.99987047e-01 2.80375397e-04 4.89701784e-01] [ 8.83314101e-03 -2.35477342e-04 9.99960959e-01 -2.16829498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.524553574 meters Centerline goodness [0,1] 0.8294829937595569 Centerline is valid? [False, False] Translation: X:9.49, Y:0.49, Z:-2.17 [[ 9.99947541e-01 5.00034429e-03 -8.93930886e-03 9.48865489e+00] [-4.99893349e-03 9.99987489e-01 1.80157172e-04 4.89824742e-01] [ 8.94009786e-03 -1.35460710e-04 9.99960027e-01 -2.16862315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.55455357399995 meters Centerline goodness [0,1] 0.8264022311744654 Centerline is valid? [False, False] Translation: X:9.49, Y:0.49, Z:-2.17 [[ 9.99947291e-01 5.21706665e-03 -8.84288052e-03 9.48819605e+00] [-5.21376306e-03 9.99986330e-01 3.96598912e-04 4.89438896e-01] [ 8.84482872e-03 -3.50473324e-04 9.99960822e-01 -2.16818454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.584553574 meters Centerline goodness [0,1] 0.8299328165374678 Centerline is valid? [False, False] Translation: X:9.49, Y:0.49, Z:-2.17 [[ 9.99947112e-01 5.42976039e-03 -8.73444324e-03 9.48775485e+00] [-5.42476870e-03 9.99985109e-01 5.95084445e-04 4.89179531e-01] [ 8.73754434e-03 -5.47670638e-04 9.99961677e-01 -2.16785000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.61455357399996 meters Centerline goodness [0,1] 0.8273098191910196 Centerline is valid? [False, False] Translation: X:9.49, Y:0.49, Z:-2.17 [[ 9.99947569e-01 5.33346944e-03 -8.74145926e-03 9.48795455e+00] [-5.32917226e-03 9.99985667e-01 5.14805354e-04 4.88931779e-01] [ 8.74407967e-03 -4.68193620e-04 9.99961660e-01 -2.16793858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.644553574 meters Centerline goodness [0,1] 0.8252451336055888 Centerline is valid? [False, False] Translation: X:9.49, Y:0.49, Z:-2.17 [[ 9.99947391e-01 5.15045697e-03 -8.87064086e-03 9.48856680e+00] [-5.14697916e-03 9.99986668e-01 4.14842754e-04 4.88744023e-01] [ 8.87265923e-03 -3.69163925e-04 9.99960569e-01 -2.16827786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.67455357399996 meters Centerline goodness [0,1] 0.8294573643410853 Centerline is valid? [False, False] Translation: X:9.49, Y:0.49, Z:-2.17 [[ 9.99948018e-01 4.60475118e-03 -9.09710683e-03 9.48944004e+00] [-4.60240835e-03 9.99989370e-01 2.78454589e-04 4.88246047e-01] [ 9.09829234e-03 -2.36571514e-04 9.99958582e-01 -2.16835677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.704553574 meters Centerline goodness [0,1] 0.8257437639844203 Centerline is valid? [False, False] Translation: X:9.49, Y:0.49, Z:-2.17 [[ 9.99948203e-01 4.34678242e-03 -9.20307058e-03 9.48978018e+00] [-4.34433296e-03 9.99990522e-01 2.86131657e-04 4.88011100e-01] [ 9.20422711e-03 -2.46135633e-04 9.99957610e-01 -2.16819985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.73455357399996 meters Centerline goodness [0,1] 0.8240907864982054 Centerline is valid? [False, False] Translation: X:9.49, Y:0.49, Z:-2.17 [[ 9.99947593e-01 2.94552572e-03 -9.80488685e-03 9.49219379e+00] [-2.94776919e-03 9.99995632e-01 -2.14367459e-04 4.86962408e-01] [ 9.80421260e-03 2.43258768e-04 9.99951908e-01 -2.16881527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.764553574 meters Centerline goodness [0,1] 0.8233695652173914 Centerline is valid? [False, False] Translation: X:9.50, Y:0.49, Z:-2.17 [[ 9.99942067e-01 1.26689832e-03 -1.06891281e-02 9.49572030e+00] [-1.27745057e-03 9.99998703e-01 -9.80424661e-04 4.86111607e-01] [ 1.06878721e-02 9.94022695e-04 9.99942389e-01 -2.17023852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.79455357399996 meters Centerline goodness [0,1] 0.8233695652173914 Centerline is valid? [False, False] Translation: X:9.50, Y:0.49, Z:-2.17 [[ 9.99942067e-01 1.26689832e-03 -1.06891281e-02 9.49572030e+00] [-1.27745057e-03 9.99998703e-01 -9.80424661e-04 4.86111607e-01] [ 1.06878721e-02 9.94022695e-04 9.99942389e-01 -2.17023852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.824553574 meters Centerline goodness [0,1] 0.8287180760793079 Centerline is valid? [False, False] Translation: X:9.50, Y:0.49, Z:-2.17 [[ 9.99938652e-01 7.20660501e-04 -1.10531471e-02 9.49701022e+00] [-7.33626571e-04 9.99999048e-01 -1.16905622e-03 4.85949950e-01] [ 1.10522941e-02 1.17709338e-03 9.99938229e-01 -2.17060243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.85455357399997 meters Centerline goodness [0,1] 0.8268657334548165 Centerline is valid? [False, False] Translation: X:9.50, Y:0.49, Z:-2.17 [[ 9.99935030e-01 2.03669547e-04 -1.13971555e-02 9.49834600e+00] [-2.20216723e-04 9.99998924e-01 -1.45063278e-03 4.86085940e-01] [ 1.13968478e-02 1.45304838e-03 9.99933998e-01 -2.17117696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.884553574 meters Centerline goodness [0,1] 0.8215341978449257 Centerline is valid? [False, False] Translation: X:9.50, Y:0.49, Z:-2.17 [[ 9.99924888e-01 -1.01928483e-03 -1.22138916e-02 9.50151542e+00] [ 9.89217857e-04 9.99996466e-01 -2.46749134e-03 4.87548166e-01] [ 1.22163635e-02 2.45522380e-03 9.99922363e-01 -2.17289953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.91455357399997 meters Centerline goodness [0,1] 0.8306463266106558 Centerline is valid? [False, False] Translation: X:9.50, Y:0.49, Z:-2.17 [[ 9.99920030e-01 -1.46289080e-03 -1.25615722e-02 9.50277139e+00] [ 1.42731361e-03 9.99994947e-01 -2.84072195e-03 4.88360200e-01] [ 1.25656644e-02 2.82256548e-03 9.99917065e-01 -2.17344727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.944553574 meters Centerline goodness [0,1] 0.8237985800467846 Centerline is valid? [False, False] Translation: X:9.51, Y:0.49, Z:-2.17 [[ 9.99909875e-01 -2.64011915e-03 -1.31632503e-02 9.50520642e+00] [ 2.58975035e-03 9.99989266e-01 -3.84204991e-03 4.89873173e-01] [ 1.31732525e-02 3.80761412e-03 9.99905979e-01 -2.17457940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.97455357399997 meters Centerline goodness [0,1] 0.8288262546686531 Centerline is valid? [False, False] Translation: X:9.51, Y:0.49, Z:-2.17 [[ 9.99906145e-01 -3.04611860e-03 -1.33574528e-02 9.50589776e+00] [ 2.98973485e-03 9.99986546e-01 -4.23908412e-03 4.90953042e-01] [ 1.33701858e-02 4.19875102e-03 9.99901799e-01 -2.17471857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.004553574 meters Centerline goodness [0,1] 0.8253266291068435 Centerline is valid? [False, False] Translation: X:9.50, Y:0.50, Z:-2.18 [[ 9.99955188e-01 -6.88465430e-03 -6.49788804e-03 9.49828396e+00] [ 6.86544533e-03 9.99972010e-01 -2.97387730e-03 4.95243123e-01] [ 6.51818029e-03 2.92913314e-03 9.99974466e-01 -2.17757067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.034553574 meters Centerline goodness [0,1] 0.8268120718237562 Centerline is valid? [False, False] Translation: X:9.50, Y:0.50, Z:-2.18 [[ 9.99961515e-01 -5.13667729e-03 -7.11219200e-03 9.50079079e+00] [ 5.13372238e-03 9.99986728e-01 -4.33665112e-04 4.96151815e-01] [ 7.11432520e-03 3.97136403e-04 9.99974614e-01 -2.17791176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.064553574 meters Centerline goodness [0,1] 0.8283726247733186 Centerline is valid? [False, False] Translation: X:9.50, Y:0.50, Z:-2.18 [[ 9.99957988e-01 -5.42166292e-03 -7.39100122e-03 9.50132875e+00] [ 5.40690202e-03 9.99983351e-01 -2.01566583e-03 5.02717766e-01] [ 7.40180643e-03 1.97561873e-03 9.99970655e-01 -2.17835170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.094553574 meters Centerline goodness [0,1] 0.8357819067447068 Centerline is valid? [False, False] Translation: X:9.50, Y:0.51, Z:-2.18 [[ 9.99961141e-01 -5.05578802e-03 -7.22187256e-03 9.50048159e+00] [ 5.03761545e-03 9.99984105e-01 -2.53230254e-03 5.06172412e-01] [ 7.23456056e-03 2.49582312e-03 9.99970716e-01 -2.17800907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.124553574 meters Centerline goodness [0,1] 0.8296995272144727 Centerline is valid? [False, False] Translation: X:9.50, Y:0.51, Z:-2.18 [[ 9.99965071e-01 -4.56552595e-03 -7.00095697e-03 9.49947834e+00] [ 4.54535012e-03 9.99985479e-01 -2.89507572e-03 5.09389376e-01] [ 7.01407286e-03 2.86315279e-03 9.99971302e-01 -2.17753388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.154553574 meters Centerline goodness [0,1] 0.8324488102360229 Centerline is valid? [False, False] Translation: X:9.50, Y:0.51, Z:-2.18 [[ 9.99973709e-01 -9.13189617e-04 -7.19362052e-03 9.49924622e+00] [ 9.13175672e-04 9.99999583e-01 -5.22306691e-06 5.14198706e-01] [ 7.19362229e-03 -1.34610967e-06 9.99974126e-01 -2.17660973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.184553574 meters Centerline goodness [0,1] 0.8289332103604642 Centerline is valid? [False, False] Translation: X:9.50, Y:0.52, Z:-2.18 [[ 9.99976204e-01 -2.38222995e-05 -6.89866429e-03 9.49775397e+00] [ 2.28941997e-05 9.99999991e-01 -1.34612195e-04 5.17525739e-01] [ 6.89866744e-03 1.34451053e-04 9.99976195e-01 -2.17596749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.214553574 meters Centerline goodness [0,1] 0.8338478542571842 Centerline is valid? [False, False] Translation: X:9.50, Y:0.52, Z:-2.18 [[ 9.99966562e-01 4.01023669e-03 -7.12689177e-03 9.49857459e+00] [-3.99122671e-03 9.99988445e-01 2.67958315e-03 5.22307026e-01] [ 7.13755518e-03 -2.65104851e-03 9.99971013e-01 -2.17676371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.24455357399995 meters Centerline goodness [0,1] 0.8330007032749805 Centerline is valid? [False, False] Translation: X:9.50, Y:0.53, Z:-2.18 [[ 9.99964652e-01 4.56067047e-03 -7.06362714e-03 9.49823776e+00] [-4.54448940e-03 9.99987017e-01 2.30511907e-03 5.25007257e-01] [ 7.07404832e-03 -2.27293701e-03 9.99972395e-01 -2.17698941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.274553574 meters Centerline goodness [0,1] 0.8308506616257089 Centerline is valid? [False, False] Translation: X:9.50, Y:0.53, Z:-2.18 [[ 9.99959720e-01 5.85348215e-03 -6.80399838e-03 9.49685350e+00] [-5.83940990e-03 9.99980774e-01 2.08626196e-03 5.29254275e-01] [ 6.81607947e-03 -2.04644660e-03 9.99974676e-01 -2.17683994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.30455357399995 meters Centerline goodness [0,1] 0.835146775473195 Centerline is valid? [False, False] Translation: X:9.50, Y:0.53, Z:-2.18 [[ 9.99958019e-01 6.13905995e-03 -6.80241724e-03 9.49678441e+00] [-6.12655859e-03 9.99979508e-01 1.85709886e-03 5.30941805e-01] [ 6.81367869e-03 -1.81534549e-03 9.99975139e-01 -2.17697821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.334553574 meters Centerline goodness [0,1] 0.8325527816595536 Centerline is valid? [False, False] Translation: X:9.50, Y:0.53, Z:-2.18 [[ 9.99953822e-01 7.07786025e-03 -6.50056095e-03 9.49539612e+00] [-7.06631175e-03 9.99973417e-01 1.79779212e-03 5.33876886e-01] [ 6.51311267e-03 -1.75177411e-03 9.99977255e-01 -2.17647598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.36455357399996 meters Centerline goodness [0,1] 0.8339797559360514 Centerline is valid? [False, False] Translation: X:9.49, Y:0.54, Z:-2.18 [[ 9.99949469e-01 7.84995023e-03 -6.27999665e-03 9.49446924e+00] [-7.83858919e-03 9.99967600e-01 1.83165670e-03 5.35347685e-01] [ 6.29417159e-03 -1.78233783e-03 9.99978603e-01 -2.17616182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.394553574 meters Centerline goodness [0,1] 0.8349876870619435 Centerline is valid? [False, False] Translation: X:9.49, Y:0.54, Z:-2.18 [[ 9.99947016e-01 8.17236278e-03 -6.25920191e-03 9.49454373e+00] [-8.16187895e-03 9.99965249e-01 1.69866318e-03 5.36170923e-01] [ 6.27286648e-03 -1.64748633e-03 9.99978968e-01 -2.17658410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.42455357399996 meters Centerline goodness [0,1] 0.8317519837887999 Centerline is valid? [False, False] Translation: X:9.49, Y:0.54, Z:-2.18 [[ 9.99925505e-01 1.06559667e-02 -5.95267428e-03 9.49243452e+00] [-1.06368278e-02 9.99938186e-01 3.23762356e-03 5.36807999e-01] [ 5.98680633e-03 -3.17406480e-03 9.99977041e-01 -2.17542771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.454553574 meters Centerline goodness [0,1] 0.8334724065996586 Centerline is valid? [False, False] Translation: X:9.49, Y:0.54, Z:-2.18 [[ 9.99918120e-01 1.13137058e-02 -5.97943100e-03 9.49241651e+00] [-1.12932547e-02 9.99930302e-01 3.44301920e-03 5.37180064e-01] [ 6.01796755e-03 -3.37521005e-03 9.99976196e-01 -2.17568940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.48455357399996 meters Centerline goodness [0,1] 0.8314037351958701 Centerline is valid? [False, False] Translation: X:9.49, Y:0.54, Z:-2.18 [[ 9.99910849e-01 1.19574958e-02 -5.94240709e-03 9.49235095e+00] [-1.19360917e-02 9.99922194e-01 3.62443050e-03 5.37584407e-01] [ 5.98528384e-03 -3.55317826e-03 9.99975775e-01 -2.17608322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.514553574 meters Centerline goodness [0,1] 0.8286116287028938 Centerline is valid? [False, False] Translation: X:9.49, Y:0.54, Z:-2.18 [[ 9.99883343e-01 1.41910114e-02 -5.64945514e-03 9.49057464e+00] [-1.41626715e-02 9.99887077e-01 5.02518668e-03 5.37873082e-01] [ 5.72012967e-03 -4.94458907e-03 9.99971415e-01 -2.17526563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.54455357399996 meters Centerline goodness [0,1] 0.8282722513089005 Centerline is valid? [False, False] Translation: X:9.49, Y:0.54, Z:-2.18 [[ 9.99874163e-01 1.49125132e-02 -5.41059090e-03 9.48982992e+00] [-1.48820683e-02 9.99873438e-01 5.62420909e-03 5.36685513e-01] [ 5.49377722e-03 -5.54298058e-03 9.99969546e-01 -2.17501510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.574553574 meters Centerline goodness [0,1] 0.8355472546740104 Centerline is valid? [False, False] Translation: X:9.49, Y:0.54, Z:-2.18 [[ 9.99913770e-01 1.19654105e-02 -5.41123038e-03 9.48950812e+00] [-1.19545731e-02 9.99926480e-01 2.03068804e-03 5.37133168e-01] [ 5.43513056e-03 -1.96582398e-03 9.99983297e-01 -2.17538805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.60455357399997 meters Centerline goodness [0,1] 0.8353323147440794 Centerline is valid? [False, False] Translation: X:9.49, Y:0.54, Z:-2.18 [[ 9.99952671e-01 8.07087990e-03 -5.43283415e-03 9.48968046e+00] [-8.08127656e-03 9.99965551e-01 -1.89444712e-03 5.36696273e-01] [ 5.41735715e-03 1.93826170e-03 9.99983448e-01 -2.17593993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.634553574 meters Centerline goodness [0,1] 0.8267388269491882 Centerline is valid? [False, False] Translation: X:9.49, Y:0.54, Z:-2.18 [[ 9.99958715e-01 6.95271271e-03 -5.85040740e-03 9.49158394e+00] [-6.96638915e-03 9.99973042e-01 -2.32056797e-03 5.35533252e-01] [ 5.83411544e-03 2.36122838e-03 9.99980194e-01 -2.17672665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.66455357399997 meters Centerline goodness [0,1] 0.8346373643232463 Centerline is valid? [False, False] Translation: X:9.49, Y:0.53, Z:-2.18 [[ 9.99964145e-01 5.63441913e-03 -6.32156808e-03 9.49372375e+00] [-5.65243870e-03 9.99980003e-01 -2.83625512e-03 5.34182115e-01] [ 6.30546102e-03 2.87188571e-03 9.99975996e-01 -2.17759242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.694553574 meters Centerline goodness [0,1] 0.8352680719992299 Centerline is valid? [False, False] Translation: X:9.49, Y:0.53, Z:-2.18 [[ 9.99979479e-01 9.55879007e-04 -6.33470102e-03 9.49381404e+00] [-9.98289105e-04 9.99977089e-01 -6.69510861e-03 5.32776633e-01] [ 6.32815617e-03 6.70129508e-03 9.99957523e-01 -2.17719573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.72455357399997 meters Centerline goodness [0,1] 0.8394923838317703 Centerline is valid? [False, False] Translation: X:9.50, Y:0.53, Z:-2.18 [[ 9.99976543e-01 -1.02194869e-03 -6.77262417e-03 9.49631380e+00] [ 9.71485670e-04 9.99971775e-01 -7.45013500e-03 5.31162533e-01] [ 6.78004667e-03 7.44338073e-03 9.99949312e-01 -2.17810805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.754553574 meters Centerline goodness [0,1] 0.8408941866296339 Centerline is valid? [False, False] Translation: X:9.50, Y:0.53, Z:-2.18 [[ 9.99974309e-01 -1.39926069e-03 -7.03013208e-03 9.49720387e+00] [ 1.34679822e-03 9.99971254e-01 -7.46171509e-03 5.30722948e-01] [ 7.04037088e-03 7.45205522e-03 9.99947449e-01 -2.17831575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.784553574 meters Centerline goodness [0,1] 0.8366006778616546 Centerline is valid? [False, False] Translation: X:9.50, Y:0.53, Z:-2.18 [[ 9.99972110e-01 -1.74011991e-03 -7.26306789e-03 9.49816959e+00] [ 1.68550214e-03 9.99970309e-01 -7.51928971e-03 5.30494837e-01] [ 7.27593671e-03 7.50683808e-03 9.99945353e-01 -2.17866552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.814553574 meters Centerline goodness [0,1] 0.8358211829965908 Centerline is valid? [False, False] Translation: X:9.50, Y:0.53, Z:-2.18 [[ 9.99967522e-01 -2.50914577e-03 -7.65898762e-03 9.49967663e+00] [ 2.44947667e-03 9.99966656e-01 -7.79019259e-03 5.29977769e-01] [ 7.67827896e-03 7.77117907e-03 9.99940325e-01 -2.17912577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.844553574 meters Centerline goodness [0,1] 0.8405702553869179 Centerline is valid? [False, False] Translation: X:9.50, Y:0.53, Z:-2.18 [[ 9.99963940e-01 -2.95091856e-03 -7.96310871e-03 9.50096301e+00] [ 2.88731133e-03 9.99963931e-01 -7.98744650e-03 5.29891280e-01] [ 7.98639180e-03 7.96416650e-03 9.99936393e-01 -2.17970787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.874553574 meters Centerline goodness [0,1] 0.840978125895501 Centerline is valid? [False, False] Translation: X:9.50, Y:0.53, Z:-2.18 [[ 9.99958878e-01 -3.61087868e-03 -8.31884728e-03 9.50241132e+00] [ 3.54267961e-03 9.99960118e-01 -8.19833985e-03 5.29551462e-01] [ 8.34811871e-03 8.16853171e-03 9.99931790e-01 -2.18017950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.904553574 meters Centerline goodness [0,1] 0.845665478255896 Centerline is valid? [False, False] Translation: X:9.50, Y:0.53, Z:-2.18 [[ 9.99954676e-01 -3.95774909e-03 -8.65920713e-03 9.50382191e+00] [ 3.88535914e-03 9.99957500e-01 -8.36079363e-03 5.29449852e-01] [ 8.69192904e-03 8.32677055e-03 9.99927555e-01 -2.18089720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.934553574 meters Centerline goodness [0,1] 0.8407972534808316 Centerline is valid? [False, False] Translation: X:9.51, Y:0.53, Z:-2.18 [[ 9.99949030e-01 -4.44110512e-03 -9.06718412e-03 9.50566220e+00] [ 4.36344367e-03 9.99953782e-01 -8.56700281e-03 5.28974557e-01] [ 9.10481202e-03 8.52700200e-03 9.99922193e-01 -2.18204745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.964553574 meters Centerline goodness [0,1] 0.8486247318418634 Centerline is valid? [False, False] Translation: X:9.51, Y:0.53, Z:-2.18 [[ 9.99952523e-01 -1.83030324e-03 -9.57092521e-03 9.50809845e+00] [ 1.78282749e-03 9.99986077e-01 -4.96659589e-03 5.27134327e-01] [ 9.57988233e-03 4.94929678e-03 9.99941863e-01 -2.18286451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99455357399995 meters Centerline goodness [0,1] 0.8496315436883912 Centerline is valid? [False, False] Translation: X:9.51, Y:0.53, Z:-2.18 [[ 9.99952504e-01 -1.52406037e-03 -9.62637485e-03 9.50808688e+00] [ 1.48021993e-03 9.99988509e-01 -4.55968450e-03 5.26604131e-01] [ 9.63321346e-03 4.54521878e-03 9.99943269e-01 -2.18270222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.024553574 meters Centerline goodness [0,1] 0.8492188702478067 Centerline is valid? [False, False] Translation: X:9.51, Y:0.53, Z:-2.18 [[ 9.99956296e-01 -2.61016476e-04 -9.34546775e-03 9.50661777e+00] [ 2.28301705e-04 9.99993844e-01 -3.50149860e-03 5.25940074e-01] [ 9.34632417e-03 3.49921199e-03 9.99950200e-01 -2.18192125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.05455357399995 meters Centerline goodness [0,1] 0.8494561220144776 Centerline is valid? [False, False] Translation: X:9.51, Y:0.53, Z:-2.18 [[ 9.99957257e-01 4.26627864e-04 -9.23592840e-03 9.50599436e+00] [-4.55117194e-04 9.99995145e-01 -3.08273807e-03 5.26287329e-01] [ 9.23456838e-03 3.08680974e-03 9.99952596e-01 -2.18164941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.084553574 meters Centerline goodness [0,1] 0.8447695344247068 Centerline is valid? [False, False] Translation: X:9.50, Y:0.53, Z:-2.18 [[ 9.99958370e-01 2.18035379e-03 -8.86029505e-03 9.50399890e+00] [-2.19814765e-03 9.99995586e-01 -1.99902791e-03 5.26669837e-01] [ 8.85589735e-03 2.01842092e-03 9.99958749e-01 -2.18053649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.11455357399996 meters Centerline goodness [0,1] 0.8494966475373409 Centerline is valid? [False, False] Translation: X:9.50, Y:0.53, Z:-2.18 [[ 9.99957897e-01 2.70227073e-03 -8.76942102e-03 9.50353215e+00] [-2.71748585e-03 9.99994822e-01 -1.72356882e-03 5.26906295e-01] [ 8.76471806e-03 1.74732703e-03 9.99960062e-01 -2.18022348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.144553574 meters Centerline goodness [0,1] 0.8421783400185128 Centerline is valid? [False, False] Translation: X:9.50, Y:0.53, Z:-2.18 [[ 9.99957864e-01 4.03763991e-03 -8.24421651e-03 9.50130673e+00] [-4.04662425e-03 9.99991236e-01 -1.07338445e-03 5.27951514e-01] [ 8.23981032e-03 1.10670047e-03 9.99965440e-01 -2.17910409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.17455357399996 meters Centerline goodness [0,1] 0.8370200374134573 Centerline is valid? [False, False] Translation: X:9.50, Y:0.53, Z:-2.18 [[ 9.99957692e-01 4.37469517e-03 -8.09167826e-03 9.50068136e+00] [-4.38231197e-03 9.99989971e-01 -9.23822179e-04 5.28520445e-01] [ 8.08755567e-03 9.59243353e-04 9.99966835e-01 -2.17861882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.204553574 meters Centerline goodness [0,1] 0.8364610745087493 Centerline is valid? [False, False] Translation: X:9.50, Y:0.53, Z:-2.18 [[ 9.99957980e-01 4.43399869e-03 -8.02361653e-03 9.50042223e+00] [-4.44309205e-03 9.99989507e-01 -1.11585490e-03 5.29691376e-01] [ 8.01858464e-03 1.15145768e-03 9.99967188e-01 -2.17833805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.23455357399996 meters Centerline goodness [0,1] 0.8472222222222222 Centerline is valid? [False, False] Translation: X:9.50, Y:0.53, Z:-2.18 [[ 9.99957495e-01 4.12077628e-03 -8.24783507e-03 9.50114170e+00] [-4.13332170e-03 9.99990326e-01 -1.50458905e-03 5.30921996e-01] [ 8.24155520e-03 1.53861605e-03 9.99964854e-01 -2.17854724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.264553574 meters Centerline goodness [0,1] 0.8488854874198795 Centerline is valid? [False, False] Translation: X:9.50, Y:0.53, Z:-2.18 [[ 9.99956914e-01 4.00459310e-03 -8.37462332e-03 9.50159335e+00] [-4.01805479e-03 9.99990662e-01 -1.59123050e-03 5.31281660e-01] [ 8.36817289e-03 1.62481164e-03 9.99963666e-01 -2.17865904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.29455357399996 meters Centerline goodness [0,1] 0.8473437350435532 Centerline is valid? [False, False] Translation: X:9.50, Y:0.53, Z:-2.18 [[ 9.99956616e-01 3.89034272e-03 -8.46353940e-03 9.50190079e+00] [-3.90501057e-03 9.99990901e-01 -1.71722840e-03 5.31755100e-01] [ 8.45678178e-03 1.75020411e-03 9.99962709e-01 -2.17869093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.324553574 meters Centerline goodness [0,1] 0.8513880707621563 Centerline is valid? [False, False] Translation: X:9.50, Y:0.53, Z:-2.18 [[ 9.99957030e-01 3.85406102e-03 -8.43119777e-03 9.50185374e+00] [-3.87100500e-03 9.99990519e-01 -1.99428135e-03 5.33308812e-01] [ 8.42343175e-03 2.02683286e-03 9.99962468e-01 -2.17849811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.35455357399997 meters Centerline goodness [0,1] 0.8456491975355594 Centerline is valid? [False, False] Translation: X:9.50, Y:0.53, Z:-2.18 [[ 9.99956534e-01 4.15469095e-03 -8.34683038e-03 9.50141476e+00] [-4.17103765e-03 9.99989416e-01 -1.94197953e-03 5.34333942e-01] [ 8.33867370e-03 1.97671007e-03 9.99963279e-01 -2.17808980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.384553574 meters Centerline goodness [0,1] 0.8467534433176933 Centerline is valid? [False, False] Translation: X:9.50, Y:0.54, Z:-2.18 [[ 9.99954665e-01 4.88108481e-03 -8.17572163e-03 9.50063016e+00] [-4.89651597e-03 9.99986266e-01 -1.86848428e-03 5.36007205e-01] [ 8.16648912e-03 1.90843212e-03 9.99964833e-01 -2.17765894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.41455357399997 meters Centerline goodness [0,1] 0.8473548582689101 Centerline is valid? [False, False] Translation: X:9.50, Y:0.54, Z:-2.18 [[ 9.99951782e-01 5.58944411e-03 -8.07411601e-03 9.50004605e+00] [-5.60288854e-03 9.99982953e-01 -1.64346893e-03 5.36749391e-01] [ 8.06479229e-03 1.68862806e-03 9.99966053e-01 -2.17746925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.444553574 meters Centerline goodness [0,1] 0.8424028536733454 Centerline is valid? [False, False] Translation: X:9.50, Y:0.54, Z:-2.18 [[ 9.99950224e-01 5.83989961e-03 -8.08987041e-03 9.50018115e+00] [-5.85301371e-03 9.99981594e-01 -1.59832567e-03 5.36937098e-01] [ 8.08038744e-03 1.64559623e-03 9.99965999e-01 -2.17764878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.47455357399997 meters Centerline goodness [0,1] 0.8414005007207344 Centerline is valid? [False, False] Translation: X:9.50, Y:0.54, Z:-2.18 [[ 9.99948578e-01 6.09817910e-03 -8.10272952e-03 9.50037285e+00] [-6.11130631e-03 9.99980052e-01 -1.59632610e-03 5.37233224e-01] [ 8.09283320e-03 1.64576227e-03 9.99965898e-01 -2.17794000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.504553574 meters Centerline goodness [0,1] 0.8516309801026107 Centerline is valid? [False, False] Translation: X:9.50, Y:0.54, Z:-2.18 [[ 9.99942396e-01 7.34928406e-03 -7.82255084e-03 9.49932474e+00] [-7.35782130e-03 9.99972366e-01 -1.06314304e-03 5.38002314e-01] [ 7.81452133e-03 1.12063873e-03 9.99968838e-01 -2.17779475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.534553574 meters Centerline goodness [0,1] 0.8461713290024433 Centerline is valid? [False, False] Translation: X:9.50, Y:0.54, Z:-2.18 [[ 9.99940278e-01 7.44138589e-03 -8.00419815e-03 9.50024282e+00] [-7.45083362e-03 9.99971580e-01 -1.15117495e-03 5.38319374e-01] [ 7.99540433e-03 1.21074415e-03 9.99967303e-01 -2.17863742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.564553574 meters Centerline goodness [0,1] 0.8481642576307242 Centerline is valid? [False, False] Translation: X:9.50, Y:0.54, Z:-2.18 [[ 9.99938936e-01 7.37025047e-03 -8.23434999e-03 9.50118769e+00] [-7.37852805e-03 9.99972303e-01 -9.75323389e-04 5.37156850e-01] [ 8.22693355e-03 1.03602121e-03 9.99965622e-01 -2.17929368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.594553574 meters Centerline goodness [0,1] 0.8489056919218786 Centerline is valid? [False, False] Translation: X:9.50, Y:0.54, Z:-2.18 [[ 9.99939696e-01 6.72732394e-03 -8.68024504e-03 9.50305745e+00] [-6.73835181e-03 9.99976526e-01 -1.24183513e-03 5.36093896e-01] [ 8.67168705e-03 1.30025079e-03 9.99961555e-01 -2.18032976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.624553574 meters Centerline goodness [0,1] 0.848631117046647 Centerline is valid? [False, False] Translation: X:9.50, Y:0.54, Z:-2.18 [[ 9.99957646e-01 2.77746555e-03 -8.77444616e-03 9.50360411e+00] [-2.82168130e-03 9.99983364e-01 -5.03079609e-03 5.35139127e-01] [ 8.76032733e-03 5.05534171e-03 9.99948849e-01 -2.18100439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.654553574 meters Centerline goodness [0,1] 0.8470758894487708 Centerline is valid? [False, False] Translation: X:9.50, Y:0.53, Z:-2.18 [[ 9.99956701e-01 2.39571939e-03 -8.99203375e-03 9.50431038e+00] [-2.43972612e-03 9.99985086e-01 -4.88619348e-03 5.34010590e-01] [ 8.98019370e-03 4.90792001e-03 9.99947633e-01 -2.18094011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.684553574 meters Centerline goodness [0,1] 0.8470758894487708 Centerline is valid? [False, False] Translation: X:9.50, Y:0.53, Z:-2.18 [[ 9.99956701e-01 2.39571939e-03 -8.99203375e-03 9.50431038e+00] [-2.43972612e-03 9.99985086e-01 -4.88619348e-03 5.34010590e-01] [ 8.98019370e-03 4.90792001e-03 9.99947633e-01 -2.18094011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.714553574 meters Centerline goodness [0,1] 0.8490951825877586 Centerline is valid? [False, False] Translation: X:9.51, Y:0.53, Z:-2.18 [[ 9.99955713e-01 1.99418513e-03 -9.19760248e-03 9.50510226e+00] [-2.03909106e-03 9.99986035e-01 -4.87556063e-03 5.33288357e-01] [ 9.18775127e-03 4.89409946e-03 9.99945815e-01 -2.18106190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.74455357399995 meters Centerline goodness [0,1] 0.84635122455623 Centerline is valid? [False, False] Translation: X:9.51, Y:0.53, Z:-2.18 [[ 9.99951981e-01 8.41461696e-04 -9.76362896e-03 9.50753100e+00] [-8.94384813e-04 9.99984926e-01 -5.41733539e-03 5.32716440e-01] [ 9.75892330e-03 5.42580770e-03 9.99937660e-01 -2.18220469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.774553574 meters Centerline goodness [0,1] 0.8506817616798301 Centerline is valid? [False, False] Translation: X:9.51, Y:0.53, Z:-2.18 [[ 9.99949637e-01 4.94826454e-04 -1.00239371e-02 9.50827122e+00] [-5.48493300e-04 9.99985528e-01 -5.35182754e-03 5.32153553e-01] [ 1.00211438e-02 5.35705606e-03 9.99935437e-01 -2.18202194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.80455357399995 meters Centerline goodness [0,1] 0.8468677050246833 Centerline is valid? [False, False] Translation: X:9.51, Y:0.53, Z:-2.18 [[ 9.99949066e-01 1.80738960e-04 -1.00911823e-02 9.50844233e+00] [-2.34254377e-04 9.99985916e-01 -5.30225594e-03 5.31666109e-01] [ 1.00900819e-02 5.30434978e-03 9.99935025e-01 -2.18157006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.834553574 meters Centerline goodness [0,1] 0.8562030433621906 Centerline is valid? [False, False] Translation: X:9.51, Y:0.53, Z:-2.18 [[ 9.99948808e-01 1.76384348e-04 -1.01168282e-02 9.50851441e+00] [-2.33120877e-04 9.99984252e-01 -5.60722900e-03 5.33380174e-01] [ 1.01156799e-02 5.60930040e-03 9.99933102e-01 -2.18155319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.86455357399996 meters Centerline goodness [0,1] 0.8568846095296088 Centerline is valid? [False, False] Translation: X:9.51, Y:0.53, Z:-2.18 [[ 9.99947721e-01 1.14943728e-04 -1.02245569e-02 9.50889692e+00] [-1.74169161e-04 9.99983212e-01 -5.79176758e-03 5.34258544e-01] [ 1.02237195e-02 5.79324559e-03 9.99930955e-01 -2.18171309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.894553574 meters Centerline goodness [0,1] 0.8541516245487365 Centerline is valid? [False, False] Translation: X:9.51, Y:0.53, Z:-2.18 [[ 9.99946272e-01 -1.29550510e-04 -1.03651206e-02 9.50943446e+00] [ 6.79872897e-05 9.99982358e-01 -5.93959209e-03 5.34644516e-01] [ 1.03657072e-02 5.93856827e-03 9.99928640e-01 -2.18178436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.92455357399996 meters Centerline goodness [0,1] 0.853522296238984 Centerline is valid? [False, False] Translation: X:9.51, Y:0.54, Z:-2.18 [[ 9.99943969e-01 -8.89694380e-04 -1.05482993e-02 9.51015134e+00] [ 8.21955842e-04 9.99979026e-01 -6.42434666e-03 5.35239703e-01] [ 1.05537938e-02 6.41531647e-03 9.99923728e-01 -2.18168432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.954553574 meters Centerline goodness [0,1] 0.8576592179822662 Centerline is valid? [False, False] Translation: X:9.51, Y:0.54, Z:-2.18 [[ 9.99942165e-01 -1.23035576e-03 -1.06842434e-02 9.51053830e+00] [ 1.15933032e-03 9.99977208e-01 -6.65133233e-03 5.35859824e-01] [ 1.06921834e-02 6.63856108e-03 9.99920800e-01 -2.18144721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.98455357399996 meters Centerline goodness [0,1] 0.8669894088624265 Centerline is valid? [False, False] Translation: X:9.51, Y:0.54, Z:-2.18 [[ 9.99935010e-01 -2.34808421e-03 -1.11562856e-02 9.51251854e+00] [ 2.26238640e-03 9.99967888e-01 -7.68799236e-03 5.37537627e-01] [ 1.11739794e-02 7.66225289e-03 9.99908212e-01 -2.18219712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.014553574 meters Centerline goodness [0,1] 0.8557649667405764 Centerline is valid? [False, False] Translation: X:9.51, Y:0.54, Z:-2.18 [[ 9.99931525e-01 -2.60220458e-03 -1.14094166e-02 9.51333458e+00] [ 2.50977825e-03 9.99963982e-01 -8.10773001e-03 5.38837905e-01] [ 1.14301037e-02 8.07853972e-03 9.99902040e-01 -2.18253057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.04455357399996 meters Centerline goodness [0,1] 0.8597312479347946 Centerline is valid? [False, False] Translation: X:9.51, Y:0.54, Z:-2.18 [[ 9.99925216e-01 -2.94174952e-03 -1.18705178e-02 9.51494579e+00] [ 2.83226535e-03 9.99953396e-01 -9.22949525e-03 5.42662133e-01] [ 1.18971155e-02 9.19518457e-03 9.99886947e-01 -2.18371513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.074553574 meters Centerline goodness [0,1] 0.8624749729064491 Centerline is valid? [False, False] Translation: X:9.52, Y:0.54, Z:-2.18 [[ 9.99923534e-01 -2.92230152e-03 -1.20160632e-02 9.51538904e+00] [ 2.80609308e-03 9.99949243e-01 -9.67660403e-03 5.44497738e-01] [ 1.20437312e-02 9.64214591e-03 9.99880982e-01 -2.18405890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.10455357399997 meters Centerline goodness [0,1] 0.8624231097240116 Centerline is valid? [False, False] Translation: X:9.52, Y:0.55, Z:-2.19 [[ 9.99914708e-01 -5.70908001e-04 -1.30479900e-02 9.51918619e+00] [ 4.76406444e-04 9.99973644e-01 -7.24457509e-03 5.46624523e-01] [ 1.30517820e-02 7.23774105e-03 9.99888627e-01 -2.18570719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.134553574 meters Centerline goodness [0,1] 0.8711853342762335 Centerline is valid? [False, False] Translation: X:9.52, Y:0.55, Z:-2.19 [[ 9.99913135e-01 -4.67110579e-04 -1.31720964e-02 9.51955496e+00] [ 3.66787966e-04 9.99970918e-01 -7.61768565e-03 5.48474333e-01] [ 1.31752716e-02 7.61219257e-03 9.99884227e-01 -2.18603520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.16455357399997 meters Centerline goodness [0,1] 0.8703267032670327 Centerline is valid? [False, False] Translation: X:9.52, Y:0.55, Z:-2.19 [[ 9.99910816e-01 -3.06257042e-04 -1.33516168e-02 9.52003337e+00] [ 1.94858691e-04 9.99965170e-01 -8.34393793e-03 5.51876675e-01] [ 1.33537072e-02 8.34059211e-03 9.99876049e-01 -2.18652866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.194553574 meters Centerline goodness [0,1] 0.8713116519491708 Centerline is valid? [False, False] Translation: X:9.52, Y:0.55, Z:-2.19 [[ 9.99910417e-01 -3.15520703e-04 -1.33812848e-02 9.52005761e+00] [ 2.00389137e-04 9.99962961e-01 -8.60439289e-03 5.53016630e-01] [ 1.33835040e-02 8.60094062e-03 9.99873445e-01 -2.18645815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.22455357399997 meters Centerline goodness [0,1] 0.8711583924349882 Centerline is valid? [False, False] Translation: X:9.52, Y:0.55, Z:-2.19 [[ 9.99909882e-01 -3.87306523e-04 -1.34193187e-02 9.52017080e+00] [ 2.68775076e-04 9.99960947e-01 -8.83357385e-03 5.53976846e-01] [ 1.34222159e-02 8.82917100e-03 9.99870937e-01 -2.18635348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.254553574 meters Centerline goodness [0,1] 0.8746873436718359 Centerline is valid? [False, False] Translation: X:9.52, Y:0.56, Z:-2.19 [[ 9.99908393e-01 -5.56481999e-04 -1.35239224e-02 9.52050998e+00] [ 4.26730803e-04 9.99953874e-01 -9.59519110e-03 5.56846902e-01] [ 1.35286381e-02 9.58854104e-03 9.99862508e-01 -2.18658996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.284553574 meters Centerline goodness [0,1] 0.8731161367235458 Centerline is valid? [False, False] Translation: X:9.52, Y:0.56, Z:-2.19 [[ 9.99908059e-01 -3.27690785e-04 -1.35560152e-02 9.52044489e+00] [ 1.93660264e-04 9.99951101e-01 -9.88729362e-03 5.58806153e-01] [ 1.35585923e-02 9.88375931e-03 9.99859228e-01 -2.18660486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.314553574 meters Centerline goodness [0,1] 0.8751198380854313 Centerline is valid? [False, False] Translation: X:9.52, Y:0.56, Z:-2.19 [[ 9.99899085e-01 3.14418368e-03 -1.38540016e-02 9.52137597e+00] [-3.23669672e-03 9.99972581e-01 -6.66035807e-03 5.60683972e-01] [ 1.38326803e-02 6.70452714e-03 9.99881846e-01 -2.18662873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.344553574 meters Centerline goodness [0,1] 0.866203316920561 Centerline is valid? [False, False] Translation: X:9.52, Y:0.56, Z:-2.19 [[ 9.99898531e-01 3.49222934e-03 -1.38106099e-02 9.52102919e+00] [-3.58436740e-03 9.99971448e-01 -6.65242656e-03 5.61662530e-01] [ 1.37869837e-02 6.70125384e-03 9.99882499e-01 -2.18634914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.374553574 meters Centerline goodness [0,1] 0.8686478928084678 Centerline is valid? [False, False] Translation: X:9.52, Y:0.56, Z:-2.19 [[ 9.99877774e-01 6.71956925e-03 -1.41167840e-02 9.52222380e+00] [-6.76518216e-03 9.99972041e-01 -3.18584615e-03 5.61882045e-01] [ 1.40949818e-02 3.28095938e-03 9.99895278e-01 -2.18622174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.404553574 meters Centerline goodness [0,1] 0.8705576116020045 Centerline is valid? [False, False] Translation: X:9.52, Y:0.56, Z:-2.19 [[ 9.99876515e-01 7.00097107e-03 -1.40691512e-02 9.52181108e+00] [-7.04432713e-03 9.99970584e-01 -3.03444937e-03 5.62339210e-01] [ 1.40474933e-02 3.13318236e-03 9.99896420e-01 -2.18573090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.434553574 meters Centerline goodness [0,1] 0.8604017825564123 Centerline is valid? [False, False] Translation: X:9.52, Y:0.56, Z:-2.19 [[ 9.99874073e-01 7.24224794e-03 -1.41204719e-02 9.52184890e+00] [-7.28523198e-03 9.99968977e-01 -2.99503488e-03 5.63130264e-01] [ 1.40983431e-02 3.09752864e-03 9.99895816e-01 -2.18565906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.464553574 meters Centerline goodness [0,1] 0.8652109233875253 Centerline is valid? [False, False] Translation: X:9.52, Y:0.56, Z:-2.19 [[ 9.99869504e-01 7.42848280e-03 -1.43454432e-02 9.52247784e+00] [-7.47415184e-03 9.99967162e-01 -3.13253735e-03 5.64410109e-01] [ 1.43217021e-02 3.23934858e-03 9.99892192e-01 -2.18619408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49455357399995 meters Centerline goodness [0,1] 0.8616526734423332 Centerline is valid? [False, False] Translation: X:9.52, Y:0.56, Z:-2.19 [[ 9.99869304e-01 7.13344019e-03 -1.45082288e-02 9.52295182e+00] [-7.17851262e-03 9.99969561e-01 -3.05697934e-03 5.63728659e-01] [ 1.44859804e-02 3.16072731e-03 9.99890077e-01 -2.18595407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.524553574 meters Centerline goodness [0,1] 0.8560836099145541 Centerline is valid? [False, False] Translation: X:9.52, Y:0.56, Z:-2.19 [[ 9.99869640e-01 6.94439309e-03 -1.45766414e-02 9.52301590e+00] [-6.98779505e-03 9.99971296e-01 -2.92868269e-03 5.63145847e-01] [ 1.45558851e-02 3.03015948e-03 9.99889466e-01 -2.18550907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.55455357399995 meters Centerline goodness [0,1] 0.8752430788813068 Centerline is valid? [False, False] Translation: X:9.51, Y:0.56, Z:-2.19 [[ 9.99972771e-01 2.02553190e-03 -7.09614801e-03 9.51325039e+00] [-2.02378489e-03 9.99997920e-01 2.53363259e-04 5.62670997e-01] [ 7.09664644e-03 -2.38995283e-04 9.99974790e-01 -2.18598480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.584553574 meters Centerline goodness [0,1] 0.8494650234824677 Centerline is valid? [False, False] Translation: X:9.51, Y:0.56, Z:-2.19 [[ 9.99972256e-01 1.42471757e-03 -7.31148888e-03 9.51406410e+00] [-1.42406358e-03 9.99998982e-01 9.46523811e-05 5.62212877e-01] [ 7.31161629e-03 -8.42377300e-05 9.99973266e-01 -2.18605726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.61455357399996 meters Centerline goodness [0,1] 0.8434057649667406 Centerline is valid? [False, False] Translation: X:9.51, Y:0.56, Z:-2.19 [[ 9.99969250e-01 -2.61157926e-03 -7.39448803e-03 9.51407338e+00] [ 2.58039923e-03 9.99987754e-01 -4.22306358e-03 5.63637625e-01] [ 7.40542634e-03 4.20385299e-03 9.99963743e-01 -2.18609448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.644553574 meters Centerline goodness [0,1] 0.8724528703424548 Centerline is valid? [False, False] Translation: X:9.51, Y:0.56, Z:-2.19 [[ 9.99968062e-01 -2.84165569e-03 -7.46992474e-03 9.51418364e+00] [ 2.80908357e-03 9.99986518e-01 -4.36731663e-03 5.63929730e-01] [ 7.48223444e-03 4.34619350e-03 9.99962563e-01 -2.18580252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.67455357399996 meters Centerline goodness [0,1] 0.878022626132647 Centerline is valid? [False, False] Translation: X:9.51, Y:0.57, Z:-2.18 [[ 9.99968480e-01 -2.99017853e-03 -7.35515256e-03 9.51350210e+00] [ 2.95542320e-03 9.99984438e-01 -4.73164223e-03 5.65339912e-01] [ 7.36918656e-03 4.70975550e-03 9.99961756e-01 -2.18486436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.704553574 meters Centerline goodness [0,1] 0.873273906286286 Centerline is valid? [False, False] Translation: X:9.51, Y:0.57, Z:-2.18 [[ 9.99971941e-01 5.79651823e-05 -7.49097460e-03 9.51438794e+00] [-6.84008202e-05 9.99999028e-01 -1.39284613e-03 5.65811183e-01] [ 7.49088658e-03 1.39331944e-03 9.99970972e-01 -2.18498238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.73455357399996 meters Centerline goodness [0,1] 0.878079450259462 Centerline is valid? [False, False] Translation: X:9.52, Y:0.57, Z:-2.19 [[ 9.99961841e-01 2.93445572e-03 -8.22829065e-03 9.51742627e+00] [-2.92676670e-03 9.99995269e-01 9.46347681e-04 5.68813526e-01] [ 8.23102874e-03 -9.22229282e-04 9.99965699e-01 -2.18694966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.764553574 meters Centerline goodness [0,1] 0.8753452794107232 Centerline is valid? [False, False] Translation: X:9.52, Y:0.57, Z:-2.19 [[ 9.99959850e-01 3.04897225e-03 -8.42629767e-03 9.51809047e+00] [-3.04604969e-03 9.99995296e-01 3.59650314e-04 5.70889130e-01] [ 8.42735459e-03 -3.33968952e-04 9.99964433e-01 -2.18756965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.79455357399996 meters Centerline goodness [0,1] 0.8739924155569274 Centerline is valid? [False, False] Translation: X:9.52, Y:0.57, Z:-2.19 [[ 9.99953081e-01 4.85438826e-03 -8.38272068e-03 9.51680386e+00] [-4.84814416e-03 9.99987955e-01 7.65037716e-04 5.74252140e-01] [ 8.38633350e-03 -7.24361183e-04 9.99964572e-01 -2.18677105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.824553574 meters Centerline goodness [0,1] 0.8751606033405495 Centerline is valid? [False, False] Translation: X:9.52, Y:0.58, Z:-2.19 [[ 9.99948871e-01 5.44695075e-03 -8.51975467e-03 9.51704890e+00] [-5.44282360e-03 9.99985059e-01 5.07533190e-04 5.76164490e-01] [ 8.52239188e-03 -4.61135718e-04 9.99963577e-01 -2.18716946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.85455357399997 meters Centerline goodness [0,1] 0.8589113705601634 Centerline is valid? [False, False] Translation: X:9.52, Y:0.58, Z:-2.19 [[ 9.99911000e-01 1.02397921e-02 -8.55209375e-03 9.51709354e+00] [-1.02041336e-02 9.99939104e-01 4.20283432e-03 5.78750003e-01] [ 8.59460911e-03 -4.11519356e-03 9.99954598e-01 -2.18746010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.884553574 meters Centerline goodness [0,1] 0.873813089051352 Centerline is valid? [False, False] Translation: X:9.52, Y:0.58, Z:-2.19 [[ 9.99902196e-01 1.09472689e-02 -8.70383403e-03 9.51745510e+00] [-1.09110817e-02 9.99931676e-01 4.19428564e-03 5.80033095e-01] [ 8.74915532e-03 -4.09890717e-03 9.99953325e-01 -2.18801680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.91455357399997 meters Centerline goodness [0,1] 0.864768179081217 Centerline is valid? [False, False] Translation: X:9.52, Y:0.58, Z:-2.19 [[ 9.99895203e-01 1.16335399e-02 -8.61644607e-03 9.51712130e+00] [-1.15970599e-02 9.99923627e-01 4.27170359e-03 5.81054945e-01] [ 8.66548305e-03 -4.17133049e-03 9.99953754e-01 -2.18824465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.944553574 meters Centerline goodness [0,1] 0.8738338437571916 Centerline is valid? [False, False] Translation: X:9.52, Y:0.58, Z:-2.19 [[ 9.99883142e-01 1.24227291e-02 -8.90941823e-03 9.51796009e+00] [-1.23820838e-02 9.99912745e-01 4.60279938e-03 5.81020011e-01] [ 8.96582017e-03 -4.49194434e-03 9.99949717e-01 -2.18912190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.97455357399997 meters Centerline goodness [0,1] 0.8674542085382367 Centerline is valid? [False, False] Translation: X:9.52, Y:0.58, Z:-2.19 [[ 9.99879479e-01 1.27138894e-02 -8.90981333e-03 9.51785698e+00] [-1.26700051e-02 9.99907407e-01 4.96464537e-03 5.80380443e-01] [ 8.97210830e-03 -4.85115965e-03 9.99947982e-01 -2.18898167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.004553574 meters Centerline goodness [0,1] 0.8596378899441539 Centerline is valid? [False, False] Translation: X:9.52, Y:0.58, Z:-2.19 [[ 9.99910398e-01 9.89651547e-03 -9.01410648e-03 9.51790471e+00] [-9.87897856e-03 9.99949226e-01 1.98794937e-03 5.78759703e-01] [ 9.03332256e-03 -1.89872108e-03 9.99957396e-01 -2.18933968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.034553574 meters Centerline goodness [0,1] 0.8768367237495978 Centerline is valid? [False, False] Translation: X:9.52, Y:0.58, Z:-2.19 [[ 9.99910233e-01 9.68167364e-03 -9.26235964e-03 9.51874955e+00] [-9.65771519e-03 9.99949910e-01 2.62788771e-03 5.75855280e-01] [ 9.28733804e-03 -2.53819858e-03 9.99953650e-01 -2.18961268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.064553574 meters Centerline goodness [0,1] 0.8589805263064123 Centerline is valid? [False, False] Translation: X:9.52, Y:0.57, Z:-2.19 [[ 9.99912647e-01 8.78483533e-03 -9.87543881e-03 9.52144750e+00] [-8.76351065e-03 9.99959178e-01 2.20056978e-03 5.74579187e-01] [ 9.89436733e-03 -2.11383404e-03 9.99948815e-01 -2.19140625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.094553574 meters Centerline goodness [0,1] 0.8781302763707456 Centerline is valid? [False, False] Translation: X:9.52, Y:0.57, Z:-2.19 [[ 9.99930023e-01 6.24690475e-03 -1.00461810e-02 9.52245434e+00] [-6.24946062e-03 9.99980447e-01 -2.23039772e-04 5.73413670e-01] [ 1.00445913e-02 2.85807377e-04 9.99949511e-01 -2.19230160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.124553574 meters Centerline goodness [0,1] 0.880294398641237 Centerline is valid? [False, False] Translation: X:9.52, Y:0.57, Z:-2.19 [[ 9.99946547e-01 2.17566756e-03 -1.01078703e-02 9.52249250e+00] [-2.21001777e-03 9.99991817e-01 -3.38843727e-03 5.70177422e-01] [ 1.01004155e-02 3.41059472e-03 9.99943173e-01 -2.19191204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.154553574 meters Centerline goodness [0,1] 0.8773003963759909 Centerline is valid? [False, False] Translation: X:9.52, Y:0.57, Z:-2.19 [[ 9.99945528e-01 1.71271633e-03 -1.02960001e-02 9.52308291e+00] [-1.74450455e-03 9.99993737e-01 -3.07924652e-03 5.68142894e-01] [ 1.02906617e-02 3.09704020e-03 9.99942254e-01 -2.19171072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.184553574 meters Centerline goodness [0,1] 0.8805038122025863 Centerline is valid? [False, False] Translation: X:9.53, Y:0.56, Z:-2.19 [[ 9.99942616e-01 2.96267753e-04 -1.07087212e-02 9.52518010e+00] [-3.29859993e-04 9.99995031e-01 -3.13527475e-03 5.64646191e-01] [ 1.07077391e-02 3.13862721e-03 9.99937745e-01 -2.19240173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.214553574 meters Centerline goodness [0,1] 0.8570467779331339 Centerline is valid? [False, False] Translation: X:9.53, Y:0.56, Z:-2.19 [[ 9.99936909e-01 -6.89308798e-04 -1.12117391e-02 9.52737468e+00] [ 6.52228872e-04 9.99994307e-01 -3.31056149e-03 5.62720802e-01] [ 1.12139573e-02 3.30304000e-03 9.99931666e-01 -2.19353391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.24455357399995 meters Centerline goodness [0,1] 0.8788404360753221 Centerline is valid? [False, False] Translation: X:9.53, Y:0.56, Z:-2.19 [[ 9.99935305e-01 -7.27317727e-04 -1.13514966e-02 9.52782712e+00] [ 6.91479802e-04 9.99994766e-01 -3.16071572e-03 5.62359351e-01] [ 1.13537360e-02 3.15266191e-03 9.99930574e-01 -2.19367252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.274553574 meters Centerline goodness [0,1] 0.8809881695520699 Centerline is valid? [False, False] Translation: X:9.53, Y:0.56, Z:-2.19 [[ 9.99936406e-01 -6.08761212e-04 -1.12611341e-02 9.52728452e+00] [ 5.76078139e-04 9.99995614e-01 -2.90530577e-03 5.62038709e-01] [ 1.12628533e-02 2.89863372e-03 9.99932371e-01 -2.19296017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.30455357399995 meters Centerline goodness [0,1] 0.8808719191776216 Centerline is valid? [False, False] Translation: X:9.53, Y:0.56, Z:-2.19 [[ 9.99939763e-01 -6.80935149e-05 -1.09756488e-02 9.52574889e+00] [ 4.23260072e-05 9.99997243e-01 -2.34791310e-03 5.61886819e-01] [ 1.09757784e-02 2.34730711e-03 9.99937009e-01 -2.19157417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.334553574 meters Centerline goodness [0,1] 0.8732459004818809 Centerline is valid? [False, False] Translation: X:9.53, Y:0.56, Z:-2.19 [[ 9.99940376e-01 1.17119705e-04 -1.09192681e-02 9.52542021e+00] [-1.41466826e-04 9.99997506e-01 -2.22899356e-03 5.62050244e-01] [ 1.09189798e-02 2.23040537e-03 9.99937899e-01 -2.19101228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.36455357399996 meters Centerline goodness [0,1] 0.8658215780088628 Centerline is valid? [False, False] Translation: X:9.53, Y:0.56, Z:-2.19 [[ 9.99940308e-01 1.60975194e-04 -1.09249469e-02 9.52536737e+00] [-1.84900877e-04 9.99997587e-01 -2.18902979e-03 5.62249643e-01] [ 1.09245681e-02 2.19091915e-03 9.99937925e-01 -2.19082491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.394553574 meters Centerline goodness [0,1] 0.8661628646090825 Centerline is valid? [False, False] Translation: X:9.53, Y:0.56, Z:-2.19 [[ 9.99937565e-01 -2.65680287e-04 -1.11711915e-02 9.52617143e+00] [ 2.39068883e-04 9.99997131e-01 -2.38341345e-03 5.62387151e-01] [ 1.11717927e-02 2.38059396e-03 9.99934760e-01 -2.19097349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.42455357399996 meters Centerline goodness [0,1] 0.8626561727959342 Centerline is valid? [False, False] Translation: X:9.53, Y:0.56, Z:-2.19 [[ 9.99936560e-01 -4.10589382e-04 -1.12564815e-02 9.52641927e+00] [ 3.84220602e-04 9.99997178e-01 -2.34460443e-03 5.62121992e-01] [ 1.12574124e-02 2.34013071e-03 9.99933895e-01 -2.19084554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.454553574 meters Centerline goodness [0,1] 0.8674928503336511 Centerline is valid? [False, False] Translation: X:9.53, Y:0.56, Z:-2.19 [[ 9.99935656e-01 -4.38431498e-04 -1.13354561e-02 9.52648463e+00] [ 4.13634610e-04 9.99997517e-01 -2.18980292e-03 5.61775671e-01] [ 1.13363880e-02 2.18497328e-03 9.99933354e-01 -2.19050240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.48455357399996 meters Centerline goodness [0,1] 0.8650420583869372 Centerline is valid? [False, False] Translation: X:9.53, Y:0.56, Z:-2.19 [[ 9.99934824e-01 -4.70300172e-04 -1.14072990e-02 9.52663579e+00] [ 4.47361192e-04 9.99997873e-01 -2.01337199e-03 5.61359325e-01] [ 1.14082217e-02 2.00813759e-03 9.99932908e-01 -2.19030405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.514553574 meters Centerline goodness [0,1] 0.8743811881188119 Centerline is valid? [False, False] Translation: X:9.53, Y:0.56, Z:-2.19 [[ 9.99933518e-01 -2.98540480e-04 -1.15269067e-02 9.52686195e+00] [ 2.76634407e-04 9.99998153e-01 -1.90197704e-03 5.61588856e-01] [ 1.15274532e-02 1.89866185e-03 9.99931754e-01 -2.19029979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.54455357399996 meters Centerline goodness [0,1] 0.8795440487761774 Centerline is valid? [False, False] Translation: X:9.53, Y:0.56, Z:-2.19 [[ 9.99934194e-01 7.30820710e-04 -1.14487025e-02 9.52605171e+00] [-7.47201507e-04 9.99998703e-01 -1.42658737e-03 5.63077530e-01] [ 1.14476451e-02 1.43504798e-03 9.99933444e-01 -2.18992687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.574553574 meters Centerline goodness [0,1] 0.8781994704324801 Centerline is valid? [False, False] Translation: X:9.53, Y:0.56, Z:-2.19 [[ 9.99932858e-01 1.02770236e-03 -1.15422055e-02 9.52628043e+00] [-1.04489342e-03 9.99998354e-01 -1.48347695e-03 5.64114034e-01] [ 1.15406619e-02 1.49543772e-03 9.99932286e-01 -2.19016909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.60455357399997 meters Centerline goodness [0,1] 0.8781994704324801 Centerline is valid? [False, False] Translation: X:9.53, Y:0.56, Z:-2.19 [[ 9.99932858e-01 1.02770236e-03 -1.15422055e-02 9.52628043e+00] [-1.04489342e-03 9.99998354e-01 -1.48347695e-03 5.64114034e-01] [ 1.15406619e-02 1.49543772e-03 9.99932286e-01 -2.19016909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.634553574 meters Centerline goodness [0,1] 0.8769627497041524 Centerline is valid? [False, False] Translation: X:9.52, Y:0.57, Z:-2.19 [[ 9.99934701e-01 2.16076896e-03 -1.12215878e-02 9.52474746e+00] [-2.17205701e-03 9.99997147e-01 -9.93832324e-04 5.65477009e-01] [ 1.12194083e-02 1.01814136e-03 9.99936542e-01 -2.18941551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.66455357399997 meters Centerline goodness [0,1] 0.8716722826949879 Centerline is valid? [False, False] Translation: X:9.52, Y:0.57, Z:-2.19 [[ 9.99935503e-01 2.62284250e-03 -1.10503288e-02 9.52416197e+00] [-2.63302068e-03 9.99996123e-01 -9.06627222e-04 5.66210512e-01] [ 1.10479080e-02 9.35664492e-04 9.99938532e-01 -2.18919666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.694553574 meters Centerline goodness [0,1] 0.8741259975987005 Centerline is valid? [False, False] Translation: X:9.52, Y:0.57, Z:-2.19 [[ 9.99936645e-01 3.69872080e-03 -1.06313140e-02 9.52218479e+00] [-3.70574412e-03 9.99992928e-01 -6.41002315e-04 5.68126790e-01] [ 1.06288680e-02 6.80358634e-04 9.99943281e-01 -2.18804858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.72455357399997 meters Centerline goodness [0,1] 0.8781018412069544 Centerline is valid? [False, False] Translation: X:9.52, Y:0.57, Z:-2.19 [[ 9.99935820e-01 4.04487257e-03 -1.05827545e-02 9.52194269e+00] [-4.05220002e-03 9.99991565e-01 -6.71044693e-04 5.69243041e-01] [ 1.05799509e-02 7.13885064e-04 9.99943776e-01 -2.18796270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.754553574 meters Centerline goodness [0,1] 0.8689390983577484 Centerline is valid? [False, False] Translation: X:9.52, Y:0.57, Z:-2.19 [[ 9.99935820e-01 4.79422796e-03 -1.02650936e-02 9.52050480e+00] [-4.79965997e-03 9.99988354e-01 -5.04603517e-04 5.70629647e-01] [ 1.02625549e-02 5.53840090e-04 9.99947185e-01 -2.18708401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.784553574 meters Centerline goodness [0,1] 0.8783640038293798 Centerline is valid? [False, False] Translation: X:9.52, Y:0.57, Z:-2.19 [[ 9.99936165e-01 4.95181888e-03 -1.01560524e-02 9.52013141e+00] [-4.95807912e-03 9.99987534e-01 -5.91319975e-04 5.71324183e-01] [ 1.01529976e-02 6.41636740e-04 9.99948251e-01 -2.18689321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.814553574 meters Centerline goodness [0,1] 0.876078805885682 Centerline is valid? [False, False] Translation: X:9.52, Y:0.57, Z:-2.19 [[ 9.99936230e-01 4.85222731e-03 -1.01976019e-02 9.52054348e+00] [-4.86362951e-03 9.99987574e-01 -1.09362335e-03 5.72967368e-01] [ 1.01921687e-02 1.14315097e-03 9.99947405e-01 -2.18735709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.844553574 meters Centerline goodness [0,1] 0.8751679988682182 Centerline is valid? [False, False] Translation: X:9.52, Y:0.57, Z:-2.19 [[ 9.99935585e-01 4.88139964e-03 -1.02468653e-02 9.52062814e+00] [-4.89355597e-03 9.99987352e-01 -1.16160879e-03 5.73486792e-01] [ 1.02410654e-02 1.21167758e-03 9.99946825e-01 -2.18733535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.874553574 meters Centerline goodness [0,1] 0.8708952980495481 Centerline is valid? [False, False] Translation: X:9.52, Y:0.57, Z:-2.19 [[ 9.99936120e-01 4.82304455e-03 -1.02222519e-02 9.52068937e+00] [-4.83684599e-03 9.99987423e-01 -1.32584435e-03 5.73986255e-01] [ 1.02157287e-02 1.37520311e-03 9.99946872e-01 -2.18738023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.904553574 meters Centerline goodness [0,1] 0.8780871563687793 Centerline is valid? [False, False] Translation: X:9.52, Y:0.57, Z:-2.19 [[ 9.99935890e-01 4.85801797e-03 -1.02282120e-02 9.52074515e+00] [-4.87179724e-03 9.99987258e-01 -1.32269855e-03 5.74067483e-01] [ 1.02216560e-02 1.37244352e-03 9.99946816e-01 -2.18740330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.934553574 meters Centerline goodness [0,1] 0.8742669398714054 Centerline is valid? [False, False] Translation: X:9.52, Y:0.57, Z:-2.19 [[ 9.99934693e-01 4.74941067e-03 -1.03948799e-02 9.52147813e+00] [-4.76511572e-03 9.99987542e-01 -1.48659956e-03 5.74288735e-01] [ 1.03876899e-02 1.53603528e-03 9.99944867e-01 -2.18799176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.964553574 meters Centerline goodness [0,1] 0.8750640855652789 Centerline is valid? [False, False] Translation: X:9.52, Y:0.57, Z:-2.19 [[ 9.99933363e-01 4.82899400e-03 -1.04857169e-02 9.52175255e+00] [-4.84432645e-03 9.99987233e-01 -1.43731591e-03 5.74321585e-01] [ 1.04786423e-02 1.48801637e-03 9.99943990e-01 -2.18820402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99455357399995 meters Centerline goodness [0,1] 0.8727121904728287 Centerline is valid? [False, False] Translation: X:9.52, Y:0.57, Z:-2.19 [[ 9.99931698e-01 4.73113662e-03 -1.06871670e-02 9.52263077e+00] [-4.74882543e-03 9.99987395e-01 -1.63037445e-03 5.74632378e-01] [ 1.06793187e-02 1.68101459e-03 9.99941561e-01 -2.18889375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.024553574 meters Centerline goodness [0,1] 0.869808745590868 Centerline is valid? [False, False] Translation: X:9.52, Y:0.58, Z:-2.19 [[ 9.99930105e-01 4.84697935e-03 -1.07838784e-02 9.52289266e+00] [-4.86430410e-03 9.99986920e-01 -1.58089364e-03 5.75130133e-01] [ 1.07760748e-02 1.63323920e-03 9.99940603e-01 -2.18901478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.05455357399995 meters Centerline goodness [0,1] 0.8614044444444444 Centerline is valid? [False, False] Translation: X:9.52, Y:0.58, Z:-2.19 [[ 9.99928651e-01 4.92315909e-03 -1.08837291e-02 9.52306037e+00] [-4.93918297e-03 9.99986757e-01 -1.44588919e-03 5.75001191e-01] [ 1.08764666e-02 1.49954275e-03 9.99939725e-01 -2.18893028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.084553574 meters Centerline goodness [0,1] 0.8650982199843983 Centerline is valid? [False, False] Translation: X:9.52, Y:0.57, Z:-2.19 [[ 9.99927484e-01 4.80085707e-03 -1.10443592e-02 9.52382690e+00] [-4.81810590e-03 9.99987214e-01 -1.53570043e-03 5.74605450e-01] [ 1.10368453e-02 1.58880196e-03 9.99937830e-01 -2.18935522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.11455357399996 meters Centerline goodness [0,1] 0.8595077982221118 Centerline is valid? [False, False] Translation: X:9.52, Y:0.58, Z:-2.19 [[ 9.99926745e-01 5.21945430e-03 -1.09207040e-02 9.52334819e+00] [-5.23508790e-03 9.99985312e-01 -1.40345927e-03 5.75453229e-01] [ 1.09132183e-02 1.46052730e-03 9.99939382e-01 -2.18916329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.144553574 meters Centerline goodness [0,1] 0.8560117874704869 Centerline is valid? [False, False] Translation: X:9.52, Y:0.58, Z:-2.19 [[ 9.99925264e-01 5.30137805e-03 -1.10164152e-02 9.52377817e+00] [-5.31874596e-03 9.99984657e-01 -1.54784892e-03 5.76268974e-01] [ 1.10080405e-02 1.60632675e-03 9.99938119e-01 -2.18958271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.17455357399996 meters Centerline goodness [0,1] 0.8638363552496185 Centerline is valid? [False, False] Translation: X:9.52, Y:0.58, Z:-2.19 [[ 9.99924157e-01 5.25818672e-03 -1.11369221e-02 9.52432009e+00] [-5.27685785e-03 9.99984720e-01 -1.64778585e-03 5.76528111e-01] [ 1.11280875e-02 1.70642883e-03 9.99936625e-01 -2.18996530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.204553574 meters Centerline goodness [0,1] 0.8637757800105764 Centerline is valid? [False, False] Translation: X:9.53, Y:0.58, Z:-2.19 [[ 9.99923492e-01 4.91621325e-03 -1.13507940e-02 9.52511656e+00] [-4.93891451e-03 9.99985857e-01 -1.97280673e-03 5.76663869e-01] [ 1.13409348e-02 2.02871640e-03 9.99933632e-01 -2.19017786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.23455357399996 meters Centerline goodness [0,1] 0.8585402957616926 Centerline is valid? [False, False] Translation: X:9.52, Y:0.58, Z:-2.19 [[ 9.99923485e-01 5.03903911e-03 -1.12974834e-02 9.52485017e+00] [-5.05985537e-03 9.99985552e-01 -1.81473183e-03 5.76627215e-01] [ 1.12881757e-02 1.87175661e-03 9.99934535e-01 -2.18986369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.264553574 meters Centerline goodness [0,1] 0.8688087801951547 Centerline is valid? [False, False] Translation: X:9.52, Y:0.58, Z:-2.19 [[ 9.99924535e-01 4.93137623e-03 -1.12518948e-02 9.52456956e+00] [-4.95080517e-03 9.99986300e-01 -1.69952661e-03 5.76252728e-01] [ 1.12433596e-02 1.75510429e-03 9.99935251e-01 -2.18925689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.29455357399996 meters Centerline goodness [0,1] 0.8699500961046748 Centerline is valid? [False, False] Translation: X:9.52, Y:0.58, Z:-2.19 [[ 9.99924260e-01 4.87002764e-03 -1.13029641e-02 9.52488335e+00] [-4.88927185e-03 9.99986644e-01 -1.67557314e-03 5.76026939e-01] [ 1.12946531e-02 1.73070950e-03 9.99934716e-01 -2.18938536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.324553574 meters Centerline goodness [0,1] 0.8675897345444925 Centerline is valid? [False, False] Translation: X:9.52, Y:0.58, Z:-2.19 [[ 9.99925149e-01 4.89752505e-03 -1.12120809e-02 9.52466645e+00] [-4.91511104e-03 9.99986733e-01 -1.54146761e-03 5.75900975e-01] [ 1.12043827e-02 1.59646085e-03 9.99935955e-01 -2.18928217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.35455357399997 meters Centerline goodness [0,1] 0.8701376421304607 Centerline is valid? [False, False] Translation: X:9.53, Y:0.58, Z:-2.19 [[ 9.99924491e-01 4.72776493e-03 -1.13428627e-02 9.52522740e+00] [-4.74641178e-03 9.99987427e-01 -1.61757164e-03 5.75772950e-01] [ 1.13350726e-02 1.67128740e-03 9.99934359e-01 -2.18951290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.384553574 meters Centerline goodness [0,1] 0.8700102354145343 Centerline is valid? [False, False] Translation: X:9.53, Y:0.57, Z:-2.19 [[ 9.99926154e-01 4.41926366e-03 -1.13206171e-02 9.52529740e+00] [-4.43703393e-03 9.99988963e-01 -1.54509103e-03 5.74978790e-01] [ 1.13136640e-02 1.59520689e-03 9.99934726e-01 -2.18933758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.41455357399997 meters Centerline goodness [0,1] 0.8609393987425371 Centerline is valid? [False, False] Translation: X:9.53, Y:0.57, Z:-2.19 [[ 9.99925738e-01 4.04747639e-03 -1.14950236e-02 9.52611891e+00] [-4.06663070e-03 9.99990381e-01 -1.64342784e-03 5.74389460e-01] [ 1.14882613e-02 1.69005181e-03 9.99932580e-01 -2.18967454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.444553574 meters Centerline goodness [0,1] 0.8583858808609575 Centerline is valid? [False, False] Translation: X:9.53, Y:0.57, Z:-2.19 [[ 9.99927404e-01 3.44658188e-03 -1.15459178e-02 9.52653420e+00] [-3.46572256e-03 9.99992653e-01 -1.63819034e-03 5.73255706e-01] [ 1.15401868e-02 1.67808636e-03 9.99932002e-01 -2.18962375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.47455357399997 meters Centerline goodness [0,1] 0.8622650144335704 Centerline is valid? [False, False] Translation: X:9.53, Y:0.57, Z:-2.19 [[ 9.99927152e-01 3.23160197e-03 -1.16296047e-02 9.52696235e+00] [-3.25195794e-03 9.99993213e-01 -1.73187361e-03 5.73249098e-01] [ 1.16239291e-02 1.76956643e-03 9.99930874e-01 -2.18986872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.504553574 meters Centerline goodness [0,1] 0.8403929439104256 Centerline is valid? [False, False] Translation: X:9.53, Y:0.57, Z:-2.19 [[ 9.99926078e-01 3.10881694e-03 -1.17547515e-02 9.52742287e+00] [-3.12852382e-03 9.99993731e-01 -1.65848714e-03 5.72886750e-01] [ 1.17495218e-02 1.69513956e-03 9.99929535e-01 -2.19001071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.534553574 meters Centerline goodness [0,1] 0.8647434881386379 Centerline is valid? [False, False] Translation: X:9.53, Y:0.57, Z:-2.19 [[ 9.99923866e-01 2.72902960e-03 -1.20338700e-02 9.52854071e+00] [-2.74911678e-03 9.99994855e-01 -1.65299455e-03 5.72055716e-01] [ 1.20292970e-02 1.68595122e-03 9.99926224e-01 -2.19059619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.564553574 meters Centerline goodness [0,1] 0.8551618416647578 Centerline is valid? [False, False] Translation: X:9.53, Y:0.57, Z:-2.19 [[ 9.99922072e-01 2.58104775e-03 -1.22142764e-02 9.52932950e+00] [-2.60304589e-03 9.99995018e-01 -1.78546339e-03 5.72319521e-01] [ 1.22096072e-02 1.81711858e-03 9.99923809e-01 -2.19118992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.594553574 meters Centerline goodness [0,1] 0.8594712956259161 Centerline is valid? [False, False] Translation: X:9.53, Y:0.57, Z:-2.19 [[ 9.99920458e-01 2.58591470e-03 -1.23446609e-02 9.52976330e+00] [-2.60951728e-03 9.99994797e-01 -1.89624256e-03 5.72867865e-01] [ 1.23396931e-02 1.92830533e-03 9.99922004e-01 -2.19148710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.624553574 meters Centerline goodness [0,1] 0.8728047020729948 Centerline is valid? [False, False] Translation: X:9.53, Y:0.57, Z:-2.19 [[ 9.99917563e-01 2.35657846e-03 -1.26219931e-02 9.53099134e+00] [-2.38532262e-03 9.99994595e-01 -2.26273768e-03 5.73467679e-01] [ 1.26165926e-02 2.29265867e-03 9.99917779e-01 -2.19234548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.654553574 meters Centerline goodness [0,1] 0.8752842461527613 Centerline is valid? [False, False] Translation: X:9.53, Y:0.57, Z:-2.19 [[ 9.99917010e-01 2.31481537e-03 -1.26733970e-02 9.53111928e+00] [-2.34751011e-03 9.99993954e-01 -2.56552531e-03 5.74780337e-01] [ 1.26673816e-02 2.59506333e-03 9.99916398e-01 -2.19235687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.684553574 meters Centerline goodness [0,1] 0.8704545454545455 Centerline is valid? [False, False] Translation: X:9.53, Y:0.58, Z:-2.19 [[ 9.99916198e-01 1.99820176e-03 -1.27907720e-02 9.53180170e+00] [-2.04163523e-03 9.99992192e-01 -3.38353163e-03 5.77380385e-01] [ 1.27839111e-02 3.40936217e-03 9.99912470e-01 -2.19307449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.714553574 meters Centerline goodness [0,1] 0.8700655575919921 Centerline is valid? [False, False] Translation: X:9.53, Y:0.58, Z:-2.19 [[ 9.99915240e-01 1.86993801e-03 -1.28847614e-02 9.53207802e+00] [-1.91756684e-03 9.99991371e-01 -3.68516162e-03 5.78494295e-01] [ 1.28777592e-02 3.70955665e-03 9.99910197e-01 -2.19315281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.74455357399995 meters Centerline goodness [0,1] 0.8762248854423687 Centerline is valid? [False, False] Translation: X:9.53, Y:0.58, Z:-2.19 [[ 9.99915071e-01 1.75738319e-03 -1.29136693e-02 9.53221715e+00] [-1.80935924e-03 9.99990306e-01 -4.01430594e-03 5.79698161e-01] [ 1.29064894e-02 4.03733047e-03 9.99908557e-01 -2.19318785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.774553574 meters Centerline goodness [0,1] 0.8489468831997731 Centerline is valid? [False, False] Translation: X:9.53, Y:0.58, Z:-2.19 [[ 9.99915168e-01 1.47052320e-03 -1.29419813e-02 9.53228215e+00] [-1.53286653e-03 9.99987264e-01 -4.80853893e-03 5.82319648e-01] [ 1.29347454e-02 4.82796934e-03 9.99904687e-01 -2.19316011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.80455357399995 meters Centerline goodness [0,1] 0.8653300716159682 Centerline is valid? [False, False] Translation: X:9.53, Y:0.58, Z:-2.19 [[ 9.99915593e-01 1.30615589e-03 -1.29267748e-02 9.53199377e+00] [-1.37717706e-03 9.99983999e-01 -5.48673840e-03 5.84827124e-01] [ 1.29194015e-02 5.50407773e-03 9.99901392e-01 -2.19265327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.834553574 meters Centerline goodness [0,1] 0.8763997089670104 Centerline is valid? [False, False] Translation: X:9.53, Y:0.59, Z:-2.19 [[ 9.99915825e-01 1.51771464e-03 -1.28856307e-02 9.53177911e+00] [-1.59244244e-03 9.99981964e-01 -5.79103437e-03 5.86591388e-01] [ 1.28766091e-02 5.81106653e-03 9.99900207e-01 -2.19260226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.86455357399996 meters Centerline goodness [0,1] 0.8760757314974182 Centerline is valid? [False, False] Translation: X:9.53, Y:0.59, Z:-2.19 [[ 9.99903329e-01 4.78722654e-03 -1.30543046e-02 9.53259068e+00] [-4.82012641e-03 9.99985283e-01 -2.48993389e-03 5.87704017e-01] [ 1.30421926e-02 2.55261658e-03 9.99911689e-01 -2.19272812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.894553574 meters Centerline goodness [0,1] 0.8775276140734729 Centerline is valid? [False, False] Translation: X:9.55, Y:0.59, Z:-2.20 [[ 9.99920379e-01 1.08018292e-02 -6.52357659e-03 9.54520987e+00] [-1.08426533e-02 9.99921651e-01 -6.25531931e-03 5.91866259e-01] [ 6.45549659e-03 6.32555413e-03 9.99959156e-01 -2.19693097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.92455357399996 meters Centerline goodness [0,1] 0.87028047940974 Centerline is valid? [False, False] Translation: X:9.54, Y:0.59, Z:-2.20 [[ 9.99911037e-01 1.17740773e-02 -6.26804159e-03 9.54392708e+00] [-1.18116089e-02 9.99912330e-01 -5.98480542e-03 5.93736451e-01] [ 6.19702651e-03 6.05830865e-03 9.99962446e-01 -2.19608110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.954553574 meters Centerline goodness [0,1] 0.8673989315749573 Centerline is valid? [False, False] Translation: X:9.54, Y:0.60, Z:-2.20 [[ 9.99898259e-01 1.28073440e-02 -6.28039432e-03 9.54361232e+00] [-1.28456039e-02 9.99898946e-01 -6.08993185e-03 5.96486892e-01] [ 6.20176381e-03 6.16998771e-03 9.99961734e-01 -2.19613143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.98455357399996 meters Centerline goodness [0,1] 0.8727870823974674 Centerline is valid? [False, False] Translation: X:9.54, Y:0.60, Z:-2.20 [[ 9.99895352e-01 1.30246187e-02 -6.29631109e-03 9.54365783e+00] [-1.30644362e-02 9.99894654e-01 -6.32472732e-03 5.97989181e-01] [ 6.21327063e-03 6.40632321e-03 9.99960176e-01 -2.19629406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.014553574 meters Centerline goodness [0,1] 0.865924944812362 Centerline is valid? [False, False] Translation: X:9.54, Y:0.60, Z:-2.20 [[ 9.99893505e-01 1.31344828e-02 -6.36118271e-03 9.54402571e+00] [-1.31772496e-02 9.99890538e-01 -6.72850750e-03 5.99824576e-01] [ 6.27211094e-03 6.81161384e-03 9.99957130e-01 -2.19677292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.04455357399996 meters Centerline goodness [0,1] 0.8711432154147755 Centerline is valid? [False, False] Translation: X:9.54, Y:0.60, Z:-2.20 [[ 9.99892865e-01 1.31561514e-02 -6.41666640e-03 9.54436627e+00] [-1.32008417e-02 9.99888553e-01 -6.97281807e-03 6.00973476e-01] [ 6.32421583e-03 7.05677644e-03 9.99955102e-01 -2.19708826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.074553574 meters Centerline goodness [0,1] 0.8749757122922297 Centerline is valid? [False, False] Translation: X:9.54, Y:0.60, Z:-2.20 [[ 9.99892303e-01 1.31766656e-02 -6.46195847e-03 9.54445625e+00] [-1.32243298e-02 9.99885248e-01 -7.38972044e-03 6.02987717e-01] [ 6.36384507e-03 7.47437966e-03 9.99951816e-01 -2.19712243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.10455357399997 meters Centerline goodness [0,1] 0.8740638688709905 Centerline is valid? [False, False] Translation: X:9.54, Y:0.60, Z:-2.20 [[ 9.99891487e-01 1.32562500e-02 -6.42546234e-03 9.54424278e+00] [-1.33042452e-02 9.99883477e-01 -7.48523918e-03 6.03661608e-01] [ 6.32548743e-03 7.56991286e-03 9.99951341e-01 -2.19684963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.134553574 meters Centerline goodness [0,1] 0.8741854813145011 Centerline is valid? [False, False] Translation: X:9.54, Y:0.61, Z:-2.20 [[ 9.99889882e-01 1.33318801e-02 -6.51810524e-03 9.54457005e+00] [-1.33843448e-02 9.99877837e-01 -8.07282271e-03 6.05810096e-01] [ 6.40968307e-03 8.15917431e-03 9.99946170e-01 -2.19707308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.16455357399997 meters Centerline goodness [0,1] 0.8640474844544941 Centerline is valid? [False, False] Translation: X:9.54, Y:0.61, Z:-2.20 [[ 9.99887250e-01 1.35479950e-02 -6.47610289e-03 9.54439169e+00] [-1.36014587e-02 9.99873179e-01 -8.28404389e-03 6.07280613e-01] [ 6.36304940e-03 8.37119431e-03 9.99944716e-01 -2.19704195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.194553574 meters Centerline goodness [0,1] 0.8745498834992587 Centerline is valid? [False, False] Translation: X:9.54, Y:0.61, Z:-2.20 [[ 9.99887366e-01 1.35500538e-02 -6.45371888e-03 9.54440729e+00] [-1.36070079e-02 9.99868127e-01 -8.86440307e-03 6.09772353e-01] [ 6.33275467e-03 8.95122044e-03 9.99939884e-01 -2.19720670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.22455357399997 meters Centerline goodness [0,1] 0.8701064787837051 Centerline is valid? [False, False] Translation: X:9.54, Y:0.61, Z:-2.20 [[ 9.99888704e-01 1.34016575e-02 -6.55548867e-03 9.54486363e+00] [-1.34616619e-02 9.99867096e-01 -9.19646515e-03 6.10877806e-01] [ 6.43136954e-03 9.28368939e-03 9.99936223e-01 -2.19755776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.254553574 meters Centerline goodness [0,1] 0.8733359297549922 Centerline is valid? [False, False] Translation: X:9.55, Y:0.61, Z:-2.20 [[ 9.99891830e-01 1.30550772e-02 -6.77450418e-03 9.54572768e+00] [-1.31205460e-02 9.99866762e-01 -9.71126784e-03 6.12113182e-01] [ 6.64682021e-03 9.79910257e-03 9.99929896e-01 -2.19813164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.284553574 meters Centerline goodness [0,1] 0.8384239245978314 Centerline is valid? [False, False] Translation: X:9.55, Y:0.61, Z:-2.20 [[ 9.99899187e-01 1.23366740e-02 -7.03010417e-03 9.54671081e+00] [-1.24114192e-02 9.99865835e-01 -1.06896089e-02 6.14307540e-01] [ 6.89728676e-03 1.07757848e-02 9.99918152e-01 -2.19872813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.314553574 meters Centerline goodness [0,1] 0.8748727474058331 Centerline is valid? [False, False] Translation: X:9.55, Y:0.62, Z:-2.20 [[ 9.99905333e-01 1.16395261e-02 -7.33801825e-03 9.54807468e+00] [-1.17260179e-02 9.99860957e-01 -1.18560707e-02 6.16969724e-01] [ 7.19899891e-03 1.19409941e-02 9.99902789e-01 -2.19980473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.344553574 meters Centerline goodness [0,1] 0.8721793773207656 Centerline is valid? [False, False] Translation: X:9.55, Y:0.62, Z:-2.20 [[ 9.99906277e-01 1.14180705e-02 -7.55413898e-03 9.54875964e+00] [-1.15109122e-02 9.99857317e-01 -1.23630332e-02 6.18391020e-01] [ 7.41189915e-03 1.24488295e-02 9.99895040e-01 -2.20012904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.374553574 meters Centerline goodness [0,1] 0.8724621103803261 Centerline is valid? [False, False] Translation: X:9.55, Y:0.62, Z:-2.20 [[ 9.99905861e-01 1.13958799e-02 -7.64217916e-03 9.54894646e+00] [-1.14920697e-02 9.99853777e-01 -1.26631758e-02 6.19696271e-01] [ 7.49675367e-03 1.27498081e-02 9.99890615e-01 -2.20011078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.404553574 meters Centerline goodness [0,1] 0.8751407481546353 Centerline is valid? [False, False] Translation: X:9.55, Y:0.62, Z:-2.20 [[ 9.99902936e-01 1.15782987e-02 -7.74988385e-03 9.54904014e+00] [-1.16803276e-02 9.99843964e-01 -1.32520526e-02 6.22694182e-01] [ 7.59523837e-03 1.33412875e-02 9.99882154e-01 -2.20009937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.434553574 meters Centerline goodness [0,1] 0.8731273910400801 Centerline is valid? [False, False] Translation: X:9.55, Y:0.62, Z:-2.20 [[ 9.99898376e-01 1.20045929e-02 -7.68939655e-03 9.54851425e+00] [-1.21059639e-02 9.99838594e-01 -1.32752025e-02 6.24070061e-01] [ 7.52879204e-03 1.33669410e-02 9.99882314e-01 -2.19964732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.464553574 meters Centerline goodness [0,1] 0.8730468057966907 Centerline is valid? [False, False] Translation: X:9.55, Y:0.63, Z:-2.20 [[ 9.99842830e-01 1.60446366e-02 -7.54227248e-03 9.54820486e+00] [-1.61176528e-02 9.99822837e-01 -9.72193776e-03 6.25724975e-01] [ 7.38495131e-03 9.84197349e-03 9.99924296e-01 -2.19896211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.49455357399995 meters Centerline goodness [0,1] 0.8730468057966907 Centerline is valid? [False, False] Translation: X:9.55, Y:0.63, Z:-2.20 [[ 9.99842830e-01 1.60446366e-02 -7.54227248e-03 9.54820486e+00] [-1.61176528e-02 9.99822837e-01 -9.72193776e-03 6.25724975e-01] [ 7.38495131e-03 9.84197349e-03 9.99924296e-01 -2.19896211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.524553574 meters Centerline goodness [0,1] 0.8738263118732948 Centerline is valid? [False, False] Translation: X:9.55, Y:0.63, Z:-2.20 [[ 9.99800407e-01 1.85936754e-02 -7.30894742e-03 9.54720446e+00] [-1.86474820e-02 9.99799002e-01 -7.36384594e-03 6.27008914e-01] [ 7.17055738e-03 7.49866964e-03 9.99946175e-01 -2.19796568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.55455357399995 meters Centerline goodness [0,1] 0.8730018076773118 Centerline is valid? [False, False] Translation: X:9.55, Y:0.63, Z:-2.20 [[ 9.99712814e-01 2.28646767e-02 -7.17609884e-03 9.54725246e+00] [-2.28923003e-02 9.99730749e-01 -3.79112782e-03 6.28910160e-01] [ 7.08748375e-03 3.95431647e-03 9.99967065e-01 -2.19811738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.584553574 meters Centerline goodness [0,1] 0.8696571408435816 Centerline is valid? [False, False] Translation: X:9.55, Y:0.63, Z:-2.20 [[ 9.99707222e-01 2.30582615e-02 -7.33392898e-03 9.54791531e+00] [-2.30884789e-02 9.99725171e-01 -4.06258840e-03 6.29996094e-01] [ 7.23823718e-03 4.23072823e-03 9.99964854e-01 -2.19867259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.61455357399996 meters Centerline goodness [0,1] 0.8705751627070215 Centerline is valid? [False, False] Translation: X:9.55, Y:0.63, Z:-2.20 [[ 9.99701768e-01 2.33088416e-02 -7.28510513e-03 9.54770408e+00] [-2.33386841e-02 9.99719459e-01 -4.03854777e-03 6.30522453e-01] [ 7.18892748e-03 4.20736812e-03 9.99965308e-01 -2.19855386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.644553574 meters Centerline goodness [0,1] 0.8698610817290742 Centerline is valid? [False, False] Translation: X:9.55, Y:0.63, Z:-2.20 [[ 9.99706800e-01 2.30995387e-02 -7.26122089e-03 9.54776080e+00] [-2.31314723e-02 9.99722989e-01 -4.34504138e-03 6.31037202e-01] [ 7.15884100e-03 4.51173015e-03 9.99964197e-01 -2.19856131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.67455357399996 meters Centerline goodness [0,1] 0.8743578842951784 Centerline is valid? [False, False] Translation: X:9.55, Y:0.63, Z:-2.20 [[ 9.99717933e-01 2.25707755e-02 -7.39011707e-03 9.54843287e+00] [-2.26057867e-02 9.99733461e-01 -4.68882227e-03 6.31334355e-01] [ 7.28231696e-03 4.85455912e-03 9.99961700e-01 -2.19898867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.704553574 meters Centerline goodness [0,1] 0.8720228081670238 Centerline is valid? [False, False] Translation: X:9.55, Y:0.63, Z:-2.20 [[ 9.99724738e-01 2.21674598e-02 -7.68446700e-03 9.54953331e+00] [-2.22056591e-02 9.99741309e-01 -4.92181357e-03 6.31270567e-01] [ 7.57337499e-03 5.09109744e-03 9.99958361e-01 -2.19956338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.73455357399996 meters Centerline goodness [0,1] 0.8744868453932103 Centerline is valid? [False, False] Translation: X:9.55, Y:0.63, Z:-2.20 [[ 9.99737919e-01 2.14460744e-02 -8.00988416e-03 9.55077583e+00] [-2.14878020e-02 9.99755793e-01 -5.16028969e-03 6.30347916e-01] [ 7.89726013e-03 5.33105208e-03 9.99954606e-01 -2.20020300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.764553574 meters Centerline goodness [0,1] 0.8685338668190912 Centerline is valid? [False, False] Translation: X:9.55, Y:0.63, Z:-2.20 [[ 9.99742109e-01 2.11868749e-02 -8.17508521e-03 9.55139917e+00] [-2.12294105e-02 9.99761357e-01 -5.15185254e-03 6.29753524e-01] [ 8.06398262e-03 5.32407616e-03 9.99953312e-01 -2.20052099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.79455357399996 meters Centerline goodness [0,1] 0.8679996429527805 Centerline is valid? [False, False] Translation: X:9.55, Y:0.63, Z:-2.20 [[ 9.99746853e-01 2.09028977e-02 -8.32460517e-03 9.55205976e+00] [-2.09471796e-02 9.99766704e-01 -5.26821421e-03 6.29474384e-01] [ 8.21254213e-03 5.44125758e-03 9.99951472e-01 -2.20095674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.824553574 meters Centerline goodness [0,1] 0.8716304771350643 Centerline is valid? [False, False] Translation: X:9.56, Y:0.63, Z:-2.20 [[ 9.99769493e-01 1.94536791e-02 -9.08375524e-03 9.55527318e+00] [-1.95141340e-02 9.99787699e-01 -6.61475495e-03 6.30419571e-01] [ 8.95314543e-03 6.79049182e-03 9.99936863e-01 -2.20301934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.85455357399997 meters Centerline goodness [0,1] 0.8691279962847855 Centerline is valid? [False, False] Translation: X:9.56, Y:0.63, Z:-2.20 [[ 9.99772522e-01 1.92463051e-02 -9.19148038e-03 9.55557444e+00] [-1.93091133e-02 9.99790477e-01 -6.79415830e-03 6.30989017e-01] [ 9.05879211e-03 6.97009212e-03 9.99934676e-01 -2.20303173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.884553574 meters Centerline goodness [0,1] 0.8745737900994341 Centerline is valid? [False, False] Translation: X:9.56, Y:0.63, Z:-2.20 [[ 9.99785615e-01 1.85407766e-02 -9.21760344e-03 9.55574735e+00] [-1.86100652e-02 9.99798771e-01 -7.48890983e-03 6.32360073e-01] [ 9.07689838e-03 7.65884452e-03 9.99929474e-01 -2.20291168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.91455357399997 meters Centerline goodness [0,1] 0.8724102856938918 Centerline is valid? [False, False] Translation: X:9.56, Y:0.63, Z:-2.20 [[ 9.99787900e-01 1.84154545e-02 -9.22095783e-03 9.55566146e+00] [-1.84870691e-02 9.99799121e-01 -7.74243973e-03 6.33210034e-01] [ 9.07652499e-03 7.91126604e-03 9.99927512e-01 -2.20264510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.944553574 meters Centerline goodness [0,1] 0.8518201284796574 Centerline is valid? [False, False] Translation: X:9.55, Y:0.64, Z:-2.20 [[ 9.99787470e-01 1.86707214e-02 -8.74174617e-03 9.55362886e+00] [-1.87411028e-02 9.99792045e-01 -8.03970338e-03 6.35741950e-01] [ 8.58982123e-03 8.20182467e-03 9.99929470e-01 -2.20091870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.97455357399997 meters Centerline goodness [0,1] 0.8634693586359421 Centerline is valid? [False, False] Translation: X:9.55, Y:0.64, Z:-2.20 [[ 9.99785914e-01 1.88111433e-02 -8.61778162e-03 9.55315172e+00] [-1.88829963e-02 9.99786968e-01 -8.33368595e-03 6.37373689e-01] [ 8.45917960e-03 8.49463137e-03 9.99928139e-01 -2.20044892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.004553574 meters Centerline goodness [0,1] 0.8678616015694667 Centerline is valid? [False, False] Translation: X:9.55, Y:0.64, Z:-2.20 [[ 9.99785617e-01 1.88446762e-02 -8.57891334e-03 9.55306514e+00] [-1.89199302e-02 9.99782477e-01 -8.77700081e-03 6.39121411e-01] [ 8.41164749e-03 8.93743161e-03 9.99924680e-01 -2.20039262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.034553574 meters Centerline goodness [0,1] 0.8726010033385108 Centerline is valid? [False, False] Translation: X:9.55, Y:0.64, Z:-2.20 [[ 9.99789702e-01 1.86629608e-02 -8.49972790e-03 9.55293729e+00] [-1.87459936e-02 9.99776285e-01 -9.79628709e-03 6.42774773e-01] [ 8.31499866e-03 9.95356280e-03 9.99915890e-01 -2.20041448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.064553574 meters Centerline goodness [0,1] 0.8706831898860755 Centerline is valid? [False, False] Translation: X:9.55, Y:0.64, Z:-2.20 [[ 9.99790891e-01 1.85745074e-02 -8.55348088e-03 9.55324971e+00] [-1.86626945e-02 9.99772282e-01 -1.03483336e-02 6.44838020e-01] [ 8.35931790e-03 1.05058007e-02 9.99909871e-01 -2.20072422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.094553574 meters Centerline goodness [0,1] 0.8749754731453239 Centerline is valid? [False, False] Translation: X:9.55, Y:0.65, Z:-2.20 [[ 9.99793890e-01 1.82828334e-02 -8.82698378e-03 9.55431370e+00] [-1.83844727e-02 9.99763997e-01 -1.15741615e-02 6.49022412e-01] [ 8.61329212e-03 1.17340554e-02 9.99894056e-01 -2.20157389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.124553574 meters Centerline goodness [0,1] 0.8728991971454059 Centerline is valid? [False, False] Translation: X:9.55, Y:0.65, Z:-2.20 [[ 9.99792085e-01 1.83311344e-02 -8.93066905e-03 9.55463126e+00] [-1.84378408e-02 9.99757799e-01 -1.20162005e-02 6.50971576e-01] [ 8.70823545e-03 1.21783644e-02 9.99887921e-01 -2.20177620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.154553574 meters Centerline goodness [0,1] 0.8715375136177737 Centerline is valid? [False, False] Translation: X:9.55, Y:0.65, Z:-2.20 [[ 9.99784145e-01 1.87124968e-02 -9.02802493e-03 9.55474476e+00] [-1.88266881e-02 9.99741669e-01 -1.27338499e-02 6.54514497e-01] [ 8.78741059e-03 1.29010691e-02 9.99878164e-01 -2.20183853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.184553574 meters Centerline goodness [0,1] 0.8632267753700923 Centerline is valid? [False, False] Translation: X:9.56, Y:0.66, Z:-2.20 [[ 9.99718806e-01 2.18653690e-02 -9.17685553e-03 9.55575768e+00] [-2.19570225e-02 9.99708818e-01 -1.00084560e-02 6.56901976e-01] [ 8.95534481e-03 1.02071381e-02 9.99907804e-01 -2.20229215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.214553574 meters Centerline goodness [0,1] 0.8657161744474817 Centerline is valid? [False, False] Translation: X:9.56, Y:0.66, Z:-2.20 [[ 9.99707777e-01 2.23911626e-02 -9.11019281e-03 9.55540388e+00] [-2.24843409e-02 9.99694574e-01 -1.02573825e-02 6.59455015e-01] [ 8.87773560e-03 1.04592217e-02 9.99905891e-01 -2.20209463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.24455357399995 meters Centerline goodness [0,1] 0.869720638438578 Centerline is valid? [False, False] Translation: X:9.56, Y:0.66, Z:-2.20 [[ 9.99632727e-01 2.54391538e-02 -9.34137178e-03 9.55704792e+00] [-2.55076908e-02 9.99648026e-01 -7.29256545e-03 6.61050715e-01] [ 9.15256717e-03 7.52816391e-03 9.99929776e-01 -2.20311190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.274553574 meters Centerline goodness [0,1] 0.8686029687583731 Centerline is valid? [False, False] Translation: X:9.56, Y:0.66, Z:-2.20 [[ 9.99551684e-01 2.83192993e-02 -9.71846081e-03 9.55922071e+00] [-2.83685823e-02 9.99585169e-01 -4.97122176e-03 6.64415702e-01] [ 9.57364777e-03 5.24469203e-03 9.99940417e-01 -2.20452399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.30455357399995 meters Centerline goodness [0,1] 0.8717669334095456 Centerline is valid? [False, False] Translation: X:9.56, Y:0.67, Z:-2.20 [[ 9.99551143e-01 2.83081847e-02 -9.80609200e-03 9.55956027e+00] [-2.83625332e-02 9.99582854e-01 -5.44827977e-03 6.66088067e-01] [ 9.64777052e-03 5.72395988e-03 9.99937076e-01 -2.20471551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.334553574 meters Centerline goodness [0,1] 0.8730703259005146 Centerline is valid? [False, False] Translation: X:9.56, Y:0.67, Z:-2.20 [[ 9.99543139e-01 2.86557654e-02 -9.61037930e-03 9.55899746e+00] [-2.87156914e-02 9.99568660e-01 -6.15660662e-03 6.69393510e-01] [ 9.42981168e-03 6.42976259e-03 9.99934866e-01 -2.20444841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.36455357399996 meters Centerline goodness [0,1] 0.8732613437265349 Centerline is valid? [False, False] Translation: X:9.56, Y:0.67, Z:-2.20 [[ 9.99537483e-01 2.88857712e-02 -9.50957351e-03 9.55875697e+00] [-2.89485122e-02 9.99559591e-01 -6.52746641e-03 6.71248412e-01] [ 9.31683450e-03 6.79973535e-03 9.99933478e-01 -2.20437681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.394553574 meters Centerline goodness [0,1] 0.8656996373640116 Centerline is valid? [False, False] Translation: X:9.56, Y:0.68, Z:-2.20 [[ 9.99516724e-01 2.95687066e-02 -9.59217694e-03 9.55897009e+00] [-2.96380589e-02 9.99534978e-01 -7.17032701e-03 6.75354751e-01] [ 9.37569907e-03 7.45115527e-03 9.99928286e-01 -2.20469240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.42455357399996 meters Centerline goodness [0,1] 0.8725881153770498 Centerline is valid? [False, False] Translation: X:9.56, Y:0.68, Z:-2.21 [[ 9.99504367e-01 2.99837406e-02 -9.59142548e-03 9.55908930e+00] [-3.00560917e-02 9.99520149e-01 -7.49023471e-03 6.77649706e-01] [ 9.36223777e-03 7.77480306e-03 9.99925948e-01 -2.20501089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.454553574 meters Centerline goodness [0,1] 0.8719540558915089 Centerline is valid? [False, False] Translation: X:9.56, Y:0.68, Z:-2.21 [[ 9.99489676e-01 3.04422543e-02 -9.67766207e-03 9.55933301e+00] [-3.05178373e-02 9.99504094e-01 -7.76070451e-03 6.79870951e-01] [ 9.43660951e-03 8.05208535e-03 9.99923054e-01 -2.20523229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.48455357399996 meters Centerline goodness [0,1] 0.8722148707127785 Centerline is valid? [False, False] Translation: X:9.56, Y:0.68, Z:-2.21 [[ 9.99465375e-01 3.12021111e-02 -9.76690006e-03 9.55950667e+00] [-3.12809904e-02 9.99478370e-01 -8.03035225e-03 6.83021511e-01] [ 9.51124141e-03 8.33157733e-03 9.99920057e-01 -2.20546013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.514553574 meters Centerline goodness [0,1] 0.8696965904417944 Centerline is valid? [False, False] Translation: X:9.56, Y:0.68, Z:-2.21 [[ 9.99458854e-01 3.14071455e-02 -9.77704189e-03 9.55941669e+00] [-3.14865641e-02 9.99471533e-01 -8.07785280e-03 6.83746251e-01] [ 9.51817274e-03 8.38132696e-03 9.99919576e-01 -2.20529220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.54455357399996 meters Centerline goodness [0,1] 0.8738434004474273 Centerline is valid? [False, False] Translation: X:9.56, Y:0.68, Z:-2.21 [[ 9.99456150e-01 3.14738865e-02 -9.83862864e-03 9.55955357e+00] [-3.15541039e-02 9.99469165e-01 -8.10724413e-03 6.84076505e-01] [ 9.57823946e-03 8.41328412e-03 9.99918734e-01 -2.20527567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.574553574 meters Centerline goodness [0,1] 0.8733611175702506 Centerline is valid? [False, False] Translation: X:9.56, Y:0.68, Z:-2.21 [[ 9.99457187e-01 3.14035236e-02 -9.95742872e-03 9.56014637e+00] [-3.14840599e-02 9.99471940e-01 -8.03714465e-03 6.83600763e-01] [ 9.69977593e-03 8.34628226e-03 9.99918124e-01 -2.20574895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.60455357399997 meters Centerline goodness [0,1] 0.874058973946319 Centerline is valid? [False, False] Translation: X:9.56, Y:0.68, Z:-2.21 [[ 9.99462370e-01 3.11481282e-02 -1.02354919e-02 9.56109169e+00] [-3.12295052e-02 9.99481105e-01 -7.88917929e-03 6.82589561e-01] [ 9.98444762e-03 8.20458718e-03 9.99916494e-01 -2.20625847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.634553574 meters Centerline goodness [0,1] 0.8683583746709407 Centerline is valid? [False, False] Translation: X:9.56, Y:0.68, Z:-2.21 [[ 9.99458824e-01 3.12580241e-02 -1.02467232e-02 9.56101631e+00] [-3.13368127e-02 9.99479828e-01 -7.62091650e-03 6.82138286e-01] [ 1.00031783e-02 7.93789189e-03 9.99918460e-01 -2.20604956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.66455357399997 meters Centerline goodness [0,1] 0.8738724226804124 Centerline is valid? [False, False] Translation: X:9.56, Y:0.68, Z:-2.21 [[ 9.99452928e-01 3.14507511e-02 -1.02320879e-02 9.56064983e+00] [-3.15258994e-02 9.99476511e-01 -7.26786611e-03 6.81465425e-01] [ 9.99815165e-03 7.58646584e-03 9.99921238e-01 -2.20546362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.694553574 meters Centerline goodness [0,1] 0.8705016650553228 Centerline is valid? [False, False] Translation: X:9.56, Y:0.68, Z:-2.20 [[ 9.99441637e-01 3.18512587e-02 -1.00950982e-02 9.56002626e+00] [-3.19212775e-02 9.99466897e-01 -6.85235142e-03 6.80982584e-01] [ 9.87146043e-03 7.17077375e-03 9.99925564e-01 -2.20491061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.72455357399997 meters Centerline goodness [0,1] 0.8743508005301049 Centerline is valid? [False, False] Translation: X:9.56, Y:0.68, Z:-2.20 [[ 9.99425090e-01 3.24382535e-02 -9.86149748e-03 9.55912513e+00] [-3.25035797e-02 9.99450236e-01 -6.53784135e-03 6.81110138e-01] [ 9.64399983e-03 6.85461665e-03 9.99930001e-01 -2.20419381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.754553574 meters Centerline goodness [0,1] 0.8757271474341763 Centerline is valid? [False, False] Translation: X:9.56, Y:0.68, Z:-2.20 [[ 9.99417289e-01 3.26813454e-02 -9.84948917e-03 9.55910797e+00] [-3.27470073e-02 9.99442009e-01 -6.58061976e-03 6.81796643e-01] [ 9.62892973e-03 6.89932645e-03 9.99929839e-01 -2.20412994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.784553574 meters Centerline goodness [0,1] 0.8748146957438068 Centerline is valid? [False, False] Translation: X:9.56, Y:0.68, Z:-2.20 [[ 9.99412088e-01 3.28139493e-02 -9.93592318e-03 9.55950109e+00] [-3.28816443e-02 9.99436606e-01 -6.72818266e-03 6.82596130e-01] [ 9.70954710e-03 7.05093658e-03 9.99928002e-01 -2.20436244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.814553574 meters Centerline goodness [0,1] 0.8728706004325831 Centerline is valid? [False, False] Translation: X:9.56, Y:0.68, Z:-2.20 [[ 9.99396810e-01 3.33617641e-02 -9.64411761e-03 9.55842000e+00] [-3.34256189e-02 9.99419826e-01 -6.53749096e-03 6.83150177e-01] [ 9.42042011e-03 6.85590821e-03 9.99932124e-01 -2.20361787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.844553574 meters Centerline goodness [0,1] 0.8764607082871744 Centerline is valid? [False, False] Translation: X:9.56, Y:0.68, Z:-2.20 [[ 9.99392592e-01 3.34975867e-02 -9.61037349e-03 9.55830174e+00] [-3.35602421e-02 9.99415986e-01 -6.43405519e-03 6.83035301e-01] [ 9.38923557e-03 6.75267356e-03 9.99933120e-01 -2.20346462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.874553574 meters Centerline goodness [0,1] 0.8767661611560652 Centerline is valid? [False, False] Translation: X:9.56, Y:0.68, Z:-2.20 [[ 9.99379311e-01 3.39186498e-02 -9.51412521e-03 9.55805288e+00] [-3.39779871e-02 9.99403684e-01 -6.14599487e-03 6.82733244e-01] [ 9.29998794e-03 6.46545094e-03 9.99935852e-01 -2.20346634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.904553574 meters Centerline goodness [0,1] 0.8759599928558671 Centerline is valid? [False, False] Translation: X:9.56, Y:0.68, Z:-2.20 [[ 9.99372834e-01 3.40590480e-02 -9.69119199e-03 9.55868897e+00] [-3.41183125e-02 9.99399687e-01 -6.01709153e-03 6.82494081e-01] [ 9.48043784e-03 6.34396493e-03 9.99934936e-01 -2.20390459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.934553574 meters Centerline goodness [0,1] 0.8782790249473571 Centerline is valid? [False, False] Translation: X:9.56, Y:0.68, Z:-2.20 [[ 9.99354563e-01 3.44791728e-02 -1.00818452e-02 9.55980236e+00] [-3.45343561e-02 9.99389183e-01 -5.35160684e-03 6.80567366e-01] [ 9.89116802e-03 5.69632274e-03 9.99934856e-01 -2.20455678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.964553574 meters Centerline goodness [0,1] 0.8770001416029454 Centerline is valid? [False, False] Translation: X:9.56, Y:0.68, Z:-2.21 [[ 9.99243288e-01 3.74552701e-02 -1.04858725e-02 9.56228075e+00] [-3.74749955e-02 9.99296135e-01 -1.69095103e-03 6.77434713e-01] [ 1.04151569e-02 2.08262949e-03 9.99943592e-01 -2.20609619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99455357399995 meters Centerline goodness [0,1] 0.878076419136655 Centerline is valid? [False, False] Translation: X:9.56, Y:0.68, Z:-2.21 [[ 9.99231760e-01 3.77326027e-02 -1.05895970e-02 9.56275956e+00] [-3.77496905e-02 9.99286220e-01 -1.41834790e-03 6.76786226e-01] [ 1.05285204e-02 1.81701228e-03 9.99942923e-01 -2.20646677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.024553574 meters Centerline goodness [0,1] 0.8784379704241565 Centerline is valid? [False, False] Translation: X:9.56, Y:0.68, Z:-2.21 [[ 9.99220956e-01 3.80034151e-02 -1.06405811e-02 9.56295826e+00] [-3.80155488e-02 9.99276705e-01 -9.40318785e-04 6.75478257e-01] [ 1.05971495e-02 1.34409376e-03 9.99942945e-01 -2.20651252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.05455357399995 meters Centerline goodness [0,1] 0.8805205813275884 Centerline is valid? [False, False] Translation: X:9.56, Y:0.67, Z:-2.21 [[ 9.99205529e-01 3.83559544e-02 -1.08226984e-02 9.56360279e+00] [-3.83579491e-02 9.99264063e-01 2.32791401e-05 6.72223947e-01] [ 1.08156264e-02 3.91875867e-04 9.99941433e-01 -2.20685221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.084553574 meters Centerline goodness [0,1] 0.8787483012407561 Centerline is valid? [False, False] Translation: X:9.57, Y:0.67, Z:-2.21 [[ 9.99217164e-01 3.79190928e-02 -1.12783432e-02 9.56545707e+00] [-3.79208778e-02 9.99280743e-01 5.56188664e-05 6.70407309e-01] [ 1.12723402e-02 3.72109349e-04 9.99936396e-01 -2.20791864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.11455357399996 meters Centerline goodness [0,1] 0.8768098029521859 Centerline is valid? [False, False] Translation: X:9.56, Y:0.67, Z:-2.21 [[ 9.99315882e-01 3.53261870e-02 -1.09466260e-02 9.56323819e+00] [-3.53518989e-02 9.99372583e-01 -2.16425053e-03 6.66831293e-01] [ 1.08633032e-02 2.54975394e-03 9.99937742e-01 -2.20634347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.144553574 meters Centerline goodness [0,1] 0.8806864230593044 Centerline is valid? [False, False] Translation: X:9.56, Y:0.66, Z:-2.21 [[ 9.99319334e-01 3.52145633e-02 -1.09910072e-02 9.56344918e+00] [-3.52355306e-02 9.99377556e-01 -1.71984677e-03 6.64673707e-01] [ 1.09236022e-02 2.10595009e-03 9.99938118e-01 -2.20618398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.17455357399996 meters Centerline goodness [0,1] 0.8825270427398612 Centerline is valid? [False, False] Translation: X:9.56, Y:0.66, Z:-2.21 [[ 9.99325195e-01 3.49808862e-02 -1.12023048e-02 9.56423152e+00] [-3.49990545e-02 9.99386323e-01 -1.42986589e-03 6.62788766e-01] [ 1.11454122e-02 1.82097109e-03 9.99936230e-01 -2.20641556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.204553574 meters Centerline goodness [0,1] 0.880024715332333 Centerline is valid? [False, False] Translation: X:9.57, Y:0.66, Z:-2.21 [[ 9.99340770e-01 3.43784351e-02 -1.16682321e-02 9.56632484e+00] [-3.43946480e-02 9.99407619e-01 -1.19161582e-03 6.59668485e-01] [ 1.16203542e-02 1.59215501e-03 9.99931214e-01 -2.20795276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.23455357399996 meters Centerline goodness [0,1] 0.8847730807295349 Centerline is valid? [False, False] Translation: X:9.57, Y:0.66, Z:-2.21 [[ 9.99350541e-01 3.39577399e-02 -1.20568418e-02 9.56788339e+00] [-3.39735236e-02 9.99422121e-01 -1.10665315e-03 6.58052643e-01] [ 1.20122950e-02 1.51554782e-03 9.99926701e-01 -2.20887508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.264553574 meters Centerline goodness [0,1] 0.8820796382008974 Centerline is valid? [False, False] Translation: X:9.57, Y:0.65, Z:-2.21 [[ 9.99383444e-01 3.27645653e-02 -1.26180644e-02 9.57055710e+00] [-3.27838735e-02 9.99461584e-01 -1.32635002e-03 6.54610618e-01] [ 1.25678133e-02 1.73920127e-03 9.99919509e-01 -2.21074939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.29455357399996 meters Centerline goodness [0,1] 0.8841211564938045 Centerline is valid? [False, False] Translation: X:9.57, Y:0.65, Z:-2.21 [[ 9.99403179e-01 3.19500438e-02 -1.31331875e-02 9.57277997e+00] [-3.19735009e-02 9.99487468e-01 -1.57997257e-03 6.52912608e-01] [ 1.30759761e-02 1.99894359e-03 9.99912508e-01 -2.21214457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.324553574 meters Centerline goodness [0,1] 0.8859407548635385 Centerline is valid? [False, False] Translation: X:9.57, Y:0.65, Z:-2.21 [[ 9.99511341e-01 2.82928500e-02 -1.32888519e-02 9.57287819e+00] [-2.83563676e-02 9.99587220e-01 -4.61587895e-03 6.50004570e-01] [ 1.31527702e-02 4.99044693e-03 9.99901045e-01 -2.21228013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.35455357399997 meters Centerline goodness [0,1] 0.8857634698658338 Centerline is valid? [False, False] Translation: X:9.57, Y:0.65, Z:-2.21 [[ 9.99522602e-01 2.77999146e-02 -1.34808268e-02 9.57361800e+00] [-2.78589371e-02 9.99602997e-01 -4.21037892e-03 6.47416075e-01] [ 1.33584267e-02 4.58393040e-03 9.99900265e-01 -2.21235699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.384553574 meters Centerline goodness [0,1] 0.886606423906236 Centerline is valid? [False, False] Translation: X:9.57, Y:0.64, Z:-2.21 [[ 9.99630252e-01 2.35040341e-02 -1.36718312e-02 9.57393850e+00] [-2.36092697e-02 9.99692469e-01 -7.58745274e-03 6.44335705e-01] [ 1.34892909e-02 7.90742924e-03 9.99877748e-01 -2.21250086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.41455357399997 meters Centerline goodness [0,1] 0.886606423906236 Centerline is valid? [False, False] Translation: X:9.57, Y:0.64, Z:-2.21 [[ 9.99630252e-01 2.35040341e-02 -1.36718312e-02 9.57393850e+00] [-2.36092697e-02 9.99692469e-01 -7.58745274e-03 6.44335705e-01] [ 1.34892909e-02 7.90742924e-03 9.99877748e-01 -2.21250086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.444553574 meters Centerline goodness [0,1] 0.8869600972540046 Centerline is valid? [False, False] Translation: X:9.58, Y:0.64, Z:-2.21 [[ 9.99638368e-01 2.29524448e-02 -1.40113739e-02 9.57516497e+00] [-2.30594346e-02 9.99705792e-01 -7.52271133e-03 6.43016157e-01] [ 1.38345870e-02 7.84308524e-03 9.99873537e-01 -2.21301965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.47455357399997 meters Centerline goodness [0,1] 0.8841210168277838 Centerline is valid? [False, False] Translation: X:9.58, Y:0.64, Z:-2.21 [[ 9.99652039e-01 2.20859885e-02 -1.44225226e-02 9.57675174e+00] [-2.21983772e-02 9.99724090e-01 -7.67953622e-03 6.41853419e-01] [ 1.42489331e-02 7.99702064e-03 9.99866499e-01 -2.21383727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.504553574 meters Centerline goodness [0,1] 0.8856749311294766 Centerline is valid? [False, False] Translation: X:9.58, Y:0.64, Z:-2.21 [[ 9.99653618e-01 2.19103790e-02 -1.45800752e-02 9.57716534e+00] [-2.20194604e-02 9.99730425e-01 -7.36352539e-03 6.40553553e-01] [ 1.44148071e-02 7.68202019e-03 9.99866591e-01 -2.21365373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.534553574 meters Centerline goodness [0,1] 0.8887338556760045 Centerline is valid? [False, False] Translation: X:9.58, Y:0.64, Z:-2.21 [[ 9.99660399e-01 2.15964717e-02 -1.45835480e-02 9.57705340e+00] [-2.16991870e-02 9.99740581e-01 -6.92209827e-03 6.38251673e-01] [ 1.44302718e-02 7.23619865e-03 9.99869694e-01 -2.21302739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.564553574 meters Centerline goodness [0,1] 0.8881193965748644 Centerline is valid? [False, False] Translation: X:9.58, Y:0.64, Z:-2.21 [[ 9.99658593e-01 2.16229342e-02 -1.46678277e-02 9.57735155e+00] [-2.17247985e-02 9.99740718e-01 -6.82130422e-03 6.38083320e-01] [ 1.45165280e-02 7.13763098e-03 9.99869154e-01 -2.21309376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.594553574 meters Centerline goodness [0,1] 0.8879015965530188 Centerline is valid? [False, False] Translation: X:9.58, Y:0.64, Z:-2.21 [[ 9.99654566e-01 2.17321759e-02 -1.47804196e-02 9.57781800e+00] [-2.18350275e-02 9.99738235e-01 -6.83321417e-03 6.38558108e-01] [ 1.46280500e-02 7.15358462e-03 9.99867414e-01 -2.21344540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.624553574 meters Centerline goodness [0,1] 0.8860734629738755 Centerline is valid? [False, False] Translation: X:9.58, Y:0.64, Z:-2.21 [[ 9.99651422e-01 2.18520662e-02 -1.48162834e-02 9.57801634e+00] [-2.19529162e-02 9.99736699e-01 -6.67855561e-03 6.38577313e-01] [ 1.46664420e-02 7.00148823e-03 9.99867929e-01 -2.21349082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.654553574 meters Centerline goodness [0,1] 0.8800600772421685 Centerline is valid? [False, False] Translation: X:9.58, Y:0.64, Z:-2.21 [[ 9.99648534e-01 2.19472450e-02 -1.48703522e-02 9.57815798e+00] [-2.20463913e-02 9.99735580e-01 -6.53656411e-03 6.38542767e-01] [ 1.47229606e-02 6.86210433e-03 9.99868064e-01 -2.21343591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.684553574 meters Centerline goodness [0,1] 0.8886864247816068 Centerline is valid? [False, False] Translation: X:9.58, Y:0.64, Z:-2.21 [[ 9.99642016e-01 2.22232491e-02 -1.48985664e-02 9.57814182e+00] [-2.23190357e-02 9.99731086e-01 -6.29408622e-03 6.38597753e-01] [ 1.47546849e-02 6.62435467e-03 9.99869200e-01 -2.21322232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.714553574 meters Centerline goodness [0,1] 0.8892364897477609 Centerline is valid? [False, False] Translation: X:9.58, Y:0.64, Z:-2.21 [[ 9.99635011e-01 2.25081121e-02 -1.49408597e-02 9.57810818e+00] [-2.26007854e-02 9.99726184e-01 -6.06306576e-03 6.38608040e-01] [ 1.48003005e-02 6.39852797e-03 9.99869997e-01 -2.21294066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.74455357399995 meters Centerline goodness [0,1] 0.8866582047660762 Centerline is valid? [False, False] Translation: X:9.58, Y:0.64, Z:-2.21 [[ 9.99611501e-01 2.37076076e-02 -1.46559567e-02 9.57663812e+00] [-2.37896589e-02 9.99702132e-01 -5.44971566e-03 6.39344825e-01] [ 1.45223914e-02 5.79625866e-03 9.99877744e-01 -2.21189345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.774553574 meters Centerline goodness [0,1] 0.8913478727207722 Centerline is valid? [False, False] Translation: X:9.58, Y:0.64, Z:-2.21 [[ 9.99599957e-01 2.41442930e-02 -1.47301831e-02 9.57683828e+00] [-2.42261467e-02 9.99691898e-01 -5.40394676e-03 6.40215981e-01] [ 1.45951703e-02 5.75864053e-03 9.99876902e-01 -2.21195361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.80455357399995 meters Centerline goodness [0,1] 0.8895101647075637 Centerline is valid? [False, False] Translation: X:9.58, Y:0.64, Z:-2.21 [[ 9.99585712e-01 2.46599506e-02 -1.48422078e-02 9.57710077e+00] [-2.47427717e-02 9.99679144e-01 -5.42256525e-03 6.41426234e-01] [ 1.47037254e-02 5.78755611e-03 9.99875145e-01 -2.21214114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.834553574 meters Centerline goodness [0,1] 0.885442244166122 Centerline is valid? [False, False] Translation: X:9.58, Y:0.64, Z:-2.21 [[ 9.99478718e-01 2.86168209e-02 -1.49455465e-02 9.57803277e+00] [-2.86424988e-02 9.99588584e-01 -1.50684077e-03 6.41267548e-01] [ 1.48962767e-02 1.93413308e-03 9.99887174e-01 -2.21239772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.86455357399996 meters Centerline goodness [0,1] 0.8835431416515123 Centerline is valid? [False, False] Translation: X:9.58, Y:0.64, Z:-2.21 [[ 9.99450983e-01 2.95144779e-02 -1.50541733e-02 9.57803952e+00] [-2.95351392e-02 9.99563079e-01 -1.15193846e-03 6.41521538e-01] [ 1.50135970e-02 1.59593313e-03 9.99886016e-01 -2.21235155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.894553574 meters Centerline goodness [0,1] 0.8893045580476098 Centerline is valid? [False, False] Translation: X:9.58, Y:0.64, Z:-2.21 [[ 9.99439318e-01 2.99019404e-02 -1.50639724e-02 9.57799815e+00] [-2.99190415e-02 9.99551910e-01 -9.11102381e-04 6.41507704e-01] [ 1.50299786e-02 1.36129116e-03 9.99886117e-01 -2.21219929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.92455357399996 meters Centerline goodness [0,1] 0.8883835713026618 Centerline is valid? [False, False] Translation: X:9.58, Y:0.64, Z:-2.21 [[ 9.99428317e-01 3.02195879e-02 -1.51596592e-02 9.57819971e+00] [-3.02328472e-02 9.99542674e-01 -6.46181113e-04 6.41137902e-01] [ 1.51331990e-02 1.10413136e-03 9.99884877e-01 -2.21203254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.954553574 meters Centerline goodness [0,1] 0.890210123321748 Centerline is valid? [False, False] Translation: X:9.58, Y:0.64, Z:-2.21 [[ 9.99399941e-01 3.11794905e-02 -1.50863268e-02 9.57768256e+00] [-3.11819985e-02 9.99513721e-01 6.90092855e-05 6.40331104e-01] [ 1.50811424e-02 4.01453945e-04 9.99886193e-01 -2.21166653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.98455357399996 meters Centerline goodness [0,1] 0.8891931039355614 Centerline is valid? [False, False] Translation: X:9.58, Y:0.64, Z:-2.21 [[ 9.99390006e-01 3.14670217e-02 -1.51473444e-02 9.57796138e+00] [-3.14659660e-02 9.99504776e-01 3.08070262e-04 6.40075502e-01] [ 1.51495371e-02 1.68743483e-04 9.99885225e-01 -2.21188802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.014553574 meters Centerline goodness [0,1] 0.8902778757317159 Centerline is valid? [False, False] Translation: X:9.58, Y:0.64, Z:-2.21 [[ 9.99389511e-01 3.13786141e-02 -1.53619050e-02 9.57891016e+00] [-3.13726440e-02 9.99507559e-01 6.29517573e-04 6.38286041e-01] [ 1.53740935e-02 -1.47189683e-04 9.99881801e-01 -2.21239482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.04455357399996 meters Centerline goodness [0,1] 0.8902479863228581 Centerline is valid? [False, False] Translation: X:9.58, Y:0.64, Z:-2.21 [[ 9.99406423e-01 3.06133217e-02 -1.57995595e-02 9.58083744e+00] [-3.06114541e-02 9.99531295e-01 3.60086987e-04 6.36995327e-01] [ 1.58031777e-02 1.23774244e-04 9.99875114e-01 -2.21346506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.074553574 meters Centerline goodness [0,1] 0.8896600317068875 Centerline is valid? [False, False] Translation: X:9.58, Y:0.64, Z:-2.21 [[ 9.99517837e-01 2.66520605e-02 -1.59298990e-02 9.58102295e+00] [-2.67062878e-02 9.99638198e-01 -3.20110752e-03 6.35400334e-01] [ 1.58388194e-02 3.62499253e-03 9.99867987e-01 -2.21372630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.10455357399997 meters Centerline goodness [0,1] 0.8888947609484551 Centerline is valid? [False, False] Translation: X:9.58, Y:0.63, Z:-2.21 [[ 9.99533761e-01 2.59381211e-02 -1.61082075e-02 9.58183243e+00] [-2.59927228e-02 9.99657044e-01 -3.18958732e-03 6.33645123e-01] [ 1.60199511e-02 3.60679638e-03 9.99865167e-01 -2.21387466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.134553574 meters Centerline goodness [0,1] 0.8904322349494344 Centerline is valid? [False, False] Translation: X:9.58, Y:0.63, Z:-2.21 [[ 9.99628422e-01 2.18259291e-02 -1.63292958e-02 9.58221048e+00] [-2.19384632e-02 9.99736574e-01 -6.74442999e-03 6.31859371e-01] [ 1.61777908e-02 7.10016357e-03 9.99843921e-01 -2.21405373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.16455357399997 meters Centerline goodness [0,1] 0.887285174859724 Centerline is valid? [False, False] Translation: X:9.58, Y:0.63, Z:-2.21 [[ 9.99632658e-01 2.14667866e-02 -1.65446749e-02 9.58300853e+00] [-2.15772627e-02 9.99745871e-01 -6.52809555e-03 6.30443692e-01] [ 1.64003332e-02 6.88268631e-03 9.99841816e-01 -2.21418541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.194553574 meters Centerline goodness [0,1] 0.8931221815857686 Centerline is valid? [False, False] Translation: X:9.58, Y:0.63, Z:-2.21 [[ 9.99634779e-01 2.12210540e-02 -1.67324896e-02 9.58360412e+00] [-2.13274221e-02 9.99753293e-01 -6.20435367e-03 6.28934723e-01] [ 1.65966986e-02 6.55894858e-03 9.99840752e-01 -2.21419626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.22455357399997 meters Centerline goodness [0,1] 0.8920285227756493 Centerline is valid? [False, False] Translation: X:9.59, Y:0.63, Z:-2.22 [[ 9.99641184e-01 2.04744028e-02 -1.72714258e-02 9.58598360e+00] [-2.05878776e-02 9.99767447e-01 -6.41805048e-03 6.27891709e-01] [ 1.71360035e-02 6.77132958e-03 9.99830239e-01 -2.21579991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.254553574 meters Centerline goodness [0,1] 0.8922416088322477 Centerline is valid? [False, False] Translation: X:9.59, Y:0.63, Z:-2.22 [[ 9.99640141e-01 2.02629089e-02 -1.75784606e-02 9.58713277e+00] [-2.03766638e-02 9.99772421e-01 -6.31646161e-03 6.27239227e-01] [ 1.74464702e-02 6.67237896e-03 9.99825535e-01 -2.21643999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.284553574 meters Centerline goodness [0,1] 0.8921288490549295 Centerline is valid? [False, False] Translation: X:9.59, Y:0.62, Z:-2.22 [[ 9.99640014e-01 1.98206939e-02 -1.80826359e-02 9.58889058e+00] [-1.99281583e-02 9.99784694e-01 -5.78223472e-03 6.24225030e-01] [ 1.79641347e-02 6.14050683e-03 9.99819776e-01 -2.21717996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.314553574 meters Centerline goodness [0,1] 0.8930666052412425 Centerline is valid? [False, False] Translation: X:9.59, Y:0.62, Z:-2.22 [[ 9.99636985e-01 1.97933301e-02 -1.82790208e-02 9.58965215e+00] [-1.98940034e-02 9.99787822e-01 -5.34225519e-03 6.22639566e-01] [ 1.81694014e-02 5.70395877e-03 9.99818652e-01 -2.21741317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.344553574 meters Centerline goodness [0,1] 0.8940001419244962 Centerline is valid? [False, False] Translation: X:9.59, Y:0.62, Z:-2.22 [[ 9.99627458e-01 2.02328013e-02 -1.83188139e-02 9.58955565e+00] [-2.03177918e-02 9.99783601e-01 -4.46533542e-03 6.20695460e-01] [ 1.82245035e-02 4.83586974e-03 9.99822225e-01 -2.21713828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.374553574 meters Centerline goodness [0,1] 0.851847910903029 Centerline is valid? [False, False] Translation: X:9.59, Y:0.62, Z:-2.22 [[ 9.99621402e-01 2.05034916e-02 -1.83482603e-02 9.58966250e+00] [-2.05805221e-02 9.99780119e-01 -4.01929868e-03 6.19913008e-01] [ 1.82618162e-02 4.39539376e-03 9.99823578e-01 -2.21707750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.404553574 meters Centerline goodness [0,1] 0.8666336843593186 Centerline is valid? [False, False] Translation: X:9.59, Y:0.62, Z:-2.22 [[ 9.99605449e-01 2.13688137e-02 -1.82296445e-02 9.58872450e+00] [-2.14254437e-02 9.99766194e-01 -2.91682912e-03 6.18097283e-01] [ 1.81630531e-02 3.30625651e-03 9.99829572e-01 -2.21594865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.434553574 meters Centerline goodness [0,1] 0.8932552461162815 Centerline is valid? [False, False] Translation: X:9.59, Y:0.62, Z:-2.22 [[ 9.99595060e-01 2.19508728e-02 -1.81073398e-02 9.58801375e+00] [-2.19957537e-02 9.99755457e-01 -2.28315430e-03 6.17200637e-01] [ 1.80527946e-02 2.68051435e-03 9.99833442e-01 -2.21522203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.464553574 meters Centerline goodness [0,1] 0.8775629036242368 Centerline is valid? [False, False] Translation: X:9.59, Y:0.62, Z:-2.22 [[ 9.99584078e-01 2.24157988e-02 -1.81439683e-02 9.58806103e+00] [-2.24539172e-02 9.99746074e-01 -1.89987815e-03 6.16567845e-01] [ 1.80967738e-02 2.30649111e-03 9.99833580e-01 -2.21511133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49455357399995 meters Centerline goodness [0,1] 0.8972760033917467 Centerline is valid? [False, False] Translation: X:9.59, Y:0.62, Z:-2.21 [[ 9.99530948e-01 2.49939162e-02 -1.76971408e-02 9.58532689e+00] [-2.49991181e-02 9.99687471e-01 -7.27421228e-05 6.16116896e-01] [ 1.76897918e-02 5.15120915e-04 9.99843391e-01 -2.21315160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.524553574 meters Centerline goodness [0,1] 0.8962649728409915 Centerline is valid? [False, False] Translation: X:9.58, Y:0.62, Z:-2.21 [[ 9.99510848e-01 2.58617884e-02 -1.75850234e-02 9.58468607e+00] [-2.58556590e-02 9.99665521e-01 5.75856283e-04 6.15690687e-01] [ 1.75940343e-02 -1.20902232e-04 9.99845206e-01 -2.21261855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.55455357399995 meters Centerline goodness [0,1] 0.8938024761633698 Centerline is valid? [False, False] Translation: X:9.58, Y:0.62, Z:-2.21 [[ 9.99491529e-01 2.66418100e-02 -1.75184688e-02 9.58426019e+00] [-2.66247927e-02 9.99644772e-01 1.20394876e-03 6.15091387e-01] [ 1.75443211e-02 -7.36910990e-04 9.99845815e-01 -2.21235044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.584553574 meters Centerline goodness [0,1] 0.8962530361480211 Centerline is valid? [False, False] Translation: X:9.58, Y:0.61, Z:-2.21 [[ 9.99458847e-01 2.78403275e-02 -1.75193977e-02 9.58415270e+00] [-2.78073785e-02 9.99611049e-01 2.12156718e-03 6.14138374e-01] [ 1.75716486e-02 -1.63325056e-03 9.99844273e-01 -2.21258902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.61455357399996 meters Centerline goodness [0,1] 0.897639062779467 Centerline is valid? [False, False] Translation: X:9.58, Y:0.61, Z:-2.21 [[ 9.99452209e-01 2.80363576e-02 -1.75853350e-02 9.58444354e+00] [-2.79989328e-02 9.99605141e-01 2.37083968e-03 6.13544205e-01] [ 1.76448610e-02 -1.87717034e-03 9.99842555e-01 -2.21274228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.644553574 meters Centerline goodness [0,1] 0.8955287971229715 Centerline is valid? [False, False] Translation: X:9.58, Y:0.61, Z:-2.21 [[ 9.99447732e-01 2.82246938e-02 -1.75384689e-02 9.58416150e+00] [-2.81739968e-02 9.99598130e-01 3.13105691e-03 6.10909739e-01] [ 1.76197938e-02 -2.63519896e-03 9.99841287e-01 -2.21210612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.67455357399996 meters Centerline goodness [0,1] 0.8876360322367363 Centerline is valid? [False, False] Translation: X:9.58, Y:0.61, Z:-2.21 [[ 9.99520698e-01 2.54718354e-02 -1.75943029e-02 9.58361608e+00] [-2.54739712e-02 9.99675480e-01 1.02748990e-04 6.10461438e-01] [ 1.75912104e-02 3.45497022e-04 9.99845203e-01 -2.21179374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.704553574 meters Centerline goodness [0,1] 0.8976034858387799 Centerline is valid? [False, False] Translation: X:9.58, Y:0.61, Z:-2.21 [[ 9.99521670e-01 2.53517344e-02 -1.77121911e-02 9.58412382e+00] [-2.53513740e-02 9.99678572e-01 2.44912674e-04 6.09425436e-01] [ 1.77127069e-02 2.04232857e-04 9.99843097e-01 -2.21203434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.73455357399996 meters Centerline goodness [0,1] 0.8959684189843345 Centerline is valid? [False, False] Translation: X:9.59, Y:0.61, Z:-2.21 [[ 9.99515990e-01 2.54030292e-02 -1.79575011e-02 9.58511589e+00] [-2.53971620e-02 9.99677286e-01 5.54742762e-04 6.08190322e-01] [ 1.79657981e-02 -9.84046976e-05 9.99838597e-01 -2.21275001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.764553574 meters Centerline goodness [0,1] 0.8979205373731599 Centerline is valid? [False, False] Translation: X:9.59, Y:0.61, Z:-2.21 [[ 9.99512208e-01 2.53872864e-02 -1.81887950e-02 9.58597672e+00] [-2.53781351e-02 9.99677654e-01 7.33808088e-04 6.07358634e-01] [ 1.82015613e-02 -2.71852446e-04 9.99834301e-01 -2.21325690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.79455357399996 meters Centerline goodness [0,1] 0.8981375563022806 Centerline is valid? [False, False] Translation: X:9.59, Y:0.61, Z:-2.21 [[ 9.99503552e-01 2.57101336e-02 -1.82109597e-02 9.58600985e+00] [-2.56881479e-02 9.99668968e-01 1.44021374e-03 6.05341812e-01] [ 1.82419593e-02 -9.71692928e-04 9.99833129e-01 -2.21312095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.824553574 meters Centerline goodness [0,1] 0.8960212959819913 Centerline is valid? [False, False] Translation: X:9.59, Y:0.60, Z:-2.21 [[ 9.99501370e-01 2.57536425e-02 -1.82691563e-02 9.58618363e+00] [-2.57242263e-02 9.99667378e-01 1.84337169e-03 6.03757475e-01] [ 1.83105532e-02 -1.37249262e-03 9.99831406e-01 -2.21294248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.85455357399997 meters Centerline goodness [0,1] 0.8922895400182348 Centerline is valid? [False, False] Translation: X:9.58, Y:0.60, Z:-2.21 [[ 9.99574844e-01 2.30614440e-02 -1.78410204e-02 9.58395846e+00] [-2.30729435e-02 9.99733688e-01 -4.38955787e-04 6.00487231e-01] [ 1.78261462e-02 8.50414017e-04 9.99840740e-01 -2.21133662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.884553574 meters Centerline goodness [0,1] 0.895218027927574 Centerline is valid? [False, False] Translation: X:9.58, Y:0.60, Z:-2.21 [[ 9.99576975e-01 2.28555749e-02 -1.79859203e-02 9.58449346e+00] [-2.28599465e-02 9.99738677e-01 -3.74719694e-05 5.98377164e-01] [ 1.79803637e-02 4.48613294e-04 9.99838240e-01 -2.21131429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.91455357399997 meters Centerline goodness [0,1] 0.8996983274129344 Centerline is valid? [False, False] Translation: X:9.58, Y:0.59, Z:-2.21 [[ 9.99645267e-01 1.98963343e-02 -1.77052506e-02 9.58289606e+00] [-1.99391729e-02 9.99798671e-01 -2.24629914e-03 5.94718577e-01] [ 1.76569929e-02 2.59853035e-03 9.99840726e-01 -2.21007166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.944553574 meters Centerline goodness [0,1] 0.8992592592592592 Centerline is valid? [False, False] Translation: X:9.58, Y:0.59, Z:-2.21 [[ 9.99646281e-01 1.97322302e-02 -1.78312098e-02 9.58327673e+00] [-1.97646656e-02 9.99803307e-01 -1.64461257e-03 5.92377628e-01] [ 1.77952506e-02 1.99645874e-03 9.99839659e-01 -2.20984782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.97455357399997 meters Centerline goodness [0,1] 0.9009648481389667 Centerline is valid? [False, False] Translation: X:9.58, Y:0.59, Z:-2.21 [[ 9.99647288e-01 1.94914523e-02 -1.80383930e-02 9.58412201e+00] [-1.95155658e-02 9.99808878e-01 -1.16170873e-03 5.89978202e-01] [ 1.80123021e-02 1.51332842e-03 9.99836620e-01 -2.21020165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.004553574 meters Centerline goodness [0,1] 0.9022658340767172 Centerline is valid? [False, False] Translation: X:9.59, Y:0.58, Z:-2.21 [[ 9.99658015e-01 1.84636329e-02 -1.85188334e-02 9.58614826e+00] [-1.84767043e-02 9.99829148e-01 -5.34983168e-04 5.84481808e-01] [ 1.85057917e-02 8.76967221e-04 9.99828369e-01 -2.21101709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.034553574 meters Centerline goodness [0,1] 0.9017844396859386 Centerline is valid? [False, False] Translation: X:9.59, Y:0.58, Z:-2.21 [[ 9.99660447e-01 1.80056145e-02 -1.88358463e-02 9.58722512e+00] [-1.80080404e-02 9.99837841e-01 4.08259939e-05 5.81107264e-01] [ 1.88335270e-02 2.98384550e-04 9.99822589e-01 -2.21114966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.064553574 meters Centerline goodness [0,1] 0.8967054125365471 Centerline is valid? [False, False] Translation: X:9.59, Y:0.58, Z:-2.21 [[ 9.99713001e-01 1.45014790e-02 -1.90688924e-02 9.58811651e+00] [-1.45474706e-02 9.99891591e-01 -2.27536348e-03 5.75976157e-01] [ 1.90338290e-02 2.55211460e-03 9.99815583e-01 -2.21167836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.094553574 meters Centerline goodness [0,1] 0.9035682426404995 Centerline is valid? [False, False] Translation: X:9.59, Y:0.57, Z:-2.21 [[ 9.99711039e-01 1.42293110e-02 -1.93743258e-02 9.58920029e+00] [-1.42671321e-02 9.99896571e-01 -1.81529461e-03 5.73791166e-01] [ 1.93464915e-02 2.09118612e-03 9.99810652e-01 -2.21218844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.124553574 meters Centerline goodness [0,1] 0.90348487276742 Centerline is valid? [False, False] Translation: X:9.59, Y:0.57, Z:-2.21 [[ 9.99710234e-01 1.37904908e-02 -1.97299517e-02 9.59062558e+00] [-1.38241603e-02 9.99903207e-01 -1.57113878e-03 5.71722955e-01] [ 1.97063752e-02 1.84343353e-03 9.99804111e-01 -2.21291101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.154553574 meters Centerline goodness [0,1] 0.9017276314386264 Centerline is valid? [False, False] Translation: X:9.59, Y:0.57, Z:-2.21 [[ 9.99754720e-01 9.73645067e-03 -1.98922347e-02 9.59100661e+00] [-9.82734534e-03 9.99941689e-01 -4.47671975e-03 5.67692931e-01] [ 1.98474874e-02 4.67110956e-03 9.99792107e-01 -2.21285282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.184553574 meters Centerline goodness [0,1] 0.9019249858196257 Centerline is valid? [False, False] Translation: X:9.59, Y:0.56, Z:-2.21 [[ 9.99929468e-01 4.63311699e-03 -1.09358730e-02 9.58907158e+00] [-4.62321643e-03 9.99988880e-01 9.30435259e-04 5.64475789e-01] [ 1.09400622e-02 -8.79810725e-04 9.99939769e-01 -2.21369291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.214553574 meters Centerline goodness [0,1] 0.9012336950758245 Centerline is valid? [False, False] Translation: X:9.59, Y:0.56, Z:-2.21 [[ 9.99935429e-01 -3.47564409e-04 -1.13585833e-02 9.59086389e+00] [ 3.13406056e-04 9.99995424e-01 -3.00891398e-03 5.61524103e-01] [ 1.13595771e-02 3.00515984e-03 9.99930962e-01 -2.21451907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.24455357399995 meters Centerline goodness [0,1] 0.9003781987841086 Centerline is valid? [False, False] Translation: X:9.59, Y:0.56, Z:-2.21 [[ 9.99933056e-01 -8.60937440e-04 -1.15387524e-02 9.59149683e+00] [ 8.28933102e-04 9.99995797e-01 -2.77813505e-03 5.59752843e-01] [ 1.15410957e-02 2.76838421e-03 9.99929567e-01 -2.21427389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.274553574 meters Centerline goodness [0,1] 0.8942171824219302 Centerline is valid? [False, False] Translation: X:9.59, Y:0.56, Z:-2.21 [[ 9.99930349e-01 -1.21950529e-03 -1.17392436e-02 9.59217572e+00] [ 1.18883378e-03 9.99995863e-01 -2.61935692e-03 5.58610559e-01] [ 1.17423894e-02 2.60521847e-03 9.99927662e-01 -2.21429178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.30455357399995 meters Centerline goodness [0,1] 0.8942171824219302 Centerline is valid? [False, False] Translation: X:9.59, Y:0.56, Z:-2.21 [[ 9.99930349e-01 -1.21950529e-03 -1.17392436e-02 9.59217572e+00] [ 1.18883378e-03 9.99995863e-01 -2.61935692e-03 5.58610559e-01] [ 1.17423894e-02 2.60521847e-03 9.99927662e-01 -2.21429178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.334553574 meters Centerline goodness [0,1] 0.898647812638091 Centerline is valid? [False, False] Translation: X:9.59, Y:0.56, Z:-2.22 [[ 9.99922098e-01 -1.92640880e-03 -1.23323242e-02 9.59469406e+00] [ 1.88803934e-03 9.99993344e-01 -3.12217835e-03 5.58746690e-01] [ 1.23382567e-02 3.09865121e-03 9.99919080e-01 -2.21610248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.36455357399996 meters Centerline goodness [0,1] 0.8835056100362223 Centerline is valid? [False, False] Translation: X:9.60, Y:0.56, Z:-2.22 [[ 9.99917743e-01 -1.92140605e-03 -1.26812856e-02 9.59577106e+00] [ 1.88245510e-03 9.99993476e-01 -3.08275275e-03 5.58753266e-01] [ 1.26871261e-02 3.05862722e-03 9.99914837e-01 -2.21665568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.394553574 meters Centerline goodness [0,1] 0.901592970421315 Centerline is valid? [False, False] Translation: X:9.60, Y:0.56, Z:-2.22 [[ 9.99917833e-01 -1.78774883e-03 -1.26937618e-02 9.59561587e+00] [ 1.75247460e-03 9.99994574e-01 -2.78944307e-03 5.58109924e-01] [ 1.26986797e-02 2.76696837e-03 9.99915540e-01 -2.21629070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.42455357399996 meters Centerline goodness [0,1] 0.8871709595244834 Centerline is valid? [False, False] Translation: X:9.60, Y:0.56, Z:-2.22 [[ 9.99918370e-01 -1.57123925e-03 -1.26800870e-02 9.59531729e+00] [ 1.53908666e-03 9.99995577e-01 -2.54503641e-03 5.57926594e-01] [ 1.26840298e-02 2.52531290e-03 9.99916366e-01 -2.21585720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.454553574 meters Centerline goodness [0,1] 0.8999593474380049 Centerline is valid? [False, False] Translation: X:9.60, Y:0.56, Z:-2.22 [[ 9.99913965e-01 1.27375056e-03 -1.30552737e-02 9.59719351e+00] [-1.26628987e-03 9.99999030e-01 5.79719906e-04 5.58552964e-01] [ 1.30559995e-02 -5.63138269e-04 9.99914608e-01 -2.21666241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.48455357399996 meters Centerline goodness [0,1] 0.8975649379315216 Centerline is valid? [False, False] Translation: X:9.60, Y:0.56, Z:-2.22 [[ 9.99912183e-01 1.42850777e-03 -1.31752124e-02 9.59742769e+00] [-1.42272086e-03 9.99998887e-01 4.48589077e-04 5.59599151e-01] [ 1.31758385e-02 -4.29805034e-04 9.99913102e-01 -2.21676961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.514553574 meters Centerline goodness [0,1] 0.8998232903339812 Centerline is valid? [False, False] Translation: X:9.60, Y:0.56, Z:-2.22 [[ 9.99909574e-01 1.33734964e-03 -1.33811442e-02 9.59804603e+00] [-1.33644588e-03 9.99999104e-01 7.64813006e-05 5.60932998e-01] [ 1.33812345e-02 -5.85912096e-05 9.99910466e-01 -2.21715736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.54455357399996 meters Centerline goodness [0,1] 0.8873060424720648 Centerline is valid? [False, False] Translation: X:9.60, Y:0.56, Z:-2.22 [[ 9.99908352e-01 1.18529389e-03 -1.34864041e-02 9.59856387e+00] [-1.18746453e-03 9.99999283e-01 -1.52943791e-04 5.61345420e-01] [ 1.34862132e-02 1.68944400e-04 9.99909043e-01 -2.21749125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.574553574 meters Centerline goodness [0,1] 0.9006152975706354 Centerline is valid? [False, False] Translation: X:9.60, Y:0.56, Z:-2.22 [[ 9.99907119e-01 1.03684933e-03 -1.35896137e-02 9.59879592e+00] [-1.04000939e-03 9.99999434e-01 -2.25470120e-04 5.61541598e-01] [ 1.35893722e-02 2.39582504e-04 9.99907632e-01 -2.21738768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.60455357399997 meters Centerline goodness [0,1] 0.9006979415142681 Centerline is valid? [False, False] Translation: X:9.60, Y:0.56, Z:-2.22 [[ 9.99908131e-01 6.64642754e-04 -1.35384001e-02 9.59845487e+00] [-6.67237303e-04 9.99999760e-01 -1.87127749e-04 5.61162811e-01] [ 1.35382725e-02 1.96143883e-04 9.99908334e-01 -2.21643707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.634553574 meters Centerline goodness [0,1] 0.8973875002205013 Centerline is valid? [False, False] Translation: X:9.60, Y:0.56, Z:-2.22 [[ 9.99906194e-01 4.81063126e-04 -1.36883487e-02 9.59897065e+00] [-4.84541359e-04 9.99999851e-01 -2.50786456e-04 5.60997802e-01] [ 1.36882260e-02 2.57395502e-04 9.99906279e-01 -2.21656287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.66455357399997 meters Centerline goodness [0,1] 0.9000988072552756 Centerline is valid? [False, False] Translation: X:9.60, Y:0.56, Z:-2.22 [[ 9.99904030e-01 6.19190865e-04 -1.38400680e-02 9.59944118e+00] [-6.25189500e-04 9.99999713e-01 -4.29102919e-04 5.62270259e-01] [ 1.38397984e-02 4.37714403e-04 9.99904130e-01 -2.21711021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.694553574 meters Centerline goodness [0,1] 0.8975684641445512 Centerline is valid? [False, False] Translation: X:9.60, Y:0.56, Z:-2.22 [[ 9.99902817e-01 9.26839320e-04 -1.39103621e-02 9.59949029e+00] [-9.33342746e-04 9.99999458e-01 -4.61039241e-04 5.63227646e-01] [ 1.39099273e-02 4.73977571e-04 9.99903140e-01 -2.21720755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.72455357399997 meters Centerline goodness [0,1] 0.8206659012629162 Centerline is valid? [False, False] Translation: X:9.60, Y:0.56, Z:-2.22 [[ 9.99902453e-01 1.39534146e-03 -1.38974127e-02 9.59917095e+00] [-1.40053120e-03 9.99998953e-01 -3.63706732e-04 5.63949500e-01] [ 1.38968907e-02 3.83135014e-04 9.99903360e-01 -2.21702478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.754553574 meters Centerline goodness [0,1] 0.8856281725888325 Centerline is valid? [False, False] Translation: X:9.60, Y:0.56, Z:-2.22 [[ 9.99887380e-01 5.01330220e-03 -1.41454316e-02 9.60039655e+00] [-4.97103685e-03 9.99983080e-01 3.02149529e-03 5.64681322e-01] [ 1.41603400e-02 -2.95083755e-03 9.99895383e-01 -2.21745506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.784553574 meters Centerline goodness [0,1] 0.8928401501400955 Centerline is valid? [False, False] Translation: X:9.60, Y:0.57, Z:-2.22 [[ 9.99884686e-01 5.03394486e-03 -1.43273700e-02 9.60136401e+00] [-5.00095517e-03 9.99984763e-01 2.33746086e-03 5.66670181e-01] [ 1.43389183e-02 -2.26554079e-03 9.99894626e-01 -2.21859878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.814553574 meters Centerline goodness [0,1] 0.8585181789328913 Centerline is valid? [False, False] Translation: X:9.60, Y:0.57, Z:-2.22 [[ 9.99883774e-01 5.17107047e-03 -1.43421667e-02 9.60145061e+00] [-5.14546728e-03 9.99985103e-01 1.82149560e-03 5.68833833e-01] [ 1.43513721e-02 -1.74748674e-03 9.99895487e-01 -2.21891588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.844553574 meters Centerline goodness [0,1] 0.8934982120523525 Centerline is valid? [False, False] Translation: X:9.60, Y:0.57, Z:-2.22 [[ 9.99883536e-01 4.84971638e-03 -1.44704712e-02 9.60204319e+00] [-4.82812651e-03 9.99987179e-01 1.52655673e-03 5.68996526e-01] [ 1.44776891e-02 -1.45651367e-03 9.99894132e-01 -2.21916249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.874553574 meters Centerline goodness [0,1] 0.836164277138216 Centerline is valid? [False, False] Translation: X:9.60, Y:0.57, Z:-2.22 [[ 9.99882894e-01 4.66863173e-03 -1.45740441e-02 9.60244204e+00] [-4.64972440e-03 9.99988304e-01 1.33094390e-03 5.69464812e-01] [ 1.45800874e-02 -1.26302275e-03 9.99892907e-01 -2.21932177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.904553574 meters Centerline goodness [0,1] 0.8300582113247487 Centerline is valid? [False, False] Translation: X:9.60, Y:0.57, Z:-2.22 [[ 9.99880509e-01 3.97887513e-03 -1.49377208e-02 9.60405720e+00] [-3.97205271e-03 9.99991993e-01 4.86364352e-04 5.70951130e-01] [ 1.49395364e-02 -4.26972821e-04 9.99888308e-01 -2.22054373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.934553574 meters Centerline goodness [0,1] 0.8593232870924583 Centerline is valid? [False, False] Translation: X:9.61, Y:0.57, Z:-2.22 [[ 9.99876783e-01 3.55351220e-03 -1.52902401e-02 9.60522805e+00] [-3.54911008e-03 9.99993652e-01 3.15029230e-04 5.70468132e-01] [ 1.52912625e-02 -2.60723668e-04 9.99883048e-01 -2.22087486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.964553574 meters Centerline goodness [0,1] 0.847103363268181 Centerline is valid? [False, False] Translation: X:9.61, Y:0.57, Z:-2.22 [[ 9.99876273e-01 3.36729786e-03 -1.53655241e-02 9.60550135e+00] [-3.36507922e-03 9.99994324e-01 1.70243632e-04 5.70592157e-01] [ 1.53660101e-02 -1.18516362e-04 9.99881929e-01 -2.22093386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99455357399995 meters Centerline goodness [0,1] 0.8510226011591242 Centerline is valid? [False, False] Translation: X:9.61, Y:0.57, Z:-2.22 [[ 9.99874742e-01 3.42595779e-03 -1.54519791e-02 9.60579103e+00] [-3.42742160e-03 9.99994124e-01 -6.82521163e-05 5.71705983e-01] [ 1.54516544e-02 1.21204014e-04 9.99880609e-01 -2.22124888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.024553574 meters Centerline goodness [0,1] 0.8619170162512779 Centerline is valid? [False, False] Translation: X:9.61, Y:0.57, Z:-2.22 [[ 9.99873216e-01 3.61676807e-03 -1.55071356e-02 9.60585437e+00] [-3.62140279e-03 9.99993406e-01 -2.70806370e-04 5.73204147e-01] [ 1.55060539e-02 3.26929620e-04 9.99879720e-01 -2.22133925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.05455357399995 meters Centerline goodness [0,1] 0.8791872984545983 Centerline is valid? [False, False] Translation: X:9.61, Y:0.58, Z:-2.22 [[ 9.99872319e-01 4.13464776e-03 -1.54353478e-02 9.60519099e+00] [-4.14199253e-03 9.99991323e-01 -4.43902893e-04 5.75541117e-01] [ 1.54333785e-02 5.07779311e-04 9.99880769e-01 -2.22085015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.084553574 meters Centerline goodness [0,1] 0.8726220308474217 Centerline is valid? [False, False] Translation: X:9.60, Y:0.58, Z:-2.22 [[ 9.99873293e-01 4.28686090e-03 -1.53303947e-02 9.60473819e+00] [-4.29433183e-03 9.99990676e-01 -4.54442230e-04 5.76082973e-01] [ 1.53283036e-02 5.20218450e-04 9.99882379e-01 -2.22049472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.11455357399996 meters Centerline goodness [0,1] 0.8681827044080894 Centerline is valid? [False, False] Translation: X:9.60, Y:0.58, Z:-2.22 [[ 9.99875159e-01 4.03104587e-03 -1.52780224e-02 9.60461857e+00] [-4.04138569e-03 9.99991625e-01 -6.45963636e-04 5.76409444e-01] [ 1.52752905e-02 7.07627374e-04 9.99883076e-01 -2.22025883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.144553574 meters Centerline goodness [0,1] 0.8745393959696045 Centerline is valid? [False, False] Translation: X:9.61, Y:0.58, Z:-2.22 [[ 9.99868473e-01 3.22539933e-03 -1.58944352e-02 9.60715345e+00] [-3.24788737e-03 9.99993761e-01 -1.38922715e-03 5.76752670e-01] [ 1.58898552e-02 1.44066777e-03 9.99872710e-01 -2.22174598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.17455357399996 meters Centerline goodness [0,1] 0.8723706147351992 Centerline is valid? [False, False] Translation: X:9.61, Y:0.58, Z:-2.22 [[ 9.99863965e-01 3.02867314e-03 -1.62135084e-02 9.60820073e+00] [-3.05644773e-03 9.99993903e-01 -1.68854736e-03 5.77616030e-01] [ 1.62082955e-02 1.73787340e-03 9.99867127e-01 -2.22233960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.204553574 meters Centerline goodness [0,1] 0.8689551179705517 Centerline is valid? [False, False] Translation: X:9.61, Y:0.58, Z:-2.22 [[ 9.99851476e-01 2.61319103e-03 -1.70351914e-02 9.61121329e+00] [-2.65741530e-03 9.99993156e-01 -2.57393447e-03 5.79759643e-01] [ 1.70283486e-02 2.61882176e-03 9.99851578e-01 -2.22455170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.23455357399996 meters Centerline goodness [0,1] 0.8868892335895086 Centerline is valid? [False, False] Translation: X:9.61, Y:0.58, Z:-2.23 [[ 9.99832371e-01 4.51323032e-03 -1.77443249e-02 9.61453123e+00] [-4.51484918e-03 9.99989807e-01 -5.11740952e-05 5.78363046e-01] [ 1.77439131e-02 1.31278468e-04 9.99842556e-01 -2.22592882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.264553574 meters Centerline goodness [0,1] 0.8836609162895928 Centerline is valid? [False, False] Translation: X:9.61, Y:0.58, Z:-2.23 [[ 9.99833032e-01 4.75445364e-03 -1.76437928e-02 9.61389652e+00] [-4.74984755e-03 9.99988674e-01 3.02957210e-04 5.77797653e-01] [ 1.76450333e-02 -2.19101300e-04 9.99844290e-01 -2.22520409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.29455357399996 meters Centerline goodness [0,1] 0.8797040281137973 Centerline is valid? [False, False] Translation: X:9.61, Y:0.58, Z:-2.22 [[ 9.99832909e-01 4.86580969e-03 -1.76203774e-02 9.61373226e+00] [-4.85649102e-03 9.99988044e-01 5.71608964e-04 5.77033404e-01] [ 1.76229481e-02 -4.85940249e-04 9.99844586e-01 -2.22488143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.324553574 meters Centerline goodness [0,1] 0.8578900865877364 Centerline is valid? [False, False] Translation: X:9.61, Y:0.58, Z:-2.23 [[ 9.99831644e-01 4.89820189e-03 -1.76830926e-02 9.61399943e+00] [-4.88337751e-03 9.99987688e-01 8.81418912e-04 5.76112311e-01] [ 1.76871923e-02 -7.94917303e-04 9.99843253e-01 -2.22501844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.35455357399997 meters Centerline goodness [0,1] 0.8837533530989694 Centerline is valid? [False, False] Translation: X:9.61, Y:0.58, Z:-2.23 [[ 9.99827493e-01 4.99644718e-03 -1.78891111e-02 9.61471843e+00] [-4.97980712e-03 9.99987126e-01 9.74603173e-04 5.75962160e-01] [ 1.78937503e-02 -8.85350724e-04 9.99839502e-01 -2.22549856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.384553574 meters Centerline goodness [0,1] 0.8521094439541042 Centerline is valid? [False, False] Translation: X:9.61, Y:0.58, Z:-2.23 [[ 9.99823670e-01 5.34088048e-03 -1.80028769e-02 9.61492626e+00] [-5.31973661e-03 9.99985103e-01 1.22215670e-03 5.75816817e-01] [ 1.80091361e-02 -1.12617064e-03 9.99837188e-01 -2.22561116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.41455357399997 meters Centerline goodness [0,1] 0.8353302394522772 Centerline is valid? [False, False] Translation: X:9.63, Y:0.57, Z:-2.23 [[ 9.99868520e-01 1.01861268e-02 -1.26169133e-02 9.62974014e+00] [-1.02349258e-02 9.99940366e-01 -3.80922497e-03 5.74457517e-01] [ 1.25773596e-02 3.93785730e-03 9.99913148e-01 -2.23032949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.444553574 meters Centerline goodness [0,1] 0.8508004795824812 Centerline is valid? [False, False] Translation: X:9.63, Y:0.57, Z:-2.23 [[ 9.99864255e-01 1.05971239e-02 -1.26163949e-02 9.62973202e+00] [-1.06416325e-02 9.99937369e-01 -3.46594924e-03 5.73962791e-01] [ 1.25788756e-02 3.59973780e-03 9.99914403e-01 -2.23036169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.47455357399997 meters Centerline goodness [0,1] 0.8698482329217816 Centerline is valid? [False, False] Translation: X:9.63, Y:0.57, Z:-2.23 [[ 9.99855290e-01 1.16306758e-02 -1.24148003e-02 9.62876748e+00] [-1.16673259e-02 9.99927776e-01 -2.88379253e-03 5.74280100e-01] [ 1.23803632e-02 3.02822274e-03 9.99918775e-01 -2.22992720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.504553574 meters Centerline goodness [0,1] 0.875913185332293 Centerline is valid? [False, False] Translation: X:9.63, Y:0.57, Z:-2.23 [[ 9.99851545e-01 1.20071008e-02 -1.23578665e-02 9.62829371e+00] [-1.20403188e-02 9.99924088e-01 -2.61711969e-03 5.74442141e-01] [ 1.23255044e-02 2.76552382e-03 9.99920214e-01 -2.22943590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.534553574 meters Centerline goodness [0,1] 0.8640795528677468 Centerline is valid? [False, False] Translation: X:9.63, Y:0.57, Z:-2.23 [[ 9.99817903e-01 1.43629833e-02 -1.25644233e-02 9.63006019e+00] [-1.43576576e-02 9.99896791e-01 5.13971400e-04 5.72999381e-01] [ 1.25705087e-02 -3.33482120e-04 9.99920932e-01 -2.22980376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.564553574 meters Centerline goodness [0,1] 0.8624896426493662 Centerline is valid? [False, False] Translation: X:9.63, Y:0.57, Z:-2.23 [[ 9.99820984e-01 1.39945915e-02 -1.27338773e-02 9.63097182e+00] [-1.39929774e-02 9.99902070e-01 2.15849586e-04 5.73043647e-01] [ 1.27356510e-02 -3.76260880e-05 9.99918898e-01 -2.23043103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.594553574 meters Centerline goodness [0,1] 0.8739553580873797 Centerline is valid? [False, False] Translation: X:9.63, Y:0.57, Z:-2.23 [[ 9.99824866e-01 1.34125179e-02 -1.30515098e-02 9.63245684e+00] [-1.34180759e-02 9.99909916e-01 -3.38374594e-04 5.73428399e-01] [ 1.30457956e-02 5.13441483e-04 9.99914768e-01 -2.23147158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.624553574 meters Centerline goodness [0,1] 0.8436476924701658 Centerline is valid? [False, False] Translation: X:9.64, Y:0.57, Z:-2.23 [[ 9.99840974e-01 1.12057198e-02 -1.38729182e-02 9.63651312e+00] [-1.12316884e-02 9.99935311e-01 -1.79539755e-03 5.72935107e-01] [ 1.38519021e-02 1.95092833e-03 9.99902155e-01 -2.23411365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.654553574 meters Centerline goodness [0,1] 0.8488448029369716 Centerline is valid? [False, False] Translation: X:9.64, Y:0.57, Z:-2.24 [[ 9.99843866e-01 1.02120266e-02 -1.44207331e-02 9.63878728e+00] [-1.02451443e-02 9.99945043e-01 -2.22452421e-03 5.72064996e-01] [ 1.43972237e-02 2.37191938e-03 9.99893541e-01 -2.23535603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.684553574 meters Centerline goodness [0,1] 0.8766905472281279 Centerline is valid? [False, False] Translation: X:9.63, Y:0.57, Z:-2.24 [[ 9.99956565e-01 1.55073249e-03 -9.19035123e-03 9.62985145e+00] [-1.53607253e-03 9.99997537e-01 1.60199131e-03 5.71077909e-01] [ 9.19281285e-03 -1.58780468e-03 9.99956485e-01 -2.23854093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.714553574 meters Centerline goodness [0,1] 0.8597638315736821 Centerline is valid? [False, False] Translation: X:9.63, Y:0.57, Z:-2.24 [[ 9.99954040e-01 8.80302433e-04 -9.54691844e-03 9.63109612e+00] [-8.67004808e-04 9.99998648e-01 1.39692022e-03 5.70533756e-01] [ 9.54813525e-03 -1.38857879e-03 9.99953451e-01 -2.23895916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.74455357399995 meters Centerline goodness [0,1] 0.8744728754199128 Centerline is valid? [False, False] Translation: X:9.63, Y:0.57, Z:-2.24 [[ 9.99952393e-01 4.10660293e-04 -9.74900013e-03 9.63185728e+00] [-3.99112816e-04 9.99999217e-01 1.18639403e-03 5.70301574e-01] [ 9.74947970e-03 -1.18244660e-03 9.99951774e-01 -2.23916751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.774553574 meters Centerline goodness [0,1] 0.8654515593480551 Centerline is valid? [False, False] Translation: X:9.63, Y:0.57, Z:-2.24 [[ 9.99951301e-01 2.61926993e-04 -9.86544893e-03 9.63208668e+00] [-2.53048855e-04 9.99999562e-01 9.01159882e-04 5.71291488e-01] [ 9.86568064e-03 -8.98619555e-04 9.99950929e-01 -2.23902666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.80455357399995 meters Centerline goodness [0,1] 0.872761999964299 Centerline is valid? [False, False] Translation: X:9.63, Y:0.57, Z:-2.24 [[ 9.99951238e-01 4.96081452e-04 -9.86286116e-03 9.63201805e+00] [-4.89488081e-04 9.99999655e-01 6.70907618e-04 5.72686504e-01] [ 9.86319058e-03 -6.66047150e-04 9.99951136e-01 -2.23910043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.834553574 meters Centerline goodness [0,1] 0.8712947265102169 Centerline is valid? [False, False] Translation: X:9.63, Y:0.58, Z:-2.24 [[ 9.99952577e-01 1.56763432e-03 -9.61175729e-03 9.63068846e+00] [-1.56310770e-03 9.99998664e-01 4.78440153e-04 5.76440378e-01] [ 9.61249447e-03 -4.63393252e-04 9.99953692e-01 -2.23831347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.86455357399996 meters Centerline goodness [0,1] 0.8571352094077339 Centerline is valid? [False, False] Translation: X:9.63, Y:0.58, Z:-2.24 [[ 9.99952536e-01 2.07128305e-03 -9.52022961e-03 9.63043219e+00] [-2.06962646e-03 9.99997841e-01 1.83856120e-04 5.78655720e-01] [ 9.52058988e-03 -1.64144075e-04 9.99954665e-01 -2.23842801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.894553574 meters Centerline goodness [0,1] 0.8553685329553509 Centerline is valid? [False, False] Translation: X:9.63, Y:0.58, Z:-2.24 [[ 9.99935773e-01 5.46950510e-03 -9.92641146e-03 9.63233531e+00] [-5.44078461e-03 9.99980941e-01 2.91804272e-03 5.81417943e-01] [ 9.94218253e-03 -2.86384784e-03 9.99946474e-01 -2.23952002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.92455357399996 meters Centerline goodness [0,1] 0.8556240697427174 Centerline is valid? [False, False] Translation: X:9.63, Y:0.58, Z:-2.24 [[ 9.99933842e-01 5.49326396e-03 -1.01062122e-02 9.63312572e+00] [-5.46960281e-03 9.99982239e-01 2.36739973e-03 5.82912193e-01] [ 1.01190374e-02 -2.31196614e-03 9.99946128e-01 -2.24021612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.954553574 meters Centerline goodness [0,1] 0.8595738671468164 Centerline is valid? [False, False] Translation: X:9.63, Y:0.58, Z:-2.24 [[ 9.99931014e-01 5.47091063e-03 -1.03940240e-02 9.63423390e+00] [-5.45274159e-03 9.99983557e-01 1.77556270e-03 5.84560534e-01] [ 1.04035671e-02 -1.71876428e-03 9.99944404e-01 -2.24095942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.98455357399996 meters Centerline goodness [0,1] 0.8666854665303676 Centerline is valid? [False, False] Translation: X:9.64, Y:0.59, Z:-2.24 [[ 9.99922400e-01 6.02971056e-03 -1.09011745e-02 9.63587534e+00] [-6.02068684e-03 9.99981505e-01 8.60402943e-04 5.89030617e-01] [ 1.09061608e-02 -7.94703618e-04 9.99940210e-01 -2.24265077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.014553574 meters Centerline goodness [0,1] 0.8678839957035446 Centerline is valid? [False, False] Translation: X:9.64, Y:0.59, Z:-2.24 [[ 9.99918802e-01 6.14758097e-03 -1.11623179e-02 9.63689075e+00] [-6.14493523e-03 9.99981083e-01 2.71306707e-04 5.91395202e-01] [ 1.11637746e-02 -2.02692957e-04 9.99937663e-01 -2.24360063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.04455357399996 meters Centerline goodness [0,1] 0.8667195068251872 Centerline is valid? [False, False] Translation: X:9.64, Y:0.59, Z:-2.24 [[ 9.99915299e-01 6.52463295e-03 -1.12616462e-02 9.63736531e+00] [-6.52811470e-03 9.99978655e-01 -2.72435884e-04 5.94101534e-01] [ 1.12596283e-02 3.45930126e-04 9.99936549e-01 -2.24437259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.074553574 meters Centerline goodness [0,1] 0.857308993515647 Centerline is valid? [False, False] Translation: X:9.64, Y:0.59, Z:-2.24 [[ 9.99914190e-01 6.62907681e-03 -1.12990486e-02 9.63755830e+00] [-6.63254458e-03 9.99977968e-01 -2.69463789e-04 5.94207454e-01] [ 1.12970134e-02 3.44382110e-04 9.99936127e-01 -2.24446244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.10455357399997 meters Centerline goodness [0,1] 0.8646351356117519 Centerline is valid? [False, False] Translation: X:9.64, Y:0.59, Z:-2.24 [[ 9.99914227e-01 6.83656427e-03 -1.11714296e-02 9.63706962e+00] [-6.83875364e-03 9.99976603e-01 -1.57790632e-04 5.94176935e-01] [ 1.11700895e-02 2.34175753e-04 9.99937585e-01 -2.24403557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.134553574 meters Centerline goodness [0,1] 0.8662504629384689 Centerline is valid? [False, False] Translation: X:9.64, Y:0.59, Z:-2.24 [[ 9.99912240e-01 6.93502716e-03 -1.12879128e-02 9.63744566e+00] [-6.93793920e-03 9.99975908e-01 -2.18840307e-04 5.94571798e-01] [ 1.12861232e-02 2.97135954e-04 9.99936266e-01 -2.24422296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.16455357399997 meters Centerline goodness [0,1] 0.8654242482957848 Centerline is valid? [False, False] Translation: X:9.64, Y:0.60, Z:-2.24 [[ 9.99910044e-01 7.08948175e-03 -1.13860518e-02 9.63792165e+00] [-7.09352204e-03 9.99974791e-01 -3.14499601e-04 5.95151469e-01] [ 1.13835351e-02 3.95238519e-04 9.99935127e-01 -2.24466063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.194553574 meters Centerline goodness [0,1] 0.8594036373889751 Centerline is valid? [False, False] Translation: X:9.64, Y:0.60, Z:-2.24 [[ 9.99903632e-01 7.71219735e-03 -1.15433702e-02 9.63829292e+00] [-7.71438624e-03 9.99970233e-01 -1.45108627e-04 5.95916891e-01] [ 1.15419075e-02 2.34144659e-04 9.99933363e-01 -2.24496255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.22455357399997 meters Centerline goodness [0,1] 0.8594036373889751 Centerline is valid? [False, False] Translation: X:9.64, Y:0.60, Z:-2.24 [[ 9.99903632e-01 7.71219735e-03 -1.15433702e-02 9.63829292e+00] [-7.71438624e-03 9.99970233e-01 -1.45108627e-04 5.95916891e-01] [ 1.15419075e-02 2.34144659e-04 9.99933363e-01 -2.24496255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.254553574 meters Centerline goodness [0,1] 0.8652755766860363 Centerline is valid? [False, False] Translation: X:9.64, Y:0.60, Z:-2.24 [[ 9.99901069e-01 8.07990617e-03 -1.15137660e-02 9.63809124e+00] [-8.08049761e-03 9.99967352e-01 -4.84774639e-06 5.96168778e-01] [ 1.15133509e-02 9.78842251e-05 9.99933714e-01 -2.24478240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.284553574 meters Centerline goodness [0,1] 0.8649003334042704 Centerline is valid? [False, False] Translation: X:9.63, Y:0.60, Z:-2.24 [[ 9.99894040e-01 9.71481392e-03 -1.08411487e-02 9.63490779e+00] [-9.70049135e-03 9.99952007e-01 1.37293442e-03 5.95515633e-01] [ 1.08539662e-02 -1.26762447e-03 9.99940290e-01 -2.24241004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.314553574 meters Centerline goodness [0,1] 0.8638294091514882 Centerline is valid? [False, False] Translation: X:9.63, Y:0.60, Z:-2.24 [[ 9.99890504e-01 1.00856346e-02 -1.08286998e-02 9.63477474e+00] [-1.00689102e-02 9.99948031e-01 1.59786193e-03 5.95388483e-01] [ 1.08442525e-02 -1.48865376e-03 9.99940091e-01 -2.24226868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.344553574 meters Centerline goodness [0,1] 0.8659434465587764 Centerline is valid? [False, False] Translation: X:9.63, Y:0.60, Z:-2.24 [[ 9.99886813e-01 1.04282698e-02 -1.08449471e-02 9.63483077e+00] [-1.04093354e-02 9.99944200e-01 1.80090281e-03 5.95293223e-01] [ 1.08631222e-02 -1.68781028e-03 9.99939570e-01 -2.24226061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.374553574 meters Centerline goodness [0,1] 0.8652559653704432 Centerline is valid? [False, False] Translation: X:9.63, Y:0.60, Z:-2.24 [[ 9.99877210e-01 1.16768264e-02 -1.04506921e-02 9.63322879e+00] [-1.16498142e-02 9.99928649e-01 2.64189077e-03 5.95189498e-01] [ 1.04807954e-02 -2.51981775e-03 9.99941900e-01 -2.24146907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.404553574 meters Centerline goodness [0,1] 0.8628576537911302 Centerline is valid? [False, False] Translation: X:9.63, Y:0.60, Z:-2.24 [[ 9.99873453e-01 1.18054789e-02 -1.06634692e-02 9.63409263e+00] [-1.17783936e-02 9.99927254e-01 2.59925094e-03 5.95496400e-01] [ 1.06933788e-02 -2.47332348e-03 9.99939765e-01 -2.24211546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.434553574 meters Centerline goodness [0,1] 0.8652082998230658 Centerline is valid? [False, False] Translation: X:9.64, Y:0.59, Z:-2.24 [[ 9.99869701e-01 1.18175491e-02 -1.09966712e-02 9.63526702e+00] [-1.17880133e-02 9.99926746e-01 2.74684060e-03 5.94751154e-01] [ 1.10283265e-02 -2.61685378e-03 9.99935762e-01 -2.24268883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.464553574 meters Centerline goodness [0,1] 0.8670505758637956 Centerline is valid? [False, False] Translation: X:9.63, Y:0.59, Z:-2.24 [[ 9.99900665e-01 8.75760126e-03 -1.10437957e-02 9.63493656e+00] [-8.76499514e-03 9.99961394e-01 -6.21281222e-04 5.94759938e-01] [ 1.10379284e-02 7.18018323e-04 9.99938822e-01 -2.24259897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49455357399995 meters Centerline goodness [0,1] 0.8659123307198859 Centerline is valid? [False, False] Translation: X:9.64, Y:0.59, Z:-2.24 [[ 9.99901955e-01 7.94714051e-03 -1.15292246e-02 9.63675264e+00] [-7.95393095e-03 9.99968219e-01 -5.43241961e-04 5.92342303e-01] [ 1.15245410e-02 6.34891355e-04 9.99933389e-01 -2.24309378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.524553574 meters Centerline goodness [0,1] 0.86510509440684 Centerline is valid? [False, False] Translation: X:9.64, Y:0.59, Z:-2.24 [[ 9.99902725e-01 7.64159264e-03 -1.16681742e-02 9.63729489e+00] [-7.64684101e-03 9.99970680e-01 -4.05253681e-04 5.91160839e-01] [ 1.16647353e-02 4.94438933e-04 9.99931842e-01 -2.24312143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.55455357399995 meters Centerline goodness [0,1] 0.8662530530744683 Centerline is valid? [False, False] Translation: X:9.64, Y:0.59, Z:-2.24 [[ 9.99902398e-01 7.44339641e-03 -1.18233202e-02 9.63767512e+00] [-7.44516263e-03 9.99972279e-01 -1.05375943e-04 5.89774267e-01] [ 1.18222080e-02 1.93392199e-04 9.99930097e-01 -2.24288249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.584553574 meters Centerline goodness [0,1] 0.8646832329138294 Centerline is valid? [False, False] Translation: X:9.64, Y:0.59, Z:-2.24 [[ 9.99903707e-01 6.98332000e-03 -1.19920444e-02 9.63837710e+00] [-6.98183836e-03 9.99975613e-01 1.65412211e-04 5.87749072e-01] [ 1.19929071e-02 -8.16697673e-05 9.99928079e-01 -2.24291310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.61455357399996 meters Centerline goodness [0,1] 0.8661585583018734 Centerline is valid? [False, False] Translation: X:9.64, Y:0.59, Z:-2.24 [[ 9.99902124e-01 6.82073958e-03 -1.22155286e-02 9.63925201e+00] [-6.81899247e-03 9.99976733e-01 1.84669077e-04 5.87183656e-01] [ 1.22165040e-02 -1.01353404e-04 9.99925371e-01 -2.24332014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.644553574 meters Centerline goodness [0,1] 0.8658026311123719 Centerline is valid? [False, False] Translation: X:9.64, Y:0.59, Z:-2.24 [[ 9.99899736e-01 6.06534760e-03 -1.27956442e-02 9.64186320e+00] [-6.06611879e-03 9.99981601e-01 -2.14583986e-05 5.85462016e-01] [ 1.27952786e-02 9.90761446e-05 9.99918132e-01 -2.24484525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.67455357399996 meters Centerline goodness [0,1] 0.8660856626634074 Centerline is valid? [False, False] Translation: X:9.64, Y:0.58, Z:-2.24 [[ 9.99899581e-01 5.85216289e-03 -1.29065702e-02 9.64237392e+00] [-5.85107578e-03 9.99982875e-01 1.21988595e-04 5.84414538e-01] [ 1.29070630e-02 -4.64590247e-05 9.99916699e-01 -2.24496228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.704553574 meters Centerline goodness [0,1] 0.8587246838241798 Centerline is valid? [False, False] Translation: X:9.64, Y:0.58, Z:-2.25 [[ 9.99899629e-01 5.54526164e-03 -1.30376933e-02 9.64302851e+00] [-5.54385988e-03 9.99984622e-01 1.43654622e-04 5.83524417e-01] [ 1.30382895e-02 -7.13610580e-05 9.99914995e-01 -2.24524558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.73455357399996 meters Centerline goodness [0,1] 0.8496244587788283 Centerline is valid? [False, False] Translation: X:9.64, Y:0.58, Z:-2.25 [[ 9.99900386e-01 4.43395976e-03 -1.33999479e-02 9.64454174e+00] [-4.43324769e-03 9.99990170e-01 8.28437136e-05 5.81255318e-01] [ 1.34001835e-02 -2.34301733e-05 9.99910213e-01 -2.24546237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.764553574 meters Centerline goodness [0,1] 0.8660319139557436 Centerline is valid? [False, False] Translation: X:9.65, Y:0.58, Z:-2.25 [[ 9.99900131e-01 3.87922998e-03 -1.35896573e-02 9.64545139e+00] [-3.87788928e-03 9.99992473e-01 1.25005421e-04 5.79709222e-01] [ 1.35900400e-02 -7.22937501e-05 9.99907649e-01 -2.24566306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.79455357399996 meters Centerline goodness [0,1] 0.8665129297445737 Centerline is valid? [False, False] Translation: X:9.65, Y:0.58, Z:-2.25 [[ 9.99900157e-01 3.19504068e-03 -1.37647539e-02 9.64632803e+00] [-3.19354739e-03 9.99994892e-01 1.30465306e-04 5.78233386e-01] [ 1.37651004e-02 -8.64938858e-05 9.99905253e-01 -2.24587450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.824553574 meters Centerline goodness [0,1] 0.8667230652637515 Centerline is valid? [False, False] Translation: X:9.65, Y:0.58, Z:-2.25 [[ 9.99897391e-01 3.07073705e-03 -1.39920959e-02 9.64711839e+00] [-3.06962612e-03 9.99995284e-01 1.00872756e-04 5.78274827e-01] [ 1.39923397e-02 -5.79119025e-05 9.99902101e-01 -2.24621572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.85455357399997 meters Centerline goodness [0,1] 0.8662062404200215 Centerline is valid? [False, False] Translation: X:9.65, Y:0.58, Z:-2.25 [[ 9.99895118e-01 2.80472824e-03 -1.42086658e-02 9.64792656e+00] [-2.80361531e-03 9.99996065e-01 9.82460365e-05 5.77793358e-01] [ 1.42088854e-02 -5.84000994e-05 9.99899047e-01 -2.24656850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.884553574 meters Centerline goodness [0,1] 0.8662313892506424 Centerline is valid? [False, False] Translation: X:9.65, Y:0.58, Z:-2.25 [[ 9.99893727e-01 2.65286545e-03 -1.43351352e-02 9.64851588e+00] [-2.65149270e-03 9.99996478e-01 1.14765937e-04 5.77390037e-01] [ 1.43353891e-02 -7.67442340e-05 9.99897240e-01 -2.24677921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.91455357399997 meters Centerline goodness [0,1] 0.8563930037165555 Centerline is valid? [False, False] Translation: X:9.65, Y:0.58, Z:-2.25 [[ 9.99890975e-01 2.21985469e-03 -1.45983319e-02 9.64961061e+00] [-2.22053120e-03 9.99997534e-01 -3.01328662e-05 5.77050237e-01] [ 1.45982290e-02 6.25456325e-05 9.99893438e-01 -2.24727958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.944553574 meters Centerline goodness [0,1] 0.8622921332463365 Centerline is valid? [False, False] Translation: X:9.65, Y:0.58, Z:-2.25 [[ 9.99889566e-01 2.20378407e-03 -1.46968898e-02 9.64994634e+00] [-2.20389586e-03 9.99997571e-01 8.58971730e-06 5.77098813e-01] [ 1.46968730e-02 2.38016460e-05 9.99891995e-01 -2.24737928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.97455357399997 meters Centerline goodness [0,1] 0.8627554522891694 Centerline is valid? [False, False] Translation: X:9.65, Y:0.58, Z:-2.25 [[ 9.99886184e-01 1.97817097e-03 -1.49567973e-02 9.65115498e+00] [-1.98289059e-03 9.99997989e-01 -3.00727074e-04 5.77599967e-01] [ 1.49561723e-02 3.30350539e-04 9.99888096e-01 -2.24819950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.004553574 meters Centerline goodness [0,1] 0.8568285846077422 Centerline is valid? [False, False] Translation: X:9.65, Y:0.58, Z:-2.25 [[ 9.99882780e-01 1.64887770e-03 -1.52219637e-02 9.65213828e+00] [-1.66008427e-03 9.99998360e-01 -7.23604606e-04 5.78543897e-01] [ 1.52207456e-02 7.48789528e-04 9.99883877e-01 -2.24877962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.034553574 meters Centerline goodness [0,1] 0.8613233130682926 Centerline is valid? [False, False] Translation: X:9.65, Y:0.58, Z:-2.25 [[ 9.99880918e-01 1.53355354e-03 -1.53557491e-02 9.65269646e+00] [-1.54726822e-03 9.99998415e-01 -8.81289404e-04 5.78994895e-01] [ 1.53543732e-02 9.04943920e-04 9.99881705e-01 -2.24903705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.064553574 meters Centerline goodness [0,1] 0.8298298298298299 Centerline is valid? [False, False] Translation: X:9.65, Y:0.58, Z:-2.25 [[ 9.99882077e-01 1.43839452e-03 -1.52892992e-02 9.65229120e+00] [-1.45600896e-03 9.99998289e-01 -1.14100756e-03 5.80213324e-01] [ 1.52876318e-02 1.16313436e-03 9.99882461e-01 -2.24843730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.094553574 meters Centerline goodness [0,1] 0.8687367047424965 Centerline is valid? [False, False] Translation: X:9.65, Y:0.58, Z:-2.25 [[ 9.99881849e-01 1.56328586e-03 -1.52919616e-02 9.65219258e+00] [-1.58166994e-03 9.99998041e-01 -1.19018489e-03 5.80964117e-01] [ 1.52900710e-02 1.21423110e-03 9.99882363e-01 -2.24820265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.124553574 meters Centerline goodness [0,1] 0.8516582807738644 Centerline is valid? [False, False] Translation: X:9.67, Y:0.58, Z:-2.25 [[ 9.99947142e-01 3.89587793e-03 -9.51496345e-03 9.66706198e+00] [-3.97129441e-03 9.99960750e-01 -7.92010103e-03 5.81987815e-01] [ 9.48373424e-03 7.95746912e-03 9.99923366e-01 -2.25340091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.154553574 meters Centerline goodness [0,1] 0.8662920551636119 Centerline is valid? [False, False] Translation: X:9.67, Y:0.58, Z:-2.25 [[ 9.99928355e-01 6.94036420e-03 -9.75279628e-03 9.66840341e+00] [-6.98794723e-03 9.99963806e-01 -4.85333411e-03 5.83277072e-01] [ 9.71875938e-03 4.92113842e-03 9.99940662e-01 -2.25404060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.184553574 meters Centerline goodness [0,1] 0.8619211281578854 Centerline is valid? [False, False] Translation: X:9.67, Y:0.58, Z:-2.25 [[ 9.99926611e-01 7.04763431e-03 -9.85412675e-03 9.66885755e+00] [-7.09829144e-03 9.99961724e-01 -5.11521186e-03 5.84658368e-01] [ 9.81769943e-03 5.18478393e-03 9.99938363e-01 -2.25451865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.214553574 meters Centerline goodness [0,1] 0.8687997171645748 Centerline is valid? [False, False] Translation: X:9.67, Y:0.59, Z:-2.25 [[ 9.99925579e-01 6.95883346e-03 -1.00205415e-02 9.66953112e+00] [-7.01374507e-03 9.99960523e-01 -5.45522930e-03 5.86042651e-01] [ 9.98218387e-03 5.52510484e-03 9.99934912e-01 -2.25493559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.24455357399995 meters Centerline goodness [0,1] 0.8645198204802689 Centerline is valid? [False, False] Translation: X:9.67, Y:0.59, Z:-2.25 [[ 9.99924960e-01 6.98629369e-03 -1.00630868e-02 9.66954221e+00] [-7.04105079e-03 9.99960543e-01 -5.41627037e-03 5.86440103e-01] [ 1.00248501e-02 5.48671864e-03 9.99934697e-01 -2.25473499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.274553574 meters Centerline goodness [0,1] 0.8688014311270125 Centerline is valid? [False, False] Translation: X:9.67, Y:0.59, Z:-2.25 [[ 9.99923911e-01 6.99042523e-03 -1.01639550e-02 9.66980585e+00] [-7.04556811e-03 9.99960601e-01 -5.39968998e-03 5.86698815e-01] [ 1.01258084e-02 5.47088996e-03 9.99933766e-01 -2.25477276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.30455357399995 meters Centerline goodness [0,1] 0.87115438893593 Centerline is valid? [False, False] Translation: X:9.67, Y:0.59, Z:-2.26 [[ 9.99920811e-01 6.37581671e-03 -1.08498732e-02 9.67246171e+00] [-6.44114716e-03 9.99961273e-01 -5.99705632e-03 5.86805811e-01] [ 1.08112169e-02 6.06646705e-03 9.99923155e-01 -2.25628213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.334553574 meters Centerline goodness [0,1] 0.8716867900264342 Centerline is valid? [False, False] Translation: X:9.67, Y:0.59, Z:-2.26 [[ 9.99919675e-01 6.54774622e-03 -1.08522025e-02 9.67237209e+00] [-6.61154493e-03 9.99961011e-01 -5.85345939e-03 5.86871452e-01] [ 1.08134524e-02 5.92473904e-03 9.99923980e-01 -2.25609806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.36455357399996 meters Centerline goodness [0,1] 0.8709511659224608 Centerline is valid? [False, False] Translation: X:9.68, Y:0.59, Z:-2.26 [[ 9.99893149e-01 9.07478605e-03 -1.14602740e-02 9.67521145e+00] [-9.10755993e-03 9.99954575e-01 -2.81083667e-03 5.85803215e-01] [ 1.14342457e-02 2.91491146e-03 9.99930378e-01 -2.25727723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.394553574 meters Centerline goodness [0,1] 0.869268413773538 Centerline is valid? [False, False] Translation: X:9.67, Y:0.59, Z:-2.26 [[ 9.99891077e-01 9.39779384e-03 -1.13804883e-02 9.67478643e+00] [-9.42818062e-03 9.99952123e-01 -2.61937575e-03 5.86091422e-01] [ 1.13553271e-02 2.72638773e-03 9.99931809e-01 -2.25689288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.42455357399996 meters Centerline goodness [0,1] 0.8715519988668956 Centerline is valid? [False, False] Translation: X:9.67, Y:0.59, Z:-2.26 [[ 9.99885945e-01 1.00994345e-02 -1.12293493e-02 9.67412679e+00] [-1.01262766e-02 9.99945999e-01 -2.33606641e-03 5.86847375e-01] [ 1.12051499e-02 2.44951147e-03 9.99934220e-01 -2.25647498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.454553574 meters Centerline goodness [0,1] 0.8664811499672096 Centerline is valid? [False, False] Translation: X:9.67, Y:0.59, Z:-2.26 [[ 9.99882646e-01 1.05190293e-02 -1.11375345e-02 9.67361125e+00] [-1.05425254e-02 9.99942318e-01 -2.05302357e-03 5.87109231e-01] [ 1.11152963e-02 2.17020038e-03 9.99935868e-01 -2.25604178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.48455357399996 meters Centerline goodness [0,1] 0.8697407864574149 Centerline is valid? [False, False] Translation: X:9.68, Y:0.59, Z:-2.26 [[ 9.99847684e-01 1.31287993e-02 -1.14997011e-02 9.67587819e+00] [-1.31170035e-02 9.99913363e-01 1.10057306e-03 5.85108644e-01] [ 1.15131540e-02 -9.49563810e-04 9.99933271e-01 -2.25709506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.514553574 meters Centerline goodness [0,1] 0.8695920454144777 Centerline is valid? [False, False] Translation: X:9.68, Y:0.58, Z:-2.26 [[ 9.99845181e-01 1.32508601e-02 -1.15770618e-02 9.67608055e+00] [-1.32379064e-02 9.99911661e-01 1.19482770e-03 5.84904347e-01] [ 1.15918716e-02 -1.04138666e-03 9.99932270e-01 -2.25710464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.54455357399996 meters Centerline goodness [0,1] 0.866688946738901 Centerline is valid? [False, False] Translation: X:9.68, Y:0.58, Z:-2.26 [[ 9.99841623e-01 1.34114321e-02 -1.16988059e-02 9.67667763e+00] [-1.33971598e-02 9.99909412e-01 1.29750343e-03 5.84542842e-01] [ 1.17151475e-02 -1.14056716e-03 9.99930725e-01 -2.25757529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.574553574 meters Centerline goodness [0,1] 0.8696900317013032 Centerline is valid? [False, False] Translation: X:9.68, Y:0.58, Z:-2.26 [[ 9.99829184e-01 1.41825928e-02 -1.18514280e-02 9.67718810e+00] [-1.41629236e-02 9.99898183e-01 1.74193905e-03 5.84204628e-01] [ 1.18749266e-02 -1.57379063e-03 9.99928252e-01 -2.25822020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.60455357399997 meters Centerline goodness [0,1] 0.8591474901843408 Centerline is valid? [False, False] Translation: X:9.68, Y:0.58, Z:-2.26 [[ 9.99823366e-01 1.43086620e-02 -1.21860315e-02 9.67856137e+00] [-1.42896511e-02 9.99896543e-01 1.64570871e-03 5.84360617e-01] [ 1.22083187e-02 -1.47128389e-03 9.99924393e-01 -2.25932107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.634553574 meters Centerline goodness [0,1] 0.8675240133731934 Centerline is valid? [False, False] Translation: X:9.68, Y:0.58, Z:-2.26 [[ 9.99799779e-01 1.59683363e-02 -1.20587526e-02 9.67782744e+00] [-1.59388966e-02 9.99869758e-01 2.53353426e-03 5.84819930e-01] [ 1.20976384e-02 -2.34082379e-03 9.99924081e-01 -2.25941089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.66455357399997 meters Centerline goodness [0,1] 0.8705011592652042 Centerline is valid? [False, False] Translation: X:9.68, Y:0.58, Z:-2.26 [[ 9.99784094e-01 1.71573883e-02 -1.17212842e-02 9.67619382e+00] [-1.71191262e-02 9.99847822e-01 3.35689939e-03 5.84952301e-01] [ 1.17770961e-02 -3.15551647e-03 9.99925669e-01 -2.25834385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.694553574 meters Centerline goodness [0,1] 0.8647192134049502 Centerline is valid? [False, False] Translation: X:9.68, Y:0.58, Z:-2.26 [[ 9.99771527e-01 1.78800187e-02 -1.17131782e-02 9.67598705e+00] [-1.78374390e-02 9.99833944e-01 3.72964491e-03 5.84894623e-01] [ 1.17779192e-02 -3.51985969e-03 9.99924443e-01 -2.25817914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.72455357399997 meters Centerline goodness [0,1] 0.8690837649580282 Centerline is valid? [False, False] Translation: X:9.67, Y:0.58, Z:-2.26 [[ 9.99735730e-01 1.99292224e-02 -1.14584295e-02 9.67434575e+00] [-1.98721542e-02 9.99789659e-01 5.07293278e-03 5.84476422e-01] [ 1.15571190e-02 -4.84388848e-03 9.99921482e-01 -2.25703788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.754553574 meters Centerline goodness [0,1] 0.861939699030686 Centerline is valid? [False, False] Translation: X:9.67, Y:0.58, Z:-2.26 [[ 9.99720812e-01 2.06987563e-02 -1.13955656e-02 9.67388068e+00] [-2.06337189e-02 9.99770304e-01 5.79555651e-03 5.83386795e-01] [ 1.15129089e-02 -5.55880557e-03 9.99918273e-01 -2.25660389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.784553574 meters Centerline goodness [0,1] 0.8655325681440889 Centerline is valid? [False, False] Translation: X:9.67, Y:0.58, Z:-2.26 [[ 9.99777362e-01 1.77581762e-02 -1.13962511e-02 9.67347647e+00] [-1.77314126e-02 9.99839796e-01 2.44522342e-03 5.83101351e-01] [ 1.14378481e-02 -2.24260739e-03 9.99932071e-01 -2.25667819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.814553574 meters Centerline goodness [0,1] 0.8623694313007767 Centerline is valid? [False, False] Translation: X:9.67, Y:0.58, Z:-2.26 [[ 9.99779920e-01 1.75280043e-02 -1.15273932e-02 9.67388954e+00] [-1.74983706e-02 9.99843336e-01 2.66657862e-03 5.81640635e-01] [ 1.15723271e-02 -2.46428116e-03 9.99930002e-01 -2.25660018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.844553574 meters Centerline goodness [0,1] 0.8569691985913227 Centerline is valid? [False, False] Translation: X:9.67, Y:0.58, Z:-2.26 [[ 9.99780910e-01 1.73969590e-02 -1.16394960e-02 9.67418715e+00] [-1.73591975e-02 9.99843748e-01 3.33746444e-03 5.78855046e-01] [ 1.16957391e-02 -3.13468092e-03 9.99926689e-01 -2.25640723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.874553574 meters Centerline goodness [0,1] 0.8683485910456301 Centerline is valid? [False, False] Translation: X:9.67, Y:0.58, Z:-2.26 [[ 9.99779658e-01 1.73103375e-02 -1.18737932e-02 9.67496098e+00] [-1.72682701e-02 9.99844280e-01 3.63631149e-03 5.77395644e-01] [ 1.19348900e-02 -3.43047039e-03 9.99922892e-01 -2.25663000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.904553574 meters Centerline goodness [0,1] 0.8616616330396555 Centerline is valid? [False, False] Translation: X:9.67, Y:0.57, Z:-2.26 [[ 9.99772748e-01 1.76828211e-02 -1.19067236e-02 9.67490817e+00] [-1.76283515e-02 9.99833729e-01 4.66421678e-03 5.73871071e-01] [ 1.19872204e-02 -4.45326092e-03 9.99918234e-01 -2.25619622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.934553574 meters Centerline goodness [0,1] 0.8601991027863667 Centerline is valid? [False, False] Translation: X:9.68, Y:0.57, Z:-2.26 [[ 9.99766596e-01 1.79907440e-02 -1.19618805e-02 9.67504080e+00] [-1.79303735e-02 9.99826051e-01 5.13515197e-03 5.72641369e-01] [ 1.20521850e-02 -4.91947242e-03 9.99915268e-01 -2.25612460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.964553574 meters Centerline goodness [0,1] 0.8691180941820328 Centerline is valid? [False, False] Translation: X:9.67, Y:0.57, Z:-2.26 [[ 9.99744096e-01 1.93661353e-02 -1.16916892e-02 9.67383990e+00] [-1.92898874e-02 9.99792152e-01 6.59947726e-03 5.70033787e-01] [ 1.18170655e-02 -6.37225706e-03 9.99909872e-01 -2.25533180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99455357399995 meters Centerline goodness [0,1] 0.8618931778342217 Centerline is valid? [False, False] Translation: X:9.67, Y:0.57, Z:-2.26 [[ 9.99735313e-01 1.97932920e-02 -1.17273174e-02 9.67392291e+00] [-1.97094924e-02 9.99779689e-01 7.21868059e-03 5.68599420e-01] [ 1.18676152e-02 -6.98563043e-03 9.99905176e-01 -2.25531251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.024553574 meters Centerline goodness [0,1] 0.8666726312964123 Centerline is valid? [False, False] Translation: X:9.67, Y:0.57, Z:-2.26 [[ 9.99709317e-01 2.11229062e-02 -1.16234282e-02 9.67377254e+00] [-2.10215871e-02 9.99740547e-01 8.77102617e-03 5.65301736e-01] [ 1.18056820e-02 -8.52413368e-03 9.99893977e-01 -2.25543137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.05455357399995 meters Centerline goodness [0,1] 0.8667334490098921 Centerline is valid? [False, False] Translation: X:9.67, Y:0.56, Z:-2.26 [[ 9.99701675e-01 2.14336440e-02 -1.17114876e-02 9.67409322e+00] [-2.13237565e-02 9.99728163e-01 9.42856243e-03 5.63307648e-01] [ 1.19103924e-02 -9.17601675e-03 9.99886965e-01 -2.25553226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.084553574 meters Centerline goodness [0,1] 0.8616819418588 Centerline is valid? [False, False] Translation: X:9.67, Y:0.56, Z:-2.26 [[ 0.99969764 0.02148979 -0.011951 9.67498161] [-0.02137094 0.99972175 0.00998505 0.56085896] [ 0.01216225 -0.00972663 0.99987873 -2.25594195] [ 0. 0. 0. 1. ]] SLAMing on 296.11455357399996 meters Centerline goodness [0,1] 0.8616819418588 Centerline is valid? [False, False] Translation: X:9.67, Y:0.56, Z:-2.26 [[ 0.99969764 0.02148979 -0.011951 9.67498161] [-0.02137094 0.99972175 0.00998505 0.56085896] [ 0.01216225 -0.00972663 0.99987873 -2.25594195] [ 0. 0. 0. 1. ]] SLAMing on 296.144553574 meters Centerline goodness [0,1] 0.8648396919219058 Centerline is valid? [False, False] Translation: X:9.68, Y:0.55, Z:-2.26 [[ 0.99970876 0.02060867 -0.0125571 9.67766896] [-0.02047564 0.99973381 0.01063259 0.55463311] [ 0.01277288 -0.01037238 0.99986462 -2.25741053] [ 0. 0. 0. 1. ]] SLAMing on 296.17455357399996 meters Centerline goodness [0,1] 0.864452970918349 Centerline is valid? [False, False] Translation: X:9.68, Y:0.55, Z:-2.26 [[ 9.99771001e-01 1.70512561e-02 -1.29305929e-02 9.67890551e+00] [-1.69585129e-02 9.99829920e-01 7.24843686e-03 5.52861340e-01] [ 1.30519886e-02 -7.02749335e-03 9.99890124e-01 -2.25856522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.204553574 meters Centerline goodness [0,1] 0.8590845348962641 Centerline is valid? [False, False] Translation: X:9.68, Y:0.55, Z:-2.26 [[ 9.99823824e-01 1.29499760e-02 -1.35874941e-02 9.68181904e+00] [-1.28932718e-02 9.99907835e-01 4.25259584e-03 5.48122849e-01] [ 1.36413128e-02 -4.07665938e-03 9.99898643e-01 -2.26078264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.23455357399996 meters Centerline goodness [0,1] 0.8620062323252338 Centerline is valid? [False, False] Translation: X:9.69, Y:0.55, Z:-2.26 [[ 9.99827399e-01 1.17754366e-02 -1.43705116e-02 9.68505180e+00] [-1.17182798e-02 9.99923116e-01 4.05510958e-03 5.45095570e-01] [ 1.44171574e-02 -3.88601199e-03 9.99888516e-01 -2.26258156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.264553574 meters Centerline goodness [0,1] 0.8554436328530575 Centerline is valid? [False, False] Translation: X:9.69, Y:0.54, Z:-2.26 [[ 9.99863851e-01 7.13450307e-03 -1.48788200e-02 9.68697527e+00] [-7.12379001e-03 9.99974327e-01 7.72897258e-04 5.40180572e-01] [ 1.48839522e-02 -6.66798440e-04 9.99889006e-01 -2.26352179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.29455357399996 meters Centerline goodness [0,1] 0.8551591305145373 Centerline is valid? [False, False] Translation: X:9.69, Y:0.54, Z:-2.26 [[ 9.99882346e-01 3.38446465e-03 -1.49612441e-02 9.68709423e+00] [-3.42214209e-03 9.99991036e-01 -2.49345264e-03 5.38002320e-01] [ 1.49526710e-02 2.54435878e-03 9.99884965e-01 -2.26345261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.324553574 meters Centerline goodness [0,1] 0.8531761406616114 Centerline is valid? [False, False] Translation: X:9.69, Y:0.53, Z:-2.26 [[ 9.99879540e-01 2.21723966e-03 -1.53619574e-02 9.68887383e+00] [-2.25422264e-03 9.99994602e-01 -2.39054237e-03 5.34505359e-01] [ 1.53565741e-02 2.42488367e-03 9.99879140e-01 -2.26390223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.35455357399997 meters Centerline goodness [0,1] 0.8553853598615273 Centerline is valid? [False, False] Translation: X:9.69, Y:0.53, Z:-2.27 [[ 9.99866161e-01 -3.27972237e-03 -1.60281993e-02 9.69166773e+00] [ 3.17986775e-03 9.99975404e-01 -6.25145311e-03 5.30487039e-01] [ 1.60483081e-02 6.19964887e-03 9.99851997e-01 -2.26518582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.384553574 meters Centerline goodness [0,1] 0.8546845837999253 Centerline is valid? [False, False] Translation: X:9.69, Y:0.53, Z:-2.27 [[ 9.99852943e-01 -4.61158996e-03 -1.65174133e-02 9.69390430e+00] [ 4.50604103e-03 9.99969228e-01 -6.42168768e-03 5.27950490e-01] [ 1.65465192e-02 6.34631519e-03 9.99842956e-01 -2.26598938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.41455357399997 meters Centerline goodness [0,1] 0.8520275210438499 Centerline is valid? [False, False] Translation: X:9.69, Y:0.52, Z:-2.27 [[ 9.99864762e-01 -1.38275387e-02 -8.90263745e-03 9.68586818e+00] [ 1.37946036e-02 9.99897817e-01 -3.75032330e-03 5.22612016e-01] [ 8.95358549e-03 3.62700776e-03 9.99953338e-01 -2.26634530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.444553574 meters Centerline goodness [0,1] 0.8532173329855807 Centerline is valid? [False, False] Translation: X:9.69, Y:0.52, Z:-2.27 [[ 9.99830860e-01 -1.56168888e-02 -9.71409945e-03 9.68949879e+00] [ 1.55745860e-02 9.99868960e-01 -4.41530218e-03 5.20323866e-01] [ 9.78177980e-03 4.26326230e-03 9.99943069e-01 -2.26788037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.47455357399997 meters Centerline goodness [0,1] 0.8519200714445189 Centerline is valid? [False, False] Translation: X:9.69, Y:0.52, Z:-2.27 [[ 9.99731998e-01 -2.07093327e-02 -1.03467962e-02 9.69234998e+00] [ 2.06224395e-02 9.99751749e-01 -8.43536682e-03 5.17579200e-01] [ 1.05189184e-02 8.21972994e-03 9.99910890e-01 -2.26924941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.504553574 meters Centerline goodness [0,1] 0.8521357955605298 Centerline is valid? [False, False] Translation: X:9.69, Y:0.52, Z:-2.27 [[ 9.99716650e-01 -2.12528295e-02 -1.07208961e-02 9.69380955e+00] [ 2.11645809e-02 9.99741727e-01 -8.27884052e-03 5.16081901e-01] [ 1.08940759e-02 8.04959144e-03 9.99908257e-01 -2.26968457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.534553574 meters Centerline goodness [0,1] 0.8169967456996745 Centerline is valid? [False, False] Translation: X:9.70, Y:0.52, Z:-2.27 [[ 9.99699507e-01 -2.18052951e-02 -1.11993339e-02 9.69559033e+00] [ 2.17122916e-02 9.99729308e-01 -8.35990616e-03 5.15277540e-01] [ 1.13785925e-02 8.11423086e-03 9.99902339e-01 -2.27043956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.564553574 meters Centerline goodness [0,1] 0.8527474980468024 Centerline is valid? [False, False] Translation: X:9.70, Y:0.51, Z:-2.27 [[ 9.99680092e-01 -2.24056305e-02 -1.17346604e-02 9.69767647e+00] [ 2.23077073e-02 9.99715777e-01 -8.41024835e-03 5.14321638e-01] [ 1.19197621e-02 8.14578447e-03 9.99895777e-01 -2.27133450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.594553574 meters Centerline goodness [0,1] 0.8497722413312262 Centerline is valid? [False, False] Translation: X:9.70, Y:0.51, Z:-2.27 [[ 9.99729746e-01 -1.97198968e-02 -1.23110119e-02 9.70003162e+00] [ 1.96607927e-02 9.99794683e-01 -4.90363472e-03 5.12807902e-01] [ 1.24051834e-02 4.66026524e-03 9.99912193e-01 -2.27206251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.624553574 meters Centerline goodness [0,1] 0.8534274568084711 Centerline is valid? [False, False] Translation: X:9.70, Y:0.51, Z:-2.27 [[ 9.99789001e-01 -1.61725988e-02 -1.26649468e-02 9.70114973e+00] [ 1.61638892e-02 9.99869044e-01 -7.89765210e-04 5.11636923e-01] [ 1.26760608e-02 5.84883774e-04 9.99919484e-01 -2.27198867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.654553574 meters Centerline goodness [0,1] 0.8522661810343226 Centerline is valid? [False, False] Translation: X:9.70, Y:0.51, Z:-2.27 [[ 9.99833353e-01 -1.27881075e-02 -1.30280407e-02 9.70241079e+00] [ 1.28298135e-02 9.99912818e-01 3.12271046e-03 5.10789302e-01] [ 1.29869713e-02 -3.28933740e-03 9.99910255e-01 -2.27214354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.684553574 meters Centerline goodness [0,1] 0.8531684698608965 Centerline is valid? [False, False] Translation: X:9.70, Y:0.51, Z:-2.27 [[ 9.99839210e-01 -1.22923520e-02 -1.30557140e-02 9.70220809e+00] [ 1.23373896e-02 9.99918197e-01 3.37472237e-03 5.11284487e-01] [ 1.30131627e-02 -3.53525318e-03 9.99909076e-01 -2.27199644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.714553574 meters Centerline goodness [0,1] 0.8522205917863179 Centerline is valid? [False, False] Translation: X:9.72, Y:0.51, Z:-2.28 [[ 9.99935745e-01 -8.12269515e-03 -7.90740685e-03 9.71762257e+00] [ 8.10024831e-03 9.99963084e-01 -2.86661070e-03 5.12761577e-01] [ 7.93039954e-03 2.80237455e-03 9.99964627e-01 -2.27804246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.74455357399995 meters Centerline goodness [0,1] 0.849568548687049 Centerline is valid? [False, False] Translation: X:9.72, Y:0.51, Z:-2.28 [[ 9.99959604e-01 -4.35532702e-03 -7.86265360e-03 9.71732360e+00] [ 4.36527795e-03 9.99989692e-01 1.24887646e-03 5.12679561e-01] [ 7.85713329e-03 -1.28314868e-03 9.99968309e-01 -2.27695320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.774553574 meters Centerline goodness [0,1] 0.8356775940973196 Centerline is valid? [False, False] Translation: X:9.72, Y:0.51, Z:-2.28 [[ 9.99964358e-01 -3.81315886e-03 -7.53275812e-03 9.71586391e+00] [ 3.82564954e-03 9.99991330e-01 1.64446910e-03 5.12984361e-01] [ 7.52642219e-03 -1.67322818e-03 9.99970276e-01 -2.27581561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.80455357399995 meters Centerline goodness [0,1] 0.8507885612020432 Centerline is valid? [False, False] Translation: X:9.72, Y:0.51, Z:-2.28 [[ 9.99966971e-01 -3.47691586e-03 -7.34635032e-03 9.71511748e+00] [ 3.48986626e-03 9.99992378e-01 1.75075139e-03 5.13701230e-01] [ 7.34020711e-03 -1.77633135e-03 9.99971483e-01 -2.27525815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.834553574 meters Centerline goodness [0,1] 0.8525080320166397 Centerline is valid? [False, False] Translation: X:9.71, Y:0.52, Z:-2.27 [[ 9.99971925e-01 -2.49546495e-03 -7.06548228e-03 9.71369954e+00] [ 2.50924754e-03 9.99994965e-01 1.94250193e-03 5.16175217e-01] [ 7.06059926e-03 -1.96017644e-03 9.99973152e-01 -2.27445288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.86455357399996 meters Centerline goodness [0,1] 0.8518216673766879 Centerline is valid? [False, False] Translation: X:9.71, Y:0.52, Z:-2.27 [[ 9.99973214e-01 -2.06976086e-03 -7.02043919e-03 9.71328883e+00] [ 2.08380496e-03 9.99995841e-01 1.99373486e-03 5.17310597e-01] [ 7.01628344e-03 -2.00831068e-03 9.99973369e-01 -2.27415552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.894553574 meters Centerline goodness [0,1] 0.8540127201205838 Centerline is valid? [False, False] Translation: X:9.71, Y:0.52, Z:-2.27 [[ 9.99976639e-01 -1.14298143e-03 -6.73910228e-03 9.71198721e+00] [ 1.15675714e-03 9.99997249e-01 2.04060176e-03 5.19986466e-01] [ 6.73675138e-03 -2.04834960e-03 9.99975210e-01 -2.27355245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.92455357399996 meters Centerline goodness [0,1] 0.8544669117647059 Centerline is valid? [False, False] Translation: X:9.71, Y:0.52, Z:-2.27 [[ 9.99976784e-01 -8.08399887e-04 -6.76588849e-03 9.71193486e+00] [ 8.21620880e-04 9.99997758e-01 1.95151468e-03 5.21237865e-01] [ 6.76429572e-03 -1.95702837e-03 9.99975207e-01 -2.27359863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.954553574 meters Centerline goodness [0,1] 0.8570800915331808 Centerline is valid? [False, False] Translation: X:9.71, Y:0.52, Z:-2.27 [[ 9.99975877e-01 -6.20746049e-04 -6.91803955e-03 9.71238135e+00] [ 6.32414006e-04 9.99998381e-01 1.68453889e-03 5.22467309e-01] [ 6.91698269e-03 -1.68887332e-03 9.99974651e-01 -2.27404753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.98455357399996 meters Centerline goodness [0,1] 0.8545507808923961 Centerline is valid? [False, False] Translation: X:9.71, Y:0.52, Z:-2.27 [[ 9.99975087e-01 -1.36195777e-04 -7.05733557e-03 9.71264028e+00] [ 1.47987324e-04 9.99998594e-01 1.67032618e-03 5.23648572e-01] [ 7.05709816e-03 -1.67132896e-03 9.99973702e-01 -2.27443142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.014553574 meters Centerline goodness [0,1] 0.8418939727232733 Centerline is valid? [False, False] Translation: X:9.71, Y:0.52, Z:-2.27 [[ 9.99973664e-01 -1.32413699e-04 -7.25626367e-03 9.71330659e+00] [ 1.43696728e-04 9.99998782e-01 1.55443723e-03 5.23943594e-01] [ 7.25604900e-03 -1.55543899e-03 9.99972465e-01 -2.27492170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.04455357399996 meters Centerline goodness [0,1] 0.7887027758475661 Centerline is valid? [False, False] Translation: X:9.71, Y:0.52, Z:-2.28 [[ 9.99971990e-01 -1.87200235e-04 -7.48219677e-03 9.71417018e+00] [ 1.98096399e-04 9.99998921e-01 1.45556422e-03 5.24009116e-01] [ 7.48191621e-03 -1.45700565e-03 9.99970949e-01 -2.27556052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.074553574 meters Centerline goodness [0,1] 0.8515676507215588 Centerline is valid? [False, False] Translation: X:9.71, Y:0.52, Z:-2.28 [[ 9.99971937e-01 -7.91450687e-06 -7.49173167e-03 9.71405248e+00] [ 2.03160965e-05 9.99998630e-01 1.65529558e-03 5.23937741e-01] [ 7.49170830e-03 -1.65540133e-03 9.99970567e-01 -2.27532546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.10455357399997 meters Centerline goodness [0,1] 0.8562115440961031 Centerline is valid? [False, False] Translation: X:9.71, Y:0.52, Z:-2.28 [[ 9.99970163e-01 -9.94555781e-05 -7.72425941e-03 9.71479945e+00] [ 1.13485076e-04 9.99998345e-01 1.81587327e-03 5.22981126e-01] [ 7.72406603e-03 -1.81669568e-03 9.99968519e-01 -2.27552691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.134553574 meters Centerline goodness [0,1] 0.8540796230512967 Centerline is valid? [False, False] Translation: X:9.72, Y:0.52, Z:-2.28 [[ 9.99969004e-01 -2.00034023e-04 -7.87084794e-03 9.71538698e+00] [ 2.15392973e-04 9.99998074e-01 1.95057236e-03 5.22053753e-01] [ 7.87044260e-03 -1.95220723e-03 9.99967122e-01 -2.27579107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.16455357399997 meters Centerline goodness [0,1] 0.8528253267071599 Centerline is valid? [False, False] Translation: X:9.72, Y:0.52, Z:-2.28 [[ 9.99967497e-01 -4.49254042e-04 -8.04999910e-03 9.71615477e+00] [ 4.66052278e-04 9.99997718e-01 2.08498323e-03 5.20866400e-01] [ 8.04904405e-03 -2.08866718e-03 9.99965425e-01 -2.27598113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.194553574 meters Centerline goodness [0,1] 0.8538528202386001 Centerline is valid? [False, False] Translation: X:9.72, Y:0.52, Z:-2.28 [[ 9.99967200e-01 -3.60467548e-04 -8.09124145e-03 9.71625075e+00] [ 3.78884174e-04 9.99997341e-01 2.27470132e-03 5.20500151e-01] [ 8.09039998e-03 -2.27769236e-03 9.99964678e-01 -2.27588603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.22455357399997 meters Centerline goodness [0,1] 0.8519297857024198 Centerline is valid? [False, False] Translation: X:9.72, Y:0.52, Z:-2.28 [[ 9.99966275e-01 -4.96170945e-04 -8.19773540e-03 9.71670825e+00] [ 5.15050930e-04 9.99997220e-01 2.30112260e-03 5.19983568e-01] [ 8.19657086e-03 -2.30526724e-03 9.99963750e-01 -2.27592570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.254553574 meters Centerline goodness [0,1] 0.8488845314292057 Centerline is valid? [False, False] Translation: X:9.72, Y:0.52, Z:-2.28 [[ 9.99965703e-01 -8.21823728e-04 -8.24123290e-03 9.71697998e+00] [ 8.41953011e-04 9.99996670e-01 2.43933679e-03 5.18288390e-01] [ 8.23920076e-03 -2.44619185e-03 9.99963065e-01 -2.27554687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.284553574 meters Centerline goodness [0,1] 0.8551333543097226 Centerline is valid? [False, False] Translation: X:9.72, Y:0.52, Z:-2.28 [[ 9.99964762e-01 -8.64420365e-04 -8.35029071e-03 9.71727593e+00] [ 8.85535379e-04 9.99996419e-01 2.52528992e-03 5.17907463e-01] [ 8.34807790e-03 -2.53259541e-03 9.99961947e-01 -2.27551436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.314553574 meters Centerline goodness [0,1] 0.8537157853882122 Centerline is valid? [False, False] Translation: X:9.72, Y:0.52, Z:-2.28 [[ 9.99963074e-01 -9.61729869e-04 -8.53968343e-03 9.71806428e+00] [ 9.82357989e-04 9.99996609e-01 2.41169431e-03 5.18097628e-01] [ 8.53733507e-03 -2.41999429e-03 9.99960628e-01 -2.27598758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.344553574 meters Centerline goodness [0,1] 0.8531803230217688 Centerline is valid? [False, False] Translation: X:9.72, Y:0.52, Z:-2.28 [[ 9.99962417e-01 -8.94902479e-04 -8.62342518e-03 9.71838292e+00] [ 9.15583072e-04 9.99996714e-01 2.39453848e-03 5.18420908e-01] [ 8.62125397e-03 -2.40234395e-03 9.99959951e-01 -2.27619325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.374553574 meters Centerline goodness [0,1] 0.8523721617131254 Centerline is valid? [False, False] Translation: X:9.72, Y:0.52, Z:-2.28 [[ 9.99960741e-01 -9.13962362e-04 -8.81370347e-03 9.71907313e+00] [ 9.34021312e-04 9.99996983e-01 2.27203451e-03 5.18825309e-01] [ 8.81160033e-03 -2.28017750e-03 9.99958577e-01 -2.27661395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.404553574 meters Centerline goodness [0,1] 0.8490566037735849 Centerline is valid? [False, False] Translation: X:9.72, Y:0.52, Z:-2.28 [[ 9.99959407e-01 -6.47114450e-04 -8.98696672e-03 9.71954658e+00] [ 6.66715878e-04 9.99997405e-01 2.17827032e-03 5.19819202e-01] [ 8.98553381e-03 -2.18417365e-03 9.99957244e-01 -2.27701305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.434553574 meters Centerline goodness [0,1] 0.8550673933858732 Centerline is valid? [False, False] Translation: X:9.72, Y:0.52, Z:-2.28 [[ 9.99959173e-01 -3.40580920e-04 -9.02970168e-03 9.71957707e+00] [ 3.60899909e-04 9.99997407e-01 2.24870528e-03 5.20498291e-01] [ 9.02891239e-03 -2.25187229e-03 9.99956703e-01 -2.27695540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.464553574 meters Centerline goodness [0,1] 0.8459598748389472 Centerline is valid? [False, False] Translation: X:9.72, Y:0.52, Z:-2.28 [[ 9.99957144e-01 -3.73085149e-04 -9.25046693e-03 9.72049859e+00] [ 3.91723518e-04 9.99997897e-01 2.01312711e-03 5.21086502e-01] [ 9.24969641e-03 -2.01666446e-03 9.99955187e-01 -2.27761815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49455357399995 meters Centerline goodness [0,1] 0.8538707778350136 Centerline is valid? [False, False] Translation: X:9.72, Y:0.52, Z:-2.28 [[ 9.99956921e-01 -1.39500671e-04 -9.28093517e-03 9.72061105e+00] [ 1.58137742e-04 9.99997973e-01 2.00739913e-03 5.21690810e-01] [ 9.28063632e-03 -2.00878032e-03 9.99954916e-01 -2.27779492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.524553574 meters Centerline goodness [0,1] 0.8529908566812323 Centerline is valid? [False, False] Translation: X:9.72, Y:0.52, Z:-2.28 [[ 9.99957438e-01 5.72059422e-04 -9.20844560e-03 9.72018365e+00] [-5.52451709e-04 9.99997575e-01 2.13172130e-03 5.22889416e-01] [ 9.20964274e-03 -2.12654335e-03 9.99955329e-01 -2.27769255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.55455357399995 meters Centerline goodness [0,1] 0.8441646756111009 Centerline is valid? [False, False] Translation: X:9.72, Y:0.52, Z:-2.28 [[ 9.99958444e-01 1.08894728e-03 -9.05117496e-03 9.71958594e+00] [-1.06841968e-03 9.99996847e-01 2.27247438e-03 5.23675668e-01] [ 9.05362103e-03 -2.26270949e-03 9.99956455e-01 -2.27742629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.584553574 meters Centerline goodness [0,1] 0.8464574880202691 Centerline is valid? [False, False] Translation: X:9.72, Y:0.52, Z:-2.28 [[ 9.99959399e-01 2.49145719e-03 -8.65989920e-03 9.71773519e+00] [-2.46660598e-03 9.99992813e-01 2.87918543e-03 5.24940031e-01] [ 8.66701033e-03 -2.85770798e-03 9.99958357e-01 -2.27618380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.61455357399996 meters Centerline goodness [0,1] 0.8461071901191002 Centerline is valid? [False, False] Translation: X:9.72, Y:0.53, Z:-2.28 [[ 9.99958531e-01 3.06526222e-03 -8.57560675e-03 9.71733578e+00] [-3.03965955e-03 9.99990889e-01 2.99696459e-03 5.25633787e-01] [ 8.58471510e-03 -2.97077338e-03 9.99958738e-01 -2.27601315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.644553574 meters Centerline goodness [0,1] 0.8460422405876952 Centerline is valid? [False, False] Translation: X:9.72, Y:0.53, Z:-2.28 [[ 9.99956457e-01 3.63301572e-03 -8.59570350e-03 9.71735876e+00] [-3.60663480e-03 9.99988745e-01 3.08259528e-03 5.26389496e-01] [ 8.60680588e-03 -3.05145949e-03 9.99958305e-01 -2.27617986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.67455357399996 meters Centerline goodness [0,1] 0.8441828000440836 Centerline is valid? [False, False] Translation: X:9.72, Y:0.53, Z:-2.28 [[ 9.99929178e-01 8.31146602e-03 -8.51810679e-03 9.71699799e+00] [-8.24790462e-03 9.99938083e-01 7.47007682e-03 5.26350329e-01] [ 8.57966666e-03 -7.39929125e-03 9.99935818e-01 -2.27570137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.704553574 meters Centerline goodness [0,1] 0.8446222450589984 Centerline is valid? [False, False] Translation: X:9.72, Y:0.53, Z:-2.28 [[ 9.99924219e-01 8.81875597e-03 -8.58988355e-03 9.71734489e+00] [-8.75330076e-03 9.99932594e-01 7.62805532e-03 5.26730619e-01] [ 8.65657450e-03 -7.55228743e-03 9.99934011e-01 -2.27610010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.73455357399996 meters Centerline goodness [0,1] 0.8439483999190298 Centerline is valid? [False, False] Translation: X:9.72, Y:0.53, Z:-2.28 [[ 9.99911440e-01 1.00707845e-02 -8.70002838e-03 9.71751063e+00] [-9.99937427e-03 9.99916277e-01 8.21291189e-03 5.27196746e-01] [ 8.78201045e-03 -8.12518972e-03 9.99928426e-01 -2.27650524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.764553574 meters Centerline goodness [0,1] 0.8464468406138446 Centerline is valid? [False, False] Translation: X:9.72, Y:0.53, Z:-2.28 [[ 9.99908333e-01 1.02442853e-02 -8.85329527e-03 9.71819759e+00] [-1.01712758e-02 9.99914216e-01 8.25264344e-03 5.27170462e-01] [ 8.93707823e-03 -8.16183764e-03 9.99926754e-01 -2.27703990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.79455357399996 meters Centerline goodness [0,1] 0.8441831706011554 Centerline is valid? [False, False] Translation: X:9.72, Y:0.53, Z:-2.28 [[ 9.99905646e-01 1.03382711e-02 -9.04538212e-03 9.71888913e+00] [-1.02623887e-02 9.99912094e-01 8.39565775e-03 5.26619501e-01] [ 9.13138356e-03 -8.30203836e-03 9.99923844e-01 -2.27736224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.824553574 meters Centerline goodness [0,1] 0.8428375574329332 Centerline is valid? [False, False] Translation: X:9.72, Y:0.53, Z:-2.28 [[ 9.99900933e-01 1.06092923e-02 -9.25028011e-03 9.71956858e+00] [-1.05273211e-02 9.99905284e-01 8.86558726e-03 5.25000173e-01] [ 9.34346157e-03 -8.76732830e-03 9.99917913e-01 -2.27753095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.85455357399997 meters Centerline goodness [0,1] 0.841034501978708 Centerline is valid? [False, False] Translation: X:9.72, Y:0.53, Z:-2.28 [[ 9.99926041e-01 7.97202735e-03 -9.18470326e-03 9.71908834e+00] [-7.92064218e-03 9.99952852e-01 5.61750397e-03 5.25242770e-01] [ 9.22905312e-03 -5.54433976e-03 9.99942041e-01 -2.27774701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.884553574 meters Centerline goodness [0,1] 0.8422849467380558 Centerline is valid? [False, False] Translation: X:9.72, Y:0.52, Z:-2.28 [[ 9.99923425e-01 8.14765368e-03 -9.31444563e-03 9.71944230e+00] [-8.09109048e-03 9.99948696e-01 6.09427171e-03 5.23583016e-01] [ 9.36362178e-03 -6.01844102e-03 9.99938049e-01 -2.27748071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.91455357399997 meters Centerline goodness [0,1] 0.8434428373883469 Centerline is valid? [False, False] Translation: X:9.72, Y:0.52, Z:-2.28 [[ 9.99942647e-01 5.58404711e-03 -9.13896519e-03 9.71849504e+00] [-5.55789273e-03 9.99980394e-01 2.88475279e-03 5.24125749e-01] [ 9.15489460e-03 -2.83379395e-03 9.99954078e-01 -2.27737325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.944553574 meters Centerline goodness [0,1] 0.8407419191824664 Centerline is valid? [False, False] Translation: X:9.72, Y:0.52, Z:-2.28 [[ 9.99941424e-01 5.55341584e-03 -9.29024675e-03 9.71913429e+00] [-5.52565463e-03 9.99980200e-01 3.01121421e-03 5.23492911e-01] [ 9.30678533e-03 -2.95970313e-03 9.99952311e-01 -2.27762516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.97455357399997 meters Centerline goodness [0,1] 0.8434996803429732 Centerline is valid? [False, False] Translation: X:9.72, Y:0.52, Z:-2.28 [[ 9.99941428e-01 5.36778935e-03 -9.39829909e-03 9.71980113e+00] [-5.33591583e-03 9.99979939e-01 3.41321037e-03 5.21368356e-01] [ 9.41643194e-03 -3.36286192e-03 9.99950010e-01 -2.27769715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.004553574 meters Centerline goodness [0,1] 0.8443319914217992 Centerline is valid? [False, False] Translation: X:9.72, Y:0.52, Z:-2.28 [[ 9.99940675e-01 5.14119465e-03 -9.60286134e-03 9.72065659e+00] [-5.10731025e-03 9.99980657e-01 3.54977006e-03 5.20189660e-01] [ 9.62092565e-03 -3.50051468e-03 9.99947591e-01 -2.27795312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.034553574 meters Centerline goodness [0,1] 0.8443319914217992 Centerline is valid? [False, False] Translation: X:9.72, Y:0.52, Z:-2.28 [[ 9.99940675e-01 5.14119465e-03 -9.60286134e-03 9.72065659e+00] [-5.10731025e-03 9.99980657e-01 3.54977006e-03 5.20189660e-01] [ 9.62092565e-03 -3.50051468e-03 9.99947591e-01 -2.27795312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.064553574 meters Centerline goodness [0,1] 0.8444717677102053 Centerline is valid? [False, False] Translation: X:9.72, Y:0.52, Z:-2.28 [[ 9.99940900e-01 4.53293786e-03 -9.88176661e-03 9.72218926e+00] [-4.49782817e-03 9.99983504e-01 3.57231036e-03 5.18030499e-01] [ 9.89779666e-03 -3.52765274e-03 9.99944793e-01 -2.27865690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.094553574 meters Centerline goodness [0,1] 0.8428782595512432 Centerline is valid? [False, False] Translation: X:9.72, Y:0.52, Z:-2.28 [[ 9.99939163e-01 4.04518643e-03 -1.02618951e-02 9.72385425e+00] [-4.01008049e-03 9.99986045e-01 3.43927273e-03 5.17055642e-01] [ 1.02756644e-02 -3.39791247e-03 9.99941431e-01 -2.27955628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.124553574 meters Centerline goodness [0,1] 0.8427755318947029 Centerline is valid? [False, False] Translation: X:9.73, Y:0.52, Z:-2.28 [[ 9.99937154e-01 3.64430618e-03 -1.06022678e-02 9.72539106e+00] [-3.60958151e-03 9.99988065e-01 3.29250529e-03 5.16141203e-01] [ 1.06141401e-02 -3.25402862e-03 9.99938374e-01 -2.28051237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.154553574 meters Centerline goodness [0,1] 0.844225621414914 Centerline is valid? [False, False] Translation: X:9.73, Y:0.51, Z:-2.28 [[ 9.99942190e-01 1.61741716e-04 -1.07513372e-02 9.72623095e+00] [-1.61401731e-04 9.99999986e-01 3.24902943e-05 5.14259918e-01] [ 1.07513423e-02 -3.07531316e-05 9.99942202e-01 -2.28134698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.184553574 meters Centerline goodness [0,1] 0.840933902817414 Centerline is valid? [False, False] Translation: X:9.73, Y:0.51, Z:-2.28 [[ 9.99940328e-01 -3.40126267e-05 -1.09242742e-02 9.72692518e+00] [ 3.85675410e-05 9.99999912e-01 4.16743092e-04 5.12577377e-01] [ 1.09242590e-02 -4.17139547e-04 9.99940241e-01 -2.28141176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.214553574 meters Centerline goodness [0,1] 0.8404193920738745 Centerline is valid? [False, False] Translation: X:9.73, Y:0.51, Z:-2.28 [[ 9.99933022e-01 -1.20166605e-03 -1.15111700e-02 9.72967917e+00] [ 1.20599450e-03 9.99999205e-01 3.69087501e-04 5.09564627e-01] [ 1.15107173e-02 -3.82945188e-04 9.99933676e-01 -2.28268714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.24455357399995 meters Centerline goodness [0,1] 0.8454153869927179 Centerline is valid? [False, False] Translation: X:9.73, Y:0.51, Z:-2.28 [[ 9.99928364e-01 -1.59767728e-03 -1.18622975e-02 9.73102739e+00] [ 1.60608838e-03 9.99998466e-01 6.99569358e-04 5.07564685e-01] [ 1.18611616e-02 -7.18571142e-04 9.99929396e-01 -2.28308480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.274553574 meters Centerline goodness [0,1] 0.8386684235002325 Centerline is valid? [False, False] Translation: X:9.73, Y:0.51, Z:-2.28 [[ 9.99920916e-01 -2.26342821e-03 -1.23708798e-02 9.73299851e+00] [ 2.27444228e-03 9.99997029e-01 8.76326232e-04 5.05330291e-01] [ 1.23688595e-02 -9.04393780e-04 9.99923094e-01 -2.28377244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.30455357399995 meters Centerline goodness [0,1] 0.8382241113732525 Centerline is valid? [False, False] Translation: X:9.74, Y:0.50, Z:-2.29 [[ 9.99890866e-01 -6.96363768e-03 -1.30293591e-02 9.73577738e+00] [ 6.92725092e-03 9.99971986e-01 -2.83572484e-03 5.02085241e-01] [ 1.30487410e-02 2.74515773e-03 9.99911093e-01 -2.28531504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.334553574 meters Centerline goodness [0,1] 0.8464549208399381 Centerline is valid? [False, False] Translation: X:9.74, Y:0.50, Z:-2.29 [[ 9.99882152e-01 -7.52744783e-03 -1.33798500e-02 9.73701397e+00] [ 7.49549505e-03 9.99968940e-01 -2.43667208e-03 4.99752353e-01] [ 1.33977764e-02 2.33609632e-03 9.99907517e-01 -2.28534560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.36455357399996 meters Centerline goodness [0,1] 0.8444658742029442 Centerline is valid? [False, False] Translation: X:9.74, Y:0.50, Z:-2.29 [[ 9.99862048e-01 -9.15562675e-03 -1.38585572e-02 9.73941006e+00] [ 9.12414527e-03 9.99955652e-01 -2.33315382e-03 4.95808535e-01] [ 1.38793041e-02 2.20638447e-03 9.99901244e-01 -2.28564961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.394553574 meters Centerline goodness [0,1] 0.8530520416017051 Centerline is valid? [False, False] Translation: X:9.74, Y:0.49, Z:-2.29 [[ 9.99854668e-01 -9.55749453e-03 -1.41172315e-02 9.74034470e+00] [ 9.53063529e-03 9.99952645e-01 -1.96864003e-03 4.94021722e-01] [ 1.41353782e-02 1.83380774e-03 9.99898409e-01 -2.28558473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.42455357399996 meters Centerline goodness [0,1] 0.8381769754365197 Centerline is valid? [False, False] Translation: X:9.74, Y:0.49, Z:-2.29 [[ 9.99846186e-01 -9.98777908e-03 -1.44169485e-02 9.74151623e+00] [ 9.96427287e-03 9.99948908e-01 -1.70136978e-03 4.92492667e-01] [ 1.44332048e-02 1.55745367e-03 9.99894623e-01 -2.28567937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.454553574 meters Centerline goodness [0,1] 0.8417507748549631 Centerline is valid? [False, False] Translation: X:9.74, Y:0.49, Z:-2.28 [[ 9.99842017e-01 -1.02954637e-02 -1.44894296e-02 9.74163629e+00] [ 1.02830681e-02 9.99946696e-01 -9.29742143e-04 4.89796726e-01] [ 1.44982294e-02 7.80599469e-04 9.99894590e-01 -2.28463377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.48455357399996 meters Centerline goodness [0,1] 0.8494077834179357 Centerline is valid? [False, False] Translation: X:9.74, Y:0.49, Z:-2.29 [[ 9.99832889e-01 -1.07176647e-02 -1.48096787e-02 9.74316416e+00] [ 1.07035464e-02 9.99942183e-01 -1.03225286e-03 4.88994762e-01] [ 1.48198858e-02 8.73564273e-04 9.99889798e-01 -2.28538318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.514553574 meters Centerline goodness [0,1] 0.8478840718181456 Centerline is valid? [False, False] Translation: X:9.74, Y:0.49, Z:-2.29 [[ 9.99834019e-01 -1.04580798e-02 -1.49185439e-02 9.74367610e+00] [ 1.04490352e-02 9.99945173e-01 -6.84085658e-04 4.88262764e-01] [ 1.49248801e-02 5.28087723e-04 9.99888478e-01 -2.28576192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.54455357399996 meters Centerline goodness [0,1] 0.8512498755104073 Centerline is valid? [False, False] Translation: X:9.75, Y:0.49, Z:-2.29 [[ 9.99849799e-01 -7.59443145e-03 -1.55789492e-02 9.74637766e+00] [ 7.64156268e-03 9.99966398e-01 2.96802077e-03 4.86857558e-01] [ 1.55558852e-02 -3.08662249e-03 9.99874236e-01 -2.28658149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.574553574 meters Centerline goodness [0,1] 0.853428696656971 Centerline is valid? [False, False] Translation: X:9.75, Y:0.49, Z:-2.29 [[ 9.99851830e-01 -7.28617446e-03 -1.55958054e-02 9.74663577e+00] [ 7.33469223e-03 9.99968431e-01 3.05601493e-03 4.87057012e-01] [ 1.55730464e-02 -3.16995256e-03 9.99873708e-01 -2.28703149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.60455357399997 meters Centerline goodness [0,1] 0.8531031730193575 Centerline is valid? [False, False] Translation: X:9.76, Y:0.49, Z:-2.29 [[ 9.99937961e-01 -2.33292139e-03 -1.08918603e-02 9.76283034e+00] [ 2.30517183e-03 9.99994067e-01 -2.55959313e-03 4.87040282e-01] [ 1.08977670e-02 2.53432673e-03 9.99937406e-01 -2.29277469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.634553574 meters Centerline goodness [0,1] 0.8521929824561404 Centerline is valid? [False, False] Translation: X:9.76, Y:0.49, Z:-2.29 [[ 9.99942607e-01 -1.32332519e-03 -1.06316613e-02 9.76157015e+00] [ 1.30432978e-03 9.99997541e-01 -1.79341830e-03 4.86850290e-01] [ 1.06340084e-02 1.77944818e-03 9.99941874e-01 -2.29194575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.66455357399997 meters Centerline goodness [0,1] 0.8535420164707763 Centerline is valid? [False, False] Translation: X:9.76, Y:0.49, Z:-2.29 [[ 9.99937788e-01 3.17679445e-03 -1.06924206e-02 9.76168301e+00] [-3.14575412e-03 9.99990793e-01 2.91858917e-03 4.85116312e-01] [ 1.07015939e-02 -2.88477188e-03 9.99938575e-01 -2.29139073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.694553574 meters Centerline goodness [0,1] 0.850583906574948 Centerline is valid? [False, False] Translation: X:9.76, Y:0.49, Z:-2.29 [[ 9.99936412e-01 3.75307062e-03 -1.06342142e-02 9.76156056e+00] [-3.72003681e-03 9.99988199e-01 3.12444996e-03 4.85203064e-01] [ 1.06458149e-02 -3.08469162e-03 9.99938574e-01 -2.29164998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.72455357399997 meters Centerline goodness [0,1] 0.8479110309588218 Centerline is valid? [False, False] Translation: X:9.76, Y:0.48, Z:-2.29 [[ 9.99932329e-01 5.14115073e-03 -1.04357979e-02 9.76074517e+00] [-5.09835338e-03 9.99978502e-01 4.12348274e-03 4.84040036e-01] [ 1.04567730e-02 -4.06999831e-03 9.99937044e-01 -2.29152328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.754553574 meters Centerline goodness [0,1] 0.8474845294543116 Centerline is valid? [False, False] Translation: X:9.76, Y:0.48, Z:-2.29 [[ 9.99929892e-01 5.50002407e-03 -1.04862657e-02 9.76097121e+00] [-5.45287318e-03 9.99974919e-01 4.51974409e-03 4.83105452e-01] [ 1.05108613e-02 -4.46224695e-03 9.99934803e-01 -2.29160339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.784553574 meters Centerline goodness [0,1] 0.8434871836143415 Centerline is valid? [False, False] Translation: X:9.76, Y:0.48, Z:-2.29 [[ 9.99927673e-01 5.81484269e-03 -1.05278718e-02 9.76127066e+00] [-5.76365441e-03 9.99971453e-01 4.88599686e-03 4.82017008e-01] [ 1.05559826e-02 -4.82496446e-03 9.99932643e-01 -2.29183528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.814553574 meters Centerline goodness [0,1] 0.8418275548367533 Centerline is valid? [False, False] Translation: X:9.76, Y:0.48, Z:-2.29 [[ 9.99922825e-01 7.11975795e-03 -1.01809886e-02 9.75996677e+00] [-7.05484781e-03 9.99954650e-01 6.39738590e-03 4.78452773e-01] [ 1.02260747e-02 -6.32506686e-03 9.99927708e-01 -2.29095335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.844553574 meters Centerline goodness [0,1] 0.8340381619149755 Centerline is valid? [False, False] Translation: X:9.76, Y:0.48, Z:-2.29 [[ 9.99920072e-01 7.51774502e-03 -1.01652709e-02 9.76003619e+00] [-7.44678848e-03 9.99947770e-01 7.00021639e-03 4.76851918e-01] [ 1.02173658e-02 -6.92395825e-03 9.99923829e-01 -2.29090556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.874553574 meters Centerline goodness [0,1] 0.8407041910331384 Centerline is valid? [False, False] Translation: X:9.76, Y:0.47, Z:-2.29 [[ 9.99914179e-01 8.60880348e-03 -9.87541910e-03 9.75924737e+00] [-8.52864610e-03 9.99930577e-01 8.13045665e-03 4.74438820e-01] [ 9.94472702e-03 -8.04553493e-03 9.99918183e-01 -2.29073280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.904553574 meters Centerline goodness [0,1] 0.8375956996253462 Centerline is valid? [False, False] Translation: X:9.76, Y:0.47, Z:-2.29 [[ 9.99912599e-01 8.88672421e-03 -9.78875056e-03 9.75923521e+00] [-8.80341758e-03 9.99924944e-01 8.52090863e-03 4.73301273e-01] [ 9.86373882e-03 -8.43398944e-03 9.99915784e-01 -2.29083339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.934553574 meters Centerline goodness [0,1] 0.8353078148617182 Centerline is valid? [False, False] Translation: X:9.76, Y:0.47, Z:-2.29 [[ 9.99911134e-01 9.07104191e-03 -9.76931052e-03 9.75939663e+00] [-8.98328820e-03 9.99919243e-01 8.98932073e-03 4.71718276e-01] [ 9.85006409e-03 -8.90076136e-03 9.99911872e-01 -2.29083543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.964553574 meters Centerline goodness [0,1] 0.8328732696110746 Centerline is valid? [False, False] Translation: X:9.76, Y:0.47, Z:-2.29 [[ 9.99937344e-01 6.31902023e-03 -9.23999014e-03 9.75835357e+00] [-6.26207665e-03 9.99961304e-01 6.17873193e-03 4.68615056e-01] [ 9.27867612e-03 -6.12048327e-03 9.99938221e-01 -2.29123840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99455357399995 meters Centerline goodness [0,1] 0.8286150860021888 Centerline is valid? [False, False] Translation: X:9.76, Y:0.47, Z:-2.29 [[ 9.99954128e-01 2.77203354e-03 -9.16830975e-03 9.75876963e+00] [-2.75025720e-03 9.99993369e-01 2.38693081e-03 4.67848558e-01] [ 9.17486561e-03 -2.36160610e-03 9.99955121e-01 -2.29244061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.024553574 meters Centerline goodness [0,1] 0.8317945518818881 Centerline is valid? [False, False] Translation: X:9.76, Y:0.46, Z:-2.29 [[ 9.99951393e-01 -1.82826585e-03 -9.68863481e-03 9.76154556e+00] [ 1.81739856e-03 9.99997710e-01 -1.13033860e-03 4.63984734e-01] [ 9.69067918e-03 1.11267554e-03 9.99952425e-01 -2.29421691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.05455357399995 meters Centerline goodness [0,1] 0.8276589522934247 Centerline is valid? [False, False] Translation: X:9.76, Y:0.46, Z:-2.30 [[ 9.99940950e-01 -3.06902674e-03 -1.04248637e-02 9.76454413e+00] [ 3.05803054e-03 9.99994751e-01 -1.07058195e-03 4.61078908e-01] [ 1.04280946e-02 1.03863918e-03 9.99945087e-01 -2.29501613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.084553574 meters Centerline goodness [0,1] 0.8310009636736917 Centerline is valid? [False, False] Translation: X:9.77, Y:0.46, Z:-2.30 [[ 9.99928982e-01 -4.33296021e-03 -1.11020634e-02 9.76734381e+00] [ 4.32322943e-03 9.99990249e-01 -9.00333268e-04 4.58108435e-01] [ 1.11058563e-02 8.52272561e-04 9.99937965e-01 -2.29554170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.11455357399996 meters Centerline goodness [0,1] 0.8366450577528137 Centerline is valid? [False, False] Translation: X:9.77, Y:0.45, Z:-2.30 [[ 9.99879286e-01 -9.92074564e-03 -1.19579121e-02 9.77139808e+00] [ 9.86358448e-03 9.99939690e-01 -4.82973183e-03 4.54330813e-01] [ 1.20051055e-02 4.71120094e-03 9.99916838e-01 -2.29731973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.144553574 meters Centerline goodness [0,1] 0.8297272071613423 Centerline is valid? [False, False] Translation: X:9.77, Y:0.45, Z:-2.30 [[ 9.99799735e-01 -1.54604045e-02 -1.27069153e-02 9.77494634e+00] [ 1.53513591e-02 9.99844876e-01 -8.63477873e-03 4.50189212e-01] [ 1.28384413e-02 8.43798106e-03 9.99881980e-01 -2.29850941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.17455357399996 meters Centerline goodness [0,1] 0.8324601754834313 Centerline is valid? [False, False] Translation: X:9.78, Y:0.45, Z:-2.30 [[ 9.99767775e-01 -1.68280412e-02 -1.34615214e-02 9.77801342e+00] [ 1.67136638e-02 9.99823636e-01 -8.56447611e-03 4.47485399e-01] [ 1.36032707e-02 8.33749588e-03 9.99872710e-01 -2.29903169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.204553574 meters Centerline goodness [0,1] 0.8410632760165551 Centerline is valid? [False, False] Translation: X:9.78, Y:0.45, Z:-2.30 [[ 9.99731191e-01 -1.82572425e-02 -1.42905496e-02 9.78139125e+00] [ 1.81348061e-02 9.99798125e-01 -8.65086407e-03 4.45109796e-01] [ 1.44456057e-02 8.38938229e-03 9.99860462e-01 -2.29991244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.23455357399996 meters Centerline goodness [0,1] 0.8391503575863989 Centerline is valid? [False, False] Translation: X:9.79, Y:0.44, Z:-2.30 [[ 0.99960677 -0.02365421 -0.01505907 9.78536932] [ 0.02345926 0.99964035 -0.01299334 0.44299172] [ 0.015361 0.01263496 0.99980218 -2.30202959] [ 0. 0. 0. 1. ]] SLAMing on 299.264553574 meters Centerline goodness [0,1] 0.8392581475128644 Centerline is valid? [False, False] Translation: X:9.79, Y:0.44, Z:-2.30 [[ 0.99957411 -0.02457703 -0.01573425 9.78812775] [ 0.02437287 0.99961791 -0.01303859 0.44151355] [ 0.01604869 0.01264955 0.99979119 -2.30292987] [ 0. 0. 0. 1. ]] SLAMing on 299.29455357399996 meters Centerline goodness [0,1] 0.8454615748099146 Centerline is valid? [False, False] Translation: X:9.79, Y:0.44, Z:-2.30 [[ 0.99952018 -0.02603332 -0.01678324 9.79223901] [ 0.02581571 0.99958147 -0.01305508 0.43930342] [ 0.01711609 0.01261554 0.99977392 -2.30392642] [ 0. 0. 0. 1. ]] SLAMing on 299.324553574 meters Centerline goodness [0,1] 0.8428599067047873 Centerline is valid? [False, False] Translation: X:9.80, Y:0.44, Z:-2.30 [[ 9.99557786e-01 -2.39383613e-02 -1.76405172e-02 9.79576889e+00] [ 2.37762611e-02 9.99673653e-01 -9.34225446e-03 4.36951370e-01] [ 1.78583985e-02 8.91869764e-03 9.99800747e-01 -2.30414994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.35455357399997 meters Centerline goodness [0,1] 0.8352113887574728 Centerline is valid? [False, False] Translation: X:9.80, Y:0.43, Z:-2.30 [[ 9.99601718e-01 -2.15273613e-02 -1.82477015e-02 9.79843563e+00] [ 2.14325978e-02 9.99755858e-01 -5.37294520e-03 4.34193149e-01] [ 1.83589118e-02 4.97970961e-03 9.99819060e-01 -2.30398159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.384553574 meters Centerline goodness [0,1] 0.8516895174349562 Centerline is valid? [False, False] Translation: X:9.80, Y:0.43, Z:-2.30 [[ 9.99626910e-01 -1.95042254e-02 -1.91213285e-02 9.80215050e+00] [ 1.94778487e-02 9.99809064e-01 -1.56472524e-03 4.31060757e-01] [ 1.91481963e-02 1.19169912e-03 9.99815946e-01 -2.30396803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.41455357399997 meters Centerline goodness [0,1] 0.847053229884809 Centerline is valid? [False, False] Translation: X:9.81, Y:0.43, Z:-2.30 [[ 9.99658873e-01 -1.67767976e-02 -2.00168872e-02 9.80559769e+00] [ 1.68258063e-02 9.99855831e-01 2.28245624e-03 4.29368117e-01] [ 1.99757090e-02 -2.61847790e-03 9.99797037e-01 -2.30442089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.444553574 meters Centerline goodness [0,1] 0.8471964432166443 Centerline is valid? [False, False] Translation: X:9.82, Y:0.43, Z:-2.31 [[ 9.99799891e-01 -1.43524876e-02 -1.39349720e-02 9.82068434e+00] [ 1.42894312e-02 9.99887255e-01 -4.61411840e-03 4.30292408e-01] [ 1.39996250e-02 4.41407225e-03 9.99892257e-01 -2.31039496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.47455357399997 meters Centerline goodness [0,1] 0.8538494716411473 Centerline is valid? [False, False] Translation: X:9.82, Y:0.43, Z:-2.31 [[ 9.99834845e-01 -1.09513919e-02 -1.45034687e-02 9.82234202e+00] [ 1.09501915e-02 9.99940032e-01 -1.62173351e-04 4.28624629e-01] [ 1.45043750e-02 3.33080616e-06 9.99894806e-01 -2.30964349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.504553574 meters Centerline goodness [0,1] 0.8442539996985422 Centerline is valid? [False, False] Translation: X:9.82, Y:0.43, Z:-2.31 [[ 9.99859418e-01 -7.44748542e-03 -1.50226548e-02 9.82386756e+00] [ 7.51198214e-03 9.99962789e-01 4.24144710e-03 4.27117349e-01] [ 1.49905077e-02 -4.35370074e-03 9.99878158e-01 -2.30896160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.534553574 meters Centerline goodness [0,1] 0.8328816038547582 Centerline is valid? [False, False] Translation: X:9.82, Y:0.43, Z:-2.31 [[ 9.99866026e-01 -6.47021780e-03 -1.50354989e-02 9.82379158e+00] [ 6.53357939e-03 9.99969966e-01 4.16883993e-03 4.28339018e-01] [ 1.50080740e-02 -4.26651704e-03 9.99878270e-01 -2.30980594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.564553574 meters Centerline goodness [0,1] 0.838727654649119 Centerline is valid? [False, False] Translation: X:9.82, Y:0.43, Z:-2.31 [[ 9.99866637e-01 -5.70303672e-03 -1.53030765e-02 9.82461582e+00] [ 5.76582757e-03 9.99975127e-01 4.06217378e-03 4.29493720e-01] [ 1.52795292e-02 -4.14986693e-03 9.99874649e-01 -2.31097023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.594553574 meters Centerline goodness [0,1] 0.8426836073314161 Centerline is valid? [False, False] Translation: X:9.82, Y:0.43, Z:-2.31 [[ 9.99868996e-01 -5.31191203e-03 -1.52896837e-02 9.82449026e+00] [ 5.37605499e-03 9.99976908e-01 4.15713869e-03 4.29936670e-01] [ 1.52672483e-02 -4.23879226e-03 9.99874464e-01 -2.31099367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.624553574 meters Centerline goodness [0,1] 0.8366396152690111 Centerline is valid? [False, False] Translation: X:9.82, Y:0.43, Z:-2.31 [[ 9.99871638e-01 -4.94534150e-03 -1.52397980e-02 9.82441339e+00] [ 5.01052999e-03 9.99978448e-01 4.24230684e-03 4.30216163e-01] [ 1.52184899e-02 -4.31812175e-03 9.99874868e-01 -2.31114079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.654553574 meters Centerline goodness [0,1] 0.8290455004620972 Centerline is valid? [False, False] Translation: X:9.84, Y:0.43, Z:-2.32 [[ 9.99947213e-01 -8.76749733e-04 -1.02372962e-02 9.84116074e+00] [ 8.61068942e-04 9.99998450e-01 -1.53603883e-03 4.31153943e-01] [ 1.02386270e-02 1.52714273e-03 9.99946418e-01 -2.31664712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.684553574 meters Centerline goodness [0,1] 0.8321928896755671 Centerline is valid? [False, False] Translation: X:9.84, Y:0.43, Z:-2.32 [[ 9.99949755e-01 -1.48051316e-04 -1.00232075e-02 9.83996246e+00] [ 1.41094161e-04 9.99999749e-01 -6.94808223e-04 4.29862230e-01] [ 1.00233078e-02 6.93359096e-04 9.99949525e-01 -2.31551873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.714553574 meters Centerline goodness [0,1] 0.824562161228324 Centerline is valid? [False, False] Translation: X:9.84, Y:0.43, Z:-2.32 [[ 9.99948930e-01 -1.70609280e-04 -1.01048415e-02 9.84058133e+00] [ 1.64617711e-04 9.99999810e-01 -5.93769168e-04 4.29527824e-01] [ 1.01049409e-02 5.92075408e-04 9.99948768e-01 -2.31579872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.74455357399995 meters Centerline goodness [0,1] 0.8285775908551709 Centerline is valid? [False, False] Translation: X:9.84, Y:0.43, Z:-2.32 [[ 9.99948099e-01 -1.14755470e-04 -1.01875907e-02 9.84099290e+00] [ 1.11029748e-04 9.99999927e-01 -3.66276577e-04 4.29300817e-01] [ 1.01876320e-02 3.65126441e-04 9.99948038e-01 -2.31579774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.774553574 meters Centerline goodness [0,1] 0.8260559268150263 Centerline is valid? [False, False] Translation: X:9.84, Y:0.43, Z:-2.32 [[ 9.99944072e-01 -5.79358764e-04 -1.05602004e-02 9.84255435e+00] [ 5.75953569e-04 9.99999781e-01 -3.25493877e-04 4.28716017e-01] [ 1.05603866e-02 3.19393488e-04 9.99944187e-01 -2.31611944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.80455357399995 meters Centerline goodness [0,1] 0.8276578702400796 Centerline is valid? [False, False] Translation: X:9.84, Y:0.43, Z:-2.32 [[ 9.99940039e-01 -9.74862553e-04 -1.09072240e-02 9.84372107e+00] [ 9.74488056e-04 9.99999524e-01 -3.96493290e-05 4.27439731e-01] [ 1.09072575e-02 2.90179921e-05 9.99940514e-01 -2.31589697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.834553574 meters Centerline goodness [0,1] 0.828450605981341 Centerline is valid? [False, False] Translation: X:9.85, Y:0.42, Z:-2.32 [[ 9.99927915e-01 -2.81777040e-03 -1.16715561e-02 9.84705303e+00] [ 2.81519549e-03 9.99996009e-01 -2.37038448e-04 4.24306850e-01] [ 1.16721774e-02 2.04163649e-04 9.99931857e-01 -2.31622817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.86455357399996 meters Centerline goodness [0,1] 0.8251867012127414 Centerline is valid? [False, False] Translation: X:9.85, Y:0.42, Z:-2.32 [[ 9.99919122e-01 -3.54905268e-03 -1.22128727e-02 9.84915014e+00] [ 3.54670993e-03 9.99993688e-01 -2.13479465e-04 4.23117426e-01] [ 1.22135532e-02 1.70146683e-04 9.99925397e-01 -2.31666321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.894553574 meters Centerline goodness [0,1] 0.8239375163626843 Centerline is valid? [False, False] Translation: X:9.85, Y:0.42, Z:-2.32 [[ 9.99910988e-01 -4.10475064e-03 -1.26951870e-02 9.85105342e+00] [ 4.10228216e-03 9.99991561e-01 -2.20477189e-04 4.22542788e-01] [ 1.26959848e-02 1.68378325e-04 9.99919389e-01 -2.31720896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.92455357399996 meters Centerline goodness [0,1] 0.8239375163626843 Centerline is valid? [False, False] Translation: X:9.85, Y:0.42, Z:-2.32 [[ 9.99910988e-01 -4.10475064e-03 -1.26951870e-02 9.85105342e+00] [ 4.10228216e-03 9.99991561e-01 -2.20477189e-04 4.22542788e-01] [ 1.26959848e-02 1.68378325e-04 9.99919389e-01 -2.31720896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.954553574 meters Centerline goodness [0,1] 0.8233945955384817 Centerline is valid? [False, False] Translation: X:9.85, Y:0.42, Z:-2.32 [[ 9.99894585e-01 -5.11313604e-03 -1.35894720e-02 9.85460951e+00] [ 5.10563832e-03 9.99986794e-01 -5.86365660e-04 4.22323542e-01] [ 1.35922908e-02 5.16920919e-04 9.99907487e-01 -2.31871000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.98455357399996 meters Centerline goodness [0,1] 0.8348910337598812 Centerline is valid? [False, False] Translation: X:9.86, Y:0.42, Z:-2.32 [[ 9.99889252e-01 -5.26645821e-03 -1.39193748e-02 9.85581480e+00] [ 5.25952542e-03 9.99986026e-01 -5.34627129e-04 4.22349933e-01] [ 1.39219958e-02 4.61358614e-04 9.99902978e-01 -2.31907937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.014553574 meters Centerline goodness [0,1] 0.8331211309654476 Centerline is valid? [False, False] Translation: X:9.86, Y:0.42, Z:-2.32 [[ 9.99884782e-01 -5.34983201e-03 -1.42056803e-02 9.85687648e+00] [ 5.34371193e-03 9.99985612e-01 -4.68741650e-04 4.22187235e-01] [ 1.42079836e-02 3.92776579e-04 9.99898984e-01 -2.31932448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.04455357399996 meters Centerline goodness [0,1] 0.8362938596491228 Centerline is valid? [False, False] Translation: X:9.86, Y:0.42, Z:-2.32 [[ 9.99879978e-01 -5.52869340e-03 -1.44728430e-02 9.85790498e+00] [ 5.52230052e-03 9.99984636e-01 -4.81642018e-04 4.21848349e-01] [ 1.44752835e-02 4.01660822e-04 9.99895147e-01 -2.31956639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.074553574 meters Centerline goodness [0,1] 0.8266001406717074 Centerline is valid? [False, False] Translation: X:9.86, Y:0.42, Z:-2.32 [[ 9.99876600e-01 -5.53462442e-03 -1.47020997e-02 9.85852742e+00] [ 5.53133477e-03 9.99984667e-01 -2.64407989e-04 4.21799680e-01] [ 1.47033377e-02 1.83053126e-04 9.99891883e-01 -2.31924804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.10455357399997 meters Centerline goodness [0,1] 0.8272870662460567 Centerline is valid? [False, False] Translation: X:9.86, Y:0.42, Z:-2.32 [[ 9.99875046e-01 -5.49533224e-03 -1.48220475e-02 9.85903739e+00] [ 5.49142686e-03 9.99984876e-01 -3.04171493e-04 4.22448267e-01] [ 1.48234949e-02 2.22739295e-04 9.99890101e-01 -2.31948428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.134553574 meters Centerline goodness [0,1] 0.8197152245345016 Centerline is valid? [False, False] Translation: X:9.86, Y:0.42, Z:-2.32 [[ 9.99874918e-01 -5.34090609e-03 -1.48870318e-02 9.85924024e+00] [ 5.33847430e-03 9.99985730e-01 -2.03083907e-04 4.23060718e-01] [ 1.48879040e-02 1.23584468e-04 9.99889161e-01 -2.31941301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.16455357399997 meters Centerline goodness [0,1] 0.8242463958060289 Centerline is valid? [False, False] Translation: X:9.86, Y:0.42, Z:-2.32 [[ 9.99876994e-01 -4.96238265e-03 -1.48785893e-02 9.85887743e+00] [ 4.96428893e-03 9.99987674e-01 9.11918991e-05 4.23677521e-01] [ 1.48779534e-02 -1.65042298e-04 9.99889304e-01 -2.31862126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.194553574 meters Centerline goodness [0,1] 0.8288262685000984 Centerline is valid? [False, False] Translation: X:9.86, Y:0.42, Z:-2.32 [[ 9.99880087e-01 -4.59650640e-03 -1.47879501e-02 9.85849393e+00] [ 4.60150455e-03 9.99989367e-01 3.03980185e-04 4.24156914e-01] [ 1.47863956e-02 -3.71990554e-04 9.99890606e-01 -2.31832777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.22455357399997 meters Centerline goodness [0,1] 0.8239310645724258 Centerline is valid? [False, False] Translation: X:9.86, Y:0.42, Z:-2.32 [[ 9.99879628e-01 -1.58731794e-03 -1.54340691e-02 9.86081009e+00] [ 1.64550169e-03 9.99991585e-01 3.75785739e-03 4.24637729e-01] [ 1.54279743e-02 -3.78280183e-03 9.99873826e-01 -2.31842395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.254553574 meters Centerline goodness [0,1] 0.824285122254455 Centerline is valid? [False, False] Translation: X:9.86, Y:0.43, Z:-2.32 [[ 9.99881897e-01 -1.20795742e-03 -1.53209745e-02 9.86028947e+00] [ 1.26646186e-03 9.99991942e-01 3.80945765e-03 4.25363802e-01] [ 1.53162494e-02 -3.82841117e-03 9.99875370e-01 -2.31814863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.284553574 meters Centerline goodness [0,1] 0.8309697035508742 Centerline is valid? [False, False] Translation: X:9.86, Y:0.43, Z:-2.32 [[ 9.99881291e-01 -1.08200522e-03 -1.53698829e-02 9.86058495e+00] [ 1.13841736e-03 9.99992647e-01 3.66202909e-03 4.26290321e-01] [ 1.53658076e-02 -3.67909172e-03 9.99875170e-01 -2.31835773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.314553574 meters Centerline goodness [0,1] 0.8325830050647158 Centerline is valid? [False, False] Translation: X:9.86, Y:0.43, Z:-2.32 [[ 9.99884604e-01 -4.38656384e-04 -1.51850490e-02 9.86002338e+00] [ 4.91788487e-04 9.99993770e-01 3.49541747e-03 4.28401616e-01] [ 1.51834211e-02 -3.50248195e-03 9.99878591e-01 -2.31860389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.344553574 meters Centerline goodness [0,1] 0.8275802292574054 Centerline is valid? [False, False] Translation: X:9.86, Y:0.43, Z:-2.32 [[ 9.99885048e-01 -1.28343581e-04 -1.51615983e-02 9.85987873e+00] [ 1.81435055e-04 9.99993857e-01 3.50038337e-03 4.28982962e-01] [ 1.51610559e-02 -3.50273184e-03 9.99878929e-01 -2.31858013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.374553574 meters Centerline goodness [0,1] 0.8292603876320737 Centerline is valid? [False, False] Translation: X:9.86, Y:0.43, Z:-2.32 [[ 9.99884284e-01 3.73010840e-04 -1.52078510e-02 9.86000090e+00] [-3.20281930e-04 9.99993930e-01 3.46950450e-03 4.29695019e-01] [ 1.52090529e-02 -3.46423222e-03 9.99878335e-01 -2.31890128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.404553574 meters Centerline goodness [0,1] 0.8213659866300327 Centerline is valid? [False, False] Translation: X:9.86, Y:0.43, Z:-2.32 [[ 9.99884398e-01 6.69373088e-04 -1.51902268e-02 9.86004131e+00] [-6.18258491e-04 9.99994132e-01 3.36941261e-03 4.30457066e-01] [ 1.51923930e-02 -3.35963161e-03 9.99878945e-01 -2.31926001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.434553574 meters Centerline goodness [0,1] 0.8228517184095273 Centerline is valid? [False, False] Translation: X:9.86, Y:0.43, Z:-2.32 [[ 9.99881155e-01 1.42705263e-03 -1.53505206e-02 9.86061300e+00] [-1.37576400e-03 9.99993438e-01 3.35120721e-03 4.31866989e-01] [ 1.53552022e-02 -3.32969025e-03 9.99876558e-01 -2.32029400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.464553574 meters Centerline goodness [0,1] 0.8218741246687208 Centerline is valid? [False, False] Translation: X:9.86, Y:0.43, Z:-2.32 [[ 9.99878799e-01 1.51555167e-03 -1.54948281e-02 9.86149057e+00] [-1.46578225e-03 9.99993732e-01 3.22285442e-03 4.32273541e-01] [ 1.54996154e-02 -3.19975177e-03 9.99874754e-01 -2.32113414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49455357399995 meters Centerline goodness [0,1] 0.8142394122731201 Centerline is valid? [False, False] Translation: X:9.86, Y:0.43, Z:-2.32 [[ 9.99879756e-01 2.26661349e-03 -1.53406804e-02 9.86123579e+00] [-2.21544064e-03 9.99991928e-01 3.35193420e-03 4.32727946e-01] [ 1.53481541e-02 -3.31754478e-03 9.99876706e-01 -2.32176543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.524553574 meters Centerline goodness [0,1] 0.8162431941923776 Centerline is valid? [False, False] Translation: X:9.86, Y:0.43, Z:-2.32 [[ 9.99877592e-01 2.40045043e-03 -1.54608972e-02 9.86198757e+00] [-2.34927070e-03 9.99991704e-01 3.32758039e-03 4.32696981e-01] [ 1.54687567e-02 -3.29085123e-03 9.99874936e-01 -2.32248108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.55455357399995 meters Centerline goodness [0,1] 0.8159641876257001 Centerline is valid? [False, False] Translation: X:9.86, Y:0.43, Z:-2.32 [[ 9.99877577e-01 2.75083709e-03 -1.54033621e-02 9.86196197e+00] [-2.69854994e-03 9.99990530e-01 3.41428522e-03 4.32807702e-01] [ 1.54126083e-02 -3.37230049e-03 9.99875532e-01 -2.32279269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.584553574 meters Centerline goodness [0,1] 0.8112495935840468 Centerline is valid? [False, False] Translation: X:9.88, Y:0.43, Z:-2.33 [[ 9.99917906e-01 7.04760516e-03 -1.07010209e-02 9.87945704e+00] [-7.07462375e-03 9.99971877e-01 -2.48910867e-03 4.33806278e-01] [ 1.06831777e-02 2.56461002e-03 9.99939644e-01 -2.32913662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.61455357399996 meters Centerline goodness [0,1] 0.8079503267406265 Centerline is valid? [False, False] Translation: X:9.88, Y:0.43, Z:-2.33 [[ 9.99915493e-01 7.54764067e-03 -1.05849066e-02 9.87921389e+00] [-7.57306541e-03 9.99968530e-01 -2.36395906e-03 4.34156680e-01] [ 1.05667311e-02 2.44391948e-03 9.99941184e-01 -2.32945946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.644553574 meters Centerline goodness [0,1] 0.8039582020812062 Centerline is valid? [False, False] Translation: X:9.88, Y:0.43, Z:-2.33 [[ 9.99911456e-01 8.24011766e-03 -1.04489733e-02 9.87898788e+00] [-8.26261790e-03 9.99963634e-01 -2.11200579e-03 4.34248833e-01] [ 1.04311901e-02 2.19815466e-03 9.99943178e-01 -2.32966871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.67455357399996 meters Centerline goodness [0,1] 0.8075987313724639 Centerline is valid? [False, False] Translation: X:9.88, Y:0.43, Z:-2.33 [[ 9.99909274e-01 8.55216830e-03 -1.04069268e-02 9.87877775e+00] [-8.57015304e-03 9.99961856e-01 -1.68478248e-03 4.33746384e-01] [ 1.03921213e-02 1.77381858e-03 9.99944427e-01 -2.32927374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.704553574 meters Centerline goodness [0,1] 0.815543254097471 Centerline is valid? [False, False] Translation: X:9.88, Y:0.43, Z:-2.33 [[ 9.99907740e-01 8.59793769e-03 -1.05159927e-02 9.87935773e+00] [-8.61278399e-03 9.99961974e-01 -1.36731049e-03 4.32650735e-01] [ 1.05038368e-02 1.45775632e-03 9.99943771e-01 -2.32940930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.73455357399996 meters Centerline goodness [0,1] 0.8145819281564806 Centerline is valid? [False, False] Translation: X:9.88, Y:0.43, Z:-2.33 [[ 9.99907008e-01 8.67395939e-03 -1.05232410e-02 9.87937610e+00] [-8.68573527e-03 9.99961702e-01 -1.07384938e-03 4.31628301e-01] [ 1.05135234e-02 1.16515161e-03 9.99944053e-01 -2.32925389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.764553574 meters Centerline goodness [0,1] 0.8148220613491598 Centerline is valid? [False, False] Translation: X:9.88, Y:0.43, Z:-2.33 [[ 9.99906098e-01 8.56808852e-03 -1.06949593e-02 9.88020302e+00] [-8.57845675e-03 9.99962778e-01 -9.23950845e-04 4.30801054e-01] [ 1.06866447e-02 1.01561033e-03 9.99942380e-01 -2.32955791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.79455357399996 meters Centerline goodness [0,1] 0.812434554973822 Centerline is valid? [False, False] Translation: X:9.88, Y:0.43, Z:-2.33 [[ 9.99905420e-01 8.28115068e-03 -1.09806063e-02 9.88141242e+00] [-8.28943415e-03 9.99965391e-01 -7.09073502e-04 4.29348972e-01] [ 1.09743543e-02 8.00029450e-04 9.99939460e-01 -2.32997370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.824553574 meters Centerline goodness [0,1] 0.8112458558715756 Centerline is valid? [False, False] Translation: X:9.88, Y:0.43, Z:-2.33 [[ 9.99904516e-01 8.14918160e-03 -1.11601913e-02 9.88202008e+00] [-8.15468818e-03 9.99966650e-01 -4.47995722e-04 4.28253347e-01] [ 1.11561683e-02 5.38960826e-04 9.99937623e-01 -2.32990438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.85455357399997 meters Centerline goodness [0,1] 0.8115390503685235 Centerline is valid? [False, False] Translation: X:9.88, Y:0.43, Z:-2.33 [[ 9.99903827e-01 7.48190841e-03 -1.16772363e-02 9.88411217e+00] [-7.48701008e-03 9.99971895e-01 -3.93235408e-04 4.26377258e-01] [ 1.16739659e-02 4.80625175e-04 9.99931741e-01 -2.33060159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.884553574 meters Centerline goodness [0,1] 0.8093468566931887 Centerline is valid? [False, False] Translation: X:9.89, Y:0.43, Z:-2.33 [[ 9.99902426e-01 7.23895974e-03 -1.19471841e-02 9.88534005e+00] [-7.24484578e-03 9.99973655e-01 -4.49465657e-04 4.25937171e-01] [ 1.19436157e-02 5.35977307e-04 9.99928529e-01 -2.33129932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.91455357399997 meters Centerline goodness [0,1] 0.8090278537513949 Centerline is valid? [False, False] Translation: X:9.89, Y:0.42, Z:-2.33 [[ 9.99900787e-01 7.00723021e-03 -1.22194218e-02 9.88653711e+00] [-7.01049367e-03 9.99975401e-01 -2.24257136e-04 4.24564274e-01] [ 1.22175498e-02 3.09899066e-04 9.99925315e-01 -2.33181407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.944553574 meters Centerline goodness [0,1] 0.8059636140727281 Centerline is valid? [False, False] Translation: X:9.89, Y:0.42, Z:-2.33 [[ 9.99898727e-01 6.92604158e-03 -1.24324584e-02 9.88730010e+00] [-6.92671858e-03 9.99976010e-01 -1.13943192e-05 4.23580604e-01] [ 1.24320812e-02 9.75093055e-05 9.99922714e-01 -2.33199319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.97455357399997 meters Centerline goodness [0,1] 0.8082877659924896 Centerline is valid? [False, False] Translation: X:9.89, Y:0.42, Z:-2.33 [[ 9.99896206e-01 6.68331561e-03 -1.27636336e-02 9.88854622e+00] [-6.68206527e-03 9.99977665e-01 1.40605018e-04 4.22484311e-01] [ 1.27642882e-02 -5.53029912e-05 9.99918532e-01 -2.33238717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.004553574 meters Centerline goodness [0,1] 0.808276561500981 Centerline is valid? [False, False] Translation: X:9.89, Y:0.42, Z:-2.33 [[ 9.99892090e-01 5.71437336e-03 -1.35334760e-02 9.89168370e+00] [-5.71402926e-03 9.99983673e-01 6.40937425e-05 4.20051216e-01] [ 1.35336212e-02 1.32438514e-05 9.99908416e-01 -2.33372101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.034553574 meters Centerline goodness [0,1] 0.8109373619577701 Centerline is valid? [False, False] Translation: X:9.89, Y:0.42, Z:-2.33 [[ 9.99889995e-01 5.39634875e-03 -1.38158028e-02 9.89285769e+00] [-5.39368225e-03 9.99985427e-01 2.30257328e-04 4.18818461e-01] [ 1.38168441e-02 -1.55713948e-04 9.99904531e-01 -2.33406760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.064553574 meters Centerline goodness [0,1] 0.8073211314475873 Centerline is valid? [False, False] Translation: X:9.90, Y:0.42, Z:-2.33 [[ 9.99887575e-01 4.42172696e-03 -1.43278164e-02 9.89503205e+00] [-4.41678732e-03 9.99990175e-01 3.76383773e-04 4.15952547e-01] [ 1.43293399e-02 -3.13058541e-04 9.99897281e-01 -2.33439163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.094553574 meters Centerline goodness [0,1] 0.8062867932911252 Centerline is valid? [False, False] Translation: X:9.90, Y:0.41, Z:-2.33 [[ 9.99885456e-01 4.25878078e-03 -1.45237131e-02 9.89567157e+00] [-4.24922446e-03 9.99990735e-01 6.88776172e-04 4.14466440e-01] [ 1.45265119e-02 -6.26982759e-04 9.99894288e-01 -2.33427986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.124553574 meters Centerline goodness [0,1] 0.8060474776122736 Centerline is valid? [False, False] Translation: X:9.90, Y:0.41, Z:-2.33 [[ 9.99884446e-01 4.26749721e-03 -1.45904898e-02 9.89588577e+00] [-4.25218872e-03 9.99990376e-01 1.08007168e-03 4.13262699e-01] [ 1.45949586e-02 -1.01790535e-03 9.99892970e-01 -2.33405927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.154553574 meters Centerline goodness [0,1] 0.8061000716075903 Centerline is valid? [False, False] Translation: X:9.89, Y:0.41, Z:-2.33 [[ 9.99886008e-01 4.82282310e-03 -1.43077388e-02 9.89490687e+00] [-4.79594215e-03 9.99986671e-01 1.91248652e-03 4.11090750e-01] [ 1.43167717e-02 -1.84364942e-03 9.99895810e-01 -2.33342409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.184553574 meters Centerline goodness [0,1] 0.803605100116728 Centerline is valid? [False, False] Translation: X:9.90, Y:0.41, Z:-2.33 [[ 9.99884653e-01 4.93150524e-03 -1.43652370e-02 9.89523729e+00] [-4.90082463e-03 9.99985636e-01 2.17017475e-03 4.10021113e-01] [ 1.43757329e-02 -2.09952292e-03 9.99894460e-01 -2.33373975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.214553574 meters Centerline goodness [0,1] 0.8039519479061412 Centerline is valid? [False, False] Translation: X:9.90, Y:0.41, Z:-2.33 [[ 9.99882478e-01 5.07277880e-03 -1.44671304e-02 9.89602963e+00] [-5.03393334e-03 9.99983630e-01 2.72023683e-03 4.07311542e-01] [ 1.44806927e-02 -2.64709057e-03 9.99891645e-01 -2.33438919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.24455357399995 meters Centerline goodness [0,1] 0.8016340533098607 Centerline is valid? [False, False] Translation: X:9.90, Y:0.41, Z:-2.33 [[ 9.99881290e-01 5.01415733e-03 -1.45692872e-02 9.89661569e+00] [-4.97102039e-03 9.99983158e-01 2.99552036e-03 4.05600160e-01] [ 1.45840618e-02 -2.92274054e-03 9.99889375e-01 -2.33466924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.274553574 meters Centerline goodness [0,1] 0.8006753694134712 Centerline is valid? [False, False] Translation: X:9.90, Y:0.40, Z:-2.33 [[ 9.99880575e-01 5.05169231e-03 -1.46053199e-02 9.89704103e+00] [-4.99625733e-03 9.99980186e-01 3.82953370e-03 4.02142338e-01] [ 1.46243762e-02 -3.75610442e-03 9.99886003e-01 -2.33459313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.30455357399995 meters Centerline goodness [0,1] 0.8038515756445819 Centerline is valid? [False, False] Translation: X:9.90, Y:0.40, Z:-2.34 [[ 9.99877299e-01 4.67068745e-03 -1.49523221e-02 9.89868240e+00] [-4.61317623e-03 9.99981838e-01 3.87848996e-03 4.00697836e-01] [ 1.49701657e-02 -3.80903637e-03 9.99880686e-01 -2.33545524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.334553574 meters Centerline goodness [0,1] 0.8001098548999863 Centerline is valid? [False, False] Translation: X:9.90, Y:0.40, Z:-2.34 [[ 9.99872269e-01 3.41089288e-03 -1.56144931e-02 9.90196689e+00] [-3.34814394e-03 9.99986222e-01 4.04301360e-03 3.96498535e-01] [ 1.56280682e-02 -3.99021761e-03 9.99869912e-01 -2.33664525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.36455357399996 meters Centerline goodness [0,1] 0.7992388637978862 Centerline is valid? [False, False] Translation: X:9.90, Y:0.39, Z:-2.34 [[ 9.99866561e-01 2.61972048e-03 -1.61244187e-02 9.90421183e+00] [-2.55389344e-03 9.99988327e-01 4.10168243e-03 3.94296495e-01] [ 1.61349758e-02 -4.05995506e-03 9.99861580e-01 -2.33739449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.394553574 meters Centerline goodness [0,1] 0.8042235337513832 Centerline is valid? [False, False] Translation: X:9.91, Y:0.39, Z:-2.34 [[ 9.99864001e-01 -1.61450166e-03 -1.64125865e-02 9.90617065e+00] [ 1.61778471e-03 9.99998674e-01 1.86757588e-04 3.92456119e-01] [ 1.64122632e-02 -2.13284221e-04 9.99865287e-01 -2.33946129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.42455357399996 meters Centerline goodness [0,1] 0.803686784791436 Centerline is valid? [False, False] Translation: X:9.91, Y:0.39, Z:-2.34 [[ 9.99851738e-01 -2.44919500e-03 -1.70441782e-02 9.90860443e+00] [ 2.45586404e-03 9.99996916e-01 3.70359761e-04 3.90578766e-01] [ 1.70432185e-02 -4.12163035e-04 9.99854669e-01 -2.33985638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.454553574 meters Centerline goodness [0,1] 0.8075448161153207 Centerline is valid? [False, False] Translation: X:9.91, Y:0.39, Z:-2.34 [[ 9.99838366e-01 -3.40405907e-03 -1.76537374e-02 9.91095980e+00] [ 3.41547946e-03 9.99993977e-01 6.16800542e-04 3.88438246e-01] [ 1.76515315e-02 -6.76996823e-04 9.99843970e-01 -2.33991974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.48455357399996 meters Centerline goodness [0,1] 0.8096032628846866 Centerline is valid? [False, False] Translation: X:9.90, Y:0.39, Z:-2.35 [[ 9.99892024e-01 -1.11466074e-02 -9.57566602e-03 9.90349420e+00] [ 1.11458763e-02 9.99937874e-01 -1.29711231e-04 3.86584361e-01] [ 9.57651697e-03 2.29680357e-05 9.99954144e-01 -2.34558252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.514553574 meters Centerline goodness [0,1] 0.8207989236336642 Centerline is valid? [False, False] Translation: X:9.91, Y:0.39, Z:-2.35 [[ 9.99866348e-01 -1.25948876e-02 -1.04237484e-02 9.90689432e+00] [ 1.25926807e-02 9.99920671e-01 -2.77328121e-04 3.85024117e-01] [ 1.04264144e-02 1.46028121e-04 9.99945633e-01 -2.34612411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.54455357399996 meters Centerline goodness [0,1] 0.8122731925188424 Centerline is valid? [False, False] Translation: X:9.91, Y:0.38, Z:-2.35 [[ 9.99769446e-01 -1.82393366e-02 -1.13305806e-02 9.91112052e+00] [ 1.81855553e-02 9.99822955e-01 -4.83161003e-03 3.83858758e-01] [ 1.14166999e-02 4.62444319e-03 9.99924134e-01 -2.34789360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.574553574 meters Centerline goodness [0,1] 0.811798145473184 Centerline is valid? [False, False] Translation: X:9.91, Y:0.38, Z:-2.35 [[ 9.99735162e-01 -1.95305653e-02 -1.21721997e-02 9.91428949e+00] [ 1.94716453e-02 9.99798203e-01 -4.94040427e-03 3.82460240e-01] [ 1.22662323e-02 4.70208311e-03 9.99913711e-01 -2.34829036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.60455357399997 meters Centerline goodness [0,1] 0.814627671960136 Centerline is valid? [False, False] Translation: X:9.92, Y:0.38, Z:-2.35 [[ 9.99667909e-01 -2.19259357e-02 -1.35397412e-02 9.91982850e+00] [ 2.18493049e-02 9.99744556e-01 -5.78193675e-03 3.81854570e-01] [ 1.36630569e-02 5.48418268e-03 9.99891616e-01 -2.34971418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.634553574 meters Centerline goodness [0,1] 0.8131445999115312 Centerline is valid? [False, False] Translation: X:9.92, Y:0.38, Z:-2.35 [[ 9.99680656e-01 -2.05334304e-02 -1.47297395e-02 9.92455281e+00] [ 2.04999141e-02 9.99786919e-01 -2.42282569e-03 3.80714282e-01] [ 1.47763498e-02 2.12009358e-03 9.99888576e-01 -2.34987882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.66455357399997 meters Centerline goodness [0,1] 0.8255307249551418 Centerline is valid? [False, False] Translation: X:9.93, Y:0.38, Z:-2.35 [[ 9.99697658e-01 -1.88722090e-02 -1.57617341e-02 9.92858002e+00] [ 1.88893495e-02 9.99821139e-01 9.39297178e-04 3.79672671e-01] [ 1.57411883e-02 -1.23674209e-03 9.99875335e-01 -2.34993630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.694553574 meters Centerline goodness [0,1] 0.8141862793025584 Centerline is valid? [False, False] Translation: X:9.93, Y:0.38, Z:-2.35 [[ 9.99676501e-01 -1.95261532e-02 -1.62979582e-02 9.93032724e+00] [ 1.95371992e-02 9.99808996e-01 5.18796339e-04 3.81145267e-01] [ 1.62847151e-02 -8.37044964e-04 9.99867045e-01 -2.35005979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.72455357399997 meters Centerline goodness [0,1] 0.8245076179858788 Centerline is valid? [False, False] Translation: X:9.93, Y:0.38, Z:-2.35 [[ 9.99695293e-01 -1.76409604e-02 -1.72660885e-02 9.93394681e+00] [ 1.77055641e-02 9.99836778e-01 3.59595490e-03 3.80989711e-01] [ 1.71998342e-02 -3.90056502e-03 9.99844464e-01 -2.35031122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.754553574 meters Centerline goodness [0,1] 0.8156652311093711 Centerline is valid? [False, False] Translation: X:9.93, Y:0.38, Z:-2.35 [[ 9.99684070e-01 -1.78783010e-02 -1.76670860e-02 9.93494656e+00] [ 1.79351155e-02 9.99834462e-01 3.06262963e-03 3.83466520e-01] [ 1.76094068e-02 -3.37852328e-03 9.99839234e-01 -2.35035337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.784553574 meters Centerline goodness [0,1] 0.824852643212378 Centerline is valid? [False, False] Translation: X:9.94, Y:0.39, Z:-2.35 [[ 9.99681112e-01 -1.78339911e-02 -1.78780114e-02 9.93538604e+00] [ 1.78870865e-02 9.99836052e-01 2.81436514e-03 3.85070651e-01] [ 1.78248889e-02 -3.13325321e-03 9.99836215e-01 -2.35035766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.814553574 meters Centerline goodness [0,1] 0.8169496948780655 Centerline is valid? [False, False] Translation: X:9.96, Y:0.39, Z:-2.36 [[ 9.99774316e-01 -1.61121397e-02 -1.38461866e-02 9.95693230e+00] [ 1.60596492e-02 9.99863453e-01 -3.89384752e-03 3.89608179e-01] [ 1.39070341e-02 3.67060384e-03 9.99896555e-01 -2.35608568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.844553574 meters Centerline goodness [0,1] 0.8169496948780655 Centerline is valid? [False, False] Translation: X:9.96, Y:0.39, Z:-2.36 [[ 9.99774316e-01 -1.61121397e-02 -1.38461866e-02 9.95693230e+00] [ 1.60596492e-02 9.99863453e-01 -3.89384752e-03 3.89608179e-01] [ 1.39070341e-02 3.67060384e-03 9.99896555e-01 -2.35608568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.874553574 meters Centerline goodness [0,1] 0.8177561554976931 Centerline is valid? [False, False] Translation: X:9.96, Y:0.39, Z:-2.36 [[ 9.99807477e-01 -1.30759085e-02 -1.46297638e-02 9.95921667e+00] [ 1.30769048e-02 9.99914493e-01 -2.75595795e-05 3.90083620e-01] [ 1.46288733e-02 -1.63757756e-04 9.99892979e-01 -2.35556362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.904553574 meters Centerline goodness [0,1] 0.8243892443250381 Centerline is valid? [False, False] Translation: X:9.96, Y:0.39, Z:-2.36 [[ 9.99830321e-01 -1.00660843e-02 -1.54273695e-02 9.96159375e+00] [ 1.01239562e-02 9.99941988e-01 3.67775035e-03 3.90813887e-01] [ 1.53894540e-02 -3.83331232e-03 9.99874227e-01 -2.35525073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.934553574 meters Centerline goodness [0,1] 0.8137999638270935 Centerline is valid? [False, False] Translation: X:9.96, Y:0.39, Z:-2.35 [[ 9.99835579e-01 -9.40349098e-03 -1.55044629e-02 9.96109641e+00] [ 9.45450270e-03 9.99950120e-01 3.22012101e-03 3.94927499e-01] [ 1.54734092e-02 -3.36617855e-03 9.99874613e-01 -2.35495036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.964553574 meters Centerline goodness [0,1] 0.8278026095986275 Centerline is valid? [False, False] Translation: X:9.96, Y:0.40, Z:-2.36 [[ 9.99832331e-01 -9.34162052e-03 -1.57494130e-02 9.96171684e+00] [ 9.38763636e-03 9.99951873e-01 2.85035411e-03 3.96818222e-01] [ 1.57220281e-02 -2.99772596e-03 9.99871908e-01 -2.35529276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99455357399995 meters Centerline goodness [0,1] 0.8274947756331034 Centerline is valid? [False, False] Translation: X:9.97, Y:0.40, Z:-2.36 [[ 9.99833577e-01 -6.69572145e-03 -1.69701262e-02 9.96550213e+00] [ 6.79473109e-03 9.99960191e-01 5.78342146e-03 3.99485769e-01] [ 1.69307264e-02 -5.89776642e-03 9.99839271e-01 -2.35600893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.024553574 meters Centerline goodness [0,1] 0.826655929132273 Centerline is valid? [False, False] Translation: X:9.97, Y:0.40, Z:-2.36 [[ 9.99828617e-01 -6.77162739e-03 -1.72302634e-02 9.96660957e+00] [ 6.85923725e-03 9.99963821e-01 5.03064276e-03 4.01811504e-01] [ 1.71955744e-02 -5.14796706e-03 9.99838892e-01 -2.35714255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.05455357399995 meters Centerline goodness [0,1] 0.8273222336294246 Centerline is valid? [False, False] Translation: X:9.97, Y:0.40, Z:-2.36 [[ 9.99829396e-01 -6.52654402e-03 -1.72795558e-02 9.96668079e+00] [ 6.60887399e-03 9.99967060e-01 4.71177907e-03 4.03780010e-01] [ 1.72482350e-02 -4.82517363e-03 9.99839595e-01 -2.35739942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.084553574 meters Centerline goodness [0,1] 0.8243678978852098 Centerline is valid? [False, False] Translation: X:9.97, Y:0.41, Z:-2.36 [[ 9.99833443e-01 -5.88303356e-03 -1.72764582e-02 9.96605861e+00] [ 5.96275802e-03 9.99971795e-01 4.56674925e-03 4.06562217e-01] [ 1.72491046e-02 -4.66900397e-03 9.99840322e-01 -2.35708917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.11455357399996 meters Centerline goodness [0,1] 0.8237107001906789 Centerline is valid? [False, False] Translation: X:9.97, Y:0.41, Z:-2.36 [[ 9.99827458e-01 -3.45670074e-03 -1.82511922e-02 9.96999390e+00] [ 3.60071209e-03 9.99962599e-01 7.86356062e-03 4.06048222e-01] [ 1.82233276e-02 -7.92792111e-03 9.99802510e-01 -2.35807355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.144553574 meters Centerline goodness [0,1] 0.8252536640360767 Centerline is valid? [False, False] Translation: X:9.97, Y:0.41, Z:-2.36 [[ 9.99828941e-01 -2.84254471e-03 -1.82759233e-02 9.96986076e+00] [ 2.97971809e-03 9.99967564e-01 7.48284337e-03 4.08195509e-01] [ 1.82540602e-02 -7.53602046e-03 9.99804980e-01 -2.35872284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.17455357399996 meters Centerline goodness [0,1] 0.8255005408269134 Centerline is valid? [False, False] Translation: X:9.97, Y:0.41, Z:-2.36 [[ 9.99826743e-01 -2.72289157e-03 -1.84138444e-02 9.97061560e+00] [ 2.85197662e-03 9.99971519e-01 6.98759461e-03 4.09742007e-01] [ 1.83942935e-02 -7.03889981e-03 9.99806033e-01 -2.35983115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.204553574 meters Centerline goodness [0,1] 0.8285695410904607 Centerline is valid? [False, False] Translation: X:9.99, Y:0.41, Z:-2.37 [[ 9.99923305e-01 1.67976177e-04 -1.23836867e-02 9.98581292e+00] [-1.67089188e-04 9.99999983e-01 7.26601815e-05 4.12157499e-01] [ 1.23836987e-02 -7.05854287e-05 9.99923317e-01 -2.36663723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.23455357399996 meters Centerline goodness [0,1] 0.8250837447108603 Centerline is valid? [False, False] Translation: X:9.98, Y:0.41, Z:-2.37 [[ 9.99926157e-01 1.44343482e-03 -1.20663910e-02 9.98436965e+00] [-1.43969708e-03 9.99998913e-01 3.18445068e-04 4.13555635e-01] [ 1.20668375e-02 -3.01049605e-04 9.99927148e-01 -2.36649182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.264553574 meters Centerline goodness [0,1] 0.8249878785207387 Centerline is valid? [False, False] Translation: X:9.98, Y:0.41, Z:-2.37 [[ 9.99926030e-01 1.89385492e-03 -1.20145125e-02 9.98408263e+00] [-1.88905317e-03 9.99998131e-01 4.10997785e-04 4.13865699e-01] [ 1.20152685e-02 -3.88271330e-04 9.99927739e-01 -2.36650494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.29455357399996 meters Centerline goodness [0,1] 0.823284319128767 Centerline is valid? [False, False] Translation: X:9.98, Y:0.41, Z:-2.37 [[ 9.99925191e-01 3.31670908e-03 -1.17733457e-02 9.98320564e+00] [-3.30991273e-03 9.99994344e-01 5.96703899e-04 4.14849789e-01] [ 1.17752582e-02 -5.57690514e-04 9.99930514e-01 -2.36737386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.324553574 meters Centerline goodness [0,1] 0.821253369867857 Centerline is valid? [False, False] Translation: X:9.98, Y:0.42, Z:-2.37 [[ 9.99924544e-01 4.00902923e-03 -1.16118132e-02 9.98265053e+00] [-4.00191981e-03 9.99991790e-01 6.35428524e-04 4.15625696e-01] [ 1.16142653e-02 -5.88911032e-04 9.99932379e-01 -2.36777991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.35455357399997 meters Centerline goodness [0,1] 0.8187603579714948 Centerline is valid? [False, False] Translation: X:9.98, Y:0.42, Z:-2.37 [[ 9.99918459e-01 6.35929677e-03 -1.10740118e-02 9.97985395e+00] [-6.33862400e-03 9.99978104e-01 1.90088117e-03 4.15896778e-01] [ 1.10858576e-02 -1.83053218e-03 9.99936874e-01 -2.36665058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.384553574 meters Centerline goodness [0,1] 0.81863946479433 Centerline is valid? [False, False] Translation: X:9.98, Y:0.42, Z:-2.37 [[ 9.99916208e-01 6.90097327e-03 -1.09523152e-02 9.97957797e+00] [-6.87911726e-03 9.99974274e-01 2.03198028e-03 4.15904411e-01] [ 1.09660561e-02 -1.95646776e-03 9.99937957e-01 -2.36701097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.41455357399997 meters Centerline goodness [0,1] 0.8191463441646178 Centerline is valid? [False, False] Translation: X:9.98, Y:0.42, Z:-2.37 [[ 9.99914033e-01 7.24710319e-03 -1.09272900e-02 9.97961963e+00] [-7.22343546e-03 9.99971482e-01 2.20384351e-03 4.15544198e-01] [ 1.09429498e-02 -2.12472148e-03 9.99937867e-01 -2.36735917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.444553574 meters Centerline goodness [0,1] 0.8163582301513336 Centerline is valid? [False, False] Translation: X:9.98, Y:0.41, Z:-2.37 [[ 9.99912351e-01 7.04956407e-03 -1.12068388e-02 9.98067989e+00] [-7.02165024e-03 9.99972152e-01 2.52818417e-03 4.13250561e-01] [ 1.12243493e-02 -2.44927208e-03 9.99934005e-01 -2.36758505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.47455357399997 meters Centerline goodness [0,1] 0.8163025135447197 Centerline is valid? [False, False] Translation: X:9.98, Y:0.41, Z:-2.37 [[ 9.99911646e-01 6.38274185e-03 -1.16602441e-02 9.98267969e+00] [-6.35489333e-03 9.99976870e-01 2.42382343e-03 4.11805151e-01] [ 1.16754451e-02 -2.34950967e-03 9.99929079e-01 -2.36841597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.504553574 meters Centerline goodness [0,1] 0.8185568389599964 Centerline is valid? [False, False] Translation: X:9.98, Y:0.41, Z:-2.37 [[ 9.99911131e-01 5.39878870e-03 -1.21894564e-02 9.98489328e+00] [-5.36959719e-03 9.99982640e-01 2.42627470e-03 4.09995141e-01] [ 1.22023438e-02 -2.36060660e-03 9.99922762e-01 -2.36894484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.534553574 meters Centerline goodness [0,1] 0.8104396833206602 Centerline is valid? [False, False] Translation: X:9.99, Y:0.41, Z:-2.37 [[ 9.99908768e-01 4.70517801e-03 -1.26616002e-02 9.98673224e+00] [-4.67584310e-03 9.99986318e-01 2.34544698e-03 4.08752630e-01] [ 1.26724627e-02 -2.28602934e-03 9.99917088e-01 -2.36948842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.564553574 meters Centerline goodness [0,1] 0.8102486846247245 Centerline is valid? [False, False] Translation: X:9.99, Y:0.41, Z:-2.37 [[ 9.99920751e-01 1.09857048e-03 -1.25413314e-02 9.98620287e+00] [-1.11145588e-03 9.99998862e-01 -1.02051126e-03 4.06936931e-01] [ 1.25401960e-02 1.03436952e-03 9.99920834e-01 -2.36921396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.594553574 meters Centerline goodness [0,1] 0.811635411730192 Centerline is valid? [False, False] Translation: X:9.99, Y:0.41, Z:-2.37 [[ 9.99918169e-01 8.27620075e-04 -1.27659701e-02 9.98679608e+00] [-8.35368039e-04 9.99999470e-01 -6.01602798e-04 4.05335698e-01] [ 1.27654655e-02 6.12217852e-04 9.99918331e-01 -2.36867581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.624553574 meters Centerline goodness [0,1] 0.8145964626956699 Centerline is valid? [False, False] Translation: X:9.99, Y:0.40, Z:-2.37 [[ 9.99915441e-01 6.00750698e-04 -1.29903426e-02 9.98746530e+00] [-6.03937115e-04 9.99999789e-01 -2.41369776e-04 4.04006626e-01] [ 1.29901949e-02 2.49194716e-04 9.99915593e-01 -2.36838423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.654553574 meters Centerline goodness [0,1] 0.809769451797552 Centerline is valid? [False, False] Translation: X:9.99, Y:0.40, Z:-2.37 [[ 9.99912055e-01 2.79704774e-04 -1.32591153e-02 9.98843941e+00] [-2.77829579e-04 9.99999951e-01 1.43268590e-04 4.02168775e-01] [ 1.32591547e-02 -1.39572215e-04 9.99912084e-01 -2.36826589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.684553574 meters Centerline goodness [0,1] 0.8145931115797111 Centerline is valid? [False, False] Translation: X:9.99, Y:0.40, Z:-2.37 [[ 9.99909853e-01 2.32756061e-04 -1.34250097e-02 9.98903244e+00] [-2.28229047e-04 9.99999917e-01 3.38738556e-04 4.01478867e-01] [ 1.34250874e-02 -3.35644043e-04 9.99909823e-01 -2.36841531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.714553574 meters Centerline goodness [0,1] 0.8098995043426856 Centerline is valid? [False, False] Translation: X:9.99, Y:0.40, Z:-2.37 [[ 9.99906278e-01 1.36896075e-05 -1.36906574e-02 9.99015475e+00] [-6.91293304e-06 9.99999877e-01 4.95032526e-04 4.00090634e-01] [ 1.36906625e-02 -4.94891488e-04 9.99906156e-01 -2.36898428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.74455357399995 meters Centerline goodness [0,1] 0.8046398324378472 Centerline is valid? [False, False] Translation: X:9.99, Y:0.40, Z:-2.37 [[ 9.99902778e-01 -1.47821365e-04 -1.39432098e-02 9.99101765e+00] [ 1.56735400e-04 9.99999784e-01 6.38219532e-04 3.99091272e-01] [ 1.39431124e-02 -6.40342877e-04 9.99902585e-01 -2.36922645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.774553574 meters Centerline goodness [0,1] 0.8031011287196443 Centerline is valid? [False, False] Translation: X:9.99, Y:0.40, Z:-2.37 [[ 9.99901118e-01 -1.94920648e-04 -1.40611822e-02 9.99139945e+00] [ 2.07647516e-04 9.99999570e-01 9.03652236e-04 3.98041343e-01] [ 1.40610000e-02 -9.06482650e-04 9.99900728e-01 -2.36911618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.80455357399995 meters Centerline goodness [0,1] 0.804634703196347 Centerline is valid? [False, False] Translation: X:9.99, Y:0.40, Z:-2.37 [[ 9.99895539e-01 -4.50138653e-04 -1.44467568e-02 9.99299470e+00] [ 4.63993183e-04 9.99999436e-01 9.55668792e-04 3.96845183e-01] [ 1.44463185e-02 -9.62272158e-04 9.99895183e-01 -2.37008366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.834553574 meters Centerline goodness [0,1] 0.801999634769905 Centerline is valid? [False, False] Translation: X:9.99, Y:0.40, Z:-2.37 [[ 9.99893583e-01 -4.23375559e-04 -1.45822953e-02 9.99356777e+00] [ 4.39215634e-04 9.99999317e-01 1.08306847e-03 3.96438798e-01] [ 1.45818268e-02 -1.08935799e-03 9.99893086e-01 -2.37055091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.86455357399996 meters Centerline goodness [0,1] 0.8060090547400192 Centerline is valid? [False, False] Translation: X:10.00, Y:0.39, Z:-2.37 [[ 9.99886639e-01 -5.80497867e-04 -1.50456939e-02 9.99528086e+00] [ 5.99924144e-04 9.99998992e-01 1.28667072e-03 3.94630402e-01] [ 1.50449318e-02 -1.29555113e-03 9.99885979e-01 -2.37157051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.894553574 meters Centerline goodness [0,1] 0.8081312737773296 Centerline is valid? [False, False] Translation: X:10.00, Y:0.39, Z:-2.37 [[ 9.99884135e-01 -5.87888578e-04 -1.52108752e-02 9.99593366e+00] [ 6.10851271e-04 9.99998681e-01 1.50502135e-03 3.93352198e-01] [ 1.52099704e-02 -1.51413855e-03 9.99883175e-01 -2.37186611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.92455357399996 meters Centerline goodness [0,1] 0.8046982639845688 Centerline is valid? [False, False] Translation: X:10.00, Y:0.39, Z:-2.37 [[ 9.99885373e-01 -1.98463105e-04 -1.51393963e-02 9.99551965e+00] [ 2.28733566e-04 9.99997978e-01 1.99774437e-03 3.92166581e-01] [ 1.51389692e-02 -2.00097827e-03 9.99883397e-01 -2.37162236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.954553574 meters Centerline goodness [0,1] 0.8073354462358183 Centerline is valid? [False, False] Translation: X:10.00, Y:0.39, Z:-2.37 [[ 9.99885061e-01 3.08884367e-04 -1.51581440e-02 9.99584317e+00] [-2.74492447e-04 9.99997384e-01 2.27090214e-03 3.91139463e-01] [ 1.51588058e-02 -2.26648032e-03 9.99882530e-01 -2.37265681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.98455357399996 meters Centerline goodness [0,1] 0.8041064079277125 Centerline is valid? [False, False] Translation: X:10.00, Y:0.39, Z:-2.37 [[ 9.99884590e-01 5.54230868e-04 -1.51822097e-02 9.99592606e+00] [-5.15119980e-04 9.99996539e-01 2.57988927e-03 3.90212462e-01] [ 1.51835870e-02 -2.57177086e-03 9.99881415e-01 -2.37284711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.014553574 meters Centerline goodness [0,1] 0.8001802884615384 Centerline is valid? [False, False] Translation: X:10.00, Y:0.39, Z:-2.37 [[ 9.99885374e-01 9.44860358e-04 -1.51111198e-02 9.99563839e+00] [-8.93890564e-04 9.99993890e-01 3.37939774e-03 3.87580033e-01] [ 1.51142205e-02 -3.36550269e-03 9.99880110e-01 -2.37251528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.04455357399996 meters Centerline goodness [0,1] 0.7991373713013635 Centerline is valid? [False, False] Translation: X:9.99, Y:0.39, Z:-2.37 [[ 9.99888234e-01 1.43638775e-03 -1.48814253e-02 9.99467771e+00] [-1.37862680e-03 9.99991480e-01 3.89094447e-03 3.86313125e-01] [ 1.48868874e-02 -3.86999366e-03 9.99881695e-01 -2.37198938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.074553574 meters Centerline goodness [0,1] 0.8058909411137634 Centerline is valid? [False, False] Translation: X:10.01, Y:0.39, Z:-2.38 [[ 9.99952391e-01 4.29649100e-03 -8.76099927e-03 1.00086074e+01] [-4.32759058e-03 9.99984392e-01 -3.53391269e-03 3.87166875e-01] [ 8.74567910e-03 3.57165846e-03 9.99955377e-01 -2.37784659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.10455357399997 meters Centerline goodness [0,1] 0.7962747651381267 Centerline is valid? [False, False] Translation: X:10.01, Y:0.39, Z:-2.38 [[ 9.99923277e-01 8.83897629e-03 -8.67830690e-03 1.00082888e+01] [-8.82866811e-03 9.99960276e-01 1.22540304e-03 3.85465630e-01] [ 8.68879347e-03 -1.14869113e-03 9.99961592e-01 -2.37724115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.134553574 meters Centerline goodness [0,1] 0.7957086944366788 Centerline is valid? [False, False] Translation: X:10.01, Y:0.39, Z:-2.38 [[ 9.99919207e-01 9.45171337e-03 -8.49973171e-03 1.00076593e+01] [-9.44076994e-03 9.99954555e-01 1.32670690e-03 3.85673665e-01] [ 8.51188509e-03 -1.24635569e-03 9.99962997e-01 -2.37755957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.16455357399997 meters Centerline goodness [0,1] 0.7984210034569746 Centerline is valid? [False, False] Translation: X:10.01, Y:0.38, Z:-2.38 [[ 9.99911006e-01 1.07143271e-02 -7.94877875e-03 1.00056352e+01] [-1.06987246e-02 9.99940761e-01 2.00282104e-03 3.84670106e-01] [ 7.96976675e-03 -1.91760100e-03 9.99966402e-01 -2.37726391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.194553574 meters Centerline goodness [0,1] 0.7947561517070549 Centerline is valid? [False, False] Translation: X:10.01, Y:0.38, Z:-2.38 [[ 9.99910072e-01 1.08322770e-02 -7.90632723e-03 1.00057286e+01] [-1.08159286e-02 9.99939285e-01 2.10759272e-03 3.83809091e-01] [ 7.92867722e-03 -2.02188892e-03 9.99966523e-01 -2.37765520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.22455357399997 meters Centerline goodness [0,1] 0.7966431924882629 Centerline is valid? [False, False] Translation: X:10.01, Y:0.38, Z:-2.38 [[ 9.99912561e-01 1.03030895e-02 -8.28952363e-03 1.00073220e+01] [-1.02835913e-02 9.99944263e-01 2.39134040e-03 3.81341354e-01] [ 8.31369979e-03 -2.30588523e-03 9.99962782e-01 -2.37803839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.254553574 meters Centerline goodness [0,1] 0.8002304310000234 Centerline is valid? [False, False] Translation: X:10.01, Y:0.38, Z:-2.38 [[ 9.99914573e-01 9.66872439e-03 -8.79559160e-03 1.00092638e+01] [-9.64750329e-03 9.99950456e-01 2.45193570e-03 3.79538006e-01] [ 8.81886292e-03 -2.36687074e-03 9.99958312e-01 -2.37858555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.284553574 meters Centerline goodness [0,1] 0.790741570912866 Centerline is valid? [False, False] Translation: X:10.01, Y:0.38, Z:-2.38 [[ 9.99943799e-01 6.42237356e-03 -8.43520354e-03 1.00081251e+01] [-6.43385106e-03 9.99978412e-01 -1.33423648e-03 3.78898082e-01] [ 8.42645248e-03 1.38843234e-03 9.99963533e-01 -2.37915162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.314553574 meters Centerline goodness [0,1] 0.7930458838118859 Centerline is valid? [False, False] Translation: X:10.01, Y:0.38, Z:-2.38 [[ 9.99962003e-01 2.62003654e-03 -8.31426601e-03 1.00081986e+01] [-2.66009276e-03 9.99984892e-01 -4.81037428e-03 3.76057289e-01] [ 8.30153704e-03 4.83230822e-03 9.99953866e-01 -2.37994913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.344553574 meters Centerline goodness [0,1] 0.7978964439886475 Centerline is valid? [False, False] Translation: X:10.01, Y:0.37, Z:-2.38 [[ 9.99959846e-01 2.23840425e-03 -8.67736750e-03 1.00093602e+01] [-2.27531286e-03 9.99988398e-01 -4.24589821e-03 3.73776795e-01] [ 8.66776278e-03 4.26547144e-03 9.99953337e-01 -2.37964679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.374553574 meters Centerline goodness [0,1] 0.791915016343011 Centerline is valid? [False, False] Translation: X:10.01, Y:0.37, Z:-2.38 [[ 9.99957629e-01 8.93365749e-04 -9.16200147e-03 1.00118412e+01] [-9.25816253e-04 9.99993312e-01 -3.53822810e-03 3.68478632e-01] [ 9.15877926e-03 3.54656051e-03 9.99951768e-01 -2.37955630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.404553574 meters Centerline goodness [0,1] 0.8032217613581557 Centerline is valid? [False, False] Translation: X:10.01, Y:0.37, Z:-2.38 [[ 9.99954597e-01 4.02064678e-04 -9.52061136e-03 1.00132317e+01] [-4.29962061e-04 9.99995620e-01 -2.92834371e-03 3.65593708e-01] [ 9.51939228e-03 2.93230425e-03 9.99950390e-01 -2.37945029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.434553574 meters Centerline goodness [0,1] 0.7920918984280532 Centerline is valid? [False, False] Translation: X:10.02, Y:0.36, Z:-2.38 [[ 9.99949987e-01 -3.28702528e-04 -9.99572517e-03 1.00151370e+01] [ 3.03751379e-04 9.99996835e-01 -2.49759772e-03 3.63111229e-01] [ 9.99651449e-03 2.49443660e-03 9.99946922e-01 -2.37952429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.464553574 meters Centerline goodness [0,1] 0.7906424817765723 Centerline is valid? [False, False] Translation: X:10.02, Y:0.36, Z:-2.38 [[ 9.99941921e-01 -2.09185270e-03 -1.05725829e-02 1.00181299e+01] [ 2.07324025e-03 9.99996282e-01 -1.77109794e-03 3.57937213e-01] [ 1.05762485e-02 1.74907557e-03 9.99942540e-01 -2.37900450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49455357399995 meters Centerline goodness [0,1] 0.7899766559673184 Centerline is valid? [False, False] Translation: X:10.02, Y:0.35, Z:-2.38 [[ 9.99914751e-01 -7.04771451e-03 -1.09918109e-02 1.00206521e+01] [ 6.98464486e-03 9.99958985e-01 -5.76574835e-03 3.54717874e-01] [ 1.10319955e-02 5.68848294e-03 9.99922965e-01 -2.38072204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.524553574 meters Centerline goodness [0,1] 0.7964191628451556 Centerline is valid? [False, False] Translation: X:10.02, Y:0.35, Z:-2.38 [[ 9.99898384e-01 -8.17203676e-03 -1.16807619e-02 1.00233230e+01] [ 8.10967691e-03 9.99952664e-01 -5.37611344e-03 3.51992490e-01] [ 1.17241428e-02 5.28083993e-03 9.99917325e-01 -2.38064028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.55455357399995 meters Centerline goodness [0,1] 0.7959966761169225 Centerline is valid? [False, False] Translation: X:10.03, Y:0.35, Z:-2.38 [[ 9.99878541e-01 -9.39543026e-03 -1.24349870e-02 1.00262365e+01] [ 9.33345010e-03 9.99943776e-01 -5.03302090e-03 3.49388717e-01] [ 1.24815753e-02 4.91634827e-03 9.99910016e-01 -2.38052225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.584553574 meters Centerline goodness [0,1] 0.7926553672316384 Centerline is valid? [False, False] Translation: X:10.03, Y:0.35, Z:-2.38 [[ 9.99825080e-01 -1.29172697e-02 -1.35260125e-02 1.00325939e+01] [ 1.28378550e-02 9.99899938e-01 -5.94171340e-03 3.45737720e-01] [ 1.36014097e-02 5.76702909e-03 9.99890866e-01 -2.38223206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.61455357399996 meters Centerline goodness [0,1] 0.7934945747115124 Centerline is valid? [False, False] Translation: X:10.04, Y:0.34, Z:-2.38 [[ 9.99797935e-01 -1.40409081e-02 -1.43854674e-02 1.00358928e+01] [ 1.39565086e-02 9.99884896e-01 -5.95069083e-03 3.44263930e-01] [ 1.44673646e-02 5.74871751e-03 9.99878816e-01 -2.38292419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.644553574 meters Centerline goodness [0,1] 0.8038508119330681 Centerline is valid? [False, False] Translation: X:10.04, Y:0.34, Z:-2.38 [[ 9.99760880e-01 -1.56688425e-02 -1.52535149e-02 1.00396490e+01] [ 1.55811669e-02 9.99861493e-01 -5.84987773e-03 3.41432439e-01] [ 1.53430630e-02 5.61081135e-03 9.99866546e-01 -2.38336442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.67455357399996 meters Centerline goodness [0,1] 0.8095755719156085 Centerline is valid? [False, False] Translation: X:10.04, Y:0.34, Z:-2.38 [[ 9.99746797e-01 -1.61716244e-02 -1.56467086e-02 1.00412022e+01] [ 1.60834668e-02 9.99854155e-01 -5.74379025e-03 3.40472936e-01] [ 1.57373130e-02 5.49068259e-03 9.99861085e-01 -2.38356698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.704553574 meters Centerline goodness [0,1] 0.7961033188463058 Centerline is valid? [False, False] Translation: X:10.05, Y:0.34, Z:-2.38 [[ 9.99758970e-01 -1.42302742e-02 -1.67182674e-02 1.00454847e+01] [ 1.42001875e-02 9.99897335e-01 -1.91696519e-03 3.38787289e-01] [ 1.67438299e-02 1.67910062e-03 9.99858402e-01 -2.38351424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.73455357399996 meters Centerline goodness [0,1] 0.7961033188463058 Centerline is valid? [False, False] Translation: X:10.05, Y:0.34, Z:-2.38 [[ 9.99758970e-01 -1.42302742e-02 -1.67182674e-02 1.00454847e+01] [ 1.42001875e-02 9.99897335e-01 -1.91696519e-03 3.38787289e-01] [ 1.67438299e-02 1.67910062e-03 9.99858402e-01 -2.38351424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.764553574 meters Centerline goodness [0,1] 0.7985581418237291 Centerline is valid? [False, False] Translation: X:10.05, Y:0.34, Z:-2.38 [[ 9.99761622e-01 -1.40217297e-02 -1.67358973e-02 1.00454979e+01] [ 1.39901934e-02 9.99900132e-01 -1.99994793e-03 3.39578716e-01] [ 1.67622687e-02 1.76533275e-03 9.99857945e-01 -2.38388684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.79455357399996 meters Centerline goodness [0,1] 0.7926754180725561 Centerline is valid? [False, False] Translation: X:10.05, Y:0.34, Z:-2.38 [[ 9.99788009e-01 -1.09540621e-02 -1.74340251e-02 1.00476073e+01] [ 1.09977082e-02 9.99936620e-01 2.40959881e-03 3.38068328e-01] [ 1.74065252e-02 -2.60082232e-03 9.99845112e-01 -2.38265077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.824553574 meters Centerline goodness [0,1] 0.8053478303650496 Centerline is valid? [False, False] Translation: X:10.06, Y:0.34, Z:-2.39 [[ 9.99898515e-01 -7.72645034e-03 -1.19692209e-02 1.00635494e+01] [ 7.67147835e-03 9.99959846e-01 -4.63190492e-03 3.39444998e-01] [ 1.20045285e-02 4.53961323e-03 9.99917638e-01 -2.38847463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.85455357399997 meters Centerline goodness [0,1] 0.8053725914274479 Centerline is valid? [False, False] Translation: X:10.07, Y:0.34, Z:-2.39 [[ 9.99911811e-01 -4.24854335e-03 -1.25825564e-02 1.00652435e+01] [ 4.24864975e-03 9.99990974e-01 -1.82746234e-05 3.38158501e-01] [ 1.25825205e-02 -3.51858634e-05 9.99920836e-01 -2.38728257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.884553574 meters Centerline goodness [0,1] 0.7961074386258079 Centerline is valid? [False, False] Translation: X:10.07, Y:0.34, Z:-2.39 [[ 9.99916956e-01 -2.53288556e-04 -1.28847470e-02 1.00661859e+01] [ 3.08034358e-04 9.99990934e-01 4.24707742e-03 3.37788013e-01] [ 1.28835545e-02 -4.25069367e-03 9.99907969e-01 -2.38709394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.91455357399997 meters Centerline goodness [0,1] 0.7924958896714192 Centerline is valid? [False, False] Translation: X:10.07, Y:0.34, Z:-2.39 [[ 9.99919490e-01 2.66423638e-04 -1.26863458e-02 1.00654699e+01] [-2.12697516e-04 9.99991005e-01 4.23611740e-03 3.38195870e-01] [ 1.26873603e-02 -4.23307799e-03 9.99910552e-01 -2.38742630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.944553574 meters Centerline goodness [0,1] 0.7905264449625721 Centerline is valid? [False, False] Translation: X:10.06, Y:0.34, Z:-2.39 [[ 9.99925673e-01 1.64031030e-03 -1.20813131e-02 1.00632449e+01] [-1.58751460e-03 9.99989155e-01 4.37832411e-03 3.38854812e-01] [ 1.20883639e-02 -4.35881943e-03 9.99917433e-01 -2.38794998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.97455357399997 meters Centerline goodness [0,1] 0.7914385999361823 Centerline is valid? [False, False] Translation: X:10.06, Y:0.34, Z:-2.39 [[ 9.99927622e-01 2.26244621e-03 -1.18166250e-02 1.00622746e+01] [-2.21050781e-03 9.99987848e-01 4.40658024e-03 3.39215520e-01] [ 1.18264510e-02 -4.38014056e-03 9.99920472e-01 -2.38826696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.004553574 meters Centerline goodness [0,1] 0.7917157440125638 Centerline is valid? [False, False] Translation: X:10.06, Y:0.34, Z:-2.39 [[ 9.99928761e-01 2.82332101e-03 -1.15974784e-02 1.00613960e+01] [-2.77108602e-03 9.99985956e-01 4.51759831e-03 3.39248785e-01] [ 1.16100702e-02 -4.48513887e-03 9.99922542e-01 -2.38832752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.034553574 meters Centerline goodness [0,1] 0.7956292500246378 Centerline is valid? [False, False] Translation: X:10.06, Y:0.34, Z:-2.39 [[ 9.99931750e-01 4.15601018e-03 -1.09189675e-02 1.00587909e+01] [-4.09953354e-03 9.99978130e-01 5.18964274e-03 3.38319897e-01] [ 1.09402969e-02 -5.14452587e-03 9.99926919e-01 -2.38772782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.064553574 meters Centerline goodness [0,1] 0.7921838061465721 Centerline is valid? [False, False] Translation: X:10.06, Y:0.34, Z:-2.39 [[ 9.99932617e-01 4.79537591e-03 -1.05719056e-02 1.00575090e+01] [-4.73880841e-03 9.99974357e-01 5.36931072e-03 3.38203515e-01] [ 1.05973824e-02 -5.31885069e-03 9.99929700e-01 -2.38763932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.094553574 meters Centerline goodness [0,1] 0.7921165508060938 Centerline is valid? [False, False] Translation: X:10.05, Y:0.34, Z:-2.39 [[ 9.99933124e-01 6.54165128e-03 -9.53698783e-03 1.00534634e+01] [-6.48372894e-03 9.99960425e-01 6.09176140e-03 3.38223600e-01] [ 9.57646059e-03 -6.02951877e-03 9.99935966e-01 -2.38646827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.124553574 meters Centerline goodness [0,1] 0.7945760367525379 Centerline is valid? [False, False] Translation: X:10.05, Y:0.34, Z:-2.39 [[ 9.99932655e-01 7.09974279e-03 -9.18039747e-03 1.00521466e+01] [-7.04180159e-03 9.99955181e-01 6.32839965e-03 3.37998549e-01] [ 9.22491603e-03 -6.26332692e-03 9.99937834e-01 -2.38618792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.154553574 meters Centerline goodness [0,1] 0.7929995306671936 Centerline is valid? [False, False] Translation: X:10.05, Y:0.34, Z:-2.39 [[ 9.99932304e-01 7.32200739e-03 -9.04299186e-03 1.00516772e+01] [-7.26335997e-03 9.99952487e-01 6.50130375e-03 3.37445096e-01] [ 9.09016479e-03 -6.43518113e-03 9.99937977e-01 -2.38607576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.184553574 meters Centerline goodness [0,1] 0.7939440531693285 Centerline is valid? [False, False] Translation: X:10.05, Y:0.34, Z:-2.39 [[ 9.99956912e-01 4.43230082e-03 -8.15656413e-03 1.00491017e+01] [-4.41237491e-03 9.99987241e-01 2.45930583e-03 3.37235612e-01] [ 8.16736045e-03 -2.42321004e-03 9.99963710e-01 -2.38705335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.214553574 meters Centerline goodness [0,1] 0.793935028809855 Centerline is valid? [False, False] Translation: X:10.05, Y:0.34, Z:-2.39 [[ 9.99956089e-01 3.87034424e-03 -8.53468599e-03 1.00507214e+01] [-3.84957373e-03 9.99989592e-01 2.44874463e-03 3.36020408e-01] [ 8.54407465e-03 -2.41578220e-03 9.99960581e-01 -2.38758361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.24455357399995 meters Centerline goodness [0,1] 0.7964052450516029 Centerline is valid? [False, False] Translation: X:10.05, Y:0.33, Z:-2.39 [[ 9.99962156e-01 -5.09022218e-04 -8.68486911e-03 1.00518899e+01] [ 4.92849677e-04 9.99998141e-01 -1.86419006e-03 3.34906113e-01] [ 8.68580188e-03 1.85983917e-03 9.99960548e-01 -2.38932409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.274553574 meters Centerline goodness [0,1] 0.794865391339094 Centerline is valid? [False, False] Translation: X:10.06, Y:0.33, Z:-2.39 [[ 9.99953662e-01 -1.65548799e-03 -9.48334553e-03 1.00550626e+01] [ 1.63823764e-03 9.99996990e-01 -1.82649431e-03 3.33083630e-01] [ 9.48634073e-03 1.81087370e-03 9.99953364e-01 -2.38991539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.30455357399995 meters Centerline goodness [0,1] 0.7920036051373207 Centerline is valid? [False, False] Translation: X:10.06, Y:0.33, Z:-2.39 [[ 9.99941777e-01 -2.89051944e-03 -1.03965144e-02 1.00586059e+01] [ 2.87140858e-03 9.99994161e-01 -1.85265619e-03 3.31289357e-01] [ 1.04018088e-02 1.82269568e-03 9.99944239e-01 -2.39067068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.334553574 meters Centerline goodness [0,1] 0.7944385779655051 Centerline is valid? [False, False] Translation: X:10.06, Y:0.33, Z:-2.39 [[ 9.99917216e-01 -5.62581511e-03 -1.15720095e-02 1.00644799e+01] [ 5.59847439e-03 9.99981463e-01 -2.39369848e-03 3.27824105e-01] [ 1.15852615e-02 2.32871472e-03 9.99930177e-01 -2.39229690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.36455357399996 meters Centerline goodness [0,1] 0.8017128463476071 Centerline is valid? [False, False] Translation: X:10.07, Y:0.33, Z:-2.39 [[ 9.99907068e-01 -6.34380298e-03 -1.20669395e-02 1.00663672e+01] [ 6.31917023e-03 9.99977874e-01 -2.07837628e-03 3.26050197e-01] [ 1.20798573e-02 2.00193009e-03 9.99925032e-01 -2.39217884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.394553574 meters Centerline goodness [0,1] 0.7976896108154463 Centerline is valid? [False, False] Translation: X:10.07, Y:0.32, Z:-2.39 [[ 9.99883664e-01 -7.92923969e-03 -1.30302010e-02 1.00704030e+01] [ 7.90260508e-03 9.99966581e-01 -2.09428674e-03 3.23933155e-01] [ 1.30463716e-02 1.99107057e-03 9.99912910e-01 -2.39288118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.42455357399996 meters Centerline goodness [0,1] 0.7974760222110046 Centerline is valid? [False, False] Translation: X:10.07, Y:0.32, Z:-2.39 [[ 9.99874865e-01 -8.37031791e-03 -1.34235440e-02 1.00718347e+01] [ 8.34554753e-03 9.99963370e-01 -1.90024982e-03 3.22984361e-01] [ 1.34389580e-02 1.78798520e-03 9.99908095e-01 -2.39292935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.454553574 meters Centerline goodness [0,1] 0.8059082401740099 Centerline is valid? [False, False] Translation: X:10.07, Y:0.32, Z:-2.39 [[ 9.99866197e-01 -8.77516713e-03 -1.38052438e-02 1.00731563e+01] [ 8.75202831e-03 9.99960194e-01 -1.73561312e-03 3.22088038e-01] [ 1.38199246e-02 1.61455700e-03 9.99903197e-01 -2.39293210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.48455357399996 meters Centerline goodness [0,1] 0.7988357377879018 Centerline is valid? [False, False] Translation: X:10.08, Y:0.32, Z:-2.39 [[ 9.99851738e-01 -9.53507375e-03 -1.43381802e-02 1.00750473e+01] [ 9.51734714e-03 9.99953859e-01 -1.30405003e-03 3.20112662e-01] [ 1.43499529e-02 1.16739525e-03 9.99896353e-01 -2.39241712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.514553574 meters Centerline goodness [0,1] 0.806516848251978 Centerline is valid? [False, False] Translation: X:10.08, Y:0.32, Z:-2.39 [[ 9.99847122e-01 -9.75063688e-03 -1.45140414e-02 1.00754071e+01] [ 9.73942681e-03 9.99952215e-01 -8.42844392e-04 3.18855328e-01] [ 1.45215662e-02 7.01357095e-04 9.99894311e-01 -2.39153278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.54455357399996 meters Centerline goodness [0,1] 0.7968401298437817 Centerline is valid? [False, False] Translation: X:10.08, Y:0.32, Z:-2.39 [[ 9.99834512e-01 -1.03914251e-02 -1.49320779e-02 1.00766892e+01] [ 1.03865723e-02 9.99945977e-01 -4.02508116e-04 3.17655250e-01] [ 1.49354538e-02 2.47348399e-04 9.99888429e-01 -2.39050611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.574553574 meters Centerline goodness [0,1] 0.8011464515801755 Centerline is valid? [False, False] Translation: X:10.08, Y:0.32, Z:-2.39 [[ 9.99830671e-01 -1.05587594e-02 -1.50712476e-02 1.00769944e+01] [ 1.05578937e-02 9.99944255e-01 -1.37004196e-04 3.17174621e-01] [ 1.50718541e-02 -2.21396334e-05 9.99886413e-01 -2.38989062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.60455357399997 meters Centerline goodness [0,1] 0.8018193303853443 Centerline is valid? [False, False] Translation: X:10.08, Y:0.32, Z:-2.39 [[ 9.99816994e-01 -1.11883795e-02 -1.55176872e-02 1.00785147e+01] [ 1.11905549e-02 9.99937382e-01 5.33567295e-05 3.16340554e-01] [ 1.55161185e-02 -2.26998494e-04 9.99879592e-01 -2.38944155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.634553574 meters Centerline goodness [0,1] 0.8112597011906868 Centerline is valid? [False, False] Translation: X:10.08, Y:0.32, Z:-2.39 [[ 9.99814470e-01 -1.12282405e-02 -1.56509223e-02 1.00788977e+01] [ 1.12318457e-02 9.99936911e-01 1.42466164e-04 3.16452912e-01] [ 1.56483352e-02 -3.18228476e-04 9.99877507e-01 -2.38937085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.66455357399997 meters Centerline goodness [0,1] 0.8110878291383706 Centerline is valid? [False, False] Translation: X:10.08, Y:0.32, Z:-2.39 [[ 9.99816069e-01 -1.11035393e-02 -1.56377927e-02 1.00789194e+01] [ 1.11060715e-02 9.99938323e-01 7.50871955e-05 3.17100941e-01] [ 1.56359945e-02 -2.48747828e-04 9.99877719e-01 -2.38963077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.694553574 meters Centerline goodness [0,1] 0.8043719709208401 Centerline is valid? [False, False] Translation: X:10.08, Y:0.32, Z:-2.39 [[ 9.99839825e-01 -7.62831609e-03 -1.61905257e-02 1.00802813e+01] [ 7.70291290e-03 9.99959980e-01 4.55008563e-03 3.16762753e-01] [ 1.61551682e-02 -4.67407103e-03 9.99858572e-01 -2.38815634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.72455357399997 meters Centerline goodness [0,1] 0.8098295440239696 Centerline is valid? [False, False] Translation: X:10.08, Y:0.32, Z:-2.39 [[ 9.99838064e-01 -7.65830858e-03 -1.62848543e-02 1.00807396e+01] [ 7.72808972e-03 9.99961206e-01 4.22642860e-03 3.17555884e-01] [ 1.62518553e-02 -4.35159501e-03 9.99858460e-01 -2.38871538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.754553574 meters Centerline goodness [0,1] 0.7968659607113213 Centerline is valid? [False, False] Translation: X:10.08, Y:0.32, Z:-2.39 [[ 9.99845564e-01 -7.11806167e-03 -1.60679994e-02 1.00797393e+01] [ 7.18176267e-03 9.99966566e-01 3.91024808e-03 3.19293116e-01] [ 1.60396288e-02 -4.02504076e-03 9.99863255e-01 -2.38901182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.784553574 meters Centerline goodness [0,1] 0.8089975132501067 Centerline is valid? [False, False] Translation: X:10.08, Y:0.32, Z:-2.39 [[ 9.99850401e-01 -6.76021510e-03 -1.59209042e-02 1.00789497e+01] [ 6.82394521e-03 9.99968907e-01 3.95200227e-03 3.20019712e-01] [ 1.58936928e-02 -4.06005443e-03 9.99865444e-01 -2.38866124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.814553574 meters Centerline goodness [0,1] 0.7957719988966071 Centerline is valid? [False, False] Translation: X:10.08, Y:0.32, Z:-2.39 [[ 9.99854343e-01 -6.48996424e-03 -1.57851904e-02 1.00783084e+01] [ 6.55265606e-03 9.99970836e-01 3.92308593e-03 3.20809465e-01] [ 1.57592694e-02 -4.02594943e-03 9.99867710e-01 -2.38837489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.844553574 meters Centerline goodness [0,1] 0.8006597196191618 Centerline is valid? [False, False] Translation: X:10.08, Y:0.32, Z:-2.39 [[ 9.99865561e-01 -5.62869126e-03 -1.54005776e-02 1.00766797e+01] [ 5.68426519e-03 9.99977482e-01 3.56717064e-03 3.22832997e-01] [ 1.53801523e-02 -3.65423204e-03 9.99875041e-01 -2.38874113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.874553574 meters Centerline goodness [0,1] 0.7996850551153548 Centerline is valid? [False, False] Translation: X:10.08, Y:0.32, Z:-2.39 [[ 9.99874811e-01 -4.96027061e-03 -1.50252344e-02 1.00753242e+01] [ 5.01354749e-03 9.99981271e-01 3.51023708e-03 3.23819579e-01] [ 1.50075413e-02 -3.58512736e-03 9.99880953e-01 -2.38890737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.904553574 meters Centerline goodness [0,1] 0.8045388725220952 Centerline is valid? [False, False] Translation: X:10.07, Y:0.33, Z:-2.39 [[ 9.99889445e-01 -3.62857417e-03 -1.44198397e-02 1.00731147e+01] [ 3.67383590e-03 9.99988404e-01 3.11360167e-03 3.25818410e-01] [ 1.44083745e-02 -3.16623357e-03 9.99891181e-01 -2.38996192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.934553574 meters Centerline goodness [0,1] 0.7955785958178601 Centerline is valid? [False, False] Translation: X:10.07, Y:0.33, Z:-2.39 [[ 9.99896478e-01 -2.96229382e-03 -1.40804257e-02 1.00720522e+01] [ 3.00401732e-03 9.99991157e-01 2.94300162e-03 3.26886389e-01] [ 1.40715831e-02 -2.98499480e-03 9.99896535e-01 -2.39059732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.964553574 meters Centerline goodness [0,1] 0.79211567656355 Centerline is valid? [False, False] Translation: X:10.07, Y:0.33, Z:-2.39 [[ 9.99913345e-01 -1.01449911e-03 -1.31252881e-02 1.00683132e+01] [ 1.05356467e-03 9.99995035e-01 2.96978554e-03 3.28661555e-01] [ 1.31222100e-02 -2.98335653e-03 9.99909449e-01 -2.39106310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99455357399995 meters Centerline goodness [0,1] 0.7942931322864918 Centerline is valid? [False, False] Translation: X:10.07, Y:0.33, Z:-2.39 [[ 9.99921218e-01 -9.47364573e-05 -1.25518818e-02 1.00661362e+01] [ 1.33094749e-04 9.99995324e-01 3.05517929e-03 3.29378287e-01] [ 1.25515337e-02 -3.05660918e-03 9.99916555e-01 -2.39083875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.024553574 meters Centerline goodness [0,1] 0.7911165362961486 Centerline is valid? [False, False] Translation: X:10.07, Y:0.33, Z:-2.39 [[ 9.99924948e-01 4.05373757e-04 -1.22447745e-02 1.00652235e+01] [-3.70378305e-04 9.99995841e-01 2.86012317e-03 3.29880385e-01] [ 1.22458830e-02 -2.85537331e-03 9.99920939e-01 -2.39141684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.05455357399995 meters Centerline goodness [0,1] 0.7914465282820442 Centerline is valid? [False, False] Translation: X:10.06, Y:0.33, Z:-2.39 [[ 9.99928346e-01 1.03113256e-03 -1.19264649e-02 1.00640152e+01] [-9.97374387e-04 9.99995481e-01 2.83612804e-03 3.30244051e-01] [ 1.19293354e-02 -2.82402967e-03 9.99924855e-01 -2.39164539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.084553574 meters Centerline goodness [0,1] 0.7937182725249443 Centerline is valid? [False, False] Translation: X:10.06, Y:0.33, Z:-2.39 [[ 9.99928971e-01 1.14616588e-03 -1.18633988e-02 1.00638031e+01] [-1.11204461e-03 9.99995228e-01 2.88237680e-03 3.30218334e-01] [ 1.18666459e-02 -2.86897944e-03 9.99925473e-01 -2.39164464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.11455357399996 meters Centerline goodness [0,1] 0.7917249650209874 Centerline is valid? [False, False] Translation: X:10.06, Y:0.33, Z:-2.39 [[ 9.99926967e-01 7.79464854e-04 -1.20603655e-02 1.00642990e+01] [-7.41499197e-04 9.99994757e-01 3.15212034e-03 3.29731376e-01] [ 1.20627592e-02 -3.14294738e-03 9.99922303e-01 -2.39079624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.144553574 meters Centerline goodness [0,1] 0.8034583719126148 Centerline is valid? [False, False] Translation: X:10.07, Y:0.33, Z:-2.39 [[ 9.99923496e-01 3.48455941e-04 -1.23644861e-02 1.00652716e+01] [-3.07378756e-04 9.99994428e-01 3.32393593e-03 3.29055518e-01] [ 1.23655755e-02 -3.31988106e-03 9.99918032e-01 -2.39043475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.17455357399996 meters Centerline goodness [0,1] 0.7994796227264767 Centerline is valid? [False, False] Translation: X:10.07, Y:0.33, Z:-2.39 [[ 9.99916512e-01 -4.84510491e-04 -1.29125960e-02 1.00673314e+01] [ 5.25711938e-04 9.99994781e-01 3.18759171e-03 3.28808990e-01] [ 1.29109842e-02 -3.19411389e-03 9.99911548e-01 -2.39058189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.204553574 meters Centerline goodness [0,1] 0.8032054980059695 Centerline is valid? [False, False] Translation: X:10.07, Y:0.33, Z:-2.39 [[ 9.99901769e-01 -5.04865038e-03 -1.30753042e-02 1.00683164e+01] [ 5.03073069e-03 9.99986362e-01 -1.40302706e-03 3.29690568e-01] [ 1.30822092e-02 1.33711090e-03 9.99913530e-01 -2.39154339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.23455357399996 meters Centerline goodness [0,1] 0.7942526141578274 Centerline is valid? [False, False] Translation: X:10.07, Y:0.33, Z:-2.39 [[ 9.99888185e-01 -5.97521270e-03 -1.37081673e-02 1.00705456e+01] [ 5.95661542e-03 9.99981283e-01 -1.39708582e-03 3.29270262e-01] [ 1.37162586e-02 1.31527532e-03 9.99905063e-01 -2.39122899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.264553574 meters Centerline goodness [0,1] 0.8054039164621626 Centerline is valid? [False, False] Translation: X:10.07, Y:0.33, Z:-2.39 [[ 9.99861316e-01 -7.82955083e-03 -1.46985002e-02 1.00742344e+01] [ 7.80088366e-03 9.99967559e-01 -2.00666914e-03 3.29823724e-01] [ 1.47137347e-02 1.89172956e-03 9.99889958e-01 -2.39135197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.29455357399996 meters Centerline goodness [0,1] 0.80666700010003 Centerline is valid? [False, False] Translation: X:10.08, Y:0.33, Z:-2.39 [[ 9.99849726e-01 -8.42927522e-03 -1.51483781e-02 1.00757344e+01] [ 8.39628166e-03 9.99962241e-01 -2.24030693e-03 3.30705490e-01] [ 1.51666903e-02 2.11278022e-03 9.99882747e-01 -2.39130529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.324553574 meters Centerline goodness [0,1] 0.8079010255899631 Centerline is valid? [False, False] Translation: X:10.08, Y:0.33, Z:-2.39 [[ 9.99827482e-01 -9.55122251e-03 -1.59305006e-02 1.00783603e+01] [ 9.50635393e-03 9.99950638e-01 -2.88987371e-03 3.32830167e-01] [ 1.59573161e-02 2.73793417e-03 9.99868925e-01 -2.39142442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.35455357399997 meters Centerline goodness [0,1] 0.8014387414745856 Centerline is valid? [False, False] Translation: X:10.08, Y:0.33, Z:-2.39 [[ 9.99818611e-01 -9.92607559e-03 -1.62547675e-02 1.00795062e+01] [ 9.87449081e-03 9.99945962e-01 -3.25070891e-03 3.34061748e-01] [ 1.62861559e-02 3.08961172e-03 9.99862598e-01 -2.39173496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.384553574 meters Centerline goodness [0,1] 0.8058486210063799 Centerline is valid? [False, False] Translation: X:10.08, Y:0.34, Z:-2.39 [[ 9.99811239e-01 -1.02345169e-02 -1.65148845e-02 1.00805963e+01] [ 1.01724186e-02 9.99940887e-01 -3.83978077e-03 3.35919027e-01] [ 1.65532066e-02 3.67105965e-03 9.99856247e-01 -2.39249456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.41455357399997 meters Centerline goodness [0,1] 0.7969882190565387 Centerline is valid? [False, False] Translation: X:10.08, Y:0.34, Z:-2.39 [[ 9.99814569e-01 -7.62748944e-03 -1.76818769e-02 1.00840391e+01] [ 7.62255846e-03 9.99970888e-01 -3.46252181e-04 3.37882044e-01] [ 1.76840032e-02 2.11406835e-04 9.99843603e-01 -2.39196834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.444553574 meters Centerline goodness [0,1] 0.7938968869201427 Centerline is valid? [False, False] Translation: X:10.08, Y:0.34, Z:-2.39 [[ 9.99815112e-01 -7.46452534e-03 -1.77206646e-02 1.00839320e+01] [ 7.45352231e-03 9.99971986e-01 -6.86880859e-04 3.39792490e-01] [ 1.77252954e-02 5.54672494e-04 9.99842741e-01 -2.39203527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.47455357399997 meters Centerline goodness [0,1] 0.7925079115864877 Centerline is valid? [False, False] Translation: X:10.08, Y:0.34, Z:-2.39 [[ 9.99816941e-01 -7.21372632e-03 -1.77213397e-02 1.00837533e+01] [ 7.19424871e-03 9.99973445e-01 -1.16261056e-03 3.42153247e-01] [ 1.77292558e-02 1.03490600e-03 9.99842289e-01 -2.39238466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.504553574 meters Centerline goodness [0,1] 0.7891136590472018 Centerline is valid? [False, False] Translation: X:10.09, Y:0.35, Z:-2.39 [[ 9.99821270e-01 -3.94372959e-03 -1.84898722e-02 1.00858986e+01] [ 3.98160090e-03 9.99990050e-01 2.01185375e-03 3.45843418e-01] [ 1.84817540e-02 -2.08511347e-03 9.99827024e-01 -2.39236732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.534553574 meters Centerline goodness [0,1] 0.8034372424492171 Centerline is valid? [False, False] Translation: X:10.08, Y:0.35, Z:-2.39 [[ 9.99832031e-01 -2.79850620e-03 -1.81129306e-02 1.00835476e+01] [ 2.83035366e-03 9.99994493e-01 1.73287550e-03 3.50470797e-01] [ 1.81079814e-02 -1.78385043e-03 9.99834446e-01 -2.39138114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.564553574 meters Centerline goodness [0,1] 0.7961798839458414 Centerline is valid? [False, False] Translation: X:10.08, Y:0.35, Z:-2.39 [[ 9.99837867e-01 -2.26272800e-03 -1.78639514e-02 1.00822797e+01] [ 2.29266962e-03 9.99996001e-01 1.65578973e-03 3.52187769e-01] [ 1.78601334e-02 -1.69647741e-03 9.99839056e-01 -2.39083337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.594553574 meters Centerline goodness [0,1] 0.794869319690132 Centerline is valid? [False, False] Translation: X:10.08, Y:0.35, Z:-2.39 [[ 9.99840348e-01 -1.99637840e-03 -1.77565122e-02 1.00816161e+01] [ 2.02213693e-03 9.99996929e-01 1.43281652e-03 3.53952041e-01] [ 1.77535973e-02 -1.46849387e-03 9.99841314e-01 -2.39047302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.624553574 meters Centerline goodness [0,1] 0.7960115329168669 Centerline is valid? [False, False] Translation: X:10.07, Y:0.36, Z:-2.39 [[ 9.99945533e-01 -3.66074536e-03 -9.77393724e-03 1.00721700e+01] [ 3.70335072e-03 9.99983705e-01 4.34454369e-03 3.57579570e-01] [ 9.75787371e-03 -4.38050337e-03 9.99942796e-01 -2.39411854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.654553574 meters Centerline goodness [0,1] 0.7960115329168669 Centerline is valid? [False, False] Translation: X:10.07, Y:0.36, Z:-2.39 [[ 9.99945533e-01 -3.66074536e-03 -9.77393724e-03 1.00721700e+01] [ 3.70335072e-03 9.99983705e-01 4.34454369e-03 3.57579570e-01] [ 9.75787371e-03 -4.38050337e-03 9.99942796e-01 -2.39411854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.684553574 meters Centerline goodness [0,1] 0.8028111680475073 Centerline is valid? [False, False] Translation: X:10.07, Y:0.36, Z:-2.39 [[ 9.99944843e-01 -3.68797072e-03 -9.83409053e-03 1.00722835e+01] [ 3.72773472e-03 9.99984939e-01 4.02822517e-03 3.59247205e-01] [ 9.81908644e-03 -4.06466187e-03 9.99943530e-01 -2.39412643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.714553574 meters Centerline goodness [0,1] 0.7983730527922899 Centerline is valid? [False, False] Translation: X:10.07, Y:0.36, Z:-2.39 [[ 9.99942922e-01 -3.78080994e-03 -9.99295592e-03 1.00726818e+01] [ 3.81528131e-03 9.99986830e-01 3.43275725e-03 3.61927060e-01] [ 9.97984571e-03 -3.47068725e-03 9.99944177e-01 -2.39444921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.74455357399995 meters Centerline goodness [0,1] 0.79156841729189 Centerline is valid? [False, False] Translation: X:10.07, Y:0.36, Z:-2.39 [[ 9.99941874e-01 -3.83582056e-03 -1.00764927e-02 1.00729967e+01] [ 3.86775446e-03 9.99987554e-01 3.15157507e-03 3.63189619e-01] [ 1.00642784e-02 -3.19036528e-03 9.99944264e-01 -2.39468332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.774553574 meters Centerline goodness [0,1] 0.8112934248331869 Centerline is valid? [False, False] Translation: X:10.07, Y:0.37, Z:-2.39 [[ 9.99940921e-01 -3.83292535e-03 -1.01716759e-02 1.00730643e+01] [ 3.86102168e-03 9.99988781e-01 2.74401502e-03 3.65253834e-01] [ 1.01610442e-02 -2.78312597e-03 9.99944502e-01 -2.39460699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.80455357399995 meters Centerline goodness [0,1] 0.8044573780963873 Centerline is valid? [False, False] Translation: X:10.07, Y:0.37, Z:-2.39 [[ 9.99940831e-01 -3.79659930e-03 -1.01941700e-02 1.00731554e+01] [ 3.82199285e-03 9.99989639e-01 2.47266220e-03 3.66559161e-01] [ 1.01846767e-02 -2.51147794e-03 9.99944981e-01 -2.39478960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.834553574 meters Centerline goodness [0,1] 0.80283119027958 Centerline is valid? [False, False] Translation: X:10.07, Y:0.37, Z:-2.40 [[ 9.99940227e-01 -3.79144532e-03 -1.02550846e-02 1.00734019e+01] [ 3.81376996e-03 9.99990399e-01 2.15825513e-03 3.67891442e-01] [ 1.02468032e-02 -2.19723666e-03 9.99945086e-01 -2.39516475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.86455357399996 meters Centerline goodness [0,1] 0.8024002823861631 Centerline is valid? [False, False] Translation: X:10.07, Y:0.37, Z:-2.40 [[ 9.99937032e-01 -4.07242814e-03 -1.04569110e-02 1.00741115e+01] [ 4.09131533e-03 9.99990037e-01 1.78543594e-03 3.69432462e-01] [ 1.04495357e-02 -1.82810604e-03 9.99943731e-01 -2.39533853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.894553574 meters Centerline goodness [0,1] 0.8045525163598701 Centerline is valid? [False, False] Translation: X:10.07, Y:0.37, Z:-2.40 [[ 9.99933495e-01 -4.34474738e-03 -1.06831310e-02 1.00747842e+01] [ 4.36263990e-03 9.99989119e-01 1.65210556e-03 3.69921480e-01] [ 1.06758368e-02 -1.69860234e-03 9.99941569e-01 -2.39526234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.92455357399996 meters Centerline goodness [0,1] 0.810761407044597 Centerline is valid? [False, False] Translation: X:10.08, Y:0.37, Z:-2.40 [[ 9.99929032e-01 -4.70458710e-03 -1.09452284e-02 1.00757851e+01] [ 4.71693278e-03 9.99988268e-01 1.10240944e-03 3.71754362e-01] [ 1.09399136e-02 -1.15395912e-03 9.99939492e-01 -2.39580823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.954553574 meters Centerline goodness [0,1] 0.8086838851170062 Centerline is valid? [False, False] Translation: X:10.08, Y:0.37, Z:-2.40 [[ 9.99929014e-01 -4.67426111e-03 -1.09598698e-02 1.00758075e+01] [ 4.68501370e-03 9.99988569e-01 9.55618581e-04 3.72658815e-01] [ 1.09552777e-02 -1.00689789e-03 9.99939482e-01 -2.39587202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.98455357399996 meters Centerline goodness [0,1] 0.8053708439897698 Centerline is valid? [False, False] Translation: X:10.07, Y:0.37, Z:-2.39 [[ 9.99932081e-01 -4.32729905e-03 -1.08216539e-02 1.00748115e+01] [ 4.33815408e-03 9.99990110e-01 9.79812243e-04 3.74152506e-01] [ 1.08173070e-02 -1.02669170e-03 9.99940964e-01 -2.39498323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.014553574 meters Centerline goodness [0,1] 0.8109119467800056 Centerline is valid? [False, False] Translation: X:10.07, Y:0.38, Z:-2.39 [[ 9.99938178e-01 -3.57184427e-03 -1.05300106e-02 1.00732606e+01] [ 3.58129597e-03 9.99993201e-01 8.78876708e-04 3.76698461e-01] [ 1.05267997e-02 -9.16533459e-04 9.99944172e-01 -2.39442341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.04455357399996 meters Centerline goodness [0,1] 0.8124855704852935 Centerline is valid? [False, False] Translation: X:10.07, Y:0.38, Z:-2.39 [[ 9.99943174e-01 -2.99460676e-03 -1.02314078e-02 1.00718181e+01] [ 3.00523067e-03 9.99994961e-01 1.02314593e-03 3.77801654e-01] [ 1.02282923e-02 -1.05383553e-03 9.99947134e-01 -2.39362936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.074553574 meters Centerline goodness [0,1] 0.8083806097504728 Centerline is valid? [False, False] Translation: X:10.07, Y:0.38, Z:-2.39 [[ 9.99946812e-01 -2.51661146e-03 -1.00019881e-02 1.00706664e+01] [ 2.52866445e-03 9.99996092e-01 1.19259540e-03 3.78437608e-01] [ 9.99894774e-03 -1.21782364e-03 9.99949268e-01 -2.39287014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.10455357399997 meters Centerline goodness [0,1] 0.8122713782869764 Centerline is valid? [False, False] Translation: X:10.07, Y:0.38, Z:-2.39 [[ 9.99948881e-01 -2.21649341e-03 -9.86526917e-03 1.00701058e+01] [ 2.22782795e-03 9.99996871e-01 1.13809255e-03 3.79282389e-01] [ 9.86271573e-03 -1.16001250e-03 9.99950689e-01 -2.39266337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.134553574 meters Centerline goodness [0,1] 0.8185090917429089 Centerline is valid? [False, False] Translation: X:10.07, Y:0.38, Z:-2.39 [[ 9.99945680e-01 1.58419494e-03 -1.03018301e-02 1.00713585e+01] [-1.53275996e-03 9.99986331e-01 4.99878040e-03 3.80644938e-01] [ 1.03096083e-02 -4.98271863e-03 9.99934440e-01 -2.39259221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.16455357399997 meters Centerline goodness [0,1] 0.8157539419182095 Centerline is valid? [False, False] Translation: X:10.07, Y:0.38, Z:-2.39 [[ 9.99947293e-01 2.12297606e-03 -1.00451211e-02 1.00706039e+01] [-2.07682572e-03 9.99987252e-01 4.60250703e-03 3.82502738e-01] [ 1.00547640e-02 -4.58140248e-03 9.99938954e-01 -2.39326914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.194553574 meters Centerline goodness [0,1] 0.822402812335928 Centerline is valid? [False, False] Translation: X:10.07, Y:0.38, Z:-2.39 [[ 9.99949474e-01 3.70382799e-03 -9.34509585e-03 1.00676208e+01] [-3.65849738e-03 9.99981482e-01 4.86317816e-03 3.84538715e-01] [ 9.36293518e-03 -4.82874343e-03 9.99944508e-01 -2.39255350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.22455357399997 meters Centerline goodness [0,1] 0.81731779757825 Centerline is valid? [False, False] Translation: X:10.07, Y:0.39, Z:-2.39 [[ 9.99950121e-01 4.11468740e-03 -9.10079574e-03 1.00666889e+01] [-4.07057317e-03 9.99979903e-01 4.86051656e-03 3.85216163e-01] [ 9.12061235e-03 -4.82322867e-03 9.99946774e-01 -2.39235276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.254553574 meters Centerline goodness [0,1] 0.8153201375760198 Centerline is valid? [False, False] Translation: X:10.07, Y:0.39, Z:-2.39 [[ 9.99950905e-01 4.63167920e-03 -8.75982896e-03 1.00654792e+01] [-4.59004234e-03 9.99978102e-01 4.76730650e-03 3.86550520e-01] [ 8.78171777e-03 -4.72686446e-03 9.99950268e-01 -2.39212733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.284553574 meters Centerline goodness [0,1] 0.8090993838248335 Centerline is valid? [False, False] Translation: X:10.07, Y:0.39, Z:-2.39 [[ 9.99950910e-01 4.48755124e-03 -8.83404810e-03 1.00658600e+01] [-4.44781325e-03 9.99979926e-01 4.51279447e-03 3.87008322e-01] [ 8.85412216e-03 -4.47328074e-03 9.99950796e-01 -2.39242045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.314553574 meters Centerline goodness [0,1] 0.81335876995753 Centerline is valid? [False, False] Translation: X:10.06, Y:0.39, Z:-2.39 [[ 9.99964380e-01 1.54051934e-03 -8.29851729e-03 1.00635083e+01] [-1.53567455e-03 9.99998647e-01 5.90154510e-04 3.88673336e-01] [ 8.29941520e-03 -5.77389667e-04 9.99965393e-01 -2.39197649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.344553574 meters Centerline goodness [0,1] 0.8150555719708161 Centerline is valid? [False, False] Translation: X:10.06, Y:0.39, Z:-2.39 [[ 9.99963507e-01 1.31488808e-03 -8.44130592e-03 1.00638547e+01] [-1.30956195e-03 9.99998940e-01 6.36456335e-04 3.88534004e-01] [ 8.44213384e-03 -6.25378696e-04 9.99964169e-01 -2.39162483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.374553574 meters Centerline goodness [0,1] 0.8120811467775279 Centerline is valid? [False, False] Translation: X:10.07, Y:0.39, Z:-2.39 [[ 9.99958837e-01 2.91634696e-04 -9.06860470e-03 1.00658495e+01] [-2.87887567e-04 9.99999873e-01 4.14500577e-04 3.88371047e-01] [ 9.06872443e-03 -4.11872776e-04 9.99958793e-01 -2.39138375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.404553574 meters Centerline goodness [0,1] 0.8166530501089324 Centerline is valid? [False, False] Translation: X:10.07, Y:0.39, Z:-2.39 [[ 9.99954285e-01 -2.89024398e-04 -9.55737593e-03 1.00674903e+01] [ 2.90670601e-04 9.99999943e-01 1.70855695e-04 3.88507660e-01] [ 9.55732600e-03 -1.73625933e-04 9.99954313e-01 -2.39174820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.434553574 meters Centerline goodness [0,1] 0.8232067988668555 Centerline is valid? [False, False] Translation: X:10.07, Y:0.39, Z:-2.39 [[ 9.99949409e-01 -8.68964765e-04 -1.00211770e-02 1.00692382e+01] [ 8.66874875e-04 9.99999602e-01 -2.12889071e-04 3.89102436e-01] [ 1.00213580e-02 2.04191194e-04 9.99949764e-01 -2.39249585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.464553574 meters Centerline goodness [0,1] 0.8246742983585089 Centerline is valid? [False, False] Translation: X:10.07, Y:0.39, Z:-2.39 [[ 9.99936747e-01 -2.23577612e-03 -1.10228434e-02 1.00727987e+01] [ 2.22555499e-03 9.99997082e-01 -9.39447305e-04 3.89838525e-01] [ 1.10249117e-02 9.14855938e-04 9.99938805e-01 -2.39362391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49455357399995 meters Centerline goodness [0,1] 0.8257570625296389 Centerline is valid? [False, False] Translation: X:10.07, Y:0.39, Z:-2.39 [[ 9.99931278e-01 -2.73476358e-03 -1.14000549e-02 1.00740384e+01] [ 2.72195639e-03 9.99995647e-01 -1.13879682e-03 3.90034508e-01] [ 1.14031196e-02 1.10768811e-03 9.99934369e-01 -2.39371671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.524553574 meters Centerline goodness [0,1] 0.8194666007594311 Centerline is valid? [False, False] Translation: X:10.08, Y:0.39, Z:-2.39 [[ 9.99919792e-01 -3.77103854e-03 -1.20908209e-02 1.00762686e+01] [ 3.75125951e-03 9.99991589e-01 -1.65813289e-03 3.91180584e-01] [ 1.20969721e-02 1.61264409e-03 9.99925529e-01 -2.39379937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.55455357399995 meters Centerline goodness [0,1] 0.8278863672147372 Centerline is valid? [False, False] Translation: X:10.08, Y:0.39, Z:-2.39 [[ 9.99913035e-01 -4.22385430e-03 -1.24932552e-02 1.00775227e+01] [ 4.20020006e-03 9.99989338e-01 -1.91899341e-03 3.92002131e-01] [ 1.25012276e-02 1.86635236e-03 9.99920115e-01 -2.39391114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.584553574 meters Centerline goodness [0,1] 0.8255710007598445 Centerline is valid? [False, False] Translation: X:10.08, Y:0.39, Z:-2.39 [[ 9.99901455e-01 -5.05147450e-03 -1.30981894e-02 1.00792451e+01] [ 5.02019850e-03 9.99984471e-01 -2.41959185e-03 3.93388340e-01] [ 1.31102085e-02 2.35359790e-03 9.99911288e-01 -2.39377726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.61455357399996 meters Centerline goodness [0,1] 0.8278346605991658 Centerline is valid? [False, False] Translation: X:10.08, Y:0.39, Z:-2.39 [[ 9.99897443e-01 -5.29695201e-03 -1.33058512e-02 1.00798085e+01] [ 5.26313451e-03 9.99982834e-01 -2.57528409e-03 3.94104904e-01] [ 1.33192639e-02 2.50498950e-03 9.99908157e-01 -2.39359132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.644553574 meters Centerline goodness [0,1] 0.8281180450458471 Centerline is valid? [False, False] Translation: X:10.08, Y:0.40, Z:-2.39 [[ 9.99891653e-01 -5.70469337e-03 -1.35697756e-02 1.00803737e+01] [ 5.66459066e-03 9.99979480e-01 -2.99189879e-03 3.95918129e-01] [ 1.35865651e-02 2.91470741e-03 9.99903450e-01 -2.39311672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.67455357399996 meters Centerline goodness [0,1] 0.8326746303121808 Centerline is valid? [False, False] Translation: X:10.08, Y:0.40, Z:-2.39 [[ 9.99890342e-01 -5.74794947e-03 -1.36479204e-02 1.00805261e+01] [ 5.70442521e-03 9.99978526e-01 -3.22586666e-03 3.97146223e-01] [ 1.36661695e-02 3.14765938e-03 9.99901659e-01 -2.39297760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.704553574 meters Centerline goodness [0,1] 0.8361721895323629 Centerline is valid? [False, False] Translation: X:10.08, Y:0.40, Z:-2.39 [[ 9.99891643e-01 -2.65458650e-03 -1.44795118e-02 1.00829731e+01] [ 2.65607224e-03 9.99996469e-01 8.33803757e-05 3.99149281e-01] [ 1.44792394e-02 -1.21829970e-04 9.99895163e-01 -2.39314446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.73455357399996 meters Centerline goodness [0,1] 0.8322156534015707 Centerline is valid? [False, False] Translation: X:10.08, Y:0.40, Z:-2.39 [[ 9.99896325e-01 -2.05351165e-03 -1.42520699e-02 1.00819837e+01] [ 2.05292887e-03 9.99997891e-01 -5.55210159e-05 4.01264789e-01] [ 1.42521538e-02 2.62567741e-05 9.99898433e-01 -2.39291649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.764553574 meters Centerline goodness [0,1] 0.8331683277231425 Centerline is valid? [False, False] Translation: X:10.08, Y:0.40, Z:-2.39 [[ 9.99892398e-01 1.92117375e-03 -1.45430827e-02 1.00823971e+01] [-1.86600978e-03 9.99991017e-01 3.80576116e-03 4.02757436e-01] [ 1.45502636e-02 -3.77821412e-03 9.99887001e-01 -2.39207356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.79455357399996 meters Centerline goodness [0,1] 0.8372026683050996 Centerline is valid? [False, False] Translation: X:10.08, Y:0.40, Z:-2.39 [[ 9.99893336e-01 2.27983739e-03 -1.44263180e-02 1.00817900e+01] [-2.22721188e-03 9.99990811e-01 3.66289733e-03 4.04044363e-01] [ 1.44345363e-02 -3.63037616e-03 9.99889226e-01 -2.39182695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.824553574 meters Centerline goodness [0,1] 0.8358039018195353 Centerline is valid? [False, False] Translation: X:10.08, Y:0.41, Z:-2.39 [[ 9.99896330e-01 2.85855345e-03 -1.41123127e-02 1.00804433e+01] [-2.81001383e-03 9.99990072e-01 3.45815411e-03 4.06180538e-01] [ 1.41220579e-02 -3.41813981e-03 9.99894436e-01 -2.39132161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.85455357399997 meters Centerline goodness [0,1] 0.8297909560045482 Centerline is valid? [False, False] Translation: X:10.08, Y:0.41, Z:-2.39 [[ 9.99895913e-01 2.86669689e-03 -1.41401719e-02 1.00805631e+01] [-2.82118638e-03 9.99990780e-01 3.23742333e-03 4.06891939e-01] [ 1.41493222e-02 -3.19719430e-03 9.99894782e-01 -2.39152011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.884553574 meters Centerline goodness [0,1] 0.832433731780337 Centerline is valid? [False, False] Translation: X:10.08, Y:0.41, Z:-2.39 [[ 9.99890141e-01 2.07495299e-03 -1.46765171e-02 1.00825934e+01] [-2.03566050e-03 9.99994305e-01 2.69166794e-03 4.07546057e-01] [ 1.46820186e-02 -2.66149583e-03 9.99888671e-01 -2.39235696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.91455357399997 meters Centerline goodness [0,1] 0.8372174064555473 Centerline is valid? [False, False] Translation: X:10.08, Y:0.41, Z:-2.39 [[ 9.99886719e-01 1.66699969e-03 -1.49589407e-02 1.00835901e+01] [-1.63083209e-03 9.99995719e-01 2.42966417e-03 4.07937579e-01] [ 1.49629269e-02 -2.40499342e-03 9.99885157e-01 -2.39262150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.944553574 meters Centerline goodness [0,1] 0.842472907690299 Centerline is valid? [False, False] Translation: X:10.08, Y:0.41, Z:-2.39 [[ 9.99883868e-01 1.31127652e-03 -1.51832646e-02 1.00844144e+01] [-1.27851409e-03 9.99996834e-01 2.16730413e-03 4.08420160e-01] [ 1.51860585e-02 -2.14764041e-03 9.99882379e-01 -2.39288148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.97455357399997 meters Centerline goodness [0,1] 0.8384780580923664 Centerline is valid? [False, False] Translation: X:10.07, Y:0.41, Z:-2.40 [[ 9.99968169e-01 -3.44264880e-03 -7.19783156e-03 1.00742641e+01] [ 3.46334538e-03 9.99989899e-01 2.86490569e-03 4.10888299e-01] [ 7.18789599e-03 -2.88974308e-03 9.99969991e-01 -2.39545121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.004553574 meters Centerline goodness [0,1] 0.8418980880699023 Centerline is valid? [False, False] Translation: X:10.08, Y:0.41, Z:-2.40 [[ 9.99958226e-01 -4.70674314e-03 -7.83540112e-03 1.00764021e+01] [ 4.72327747e-03 9.99986655e-01 2.09304262e-03 4.12137778e-01] [ 7.82544514e-03 -2.12996396e-03 9.99967112e-01 -2.39561193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.034553574 meters Centerline goodness [0,1] 0.8205133731330416 Centerline is valid? [False, False] Translation: X:10.08, Y:0.41, Z:-2.40 [[ 9.99954392e-01 -5.12075806e-03 -8.06171403e-03 1.00772416e+01] [ 5.13446976e-03 9.99985406e-01 1.68106528e-03 4.13154263e-01] [ 8.05298805e-03 -1.72238124e-03 9.99966091e-01 -2.39581344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.064553574 meters Centerline goodness [0,1] 0.8389590918826302 Centerline is valid? [False, False] Translation: X:10.08, Y:0.42, Z:-2.40 [[ 9.99950379e-01 -5.56788287e-03 -8.26069583e-03 1.00777986e+01] [ 5.57588888e-03 9.99984007e-01 9.46454578e-04 4.15743241e-01] [ 8.25529396e-03 -9.92468335e-04 9.99965432e-01 -2.39579378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.094553574 meters Centerline goodness [0,1] 0.8443072848813618 Centerline is valid? [False, False] Translation: X:10.08, Y:0.42, Z:-2.40 [[ 9.99948639e-01 -5.70782376e-03 -8.37490981e-03 1.00782255e+01] [ 5.71232867e-03 9.99983552e-01 5.14083061e-04 4.17303937e-01] [ 8.37183777e-03 -5.61896895e-04 9.99964798e-01 -2.39603437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.124553574 meters Centerline goodness [0,1] 0.8493036746358421 Centerline is valid? [False, False] Translation: X:10.08, Y:0.42, Z:-2.40 [[ 9.99948580e-01 -5.67246638e-03 -8.40595388e-03 1.00782633e+01] [ 5.67398544e-03 9.99983891e-01 1.56875449e-04 4.19065630e-01] [ 8.40492859e-03 -2.04562643e-04 9.99964657e-01 -2.39608860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.154553574 meters Centerline goodness [0,1] 0.8451238373694359 Centerline is valid? [False, False] Translation: X:10.08, Y:0.42, Z:-2.40 [[ 9.99952129e-01 -5.23449638e-03 -8.26675786e-03 1.00775279e+01] [ 5.23059101e-03 9.99986198e-01 -4.93968605e-04 4.23226214e-01] [ 8.26922945e-03 4.50704929e-04 9.99965708e-01 -2.39609685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.184553574 meters Centerline goodness [0,1] 0.8500526870389884 Centerline is valid? [False, False] Translation: X:10.08, Y:0.43, Z:-2.40 [[ 9.99952250e-01 -5.11379813e-03 -8.32749753e-03 1.00776759e+01] [ 5.10634208e-03 9.99986543e-01 -9.16368547e-04 4.25257643e-01] [ 8.33207159e-03 8.73801739e-04 9.99964906e-01 -2.39642883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.214553574 meters Centerline goodness [0,1] 0.8503904042201336 Centerline is valid? [False, False] Translation: X:10.08, Y:0.43, Z:-2.40 [[ 9.99957678e-01 -2.01584345e-03 -8.97652432e-03 1.00795707e+01] [ 2.03651472e-03 9.99995294e-01 2.29426885e-03 4.27344789e-01] [ 8.97185720e-03 -2.31245258e-03 9.99957078e-01 -2.39657644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.24455357399995 meters Centerline goodness [0,1] 0.8495930706948135 Centerline is valid? [False, False] Translation: X:10.08, Y:0.43, Z:-2.40 [[ 9.99959288e-01 -1.73748172e-03 -8.85454046e-03 1.00790210e+01] [ 1.75661368e-03 9.99996139e-01 2.15337519e-03 4.28760226e-01] [ 8.85076481e-03 -2.16884153e-03 9.99958479e-01 -2.39633137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.274553574 meters Centerline goodness [0,1] 0.8532608695652174 Centerline is valid? [False, False] Translation: X:10.08, Y:0.43, Z:-2.39 [[ 9.99965125e-01 -8.96220769e-04 -8.30329342e-03 1.00765761e+01] [ 9.13869265e-04 9.99997331e-01 2.12193112e-03 4.31487745e-01] [ 8.30136954e-03 -2.12944525e-03 9.99963276e-01 -2.39489776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.30455357399995 meters Centerline goodness [0,1] 0.8475436079752178 Centerline is valid? [False, False] Translation: X:10.08, Y:0.43, Z:-2.39 [[ 9.99966968e-01 -4.74440437e-04 -8.11408872e-03 1.00757981e+01] [ 4.89850138e-04 9.99998080e-01 1.89724700e-03 4.33392357e-01] [ 8.11317301e-03 -1.90115902e-03 9.99965280e-01 -2.39474986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.334553574 meters Centerline goodness [0,1] 0.8552882226271327 Centerline is valid? [False, False] Translation: X:10.07, Y:0.44, Z:-2.39 [[ 9.99971198e-01 9.83166213e-04 -7.52576458e-03 1.00729736e+01] [-9.67901695e-04 9.99997468e-01 2.03167476e-03 4.37054182e-01] [ 7.52774299e-03 -2.02433204e-03 9.99969617e-01 -2.39348640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.36455357399996 meters Centerline goodness [0,1] 0.8567357726934831 Centerline is valid? [False, False] Translation: X:10.07, Y:0.44, Z:-2.39 [[ 9.99972058e-01 1.44716802e-03 -7.33404869e-03 1.00722444e+01] [-1.43367423e-03 9.99997271e-01 1.84480619e-03 4.38645105e-01] [ 7.33669842e-03 -1.83424001e-03 9.99971404e-01 -2.39340333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.394553574 meters Centerline goodness [0,1] 0.8564274132304345 Centerline is valid? [False, False] Translation: X:10.07, Y:0.44, Z:-2.39 [[ 9.99973366e-01 2.69979424e-03 -6.78070791e-03 1.00698348e+01] [-2.68662425e-03 9.99994489e-01 1.95063131e-03 4.41515014e-01] [ 6.78593684e-03 -1.93236214e-03 9.99975108e-01 -2.39251176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.42455357399996 meters Centerline goodness [0,1] 0.856054243398816 Centerline is valid? [False, False] Translation: X:10.07, Y:0.44, Z:-2.39 [[ 9.99972803e-01 2.89258564e-03 -6.78432777e-03 1.00699287e+01] [-2.88096540e-03 9.99994367e-01 1.72195533e-03 4.42401732e-01] [ 6.78927046e-03 -1.70236309e-03 9.99975504e-01 -2.39287816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.454553574 meters Centerline goodness [0,1] 0.8556454089466681 Centerline is valid? [False, False] Translation: X:10.07, Y:0.44, Z:-2.39 [[ 9.99973060e-01 3.67605524e-03 -6.35343843e-03 1.00682632e+01] [-3.66467366e-03 9.99991661e-01 1.80211869e-03 4.43412017e-01] [ 6.36001014e-03 -1.77878687e-03 9.99978193e-01 -2.39221209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.48455357399996 meters Centerline goodness [0,1] 0.8567025250566453 Centerline is valid? [False, False] Translation: X:10.07, Y:0.44, Z:-2.39 [[ 9.99972703e-01 4.01321148e-03 -6.20377181e-03 1.00678002e+01] [-4.00295125e-03 9.99990601e-01 1.66540294e-03 4.44369140e-01] [ 6.21039711e-03 -1.64052408e-03 9.99979370e-01 -2.39226204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.514553574 meters Centerline goodness [0,1] 0.8522599963334895 Centerline is valid? [False, False] Translation: X:10.07, Y:0.45, Z:-2.39 [[ 9.99968632e-01 5.29562687e-03 -5.88989171e-03 1.00663736e+01] [-5.28519886e-03 9.99984441e-01 1.78465051e-03 4.46779716e-01] [ 5.89925091e-03 -1.75346528e-03 9.99981062e-01 -2.39222715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.54455357399996 meters Centerline goodness [0,1] 0.8522599963334895 Centerline is valid? [False, False] Translation: X:10.07, Y:0.45, Z:-2.39 [[ 9.99968632e-01 5.29562687e-03 -5.88989171e-03 1.00663736e+01] [-5.28519886e-03 9.99984441e-01 1.78465051e-03 4.46779716e-01] [ 5.89925091e-03 -1.75346528e-03 9.99981062e-01 -2.39222715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.574553574 meters Centerline goodness [0,1] 0.852532779542308 Centerline is valid? [False, False] Translation: X:10.07, Y:0.45, Z:-2.39 [[ 9.99967968e-01 5.53448293e-03 -5.78210909e-03 1.00660661e+01] [-5.52476710e-03 9.99983302e-01 1.69495027e-03 4.47353575e-01] [ 5.79139321e-03 -1.66295117e-03 9.99981847e-01 -2.39228682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.60455357399997 meters Centerline goodness [0,1] 0.8445398673124669 Centerline is valid? [False, False] Translation: X:10.07, Y:0.45, Z:-2.39 [[ 9.99966915e-01 5.76930887e-03 -5.73437364e-03 1.00660125e+01] [-5.75946781e-03 9.99981916e-01 1.73118752e-03 4.47313820e-01] [ 5.74425769e-03 -1.69810330e-03 9.99982060e-01 -2.39257816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.634553574 meters Centerline goodness [0,1] 0.8463234393500184 Centerline is valid? [False, False] Translation: X:10.07, Y:0.45, Z:-2.39 [[ 9.99966372e-01 5.81140613e-03 -5.78645993e-03 1.00663339e+01] [-5.79968439e-03 9.99981100e-01 2.04044339e-03 4.45713178e-01] [ 5.79820841e-03 -2.00681513e-03 9.99981177e-01 -2.39274575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.66455357399997 meters Centerline goodness [0,1] 0.8414080706488409 Centerline is valid? [False, False] Translation: X:10.07, Y:0.44, Z:-2.39 [[ 9.99966159e-01 5.70802807e-03 -5.92445714e-03 1.00668996e+01] [-5.69575989e-03 9.99981604e-01 2.08557883e-03 4.44993274e-01] [ 5.93625269e-03 -2.05176397e-03 9.99980275e-01 -2.39302744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.694553574 meters Centerline goodness [0,1] 0.8494056022752849 Centerline is valid? [False, False] Translation: X:10.07, Y:0.44, Z:-2.39 [[ 9.99965770e-01 5.65618726e-03 -6.03867395e-03 1.00674273e+01] [-5.64431199e-03 9.99982107e-01 1.98177148e-03 4.44909047e-01] [ 6.04977517e-03 -1.94761949e-03 9.99979803e-01 -2.39353716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.72455357399997 meters Centerline goodness [0,1] 0.8518784496378522 Centerline is valid? [False, False] Translation: X:10.07, Y:0.45, Z:-2.39 [[ 9.99964290e-01 5.97639192e-03 -5.97501322e-03 1.00673051e+01] [-5.96454997e-03 9.99980216e-01 1.99777039e-03 4.45452144e-01] [ 5.98683447e-03 -1.96206079e-03 9.99980154e-01 -2.39383377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.754553574 meters Centerline goodness [0,1] 0.8469251748108352 Centerline is valid? [False, False] Translation: X:10.07, Y:0.45, Z:-2.39 [[ 9.99964032e-01 6.06267299e-03 -5.93119900e-03 1.00672342e+01] [-6.05109004e-03 9.99979754e-01 1.96888550e-03 4.45628877e-01] [ 5.94301563e-03 -1.93292446e-03 9.99980472e-01 -2.39390795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.784553574 meters Centerline goodness [0,1] 0.8507032985111458 Centerline is valid? [False, False] Translation: X:10.07, Y:0.44, Z:-2.39 [[ 9.99964614e-01 6.07516508e-03 -5.81924236e-03 1.00668871e+01] [-6.06257516e-03 9.99979249e-01 2.17870035e-03 4.44877421e-01] [ 5.83235757e-03 -2.14334366e-03 9.99980695e-01 -2.39353326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.814553574 meters Centerline goodness [0,1] 0.8507287790637913 Centerline is valid? [False, False] Translation: X:10.07, Y:0.44, Z:-2.39 [[ 9.99966378e-01 5.46359715e-03 -6.11495070e-03 1.00682301e+01] [-5.45178982e-03 9.99983246e-01 1.94590216e-03 4.44095184e-01] [ 6.12547987e-03 -1.91249930e-03 9.99979410e-01 -2.39414556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.844553574 meters Centerline goodness [0,1] 0.8480678915712285 Centerline is valid? [False, False] Translation: X:10.07, Y:0.44, Z:-2.39 [[ 9.99981304e-01 1.48217671e-03 -5.93258586e-03 1.00677402e+01] [-1.49399065e-03 9.99996909e-01 -1.98742821e-03 4.43739489e-01] [ 5.92962180e-03 1.99625428e-03 9.99980427e-01 -2.39410602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.874553574 meters Centerline goodness [0,1] 0.8514711022472603 Centerline is valid? [False, False] Translation: X:10.07, Y:0.44, Z:-2.39 [[ 9.99980813e-01 1.07371323e-03 -6.10087256e-03 1.00682561e+01] [-1.08534137e-03 9.99997600e-01 -1.90298891e-03 4.43145411e-01] [ 6.09881466e-03 1.90957393e-03 9.99979579e-01 -2.39383507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.904553574 meters Centerline goodness [0,1] 0.8516779905291332 Centerline is valid? [False, False] Translation: X:10.07, Y:0.44, Z:-2.39 [[ 9.99978474e-01 -3.01986489e-04 -6.55444574e-03 1.00701269e+01] [ 2.86418422e-04 9.99997136e-01 -2.37600074e-03 4.42786245e-01] [ 6.55514449e-03 2.37407228e-03 9.99975697e-01 -2.39405853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.934553574 meters Centerline goodness [0,1] 0.8503682672921038 Centerline is valid? [False, False] Translation: X:10.07, Y:0.44, Z:-2.39 [[ 9.99977220e-01 -6.29438196e-04 -6.72038422e-03 1.00705671e+01] [ 6.14061155e-04 9.99997190e-01 -2.28993754e-03 4.42202980e-01] [ 6.72180671e-03 2.28575865e-03 9.99974796e-01 -2.39377257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.964553574 meters Centerline goodness [0,1] 0.846585420990978 Centerline is valid? [False, False] Translation: X:10.07, Y:0.44, Z:-2.39 [[ 9.99974320e-01 -1.40288827e-03 -7.02795074e-03 1.00715936e+01] [ 1.38542647e-03 9.99995943e-01 -2.48887473e-03 4.41822430e-01] [ 7.03141384e-03 2.47907411e-03 9.99972206e-01 -2.39359900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99455357399995 meters Centerline goodness [0,1] 0.8430406764355786 Centerline is valid? [False, False] Translation: X:10.07, Y:0.44, Z:-2.39 [[ 9.99972780e-01 -1.58210495e-03 -7.20666543e-03 1.00721065e+01] [ 1.56294172e-03 9.99995230e-01 -2.66395390e-03 4.42362900e-01] [ 7.21084572e-03 2.65261779e-03 9.99970483e-01 -2.39370219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.024553574 meters Centerline goodness [0,1] 0.8484823693037715 Centerline is valid? [False, False] Translation: X:10.07, Y:0.44, Z:-2.39 [[ 9.99970102e-01 -1.94967785e-03 -7.48285511e-03 1.00732666e+01] [ 1.92523337e-03 9.99992792e-01 -3.27254550e-03 4.43994026e-01] [ 7.48918158e-03 3.25804142e-03 9.99966648e-01 -2.39464487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.05455357399995 meters Centerline goodness [0,1] 0.8578082863446923 Centerline is valid? [False, False] Translation: X:10.07, Y:0.44, Z:-2.39 [[ 9.99968229e-01 -2.09627249e-03 -7.69065089e-03 1.00739398e+01] [ 2.06946809e-03 9.99991763e-01 -3.49162640e-03 4.44668567e-01] [ 7.69790694e-03 3.47559991e-03 9.99964331e-01 -2.39499494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.084553574 meters Centerline goodness [0,1] 0.8561562907431551 Centerline is valid? [False, False] Translation: X:10.08, Y:0.45, Z:-2.40 [[ 9.99965592e-01 -2.35647254e-03 -7.95370038e-03 1.00750214e+01] [ 2.32435673e-03 9.99989119e-01 -4.04467690e-03 4.46199166e-01] [ 7.96314501e-03 4.02605049e-03 9.99960189e-01 -2.39593233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.11455357399996 meters Centerline goodness [0,1] 0.854775669733735 Centerline is valid? [False, False] Translation: X:10.08, Y:0.45, Z:-2.40 [[ 9.99964998e-01 -2.35435943e-03 -8.02864871e-03 1.00752508e+01] [ 2.32038883e-03 9.99988328e-01 -4.23786505e-03 4.47110208e-01] [ 8.03853246e-03 4.21908713e-03 9.99958790e-01 -2.39617933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.144553574 meters Centerline goodness [0,1] 0.854431407575819 Centerline is valid? [False, False] Translation: X:10.07, Y:0.45, Z:-2.40 [[ 9.99966622e-01 -2.03782296e-03 -7.91210871e-03 1.00746198e+01] [ 2.00438983e-03 9.99989040e-01 -4.23119704e-03 4.48143528e-01] [ 7.92064442e-03 4.21519687e-03 9.99959747e-01 -2.39574397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.17455357399996 meters Centerline goodness [0,1] 0.8430339741901501 Centerline is valid? [False, False] Translation: X:10.07, Y:0.45, Z:-2.40 [[ 9.99967765e-01 -1.71042775e-03 -7.84491371e-03 1.00741737e+01] [ 1.67718123e-03 9.99989594e-01 -4.24259349e-03 4.49019731e-01] [ 7.85208872e-03 4.22929939e-03 9.99960228e-01 -2.39555885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.204553574 meters Centerline goodness [0,1] 0.8489917275136021 Centerline is valid? [False, False] Translation: X:10.08, Y:0.45, Z:-2.40 [[ 9.99964715e-01 2.05151055e-03 -8.14614485e-03 1.00750623e+01] [-2.05581043e-03 9.99997752e-01 -5.19503159e-04 4.50050369e-01] [ 8.14506077e-03 5.36231758e-04 9.99966685e-01 -2.39551312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.23455357399996 meters Centerline goodness [0,1] 0.8451739244544041 Centerline is valid? [False, False] Translation: X:10.07, Y:0.45, Z:-2.39 [[ 9.99965777e-01 3.49101739e-03 -7.50052522e-03 1.00722729e+01] [-3.49241765e-03 9.99993886e-01 -1.73597978e-04 4.52336557e-01] [ 7.49987333e-03 1.99787004e-04 9.99971856e-01 -2.39430559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.264553574 meters Centerline goodness [0,1] 0.8592565715207224 Centerline is valid? [False, False] Translation: X:10.07, Y:0.45, Z:-2.39 [[ 9.99966104e-01 4.10485527e-03 -7.13732657e-03 1.00710301e+01] [-4.10633158e-03 9.99991551e-01 -1.92200736e-04 4.53592964e-01] [ 7.13647731e-03 2.21502451e-04 9.99974510e-01 -2.39405281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.29455357399996 meters Centerline goodness [0,1] 0.8589527027027027 Centerline is valid? [False, False] Translation: X:10.07, Y:0.46, Z:-2.39 [[ 9.99963780e-01 5.16656268e-03 -6.76359341e-03 1.00695443e+01] [-5.16838493e-03 9.99986612e-01 -2.51969079e-04 4.56347262e-01] [ 6.76220105e-03 2.86916807e-04 9.99977095e-01 -2.39388331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.324553574 meters Centerline goodness [0,1] 0.8581734150507385 Centerline is valid? [False, False] Translation: X:10.07, Y:0.46, Z:-2.39 [[ 9.99962573e-01 5.54963471e-03 -6.63739859e-03 1.00691536e+01] [-5.55238832e-03 9.99984507e-01 -3.96507196e-04 4.57489200e-01] [ 6.63509529e-03 4.33345770e-04 9.99977894e-01 -2.39409382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.35455357399997 meters Centerline goodness [0,1] 0.8591339675388668 Centerline is valid? [False, False] Translation: X:10.07, Y:0.46, Z:-2.39 [[ 9.99959894e-01 6.39715725e-03 -6.26795900e-03 1.00675987e+01] [-6.39794575e-03 9.99979527e-01 -1.05754732e-04 4.58266422e-01] [ 6.26715415e-03 1.45852553e-04 9.99980351e-01 -2.39331232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.384553574 meters Centerline goodness [0,1] 0.8600640651127183 Centerline is valid? [False, False] Translation: X:10.07, Y:0.46, Z:-2.39 [[ 9.99959284e-01 6.66114964e-03 -6.08757836e-03 1.00671353e+01] [-6.66214206e-03 9.99977797e-01 -1.42759420e-04 4.58652013e-01] [ 6.08649226e-03 1.83309919e-04 9.99981460e-01 -2.39333208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.41455357399997 meters Centerline goodness [0,1] 0.8603461127787739 Centerline is valid? [False, False] Translation: X:10.07, Y:0.46, Z:-2.39 [[ 9.99956634e-01 7.22459519e-03 -5.87670749e-03 1.00662868e+01] [-7.22491214e-03 9.99973899e-01 -3.27042275e-05 4.59289469e-01] [ 5.87631783e-03 7.51615045e-05 9.99982731e-01 -2.39304563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.444553574 meters Centerline goodness [0,1] 0.8602035674695152 Centerline is valid? [False, False] Translation: X:10.07, Y:0.46, Z:-2.39 [[ 9.99955977e-01 7.33962638e-03 -5.84576434e-03 1.00662347e+01] [-7.34010011e-03 9.99973059e-01 -5.95888046e-05 4.59313101e-01] [ 5.84516949e-03 1.02494677e-04 9.99982912e-01 -2.39314972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.47455357399997 meters Centerline goodness [0,1] 0.8602714311641695 Centerline is valid? [False, False] Translation: X:10.07, Y:0.46, Z:-2.39 [[ 9.99953873e-01 7.61022475e-03 -5.85974005e-03 1.00661830e+01] [-7.60914896e-03 9.99971029e-01 2.05861881e-04 4.58519887e-01] [ 5.86113694e-03 -1.61264750e-04 9.99982810e-01 -2.39306656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.504553574 meters Centerline goodness [0,1] 0.8592148793673848 Centerline is valid? [False, False] Translation: X:10.07, Y:0.46, Z:-2.39 [[ 9.99953637e-01 7.61439401e-03 -5.89439609e-03 1.00664369e+01] [-7.61358348e-03 9.99971003e-01 1.59935604e-04 4.58318918e-01] [ 5.89544298e-03 -1.15050712e-04 9.99982615e-01 -2.39341928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.534553574 meters Centerline goodness [0,1] 0.85896528718436 Centerline is valid? [False, False] Translation: X:10.07, Y:0.46, Z:-2.39 [[ 9.99953781e-01 7.50039255e-03 -6.01496073e-03 1.00671650e+01] [-7.50070288e-03 9.99971869e-01 -2.90358079e-05 4.58325356e-01] [ 6.01457374e-03 7.41508991e-05 9.99981910e-01 -2.39416202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.564553574 meters Centerline goodness [0,1] 0.8562498735662412 Centerline is valid? [False, False] Translation: X:10.07, Y:0.46, Z:-2.39 [[ 9.99952717e-01 7.58883364e-03 -6.08050284e-03 1.00675395e+01] [-7.58782522e-03 9.99971194e-01 1.88896095e-04 4.57425595e-01] [ 6.08176119e-03 -1.42749371e-04 9.99981496e-01 -2.39453771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.594553574 meters Centerline goodness [0,1] 0.8527808732651201 Centerline is valid? [False, False] Translation: X:10.07, Y:0.46, Z:-2.40 [[ 9.99952508e-01 7.45595051e-03 -6.27616943e-03 1.00683170e+01] [-7.45532708e-03 9.99972201e-01 1.22723986e-04 4.56951672e-01] [ 6.27690998e-03 -7.59272619e-05 9.99980297e-01 -2.39512065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.624553574 meters Centerline goodness [0,1] 0.8487792978675828 Centerline is valid? [False, False] Translation: X:10.07, Y:0.46, Z:-2.40 [[ 9.99951361e-01 7.48796369e-03 -6.41919475e-03 1.00690359e+01] [-7.48573546e-03 9.99971913e-01 3.71077718e-04 4.55372111e-01] [ 6.42179307e-03 -3.23007276e-04 9.99979328e-01 -2.39576152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.654553574 meters Centerline goodness [0,1] 0.8572245364698194 Centerline is valid? [False, False] Translation: X:10.07, Y:0.45, Z:-2.40 [[ 9.99947776e-01 8.12715319e-03 -6.19633326e-03 1.00682713e+01] [-8.12014765e-03 9.99966364e-01 1.15491524e-03 4.53242237e-01] [ 6.20551102e-03 -1.10453978e-03 9.99980136e-01 -2.39544086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.684553574 meters Centerline goodness [0,1] 0.8550129689765742 Centerline is valid? [False, False] Translation: X:10.07, Y:0.45, Z:-2.40 [[ 9.99945278e-01 8.50495880e-03 -6.09156392e-03 1.00678670e+01] [-8.49587481e-03 9.99962761e-01 1.51556777e-03 4.52476644e-01] [ 6.10422691e-03 -1.46373167e-03 9.99980298e-01 -2.39529434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.714553574 meters Centerline goodness [0,1] 0.8535280004921361 Centerline is valid? [False, False] Translation: X:10.07, Y:0.45, Z:-2.40 [[ 9.99937030e-01 9.69638474e-03 -5.64949024e-03 1.00664688e+01] [-9.68326075e-03 9.99950365e-01 2.34578067e-03 4.51148080e-01] [ 5.67195541e-03 -2.29092746e-03 9.99981290e-01 -2.39514799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.74455357399995 meters Centerline goodness [0,1] 0.8522442610159747 Centerline is valid? [False, False] Translation: X:10.07, Y:0.45, Z:-2.40 [[ 9.99933579e-01 1.00494646e-02 -5.64314622e-03 1.00664523e+01] [-1.00346399e-02 9.99946142e-01 2.64923349e-03 4.50322019e-01] [ 5.66946568e-03 -2.59243059e-03 9.99980568e-01 -2.39532308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.774553574 meters Centerline goodness [0,1] 0.8528526671613488 Centerline is valid? [False, False] Translation: X:10.07, Y:0.45, Z:-2.40 [[ 9.99931098e-01 1.03336231e-02 -5.56912410e-03 1.00663019e+01] [-1.03171910e-02 9.99942362e-01 2.97126766e-03 4.49279014e-01] [ 5.59950706e-03 -2.91360522e-03 9.99980078e-01 -2.39539395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.80455357399995 meters Centerline goodness [0,1] 0.8490276249974056 Centerline is valid? [False, False] Translation: X:10.07, Y:0.45, Z:-2.40 [[ 9.99931049e-01 1.02480660e-02 -5.73359496e-03 1.00671454e+01] [-1.02277810e-02 9.99941372e-01 3.55612759e-03 4.46112880e-01] [ 5.76970224e-03 -3.49724043e-03 9.99977240e-01 -2.39586267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.834553574 meters Centerline goodness [0,1] 0.847975855968363 Centerline is valid? [False, False] Translation: X:10.07, Y:0.45, Z:-2.40 [[ 9.99962342e-01 6.65756001e-03 -5.56701506e-03 1.00670069e+01] [-6.66002044e-03 9.99977732e-01 -4.23543716e-04 4.45728533e-01] [ 5.56407132e-03 4.60604200e-04 9.99984414e-01 -2.39695729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.86455357399996 meters Centerline goodness [0,1] 0.8491850672476642 Centerline is valid? [False, False] Translation: X:10.07, Y:0.44, Z:-2.40 [[ 9.99979602e-01 1.79584928e-03 -6.12954202e-03 1.00695406e+01] [-1.82177280e-03 9.99989410e-01 -4.22631426e-03 4.42269936e-01] [ 6.12188729e-03 4.23739468e-03 9.99972283e-01 -2.39876894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.894553574 meters Centerline goodness [0,1] 0.8485096901668979 Centerline is valid? [False, False] Translation: X:10.07, Y:0.44, Z:-2.40 [[ 9.99976530e-01 5.30243793e-04 -6.83073516e-03 1.00722131e+01] [-5.58222553e-04 9.99991461e-01 -4.09475492e-03 4.39191361e-01] [ 6.82850561e-03 4.09847188e-03 9.99968287e-01 -2.39933173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.92455357399996 meters Centerline goodness [0,1] 0.8474128827877507 Centerline is valid? [False, False] Translation: X:10.07, Y:0.44, Z:-2.40 [[ 9.99971242e-01 -8.42578892e-04 -7.53696206e-03 1.00748775e+01] [ 8.12654357e-04 9.99991779e-01 -3.97255272e-03 4.36009725e-01] [ 7.54024729e-03 3.96631353e-03 9.99963706e-01 -2.39970217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.954553574 meters Centerline goodness [0,1] 0.8488028094072576 Centerline is valid? [False, False] Translation: X:10.08, Y:0.43, Z:-2.40 [[ 9.99943100e-01 -6.82519325e-03 -8.19835503e-03 1.00778947e+01] [ 6.76132899e-03 9.99946779e-01 -7.79250626e-03 4.31513302e-01] [ 8.25110407e-03 7.73663109e-03 9.99936030e-01 -2.40002021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.98455357399996 meters Centerline goodness [0,1] 0.8380630100019275 Centerline is valid? [False, False] Translation: X:10.08, Y:0.43, Z:-2.40 [[ 9.99876492e-01 -1.28247386e-02 -9.08437544e-03 1.00818911e+01] [ 1.27155155e-02 9.99847379e-01 -1.19805926e-02 4.28054080e-01] [ 9.23663694e-03 1.18636004e-02 9.99886963e-01 -2.40158172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.014553574 meters Centerline goodness [0,1] 0.8488242361826296 Centerline is valid? [False, False] Translation: X:10.09, Y:0.43, Z:-2.40 [[ 9.99850141e-01 -1.41957851e-02 -9.90830651e-03 1.00850178e+01] [ 1.40758283e-02 9.99828040e-01 -1.20732133e-02 4.25626503e-01] [ 1.00779914e-02 1.19319364e-02 9.99878024e-01 -2.40239010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.04455357399996 meters Centerline goodness [0,1] 0.847569384588864 Centerline is valid? [False, False] Translation: X:10.09, Y:0.42, Z:-2.40 [[ 0.99982418 -0.01544074 -0.01063888 10.08785205] [ 0.01531155 0.99980932 -0.0121194 0.42325738] [ 0.01082398 0.01195437 0.99986996 -2.40310805] [ 0. 0. 0. 1. ]] SLAMing on 309.074553574 meters Centerline goodness [0,1] 0.850042214188297 Centerline is valid? [False, False] Translation: X:10.09, Y:0.42, Z:-2.40 [[ 0.99978597 -0.01725862 -0.01140828 10.09137409] [ 0.01711941 0.99977914 -0.01218977 0.41969575] [ 0.01161614 0.01199186 0.99986062 -2.40404741] [ 0. 0. 0. 1. ]] SLAMing on 309.10455357399997 meters Centerline goodness [0,1] 0.8491083079599826 Centerline is valid? [False, False] Translation: X:10.09, Y:0.42, Z:-2.40 [[ 0.99975759 -0.01842549 -0.01205257 10.09403226] [ 0.01828079 0.99976079 -0.0120076 0.41678868] [ 0.01227093 0.01178436 0.99985527 -2.40464423] [ 0. 0. 0. 1. ]] SLAMing on 309.134553574 meters Centerline goodness [0,1] 0.8455107075028925 Centerline is valid? [False, False] Translation: X:10.10, Y:0.41, Z:-2.40 [[ 0.99974297 -0.01895187 -0.01244278 10.09545622] [ 0.01880737 0.99975549 -0.01162942 0.41445106] [ 0.01266013 0.01139242 0.99985496 -2.40471812] [ 0. 0. 0. 1. ]] SLAMing on 309.16455357399997 meters Centerline goodness [0,1] 0.8500208915180436 Centerline is valid? [False, False] Translation: X:10.10, Y:0.41, Z:-2.41 [[ 0.9997091 -0.02024399 -0.01311062 10.09837965] [ 0.02009512 0.99973321 -0.01138872 0.41081896] [ 0.01333768 0.01112195 0.99984919 -2.40545442] [ 0. 0. 0. 1. ]] SLAMing on 309.194553574 meters Centerline goodness [0,1] 0.8278361645405072 Centerline is valid? [False, False] Translation: X:10.10, Y:0.41, Z:-2.41 [[ 0.99969056 -0.02083197 -0.01359466 10.10031424] [ 0.02067969 0.99972288 -0.01124764 0.40913888] [ 0.0138252 0.01096303 0.99984433 -2.40614321] [ 0. 0. 0. 1. ]] SLAMing on 309.22455357399997 meters Centerline goodness [0,1] 0.8516538147108862 Centerline is valid? [False, False] Translation: X:10.10, Y:0.41, Z:-2.41 [[ 0.99967287 -0.02135466 -0.01407584 10.10206965] [ 0.02120077 0.9997148 -0.01099343 0.40728091] [ 0.01430658 0.01069141 0.99984049 -2.40652401] [ 0. 0. 0. 1. ]] SLAMing on 309.254553574 meters Centerline goodness [0,1] 0.8497769848349688 Centerline is valid? [False, False] Translation: X:10.10, Y:0.40, Z:-2.41 [[ 9.99646717e-01 -2.22421844e-02 -1.45508446e-02 1.01040201e+01] [ 2.20956153e-02 9.99704263e-01 -1.01572985e-02 4.02519821e-01] [ 1.47724619e-02 9.83220025e-03 9.99842539e-01 -2.40638688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.284553574 meters Centerline goodness [0,1] 0.8456046907170351 Centerline is valid? [False, False] Translation: X:10.11, Y:0.40, Z:-2.41 [[ 9.99688256e-01 -1.99324661e-02 -1.50362403e-02 1.01063593e+01] [ 1.98430134e-02 9.99784651e-01 -6.07507165e-03 3.99016136e-01] [ 1.51540934e-02 5.77481346e-03 9.99868494e-01 -2.40600688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.314553574 meters Centerline goodness [0,1] 0.8319469424460432 Centerline is valid? [False, False] Translation: X:10.11, Y:0.39, Z:-2.40 [[ 9.99734777e-01 -1.70886923e-02 -1.54386486e-02 1.01080737e+01] [ 1.70716460e-02 9.99853506e-01 -1.23525840e-03 3.94737306e-01] [ 1.54574959e-02 9.71367635e-04 9.99880054e-01 -2.40470497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.344553574 meters Centerline goodness [0,1] 0.8312525352684004 Centerline is valid? [False, False] Translation: X:10.11, Y:0.39, Z:-2.41 [[ 9.99766174e-01 -1.43775203e-02 -1.61518837e-02 1.01108976e+01] [ 1.44204537e-02 9.99892782e-01 2.54478556e-03 3.92631595e-01] [ 1.61135642e-02 -2.77710801e-03 9.99866311e-01 -2.40511502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.374553574 meters Centerline goodness [0,1] 0.8475696402390888 Centerline is valid? [False, False] Translation: X:10.11, Y:0.39, Z:-2.41 [[ 9.99784265e-01 -1.34598905e-02 -1.58194426e-02 1.01097435e+01] [ 1.35006927e-02 9.99905798e-01 2.47528623e-03 3.93796577e-01] [ 1.57846353e-02 -2.68832566e-03 9.99871801e-01 -2.40569008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.404553574 meters Centerline goodness [0,1] 0.8161807777227054 Centerline is valid? [False, False] Translation: X:10.12, Y:0.39, Z:-2.41 [[ 9.99897920e-01 -1.03937268e-02 -9.80407514e-03 1.01236009e+01] [ 1.03471175e-02 9.99934981e-01 -4.79287864e-03 3.94582534e-01] [ 9.85325355e-03 4.69094546e-03 9.99940452e-01 -2.41169674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.434553574 meters Centerline goodness [0,1] 0.8538484103165828 Centerline is valid? [False, False] Translation: X:10.12, Y:0.39, Z:-2.41 [[ 9.99929318e-01 -6.52987913e-03 -9.93578624e-03 1.01234425e+01] [ 6.53126516e-03 9.99978665e-01 1.07057980e-04 3.92443122e-01] [ 9.93487518e-03 -1.71943668e-04 9.99950633e-01 -2.40967518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.464553574 meters Centerline goodness [0,1] 0.8538484103165828 Centerline is valid? [False, False] Translation: X:10.12, Y:0.39, Z:-2.41 [[ 9.99929318e-01 -6.52987913e-03 -9.93578624e-03 1.01234425e+01] [ 6.53126516e-03 9.99978665e-01 1.07057980e-04 3.92443122e-01] [ 9.93487518e-03 -1.71943668e-04 9.99950633e-01 -2.40967518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49455357399995 meters Centerline goodness [0,1] 0.8422797600252605 Centerline is valid? [False, False] Translation: X:10.12, Y:0.39, Z:-2.41 [[ 9.99952427e-01 -1.91634964e-03 -9.56403282e-03 1.01215421e+01] [ 1.96417684e-03 9.99985602e-01 4.99385080e-03 3.91225193e-01] [ 9.55432515e-03 -5.01239868e-03 9.99941794e-01 -2.40740230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.524553574 meters Centerline goodness [0,1] 0.8529365418814578 Centerline is valid? [False, False] Translation: X:10.12, Y:0.39, Z:-2.41 [[ 9.99956577e-01 -1.17571558e-03 -9.24460069e-03 1.01204973e+01] [ 1.21987787e-03 9.99987866e-01 4.77290281e-03 3.93022234e-01] [ 9.23887694e-03 -4.78397284e-03 9.99945877e-01 -2.40787586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.55455357399995 meters Centerline goodness [0,1] 0.8543412332921487 Centerline is valid? [False, False] Translation: X:10.12, Y:0.40, Z:-2.41 [[ 9.99960731e-01 5.22754538e-04 -8.84669650e-03 1.01186081e+01] [-4.79861373e-04 9.99988124e-01 4.84992348e-03 3.95786168e-01] [ 8.84912676e-03 -4.84548784e-03 9.99949106e-01 -2.40836926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.584553574 meters Centerline goodness [0,1] 0.8516451366071027 Centerline is valid? [False, False] Translation: X:10.12, Y:0.40, Z:-2.41 [[ 9.99962713e-01 1.12148333e-03 -8.56238503e-03 1.01177142e+01] [-1.08060256e-03 9.99988003e-01 4.77759605e-03 3.96809607e-01] [ 8.56764031e-03 -4.76816537e-03 9.99951929e-01 -2.40854604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.61455357399996 meters Centerline goodness [0,1] 0.852789372110767 Centerline is valid? [False, False] Translation: X:10.11, Y:0.40, Z:-2.41 [[ 9.99964993e-01 2.99063302e-03 -7.81470103e-03 1.01145425e+01] [-2.95079042e-03 9.99982616e-01 5.10498251e-03 3.99276129e-01] [ 7.82983231e-03 -5.08174425e-03 9.99956434e-01 -2.40788279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.644553574 meters Centerline goodness [0,1] 0.8539957868316077 Centerline is valid? [False, False] Translation: X:10.11, Y:0.40, Z:-2.41 [[ 9.99965451e-01 3.58416851e-03 -7.50000014e-03 1.01134074e+01] [-3.54593194e-03 9.99980681e-01 5.10531049e-03 4.00120200e-01] [ 7.51815354e-03 -5.07853962e-03 9.99958842e-01 -2.40765391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.67455357399996 meters Centerline goodness [0,1] 0.8330643353508183 Centerline is valid? [False, False] Translation: X:10.11, Y:0.40, Z:-2.41 [[ 9.99963553e-01 5.18886705e-03 -6.77994023e-03 1.01103061e+01] [-5.15200374e-03 9.99971913e-01 5.44331401e-03 4.01778990e-01] [ 6.80799444e-03 -5.40818534e-03 9.99962201e-01 -2.40661774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.704553574 meters Centerline goodness [0,1] 0.8475972949975368 Centerline is valid? [False, False] Translation: X:10.11, Y:0.40, Z:-2.41 [[ 9.99962170e-01 5.68450644e-03 -6.58362966e-03 1.01097660e+01] [-5.65025156e-03 9.99970465e-01 5.21000390e-03 4.03066014e-01] [ 6.61305151e-03 -5.17260765e-03 9.99964755e-01 -2.40708782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.73455357399996 meters Centerline goodness [0,1] 0.8442986384808313 Centerline is valid? [False, False] Translation: X:10.11, Y:0.40, Z:-2.41 [[ 9.99955422e-01 7.39777170e-03 -5.86741179e-03 1.01069841e+01] [-7.36546729e-03 9.99957703e-01 5.50836531e-03 4.04860234e-01] [ 5.90791324e-03 -5.46490353e-03 9.99967615e-01 -2.40681478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.764553574 meters Centerline goodness [0,1] 0.8560875696729568 Centerline is valid? [False, False] Translation: X:10.11, Y:0.41, Z:-2.41 [[ 9.99951430e-01 8.20242837e-03 -5.46421328e-03 1.01056796e+01] [-8.17215726e-03 9.99951264e-01 5.53936793e-03 4.05695271e-01] [ 5.50938325e-03 -5.49444448e-03 9.99969728e-01 -2.40693008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.79455357399996 meters Centerline goodness [0,1] 0.8371490473744165 Centerline is valid? [False, False] Translation: X:10.10, Y:0.41, Z:-2.41 [[ 9.99945036e-01 9.23112395e-03 -4.97107093e-03 1.01040512e+01] [-9.20314791e-03 9.99941848e-01 5.62154059e-03 4.06857530e-01] [ 5.02267499e-03 -5.57548210e-03 9.99971843e-01 -2.40696778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.824553574 meters Centerline goodness [0,1] 0.8325638452102152 Centerline is valid? [False, False] Translation: X:10.10, Y:0.41, Z:-2.41 [[ 9.99880770e-01 1.48475929e-02 -4.24211377e-03 1.01014155e+01] [-1.48038555e-02 9.99838776e-01 1.01620843e-02 4.08004826e-01] [ 4.39231233e-03 -1.00980730e-02 9.99939366e-01 -2.40622538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.85455357399997 meters Centerline goodness [0,1] 0.8333110516934046 Centerline is valid? [False, False] Translation: X:10.10, Y:0.41, Z:-2.41 [[ 9.99866364e-01 1.58888955e-02 -3.84669779e-03 1.01000011e+01] [-1.58489131e-02 9.99822264e-01 1.02104134e-02 4.09263043e-01] [ 4.00824628e-03 -1.01480829e-02 9.99940473e-01 -2.40636966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.884553574 meters Centerline goodness [0,1] 0.8439879423914257 Centerline is valid? [False, False] Translation: X:10.10, Y:0.41, Z:-2.41 [[ 9.99851997e-01 1.68680420e-02 -3.38430814e-03 1.00985920e+01] [-1.68322379e-02 9.99804832e-01 1.03427912e-02 4.09742129e-01] [ 3.55811027e-03 -1.02842949e-02 9.99940785e-01 -2.40662402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.91455357399997 meters Centerline goodness [0,1] 0.826296850904052 Centerline is valid? [False, False] Translation: X:10.09, Y:0.41, Z:-2.41 [[ 9.99812217e-01 1.92274139e-02 -2.41618832e-03 1.00949929e+01] [-1.91991771e-02 9.99752815e-01 1.12116232e-02 4.10118126e-01] [ 2.63116160e-03 -1.11631290e-02 9.99934229e-01 -2.40616089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.944553574 meters Centerline goodness [0,1] 0.8303046619105308 Centerline is valid? [False, False] Translation: X:10.09, Y:0.41, Z:-2.41 [[ 9.99782212e-01 2.08120066e-02 -1.54560762e-03 1.00920346e+01] [-2.07921037e-02 9.99712563e-01 1.19364819e-02 4.09727443e-01] [ 1.79358550e-03 -1.19017459e-02 9.99927563e-01 -2.40561380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.97455357399997 meters Centerline goodness [0,1] 0.8256536864549433 Centerline is valid? [False, False] Translation: X:10.09, Y:0.41, Z:-2.40 [[ 9.99768923e-01 2.14662676e-02 -1.13985649e-03 1.00905171e+01] [-2.14504795e-02 9.99692829e-01 1.24147268e-02 4.09197885e-01] [ 1.40600421e-03 -1.23874076e-02 9.99922285e-01 -2.40487799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.004553574 meters Centerline goodness [0,1] 0.8243610780192856 Centerline is valid? [False, False] Translation: X:10.09, Y:0.41, Z:-2.41 [[ 9.99811556e-01 1.94101565e-02 -3.13422670e-04 1.00875798e+01] [-1.94065767e-02 9.99771638e-01 8.94747918e-03 4.10013240e-01] [ 4.87023067e-04 -8.93971062e-03 9.99959921e-01 -2.40515186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.034553574 meters Centerline goodness [0,1] 0.822401478110002 Centerline is valid? [False, False] Translation: X:10.09, Y:0.41, Z:-2.40 [[ 9.99790352e-01 2.04733613e-02 3.04916202e-04 1.00852208e+01] [-2.04753815e-02 9.99740895e-01 9.94493217e-03 4.08245801e-01] [-1.01231008e-04 -9.94909052e-03 9.99950501e-01 -2.40400126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.064553574 meters Centerline goodness [0,1] 0.8209840353567242 Centerline is valid? [False, False] Translation: X:10.08, Y:0.41, Z:-2.40 [[ 9.99825571e-01 1.86523254e-02 9.58191581e-04 1.00825159e+01] [-1.86583693e-02 9.99803184e-01 6.74236076e-03 4.09046904e-01] [-8.32242286e-04 -6.75906299e-03 9.99976811e-01 -2.40412479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.094553574 meters Centerline goodness [0,1] 0.8197281219605981 Centerline is valid? [False, False] Translation: X:10.08, Y:0.41, Z:-2.40 [[ 9.99813700e-01 1.92530216e-02 1.37352080e-03 1.00812819e+01] [-1.92622658e-02 9.99789478e-01 7.06853102e-03 4.08527123e-01] [-1.23714107e-03 -7.09367127e-03 9.99974074e-01 -2.40392981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.124553574 meters Centerline goodness [0,1] 0.8197289702683104 Centerline is valid? [False, False] Translation: X:10.08, Y:0.41, Z:-2.40 [[ 9.99781908e-01 2.07668730e-02 2.20753311e-03 1.00787861e+01] [-2.07832778e-02 9.99754444e-01 7.68805021e-03 4.07885630e-01] [-2.04733428e-03 -7.73225328e-03 9.99968010e-01 -2.40397787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.154553574 meters Centerline goodness [0,1] 0.8179201233056802 Centerline is valid? [False, False] Translation: X:10.08, Y:0.41, Z:-2.40 [[ 9.99772400e-01 2.11932803e-02 2.44808034e-03 1.00783695e+01] [-2.12115632e-02 9.99745352e-01 7.70069774e-03 4.07858929e-01] [-2.28425389e-03 -7.75087268e-03 9.99967353e-01 -2.40456708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.184553574 meters Centerline goodness [0,1] 0.8181591022670482 Centerline is valid? [False, False] Translation: X:10.08, Y:0.41, Z:-2.40 [[ 9.99759782e-01 2.17384777e-02 2.79597238e-03 1.00773535e+01] [-2.17601685e-02 9.99731398e-01 7.97666352e-03 4.07231509e-01] [-2.62182085e-03 -8.03558821e-03 9.99964277e-01 -2.40452642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.214553574 meters Centerline goodness [0,1] 0.8161880252340067 Centerline is valid? [False, False] Translation: X:10.08, Y:0.41, Z:-2.40 [[ 9.99731899e-01 2.28913555e-02 3.48091398e-03 1.00753977e+01] [-2.29212769e-02 9.99698421e-01 8.81369794e-03 4.05139197e-01] [-3.27810671e-03 -8.89112197e-03 9.99955100e-01 -2.40438411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.24455357399995 meters Centerline goodness [0,1] 0.8140550676911819 Centerline is valid? [False, False] Translation: X:10.07, Y:0.40, Z:-2.41 [[ 9.99757267e-01 2.14811374e-02 4.89564937e-03 1.00716435e+01] [-2.15074413e-02 9.99754185e-01 5.38513419e-03 4.04308410e-01] [-4.77876714e-03 -5.48911993e-03 9.99973516e-01 -2.40630123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.274553574 meters Centerline goodness [0,1] 0.815526412325752 Centerline is valid? [False, False] Translation: X:10.07, Y:0.40, Z:-2.41 [[ 9.99815187e-01 1.84193294e-02 5.50643028e-03 1.00703150e+01] [-1.84264138e-02 9.99829452e-01 1.23862628e-03 4.04473533e-01] [-5.48267650e-03 -1.33986113e-03 9.99984072e-01 -2.40784313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.30455357399995 meters Centerline goodness [0,1] 0.8145943461273271 Centerline is valid? [False, False] Translation: X:10.07, Y:0.40, Z:-2.41 [[ 9.99871907e-01 1.48951160e-02 5.85712235e-03 1.00699230e+01] [-1.48774683e-02 9.99884687e-01 -3.04514363e-03 4.04474529e-01] [-5.90180471e-03 2.95761442e-03 9.99978210e-01 -2.40954956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.334553574 meters Centerline goodness [0,1] 0.8162266937419236 Centerline is valid? [False, False] Translation: X:10.07, Y:0.40, Z:-2.41 [[ 9.99921664e-01 1.10081696e-02 5.95706286e-03 1.00704170e+01] [-1.09645455e-02 9.99913191e-01 -7.30685830e-03 4.04095859e-01] [-6.03698086e-03 7.24096942e-03 9.99955561e-01 -2.41129012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.36455357399996 meters Centerline goodness [0,1] 0.8170461696226723 Centerline is valid? [False, False] Translation: X:10.07, Y:0.40, Z:-2.41 [[ 9.99971049e-01 5.61928654e-03 5.13068363e-03 1.00741049e+01] [-5.56307590e-03 9.99925063e-01 -1.09050963e-02 3.99414924e-01] [-5.19157801e-03 1.08762382e-02 9.99927375e-01 -2.41267530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.394553574 meters Centerline goodness [0,1] 0.8188689018647579 Centerline is valid? [False, False] Translation: X:10.08, Y:0.39, Z:-2.41 [[ 9.99989950e-01 -7.10987537e-04 4.42658351e-03 1.00780763e+01] [ 7.74097172e-04 9.99897856e-01 -1.42716111e-02 3.92533112e-01] [-4.41598442e-03 1.42748943e-02 9.99888357e-01 -2.41298789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.42455357399996 meters Centerline goodness [0,1] 0.8248622312622691 Centerline is valid? [False, False] Translation: X:10.08, Y:0.39, Z:-2.41 [[ 9.99990198e-01 -2.59440744e-03 3.58778203e-03 1.00817174e+01] [ 2.64367497e-03 9.99901334e-01 -1.37961562e-02 3.88433511e-01] [-3.55163519e-03 1.38055059e-02 9.99898392e-01 -2.41267685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.454553574 meters Centerline goodness [0,1] 0.8233305558862041 Centerline is valid? [False, False] Translation: X:10.09, Y:0.38, Z:-2.41 [[ 9.99987068e-01 -4.33284914e-03 2.66275504e-03 1.00853203e+01] [ 4.36712101e-03 9.99905925e-01 -1.30027011e-02 3.84102993e-01] [-2.60616580e-03 1.30141615e-02 9.99911916e-01 -2.41189711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.48455357399996 meters Centerline goodness [0,1] 0.8196301700834868 Centerline is valid? [False, False] Translation: X:10.09, Y:0.38, Z:-2.41 [[ 9.99979984e-01 -6.05695870e-03 1.82893504e-03 1.00888842e+01] [ 6.07938103e-03 9.99903219e-01 -1.25137574e-02 3.80286034e-01] [-1.75296272e-03 1.25246257e-02 9.99920027e-01 -2.41165952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.514553574 meters Centerline goodness [0,1] 0.8275887003470883 Centerline is valid? [False, False] Translation: X:10.09, Y:0.37, Z:-2.41 [[ 9.99935096e-01 -1.12985729e-02 1.46485466e-03 1.00911025e+01] [ 1.13198433e-02 9.99816846e-01 -1.54316408e-02 3.74482714e-01] [-1.29023084e-03 1.54472212e-02 9.99879852e-01 -2.41124087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.54455357399996 meters Centerline goodness [0,1] 0.8249969751966122 Centerline is valid? [False, False] Translation: X:10.09, Y:0.37, Z:-2.41 [[ 9.99922473e-01 -1.24324322e-02 6.95180029e-04 1.00939976e+01] [ 1.24413406e-02 9.99813671e-01 -1.47593002e-02 3.70942300e-01] [-5.11556498e-04 1.47668049e-02 9.99890834e-01 -2.41093646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.574553574 meters Centerline goodness [0,1] 0.8249689229044288 Centerline is valid? [False, False] Translation: X:10.10, Y:0.37, Z:-2.41 [[ 9.99852876e-01 -1.71464625e-02 4.73684814e-04 1.00964573e+01] [ 1.71523016e-02 9.99680566e-01 -1.85624487e-02 3.66912040e-01] [-1.55253172e-04 1.85678425e-02 9.99827591e-01 -2.41303928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.60455357399997 meters Centerline goodness [0,1] 0.8372888812846773 Centerline is valid? [False, False] Translation: X:10.10, Y:0.36, Z:-2.41 [[ 9.99866730e-01 -1.62969940e-02 -9.64256887e-04 1.01029550e+01] [ 1.62841611e-02 9.99794381e-01 -1.20839885e-02 3.61311178e-01] [ 1.16099130e-03 1.20666759e-02 9.99926521e-01 -2.40849294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.634553574 meters Centerline goodness [0,1] 0.8228959697794784 Centerline is valid? [False, False] Translation: X:10.11, Y:0.36, Z:-2.41 [[ 9.99893382e-01 -1.44888131e-02 -1.81615221e-03 1.01068473e+01] [ 1.44747577e-02 9.99866904e-01 -7.52705900e-03 3.56876893e-01] [ 1.92496864e-03 7.49996812e-03 9.99970022e-01 -2.40751251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.66455357399997 meters Centerline goodness [0,1] 0.8419353248545796 Centerline is valid? [False, False] Translation: X:10.11, Y:0.35, Z:-2.41 [[ 9.99887035e-01 -1.48757513e-02 -2.15139947e-03 1.01086327e+01] [ 1.48615090e-02 9.99868492e-01 -6.49105900e-03 3.52018440e-01] [ 2.24767593e-03 6.45835270e-03 9.99976619e-01 -2.40779477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.694553574 meters Centerline goodness [0,1] 0.8366004993449188 Centerline is valid? [False, False] Translation: X:10.11, Y:0.35, Z:-2.41 [[ 9.99919089e-01 -1.23832608e-02 -2.91046064e-03 1.01117235e+01] [ 1.23779020e-02 9.99921676e-01 -1.85208491e-03 3.47948358e-01] [ 2.93316753e-03 1.81590966e-03 9.99994049e-01 -2.40710441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.72455357399997 meters Centerline goodness [0,1] 0.8481156836527509 Centerline is valid? [False, False] Translation: X:10.11, Y:0.34, Z:-2.41 [[ 9.99946077e-01 -9.73023541e-03 -3.62851455e-03 1.01145485e+01] [ 9.74050651e-03 9.99948573e-01 2.82381588e-03 3.44048143e-01] [ 3.60085155e-03 -2.85900718e-03 9.99989430e-01 -2.40622411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.754553574 meters Centerline goodness [0,1] 0.845277398535435 Centerline is valid? [False, False] Translation: X:10.11, Y:0.34, Z:-2.41 [[ 9.99957294e-01 -8.76384860e-03 -2.93334534e-03 1.01124040e+01] [ 8.77552159e-03 9.99953532e-01 3.99048377e-03 3.40361892e-01] [ 2.89823704e-03 -4.01605499e-03 9.99987736e-01 -2.40560614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.784553574 meters Centerline goodness [0,1] 0.8424638798398528 Centerline is valid? [False, False] Translation: X:10.11, Y:0.34, Z:-2.41 [[ 9.99962709e-01 -8.23130393e-03 -2.61270080e-03 1.01114298e+01] [ 8.24275542e-03 9.99956335e-01 4.40292792e-03 3.39175484e-01] [ 2.57634488e-03 -4.42429959e-03 9.99986894e-01 -2.40557689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.814553574 meters Centerline goodness [0,1] 0.8382396891811118 Centerline is valid? [False, False] Translation: X:10.11, Y:0.34, Z:-2.41 [[ 9.99977410e-01 -6.55692025e-03 -1.47858493e-03 1.01080400e+01] [ 6.56417809e-03 9.99966162e-01 4.95841343e-03 3.37812772e-01] [ 1.44602297e-03 -4.96800712e-03 9.99986614e-01 -2.40610390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.844553574 meters Centerline goodness [0,1] 0.8325152609941447 Centerline is valid? [False, False] Translation: X:10.11, Y:0.34, Z:-2.41 [[ 9.99983473e-01 -5.68671965e-03 -8.45177263e-04 1.01060153e+01] [ 5.69112142e-03 9.99969759e-01 5.30029123e-03 3.37235416e-01] [ 8.15010433e-04 -5.30501364e-03 9.99985596e-01 -2.40601395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.874553574 meters Centerline goodness [0,1] 0.831527167399121 Centerline is valid? [False, False] Translation: X:10.10, Y:0.33, Z:-2.40 [[ 9.99993904e-01 -3.42171351e-03 6.95580719e-04 1.01005083e+01] [ 3.41703415e-03 9.99972245e-01 6.62067816e-03 3.34708156e-01] [-7.18215477e-04 -6.61826097e-03 9.99977841e-01 -2.40463093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.904553574 meters Centerline goodness [0,1] 0.828394969119596 Centerline is valid? [False, False] Translation: X:10.10, Y:0.33, Z:-2.40 [[ 9.99995644e-01 -2.67065027e-03 1.25649012e-03 1.00988389e+01] [ 2.66182913e-03 9.99972163e-01 6.97052277e-03 3.33703074e-01] [-1.27507097e-03 -6.96714785e-03 9.99974916e-01 -2.40467804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.934553574 meters Centerline goodness [0,1] 0.8304737643914988 Centerline is valid? [False, False] Translation: X:10.10, Y:0.33, Z:-2.41 [[ 9.99996552e-01 -9.34656332e-04 2.45396151e-03 1.00954197e+01] [ 9.16525375e-04 9.99972353e-01 7.37920177e-03 3.32738388e-01] [-2.46079068e-03 -7.37692721e-03 9.99969762e-01 -2.40566787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.964553574 meters Centerline goodness [0,1] 0.8260499574510687 Centerline is valid? [False, False] Translation: X:10.09, Y:0.33, Z:-2.41 [[ 9.99996028e-01 -5.23197076e-04 2.76966643e-03 1.00948373e+01] [ 5.02723856e-04 9.99972586e-01 7.38748671e-03 3.32387746e-01] [-2.77345561e-03 -7.38606498e-03 9.99968877e-01 -2.40643622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99455357399995 meters Centerline goodness [0,1] 0.8189566568900253 Centerline is valid? [False, False] Translation: X:10.09, Y:0.33, Z:-2.41 [[ 9.99995300e-01 -1.95208382e-04 3.05982590e-03 1.00945652e+01] [ 1.72784430e-04 9.99973142e-01 7.32705810e-03 3.31609060e-01] [-3.06117402e-03 -7.32649497e-03 9.99968475e-01 -2.40761553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.024553574 meters Centerline goodness [0,1] 0.8204332020599818 Centerline is valid? [False, False] Translation: X:10.09, Y:0.33, Z:-2.41 [[ 9.99994080e-01 2.01300285e-04 3.43499536e-03 1.00944987e+01] [-2.26756773e-04 9.99972504e-01 7.41214419e-03 3.29485802e-01] [-3.43340885e-03 -7.41287922e-03 9.99966630e-01 -2.40948146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.05455357399995 meters Centerline goodness [0,1] 0.8159898798228968 Centerline is valid? [False, False] Translation: X:10.09, Y:0.33, Z:-2.41 [[ 9.99993151e-01 5.34852815e-04 3.66225599e-03 1.00940086e+01] [-5.65341122e-04 9.99965153e-01 8.32903902e-03 3.25921246e-01] [-3.65767356e-03 -8.33105240e-03 9.99958607e-01 -2.40908081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.084553574 meters Centerline goodness [0,1] 0.8159323926504923 Centerline is valid? [False, False] Translation: X:10.09, Y:0.32, Z:-2.41 [[ 9.99992955e-01 5.83052391e-04 3.70812502e-03 1.00940335e+01] [-6.15599336e-04 9.99961247e-01 8.78212102e-03 3.23977709e-01] [-3.70286089e-03 -8.78434187e-03 9.99954561e-01 -2.40887965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.11455357399996 meters Centerline goodness [0,1] 0.8159524776604387 Centerline is valid? [False, False] Translation: X:10.09, Y:0.32, Z:-2.41 [[ 9.99992550e-01 6.44659391e-04 3.80575299e-03 1.00939417e+01] [-6.79586812e-04 9.99957601e-01 9.18338403e-03 3.22170261e-01] [-3.79967148e-03 -9.18590195e-03 9.99950590e-01 -2.40876840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.144553574 meters Centerline goodness [0,1] 0.8178400894036371 Centerline is valid? [False, False] Translation: X:10.09, Y:0.32, Z:-2.41 [[ 9.99989788e-01 1.26644400e-03 4.33814633e-03 1.00923169e+01] [-1.31015677e-03 9.99948253e-01 1.00883941e-02 3.19346440e-01] [-4.32514546e-03 -1.00939747e-02 9.99939701e-01 -2.40813566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.17455357399996 meters Centerline goodness [0,1] 0.817422950652788 Centerline is valid? [False, False] Translation: X:10.09, Y:0.32, Z:-2.41 [[ 9.99987711e-01 1.65847315e-03 4.67189679e-03 1.00914341e+01] [-1.70680012e-03 9.99944885e-01 1.03592625e-02 3.18387095e-01] [-4.65445874e-03 -1.03671092e-02 9.99935427e-01 -2.40816789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.204553574 meters Centerline goodness [0,1] 0.8173833346062782 Centerline is valid? [False, False] Translation: X:10.09, Y:0.32, Z:-2.41 [[ 9.99979375e-01 3.02096803e-03 5.66777993e-03 1.00884434e+01] [-3.08245343e-03 9.99936157e-01 1.08710445e-02 3.16970558e-01] [-5.63457701e-03 -1.08882910e-02 9.99924846e-01 -2.40847404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.23455357399996 meters Centerline goodness [0,1] 0.8188717687507958 Centerline is valid? [False, False] Translation: X:10.09, Y:0.32, Z:-2.41 [[ 9.99975644e-01 3.52033286e-03 6.02644847e-03 1.00875760e+01] [-3.58615987e-03 9.99933646e-01 1.09472847e-02 3.16356040e-01] [-5.98751050e-03 -1.09686299e-02 9.99921916e-01 -2.40904755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.264553574 meters Centerline goodness [0,1] 0.8200269946774645 Centerline is valid? [False, False] Translation: X:10.09, Y:0.32, Z:-2.41 [[ 9.99971626e-01 3.99030839e-03 6.38934552e-03 1.00867177e+01] [-4.06105372e-03 9.99930169e-01 1.10979688e-02 3.15476008e-01] [-6.34461503e-03 -1.11236014e-02 9.99918002e-01 -2.40946696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.29455357399996 meters Centerline goodness [0,1] 0.8188052928128904 Centerline is valid? [False, False] Translation: X:10.09, Y:0.31, Z:-2.41 [[ 9.99968394e-01 4.34987702e-03 6.65510920e-03 1.00861926e+01] [-4.42444887e-03 9.99927133e-01 1.12318180e-02 3.14334415e-01] [-6.60576723e-03 -1.12609082e-02 9.99914774e-01 -2.41000113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.324553574 meters Centerline goodness [0,1] 0.8188123880214999 Centerline is valid? [False, False] Translation: X:10.09, Y:0.31, Z:-2.41 [[ 9.99964003e-01 4.80223376e-03 6.99515175e-03 1.00859592e+01] [-4.88125778e-03 9.99923967e-01 1.13240490e-02 3.12078178e-01] [-6.94023916e-03 -1.13577865e-02 9.99911413e-01 -2.41171566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.35455357399997 meters Centerline goodness [0,1] 0.8188123880214999 Centerline is valid? [False, False] Translation: X:10.09, Y:0.31, Z:-2.41 [[ 9.99964003e-01 4.80223376e-03 6.99515175e-03 1.00859592e+01] [-4.88125778e-03 9.99923967e-01 1.13240490e-02 3.12078178e-01] [-6.94023916e-03 -1.13577865e-02 9.99911413e-01 -2.41171566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.384553574 meters Centerline goodness [0,1] 0.8195615946673503 Centerline is valid? [False, False] Translation: X:10.08, Y:0.31, Z:-2.42 [[ 9.99962288e-01 2.45327454e-03 8.33089817e-03 1.00827257e+01] [-2.50629104e-03 9.99976638e-01 6.35937369e-03 3.12665793e-01] [-8.31510226e-03 -6.38001352e-03 9.99945076e-01 -2.41535107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.41455357399997 meters Centerline goodness [0,1] 0.8190662984851222 Centerline is valid? [False, False] Translation: X:10.08, Y:0.31, Z:-2.42 [[ 9.99957419e-01 -7.67431057e-04 9.19629947e-03 1.00816397e+01] [ 7.47353154e-04 9.99997330e-01 2.18649658e-03 3.10023612e-01] [-9.19795290e-03 -2.17953060e-03 9.99955323e-01 -2.41831536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.444553574 meters Centerline goodness [0,1] 0.8215302583216856 Centerline is valid? [False, False] Translation: X:10.08, Y:0.31, Z:-2.42 [[ 9.99962395e-01 -1.85673904e-03 8.47125137e-03 1.00849618e+01] [ 1.83826846e-03 9.99995917e-01 2.18765023e-03 3.07712535e-01] [-8.47527868e-03 -2.17199553e-03 9.99961725e-01 -2.41939254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.47455357399997 meters Centerline goodness [0,1] 0.8200358991701568 Centerline is valid? [False, False] Translation: X:10.09, Y:0.31, Z:-2.42 [[ 9.99965753e-01 -3.04384277e-03 7.69601627e-03 1.00884328e+01] [ 3.02634030e-03 9.99992810e-01 2.28484822e-03 3.05003682e-01] [-7.70291566e-03 -2.26147921e-03 9.99967775e-01 -2.42028192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.504553574 meters Centerline goodness [0,1] 0.8202815719791312 Centerline is valid? [False, False] Translation: X:10.09, Y:0.30, Z:-2.42 [[ 9.99941544e-01 -7.89684327e-03 7.38572922e-03 1.00910541e+01] [ 7.90658392e-03 9.99967910e-01 -1.29058070e-03 2.99997533e-01] [-7.37530070e-03 1.34890115e-03 9.99971892e-01 -2.42184498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.534553574 meters Centerline goodness [0,1] 0.8227270328742546 Centerline is valid? [False, False] Translation: X:10.09, Y:0.30, Z:-2.42 [[ 9.99938265e-01 -8.87964416e-03 6.67974983e-03 1.00937635e+01] [ 8.88316931e-03 9.99960420e-01 -4.98251677e-04 2.96349204e-01] [-6.67506115e-03 5.57558266e-04 9.99977566e-01 -2.42123255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.564553574 meters Centerline goodness [0,1] 0.8266744537948977 Centerline is valid? [False, False] Translation: X:10.10, Y:0.29, Z:-2.42 [[ 9.99934972e-01 -9.59310092e-03 6.16639840e-03 1.00957303e+01] [ 9.59223001e-03 9.99953979e-01 1.70796128e-04 2.92995684e-01] [-6.16775308e-03 -1.11635509e-04 9.99980973e-01 -2.42082720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.594553574 meters Centerline goodness [0,1] 0.8268376386708878 Centerline is valid? [False, False] Translation: X:10.10, Y:0.29, Z:-2.42 [[ 9.99929733e-01 -1.05180296e-02 5.46817333e-03 1.00986315e+01] [ 1.05136813e-02 9.99944391e-01 8.23350507e-04 2.89745097e-01] [-5.47652927e-03 -7.65802021e-04 9.99984710e-01 -2.42066549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.624553574 meters Centerline goodness [0,1] 0.8270569959288623 Centerline is valid? [False, False] Translation: X:10.11, Y:0.28, Z:-2.42 [[ 9.99945564e-01 -9.58372149e-03 -4.12571575e-03 1.01132204e+01] [ 9.57159185e-03 9.99949840e-01 -2.94978362e-03 2.82654125e-01] [ 4.15377871e-03 2.91013338e-03 9.99987139e-01 -2.41604722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.654553574 meters Centerline goodness [0,1] 0.8252387890561761 Centerline is valid? [False, False] Translation: X:10.12, Y:0.28, Z:-2.42 [[ 9.99938033e-01 -1.01823531e-02 -4.49989006e-03 1.01151624e+01] [ 1.01751033e-02 9.99946902e-01 -1.63108677e-03 2.77251542e-01] [ 4.51625942e-03 1.58519885e-03 9.99988545e-01 -2.41541870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.684553574 meters Centerline goodness [0,1] 0.8284287257019438 Centerline is valid? [False, False] Translation: X:10.11, Y:0.28, Z:-2.41 [[ 9.99943405e-01 -9.71975368e-03 -4.32584684e-03 1.01142218e+01] [ 9.71556388e-03 9.99952314e-01 -9.88513323e-04 2.76191255e-01] [ 4.33524867e-03 9.46429336e-04 9.99990155e-01 -2.41454285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.714553574 meters Centerline goodness [0,1] 0.8286849359494082 Centerline is valid? [False, False] Translation: X:10.11, Y:0.28, Z:-2.41 [[ 9.99959980e-01 -8.23873873e-03 -3.48742609e-03 1.01103509e+01] [ 8.23863826e-03 9.99966061e-01 -4.31740387e-05 2.75387023e-01] [ 3.48766343e-03 1.44406688e-05 9.99993918e-01 -2.41275694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.74455357399995 meters Centerline goodness [0,1] 0.8296278264632695 Centerline is valid? [False, False] Translation: X:10.11, Y:0.27, Z:-2.41 [[ 9.99961935e-01 -8.02689551e-03 -3.42013629e-03 1.01101017e+01] [ 8.02938309e-03 9.99967509e-01 7.14223947e-04 2.73384556e-01] [ 3.41429217e-03 -7.41658345e-04 9.99993896e-01 -2.41199760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.774553574 meters Centerline goodness [0,1] 0.8293896535871711 Centerline is valid? [False, False] Translation: X:10.11, Y:0.27, Z:-2.41 [[ 9.99959144e-01 -8.26590641e-03 -3.65864776e-03 1.01111662e+01] [ 8.26909604e-03 9.99965443e-01 8.57538661e-04 2.72990998e-01] [ 3.65143300e-03 -8.87757335e-04 9.99992939e-01 -2.41219833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.80455357399995 meters Centerline goodness [0,1] 0.8267718670354103 Centerline is valid? [False, False] Translation: X:10.12, Y:0.27, Z:-2.41 [[ 9.99934807e-01 -1.02796992e-02 -4.97087336e-03 1.01172769e+01] [ 1.02827539e-02 9.99946957e-01 5.89357273e-04 2.71362919e-01] [ 4.96455128e-03 -6.40433118e-04 9.99987471e-01 -2.41395806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.834553574 meters Centerline goodness [0,1] 0.8274275195582145 Centerline is valid? [False, False] Translation: X:10.12, Y:0.27, Z:-2.41 [[ 9.99921995e-01 -1.11213504e-02 -5.68501310e-03 1.01201245e+01] [ 1.11243583e-02 9.99937999e-01 4.97748093e-04 2.71367004e-01] [ 5.67912499e-03 -5.60951389e-04 9.99983716e-01 -2.41437440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.86455357399996 meters Centerline goodness [0,1] 0.830222920447466 Centerline is valid? [False, False] Translation: X:10.12, Y:0.27, Z:-2.41 [[ 9.99919997e-01 -1.12074801e-02 -5.86439352e-03 1.01204896e+01] [ 1.12108208e-02 9.99937013e-01 5.37108993e-04 2.72275701e-01] [ 5.85800450e-03 -6.02810688e-04 9.99982660e-01 -2.41378484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.894553574 meters Centerline goodness [0,1] 0.8310702767162642 Centerline is valid? [False, False] Translation: X:10.12, Y:0.27, Z:-2.41 [[ 9.99898632e-01 -1.24601174e-02 -6.88999714e-03 1.01234932e+01] [ 1.24675583e-02 9.99921738e-01 1.03806346e-03 2.72042520e-01] [ 6.87652352e-03 -1.12385968e-03 9.99975725e-01 -2.41163156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.92455357399996 meters Centerline goodness [0,1] 0.832401480160981 Centerline is valid? [False, False] Translation: X:10.13, Y:0.27, Z:-2.41 [[ 9.99859018e-01 -1.45545091e-02 -8.37318400e-03 1.01289353e+01] [ 1.45618559e-02 9.99893637e-01 8.17119481e-04 2.73403560e-01] [ 8.36040063e-03 -9.38933381e-04 9.99964610e-01 -2.41089901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.954553574 meters Centerline goodness [0,1] 0.8307100384749913 Centerline is valid? [False, False] Translation: X:10.14, Y:0.27, Z:-2.41 [[ 9.99860705e-01 -1.31817067e-02 -1.02377862e-02 1.01354313e+01] [ 1.32360293e-02 9.99898583e-01 5.25657924e-03 2.73311745e-01] [ 1.01674572e-02 -5.39135467e-03 9.99933776e-01 -2.40862428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.98455357399996 meters Centerline goodness [0,1] 0.8359039122957868 Centerline is valid? [False, False] Translation: X:10.14, Y:0.27, Z:-2.41 [[ 9.99850668e-01 -1.36332532e-02 -1.06196509e-02 1.01367304e+01] [ 1.36874889e-02 9.99893563e-01 5.05127749e-03 2.74791463e-01] [ 1.05496552e-02 -5.19587952e-03 9.99930851e-01 -2.40843041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.014553574 meters Centerline goodness [0,1] 0.8351598295865599 Centerline is valid? [False, False] Translation: X:10.14, Y:0.28, Z:-2.41 [[ 9.99833791e-01 -1.43713206e-02 -1.12185589e-02 1.01387732e+01] [ 1.44272707e-02 9.99883805e-01 4.92237365e-03 2.75513380e-01] [ 1.11465144e-02 -5.08340869e-03 9.99924954e-01 -2.40810855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.04455357399996 meters Centerline goodness [0,1] 0.8333779945334692 Centerline is valid? [False, False] Translation: X:10.15, Y:0.28, Z:-2.41 [[ 9.99766765e-01 -1.72106840e-02 -1.30463624e-02 1.01460833e+01] [ 1.72712767e-02 9.99840505e-01 4.54605138e-03 2.76024526e-01] [ 1.29660409e-02 -4.77031842e-03 9.99904558e-01 -2.40788845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.074553574 meters Centerline goodness [0,1] 0.8358722226699982 Centerline is valid? [False, False] Translation: X:10.15, Y:0.28, Z:-2.41 [[ 9.99730465e-01 -1.84882211e-02 -1.40422194e-02 1.01498766e+01] [ 1.85523095e-02 9.99817999e-01 4.44750027e-03 2.75971625e-01] [ 1.39574373e-02 -4.70681711e-03 9.99891512e-01 -2.40796410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.10455357399997 meters Centerline goodness [0,1] 0.8324735343113547 Centerline is valid? [False, False] Translation: X:10.15, Y:0.28, Z:-2.41 [[ 9.99683118e-01 -2.00527332e-02 -1.52168179e-02 1.01546617e+01] [ 2.01184276e-02 9.99788881e-01 4.17648205e-03 2.75889933e-01] [ 1.51298555e-02 -4.48129704e-03 9.99875495e-01 -2.40857116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.134553574 meters Centerline goodness [0,1] 0.8328669823504089 Centerline is valid? [False, False] Translation: X:10.16, Y:0.28, Z:-2.41 [[ 9.99599110e-01 -2.26996780e-02 -1.69217256e-02 1.01618352e+01] [ 2.27677089e-02 9.99733413e-01 3.83855263e-03 2.75252799e-01] [ 1.68300806e-02 -4.22228272e-03 9.99849449e-01 -2.40911230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.16455357399997 meters Centerline goodness [0,1] 0.8362580957243826 Centerline is valid? [False, False] Translation: X:10.16, Y:0.27, Z:-2.41 [[ 9.99574158e-01 -2.33698465e-02 -1.74743251e-02 1.01640231e+01] [ 2.34418167e-02 9.99717497e-01 3.92517319e-03 2.74907340e-01] [ 1.73776578e-02 -4.33313161e-03 9.99839608e-01 -2.40911698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.194553574 meters Centerline goodness [0,1] 0.8343817204301075 Centerline is valid? [False, False] Translation: X:10.17, Y:0.28, Z:-2.41 [[ 9.99544342e-01 -2.41344884e-02 -1.81282634e-02 1.01666108e+01] [ 2.42079983e-02 9.99699543e-01 3.84652087e-03 2.75210410e-01] [ 1.80299829e-02 -4.28361714e-03 9.99828270e-01 -2.40937909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.22455357399997 meters Centerline goodness [0,1] 0.8363753662535953 Centerline is valid? [False, False] Translation: X:10.17, Y:0.28, Z:-2.41 [[ 9.99537656e-01 -2.42654895e-02 -1.83210064e-02 1.01673997e+01] [ 2.43381453e-02 9.99696738e-01 3.75317839e-03 2.75607305e-01] [ 1.82243776e-02 -4.19734245e-03 9.99825112e-01 -2.40968909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.254553574 meters Centerline goodness [0,1] 0.8354083196644169 Centerline is valid? [False, False] Translation: X:10.17, Y:0.28, Z:-2.41 [[ 9.99545610e-01 -2.39987947e-02 -1.82382115e-02 1.01670522e+01] [ 2.40725664e-02 9.99702854e-01 3.83615368e-03 2.76092462e-01] [ 1.81407290e-02 -4.27345113e-03 9.99826311e-01 -2.40965376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.284553574 meters Centerline goodness [0,1] 0.8267454350161116 Centerline is valid? [False, False] Translation: X:10.16, Y:0.28, Z:-2.41 [[ 9.99595473e-01 -2.23376511e-02 -1.76045620e-02 1.01636256e+01] [ 2.24172830e-02 9.99739285e-01 4.33905895e-03 2.77466737e-01] [ 1.75030479e-02 -4.73195013e-03 9.99835612e-01 -2.40875417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.314553574 meters Centerline goodness [0,1] 0.8302361698709366 Centerline is valid? [False, False] Translation: X:10.18, Y:0.28, Z:-2.41 [[ 9.99750726e-01 -1.93019372e-02 -1.12214615e-02 1.01783771e+01] [ 1.92678796e-02 9.99809441e-01 -3.13528650e-03 2.80871674e-01] [ 1.12798402e-02 2.91829119e-03 9.99932122e-01 -2.41494306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.344553574 meters Centerline goodness [0,1] 0.8318643162393162 Centerline is valid? [False, False] Translation: X:10.18, Y:0.28, Z:-2.41 [[ 9.99836940e-01 -1.43391741e-02 -1.09763683e-02 1.01758824e+01] [ 1.43655094e-02 9.99894110e-01 2.32419859e-03 2.80661181e-01] [ 1.09418789e-02 -2.48150073e-03 9.99937057e-01 -2.41121506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.374553574 meters Centerline goodness [0,1] 0.8279765082754938 Centerline is valid? [False, False] Translation: X:10.18, Y:0.28, Z:-2.41 [[ 9.99872027e-01 -1.08956764e-02 -1.17138519e-02 1.01777074e+01] [ 1.09821674e-02 9.99912719e-01 7.34485449e-03 2.79557132e-01] [ 1.16328023e-02 -7.47255802e-03 9.99904415e-01 -2.40883698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.404553574 meters Centerline goodness [0,1] 0.834672146459929 Centerline is valid? [False, False] Translation: X:10.18, Y:0.28, Z:-2.41 [[ 9.99877870e-01 -1.05700216e-02 -1.15117538e-02 1.01770799e+01] [ 1.06524297e-02 9.99917905e-01 7.12097290e-03 2.80268254e-01] [ 1.14355399e-02 -7.24273136e-03 9.99908381e-01 -2.40932955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.434553574 meters Centerline goodness [0,1] 0.8327951967978653 Centerline is valid? [False, False] Translation: X:10.18, Y:0.28, Z:-2.41 [[ 9.99873717e-01 -1.07524094e-02 -1.17019545e-02 1.01779061e+01] [ 1.08358587e-02 9.99916145e-01 7.09133972e-03 2.79986777e-01] [ 1.16247243e-02 -7.21724493e-03 9.99906384e-01 -2.40967096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.464553574 meters Centerline goodness [0,1] 0.8357357917454904 Centerline is valid? [False, False] Translation: X:10.18, Y:0.28, Z:-2.41 [[ 9.99864593e-01 -1.12004908e-02 -1.20558802e-02 1.01794806e+01] [ 1.12840752e-02 9.99912612e-01 6.88752842e-03 2.79666748e-01] [ 1.19776829e-02 -7.02263526e-03 9.99903604e-01 -2.41037294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49455357399995 meters Centerline goodness [0,1] 0.8337390653005537 Centerline is valid? [False, False] Translation: X:10.18, Y:0.28, Z:-2.41 [[ 9.99837701e-01 -1.25495154e-02 -1.29259574e-02 1.01830895e+01] [ 1.26425963e-02 9.99894553e-01 7.14472003e-03 2.77376314e-01] [ 1.28349316e-02 -7.30697811e-03 9.99890930e-01 -2.41029045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.524553574 meters Centerline goodness [0,1] 0.836375314456993 Centerline is valid? [False, False] Translation: X:10.19, Y:0.28, Z:-2.41 [[ 9.99821270e-01 -1.33003535e-02 -1.34360736e-02 1.01851925e+01] [ 1.33991402e-02 9.99883658e-01 7.28927761e-03 2.75972297e-01] [ 1.33375604e-02 -7.46800664e-03 9.99883162e-01 -2.41026898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.55455357399995 meters Centerline goodness [0,1] 0.8392137908812631 Centerline is valid? [False, False] Translation: X:10.19, Y:0.27, Z:-2.41 [[ 9.99780183e-01 -1.50561640e-02 -1.45910214e-02 1.01901602e+01] [ 1.51654967e-02 9.99857527e-01 7.41169277e-03 2.73943057e-01] [ 1.44773509e-02 -7.63134364e-03 9.99866075e-01 -2.41057787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.584553574 meters Centerline goodness [0,1] 0.8374077552663357 Centerline is valid? [False, False] Translation: X:10.19, Y:0.27, Z:-2.41 [[ 9.99757740e-01 -1.58845968e-02 -1.52361722e-02 1.01928364e+01] [ 1.59989793e-02 9.99844513e-01 7.41501386e-03 2.72987179e-01] [ 1.51160187e-02 -7.65698071e-03 9.99856428e-01 -2.41098857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.61455357399996 meters Centerline goodness [0,1] 0.8353830835060148 Centerline is valid? [False, False] Translation: X:10.20, Y:0.27, Z:-2.41 [[ 9.99725951e-01 -1.70634022e-02 -1.60269602e-02 1.01961029e+01] [ 1.71885915e-02 9.99822568e-01 7.70616727e-03 2.70967908e-01] [ 1.58926231e-02 -7.97953627e-03 9.99841863e-01 -2.41077585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.644553574 meters Centerline goodness [0,1] 0.8372418998328751 Centerline is valid? [False, False] Translation: X:10.20, Y:0.27, Z:-2.41 [[ 9.99714913e-01 -1.74184427e-02 -1.63306353e-02 1.01974227e+01] [ 1.75469522e-02 9.99815932e-01 7.75923362e-03 2.70333093e-01] [ 1.61924756e-02 -8.04357444e-03 9.99836539e-01 -2.41101508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.67455357399996 meters Centerline goodness [0,1] 0.8383650844903671 Centerline is valid? [False, False] Translation: X:10.20, Y:0.27, Z:-2.41 [[ 9.99702783e-01 -1.78085499e-02 -1.66493884e-02 1.01989914e+01] [ 1.79375782e-02 9.99809974e-01 7.63277333e-03 2.69900764e-01] [ 1.65102960e-02 -7.92915444e-03 9.99832255e-01 -2.41174874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.704553574 meters Centerline goodness [0,1] 0.8377648076091656 Centerline is valid? [False, False] Translation: X:10.20, Y:0.27, Z:-2.41 [[ 9.99698065e-01 -1.79575855e-02 -1.67721373e-02 1.01996516e+01] [ 1.80887493e-02 9.99806722e-01 7.70163850e-03 2.69131115e-01] [ 1.66305927e-02 -8.00270009e-03 9.99829676e-01 -2.41198009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.73455357399996 meters Centerline goodness [0,1] 0.8381176343388475 Centerline is valid? [False, False] Translation: X:10.22, Y:0.27, Z:-2.42 [[ 9.99776291e-01 -1.75783086e-02 -1.17631023e-02 1.02196776e+01] [ 1.75625959e-02 9.99844732e-01 -1.43773585e-03 2.69880868e-01] [ 1.17865488e-02 1.23082361e-03 9.99929779e-01 -2.41924966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.764553574 meters Centerline goodness [0,1] 0.8329416848985766 Centerline is valid? [False, False] Translation: X:10.22, Y:0.27, Z:-2.42 [[ 9.99841856e-01 -1.31982893e-02 -1.19192320e-02 1.02190970e+01] [ 1.32460530e-02 9.99904515e-01 3.93726342e-03 2.68775000e-01] [ 1.18661288e-02 -4.09452355e-03 9.99921212e-01 -2.41629058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.79455357399996 meters Centerline goodness [0,1] 0.8358321648150145 Centerline is valid? [False, False] Translation: X:10.22, Y:0.27, Z:-2.42 [[ 9.99865335e-01 -1.19453029e-02 -1.12526073e-02 1.02161666e+01] [ 1.19919522e-02 9.99919740e-01 4.08732834e-03 2.69705333e-01] [ 1.12028798e-02 -4.22171865e-03 9.99928334e-01 -2.41603221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.824553574 meters Centerline goodness [0,1] 0.8364458317636295 Centerline is valid? [False, False] Translation: X:10.21, Y:0.27, Z:-2.42 [[ 9.99881738e-01 -1.09899825e-02 -1.07577567e-02 1.02141166e+01] [ 1.10335980e-02 9.99931114e-01 4.00341654e-03 2.70558022e-01] [ 1.07130182e-02 -4.12163986e-03 9.99934119e-01 -2.41635577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.85455357399997 meters Centerline goodness [0,1] 0.8277659831770176 Centerline is valid? [False, False] Translation: X:10.21, Y:0.27, Z:-2.42 [[ 9.99924996e-01 -6.13690317e-03 -1.05990788e-02 1.02128831e+01] [ 6.22284782e-03 9.99947874e-01 8.09483671e-03 2.71685709e-01] [ 1.05488491e-02 -8.16018602e-03 9.99911063e-01 -2.41612001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.884553574 meters Centerline goodness [0,1] 0.830465709300765 Centerline is valid? [False, False] Translation: X:10.21, Y:0.27, Z:-2.42 [[ 9.99932359e-01 -5.50599619e-03 -1.02450627e-02 1.02120666e+01] [ 5.58107168e-03 9.99957679e-01 7.31386448e-03 2.73103275e-01] [ 1.02043590e-02 -7.37054819e-03 9.99920770e-01 -2.41825647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.91455357399997 meters Centerline goodness [0,1] 0.8207607822126975 Centerline is valid? [False, False] Translation: X:10.21, Y:0.27, Z:-2.42 [[ 9.99941492e-01 -4.51078253e-03 -9.83181269e-03 1.02106435e+01] [ 4.57517135e-03 9.99968171e-01 6.53640567e-03 2.74332648e-01] [ 9.80201545e-03 -6.58100547e-03 9.99930303e-01 -2.42053409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.944553574 meters Centerline goodness [0,1] 0.8252221297613616 Centerline is valid? [False, False] Translation: X:10.21, Y:0.27, Z:-2.42 [[ 9.99940690e-01 -4.53274762e-03 -9.90309938e-03 1.02109493e+01] [ 4.59757326e-03 9.99968090e-01 6.53306534e-03 2.73864035e-01] [ 9.87317064e-03 -6.57820809e-03 9.99929621e-01 -2.42077176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.97455357399997 meters Centerline goodness [0,1] 0.8263279694311394 Centerline is valid? [False, False] Translation: X:10.21, Y:0.27, Z:-2.42 [[ 9.99932808e-01 -5.27118272e-03 -1.03244516e-02 1.02125754e+01] [ 5.34374081e-03 9.99961131e-01 7.01285859e-03 2.71991163e-01] [ 1.02870843e-02 -7.06755857e-03 9.99922110e-01 -2.41980619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.004553574 meters Centerline goodness [0,1] 0.8235928111443429 Centerline is valid? [False, False] Translation: X:10.21, Y:0.27, Z:-2.42 [[ 9.99925518e-01 -5.88430240e-03 -1.06926418e-02 1.02140373e+01] [ 5.96170006e-03 9.99956157e-01 7.22100360e-03 2.70978133e-01] [ 1.06496824e-02 -7.28421209e-03 9.99916759e-01 -2.41935222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.034553574 meters Centerline goodness [0,1] 0.8240388506677458 Centerline is valid? [False, False] Translation: X:10.22, Y:0.27, Z:-2.42 [[ 9.99915971e-01 -6.55954973e-03 -1.11813452e-02 1.02157818e+01] [ 6.64638530e-03 9.99947906e-01 7.74672433e-03 2.69362752e-01] [ 1.11299477e-02 -7.82038891e-03 9.99907479e-01 -2.41841737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.064553574 meters Centerline goodness [0,1] 0.824312621779606 Centerline is valid? [False, False] Translation: X:10.22, Y:0.27, Z:-2.42 [[ 9.99885404e-01 -1.05232433e-02 -1.08830109e-02 1.02151146e+01] [ 1.05647642e-02 9.99937104e-01 3.76477247e-03 2.67956307e-01] [ 1.08427088e-02 -3.87931749e-03 9.99933691e-01 -2.41886198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.094553574 meters Centerline goodness [0,1] 0.8311522934785553 Centerline is valid? [False, False] Translation: X:10.22, Y:0.27, Z:-2.42 [[ 9.99875455e-01 -1.10564933e-02 -1.12617712e-02 1.02166033e+01] [ 1.11058276e-02 9.99928964e-01 4.32760306e-03 2.66340723e-01] [ 1.12131231e-02 -4.45213537e-03 9.99927220e-01 -2.41803847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.124553574 meters Centerline goodness [0,1] 0.8263714277989564 Centerline is valid? [False, False] Translation: X:10.21, Y:0.27, Z:-2.42 [[ 9.99900875e-01 -9.51480656e-03 -1.03782382e-02 1.02121928e+01] [ 9.56583629e-03 9.99942346e-01 4.87848623e-03 2.67120048e-01] [ 1.03312220e-02 -4.97727918e-03 9.99934244e-01 -2.41620389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.154553574 meters Centerline goodness [0,1] 0.8305235616216653 Centerline is valid? [False, False] Translation: X:10.21, Y:0.27, Z:-2.42 [[ 9.99910446e-01 -8.87370015e-03 -1.00178557e-02 1.02108641e+01] [ 8.92035066e-03 9.99949532e-01 4.62169642e-03 2.68234301e-01] [ 9.97633862e-03 -4.71064531e-03 9.99939139e-01 -2.41676132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.184553574 meters Centerline goodness [0,1] 0.8283070135320545 Centerline is valid? [False, False] Translation: X:10.21, Y:0.27, Z:-2.42 [[ 9.99938949e-01 -4.45237450e-03 -1.01131184e-02 1.02109250e+01] [ 4.53618822e-03 9.99955432e-01 8.27986041e-03 2.70394645e-01] [ 1.00758026e-02 -8.32522992e-03 9.99914581e-01 -2.41735853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.214553574 meters Centerline goodness [0,1] 0.8253447673324552 Centerline is valid? [False, False] Translation: X:10.21, Y:0.27, Z:-2.42 [[ 9.99943257e-01 -3.91893908e-03 -9.90579449e-03 1.02104549e+01] [ 3.99246011e-03 9.99964552e-01 7.41317699e-03 2.72420918e-01] [ 9.87639156e-03 -7.45230484e-03 9.99923457e-01 -2.41942424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.24455357399995 meters Centerline goodness [0,1] 0.826563714844902 Centerline is valid? [False, False] Translation: X:10.21, Y:0.27, Z:-2.42 [[ 9.99945716e-01 -3.61195861e-03 -9.77335198e-03 1.02104791e+01] [ 3.67530604e-03 9.99972306e-01 6.47146911e-03 2.74185973e-01] [ 9.74970663e-03 -6.50703787e-03 9.99931298e-01 -2.42165772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.274553574 meters Centerline goodness [0,1] 0.826563714844902 Centerline is valid? [False, False] Translation: X:10.21, Y:0.27, Z:-2.42 [[ 9.99945716e-01 -3.61195861e-03 -9.77335198e-03 1.02104791e+01] [ 3.67530604e-03 9.99972306e-01 6.47146911e-03 2.74185973e-01] [ 9.74970663e-03 -6.50703787e-03 9.99931298e-01 -2.42165772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.30455357399995 meters Centerline goodness [0,1] 0.8243221519665631 Centerline is valid? [False, False] Translation: X:10.21, Y:0.28, Z:-2.42 [[ 9.99955782e-01 -2.25026331e-03 -9.13076275e-03 1.02081075e+01] [ 2.29888903e-03 9.99983214e-01 5.31848668e-03 2.76648711e-01] [ 9.11864149e-03 -5.33924211e-03 9.99944170e-01 -2.42437562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.334553574 meters Centerline goodness [0,1] 0.8274053258396895 Centerline is valid? [False, False] Translation: X:10.21, Y:0.28, Z:-2.43 [[ 9.99958973e-01 -1.75282018e-03 -8.88711169e-03 1.02073434e+01] [ 1.79727364e-03 9.99985902e-01 4.99649796e-03 2.77585064e-01] [ 8.87822844e-03 -5.01226553e-03 9.99948026e-01 -2.42519763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.36455357399996 meters Centerline goodness [0,1] 0.8216967267869071 Centerline is valid? [False, False] Translation: X:10.21, Y:0.28, Z:-2.43 [[ 9.99959578e-01 -1.46712943e-03 -8.87072307e-03 1.02075334e+01] [ 1.50376612e-03 9.99990362e-01 4.12480947e-03 2.79220466e-01] [ 8.86458595e-03 -4.13798223e-03 9.99952147e-01 -2.42725490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.394553574 meters Centerline goodness [0,1] 0.8202034224085 Centerline is valid? [False, False] Translation: X:10.21, Y:0.28, Z:-2.43 [[ 9.99959380e-01 -1.38706701e-03 -8.90584859e-03 1.02078898e+01] [ 1.41957541e-03 9.99992350e-01 3.64494746e-03 2.80051191e-01] [ 8.90072467e-03 -3.65744192e-03 9.99953699e-01 -2.42840991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.42455357399996 meters Centerline goodness [0,1] 0.8236913128290089 Centerline is valid? [False, False] Translation: X:10.21, Y:0.28, Z:-2.43 [[ 9.99960170e-01 -1.20331523e-03 -8.84364513e-03 1.02077462e+01] [ 1.23388823e-03 9.99993279e-01 3.45241651e-03 2.80582274e-01] [ 8.83943135e-03 -3.46319107e-03 9.99954934e-01 -2.42890166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.454553574 meters Centerline goodness [0,1] 0.8193401896620809 Centerline is valid? [False, False] Translation: X:10.21, Y:0.28, Z:-2.43 [[ 9.99956394e-01 -1.60643297e-03 -9.19942075e-03 1.02092731e+01] [ 1.63498616e-03 9.99993867e-01 3.09712384e-03 2.80626718e-01] [ 9.19438901e-03 -3.11202972e-03 9.99952888e-01 -2.42984574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.48455357399996 meters Centerline goodness [0,1] 0.8221212930804168 Centerline is valid? [False, False] Translation: X:10.21, Y:0.28, Z:-2.43 [[ 9.99951701e-01 -2.07890214e-03 -9.60592973e-03 1.02107874e+01] [ 2.10977749e-03 9.99992638e-01 3.20518245e-03 2.80063979e-01] [ 9.59919575e-03 -3.22529402e-03 9.99948725e-01 -2.42971859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.514553574 meters Centerline goodness [0,1] 0.8240673693244294 Centerline is valid? [False, False] Translation: X:10.21, Y:0.28, Z:-2.43 [[ 9.99948568e-01 -2.35726896e-03 -9.86432345e-03 1.02112372e+01] [ 2.39474866e-03 9.99989953e-01 3.78943479e-03 2.78715491e-01] [ 9.85529162e-03 -3.81286247e-03 9.99944166e-01 -2.42819016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.54455357399996 meters Centerline goodness [0,1] 0.8199876850587637 Centerline is valid? [False, False] Translation: X:10.21, Y:0.28, Z:-2.43 [[ 9.99951529e-01 -1.95450713e-03 -9.64986009e-03 1.02101100e+01] [ 1.99236648e-03 9.99990351e-01 3.91525257e-03 2.79104878e-01] [ 9.64211459e-03 -3.93428885e-03 9.99945774e-01 -2.42754307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.574553574 meters Centerline goodness [0,1] 0.8220852318413294 Centerline is valid? [False, False] Translation: X:10.21, Y:0.28, Z:-2.43 [[ 9.99951951e-01 -1.91981550e-03 -9.61301173e-03 1.02099292e+01] [ 1.95829003e-03 9.99990104e-01 3.99452643e-03 2.79069845e-01] [ 9.60524785e-03 -4.01315956e-03 9.99945815e-01 -2.42726224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.60455357399997 meters Centerline goodness [0,1] 0.8197801016156349 Centerline is valid? [False, False] Translation: X:10.21, Y:0.28, Z:-2.43 [[ 9.99939249e-01 -3.38690740e-03 -1.04894063e-02 1.02133617e+01] [ 3.43107389e-03 9.99985313e-01 4.19545114e-03 2.77905717e-01] [ 1.04750426e-02 -4.23118619e-03 9.99936183e-01 -2.42657696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.634553574 meters Centerline goodness [0,1] 0.8208377047857316 Centerline is valid? [False, False] Translation: X:10.22, Y:0.28, Z:-2.43 [[ 9.99926054e-01 -4.53632534e-03 -1.12831153e-02 1.02166865e+01] [ 4.58425870e-03 9.99980563e-01 4.22600912e-03 2.76974973e-01] [ 1.12637255e-02 -4.27742134e-03 9.99927413e-01 -2.42685500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.66455357399997 meters Centerline goodness [0,1] 0.8191898802314628 Centerline is valid? [False, False] Translation: X:10.22, Y:0.28, Z:-2.43 [[ 9.99869879e-01 -1.04230090e-02 -1.23120571e-02 1.02220621e+01] [ 1.04159411e-02 9.99945549e-01 -6.38049188e-04 2.76218122e-01] [ 1.23180371e-02 5.09724502e-04 9.99924000e-01 -2.42957347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.694553574 meters Centerline goodness [0,1] 0.8238741766366448 Centerline is valid? [False, False] Translation: X:10.22, Y:0.28, Z:-2.43 [[ 9.99865142e-01 -1.05610384e-02 -1.25762538e-02 1.02224229e+01] [ 1.05586336e-02 9.99944223e-01 -2.57598775e-04 2.76363694e-01] [ 1.25782728e-02 1.24775980e-04 9.99920883e-01 -2.42816888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.72455357399997 meters Centerline goodness [0,1] 0.820259419394688 Centerline is valid? [False, False] Translation: X:10.22, Y:0.28, Z:-2.43 [[ 9.99843898e-01 -1.15923734e-02 -1.33340478e-02 1.02246886e+01] [ 1.15958970e-02 9.99932748e-01 1.86971076e-04 2.76057076e-01] [ 1.33309837e-02 -3.41562135e-04 9.99911080e-01 -2.42613965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.754553574 meters Centerline goodness [0,1] 0.8229244777718264 Centerline is valid? [False, False] Translation: X:10.23, Y:0.28, Z:-2.43 [[ 9.99837171e-01 -1.18115116e-02 -1.36425811e-02 1.02256167e+01] [ 1.18118059e-02 9.99930236e-01 -5.90048517e-05 2.77976104e-01] [ 1.36423263e-02 -1.02148276e-04 9.99906934e-01 -2.42606177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.784553574 meters Centerline goodness [0,1] 0.8352727660937334 Centerline is valid? [False, False] Translation: X:10.23, Y:0.28, Z:-2.43 [[ 9.99793668e-01 -1.37351245e-02 -1.49655631e-02 1.02311392e+01] [ 1.37147181e-02 9.99904875e-01 -1.46533711e-03 2.81311398e-01] [ 1.49842661e-02 1.25978629e-03 9.99886936e-01 -2.42808169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.814553574 meters Centerline goodness [0,1] 0.8257513022572459 Centerline is valid? [False, False] Translation: X:10.24, Y:0.28, Z:-2.43 [[ 9.99757568e-01 -1.51172057e-02 -1.60085965e-02 1.02352003e+01] [ 1.50909165e-02 9.99884574e-01 -1.76172656e-03 2.81665349e-01] [ 1.60333811e-02 1.51971506e-03 9.99870302e-01 -2.42854447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.844553574 meters Centerline goodness [0,1] 0.8215904519243664 Centerline is valid? [False, False] Translation: X:10.25, Y:0.28, Z:-2.43 [[ 9.99607755e-01 -2.10693945e-02 -1.84504125e-02 1.02477975e+01] [ 2.10065782e-02 9.99772885e-01 -3.59183680e-03 2.82252996e-01] [ 1.85218999e-02 3.20284789e-03 9.99823325e-01 -2.42981842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.874553574 meters Centerline goodness [0,1] 0.8325779720561024 Centerline is valid? [False, False] Translation: X:10.25, Y:0.28, Z:-2.43 [[ 9.99535710e-01 -2.30463760e-02 -1.99306005e-02 1.02533307e+01] [ 2.29829068e-02 9.99730050e-01 -3.40775183e-03 2.81618375e-01] [ 2.00037566e-02 2.94810651e-03 9.99795558e-01 -2.42919786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.904553574 meters Centerline goodness [0,1] 0.8038889187301929 Centerline is valid? [False, False] Translation: X:10.26, Y:0.28, Z:-2.43 [[ 9.99461240e-01 -2.49459140e-02 -2.13291020e-02 1.02583529e+01] [ 2.48853492e-02 9.99685504e-01 -3.10030494e-03 2.80383539e-01] [ 2.13997341e-02 2.56785246e-03 9.99767702e-01 -2.42819454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.934553574 meters Centerline goodness [0,1] 0.8368061164055349 Centerline is valid? [False, False] Translation: X:10.27, Y:0.28, Z:-2.42 [[ 9.99272857e-01 -2.98052180e-02 -2.37782860e-02 1.02695331e+01] [ 2.97731870e-02 9.99555235e-01 -1.70004071e-03 2.77751536e-01] [ 2.38183804e-02 9.90849185e-04 9.99715811e-01 -2.42383149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.964553574 meters Centerline goodness [0,1] 0.8357875467736291 Centerline is valid? [False, False] Translation: X:10.27, Y:0.28, Z:-2.42 [[ 9.99206755e-01 -3.11509548e-02 -2.48088482e-02 1.02733559e+01] [ 3.11210545e-02 9.99514357e-01 -1.59051171e-03 2.77105409e-01] [ 2.48463459e-02 8.17172527e-04 9.99690948e-01 -2.42346990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99455357399995 meters Centerline goodness [0,1] 0.828234406980502 Centerline is valid? [False, False] Translation: X:10.28, Y:0.28, Z:-2.42 [[ 9.99145510e-01 -3.23177226e-02 -2.57645874e-02 1.02769694e+01] [ 3.22865634e-02 9.99477333e-01 -1.62456945e-03 2.77100949e-01] [ 2.58036235e-02 7.91331287e-04 9.99666718e-01 -2.42350180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.024553574 meters Centerline goodness [0,1] 0.83550133311788 Centerline is valid? [False, False] Translation: X:10.28, Y:0.28, Z:-2.43 [[ 9.99035515e-01 -3.43862304e-02 -2.73061528e-02 1.02834983e+01] [ 3.43278427e-02 9.99407233e-01 -2.60429556e-03 2.78686842e-01] [ 2.73795186e-02 1.66442243e-03 9.99623725e-01 -2.42544448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.05455357399995 meters Centerline goodness [0,1] 0.8269659900524264 Centerline is valid? [False, False] Translation: X:10.29, Y:0.28, Z:-2.42 [[ 9.99061281e-01 -3.23057748e-02 -2.88598900e-02 1.02885912e+01] [ 3.23784836e-02 9.99473566e-01 2.05549686e-03 2.77430213e-01] [ 2.87782928e-02 -2.98800680e-03 9.99581353e-01 -2.42342443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.084553574 meters Centerline goodness [0,1] 0.8355683098213806 Centerline is valid? [False, False] Translation: X:10.29, Y:0.28, Z:-2.42 [[ 9.99112369e-01 -2.95710106e-02 -3.00004803e-02 1.02914834e+01] [ 2.97805712e-02 9.99534917e-01 6.56253982e-03 2.77252209e-01] [ 2.97924667e-02 -7.45014614e-03 9.99528341e-01 -2.42095280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.11455357399996 meters Centerline goodness [0,1] 0.8334940017137961 Centerline is valid? [False, False] Translation: X:10.29, Y:0.28, Z:-2.42 [[ 9.99134280e-01 -2.90516982e-02 -2.97773156e-02 1.02901980e+01] [ 2.92650178e-02 9.99548875e-01 6.75313607e-03 2.77916704e-01] [ 2.95676922e-02 -7.61872342e-03 9.99533745e-01 -2.42028913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.144553574 meters Centerline goodness [0,1] 0.8401710543899505 Centerline is valid? [False, False] Translation: X:10.31, Y:0.28, Z:-2.43 [[ 9.99335025e-01 -2.74343872e-02 -2.40179511e-02 1.03076129e+01] [ 2.74174466e-02 9.99623536e-01 -1.03441382e-03 2.80462144e-01] [ 2.40372877e-02 3.75215070e-04 9.99710992e-01 -2.42661408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.17455357399996 meters Centerline goodness [0,1] 0.8375250567954029 Centerline is valid? [False, False] Translation: X:10.31, Y:0.28, Z:-2.42 [[ 9.99436254e-01 -2.31866219e-02 -2.42807551e-02 1.03067898e+01] [ 2.32898800e-02 9.99720837e-01 3.97851508e-03 2.81140790e-01] [ 2.41817285e-02 -4.54176809e-03 9.99697262e-01 -2.42309294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.204553574 meters Centerline goodness [0,1] 0.8397417082477252 Centerline is valid? [False, False] Translation: X:10.32, Y:0.28, Z:-2.43 [[ 9.99611368e-01 -2.08217070e-02 -1.85356085e-02 1.03237258e+01] [ 2.07528102e-02 9.99777024e-01 -3.90164091e-03 2.84571629e-01] [ 1.86127143e-02 3.51545864e-03 9.99820588e-01 -2.43022579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.23455357399996 meters Centerline goodness [0,1] 0.8379118687338776 Centerline is valid? [False, False] Translation: X:10.32, Y:0.29, Z:-2.43 [[ 9.99701762e-01 -1.60223681e-02 -1.84301515e-02 1.03220367e+01] [ 1.60434125e-02 9.99870802e-01 9.94548921e-04 2.85211871e-01] [ 1.84118353e-02 -1.28993483e-03 9.99829656e-01 -2.42769495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.264553574 meters Centerline goodness [0,1] 0.8276714513556619 Centerline is valid? [False, False] Translation: X:10.32, Y:0.28, Z:-2.43 [[ 9.99741880e-01 -1.24129726e-02 -1.90287019e-02 1.03234066e+01] [ 1.25223372e-02 9.99905692e-01 5.63900559e-03 2.84554282e-01] [ 1.89569106e-02 -5.87583387e-03 9.99803036e-01 -2.42593769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.29455357399996 meters Centerline goodness [0,1] 0.8392671966816454 Centerline is valid? [False, False] Translation: X:10.32, Y:0.29, Z:-2.43 [[ 9.99757172e-01 -1.16894312e-02 -1.86803188e-02 1.03221340e+01] [ 1.17890294e-02 9.99916827e-01 5.23051788e-03 2.85980865e-01] [ 1.86176233e-02 -5.44947059e-03 9.99811826e-01 -2.42685320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.324553574 meters Centerline goodness [0,1] 0.8253407370015144 Centerline is valid? [False, False] Translation: X:10.32, Y:0.29, Z:-2.43 [[ 9.99774372e-01 -1.08810249e-02 -1.82430365e-02 1.03205535e+01] [ 1.09729929e-02 9.99927549e-01 4.94876420e-03 2.87206543e-01] [ 1.81878671e-02 -5.14782833e-03 9.99821335e-01 -2.42755769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.35455357399997 meters Centerline goodness [0,1] 0.8328635251568982 Centerline is valid? [False, False] Translation: X:10.34, Y:0.29, Z:-2.44 [[ 9.99872771e-01 -6.26023814e-03 -1.46714465e-02 1.03395645e+01] [ 6.22135497e-03 9.99977017e-01 -2.69440578e-03 2.89480364e-01] [ 1.46879769e-02 2.60278670e-03 9.99888738e-01 -2.43620863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.384553574 meters Centerline goodness [0,1] 0.8205564265405363 Centerline is valid? [False, False] Translation: X:10.34, Y:0.29, Z:-2.43 [[ 9.99878108e-01 -2.80962872e-03 -1.53582179e-02 1.03415340e+01] [ 2.84016078e-03 9.99994033e-01 1.96654535e-03 2.88213165e-01] [ 1.53526010e-02 -2.00992545e-03 9.99880122e-01 -2.43477211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.41455357399997 meters Centerline goodness [0,1] 0.8272142819191328 Centerline is valid? [False, False] Translation: X:10.34, Y:0.29, Z:-2.43 [[ 9.99897577e-01 -7.56853599e-04 -1.42920176e-02 1.03371688e+01] [ 7.89443219e-04 9.99997101e-01 2.27476333e-03 2.89011124e-01] [ 1.42902545e-02 -2.28581308e-03 9.99895276e-01 -2.43469818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.444553574 meters Centerline goodness [0,1] 0.8245017273452033 Centerline is valid? [False, False] Translation: X:10.33, Y:0.29, Z:-2.43 [[ 9.99905349e-01 1.67296925e-04 -1.37573726e-02 1.03349170e+01] [-1.33447335e-04 9.99996962e-01 2.46135024e-03 2.89383060e-01] [ 1.37577426e-02 -2.45928139e-03 9.99902333e-01 -2.43436280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.47455357399997 meters Centerline goodness [0,1] 0.8197841344108889 Centerline is valid? [False, False] Translation: X:10.33, Y:0.29, Z:-2.43 [[ 9.99911642e-01 1.11702389e-03 -1.32461508e-02 1.03327561e+01] [-1.08252129e-03 9.99996004e-01 2.61160994e-03 2.89627244e-01] [ 1.32490151e-02 -2.59703994e-03 9.99908855e-01 -2.43423124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.504553574 meters Centerline goodness [0,1] 0.8174206581255649 Centerline is valid? [False, False] Translation: X:10.33, Y:0.29, Z:-2.43 [[ 9.99919926e-01 3.09614057e-03 -1.22701217e-02 1.03286377e+01] [-3.06015565e-03 9.99990965e-01 2.95041764e-03 2.90095929e-01] [ 1.22791458e-02 -2.91263290e-03 9.99920366e-01 -2.43415230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.534553574 meters Centerline goodness [0,1] 0.821623202275567 Centerline is valid? [False, False] Translation: X:10.33, Y:0.29, Z:-2.43 [[ 9.99922340e-01 3.79578368e-03 -1.18703799e-02 1.03271886e+01] [-3.76112550e-03 9.99988603e-01 2.94068171e-03 2.90206982e-01] [ 1.18814068e-02 -2.89580735e-03 9.99925220e-01 -2.43451501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.564553574 meters Centerline goodness [0,1] 0.8183729968588618 Centerline is valid? [False, False] Translation: X:10.32, Y:0.29, Z:-2.43 [[ 9.99925460e-01 4.89223274e-03 -1.11866367e-02 1.03245595e+01] [-4.85718071e-03 9.99983216e-01 3.15840871e-03 2.89902509e-01] [ 1.12019006e-02 -3.10383776e-03 9.99932440e-01 -2.43450855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.594553574 meters Centerline goodness [0,1] 0.8254808587618718 Centerline is valid? [False, False] Translation: X:10.32, Y:0.29, Z:-2.43 [[ 9.99926134e-01 5.05829099e-03 -1.10517082e-02 1.03240274e+01] [-5.01901430e-03 9.99981001e-01 3.57875232e-03 2.88850306e-01] [ 1.10696006e-02 -3.52301930e-03 9.99932524e-01 -2.43383341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.624553574 meters Centerline goodness [0,1] 0.8208999091540641 Centerline is valid? [False, False] Translation: X:10.32, Y:0.29, Z:-2.43 [[ 9.99927945e-01 5.00458631e-03 -1.09114462e-02 1.03233006e+01] [-4.95500736e-03 9.99977299e-01 4.56606562e-03 2.85754497e-01] [ 1.09340498e-02 -4.51167031e-03 9.99930043e-01 -2.43193933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.654553574 meters Centerline goodness [0,1] 0.8281007232788642 Centerline is valid? [False, False] Translation: X:10.32, Y:0.29, Z:-2.43 [[ 9.99946939e-01 2.03902232e-03 -1.00976181e-02 1.03207775e+01] [-2.03577072e-03 9.99997873e-01 3.32284216e-04 2.85916347e-01] [ 1.00982742e-02 -3.11710149e-04 9.99948963e-01 -2.43321938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.684553574 meters Centerline goodness [0,1] 0.8282210235354105 Centerline is valid? [False, False] Translation: X:10.32, Y:0.28, Z:-2.44 [[ 9.99944293e-01 -2.53609155e-03 -1.02459341e-02 1.03224815e+01] [ 2.49399494e-03 9.99988406e-01 -4.11930592e-03 2.84399473e-01] [ 1.02562623e-02 4.09352314e-03 9.99939024e-01 -2.43548128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.714553574 meters Centerline goodness [0,1] 0.8209586972932168 Centerline is valid? [False, False] Translation: X:10.33, Y:0.28, Z:-2.44 [[ 9.99933098e-01 -3.62241179e-03 -1.09853174e-02 1.03256063e+01] [ 3.58095349e-03 9.99986401e-01 -3.79129825e-03 2.82455883e-01] [ 1.09989016e-02 3.75170669e-03 9.99932472e-01 -2.43552051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.74455357399995 meters Centerline goodness [0,1] 0.8201421352717053 Centerline is valid? [False, False] Translation: X:10.33, Y:0.28, Z:-2.44 [[ 9.99918416e-01 -4.79787895e-03 -1.18381846e-02 1.03290219e+01] [ 4.75864470e-03 9.99983099e-01 -3.34015668e-03 2.80076096e-01] [ 1.18540102e-02 3.28355046e-03 9.99924348e-01 -2.43532248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.774553574 meters Centerline goodness [0,1] 0.8350803066005796 Centerline is valid? [False, False] Translation: X:10.34, Y:0.27, Z:-2.43 [[ 9.99884774e-01 -7.92227453e-03 -1.29489689e-02 1.03353012e+01] [ 7.88755302e-03 9.99965165e-01 -2.73028632e-03 2.74948829e-01] [ 1.29701480e-02 2.62783604e-03 9.99912431e-01 -2.43429939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.80455357399995 meters Centerline goodness [0,1] 0.8332153745644599 Centerline is valid? [False, False] Translation: X:10.34, Y:0.27, Z:-2.43 [[ 9.99865599e-01 -8.96969181e-03 -1.37232779e-02 1.03384077e+01] [ 8.94116802e-03 9.99957740e-01 -2.13844191e-03 2.72595223e-01] [ 1.37418791e-02 2.01545236e-03 9.99903545e-01 -2.43381024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.834553574 meters Centerline goodness [0,1] 0.8321898149413662 Centerline is valid? [False, False] Translation: X:10.34, Y:0.27, Z:-2.43 [[ 9.99821609e-01 -1.14392503e-02 -1.50297532e-02 1.03447346e+01] [ 1.14101715e-02 9.99932863e-01 -2.01908473e-03 2.69191978e-01] [ 1.50518409e-02 1.84723248e-03 9.99885008e-01 -2.43446075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.86455357399996 meters Centerline goodness [0,1] 0.833415651410383 Centerline is valid? [False, False] Translation: X:10.35, Y:0.27, Z:-2.43 [[ 9.99804673e-01 -1.21446286e-02 -1.55924093e-02 1.03470108e+01] [ 1.21199668e-02 9.99925147e-01 -1.67518360e-03 2.67637849e-01] [ 1.56115867e-02 1.48587691e-03 9.99877028e-01 -2.43438320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.894553574 meters Centerline goodness [0,1] 0.8352812371698372 Centerline is valid? [False, False] Translation: X:10.35, Y:0.27, Z:-2.43 [[ 9.99825044e-01 -9.01393685e-03 -1.63899697e-02 1.03491167e+01] [ 9.07003064e-03 9.99953250e-01 3.35133840e-03 2.66077475e-01] [ 1.63589947e-02 -3.49940959e-03 9.99860059e-01 -2.43156473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.92455357399996 meters Centerline goodness [0,1] 0.8297155995948868 Centerline is valid? [False, False] Translation: X:10.35, Y:0.27, Z:-2.43 [[ 9.99843740e-01 -7.98323221e-03 -1.57722511e-02 1.03462517e+01] [ 8.04076142e-03 9.99961237e-01 3.58745292e-03 2.67137275e-01] [ 1.57430002e-02 -3.71371326e-03 9.99869175e-01 -2.43063025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.954553574 meters Centerline goodness [0,1] 0.8333561138295836 Centerline is valid? [False, False] Translation: X:10.35, Y:0.27, Z:-2.43 [[ 9.99850693e-01 -7.54297733e-03 -1.55465706e-02 1.03450974e+01] [ 7.59680334e-03 9.99965343e-01 3.40609916e-03 2.69001893e-01] [ 1.55203396e-02 -3.52369484e-03 9.99873343e-01 -2.43044542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.98455357399996 meters Centerline goodness [0,1] 0.8306173784655766 Centerline is valid? [False, False] Translation: X:10.34, Y:0.27, Z:-2.43 [[ 9.99853485e-01 -7.32707349e-03 -1.54700698e-02 1.03446450e+01] [ 7.38067854e-03 9.99966945e-01 3.41083551e-03 2.69782910e-01] [ 1.54445670e-02 -3.52451538e-03 9.99874514e-01 -2.43026368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.014553574 meters Centerline goodness [0,1] 0.8156830601092896 Centerline is valid? [False, False] Translation: X:10.35, Y:0.27, Z:-2.43 [[ 9.99849177e-01 -7.54731261e-03 -1.56416795e-02 1.03453323e+01] [ 7.59886028e-03 9.99965883e-01 3.23872335e-03 2.70556304e-01] [ 1.56167022e-02 -3.35709381e-03 9.99872416e-01 -2.43037683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.04455357399996 meters Centerline goodness [0,1] 0.8177831378138363 Centerline is valid? [False, False] Translation: X:10.35, Y:0.27, Z:-2.43 [[ 9.99828050e-01 -8.63708730e-03 -1.64094886e-02 1.03479161e+01] [ 8.69353032e-03 9.99956527e-01 3.37144208e-03 2.70666284e-01] [ 1.63796558e-02 -3.51351874e-03 9.99859671e-01 -2.42933226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.074553574 meters Centerline goodness [0,1] 0.8226195699868364 Centerline is valid? [False, False] Translation: X:10.35, Y:0.27, Z:-2.43 [[ 9.99811025e-01 -9.44718676e-03 -1.69901685e-02 1.03499170e+01] [ 9.51059419e-03 9.99948093e-01 3.65508629e-03 2.70017071e-01] [ 1.69547564e-02 -3.81598217e-03 9.99848976e-01 -2.42840404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.10455357399997 meters Centerline goodness [0,1] 0.8287227619518085 Centerline is valid? [False, False] Translation: X:10.36, Y:0.27, Z:-2.43 [[ 9.99761868e-01 -1.18362555e-02 -1.83333307e-02 1.03554396e+01] [ 1.18996020e-02 9.99923585e-01 3.35003395e-03 2.69974979e-01] [ 1.82922779e-02 -3.56739554e-03 9.99826318e-01 -2.42809277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.134553574 meters Centerline goodness [0,1] 0.8316299969860537 Centerline is valid? [False, False] Translation: X:10.36, Y:0.27, Z:-2.43 [[ 9.99738920e-01 -1.27052140e-02 -1.89912842e-02 1.03580296e+01] [ 1.27669584e-02 9.99913589e-01 3.13349207e-03 2.70589243e-01] [ 1.89498315e-02 -3.37513492e-03 9.99814739e-01 -2.42832752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.16455357399997 meters Centerline goodness [0,1] 0.8316299969860537 Centerline is valid? [False, False] Translation: X:10.36, Y:0.27, Z:-2.43 [[ 9.99738920e-01 -1.27052140e-02 -1.89912842e-02 1.03580296e+01] [ 1.27669584e-02 9.99913589e-01 3.13349207e-03 2.70589243e-01] [ 1.89498315e-02 -3.37513492e-03 9.99814739e-01 -2.42832752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.194553574 meters Centerline goodness [0,1] 0.8343694372175818 Centerline is valid? [False, False] Translation: X:10.36, Y:0.27, Z:-2.43 [[ 9.99727481e-01 -1.30667625e-02 -1.93448409e-02 1.03592905e+01] [ 1.31231122e-02 9.99909999e-01 2.78882866e-03 2.72168138e-01] [ 1.93066589e-02 -3.04193317e-03 9.99808982e-01 -2.42853754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.22455357399997 meters Centerline goodness [0,1] 0.8253229691263412 Centerline is valid? [False, False] Translation: X:10.36, Y:0.27, Z:-2.43 [[ 9.99723740e-01 -1.31570293e-02 -1.94765760e-02 1.03596415e+01] [ 1.32100391e-02 9.99909375e-01 2.59556572e-03 2.73460320e-01] [ 1.94406610e-02 -2.85213500e-03 9.99806944e-01 -2.42842036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.254553574 meters Centerline goodness [0,1] 0.8255092037904368 Centerline is valid? [False, False] Translation: X:10.36, Y:0.28, Z:-2.43 [[ 9.99716582e-01 -1.32105383e-02 -1.98049855e-02 1.03605361e+01] [ 1.32484169e-02 9.99910647e-01 1.78259133e-03 2.77101262e-01] [ 1.97796669e-02 -2.04447081e-03 9.99802273e-01 -2.42920551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.284553574 meters Centerline goodness [0,1] 0.8322322105491173 Centerline is valid? [False, False] Translation: X:10.36, Y:0.28, Z:-2.43 [[ 9.99722945e-01 -1.15220023e-02 -2.05250031e-02 1.03615995e+01] [ 1.15976505e-02 9.99926370e-01 3.57044596e-03 2.81153160e-01] [ 2.04823531e-02 -3.80749857e-03 9.99782965e-01 -2.42811672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.314553574 meters Centerline goodness [0,1] 0.8185425101214575 Centerline is valid? [False, False] Translation: X:10.36, Y:0.28, Z:-2.43 [[ 9.99722884e-01 -1.14659899e-02 -2.05593223e-02 1.03614712e+01] [ 1.15396894e-02 9.99927396e-01 3.46967212e-03 2.82516523e-01] [ 2.05180464e-02 -3.70595881e-03 9.99782614e-01 -2.42770201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.344553574 meters Centerline goodness [0,1] 0.8304975057300795 Centerline is valid? [False, False] Translation: X:10.36, Y:0.28, Z:-2.43 [[ 9.99723262e-01 -1.13749961e-02 -2.05914888e-02 1.03610414e+01] [ 1.14540215e-02 9.99927466e-01 3.72390714e-03 2.83098775e-01] [ 2.05476358e-02 -3.95873195e-03 9.99781038e-01 -2.42653900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.374553574 meters Centerline goodness [0,1] 0.8342356902356902 Centerline is valid? [False, False] Translation: X:10.36, Y:0.28, Z:-2.42 [[ 9.99724514e-01 -1.13102892e-02 -2.05663384e-02 1.03603347e+01] [ 1.13924141e-02 9.99927575e-01 3.88039944e-03 2.84658726e-01] [ 2.05209605e-02 -4.11363068e-03 9.99780960e-01 -2.42499043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.404553574 meters Centerline goodness [0,1] 0.8321810013182319 Centerline is valid? [False, False] Translation: X:10.36, Y:0.29, Z:-2.43 [[ 9.99719210e-01 -1.14794358e-02 -2.07297747e-02 1.03610357e+01] [ 1.15555567e-02 9.99926909e-01 3.55600903e-03 2.85841067e-01] [ 2.06874386e-02 -3.79455463e-03 9.99778791e-01 -2.42534999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.434553574 meters Centerline goodness [0,1] 0.8301815837541635 Centerline is valid? [False, False] Translation: X:10.36, Y:0.29, Z:-2.43 [[ 9.99717874e-01 -1.14503515e-02 -2.08101322e-02 1.03612176e+01] [ 1.15242223e-02 9.99927700e-01 3.43329780e-03 2.86683377e-01] [ 2.07693152e-02 -3.67214977e-03 9.99777551e-01 -2.42540852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.464553574 meters Centerline goodness [0,1] 0.8205162462590851 Centerline is valid? [False, False] Translation: X:10.37, Y:0.29, Z:-2.42 [[ 9.99722114e-01 -8.73823604e-03 -2.18937759e-02 1.03650610e+01] [ 8.90717525e-03 9.99931215e-01 7.63071197e-03 2.86645550e-01] [ 2.18255909e-02 -7.82360321e-03 9.99731181e-01 -2.42443847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49455357399995 meters Centerline goodness [0,1] 0.8299139819415504 Centerline is valid? [False, False] Translation: X:10.36, Y:0.29, Z:-2.42 [[ 9.99732765e-01 -8.22380964e-03 -2.16048146e-02 1.03639269e+01] [ 8.38648971e-03 9.99937080e-01 7.45002226e-03 2.87630579e-01] [ 2.15421877e-02 -7.62921991e-03 9.99738830e-01 -2.42478757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.524553574 meters Centerline goodness [0,1] 0.8247949728405581 Centerline is valid? [False, False] Translation: X:10.38, Y:0.29, Z:-2.43 [[ 9.99860581e-01 -5.09665816e-03 -1.59010096e-02 1.03808908e+01] [ 5.10308078e-03 9.99986913e-01 3.63363866e-04 2.90240487e-01] [ 1.58989496e-02 -4.44457343e-04 9.99873505e-01 -2.43164113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.55455357399995 meters Centerline goodness [0,1] 0.8290160963649931 Centerline is valid? [False, False] Translation: X:10.38, Y:0.29, Z:-2.43 [[ 9.99869446e-01 -4.43181006e-03 -1.55386679e-02 1.03793932e+01] [ 4.43919549e-03 9.99990050e-01 4.40834101e-04 2.90891150e-01] [ 1.55365596e-02 -5.09755733e-04 9.99879170e-01 -2.43150108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.584553574 meters Centerline goodness [0,1] 0.8210193284236833 Centerline is valid? [False, False] Translation: X:10.38, Y:0.29, Z:-2.43 [[ 9.99878321e-01 -3.68143354e-03 -1.51588197e-02 1.03778393e+01] [ 3.68984522e-03 9.99993054e-01 5.26972256e-04 2.91743385e-01] [ 1.51567744e-02 -5.82841834e-04 9.99884960e-01 -2.43142402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.61455357399996 meters Centerline goodness [0,1] 0.8244559144362262 Centerline is valid? [False, False] Translation: X:10.38, Y:0.29, Z:-2.43 [[ 9.99890309e-01 -2.53882490e-03 -1.45919434e-02 1.03754214e+01] [ 2.54697266e-03 9.99996611e-01 5.39817485e-04 2.92942147e-01] [ 1.45905235e-02 -5.76923553e-04 9.99893386e-01 -2.43150170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.644553574 meters Centerline goodness [0,1] 0.8210663614342375 Centerline is valid? [False, False] Translation: X:10.37, Y:0.29, Z:-2.43 [[ 9.99892739e-01 -2.22158710e-03 -1.44767042e-02 1.03747414e+01] [ 2.23303307e-03 9.99997207e-01 7.74531178e-04 2.92972784e-01] [ 1.44749431e-02 -8.06775061e-04 9.99894907e-01 -2.43100181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.67455357399996 meters Centerline goodness [0,1] 0.824954782423662 Centerline is valid? [False, False] Translation: X:10.37, Y:0.29, Z:-2.43 [[ 9.99902092e-01 -1.29840578e-03 -1.39326911e-02 1.03724806e+01] [ 1.31251626e-03 9.99998635e-01 1.00366460e-03 2.93427783e-01] [ 1.39313689e-02 -1.02185322e-03 9.99902432e-01 -2.43044451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.704553574 meters Centerline goodness [0,1] 0.8226548578419639 Centerline is valid? [False, False] Translation: X:10.37, Y:0.29, Z:-2.43 [[ 9.99906216e-01 -7.60328557e-04 -1.36741288e-02 1.03712547e+01] [ 7.74770818e-04 9.99999148e-01 1.05090778e-03 2.94206827e-01] [ 1.36733181e-02 -1.06140353e-03 9.99905952e-01 -2.43024153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.73455357399996 meters Centerline goodness [0,1] 0.809499747347145 Centerline is valid? [False, False] Translation: X:10.37, Y:0.29, Z:-2.43 [[ 9.99908420e-01 -4.85419317e-04 -1.35246101e-02 1.03707248e+01] [ 4.99576000e-04 9.99999331e-01 1.04337617e-03 2.94657530e-01] [ 1.35240946e-02 -1.05003719e-03 9.99907994e-01 -2.43028858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.764553574 meters Centerline goodness [0,1] 0.8203378990566541 Centerline is valid? [False, False] Translation: X:10.37, Y:0.29, Z:-2.43 [[ 9.99911684e-01 -9.82282480e-05 -1.32896191e-02 1.03696367e+01] [ 1.18534076e-04 9.99998827e-01 1.52716754e-03 2.93684628e-01] [ 1.32894535e-02 -1.52860794e-03 9.99910523e-01 -2.42954179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.79455357399996 meters Centerline goodness [0,1] 0.8208907401473886 Centerline is valid? [False, False] Translation: X:10.37, Y:0.29, Z:-2.43 [[ 9.99912179e-01 -2.58366399e-05 -1.32527196e-02 1.03694861e+01] [ 4.82404292e-05 9.99998570e-01 1.69018815e-03 2.93358806e-01] [ 1.32526570e-02 -1.69067903e-03 9.99910750e-01 -2.42932845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.824553574 meters Centerline goodness [0,1] 0.8115034777956126 Centerline is valid? [False, False] Translation: X:10.37, Y:0.29, Z:-2.43 [[ 9.99914302e-01 1.65341964e-04 -1.30905403e-02 1.03687850e+01] [-1.39288352e-04 9.99998008e-01 1.99114925e-03 2.92766040e-01] [ 1.30908434e-02 -1.98915525e-03 9.99912333e-01 -2.42879886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.85455357399997 meters Centerline goodness [0,1] 0.8064386640976237 Centerline is valid? [False, False] Translation: X:10.37, Y:0.29, Z:-2.43 [[ 9.99912350e-01 5.79568288e-06 -1.32397778e-02 1.03692338e+01] [ 2.46978563e-05 9.99997348e-01 2.30301139e-03 2.92148312e-01] [ 1.32397560e-02 -2.30313653e-03 9.99909698e-01 -2.42820785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.884553574 meters Centerline goodness [0,1] 0.8159980718761716 Centerline is valid? [False, False] Translation: X:10.37, Y:0.29, Z:-2.43 [[ 9.99911551e-01 -7.69698916e-05 -1.32997968e-02 1.03694535e+01] [ 1.09356862e-04 9.99997031e-01 2.43443767e-03 2.91545548e-01] [ 1.32995699e-02 -2.43567677e-03 9.99908590e-01 -2.42804225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.91455357399997 meters Centerline goodness [0,1] 0.806021413046395 Centerline is valid? [False, False] Translation: X:10.37, Y:0.29, Z:-2.43 [[ 9.99910818e-01 -1.00030470e-04 -1.33546599e-02 1.03696116e+01] [ 1.34754079e-04 9.99996613e-01 2.59923728e-03 2.91170438e-01] [ 1.33543547e-02 -2.60080507e-03 9.99907444e-01 -2.42785992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.944553574 meters Centerline goodness [0,1] 0.8097995068081912 Centerline is valid? [False, False] Translation: X:10.37, Y:0.29, Z:-2.43 [[ 9.99909967e-01 -7.61671502e-05 -1.34183189e-02 1.03698080e+01] [ 1.12159469e-04 9.99996398e-01 2.68159490e-03 2.90819919e-01] [ 1.34180663e-02 -2.68285846e-03 9.99906375e-01 -2.42791284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.97455357399997 meters Centerline goodness [0,1] 0.8083875632682574 Centerline is valid? [False, False] Translation: X:10.37, Y:0.29, Z:-2.43 [[ 9.99907680e-01 -2.78151377e-04 -1.35850479e-02 1.03706299e+01] [ 3.13983046e-04 9.99996478e-01 2.63551974e-03 2.90571911e-01] [ 1.35842670e-02 -2.63954191e-03 9.99904246e-01 -2.42839894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.004553574 meters Centerline goodness [0,1] 0.8079548191964883 Centerline is valid? [False, False] Translation: X:10.37, Y:0.29, Z:-2.43 [[ 9.99903335e-01 -6.19940595e-04 -1.38901674e-02 1.03718492e+01] [ 6.56179387e-04 9.99996393e-01 2.60454736e-03 2.90306532e-01] [ 1.38885026e-02 -2.61341003e-03 9.99900135e-01 -2.42867891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.034553574 meters Centerline goodness [0,1] 0.8082951531227394 Centerline is valid? [False, False] Translation: X:10.37, Y:0.29, Z:-2.43 [[ 9.99899166e-01 -9.75130285e-04 -1.41671337e-02 1.03729518e+01] [ 1.01428667e-03 9.99995685e-01 2.75696660e-03 2.89648121e-01] [ 1.41643841e-02 -2.77105814e-03 9.99895840e-01 -2.42861211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.064553574 meters Centerline goodness [0,1] 0.8160420352796096 Centerline is valid? [False, False] Translation: X:10.37, Y:0.29, Z:-2.43 [[ 9.99892931e-01 -1.72026746e-03 -1.45316073e-02 1.03744211e+01] [ 1.76608976e-03 9.99993507e-01 3.14104141e-03 2.88033088e-01] [ 1.45261096e-02 -3.16636922e-03 9.99889477e-01 -2.42792294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.094553574 meters Centerline goodness [0,1] 0.8112489616549211 Centerline is valid? [False, False] Translation: X:10.38, Y:0.29, Z:-2.43 [[ 9.99887342e-01 -2.11536006e-03 -1.48603041e-02 1.03755718e+01] [ 2.16487294e-03 9.99992157e-01 3.31659307e-03 2.87251503e-01] [ 1.48531717e-02 -3.34839010e-03 9.99884079e-01 -2.42772779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.124553574 meters Centerline goodness [0,1] 0.8223273822327382 Centerline is valid? [False, False] Translation: X:10.38, Y:0.29, Z:-2.43 [[ 9.99875532e-01 -2.98493719e-03 -1.54922571e-02 1.03781307e+01] [ 3.03596967e-03 9.99990040e-01 3.27159139e-03 2.86401321e-01] [ 1.54823373e-02 -3.31821821e-03 9.99874635e-01 -2.42818326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.154553574 meters Centerline goodness [0,1] 0.8208879106721065 Centerline is valid? [False, False] Translation: X:10.38, Y:0.29, Z:-2.43 [[ 9.99867468e-01 -3.49323232e-03 -1.59010385e-02 1.03798298e+01] [ 3.54416555e-03 9.99988676e-01 3.17608625e-03 2.86023052e-01] [ 1.58897636e-02 -3.23202123e-03 9.99868526e-01 -2.42865811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.184553574 meters Centerline goodness [0,1] 0.8069986830435133 Centerline is valid? [False, False] Translation: X:10.38, Y:0.29, Z:-2.43 [[ 9.99860564e-01 -3.87352936e-03 -1.62434260e-02 1.03811177e+01] [ 3.92672689e-03 9.99987027e-01 3.24440534e-03 2.85499489e-01] [ 1.62306480e-02 -3.30773645e-03 9.99862803e-01 -2.42877394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.214553574 meters Centerline goodness [0,1] 0.8166971097023745 Centerline is valid? [False, False] Translation: X:10.38, Y:0.28, Z:-2.43 [[ 9.99851310e-01 -4.38816497e-03 -1.66763731e-02 1.03828875e+01] [ 4.44222356e-03 9.99984994e-01 3.20596823e-03 2.84745567e-01] [ 1.66620545e-02 -3.27957171e-03 9.99855800e-01 -2.42933267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.24455357399995 meters Centerline goodness [0,1] 0.8164026845637584 Centerline is valid? [False, False] Translation: X:10.38, Y:0.28, Z:-2.43 [[ 9.99851034e-01 -4.32840627e-03 -1.67085071e-02 1.03829588e+01] [ 4.38298400e-03 9.99985174e-01 3.23122721e-03 2.84866781e-01] [ 1.66942733e-02 -3.30397898e-03 9.99855182e-01 -2.42944268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.274553574 meters Centerline goodness [0,1] 0.8172934954766315 Centerline is valid? [False, False] Translation: X:10.38, Y:0.28, Z:-2.43 [[ 9.99850133e-01 -4.33612016e-03 -1.67603522e-02 1.03830973e+01] [ 4.39185503e-03 9.99984944e-01 3.29002443e-03 2.84816259e-01] [ 1.67458339e-02 -3.36314040e-03 9.99854123e-01 -2.42933916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.30455357399995 meters Centerline goodness [0,1] 0.8202636312384225 Centerline is valid? [False, False] Translation: X:10.38, Y:0.28, Z:-2.43 [[ 9.99847518e-01 -4.41287530e-03 -1.68957795e-02 1.03835368e+01] [ 4.47104932e-03 9.99984201e-01 3.40688530e-03 2.84759762e-01] [ 1.68804784e-02 -3.48190767e-03 9.99851452e-01 -2.42911828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.334553574 meters Centerline goodness [0,1] 0.8206216586519087 Centerline is valid? [False, False] Translation: X:10.38, Y:0.28, Z:-2.43 [[ 9.99843363e-01 -4.62430747e-03 -1.70840880e-02 1.03839609e+01] [ 4.68558716e-03 9.99982726e-01 3.54866111e-03 2.84749412e-01] [ 1.70673828e-02 -3.62815424e-03 9.99847759e-01 -2.42850673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.36455357399996 meters Centerline goodness [0,1] 0.8092330762639246 Centerline is valid? [False, False] Translation: X:10.38, Y:0.28, Z:-2.43 [[ 9.99838934e-01 -4.82283643e-03 -1.72871869e-02 1.03845912e+01] [ 4.88677353e-03 9.99981368e-01 3.65819287e-03 2.84974044e-01] [ 1.72692220e-02 -3.74208223e-03 9.99843873e-01 -2.42809455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.394553574 meters Centerline goodness [0,1] 0.8144343685632507 Centerline is valid? [False, False] Translation: X:10.39, Y:0.29, Z:-2.43 [[ 9.99833696e-01 -5.11046782e-03 -1.75061036e-02 1.03853653e+01] [ 5.17249721e-03 9.99980498e-01 3.49985616e-03 2.85740373e-01] [ 1.74878763e-02 -3.58982439e-03 9.99840631e-01 -2.42814170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.42455357399996 meters Centerline goodness [0,1] 0.8207930315823224 Centerline is valid? [False, False] Translation: X:10.39, Y:0.29, Z:-2.43 [[ 9.99832487e-01 -5.12338234e-03 -1.75712731e-02 1.03855341e+01] [ 5.18763395e-03 9.99980017e-01 3.61299915e-03 2.85823449e-01] [ 1.75524112e-02 -3.70354726e-03 9.99839085e-01 -2.42789864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.454553574 meters Centerline goodness [0,1] 0.8154281745819756 Centerline is valid? [False, False] Translation: X:10.39, Y:0.29, Z:-2.43 [[ 9.99832104e-01 -5.10125843e-03 -1.75994528e-02 1.03855430e+01] [ 5.16539738e-03 9.99980176e-01 3.60084058e-03 2.86156120e-01] [ 1.75807351e-02 -3.69114418e-03 9.99838634e-01 -2.42776442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.48455357399996 meters Centerline goodness [0,1] 0.8198450854700855 Centerline is valid? [False, False] Translation: X:10.38, Y:0.29, Z:-2.43 [[ 9.99838826e-01 -4.65954801e-03 -1.73381483e-02 1.03841927e+01] [ 4.72717666e-03 9.99981371e-01 3.86163243e-03 2.86536005e-01] [ 1.73198318e-02 -3.94297053e-03 9.99842226e-01 -2.42686914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.514553574 meters Centerline goodness [0,1] 0.8226973069634612 Centerline is valid? [False, False] Translation: X:10.38, Y:0.29, Z:-2.43 [[ 9.99844944e-01 -4.23653022e-03 -1.70921078e-02 1.03830045e+01] [ 4.30801616e-03 9.99982118e-01 4.14774553e-03 2.86512887e-01] [ 1.70742301e-02 -4.22073548e-03 9.99845316e-01 -2.42615047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.54455357399996 meters Centerline goodness [0,1] 0.8025245814509699 Centerline is valid? [False, False] Translation: X:10.39, Y:0.29, Z:-2.43 [[ 9.99840467e-01 -1.06890212e-03 -1.78297004e-02 1.03855729e+01] [ 1.21529352e-03 9.99965627e-01 8.20172283e-03 2.86479690e-01] [ 1.78203207e-02 -8.22208270e-03 9.99807398e-01 -2.42560147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.574553574 meters Centerline goodness [0,1] 0.8201927928406405 Centerline is valid? [False, False] Translation: X:10.39, Y:0.29, Z:-2.43 [[ 9.99841878e-01 -8.45309870e-04 -1.77624193e-02 1.03855787e+01] [ 9.81476942e-04 9.99970190e-01 7.65870215e-03 2.87958282e-01] [ 1.77554158e-02 -7.67492455e-03 9.99812903e-01 -2.42683404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.60455357399997 meters Centerline goodness [0,1] 0.8158550156324519 Centerline is valid? [False, False] Translation: X:10.39, Y:0.29, Z:-2.43 [[ 9.99843878e-01 -4.36208305e-04 -1.76643558e-02 1.03854729e+01] [ 5.58880893e-04 9.99975760e-01 6.94029887e-03 2.89514745e-01] [ 1.76609002e-02 -6.94908761e-03 9.99819885e-01 -2.42862335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.634553574 meters Centerline goodness [0,1] 0.8162589127150317 Centerline is valid? [False, False] Translation: X:10.39, Y:0.29, Z:-2.43 [[ 9.99844675e-01 -2.90005738e-04 -1.76221806e-02 1.03854980e+01] [ 4.09406131e-04 9.99976984e-01 6.77234444e-03 2.89506794e-01] [ 1.76198110e-02 -6.77850716e-03 9.99821781e-01 -2.42919805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.66455357399997 meters Centerline goodness [0,1] 0.8126141869886409 Centerline is valid? [False, False] Translation: X:10.38, Y:0.29, Z:-2.43 [[ 9.99849106e-01 4.26210505e-04 -1.73661681e-02 1.03846676e+01] [-3.19785989e-04 9.99981157e-01 6.13058323e-03 2.90673214e-01] [ 1.73684538e-02 -6.12410470e-03 9.99830402e-01 -2.43092391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.694553574 meters Centerline goodness [0,1] 0.8119540473291333 Centerline is valid? [False, False] Translation: X:10.38, Y:0.29, Z:-2.43 [[ 9.99850474e-01 7.65107849e-04 -1.72755344e-02 1.03846573e+01] [-6.67740156e-04 9.99983865e-01 5.64122594e-03 2.91782873e-01] [ 1.72795718e-02 -5.62884686e-03 9.99834853e-01 -2.43230081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.72455357399997 meters Centerline goodness [0,1] 0.8098546895640687 Centerline is valid? [False, False] Translation: X:10.38, Y:0.29, Z:-2.43 [[ 9.99854743e-01 1.37108683e-03 -1.69886165e-02 1.03838486e+01] [-1.28180065e-03 9.99985316e-01 5.26542233e-03 2.92804027e-01] [ 1.69955864e-02 -5.24288147e-03 9.99841819e-01 -2.43348889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.754553574 meters Centerline goodness [0,1] 0.8142664516299606 Centerline is valid? [False, False] Translation: X:10.38, Y:0.29, Z:-2.44 [[ 9.99865309e-01 3.23729201e-03 -1.60898871e-02 1.03804849e+01] [-3.16442192e-03 9.99984631e-01 4.55233554e-03 2.94929088e-01] [ 1.61043771e-02 -4.50080719e-03 9.99860186e-01 -2.43575964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.784553574 meters Centerline goodness [0,1] 0.8091216216216216 Centerline is valid? [False, False] Translation: X:10.40, Y:0.30, Z:-2.44 [[ 9.99933748e-01 5.59269606e-03 -1.00609207e-02 1.03973125e+01] [-5.61936594e-03 9.99980767e-01 -2.62452547e-03 2.97080527e-01] [ 1.00460490e-02 2.68088759e-03 9.99945943e-01 -2.44237194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.814553574 meters Centerline goodness [0,1] 0.808719072641335 Centerline is valid? [False, False] Translation: X:10.39, Y:0.30, Z:-2.44 [[ 9.99932460e-01 7.32632453e-03 -9.02219358e-03 1.03926377e+01] [-7.34170617e-03 9.99971650e-01 -1.67292799e-03 2.96947645e-01] [ 9.00968139e-03 1.73905330e-03 9.99957900e-01 -2.44017371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.844553574 meters Centerline goodness [0,1] 0.8074363578747228 Centerline is valid? [False, False] Translation: X:10.39, Y:0.30, Z:-2.44 [[ 9.99931505e-01 7.77143170e-03 -8.75153082e-03 1.03913209e+01] [-7.78339860e-03 9.99968819e-01 -1.33417800e-03 2.96921180e-01] [ 8.74088947e-03 1.40220327e-03 9.99960815e-01 -2.43931408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.874553574 meters Centerline goodness [0,1] 0.8051028763107155 Centerline is valid? [False, False] Translation: X:10.39, Y:0.30, Z:-2.44 [[ 9.99930926e-01 8.04361605e-03 -8.56991743e-03 1.03905459e+01] [-8.05343741e-03 9.99966952e-01 -1.11213420e-03 2.96796793e-01] [ 8.56068863e-03 1.18107467e-03 9.99962659e-01 -2.43884333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.904553574 meters Centerline goodness [0,1] 0.8046759161194662 Centerline is valid? [False, False] Translation: X:10.39, Y:0.30, Z:-2.44 [[ 9.99932587e-01 7.83764704e-03 -8.56700563e-03 1.03903641e+01] [-7.84194837e-03 9.99969142e-01 -4.68603384e-04 2.95334473e-01] [ 8.56306852e-03 5.35753809e-04 9.99963193e-01 -2.43733993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.934553574 meters Centerline goodness [0,1] 0.8095376332735142 Centerline is valid? [False, False] Translation: X:10.39, Y:0.29, Z:-2.44 [[ 9.99933603e-01 7.31932236e-03 -8.90039278e-03 1.03916302e+01] [-7.32169524e-03 9.99973169e-01 -2.34048197e-04 2.94594336e-01] [ 8.89844090e-03 2.99198620e-04 9.99960363e-01 -2.43686976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.964553574 meters Centerline goodness [0,1] 0.8048838752488388 Centerline is valid? [False, False] Translation: X:10.38, Y:0.30, Z:-2.44 [[ 9.99999376e-01 1.09178065e-03 -2.35542910e-04 1.03829510e+01] [-1.09203573e-03 9.99998815e-01 -1.08550765e-03 2.95188086e-01] [ 2.34357494e-04 1.08576419e-03 9.99999383e-01 -2.44336653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99455357399995 meters Centerline goodness [0,1] 0.8090822382365409 Centerline is valid? [False, False] Translation: X:10.39, Y:0.29, Z:-2.44 [[ 9.99999637e-01 2.67365244e-04 -8.09119497e-04 1.03852609e+01] [-2.68130403e-04 9.99999517e-01 -9.45708229e-04 2.93910733e-01] [ 8.08866257e-04 9.45924835e-04 9.99999225e-01 -2.44353958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.024553574 meters Centerline goodness [0,1] 0.8101393497013936 Centerline is valid? [False, False] Translation: X:10.39, Y:0.29, Z:-2.44 [[ 9.99999084e-01 -3.45269018e-04 -1.30861006e-03 1.03870931e+01] [ 3.44501866e-04 9.99999769e-01 -5.86414186e-04 2.92656506e-01] [ 1.30881223e-03 5.85962831e-04 9.99998972e-01 -2.44317812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.05455357399995 meters Centerline goodness [0,1] 0.8102271217957232 Centerline is valid? [False, False] Translation: X:10.39, Y:0.29, Z:-2.44 [[ 9.99996595e-01 -1.55558974e-03 -2.09540825e-03 1.03903995e+01] [ 1.55473999e-03 9.99998709e-01 -4.07093794e-04 2.90216082e-01] [ 2.09603882e-03 4.03834593e-04 9.99997722e-01 -2.44361869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.084553574 meters Centerline goodness [0,1] 0.8102271217957232 Centerline is valid? [False, False] Translation: X:10.39, Y:0.29, Z:-2.44 [[ 9.99996595e-01 -1.55558974e-03 -2.09540825e-03 1.03903995e+01] [ 1.55473999e-03 9.99998709e-01 -4.07093794e-04 2.90216082e-01] [ 2.09603882e-03 4.03834593e-04 9.99997722e-01 -2.44361869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.11455357399996 meters Centerline goodness [0,1] 0.8126547894862987 Centerline is valid? [False, False] Translation: X:10.39, Y:0.29, Z:-2.44 [[ 9.99995055e-01 -1.94469391e-03 -2.47136546e-03 1.03919265e+01] [ 1.94383428e-03 9.99998049e-01 -3.50192003e-04 2.89218586e-01] [ 2.47204165e-03 3.45386346e-04 9.99996885e-01 -2.44411492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.144553574 meters Centerline goodness [0,1] 0.8159087274084342 Centerline is valid? [False, False] Translation: X:10.39, Y:0.29, Z:-2.45 [[ 9.99991413e-01 -2.72712270e-03 -3.12035377e-03 1.03947694e+01] [ 2.72561248e-03 9.99996166e-01 -4.88139684e-04 2.87878040e-01] [ 3.12167302e-03 4.79630617e-04 9.99995013e-01 -2.44549717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.17455357399996 meters Centerline goodness [0,1] 0.8203911954378298 Centerline is valid? [False, False] Translation: X:10.40, Y:0.29, Z:-2.45 [[ 9.99989728e-01 -2.99364437e-03 -3.40324178e-03 1.03958136e+01] [ 2.99312187e-03 9.99995508e-01 -1.58613644e-04 2.86647456e-01] [ 3.40370133e-03 1.48425697e-04 9.99994196e-01 -2.44534673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.204553574 meters Centerline goodness [0,1] 0.8170836005986744 Centerline is valid? [False, False] Translation: X:10.40, Y:0.29, Z:-2.45 [[ 9.99988212e-01 -3.20044661e-03 -3.65145851e-03 1.03966656e+01] [ 3.20144285e-03 9.99994840e-01 2.67022121e-04 2.85273966e-01] [ 3.65058507e-03 -2.78708909e-04 9.99993298e-01 -2.44501637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.23455357399996 meters Centerline goodness [0,1] 0.8219753747323341 Centerline is valid? [False, False] Translation: X:10.40, Y:0.28, Z:-2.45 [[ 9.99984726e-01 -3.73783212e-03 -4.07129526e-03 1.03986675e+01] [ 3.73862774e-03 9.99992994e-01 1.87828587e-04 2.83952908e-01] [ 4.07056467e-03 -2.03046776e-04 9.99991695e-01 -2.44613355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.264553574 meters Centerline goodness [0,1] 0.8162526157643397 Centerline is valid? [False, False] Translation: X:10.40, Y:0.28, Z:-2.45 [[ 9.99982493e-01 -4.00312907e-03 -4.35766032e-03 1.03998076e+01] [ 4.00489607e-03 9.99991902e-01 3.96842360e-04 2.83107125e-01] [ 4.35603642e-03 -4.14287389e-04 9.99990427e-01 -2.44626006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.29455357399996 meters Centerline goodness [0,1] 0.8233726376998869 Centerline is valid? [False, False] Translation: X:10.40, Y:0.28, Z:-2.45 [[ 9.99977414e-01 -4.72248630e-03 -4.78219523e-03 1.04012966e+01] [ 4.72770686e-03 9.99988240e-01 1.08095156e-03 2.80363948e-01] [ 4.77703421e-03 -1.10353596e-03 9.99987981e-01 -2.44507728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.324553574 meters Centerline goodness [0,1] 0.8270881701851952 Centerline is valid? [False, False] Translation: X:10.40, Y:0.28, Z:-2.44 [[ 9.99976271e-01 -4.85511443e-03 -4.88718774e-03 1.04014956e+01] [ 4.86330398e-03 9.99986788e-01 1.66523124e-03 2.78935375e-01] [ 4.87903828e-03 -1.68895961e-03 9.99986671e-01 -2.44400461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.35455357399997 meters Centerline goodness [0,1] 0.8173640562954159 Centerline is valid? [False, False] Translation: X:10.40, Y:0.28, Z:-2.44 [[ 9.99975516e-01 -4.93480114e-03 -4.96136565e-03 1.04016525e+01] [ 4.94486234e-03 9.99985739e-01 2.01769160e-03 2.78127318e-01] [ 4.95133798e-03 -2.04217547e-03 9.99985657e-01 -2.44337573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.384553574 meters Centerline goodness [0,1] 0.8293566082092577 Centerline is valid? [False, False] Translation: X:10.40, Y:0.28, Z:-2.44 [[ 9.99972936e-01 -5.23487915e-03 -5.16952258e-03 1.04024486e+01] [ 5.24681170e-03 9.99983596e-01 2.29739249e-03 2.77176141e-01] [ 5.15741121e-03 -2.32445382e-03 9.99983999e-01 -2.44312675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.41455357399997 meters Centerline goodness [0,1] 0.8281465458969852 Centerline is valid? [False, False] Translation: X:10.40, Y:0.28, Z:-2.44 [[ 9.99971946e-01 -5.34234835e-03 -5.25042380e-03 1.04027496e+01] [ 5.35600689e-03 9.99982300e-01 2.59080854e-03 2.76641283e-01] [ 5.23648987e-03 -2.61885716e-03 9.99982860e-01 -2.44264092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.444553574 meters Centerline goodness [0,1] 0.8174732055862293 Centerline is valid? [False, False] Translation: X:10.40, Y:0.28, Z:-2.44 [[ 9.99965317e-01 -6.03294206e-03 -5.74181842e-03 1.04047122e+01] [ 6.04858484e-03 9.99978033e-01 2.71090591e-03 2.75918219e-01] [ 5.72533755e-03 -2.74554177e-03 9.99979841e-01 -2.44261637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.47455357399997 meters Centerline goodness [0,1] 0.8277916170258854 Centerline is valid? [False, False] Translation: X:10.41, Y:0.28, Z:-2.44 [[ 9.99961025e-01 -6.43354690e-03 -6.04635385e-03 1.04060125e+01] [ 6.44945780e-03 9.99975781e-01 2.61568279e-03 2.75817360e-01] [ 6.02937929e-03 -2.65457655e-03 9.99978300e-01 -2.44293908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.504553574 meters Centerline goodness [0,1] 0.8170246188012892 Centerline is valid? [False, False] Translation: X:10.41, Y:0.28, Z:-2.44 [[ 9.99954755e-01 -6.95595710e-03 -6.48871175e-03 1.04076214e+01] [ 6.97367262e-03 9.99972007e-01 2.71158752e-03 2.75375461e-01] [ 6.46966842e-03 -2.75671498e-03 9.99975272e-01 -2.44281316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.534553574 meters Centerline goodness [0,1] 0.824547152952644 Centerline is valid? [False, False] Translation: X:10.41, Y:0.27, Z:-2.44 [[ 9.99935328e-01 -8.54546332e-03 -7.50434085e-03 1.04116220e+01] [ 8.56520176e-03 9.99959932e-01 2.60208226e-03 2.74848604e-01] [ 7.48180417e-03 -2.66619018e-03 9.99968457e-01 -2.44268450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.564553574 meters Centerline goodness [0,1] 0.8236792887539641 Centerline is valid? [False, False] Translation: X:10.41, Y:0.28, Z:-2.44 [[ 9.99924229e-01 -9.27767487e-03 -8.09080599e-03 1.04137319e+01] [ 9.29840438e-03 9.99953573e-01 2.52826463e-03 2.75216093e-01] [ 8.06697394e-03 -2.60330465e-03 9.99964073e-01 -2.44253192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.594553574 meters Centerline goodness [0,1] 0.8325973396521084 Centerline is valid? [False, False] Translation: X:10.41, Y:0.28, Z:-2.44 [[ 9.99921406e-01 -9.37972008e-03 -8.31885424e-03 1.04138136e+01] [ 9.39632566e-03 9.99953934e-01 1.95930426e-03 2.79338446e-01] [ 8.30009330e-03 -2.03731693e-03 9.99963478e-01 -2.44178182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.624553574 meters Centerline goodness [0,1] 0.8337901015637594 Centerline is valid? [False, False] Translation: X:10.41, Y:0.28, Z:-2.44 [[ 9.99917573e-01 -9.58018440e-03 -8.54790018e-03 1.04144262e+01] [ 9.59466579e-03 9.99952601e-01 1.65474743e-03 2.81322967e-01] [ 8.53164223e-03 -1.73662528e-03 9.99962097e-01 -2.44154575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.654553574 meters Centerline goodness [0,1] 0.8229858581529891 Centerline is valid? [False, False] Translation: X:10.42, Y:0.28, Z:-2.44 [[ 9.99908842e-01 -1.00981573e-02 -8.96299498e-03 1.04159767e+01] [ 1.01085536e-02 9.99948285e-01 1.11536888e-03 2.83688808e-01] [ 8.95126829e-03 -1.20587012e-03 9.99959210e-01 -2.44182514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.684553574 meters Centerline goodness [0,1] 0.8320415501398322 Centerline is valid? [False, False] Translation: X:10.42, Y:0.29, Z:-2.44 [[ 9.99894047e-01 -1.09088730e-02 -9.63797105e-03 1.04180817e+01] [ 1.09086234e-02 9.99940496e-01 -7.84745961e-05 2.88853088e-01] [ 9.63825362e-03 -2.66707147e-05 9.99953551e-01 -2.44231186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.714553574 meters Centerline goodness [0,1] 0.8288806940280689 Centerline is valid? [False, False] Translation: X:10.42, Y:0.29, Z:-2.44 [[ 9.99888619e-01 -1.11574893e-02 -9.91260287e-03 1.04188734e+01] [ 1.11540017e-02 9.99937709e-01 -4.07053915e-04 2.90860775e-01] [ 9.91652711e-03 2.96443387e-04 9.99950786e-01 -2.44208047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.74455357399995 meters Centerline goodness [0,1] 0.8295100986130887 Centerline is valid? [False, False] Translation: X:10.42, Y:0.30, Z:-2.44 [[ 9.99875543e-01 -1.17747087e-02 -1.05001931e-02 1.04206161e+01] [ 1.17609128e-02 9.99929893e-01 -1.37465930e-03 2.95028700e-01] [ 1.05156431e-02 1.25099636e-03 9.99943927e-01 -2.44224844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.774553574 meters Centerline goodness [0,1] 0.8248618784530387 Centerline is valid? [False, False] Translation: X:10.42, Y:0.30, Z:-2.44 [[ 9.99868077e-01 -1.20875636e-02 -1.08498693e-02 1.04217820e+01] [ 1.20676070e-02 9.99925373e-01 -1.90293818e-03 2.97221937e-01] [ 1.08720615e-02 1.77175518e-03 9.99939328e-01 -2.44258847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.80455357399995 meters Centerline goodness [0,1] 0.8227389638339195 Centerline is valid? [False, False] Translation: X:10.43, Y:0.30, Z:-2.44 [[ 9.99875456e-01 -9.90763390e-03 -1.22845861e-02 1.04264546e+01] [ 9.93496603e-03 9.99948301e-01 2.16588500e-03 2.97521633e-01] [ 1.22624922e-02 -2.28766220e-03 9.99922196e-01 -2.44143496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.834553574 meters Centerline goodness [0,1] 0.8209746039203404 Centerline is valid? [False, False] Translation: X:10.43, Y:0.30, Z:-2.44 [[ 9.99864781e-01 -1.03289373e-02 -1.27958356e-02 1.04282108e+01] [ 1.03409235e-02 9.99946152e-01 8.70914093e-04 3.02103505e-01] [ 1.27861509e-02 -1.00311709e-03 9.99917751e-01 -2.44279733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.86455357399996 meters Centerline goodness [0,1] 0.8280627781681893 Centerline is valid? [False, False] Translation: X:10.43, Y:0.30, Z:-2.44 [[ 9.99860342e-01 -1.04759486e-02 -1.30211680e-02 1.04289955e+01] [ 1.04828654e-02 9.99944946e-01 4.63056918e-04 3.04113482e-01] [ 1.30156002e-02 -5.99491400e-04 9.99915114e-01 -2.44307820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.894553574 meters Centerline goodness [0,1] 0.8332296849087893 Centerline is valid? [False, False] Translation: X:10.43, Y:0.31, Z:-2.44 [[ 9.99862046e-01 -8.30116416e-03 -1.43868198e-02 1.04331667e+01] [ 8.36332965e-03 9.99955926e-01 4.26623806e-03 3.05217913e-01] [ 1.43507710e-02 -4.38597123e-03 9.99887403e-01 -2.44180401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.92455357399996 meters Centerline goodness [0,1] 0.8281658766544927 Centerline is valid? [False, False] Translation: X:10.43, Y:0.31, Z:-2.44 [[ 9.99861933e-01 -8.27216012e-03 -1.44113317e-02 1.04333572e+01] [ 8.32996851e-03 9.99957480e-01 3.95591648e-03 3.06760122e-01] [ 1.43779950e-02 -4.07541624e-03 9.99888326e-01 -2.44209886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.954553574 meters Centerline goodness [0,1] 0.8311798620405642 Centerline is valid? [False, False] Translation: X:10.43, Y:0.31, Z:-2.44 [[ 9.99864189e-01 -7.98042204e-03 -1.44193342e-02 1.04332668e+01] [ 8.02894195e-03 9.99962289e-01 3.31016946e-03 3.10233194e-01] [ 1.43923739e-02 -3.42549190e-03 9.99890557e-01 -2.44276118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.98455357399996 meters Centerline goodness [0,1] 0.8304484051569161 Centerline is valid? [False, False] Translation: X:10.43, Y:0.31, Z:-2.44 [[ 9.99870847e-01 -7.52786646e-03 -1.41993154e-02 1.04323791e+01] [ 7.57308928e-03 9.99966413e-01 3.13378237e-03 3.11927780e-01] [ 1.41752478e-02 -3.24091032e-03 9.99894274e-01 -2.44278819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.014553574 meters Centerline goodness [0,1] 0.8070148450119221 Centerline is valid? [False, False] Translation: X:10.43, Y:0.31, Z:-2.44 [[ 9.99880457e-01 -6.87823704e-03 -1.38477821e-02 1.04308755e+01] [ 6.92119326e-03 9.99971377e-01 3.05649837e-03 3.13422436e-01] [ 1.38263624e-02 -3.15197617e-03 9.99899443e-01 -2.44255003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.04455357399996 meters Centerline goodness [0,1] 0.8344760540319279 Centerline is valid? [False, False] Translation: X:10.43, Y:0.31, Z:-2.44 [[ 9.99905698e-01 -2.11529712e-03 -1.35691069e-02 1.04287799e+01] [ 2.21826739e-03 9.99968826e-01 7.57802496e-03 3.14992314e-01] [ 1.35526541e-02 -7.60741024e-03 9.99879219e-01 -2.44021756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.074553574 meters Centerline goodness [0,1] 0.8249331465681905 Centerline is valid? [False, False] Translation: X:10.44, Y:0.32, Z:-2.45 [[ 9.99967687e-01 8.82352532e-04 -7.99044279e-03 1.04437280e+01] [-8.91562050e-04 9.99998942e-01 -1.14907802e-03 3.18740688e-01] [ 7.98942045e-03 1.15616486e-03 9.99967416e-01 -2.44841106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.10455357399997 meters Centerline goodness [0,1] 0.8277578805659275 Centerline is valid? [False, False] Translation: X:10.44, Y:0.32, Z:-2.45 [[ 9.99953680e-01 5.54409435e-03 -7.86774098e-03 1.04428495e+01] [-5.52235121e-03 9.99980880e-01 2.78261953e-03 3.20521388e-01] [ 7.88301766e-03 -2.73904221e-03 9.99965177e-01 -2.44807549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.134553574 meters Centerline goodness [0,1] 0.8241326918207141 Centerline is valid? [False, False] Translation: X:10.44, Y:0.32, Z:-2.45 [[ 9.99952030e-01 6.08206261e-03 -7.67765506e-03 1.04424847e+01] [-6.06591125e-03 9.99979344e-01 2.12522081e-03 3.22250249e-01] [ 7.69042219e-03 -2.07854689e-03 9.99968268e-01 -2.44960962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.16455357399997 meters Centerline goodness [0,1] 0.8191149635036497 Centerline is valid? [False, False] Translation: X:10.44, Y:0.32, Z:-2.45 [[ 9.99951100e-01 6.48856287e-03 -7.46299897e-03 1.04421918e+01] [-6.47814872e-03 9.99978010e-01 1.41876535e-03 3.23999509e-01] [ 7.47204061e-03 -1.37034956e-03 9.99971145e-01 -2.45115527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.194553574 meters Centerline goodness [0,1] 0.8239708892426655 Centerline is valid? [False, False] Translation: X:10.44, Y:0.33, Z:-2.45 [[ 9.99947141e-01 7.38096547e-03 -7.15800035e-03 1.04411259e+01] [-7.37517157e-03 9.99972454e-01 8.35489328e-04 3.26342958e-01] [ 7.16396989e-03 -7.82653684e-04 9.99974032e-01 -2.45249412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.22455357399997 meters Centerline goodness [0,1] 0.8329377903453847 Centerline is valid? [False, False] Translation: X:10.44, Y:0.33, Z:-2.45 [[ 9.99946293e-01 7.67358198e-03 -6.96613548e-03 1.04404421e+01] [-7.66806272e-03 9.99970265e-01 8.18662269e-04 3.26487586e-01] [ 6.97221041e-03 -7.65201537e-04 9.99975401e-01 -2.45242396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.254553574 meters Centerline goodness [0,1] 0.8210310634422746 Centerline is valid? [False, False] Translation: X:10.44, Y:0.33, Z:-2.45 [[ 9.99945113e-01 8.09690771e-03 -6.64914452e-03 1.04389540e+01] [-8.08811677e-03 9.99966382e-01 1.34794322e-03 3.25475720e-01] [ 6.65983517e-03 -1.29409018e-03 9.99976986e-01 -2.45110424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.284553574 meters Centerline goodness [0,1] 0.8229166666666666 Centerline is valid? [False, False] Translation: X:10.44, Y:0.33, Z:-2.45 [[ 9.99945399e-01 8.05975193e-03 -6.65129517e-03 1.04390370e+01] [-8.05020510e-03 9.99966529e-01 1.46086020e-03 3.25163229e-01] [ 6.66284672e-03 -1.40723615e-03 9.99976813e-01 -2.45085898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.314553574 meters Centerline goodness [0,1] 0.818855287193018 Centerline is valid? [False, False] Translation: X:10.44, Y:0.32, Z:-2.45 [[ 9.99945843e-01 7.99174832e-03 -6.66658406e-03 1.04392124e+01] [-7.98173502e-03 9.99966979e-01 1.52726960e-03 3.24595810e-01] [ 6.67856947e-03 -1.47397598e-03 9.99976612e-01 -2.45092415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.344553574 meters Centerline goodness [0,1] 0.8271801480807621 Centerline is valid? [False, False] Translation: X:10.44, Y:0.32, Z:-2.45 [[ 9.99946147e-01 7.90790067e-03 -6.72072323e-03 1.04397481e+01] [-7.89899768e-03 9.99967891e-01 1.35022074e-03 3.24758120e-01] [ 6.73118484e-03 -1.29706105e-03 9.99976504e-01 -2.45150077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.374553574 meters Centerline goodness [0,1] 0.8209148665819568 Centerline is valid? [False, False] Translation: X:10.44, Y:0.32, Z:-2.45 [[ 9.99943572e-01 8.65000554e-03 -6.16683223e-03 1.04377322e+01] [-8.64007159e-03 9.99961336e-01 1.63569263e-03 3.24489176e-01] [ 6.18074255e-03 -1.58231846e-03 9.99979647e-01 -2.45102469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.404553574 meters Centerline goodness [0,1] 0.820692812452312 Centerline is valid? [False, False] Translation: X:10.44, Y:0.32, Z:-2.45 [[ 9.99942257e-01 8.97372989e-03 -5.91224128e-03 1.04367628e+01] [-8.96271868e-03 9.99958055e-01 1.88631442e-03 3.24024393e-01] [ 5.92892056e-03 -1.83321574e-03 9.99980743e-01 -2.45040419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.434553574 meters Centerline goodness [0,1] 0.8177750660972137 Centerline is valid? [False, False] Translation: X:10.44, Y:0.32, Z:-2.45 [[ 9.99940541e-01 9.29477345e-03 -5.70276756e-03 1.04359214e+01] [-9.28251319e-03 9.99954556e-01 2.17259426e-03 3.23260618e-01] [ 5.72270218e-03 -2.11952907e-03 9.99981379e-01 -2.44993315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.464553574 meters Centerline goodness [0,1] 0.8169433693216541 Centerline is valid? [False, False] Translation: X:10.44, Y:0.32, Z:-2.45 [[ 9.99938547e-01 9.68224296e-03 -5.39961811e-03 1.04351748e+01] [-9.67025009e-03 9.99950727e-01 2.24276157e-03 3.22468099e-01] [ 5.42106702e-03 -2.19040809e-03 9.99982907e-01 -2.45035526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49455357399995 meters Centerline goodness [0,1] 0.8231615488679582 Centerline is valid? [False, False] Translation: X:10.44, Y:0.32, Z:-2.45 [[ 9.99939255e-01 9.61816643e-03 -5.38313556e-03 1.04355722e+01] [-9.60689006e-03 9.99951612e-01 2.11671296e-03 3.22021191e-01] [ 5.40323399e-03 -2.06486919e-03 9.99983271e-01 -2.45108672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.524553574 meters Centerline goodness [0,1] 0.822341650671785 Centerline is valid? [False, False] Translation: X:10.44, Y:0.32, Z:-2.45 [[ 9.99937344e-01 9.92187426e-03 -5.18318396e-03 1.04352154e+01] [-9.90861354e-03 9.99947586e-01 2.57785675e-03 3.19770647e-01] [ 5.20848946e-03 -2.52633706e-03 9.99983244e-01 -2.45133608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.55455357399995 meters Centerline goodness [0,1] 0.8184710107747563 Centerline is valid? [False, False] Translation: X:10.44, Y:0.32, Z:-2.45 [[ 9.99937330e-01 9.92962569e-03 -5.17095011e-03 1.04357021e+01] [-9.91653646e-03 9.99947576e-01 2.55081867e-03 3.18778083e-01] [ 5.19600771e-03 -2.49938090e-03 9.99983377e-01 -2.45225941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.584553574 meters Centerline goodness [0,1] 0.818679482895988 Centerline is valid? [False, False] Translation: X:10.44, Y:0.32, Z:-2.45 [[ 9.99934477e-01 1.03162514e-02 -4.96147495e-03 1.04359773e+01] [-1.03040951e-02 9.99943862e-01 2.46947626e-03 3.17109194e-01] [ 4.98667217e-03 -2.41819094e-03 9.99984643e-01 -2.45440595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.61455357399996 meters Centerline goodness [0,1] 0.8158185983064371 Centerline is valid? [False, False] Translation: X:10.44, Y:0.32, Z:-2.46 [[ 9.99934179e-01 1.03450666e-02 -4.96152452e-03 1.04364584e+01] [-1.03330324e-02 9.99943624e-01 2.44502615e-03 3.15928212e-01] [ 4.98653877e-03 -2.39359762e-03 9.99984702e-01 -2.45534902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.644553574 meters Centerline goodness [0,1] 0.8196649144159308 Centerline is valid? [False, False] Translation: X:10.43, Y:0.31, Z:-2.46 [[ 9.99961081e-01 7.85499699e-03 -4.01678398e-03 1.04341312e+01] [-7.86164501e-03 9.99967749e-01 -1.64195731e-03 3.14380194e-01] [ 4.00375686e-03 1.67347194e-03 9.99990585e-01 -2.45783776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.67455357399996 meters Centerline goodness [0,1] 0.8140390896365804 Centerline is valid? [False, False] Translation: X:10.44, Y:0.31, Z:-2.46 [[ 9.99963031e-01 7.44118579e-03 -4.30877239e-03 1.04356529e+01] [-7.44784464e-03 9.99971092e-01 -1.53144009e-03 3.12716862e-01] [ 4.29725210e-03 1.56347454e-03 9.99989545e-01 -2.45848179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.704553574 meters Centerline goodness [0,1] 0.8161355720746478 Centerline is valid? [False, False] Translation: X:10.44, Y:0.31, Z:-2.46 [[ 9.99965730e-01 6.74574544e-03 -4.79927400e-03 1.04377458e+01] [-6.75270422e-03 9.99976170e-01 -1.43524307e-03 3.10966112e-01] [ 4.78947786e-03 1.46760196e-03 9.99987453e-01 -2.45892487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.73455357399996 meters Centerline goodness [0,1] 0.8243391782255953 Centerline is valid? [False, False] Translation: X:10.44, Y:0.31, Z:-2.46 [[ 9.99986191e-01 2.76769282e-03 -4.46742074e-03 1.04374660e+01] [-2.79093151e-03 9.99982564e-01 -5.20398891e-03 3.08474795e-01] [ 4.45293981e-03 5.21638531e-03 9.99976480e-01 -2.45979855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.764553574 meters Centerline goodness [0,1] 0.8181507659160776 Centerline is valid? [False, False] Translation: X:10.44, Y:0.31, Z:-2.46 [[ 9.99985470e-01 2.04691445e-03 -4.98690048e-03 1.04392271e+01] [-2.06863872e-03 9.99988377e-01 -4.35501070e-03 3.06009264e-01] [ 4.97792819e-03 4.36526352e-03 9.99978082e-01 -2.45852638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.79455357399996 meters Centerline goodness [0,1] 0.8220327799625221 Centerline is valid? [False, False] Translation: X:10.44, Y:0.30, Z:-2.46 [[ 9.99983981e-01 -2.17291942e-04 -5.65600514e-03 1.04430128e+01] [ 1.94601360e-04 9.99991933e-01 -4.01200947e-03 3.02124250e-01] [ 5.65683129e-03 4.01084454e-03 9.99975956e-01 -2.45771204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.824553574 meters Centerline goodness [0,1] 0.8235855054036872 Centerline is valid? [False, False] Translation: X:10.45, Y:0.30, Z:-2.46 [[ 9.99979523e-01 -1.19421012e-03 -6.28701562e-03 1.04454044e+01] [ 1.17303956e-03 9.99993634e-01 -3.36995758e-03 2.99968100e-01] [ 6.29100003e-03 3.36251366e-03 9.99974558e-01 -2.45674778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.85455357399997 meters Centerline goodness [0,1] 0.8226375082836316 Centerline is valid? [False, False] Translation: X:10.45, Y:0.30, Z:-2.46 [[ 9.99974140e-01 -2.10844951e-03 -6.87554539e-03 1.04475736e+01] [ 2.09001942e-03 9.99994207e-01 -2.68661189e-03 2.97716935e-01] [ 6.88117015e-03 2.67217240e-03 9.99972754e-01 -2.45563027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.884553574 meters Centerline goodness [0,1] 0.8237145295498186 Centerline is valid? [False, False] Translation: X:10.45, Y:0.30, Z:-2.46 [[ 9.99950024e-01 -6.99667723e-03 -7.14115729e-03 1.04494486e+01] [ 6.94766556e-03 9.99952299e-01 -6.86515222e-03 2.96123549e-01] [ 7.18884990e-03 6.81519476e-03 9.99950936e-01 -2.45660020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.91455357399997 meters Centerline goodness [0,1] 0.8376889126655076 Centerline is valid? [False, False] Translation: X:10.45, Y:0.29, Z:-2.46 [[ 9.99931964e-01 -8.39299447e-03 -8.10091446e-03 1.04533500e+01] [ 8.33952728e-03 9.99943369e-01 -6.61150872e-03 2.94419669e-01] [ 8.15594604e-03 6.54350110e-03 9.99945330e-01 -2.45650723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.944553574 meters Centerline goodness [0,1] 0.8424512355450618 Centerline is valid? [False, False] Translation: X:10.46, Y:0.29, Z:-2.46 [[ 9.99877231e-01 -1.21936426e-02 -9.84060817e-03 1.04622285e+01] [ 1.21238852e-02 9.99901171e-01 -7.11751984e-03 2.92183029e-01] [ 9.92642413e-03 6.99733962e-03 9.99926249e-01 -2.45764110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.97455357399997 meters Centerline goodness [0,1] 0.8424512355450618 Centerline is valid? [False, False] Translation: X:10.46, Y:0.29, Z:-2.46 [[ 9.99877231e-01 -1.21936426e-02 -9.84060817e-03 1.04622285e+01] [ 1.21238852e-02 9.99901171e-01 -7.11751984e-03 2.92183029e-01] [ 9.92642413e-03 6.99733962e-03 9.99926249e-01 -2.45764110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.004553574 meters Centerline goodness [0,1] 0.8329489379961381 Centerline is valid? [False, False] Translation: X:10.47, Y:0.29, Z:-2.46 [[ 9.99845117e-01 -1.37659555e-02 -1.09654312e-02 1.04668433e+01] [ 1.36889999e-02 9.99881360e-01 -7.06242979e-03 2.91148908e-01] [ 1.10613514e-02 6.91123015e-03 9.99914937e-01 -2.45786737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.034553574 meters Centerline goodness [0,1] 0.8395977845889122 Centerline is valid? [False, False] Translation: X:10.48, Y:0.29, Z:-2.46 [[ 9.99761723e-01 -1.75050184e-02 -1.30411303e-02 1.04763988e+01] [ 1.74126968e-02 9.99822754e-01 -7.15950284e-03 2.89900045e-01] [ 1.31641461e-02 6.93071565e-03 9.99889329e-01 -2.45792848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.064553574 meters Centerline goodness [0,1] 0.833732604775107 Centerline is valid? [False, False] Translation: X:10.48, Y:0.29, Z:-2.46 [[ 9.99736992e-01 -1.83923739e-02 -1.36991919e-02 1.04790410e+01] [ 1.82949462e-02 9.99806683e-01 -7.20363061e-03 2.89820639e-01] [ 1.38290355e-02 6.95111002e-03 9.99880213e-01 -2.45806673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.094553574 meters Centerline goodness [0,1] 0.8407523679197189 Centerline is valid? [False, False] Translation: X:10.48, Y:0.29, Z:-2.46 [[ 9.99702625e-01 -1.95615098e-02 -1.45604918e-02 1.04821324e+01] [ 1.94531207e-02 9.99782272e-01 -7.54884394e-03 2.91344546e-01] [ 1.47049884e-02 7.26335210e-03 9.99865494e-01 -2.45787839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.124553574 meters Centerline goodness [0,1] 0.7998555106627779 Centerline is valid? [False, False] Translation: X:10.49, Y:0.29, Z:-2.45 [[ 9.99721193e-01 -1.73580058e-02 -1.60073794e-02 1.04865518e+01] [ 1.73311592e-02 9.99848158e-01 -1.81434821e-03 2.89934054e-01] [ 1.60364422e-02 1.53641592e-03 9.99870228e-01 -2.45337085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.154553574 meters Centerline goodness [0,1] 0.8361761949390816 Centerline is valid? [False, False] Translation: X:10.49, Y:0.29, Z:-2.45 [[ 9.99724005e-01 -1.72337420e-02 -1.59659740e-02 1.04862230e+01] [ 1.72057625e-02 9.99850187e-01 -1.88816521e-03 2.91381643e-01] [ 1.59961223e-02 1.61293733e-03 9.99870753e-01 -2.45294416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.184553574 meters Centerline goodness [0,1] 0.8440376736018731 Centerline is valid? [False, False] Translation: X:10.49, Y:0.29, Z:-2.45 [[ 9.99767136e-01 -1.37168905e-02 -1.66589742e-02 1.04871845e+01] [ 1.37639471e-02 9.99901591e-01 2.71333151e-03 2.93033520e-01] [ 1.66201163e-02 -2.94199291e-03 9.99857548e-01 -2.44991771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.214553574 meters Centerline goodness [0,1] 0.834090969508467 Centerline is valid? [False, False] Translation: X:10.49, Y:0.29, Z:-2.45 [[ 9.99783869e-01 -1.29581528e-02 -1.62573602e-02 1.04853245e+01] [ 1.30033790e-02 9.99911863e-01 2.67926660e-03 2.94972957e-01] [ 1.62212090e-02 -2.89008814e-03 9.99864251e-01 -2.44938432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.24455357399995 meters Centerline goodness [0,1] 0.8321223810404502 Centerline is valid? [False, False] Translation: X:10.48, Y:0.30, Z:-2.45 [[ 9.99829843e-01 -8.52168111e-03 -1.63605284e-02 1.04846666e+01] [ 8.63247319e-03 9.99940204e-01 6.71327744e-03 2.97327666e-01] [ 1.63023417e-02 -6.85336695e-03 9.99843620e-01 -2.44805589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.274553574 meters Centerline goodness [0,1] 0.8371536093055081 Centerline is valid? [False, False] Translation: X:10.48, Y:0.30, Z:-2.45 [[ 9.99841889e-01 -7.73257880e-03 -1.60126039e-02 1.04833255e+01] [ 7.83116028e-03 9.99950712e-01 6.10296811e-03 2.99781514e-01] [ 1.59646230e-02 -6.22740043e-03 9.99853164e-01 -2.44903712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.30455357399995 meters Centerline goodness [0,1] 0.8404951509895136 Centerline is valid? [False, False] Translation: X:10.48, Y:0.30, Z:-2.45 [[ 9.99852587e-01 -6.96872498e-03 -1.56920467e-02 1.04821491e+01] [ 7.05466878e-03 9.99960382e-01 5.42822384e-03 3.02036381e-01] [ 1.56535972e-02 -5.53812585e-03 9.99862138e-01 -2.45028374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.334553574 meters Centerline goodness [0,1] 0.8270953587379528 Centerline is valid? [False, False] Translation: X:10.48, Y:0.30, Z:-2.45 [[ 9.99865201e-01 -2.96556734e-03 -1.61488564e-02 1.04834926e+01] [ 3.10853177e-03 9.99956139e-01 8.83502072e-03 3.04386222e-01] [ 1.61219473e-02 -8.88402900e-03 9.99830564e-01 -2.45101482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.36455357399996 meters Centerline goodness [0,1] 0.8205468404485028 Centerline is valid? [False, False] Translation: X:10.48, Y:0.31, Z:-2.45 [[ 9.99869732e-01 -2.46712073e-03 -1.59509117e-02 1.04829849e+01] [ 2.59691978e-03 9.99963645e-01 8.12182073e-03 3.06557943e-01] [ 1.59302943e-02 -8.16218596e-03 9.99839789e-01 -2.45239007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.394553574 meters Centerline goodness [0,1] 0.8270113303430215 Centerline is valid? [False, False] Translation: X:10.48, Y:0.31, Z:-2.45 [[ 9.99878750e-01 -1.33571030e-03 -1.55145493e-02 1.04808804e+01] [ 1.45265276e-03 9.99970603e-01 7.52877727e-03 3.10142409e-01] [ 1.55040370e-02 -7.55040166e-03 9.99851297e-01 -2.45304047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.42455357399996 meters Centerline goodness [0,1] 0.8253140247067372 Centerline is valid? [False, False] Translation: X:10.48, Y:0.31, Z:-2.45 [[ 9.99881708e-01 -1.08517905e-03 -1.53425273e-02 1.04803803e+01] [ 1.19510235e-03 9.99973672e-01 7.15726248e-03 3.11347116e-01] [ 1.53343564e-02 -7.17475172e-03 9.99856680e-01 -2.45359309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.454553574 meters Centerline goodness [0,1] 0.8202380952380952 Centerline is valid? [False, False] Translation: X:10.48, Y:0.31, Z:-2.45 [[ 9.99881392e-01 -1.00626101e-03 -1.53684546e-02 1.04803200e+01] [ 1.11080212e-03 9.99976295e-01 6.79529669e-03 3.13054049e-01] [ 1.53612525e-02 -6.81156203e-03 9.99858807e-01 -2.45371708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.48455357399996 meters Centerline goodness [0,1] 0.8236646941781441 Centerline is valid? [False, False] Translation: X:10.48, Y:0.31, Z:-2.45 [[ 9.99881777e-01 -9.98799163e-04 -1.53438612e-02 1.04803806e+01] [ 1.10006359e-03 9.99977663e-01 6.59264830e-03 3.13716986e-01] [ 1.53369337e-02 -6.60874812e-03 9.99860542e-01 -2.45397817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.514553574 meters Centerline goodness [0,1] 0.8257612934886485 Centerline is valid? [False, False] Translation: X:10.48, Y:0.31, Z:-2.45 [[ 9.99880583e-01 -1.04128672e-03 -1.54186412e-02 1.04805884e+01] [ 1.13995766e-03 9.99978921e-01 6.39205241e-03 3.14408733e-01] [ 1.54116603e-02 -6.40886570e-03 9.99860694e-01 -2.45406142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.54455357399996 meters Centerline goodness [0,1] 0.8252029377657518 Centerline is valid? [False, False] Translation: X:10.48, Y:0.32, Z:-2.45 [[ 9.99885845e-01 -4.58585848e-04 -1.51025558e-02 1.04789233e+01] [ 5.56320417e-04 9.99978929e-01 6.46782744e-03 3.15678132e-01] [ 1.50992716e-02 -6.47549097e-03 9.99865031e-01 -2.45313912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.574553574 meters Centerline goodness [0,1] 0.8183128684325688 Centerline is valid? [False, False] Translation: X:10.48, Y:0.32, Z:-2.45 [[ 9.99889671e-01 3.49317472e-05 -1.48541056e-02 1.04777754e+01] [ 6.12589273e-05 9.99979034e-01 6.47519184e-03 3.16610051e-01] [ 1.48540204e-02 -6.47538738e-03 9.99868705e-01 -2.45277301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.60455357399997 meters Centerline goodness [0,1] 0.8298347361938001 Centerline is valid? [False, False] Translation: X:10.48, Y:0.32, Z:-2.45 [[ 9.99893744e-01 7.03534008e-04 -1.45603938e-02 1.04765465e+01] [-6.15055379e-04 9.99981326e-01 6.08025068e-03 3.18448286e-01] [ 1.45643996e-02 -6.07064917e-03 9.99875505e-01 -2.45315642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.634553574 meters Centerline goodness [0,1] 0.8214221422142214 Centerline is valid? [False, False] Translation: X:10.48, Y:0.32, Z:-2.45 [[ 9.99894906e-01 9.28531386e-04 -1.44677390e-02 1.04762078e+01] [-8.43428021e-04 9.99982314e-01 5.88727673e-03 3.19069148e-01] [ 1.44729496e-02 -5.87445551e-03 9.99878005e-01 -2.45349139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.66455357399997 meters Centerline goodness [0,1] 0.8195913338125065 Centerline is valid? [False, False] Translation: X:10.48, Y:0.32, Z:-2.45 [[ 9.99891417e-01 7.94458587e-04 -1.47147459e-02 1.04772653e+01] [-7.15748295e-04 9.99985413e-01 5.35356998e-03 3.20310569e-01] [ 1.47187845e-02 -5.34245661e-03 9.99877400e-01 -2.45466028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.694553574 meters Centerline goodness [0,1] 0.8221550443203361 Centerline is valid? [False, False] Translation: X:10.48, Y:0.32, Z:-2.46 [[ 9.99886136e-01 3.49975798e-04 -1.50861941e-02 1.04790227e+01] [-2.76032169e-04 9.99987941e-01 4.90321408e-03 3.20798633e-01] [ 1.50877282e-02 -4.89849150e-03 9.99874175e-01 -2.45584652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.72455357399997 meters Centerline goodness [0,1] 0.8338789707913448 Centerline is valid? [False, False] Translation: X:10.48, Y:0.32, Z:-2.46 [[ 9.99879897e-01 -1.20924932e-04 -1.54976248e-02 1.04806794e+01] [ 1.93881148e-04 9.99988907e-01 4.70615805e-03 3.21013362e-01] [ 1.54968838e-02 -4.70859752e-03 9.99868829e-01 -2.45637737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.754553574 meters Centerline goodness [0,1] 0.828553871364195 Centerline is valid? [False, False] Translation: X:10.48, Y:0.32, Z:-2.46 [[ 9.99871143e-01 -1.01767437e-03 -1.60206646e-02 1.04825967e+01] [ 1.09692508e-03 9.99987203e-01 4.93877062e-03 3.19824638e-01] [ 1.60154335e-02 -4.95570769e-03 9.99859464e-01 -2.45575521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.784553574 meters Centerline goodness [0,1] 0.8407535563244906 Centerline is valid? [False, False] Translation: X:10.48, Y:0.32, Z:-2.46 [[ 9.99866983e-01 -1.39454272e-03 -1.62502656e-02 1.04832685e+01] [ 1.47952748e-03 9.99985287e-01 5.21889769e-03 3.18757853e-01] [ 1.62427485e-02 -5.24224620e-03 9.99854335e-01 -2.45508762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.814553574 meters Centerline goodness [0,1] 0.8426006668376507 Centerline is valid? [False, False] Translation: X:10.49, Y:0.32, Z:-2.45 [[ 9.99856914e-01 -2.28417353e-03 -1.67610947e-02 1.04850561e+01] [ 2.37635091e-03 9.99982152e-01 5.48163012e-03 3.17123280e-01] [ 1.67482745e-02 -5.52067602e-03 9.99844497e-01 -2.45431281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.844553574 meters Centerline goodness [0,1] 0.830979405269375 Centerline is valid? [False, False] Translation: X:10.49, Y:0.32, Z:-2.45 [[ 9.99854176e-01 -2.41485633e-03 -1.69055016e-02 1.04856983e+01] [ 2.50852363e-03 9.99981609e-01 5.52162893e-03 3.16833411e-01] [ 1.68918568e-02 -5.56323159e-03 9.99841845e-01 -2.45454938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.874553574 meters Centerline goodness [0,1] 0.817291377448712 Centerline is valid? [False, False] Translation: X:10.49, Y:0.32, Z:-2.46 [[ 9.99856545e-01 -2.17127413e-03 -1.67980432e-02 1.04854929e+01] [ 2.26094013e-03 9.99983289e-01 5.32073531e-03 3.17205619e-01] [ 1.67862097e-02 -5.35795139e-03 9.99844746e-01 -2.45531704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.904553574 meters Centerline goodness [0,1] 0.8193142416848593 Centerline is valid? [False, False] Translation: X:10.49, Y:0.32, Z:-2.45 [[ 9.99845710e-01 7.55991009e-04 -1.75494718e-02 1.04882944e+01] [-5.86333487e-04 9.99953068e-01 9.67051936e-03 3.15431080e-01] [ 1.75559590e-02 -9.65873745e-03 9.99799228e-01 -2.45439325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.934553574 meters Centerline goodness [0,1] 0.8305315999485133 Centerline is valid? [False, False] Translation: X:10.49, Y:0.32, Z:-2.45 [[ 9.99850477e-01 1.32729607e-03 -1.72412658e-02 1.04871746e+01] [-1.16046411e-03 9.99952448e-01 9.68272050e-03 3.15696363e-01] [ 1.72532978e-02 -9.66126484e-03 9.99804473e-01 -2.45454133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.964553574 meters Centerline goodness [0,1] 0.8255712227254014 Centerline is valid? [False, False] Translation: X:10.49, Y:0.32, Z:-2.46 [[ 9.99857252e-01 2.56646066e-03 -1.66999895e-02 1.04852034e+01] [-2.40867617e-03 9.99952339e-01 9.46144279e-03 3.16541554e-01] [ 1.67234760e-02 -9.41986732e-03 9.99815779e-01 -2.45566957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99455357399995 meters Centerline goodness [0,1] 0.8238959701300373 Centerline is valid? [False, False] Translation: X:10.50, Y:0.32, Z:-2.46 [[ 9.99921199e-01 4.07965530e-03 -1.18723062e-02 1.05024534e+01] [-4.08396346e-03 9.99991603e-01 -3.38653531e-04 3.18969558e-01] [ 1.18708249e-02 3.87112909e-04 9.99929464e-01 -2.46428207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.024553574 meters Centerline goodness [0,1] 0.8172195688653672 Centerline is valid? [False, False] Translation: X:10.50, Y:0.32, Z:-2.47 [[ 9.99922116e-01 5.03700053e-03 -1.14188471e-02 1.05009119e+01] [-5.04200997e-03 9.99987205e-01 -4.09953349e-04 3.18854629e-01] [ 1.14166361e-02 4.67495361e-04 9.99934719e-01 -2.46510570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.05455357399995 meters Centerline goodness [0,1] 0.822546111182768 Centerline is valid? [False, False] Translation: X:10.50, Y:0.32, Z:-2.47 [[ 9.99922197e-01 5.36438019e-03 -1.12615809e-02 1.05007002e+01] [-5.37112363e-03 9.99985414e-01 -5.68641772e-04 3.18989181e-01] [ 1.12583662e-02 6.29084873e-04 9.99936425e-01 -2.46598985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.084553574 meters Centerline goodness [0,1] 0.8243647234678625 Centerline is valid? [False, False] Translation: X:10.49, Y:0.32, Z:-2.47 [[ 9.99990196e-01 3.33710252e-03 -2.91069202e-03 1.04916269e+01] [-3.33279012e-03 9.99993343e-01 1.48516682e-03 3.20391330e-01] [ 2.91562880e-03 -1.47545154e-03 9.99994661e-01 -2.47241871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.11455357399996 meters Centerline goodness [0,1] 0.8167667448393165 Centerline is valid? [False, False] Translation: X:10.49, Y:0.32, Z:-2.48 [[ 9.99989790e-01 3.21759615e-03 -3.17290964e-03 1.04933827e+01] [-3.21539756e-03 9.99994587e-01 6.97782931e-04 3.21095372e-01] [ 3.17513765e-03 -6.87573640e-04 9.99994723e-01 -2.47514375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.144553574 meters Centerline goodness [0,1] 0.8197551273441133 Centerline is valid? [False, False] Translation: X:10.49, Y:0.32, Z:-2.48 [[ 9.99989705e-01 3.00599887e-03 -3.39917703e-03 1.04943803e+01] [-3.00331646e-03 9.99995175e-01 7.93963746e-04 3.20230907e-01] [ 3.40154728e-03 -7.83746767e-04 9.99993908e-01 -2.47557975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.17455357399996 meters Centerline goodness [0,1] 0.8161793221127744 Centerline is valid? [False, False] Translation: X:10.50, Y:0.32, Z:-2.48 [[ 9.99989931e-01 2.56743453e-03 -3.68063259e-03 1.04955469e+01] [-2.56437697e-03 9.99996363e-01 8.35194486e-04 3.19385741e-01] [ 3.68276351e-03 -8.25747547e-04 9.99992878e-01 -2.47556945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.204553574 meters Centerline goodness [0,1] 0.8138812690854511 Centerline is valid? [False, False] Translation: X:10.50, Y:0.32, Z:-2.47 [[ 9.99989946e-01 2.24614907e-03 -3.88105278e-03 1.04962238e+01] [-2.24137436e-03 9.99996727e-01 1.23417376e-03 3.18196166e-01] [ 3.88381222e-03 -1.22546246e-03 9.99991707e-01 -2.47473929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.23455357399996 meters Centerline goodness [0,1] 0.8222729158025716 Centerline is valid? [False, False] Translation: X:10.50, Y:0.32, Z:-2.47 [[ 9.99990575e-01 1.90643753e-03 -3.90060409e-03 1.04960698e+01] [-1.89863357e-03 9.99996191e-01 2.00343191e-03 3.16116578e-01] [ 3.90440865e-03 -1.99600721e-03 9.99990386e-01 -2.47275544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.264553574 meters Centerline goodness [0,1] 0.8134004828535084 Centerline is valid? [False, False] Translation: X:10.50, Y:0.32, Z:-2.47 [[ 9.99990631e-01 1.76362298e-03 -3.95310299e-03 1.04961593e+01] [-1.75403915e-03 9.99995518e-01 2.42654051e-03 3.15182496e-01] [ 3.95736478e-03 -2.41958387e-03 9.99989242e-01 -2.47181075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.29455357399996 meters Centerline goodness [0,1] 0.8110796561306911 Centerline is valid? [False, False] Translation: X:10.50, Y:0.31, Z:-2.47 [[ 9.99990663e-01 1.47871811e-03 -4.06056003e-03 1.04965781e+01] [-1.46760460e-03 9.99995173e-01 2.73855573e-03 3.14023179e-01] [ 4.06458998e-03 -2.73257087e-03 9.99988006e-01 -2.47119655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.324553574 meters Centerline goodness [0,1] 0.826883062838119 Centerline is valid? [False, False] Translation: X:10.50, Y:0.31, Z:-2.47 [[ 9.99989978e-01 1.13483078e-03 -4.33075676e-03 1.04978901e+01] [-1.12406709e-03 9.99996276e-01 2.48703025e-03 3.13691351e-01] [ 4.33356299e-03 -2.48213727e-03 9.99987530e-01 -2.47208777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.35455357399997 meters Centerline goodness [0,1] 0.8192212527672874 Centerline is valid? [False, False] Translation: X:10.50, Y:0.31, Z:-2.47 [[ 9.99989293e-01 8.66836260e-04 -4.54560690e-03 1.04989822e+01] [-8.55918377e-04 9.99996746e-01 2.40324933e-03 3.13250447e-01] [ 4.54767533e-03 -2.39933293e-03 9.99986781e-01 -2.47267845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.384553574 meters Centerline goodness [0,1] 0.8155530014105846 Centerline is valid? [False, False] Translation: X:10.50, Y:0.31, Z:-2.47 [[ 9.99988272e-01 5.03380523e-04 -4.81691419e-03 1.05004141e+01] [-4.93110608e-04 9.99997604e-01 2.13300273e-03 3.12475397e-01] [ 4.81797636e-03 -2.13060244e-03 9.99986124e-01 -2.47388091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.41455357399997 meters Centerline goodness [0,1] 0.8194045442674327 Centerline is valid? [False, False] Translation: X:10.50, Y:0.31, Z:-2.47 [[ 9.99987722e-01 4.90252180e-04 -4.93101260e-03 1.05008775e+01] [-4.78916581e-04 9.99997241e-01 2.29975617e-03 3.11333512e-01] [ 4.93212646e-03 -2.29736639e-03 9.99985198e-01 -2.47409842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.444553574 meters Centerline goodness [0,1] 0.8164794007490637 Centerline is valid? [False, False] Translation: X:10.50, Y:0.31, Z:-2.47 [[ 9.99986617e-01 2.71079790e-04 -5.16645886e-03 1.05019197e+01] [-2.59440768e-04 9.99997428e-01 2.25334163e-03 3.10780191e-01] [ 5.16705641e-03 -2.25197108e-03 9.99984115e-01 -2.47457366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.47455357399997 meters Centerline goodness [0,1] 0.827230761160363 Centerline is valid? [False, False] Translation: X:10.50, Y:0.31, Z:-2.48 [[ 9.99985868e-01 1.65711770e-04 -5.31385513e-03 1.05026727e+01] [-1.54156677e-04 9.99997623e-01 2.17485748e-03 3.10251515e-01] [ 5.31420290e-03 -2.17400757e-03 9.99983516e-01 -2.47521714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.504553574 meters Centerline goodness [0,1] 0.8146621869914431 Centerline is valid? [False, False] Translation: X:10.50, Y:0.31, Z:-2.48 [[ 9.99984646e-01 -2.13017558e-05 -5.54146230e-03 1.05038396e+01] [ 3.19199422e-05 9.99998164e-01 1.91605300e-03 3.10040312e-01] [ 5.54141131e-03 -1.91620046e-03 9.99982810e-01 -2.47634491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.534553574 meters Centerline goodness [0,1] 0.8187463817693805 Centerline is valid? [False, False] Translation: X:10.50, Y:0.31, Z:-2.48 [[ 9.99983417e-01 -1.35371928e-04 -5.75731842e-03 1.05049835e+01] [ 1.45725996e-04 9.99998373e-01 1.79803709e-03 3.09281592e-01] [ 5.75706565e-03 -1.79884626e-03 9.99981810e-01 -2.47748990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.564553574 meters Centerline goodness [0,1] 0.8125197347647616 Centerline is valid? [False, False] Translation: X:10.50, Y:0.31, Z:-2.48 [[ 9.99984393e-01 2.98259393e-04 -5.57889427e-03 1.05044359e+01] [-2.87001619e-04 9.99997921e-01 2.01861386e-03 3.08258900e-01] [ 5.57948474e-03 -2.01698121e-03 9.99982400e-01 -2.47785556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.594553574 meters Centerline goodness [0,1] 0.8188721031400775 Centerline is valid? [False, False] Translation: X:10.50, Y:0.31, Z:-2.48 [[ 9.99985097e-01 6.37178210e-04 -5.42217982e-03 1.05039336e+01] [-6.25851331e-04 9.99997619e-01 2.09043038e-03 3.07837214e-01] [ 5.42349889e-03 -2.08700574e-03 9.99983115e-01 -2.47812786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.624553574 meters Centerline goodness [0,1] 0.8091389329107237 Centerline is valid? [False, False] Translation: X:10.50, Y:0.31, Z:-2.48 [[ 9.99986110e-01 1.13626481e-03 -5.14675662e-03 1.05030100e+01] [-1.12516355e-03 9.99997036e-01 2.15932417e-03 3.07440952e-01] [ 5.14919493e-03 -2.15350324e-03 9.99984424e-01 -2.47840704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.654553574 meters Centerline goodness [0,1] 0.809392776822331 Centerline is valid? [False, False] Translation: X:10.50, Y:0.31, Z:-2.48 [[ 9.99987095e-01 2.71011941e-03 -4.29710561e-03 1.04997562e+01] [-2.69833136e-03 9.99992587e-01 2.74668236e-03 3.06146659e-01] [ 4.30451760e-03 -2.73505190e-03 9.99986995e-01 -2.47822909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.684553574 meters Centerline goodness [0,1] 0.8168667037596375 Centerline is valid? [False, False] Translation: X:10.50, Y:0.31, Z:-2.48 [[ 9.99986659e-01 3.39754191e-03 -3.89094944e-03 1.04985709e+01] [-3.38687021e-03 9.99990494e-01 2.74601234e-03 3.05871939e-01] [ 3.90024214e-03 -2.73279756e-03 9.99988660e-01 -2.47887327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.714553574 meters Centerline goodness [0,1] 0.8130309365654855 Centerline is valid? [False, False] Translation: X:10.49, Y:0.31, Z:-2.48 [[ 9.99979337e-01 5.88664236e-03 -2.58333303e-03 1.04940945e+01] [-5.87881555e-03 9.99978138e-01 3.02693994e-03 3.05631949e-01] [ 2.60109507e-03 -3.01169045e-03 9.99992082e-01 -2.48018130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.74455357399995 meters Centerline goodness [0,1] 0.8090969367457896 Centerline is valid? [False, False] Translation: X:10.49, Y:0.31, Z:-2.48 [[ 9.99974661e-01 6.81631609e-03 -2.05287010e-03 1.04924369e+01] [-6.80997172e-03 9.99972063e-01 3.08178215e-03 3.05633244e-01] [ 2.07381915e-03 -3.06772407e-03 9.99993144e-01 -2.48085953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.774553574 meters Centerline goodness [0,1] 0.8068452538514479 Centerline is valid? [False, False] Translation: X:10.49, Y:0.31, Z:-2.48 [[ 9.99957545e-01 9.17792367e-03 -8.20395799e-04 1.04883689e+01] [-9.17526739e-03 9.99952834e-01 3.18495785e-03 3.05341854e-01] [ 8.49588405e-04 -3.17729528e-03 9.99994591e-01 -2.48260891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.80455357399995 meters Centerline goodness [0,1] 0.807760467638268 Centerline is valid? [False, False] Translation: X:10.49, Y:0.31, Z:-2.48 [[ 9.99951845e-01 9.79875986e-03 -5.40897754e-04 1.04875662e+01] [-9.79702637e-03 9.99947142e-01 3.11949419e-03 3.05156004e-01] [ 5.71436337e-04 -3.11404478e-03 9.99994988e-01 -2.48344309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.834553574 meters Centerline goodness [0,1] 0.8059563448020718 Centerline is valid? [False, False] Translation: X:10.49, Y:0.30, Z:-2.48 [[ 9.99945911e-01 1.03987322e-02 -2.02929735e-04 1.04865113e+01] [-1.03980052e-02 9.99940481e-01 3.30407555e-03 3.04542160e-01] [ 2.37275853e-04 -3.30178677e-03 9.99994521e-01 -2.48364980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.86455357399996 meters Centerline goodness [0,1] 0.8070217339383807 Centerline is valid? [False, False] Translation: X:10.48, Y:0.30, Z:-2.48 [[ 9.99932427e-01 1.16126081e-02 5.37913521e-04 1.04836469e+01] [-1.16146757e-02 9.99924488e-01 4.01473299e-03 3.02493589e-01] [-4.91251381e-04 -4.02070939e-03 9.99991796e-01 -2.48309556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.894553574 meters Centerline goodness [0,1] 0.8070217339383807 Centerline is valid? [False, False] Translation: X:10.48, Y:0.30, Z:-2.48 [[ 9.99932427e-01 1.16126081e-02 5.37913521e-04 1.04836469e+01] [-1.16146757e-02 9.99924488e-01 4.01473299e-03 3.02493589e-01] [-4.91251381e-04 -4.02070939e-03 9.99991796e-01 -2.48309556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.92455357399996 meters Centerline goodness [0,1] 0.8083924632597199 Centerline is valid? [False, False] Translation: X:10.48, Y:0.30, Z:-2.49 [[ 9.99955185e-01 9.32870671e-03 1.61340163e-03 1.04803953e+01] [-9.32809130e-03 9.99956417e-01 -3.88540403e-04 3.02901514e-01] [-1.61695589e-03 3.73473033e-04 9.99998623e-01 -2.48532586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.954553574 meters Centerline goodness [0,1] 0.810942751960732 Centerline is valid? [False, False] Translation: X:10.48, Y:0.30, Z:-2.49 [[ 9.99979383e-01 6.00965211e-03 2.26203847e-03 1.04788652e+01] [-5.99979728e-03 9.99972590e-01 -4.33847587e-03 3.01290080e-01] [-2.28804920e-03 4.32481465e-03 9.99988030e-01 -2.48664339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.98455357399996 meters Centerline goodness [0,1] 0.8101502754157976 Centerline is valid? [False, False] Translation: X:10.48, Y:0.30, Z:-2.49 [[ 9.99986579e-01 4.93785768e-03 1.56809322e-03 1.04817372e+01] [-4.93197948e-03 9.99980879e-01 -3.73063005e-03 2.98908814e-01] [-1.58648456e-03 3.72284618e-03 9.99991812e-01 -2.48601729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.014553574 meters Centerline goodness [0,1] 0.8111556787896734 Centerline is valid? [False, False] Translation: X:10.49, Y:0.29, Z:-2.49 [[ 9.99999328e-01 -7.76254950e-04 8.61117546e-04 1.04855201e+01] [ 7.82380161e-04 9.99974234e-01 -7.13571158e-03 2.94866271e-01] [-8.55556227e-04 7.13638050e-03 9.99974170e-01 -2.48594023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.04455357399996 meters Centerline goodness [0,1] 0.8135492094486481 Centerline is valid? [False, False] Translation: X:10.49, Y:0.29, Z:-2.48 [[ 9.99995269e-01 -3.01672523e-03 -6.00671853e-04 1.04912318e+01] [ 3.01315564e-03 9.99978305e-01 -5.85743553e-03 2.91385370e-01] [ 6.18329095e-04 5.85559790e-03 9.99982665e-01 -2.48376749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.074553574 meters Centerline goodness [0,1] 0.8133934880687068 Centerline is valid? [False, False] Translation: X:10.50, Y:0.29, Z:-2.48 [[ 9.99982251e-01 -5.56949163e-03 -2.11603259e-03 1.04976641e+01] [ 5.55915107e-03 9.99972730e-01 -4.86162036e-03 2.88191126e-01] [ 2.14305164e-03 4.84977073e-03 9.99985943e-01 -2.48209364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.10455357399997 meters Centerline goodness [0,1] 0.8283101283101283 Centerline is valid? [False, False] Translation: X:10.51, Y:0.29, Z:-2.48 [[ 9.99900398e-01 -1.35000879e-02 -4.11598654e-03 1.05077667e+01] [ 1.34627818e-02 9.99869222e-01 -8.96055792e-03 2.85240537e-01] [ 4.23641658e-03 8.90425281e-03 9.99951382e-01 -2.48316951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.134553574 meters Centerline goodness [0,1] 0.8242334808985079 Centerline is valid? [False, False] Translation: X:10.51, Y:0.28, Z:-2.48 [[ 9.99854770e-01 -1.60285127e-02 -5.79020922e-03 1.05149409e+01] [ 1.59785299e-02 9.99835540e-01 -8.57781212e-03 2.83394911e-01] [ 5.92674654e-03 8.48404733e-03 9.99946446e-01 -2.48282924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.16455357399997 meters Centerline goodness [0,1] 0.8297223824038225 Centerline is valid? [False, False] Translation: X:10.53, Y:0.28, Z:-2.48 [[ 9.99694219e-01 -2.31698109e-02 -8.63876669e-03 1.05314356e+01] [ 2.30917934e-02 9.99692621e-01 -9.02404625e-03 2.81121284e-01] [ 8.84519676e-03 8.82180225e-03 9.99921966e-01 -2.48288404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.194553574 meters Centerline goodness [0,1] 0.8282257400751736 Centerline is valid? [False, False] Translation: X:10.54, Y:0.28, Z:-2.48 [[ 9.99623097e-01 -2.54950808e-02 -1.01816302e-02 1.05380535e+01] [ 2.54048563e-02 9.99637673e-01 -8.89466376e-03 2.80450645e-01] [ 1.04047113e-02 8.63264848e-03 9.99908606e-01 -2.48267898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.22455357399997 meters Centerline goodness [0,1] 0.8293976963465927 Centerline is valid? [False, False] Translation: X:10.55, Y:0.28, Z:-2.48 [[ 9.99485914e-01 -2.95083607e-02 -1.25365606e-02 1.05484074e+01] [ 2.94099690e-02 9.99535726e-01 -7.96158709e-03 2.79186655e-01] [ 1.27656736e-02 7.58879428e-03 9.99889718e-01 -2.48025478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.254553574 meters Centerline goodness [0,1] 0.8297971747375364 Centerline is valid? [False, False] Translation: X:10.56, Y:0.28, Z:-2.47 [[ 9.99459588e-01 -2.94305493e-02 -1.46415708e-02 1.05575279e+01] [ 2.94059600e-02 9.99565761e-01 -1.89192703e-03 2.76746962e-01] [ 1.46908933e-02 1.46035517e-03 9.99891017e-01 -2.47483827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.284553574 meters Centerline goodness [0,1] 0.8309466550065588 Centerline is valid? [False, False] Translation: X:10.56, Y:0.28, Z:-2.47 [[ 9.99494658e-01 -2.72797720e-02 -1.63169321e-02 1.05614919e+01] [ 2.73374023e-02 9.99620752e-01 3.31933445e-03 2.77588817e-01] [ 1.62201933e-02 -3.76371959e-03 9.99861360e-01 -2.46972487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.314553574 meters Centerline goodness [0,1] 0.8381362632569045 Centerline is valid? [False, False] Translation: X:10.56, Y:0.28, Z:-2.47 [[ 9.99546506e-01 -2.45537582e-02 -1.74326132e-02 1.05645560e+01] [ 2.46945287e-02 9.99663779e-01 7.90628646e-03 2.77475744e-01] [ 1.72326230e-02 -8.33319117e-03 9.99816781e-01 -2.46736120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.344553574 meters Centerline goodness [0,1] 0.8242543213915698 Centerline is valid? [False, False] Translation: X:10.56, Y:0.28, Z:-2.47 [[ 9.99556053e-01 -2.42348723e-02 -1.73311191e-02 1.05639780e+01] [ 2.43659336e-02 9.99675782e-01 7.39141608e-03 2.80143569e-01] [ 1.71463700e-02 -7.81042359e-03 9.99822484e-01 -2.46776116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.374553574 meters Centerline goodness [0,1] 0.8326114028913314 Centerline is valid? [False, False] Translation: X:10.57, Y:0.28, Z:-2.47 [[ 0.99960105 -0.02139582 -0.01843812 10.56716838] [ 0.02160074 0.9997063 0.01098768 0.28311264] [ 0.01819761 -0.01138158 0.99976963 -2.46704968] [ 0. 0. 0. 1. ]] SLAMing on 321.404553574 meters Centerline goodness [0,1] 0.8230736000863977 Centerline is valid? [False, False] Translation: X:10.57, Y:0.29, Z:-2.47 [[ 9.99593257e-01 -2.15742824e-02 -1.86512718e-02 1.05680582e+01] [ 2.17695870e-02 9.99709620e-01 1.03325212e-02 2.85002550e-01] [ 1.84229391e-02 -1.07343491e-02 9.99772659e-01 -2.46799996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.434553574 meters Centerline goodness [0,1] 0.8259978977441177 Centerline is valid? [False, False] Translation: X:10.57, Y:0.29, Z:-2.47 [[ 9.99582903e-01 -2.17979251e-02 -1.89438936e-02 1.05690312e+01] [ 2.19798681e-02 9.99713753e-01 9.44974295e-03 2.87541188e-01] [ 1.87324862e-02 -9.86218577e-03 9.99775891e-01 -2.46899291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.464553574 meters Centerline goodness [0,1] 0.8312738408639123 Centerline is valid? [False, False] Translation: X:10.57, Y:0.29, Z:-2.47 [[ 9.99568244e-01 -2.21674178e-02 -1.92855076e-02 1.05703952e+01] [ 2.23414156e-02 9.99711192e-01 8.85399772e-03 2.88786195e-01] [ 1.90836676e-02 -9.28104049e-03 9.99774813e-01 -2.46989043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49455357399995 meters Centerline goodness [0,1] 0.8176648874822305 Centerline is valid? [False, False] Translation: X:10.57, Y:0.29, Z:-2.47 [[ 9.99561632e-01 -2.22666745e-02 -1.95125490e-02 1.05711913e+01] [ 2.24364059e-02 9.99711940e-01 8.52323655e-03 2.89595451e-01] [ 1.93171441e-02 -8.95729170e-03 9.99773282e-01 -2.47045290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.524553574 meters Centerline goodness [0,1] 0.8270702946627629 Centerline is valid? [False, False] Translation: X:10.57, Y:0.29, Z:-2.47 [[ 9.99575906e-01 -2.16982766e-02 -1.94214801e-02 1.05706625e+01] [ 2.18517124e-02 9.99731391e-01 7.72325086e-03 2.92323603e-01] [ 1.92486821e-02 -8.14436807e-03 9.99781555e-01 -2.47185833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.55455357399995 meters Centerline goodness [0,1] 0.8223879400208484 Centerline is valid? [False, False] Translation: X:10.57, Y:0.29, Z:-2.47 [[ 0.99963935 -0.01789763 -0.02002112 10.57263346] [ 0.0181254 0.99977239 0.01125345 0.29406208] [ 0.01981515 -0.01161228 0.99973622 -2.47273554] [ 0. 0. 0. 1. ]] SLAMing on 321.584553574 meters Centerline goodness [0,1] 0.8131389978911401 Centerline is valid? [False, False] Translation: X:10.57, Y:0.30, Z:-2.47 [[ 9.99650940e-01 -1.74369453e-02 -1.98481785e-02 1.05722716e+01] [ 1.76488479e-02 9.99788569e-01 1.05515371e-02 2.95744750e-01] [ 1.96599954e-02 -1.08981514e-02 9.99747326e-01 -2.47441957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.61455357399996 meters Centerline goodness [0,1] 0.8218469009311882 Centerline is valid? [False, False] Translation: X:10.57, Y:0.30, Z:-2.48 [[ 9.99667985e-01 -1.67576605e-02 -1.95729377e-02 1.05712244e+01] [ 1.69589064e-02 9.99804551e-01 1.01615047e-02 2.96949753e-01] [ 1.93988291e-02 -1.04900665e-02 9.99756792e-01 -2.47541430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.644553574 meters Centerline goodness [0,1] 0.8132436903046796 Centerline is valid? [False, False] Translation: X:10.59, Y:0.30, Z:-2.48 [[ 9.99804262e-01 -1.29259253e-02 -1.49785570e-02 1.05872668e+01] [ 1.29570197e-02 9.99914092e-01 1.98074514e-03 2.98945047e-01] [ 1.49516673e-02 -2.17443489e-03 9.99885853e-01 -2.48208946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.67455357399996 meters Centerline goodness [0,1] 0.8169445480210942 Centerline is valid? [False, False] Translation: X:10.58, Y:0.30, Z:-2.48 [[ 9.99824591e-01 -1.19515888e-02 -1.44203605e-02 1.05848566e+01] [ 1.19851756e-02 9.99925655e-01 2.24494847e-03 2.99138438e-01] [ 1.43924577e-02 -2.41738524e-03 9.99893501e-01 -2.48151158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.704553574 meters Centerline goodness [0,1] 0.8061077268355242 Centerline is valid? [False, False] Translation: X:10.58, Y:0.30, Z:-2.48 [[ 9.99876111e-01 -9.15164842e-03 -1.28066227e-02 1.05778571e+01] [ 9.18959428e-03 9.99953548e-01 2.90728374e-03 2.98984289e-01] [ 1.27794214e-02 -3.02461123e-03 9.99913765e-01 -2.48058309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.73455357399996 meters Centerline goodness [0,1] 0.8081541170820215 Centerline is valid? [False, False] Translation: X:10.58, Y:0.30, Z:-2.48 [[ 9.99891870e-01 -8.16793779e-03 -1.22283918e-02 1.05756615e+01] [ 8.20536640e-03 9.99961794e-01 3.01375932e-03 2.99132647e-01] [ 1.22033084e-02 -3.11377188e-03 9.99920689e-01 -2.48076127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.764553574 meters Centerline goodness [0,1] 0.8151195405369307 Centerline is valid? [False, False] Translation: X:10.57, Y:0.30, Z:-2.48 [[ 9.99904133e-01 -7.34065807e-03 -1.17405170e-02 1.05736608e+01] [ 7.38032952e-03 9.99967189e-01 3.33927147e-03 2.98905153e-01] [ 1.17156193e-02 -3.42560023e-03 9.99925502e-01 -2.48047030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.79455357399996 meters Centerline goodness [0,1] 0.8036043744485146 Centerline is valid? [False, False] Translation: X:10.57, Y:0.30, Z:-2.48 [[ 9.99926496e-01 -5.74298310e-03 -1.06780292e-02 1.05695160e+01] [ 5.78652551e-03 9.99975051e-01 4.05134393e-03 2.97578726e-01] [ 1.06544960e-02 -4.11283483e-03 9.99934781e-01 -2.47974789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.824553574 meters Centerline goodness [0,1] 0.8082894595465778 Centerline is valid? [False, False] Translation: X:10.57, Y:0.29, Z:-2.48 [[ 9.99936925e-01 -4.93658440e-03 -1.00884069e-02 1.05669225e+01] [ 4.98952827e-03 9.99973878e-01 5.22957763e-03 2.94832872e-01] [ 1.00623271e-02 -5.27958417e-03 9.99935436e-01 -2.47780962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.85455357399997 meters Centerline goodness [0,1] 0.8121159857712623 Centerline is valid? [False, False] Translation: X:10.57, Y:0.29, Z:-2.48 [[ 9.99935133e-01 -5.08164101e-03 -1.01934963e-02 1.05672915e+01] [ 5.13830984e-03 9.99971448e-01 5.54084763e-03 2.93273164e-01] [ 1.01650486e-02 -5.59286555e-03 9.99932694e-01 -2.47754027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.884553574 meters Centerline goodness [0,1] 0.806311530681052 Centerline is valid? [False, False] Translation: X:10.57, Y:0.29, Z:-2.48 [[ 9.99931397e-01 -5.36183696e-03 -1.04140741e-02 1.05681811e+01] [ 5.42242847e-03 9.99968485e-01 5.79873802e-03 2.91858683e-01] [ 1.03826541e-02 -5.85480978e-03 9.99928958e-01 -2.47749634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.91455357399997 meters Centerline goodness [0,1] 0.8056058110334027 Centerline is valid? [False, False] Translation: X:10.57, Y:0.29, Z:-2.48 [[ 9.99915578e-01 -6.62772533e-03 -1.11763483e-02 1.05716645e+01] [ 6.69483766e-03 9.99959720e-01 5.97816889e-03 2.89471680e-01] [ 1.11362765e-02 -6.05248804e-03 9.99919672e-01 -2.47807267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.944553574 meters Centerline goodness [0,1] 0.8033531638723634 Centerline is valid? [False, False] Translation: X:10.57, Y:0.29, Z:-2.48 [[ 9.99904865e-01 -7.30866631e-03 -1.16980722e-02 1.05737016e+01] [ 7.38218966e-03 9.99953192e-01 6.25429056e-03 2.87978025e-01] [ 1.16518141e-02 -6.34005295e-03 9.99912016e-01 -2.47796618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.97455357399997 meters Centerline goodness [0,1] 0.8052360282148671 Centerline is valid? [False, False] Translation: X:10.58, Y:0.29, Z:-2.48 [[ 9.99883102e-01 -8.79473048e-03 -1.25073621e-02 1.05773217e+01] [ 8.87844165e-03 9.99938452e-01 6.65324988e-03 2.85140595e-01] [ 1.24480787e-02 -6.76351801e-03 9.99899645e-01 -2.47768020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.004553574 meters Centerline goodness [0,1] 0.8050140033172907 Centerline is valid? [False, False] Translation: X:10.58, Y:0.28, Z:-2.48 [[ 9.99871335e-01 -9.43671294e-03 -1.29715620e-02 1.05791363e+01] [ 9.52689838e-03 9.99930754e-01 6.90842963e-03 2.83799905e-01] [ 1.29054709e-02 -7.03111951e-03 9.99892000e-01 -2.47746067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.034553574 meters Centerline goodness [0,1] 0.8053006028349535 Centerline is valid? [False, False] Translation: X:10.58, Y:0.28, Z:-2.48 [[ 9.99854798e-01 -1.03072342e-02 -1.35699488e-02 1.05817437e+01] [ 1.04020415e-02 9.99921851e-01 6.93461588e-03 2.82443009e-01] [ 1.34974116e-02 -7.07476413e-03 9.99883877e-01 -2.47783799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.064553574 meters Centerline goodness [0,1] 0.8096056760813208 Centerline is valid? [False, False] Translation: X:10.59, Y:0.28, Z:-2.48 [[ 9.99817991e-01 -1.22053404e-02 -1.46633563e-02 1.05864119e+01] [ 1.23116984e-02 9.99898393e-01 7.18507478e-03 2.79672066e-01] [ 1.45741701e-02 -7.36429785e-03 9.99866671e-01 -2.47759836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.094553574 meters Centerline goodness [0,1] 0.8053586578724103 Centerline is valid? [False, False] Translation: X:10.59, Y:0.28, Z:-2.48 [[ 9.99793806e-01 -1.32324235e-02 -1.54028801e-02 1.05893688e+01] [ 1.33468523e-02 9.99883912e-01 7.35011077e-03 2.78303501e-01] [ 1.53038323e-02 -7.55417519e-03 9.99854353e-01 -2.47760736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.124553574 meters Centerline goodness [0,1] 0.8024180282925759 Centerline is valid? [False, False] Translation: X:10.60, Y:0.28, Z:-2.48 [[ 9.99731783e-01 -1.58313373e-02 -1.69035785e-02 1.05962460e+01] [ 1.59540397e-02 9.99847169e-01 7.14894818e-03 2.76197543e-01] [ 1.67878177e-02 -7.41671107e-03 9.99831567e-01 -2.47853338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.154553574 meters Centerline goodness [0,1] 0.803667656439019 Centerline is valid? [False, False] Translation: X:10.60, Y:0.28, Z:-2.48 [[ 9.99706371e-01 -1.66541911e-02 -1.76014292e-02 1.05990491e+01] [ 1.67802111e-02 9.99834443e-01 7.03636128e-03 2.75681370e-01] [ 1.74813303e-02 -7.32965090e-03 9.99820324e-01 -2.47917816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.184553574 meters Centerline goodness [0,1] 0.8034515028074425 Centerline is valid? [False, False] Translation: X:10.60, Y:0.28, Z:-2.48 [[ 9.99686755e-01 -1.72505247e-02 -1.81331452e-02 1.06011323e+01] [ 1.73805231e-02 9.99824190e-01 7.03611477e-03 2.75294047e-01] [ 1.80085805e-02 -7.34907429e-03 9.99810823e-01 -2.47945244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.214553574 meters Centerline goodness [0,1] 0.8014973026533083 Centerline is valid? [False, False] Translation: X:10.62, Y:0.28, Z:-2.49 [[ 9.99728890e-01 -1.87984084e-02 -1.37392226e-02 1.06247687e+01] [ 1.87637468e-02 9.99820440e-01 -2.64740128e-03 2.76545925e-01] [ 1.37865225e-02 2.38888425e-03 9.99902108e-01 -2.48712936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.24455357399995 meters Centerline goodness [0,1] 0.8055762800851087 Centerline is valid? [False, False] Translation: X:10.62, Y:0.28, Z:-2.49 [[ 9.99729472e-01 -1.87012887e-02 -1.38290928e-02 1.06248149e+01] [ 1.86716255e-02 9.99823091e-01 -2.27100225e-03 2.76108288e-01] [ 1.38691169e-02 2.01217624e-03 9.99901795e-01 -2.48656561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.274553574 meters Centerline goodness [0,1] 0.8040052889647953 Centerline is valid? [False, False] Translation: X:10.63, Y:0.28, Z:-2.48 [[ 9.99785729e-01 -1.48914299e-02 -1.43784762e-02 1.06258384e+01] [ 1.49295226e-02 9.99885308e-01 2.54558441e-03 2.76076432e-01] [ 1.43389197e-02 -2.75970275e-03 9.99893384e-01 -2.48438654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.30455357399995 meters Centerline goodness [0,1] 0.7989224552626515 Centerline is valid? [False, False] Translation: X:10.63, Y:0.28, Z:-2.48 [[ 9.99824011e-01 -1.12612369e-02 -1.50043740e-02 1.06273824e+01] [ 1.13731756e-02 9.99907970e-01 7.39608257e-03 2.75451839e-01] [ 1.49197041e-02 -7.56542832e-03 9.99860074e-01 -2.48243390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.334553574 meters Centerline goodness [0,1] 0.8005759736697751 Centerline is valid? [False, False] Translation: X:10.62, Y:0.28, Z:-2.48 [[ 9.99862480e-01 -8.92191128e-03 -1.39793088e-02 1.06224809e+01] [ 9.02123623e-03 9.99934397e-01 7.05826379e-03 2.78493381e-01] [ 1.39154185e-02 -7.18340378e-03 9.99877372e-01 -2.48311129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.36455357399996 meters Centerline goodness [0,1] 0.8013303041086142 Centerline is valid? [False, False] Translation: X:10.62, Y:0.28, Z:-2.48 [[ 9.99874577e-01 -8.15627473e-03 -1.35758836e-02 1.06208390e+01] [ 8.24785094e-03 9.99943518e-01 6.70324151e-03 2.79718169e-01] [ 1.35204433e-02 -6.81437263e-03 9.99885374e-01 -2.48382509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.394553574 meters Centerline goodness [0,1] 0.796615738459011 Centerline is valid? [False, False] Translation: X:10.62, Y:0.28, Z:-2.48 [[ 9.99896227e-01 -6.66806915e-03 -1.27699319e-02 1.06170785e+01] [ 6.75629587e-03 9.99953520e-01 6.87830875e-03 2.80659959e-01] [ 1.27234733e-02 -6.96387241e-03 9.99894803e-01 -2.48322347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.42455357399996 meters Centerline goodness [0,1] 0.798495006156793 Centerline is valid? [False, False] Translation: X:10.62, Y:0.28, Z:-2.48 [[ 9.99903931e-01 -6.11368973e-03 -1.24398903e-02 1.06156894e+01] [ 6.19796668e-03 9.99958027e-01 6.74749748e-03 2.80968142e-01] [ 1.23981161e-02 -6.82395128e-03 9.99899855e-01 -2.48345889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.454553574 meters Centerline goodness [0,1] 0.8036316756727103 Centerline is valid? [False, False] Translation: X:10.61, Y:0.28, Z:-2.48 [[ 9.99910315e-01 -5.59600716e-03 -1.21674204e-02 1.06145011e+01] [ 5.67782987e-03 9.99961431e-01 6.70062546e-03 2.81201729e-01] [ 1.21294544e-02 -6.76910906e-03 9.99903523e-01 -2.48364726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.48455357399996 meters Centerline goodness [0,1] 0.7986536612172002 Centerline is valid? [False, False] Translation: X:10.61, Y:0.28, Z:-2.49 [[ 9.99915243e-01 -5.14650775e-03 -1.19591167e-02 1.06142010e+01] [ 5.21922443e-03 9.99968034e-01 6.05720478e-03 2.81555764e-01] [ 1.19275609e-02 -6.11910870e-03 9.99910141e-01 -2.48588850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.514553574 meters Centerline goodness [0,1] 0.7990101732196866 Centerline is valid? [False, False] Translation: X:10.61, Y:0.28, Z:-2.49 [[ 9.99918125e-01 -4.82514229e-03 -1.18516570e-02 1.06139328e+01] [ 4.89449844e-03 9.99971027e-01 5.83000390e-03 2.81593688e-01] [ 1.18231830e-02 -5.88753448e-03 9.99912771e-01 -2.48691829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.54455357399996 meters Centerline goodness [0,1] 0.7965589270008795 Centerline is valid? [False, False] Translation: X:10.61, Y:0.28, Z:-2.49 [[ 9.99931410e-01 -3.55088613e-03 -1.11609175e-02 1.06114831e+01] [ 3.61544504e-03 9.99976820e-01 5.76952917e-03 2.81159587e-01] [ 1.11401718e-02 -5.80948512e-03 9.99921070e-01 -2.48811029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.574553574 meters Centerline goodness [0,1] 0.7955875484243207 Centerline is valid? [False, False] Translation: X:10.61, Y:0.28, Z:-2.49 [[ 9.99946528e-01 -1.79238714e-03 -1.01847074e-02 1.06071884e+01] [ 1.85312441e-03 9.99980538e-01 5.95727141e-03 2.81926507e-01] [ 1.01738314e-02 -5.97582639e-03 9.99930389e-01 -2.48770765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.60455357399997 meters Centerline goodness [0,1] 0.7952124739211596 Centerline is valid? [False, False] Translation: X:10.60, Y:0.28, Z:-2.49 [[ 9.99956140e-01 -2.91350336e-04 -9.36122904e-03 1.06037288e+01] [ 3.48364077e-04 9.99981399e-01 6.08935861e-03 2.82720804e-01] [ 9.35928078e-03 -6.09235265e-03 9.99937642e-01 -2.48758921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.634553574 meters Centerline goodness [0,1] 0.7938398357289528 Centerline is valid? [False, False] Translation: X:10.60, Y:0.29, Z:-2.49 [[ 9.99965323e-01 2.30833304e-03 -8.00148332e-03 1.05986615e+01] [-2.27082956e-03 9.99986410e-01 4.69298565e-03 2.85151515e-01] [ 8.01220755e-03 -4.67465291e-03 9.99956975e-01 -2.49154813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.66455357399997 meters Centerline goodness [0,1] 0.7923127499863021 Centerline is valid? [False, False] Translation: X:10.60, Y:0.29, Z:-2.49 [[ 9.99966939e-01 3.25583731e-03 -7.45113821e-03 1.05967681e+01] [-3.22382499e-03 9.99985540e-01 4.30428429e-03 2.86181212e-01] [ 7.46504451e-03 -4.28012083e-03 9.99962976e-01 -2.49273140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.694553574 meters Centerline goodness [0,1] 0.7936620874610038 Centerline is valid? [False, False] Translation: X:10.59, Y:0.29, Z:-2.49 [[ 9.99966577e-01 5.30793360e-03 -6.21852759e-03 1.05920874e+01] [-5.28006402e-03 9.99975982e-01 4.48957771e-03 2.86117482e-01] [ 6.24220861e-03 -4.45659343e-03 9.99970586e-01 -2.49321485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.72455357399997 meters Centerline goodness [0,1] 0.7937009590235397 Centerline is valid? [False, False] Translation: X:10.59, Y:0.29, Z:-2.49 [[ 9.99964939e-01 6.03632210e-03 -5.80377472e-03 1.05903628e+01] [-6.00926317e-03 9.99971047e-01 4.66848864e-03 2.85941901e-01] [ 5.83178718e-03 -4.63344855e-03 9.99972260e-01 -2.49305021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.754553574 meters Centerline goodness [0,1] 0.7941988572678312 Centerline is valid? [False, False] Translation: X:10.59, Y:0.28, Z:-2.49 [[ 9.99960604e-01 7.36290242e-03 -4.95771696e-03 1.05868607e+01] [-7.33599288e-03 9.99958379e-01 5.42429217e-03 2.84307698e-01] [ 4.99744915e-03 -5.38770870e-03 9.99972999e-01 -2.49203197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.784553574 meters Centerline goodness [0,1] 0.7941988572678312 Centerline is valid? [False, False] Translation: X:10.59, Y:0.28, Z:-2.49 [[ 9.99960604e-01 7.36290242e-03 -4.95771696e-03 1.05868607e+01] [-7.33599288e-03 9.99958379e-01 5.42429217e-03 2.84307698e-01] [ 4.99744915e-03 -5.38770870e-03 9.99972999e-01 -2.49203197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.814553574 meters Centerline goodness [0,1] 0.7942013129102845 Centerline is valid? [False, False] Translation: X:10.58, Y:0.28, Z:-2.49 [[ 9.99976354e-01 5.86326325e-03 -3.59359301e-03 1.05818288e+01] [-5.85849049e-03 9.99981945e-01 1.33722098e-03 2.84727218e-01] [ 3.60136861e-03 -1.31613633e-03 9.99992649e-01 -2.49375896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.844553574 meters Centerline goodness [0,1] 0.7945416106092639 Centerline is valid? [False, False] Translation: X:10.58, Y:0.28, Z:-2.49 [[ 9.99975287e-01 6.13502116e-03 -3.43331268e-03 1.05812350e+01] [-6.12935263e-03 9.99979839e-01 1.65912942e-03 2.83398778e-01] [ 3.44342225e-03 -1.63804443e-03 9.99992730e-01 -2.49366106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.874553574 meters Centerline goodness [0,1] 0.7922555503718544 Centerline is valid? [False, False] Translation: X:10.58, Y:0.28, Z:-2.49 [[ 9.99974836e-01 6.18088239e-03 -3.48207457e-03 1.05819099e+01] [-6.17462244e-03 9.99979307e-01 1.80565605e-03 2.81133141e-01] [ 3.49316306e-03 -1.78411011e-03 9.99992307e-01 -2.49496129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.904553574 meters Centerline goodness [0,1] 0.7959789057350033 Centerline is valid? [False, False] Translation: X:10.58, Y:0.28, Z:-2.50 [[ 9.99975037e-01 6.11049457e-03 -3.54793247e-03 1.05825908e+01] [-6.10433017e-03 9.99979845e-01 1.74570063e-03 2.79825147e-01] [ 3.55852806e-03 -1.72399930e-03 9.99992182e-01 -2.49608195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.934553574 meters Centerline goodness [0,1] 0.7954413912851749 Centerline is valid? [False, False] Translation: X:10.58, Y:0.28, Z:-2.50 [[ 9.99973756e-01 6.39396196e-03 -3.40657094e-03 1.05823355e+01] [-6.38600939e-03 9.99976871e-01 2.34026548e-03 2.76861052e-01] [ 3.42145572e-03 -2.31844967e-03 9.99991459e-01 -2.49630140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.964553574 meters Centerline goodness [0,1] 0.7930806704648666 Centerline is valid? [False, False] Translation: X:10.58, Y:0.28, Z:-2.50 [[ 9.99968286e-01 7.44664745e-03 -2.82383600e-03 1.05797179e+01] [-7.43965038e-03 9.99969249e-01 2.48032052e-03 2.76976176e-01] [ 2.84221924e-03 -2.45923351e-03 9.99992937e-01 -2.49589477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99455357399995 meters Centerline goodness [0,1] 0.793138577604009 Centerline is valid? [False, False] Translation: X:10.58, Y:0.28, Z:-2.49 [[ 9.99958419e-01 8.92009997e-03 -1.89535285e-03 1.05756508e+01] [-8.91428857e-03 9.99955607e-01 3.05277374e-03 2.76701166e-01] [ 1.92249975e-03 -3.03575108e-03 9.99993544e-01 -2.49454232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.024553574 meters Centerline goodness [0,1] 0.7913520933424846 Centerline is valid? [False, False] Translation: X:10.58, Y:0.28, Z:-2.50 [[ 9.99957547e-01 9.02851319e-03 -1.84138645e-03 1.05755657e+01] [-9.02343302e-03 9.99955510e-01 2.74878031e-03 2.77633501e-01] [ 1.86612192e-03 -2.73204799e-03 9.99994527e-01 -2.49505453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.05455357399995 meters Centerline goodness [0,1] 0.7894202819064334 Centerline is valid? [False, False] Translation: X:10.57, Y:0.28, Z:-2.50 [[ 9.99979954e-01 6.22849880e-03 -1.13914906e-03 1.05728306e+01] [-6.23051751e-03 9.99979011e-01 -1.77723891e-03 2.80391403e-01] [ 1.12805562e-03 1.78430077e-03 9.99997772e-01 -2.49617837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.084553574 meters Centerline goodness [0,1] 0.7907008678457651 Centerline is valid? [False, False] Translation: X:10.58, Y:0.28, Z:-2.50 [[ 9.99984353e-01 5.28355462e-03 -1.83761712e-03 1.05755007e+01] [-5.28701981e-03 9.99984245e-01 -1.88597806e-03 2.80624885e-01] [ 1.82762350e-03 1.89566407e-03 9.99996533e-01 -2.49608518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.11455357399996 meters Centerline goodness [0,1] 0.7901872885784219 Centerline is valid? [False, False] Translation: X:10.58, Y:0.28, Z:-2.50 [[ 9.99997232e-01 3.26226586e-04 -2.33018161e-03 1.05778636e+01] [-3.42297679e-04 9.99976137e-01 -6.89986161e-03 2.82849950e-01] [ 2.32787508e-03 6.90064012e-03 9.99973481e-01 -2.49758176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.144553574 meters Centerline goodness [0,1] 0.790820683765393 Centerline is valid? [False, False] Translation: X:10.58, Y:0.28, Z:-2.50 [[ 9.99993071e-01 -1.22098297e-03 -3.51659329e-03 1.05821845e+01] [ 1.19692110e-03 9.99975915e-01 -6.83637521e-03 2.82811809e-01] [ 3.52485569e-03 6.83211876e-03 9.99970448e-01 -2.49709661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.17455357399996 meters Centerline goodness [0,1] 0.7915177835193228 Centerline is valid? [False, False] Translation: X:10.59, Y:0.28, Z:-2.50 [[ 9.99983980e-01 -2.93385703e-03 -4.84063960e-03 1.05869927e+01] [ 2.90125897e-03 9.99973161e-01 -6.72758185e-03 2.82546654e-01] [ 4.86024745e-03 6.71343012e-03 9.99965653e-01 -2.49653255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.204553574 meters Centerline goodness [0,1] 0.7905743336081341 Centerline is valid? [False, False] Translation: X:10.60, Y:0.28, Z:-2.49 [[ 9.99948893e-01 -6.91093985e-03 -7.37905289e-03 1.05971478e+01] [ 6.86404445e-03 9.99956206e-01 -6.36172973e-03 2.83246957e-01] [ 7.42269526e-03 6.31075446e-03 9.99952538e-01 -2.49428277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.23455357399996 meters Centerline goodness [0,1] 0.7892583541557978 Centerline is valid? [False, False] Translation: X:10.61, Y:0.28, Z:-2.49 [[ 9.99891392e-01 -1.08802264e-02 -9.94111515e-03 1.06074085e+01] [ 1.08163612e-02 9.99920662e-01 -6.45569302e-03 2.84347740e-01] [ 1.00105658e-02 6.34746519e-03 9.99929747e-01 -2.49305960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.264553574 meters Centerline goodness [0,1] 0.7902313765126888 Centerline is valid? [False, False] Translation: X:10.62, Y:0.28, Z:-2.49 [[ 9.99852726e-01 -1.19293074e-02 -1.23376590e-02 1.06188359e+01] [ 1.19078689e-02 9.99927461e-01 -1.80965401e-03 2.83309522e-01] [ 1.23583519e-02 1.66247227e-03 9.99922251e-01 -2.49000963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.29455357399996 meters Centerline goodness [0,1] 0.7883061755442968 Centerline is valid? [False, False] Translation: X:10.62, Y:0.28, Z:-2.49 [[ 9.99822008e-01 -1.33068027e-02 -1.33746314e-02 1.06228468e+01] [ 1.32789388e-02 9.99909476e-01 -2.16999755e-03 2.83996062e-01] [ 1.34022965e-02 1.99201040e-03 9.99908201e-01 -2.49048102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.324553574 meters Centerline goodness [0,1] 0.7875228257610858 Centerline is valid? [False, False] Translation: X:10.63, Y:0.29, Z:-2.49 [[ 9.99781497e-01 -1.49034610e-02 -1.46575677e-02 1.06272959e+01] [ 1.48657666e-02 9.99885914e-01 -2.67727431e-03 2.85895626e-01] [ 1.46957961e-02 2.45879333e-03 9.99888988e-01 -2.49035199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.35455357399997 meters Centerline goodness [0,1] 0.7877246893100917 Centerline is valid? [False, False] Translation: X:10.63, Y:0.29, Z:-2.49 [[ 9.99798336e-01 -1.22651963e-02 -1.59013020e-02 1.06308137e+01] [ 1.23002445e-02 9.99922127e-01 2.10818224e-03 2.85231765e-01] [ 1.58742064e-02 -2.30334700e-03 9.99871344e-01 -2.48772893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.384553574 meters Centerline goodness [0,1] 0.7915051635811672 Centerline is valid? [False, False] Translation: X:10.63, Y:0.29, Z:-2.49 [[ 9.99778613e-01 -1.30137512e-02 -1.65338188e-02 1.06334465e+01] [ 1.30329435e-02 9.99914513e-01 1.05356608e-03 2.88704028e-01] [ 1.65186945e-02 -1.26881716e-03 9.99862752e-01 -2.48920689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.41455357399997 meters Centerline goodness [0,1] 0.7866030524004446 Centerline is valid? [False, False] Translation: X:10.63, Y:0.29, Z:-2.49 [[ 9.99769095e-01 -1.33314603e-02 -1.68531312e-02 1.06346596e+01] [ 1.33477760e-02 9.99910548e-01 8.55992734e-04 2.89688506e-01] [ 1.68402120e-02 -1.08074690e-03 9.99857609e-01 -2.48946876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.444553574 meters Centerline goodness [0,1] 0.7870305132513142 Centerline is valid? [False, False] Translation: X:10.64, Y:0.29, Z:-2.49 [[ 9.99751472e-01 -1.39541543e-02 -1.73860679e-02 1.06364962e+01] [ 1.39739167e-02 9.99901844e-01 1.01571229e-03 2.89618681e-01] [ 1.73701880e-02 -1.25841132e-03 9.99848335e-01 -2.48895557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.47455357399997 meters Centerline goodness [0,1] 0.7880019509022923 Centerline is valid? [False, False] Translation: X:10.64, Y:0.29, Z:-2.49 [[ 9.99744231e-01 -1.41798255e-02 -1.76183448e-02 1.06371451e+01] [ 1.42051950e-02 9.99898236e-01 1.31563000e-03 2.89342906e-01] [ 1.75978965e-02 -1.56556553e-03 9.99843919e-01 -2.48822967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.504553574 meters Centerline goodness [0,1] 0.7837823188248686 Centerline is valid? [False, False] Translation: X:10.64, Y:0.29, Z:-2.49 [[ 9.99733886e-01 -1.44912467e-02 -1.79488537e-02 1.06382184e+01] [ 1.45205083e-02 9.99893445e-01 1.50102460e-03 2.89250458e-01] [ 1.79251894e-02 -1.76125163e-03 9.99837780e-01 -2.48786642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.534553574 meters Centerline goodness [0,1] 0.7817239601703883 Centerline is valid? [False, False] Translation: X:10.64, Y:0.29, Z:-2.49 [[ 9.99714080e-01 -1.51889702e-02 -1.84676436e-02 1.06399546e+01] [ 1.52259258e-02 9.99882345e-01 1.86213778e-03 2.88959142e-01] [ 1.84371868e-02 -2.14279233e-03 9.99827724e-01 -2.48684900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.564553574 meters Centerline goodness [0,1] 0.7830398869688078 Centerline is valid? [False, False] Translation: X:10.64, Y:0.29, Z:-2.49 [[ 9.99709983e-01 -1.53069228e-02 -1.85916313e-02 1.06400054e+01] [ 1.53569305e-02 9.99878824e-01 2.55000882e-03 2.87970654e-01] [ 1.85503456e-02 -2.83477966e-03 9.99823909e-01 -2.48527103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.594553574 meters Centerline goodness [0,1] 0.783392130257802 Centerline is valid? [False, False] Translation: X:10.64, Y:0.29, Z:-2.48 [[ 9.99691846e-01 -1.59559869e-02 -1.90162849e-02 1.06408763e+01] [ 1.60311792e-02 9.99864240e-01 3.80823274e-03 2.86519810e-01] [ 1.89529392e-02 -4.11191269e-03 9.99811921e-01 -2.48182742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.624553574 meters Centerline goodness [0,1] 0.7846379807430779 Centerline is valid? [False, False] Translation: X:10.64, Y:0.29, Z:-2.48 [[ 9.99685962e-01 -1.61191200e-02 -1.91872768e-02 1.06412029e+01] [ 1.62029816e-02 9.99859804e-01 4.22327351e-03 2.86376208e-01] [ 1.91165114e-02 -4.53283834e-03 9.99806988e-01 -2.48072406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.654553574 meters Centerline goodness [0,1] 0.7851972789115647 Centerline is valid? [False, False] Translation: X:10.64, Y:0.29, Z:-2.48 [[ 9.99659059e-01 -1.70064096e-02 -1.98127957e-02 1.06434359e+01] [ 1.70947943e-02 9.99844626e-01 4.30018935e-03 2.87003614e-01] [ 1.97365865e-02 -4.63741891e-03 9.99794460e-01 -2.47998645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.684553574 meters Centerline goodness [0,1] 0.7879744252482656 Centerline is valid? [False, False] Translation: X:10.65, Y:0.29, Z:-2.48 [[ 9.99640479e-01 -1.75289249e-02 -2.02891297e-02 1.06450890e+01] [ 1.76184341e-02 9.99835787e-01 4.24135597e-03 2.87526087e-01] [ 2.02114515e-02 -4.59729381e-03 9.99785158e-01 -2.47985682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.714553574 meters Centerline goodness [0,1] 0.7856871368844003 Centerline is valid? [False, False] Translation: X:10.65, Y:0.29, Z:-2.48 [[ 9.99621023e-01 -1.81036938e-02 -2.07380419e-02 1.06468521e+01] [ 1.81903088e-02 9.99826559e-01 3.99561278e-03 2.88378965e-01] [ 2.06621097e-02 -4.37132993e-03 9.99776959e-01 -2.48006628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.74455357399995 meters Centerline goodness [0,1] 0.7845908550426981 Centerline is valid? [False, False] Translation: X:10.65, Y:0.29, Z:-2.48 [[ 9.99582978e-01 -1.92041574e-02 -2.15655095e-02 1.06498236e+01] [ 1.92881746e-02 9.99807139e-01 3.69466447e-03 2.89719061e-01] [ 2.14903974e-02 -4.10908303e-03 9.99760610e-01 -2.47991574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.774553574 meters Centerline goodness [0,1] 0.7830420572107722 Centerline is valid? [False, False] Translation: X:10.65, Y:0.29, Z:-2.48 [[ 9.99566315e-01 -1.96516196e-02 -2.19316361e-02 1.06510970e+01] [ 1.97355613e-02 9.99798690e-01 3.61754855e-03 2.90374865e-01] [ 2.18561303e-02 -4.04881282e-03 9.99752928e-01 -2.47966147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.80455357399995 meters Centerline goodness [0,1] 0.7835877245024541 Centerline is valid? [False, False] Translation: X:10.65, Y:0.29, Z:-2.48 [[ 9.99541197e-01 -2.02932313e-02 -2.24851133e-02 1.06526444e+01] [ 2.03819845e-02 9.99785326e-01 3.72505347e-03 2.91097251e-01] [ 2.24046929e-02 -4.18163564e-03 9.99740238e-01 -2.47854559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.834553574 meters Centerline goodness [0,1] 0.7880821474773609 Centerline is valid? [False, False] Translation: X:10.65, Y:0.29, Z:-2.48 [[ 9.99541142e-01 -2.02558519e-02 -2.25212497e-02 1.06524897e+01] [ 2.03491075e-02 9.99785253e-01 3.91932630e-03 2.91502285e-01] [ 2.24370241e-02 -4.37581522e-03 9.99738682e-01 -2.47774106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.86455357399996 meters Centerline goodness [0,1] 0.7896548941549884 Centerline is valid? [False, False] Translation: X:10.65, Y:0.29, Z:-2.48 [[ 9.99547932e-01 -1.99756431e-02 -2.24700807e-02 1.06521144e+01] [ 2.00618675e-02 9.99792193e-01 3.61841735e-03 2.93471720e-01] [ 2.23931310e-02 -4.06757336e-03 9.99740968e-01 -2.47791458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.894553574 meters Centerline goodness [0,1] 0.7872955537114865 Centerline is valid? [False, False] Translation: X:10.66, Y:0.29, Z:-2.48 [[ 9.99560507e-01 -1.76339554e-02 -2.38293046e-02 1.06571619e+01] [ 1.78134947e-02 9.99814361e-01 7.34322347e-03 2.93430116e-01] [ 2.36953909e-02 -7.76447937e-03 9.99689072e-01 -2.47817233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.92455357399996 meters Centerline goodness [0,1] 0.7867345571485997 Centerline is valid? [False, False] Translation: X:10.66, Y:0.30, Z:-2.48 [[ 9.99561930e-01 -1.74726964e-02 -2.38883533e-02 1.06576889e+01] [ 1.76202181e-02 9.99826875e-01 5.97897249e-03 2.96585029e-01] [ 2.37797488e-02 -6.39727127e-03 9.99696753e-01 -2.48071106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.954553574 meters Centerline goodness [0,1] 0.7862851319459343 Centerline is valid? [False, False] Translation: X:10.66, Y:0.30, Z:-2.48 [[ 9.99569629e-01 -1.71833081e-02 -2.37758405e-02 1.06570510e+01] [ 1.73274320e-02 9.99832643e-01 5.86908414e-03 2.97401687e-01] [ 2.36710112e-02 -6.27853251e-03 9.99700087e-01 -2.48061909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.98455357399996 meters Centerline goodness [0,1] 0.7839787599227633 Centerline is valid? [False, False] Translation: X:10.66, Y:0.30, Z:-2.48 [[ 9.99579829e-01 -1.68273456e-02 -2.36009517e-02 1.06563016e+01] [ 1.69645846e-02 9.99840258e-01 5.62684986e-03 2.98361560e-01] [ 2.35024967e-02 -6.02486597e-03 9.99705623e-01 -2.48086402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.014553574 meters Centerline goodness [0,1] 0.7850094927400594 Centerline is valid? [False, False] Translation: X:10.66, Y:0.30, Z:-2.48 [[ 9.99588785e-01 -1.64401867e-02 -2.34942671e-02 1.06558154e+01] [ 1.65617956e-02 9.99850388e-01 4.99092379e-03 3.00711057e-01] [ 2.34087003e-02 -5.37797870e-03 9.99711513e-01 -2.48169688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.04455357399996 meters Centerline goodness [0,1] 0.7821263399898415 Centerline is valid? [False, False] Translation: X:10.66, Y:0.30, Z:-2.48 [[ 9.99579132e-01 -1.66755753e-02 -2.37378252e-02 1.06567710e+01] [ 1.67858453e-02 9.99849189e-01 4.45366222e-03 3.02474838e-01] [ 2.36599779e-02 -4.85024728e-03 9.99708298e-01 -2.48241486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.074553574 meters Centerline goodness [0,1] 0.7803411035072711 Centerline is valid? [False, False] Translation: X:10.66, Y:0.30, Z:-2.48 [[ 9.99561190e-01 -1.71680937e-02 -2.41388660e-02 1.06582244e+01] [ 1.72779837e-02 9.99841256e-01 4.35122323e-03 3.02882106e-01] [ 2.40603319e-02 -4.76638480e-03 9.99699146e-01 -2.48245360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.10455357399997 meters Centerline goodness [0,1] 0.7824634543948261 Centerline is valid? [False, False] Translation: X:10.66, Y:0.30, Z:-2.48 [[ 9.99541556e-01 -1.77383845e-02 -2.45362297e-02 1.06597187e+01] [ 1.78499232e-02 9.99831283e-01 4.33433650e-03 3.02694013e-01] [ 2.44552059e-02 -4.77031926e-03 9.99689545e-01 -2.48235547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.134553574 meters Centerline goodness [0,1] 0.7839672823501109 Centerline is valid? [False, False] Translation: X:10.66, Y:0.30, Z:-2.48 [[ 9.99506800e-01 -1.88662029e-02 -2.51042456e-02 1.06617793e+01] [ 1.89878942e-02 9.99809049e-01 4.61790540e-03 3.02137434e-01] [ 2.50123296e-02 -5.09230461e-03 9.99674173e-01 -2.48102372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.16455357399997 meters Centerline goodness [0,1] 0.783580491460999 Centerline is valid? [False, False] Translation: X:10.66, Y:0.30, Z:-2.48 [[ 9.99497271e-01 -1.91042343e-02 -2.53028219e-02 1.06622813e+01] [ 1.92334784e-02 9.99803137e-01 4.87438717e-03 3.01861657e-01] [ 2.52047193e-02 -5.35859795e-03 9.99667949e-01 -2.48026431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.194553574 meters Centerline goodness [0,1] 0.7834469848910282 Centerline is valid? [False, False] Translation: X:10.68, Y:0.30, Z:-2.49 [[ 9.99622192e-01 -1.91617117e-02 -1.97053732e-02 1.06827773e+01] [ 1.91058653e-02 9.99812910e-01 -3.01845427e-03 3.04121445e-01] [ 1.97595253e-02 2.64082567e-03 9.99801274e-01 -2.48619521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.22455357399997 meters Centerline goodness [0,1] 0.783324865630933 Centerline is valid? [False, False] Translation: X:10.68, Y:0.30, Z:-2.49 [[ 9.99637161e-01 -1.86689181e-02 -1.94169680e-02 1.06815149e+01] [ 1.86188589e-02 9.99822856e-01 -2.75572279e-03 3.04295636e-01] [ 1.94649747e-02 2.39320111e-03 9.99807675e-01 -2.48564989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.254553574 meters Centerline goodness [0,1] 0.780675993165314 Centerline is valid? [False, False] Translation: X:10.68, Y:0.30, Z:-2.48 [[ 9.99693489e-01 -1.47852491e-02 -1.98575905e-02 1.06826503e+01] [ 1.48228469e-02 9.99888608e-01 1.74751528e-03 3.03972022e-01] [ 1.98295411e-02 -2.04132567e-03 9.99801291e-01 -2.48473318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.284553574 meters Centerline goodness [0,1] 0.7822262501332764 Centerline is valid? [False, False] Translation: X:10.68, Y:0.31, Z:-2.49 [[ 9.99700579e-01 -1.44806799e-02 -1.97246491e-02 1.06825169e+01] [ 1.45090927e-02 9.99893895e-01 1.29812016e-03 3.05241214e-01] [ 1.97037585e-02 -1.58391824e-03 9.99804607e-01 -2.48591455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.314553574 meters Centerline goodness [0,1] 0.780654460043773 Centerline is valid? [False, False] Translation: X:10.68, Y:0.31, Z:-2.49 [[ 9.99715240e-01 -1.38731994e-02 -1.94158215e-02 1.06813918e+01] [ 1.38993042e-02 9.99902668e-01 1.21020518e-03 3.06018426e-01] [ 1.93971423e-02 -1.47972697e-03 9.99810763e-01 -2.48633406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.344553574 meters Centerline goodness [0,1] 0.7794741758975043 Centerline is valid? [False, False] Translation: X:10.68, Y:0.31, Z:-2.49 [[ 9.99744682e-01 -1.27025930e-02 -1.86872909e-02 1.06785742e+01] [ 1.27324825e-02 9.99917841e-01 1.48134500e-03 3.06311564e-01] [ 1.86669386e-02 -1.71890239e-03 9.99824280e-01 -2.48605896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.374553574 meters Centerline goodness [0,1] 0.7807843032710405 Centerline is valid? [False, False] Translation: X:10.68, Y:0.31, Z:-2.49 [[ 9.99747176e-01 -1.25646975e-02 -1.86470596e-02 1.06784943e+01] [ 1.25949103e-02 9.99919550e-01 1.50368385e-03 3.06232523e-01] [ 1.86266661e-02 -1.73816173e-03 9.99824998e-01 -2.48618951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.404553574 meters Centerline goodness [0,1] 0.780807270783213 Centerline is valid? [False, False] Translation: X:10.68, Y:0.31, Z:-2.49 [[ 9.99748845e-01 -1.24550149e-02 -1.86311695e-02 1.06783124e+01] [ 1.24919640e-02 9.99920227e-01 1.86811540e-03 3.05441306e-01] [ 1.86064159e-02 -2.10038611e-03 9.99824679e-01 -2.48571456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.434553574 meters Centerline goodness [0,1] 0.7805040850109468 Centerline is valid? [False, False] Translation: X:10.68, Y:0.30, Z:-2.48 [[ 9.99748021e-01 -1.24453824e-02 -1.86817371e-02 1.06782698e+01] [ 1.24907079e-02 9.99919316e-01 2.31146858e-03 3.04673354e-01] [ 1.86514626e-02 -2.54423426e-03 9.99822809e-01 -2.48491422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.464553574 meters Centerline goodness [0,1] 0.7795687446626814 Centerline is valid? [False, False] Translation: X:10.68, Y:0.30, Z:-2.48 [[ 9.99747662e-01 -1.24223374e-02 -1.87162230e-02 1.06782078e+01] [ 1.24751397e-02 9.99918518e-01 2.70709319e-03 3.03828836e-01] [ 1.86810696e-02 -2.93989759e-03 9.99821171e-01 -2.48428280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49455357399995 meters Centerline goodness [0,1] 0.7723403116132141 Centerline is valid? [False, False] Translation: X:10.68, Y:0.30, Z:-2.48 [[ 9.99745536e-01 -1.25260734e-02 -1.87606020e-02 1.06783367e+01] [ 1.25896746e-02 9.99915381e-01 3.27588483e-03 3.02368413e-01] [ 1.87179805e-02 -3.51124111e-03 9.99818638e-01 -2.48345711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.524553574 meters Centerline goodness [0,1] 0.7836263588780029 Centerline is valid? [False, False] Translation: X:10.68, Y:0.30, Z:-2.48 [[ 9.99755337e-01 -1.21262403e-02 -1.84992030e-02 1.06770652e+01] [ 1.22034969e-02 9.99917255e-01 4.06905420e-03 3.00532104e-01] [ 1.84483300e-02 -4.29381362e-03 9.99820595e-01 -2.48224434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.55455357399995 meters Centerline goodness [0,1] 0.7837628314798973 Centerline is valid? [False, False] Translation: X:10.70, Y:0.30, Z:-2.49 [[ 9.99852104e-01 -1.16011405e-02 -1.26957864e-02 1.06954235e+01] [ 1.15473279e-02 9.99924066e-01 -4.30374533e-03 3.01879981e-01] [ 1.27447507e-02 4.15650642e-03 9.99910143e-01 -2.48915438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.584553574 meters Centerline goodness [0,1] 0.7840195394277739 Centerline is valid? [False, False] Translation: X:10.69, Y:0.30, Z:-2.49 [[ 9.99860104e-01 -1.12055956e-02 -1.24180471e-02 1.06943932e+01] [ 1.11577831e-02 9.99930094e-01 -3.91286424e-03 3.00891386e-01] [ 1.24610250e-02 3.77375897e-03 9.99915237e-01 -2.48885457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.61455357399996 meters Centerline goodness [0,1] 0.7812097466723916 Centerline is valid? [False, False] Translation: X:10.70, Y:0.30, Z:-2.49 [[ 9.99885571e-01 -7.89959971e-03 -1.29011998e-02 1.06960477e+01] [ 7.92111779e-03 9.99967319e-01 1.61766612e-03 2.96793603e-01] [ 1.28879992e-02 -1.71967293e-03 9.99915468e-01 -2.48638021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.644553574 meters Centerline goodness [0,1] 0.7826624056717781 Centerline is valid? [False, False] Translation: X:10.69, Y:0.30, Z:-2.49 [[ 9.99893193e-01 -7.43703817e-03 -1.25814717e-02 1.06948813e+01] [ 7.46313666e-03 9.99970093e-01 2.02868080e-03 2.95553127e-01] [ 1.25660080e-02 -2.12236136e-03 9.99918792e-01 -2.48612089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.67455357399996 meters Centerline goodness [0,1] 0.7791442411194833 Centerline is valid? [False, False] Translation: X:10.69, Y:0.29, Z:-2.49 [[ 9.99913727e-01 -5.98244001e-03 -1.16939746e-02 1.06916836e+01] [ 6.01299662e-03 9.99978595e-01 2.57961066e-03 2.93863376e-01] [ 1.16782919e-02 -2.64970394e-03 9.99928296e-01 -2.48631477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.704553574 meters Centerline goodness [0,1] 0.7791442411194833 Centerline is valid? [False, False] Translation: X:10.69, Y:0.29, Z:-2.49 [[ 9.99913727e-01 -5.98244001e-03 -1.16939746e-02 1.06916836e+01] [ 6.01299662e-03 9.99978595e-01 2.57961066e-03 2.93863376e-01] [ 1.16782919e-02 -2.64970394e-03 9.99928296e-01 -2.48631477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.73455357399996 meters Centerline goodness [0,1] 0.779997311466595 Centerline is valid? [False, False] Translation: X:10.69, Y:0.29, Z:-2.49 [[ 9.99925048e-01 -5.12661900e-03 -1.11182478e-02 1.06898811e+01] [ 5.15477302e-03 9.99983576e-01 2.50505819e-03 2.93544724e-01] [ 1.11052228e-02 -2.56218247e-03 9.99935053e-01 -2.48729272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.764553574 meters Centerline goodness [0,1] 0.7757132840731352 Centerline is valid? [False, False] Translation: X:10.68, Y:0.29, Z:-2.49 [[ 9.99954999e-01 -2.14625687e-03 -9.24081156e-03 1.06831572e+01] [ 2.16610398e-03 9.99995368e-01 2.13829382e-03 2.92786102e-01] [ 9.23617943e-03 -2.15821416e-03 9.99955017e-01 -2.48990069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.79455357399996 meters Centerline goodness [0,1] 0.7766003343579788 Centerline is valid? [False, False] Translation: X:10.68, Y:0.29, Z:-2.49 [[ 9.99962217e-01 -1.26437890e-03 -8.60040160e-03 1.06810907e+01] [ 1.28437569e-03 9.99996484e-01 2.31997345e-03 2.91939582e-01] [ 8.59743804e-03 -2.33093194e-03 9.99960325e-01 -2.49027765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.824553574 meters Centerline goodness [0,1] 0.7740298990771224 Centerline is valid? [False, False] Translation: X:10.68, Y:0.29, Z:-2.49 [[ 9.99967306e-01 -4.93574632e-04 -8.07115545e-03 1.06792956e+01] [ 5.14782035e-04 9.99996420e-01 2.62568848e-03 2.90722477e-01] [ 8.06983059e-03 -2.62975752e-03 9.99963980e-01 -2.49046920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.85455357399997 meters Centerline goodness [0,1] 0.7759119547875937 Centerline is valid? [False, False] Translation: X:10.68, Y:0.29, Z:-2.49 [[ 9.99971621e-01 1.92878566e-04 -7.53132600e-03 1.06778615e+01] [-1.68915915e-04 9.99994922e-01 3.18223714e-03 2.87738207e-01] [ 7.53190154e-03 -3.18087467e-03 9.99966576e-01 -2.49097971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.884553574 meters Centerline goodness [0,1] 0.7757625050833672 Centerline is valid? [False, False] Translation: X:10.68, Y:0.29, Z:-2.49 [[ 9.99970810e-01 -3.68618924e-05 -7.64051223e-03 1.06784793e+01] [ 6.37220549e-05 9.99993819e-01 3.51527875e-03 2.85721755e-01] [ 7.64033543e-03 -3.51566301e-03 9.99964632e-01 -2.49098989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.91455357399997 meters Centerline goodness [0,1] 0.7757184336924371 Centerline is valid? [False, False] Translation: X:10.68, Y:0.28, Z:-2.49 [[ 9.99971765e-01 -1.91717949e-05 -7.51452421e-03 1.06780567e+01] [ 4.87147642e-05 9.99992271e-01 3.93128576e-03 2.83929545e-01] [ 7.51439076e-03 -3.93154083e-03 9.99964038e-01 -2.49044365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.944553574 meters Centerline goodness [0,1] 0.7759869316634903 Centerline is valid? [False, False] Translation: X:10.68, Y:0.28, Z:-2.49 [[ 9.99964392e-01 -1.27911444e-03 -8.34142495e-03 1.06814834e+01] [ 1.31329573e-03 9.99990759e-01 4.09358690e-03 2.82002784e-01] [ 8.33611170e-03 -4.10439590e-03 9.99956831e-01 -2.49059113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.97455357399997 meters Centerline goodness [0,1] 0.7763927614673883 Centerline is valid? [False, False] Translation: X:10.69, Y:0.28, Z:-2.49 [[ 9.99937137e-01 -6.67611226e-03 -9.00842403e-03 1.06850812e+01] [ 6.67005619e-03 9.99977508e-01 -7.02143647e-04 2.81184639e-01] [ 9.01290901e-03 6.42012814e-04 9.99959177e-01 -2.49293128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.004553574 meters Centerline goodness [0,1] 0.7750778986497567 Centerline is valid? [False, False] Translation: X:10.69, Y:0.28, Z:-2.49 [[ 9.99913389e-01 -8.37270174e-03 -1.01543920e-02 1.06897158e+01] [ 8.36788585e-03 9.99964855e-01 -5.16661066e-04 2.79605757e-01] [ 1.01583610e-02 4.31645525e-04 9.99948309e-01 -2.49291701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.034553574 meters Centerline goodness [0,1] 0.776406712734452 Centerline is valid? [False, False] Translation: X:10.70, Y:0.28, Z:-2.49 [[ 9.99847662e-01 -1.26645553e-02 -1.20108994e-02 1.06991649e+01] [ 1.26711121e-02 9.99919608e-01 4.69956392e-04 2.76471672e-01] [ 1.20039820e-02 -6.22076251e-04 9.99927756e-01 -2.49038018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.064553574 meters Centerline goodness [0,1] 0.7760074719116556 Centerline is valid? [False, False] Translation: X:10.70, Y:0.27, Z:-2.49 [[ 9.99816903e-01 -1.40711006e-02 -1.29677935e-02 1.07028656e+01] [ 1.40829615e-02 9.99900491e-01 8.23772474e-04 2.74858751e-01] [ 1.29549117e-02 -1.00624658e-03 9.99915575e-01 -2.48978825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.094553574 meters Centerline goodness [0,1] 0.775932352779155 Centerline is valid? [False, False] Translation: X:10.71, Y:0.27, Z:-2.49 [[ 9.99753054e-01 -1.68519454e-02 -1.44859520e-02 1.07096422e+01] [ 1.68670889e-02 9.99857314e-01 9.23845933e-04 2.73173573e-01] [ 1.44683164e-02 -1.16795363e-03 9.99894646e-01 -2.48955030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.124553574 meters Centerline goodness [0,1] 0.7759633685488098 Centerline is valid? [False, False] Translation: X:10.71, Y:0.27, Z:-2.49 [[ 9.99734930e-01 -1.74848808e-02 -1.49782795e-02 1.07114847e+01] [ 1.75034072e-02 9.99846191e-01 1.10667563e-03 2.72499689e-01] [ 1.49566256e-02 -1.36855321e-03 9.99887207e-01 -2.48931953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.154553574 meters Centerline goodness [0,1] 0.7756689655172414 Centerline is valid? [False, False] Translation: X:10.71, Y:0.27, Z:-2.49 [[ 9.99731805e-01 -1.75611581e-02 -1.50971251e-02 1.07118783e+01] [ 1.75823861e-02 9.99844606e-01 1.27450495e-03 2.72197447e-01] [ 1.50723973e-02 -1.53960662e-03 9.99885220e-01 -2.48914897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.184553574 meters Centerline goodness [0,1] 0.777370754950836 Centerline is valid? [False, False] Translation: X:10.71, Y:0.27, Z:-2.49 [[ 9.99740362e-01 -1.72281028e-02 -1.49131309e-02 1.07112764e+01] [ 1.72476618e-02 9.99850547e-01 1.18390142e-03 2.72790031e-01] [ 1.48905058e-02 -1.44081067e-03 9.99888092e-01 -2.48947411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.214553574 meters Centerline goodness [0,1] 0.7753040327229802 Centerline is valid? [False, False] Translation: X:10.71, Y:0.27, Z:-2.49 [[ 9.99779042e-01 -1.39472543e-02 -1.57271000e-02 1.07136497e+01] [ 1.40425961e-02 9.99883586e-01 5.96820965e-03 2.71411380e-01] [ 1.56420290e-02 -6.18774024e-03 9.99858509e-01 -2.48787041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.24455357399995 meters Centerline goodness [0,1] 0.7762583408847517 Centerline is valid? [False, False] Translation: X:10.71, Y:0.27, Z:-2.49 [[ 9.99814954e-01 -1.22986969e-02 -1.47918723e-02 1.07098463e+01] [ 1.23856445e-02 9.99906468e-01 5.80088612e-03 2.72476671e-01] [ 1.47191455e-02 -5.98301956e-03 9.99873767e-01 -2.48845842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.274553574 meters Centerline goodness [0,1] 0.773652267047483 Centerline is valid? [False, False] Translation: X:10.71, Y:0.27, Z:-2.49 [[ 9.99832547e-01 -1.14428331e-02 -1.42807063e-02 1.07078888e+01] [ 1.15250435e-02 9.99917408e-01 5.68778367e-03 2.73024857e-01] [ 1.42144425e-02 -5.85141700e-03 9.99881848e-01 -2.48889586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.30455357399995 meters Centerline goodness [0,1] 0.7765344742471614 Centerline is valid? [False, False] Translation: X:10.70, Y:0.28, Z:-2.49 [[ 9.99874679e-01 -9.00302309e-03 -1.30220090e-02 1.07028753e+01] [ 9.05356717e-03 9.99951690e-01 3.82770546e-03 2.75819607e-01] [ 1.29869190e-02 -3.94512140e-03 9.99907884e-01 -2.49353020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.334553574 meters Centerline goodness [0,1] 0.775622585682584 Centerline is valid? [False, False] Translation: X:10.70, Y:0.28, Z:-2.49 [[ 9.99891566e-01 -7.96126421e-03 -1.23884827e-02 1.07007302e+01] [ 8.00392293e-03 9.99962196e-01 3.39765534e-03 2.76983447e-01] [ 1.23609648e-02 -3.49644338e-03 9.99917487e-01 -2.49480740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.36455357399996 meters Centerline goodness [0,1] 0.7743140432310692 Centerline is valid? [False, False] Translation: X:10.69, Y:0.28, Z:-2.50 [[ 9.99925700e-01 -5.36917954e-03 -1.09437480e-02 1.06949638e+01] [ 5.38778665e-03 9.99984089e-01 1.67147721e-03 2.79089666e-01] [ 1.09345995e-02 -1.73031560e-03 9.99938718e-01 -2.49927839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.394553574 meters Centerline goodness [0,1] 0.774362489717576 Centerline is valid? [False, False] Translation: X:10.69, Y:0.28, Z:-2.50 [[ 9.99935032e-01 -4.54836965e-03 -1.04519477e-02 1.06930815e+01] [ 4.56571444e-03 9.99988238e-01 1.63621745e-03 2.79631060e-01] [ 1.04443827e-02 -1.68383176e-03 9.99944038e-01 -2.49954350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.42455357399996 meters Centerline goodness [0,1] 0.7731613611416026 Centerline is valid? [False, False] Translation: X:10.69, Y:0.28, Z:-2.50 [[ 9.99945116e-01 -3.62411615e-03 -9.83007956e-03 1.06906101e+01] [ 3.64199055e-03 9.99991746e-01 1.80104650e-03 2.79978485e-01] [ 9.82347122e-03 -1.83674871e-03 9.99950062e-01 -2.49922710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.454553574 meters Centerline goodness [0,1] 0.7764928338494423 Centerline is valid? [False, False] Translation: X:10.68, Y:0.28, Z:-2.50 [[ 9.99962413e-01 -1.64636154e-03 -8.51252233e-03 1.06848180e+01] [ 1.67043103e-03 9.99994625e-01 2.82120279e-03 2.79330642e-01] [ 8.50783185e-03 -2.83531633e-03 9.99959788e-01 -2.49689801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.48455357399996 meters Centerline goodness [0,1] 0.7786829040840396 Centerline is valid? [False, False] Translation: X:10.68, Y:0.28, Z:-2.49 [[ 9.99972214e-01 -1.10806269e-04 -7.45383998e-03 1.06800273e+01] [ 1.38929532e-04 9.99992874e-01 3.77257798e-03 2.78709565e-01] [ 7.45336884e-03 -3.77350872e-03 9.99965103e-01 -2.49449444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.514553574 meters Centerline goodness [0,1] 0.7687489698368222 Centerline is valid? [False, False] Translation: X:10.68, Y:0.28, Z:-2.49 [[ 9.99974845e-01 3.67398969e-04 -7.08333528e-03 1.06785197e+01] [-3.39624521e-04 9.99992252e-01 3.92190166e-03 2.78971666e-01] [ 7.08472130e-03 -3.91939733e-03 9.99967222e-01 -2.49398900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.54455357399996 meters Centerline goodness [0,1] 0.7777564190580805 Centerline is valid? [False, False] Translation: X:10.68, Y:0.28, Z:-2.49 [[ 9.99975975e-01 5.11195312e-04 -6.91293133e-03 1.06781951e+01] [-4.85893148e-04 9.99993179e-01 3.66130522e-03 2.79419693e-01] [ 6.91475582e-03 -3.65785831e-03 9.99969403e-01 -2.49468517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.574553574 meters Centerline goodness [0,1] 0.7797587978352243 Centerline is valid? [False, False] Translation: X:10.68, Y:0.28, Z:-2.50 [[ 9.99975597e-01 4.01239135e-04 -6.97457569e-03 1.06786049e+01] [-3.76727565e-04 9.99993750e-01 3.51537591e-03 2.79172296e-01] [ 6.97594261e-03 -3.51266261e-03 9.99969498e-01 -2.49523528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.60455357399997 meters Centerline goodness [0,1] 0.7712723576118911 Centerline is valid? [False, False] Translation: X:10.68, Y:0.28, Z:-2.50 [[ 9.99974992e-01 2.29028377e-04 -7.06849310e-03 1.06791496e+01] [-2.04709566e-04 9.99994059e-01 3.44098362e-03 2.78790311e-01] [ 7.06923919e-03 -3.43945058e-03 9.99969098e-01 -2.49563639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.634553574 meters Centerline goodness [0,1] 0.7747660979636763 Centerline is valid? [False, False] Translation: X:10.68, Y:0.28, Z:-2.50 [[ 9.99968392e-01 -1.00217156e-03 -7.88739332e-03 1.06828456e+01] [ 1.02719092e-03 9.99994452e-01 3.16865819e-03 2.77522324e-01] [ 7.88417402e-03 -3.17665989e-03 9.99963874e-01 -2.49693263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.66455357399997 meters Centerline goodness [0,1] 0.768788195782635 Centerline is valid? [False, False] Translation: X:10.69, Y:0.28, Z:-2.50 [[ 9.99960418e-01 -2.04958362e-03 -8.65809489e-03 1.06861854e+01] [ 2.07530857e-03 9.99993456e-01 2.96326323e-03 2.76344113e-01] [ 8.65196477e-03 -2.98111415e-03 9.99958127e-01 -2.49802715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.694553574 meters Centerline goodness [0,1] 0.7719573227740197 Centerline is valid? [False, False] Translation: X:10.69, Y:0.27, Z:-2.50 [[ 9.99937189e-01 -4.70200237e-03 -1.01739425e-02 1.06933768e+01] [ 4.72790653e-03 9.99985639e-01 2.52357608e-03 2.74240425e-01] [ 1.01619305e-02 -2.57151902e-03 9.99945060e-01 -2.49973740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.72455357399997 meters Centerline goodness [0,1] 0.770404376391676 Centerline is valid? [False, False] Translation: X:10.69, Y:0.28, Z:-2.50 [[ 9.99939093e-01 -4.45598499e-03 -1.00972527e-02 1.06927571e+01] [ 4.48133330e-03 9.99986861e-01 2.48918284e-03 2.75067956e-01] [ 1.00860283e-02 -2.53428039e-03 9.99945923e-01 -2.49931864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.754553574 meters Centerline goodness [0,1] 0.7731539939610211 Centerline is valid? [False, False] Translation: X:10.70, Y:0.28, Z:-2.50 [[ 9.99927174e-01 -5.41419369e-03 -1.07857918e-02 1.06953515e+01] [ 5.43942806e-03 9.99982534e-01 2.31163390e-03 2.75511286e-01] [ 1.07730878e-02 -2.37013409e-03 9.99939160e-01 -2.49921607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.784553574 meters Centerline goodness [0,1] 0.7786959505833906 Centerline is valid? [False, False] Translation: X:10.70, Y:0.28, Z:-2.50 [[ 9.99916331e-01 -6.18121846e-03 -1.13632939e-02 1.06976532e+01] [ 6.20589821e-03 9.99978458e-01 2.13790752e-03 2.75955167e-01] [ 1.13498342e-02 -2.20824809e-03 9.99933150e-01 -2.49946169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.814553574 meters Centerline goodness [0,1] 0.7675763055509891 Centerline is valid? [False, False] Translation: X:10.70, Y:0.28, Z:-2.50 [[ 9.99901740e-01 -7.12235059e-03 -1.20740636e-02 1.07003978e+01] [ 7.14571934e-03 9.99972676e-01 1.89341516e-03 2.76385779e-01] [ 1.20602481e-02 -1.97950698e-03 9.99925313e-01 -2.49980245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.844553574 meters Centerline goodness [0,1] 0.7766319253976961 Centerline is valid? [False, False] Translation: X:10.71, Y:0.28, Z:-2.50 [[ 9.99867132e-01 -9.18692338e-03 -1.34654664e-02 1.07057105e+01] [ 9.21035533e-03 9.99956174e-01 1.67917031e-03 2.76454865e-01] [ 1.34494499e-02 -1.80296893e-03 9.99907927e-01 -2.49965133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.874553574 meters Centerline goodness [0,1] 0.7780339839139148 Centerline is valid? [False, False] Translation: X:10.71, Y:0.28, Z:-2.50 [[ 9.99840144e-01 -1.05507928e-02 -1.44349011e-02 1.07088711e+01] [ 1.05840664e-02 9.99941499e-01 2.23062913e-03 2.75390246e-01] [ 1.44105217e-02 -2.38305251e-03 9.99893323e-01 -2.49783342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.904553574 meters Centerline goodness [0,1] 0.7783813443072702 Centerline is valid? [False, False] Translation: X:10.71, Y:0.27, Z:-2.50 [[ 9.99829167e-01 -1.10303748e-02 -1.48312881e-02 1.07102512e+01] [ 1.10668232e-02 9.99935934e-01 2.37771214e-03 2.74956396e-01] [ 1.48041108e-02 -2.54144119e-03 9.99887183e-01 -2.49750592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.934553574 meters Centerline goodness [0,1] 0.7789577945303472 Centerline is valid? [False, False] Translation: X:10.71, Y:0.27, Z:-2.50 [[ 9.99806969e-01 -1.19765714e-02 -1.55751740e-02 1.07133099e+01] [ 1.20113318e-02 9.99925571e-01 2.14014691e-03 2.74834686e-01] [ 1.55483832e-02 -2.32681238e-03 9.99876409e-01 -2.49831174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.964553574 meters Centerline goodness [0,1] 0.7680546787076941 Centerline is valid? [False, False] Translation: X:10.71, Y:0.27, Z:-2.50 [[ 9.99797122e-01 -1.23554271e-02 -1.59078347e-02 1.07147118e+01] [ 1.23895477e-02 9.99921149e-01 2.04812999e-03 2.74957170e-01] [ 1.58812748e-02 -2.24480535e-03 9.99871365e-01 -2.49869208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99455357399995 meters Centerline goodness [0,1] 0.7782415289142732 Centerline is valid? [False, False] Translation: X:10.71, Y:0.27, Z:-2.50 [[ 9.99799860e-01 -1.21831758e-02 -1.58685121e-02 1.07143256e+01] [ 1.22216607e-02 9.99922597e-01 2.33052027e-03 2.74868659e-01] [ 1.58388907e-02 -2.52399341e-03 9.99871371e-01 -2.49811276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.024553574 meters Centerline goodness [0,1] 0.7612350291176794 Centerline is valid? [False, False] Translation: X:10.71, Y:0.27, Z:-2.50 [[ 9.99807440e-01 -1.18228411e-02 -1.56621656e-02 1.07132640e+01] [ 1.18670765e-02 9.99925845e-01 2.73442911e-03 2.74399105e-01] [ 1.56286754e-02 -2.91976669e-03 9.99873602e-01 -2.49724475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.05455357399995 meters Centerline goodness [0,1] 0.7817957166392092 Centerline is valid? [False, False] Translation: X:10.71, Y:0.27, Z:-2.50 [[ 9.99827216e-01 -1.08879602e-02 -1.50662231e-02 1.07104512e+01] [ 1.09383554e-02 9.99934839e-01 3.26655578e-03 2.73938497e-01] [ 1.50296752e-02 -3.43079107e-03 9.99881162e-01 -2.49590251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.084553574 meters Centerline goodness [0,1] 0.7822004434832599 Centerline is valid? [False, False] Translation: X:10.71, Y:0.27, Z:-2.50 [[ 9.99832858e-01 -1.05760603e-02 -1.49131639e-02 1.07098022e+01] [ 1.06257797e-02 9.99938235e-01 3.25863733e-03 2.74280713e-01] [ 1.48777792e-02 -3.41655667e-03 9.99883483e-01 -2.49594371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.11455357399996 meters Centerline goodness [0,1] 0.7833173537871525 Centerline is valid? [False, False] Translation: X:10.71, Y:0.27, Z:-2.50 [[ 9.99834904e-01 -1.04528835e-02 -1.48627751e-02 1.07098628e+01] [ 1.04986996e-02 9.99940363e-01 3.00792735e-03 2.74729313e-01] [ 1.48304472e-02 -3.16347056e-03 9.99885019e-01 -2.49672219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.144553574 meters Centerline goodness [0,1] 0.7841946951052776 Centerline is valid? [False, False] Translation: X:10.71, Y:0.28, Z:-2.50 [[ 9.99839303e-01 -1.01964480e-02 -1.47445272e-02 1.07098130e+01] [ 1.02353669e-02 9.99944324e-01 2.56649564e-03 2.75677847e-01] [ 1.47175371e-02 -2.71699886e-03 9.99888000e-01 -2.49810751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.17455357399996 meters Centerline goodness [0,1] 0.7824162614064805 Centerline is valid? [False, False] Translation: X:10.71, Y:0.28, Z:-2.50 [[ 9.99847982e-01 -9.68822309e-03 -1.44965643e-02 1.07087092e+01] [ 9.72483165e-03 9.99949694e-01 2.45696749e-03 2.76777242e-01] [ 1.44720314e-02 -2.59757063e-03 9.99891901e-01 -2.49811471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.204553574 meters Centerline goodness [0,1] 0.7828766189502385 Centerline is valid? [False, False] Translation: X:10.71, Y:0.28, Z:-2.50 [[ 9.99867063e-01 -8.51789077e-03 -1.39033165e-02 1.07058937e+01] [ 8.55287793e-03 9.99960400e-01 2.45894364e-03 2.78727916e-01] [ 1.38818209e-02 -2.57753013e-03 9.99900321e-01 -2.49760389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.23455357399996 meters Centerline goodness [0,1] 0.7827766293112828 Centerline is valid? [False, False] Translation: X:10.70, Y:0.28, Z:-2.50 [[ 9.99878873e-01 -7.79262083e-03 -1.34727405e-02 1.07040818e+01] [ 7.82446812e-03 9.99966714e-01 2.31273824e-03 2.80445357e-01] [ 1.34542698e-02 -2.41787513e-03 9.99906564e-01 -2.49750056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.264553574 meters Centerline goodness [0,1] 0.7815214743849963 Centerline is valid? [False, False] Translation: X:10.70, Y:0.28, Z:-2.50 [[ 9.99893027e-01 -6.77565870e-03 -1.29624718e-02 1.07020392e+01] [ 6.79726695e-03 9.99975580e-01 1.62365536e-03 2.84196128e-01] [ 1.29511539e-02 -1.71159105e-03 9.99914665e-01 -2.49847210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.29455357399996 meters Centerline goodness [0,1] 0.7804002052334531 Centerline is valid? [False, False] Translation: X:10.70, Y:0.29, Z:-2.50 [[ 9.99892852e-01 -6.75428734e-03 -1.29870924e-02 1.07022795e+01] [ 6.77038087e-03 9.99976366e-01 1.19562732e-03 2.85927509e-01] [ 1.29787098e-02 -1.28342677e-03 9.99914949e-01 -2.49904845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.324553574 meters Centerline goodness [0,1] 0.7800770619459488 Centerline is valid? [False, False] Translation: X:10.70, Y:0.29, Z:-2.50 [[ 9.99890275e-01 -6.91702837e-03 -1.30993300e-02 1.07027138e+01] [ 6.92861663e-03 9.99975644e-01 8.39470060e-04 2.87622357e-01] [ 1.30932043e-02 -9.30138185e-04 9.99913848e-01 -2.49923971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.35455357399997 meters Centerline goodness [0,1] 0.7792564655172414 Centerline is valid? [False, False] Translation: X:10.70, Y:0.29, Z:-2.50 [[ 9.99880472e-01 -7.49371378e-03 -1.35235289e-02 1.07037132e+01] [ 7.51307832e-03 9.99970822e-01 1.38167900e-03 2.87152150e-01] [ 1.35127804e-02 -1.48311718e-03 9.99907598e-01 -2.49736376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.384553574 meters Centerline goodness [0,1] 0.7802200758696763 Centerline is valid? [False, False] Translation: X:10.70, Y:0.29, Z:-2.50 [[ 9.99872994e-01 -7.89041868e-03 -1.38469061e-02 1.07046433e+01] [ 7.91510398e-03 9.99967181e-01 1.72883334e-03 2.86568767e-01] [ 1.38328105e-02 -1.83821347e-03 9.99902632e-01 -2.49642603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.41455357399997 meters Centerline goodness [0,1] 0.7787262690184462 Centerline is valid? [False, False] Translation: X:10.71, Y:0.29, Z:-2.50 [[ 9.99862781e-01 -8.43429542e-03 -1.42577243e-02 1.07060582e+01] [ 8.46275444e-03 9.99962314e-01 1.93688770e-03 2.86056445e-01] [ 1.42408507e-02 -2.05728154e-03 9.99896478e-01 -2.49588906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.444553574 meters Centerline goodness [0,1] 0.7806930293825103 Centerline is valid? [False, False] Translation: X:10.71, Y:0.29, Z:-2.50 [[ 9.99832277e-01 -1.00638389e-02 -1.53015690e-02 1.07100719e+01] [ 1.00955548e-02 9.99947045e-01 1.99689387e-03 2.85423891e-01] [ 1.52806623e-02 -2.15103677e-03 9.99880930e-01 -2.49549517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.47455357399997 meters Centerline goodness [0,1] 0.7796113634531137 Centerline is valid? [False, False] Translation: X:10.71, Y:0.29, Z:-2.50 [[ 9.99814381e-01 -1.08781021e-02 -1.59019171e-02 1.07123807e+01] [ 1.09122662e-02 9.99938331e-01 2.06323906e-03 2.85046782e-01] [ 1.58784923e-02 -2.23638203e-03 9.99871428e-01 -2.49539904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.504553574 meters Centerline goodness [0,1] 0.7830511212210945 Centerline is valid? [False, False] Translation: X:10.72, Y:0.28, Z:-2.50 [[ 9.99777532e-01 -1.25586847e-02 -1.69459873e-02 1.07164968e+01] [ 1.25962043e-02 9.99918440e-01 2.10915041e-03 2.84087972e-01] [ 1.69181170e-02 -2.32213631e-03 9.99854182e-01 -2.49511005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.534553574 meters Centerline goodness [0,1] 0.7821036782103679 Centerline is valid? [False, False] Translation: X:10.72, Y:0.28, Z:-2.49 [[ 9.99764689e-01 -1.30225545e-02 -1.73487833e-02 1.07177838e+01] [ 1.30672697e-02 9.99911577e-01 2.46656063e-03 2.83348414e-01] [ 1.73151284e-02 -2.69268145e-03 9.99846456e-01 -2.49435095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.564553574 meters Centerline goodness [0,1] 0.7805654472860688 Centerline is valid? [False, False] Translation: X:10.72, Y:0.28, Z:-2.49 [[ 9.99743702e-01 -1.38123558e-02 -1.79373492e-02 1.07196595e+01] [ 1.38659806e-02 9.99899748e-01 2.86863601e-03 2.82677887e-01] [ 1.78959283e-02 -3.11661972e-03 9.99834998e-01 -2.49309874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.594553574 meters Centerline goodness [0,1] 0.7805654472860688 Centerline is valid? [False, False] Translation: X:10.72, Y:0.28, Z:-2.49 [[ 9.99743702e-01 -1.38123558e-02 -1.79373492e-02 1.07196595e+01] [ 1.38659806e-02 9.99899748e-01 2.86863601e-03 2.82677887e-01] [ 1.78959283e-02 -3.11661972e-03 9.99834998e-01 -2.49309874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.624553574 meters Centerline goodness [0,1] 0.7820630465292022 Centerline is valid? [False, False] Translation: X:10.72, Y:0.28, Z:-2.49 [[ 9.99742348e-01 -1.38224104e-02 -1.80049688e-02 1.07197264e+01] [ 1.38793437e-02 9.99899053e-01 3.04097208e-03 2.82611256e-01] [ 1.79611177e-02 -3.29008572e-03 9.99833273e-01 -2.49263655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.654553574 meters Centerline goodness [0,1] 0.7825653193841507 Centerline is valid? [False, False] Translation: X:10.72, Y:0.28, Z:-2.49 [[ 9.99745586e-01 -1.36801892e-02 -1.79336408e-02 1.07194089e+01] [ 1.37358286e-02 9.99901209e-01 2.98301482e-03 2.83016654e-01] [ 1.78910609e-02 -3.22858931e-03 9.99834729e-01 -2.49267174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.684553574 meters Centerline goodness [0,1] 0.7835702149464656 Centerline is valid? [False, False] Translation: X:10.72, Y:0.28, Z:-2.49 [[ 9.99771632e-01 -1.26080367e-02 -1.72545772e-02 1.07165102e+01] [ 1.26638904e-02 9.99914906e-01 3.13160781e-03 2.83995845e-01] [ 1.72136256e-02 -3.34940273e-03 9.99846224e-01 -2.49216660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.714553574 meters Centerline goodness [0,1] 0.7820967741935484 Centerline is valid? [False, False] Translation: X:10.72, Y:0.28, Z:-2.49 [[ 9.99808689e-01 -8.63981563e-03 -1.75481972e-02 1.07171286e+01] [ 8.77202780e-03 9.99933614e-01 7.47128327e-03 2.84024747e-01] [ 1.74824817e-02 -7.62378721e-03 9.99818104e-01 -2.49126116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.74455357399995 meters Centerline goodness [0,1] 0.7802629102932874 Centerline is valid? [False, False] Translation: X:10.72, Y:0.28, Z:-2.49 [[ 9.99819699e-01 -8.10010020e-03 -1.71743089e-02 1.07159289e+01] [ 8.22379218e-03 9.99940666e-01 7.14380060e-03 2.84922517e-01] [ 1.71154244e-02 -7.28375051e-03 9.99826990e-01 -2.49200107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.774553574 meters Centerline goodness [0,1] 0.783222234168369 Centerline is valid? [False, False] Translation: X:10.72, Y:0.29, Z:-2.49 [[ 9.99827875e-01 -7.69474750e-03 -1.68822587e-02 1.07150553e+01] [ 7.80891885e-03 9.99947015e-01 6.70733382e-03 2.85771973e-01] [ 1.68297530e-02 -6.83801151e-03 9.99834987e-01 -2.49288819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.80455357399995 meters Centerline goodness [0,1] 0.7813044060533012 Centerline is valid? [False, False] Translation: X:10.71, Y:0.29, Z:-2.49 [[ 9.99839465e-01 -7.04955343e-03 -1.64726674e-02 1.07135335e+01] [ 7.15780554e-03 9.99953114e-01 6.52192799e-03 2.86319828e-01] [ 1.64259184e-02 -6.63878914e-03 9.99843046e-01 -2.49333954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.834553574 meters Centerline goodness [0,1] 0.7820348058902276 Centerline is valid? [False, False] Translation: X:10.71, Y:0.29, Z:-2.49 [[ 9.99840147e-01 -6.99695155e-03 -1.64536933e-02 1.07135148e+01] [ 7.10490921e-03 9.99953556e-01 6.51202659e-03 2.86277797e-01] [ 1.64073648e-02 -6.62788761e-03 9.99843422e-01 -2.49337868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.86455357399996 meters Centerline goodness [0,1] 0.7808237532491894 Centerline is valid? [False, False] Translation: X:10.72, Y:0.29, Z:-2.49 [[ 9.99829177e-01 -7.55616143e-03 -1.68677812e-02 1.07151848e+01] [ 7.66813154e-03 9.99948928e-01 6.58332726e-03 2.85397002e-01] [ 1.68171750e-02 -6.71154703e-03 9.99836055e-01 -2.49357823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.894553574 meters Centerline goodness [0,1] 0.7824665755700239 Centerline is valid? [False, False] Translation: X:10.72, Y:0.29, Z:-2.49 [[ 9.99818480e-01 -8.10082444e-03 -1.72448377e-02 1.07169129e+01] [ 8.21104494e-03 9.99946251e-01 6.33032565e-03 2.85447702e-01] [ 1.71926300e-02 -6.47077471e-03 9.99831257e-01 -2.49430002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.92455357399996 meters Centerline goodness [0,1] 0.7813111677168522 Centerline is valid? [False, False] Translation: X:10.72, Y:0.29, Z:-2.50 [[ 9.99804551e-01 -8.75065001e-03 -1.77281250e-02 1.07190807e+01] [ 8.85723518e-03 9.99943116e-01 5.94263684e-03 2.85674596e-01] [ 1.76751147e-02 -6.09849753e-03 9.99825184e-01 -2.49537786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.954553574 meters Centerline goodness [0,1] 0.7838426187212771 Centerline is valid? [False, False] Translation: X:10.72, Y:0.29, Z:-2.50 [[ 9.99782668e-01 -9.73792402e-03 -1.84333805e-02 1.07218949e+01] [ 9.84560159e-03 9.99934943e-01 5.75973166e-03 2.85534170e-01] [ 1.83760934e-02 -5.93996761e-03 9.99813501e-01 -2.49578925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.98455357399996 meters Centerline goodness [0,1] 0.7811868652856719 Centerline is valid? [False, False] Translation: X:10.72, Y:0.28, Z:-2.49 [[ 9.99771926e-01 -1.02210449e-02 -1.87517103e-02 1.07227545e+01] [ 1.03375306e-02 9.99927804e-01 6.12562169e-03 2.84398125e-01] [ 1.86877462e-02 -6.31807098e-03 9.99805406e-01 -2.49462260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.014553574 meters Centerline goodness [0,1] 0.7839602784823789 Centerline is valid? [False, False] Translation: X:10.72, Y:0.28, Z:-2.49 [[ 9.99772302e-01 -1.01424074e-02 -1.87743426e-02 1.07224215e+01] [ 1.02648682e-02 9.99926590e-01 6.43793611e-03 2.83918669e-01] [ 1.87076682e-02 -6.62918635e-03 9.99803019e-01 -2.49378309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.04455357399996 meters Centerline goodness [0,1] 0.7844193626592678 Centerline is valid? [False, False] Translation: X:10.72, Y:0.29, Z:-2.49 [[ 9.99780411e-01 -9.76970645e-03 -1.85386816e-02 1.07215268e+01] [ 9.88251060e-03 9.99933148e-01 6.00297191e-03 2.85490036e-01] [ 1.84787950e-02 -6.18486244e-03 9.99810123e-01 -2.49431801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.074553574 meters Centerline goodness [0,1] 0.7844459368703828 Centerline is valid? [False, False] Translation: X:10.72, Y:0.29, Z:-2.50 [[ 9.99780747e-01 -9.74463466e-03 -1.85337454e-02 1.07218165e+01] [ 9.84728619e-03 9.99936632e-01 5.45545296e-03 2.86747613e-01] [ 1.84794095e-02 -5.63676393e-03 9.99813352e-01 -2.49540877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.10455357399997 meters Centerline goodness [0,1] 0.7880263688954662 Centerline is valid? [False, False] Translation: X:10.72, Y:0.29, Z:-2.50 [[ 9.99792362e-01 -9.14942567e-03 -1.82077118e-02 1.07207106e+01] [ 9.23772297e-03 9.99945948e-01 4.77126052e-03 2.88785188e-01] [ 1.81630733e-02 -4.93846762e-03 9.99822841e-01 -2.49674541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.134553574 meters Centerline goodness [0,1] 0.7888138602674127 Centerline is valid? [False, False] Translation: X:10.72, Y:0.29, Z:-2.50 [[ 9.99797814e-01 -8.86980807e-03 -1.80459670e-02 1.07201650e+01] [ 8.95327330e-03 9.99949569e-01 4.54962175e-03 2.89548125e-01] [ 1.80047026e-02 -4.71027235e-03 9.99826807e-01 -2.49712866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.16455357399997 meters Centerline goodness [0,1] 0.7879391037710474 Centerline is valid? [False, False] Translation: X:10.72, Y:0.29, Z:-2.50 [[ 9.99811154e-01 -8.16559746e-03 -1.76346069e-02 1.07185320e+01] [ 8.24257443e-03 9.99956798e-01 4.29684501e-03 2.90355919e-01] [ 1.75987588e-02 -4.44138813e-03 9.99835265e-01 -2.49758148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.194553574 meters Centerline goodness [0,1] 0.7870976394849786 Centerline is valid? [False, False] Translation: X:10.72, Y:0.29, Z:-2.50 [[ 9.99809667e-01 -8.24469005e-03 -1.76820364e-02 1.07190132e+01] [ 8.31637487e-03 9.99957480e-01 3.98441090e-03 2.90805865e-01] [ 1.76484344e-02 -4.13070298e-03 9.99835722e-01 -2.49829715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.22455357399997 meters Centerline goodness [0,1] 0.7867009315772566 Centerline is valid? [False, False] Translation: X:10.72, Y:0.29, Z:-2.50 [[ 9.99818806e-01 -7.73478120e-03 -1.73933201e-02 1.07180439e+01] [ 7.80169272e-03 9.99962413e-01 3.78240796e-03 2.91438702e-01] [ 1.73634102e-02 -3.91741995e-03 9.99841570e-01 -2.49899130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.254553574 meters Centerline goodness [0,1] 0.7871552741710484 Centerline is valid? [False, False] Translation: X:10.72, Y:0.29, Z:-2.50 [[ 9.99823352e-01 -7.47461810e-03 -1.72451483e-02 1.07174187e+01] [ 7.54318703e-03 9.99963888e-01 3.91451312e-03 2.91396712e-01] [ 1.72152661e-02 -4.04390501e-03 9.99843628e-01 -2.49879910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.284553574 meters Centerline goodness [0,1] 0.7861843865375354 Centerline is valid? [False, False] Translation: X:10.72, Y:0.29, Z:-2.50 [[ 9.99834065e-01 -6.92022050e-03 -1.68508792e-02 1.07158429e+01] [ 6.99018488e-03 9.99967177e-01 4.09661770e-03 2.91101356e-01] [ 1.68219766e-02 -4.21372869e-03 9.99849621e-01 -2.49841463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.314553574 meters Centerline goodness [0,1] 0.7878852739726028 Centerline is valid? [False, False] Translation: X:10.71, Y:0.29, Z:-2.50 [[ 9.99854331e-01 -5.75573313e-03 -1.60682326e-02 1.07123451e+01] [ 5.83164604e-03 9.99972037e-01 4.68155861e-03 2.91204348e-01] [ 1.60408375e-02 -4.77458090e-03 9.99859938e-01 -2.49685063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.344553574 meters Centerline goodness [0,1] 0.7877574981321379 Centerline is valid? [False, False] Translation: X:10.71, Y:0.29, Z:-2.50 [[ 9.99859918e-01 -5.40924044e-03 -1.58393114e-02 1.07116421e+01] [ 5.47951239e-03 9.99975322e-01 4.39652026e-03 2.92168642e-01] [ 1.58151387e-02 -4.48269609e-03 9.99864884e-01 -2.49734864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.374553574 meters Centerline goodness [0,1] 0.789294183474994 Centerline is valid? [False, False] Translation: X:10.71, Y:0.29, Z:-2.50 [[ 9.99868939e-01 -4.75119004e-03 -1.54768153e-02 1.07104235e+01] [ 4.81084833e-03 9.99981132e-01 3.81974064e-03 2.94047331e-01] [ 1.54583750e-02 -3.89369663e-03 9.99872931e-01 -2.49856887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.404553574 meters Centerline goodness [0,1] 0.7886146390819289 Centerline is valid? [False, False] Translation: X:10.71, Y:0.29, Z:-2.50 [[ 9.99870234e-01 -4.64097258e-03 -1.54264980e-02 1.07102412e+01] [ 4.69872906e-03 9.99982079e-01 3.70984442e-03 2.94572345e-01] [ 1.54090043e-02 -3.78184794e-03 9.99874122e-01 -2.49866604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.434553574 meters Centerline goodness [0,1] 0.7884117537164056 Centerline is valid? [False, False] Translation: X:10.71, Y:0.29, Z:-2.50 [[ 9.99862909e-01 -5.09490623e-03 -1.57545159e-02 1.07111991e+01] [ 5.15883699e-03 9.99978613e-01 4.01995772e-03 2.93984397e-01] [ 1.57336977e-02 -4.10068160e-03 9.99867809e-01 -2.49781877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.464553574 meters Centerline goodness [0,1] 0.7882884086234072 Centerline is valid? [False, False] Translation: X:10.71, Y:0.29, Z:-2.50 [[ 9.99851289e-01 -5.77645761e-03 -1.62490457e-02 1.07129963e+01] [ 5.84543467e-03 9.99974092e-01 4.20070457e-03 2.93129145e-01] [ 1.62243595e-02 -4.29506262e-03 9.99859151e-01 -2.49746821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49455357399995 meters Centerline goodness [0,1] 0.7926924004178832 Centerline is valid? [False, False] Translation: X:10.71, Y:0.29, Z:-2.50 [[ 9.99810791e-01 -1.03855240e-02 -1.64475754e-02 1.07143343e+01] [ 1.03827179e-02 9.99946065e-01 -2.55994974e-04 2.92977295e-01] [ 1.64493470e-02 8.51760020e-05 9.99864697e-01 -2.49871250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.524553574 meters Centerline goodness [0,1] 0.7921875838386007 Centerline is valid? [False, False] Translation: X:10.72, Y:0.29, Z:-2.50 [[ 9.99786130e-01 -1.13961730e-02 -1.72574959e-02 1.07174619e+01] [ 1.13936080e-02 9.99935060e-01 -2.46945937e-04 2.92082539e-01] [ 1.72591894e-02 5.02679798e-05 9.99851048e-01 -2.49910332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.55455357399995 meters Centerline goodness [0,1] 0.7863936804771885 Centerline is valid? [False, False] Translation: X:10.72, Y:0.29, Z:-2.50 [[ 9.99734432e-01 -1.35521355e-02 -1.86387842e-02 1.07234287e+01] [ 1.35394826e-02 9.99908013e-01 -8.04878710e-04 2.91316902e-01] [ 1.86479775e-02 5.52305466e-04 9.99825959e-01 -2.50070104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.584553574 meters Centerline goodness [0,1] 0.7917406033231167 Centerline is valid? [False, False] Translation: X:10.73, Y:0.29, Z:-2.50 [[ 9.99717018e-01 -1.41382362e-02 -1.91309629e-02 1.07252254e+01] [ 1.41279535e-02 9.99899969e-01 -6.72541900e-04 2.90540885e-01] [ 1.91385578e-02 4.02070229e-04 9.99816760e-01 -2.50063364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.61455357399996 meters Centerline goodness [0,1] 0.7910680656443368 Centerline is valid? [False, False] Translation: X:10.73, Y:0.29, Z:-2.50 [[ 9.99706583e-01 -1.44866495e-02 -1.94135433e-02 1.07257565e+01] [ 1.44929336e-02 9.99894955e-01 1.83036266e-04 2.88721996e-01] [ 1.94088524e-02 -4.64341755e-04 9.99811523e-01 -2.49876593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.644553574 meters Centerline goodness [0,1] 0.7958754549130611 Centerline is valid? [False, False] Translation: X:10.73, Y:0.29, Z:-2.50 [[ 9.99709991e-01 -1.43319251e-02 -1.93527691e-02 1.07251129e+01] [ 1.43483390e-02 9.99896806e-01 7.09550823e-04 2.88300176e-01] [ 1.93406028e-02 -9.87025139e-04 9.99812466e-01 -2.49746614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.67455357399996 meters Centerline goodness [0,1] 0.7928642754972607 Centerline is valid? [False, False] Translation: X:10.72, Y:0.29, Z:-2.50 [[ 9.99715337e-01 -1.41460951e-02 -1.92128092e-02 1.07241961e+01] [ 1.41719348e-02 9.99898842e-01 1.20942616e-03 2.88067231e-01] [ 1.91937570e-02 -1.48136456e-03 9.99814685e-01 -2.49610538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.704553574 meters Centerline goodness [0,1] 0.7938525474956822 Centerline is valid? [False, False] Translation: X:10.72, Y:0.29, Z:-2.50 [[ 9.99717101e-01 -1.40433765e-02 -1.91963812e-02 1.07240515e+01] [ 1.40703460e-02 9.99900201e-01 1.27058028e-03 2.88557633e-01] [ 1.91766222e-02 -1.54032057e-03 9.99814925e-01 -2.49589147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.73455357399996 meters Centerline goodness [0,1] 0.7936708860759494 Centerline is valid? [False, False] Translation: X:10.72, Y:0.29, Z:-2.50 [[ 9.99726846e-01 -1.36310302e-02 -1.89849652e-02 1.07230897e+01] [ 1.36569479e-02 9.99905975e-01 1.23618191e-03 2.89438717e-01] [ 1.89663298e-02 -1.49512092e-03 9.99819005e-01 -2.49578398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.764553574 meters Centerline goodness [0,1] 0.794493237782208 Centerline is valid? [False, False] Translation: X:10.72, Y:0.29, Z:-2.50 [[ 9.99724914e-01 -1.36382493e-02 -1.90812587e-02 1.07233605e+01] [ 1.36601530e-02 9.99906177e-01 1.01804837e-03 2.90566514e-01] [ 1.90655841e-02 -1.27842123e-03 9.99817418e-01 -2.49596170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.79455357399996 meters Centerline goodness [0,1] 0.7932390572390573 Centerline is valid? [False, False] Translation: X:10.72, Y:0.29, Z:-2.50 [[ 9.99717214e-01 -1.38966980e-02 -1.92970073e-02 1.07243575e+01] [ 1.39139862e-02 9.99902906e-01 7.61923399e-04 2.91226311e-01] [ 1.92845455e-02 -1.03020623e-03 9.99813505e-01 -2.49648566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.824553574 meters Centerline goodness [0,1] 0.7981965006729475 Centerline is valid? [False, False] Translation: X:10.73, Y:0.29, Z:-2.50 [[ 9.99705331e-01 -1.42713837e-02 -1.96361525e-02 1.07256127e+01] [ 1.42879767e-02 9.99897673e-01 7.04982011e-04 2.91431572e-01] [ 1.96240821e-02 -9.85335164e-04 9.99806944e-01 -2.49656497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.85455357399997 meters Centerline goodness [0,1] 0.7974219297772505 Centerline is valid? [False, False] Translation: X:10.73, Y:0.29, Z:-2.50 [[ 9.99678351e-01 -1.51625795e-02 -2.03295340e-02 1.07281001e+01] [ 1.51765511e-02 9.99884687e-01 5.33140621e-04 2.91761465e-01] [ 2.03191060e-02 -8.41501348e-04 9.99793192e-01 -2.49655470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.884553574 meters Centerline goodness [0,1] 0.7966402365273485 Centerline is valid? [False, False] Translation: X:10.73, Y:0.29, Z:-2.50 [[ 9.99662779e-01 -1.56447387e-02 -2.07260744e-02 1.07296008e+01] [ 1.56543865e-02 9.99877417e-01 3.03319180e-04 2.92617847e-01] [ 2.07187884e-02 -6.27670874e-04 9.99785146e-01 -2.49677441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.91455357399997 meters Centerline goodness [0,1] 0.7971956864948757 Centerline is valid? [False, False] Translation: X:10.73, Y:0.29, Z:-2.50 [[ 9.99645676e-01 -1.61659068e-02 -2.11467785e-02 1.07310482e+01] [ 1.61732125e-02 9.99869190e-01 1.74488596e-04 2.93732468e-01] [ 2.11411916e-02 -5.16438114e-04 9.99776367e-01 -2.49659769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.944553574 meters Centerline goodness [0,1] 0.8011298224947123 Centerline is valid? [False, False] Translation: X:10.73, Y:0.29, Z:-2.50 [[ 9.99640533e-01 -1.62863534e-02 -2.12969186e-02 1.07313348e+01] [ 1.62958575e-02 9.99867176e-01 2.72789596e-04 2.94130436e-01] [ 2.12896472e-02 -6.19743090e-04 9.99773158e-01 -2.49603161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.97455357399997 meters Centerline goodness [0,1] 0.801414653676765 Centerline is valid? [False, False] Translation: X:10.73, Y:0.29, Z:-2.49 [[ 9.99656040e-01 -1.57257653e-02 -2.09881561e-02 1.07294339e+01] [ 1.57512728e-02 9.99875389e-01 1.05055947e-03 2.94198091e-01] [ 2.09690199e-02 -1.38078829e-03 9.99779172e-01 -2.49384018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.004553574 meters Centerline goodness [0,1] 0.8024908659359415 Centerline is valid? [False, False] Translation: X:10.73, Y:0.29, Z:-2.49 [[ 9.99675717e-01 -1.28579625e-02 -2.19803149e-02 1.07325505e+01] [ 1.29862663e-02 9.99899403e-01 5.70447206e-03 2.92444119e-01] [ 2.19047558e-02 -5.98806442e-03 9.99742129e-01 -2.49211375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.034553574 meters Centerline goodness [0,1] 0.8000532197977648 Centerline is valid? [False, False] Translation: X:10.75, Y:0.30, Z:-2.50 [[ 9.99844473e-01 -8.92066672e-03 -1.52135446e-02 1.07460842e+01] [ 8.90042351e-03 9.99959413e-01 -1.39779449e-03 2.95425959e-01] [ 1.52253964e-02 1.26217010e-03 9.99883290e-01 -2.49880987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.064553574 meters Centerline goodness [0,1] 0.8007019969686495 Centerline is valid? [False, False] Translation: X:10.75, Y:0.29, Z:-2.50 [[ 9.99872393e-01 -4.61307176e-03 -1.52943525e-02 1.07454909e+01] [ 4.66986892e-03 9.99982325e-01 3.67997230e-03 2.94359126e-01] [ 1.52771062e-02 -3.75092533e-03 9.99876263e-01 -2.49649827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.094553574 meters Centerline goodness [0,1] 0.79763388949309 Centerline is valid? [False, False] Translation: X:10.76, Y:0.30, Z:-2.50 [[ 9.99944838e-01 1.70952589e-03 -1.03633410e-02 1.07611301e+01] [-1.73033075e-03 9.99996505e-01 -1.99891055e-03 2.96493371e-01] [ 1.03598876e-02 2.01673229e-03 9.99944301e-01 -2.50296270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.124553574 meters Centerline goodness [0,1] 0.7948629592323596 Centerline is valid? [False, False] Translation: X:10.76, Y:0.30, Z:-2.50 [[ 9.99946696e-01 3.78530538e-03 -9.60611316e-03 1.07582314e+01] [-3.80686029e-03 9.99990275e-01 -2.22658182e-03 2.98172240e-01] [ 9.59759145e-03 2.26303226e-03 9.99951381e-01 -2.50489708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.154553574 meters Centerline goodness [0,1] 0.8016331724905881 Centerline is valid? [False, False] Translation: X:10.76, Y:0.30, Z:-2.51 [[ 9.99946018e-01 3.85110219e-03 -9.65036016e-03 1.07589567e+01] [-3.87675875e-03 9.99988997e-01 -2.64131693e-03 2.98689954e-01] [ 9.64008200e-03 2.67858646e-03 9.99949946e-01 -2.50639921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.184553574 meters Centerline goodness [0,1] 0.7987066338024436 Centerline is valid? [False, False] Translation: X:10.76, Y:0.30, Z:-2.51 [[ 9.99945383e-01 3.90796500e-03 -9.69319289e-03 1.07594907e+01] [-3.93639665e-03 9.99988001e-01 -2.91581335e-03 2.98798815e-01] [ 9.68168169e-03 2.95381035e-03 9.99948769e-01 -2.50756017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.214553574 meters Centerline goodness [0,1] 0.7986614612381484 Centerline is valid? [False, False] Translation: X:10.76, Y:0.30, Z:-2.51 [[ 9.99943659e-01 3.59384658e-03 -9.98815555e-03 1.07608507e+01] [-3.62291950e-03 9.99989249e-01 -2.89417136e-03 2.97626650e-01] [ 9.97764696e-03 2.93019458e-03 9.99945929e-01 -2.50834460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.24455357399995 meters Centerline goodness [0,1] 0.8014127682260429 Centerline is valid? [False, False] Translation: X:10.75, Y:0.30, Z:-2.51 [[ 9.99999288e-01 1.31725212e-04 -1.18624219e-03 1.07502851e+01] [-1.33918346e-04 9.99998282e-01 -1.84891756e-03 2.98035435e-01] [ 1.18599660e-03 1.84907511e-03 9.99997587e-01 -2.51311118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.274553574 meters Centerline goodness [0,1] 0.8023832373640435 Centerline is valid? [False, False] Translation: X:10.75, Y:0.30, Z:-2.51 [[ 9.99998299e-01 -7.06527172e-04 -1.70359625e-03 1.07520428e+01] [ 7.04946840e-04 9.99999321e-01 -9.28066991e-04 2.95714377e-01] [ 1.70425080e-03 9.26864468e-04 9.99998118e-01 -2.51145450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.30455357399995 meters Centerline goodness [0,1] 0.8012501662455114 Centerline is valid? [False, False] Translation: X:10.75, Y:0.29, Z:-2.51 [[ 9.99996697e-01 -1.44692469e-03 -2.12428595e-03 1.07534052e+01] [ 1.44685817e-03 9.99998953e-01 -3.28516210e-05 2.93861974e-01] [ 2.12433126e-03 2.97779720e-05 9.99997743e-01 -2.50968837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.334553574 meters Centerline goodness [0,1] 0.796653968084823 Centerline is valid? [False, False] Translation: X:10.75, Y:0.29, Z:-2.51 [[ 9.99995811e-01 -1.69553908e-03 -2.34580099e-03 1.07538583e+01] [ 1.69692891e-03 9.99998386e-01 5.90614752e-04 2.92627900e-01] [ 2.34479579e-03 -5.94592936e-04 9.99997074e-01 -2.50836324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.36455357399996 meters Centerline goodness [0,1] 0.7991783599210371 Centerline is valid? [False, False] Translation: X:10.75, Y:0.29, Z:-2.51 [[ 9.99994717e-01 -1.97166169e-03 -2.58418140e-03 1.07544143e+01] [ 1.97467069e-03 9.99997375e-01 1.16235805e-03 2.91271090e-01] [ 2.58188283e-03 -1.16745481e-03 9.99995985e-01 -2.50726357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.394553574 meters Centerline goodness [0,1] 0.7961071600449174 Centerline is valid? [False, False] Translation: X:10.75, Y:0.29, Z:-2.51 [[ 9.99994849e-01 -1.94900407e-03 -2.55002862e-03 1.07536997e+01] [ 1.95411377e-03 9.99996085e-01 2.00282588e-03 2.89251404e-01] [ 2.54611512e-03 -2.00779861e-03 9.99994743e-01 -2.50533000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.42455357399996 meters Centerline goodness [0,1] 0.7975916510569976 Centerline is valid? [False, False] Translation: X:10.75, Y:0.29, Z:-2.50 [[ 9.99995814e-01 -1.63516470e-03 -2.38706966e-03 1.07526488e+01] [ 1.64152471e-03 9.99995102e-01 2.66483175e-03 2.88170942e-01] [ 2.38270053e-03 -2.66873903e-03 9.99993600e-01 -2.50391361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.454553574 meters Centerline goodness [0,1] 0.8053507760769911 Centerline is valid? [False, False] Translation: X:10.75, Y:0.29, Z:-2.50 [[ 9.99997273e-01 -1.12320636e-03 -2.04744814e-03 1.07515282e+01] [ 1.12894826e-03 9.99995428e-01 2.80542485e-03 2.87234275e-01] [ 2.04428771e-03 -2.80772866e-03 9.99993969e-01 -2.50420799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.48455357399996 meters Centerline goodness [0,1] 0.805148631308811 Centerline is valid? [False, False] Translation: X:10.75, Y:0.29, Z:-2.51 [[ 9.99999083e-01 -1.02348541e-04 -1.35047159e-03 1.07499928e+01] [ 1.04941134e-04 9.99998152e-01 1.91983748e-03 2.88143772e-01] [ 1.35027260e-03 -1.91997744e-03 9.99997245e-01 -2.50738441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.514553574 meters Centerline goodness [0,1] 0.805148631308811 Centerline is valid? [False, False] Translation: X:10.75, Y:0.29, Z:-2.51 [[ 9.99999083e-01 -1.02348541e-04 -1.35047159e-03 1.07499928e+01] [ 1.04941134e-04 9.99998152e-01 1.91983748e-03 2.88143772e-01] [ 1.35027260e-03 -1.91997744e-03 9.99997245e-01 -2.50738441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.54455357399996 meters Centerline goodness [0,1] 0.8064239369403186 Centerline is valid? [False, False] Translation: X:10.75, Y:0.29, Z:-2.51 [[ 9.99999422e-01 4.84799304e-04 -9.59764143e-04 1.07488980e+01] [-4.83105424e-04 9.99998327e-01 1.76433863e-03 2.88280819e-01] [ 9.60617887e-04 -1.76387394e-03 9.99997983e-01 -2.50829612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.574553574 meters Centerline goodness [0,1] 0.7961318704900883 Centerline is valid? [False, False] Translation: X:10.75, Y:0.29, Z:-2.51 [[ 9.99998353e-01 1.80453092e-03 -1.91951376e-04 1.07463297e+01] [-1.80419676e-03 9.99996881e-01 1.72699112e-03 2.88147529e-01] [ 1.95067186e-04 -1.72664195e-03 9.99998490e-01 -2.50938739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.60455357399997 meters Centerline goodness [0,1] 0.7924933551695439 Centerline is valid? [False, False] Translation: X:10.75, Y:0.29, Z:-2.51 [[ 9.99997628e-01 2.17592630e-03 9.86727823e-05 1.07456757e+01] [-2.17608261e-03 9.99996332e-01 1.61263527e-03 2.87636064e-01] [-9.51634449e-05 -1.61284616e-03 9.99998695e-01 -2.51019265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.634553574 meters Centerline goodness [0,1] 0.7954661438048938 Centerline is valid? [False, False] Translation: X:10.74, Y:0.29, Z:-2.51 [[ 9.99996647e-01 2.56736055e-03 3.38074752e-04 1.07448534e+01] [-2.56794496e-03 9.99995190e-01 1.73971100e-03 2.86853756e-01] [-3.33606660e-04 -1.74057333e-03 9.99998430e-01 -2.51031527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.66455357399997 meters Centerline goodness [0,1] 0.7979868661858112 Centerline is valid? [False, False] Translation: X:10.74, Y:0.29, Z:-2.51 [[ 9.99990930e-01 4.04893501e-03 1.32169551e-03 1.07414300e+01] [-4.05184380e-03 9.99989359e-01 2.20559407e-03 2.85427869e-01] [-1.31275114e-03 -2.21092937e-03 9.99996694e-01 -2.51044243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.694553574 meters Centerline goodness [0,1] 0.7971922246220302 Centerline is valid? [False, False] Translation: X:10.74, Y:0.29, Z:-2.51 [[ 9.99988407e-01 4.52169488e-03 1.65531656e-03 1.07406086e+01] [-4.52510485e-03 9.99987636e-01 2.06208986e-03 2.85415539e-01] [-1.64597196e-03 -2.06955643e-03 9.99996504e-01 -2.51132755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.72455357399997 meters Centerline goodness [0,1] 0.7941414686825055 Centerline is valid? [False, False] Translation: X:10.74, Y:0.28, Z:-2.51 [[ 9.99978244e-01 6.05355712e-03 2.62033864e-03 1.07375092e+01] [-6.05877500e-03 9.99979669e-01 1.98796265e-03 2.84908956e-01] [-2.60825112e-03 -2.00379545e-03 9.99994591e-01 -2.51281484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.754553574 meters Centerline goodness [0,1] 0.7954520873891413 Centerline is valid? [False, False] Translation: X:10.73, Y:0.28, Z:-2.51 [[ 9.99957271e-01 8.29373867e-03 4.08291653e-03 1.07319790e+01] [-8.30545479e-03 9.99961416e-01 2.86100235e-03 2.83310409e-01] [-4.05903059e-03 -2.89479058e-03 9.99987572e-01 -2.51206570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.784553574 meters Centerline goodness [0,1] 0.7958907812922411 Centerline is valid? [False, False] Translation: X:10.73, Y:0.28, Z:-2.51 [[ 9.99947300e-01 9.13712502e-03 4.68085891e-03 1.07298727e+01] [-9.15181229e-03 9.99953235e-01 3.12597782e-03 2.82635632e-01] [-4.65207756e-03 -3.16865142e-03 9.99984159e-01 -2.51193647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.814553574 meters Centerline goodness [0,1] 0.7970700533456092 Centerline is valid? [False, False] Translation: X:10.73, Y:0.28, Z:-2.51 [[ 9.99937218e-01 9.91054260e-03 5.22883417e-03 1.07279370e+01] [-9.92791725e-03 9.99945247e-01 3.30742621e-03 2.81967842e-01] [-5.19576949e-03 -3.35912999e-03 9.99980860e-01 -2.51199398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.844553574 meters Centerline goodness [0,1] 0.799580986586129 Centerline is valid? [False, False] Translation: X:10.72, Y:0.28, Z:-2.51 [[ 9.99909026e-01 1.17886781e-02 6.55497155e-03 1.07229885e+01] [-1.18176680e-02 9.99920481e-01 4.40158231e-03 2.79135681e-01] [-6.50256147e-03 -4.47864635e-03 9.99968829e-01 -2.51090734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.874553574 meters Centerline goodness [0,1] 0.7983014282203228 Centerline is valid? [False, False] Translation: X:10.72, Y:0.28, Z:-2.51 [[ 9.99885748e-01 1.31212059e-02 7.50501982e-03 1.07196695e+01] [-1.31620532e-02 9.99898690e-01 5.41941393e-03 2.75866183e-01] [-7.43315025e-03 -5.51757622e-03 9.99957151e-01 -2.51024409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.904553574 meters Centerline goodness [0,1] 0.799164436677407 Centerline is valid? [False, False] Translation: X:10.72, Y:0.27, Z:-2.51 [[ 9.99874483e-01 1.37118527e-02 7.93750073e-03 1.07182578e+01] [-1.37570549e-02 9.99889300e-01 5.66844836e-03 2.74747455e-01] [-7.85889712e-03 -5.77693351e-03 9.99952431e-01 -2.51036789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.934553574 meters Centerline goodness [0,1] 0.8013858695652174 Centerline is valid? [False, False] Translation: X:10.71, Y:0.28, Z:-2.51 [[ 9.99804265e-01 1.72492472e-02 9.68991417e-03 1.07090641e+01] [-1.73158013e-02 9.99826763e-01 6.82699583e-03 2.75898178e-01] [-9.57047498e-03 -6.99344818e-03 9.99929746e-01 -2.50680563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.964553574 meters Centerline goodness [0,1] 0.8006733823888783 Centerline is valid? [False, False] Translation: X:10.71, Y:0.28, Z:-2.51 [[ 9.99803268e-01 1.72700488e-02 9.75555205e-03 1.07093988e+01] [-1.73277553e-02 9.99832679e-01 5.86201700e-03 2.77880949e-01] [-9.65268242e-03 -6.02990557e-03 9.99935231e-01 -2.50867723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99455357399995 meters Centerline goodness [0,1] 0.797551814521577 Centerline is valid? [False, False] Translation: X:10.71, Y:0.28, Z:-2.52 [[ 9.99827163e-01 1.62275496e-02 9.07255927e-03 1.07137242e+01] [-1.62504253e-02 9.99864943e-01 2.45339928e-03 2.83339754e-01] [-9.03152130e-03 -2.60040819e-03 9.99955834e-01 -2.51608890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.024553574 meters Centerline goodness [0,1] 0.798141344283553 Centerline is valid? [False, False] Translation: X:10.71, Y:0.29, Z:-2.52 [[ 9.99872398e-01 1.28312038e-02 9.51566654e-03 1.07130843e+01] [-1.27979508e-02 9.99911811e-01 -3.54725171e-03 2.87218206e-01] [-9.56034287e-03 3.42501805e-03 9.99948433e-01 -2.52057901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.05455357399995 meters Centerline goodness [0,1] 0.7967464321364016 Centerline is valid? [False, False] Translation: X:10.72, Y:0.29, Z:-2.52 [[ 9.99923495e-01 9.74977858e-03 7.61226580e-03 1.07211393e+01] [-9.72332510e-03 9.99946587e-01 -3.50442191e-03 2.87045256e-01] [-7.64602654e-03 3.43013727e-03 9.99964886e-01 -2.52009916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.084553574 meters Centerline goodness [0,1] 0.8010991390979479 Centerline is valid? [False, False] Translation: X:10.72, Y:0.29, Z:-2.52 [[ 9.99940068e-01 8.63955138e-03 6.72451973e-03 1.07239232e+01] [-8.61966787e-03 9.99958409e-01 -2.98025312e-03 2.86201182e-01] [-6.74998810e-03 2.92211138e-03 9.99972949e-01 -2.51844130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.11455357399996 meters Centerline goodness [0,1] 0.8038453229639231 Centerline is valid? [False, False] Translation: X:10.73, Y:0.29, Z:-2.52 [[ 9.99974659e-01 3.59704308e-03 6.14352003e-03 1.07259349e+01] [-3.55186368e-03 9.99966687e-01 -7.34913771e-03 2.86933110e-01] [-6.16975053e-03 7.32713053e-03 9.99954123e-01 -2.51810076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.144553574 meters Centerline goodness [0,1] 0.8084156406440265 Centerline is valid? [False, False] Translation: X:10.73, Y:0.29, Z:-2.52 [[ 9.99985204e-01 2.07420350e-03 5.02894564e-03 1.07294865e+01] [-2.03665060e-03 9.99970092e-01 -7.46100673e-03 2.87965845e-01] [-5.04427088e-03 7.45065412e-03 9.99959521e-01 -2.51697931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.17455357399996 meters Centerline goodness [0,1] 0.8086288256707563 Centerline is valid? [False, False] Translation: X:10.73, Y:0.29, Z:-2.52 [[ 9.99987498e-01 1.70321354e-03 4.70135832e-03 1.07305332e+01] [-1.66766906e-03 9.99970077e-01 -7.55406403e-03 2.89058268e-01] [-4.71408382e-03 7.54612928e-03 9.99960416e-01 -2.51666226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.204553574 meters Centerline goodness [0,1] 0.8055943305057447 Centerline is valid? [False, False] Translation: X:10.73, Y:0.29, Z:-2.52 [[ 9.99993607e-01 2.01736739e-04 3.57008972e-03 1.07346519e+01] [-1.72615548e-04 9.99966729e-01 -8.15542038e-03 2.91279876e-01] [-3.57161619e-03 8.15475199e-03 9.99960371e-01 -2.51699376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.23455357399996 meters Centerline goodness [0,1] 0.806294100287071 Centerline is valid? [False, False] Translation: X:10.74, Y:0.29, Z:-2.52 [[ 9.99995720e-01 -7.12676284e-04 2.83751377e-03 1.07374706e+01] [ 7.36716332e-04 9.99963771e-01 -8.48021087e-03 2.92064958e-01] [-2.83136732e-03 8.48226502e-03 9.99960016e-01 -2.51752553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.264553574 meters Centerline goodness [0,1] 0.8070410459757796 Centerline is valid? [False, False] Translation: X:10.74, Y:0.29, Z:-2.52 [[ 9.99996398e-01 -1.45833037e-03 2.25337801e-03 1.07396979e+01] [ 1.47782915e-03 9.99961272e-01 -8.67583160e-03 2.92727799e-01] [-2.24063852e-03 8.67913046e-03 9.99959825e-01 -2.51770138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.29455357399996 meters Centerline goodness [0,1] 0.8210263835263836 Centerline is valid? [False, False] Translation: X:10.75, Y:0.29, Z:-2.52 [[ 9.99989378e-01 -4.60444712e-03 2.06937230e-04 1.07478829e+01] [ 4.60605681e-03 9.99952399e-01 -8.60136325e-03 2.92583694e-01] [-1.67322857e-04 8.60222505e-03 9.99962986e-01 -2.51688935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.324553574 meters Centerline goodness [0,1] 0.8166314154908838 Centerline is valid? [False, False] Translation: X:10.76, Y:0.29, Z:-2.52 [[ 9.99961230e-01 -8.53531961e-03 -2.16498020e-03 1.07580384e+01] [ 8.51671445e-03 9.99927927e-01 -8.46205791e-03 2.91935185e-01] [ 2.23705053e-03 8.44329131e-03 9.99961852e-01 -2.51604977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.35455357399997 meters Centerline goodness [0,1] 0.8087288656214109 Centerline is valid? [False, False] Translation: X:10.77, Y:0.29, Z:-2.51 [[ 9.99963057e-01 -7.55583954e-03 -4.09810166e-03 1.07652983e+01] [ 7.54408863e-03 9.99967409e-01 -2.87532275e-03 2.90121294e-01] [ 4.11969358e-03 2.84430009e-03 9.99987469e-01 -2.51178497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.384553574 meters Centerline goodness [0,1] 0.8381142628845386 Centerline is valid? [False, False] Translation: X:10.77, Y:0.29, Z:-2.51 [[ 9.99956464e-01 -8.10033859e-03 -4.63200620e-03 1.07665112e+01] [ 8.08620691e-03 9.99962620e-01 -3.06150904e-03 2.92393324e-01] [ 4.65663231e-03 3.02392039e-03 9.99984586e-01 -2.51065864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.41455357399997 meters Centerline goodness [0,1] 0.8386891504931594 Centerline is valid? [False, False] Translation: X:10.77, Y:0.29, Z:-2.51 [[ 9.99948802e-01 -8.70043790e-03 -5.16670336e-03 1.07683115e+01] [ 8.68331386e-03 9.99956763e-01 -3.32754218e-03 2.93871516e-01] [ 5.19543104e-03 3.28250771e-03 9.99981116e-01 -2.51056508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.444553574 meters Centerline goodness [0,1] 0.8367411886387143 Centerline is valid? [False, False] Translation: X:10.77, Y:0.30, Z:-2.51 [[ 9.99922828e-01 -1.05793750e-02 -6.51265155e-03 1.07737255e+01] [ 1.05495082e-02 9.99933756e-01 -4.60336104e-03 2.96997746e-01] [ 6.56092081e-03 4.53430052e-03 9.99968197e-01 -2.51235915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.47455357399997 meters Centerline goodness [0,1] 0.8224754836999735 Centerline is valid? [False, False] Translation: X:10.78, Y:0.30, Z:-2.51 [[ 9.99911960e-01 -1.02032064e-02 -8.48328175e-03 1.07818833e+01] [ 1.01996579e-02 9.99947876e-01 -4.61457006e-04 2.96275837e-01] [ 8.48754790e-03 3.74889808e-04 9.99963910e-01 -2.51074355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.504553574 meters Centerline goodness [0,1] 0.8396776587848584 Centerline is valid? [False, False] Translation: X:10.79, Y:0.30, Z:-2.51 [[ 9.99861823e-01 -1.31134861e-02 -1.02162806e-02 1.07888171e+01] [ 1.31035606e-02 9.99913606e-01 -1.03786801e-03 2.96491757e-01] [ 1.02290080e-02 9.03854947e-04 9.99947274e-01 -2.51096820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.534553574 meters Centerline goodness [0,1] 0.8388790200705252 Centerline is valid? [False, False] Translation: X:10.79, Y:0.30, Z:-2.51 [[ 9.99834565e-01 -1.43808477e-02 -1.11370451e-02 1.07921283e+01] [ 1.43711751e-02 9.99896280e-01 -9.48048503e-04 2.95773845e-01] [ 1.11495237e-02 7.87839237e-04 9.99937532e-01 -2.51057077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.564553574 meters Centerline goodness [0,1] 0.843412412624444 Centerline is valid? [False, False] Translation: X:10.80, Y:0.30, Z:-2.51 [[ 9.99807377e-01 -1.55312487e-02 -1.19995285e-02 1.07951571e+01] [ 1.55217597e-02 9.99879140e-01 -8.83515420e-04 2.95237170e-01] [ 1.20118004e-02 6.97091437e-04 9.99927613e-01 -2.51015905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.594553574 meters Centerline goodness [0,1] 0.8458888682794987 Centerline is valid? [False, False] Translation: X:10.80, Y:0.30, Z:-2.51 [[ 9.99775879e-01 -1.67594347e-02 -1.29349716e-02 1.07983966e+01] [ 1.67485593e-02 9.99859283e-01 -9.48646634e-04 2.95038877e-01] [ 1.29490502e-02 7.31791882e-04 9.99915890e-01 -2.50993340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.624553574 meters Centerline goodness [0,1] 0.8469893242205091 Centerline is valid? [False, False] Translation: X:10.80, Y:0.30, Z:-2.51 [[ 9.99773832e-01 -1.67909856e-02 -1.30517492e-02 1.07987768e+01] [ 1.67793928e-02 9.99858719e-01 -9.97221226e-04 2.95705798e-01] [ 1.30666495e-02 7.77995260e-04 9.99914325e-01 -2.50992834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.654553574 meters Centerline goodness [0,1] 0.847252397859149 Centerline is valid? [False, False] Translation: X:10.80, Y:0.30, Z:-2.51 [[ 9.99819505e-01 -1.31426919e-02 -1.37195631e-02 1.08000791e+01] [ 1.31952966e-02 9.99905903e-01 3.75082445e-03 2.95344572e-01] [ 1.36689762e-02 -3.93118115e-03 9.99898847e-01 -2.50790726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.684553574 meters Centerline goodness [0,1] 0.8421205788206662 Centerline is valid? [False, False] Translation: X:10.80, Y:0.30, Z:-2.51 [[ 9.99841755e-01 -1.20676571e-02 -1.30704533e-02 1.07973184e+01] [ 1.21201852e-02 9.99918757e-01 3.94710658e-03 2.96357518e-01] [ 1.30217591e-02 -4.10489828e-03 9.99906787e-01 -2.50731600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.714553574 meters Centerline goodness [0,1] 0.8420969190931671 Centerline is valid? [False, False] Translation: X:10.79, Y:0.30, Z:-2.51 [[ 9.99886319e-01 -9.37365371e-03 -1.18103180e-02 1.07914875e+01] [ 9.42413792e-03 9.99946661e-01 4.22620695e-03 2.98732536e-01] [ 1.17700731e-02 -4.33702857e-03 9.99921325e-01 -2.50684963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.74455357399995 meters Centerline goodness [0,1] 0.8426128428763405 Centerline is valid? [False, False] Translation: X:10.79, Y:0.30, Z:-2.51 [[ 9.99923910e-01 -6.46218410e-03 -1.05078396e-02 1.07852626e+01] [ 6.51068844e-03 9.99968278e-01 4.58837698e-03 3.00918810e-01] [ 1.04778553e-02 -4.65644112e-03 9.99934264e-01 -2.50631215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.774553574 meters Centerline goodness [0,1] 0.8402313962661057 Centerline is valid? [False, False] Translation: X:10.78, Y:0.30, Z:-2.51 [[ 9.99936447e-01 -5.45637404e-03 -9.86556254e-03 1.07827747e+01] [ 5.50169662e-03 9.99974410e-01 4.57273051e-03 3.01945996e-01] [ 9.84035956e-03 -4.62671723e-03 9.99940879e-01 -2.50628319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.80455357399995 meters Centerline goodness [0,1] 0.8180002627775588 Centerline is valid? [False, False] Translation: X:10.78, Y:0.30, Z:-2.51 [[ 9.99953658e-01 -3.77932906e-03 -8.85428180e-03 1.07784866e+01] [ 3.82108302e-03 9.99981638e-01 4.70351842e-03 3.03312939e-01] [ 8.83634308e-03 -4.73713340e-03 9.99949738e-01 -2.50561356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.834553574 meters Centerline goodness [0,1] 0.819933833954734 Centerline is valid? [False, False] Translation: X:10.78, Y:0.30, Z:-2.51 [[ 9.99955991e-01 -3.55310554e-03 -8.68277356e-03 1.07779761e+01] [ 3.59160437e-03 9.99983771e-01 4.42236976e-03 3.03970722e-01] [ 8.66691951e-03 -4.45336022e-03 9.99952525e-01 -2.50603151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.86455357399996 meters Centerline goodness [0,1] 0.828477604098253 Centerline is valid? [False, False] Translation: X:10.78, Y:0.30, Z:-2.51 [[ 9.99953832e-01 -3.71291834e-03 -8.86277237e-03 1.07787721e+01] [ 3.74848278e-03 9.99984976e-01 3.99955763e-03 3.04735349e-01] [ 8.84778918e-03 -4.03259492e-03 9.99952726e-01 -2.50685191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.894553574 meters Centerline goodness [0,1] 0.8399400268301023 Centerline is valid? [False, False] Translation: X:10.78, Y:0.30, Z:-2.51 [[ 9.99949927e-01 -4.03245305e-03 -9.15870246e-03 1.07798643e+01] [ 4.06819886e-03 9.99984168e-01 3.88766275e-03 3.04815196e-01] [ 9.14288064e-03 -3.92472751e-03 9.99950501e-01 -2.50710384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.92455357399996 meters Centerline goodness [0,1] 0.8355309909198578 Centerline is valid? [False, False] Translation: X:10.78, Y:0.30, Z:-2.51 [[ 9.99943173e-01 -4.58892939e-03 -9.62253636e-03 1.07815439e+01] [ 4.62599278e-03 9.99981954e-01 3.83301471e-03 3.04588489e-01] [ 9.60477328e-03 -3.87731068e-03 9.99946356e-01 -2.50729400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.954553574 meters Centerline goodness [0,1] 0.8388907926298864 Centerline is valid? [False, False] Translation: X:10.79, Y:0.30, Z:-2.51 [[ 9.99919477e-01 -6.64156004e-03 -1.08133567e-02 1.07863213e+01] [ 6.67984905e-03 9.99971534e-01 3.50864100e-03 3.04155114e-01] [ 1.07897460e-02 -3.58059007e-03 9.99935378e-01 -2.50748771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.98455357399996 meters Centerline goodness [0,1] 0.8370089321002292 Centerline is valid? [False, False] Translation: X:10.79, Y:0.30, Z:-2.51 [[ 9.99902584e-01 -7.73247074e-03 -1.16202625e-02 1.07893405e+01] [ 7.77397876e-03 9.99963548e-01 3.53112351e-03 3.03670919e-01] [ 1.15925346e-02 -3.62111520e-03 9.99926248e-01 -2.50744256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.014553574 meters Centerline goodness [0,1] 0.8300658782443051 Centerline is valid? [False, False] Translation: X:10.80, Y:0.30, Z:-2.51 [[ 9.99859712e-01 -1.03757434e-02 -1.31491395e-02 1.07956074e+01] [ 1.04186942e-02 9.99940597e-01 3.20214981e-03 3.02821063e-01] [ 1.31151337e-02 -3.33869745e-03 9.99908419e-01 -2.50767702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.04455357399996 meters Centerline goodness [0,1] 0.8488362856461991 Centerline is valid? [False, False] Translation: X:10.80, Y:0.30, Z:-2.51 [[ 9.99843336e-01 -1.11574519e-02 -1.37409750e-02 1.07975346e+01] [ 1.12060993e-02 9.99931194e-01 3.46842006e-03 3.02139392e-01] [ 1.37013308e-02 -3.62185942e-03 9.99899573e-01 -2.50691113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.074553574 meters Centerline goodness [0,1] 0.8166237762979863 Centerline is valid? [False, False] Translation: X:10.80, Y:0.30, Z:-2.50 [[ 9.99830338e-01 -1.18406981e-02 -1.41100254e-02 1.07983489e+01] [ 1.19013366e-02 9.99920266e-01 4.22135013e-03 3.01275458e-01] [ 1.40589166e-02 -4.38856209e-03 9.99891538e-01 -2.50456669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.10455357399997 meters Centerline goodness [0,1] 0.8504388747884941 Centerline is valid? [False, False] Translation: X:10.80, Y:0.30, Z:-2.50 [[ 9.99834750e-01 -1.16632152e-02 -1.39442287e-02 1.07976012e+01] [ 1.17240710e-02 9.99922066e-01 4.29047990e-03 3.01765021e-01] [ 1.38931012e-02 -4.45325402e-03 9.99893569e-01 -2.50395691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.134553574 meters Centerline goodness [0,1] 0.8492930252189511 Centerline is valid? [False, False] Translation: X:10.79, Y:0.30, Z:-2.50 [[ 9.99873348e-01 -9.59492147e-03 -1.26974907e-02 1.07918269e+01] [ 9.65717716e-03 9.99941603e-01 4.85079345e-03 3.03475234e-01] [ 1.26502062e-02 -4.97280100e-03 9.99907617e-01 -2.50199197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.16455357399997 meters Centerline goodness [0,1] 0.8468011254568881 Centerline is valid? [False, False] Translation: X:10.79, Y:0.30, Z:-2.50 [[ 9.99889717e-01 -8.59508039e-03 -1.21110868e-02 1.07894191e+01] [ 8.65158722e-03 9.99951897e-01 4.62106851e-03 3.04825829e-01] [ 1.20707858e-02 -4.72533901e-03 9.99915980e-01 -2.50219374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.194553574 meters Centerline goodness [0,1] 0.8374456879526004 Centerline is valid? [False, False] Translation: X:10.78, Y:0.31, Z:-2.51 [[ 9.99928597e-01 -5.35990143e-03 -1.06804216e-02 1.07826164e+01] [ 5.39462382e-03 9.99980249e-01 3.22487897e-03 3.08661270e-01] [ 1.06629256e-02 -3.28226556e-03 9.99937762e-01 -2.50530653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.22455357399997 meters Centerline goodness [0,1] 0.8431109709299269 Centerline is valid? [False, False] Translation: X:10.78, Y:0.31, Z:-2.51 [[ 9.99939566e-01 -4.31931201e-03 -1.01098051e-02 1.07806757e+01] [ 4.34566413e-03 9.99987214e-01 2.58607580e-03 3.10682785e-01] [ 1.00985058e-02 -2.62985333e-03 9.99945551e-01 -2.50670600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.254553574 meters Centerline goodness [0,1] 0.8363292833337708 Centerline is valid? [False, False] Translation: X:10.78, Y:0.31, Z:-2.51 [[ 9.99953943e-01 -2.10690569e-03 -9.36334006e-03 1.07773615e+01] [ 2.12715591e-03 9.99995419e-01 2.15328031e-03 3.13493846e-01] [ 9.35876041e-03 -2.17309842e-03 9.99953845e-01 -2.50856459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.284553574 meters Centerline goodness [0,1] 0.8398259319456824 Centerline is valid? [False, False] Translation: X:10.78, Y:0.31, Z:-2.51 [[ 9.99956556e-01 -1.67106606e-03 -9.17030184e-03 1.07769499e+01] [ 1.68612308e-03 9.99997243e-01 1.63444720e-03 3.14748518e-01] [ 9.16754529e-03 -1.64983845e-03 9.99956616e-01 -2.50999544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.314553574 meters Centerline goodness [0,1] 0.8334250740478625 Centerline is valid? [False, False] Translation: X:10.78, Y:0.32, Z:-2.51 [[ 9.99956015e-01 -1.52894540e-03 -9.25363584e-03 1.07778548e+01] [ 1.53631043e-03 9.99998509e-01 7.88850623e-04 3.15944975e-01] [ 9.25241593e-03 -8.03032382e-04 9.99956873e-01 -2.51260127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.344553574 meters Centerline goodness [0,1] 0.8341951232315808 Centerline is valid? [False, False] Translation: X:10.78, Y:0.32, Z:-2.51 [[ 9.99953192e-01 -1.77741816e-03 -9.51075030e-03 1.07789746e+01] [ 1.78331324e-03 9.99998223e-01 6.11388836e-04 3.15810055e-01] [ 9.50964670e-03 -6.28320866e-04 9.99954585e-01 -2.51331311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.374553574 meters Centerline goodness [0,1] 0.8444270015698587 Centerline is valid? [False, False] Translation: X:10.78, Y:0.31, Z:-2.51 [[ 9.99948758e-01 -2.21358523e-03 -9.87836646e-03 1.07804031e+01] [ 2.22219095e-03 9.99997161e-01 8.60278227e-04 3.14473198e-01] [ 9.87643411e-03 -8.82185761e-04 9.99950838e-01 -2.51328296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.404553574 meters Centerline goodness [0,1] 0.8444270015698587 Centerline is valid? [False, False] Translation: X:10.78, Y:0.31, Z:-2.51 [[ 9.99948758e-01 -2.21358523e-03 -9.87836646e-03 1.07804031e+01] [ 2.22219095e-03 9.99997161e-01 8.60278227e-04 3.14473198e-01] [ 9.87643411e-03 -8.82185761e-04 9.99950838e-01 -2.51328296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.434553574 meters Centerline goodness [0,1] 0.8420459016393442 Centerline is valid? [False, False] Translation: X:10.78, Y:0.31, Z:-2.51 [[ 9.99948440e-01 -2.21586833e-03 -9.90992373e-03 1.07803403e+01] [ 2.22796102e-03 9.99996787e-01 1.20938754e-03 3.13804458e-01] [ 9.90721204e-03 -1.23140411e-03 9.99950164e-01 -2.51263623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.464553574 meters Centerline goodness [0,1] 0.8402618916147353 Centerline is valid? [False, False] Translation: X:10.78, Y:0.31, Z:-2.51 [[ 9.99946608e-01 -2.47190644e-03 -1.00335256e-02 1.07807821e+01] [ 2.48898140e-03 9.99995475e-01 1.68965988e-03 3.12331097e-01] [ 1.00293035e-02 -1.71454293e-03 9.99948235e-01 -2.51198804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49455357399995 meters Centerline goodness [0,1] 0.8502376138840024 Centerline is valid? [False, False] Translation: X:10.78, Y:0.31, Z:-2.51 [[ 9.99945388e-01 -2.57611017e-03 -1.01284422e-02 1.07811192e+01] [ 2.59575774e-03 9.99994774e-01 1.92717440e-03 3.11490719e-01] [ 1.01234247e-02 -1.95336013e-03 9.99946849e-01 -2.51179135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.524553574 meters Centerline goodness [0,1] 0.8544185433952325 Centerline is valid? [False, False] Translation: X:10.78, Y:0.31, Z:-2.51 [[ 9.99944940e-01 -2.73991131e-03 -1.01296730e-02 1.07809083e+01] [ 2.76786286e-03 9.99992398e-01 2.74638478e-03 3.09537232e-01] [ 1.01220712e-02 -2.77427111e-03 9.99944922e-01 -2.51021178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.55455357399995 meters Centerline goodness [0,1] 0.8545444946015153 Centerline is valid? [False, False] Translation: X:10.78, Y:0.31, Z:-2.51 [[ 9.99945124e-01 -2.78882110e-03 -1.00981182e-02 1.07805542e+01] [ 2.82259906e-03 9.99990464e-01 3.33227059e-03 3.08112125e-01] [ 1.00887288e-02 -3.36059067e-03 9.99943460e-01 -2.50896715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.584553574 meters Centerline goodness [0,1] 0.8353468741756792 Centerline is valid? [False, False] Translation: X:10.78, Y:0.31, Z:-2.51 [[ 9.99944307e-01 -2.95129377e-03 -1.01327600e-02 1.07804108e+01] [ 2.99259014e-03 9.99987269e-01 4.06279003e-03 3.06097688e-01] [ 1.01206406e-02 -4.09288696e-03 9.99940409e-01 -2.50745404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.61455357399996 meters Centerline goodness [0,1] 0.8565910954736647 Centerline is valid? [False, False] Translation: X:10.78, Y:0.30, Z:-2.51 [[ 9.99937454e-01 -6.22356466e-03 -9.29278365e-03 1.07774241e+01] [ 6.23070416e-03 9.99980316e-01 7.39530715e-04 3.04091724e-01] [ 9.28799821e-03 -7.97385046e-04 9.99956548e-01 -2.50632849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.644553574 meters Centerline goodness [0,1] 0.859585409818683 Centerline is valid? [False, False] Translation: X:10.78, Y:0.30, Z:-2.51 [[ 9.99931547e-01 -6.66175374e-03 -9.61890349e-03 1.07787234e+01] [ 6.67175820e-03 9.99977235e-01 1.00837025e-03 3.02993948e-01] [ 9.61196701e-03 -1.07247622e-03 9.99953229e-01 -2.50623668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.67455357399996 meters Centerline goodness [0,1] 0.8569921122747778 Centerline is valid? [False, False] Translation: X:10.78, Y:0.30, Z:-2.51 [[ 9.99937713e-01 -3.62080205e-03 -1.05574159e-02 1.07820102e+01] [ 3.67308079e-03 9.99981069e-01 4.93667283e-03 3.03472803e-01] [ 1.05393413e-02 -4.97514358e-03 9.99932083e-01 -2.50636873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.704553574 meters Centerline goodness [0,1] 0.8497242525793598 Centerline is valid? [False, False] Translation: X:10.78, Y:0.30, Z:-2.51 [[ 9.99939918e-01 -3.36129333e-03 -1.04336689e-02 1.07817332e+01] [ 3.40832433e-03 9.99984097e-01 4.49311557e-03 3.04671097e-01] [ 1.04184003e-02 -4.52840694e-03 9.99935473e-01 -2.50727185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.73455357399996 meters Centerline goodness [0,1] 0.8454578927989059 Centerline is valid? [False, False] Translation: X:10.78, Y:0.30, Z:-2.51 [[ 9.99930788e-01 -4.03575553e-03 -1.10513202e-02 1.07843364e+01] [ 4.07970169e-03 9.99983849e-01 3.95690119e-03 3.04825178e-01] [ 1.10351727e-02 -4.00171341e-03 9.99931103e-01 -2.50883676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.764553574 meters Centerline goodness [0,1] 0.8536347844396484 Centerline is valid? [False, False] Translation: X:10.79, Y:0.30, Z:-2.51 [[ 9.99920350e-01 -4.83653375e-03 -1.16577078e-02 1.07869607e+01] [ 4.87841768e-03 9.99981738e-01 3.56705504e-03 3.04823709e-01] [ 1.16402427e-02 -3.62364209e-03 9.99925684e-01 -2.51002072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.79455357399996 meters Centerline goodness [0,1] 0.851472134595163 Centerline is valid? [False, False] Translation: X:10.79, Y:0.30, Z:-2.51 [[ 9.99890073e-01 -7.03051444e-03 -1.30542733e-02 1.07928028e+01] [ 7.07179253e-03 9.99970132e-01 3.11857199e-03 3.04114422e-01] [ 1.30319582e-02 -3.21054629e-03 9.99909926e-01 -2.51115552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.824553574 meters Centerline goodness [0,1] 0.8544233807266983 Centerline is valid? [False, False] Translation: X:10.80, Y:0.30, Z:-2.51 [[ 9.99875034e-01 -7.88649156e-03 -1.37010660e-02 1.07951693e+01] [ 7.93194775e-03 9.99963206e-01 3.26654479e-03 3.03162481e-01] [ 1.36748003e-02 -3.37481273e-03 9.99900800e-01 -2.51101366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.85455357399997 meters Centerline goodness [0,1] 0.8434378138379407 Centerline is valid? [False, False] Translation: X:10.80, Y:0.30, Z:-2.51 [[ 9.99858059e-01 -8.87524328e-03 -1.43210213e-02 1.07974690e+01] [ 8.92818757e-03 9.99953528e-01 3.63727336e-03 3.01409694e-01] [ 1.42880741e-02 -3.76461784e-03 9.99890833e-01 -2.51034293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.884553574 meters Centerline goodness [0,1] 0.8537816903270151 Centerline is valid? [False, False] Translation: X:10.80, Y:0.30, Z:-2.51 [[ 9.99856659e-01 -8.91909078e-03 -1.43913627e-02 1.07975530e+01] [ 8.97342524e-03 9.99952836e-01 3.71534436e-03 3.01269131e-01] [ 1.43575464e-02 -3.84395161e-03 9.99889536e-01 -2.51007551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.91455357399997 meters Centerline goodness [0,1] 0.8562549381090334 Centerline is valid? [False, False] Translation: X:10.80, Y:0.30, Z:-2.51 [[ 9.99870137e-01 -8.10693248e-03 -1.39279216e-02 1.07957346e+01] [ 8.15583056e-03 9.99960763e-01 3.45758904e-03 3.02877874e-01] [ 1.38993447e-02 -3.57073380e-03 9.99897024e-01 -2.51038232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.944553574 meters Centerline goodness [0,1] 0.8511690292717565 Centerline is valid? [False, False] Translation: X:10.79, Y:0.30, Z:-2.51 [[ 9.99883116e-01 -7.26447029e-03 -1.34529490e-02 1.07937326e+01] [ 7.31223731e-03 9.99967123e-01 3.50489498e-03 3.03802111e-01] [ 1.34270455e-02 -3.60285647e-03 9.99903362e-01 -2.51022237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.97455357399997 meters Centerline goodness [0,1] 0.8464870825456836 Centerline is valid? [False, False] Translation: X:10.79, Y:0.31, Z:-2.51 [[ 9.99918112e-01 -4.54103101e-03 -1.19644599e-02 1.07872791e+01] [ 4.58426120e-03 9.99983054e-01 3.58827297e-03 3.05523975e-01] [ 1.19479627e-02 -3.64282735e-03 9.99921985e-01 -2.51015317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.004553574 meters Centerline goodness [0,1] 0.8348905569261456 Centerline is valid? [False, False] Translation: X:10.78, Y:0.31, Z:-2.51 [[ 9.99932804e-01 -3.26858376e-03 -1.11222282e-02 1.07839779e+01] [ 3.30913670e-03 9.99987937e-01 3.62966896e-03 3.06370898e-01] [ 1.11102302e-02 -3.66623003e-03 9.99931558e-01 -2.50996692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.034553574 meters Centerline goodness [0,1] 0.841751195669312 Centerline is valid? [False, False] Translation: X:10.78, Y:0.31, Z:-2.51 [[ 9.99954040e-01 -4.50799426e-04 -9.57677742e-03 1.07775817e+01] [ 4.78809403e-04 9.99995614e-01 2.92268964e-03 3.08239246e-01] [ 9.57541787e-03 -2.92714077e-03 9.99949870e-01 -2.51186176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.064553574 meters Centerline goodness [0,1] 0.8315352914927685 Centerline is valid? [False, False] Translation: X:10.78, Y:0.31, Z:-2.51 [[ 9.99958273e-01 3.64335466e-04 -9.12793390e-03 1.07761127e+01] [-3.39982595e-04 9.99996379e-01 2.66935963e-03 3.08960464e-01] [ 9.12887339e-03 -2.66614490e-03 9.99954777e-01 -2.51277491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.094553574 meters Centerline goodness [0,1] 0.8316594804921653 Centerline is valid? [False, False] Translation: X:10.77, Y:0.31, Z:-2.51 [[ 9.99965891e-01 2.50592169e-03 -7.86996212e-03 1.07714743e+01] [-2.48429537e-03 9.99993115e-01 2.75653083e-03 3.09368114e-01] [ 7.87681558e-03 -2.73688550e-03 9.99965232e-01 -2.51349589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.124553574 meters Centerline goodness [0,1] 0.8314603784509303 Centerline is valid? [False, False] Translation: X:10.77, Y:0.31, Z:-2.51 [[ 9.99967667e-01 3.11881732e-03 -7.41207215e-03 1.07701674e+01] [-3.10069555e-03 9.99992179e-01 2.45513400e-03 3.09696647e-01] [ 7.41967130e-03 -2.43207203e-03 9.99969516e-01 -2.51457547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.154553574 meters Centerline goodness [0,1] 0.8293883783997262 Centerline is valid? [False, False] Translation: X:10.77, Y:0.31, Z:-2.52 [[ 9.99968498e-01 3.84497991e-03 -6.94393437e-03 1.07691784e+01] [-3.83106309e-03 9.99990629e-01 2.01636004e-03 3.09997052e-01] [ 6.95162216e-03 -1.98969388e-03 9.99973858e-01 -2.51653753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.184553574 meters Centerline goodness [0,1] 0.8277234508026041 Centerline is valid? [False, False] Translation: X:10.77, Y:0.31, Z:-2.52 [[ 9.99968546e-01 3.95640978e-03 -6.87409466e-03 1.07689857e+01] [-3.94180233e-03 9.99989947e-01 2.13725142e-03 3.09126825e-01] [ 6.88248140e-03 -2.11008788e-03 9.99974089e-01 -2.51664495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.214553574 meters Centerline goodness [0,1] 0.8216025844719839 Centerline is valid? [False, False] Translation: X:10.76, Y:0.31, Z:-2.52 [[ 9.99982887e-01 1.40927223e-03 -5.67793743e-03 1.07646249e+01] [-1.41661442e-03 9.99998165e-01 -1.28929527e-03 3.07454209e-01] [ 5.67611004e-03 1.29731665e-03 9.99983049e-01 -2.51597537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.24455357399995 meters Centerline goodness [0,1] 0.8299290817817206 Centerline is valid? [False, False] Translation: X:10.76, Y:0.31, Z:-2.52 [[ 9.99983040e-01 1.31644775e-03 -5.67334417e-03 1.07644335e+01] [-1.32067197e-03 9.99998853e-01 -7.40891099e-04 3.05567359e-01] [ 5.67236232e-03 7.48371160e-04 9.99983632e-01 -2.51500495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.274553574 meters Centerline goodness [0,1] 0.8362950567110261 Centerline is valid? [False, False] Translation: X:10.77, Y:0.30, Z:-2.51 [[ 9.99982284e-01 9.05346458e-04 -5.88323100e-03 1.07651171e+01] [-9.06877921e-04 9.99999556e-01 -2.57647378e-04 3.03908489e-01] [ 5.88299512e-03 2.62978185e-04 9.99982660e-01 -2.51411470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.30455357399995 meters Centerline goodness [0,1] 0.8261668308527916 Centerline is valid? [False, False] Translation: X:10.77, Y:0.30, Z:-2.51 [[ 9.99979352e-01 -2.44579660e-04 -6.42151687e-03 1.07675412e+01] [ 2.46386914e-04 9.99999930e-01 2.80647564e-04 3.01120718e-01] [ 6.42144778e-03 -2.82223947e-04 9.99979342e-01 -2.51355278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.334553574 meters Centerline goodness [0,1] 0.8287737109270639 Centerline is valid? [False, False] Translation: X:10.77, Y:0.30, Z:-2.51 [[ 9.99972029e-01 -1.82568283e-03 -7.25310217e-03 1.07715729e+01] [ 1.82794270e-03 9.99998283e-01 3.04955346e-04 2.97925570e-01] [ 7.25253296e-03 -3.18205072e-04 9.99973649e-01 -2.51461493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.36455357399996 meters Centerline goodness [0,1] 0.8290993689164616 Centerline is valid? [False, False] Translation: X:10.77, Y:0.30, Z:-2.51 [[ 9.99967182e-01 -2.41869863e-03 -7.73205765e-03 1.07735534e+01] [ 2.42310935e-03 9.99996907e-01 5.61127921e-04 2.96331528e-01] [ 7.73067653e-03 -5.79845127e-04 9.99969950e-01 -2.51484019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.394553574 meters Centerline goodness [0,1] 0.8479168349896313 Centerline is valid? [False, False] Translation: X:10.78, Y:0.29, Z:-2.52 [[ 9.99957664e-01 -3.77058846e-03 -8.39363526e-03 1.07768966e+01] [ 3.77801163e-03 9.99992486e-01 8.68700156e-04 2.92299683e-01] [ 8.39029668e-03 -9.00374630e-04 9.99964395e-01 -2.51550790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.42455357399996 meters Centerline goodness [0,1] 0.8280837063804541 Centerline is valid? [False, False] Translation: X:10.78, Y:0.29, Z:-2.52 [[ 9.99950228e-01 -4.48432331e-03 -8.91243673e-03 1.07790095e+01] [ 4.49562198e-03 9.99989116e-01 1.24811233e-03 2.89869481e-01] [ 8.90674279e-03 -1.28811715e-03 9.99959505e-01 -2.51555624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.454553574 meters Centerline goodness [0,1] 0.8265009902601808 Centerline is valid? [False, False] Translation: X:10.78, Y:0.29, Z:-2.52 [[ 9.99933991e-01 -6.10005888e-03 -9.73668678e-03 1.07832472e+01] [ 6.11525838e-03 9.99980128e-01 1.53204661e-03 2.85585342e-01] [ 9.72714772e-03 -1.59148784e-03 9.99951424e-01 -2.51652543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.48455357399996 meters Centerline goodness [0,1] 0.8318732879498794 Centerline is valid? [False, False] Translation: X:10.78, Y:0.28, Z:-2.52 [[ 9.99933073e-01 -6.05579227e-03 -9.85780130e-03 1.07836387e+01] [ 6.07266776e-03 9.99980145e-01 1.68286043e-03 2.84882907e-01] [ 9.84741452e-03 -1.74261096e-03 9.99949995e-01 -2.51675906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.514553574 meters Centerline goodness [0,1] 0.8435311612816007 Centerline is valid? [False, False] Translation: X:10.78, Y:0.29, Z:-2.52 [[ 9.99952931e-01 -3.98601199e-03 -8.84575689e-03 1.07787117e+01] [ 4.00601395e-03 9.99989457e-01 2.24462676e-03 2.86087551e-01] [ 8.83671652e-03 -2.27995734e-03 9.99958356e-01 -2.51546077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.54455357399996 meters Centerline goodness [0,1] 0.8457422371159096 Centerline is valid? [False, False] Translation: X:10.78, Y:0.29, Z:-2.51 [[ 9.99962277e-01 6.31598342e-04 -8.66290913e-03 1.07774620e+01] [-5.74077181e-04 9.99977785e-01 6.64081604e-03 2.87159314e-01] [ 8.66691101e-03 -6.63559235e-03 9.99940425e-01 -2.51418601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.574553574 meters Centerline goodness [0,1] 0.8308401390798091 Centerline is valid? [False, False] Translation: X:10.78, Y:0.29, Z:-2.52 [[ 9.99965072e-01 1.27559538e-03 -8.25997049e-03 1.07760236e+01] [-1.22557180e-03 9.99980897e-01 6.05837659e-03 2.89540735e-01] [ 8.26754073e-03 -6.04804179e-03 9.99947533e-01 -2.51505116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.60455357399997 meters Centerline goodness [0,1] 0.8376226475792183 Centerline is valid? [False, False] Translation: X:10.77, Y:0.29, Z:-2.52 [[ 9.99967849e-01 2.25996000e-03 -7.69374385e-03 1.07738284e+01] [-2.21905127e-03 9.99983378e-01 5.32153284e-03 2.92737947e-01] [ 7.70564242e-03 -5.30428894e-03 9.99956243e-01 -2.51602547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.634553574 meters Centerline goodness [0,1] 0.8364026269937006 Centerline is valid? [False, False] Translation: X:10.77, Y:0.29, Z:-2.52 [[ 9.99968244e-01 2.37250091e-03 -7.60802399e-03 1.07735334e+01] [-2.33507414e-03 9.99985148e-01 4.92449730e-03 2.94055314e-01] [ 7.61959437e-03 -4.90657562e-03 9.99958933e-01 -2.51635909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.66455357399997 meters Centerline goodness [0,1] 0.8309527630663884 Centerline is valid? [False, False] Translation: X:10.77, Y:0.30, Z:-2.52 [[ 9.99967269e-01 2.17431085e-03 -7.79315703e-03 1.07740643e+01] [-2.13895763e-03 9.99987398e-01 4.54191190e-03 2.95283711e-01] [ 7.80293435e-03 -4.52509401e-03 9.99959318e-01 -2.51647068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.694553574 meters Centerline goodness [0,1] 0.8299095918258171 Centerline is valid? [False, False] Translation: X:10.77, Y:0.30, Z:-2.52 [[ 9.99966433e-01 2.00156365e-03 -7.94519137e-03 1.07745903e+01] [-1.96662550e-03 9.99988374e-01 4.40277520e-03 2.95456277e-01] [ 7.95391144e-03 -4.38700219e-03 9.99958744e-01 -2.51656122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.72455357399997 meters Centerline goodness [0,1] 0.8289424464276172 Centerline is valid? [False, False] Translation: X:10.78, Y:0.30, Z:-2.52 [[ 9.99964229e-01 1.53728941e-03 -8.31728652e-03 1.07761662e+01] [-1.50556762e-03 9.99991575e-01 3.81887669e-03 2.96241463e-01] [ 8.32308716e-03 -3.80621785e-03 9.99958119e-01 -2.51762779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.754553574 meters Centerline goodness [0,1] 0.828009828009828 Centerline is valid? [False, False] Translation: X:10.78, Y:0.30, Z:-2.52 [[ 9.99963099e-01 1.35948064e-03 -8.48250840e-03 1.07768354e+01] [-1.32728853e-03 9.99991901e-01 3.79959267e-03 2.96140078e-01] [ 8.48760517e-03 -3.78819372e-03 9.99956804e-01 -2.51776946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.784553574 meters Centerline goodness [0,1] 0.8400277748103835 Centerline is valid? [False, False] Translation: X:10.78, Y:0.30, Z:-2.52 [[ 9.99962062e-01 1.10352791e-03 -8.64045972e-03 1.07773833e+01] [-1.06903229e-03 9.99991445e-01 3.99593654e-03 2.95290375e-01] [ 8.64479543e-03 -3.98654801e-03 9.99954686e-01 -2.51740990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.814553574 meters Centerline goodness [0,1] 0.840073775092887 Centerline is valid? [False, False] Translation: X:10.78, Y:0.30, Z:-2.52 [[ 9.99962572e-01 1.24276464e-03 -8.56216103e-03 1.07771386e+01] [-1.20882720e-03 9.99991398e-01 3.96768990e-03 2.95302829e-01] [ 8.56701828e-03 -3.95719123e-03 9.99955472e-01 -2.51759768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.844553574 meters Centerline goodness [0,1] 0.835530881332408 Centerline is valid? [False, False] Translation: X:10.77, Y:0.30, Z:-2.52 [[ 9.99966576e-01 2.29590136e-03 -7.84705911e-03 1.07745843e+01] [-2.26641283e-03 9.99990345e-01 3.76473771e-03 2.96002558e-01] [ 7.85562681e-03 -3.74682720e-03 9.99962124e-01 -2.51822437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.874553574 meters Centerline goodness [0,1] 0.8313683648973059 Centerline is valid? [False, False] Translation: X:10.77, Y:0.30, Z:-2.52 [[ 9.99967866e-01 4.88416614e-03 -6.35701076e-03 1.07683041e+01] [-4.85715986e-03 9.99979144e-01 4.25679530e-03 2.96095323e-01] [ 6.37766907e-03 -4.22578149e-03 9.99970734e-01 -2.51760189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.904553574 meters Centerline goodness [0,1] 0.8279026217228465 Centerline is valid? [False, False] Translation: X:10.77, Y:0.30, Z:-2.52 [[ 9.99966215e-01 6.00791063e-03 -5.61009791e-03 1.07656150e+01] [-5.98331788e-03 9.99972463e-01 4.39020056e-03 2.96100647e-01] [ 5.63631935e-03 -4.35648524e-03 9.99974626e-01 -2.51768112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.934553574 meters Centerline goodness [0,1] 0.828484329874853 Centerline is valid? [False, False] Translation: X:10.76, Y:0.30, Z:-2.52 [[ 9.99962998e-01 7.04783009e-03 -4.93262582e-03 1.07632605e+01] [-7.02634550e-03 9.99965812e-01 4.35946796e-03 2.96314845e-01] [ 4.96318197e-03 -4.32464832e-03 9.99978332e-01 -2.51819197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.964553574 meters Centerline goodness [0,1] 0.830768407247812 Centerline is valid? [False, False] Translation: X:10.76, Y:0.30, Z:-2.52 [[ 9.99951585e-01 9.18959718e-03 -3.51824778e-03 1.07581755e+01] [-9.17365823e-03 9.99947705e-01 4.52001115e-03 2.95926197e-01] [ 3.55960087e-03 -4.48751711e-03 9.99983596e-01 -2.51892694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99455357399995 meters Centerline goodness [0,1] 0.8282369293274885 Centerline is valid? [False, False] Translation: X:10.76, Y:0.30, Z:-2.52 [[ 9.99947896e-01 9.72303341e-03 -3.10947904e-03 1.07569894e+01] [-9.70871899e-03 9.99942353e-01 4.58591154e-03 2.95200531e-01] [ 3.15388876e-03 -4.55548353e-03 9.99984650e-01 -2.51942381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.024553574 meters Centerline goodness [0,1] 0.830221672226407 Centerline is valid? [False, False] Translation: X:10.75, Y:0.29, Z:-2.52 [[ 9.99970580e-01 7.48833373e-03 -1.66277320e-03 1.07531377e+01] [-7.48817294e-03 9.99971958e-01 1.02908028e-04 2.93886557e-01] [ 1.66349718e-03 -9.04538670e-05 9.99998612e-01 -2.52260082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.05455357399995 meters Centerline goodness [0,1] 0.8288237200259235 Centerline is valid? [False, False] Translation: X:10.75, Y:0.29, Z:-2.52 [[ 9.99990976e-01 4.11290266e-03 -1.06394581e-03 1.07519828e+01] [-4.11762713e-03 9.99981500e-01 -4.47710960e-03 2.93609560e-01] [ 1.04551221e-03 4.48145013e-03 9.99989412e-01 -2.52499945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.084553574 meters Centerline goodness [0,1] 0.8309083012107064 Centerline is valid? [False, False] Translation: X:10.76, Y:0.29, Z:-2.53 [[ 9.99997948e-01 1.17011695e-03 -1.65360650e-03 1.07567959e+01] [-1.17916500e-03 9.99984282e-01 -5.48136391e-03 2.88766241e-01] [ 1.64716667e-03 5.48330254e-03 9.99983610e-01 -2.52690812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.11455357399996 meters Centerline goodness [0,1] 0.8338868623073992 Centerline is valid? [False, False] Translation: X:10.76, Y:0.29, Z:-2.53 [[ 9.99997409e-01 4.65552576e-04 -2.22844432e-03 1.07589980e+01] [-4.76234810e-04 9.99988388e-01 -4.79545557e-03 2.86209475e-01] [ 2.22618591e-03 4.79650441e-03 9.99986019e-01 -2.52638760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.144553574 meters Centerline goodness [0,1] 0.8328079139036852 Centerline is valid? [False, False] Translation: X:10.76, Y:0.29, Z:-2.52 [[ 9.99997513e-01 1.31207928e-03 -1.80321449e-03 1.07563046e+01] [-1.31872910e-03 9.99992317e-01 -3.69152861e-03 2.85933310e-01] [ 1.79835705e-03 3.69389738e-03 9.99991560e-01 -2.52325655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.17455357399996 meters Centerline goodness [0,1] 0.8324352275201393 Centerline is valid? [False, False] Translation: X:10.76, Y:0.29, Z:-2.52 [[ 9.99997380e-01 1.24318849e-03 -1.92199925e-03 1.07565286e+01] [-1.24986177e-03 9.99993182e-01 -3.47475880e-03 2.86219560e-01] [ 1.91766636e-03 3.47715193e-03 9.99992116e-01 -2.52257473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.204553574 meters Centerline goodness [0,1] 0.8322661167788148 Centerline is valid? [False, False] Translation: X:10.76, Y:0.29, Z:-2.52 [[ 9.99997062e-01 9.29355724e-04 -2.23888618e-03 1.07578017e+01] [-9.37805936e-04 9.99992430e-01 -3.77620422e-03 2.87486628e-01] [ 2.23535979e-03 3.77829276e-03 9.99990364e-01 -2.52305462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.23455357399996 meters Centerline goodness [0,1] 0.8339638957950491 Centerline is valid? [False, False] Translation: X:10.76, Y:0.29, Z:-2.53 [[ 9.99996019e-01 1.62485937e-04 -2.81714356e-03 1.07605290e+01] [-1.77075609e-04 9.99986571e-01 -5.17941270e-03 2.91389881e-01] [ 2.81626415e-03 5.17989092e-03 9.99982619e-01 -2.52552987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.264553574 meters Centerline goodness [0,1] 0.830728462495268 Centerline is valid? [False, False] Translation: X:10.76, Y:0.29, Z:-2.53 [[ 9.99995005e-01 -2.74730347e-04 -3.14873244e-03 1.07619814e+01] [ 2.57579421e-04 9.99985137e-01 -5.44604203e-03 2.92339060e-01] [ 3.15018183e-03 5.44520377e-03 9.99980213e-01 -2.52601180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.29455357399996 meters Centerline goodness [0,1] 0.8336476293103449 Centerline is valid? [False, False] Translation: X:10.77, Y:0.29, Z:-2.52 [[ 9.99986737e-01 -2.41282887e-03 -4.55010065e-03 1.07672593e+01] [ 2.38982341e-03 9.99984369e-01 -5.05471072e-03 2.91894731e-01] [ 4.56222568e-03 5.04376974e-03 9.99976873e-01 -2.52447541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.324553574 meters Centerline goodness [0,1] 0.8336476293103449 Centerline is valid? [False, False] Translation: X:10.77, Y:0.29, Z:-2.52 [[ 9.99986737e-01 -2.41282887e-03 -4.55010065e-03 1.07672593e+01] [ 2.38982341e-03 9.99984369e-01 -5.05471072e-03 2.91894731e-01] [ 4.56222568e-03 5.04376974e-03 9.99976873e-01 -2.52447541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.35455357399997 meters Centerline goodness [0,1] 0.8372858491838662 Centerline is valid? [False, False] Translation: X:10.77, Y:0.29, Z:-2.52 [[ 9.99978973e-01 -3.55396200e-03 -5.42437590e-03 1.07702570e+01] [ 3.52845337e-03 9.99982707e-01 -4.70494038e-03 2.90968673e-01] [ 5.44100327e-03 4.68570179e-03 9.99974220e-01 -2.52350574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.384553574 meters Centerline goodness [0,1] 0.8465115021760874 Centerline is valid? [False, False] Translation: X:10.78, Y:0.29, Z:-2.52 [[ 9.99959537e-01 -5.77145115e-03 -6.90036301e-03 1.07757206e+01] [ 5.73808441e-03 9.99971797e-01 -4.84556391e-03 2.90505015e-01] [ 6.92813433e-03 4.80577298e-03 9.99964452e-01 -2.52302353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.41455357399997 meters Centerline goodness [0,1] 0.8370944231495978 Centerline is valid? [False, False] Translation: X:10.78, Y:0.29, Z:-2.52 [[ 9.99953871e-01 -6.23500407e-03 -7.30616885e-03 1.07769604e+01] [ 6.20127649e-03 9.99970054e-01 -4.62991156e-03 2.90504336e-01] [ 7.33481758e-03 4.58439042e-03 9.99962591e-01 -2.52224920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.444553574 meters Centerline goodness [0,1] 0.8424973682079521 Centerline is valid? [False, False] Translation: X:10.78, Y:0.29, Z:-2.52 [[ 9.99944213e-01 -6.94701672e-03 -7.95670750e-03 1.07795924e+01] [ 6.90253706e-03 9.99960474e-01 -5.60409455e-03 2.93141786e-01] [ 7.99532474e-03 5.54886045e-03 9.99952641e-01 -2.52380012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.47455357399997 meters Centerline goodness [0,1] 0.8383359379210001 Centerline is valid? [False, False] Translation: X:10.79, Y:0.29, Z:-2.52 [[ 9.99941899e-01 -4.92972103e-03 -9.58631034e-03 1.07854323e+01] [ 4.91449353e-03 9.99986626e-01 -1.61137128e-03 2.93297367e-01] [ 9.59412574e-03 1.56416580e-03 9.99952752e-01 -2.52341377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.504553574 meters Centerline goodness [0,1] 0.8403316106804479 Centerline is valid? [False, False] Translation: X:10.79, Y:0.29, Z:-2.52 [[ 9.99939717e-01 -5.00803132e-03 -9.77143869e-03 1.07861542e+01] [ 4.98867261e-03 9.99985547e-01 -2.00452128e-03 2.94907536e-01] [ 9.78133617e-03 1.95565393e-03 9.99950249e-01 -2.52404016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.534553574 meters Centerline goodness [0,1] 0.8408084386826636 Centerline is valid? [False, False] Translation: X:10.79, Y:0.30, Z:-2.52 [[ 9.99934228e-01 -5.27107218e-03 -1.01860836e-02 1.07873101e+01] [ 5.24550164e-03 9.99983028e-01 -2.53542840e-03 2.97489018e-01] [ 1.01992751e-02 2.48183052e-03 9.99944906e-01 -2.52425241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.564553574 meters Centerline goodness [0,1] 0.8374012149884414 Centerline is valid? [False, False] Translation: X:10.79, Y:0.30, Z:-2.52 [[ 9.99926294e-01 -5.80191785e-03 -1.06651105e-02 1.07885893e+01] [ 5.77326404e-03 9.99979647e-01 -2.71551339e-03 2.99143958e-01] [ 1.06806486e-02 2.65374074e-03 9.99939439e-01 -2.52347892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.594553574 meters Centerline goodness [0,1] 0.8411272590765271 Centerline is valid? [False, False] Translation: X:10.79, Y:0.30, Z:-2.52 [[ 9.99921079e-01 -6.11138065e-03 -1.09766928e-02 1.07892747e+01] [ 6.08465915e-03 9.99978447e-01 -2.46613305e-03 2.99559266e-01] [ 1.09915277e-02 2.39914899e-03 9.99936713e-01 -2.52231711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.624553574 meters Centerline goodness [0,1] 0.8396482641783419 Centerline is valid? [False, False] Translation: X:10.79, Y:0.30, Z:-2.52 [[ 9.99911530e-01 -6.70457197e-03 -1.14883020e-02 1.07907857e+01] [ 6.67768681e-03 9.99974879e-01 -2.37698415e-03 3.00073782e-01] [ 1.15039501e-02 2.30005858e-03 9.99931182e-01 -2.52148395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.654553574 meters Centerline goodness [0,1] 0.8338768309633273 Centerline is valid? [False, False] Translation: X:10.79, Y:0.30, Z:-2.52 [[ 9.99903450e-01 -7.23663054e-03 -1.18626161e-02 1.07913806e+01] [ 7.20782277e-03 9.99970974e-01 -2.46940759e-03 3.02889065e-01] [ 1.18801420e-02 2.38366554e-03 9.99926587e-01 -2.51967685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.684553574 meters Centerline goodness [0,1] 0.8468923833975182 Centerline is valid? [False, False] Translation: X:10.79, Y:0.30, Z:-2.52 [[ 9.99897054e-01 -7.60931590e-03 -1.21646508e-02 1.07919160e+01] [ 7.58194265e-03 9.99968624e-01 -2.29476582e-03 3.03897549e-01] [ 1.21817308e-02 2.20229790e-03 9.99923375e-01 -2.51827595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.714553574 meters Centerline goodness [0,1] 0.834514670874903 Centerline is valid? [False, False] Translation: X:10.80, Y:0.30, Z:-2.52 [[ 9.99859579e-01 -9.82299306e-03 -1.35768391e-02 1.07964472e+01] [ 9.79836771e-03 9.99950229e-01 -1.87910808e-03 3.04317820e-01] [ 1.35946219e-02 1.74581335e-03 9.99906065e-01 -2.51552866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.74455357399995 meters Centerline goodness [0,1] 0.8509619243839135 Centerline is valid? [False, False] Translation: X:10.80, Y:0.30, Z:-2.52 [[ 9.99832337e-01 -1.11815895e-02 -1.45006645e-02 1.07998576e+01] [ 1.11531967e-02 9.99935725e-01 -2.03742705e-03 3.04503442e-01] [ 1.45225142e-02 1.87535668e-03 9.99892784e-01 -2.51526627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.774553574 meters Centerline goodness [0,1] 0.8456217491554507 Centerline is valid? [False, False] Translation: X:10.81, Y:0.30, Z:-2.52 [[ 9.99753976e-01 -1.47852728e-02 -1.65342863e-02 1.08084326e+01] [ 1.47393941e-02 9.99887183e-01 -2.89319539e-03 3.04850944e-01] [ 1.65751976e-02 2.64877824e-03 9.99859113e-01 -2.51600496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.80455357399995 meters Centerline goodness [0,1] 0.8464649169791109 Centerline is valid? [False, False] Translation: X:10.81, Y:0.31, Z:-2.52 [[ 9.99720831e-01 -1.59681575e-02 -1.74148926e-02 1.08117861e+01] [ 1.59162172e-02 9.99868470e-01 -3.11706538e-03 3.05037801e-01] [ 1.74623758e-02 2.83901598e-03 9.99843490e-01 -2.51629913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.834553574 meters Centerline goodness [0,1] 0.8418749496630782 Centerline is valid? [False, False] Translation: X:10.82, Y:0.31, Z:-2.52 [[ 9.99671558e-01 -1.76180157e-02 -1.86113389e-02 1.08164616e+01] [ 1.75507732e-02 9.99838865e-01 -3.77017778e-03 3.05847233e-01] [ 1.86747630e-02 3.44229611e-03 9.99819686e-01 -2.51738456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.86455357399996 meters Centerline goodness [0,1] 0.7528764918868178 Centerline is valid? [False, False] Translation: X:10.82, Y:0.30, Z:-2.52 [[ 9.99677889e-01 -1.58718539e-02 -1.98041082e-02 1.08211139e+01] [ 1.58808398e-02 9.99873848e-01 2.96546088e-04 3.04057000e-01] [ 1.97969031e-02 -6.10956438e-04 9.99803835e-01 -2.51624076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.894553574 meters Centerline goodness [0,1] 0.8543991416309012 Centerline is valid? [False, False] Translation: X:10.82, Y:0.30, Z:-2.52 [[ 9.99675657e-01 -1.58711978e-02 -1.99169508e-02 1.08212668e+01] [ 1.58835965e-02 9.99873740e-01 4.64468865e-04 3.04210018e-01] [ 1.99070644e-02 -7.80671028e-04 9.99801530e-01 -2.51575237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.92455357399996 meters Centerline goodness [0,1] 0.8236065398303497 Centerline is valid? [False, False] Translation: X:10.82, Y:0.30, Z:-2.51 [[ 9.99715599e-01 -1.21927700e-02 -2.04953177e-02 1.08226041e+01] [ 1.22949518e-02 9.99912569e-01 4.86702055e-03 3.04404815e-01] [ 2.04341833e-02 -5.11762531e-03 9.99778102e-01 -2.51444454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.954553574 meters Centerline goodness [0,1] 0.8519923085140476 Centerline is valid? [False, False] Translation: X:10.84, Y:0.31, Z:-2.52 [[ 9.99843520e-01 -9.67103292e-03 -1.48123497e-02 1.08394709e+01] [ 9.62806299e-03 9.99949240e-01 -2.96952369e-03 3.07760340e-01] [ 1.48403162e-02 2.82644478e-03 9.99885882e-01 -2.52190528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.98455357399996 meters Centerline goodness [0,1] 0.8522325816134088 Centerline is valid? [False, False] Translation: X:10.84, Y:0.31, Z:-2.52 [[ 9.99889521e-01 -4.25046191e-03 -1.42435992e-02 1.08361762e+01] [ 4.27673345e-03 9.99989209e-01 1.81449314e-03 3.09094179e-01] [ 1.42357330e-02 -1.87520875e-03 9.99896908e-01 -2.51963952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.014553574 meters Centerline goodness [0,1] 0.851217766941404 Centerline is valid? [False, False] Translation: X:10.83, Y:0.31, Z:-2.52 [[ 9.99904193e-01 -2.95044382e-03 -1.35240294e-02 1.08332175e+01] [ 2.97587112e-03 9.99993841e-01 1.86041921e-03 3.10586778e-01] [ 1.35184571e-02 -1.90048673e-03 9.99906815e-01 -2.51949337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.04455357399996 meters Centerline goodness [0,1] 0.8409217175057542 Centerline is valid? [False, False] Translation: X:10.83, Y:0.31, Z:-2.52 [[ 9.99917395e-01 -1.66957992e-03 -1.27442219e-02 1.08301134e+01] [ 1.69494045e-03 9.99996605e-01 1.97942130e-03 3.11661179e-01] [ 1.27408738e-02 -2.00085849e-03 9.99916830e-01 -2.51917616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.074553574 meters Centerline goodness [0,1] 0.8505293806246691 Centerline is valid? [False, False] Translation: X:10.83, Y:0.31, Z:-2.52 [[ 9.99933223e-01 4.66795635e-04 -1.15469160e-02 1.08250626e+01] [-4.41520247e-04 9.99997501e-01 2.19138210e-03 3.12693956e-01] [ 1.15479100e-02 -2.18613757e-03 9.99930931e-01 -2.51886193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.10455357399997 meters Centerline goodness [0,1] 0.8449240395577591 Centerline is valid? [False, False] Translation: X:10.82, Y:0.31, Z:-2.52 [[ 9.99936955e-01 1.01241570e-03 -1.11830792e-02 1.08238939e+01] [-9.90596612e-04 9.99997596e-01 1.95644739e-03 3.13168402e-01] [ 1.11850331e-02 -1.94524613e-03 9.99935553e-01 -2.51956205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.134553574 meters Centerline goodness [0,1] 0.8342705570291777 Centerline is valid? [False, False] Translation: X:10.82, Y:0.31, Z:-2.52 [[ 9.99942054e-01 1.89207934e-03 -1.05976185e-02 1.08223366e+01] [-1.87494691e-03 9.99996920e-01 1.62633199e-03 3.13660991e-01] [ 1.06006630e-02 -1.60636778e-03 9.99942521e-01 -2.52113871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.16455357399997 meters Centerline goodness [0,1] 0.8381628436721937 Centerline is valid? [False, False] Translation: X:10.82, Y:0.31, Z:-2.52 [[ 9.99943921e-01 2.28910912e-03 -1.03399409e-02 1.08215510e+01] [-2.27187666e-03 9.99996011e-01 1.67803016e-03 3.13542533e-01] [ 1.03437409e-02 -1.65444499e-03 9.99945133e-01 -2.52146409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.194553574 meters Centerline goodness [0,1] 0.8354065212788482 Centerline is valid? [False, False] Translation: X:10.82, Y:0.31, Z:-2.52 [[ 9.99947149e-01 3.03684251e-03 -9.82229728e-03 1.08196280e+01] [-3.01437338e-03 9.99992808e-01 2.30155965e-03 3.11810582e-01] [ 9.82921611e-03 -2.27182994e-03 9.99949111e-01 -2.52081223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.22455357399997 meters Centerline goodness [0,1] 0.8342866221798538 Centerline is valid? [False, False] Translation: X:10.82, Y:0.31, Z:-2.52 [[ 9.99948265e-01 3.34249037e-03 -9.60699292e-03 1.08187051e+01] [-3.31591952e-03 9.99990637e-01 2.78038108e-03 3.10385277e-01] [ 9.61619637e-03 -2.74838123e-03 9.99949986e-01 -2.52023046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.254553574 meters Centerline goodness [0,1] 0.8378013245033112 Centerline is valid? [False, False] Translation: X:10.82, Y:0.31, Z:-2.52 [[ 9.99948456e-01 3.31183729e-03 -9.59778559e-03 1.08187862e+01] [-3.28315124e-03 9.99990101e-01 3.00303527e-03 3.09235325e-01] [ 9.60763615e-03 -2.97136950e-03 9.99949431e-01 -2.52011170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.284553574 meters Centerline goodness [0,1] 0.8350674578887145 Centerline is valid? [False, False] Translation: X:10.82, Y:0.31, Z:-2.52 [[ 9.99962272e-01 3.47229452e-04 -8.67946834e-03 1.08159162e+01] [-3.56611038e-04 9.99999354e-01 -1.07936986e-03 3.08624355e-01] [ 8.67908794e-03 1.08242434e-03 9.99961750e-01 -2.52112607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.314553574 meters Centerline goodness [0,1] 0.8332933940410576 Centerline is valid? [False, False] Translation: X:10.82, Y:0.31, Z:-2.52 [[ 9.99959464e-01 -1.23662546e-04 -9.00307263e-03 1.08170330e+01] [ 1.18312584e-04 9.99999816e-01 -5.94767458e-04 3.07158108e-01] [ 9.00314452e-03 5.93678171e-04 9.99959295e-01 -2.52037043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.344553574 meters Centerline goodness [0,1] 0.8436462905470506 Centerline is valid? [False, False] Translation: X:10.82, Y:0.31, Z:-2.52 [[ 9.99947575e-01 -4.64810823e-03 -9.12372140e-03 1.08182169e+01] [ 4.60408281e-03 9.99977686e-01 -4.84046644e-03 3.05896399e-01] [ 9.14601683e-03 4.79820631e-03 9.99946662e-01 -2.52171753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.374553574 meters Centerline goodness [0,1] 0.8359806815132814 Centerline is valid? [False, False] Translation: X:10.82, Y:0.30, Z:-2.52 [[ 9.99930709e-01 -6.02334342e-03 -1.01142174e-02 1.08222156e+01] [ 5.97655026e-03 9.99971327e-01 -4.65034266e-03 3.04060490e-01] [ 1.01419380e-02 4.58957230e-03 9.99938037e-01 -2.52197778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.404553574 meters Centerline goodness [0,1] 0.8361158157915961 Centerline is valid? [False, False] Translation: X:10.83, Y:0.30, Z:-2.52 [[ 9.99886300e-01 -9.51117205e-03 -1.17014731e-02 1.08303267e+01] [ 9.45009263e-03 9.99941491e-01 -5.26407224e-03 3.01371947e-01] [ 1.17508560e-02 5.15289371e-03 9.99917679e-01 -2.52361056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.434553574 meters Centerline goodness [0,1] 0.8432006030746035 Centerline is valid? [False, False] Translation: X:10.83, Y:0.30, Z:-2.52 [[ 9.99864381e-01 -1.06749005e-02 -1.25405775e-02 1.08336726e+01] [ 1.06112832e-02 9.99930547e-01 -5.12855711e-03 3.00187534e-01] [ 1.25944533e-02 4.99478997e-03 9.99908212e-01 -2.52372459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.464553574 meters Centerline goodness [0,1] 0.8404375707280272 Centerline is valid? [False, False] Translation: X:10.84, Y:0.30, Z:-2.52 [[ 9.99846961e-01 -1.15312910e-02 -1.31561025e-02 1.08360325e+01] [ 1.14698359e-02 9.99922998e-01 -4.73715744e-03 2.98892804e-01] [ 1.32097150e-02 4.58553414e-03 9.99902233e-01 -2.52324844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49455357399995 meters Centerline goodness [0,1] 0.8421279577426831 Centerline is valid? [False, False] Translation: X:10.84, Y:0.30, Z:-2.52 [[ 9.99819331e-01 -1.28901878e-02 -1.39695624e-02 1.08392174e+01] [ 1.28341658e-02 9.99909264e-01 -4.09254477e-03 2.96290563e-01] [ 1.40210486e-02 3.91251770e-03 9.99894046e-01 -2.52221492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.524553574 meters Centerline goodness [0,1] 0.8370769853040313 Centerline is valid? [False, False] Translation: X:10.84, Y:0.30, Z:-2.52 [[ 9.99812571e-01 -1.31694950e-02 -1.41911208e-02 1.08398669e+01] [ 1.31212669e-02 9.99907835e-01 -3.48623754e-03 2.95078880e-01] [ 1.42357248e-02 3.29937863e-03 9.99893223e-01 -2.52111284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.55455357399995 meters Centerline goodness [0,1] 0.8479503775620281 Centerline is valid? [False, False] Translation: X:10.84, Y:0.29, Z:-2.52 [[ 9.99815703e-01 -1.30311375e-02 -1.40978400e-02 1.08391205e+01] [ 1.29934042e-02 9.99911760e-01 -2.76482563e-03 2.94414616e-01] [ 1.41326249e-02 2.58113714e-03 9.99896798e-01 -2.51940679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.584553574 meters Centerline goodness [0,1] 0.8373178629249864 Centerline is valid? [False, False] Translation: X:10.84, Y:0.29, Z:-2.52 [[ 9.99832990e-01 -1.04282579e-02 -1.50081136e-02 1.08421513e+01] [ 1.04623074e-02 9.99942866e-01 2.19201437e-03 2.92296446e-01] [ 1.49843972e-02 -2.34866778e-03 9.99884969e-01 -2.51691054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.61455357399996 meters Centerline goodness [0,1] 0.8460293046223589 Centerline is valid? [False, False] Translation: X:10.84, Y:0.29, Z:-2.52 [[ 9.99849242e-01 -9.60688577e-03 -1.44638062e-02 1.08396044e+01] [ 9.64800766e-03 9.99949604e-01 2.77600030e-03 2.92349148e-01] [ 1.44364086e-02 -2.91512871e-03 9.99891540e-01 -2.51540327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.644553574 meters Centerline goodness [0,1] 0.8449553896331438 Centerline is valid? [False, False] Translation: X:10.84, Y:0.29, Z:-2.52 [[ 9.99866484e-01 -8.61516756e-03 -1.38849699e-02 1.08371585e+01] [ 8.65509369e-03 9.99958573e-01 2.81797080e-03 2.93523802e-01] [ 1.38601174e-02 -2.93777027e-03 9.99899628e-01 -2.51520789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.67455357399996 meters Centerline goodness [0,1] 0.8431578380706288 Centerline is valid? [False, False] Translation: X:10.84, Y:0.29, Z:-2.52 [[ 9.99871944e-01 -8.21323140e-03 -1.37345357e-02 1.08365275e+01] [ 8.25079059e-03 9.99962370e-01 2.68022845e-03 2.94568036e-01] [ 1.37120055e-02 -2.79320601e-03 9.99902085e-01 -2.51549975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.704553574 meters Centerline goodness [0,1] 0.8445422110148348 Centerline is valid? [False, False] Translation: X:10.84, Y:0.30, Z:-2.52 [[ 9.99875072e-01 -7.94213298e-03 -1.36661061e-02 1.08362382e+01] [ 7.97690337e-03 9.99965080e-01 2.49165311e-03 2.95729646e-01] [ 1.36458398e-02 -2.60035504e-03 9.99903510e-01 -2.51584881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.73455357399996 meters Centerline goodness [0,1] 0.8427005534361399 Centerline is valid? [False, False] Translation: X:10.84, Y:0.30, Z:-2.52 [[ 9.99877473e-01 -7.76057919e-03 -1.35945728e-02 1.08360198e+01] [ 7.79184069e-03 9.99967116e-01 2.24810194e-03 2.96601922e-01] [ 1.35766791e-02 -2.35375323e-03 9.99905062e-01 -2.51628820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.764553574 meters Centerline goodness [0,1] 0.838148893360161 Centerline is valid? [False, False] Translation: X:10.83, Y:0.30, Z:-2.52 [[ 9.99885566e-01 -7.14682629e-03 -1.33332986e-02 1.08347082e+01] [ 7.17790368e-03 9.99971629e-01 2.28441311e-03 2.97546506e-01] [ 1.33165940e-02 -2.37985683e-03 9.99908498e-01 -2.51612719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.79455357399996 meters Centerline goodness [0,1] 0.8282376269460596 Centerline is valid? [False, False] Translation: X:10.83, Y:0.30, Z:-2.52 [[ 9.99888735e-01 -6.90816047e-03 -1.32209662e-02 1.08344262e+01] [ 6.93522581e-03 9.99973946e-01 2.00240132e-03 2.98511680e-01] [ 1.32067889e-02 -2.09386891e-03 9.99910594e-01 -2.51682755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.824553574 meters Centerline goodness [0,1] 0.8318621944043225 Centerline is valid? [False, False] Translation: X:10.83, Y:0.30, Z:-2.52 [[ 9.99896701e-01 -6.28134882e-03 -1.29279457e-02 1.08333103e+01] [ 6.30345894e-03 9.99978738e-01 1.67022112e-03 3.00546132e-01] [ 1.29171796e-02 -1.75153936e-03 9.99915036e-01 -2.51755866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.85455357399997 meters Centerline goodness [0,1] 0.8380636178644104 Centerline is valid? [False, False] Translation: X:10.83, Y:0.30, Z:-2.52 [[ 9.99903817e-01 -5.78390281e-03 -1.26057046e-02 1.08321255e+01] [ 5.80395986e-03 9.99981948e-01 1.55510672e-03 3.01148404e-01] [ 1.25964825e-02 -1.62812015e-03 9.99919336e-01 -2.51780612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.884553574 meters Centerline goodness [0,1] 0.8289065840102607 Centerline is valid? [False, False] Translation: X:10.83, Y:0.30, Z:-2.52 [[ 9.99922405e-01 -4.24536382e-03 -1.17116026e-02 1.08281080e+01] [ 4.27009281e-03 9.99988705e-01 2.08729846e-03 3.01575242e-01] [ 1.17026090e-02 -2.13714612e-03 9.99929238e-01 -2.51640195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.91455357399997 meters Centerline goodness [0,1] 0.8318297416677821 Centerline is valid? [False, False] Translation: X:10.83, Y:0.30, Z:-2.52 [[ 9.99933539e-01 -3.20964354e-03 -1.10731829e-02 1.08253918e+01] [ 3.23713616e-03 9.99991720e-01 2.46578208e-03 3.01779016e-01] [ 1.10651770e-02 -2.50146361e-03 9.99935650e-01 -2.51555384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.944553574 meters Centerline goodness [0,1] 0.8241805251056094 Centerline is valid? [False, False] Translation: X:10.82, Y:0.30, Z:-2.52 [[ 9.99947605e-01 -1.68676782e-03 -1.00966379e-02 1.08217092e+01] [ 1.71077563e-03 9.99995729e-01 2.36963809e-03 3.02815588e-01] [ 1.00925978e-02 -2.38678701e-03 9.99946220e-01 -2.51592214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.97455357399997 meters Centerline goodness [0,1] 0.8280334839934744 Centerline is valid? [False, False] Translation: X:10.82, Y:0.30, Z:-2.52 [[ 9.99950202e-01 -1.33790754e-03 -9.88956981e-03 1.08211119e+01] [ 1.35977261e-03 9.99996646e-01 2.20452862e-03 3.03615495e-01] [ 9.88658718e-03 -2.21786641e-03 9.99948667e-01 -2.51644972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.004553574 meters Centerline goodness [0,1] 0.8285150416044378 Centerline is valid? [False, False] Translation: X:10.82, Y:0.30, Z:-2.52 [[ 9.99951292e-01 -1.22527211e-03 -9.79351162e-03 1.08213032e+01] [ 1.24098642e-03 9.99997952e-01 1.59864815e-03 3.04384514e-01] [ 9.79153278e-03 -1.61072389e-03 9.99950765e-01 -2.51811512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.034553574 meters Centerline goodness [0,1] 0.8291738956359269 Centerline is valid? [False, False] Translation: X:10.82, Y:0.30, Z:-2.52 [[ 9.99951150e-01 -1.20869185e-03 -9.80999724e-03 1.08211664e+01] [ 1.22732875e-03 9.99997453e-01 1.89398819e-03 3.03714907e-01] [ 9.80768301e-03 -1.90593576e-03 9.99950087e-01 -2.51752516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.064553574 meters Centerline goodness [0,1] 0.8276774262505344 Centerline is valid? [False, False] Translation: X:10.82, Y:0.30, Z:-2.52 [[ 9.99950311e-01 -1.33524423e-03 -9.87890071e-03 1.08212809e+01] [ 1.35796273e-03 9.99996448e-01 2.29334841e-03 3.02686461e-01] [ 9.87580344e-03 -2.30664964e-03 9.99948573e-01 -2.51674099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.094553574 meters Centerline goodness [0,1] 0.8410430960548885 Centerline is valid? [False, False] Translation: X:10.82, Y:0.30, Z:-2.52 [[ 9.99944283e-01 -4.91589092e-03 -9.34159459e-03 1.08196756e+01] [ 4.89897233e-03 9.99986320e-01 -1.83312443e-03 3.02619008e-01] [ 9.35047824e-03 1.78725808e-03 9.99954686e-01 -2.51723642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.124553574 meters Centerline goodness [0,1] 0.8407513598971034 Centerline is valid? [False, False] Translation: X:10.82, Y:0.30, Z:-2.52 [[ 9.99935954e-01 -5.56322722e-03 -9.85589013e-03 1.08215380e+01] [ 5.54871505e-03 9.99983482e-01 -1.49916928e-03 3.01336464e-01] [ 9.86406755e-03 1.44438574e-03 9.99950306e-01 -2.51687943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.154553574 meters Centerline goodness [0,1] 0.827832099832532 Centerline is valid? [False, False] Translation: X:10.83, Y:0.30, Z:-2.52 [[ 9.99914349e-01 -7.28998065e-03 -1.08697278e-02 1.08258547e+01] [ 7.27490906e-03 9.99972522e-01 -1.42546174e-03 2.99226023e-01] [ 1.08798207e-02 1.34626337e-03 9.99939907e-01 -2.51715835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.184553574 meters Centerline goodness [0,1] 0.8353010943986199 Centerline is valid? [False, False] Translation: X:10.83, Y:0.30, Z:-2.52 [[ 9.99904062e-01 -7.90240936e-03 -1.13762530e-02 1.08276363e+01] [ 7.89047523e-03 9.99968272e-01 -1.09354049e-03 2.98310835e-01] [ 1.13845336e-02 1.00367154e-03 9.99934690e-01 -2.51671802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.214553574 meters Centerline goodness [0,1] 0.8353010943986199 Centerline is valid? [False, False] Translation: X:10.83, Y:0.30, Z:-2.52 [[ 9.99904062e-01 -7.90240936e-03 -1.13762530e-02 1.08276363e+01] [ 7.89047523e-03 9.99968272e-01 -1.09354049e-03 2.98310835e-01] [ 1.13845336e-02 1.00367154e-03 9.99934690e-01 -2.51671802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.24455357399995 meters Centerline goodness [0,1] 0.8324745744422564 Centerline is valid? [False, False] Translation: X:10.83, Y:0.30, Z:-2.52 [[ 9.99895478e-01 -8.42464107e-03 -1.17498437e-02 1.08289983e+01] [ 8.41627592e-03 9.99964293e-01 -7.61202770e-04 2.97268614e-01] [ 1.17558370e-02 6.62233281e-04 9.99930678e-01 -2.51622021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.274553574 meters Centerline goodness [0,1] 0.8334688346883469 Centerline is valid? [False, False] Translation: X:10.83, Y:0.30, Z:-2.51 [[ 9.99872270e-01 -9.81907429e-03 -1.26107038e-02 1.08320182e+01] [ 9.81818668e-03 9.99951792e-01 -1.32295098e-04 2.95304981e-01] [ 1.26113949e-02 8.46395565e-06 9.99920473e-01 -2.51469970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.30455357399995 meters Centerline goodness [0,1] 0.8296270213169371 Centerline is valid? [False, False] Translation: X:10.83, Y:0.29, Z:-2.51 [[ 9.99859126e-01 -1.04998949e-02 -1.30950647e-02 1.08337624e+01] [ 1.05020394e-02 9.99944848e-01 9.50066262e-05 2.94708284e-01] [ 1.30933449e-02 -2.32518127e-04 9.99914251e-01 -2.51419672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.334553574 meters Centerline goodness [0,1] 0.8367247140644951 Centerline is valid? [False, False] Translation: X:10.84, Y:0.29, Z:-2.51 [[ 9.99829885e-01 -1.19530775e-02 -1.40472090e-02 1.08375629e+01] [ 1.19507328e-02 9.99928556e-01 -2.50849659e-04 2.94897440e-01] [ 1.40492038e-02 8.29325452e-05 9.99901302e-01 -2.51473610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.36455357399996 meters Centerline goodness [0,1] 0.8430130235832454 Centerline is valid? [False, False] Translation: X:10.84, Y:0.29, Z:-2.51 [[ 9.99821212e-01 -1.23419991e-02 -1.43254484e-02 1.08385530e+01] [ 1.23422377e-02 9.99923829e-01 -7.17547734e-05 2.94799115e-01] [ 1.43252429e-02 -1.05066146e-04 9.99897383e-01 -2.51425528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.394553574 meters Centerline goodness [0,1] 0.8383419969677279 Centerline is valid? [False, False] Translation: X:10.84, Y:0.29, Z:-2.51 [[ 9.99805823e-01 -1.30353524e-02 -1.47782086e-02 1.08398154e+01] [ 1.30440887e-02 9.99914800e-01 4.94924278e-04 2.94149765e-01] [ 1.47704979e-02 -6.87596439e-04 9.99890674e-01 -2.51253101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.42455357399996 meters Centerline goodness [0,1] 0.831833292791697 Centerline is valid? [False, False] Translation: X:10.84, Y:0.29, Z:-2.51 [[ 9.99799635e-01 -1.32851089e-02 -1.49731653e-02 1.08404306e+01] [ 1.32964855e-02 9.99911380e-01 6.60497644e-04 2.94062945e-01] [ 1.49630636e-02 -8.59455778e-04 9.99887678e-01 -2.51205383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.454553574 meters Centerline goodness [0,1] 0.8387760628215543 Centerline is valid? [False, False] Translation: X:10.84, Y:0.29, Z:-2.51 [[ 9.99794003e-01 -1.35105460e-02 -1.51464923e-02 1.08410702e+01] [ 1.35239915e-02 9.99908238e-01 7.85621610e-04 2.93958514e-01] [ 1.51344882e-02 -9.90300807e-04 9.99884977e-01 -2.51179034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.48455357399996 meters Centerline goodness [0,1] 0.8401403698204886 Centerline is valid? [False, False] Translation: X:10.84, Y:0.29, Z:-2.51 [[ 9.99790175e-01 -1.36394683e-02 -1.52830523e-02 1.08415301e+01] [ 1.36508557e-02 9.99906617e-01 6.41025274e-04 2.94901951e-01] [ 1.52728819e-02 -8.49517513e-04 9.99883002e-01 -2.51185271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.514553574 meters Centerline goodness [0,1] 0.8291275746791761 Centerline is valid? [False, False] Translation: X:10.84, Y:0.30, Z:-2.51 [[ 9.99793102e-01 -1.34419647e-02 -1.52664993e-02 1.08414364e+01] [ 1.34517436e-02 9.99909376e-01 5.38035497e-04 2.95719227e-01] [ 1.52578835e-02 -7.43285214e-04 9.99883315e-01 -2.51213745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.54455357399996 meters Centerline goodness [0,1] 0.8439536762725559 Centerline is valid? [False, False] Translation: X:10.84, Y:0.29, Z:-2.51 [[ 9.99825181e-01 -9.80494937e-03 -1.59207381e-02 1.08432376e+01] [ 9.88614492e-03 9.99938483e-01 5.02931688e-03 2.94896453e-01] [ 1.58704466e-02 -5.18583238e-03 9.99860608e-01 -2.51128224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.574553574 meters Centerline goodness [0,1] 0.8426167721093014 Centerline is valid? [False, False] Translation: X:10.84, Y:0.30, Z:-2.51 [[ 9.99834658e-01 -9.28586688e-03 -1.56342439e-02 1.08423757e+01] [ 9.35818833e-03 9.99945818e-01 4.55904790e-03 2.95850530e-01] [ 1.55910621e-02 -4.70460230e-03 9.99867384e-01 -2.51240776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.60455357399997 meters Centerline goodness [0,1] 0.8449931412894376 Centerline is valid? [False, False] Translation: X:10.84, Y:0.30, Z:-2.51 [[ 9.99849955e-01 -8.41889563e-03 -1.51390113e-02 1.08405210e+01] [ 8.48636878e-03 9.99954318e-01 4.39820007e-03 2.96887975e-01] [ 1.51012918e-02 -4.52601538e-03 9.99875725e-01 -2.51288819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.634553574 meters Centerline goodness [0,1] 0.8422899699957137 Centerline is valid? [False, False] Translation: X:10.84, Y:0.30, Z:-2.51 [[ 9.99877538e-01 -6.35406159e-03 -1.43015821e-02 1.08368023e+01] [ 6.41658291e-03 9.99970039e-01 4.33000372e-03 2.99068070e-01] [ 1.42736405e-02 -4.42124074e-03 9.99888352e-01 -2.51366476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.66455357399997 meters Centerline goodness [0,1] 0.8373970698321035 Centerline is valid? [False, False] Translation: X:10.83, Y:0.30, Z:-2.51 [[ 9.99890341e-01 -5.49777271e-03 -1.37506694e-02 1.08347158e+01] [ 5.55622411e-03 9.99975676e-01 4.21621945e-03 2.99893522e-01] [ 1.37271551e-02 -4.29215890e-03 9.99896566e-01 -2.51388194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.694553574 meters Centerline goodness [0,1] 0.8414324980652736 Centerline is valid? [False, False] Translation: X:10.83, Y:0.30, Z:-2.51 [[ 9.99910966e-01 -3.73351226e-03 -1.28109611e-02 1.08308218e+01] [ 3.78483934e-03 9.99984899e-01 3.98459372e-03 3.01503594e-01] [ 1.27958911e-02 -4.03272638e-03 9.99909997e-01 -2.51450394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.72455357399997 meters Centerline goodness [0,1] 0.8468225819355183 Centerline is valid? [False, False] Translation: X:10.83, Y:0.30, Z:-2.51 [[ 9.99919518e-01 -2.95755405e-03 -1.23373179e-02 1.08289516e+01] [ 3.00669131e-03 9.99987615e-01 3.96617073e-03 3.02322788e-01] [ 1.23254349e-02 -4.00294603e-03 9.99916027e-01 -2.51453615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.754553574 meters Centerline goodness [0,1] 0.841701832167085 Centerline is valid? [False, False] Translation: X:10.83, Y:0.30, Z:-2.51 [[ 9.99926892e-01 -2.26961531e-03 -1.18768351e-02 1.08270975e+01] [ 2.31768451e-03 9.99989173e-01 4.03510985e-03 3.03000065e-01] [ 1.18675484e-02 -4.06234161e-03 9.99921326e-01 -2.51422659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.784553574 meters Centerline goodness [0,1] 0.8398380264805392 Centerline is valid? [False, False] Translation: X:10.82, Y:0.30, Z:-2.51 [[ 9.99934992e-01 -1.43776058e-03 -1.13112602e-02 1.08248484e+01] [ 1.48434020e-03 9.99990450e-01 4.11066988e-03 3.03577943e-01] [ 1.13052421e-02 -4.12719241e-03 9.99927576e-01 -2.51391523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.814553574 meters Centerline goodness [0,1] 0.8391938364746341 Centerline is valid? [False, False] Translation: X:10.82, Y:0.30, Z:-2.51 [[ 9.99936377e-01 -1.25286002e-03 -1.12103744e-02 1.08243060e+01] [ 1.30078751e-03 9.99990042e-01 4.26901089e-03 3.03639559e-01] [ 1.12049142e-02 -4.28332160e-03 9.99928049e-01 -2.51348205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.844553574 meters Centerline goodness [0,1] 0.8396206308610401 Centerline is valid? [False, False] Translation: X:10.82, Y:0.30, Z:-2.51 [[ 9.99939928e-01 -9.04807666e-04 -1.09234240e-02 1.08230641e+01] [ 9.54027180e-04 9.99989413e-01 4.50149908e-03 3.03124233e-01] [ 1.09192353e-02 -4.51164991e-03 9.99930205e-01 -2.51291205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.874553574 meters Centerline goodness [0,1] 0.8410529114597182 Centerline is valid? [False, False] Translation: X:10.82, Y:0.30, Z:-2.51 [[ 9.99941310e-01 -7.98804779e-04 -1.08045411e-02 1.08227532e+01] [ 8.46986644e-04 9.99989715e-01 4.45556837e-03 3.02975703e-01] [ 1.08008708e-02 -4.46445818e-03 9.99931703e-01 -2.51304473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.904553574 meters Centerline goodness [0,1] 0.836333227142402 Centerline is valid? [False, False] Translation: X:10.82, Y:0.30, Z:-2.51 [[ 9.99942094e-01 -6.75257505e-04 -1.07402009e-02 1.08223888e+01] [ 7.23326427e-04 9.99989737e-01 4.47235284e-03 3.02976106e-01] [ 1.07370707e-02 -4.47986253e-03 9.99932321e-01 -2.51292015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.934553574 meters Centerline goodness [0,1] 0.8374381616043407 Centerline is valid? [False, False] Translation: X:10.82, Y:0.30, Z:-2.51 [[ 9.99944186e-01 -5.08311328e-04 -1.05529901e-02 1.08217265e+01] [ 5.56443173e-04 9.99989455e-01 4.55853246e-03 3.02587846e-01] [ 1.05505617e-02 -4.56415017e-03 9.99933925e-01 -2.51279476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.964553574 meters Centerline goodness [0,1] 0.8373424971363116 Centerline is valid? [False, False] Translation: X:10.82, Y:0.30, Z:-2.51 [[ 9.99941657e-01 -8.98168937e-04 -1.07645616e-02 1.08227792e+01] [ 9.45791825e-04 9.99989786e-01 4.41976960e-03 3.01891787e-01] [ 1.07604819e-02 -4.42969277e-03 9.99932293e-01 -2.51338769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99455357399995 meters Centerline goodness [0,1] 0.8365051441974519 Centerline is valid? [False, False] Translation: X:10.82, Y:0.30, Z:-2.51 [[ 9.99936959e-01 -1.42683826e-03 -1.11374024e-02 1.08243378e+01] [ 1.47532798e-03 9.99989464e-01 4.34677139e-03 3.01312494e-01] [ 1.11310829e-02 -4.36292869e-03 9.99928529e-01 -2.51384085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.024553574 meters Centerline goodness [0,1] 0.8386640702110064 Centerline is valid? [False, False] Translation: X:10.83, Y:0.30, Z:-2.51 [[ 9.99930130e-01 -2.08418324e-03 -1.16357895e-02 1.08262234e+01] [ 2.13644188e-03 9.99987680e-01 4.48057650e-03 3.00234342e-01] [ 1.16263079e-02 -4.50512263e-03 9.99922263e-01 -2.51388375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.05455357399995 meters Centerline goodness [0,1] 0.8393519630608268 Centerline is valid? [False, False] Translation: X:10.83, Y:0.30, Z:-2.51 [[ 9.99919961e-01 -3.05526419e-03 -1.22775345e-02 1.08288742e+01] [ 3.10832127e-03 9.99985904e-01 4.30472070e-03 2.99314202e-01] [ 1.22642094e-02 -4.34253867e-03 9.99915362e-01 -2.51444888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.084553574 meters Centerline goodness [0,1] 0.844375385109974 Centerline is valid? [False, False] Translation: X:10.83, Y:0.30, Z:-2.52 [[ 9.99894087e-01 -7.58173942e-03 -1.24230831e-02 1.08299090e+01] [ 7.57972135e-03 9.99971252e-01 -2.09520884e-04 2.99318627e-01] [ 1.24243145e-02 1.15335185e-04 9.99922809e-01 -2.51562524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.11455357399996 meters Centerline goodness [0,1] 0.8491639603854102 Centerline is valid? [False, False] Translation: X:10.84, Y:0.30, Z:-2.52 [[ 9.99857100e-01 -9.81407954e-03 -1.37645921e-02 1.08354290e+01] [ 9.81148483e-03 9.99951833e-01 -2.56023748e-04 2.97551493e-01] [ 1.37664418e-02 1.20936075e-04 9.99905231e-01 -2.51576495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.144553574 meters Centerline goodness [0,1] 0.8517842768983096 Centerline is valid? [False, False] Translation: X:10.84, Y:0.30, Z:-2.52 [[ 9.99838988e-01 -1.06557852e-02 -1.44378821e-02 1.08380057e+01] [ 1.06524838e-02 9.99943214e-01 -3.05549228e-04 2.97088306e-01] [ 1.44403180e-02 1.51700726e-04 9.99895722e-01 -2.51610771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.17455357399996 meters Centerline goodness [0,1] 0.8327996771155657 Centerline is valid? [False, False] Translation: X:10.84, Y:0.30, Z:-2.52 [[ 9.99821069e-01 -1.14231588e-02 -1.50778170e-02 1.08404659e+01] [ 1.14177178e-02 9.99934716e-01 -4.46893589e-04 2.97028216e-01] [ 1.50819376e-02 2.74659366e-04 9.99886223e-01 -2.51656621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.204553574 meters Centerline goodness [0,1] 0.8497488651929843 Centerline is valid? [False, False] Translation: X:10.84, Y:0.30, Z:-2.52 [[ 9.99800840e-01 -1.22630967e-02 -1.57447282e-02 1.08430837e+01] [ 1.22523001e-02 9.99924632e-01 -7.82010591e-04 2.97510249e-01] [ 1.57531314e-02 5.88945712e-04 9.99875738e-01 -2.51724520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.23455357399996 meters Centerline goodness [0,1] 0.7556599973143547 Centerline is valid? [False, False] Translation: X:10.84, Y:0.30, Z:-2.52 [[ 9.99799475e-01 -1.22329217e-02 -1.58545235e-02 1.08432547e+01] [ 1.22247559e-02 9.99925088e-01 -6.11861428e-04 2.97854623e-01] [ 1.58608206e-02 4.17921055e-04 9.99874122e-01 -2.51677756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.264553574 meters Centerline goodness [0,1] 0.7920635770095259 Centerline is valid? [False, False] Translation: X:10.84, Y:0.30, Z:-2.52 [[ 9.99809868e-01 -1.16645343e-02 -1.56258208e-02 1.08418165e+01] [ 1.16596249e-02 9.99931942e-01 -4.05251475e-04 2.99205806e-01] [ 1.56294844e-02 2.22983215e-04 9.99877827e-01 -2.51571551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.29455357399996 meters Centerline goodness [0,1] 0.8377596915827801 Centerline is valid? [False, False] Translation: X:10.84, Y:0.30, Z:-2.51 [[ 9.99819033e-01 -1.11989522e-02 -1.53780603e-02 1.08405837e+01] [ 1.11971874e-02 9.99937289e-01 -2.00857921e-04 2.99873625e-01] [ 1.53793454e-02 2.86305486e-05 9.99881730e-01 -2.51499788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.324553574 meters Centerline goodness [0,1] 0.8525670089345246 Centerline is valid? [False, False] Translation: X:10.84, Y:0.30, Z:-2.51 [[ 9.99841423e-01 -7.82595372e-03 -1.59963394e-02 1.08419832e+01] [ 7.89884161e-03 9.99958685e-01 4.49844452e-03 2.99609886e-01] [ 1.59604739e-02 -4.62408372e-03 9.99861931e-01 -2.51270415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.35455357399997 meters Centerline goodness [0,1] 0.7940305673361607 Centerline is valid? [False, False] Translation: X:10.84, Y:0.30, Z:-2.51 [[ 9.99844880e-01 -7.59282713e-03 -1.58922645e-02 1.08416131e+01] [ 7.66049311e-03 9.99961832e-01 4.20125703e-03 3.00729964e-01] [ 1.58597585e-02 -4.32234792e-03 9.99864884e-01 -2.51318085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.384553574 meters Centerline goodness [0,1] 0.8352139663615074 Centerline is valid? [False, False] Translation: X:10.84, Y:0.30, Z:-2.51 [[ 9.99846883e-01 -7.47203425e-03 -1.58233575e-02 1.08415567e+01] [ 7.53252040e-03 9.99964537e-01 3.76644278e-03 3.01991486e-01] [ 1.57946534e-02 -3.88505584e-03 9.99867709e-01 -2.51399609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.41455357399997 meters Centerline goodness [0,1] 0.8499257451999576 Centerline is valid? [False, False] Translation: X:10.84, Y:0.30, Z:-2.51 [[ 9.99852701e-01 -7.07938667e-03 -1.56351988e-02 1.08408535e+01] [ 7.13464543e-03 9.99968488e-01 3.48130611e-03 3.03391602e-01] [ 1.56100606e-02 -3.59234492e-03 9.99871702e-01 -2.51452852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.444553574 meters Centerline goodness [0,1] 0.8343874568163699 Centerline is valid? [False, False] Translation: X:10.84, Y:0.30, Z:-2.51 [[ 9.99852643e-01 -6.97090458e-03 -1.56875555e-02 1.08408566e+01] [ 7.02854845e-03 9.99968738e-01 3.62236728e-03 3.03182077e-01] [ 1.56618139e-02 -3.73209424e-03 9.99870381e-01 -2.51438926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.47455357399997 meters Centerline goodness [0,1] 0.8158265352217469 Centerline is valid? [False, False] Translation: X:10.84, Y:0.30, Z:-2.52 [[ 9.99855904e-01 -6.68438309e-03 -1.56041473e-02 1.08406145e+01] [ 6.74163768e-03 9.99970724e-01 3.61947643e-03 3.02607098e-01] [ 1.55794965e-02 -3.72415238e-03 9.99871697e-01 -2.51501305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.504553574 meters Centerline goodness [0,1] 0.8475399394936575 Centerline is valid? [False, False] Translation: X:10.84, Y:0.30, Z:-2.52 [[ 9.99856548e-01 -6.56385608e-03 -1.56140669e-02 1.08408088e+01] [ 6.61812617e-03 9.99972229e-01 3.42658905e-03 3.02939618e-01] [ 1.55911417e-02 -3.52943336e-03 9.99872222e-01 -2.51577944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.534553574 meters Centerline goodness [0,1] 0.8306607649288346 Centerline is valid? [False, False] Translation: X:10.84, Y:0.30, Z:-2.52 [[ 9.99870274e-01 -5.44762728e-03 -1.51578050e-02 1.08389574e+01] [ 5.49594097e-03 9.99979944e-01 3.14755241e-03 3.04550595e-01] [ 1.51403543e-02 -3.23045049e-03 9.99880160e-01 -2.51677822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.564553574 meters Centerline goodness [0,1] 0.8548566289281557 Centerline is valid? [False, False] Translation: X:10.84, Y:0.31, Z:-2.52 [[ 9.99884405e-01 -4.39229489e-03 -1.45562385e-02 1.08365505e+01] [ 4.43727839e-03 9.99985475e-01 3.05946999e-03 3.05681532e-01] [ 1.45425890e-02 -3.12370642e-03 9.99889372e-01 -2.51692100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.594553574 meters Centerline goodness [0,1] 0.8525996305093693 Centerline is valid? [False, False] Translation: X:10.83, Y:0.31, Z:-2.52 [[ 9.99901580e-01 -2.69741527e-03 -1.37678432e-02 1.08331052e+01] [ 2.73698282e-03 9.99992176e-01 2.85587762e-03 3.07967718e-01] [ 1.37600320e-02 -2.89327890e-03 9.99901140e-01 -2.51739981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.624553574 meters Centerline goodness [0,1] 0.853056498513197 Centerline is valid? [False, False] Translation: X:10.83, Y:0.31, Z:-2.52 [[ 9.99906042e-01 -2.20638840e-03 -1.35292158e-02 1.08321984e+01] [ 2.24234963e-03 9.99993992e-01 2.64344910e-03 3.09119678e-01] [ 1.35233020e-02 -2.67353795e-03 9.99904982e-01 -2.51782683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.654553574 meters Centerline goodness [0,1] 0.8505519985244908 Centerline is valid? [False, False] Translation: X:10.83, Y:0.31, Z:-2.52 [[ 9.99916606e-01 -1.10682022e-03 -1.28668754e-02 1.08289151e+01] [ 1.15007007e-03 9.99993713e-01 3.35441966e-03 3.09194134e-01] [ 1.28630817e-02 -3.36893773e-03 9.99911592e-01 -2.51583513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.684553574 meters Centerline goodness [0,1] 0.85084388185654 Centerline is valid? [False, False] Translation: X:10.83, Y:0.31, Z:-2.52 [[ 9.99916459e-01 -1.08037224e-03 -1.28804826e-02 1.08289931e+01] [ 1.12439549e-03 9.99993550e-01 3.41107461e-03 3.08867693e-01] [ 1.28767143e-02 -3.42527240e-03 9.99911225e-01 -2.51589735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.714553574 meters Centerline goodness [0,1] 0.8445001318913216 Centerline is valid? [False, False] Translation: X:10.83, Y:0.31, Z:-2.52 [[ 9.99917707e-01 -9.51743077e-04 -1.27935198e-02 1.08286061e+01] [ 9.97925352e-04 9.99993008e-01 3.60391884e-03 3.08415923e-01] [ 1.27900003e-02 -3.61638924e-03 9.99911665e-01 -2.51564853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.74455357399995 meters Centerline goodness [0,1] 0.8515672449761018 Centerline is valid? [False, False] Translation: X:10.83, Y:0.31, Z:-2.52 [[ 9.99916897e-01 -9.85537692e-04 -1.28541181e-02 1.08286047e+01] [ 1.03471293e-03 9.99992170e-01 3.81955134e-03 3.07769786e-01] [ 1.28502531e-02 -3.83253425e-03 9.99910087e-01 -2.51518826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.774553574 meters Centerline goodness [0,1] 0.8491074970249901 Centerline is valid? [False, False] Translation: X:10.83, Y:0.31, Z:-2.51 [[ 9.99922441e-01 -3.81989252e-04 -1.24485715e-02 1.08265663e+01] [ 4.38082052e-04 9.99989763e-01 4.50354750e-03 3.06885985e-01] [ 1.24467238e-02 -4.50865170e-03 9.99912372e-01 -2.51354613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.80455357399995 meters Centerline goodness [0,1] 0.8518479296833633 Centerline is valid? [False, False] Translation: X:10.83, Y:0.31, Z:-2.51 [[ 9.99924960e-01 -1.38087129e-04 -1.22497289e-02 1.08257478e+01] [ 1.96138648e-04 9.99988757e-01 4.73792959e-03 3.06021378e-01] [ 1.22489369e-02 -4.73997670e-03 9.99913744e-01 -2.51316020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.834553574 meters Centerline goodness [0,1] 0.8533630265913731 Centerline is valid? [False, False] Translation: X:10.83, Y:0.31, Z:-2.52 [[ 9.99926123e-01 1.90994138e-05 -1.21551857e-02 1.08260201e+01] [ 3.25764074e-05 9.99990963e-01 4.25112732e-03 3.05653542e-01] [ 1.21551571e-02 -4.25120923e-03 9.99917086e-01 -2.51513487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.86455357399996 meters Centerline goodness [0,1] 0.8510277151571409 Centerline is valid? [False, False] Translation: X:10.83, Y:0.31, Z:-2.52 [[ 9.99927531e-01 2.60699195e-04 -1.20359961e-02 1.08258412e+01] [-2.11564856e-04 9.99991641e-01 4.08337544e-03 3.05626033e-01] [ 1.20369601e-02 -4.08053312e-03 9.99919227e-01 -2.51599743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.894553574 meters Centerline goodness [0,1] 0.8469290082424887 Centerline is valid? [False, False] Translation: X:10.82, Y:0.30, Z:-2.52 [[ 9.99937816e-01 1.85527456e-03 -1.09964964e-02 1.08219413e+01] [-1.80517036e-03 9.99987953e-01 4.56455452e-03 3.04715669e-01] [ 1.10048324e-02 -4.54442012e-03 9.99929118e-01 -2.51579201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.92455357399996 meters Centerline goodness [0,1] 0.8452346099592792 Centerline is valid? [False, False] Translation: X:10.82, Y:0.30, Z:-2.52 [[ 9.99942358e-01 2.79061420e-03 -1.03679233e-02 1.08194327e+01] [-2.73910832e-03 9.99983855e-01 4.97869380e-03 3.03922524e-01] [ 1.03816495e-02 -4.95000795e-03 9.99933857e-01 -2.51523381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.954553574 meters Centerline goodness [0,1] 0.8404453678546695 Centerline is valid? [False, False] Translation: X:10.81, Y:0.30, Z:-2.51 [[ 9.99947152e-01 4.64587547e-03 -9.17113642e-03 1.08148671e+01] [-4.59153823e-03 9.99971835e-01 5.93700086e-03 3.01877379e-01] [ 9.19846067e-03 -5.89457748e-03 9.99940319e-01 -2.51431422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.98455357399996 meters Centerline goodness [0,1] 0.8444942860194382 Centerline is valid? [False, False] Translation: X:10.81, Y:0.30, Z:-2.51 [[ 9.99947505e-01 5.08469519e-03 -8.89567838e-03 1.08140415e+01] [-5.03183614e-03 9.99969612e-01 5.95442861e-03 3.01404204e-01] [ 8.92568451e-03 -5.90935443e-03 9.99942704e-01 -2.51480278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.014553574 meters Centerline goodness [0,1] 0.8444021753690358 Centerline is valid? [False, False] Translation: X:10.81, Y:0.30, Z:-2.52 [[ 9.99947745e-01 5.55451803e-03 -8.58220206e-03 1.08136386e+01] [-5.50425224e-03 9.99967625e-01 5.86954114e-03 2.99523746e-01] [ 8.61452669e-03 -5.82199582e-03 9.99945946e-01 -2.51663991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.04455357399996 meters Centerline goodness [0,1] 0.839123907565278 Centerline is valid? [False, False] Translation: X:10.81, Y:0.30, Z:-2.52 [[ 9.99947985e-01 5.35069627e-03 -8.68318632e-03 1.08145770e+01] [-5.29972241e-03 9.99968652e-01 5.88283976e-03 2.97895755e-01] [ 8.71439141e-03 -5.83651528e-03 9.99944996e-01 -2.51763478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.074553574 meters Centerline goodness [0,1] 0.8431706394248959 Centerline is valid? [False, False] Translation: X:10.81, Y:0.30, Z:-2.52 [[ 9.99966006e-01 1.76214662e-03 -8.05494036e-03 1.08134806e+01] [-1.74844693e-03 9.99997014e-01 1.70750683e-03 2.95278098e-01] [ 8.05792518e-03 -1.69336514e-03 9.99966101e-01 -2.51968007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.10455357399997 meters Centerline goodness [0,1] 0.8421180668180344 Centerline is valid? [False, False] Translation: X:10.81, Y:0.29, Z:-2.52 [[ 9.99964617e-01 1.55994078e-03 -8.26623778e-03 1.08140266e+01] [-1.54142304e-03 9.99996290e-01 2.24606239e-03 2.93339310e-01] [ 8.26971084e-03 -2.23324114e-03 9.99963312e-01 -2.51887925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.134553574 meters Centerline goodness [0,1] 0.8421180668180344 Centerline is valid? [False, False] Translation: X:10.81, Y:0.29, Z:-2.52 [[ 9.99964617e-01 1.55994078e-03 -8.26623778e-03 1.08140266e+01] [-1.54142304e-03 9.99996290e-01 2.24606239e-03 2.93339310e-01] [ 8.26971084e-03 -2.23324114e-03 9.99963312e-01 -2.51887925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.16455357399997 meters Centerline goodness [0,1] 0.8429027544780562 Centerline is valid? [False, False] Translation: X:10.81, Y:0.29, Z:-2.52 [[ 9.99965823e-01 1.89000906e-03 -8.04867862e-03 1.08129774e+01] [-1.86860720e-03 9.99994701e-01 2.66574274e-03 2.92493586e-01] [ 8.05367425e-03 -2.65061181e-03 9.99964056e-01 -2.51802250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.194553574 meters Centerline goodness [0,1] 0.8448271186440678 Centerline is valid? [False, False] Translation: X:10.82, Y:0.29, Z:-2.52 [[ 9.99962787e-01 9.96757942e-04 -8.56922941e-03 1.08150545e+01] [-9.73547249e-04 9.99995848e-01 2.71235399e-03 2.91381607e-01] [ 8.57189739e-03 -2.70391050e-03 9.99959605e-01 -2.51789338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.22455357399997 meters Centerline goodness [0,1] 0.841722716424387 Centerline is valid? [False, False] Translation: X:10.82, Y:0.29, Z:-2.52 [[ 9.99956429e-01 -1.74894068e-05 -9.33484501e-03 1.08179143e+01] [ 4.46068603e-05 9.99995780e-01 2.90477065e-03 2.90406846e-01] [ 9.33475481e-03 -2.90506048e-03 9.99952210e-01 -2.51766341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.254553574 meters Centerline goodness [0,1] 0.845644145122746 Centerline is valid? [False, False] Translation: X:10.83, Y:0.29, Z:-2.52 [[ 9.99932872e-01 -4.92501594e-03 -1.04878541e-02 1.08257575e+01] [ 4.92947282e-03 9.99987770e-01 3.99148618e-04 2.89985702e-01] [ 1.04857600e-02 -4.50821416e-04 9.99944921e-01 -2.52014155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.284553574 meters Centerline goodness [0,1] 0.8461371350984386 Centerline is valid? [False, False] Translation: X:10.83, Y:0.29, Z:-2.52 [[ 9.99920921e-01 -5.77788054e-03 -1.11699783e-02 1.08279492e+01] [ 5.78558731e-03 9.99983047e-01 6.57763621e-04 2.90003945e-01] [ 1.11659884e-02 -7.22336490e-04 9.99937398e-01 -2.51915784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.314553574 meters Centerline goodness [0,1] 0.8477222131726123 Centerline is valid? [False, False] Translation: X:10.83, Y:0.29, Z:-2.52 [[ 9.99878012e-01 -1.06268900e-02 -1.14468789e-02 1.08288358e+01] [ 1.05858869e-02 9.99937355e-01 -3.63668648e-03 2.91339546e-01] [ 1.14848085e-02 3.51506748e-03 9.99927869e-01 -2.51818014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.344553574 meters Centerline goodness [0,1] 0.8475095577668719 Centerline is valid? [False, False] Translation: X:10.83, Y:0.29, Z:-2.52 [[ 9.99847289e-01 -1.21713227e-02 -1.25402433e-02 1.08325887e+01] [ 1.21302508e-02 9.99920827e-01 -3.34608428e-03 2.91108643e-01] [ 1.25799767e-02 3.19345700e-03 9.99915769e-01 -2.51681659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.374553574 meters Centerline goodness [0,1] 0.8413209282198302 Centerline is valid? [False, False] Translation: X:10.84, Y:0.29, Z:-2.52 [[ 9.99814484e-01 -1.36398681e-02 -1.35996836e-02 1.08365624e+01] [ 1.35896492e-02 9.99900518e-01 -3.77825295e-03 2.92352165e-01] [ 1.36498656e-02 3.59273709e-03 9.99900382e-01 -2.51706338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.404553574 meters Centerline goodness [0,1] 0.8337813860960267 Centerline is valid? [False, False] Translation: X:10.85, Y:0.30, Z:-2.52 [[ 9.99699210e-01 -1.81914669e-02 -1.64487319e-02 1.08485905e+01] [ 1.81094775e-02 9.99822901e-01 -5.11984122e-03 2.95807597e-01] [ 1.65389563e-02 4.82042328e-03 9.99851602e-01 -2.51821869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.434553574 meters Centerline goodness [0,1] 0.8334094756926715 Centerline is valid? [False, False] Translation: X:10.85, Y:0.30, Z:-2.52 [[ 9.99654566e-01 -1.96057116e-02 -1.75032973e-02 1.08525347e+01] [ 1.95115707e-02 9.99794320e-01 -5.53315327e-03 2.96844508e-01] [ 1.76081786e-02 5.18972511e-03 9.99831495e-01 -2.51846609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.464553574 meters Centerline goodness [0,1] 0.8376574644867327 Centerline is valid? [False, False] Translation: X:10.86, Y:0.30, Z:-2.52 [[ 9.99552792e-01 -2.26299420e-02 -1.95473974e-02 1.08601898e+01] [ 2.25161323e-02 9.99728338e-01 -6.02286595e-03 2.98494978e-01] [ 1.96783843e-02 5.58004069e-03 9.99790790e-01 -2.51783712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49455357399995 meters Centerline goodness [0,1] 0.7925731432858214 Centerline is valid? [False, False] Translation: X:10.86, Y:0.30, Z:-2.52 [[ 9.99510672e-01 -2.37267264e-02 -2.03827904e-02 1.08632428e+01] [ 2.36001945e-02 9.99700823e-01 -6.42608647e-03 2.99552583e-01] [ 2.05291624e-02 5.94190419e-03 9.99771598e-01 -2.51807198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.524553574 meters Centerline goodness [0,1] 0.8469148312090022 Centerline is valid? [False, False] Translation: X:10.87, Y:0.30, Z:-2.51 [[ 9.99438970e-01 -2.42379088e-02 -2.31142568e-02 1.08741337e+01] [ 2.42034044e-02 9.99705485e-01 -1.77140857e-03 3.00034888e-01] [ 2.31503846e-02 1.21097105e-03 9.99731261e-01 -2.51452292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.55455357399995 meters Centerline goodness [0,1] 0.8209296756512253 Centerline is valid? [False, False] Translation: X:10.88, Y:0.30, Z:-2.52 [[ 9.99421751e-01 -2.46157614e-02 -2.34569277e-02 1.08755135e+01] [ 2.45689012e-02 9.99695530e-01 -2.28386461e-03 3.01729110e-01] [ 2.35060048e-02 1.70623303e-03 9.99722240e-01 -2.51521649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.584553574 meters Centerline goodness [0,1] 0.8221974463114863 Centerline is valid? [False, False] Translation: X:10.88, Y:0.30, Z:-2.51 [[ 9.99445009e-01 -2.21672486e-02 -2.48653708e-02 1.08799202e+01] [ 2.22223142e-02 9.99751171e-01 1.94038054e-03 3.01691999e-01] [ 2.48161707e-02 -2.49186973e-03 9.99688926e-01 -2.51407315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.61455357399996 meters Centerline goodness [0,1] 0.8557169263269079 Centerline is valid? [False, False] Translation: X:10.88, Y:0.30, Z:-2.51 [[ 9.99479941e-01 -1.91113653e-02 -2.59731326e-02 1.08832096e+01] [ 1.92636231e-02 9.99798618e-01 5.62459099e-03 3.03669351e-01] [ 2.58604085e-02 -6.12200251e-03 9.99646818e-01 -2.51380804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.644553574 meters Centerline goodness [0,1] 0.8470532344479929 Centerline is valid? [False, False] Translation: X:10.88, Y:0.31, Z:-2.51 [[ 9.99492146e-01 -1.87149845e-02 -2.57914675e-02 1.08825002e+01] [ 1.88536516e-02 9.99809022e-01 5.14380528e-03 3.05386250e-01] [ 2.56902757e-02 -5.62745632e-03 9.99654111e-01 -2.51450710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.67455357399996 meters Centerline goodness [0,1] 0.855169328737205 Centerline is valid? [False, False] Translation: X:10.90, Y:0.31, Z:-2.52 [[ 9.99669339e-01 -1.51098818e-02 -2.08063330e-02 1.09015830e+01] [ 1.50871337e-02 9.99885402e-01 -1.24987517e-03 3.09453156e-01] [ 2.08228341e-02 9.35553962e-04 9.99782744e-01 -2.52122317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.704553574 meters Centerline goodness [0,1] 0.8424671971333719 Centerline is valid? [False, False] Translation: X:10.90, Y:0.31, Z:-2.52 [[ 9.99695884e-01 -1.41185727e-02 -2.02189338e-02 1.08989506e+01] [ 1.41019316e-02 9.99900097e-01 -9.65392195e-04 3.10620765e-01] [ 2.02305438e-02 6.79972582e-04 9.99795110e-01 -2.52026777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.73455357399996 meters Centerline goodness [0,1] 0.8359247780637705 Centerline is valid? [False, False] Translation: X:10.91, Y:0.31, Z:-2.53 [[ 9.99860228e-01 -1.00290984e-02 -1.33768888e-02 1.09122600e+01] [ 9.93302023e-03 9.99924531e-01 -7.22960321e-03 3.13733495e-01] [ 1.34483857e-02 7.09571981e-03 9.99884389e-01 -2.52548997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.764553574 meters Centerline goodness [0,1] 0.8510052688143857 Centerline is valid? [False, False] Translation: X:10.91, Y:0.31, Z:-2.52 [[ 9.99884808e-01 -6.21328545e-03 -1.38479418e-02 1.09130379e+01] [ 6.18508806e-03 9.99978713e-01 -2.07811342e-03 3.12723909e-01] [ 1.38605589e-02 1.99222330e-03 9.99901953e-01 -2.52288560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.79455357399996 meters Centerline goodness [0,1] 0.8382633214108556 Centerline is valid? [False, False] Translation: X:10.91, Y:0.31, Z:-2.52 [[ 9.99893316e-01 -2.60652814e-03 -1.43723184e-02 1.09143578e+01] [ 2.64637077e-03 9.99992706e-01 2.75385699e-03 3.11565012e-01] [ 1.43650356e-02 -2.79159768e-03 9.99892921e-01 -2.52105295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.824553574 meters Centerline goodness [0,1] 0.839763922832926 Centerline is valid? [False, False] Translation: X:10.91, Y:0.31, Z:-2.52 [[ 9.99910692e-01 -6.06223249e-04 -1.33506968e-02 1.09098707e+01] [ 6.45198665e-04 9.99995543e-01 2.91524083e-03 3.13467235e-01] [ 1.33488700e-02 -2.92359433e-03 9.99906626e-01 -2.52066670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.85455357399997 meters Centerline goodness [0,1] 0.8518855183877 Centerline is valid? [False, False] Translation: X:10.91, Y:0.32, Z:-2.52 [[ 9.99921869e-01 1.11394850e-03 -1.24505072e-02 1.09060011e+01] [-1.07901741e-03 9.99995464e-01 2.81196140e-03 3.15327459e-01] [ 1.24535831e-02 -2.79830739e-03 9.99918536e-01 -2.52073016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.884553574 meters Centerline goodness [0,1] 0.8522277163642011 Centerline is valid? [False, False] Translation: X:10.91, Y:0.32, Z:-2.52 [[ 9.99924477e-01 1.63719799e-03 -1.21803329e-02 1.09050785e+01] [-1.60681815e-03 9.99995575e-01 2.50353992e-03 3.16446709e-01] [ 1.21843778e-02 -2.48377927e-03 9.99922683e-01 -2.52139221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.91455357399997 meters Centerline goodness [0,1] 0.8458131523737988 Centerline is valid? [False, False] Translation: X:10.90, Y:0.32, Z:-2.52 [[ 9.99926843e-01 2.08203450e-03 -1.19152563e-02 1.09041655e+01] [-2.05482080e-03 9.99995254e-01 2.29572455e-03 3.17402313e-01] [ 1.19199795e-02 -2.27107288e-03 9.99926375e-01 -2.52176802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.944553574 meters Centerline goodness [0,1] 0.8519266102528271 Centerline is valid? [False, False] Translation: X:10.90, Y:0.32, Z:-2.52 [[ 9.99928756e-01 2.54095390e-03 -1.16630275e-02 1.09033413e+01] [-2.51742028e-03 9.99994767e-01 2.03203447e-03 3.17929352e-01] [ 1.16681297e-02 -2.00252896e-03 9.99929920e-01 -2.52249935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.97455357399997 meters Centerline goodness [0,1] 0.8514282757193128 Centerline is valid? [False, False] Translation: X:10.90, Y:0.32, Z:-2.52 [[ 9.99930037e-01 2.86305037e-03 -1.14771056e-02 1.09025492e+01] [-2.83942037e-03 9.99993817e-01 2.07464710e-03 3.18010972e-01] [ 1.14829745e-02 -2.04191363e-03 9.99931984e-01 -2.52243014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.004553574 meters Centerline goodness [0,1] 0.8466635605942952 Centerline is valid? [False, False] Translation: X:10.90, Y:0.32, Z:-2.52 [[ 9.99932072e-01 3.28349919e-03 -1.11834649e-02 1.09015573e+01] [-3.26023106e-03 9.99992484e-01 2.09817906e-03 3.17639694e-01] [ 1.11902702e-02 -2.06157586e-03 9.99935262e-01 -2.52273784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.034553574 meters Centerline goodness [0,1] 0.844230868866898 Centerline is valid? [False, False] Translation: X:10.90, Y:0.32, Z:-2.52 [[ 9.99932180e-01 3.45762076e-03 -1.11211563e-02 1.09011615e+01] [-3.43160688e-03 9.99991333e-01 2.35736742e-03 3.16896517e-01] [ 1.11292108e-02 -2.31904410e-03 9.99935379e-01 -2.52243978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.064553574 meters Centerline goodness [0,1] 0.8490610206523436 Centerline is valid? [False, False] Translation: X:10.90, Y:0.32, Z:-2.52 [[ 9.99934381e-01 3.77257711e-03 -1.08167542e-02 1.09000394e+01] [-3.74229108e-03 9.99989025e-01 2.81879388e-03 3.15142090e-01] [ 1.08272696e-02 -2.77812947e-03 9.99937524e-01 -2.52187291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.094553574 meters Centerline goodness [0,1] 0.8428932225896321 Centerline is valid? [False, False] Translation: X:10.90, Y:0.31, Z:-2.52 [[ 9.99935294e-01 3.93678354e-03 -1.06728071e-02 1.08994927e+01] [-3.90376236e-03 9.99987535e-01 3.11302405e-03 3.14159760e-01] [ 1.06849294e-02 -3.07115852e-03 9.99938198e-01 -2.52147463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.124553574 meters Centerline goodness [0,1] 0.8462839596127824 Centerline is valid? [False, False] Translation: X:10.90, Y:0.31, Z:-2.52 [[ 9.99935927e-01 4.02465075e-03 -1.05803402e-02 1.08992490e+01] [-3.98918023e-03 9.99986360e-01 3.37146298e-03 3.13101192e-01] [ 1.05937648e-02 -3.32904007e-03 9.99938343e-01 -2.52127419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.154553574 meters Centerline goodness [0,1] 0.8437050030107076 Centerline is valid? [False, False] Translation: X:10.90, Y:0.31, Z:-2.52 [[ 9.99955196e-01 1.76656326e-03 -9.29976081e-03 1.08950791e+01] [-1.76950685e-03 9.99998387e-01 -3.08304340e-04 3.11634363e-01] [ 9.29920117e-03 3.24746517e-04 9.99956709e-01 -2.52209275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.184553574 meters Centerline goodness [0,1] 0.8435672131147541 Centerline is valid? [False, False] Translation: X:10.89, Y:0.31, Z:-2.52 [[ 9.99955419e-01 1.85760473e-03 -9.25791394e-03 1.08948899e+01] [-1.85602120e-03 9.99998261e-01 1.79634635e-04 3.09947807e-01] [ 9.25823153e-03 -1.62443742e-04 9.99957128e-01 -2.52169780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.214553574 meters Centerline goodness [0,1] 0.8439315475408112 Centerline is valid? [False, False] Translation: X:10.90, Y:0.31, Z:-2.52 [[ 9.99955273e-01 1.78751149e-03 -9.28748597e-03 1.08953467e+01] [-1.78599518e-03 9.99998390e-01 1.71555817e-04 3.08867306e-01] [ 9.28777768e-03 -1.54960739e-04 9.99956856e-01 -2.52243280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.24455357399995 meters Centerline goodness [0,1] 0.8443372604833821 Centerline is valid? [False, False] Translation: X:10.90, Y:0.31, Z:-2.52 [[ 9.99954851e-01 1.66782637e-03 -9.35492082e-03 1.08963170e+01] [-1.66352586e-03 9.99998507e-01 4.67469084e-04 3.05707455e-01] [ 9.35568651e-03 -4.51885826e-04 9.99956133e-01 -2.52377334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.274553574 meters Centerline goodness [0,1] 0.8440522115943561 Centerline is valid? [False, False] Translation: X:10.90, Y:0.30, Z:-2.52 [[ 9.99953210e-01 1.19107637e-03 -9.59999930e-03 1.08978526e+01] [-1.18136577e-03 9.99998785e-01 1.01712886e-03 3.01485355e-01] [ 9.60119912e-03 -1.00574016e-03 9.99953402e-01 -2.52441373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.30455357399995 meters Centerline goodness [0,1] 0.8440274307585987 Centerline is valid? [False, False] Translation: X:10.90, Y:0.30, Z:-2.52 [[ 9.99951055e-01 9.10963923e-04 -9.85177515e-03 1.08989734e+01] [-8.98774385e-04 9.99998825e-01 1.24165018e-03 2.99444370e-01] [ 9.85289468e-03 -1.23273488e-03 9.99950699e-01 -2.52484439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.334553574 meters Centerline goodness [0,1] 0.8416037156661239 Centerline is valid? [False, False] Translation: X:10.90, Y:0.30, Z:-2.52 [[ 9.99949163e-01 7.07770227e-04 -1.00583593e-02 1.08998176e+01] [-6.91013452e-04 9.99998368e-01 1.66933273e-03 2.97291728e-01] [ 1.00595244e-02 -1.66229740e-03 9.99948020e-01 -2.52487293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.36455357399996 meters Centerline goodness [0,1] 0.8423012025604628 Centerline is valid? [False, False] Translation: X:10.90, Y:0.29, Z:-2.53 [[ 9.99942652e-01 -2.79439877e-04 -1.07057902e-02 1.09028623e+01] [ 3.01067149e-04 9.99997917e-01 2.01858878e-03 2.93400500e-01] [ 1.07052038e-02 -2.02169618e-03 9.99940654e-01 -2.52585324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.394553574 meters Centerline goodness [0,1] 0.8461311123052122 Centerline is valid? [False, False] Translation: X:10.90, Y:0.29, Z:-2.53 [[ 9.99939631e-01 -6.17902311e-04 -1.09705308e-02 1.09040963e+01] [ 6.41503404e-04 9.99997487e-01 2.14792880e-03 2.92093370e-01] [ 1.09691760e-02 -2.15483677e-03 9.99937515e-01 -2.52630679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.42455357399996 meters Centerline goodness [0,1] 0.8474190351182663 Centerline is valid? [False, False] Translation: X:10.90, Y:0.29, Z:-2.52 [[ 9.99950606e-01 1.29769597e-03 -9.85403832e-03 1.08989652e+01] [-1.27218334e-03 9.99995824e-01 2.59488018e-03 2.93006479e-01] [ 9.85736454e-03 -2.58221587e-03 9.99948081e-01 -2.52472108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.454553574 meters Centerline goodness [0,1] 0.8021913257788851 Centerline is valid? [False, False] Translation: X:10.90, Y:0.29, Z:-2.52 [[ 9.99951060e-01 1.32429239e-03 -9.80430067e-03 1.08987938e+01] [-1.30037545e-03 9.99996164e-01 2.44540623e-03 2.93601560e-01] [ 9.80750149e-03 -2.43253728e-03 9.99948947e-01 -2.52472622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.48455357399996 meters Centerline goodness [0,1] 0.8384187142015952 Centerline is valid? [False, False] Translation: X:10.90, Y:0.29, Z:-2.52 [[ 9.99949946e-01 1.14645944e-03 -9.93935695e-03 1.08993200e+01] [-1.12422636e-03 9.99996854e-01 2.24217186e-03 2.94515855e-01] [ 9.94189625e-03 -2.23088555e-03 9.99948090e-01 -2.52482793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.514553574 meters Centerline goodness [0,1] 0.8457950189002976 Centerline is valid? [False, False] Translation: X:10.90, Y:0.30, Z:-2.52 [[ 9.99944721e-01 1.81257836e-04 -1.05129628e-02 1.09013952e+01] [-1.58644230e-04 9.99997672e-01 2.15181527e-03 2.95295515e-01] [ 1.05133284e-02 -2.15002850e-03 9.99942422e-01 -2.52429526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.54455357399996 meters Centerline goodness [0,1] 0.8438396567904545 Centerline is valid? [False, False] Translation: X:10.90, Y:0.29, Z:-2.52 [[ 9.99940739e-01 -2.94924693e-04 -1.08826264e-02 1.09024489e+01] [ 3.21391203e-04 9.99996995e-01 2.43032784e-03 2.94984049e-01] [ 1.08818769e-02 -2.43368140e-03 9.99937829e-01 -2.52339046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.574553574 meters Centerline goodness [0,1] 0.8470733276157805 Centerline is valid? [False, False] Translation: X:10.91, Y:0.29, Z:-2.52 [[ 9.99930240e-01 -1.61413661e-03 -1.17008662e-02 1.09052881e+01] [ 1.64523524e-03 9.99995139e-01 2.64866773e-03 2.94551565e-01] [ 1.16965340e-02 -2.66773364e-03 9.99928035e-01 -2.52221509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.60455357399997 meters Centerline goodness [0,1] 0.8443539092444182 Centerline is valid? [False, False] Translation: X:10.91, Y:0.29, Z:-2.52 [[ 9.99925106e-01 -2.09266663e-03 -1.20583539e-02 1.09063865e+01] [ 2.12768240e-03 9.99993555e-01 2.89176327e-03 2.94177846e-01] [ 1.20522246e-02 -2.91720304e-03 9.99923114e-01 -2.52137017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.634553574 meters Centerline goodness [0,1] 0.8473860141730178 Centerline is valid? [False, False] Translation: X:10.91, Y:0.29, Z:-2.52 [[ 9.99910947e-01 -3.27180507e-03 -1.29380549e-02 1.09094830e+01] [ 3.30924592e-03 9.99990396e-01 2.87350542e-03 2.94119220e-01] [ 1.29285291e-02 -2.91606473e-03 9.99912171e-01 -2.52092901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.66455357399997 meters Centerline goodness [0,1] 0.837015244717839 Centerline is valid? [False, False] Translation: X:10.91, Y:0.29, Z:-2.52 [[ 9.99905157e-01 -3.67351715e-03 -1.32734022e-02 1.09107133e+01] [ 3.70955376e-03 9.99989498e-01 2.69134935e-03 2.94520788e-01] [ 1.32633761e-02 -2.74033249e-03 9.99908283e-01 -2.52115537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.694553574 meters Centerline goodness [0,1] 0.8499546448962169 Centerline is valid? [False, False] Translation: X:10.91, Y:0.29, Z:-2.52 [[ 9.99894857e-01 -4.37478632e-03 -1.38251665e-02 1.09127894e+01] [ 4.40922082e-03 9.99987251e-01 2.46121326e-03 2.94710068e-01] [ 1.38142230e-02 -2.52191269e-03 9.99901399e-01 -2.52156735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.72455357399997 meters Centerline goodness [0,1] 0.85002131514441 Centerline is valid? [False, False] Translation: X:10.91, Y:0.29, Z:-2.52 [[ 9.99889434e-01 -4.69681256e-03 -1.41088362e-02 1.09138969e+01] [ 4.73026661e-03 9.99986077e-01 2.33870696e-03 2.94842365e-01] [ 1.40976553e-02 -2.40518694e-03 9.99897730e-01 -2.52188019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.754553574 meters Centerline goodness [0,1] 0.8379958357802573 Centerline is valid? [False, False] Translation: X:10.91, Y:0.30, Z:-2.52 [[ 9.99886278e-01 -4.82680532e-03 -1.42875048e-02 1.09145512e+01] [ 4.85993786e-03 9.99985579e-01 2.28517597e-03 2.95055443e-01] [ 1.42762686e-02 -2.35435248e-03 9.99895317e-01 -2.52210701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.784553574 meters Centerline goodness [0,1] 0.843178058801558 Centerline is valid? [False, False] Translation: X:10.91, Y:0.30, Z:-2.52 [[ 9.99890137e-01 -4.48799704e-03 -1.41270032e-02 1.09139111e+01] [ 4.51676317e-03 9.99987789e-01 2.00500446e-03 2.95928310e-01] [ 1.41178323e-02 -2.06859251e-03 9.99898199e-01 -2.52264551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.814553574 meters Centerline goodness [0,1] 0.8493464923979728 Centerline is valid? [False, False] Translation: X:10.91, Y:0.30, Z:-2.52 [[ 9.99897030e-01 -3.96473491e-03 -1.37916420e-02 1.09125831e+01] [ 3.99431331e-03 9.99989780e-01 2.11777735e-03 2.95974261e-01] [ 1.37831046e-02 -2.17264743e-03 9.99902648e-01 -2.52252114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.844553574 meters Centerline goodness [0,1] 0.8456628565324218 Centerline is valid? [False, False] Translation: X:10.91, Y:0.30, Z:-2.52 [[ 9.99916813e-01 -2.03712772e-03 -1.27364372e-02 1.09080585e+01] [ 2.06675204e-03 9.99995189e-01 2.31322104e-03 2.96631369e-01] [ 1.27316636e-02 -2.33935167e-03 9.99916213e-01 -2.52239007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.874553574 meters Centerline goodness [0,1] 0.8474076043605424 Centerline is valid? [False, False] Translation: X:10.91, Y:0.30, Z:-2.52 [[ 9.99923741e-01 -1.28579396e-03 -1.22824859e-02 1.09063937e+01] [ 1.31334776e-03 9.99996639e-01 2.23553785e-03 2.97147372e-01] [ 1.22795702e-02 -2.25149854e-03 9.99922068e-01 -2.52273363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.904553574 meters Centerline goodness [0,1] 0.847085118271559 Centerline is valid? [False, False] Translation: X:10.90, Y:0.30, Z:-2.52 [[ 9.99938800e-01 6.32077697e-04 -1.10452150e-02 1.09017839e+01] [-6.05911269e-04 9.99997003e-01 2.37221410e-03 2.96930671e-01] [ 1.10466814e-02 -2.36537650e-03 9.99936186e-01 -2.52322714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93455357399995 meters Centerline goodness [0,1] 0.8467069695597752 Centerline is valid? [False, False] Translation: X:10.90, Y:0.30, Z:-2.52 [[ 9.99944031e-01 1.48502933e-03 -1.04751578e-02 1.08997341e+01] [-1.46010913e-03 9.99996087e-01 2.38622729e-03 2.96924979e-01] [ 1.04786604e-02 -2.37079886e-03 9.99942287e-01 -2.52355351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.964553574 meters Centerline goodness [0,1] 0.8443309662491023 Centerline is valid? [False, False] Translation: X:10.90, Y:0.30, Z:-2.52 [[ 9.99948671e-01 2.30214996e-03 -9.86684321e-03 1.08977653e+01] [-2.27904660e-03 9.99994637e-01 2.35211872e-03 2.96991029e-01] [ 9.87220522e-03 -2.32951099e-03 9.99948555e-01 -2.52402726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99455357399995 meters Centerline goodness [0,1] 0.8448767488341106 Centerline is valid? [False, False] Translation: X:10.89, Y:0.30, Z:-2.52 [[ 9.99953985e-01 4.56137466e-03 -8.43927810e-03 1.08926398e+01] [-4.53993966e-03 9.99986424e-01 2.55732597e-03 2.96922461e-01] [ 8.45082845e-03 -2.51889448e-03 9.99961119e-01 -2.52473948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.024553574 meters Centerline goodness [0,1] 0.8448767488341106 Centerline is valid? [False, False] Translation: X:10.89, Y:0.30, Z:-2.52 [[ 9.99953985e-01 4.56137466e-03 -8.43927810e-03 1.08926398e+01] [-4.53993966e-03 9.99986424e-01 2.55732597e-03 2.96922461e-01] [ 8.45082845e-03 -2.51889448e-03 9.99961119e-01 -2.52473948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.05455357399995 meters Centerline goodness [0,1] 0.8418692786036457 Centerline is valid? [False, False] Translation: X:10.89, Y:0.30, Z:-2.53 [[ 9.99954603e-01 5.30974310e-03 -7.91194691e-03 1.08910243e+01] [-5.29030979e-03 9.99982943e-01 2.47510645e-03 2.96918112e-01] [ 7.92495413e-03 -2.43313744e-03 9.99965637e-01 -2.52545777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.084553574 meters Centerline goodness [0,1] 0.8368418233435106 Centerline is valid? [False, False] Translation: X:10.89, Y:0.30, Z:-2.53 [[ 9.99950582e-01 7.38608491e-03 -6.65423042e-03 1.08864921e+01] [-7.36815734e-03 9.99969170e-01 2.71466042e-03 2.96417445e-01] [ 6.67407598e-03 -2.66549685e-03 9.99974176e-01 -2.52611457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.11455357399996 meters Centerline goodness [0,1] 0.8395849532133952 Centerline is valid? [False, False] Translation: X:10.88, Y:0.30, Z:-2.53 [[ 9.99948174e-01 8.14638538e-03 -6.10620925e-03 1.08845765e+01] [-8.12879805e-03 9.99962757e-01 2.89954366e-03 2.95821537e-01] [ 6.12960264e-03 -2.84975725e-03 9.99977153e-01 -2.52612350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.144553574 meters Centerline goodness [0,1] 0.8421604473599311 Centerline is valid? [False, False] Translation: X:10.88, Y:0.29, Z:-2.53 [[ 9.99942522e-01 9.26363444e-03 -5.39800265e-03 1.08817658e+01] [-9.24327038e-03 9.99950115e-01 3.78533179e-03 2.93687164e-01] [ 5.43279930e-03 -3.73521901e-03 9.99978266e-01 -2.52506517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.17455357399996 meters Centerline goodness [0,1] 0.842468883572139 Centerline is valid? [False, False] Translation: X:10.88, Y:0.29, Z:-2.52 [[ 9.99941694e-01 9.41376187e-03 -5.29059708e-03 1.08813711e+01] [-9.39199513e-03 9.99947390e-01 4.12412486e-03 2.92494056e-01] [ 5.32914227e-03 -4.07419514e-03 9.99977500e-01 -2.52475158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.204553574 meters Centerline goodness [0,1] 0.8412668514382585 Centerline is valid? [False, False] Translation: X:10.88, Y:0.29, Z:-2.53 [[ 9.99966324e-01 7.07333841e-03 -4.16154838e-03 1.08776214e+01] [-7.07522518e-03 9.99974874e-01 -4.38836089e-04 2.93374912e-01] [ 4.15833978e-03 4.68265203e-04 9.99991244e-01 -2.52678985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.23455357399996 meters Centerline goodness [0,1] 0.8382078911123714 Centerline is valid? [False, False] Translation: X:10.88, Y:0.29, Z:-2.53 [[ 9.99967169e-01 6.98165379e-03 -4.11310491e-03 1.08777789e+01] [-6.98081258e-03 9.99975610e-01 2.18840620e-04 2.90500972e-01] [ 4.11453246e-03 -1.90120621e-04 9.99991517e-01 -2.52647632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.264553574 meters Centerline goodness [0,1] 0.8388967161590983 Centerline is valid? [False, False] Translation: X:10.87, Y:0.29, Z:-2.53 [[ 9.99985519e-01 4.48814424e-03 -2.96945321e-03 1.08741240e+01] [-4.50008526e-03 9.99981766e-01 -4.02690245e-03 2.90807000e-01] [ 2.95132575e-03 4.04020693e-03 9.99987483e-01 -2.52788817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.29455357399996 meters Centerline goodness [0,1] 0.8402326655975646 Centerline is valid? [False, False] Translation: X:10.87, Y:0.29, Z:-2.53 [[ 9.99983480e-01 5.19891526e-03 -2.45169308e-03 1.08719063e+01] [-5.20560309e-03 9.99982726e-01 -2.72939574e-03 2.87455013e-01] [ 2.43746083e-03 2.74211319e-03 9.99993270e-01 -2.52599614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.324553574 meters Centerline goodness [0,1] 0.8399261531778568 Centerline is valid? [False, False] Translation: X:10.87, Y:0.29, Z:-2.52 [[ 9.99976081e-01 6.76247821e-03 -1.45128565e-03 1.08677165e+01] [-6.76562027e-03 9.99974756e-01 -2.17114180e-03 2.87388405e-01] [ 1.43656671e-03 2.18090871e-03 9.99996590e-01 -2.52474266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.35455357399997 meters Centerline goodness [0,1] 0.8430297271616669 Centerline is valid? [False, False] Translation: X:10.87, Y:0.29, Z:-2.52 [[ 9.99969515e-01 7.76965934e-03 -7.75031779e-04 1.08651489e+01] [-7.77110571e-03 9.99968035e-01 -1.88098044e-03 2.87045846e-01] [ 7.60392428e-04 1.88694595e-03 9.99997931e-01 -2.52440231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.384553574 meters Centerline goodness [0,1] 0.8419896395541211 Centerline is valid? [False, False] Translation: X:10.86, Y:0.29, Z:-2.53 [[ 9.99957189e-01 9.25228962e-03 1.20655346e-04 1.08625066e+01] [-9.25195192e-03 9.99953948e-01 -2.55020632e-03 2.87965334e-01] [-1.44245037e-04 2.54898085e-03 9.99996741e-01 -2.52704166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.41455357399997 meters Centerline goodness [0,1] 0.8374162393858007 Centerline is valid? [False, False] Translation: X:10.86, Y:0.29, Z:-2.53 [[ 9.99951089e-01 9.87732832e-03 5.08008613e-04 1.08615240e+01] [-9.87568016e-03 9.99946271e-01 -3.15052411e-03 2.89156438e-01] [-5.39100080e-04 3.14535309e-03 9.99994908e-01 -2.52867251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.444553574 meters Centerline goodness [0,1] 0.8391324361647396 Centerline is valid? [False, False] Translation: X:10.86, Y:0.29, Z:-2.53 [[ 9.99926168e-01 1.20294223e-02 1.71772779e-03 1.08570271e+01] [-1.20230052e-02 9.99920881e-01 -3.69851270e-03 2.90887491e-01] [-1.76208285e-03 3.67758739e-03 9.99991685e-01 -2.53054256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.47455357399997 meters Centerline goodness [0,1] 0.8378341811884403 Centerline is valid? [False, False] Translation: X:10.86, Y:0.29, Z:-2.53 [[ 9.99918472e-01 1.25938429e-02 2.10806946e-03 1.08558054e+01] [-1.25853638e-02 9.99912847e-01 -3.98830452e-03 2.91749535e-01] [-2.15811382e-03 3.96144854e-03 9.99989825e-01 -2.53122188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.504553574 meters Centerline goodness [0,1] 0.8349974294450307 Centerline is valid? [False, False] Translation: X:10.86, Y:0.29, Z:-2.53 [[ 9.99915120e-01 1.28289424e-02 2.27380759e-03 1.08554890e+01] [-1.28190929e-02 9.99908609e-01 -4.29463143e-03 2.92185638e-01] [-2.32869537e-03 4.26511876e-03 9.99988193e-01 -2.53205468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.534553574 meters Centerline goodness [0,1] 0.8352183559716435 Centerline is valid? [False, False] Translation: X:10.85, Y:0.29, Z:-2.53 [[ 9.99908747e-01 1.32811787e-02 2.47144388e-03 1.08548214e+01] [-1.32694352e-02 9.99900869e-01 -4.70891605e-03 2.93196808e-01] [-2.53373884e-03 4.67569169e-03 9.99985859e-01 -2.53295732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.564553574 meters Centerline goodness [0,1] 0.8337569628467904 Centerline is valid? [False, False] Translation: X:10.86, Y:0.29, Z:-2.53 [[ 9.99910919e-01 1.31356956e-02 2.36786409e-03 1.08556550e+01] [-1.31233156e-02 9.99900519e-01 -5.17019250e-03 2.93835379e-01] [-2.43554261e-03 5.13865771e-03 9.99983831e-01 -2.53409470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.594553574 meters Centerline goodness [0,1] 0.8351046524238153 Centerline is valid? [False, False] Translation: X:10.86, Y:0.29, Z:-2.53 [[ 9.99921476e-01 1.24027473e-02 1.79271629e-03 1.08578972e+01] [-1.23932739e-02 9.99909668e-01 -5.20224183e-03 2.93640754e-01] [-1.85707644e-03 5.17961570e-03 9.99984861e-01 -2.53417405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.624553574 meters Centerline goodness [0,1] 0.8352173913043478 Centerline is valid? [False, False] Translation: X:10.86, Y:0.29, Z:-2.53 [[ 9.99930331e-01 1.17348816e-02 1.27525014e-03 1.08597800e+01] [-1.17281728e-02 9.99917977e-01 -5.14675649e-03 2.93446167e-01] [-1.33554212e-03 5.13144157e-03 9.99985942e-01 -2.53387707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.654553574 meters Centerline goodness [0,1] 0.8331067855589387 Centerline is valid? [False, False] Translation: X:10.86, Y:0.29, Z:-2.53 [[ 9.99946602e-01 1.03290127e-02 3.25015048e-04 1.08631597e+01] [-1.03274308e-02 9.99936359e-01 -4.54118813e-03 2.92334972e-01] [-3.71900353e-04 4.53758907e-03 9.99989636e-01 -2.53210129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.68455357399995 meters Centerline goodness [0,1] 0.8355067926274808 Centerline is valid? [False, False] Translation: X:10.86, Y:0.29, Z:-2.53 [[ 9.99953497e-01 9.64168796e-03 -2.03200938e-04 1.08649111e+01] [-9.64248488e-03 9.99943939e-01 -4.37518417e-03 2.92048560e-01] [ 1.61005386e-04 4.37694008e-03 9.99990408e-01 -2.53140714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.714553574 meters Centerline goodness [0,1] 0.8368160834767406 Centerline is valid? [False, False] Translation: X:10.87, Y:0.29, Z:-2.53 [[ 9.99960802e-01 8.81158656e-03 -8.66357433e-04 1.08672294e+01] [-8.81520879e-03 9.99952028e-01 -4.27006893e-03 2.92026169e-01] [ 8.28689790e-04 4.27753867e-03 9.99990508e-01 -2.53092022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.74455357399995 meters Centerline goodness [0,1] 0.8375772760696097 Centerline is valid? [False, False] Translation: X:10.87, Y:0.29, Z:-2.53 [[ 9.99972238e-01 7.16652847e-03 -2.04051728e-03 1.08718021e+01] [-7.17628497e-03 9.99962658e-01 -4.81490171e-03 2.93492224e-01] [ 2.00593496e-03 4.82941138e-03 9.99986326e-01 -2.53136953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.774553574 meters Centerline goodness [0,1] 0.8351989541629218 Centerline is valid? [False, False] Translation: X:10.87, Y:0.29, Z:-2.53 [[ 9.99975394e-01 6.53299702e-03 -2.55575213e-03 1.08737245e+01] [-6.54545774e-03 9.99966583e-01 -4.89796320e-03 2.93954968e-01] [ 2.52366835e-03 4.91457124e-03 9.99984739e-01 -2.53133413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.80455357399995 meters Centerline goodness [0,1] 0.8348901173715313 Centerline is valid? [False, False] Translation: X:10.88, Y:0.29, Z:-2.53 [[ 9.99980189e-01 5.16701741e-03 -3.59498580e-03 1.08772942e+01] [-5.18451254e-03 9.99974680e-01 -4.87435746e-03 2.94309417e-01] [ 3.56970889e-03 4.89289914e-03 9.99981658e-01 -2.53059313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.834553574 meters Centerline goodness [0,1] 0.8317285398652519 Centerline is valid? [False, False] Translation: X:10.88, Y:0.29, Z:-2.53 [[ 9.99981311e-01 4.47850243e-03 -4.16174982e-03 1.08792721e+01] [-4.49773025e-03 9.99979202e-01 -4.62231210e-03 2.94069761e-01] [ 4.14096223e-03 4.64094414e-03 9.99980657e-01 -2.52993082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.86455357399996 meters Centerline goodness [0,1] 0.8356657664293314 Centerline is valid? [False, False] Translation: X:10.88, Y:0.29, Z:-2.53 [[ 9.99981665e-01 3.15781124e-03 -5.16692331e-03 1.08827016e+01] [-3.17980707e-03 9.99985894e-01 -4.25438321e-03 2.93167661e-01] [ 5.15341589e-03 4.27073502e-03 9.99977601e-01 -2.52887972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.894553574 meters Centerline goodness [0,1] 0.8396185286103542 Centerline is valid? [False, False] Translation: X:10.88, Y:0.29, Z:-2.53 [[ 9.99981006e-01 2.83427988e-03 -5.47311843e-03 1.08837230e+01] [-2.85661581e-03 9.99987607e-01 -4.07752917e-03 2.93022887e-01] [ 5.46149374e-03 4.09308631e-03 9.99976709e-01 -2.52838938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.92455357399996 meters Centerline goodness [0,1] 0.8384926711879239 Centerline is valid? [False, False] Translation: X:10.89, Y:0.29, Z:-2.53 [[ 9.99979678e-01 2.27906966e-03 -5.95401680e-03 1.08854572e+01] [-2.30273650e-03 9.99989464e-01 -3.97110968e-03 2.92784620e-01] [ 5.94490363e-03 3.98473951e-03 9.99974390e-01 -2.52821703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.954553574 meters Centerline goodness [0,1] 0.8400875632781503 Centerline is valid? [False, False] Translation: X:10.89, Y:0.29, Z:-2.53 [[ 9.99976473e-01 1.29536349e-03 -6.73610680e-03 1.08886566e+01] [-1.32452881e-03 9.99989761e-01 -4.32704184e-03 2.92943136e-01] [ 6.73043274e-03 4.33586221e-03 9.99967950e-01 -2.52926146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.98455357399996 meters Centerline goodness [0,1] 0.8365975579775465 Centerline is valid? [False, False] Translation: X:10.89, Y:0.29, Z:-2.53 [[ 9.99975918e-01 1.22524372e-03 -6.83096796e-03 1.08889546e+01] [-1.25356540e-03 9.99990631e-01 -4.14333232e-03 2.92880379e-01] [ 6.82582737e-03 4.15179560e-03 9.99968085e-01 -2.52892307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.014553574 meters Centerline goodness [0,1] 0.835760142057096 Centerline is valid? [False, False] Translation: X:10.89, Y:0.29, Z:-2.53 [[ 9.99975301e-01 1.17766253e-03 -6.92901735e-03 1.08889983e+01] [-1.20281203e-03 9.99992701e-01 -3.62654343e-03 2.92379689e-01] [ 6.92469593e-03 3.63478816e-03 9.99969418e-01 -2.52769706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.04455357399996 meters Centerline goodness [0,1] 0.8339892861047338 Centerline is valid? [False, False] Translation: X:10.89, Y:0.29, Z:-2.53 [[ 9.99974789e-01 1.24110187e-03 -6.99153304e-03 1.08889735e+01] [-1.26462903e-03 9.99993550e-01 -3.36167717e-03 2.92287261e-01] [ 6.98731576e-03 3.37043411e-03 9.99969908e-01 -2.52709390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.074553574 meters Centerline goodness [0,1] 0.8329876651020631 Centerline is valid? [False, False] Translation: X:10.89, Y:0.29, Z:-2.53 [[ 9.99974340e-01 1.30364177e-03 -7.04419133e-03 1.08889908e+01] [-1.32617190e-03 9.99994018e-01 -3.19467559e-03 2.92449232e-01] [ 7.03998447e-03 3.20393542e-03 9.99970086e-01 -2.52670538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.10455357399997 meters Centerline goodness [0,1] 0.830735149327207 Centerline is valid? [False, False] Translation: X:10.89, Y:0.29, Z:-2.53 [[ 9.99974419e-01 1.44304071e-03 -7.00564209e-03 1.08887926e+01] [-1.46396565e-03 9.99994480e-01 -2.98266100e-03 2.92039436e-01] [ 7.00129932e-03 2.99284072e-03 9.99971012e-01 -2.52652658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.134553574 meters Centerline goodness [0,1] 0.832691730144429 Centerline is valid? [False, False] Translation: X:10.89, Y:0.29, Z:-2.53 [[ 9.99973943e-01 1.56248204e-03 -7.04787630e-03 1.08888529e+01] [-1.58282230e-03 9.99994596e-01 -2.88135784e-03 2.92089238e-01] [ 7.04333614e-03 2.89243830e-03 9.99971012e-01 -2.52647746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.16455357399997 meters Centerline goodness [0,1] 0.8329142982072584 Centerline is valid? [False, False] Translation: X:10.89, Y:0.29, Z:-2.53 [[ 9.99973227e-01 1.53517247e-03 -7.15458633e-03 1.08891494e+01] [-1.55458291e-03 9.99995124e-01 -2.70823641e-03 2.91949299e-01] [ 7.15039383e-03 2.71928630e-03 9.99970738e-01 -2.52626850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.194553574 meters Centerline goodness [0,1] 0.8308323083230832 Centerline is valid? [False, False] Translation: X:10.89, Y:0.29, Z:-2.53 [[ 9.99973075e-01 1.50713093e-03 -7.18170924e-03 1.08891635e+01] [-1.52514682e-03 9.99995703e-01 -2.50376410e-03 2.91936002e-01] [ 7.17790487e-03 2.51464985e-03 9.99971077e-01 -2.52571952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.22455357399997 meters Centerline goodness [0,1] 0.8304431072210066 Centerline is valid? [False, False] Translation: X:10.89, Y:0.29, Z:-2.52 [[ 9.99972331e-01 1.46908140e-03 -7.29234975e-03 1.08891647e+01] [-1.48538794e-03 9.99996408e-01 -2.23120497e-03 2.92343054e-01] [ 7.28904573e-03 2.24197520e-03 9.99970921e-01 -2.52466041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.254553574 meters Centerline goodness [0,1] 0.8361474045988926 Centerline is valid? [False, False] Translation: X:10.89, Y:0.29, Z:-2.52 [[ 9.99971716e-01 1.36465159e-03 -7.39628135e-03 1.08893791e+01] [-1.37997364e-03 9.99996912e-01 -2.06688199e-03 2.92636794e-01] [ 7.39343793e-03 2.07703021e-03 9.99970511e-01 -2.52403668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.284553574 meters Centerline goodness [0,1] 0.8331693451404832 Centerline is valid? [False, False] Translation: X:10.89, Y:0.29, Z:-2.52 [[ 9.99966905e-01 3.04669861e-04 -8.12999454e-03 1.08920611e+01] [-3.21158229e-04 9.99997894e-01 -2.02686238e-03 2.92536213e-01] [ 8.12935990e-03 2.02940632e-03 9.99964897e-01 -2.52364106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.314553574 meters Centerline goodness [0,1] 0.834960216553195 Centerline is valid? [False, False] Translation: X:10.89, Y:0.29, Z:-2.52 [[ 9.99962622e-01 -3.11145090e-04 -8.64045163e-03 1.08939373e+01] [ 2.94801867e-04 9.99998165e-01 -1.89268706e-03 2.91959300e-01] [ 8.64102468e-03 1.89006910e-03 9.99960879e-01 -2.52351906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.344553574 meters Centerline goodness [0,1] 0.8312607614310312 Centerline is valid? [False, False] Translation: X:10.90, Y:0.29, Z:-2.52 [[ 9.99957960e-01 -8.79130212e-04 -9.12717383e-03 1.08955990e+01] [ 8.64386301e-04 9.99998316e-01 -1.61920534e-03 2.91349957e-01] [ 9.12858195e-03 1.61124787e-03 9.99957036e-01 -2.52303734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.374553574 meters Centerline goodness [0,1] 0.8374330381545863 Centerline is valid? [False, False] Translation: X:10.90, Y:0.29, Z:-2.52 [[ 9.99953586e-01 -1.40146492e-03 -9.53213043e-03 1.08965831e+01] [ 1.39238964e-03 9.99998571e-01 -9.58641780e-04 2.90537840e-01] [ 9.53346031e-03 9.45324846e-04 9.99954109e-01 -2.52118834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.404553574 meters Centerline goodness [0,1] 0.8339621609798775 Centerline is valid? [False, False] Translation: X:10.90, Y:0.29, Z:-2.52 [[ 9.99948589e-01 -1.96137156e-03 -9.94850967e-03 1.08981053e+01] [ 1.95352438e-03 9.99997773e-01 -7.98435732e-04 2.89973999e-01] [ 9.95005355e-03 7.78960027e-04 9.99950194e-01 -2.52092895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43455357399995 meters Centerline goodness [0,1] 0.8418147034708937 Centerline is valid? [False, False] Translation: X:10.90, Y:0.29, Z:-2.52 [[ 9.99945197e-01 -2.24138684e-03 -1.02263966e-02 1.08991475e+01] [ 2.23337145e-03 9.99997190e-01 -7.95147099e-04 2.90154484e-01] [ 1.02281501e-02 7.72264180e-04 9.99947393e-01 -2.52100483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.464553574 meters Centerline goodness [0,1] 0.8402622234362196 Centerline is valid? [False, False] Translation: X:10.90, Y:0.29, Z:-2.52 [[ 9.99942148e-01 -2.52130601e-03 -1.04567545e-02 1.09002363e+01] [ 2.51007443e-03 9.99996259e-01 -1.08708307e-03 2.90645128e-01] [ 1.04594562e-02 1.06077295e-03 9.99944736e-01 -2.52175222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49455357399995 meters Centerline goodness [0,1] 0.8411649000109278 Centerline is valid? [False, False] Translation: X:10.90, Y:0.29, Z:-2.52 [[ 9.99935292e-01 -3.09910235e-03 -1.09456571e-02 1.09020402e+01] [ 3.08752199e-03 9.99994656e-01 -1.07472625e-03 2.90386831e-01] [ 1.09489292e-02 1.04086175e-03 9.99939517e-01 -2.52180033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.524553574 meters Centerline goodness [0,1] 0.8392549437925658 Centerline is valid? [False, False] Translation: X:10.90, Y:0.29, Z:-2.52 [[ 9.99932942e-01 -3.20435259e-03 -1.11284611e-02 1.09024192e+01] [ 3.19762118e-03 9.99994694e-01 -6.22622699e-04 2.89591277e-01] [ 1.11303971e-02 5.86996345e-04 9.99937883e-01 -2.52094172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.55455357399995 meters Centerline goodness [0,1] 0.8407065128233171 Centerline is valid? [False, False] Translation: X:10.90, Y:0.29, Z:-2.52 [[ 9.99926774e-01 -3.67554485e-03 -1.15298588e-02 1.09037057e+01] [ 3.67126449e-03 9.99993184e-01 -3.92384272e-04 2.89301126e-01] [ 1.15312225e-02 3.50026378e-04 9.99933452e-01 -2.52027209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.584553574 meters Centerline goodness [0,1] 0.8402625820568927 Centerline is valid? [False, False] Translation: X:10.90, Y:0.29, Z:-2.52 [[ 9.99922472e-01 -3.95160921e-03 -1.18082203e-02 1.09045643e+01] [ 3.94815352e-03 9.99992156e-01 -3.15947406e-04 2.89438572e-01] [ 1.18093762e-02 2.69302245e-04 9.99930231e-01 -2.51996178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.61455357399996 meters Centerline goodness [0,1] 0.838410053271411 Centerline is valid? [False, False] Translation: X:10.91, Y:0.29, Z:-2.52 [[ 9.99919329e-01 -4.14407857e-03 -1.20067776e-02 1.09052360e+01] [ 4.14228076e-03 9.99991405e-01 -1.74597322e-04 2.89397726e-01] [ 1.20073980e-02 1.24847793e-04 9.99927901e-01 -2.51964655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.644553574 meters Centerline goodness [0,1] 0.8354786696182122 Centerline is valid? [False, False] Translation: X:10.91, Y:0.29, Z:-2.52 [[ 9.99913732e-01 -4.47966937e-03 -1.23475371e-02 1.09065348e+01] [ 4.47498073e-03 9.99989904e-01 -4.07325162e-04 2.89820976e-01] [ 1.23492371e-02 3.52035033e-04 9.99923683e-01 -2.52022347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.67455357399996 meters Centerline goodness [0,1] 0.8381479148982777 Centerline is valid? [False, False] Translation: X:10.91, Y:0.29, Z:-2.52 [[ 9.99914067e-01 -4.36662514e-03 -1.23608651e-02 1.09064845e+01] [ 4.36290182e-03 9.99990429e-01 -3.28168004e-04 2.90024826e-01] [ 1.23621798e-02 2.74210563e-04 9.99923548e-01 -2.52015359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.704553574 meters Centerline goodness [0,1] 0.8393766774387906 Centerline is valid? [False, False] Translation: X:10.90, Y:0.29, Z:-2.52 [[ 9.99922198e-01 -3.62845750e-03 -1.19344643e-02 1.09042645e+01] [ 3.63542559e-03 9.99993234e-01 5.62220227e-04 2.88814496e-01] [ 1.19323436e-02 -6.05563342e-04 9.99928624e-01 -2.51838821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.73455357399996 meters Centerline goodness [0,1] 0.8341460741877158 Centerline is valid? [False, False] Translation: X:10.90, Y:0.29, Z:-2.52 [[ 9.99930713e-01 -2.84563042e-03 -1.14224153e-02 1.09019147e+01] [ 2.85815424e-03 9.99995332e-01 1.08025055e-03 2.88664910e-01] [ 1.14192880e-02 -1.11282273e-03 9.99934179e-01 -2.51716078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.764553574 meters Centerline goodness [0,1] 0.8388741195494286 Centerline is valid? [False, False] Translation: X:10.90, Y:0.29, Z:-2.52 [[ 9.99946004e-01 -1.18798245e-03 -1.03236061e-02 1.08973333e+01] [ 1.20626863e-03 9.99997714e-01 1.76525191e-03 2.88328392e-01] [ 1.03214854e-02 -1.77760963e-03 9.99945152e-01 -2.51585872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.79455357399996 meters Centerline goodness [0,1] 0.8379215793803125 Centerline is valid? [False, False] Translation: X:10.89, Y:0.29, Z:-2.52 [[ 9.99953035e-01 -2.54607037e-04 -9.68823893e-03 1.08946720e+01] [ 2.75637561e-04 9.99997609e-01 2.16945394e-03 2.88019284e-01] [ 9.68766341e-03 -2.17202249e-03 9.99950715e-01 -2.51509886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.824553574 meters Centerline goodness [0,1] 0.8284837525343854 Centerline is valid? [False, False] Translation: X:10.89, Y:0.29, Z:-2.51 [[ 9.99959447e-01 7.78022930e-04 -8.97213749e-03 1.08918657e+01] [-7.57516092e-04 9.99997094e-01 2.28878526e-03 2.88091680e-01] [ 8.97389214e-03 -2.28189591e-03 9.99957130e-01 -2.51499205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.85455357399997 meters Centerline goodness [0,1] 0.830684646735414 Centerline is valid? [False, False] Translation: X:10.89, Y:0.29, Z:-2.52 [[ 9.99965429e-01 2.54549409e-03 -7.91583378e-03 1.08879362e+01] [-2.52802085e-03 9.99994348e-01 2.21660128e-03 2.88905159e-01] [ 7.92143139e-03 -2.19651326e-03 9.99966213e-01 -2.51576178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.884553574 meters Centerline goodness [0,1] 0.8306376700726736 Centerline is valid? [False, False] Translation: X:10.89, Y:0.29, Z:-2.52 [[ 9.99966661e-01 3.02755280e-03 -7.58360977e-03 1.08868745e+01] [-3.01276211e-03 9.99993539e-01 1.96101466e-03 2.89103110e-01] [ 7.58949785e-03 -1.93810167e-03 9.99969321e-01 -2.51649690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.91455357399997 meters Centerline goodness [0,1] 0.831069075800235 Centerline is valid? [False, False] Translation: X:10.88, Y:0.29, Z:-2.52 [[ 9.99967700e-01 4.03615300e-03 -6.95046217e-03 1.08845684e+01] [-4.02146025e-03 9.99989653e-01 2.12660371e-03 2.88363226e-01] [ 6.95897355e-03 -2.09858401e-03 9.99973584e-01 -2.51676434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.944553574 meters Centerline goodness [0,1] 0.831069075800235 Centerline is valid? [False, False] Translation: X:10.88, Y:0.29, Z:-2.52 [[ 9.99967700e-01 4.03615300e-03 -6.95046217e-03 1.08845684e+01] [-4.02146025e-03 9.99989653e-01 2.12660371e-03 2.88363226e-01] [ 6.95897355e-03 -2.09858401e-03 9.99973584e-01 -2.51676434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.97455357399997 meters Centerline goodness [0,1] 0.8291180817868287 Centerline is valid? [False, False] Translation: X:10.88, Y:0.29, Z:-2.52 [[ 9.99967614e-01 4.08282676e-03 -6.93552735e-03 1.08846548e+01] [-4.06844174e-03 9.99989546e-01 2.08695056e-03 2.87765643e-01] [ 6.94397550e-03 -2.05866619e-03 9.99973771e-01 -2.51715958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.004553574 meters Centerline goodness [0,1] 0.8354381831630278 Centerline is valid? [False, False] Translation: X:10.88, Y:0.29, Z:-2.52 [[ 9.99967626e-01 4.15180794e-03 -6.89276205e-03 1.08847141e+01] [-4.13841692e-03 9.99989524e-01 1.95589353e-03 2.87590509e-01] [ 6.90081034e-03 -1.92730508e-03 9.99974332e-01 -2.51773507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.034553574 meters Centerline goodness [0,1] 0.829634696948967 Centerline is valid? [False, False] Translation: X:10.88, Y:0.29, Z:-2.52 [[ 9.99968076e-01 4.72502280e-03 -6.44365288e-03 1.08834329e+01] [-4.71560353e-03 9.99987792e-01 1.47620147e-03 2.88335382e-01] [ 6.45054931e-03 -1.44576863e-03 9.99978150e-01 -2.51904437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.064553574 meters Centerline goodness [0,1] 0.830654420206659 Centerline is valid? [False, False] Translation: X:10.88, Y:0.29, Z:-2.52 [[ 9.99968302e-01 4.73311296e-03 -6.40254639e-03 1.08837031e+01] [-4.72618516e-03 9.99988230e-01 1.09673628e-03 2.88661479e-01] [ 6.40766201e-03 -1.06644190e-03 9.99978902e-01 -2.52008769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.094553574 meters Centerline goodness [0,1] 0.8325951443569554 Centerline is valid? [False, False] Translation: X:10.88, Y:0.29, Z:-2.52 [[ 9.99968311e-01 4.58616119e-03 -6.50717535e-03 1.08843031e+01] [-4.58200386e-03 9.99989289e-01 6.53648835e-04 2.88958215e-01] [ 6.51010339e-03 -6.23812219e-04 9.99978614e-01 -2.52104102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.124553574 meters Centerline goodness [0,1] 0.833570568268915 Centerline is valid? [False, False] Translation: X:10.88, Y:0.29, Z:-2.52 [[ 9.99968187e-01 4.43976490e-03 -6.62671430e-03 1.08848503e+01] [-4.43675960e-03 9.99990048e-01 4.68143957e-04 2.89069201e-01] [ 6.62872680e-03 -4.38727926e-04 9.99977934e-01 -2.52142983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.154553574 meters Centerline goodness [0,1] 0.8301721781907625 Centerline is valid? [False, False] Translation: X:10.88, Y:0.29, Z:-2.52 [[ 9.99968171e-01 4.41822314e-03 -6.64351000e-03 1.08849006e+01] [-4.41509221e-03 9.99990135e-01 4.85868468e-04 2.89080238e-01] [ 6.64559114e-03 -4.56521294e-04 9.99977814e-01 -2.52131270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.18455357399995 meters Centerline goodness [0,1] 0.8297373869456249 Centerline is valid? [False, False] Translation: X:10.88, Y:0.29, Z:-2.52 [[ 9.99968416e-01 4.53396198e-03 -6.52768861e-03 1.08842787e+01] [-4.52857143e-03 9.99989393e-01 8.40342539e-04 2.89056274e-01] [ 6.53142945e-03 -8.10754894e-04 9.99978341e-01 -2.52022774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.214553574 meters Centerline goodness [0,1] 0.8306216444553457 Centerline is valid? [False, False] Translation: X:10.88, Y:0.29, Z:-2.52 [[ 9.99968624e-01 4.46159703e-03 -6.54556077e-03 1.08844030e+01] [-4.45664366e-03 9.99989772e-01 7.71143636e-04 2.89277177e-01] [ 6.54893435e-03 -7.41948209e-04 9.99978280e-01 -2.52025508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.24455357399995 meters Centerline goodness [0,1] 0.8286944906359894 Centerline is valid? [False, False] Translation: X:10.89, Y:0.29, Z:-2.52 [[ 9.99968471e-01 3.80818073e-03 -6.96815826e-03 1.08858539e+01] [-3.80148960e-03 9.99992301e-01 9.73236949e-04 2.88755921e-01] [ 6.97181087e-03 -9.46716882e-04 9.99975248e-01 -2.51958092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.274553574 meters Centerline goodness [0,1] 0.8334014105601394 Centerline is valid? [False, False] Translation: X:10.89, Y:0.29, Z:-2.52 [[ 9.99967823e-01 3.43510425e-03 -7.24939037e-03 1.08866932e+01] [-3.42660211e-03 9.99993427e-01 1.18490343e-03 2.88168898e-01] [ 7.25341299e-03 -1.16002452e-03 9.99973021e-01 -2.51889503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.30455357399995 meters Centerline goodness [0,1] 0.8312356979405034 Centerline is valid? [False, False] Translation: X:10.89, Y:0.29, Z:-2.52 [[ 9.99967839e-01 3.39257967e-03 -7.26707906e-03 1.08864911e+01] [-3.38198313e-03 9.99993201e-01 1.46994946e-03 2.87908347e-01] [ 7.27201657e-03 -1.44532505e-03 9.99972514e-01 -2.51793771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.334553574 meters Centerline goodness [0,1] 0.8331519965183332 Centerline is valid? [False, False] Translation: X:10.89, Y:0.29, Z:-2.52 [[ 9.99964766e-01 1.99876613e-03 -8.15301731e-03 1.08900636e+01] [-1.98990023e-03 9.99997420e-01 1.09540429e-03 2.88160052e-01] [ 8.15518573e-03 -1.07914200e-03 9.99966164e-01 -2.51843471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.36455357399996 meters Centerline goodness [0,1] 0.8323320738304292 Centerline is valid? [False, False] Translation: X:10.89, Y:0.29, Z:-2.52 [[ 9.99960890e-01 1.18727200e-03 -8.76409650e-03 1.08925904e+01] [-1.18130607e-03 9.99999067e-01 6.85868682e-04 2.88527690e-01] [ 8.76490264e-03 -6.75488777e-04 9.99961359e-01 -2.51934514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.394553574 meters Centerline goodness [0,1] 0.8334056987788331 Centerline is valid? [False, False] Translation: X:10.90, Y:0.29, Z:-2.52 [[ 9.99946407e-01 -1.13415310e-03 -1.02906237e-02 1.08990259e+01] [ 1.13312012e-03 9.99999352e-01 -1.06210930e-04 2.88760716e-01] [ 1.02907375e-02 9.45447254e-05 9.99947044e-01 -2.52092848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.42455357399996 meters Centerline goodness [0,1] 0.8327488241850856 Centerline is valid? [False, False] Translation: X:10.90, Y:0.29, Z:-2.52 [[ 9.99936060e-01 -2.21407798e-03 -1.10893752e-02 1.09021444e+01] [ 2.21139049e-03 9.99997522e-01 -2.54605039e-04 2.88578123e-01] [ 1.10899114e-02 2.30065821e-04 9.99938479e-01 -2.52122239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.454553574 meters Centerline goodness [0,1] 0.8322390824638353 Centerline is valid? [False, False] Translation: X:10.91, Y:0.29, Z:-2.52 [[ 9.99922518e-01 -3.38295341e-03 -1.19797293e-02 1.09054117e+01] [ 3.38045332e-03 9.99994260e-01 -2.28936004e-04 2.87984443e-01] [ 1.19804350e-02 1.88421350e-04 9.99928214e-01 -2.52112204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.48455357399996 meters Centerline goodness [0,1] 0.8366529522356339 Centerline is valid? [False, False] Translation: X:10.91, Y:0.29, Z:-2.52 [[ 9.99888181e-01 -6.52124675e-03 -1.34573125e-02 1.09117486e+01] [ 6.51457692e-03 9.99978634e-01 -5.39406051e-04 2.86614434e-01] [ 1.34605426e-02 4.51677038e-04 9.99909301e-01 -2.52045673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.514553574 meters Centerline goodness [0,1] 0.836676217765043 Centerline is valid? [False, False] Translation: X:10.92, Y:0.29, Z:-2.52 [[ 9.99861594e-01 -8.16135071e-03 -1.44977352e-02 1.09156940e+01] [ 8.15283450e-03 9.99966556e-01 -6.46421989e-04 2.86355612e-01] [ 1.45025260e-02 5.28134885e-04 9.99894693e-01 -2.52020475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.54455357399996 meters Centerline goodness [0,1] 0.837568428793202 Centerline is valid? [False, False] Translation: X:10.92, Y:0.29, Z:-2.52 [[ 9.99853220e-01 -8.56251095e-03 -1.48398769e-02 1.09168676e+01] [ 8.55369660e-03 9.99963200e-01 -6.57334686e-04 2.86749796e-01] [ 1.48449592e-02 5.30302399e-04 9.99889667e-01 -2.51999288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.574553574 meters Centerline goodness [0,1] 0.8401210336931633 Centerline is valid? [False, False] Translation: X:10.92, Y:0.29, Z:-2.52 [[ 9.99848551e-01 -8.76143830e-03 -1.50370148e-02 1.09173841e+01] [ 8.75387325e-03 9.99961522e-01 -5.68842799e-04 2.87088079e-01] [ 1.50414201e-02 4.37124527e-04 9.99886776e-01 -2.51951847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.60455357399997 meters Centerline goodness [0,1] 0.8429695797815845 Centerline is valid? [False, False] Translation: X:10.92, Y:0.29, Z:-2.52 [[ 9.99848195e-01 -8.78039836e-03 -1.50496632e-02 1.09170561e+01] [ 8.77815261e-03 9.99961448e-01 -2.15275334e-04 2.87504671e-01] [ 1.50509732e-02 8.31344133e-05 9.99886724e-01 -2.51821901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.634553574 meters Centerline goodness [0,1] 0.8451735874744725 Centerline is valid? [False, False] Translation: X:10.92, Y:0.29, Z:-2.52 [[ 9.99848194e-01 -8.75601753e-03 -1.50638970e-02 1.09169391e+01] [ 8.75535761e-03 9.99961665e-01 -1.09757496e-04 2.87893967e-01] [ 1.50642805e-02 -2.21489702e-05 9.99886527e-01 -2.51776768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.66455357399997 meters Centerline goodness [0,1] 0.8347287158856149 Centerline is valid? [False, False] Translation: X:10.92, Y:0.29, Z:-2.52 [[ 9.99843392e-01 -8.98986701e-03 -1.52437932e-02 1.09175520e+01] [ 8.98753219e-03 9.99959587e-01 -2.21665887e-04 2.88969468e-01] [ 1.52451699e-02 8.46270905e-05 9.99883782e-01 -2.51753712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.694553574 meters Centerline goodness [0,1] 0.837973031752936 Centerline is valid? [False, False] Translation: X:10.92, Y:0.29, Z:-2.52 [[ 9.99842090e-01 -9.00064100e-03 -1.53226424e-02 1.09175265e+01] [ 9.00275279e-03 9.99959472e-01 6.88487599e-05 2.88863865e-01] [ 1.53214018e-02 -2.06783850e-04 9.99882599e-01 -2.51675267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.72455357399997 meters Centerline goodness [0,1] 0.8461120617072707 Centerline is valid? [False, False] Translation: X:10.92, Y:0.29, Z:-2.52 [[ 9.99837516e-01 -9.17876405e-03 -1.55142397e-02 1.09180845e+01] [ 9.18204644e-03 9.99957834e-01 1.40353518e-04 2.88974256e-01] [ 1.55122972e-02 -2.82783182e-04 9.99879637e-01 -2.51646944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.754553574 meters Centerline goodness [0,1] 0.8406386381502263 Centerline is valid? [False, False] Translation: X:10.92, Y:0.29, Z:-2.52 [[ 9.99821993e-01 -9.90448840e-03 -1.60587680e-02 1.09201116e+01] [ 9.90454592e-03 9.99950946e-01 -7.59529820e-05 2.89619830e-01] [ 1.60587326e-02 -8.31153436e-05 9.99871047e-01 -2.51658299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.784553574 meters Centerline goodness [0,1] 0.804944087943032 Centerline is valid? [False, False] Translation: X:10.92, Y:0.29, Z:-2.52 [[ 9.99794944e-01 -1.11018945e-02 -1.69357229e-02 1.09235086e+01] [ 1.10950728e-02 9.99938324e-01 -4.96709633e-04 2.90019399e-01] [ 1.69401928e-02 3.08704701e-04 9.99856457e-01 -2.51730503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.814553574 meters Centerline goodness [0,1] 0.8432771058198189 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.52 [[ 9.99781912e-01 -1.15825330e-02 -1.73773553e-02 1.09250646e+01] [ 1.15760414e-02 9.99932883e-01 -4.74109347e-04 2.89977442e-01] [ 1.73816804e-02 2.72844964e-04 9.99848890e-01 -2.51726589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.844553574 meters Centerline goodness [0,1] 0.8415865710031136 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.52 [[ 9.99774708e-01 -1.18158258e-02 -1.76328888e-02 1.09258935e+01] [ 1.18118638e-02 9.99930183e-01 -3.28825645e-04 2.89881647e-01] [ 1.76355431e-02 1.20474282e-04 9.99844474e-01 -2.51701878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.874553574 meters Centerline goodness [0,1] 0.8409263271939328 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.52 [[ 9.99768679e-01 -1.19800945e-02 -1.78623956e-02 1.09264132e+01] [ 1.19772343e-02 9.99928235e-01 -2.67100895e-04 2.90465216e-01] [ 1.78643136e-02 5.30970125e-05 9.99840419e-01 -2.51648850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.904553574 meters Centerline goodness [0,1] 0.8404258193510037 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.52 [[ 9.99770316e-01 -1.18632425e-02 -1.78487990e-02 1.09263533e+01] [ 1.18595454e-02 9.99929624e-01 -3.12972140e-04 2.90960330e-01] [ 1.78512558e-02 1.01221612e-04 9.99840649e-01 -2.51663324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93455357399995 meters Centerline goodness [0,1] 0.8419308784311612 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.51 [[ 9.99796529e-01 -8.16075907e-03 -1.84473090e-02 1.09277099e+01] [ 8.24297441e-03 9.99956411e-01 4.38513033e-03 2.90655836e-01] [ 1.84107189e-02 -4.53629877e-03 9.99820218e-01 -2.51487969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.964553574 meters Centerline goodness [0,1] 0.841986151898052 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.51 [[ 9.99812628e-01 -7.29880590e-03 -1.79286613e-02 1.09253503e+01] [ 7.38224000e-03 9.99962208e-01 4.59190546e-03 2.91522504e-01] [ 1.78944683e-02 -4.72339875e-03 9.99828724e-01 -2.51405254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99455357399995 meters Centerline goodness [0,1] 0.8421676682206473 Centerline is valid? [False, False] Translation: X:10.92, Y:0.29, Z:-2.51 [[ 9.99829808e-01 -6.38879113e-03 -1.73072015e-02 1.09228761e+01] [ 6.46766616e-03 9.99968936e-01 4.50521982e-03 2.92499277e-01] [ 1.72778810e-02 -4.61639027e-03 9.99840069e-01 -2.51394905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.024553574 meters Centerline goodness [0,1] 0.8425605071587826 Centerline is valid? [False, False] Translation: X:10.92, Y:0.30, Z:-2.52 [[ 9.99853013e-01 -4.75720614e-03 -1.64718543e-02 1.09195915e+01] [ 4.82065852e-03 9.99981105e-01 3.81460925e-03 2.95474928e-01] [ 1.64533961e-02 -3.89345374e-03 9.99857053e-01 -2.51533529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.05455357399995 meters Centerline goodness [0,1] 0.8379922738491254 Centerline is valid? [False, False] Translation: X:10.92, Y:0.30, Z:-2.52 [[ 9.99862242e-01 -4.16725243e-03 -1.60664788e-02 1.09180645e+01] [ 4.22622310e-03 9.99984451e-01 3.63821319e-03 2.96682622e-01] [ 1.60510676e-02 -3.70561252e-03 9.99864307e-01 -2.51550333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.084553574 meters Centerline goodness [0,1] 0.8404972212527183 Centerline is valid? [False, False] Translation: X:10.92, Y:0.30, Z:-2.51 [[ 9.99875266e-01 -3.27923259e-03 -1.54498680e-02 1.09152565e+01] [ 3.34356075e-03 9.99985842e-01 4.13968133e-03 2.96904920e-01] [ 1.54360743e-02 -4.19082255e-03 9.99872074e-01 -2.51393526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.11455357399996 meters Centerline goodness [0,1] 0.8390893977583526 Centerline is valid? [False, False] Translation: X:10.91, Y:0.30, Z:-2.51 [[ 9.99876091e-01 -3.19293265e-03 -1.54145490e-02 1.09149187e+01] [ 3.25923214e-03 9.99985538e-01 4.27789414e-03 2.96939611e-01] [ 1.54006671e-02 -4.32760366e-03 9.99872037e-01 -2.51342402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.144553574 meters Centerline goodness [0,1] 0.8444885054391511 Centerline is valid? [False, False] Translation: X:10.92, Y:0.30, Z:-2.51 [[ 9.99869495e-01 -3.61751675e-03 -1.57450399e-02 1.09162395e+01] [ 3.68106700e-03 9.99985188e-01 4.00909971e-03 2.97325822e-01] [ 1.57303037e-02 -4.06653505e-03 9.99868002e-01 -2.51394057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.17455357399996 meters Centerline goodness [0,1] 0.8440864545576587 Centerline is valid? [False, False] Translation: X:10.92, Y:0.30, Z:-2.51 [[ 9.99866878e-01 -3.79707881e-03 -1.58684429e-02 1.09167734e+01] [ 3.85988661e-03 9.99984831e-01 3.92928068e-03 2.97530204e-01] [ 1.58532824e-02 -3.99000800e-03 9.99866368e-01 -2.51408284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.204553574 meters Centerline goodness [0,1] 0.8369346935496826 Centerline is valid? [False, False] Translation: X:10.92, Y:0.30, Z:-2.51 [[ 9.99861779e-01 -4.12007054e-03 -1.61074050e-02 1.09177653e+01] [ 4.18200271e-03 9.99983985e-01 3.81315999e-03 2.97532540e-01] [ 1.60914366e-02 -3.87999414e-03 9.99862996e-01 -2.51431933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.23455357399996 meters Centerline goodness [0,1] 0.8401897462010559 Centerline is valid? [False, False] Translation: X:10.92, Y:0.30, Z:-2.51 [[ 9.99858066e-01 -4.33123233e-03 -1.62815200e-02 1.09179789e+01] [ 4.39959804e-03 9.99981646e-01 4.16550491e-03 2.97339272e-01] [ 1.62631794e-02 -4.23654583e-03 9.99858770e-01 -2.51310923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.264553574 meters Centerline goodness [0,1] 0.8415530750241494 Centerline is valid? [False, False] Translation: X:10.92, Y:0.30, Z:-2.51 [[ 9.99854357e-01 -4.50602729e-03 -1.64608853e-02 1.09184392e+01] [ 4.57733225e-03 9.99980293e-01 4.29667700e-03 2.97369721e-01] [ 1.64411999e-02 -4.37139816e-03 9.99855278e-01 -2.51264461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.29455357399996 meters Centerline goodness [0,1] 0.8450568303667167 Centerline is valid? [False, False] Translation: X:10.92, Y:0.30, Z:-2.51 [[ 9.99846762e-01 -4.99394582e-03 -1.67783675e-02 1.09192927e+01] [ 5.06908162e-03 9.99977301e-01 4.43859520e-03 2.97338969e-01] [ 1.67558205e-02 -4.52296595e-03 9.99849381e-01 -2.51174152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.324553574 meters Centerline goodness [0,1] 0.8480231747223861 Centerline is valid? [False, False] Translation: X:10.92, Y:0.30, Z:-2.51 [[ 9.99843139e-01 -5.17781110e-03 -1.69377333e-02 1.09195584e+01] [ 5.25793923e-03 9.99975180e-01 4.68964078e-03 2.97117564e-01] [ 1.69130308e-02 -4.77796273e-03 9.99845548e-01 -2.51090409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.35455357399997 meters Centerline goodness [0,1] 0.840336808340016 Centerline is valid? [False, False] Translation: X:10.92, Y:0.30, Z:-2.51 [[ 9.99833433e-01 -5.77068509e-03 -1.73148943e-02 1.09210211e+01] [ 5.84841512e-03 9.99973032e-01 4.44192712e-03 2.97711516e-01] [ 1.72887943e-02 -4.54245193e-03 9.99840219e-01 -2.51109930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.384553574 meters Centerline goodness [0,1] 0.842304918120375 Centerline is valid? [False, False] Translation: X:10.92, Y:0.30, Z:-2.51 [[ 9.99825708e-01 -6.13489008e-03 -1.76328265e-02 1.09221923e+01] [ 6.21144329e-03 9.99971506e-01 4.29003357e-03 2.98078462e-01] [ 1.76060052e-02 -4.39881115e-03 9.99835326e-01 -2.51133007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.41455357399997 meters Centerline goodness [0,1] 0.8409503955527047 Centerline is valid? [False, False] Translation: X:10.92, Y:0.30, Z:-2.51 [[ 9.99818570e-01 -6.47174233e-03 -1.79148884e-02 1.09231790e+01] [ 6.54942067e-03 9.99969390e-01 4.28069542e-03 2.97920530e-01] [ 1.78866365e-02 -4.39725091e-03 9.99830352e-01 -2.51136974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.444553574 meters Centerline goodness [0,1] 0.8425350755060512 Centerline is valid? [False, False] Translation: X:10.92, Y:0.30, Z:-2.51 [[ 9.99818795e-01 -6.45794281e-03 -1.79073119e-02 1.09231904e+01] [ 6.53408884e-03 9.99969845e-01 4.19698710e-03 2.98126208e-01] [ 1.78796680e-02 -4.31323455e-03 9.99830842e-01 -2.51155008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.47455357399997 meters Centerline goodness [0,1] 0.8466000213835133 Centerline is valid? [False, False] Translation: X:10.92, Y:0.30, Z:-2.51 [[ 9.99816728e-01 -6.52208273e-03 -1.79992429e-02 1.09235714e+01] [ 6.59530070e-03 9.99970205e-01 4.01147795e-03 2.98544180e-01] [ 1.79725434e-02 -4.12945317e-03 9.99829953e-01 -2.51193058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.504553574 meters Centerline goodness [0,1] 0.8457153562061768 Centerline is valid? [False, False] Translation: X:10.92, Y:0.30, Z:-2.51 [[ 9.99814743e-01 -6.51872470e-03 -1.81104062e-02 1.09240391e+01] [ 6.58837765e-03 9.99971118e-01 3.78901951e-03 2.98951956e-01] [ 1.80851836e-02 -3.90763576e-03 9.99828814e-01 -2.51256881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.534553574 meters Centerline goodness [0,1] 0.8399260826481695 Centerline is valid? [False, False] Translation: X:10.92, Y:0.30, Z:-2.51 [[ 9.99812879e-01 -6.56720767e-03 -1.81955620e-02 1.09244677e+01] [ 6.63330115e-03 9.99971611e-01 3.57442587e-03 2.99087463e-01] [ 1.81715714e-02 -3.69445367e-03 9.99828058e-01 -2.51318032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.564553574 meters Centerline goodness [0,1] 0.8451592220559949 Centerline is valid? [False, False] Translation: X:10.93, Y:0.30, Z:-2.51 [[ 9.99810578e-01 -6.64017005e-03 -1.82952400e-02 1.09252211e+01] [ 6.69527742e-03 9.99973228e-01 2.95251151e-03 2.99854395e-01] [ 1.82751450e-02 -3.07444395e-03 9.99828269e-01 -2.51467011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.594553574 meters Centerline goodness [0,1] 0.842735682583819 Centerline is valid? [False, False] Translation: X:10.92, Y:0.30, Z:-2.51 [[ 9.99817553e-01 -6.28126409e-03 -1.80390456e-02 1.09243325e+01] [ 6.33484716e-03 9.99975687e-01 2.91478898e-03 3.00301149e-01] [ 1.80202984e-02 -3.02853178e-03 9.99833034e-01 -2.51476381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.624553574 meters Centerline goodness [0,1] 0.8425058078987423 Centerline is valid? [False, False] Translation: X:10.92, Y:0.30, Z:-2.51 [[ 9.99828083e-01 -5.70738863e-03 -1.76416942e-02 1.09227673e+01] [ 5.76102745e-03 9.99978932e-01 2.99113226e-03 3.00703464e-01] [ 1.76242509e-02 -3.09225232e-03 9.99839899e-01 -2.51452445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.654553574 meters Centerline goodness [0,1] 0.8437450071896468 Centerline is valid? [False, False] Translation: X:10.94, Y:0.30, Z:-2.52 [[ 9.99924821e-01 -2.62447393e-03 -1.19777049e-02 1.09399799e+01] [ 2.57601278e-03 9.99988442e-01 -4.05958235e-03 3.02841936e-01] [ 1.19882207e-02 4.02842243e-03 9.99920024e-01 -2.52132011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.68455357399995 meters Centerline goodness [0,1] 0.8443443976770206 Centerline is valid? [False, False] Translation: X:10.94, Y:0.30, Z:-2.52 [[ 9.99932238e-01 -1.84900024e-03 -1.14934633e-02 1.09380554e+01] [ 1.80475524e-03 9.99990926e-01 -3.85875960e-03 3.03250189e-01] [ 1.15004938e-02 3.83775523e-03 9.99926502e-01 -2.52099463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.714553574 meters Centerline goodness [0,1] 0.8421290751829674 Centerline is valid? [False, False] Translation: X:10.94, Y:0.30, Z:-2.52 [[ 9.99931476e-01 2.72027069e-03 -1.13861043e-02 1.09371141e+01] [-2.70896262e-03 9.99995822e-01 1.00845142e-03 3.02057606e-01] [ 1.13888000e-02 -9.77537782e-04 9.99934668e-01 -2.51945602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.74455357399995 meters Centerline goodness [0,1] 0.8453660488065076 Centerline is valid? [False, False] Translation: X:10.94, Y:0.30, Z:-2.52 [[ 9.99934696e-01 3.49924597e-03 -1.08792971e-02 1.09353503e+01] [-3.48901094e-03 9.99993453e-01 9.59617211e-04 3.02547714e-01] [ 1.08825838e-02 -9.21596558e-04 9.99940358e-01 -2.51977617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.774553574 meters Centerline goodness [0,1] 0.8422538963633942 Centerline is valid? [False, False] Translation: X:10.93, Y:0.30, Z:-2.52 [[ 9.99937119e-01 4.08979119e-03 -1.04418068e-02 1.09341447e+01] [-4.08293549e-03 9.99991435e-01 6.77795716e-04 3.02995129e-01] [ 1.04444894e-02 -6.35119872e-04 9.99945253e-01 -2.52071688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.80455357399995 meters Centerline goodness [0,1] 0.8422709567258951 Centerline is valid? [False, False] Translation: X:10.93, Y:0.30, Z:-2.52 [[ 9.99939086e-01 5.33055305e-03 -9.66486790e-03 1.09317786e+01] [-5.32758010e-03 9.99985753e-01 3.33323537e-04 3.03385153e-01] [ 9.66650701e-03 -2.81812875e-04 9.99953239e-01 -2.52238445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.834553574 meters Centerline goodness [0,1] 0.8422709567258951 Centerline is valid? [False, False] Translation: X:10.93, Y:0.30, Z:-2.52 [[ 9.99939086e-01 5.33055305e-03 -9.66486790e-03 1.09317786e+01] [-5.32758010e-03 9.99985753e-01 3.33323537e-04 3.03385153e-01] [ 9.66650701e-03 -2.81812875e-04 9.99953239e-01 -2.52238445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.86455357399996 meters Centerline goodness [0,1] 0.8381995458795245 Centerline is valid? [False, False] Translation: X:10.93, Y:0.30, Z:-2.52 [[ 9.99939594e-01 6.06252268e-03 -9.16812659e-03 1.09305183e+01] [-6.06050926e-03 9.99981604e-01 2.47377348e-04 3.02719013e-01] [ 9.16945767e-03 -1.91798888e-04 9.99957941e-01 -2.52359961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.894553574 meters Centerline goodness [0,1] 0.8404329050487818 Centerline is valid? [False, False] Translation: X:10.93, Y:0.30, Z:-2.52 [[ 9.99940005e-01 6.12620072e-03 -9.08053628e-03 1.09305235e+01] [-6.12598868e-03 9.99981235e-01 5.11653425e-05 3.02414428e-01] [ 9.08067933e-03 4.46498957e-06 9.99958770e-01 -2.52435155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.92455357399996 meters Centerline goodness [0,1] 0.8364419706173567 Centerline is valid? [False, False] Translation: X:10.93, Y:0.30, Z:-2.52 [[ 9.99939702e-01 6.37138282e-03 -8.94415901e-03 1.09298589e+01] [-6.36710260e-03 9.99979601e-01 5.06942032e-04 3.01183632e-01] [ 8.94720648e-03 -4.49963086e-04 9.99959872e-01 -2.52379262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.954553574 meters Centerline goodness [0,1] 0.8367637958403961 Centerline is valid? [False, False] Translation: X:10.93, Y:0.30, Z:-2.52 [[ 9.99962412e-01 3.47133052e-03 -7.94509777e-03 1.09264959e+01] [-3.49658373e-03 9.99988873e-01 -3.16678418e-03 2.99612347e-01] [ 7.93401641e-03 3.19444585e-03 9.99963423e-01 -2.52384118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.98455357399996 meters Centerline goodness [0,1] 0.8399546888906869 Centerline is valid? [False, False] Translation: X:10.93, Y:0.30, Z:-2.52 [[ 9.99961545e-01 3.30613198e-03 -8.12272544e-03 1.09267264e+01] [-3.32486827e-03 9.99991841e-01 -2.29423068e-03 2.97515327e-01] [ 8.11507413e-03 2.32114944e-03 9.99964378e-01 -2.52234267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.014553574 meters Centerline goodness [0,1] 0.8409619650489639 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.52 [[ 9.99961586e-01 2.92910952e-03 -8.26114982e-03 1.09271548e+01] [-2.94016012e-03 9.99994799e-01 -1.32583151e-03 2.94589922e-01] [ 8.25722335e-03 1.35006968e-03 9.99964997e-01 -2.52084570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.04455357399996 meters Centerline goodness [0,1] 0.8410363198745165 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.52 [[ 9.99960906e-01 2.63265388e-03 -8.44125498e-03 1.09279565e+01] [-2.64157969e-03 9.99995964e-01 -1.04642741e-03 2.93231377e-01] [ 8.43846603e-03 1.06868475e-03 9.99963824e-01 -2.52073195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.074553574 meters Centerline goodness [0,1] 0.8430339884895212 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.52 [[ 9.99959414e-01 2.06141146e-03 -8.77042895e-03 1.09292077e+01] [-2.06358503e-03 9.99997842e-01 -2.38786685e-04 2.89657606e-01] [ 8.76991778e-03 2.56875520e-04 9.99961511e-01 -2.51989959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.10455357399997 meters Centerline goodness [0,1] 0.8405445881552076 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.52 [[ 9.99958842e-01 1.98565450e-03 -8.85272166e-03 1.09293647e+01] [-1.98238869e-03 9.99997964e-01 3.77663525e-04 2.87678300e-01] [ 8.85345354e-03 -3.60098446e-04 9.99960743e-01 -2.51909357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.134553574 meters Centerline goodness [0,1] 0.8400141991152859 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.52 [[ 9.99957839e-01 1.81641857e-03 -9.00110738e-03 1.09298140e+01] [-1.80893235e-03 9.99998011e-01 8.39771772e-04 2.85783036e-01] [ 9.00261486e-03 -8.23453972e-04 9.99959137e-01 -2.51863778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.16455357399997 meters Centerline goodness [0,1] 0.8386796584190935 Centerline is valid? [False, False] Translation: X:10.93, Y:0.28, Z:-2.52 [[ 9.99956556e-01 1.41810751e-03 -9.21279851e-03 1.09309996e+01] [-1.40759841e-03 9.99998351e-01 1.14709026e-03 2.82923688e-01] [ 9.21441002e-03 -1.13407251e-03 9.99956903e-01 -2.51915290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.194553574 meters Centerline goodness [0,1] 0.8426670325147483 Centerline is valid? [False, False] Translation: X:10.93, Y:0.28, Z:-2.52 [[ 9.99957596e-01 1.67658038e-03 -9.05511815e-03 1.09305603e+01] [-1.66674487e-03 9.99998013e-01 1.09361990e-03 2.82637386e-01] [ 9.05693370e-03 -1.07848095e-03 9.99958404e-01 -2.51969510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.22455357399997 meters Centerline goodness [0,1] 0.8403126285479227 Centerline is valid? [False, False] Translation: X:10.93, Y:0.28, Z:-2.52 [[ 9.99961406e-01 2.86425001e-03 -8.30558256e-03 1.09281124e+01] [-2.85695895e-03 9.99995523e-01 8.89582583e-04 2.82823985e-01] [ 8.30809336e-03 -8.65819542e-04 9.99965112e-01 -2.52092929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.254553574 meters Centerline goodness [0,1] 0.8351503862378787 Centerline is valid? [False, False] Translation: X:10.93, Y:0.28, Z:-2.52 [[ 9.99962260e-01 3.30958507e-03 -8.03276541e-03 1.09273545e+01] [-3.30621720e-03 9.99994441e-01 4.32508780e-04 2.83694930e-01] [ 8.03415218e-03 -4.05934390e-04 9.99967643e-01 -2.52211354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.284553574 meters Centerline goodness [0,1] 0.83986847513358 Centerline is valid? [False, False] Translation: X:10.93, Y:0.28, Z:-2.52 [[ 9.99963031e-01 3.63607965e-03 -7.79199876e-03 1.09267791e+01] [-3.63535434e-03 9.99993386e-01 1.07244936e-04 2.84227806e-01] [ 7.79233718e-03 -7.89142951e-05 9.99969636e-01 -2.52302529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.314553574 meters Centerline goodness [0,1] 0.8338581168031104 Centerline is valid? [False, False] Translation: X:10.92, Y:0.28, Z:-2.52 [[ 9.99963908e-01 4.45636970e-03 -7.23353531e-03 1.09247123e+01] [-4.45491916e-03 9.99990053e-01 2.16630588e-04 2.84050353e-01] [ 7.23442875e-03 -1.84397954e-04 9.99973814e-01 -2.52309574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.344553574 meters Centerline goodness [0,1] 0.8358351789571542 Centerline is valid? [False, False] Translation: X:10.92, Y:0.28, Z:-2.52 [[ 9.99964521e-01 4.59725287e-03 -7.05842543e-03 1.09243640e+01] [-4.59790293e-03 9.99989427e-01 -7.58729775e-05 2.84214740e-01] [ 7.05800199e-03 1.08324241e-04 9.99975086e-01 -2.52380264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.374553574 meters Centerline goodness [0,1] 0.8347633621160783 Centerline is valid? [False, False] Translation: X:10.92, Y:0.28, Z:-2.52 [[ 9.99964423e-01 5.09502150e-03 -6.72263152e-03 1.09232246e+01] [-5.09602328e-03 9.99987006e-01 -1.31894614e-04 2.84519391e-01] [ 6.72187217e-03 1.66148608e-04 9.99977394e-01 -2.52408918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.404553574 meters Centerline goodness [0,1] 0.83280111356751 Centerline is valid? [False, False] Translation: X:10.92, Y:0.28, Z:-2.52 [[ 9.99964655e-01 5.16382730e-03 -6.63498525e-03 1.09230458e+01] [-5.16533629e-03 9.99986637e-01 -2.10313325e-04 2.84674942e-01] [ 6.63381057e-03 2.44577822e-04 9.99977966e-01 -2.52420788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43455357399995 meters Centerline goodness [0,1] 0.8334928229665072 Centerline is valid? [False, False] Translation: X:10.92, Y:0.28, Z:-2.52 [[ 9.99964969e-01 5.11723402e-03 -6.62381408e-03 1.09232552e+01] [-5.11961432e-03 9.99986836e-01 -3.42448292e-04 2.84617824e-01] [ 6.62197449e-03 3.76347669e-04 9.99978004e-01 -2.52460715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.464553574 meters Centerline goodness [0,1] 0.8357997438203473 Centerline is valid? [False, False] Translation: X:10.92, Y:0.28, Z:-2.52 [[ 9.99964659e-01 5.11845688e-03 -6.66949059e-03 1.09235181e+01] [-5.12180462e-03 9.99986766e-01 -4.84965452e-04 2.84981764e-01] [ 6.66692005e-03 5.19108141e-04 9.99977641e-01 -2.52495998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49455357399995 meters Centerline goodness [0,1] 0.8358392564242756 Centerline is valid? [False, False] Translation: X:10.91, Y:0.29, Z:-2.53 [[ 9.99993987e-01 1.62756590e-03 3.06231372e-03 1.09114952e+01] [-1.63075218e-03 9.99998131e-01 1.03827054e-03 2.87289752e-01] [-3.06061814e-03 -1.04325817e-03 9.99994772e-01 -2.53181669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.524553574 meters Centerline goodness [0,1] 0.8361189375495801 Centerline is valid? [False, False] Translation: X:10.91, Y:0.29, Z:-2.53 [[ 9.99994875e-01 1.39222311e-03 2.88300933e-03 1.09123101e+01] [-1.39482381e-03 9.99998622e-01 9.00263106e-04 2.87270486e-01] [-2.88175199e-03 -9.04279782e-04 9.99995439e-01 -2.53220114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.55455357399995 meters Centerline goodness [0,1] 0.8374046010340017 Centerline is valid? [False, False] Translation: X:10.91, Y:0.29, Z:-2.53 [[ 9.99995982e-01 1.04735409e-03 2.63424548e-03 1.09132919e+01] [-1.04960196e-03 9.99999086e-01 8.52090981e-04 2.87063558e-01] [-2.63335063e-03 -8.54852467e-04 9.99996167e-01 -2.53223838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.584553574 meters Centerline goodness [0,1] 0.8381592978426708 Centerline is valid? [False, False] Translation: X:10.91, Y:0.29, Z:-2.53 [[ 9.99995618e-01 1.14041805e-03 2.73178481e-03 1.09127934e+01] [-1.14251801e-03 9.99999053e-01 7.67276633e-04 2.87789408e-01] [-2.73090721e-03 -7.70394385e-04 9.99995974e-01 -2.53182845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.61455357399996 meters Centerline goodness [0,1] 0.8379006038086392 Centerline is valid? [False, False] Translation: X:10.91, Y:0.29, Z:-2.53 [[ 9.99996759e-01 7.58052190e-04 2.43044122e-03 1.09140764e+01] [-7.59196692e-04 9.99999601e-01 4.70015197e-04 2.88496738e-01] [-2.43008396e-03 -4.71858857e-04 9.99996936e-01 -2.53231720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.644553574 meters Centerline goodness [0,1] 0.8393174546747245 Centerline is valid? [False, False] Translation: X:10.92, Y:0.29, Z:-2.53 [[ 9.99998234e-01 5.93592231e-05 1.87858809e-03 1.09161912e+01] [-5.93861581e-05 9.99999998e-01 1.42821622e-05 2.89731066e-01] [-1.87858723e-03 -1.43936991e-05 9.99998235e-01 -2.53295349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.67455357399996 meters Centerline goodness [0,1] 0.8361205838221253 Centerline is valid? [False, False] Translation: X:10.92, Y:0.29, Z:-2.53 [[ 9.99998841e-01 -5.39478340e-04 1.42395348e-03 1.09181185e+01] [ 5.39746454e-04 9.99999837e-01 -1.87910880e-04 2.90053315e-01] [-1.42385188e-03 1.88679236e-04 9.99998969e-01 -2.53342455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.704553574 meters Centerline goodness [0,1] 0.8393042150607994 Centerline is valid? [False, False] Translation: X:10.92, Y:0.29, Z:-2.53 [[ 9.99998923e-01 -1.10257345e-03 9.68687210e-04 1.09198517e+01] [ 1.10279650e-03 9.99999366e-01 -2.29754330e-04 2.89937784e-01] [-9.68433274e-04 2.30822348e-04 9.99999504e-01 -2.53358594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.73455357399996 meters Centerline goodness [0,1] 0.8376729938187188 Centerline is valid? [False, False] Translation: X:10.92, Y:0.29, Z:-2.53 [[ 9.99997230e-01 -2.35285613e-03 7.00185943e-05 1.09228997e+01] [ 2.35284121e-03 9.99997210e-01 2.12401532e-04 2.88838905e-01] [-7.05181492e-05 -2.12236200e-04 9.99999975e-01 -2.53236415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.764553574 meters Centerline goodness [0,1] 0.8384373719437235 Centerline is valid? [False, False] Translation: X:10.92, Y:0.29, Z:-2.53 [[ 9.99995086e-01 -3.09595009e-03 -4.93832651e-04 1.09248521e+01] [ 3.09611399e-03 9.99995152e-01 3.31463390e-04 2.88158176e-01] [ 4.92804062e-04 -3.32990724e-04 9.99999823e-01 -2.53201762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.79455357399996 meters Centerline goodness [0,1] 0.8427329805609629 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.53 [[ 9.99989407e-01 -4.40427753e-03 -1.33741873e-03 1.09276889e+01] [ 4.40574949e-03 9.99989690e-01 1.09965546e-03 2.86346860e-01] [ 1.33256175e-03 -1.10553615e-03 9.99998501e-01 -2.53003750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.824553574 meters Centerline goodness [0,1] 0.8435167719183138 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.53 [[ 9.99987106e-01 -4.80358298e-03 -1.64702515e-03 1.09285426e+01] [ 4.80602447e-03 9.99987353e-01 1.48162361e-03 2.85939863e-01] [ 1.63988722e-03 -1.48952015e-03 9.99997546e-01 -2.52897256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.85455357399997 meters Centerline goodness [0,1] 0.8413319470285652 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.53 [[ 9.99981900e-01 -5.60457212e-03 -2.18815752e-03 1.09303813e+01] [ 5.60792136e-03 9.99983109e-01 1.52749758e-03 2.86520750e-01] [ 2.17955959e-03 -1.53974095e-03 9.99996439e-01 -2.52829791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.884553574 meters Centerline goodness [0,1] 0.8437978142076503 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.53 [[ 9.99979084e-01 -5.98041749e-03 -2.46315011e-03 1.09316043e+01] [ 5.98359079e-03 9.99981275e-01 1.28296327e-03 2.87183456e-01] [ 2.45543133e-03 -1.29767492e-03 9.99996143e-01 -2.52873224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.91455357399997 meters Centerline goodness [0,1] 0.8421627824376383 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.53 [[ 9.99975446e-01 -6.41710587e-03 -2.81581100e-03 1.09328513e+01] [ 6.42012446e-03 9.99978824e-01 1.06428724e-03 2.87864179e-01] [ 2.80892173e-03 -1.08233896e-03 9.99995469e-01 -2.52887021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.944553574 meters Centerline goodness [0,1] 0.8448017031962224 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.53 [[ 9.99974662e-01 -6.47692668e-03 -2.95392682e-03 1.09329432e+01] [ 6.48117718e-03 9.99977972e-01 1.43163861e-03 2.87419450e-01] [ 2.94458914e-03 -1.45074726e-03 9.99994612e-01 -2.52784498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.97455357399997 meters Centerline goodness [0,1] 0.8447856615939455 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.53 [[ 9.99974476e-01 -6.48829111e-03 -2.99145992e-03 1.09328474e+01] [ 6.49341066e-03 9.99977464e-01 1.70486507e-03 2.87103380e-01] [ 2.98033084e-03 -1.72424633e-03 9.99994072e-01 -2.52708809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.004553574 meters Centerline goodness [0,1] 0.8436698849069983 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.53 [[ 9.99972710e-01 -6.65664347e-03 -3.20438728e-03 1.09336446e+01] [ 6.66159511e-03 9.99976630e-01 1.53708559e-03 2.87617286e-01] [ 3.19408056e-03 -1.55838997e-03 9.99993685e-01 -2.52748664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.034553574 meters Centerline goodness [0,1] 0.8451468623012518 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.53 [[ 9.99972968e-01 -6.61502329e-03 -3.20998281e-03 1.09339571e+01] [ 6.61908314e-03 9.99977305e-01 1.25578818e-03 2.88150657e-01] [ 3.20160289e-03 -1.27700138e-03 9.99994059e-01 -2.52841275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.064553574 meters Centerline goodness [0,1] 0.8382344917889684 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.53 [[ 9.99975352e-01 -6.32313818e-03 -3.05174218e-03 1.09338279e+01] [ 6.32565863e-03 9.99979659e-01 8.16959029e-04 2.88598667e-01] [ 3.04651436e-03 -8.36243172e-04 9.99995010e-01 -2.53004654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.094553574 meters Centerline goodness [0,1] 0.8425134493022748 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.53 [[ 9.99977520e-01 -6.03929344e-03 -2.91312070e-03 1.09333550e+01] [ 6.04180996e-03 9.99981382e-01 8.55834123e-04 2.88444390e-01] [ 2.90789783e-03 -8.73415405e-04 9.99995391e-01 -2.53028525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.124553574 meters Centerline goodness [0,1] 0.8395102219306877 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.53 [[ 9.99988214e-01 -4.46371543e-03 -1.90950760e-03 1.09295070e+01] [ 4.46603749e-03 9.99989291e-01 1.21352313e-03 2.87829593e-01] [ 1.90407032e-03 -1.22203676e-03 9.99997441e-01 -2.53016361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.154553574 meters Centerline goodness [0,1] 0.8389666366587555 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.53 [[ 9.99992372e-01 -3.65592434e-03 -1.37517717e-03 1.09276629e+01] [ 3.65771140e-03 9.99992467e-01 1.29925463e-03 2.87763898e-01] [ 1.37041683e-03 -1.30427472e-03 9.99998210e-01 -2.53040252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.18455357399995 meters Centerline goodness [0,1] 0.8352944380890124 Centerline is valid? [False, False] Translation: X:10.92, Y:0.29, Z:-2.53 [[ 9.99998612e-01 -1.65049337e-03 -2.25641715e-04 1.09232855e+01] [ 1.65079557e-03 9.99997732e-01 1.34571063e-03 2.88043209e-01] [ 2.23420117e-04 -1.34608126e-03 9.99999069e-01 -2.53120937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.214553574 meters Centerline goodness [0,1] 0.8368428239792435 Centerline is valid? [False, False] Translation: X:10.92, Y:0.29, Z:-2.53 [[ 9.99999584e-01 -8.51742657e-04 3.24932859e-04 1.09212396e+01] [ 8.51304670e-04 9.99998732e-01 1.34569648e-03 2.88275851e-01] [-3.26078634e-04 -1.34541930e-03 9.99999042e-01 -2.53138015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.24455357399995 meters Centerline goodness [0,1] 0.837941313205896 Centerline is valid? [False, False] Translation: X:10.92, Y:0.29, Z:-2.53 [[ 9.99998991e-01 5.78696209e-04 1.29750361e-03 1.09174736e+01] [-5.81012249e-04 9.99998238e-01 1.78533152e-03 2.87649103e-01] [-1.29646816e-03 -1.78608358e-03 9.99997565e-01 -2.53091029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.274553574 meters Centerline goodness [0,1] 0.8372354117034968 Centerline is valid? [False, False] Translation: X:10.92, Y:0.29, Z:-2.53 [[ 9.99998361e-01 9.17192934e-04 1.56096850e-03 1.09165166e+01] [-9.20042188e-04 9.99997910e-01 1.82557379e-03 2.87450470e-01] [-1.55929083e-03 -1.82700695e-03 9.99997115e-01 -2.53086090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.30455357399995 meters Centerline goodness [0,1] 0.8344572368421053 Centerline is valid? [False, False] Translation: X:10.92, Y:0.29, Z:-2.53 [[ 9.99997708e-01 1.17805251e-03 1.78751840e-03 1.09156877e+01] [-1.18161046e-03 9.99997320e-01 1.99069519e-03 2.86847931e-01] [-1.78516847e-03 -1.99280278e-03 9.99996421e-01 -2.53059469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.334553574 meters Centerline goodness [0,1] 0.8356843518036648 Centerline is valid? [False, False] Translation: X:10.91, Y:0.29, Z:-2.53 [[ 9.99996759e-01 1.50073172e-03 2.05640883e-03 1.09146823e+01] [-1.50456801e-03 9.99997129e-01 1.86525466e-03 2.87217313e-01] [-2.05360368e-03 -1.86834262e-03 9.99996146e-01 -2.53060974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.36455357399996 meters Centerline goodness [0,1] 0.8340812082740505 Centerline is valid? [False, False] Translation: X:10.91, Y:0.29, Z:-2.53 [[ 9.99996821e-01 1.46347254e-03 2.05318601e-03 1.09149214e+01] [-1.46659249e-03 9.99997771e-01 1.51888599e-03 2.88035161e-01] [-2.05095859e-03 -1.52189235e-03 9.99996739e-01 -2.53116878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.394553574 meters Centerline goodness [0,1] 0.8386319450149238 Centerline is valid? [False, False] Translation: X:10.92, Y:0.29, Z:-2.53 [[ 9.99997405e-01 1.24916316e-03 1.90506329e-03 1.09155253e+01] [-1.25148938e-03 9.99998472e-01 1.22036867e-03 2.88856437e-01] [-1.90353594e-03 -1.22274967e-03 9.99997441e-01 -2.53146093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.42455357399996 meters Centerline goodness [0,1] 0.8355023425299324 Centerline is valid? [False, False] Translation: X:10.92, Y:0.29, Z:-2.53 [[ 9.99998273e-01 8.66097322e-04 1.64451559e-03 1.09165101e+01] [-8.67893458e-04 9.99999027e-01 1.09179840e-03 2.88954778e-01] [-1.64356839e-03 -1.09322378e-03 9.99998052e-01 -2.53153109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.454553574 meters Centerline goodness [0,1] 0.8358678409277391 Centerline is valid? [False, False] Translation: X:10.92, Y:0.29, Z:-2.53 [[ 9.99999622e-01 -2.52490708e-04 8.31507042e-04 1.09195966e+01] [ 2.51745502e-04 9.99999567e-01 8.96193061e-04 2.89362807e-01] [-8.31732962e-04 -8.95983395e-04 9.99999253e-01 -2.53171575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.48455357399996 meters Centerline goodness [0,1] 0.8391243824548953 Centerline is valid? [False, False] Translation: X:10.92, Y:0.29, Z:-2.53 [[ 9.99999339e-01 -1.12988790e-03 2.15293631e-04 1.09222183e+01] [ 1.12975417e-03 9.99999169e-01 6.20265106e-04 2.89404068e-01] [-2.15994282e-04 -6.20021466e-04 9.99999784e-01 -2.53238179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.514553574 meters Centerline goodness [0,1] 0.8368402331244699 Centerline is valid? [False, False] Translation: X:10.92, Y:0.29, Z:-2.53 [[ 9.99998109e-01 -1.90319339e-03 -3.99072561e-04 1.09243907e+01] [ 1.90348554e-03 9.99997920e-01 7.32985498e-04 2.89103640e-01] [ 3.97676717e-04 -7.33743741e-04 9.99999652e-01 -2.53207046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.54455357399996 meters Centerline goodness [0,1] 0.8388689284440909 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.53 [[ 9.99989107e-01 -4.32207047e-03 -1.76209952e-03 1.09298759e+01] [ 4.32317073e-03 9.99990462e-01 6.21073121e-04 2.88014089e-01] [ 1.75939839e-03 -6.28684213e-04 9.99998255e-01 -2.53163466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.574553574 meters Centerline goodness [0,1] 0.8406067421894287 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.53 [[ 9.99981450e-01 -5.47268753e-03 -2.67381905e-03 1.09330598e+01] [ 5.47510050e-03 9.99984610e-01 8.95959552e-04 2.87014713e-01] [ 2.66887460e-03 -9.10582360e-04 9.99996024e-01 -2.53096470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.60455357399997 meters Centerline goodness [0,1] 0.8412785891430146 Centerline is valid? [False, False] Translation: X:10.94, Y:0.29, Z:-2.53 [[ 9.99960110e-01 -7.94187569e-03 -4.08715090e-03 1.09387039e+01] [ 7.94695792e-03 9.99967668e-01 1.22873044e-03 2.85280027e-01] [ 4.07726033e-03 -1.26116185e-03 9.99990893e-01 -2.52969615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.634553574 meters Centerline goodness [0,1] 0.8457292672830137 Centerline is valid? [False, False] Translation: X:10.94, Y:0.28, Z:-2.53 [[ 9.99950338e-01 -8.77108111e-03 -4.73172463e-03 1.09409545e+01] [ 8.77819199e-03 9.99960370e-01 1.48413923e-03 2.84520975e-01] [ 4.71851960e-03 -1.52560151e-03 9.99987704e-01 -2.52911872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.66455357399997 meters Centerline goodness [0,1] 0.8433309420009933 Centerline is valid? [False, False] Translation: X:10.95, Y:0.28, Z:-2.53 [[ 9.99921344e-01 -1.09200393e-02 -6.16923837e-03 1.09467654e+01] [ 1.09272092e-02 9.99939658e-01 1.12969055e-03 2.84365620e-01] [ 6.15652984e-03 -1.19701425e-03 9.99980332e-01 -2.52970198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.694553574 meters Centerline goodness [0,1] 0.845822994210091 Centerline is valid? [False, False] Translation: X:10.95, Y:0.28, Z:-2.53 [[ 9.99908758e-01 -1.17058541e-02 -6.74150682e-03 1.09488833e+01] [ 1.17151299e-02 9.99930480e-01 1.33807515e-03 2.83946484e-01] [ 6.72537484e-03 -1.41693069e-03 9.99976381e-01 -2.52922632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.72455357399997 meters Centerline goodness [0,1] 0.8442726672535211 Centerline is valid? [False, False] Translation: X:10.95, Y:0.28, Z:-2.53 [[ 9.99883095e-01 -1.31935134e-02 -7.72840368e-03 1.09525676e+01] [ 1.32058154e-02 9.99911609e-01 1.54292466e-03 2.83101056e-01] [ 7.70736396e-03 -1.64480415e-03 9.99968945e-01 -2.52849512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.754553574 meters Centerline goodness [0,1] 0.8442726672535211 Centerline is valid? [False, False] Translation: X:10.95, Y:0.28, Z:-2.53 [[ 9.99883095e-01 -1.31935134e-02 -7.72840368e-03 1.09525676e+01] [ 1.32058154e-02 9.99911609e-01 1.54292466e-03 2.83101056e-01] [ 7.70736396e-03 -1.64480415e-03 9.99968945e-01 -2.52849512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.784553574 meters Centerline goodness [0,1] 0.8457183884240467 Centerline is valid? [False, False] Translation: X:10.95, Y:0.28, Z:-2.53 [[ 9.99874112e-01 -1.36516818e-02 -8.08655823e-03 1.09538041e+01] [ 1.36659916e-02 9.99905142e-01 1.71697632e-03 2.82719573e-01] [ 8.06235154e-03 -1.82727101e-03 9.99965829e-01 -2.52799485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.814553574 meters Centerline goodness [0,1] 0.8461729553672472 Centerline is valid? [False, False] Translation: X:10.95, Y:0.28, Z:-2.53 [[ 9.99870844e-01 -1.37889588e-02 -8.25595795e-03 1.09541362e+01] [ 1.38061011e-02 9.99902645e-01 2.02297622e-03 2.82349997e-01] [ 8.22725946e-03 -2.13669753e-03 9.99963873e-01 -2.52721260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.844553574 meters Centerline goodness [0,1] 0.8487515124848751 Centerline is valid? [False, False] Translation: X:10.95, Y:0.28, Z:-2.53 [[ 9.99870264e-01 -1.38027522e-02 -8.30294009e-03 1.09540148e+01] [ 1.38215988e-02 9.99902020e-01 2.21677796e-03 2.82710758e-01] [ 8.27152892e-03 -2.33125027e-03 9.99963073e-01 -2.52640925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.874553574 meters Centerline goodness [0,1] 0.8418254930042965 Centerline is valid? [False, False] Translation: X:10.95, Y:0.28, Z:-2.53 [[ 9.99881755e-01 -1.31819940e-02 -7.91905189e-03 1.09525181e+01] [ 1.31998971e-02 9.99910429e-01 2.21275973e-03 2.83484309e-01] [ 7.88917399e-03 -2.31702875e-03 9.99966196e-01 -2.52644864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.904553574 meters Centerline goodness [0,1] 0.8481131295311078 Centerline is valid? [False, False] Translation: X:10.95, Y:0.28, Z:-2.53 [[ 9.99892036e-01 -1.26031603e-02 -7.55490056e-03 1.09511287e+01] [ 1.26196861e-02 9.99918071e-01 2.14375647e-03 2.84456656e-01] [ 7.52726349e-03 -2.23886550e-03 9.99969163e-01 -2.52655682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93455357399995 meters Centerline goodness [0,1] 0.8475781120846421 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.53 [[ 9.99905570e-01 -1.17864417e-02 -7.06624530e-03 1.09492503e+01] [ 1.18007727e-02 9.99928389e-01 1.98983025e-03 2.85827060e-01] [ 7.04228626e-03 -2.07302950e-03 9.99973054e-01 -2.52689378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.964553574 meters Centerline goodness [0,1] 0.8500412201154164 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.53 [[ 9.99947342e-01 -7.37618030e-03 -7.13475985e-03 1.09486524e+01] [ 7.42443701e-03 9.99949582e-01 6.76093534e-03 2.85626381e-01] [ 7.08453025e-03 -6.81355090e-03 9.99951691e-01 -2.52517400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.99455357399995 meters Centerline goodness [0,1] 0.8503015350877193 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.53 [[ 9.99956026e-01 -6.60924596e-03 -6.65311449e-03 1.09467142e+01] [ 6.65348344e-03 9.99955759e-01 6.64911223e-03 2.86342806e-01] [ 6.60887453e-03 -6.69308623e-03 9.99955762e-01 -2.52521611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.024553574 meters Centerline goodness [0,1] 0.8471299258894631 Centerline is valid? [False, False] Translation: X:10.94, Y:0.29, Z:-2.53 [[ 9.99973605e-01 -4.68678968e-03 -5.55187189e-03 1.09419241e+01] [ 4.72371123e-03 9.99966692e-01 6.65594853e-03 2.87765679e-01] [ 5.52049194e-03 -6.68199829e-03 9.99962437e-01 -2.52506937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.05455357399995 meters Centerline goodness [0,1] 0.8468357547402118 Centerline is valid? [False, False] Translation: X:10.94, Y:0.29, Z:-2.53 [[ 9.99977231e-01 -4.27468227e-03 -5.22154075e-03 1.09409411e+01] [ 4.30739245e-03 9.99971070e-01 6.26936977e-03 2.88499694e-01] [ 5.19459012e-03 -6.29171825e-03 9.99966715e-01 -2.52583640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.084553574 meters Centerline goodness [0,1] 0.8483461675481625 Centerline is valid? [False, False] Translation: X:10.94, Y:0.29, Z:-2.53 [[ 9.99978657e-01 -4.08687089e-03 -5.09741091e-03 1.09404760e+01] [ 4.11848574e-03 9.99972254e-01 6.20714019e-03 2.88793205e-01] [ 5.07190170e-03 -6.22800133e-03 9.99967743e-01 -2.52587723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.11455357399996 meters Centerline goodness [0,1] 0.8473510024342878 Centerline is valid? [False, False] Translation: X:10.94, Y:0.29, Z:-2.53 [[ 9.99978448e-01 -4.10363173e-03 -5.12471883e-03 1.09404969e+01] [ 4.13496996e-03 9.99972726e-01 6.11956201e-03 2.88780227e-01] [ 5.09946663e-03 -6.14062068e-03 9.99968144e-01 -2.52590698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.144553574 meters Centerline goodness [0,1] 0.8494673713612838 Centerline is valid? [False, False] Translation: X:10.94, Y:0.29, Z:-2.53 [[ 9.99975932e-01 -4.40975591e-03 -5.35628221e-03 1.09413508e+01] [ 4.44227653e-03 9.99971681e-01 6.07484354e-03 2.88727061e-01] [ 5.32934195e-03 -6.09849142e-03 9.99967203e-01 -2.52590522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.17455357399996 meters Centerline goodness [0,1] 0.8373429674029067 Centerline is valid? [False, False] Translation: X:10.94, Y:0.29, Z:-2.53 [[ 9.99965698e-01 -5.64016559e-03 -6.06554580e-03 1.09442902e+01] [ 5.67721693e-03 9.99965226e-01 6.10872100e-03 2.87307999e-01] [ 6.03088068e-03 -6.14294688e-03 9.99962946e-01 -2.52584081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.204553574 meters Centerline goodness [0,1] 0.8420286271600868 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.53 [[ 9.99957659e-01 -6.39779900e-03 -6.61422772e-03 1.09464141e+01] [ 6.43826888e-03 9.99960574e-01 6.11553128e-03 2.86747974e-01] [ 6.57484101e-03 -6.15785652e-03 9.99959425e-01 -2.52591246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.23455357399996 meters Centerline goodness [0,1] 0.8388346846227841 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.53 [[ 9.99938334e-01 -8.06303333e-03 -7.63650349e-03 1.09504626e+01] [ 8.10944164e-03 9.99948720e-01 6.06582520e-03 2.85857655e-01] [ 7.58720294e-03 -6.12737892e-03 9.99952444e-01 -2.52587756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.264553574 meters Centerline goodness [0,1] 0.8541149881483932 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.53 [[ 9.99929809e-01 -8.70116936e-03 -8.04150450e-03 1.09519306e+01] [ 8.75190562e-03 9.99941882e-01 6.29579307e-03 2.85087633e-01] [ 7.98625638e-03 -6.36572965e-03 9.99947847e-01 -2.52529091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.29455357399996 meters Centerline goodness [0,1] 0.8319313825532971 Centerline is valid? [False, False] Translation: X:10.95, Y:0.28, Z:-2.52 [[ 9.99922014e-01 -9.22596443e-03 -8.41707538e-03 1.09530210e+01] [ 9.28299729e-03 9.99934048e-01 6.76213388e-03 2.83964325e-01] [ 8.35413304e-03 -6.83974222e-03 9.99941711e-01 -2.52415453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.324553574 meters Centerline goodness [0,1] 0.8154457851285308 Centerline is valid? [False, False] Translation: X:10.96, Y:0.28, Z:-2.52 [[ 9.99898138e-01 -1.07866048e-02 -9.34683996e-03 1.09565304e+01] [ 1.08516510e-02 9.99917059e-01 6.93661650e-03 2.82949236e-01] [ 9.27124218e-03 -7.03733856e-03 9.99932258e-01 -2.52338636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.35455357399997 meters Centerline goodness [0,1] 0.8477448293047596 Centerline is valid? [False, False] Translation: X:10.96, Y:0.28, Z:-2.52 [[ 9.99873338e-01 -1.21772208e-02 -1.02480932e-02 1.09598254e+01] [ 1.22510167e-02 9.99899252e-01 7.16923395e-03 2.81822486e-01] [ 1.01597594e-02 -7.29387544e-03 9.99921786e-01 -2.52259589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.384553574 meters Centerline goodness [0,1] 0.845285836767431 Centerline is valid? [False, False] Translation: X:10.96, Y:0.28, Z:-2.52 [[ 9.99868349e-01 -1.24151842e-02 -1.04474262e-02 1.09603540e+01] [ 1.24923068e-02 9.99894959e-01 7.34937638e-03 2.81498744e-01] [ 1.03550849e-02 -7.47892128e-03 9.99918416e-01 -2.52198476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.41455357399997 meters Centerline goodness [0,1] 0.8511049723756906 Centerline is valid? [False, False] Translation: X:10.96, Y:0.28, Z:-2.52 [[ 9.99859941e-01 -1.27890265e-02 -1.07953404e-02 1.09617139e+01] [ 1.28652163e-02 9.99892611e-01 7.01796741e-03 2.82054796e-01] [ 1.07044281e-02 -7.15586887e-03 9.99917101e-01 -2.52265338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.444553574 meters Centerline goodness [0,1] 0.8386456380280136 Centerline is valid? [False, False] Translation: X:10.96, Y:0.28, Z:-2.53 [[ 9.99856472e-01 -1.28900407e-02 -1.09946810e-02 1.09630279e+01] [ 1.29506080e-02 9.99901255e-01 5.45549014e-03 2.84757387e-01] [ 1.09232738e-02 -5.59709492e-03 9.99924674e-01 -2.52607074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.47455357399997 meters Centerline goodness [0,1] 0.8510339123242349 Centerline is valid? [False, False] Translation: X:10.96, Y:0.29, Z:-2.53 [[ 9.99862848e-01 -1.25584136e-02 -1.07968135e-02 1.09625971e+01] [ 1.26110207e-02 9.99908869e-01 4.81827250e-03 2.86179181e-01] [ 1.07353197e-02 -4.95377050e-03 9.99930104e-01 -2.52745038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.504553574 meters Centerline goodness [0,1] 0.8539993398613709 Centerline is valid? [False, False] Translation: X:10.96, Y:0.29, Z:-2.53 [[ 9.99887970e-01 -1.10421824e-02 -1.01053514e-02 1.09593101e+01] [ 1.10928265e-02 9.99926125e-01 4.96936053e-03 2.88170847e-01] [ 1.00497323e-02 -5.08090072e-03 9.99936592e-01 -2.52698579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.534553574 meters Centerline goodness [0,1] 0.8522443376801647 Centerline is valid? [False, False] Translation: X:10.96, Y:0.29, Z:-2.53 [[ 9.99898268e-01 -1.04367605e-02 -9.72253247e-03 1.09578598e+01] [ 1.04848790e-02 9.99932970e-01 4.91141305e-03 2.88972723e-01] [ 9.67062153e-03 -5.01285297e-03 9.99940673e-01 -2.52709216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.564553574 meters Centerline goodness [0,1] 0.8463434675431388 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.53 [[ 9.99915906e-01 -9.27477360e-03 -9.06420212e-03 1.09549240e+01] [ 9.32059013e-03 9.99943934e-01 5.02556366e-03 2.90477357e-01] [ 9.01708296e-03 -5.10962475e-03 9.99946291e-01 -2.52653839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.594553574 meters Centerline goodness [0,1] 0.81744599398414 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.53 [[ 9.99925518e-01 -8.62293569e-03 -8.63730868e-03 1.09531741e+01] [ 8.66748978e-03 9.99949256e-01 5.13424728e-03 2.90873031e-01] [ 8.59259810e-03 -5.20872866e-03 9.99949517e-01 -2.52624142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.624553574 meters Centerline goodness [0,1] 0.8550135131446043 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.53 [[ 9.99932842e-01 -8.10223343e-03 -8.28650097e-03 1.09518132e+01] [ 8.14406019e-03 9.99954204e-01 5.02635209e-03 2.91702926e-01] [ 8.24539681e-03 -5.09350030e-03 9.99953034e-01 -2.52627503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.654553574 meters Centerline goodness [0,1] 0.8504718782390486 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.53 [[ 9.99948877e-01 -6.84197903e-03 -7.44519396e-03 1.09482358e+01] [ 6.88055330e-03 9.99962975e-01 5.16787609e-03 2.92723088e-01] [ 7.40955980e-03 -5.21883895e-03 9.99958930e-01 -2.52547013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.68455357399995 meters Centerline goodness [0,1] 0.8513111578028215 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.52 [[ 9.99957304e-01 -6.10267309e-03 -6.93882303e-03 1.09458852e+01] [ 6.14087581e-03 9.99966032e-01 5.49773742e-03 2.92776699e-01] [ 6.90503644e-03 -5.54011314e-03 9.99960813e-01 -2.52436020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.714553574 meters Centerline goodness [0,1] 0.8510452486218001 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.52 [[ 9.99957896e-01 -6.03237228e-03 -6.91494709e-03 1.09457622e+01] [ 6.07031401e-03 9.99966565e-01 5.47912346e-03 2.92853472e-01] [ 6.88166377e-03 -5.52086867e-03 9.99961081e-01 -2.52443996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.74455357399995 meters Centerline goodness [0,1] 0.8535832354307259 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.52 [[ 9.99956996e-01 -6.13539985e-03 -6.95441835e-03 1.09461269e+01] [ 6.17264112e-03 9.99966657e-01 5.34629712e-03 2.92976288e-01] [ 6.92138480e-03 -5.38899433e-03 9.99961526e-01 -2.52484998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.774553574 meters Centerline goodness [0,1] 0.8542207880992096 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.53 [[ 9.99952267e-01 -6.59380567e-03 -7.21015511e-03 1.09474331e+01] [ 6.62927611e-03 9.99965988e-01 4.90672840e-03 2.93300528e-01] [ 7.17755586e-03 -4.95429229e-03 9.99961968e-01 -2.52583769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.80455357399995 meters Centerline goodness [0,1] 0.8537470662081764 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.53 [[ 9.99949551e-01 -6.79147696e-03 -7.40082132e-03 1.09479199e+01] [ 6.82988446e-03 9.99963276e-01 5.17677033e-03 2.92486344e-01] [ 7.36539162e-03 -5.22705592e-03 9.99959214e-01 -2.52527851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.834553574 meters Centerline goodness [0,1] 0.8560041777753347 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.52 [[ 9.99943553e-01 -7.30656927e-03 -7.71387626e-03 1.09487604e+01] [ 7.35210722e-03 9.99955617e-01 5.89162217e-03 2.90085168e-01] [ 7.67048635e-03 -5.94800285e-03 9.99952891e-01 -2.52378689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.86455357399996 meters Centerline goodness [0,1] 0.8532616153022861 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.52 [[ 9.99939816e-01 -7.58592453e-03 -7.92575476e-03 1.09494657e+01] [ 7.63398599e-03 9.99952550e-01 6.05140758e-03 2.89373477e-01] [ 7.87947316e-03 -6.11154848e-03 9.99950280e-01 -2.52351850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.894553574 meters Centerline goodness [0,1] 0.8526350479224453 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.52 [[ 9.99936285e-01 -7.83954620e-03 -8.12209627e-03 1.09502560e+01] [ 7.88968275e-03 9.99949907e-01 6.15931680e-03 2.88721838e-01] [ 8.07340316e-03 -6.22300512e-03 9.99948046e-01 -2.52353180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.92455357399996 meters Centerline goodness [0,1] 0.8512992732878221 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.52 [[ 9.99935624e-01 -7.86543548e-03 -8.17813325e-03 1.09506951e+01] [ 7.91679644e-03 9.99949023e-01 6.26698869e-03 2.87252486e-01] [ 8.12842376e-03 -6.33132987e-03 9.99946920e-01 -2.52415868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.954553574 meters Centerline goodness [0,1] 0.8504732034774953 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.53 [[ 9.99952716e-01 -6.47639300e-03 -7.25404490e-03 1.09478961e+01] [ 6.51616492e-03 9.99963795e-01 5.47257272e-03 2.88282083e-01] [ 7.21833973e-03 -5.51958251e-03 9.99958714e-01 -2.52668975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.98455357399996 meters Centerline goodness [0,1] 0.8479916421521458 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.53 [[ 9.99962358e-01 -5.58498949e-03 -6.64004450e-03 1.09459706e+01] [ 5.61808425e-03 9.99971838e-01 4.97595593e-03 2.89186906e-01] [ 6.61206684e-03 -5.01307295e-03 9.99965574e-01 -2.52813584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.014553574 meters Centerline goodness [0,1] 0.8430554793392965 Centerline is valid? [False, False] Translation: X:10.94, Y:0.29, Z:-2.53 [[ 9.99971161e-01 -4.61177613e-03 -6.03400653e-03 1.09438452e+01] [ 4.64018875e-03 9.99978174e-01 4.70325338e-03 2.89859014e-01] [ 6.01218448e-03 -4.73111667e-03 9.99970735e-01 -2.52902756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.04455357399996 meters Centerline goodness [0,1] 0.8505807232894809 Centerline is valid? [False, False] Translation: X:10.94, Y:0.29, Z:-2.53 [[ 9.99986288e-01 -2.42223268e-03 -4.64289457e-03 1.09388519e+01] [ 2.44023279e-03 9.99989514e-01 3.87518058e-03 2.90814059e-01] [ 4.63345930e-03 -3.88645719e-03 9.99981713e-01 -2.53158959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.074553574 meters Centerline goodness [0,1] 0.8461031471412095 Centerline is valid? [False, False] Translation: X:10.94, Y:0.29, Z:-2.53 [[ 9.99988716e-01 -1.95676726e-03 -4.32883737e-03 1.09377707e+01] [ 1.97371814e-03 9.99990389e-01 3.91500383e-03 2.90561977e-01] [ 4.32113501e-03 -3.92350356e-03 9.99982967e-01 -2.53173980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.10455357399997 meters Centerline goodness [0,1] 0.8453829634931997 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.53 [[ 9.99993306e-01 -8.78103287e-04 -3.55196867e-03 1.09347209e+01] [ 8.93574250e-04 9.99990112e-01 4.35636290e-03 2.89802096e-01] [ 3.54810821e-03 -4.35950769e-03 9.99984203e-01 -2.53106595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.134553574 meters Centerline goodness [0,1] 0.8413791204251921 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.53 [[ 9.99994946e-01 -4.34401612e-04 -3.14964060e-03 1.09333738e+01] [ 4.47644783e-04 9.99991058e-01 4.20517600e-03 2.90113251e-01] [ 3.14778570e-03 -4.20656466e-03 9.99986198e-01 -2.53134915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.16455357399997 meters Centerline goodness [0,1] 0.8432404142794182 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.53 [[ 9.99996165e-01 8.16242981e-05 -2.76809921e-03 1.09318292e+01] [-6.98151122e-05 9.99990898e-01 4.26599979e-03 2.90650631e-01] [ 2.76842222e-03 -4.26579017e-03 9.99987069e-01 -2.53097903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.194553574 meters Centerline goodness [0,1] 0.8374478823787579 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.53 [[ 9.99997085e-01 5.89838230e-04 -2.34123279e-03 1.09303383e+01] [-5.80351443e-04 9.99991628e-01 4.05066097e-03 2.91626638e-01] [ 2.34360242e-03 -4.04929043e-03 9.99989055e-01 -2.53115680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.22455357399997 meters Centerline goodness [0,1] 0.8332877012375425 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.53 [[ 9.99997021e-01 5.94742895e-04 -2.36721968e-03 1.09305162e+01] [-5.85848411e-04 9.99992774e-01 3.75627638e-03 2.92266200e-01] [ 2.36943659e-03 -3.75487836e-03 9.99990143e-01 -2.53165872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.254553574 meters Centerline goodness [0,1] 0.8316883259308 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.53 [[ 9.99996721e-01 2.74390123e-04 -2.54625701e-03 1.09314469e+01] [-2.66136444e-04 9.99994712e-01 3.24126738e-03 2.93025556e-01] [ 2.54713292e-03 -3.24057910e-03 9.99991505e-01 -2.53253786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.284553574 meters Centerline goodness [0,1] 0.8380154427468376 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.53 [[ 9.99996157e-01 -5.32845192e-05 -2.77173340e-03 1.09323576e+01] [ 6.14136886e-05 9.99995697e-01 2.93288045e-03 2.93146519e-01] [ 2.77156520e-03 -2.93303941e-03 9.99991858e-01 -2.53299692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.314553574 meters Centerline goodness [0,1] 0.845891822102574 Centerline is valid? [False, False] Translation: X:10.93, Y:0.29, Z:-2.53 [[ 9.99994411e-01 -7.32702693e-04 -3.26210674e-03 1.09340143e+01] [ 7.42396791e-04 9.99995309e-01 2.97151081e-03 2.92877001e-01] [ 3.25991420e-03 -2.97391598e-03 9.99990264e-01 -2.53263821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.344553574 meters Centerline goodness [0,1] 0.8312813622528723 Centerline is valid? [False, False] Translation: X:10.94, Y:0.29, Z:-2.53 [[ 9.99992844e-01 -1.19999301e-03 -3.58788462e-03 1.09353196e+01] [ 1.21017734e-03 9.99995241e-01 2.83771189e-03 2.92901618e-01] [ 3.58446232e-03 -2.84203356e-03 9.99989537e-01 -2.53290303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.374553574 meters Centerline goodness [0,1] 0.8322947264391798 Centerline is valid? [False, False] Translation: X:10.94, Y:0.29, Z:-2.53 [[ 9.99990914e-01 -1.66991168e-03 -3.92224348e-03 1.09365456e+01] [ 1.68059693e-03 9.99994882e-01 2.72255632e-03 2.93233818e-01] [ 3.91767698e-03 -2.72912329e-03 9.99988602e-01 -2.53291195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.404553574 meters Centerline goodness [0,1] 0.8336853075889307 Centerline is valid? [False, False] Translation: X:10.94, Y:0.29, Z:-2.53 [[ 9.99984376e-01 -2.93628043e-03 -4.75670550e-03 1.09395983e+01] [ 2.94959817e-03 9.99991743e-01 2.79518946e-03 2.92964738e-01] [ 4.74845877e-03 -2.80917616e-03 9.99984780e-01 -2.53241866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.43455357399995 meters Centerline goodness [0,1] 0.8376152832674572 Centerline is valid? [False, False] Translation: X:10.94, Y:0.29, Z:-2.53 [[ 9.99978164e-01 -3.81573957e-03 -5.39547241e-03 1.09420301e+01] [ 3.83098195e-03 9.99988693e-01 2.81752286e-03 2.92510197e-01] [ 5.38466046e-03 -2.83813129e-03 9.99981475e-01 -2.53234659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.464553574 meters Centerline goodness [0,1] 0.8428170100253387 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.53 [[ 9.99962704e-01 -5.63337572e-03 -6.54641053e-03 1.09464506e+01] [ 5.65227339e-03 9.99979902e-01 2.87181586e-03 2.90991148e-01] [ 6.53010094e-03 -2.90871086e-03 9.99974448e-01 -2.53208739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.49455357399995 meters Centerline goodness [0,1] 0.834707790422783 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.53 [[ 9.99954375e-01 -6.39570872e-03 -7.09522215e-03 1.09483973e+01] [ 6.41833424e-03 9.99974376e-01 3.17066518e-03 2.89844739e-01] [ 7.07476169e-03 -3.21606002e-03 9.99969802e-01 -2.53144324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.524553574 meters Centerline goodness [0,1] 0.8515111332117796 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.53 [[ 9.99947842e-01 -6.93921792e-03 -7.49400434e-03 1.09494787e+01] [ 6.96875601e-03 9.99968024e-01 3.92266953e-03 2.87996054e-01] [ 7.46654445e-03 -3.97468882e-03 9.99964226e-01 -2.52987894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.55455357399995 meters Centerline goodness [0,1] 0.8541902682987483 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.53 [[ 9.99951110e-01 -6.61829196e-03 -7.34682711e-03 1.09486584e+01] [ 6.64821981e-03 9.99969672e-01 4.05665449e-03 2.88417353e-01] [ 7.31975617e-03 -4.10529948e-03 9.99964783e-01 -2.52938960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.584553574 meters Centerline goodness [0,1] 0.8468931234465618 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.53 [[ 9.99956969e-01 -6.07412513e-03 -7.01172665e-03 1.09474122e+01] [ 6.10156133e-03 9.99973787e-01 3.89816389e-03 2.89172744e-01] [ 6.98786492e-03 -3.94077863e-03 9.99967819e-01 -2.52975438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.61455357399996 meters Centerline goodness [0,1] 0.8427721463199648 Centerline is valid? [False, False] Translation: X:10.94, Y:0.29, Z:-2.53 [[ 9.99972588e-01 -4.29130306e-03 -6.03391887e-03 1.09435058e+01] [ 4.31052941e-03 9.99985663e-01 3.17699248e-03 2.91430201e-01] [ 6.02019892e-03 -3.20291478e-03 9.99976749e-01 -2.53143272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.644553574 meters Centerline goodness [0,1] 0.8427721463199648 Centerline is valid? [False, False] Translation: X:10.94, Y:0.29, Z:-2.53 [[ 9.99972588e-01 -4.29130306e-03 -6.03391887e-03 1.09435058e+01] [ 4.31052941e-03 9.99985663e-01 3.17699248e-03 2.91430201e-01] [ 6.02019892e-03 -3.20291478e-03 9.99976749e-01 -2.53143272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.67455357399996 meters Centerline goodness [0,1] 0.8393078555093269 Centerline is valid? [False, False] Translation: X:10.94, Y:0.29, Z:-2.53 [[ 9.99985938e-01 -2.14963802e-03 -4.84805455e-03 1.09389292e+01] [ 2.15949758e-03 9.99995609e-01 2.02939829e-03 2.94351329e-01] [ 4.84367079e-03 -2.03983912e-03 9.99986189e-01 -2.53419209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.704553574 meters Centerline goodness [0,1] 0.8434019853163582 Centerline is valid? [False, False] Translation: X:10.94, Y:0.30, Z:-2.54 [[ 9.99989045e-01 -1.50817602e-03 -4.43106473e-03 1.09377086e+01] [ 1.51503547e-03 9.99997659e-01 1.54508757e-03 2.95456609e-01] [ 4.42872409e-03 -1.55178387e-03 9.99988989e-01 -2.53548102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.73455357399996 meters Centerline goodness [0,1] 0.8412030157943977 Centerline is valid? [False, False] Translation: X:10.94, Y:0.30, Z:-2.54 [[ 9.99991687e-01 -8.55950316e-04 -3.98660104e-03 1.09361965e+01] [ 8.61200151e-04 9.99998764e-01 1.31533935e-03 2.96090524e-01] [ 3.98547025e-03 -1.31876168e-03 9.99991188e-01 -2.53609478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.764553574 meters Centerline goodness [0,1] 0.8451696337671628 Centerline is valid? [False, False] Translation: X:10.93, Y:0.30, Z:-2.54 [[ 9.99994740e-01 3.78411998e-04 -3.22127967e-03 1.09335527e+01] [-3.74796558e-04 9.99999299e-01 1.12289115e-03 2.96418996e-01] [ 3.22170233e-03 -1.12167792e-03 9.99994181e-01 -2.53710846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.79455357399996 meters Centerline goodness [0,1] 0.83513461485576 Centerline is valid? [False, False] Translation: X:10.93, Y:0.30, Z:-2.54 [[ 9.99995143e-01 7.12403168e-04 -3.03421371e-03 1.09330056e+01] [-7.09555320e-04 9.99999307e-01 9.39551432e-04 2.96558224e-01] [ 3.03488094e-03 -9.37393927e-04 9.99994955e-01 -2.53777231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.824553574 meters Centerline goodness [0,1] 0.8299570626445008 Centerline is valid? [False, False] Translation: X:10.93, Y:0.30, Z:-2.54 [[ 9.99995398e-01 9.32469197e-04 -2.88701589e-03 1.09328195e+01] [-9.30494938e-04 9.99999332e-01 6.85108535e-04 2.96314186e-01] [ 2.88765280e-03 -6.82419028e-04 9.99995598e-01 -2.53883874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.85455357399997 meters Centerline goodness [0,1] 0.8324896836313618 Centerline is valid? [False, False] Translation: X:10.93, Y:0.30, Z:-2.54 [[ 9.99995486e-01 9.50327684e-04 -2.85045427e-03 1.09328187e+01] [-9.48767406e-04 9.99999399e-01 5.48681007e-04 2.96366415e-01] [ 2.85097398e-03 -5.45974112e-04 9.99995787e-01 -2.53917350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.884553574 meters Centerline goodness [0,1] 0.8305430675455774 Centerline is valid? [False, False] Translation: X:10.93, Y:0.30, Z:-2.54 [[ 9.99994902e-01 6.03559585e-04 -3.13547516e-03 1.09341013e+01] [-6.01856973e-04 9.99999671e-01 5.43930985e-04 2.96007346e-01] [ 3.13580242e-03 -5.42041105e-04 9.99994936e-01 -2.53964864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.91455357399997 meters Centerline goodness [0,1] 0.8297579379285656 Centerline is valid? [False, False] Translation: X:10.93, Y:0.30, Z:-2.54 [[ 9.99994512e-01 4.38475345e-04 -3.28394139e-03 1.09347030e+01] [-4.37354297e-04 9.99999846e-01 3.42082987e-04 2.96330327e-01] [ 3.28409088e-03 -3.40644864e-04 9.99994549e-01 -2.54000118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.944553574 meters Centerline goodness [0,1] 0.8309692345828628 Centerline is valid? [False, False] Translation: X:10.93, Y:0.30, Z:-2.54 [[ 9.99994469e-01 4.33532063e-04 -3.29757288e-03 1.09340983e+01] [-4.30852066e-04 9.99999576e-01 8.13384948e-04 2.95860546e-01] [ 3.29792411e-03 -8.11959683e-04 9.99994232e-01 -2.53828974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.97455357399997 meters Centerline goodness [0,1] 0.8281749091309616 Centerline is valid? [False, False] Translation: X:10.93, Y:0.30, Z:-2.54 [[ 9.99993718e-01 1.06817317e-04 -3.54291324e-03 1.09349252e+01] [-1.03751240e-04 9.99999620e-01 8.65583738e-04 2.95772666e-01] [ 3.54300436e-03 -8.65210719e-04 9.99993349e-01 -2.53799331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.004553574 meters Centerline goodness [0,1] 0.833117723156533 Centerline is valid? [False, False] Translation: X:10.94, Y:0.30, Z:-2.54 [[ 9.99991122e-01 -8.13855227e-04 -4.13442579e-03 1.09371329e+01] [ 8.17349339e-04 9.99999310e-01 8.43506821e-04 2.95839284e-01] [ 4.13373644e-03 -8.46878602e-04 9.99991097e-01 -2.53775128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.034553574 meters Centerline goodness [0,1] 0.8395591105247244 Centerline is valid? [False, False] Translation: X:10.94, Y:0.30, Z:-2.54 [[ 9.99989448e-01 -1.19316443e-03 -4.43633427e-03 1.09381147e+01] [ 1.19796212e-03 9.99998700e-01 1.07895443e-03 2.95466716e-01] [ 4.43504113e-03 -1.08425761e-03 9.99989577e-01 -2.53718273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.064553574 meters Centerline goodness [0,1] 0.8352879638806299 Centerline is valid? [False, False] Translation: X:10.94, Y:0.30, Z:-2.54 [[ 9.99988012e-01 -1.45735824e-03 -4.67466792e-03 1.09386615e+01] [ 1.46379648e-03 9.99997985e-01 1.37413543e-03 2.95000460e-01] [ 4.67265589e-03 -1.38096172e-03 9.99988130e-01 -2.53631135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.094553574 meters Centerline goodness [0,1] 0.830888435449181 Centerline is valid? [False, False] Translation: X:10.94, Y:0.29, Z:-2.54 [[ 9.99986749e-01 -1.72169208e-03 -4.85159113e-03 1.09391256e+01] [ 1.72906408e-03 9.99997356e-01 1.51571632e-03 2.94877512e-01] [ 4.84896871e-03 -1.52408494e-03 9.99987082e-01 -2.53576885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.124553574 meters Centerline goodness [0,1] 0.8333700622555231 Centerline is valid? [False, False] Translation: X:10.94, Y:0.29, Z:-2.54 [[ 9.99984433e-01 -2.10341983e-03 -5.16819163e-03 1.09402401e+01] [ 2.11166898e-03 9.99996504e-01 1.59120100e-03 2.94777069e-01] [ 5.16482660e-03 -1.60208974e-03 9.99985379e-01 -2.53556109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.154553574 meters Centerline goodness [0,1] 0.843162064033447 Centerline is valid? [False, False] Translation: X:10.94, Y:0.29, Z:-2.53 [[ 9.99979611e-01 -2.89377404e-03 -5.69246937e-03 1.09419426e+01] [ 2.90705884e-03 9.99993067e-01 2.32686173e-03 2.93245026e-01] [ 5.68569650e-03 -2.34336263e-03 9.99981091e-01 -2.53392242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.18455357399995 meters Centerline goodness [0,1] 0.8360159581785666 Centerline is valid? [False, False] Translation: X:10.94, Y:0.29, Z:-2.53 [[ 9.99976850e-01 -3.24821528e-03 -5.97900491e-03 1.09429433e+01] [ 3.26244127e-03 9.99991867e-01 2.37110912e-03 2.93039547e-01] [ 5.97125441e-03 -2.39056038e-03 9.99979314e-01 -2.53378839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.214553574 meters Centerline goodness [0,1] 0.8409933793027664 Centerline is valid? [False, False] Translation: X:10.94, Y:0.29, Z:-2.53 [[ 9.99971978e-01 -3.84439162e-03 -6.42376875e-03 1.09446221e+01] [ 3.85900920e-03 9.99989990e-01 2.26470360e-03 2.93237175e-01] [ 6.41499803e-03 -2.28942952e-03 9.99976803e-01 -2.53391652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.24455357399995 meters Centerline goodness [0,1] 0.8306006426629315 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.53 [[ 9.99968597e-01 -4.18684501e-03 -6.72862326e-03 1.09455269e+01] [ 4.20438651e-03 9.99987795e-01 2.59496983e-03 2.92677104e-01] [ 6.71767640e-03 -2.62317808e-03 9.99973996e-01 -2.53317750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.274553574 meters Centerline goodness [0,1] 0.8379128427762819 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.53 [[ 9.99964709e-01 -4.60433979e-03 -7.02719376e-03 1.09465826e+01] [ 4.62360288e-03 9.99985592e-01 2.72744212e-03 2.92204474e-01] [ 7.01453443e-03 -2.75983682e-03 9.99971589e-01 -2.53284385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.30455357399995 meters Centerline goodness [0,1] 0.8403162273090379 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.53 [[ 9.99961658e-01 -4.91696532e-03 -7.24616742e-03 1.09471230e+01] [ 4.93846390e-03 9.99983449e-01 2.95198821e-03 2.91814407e-01] [ 7.23153266e-03 -2.98765996e-03 9.99969389e-01 -2.53209889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.334553574 meters Centerline goodness [0,1] 0.8456815616310124 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.53 [[ 9.99961915e-01 -4.84562567e-03 -7.25874343e-03 1.09469318e+01] [ 4.86882780e-03 9.99983084e-01 3.18218612e-03 2.91505904e-01] [ 7.24320096e-03 -3.21740650e-03 9.99968592e-01 -2.53160991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.36455357399996 meters Centerline goodness [0,1] 0.8426687952437313 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.53 [[ 9.99967656e-01 -4.22169841e-03 -6.84571837e-03 1.09450053e+01] [ 4.24574435e-03 9.99984855e-01 3.50183098e-03 2.91733341e-01] [ 6.83083102e-03 -3.53078289e-03 9.99970436e-01 -2.53065245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.394553574 meters Centerline goodness [0,1] 0.8453375852210249 Centerline is valid? [False, False] Translation: X:10.94, Y:0.29, Z:-2.53 [[ 9.99971930e-01 -3.71684517e-03 -6.50567192e-03 1.09437269e+01] [ 3.73849534e-03 9.99987504e-01 3.31890076e-03 2.92307869e-01] [ 6.49325478e-03 -3.34312902e-03 9.99973330e-01 -2.53096840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.42455357399996 meters Centerline goodness [0,1] 0.8382437738543068 Centerline is valid? [False, False] Translation: X:10.94, Y:0.29, Z:-2.53 [[ 9.99980310e-01 -2.46044157e-03 -5.77277088e-03 1.09409393e+01] [ 2.47703915e-03 9.99992814e-01 2.86976427e-03 2.93974560e-01] [ 5.76566851e-03 -2.88400715e-03 9.99979220e-01 -2.53209572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.454553574 meters Centerline goodness [0,1] 0.8488901068785969 Centerline is valid? [False, False] Translation: X:10.94, Y:0.29, Z:-2.53 [[ 9.99982046e-01 -2.13540190e-03 -5.59890608e-03 1.09404748e+01] [ 2.14948668e-03 9.99994538e-01 2.51082146e-03 2.94872951e-01] [ 5.59351388e-03 -2.52281115e-03 9.99981174e-01 -2.53299797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.48455357399996 meters Centerline goodness [0,1] 0.8391790431303776 Centerline is valid? [False, False] Translation: X:10.94, Y:0.30, Z:-2.53 [[ 9.99983166e-01 -1.91868217e-03 -5.47604095e-03 1.09402773e+01] [ 1.93110688e-03 9.99995571e-01 2.26453549e-03 2.95189955e-01] [ 5.47167178e-03 -2.27507219e-03 9.99982442e-01 -2.53388794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.514553574 meters Centerline goodness [0,1] 0.8277182235834609 Centerline is valid? [False, False] Translation: X:10.94, Y:0.30, Z:-2.53 [[ 9.99982626e-01 -1.92921426e-03 -5.57006499e-03 1.09408056e+01] [ 1.94097129e-03 9.99995898e-01 2.10611846e-03 2.95229355e-01] [ 5.56597899e-03 -2.11689320e-03 9.99982269e-01 -2.53467089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.54455357399996 meters Centerline goodness [0,1] 0.83066673947469 Centerline is valid? [False, False] Translation: X:10.94, Y:0.29, Z:-2.53 [[ 9.99981531e-01 -2.10466885e-03 -5.70158427e-03 1.09413941e+01] [ 2.11670129e-03 9.99995544e-01 2.10515479e-03 2.94683518e-01] [ 5.69712821e-03 -2.11718447e-03 9.99981530e-01 -2.53489833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.574553574 meters Centerline goodness [0,1] 0.8357182017543859 Centerline is valid? [False, False] Translation: X:10.94, Y:0.29, Z:-2.53 [[ 9.99975860e-01 -2.97121866e-03 -6.28109315e-03 1.09433144e+01] [ 2.98836057e-03 9.99991832e-01 2.72150690e-03 2.92753755e-01] [ 6.27295565e-03 -2.74021138e-03 9.99976570e-01 -2.53358013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.60455357399997 meters Centerline goodness [0,1] 0.8330220293358237 Centerline is valid? [False, False] Translation: X:10.94, Y:0.29, Z:-2.53 [[ 9.99971230e-01 -3.54194213e-03 -6.70777696e-03 1.09446502e+01] [ 3.56238532e-03 9.99989039e-01 3.03819208e-03 2.91989978e-01] [ 6.69694234e-03 -3.06200036e-03 9.99972887e-01 -2.53277824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.634553574 meters Centerline goodness [0,1] 0.8373693881468887 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.53 [[ 9.99949826e-01 -5.93019779e-03 -8.07324421e-03 1.09503533e+01] [ 5.95337108e-03 9.99978219e-01 2.84938187e-03 2.91116044e-01] [ 8.05617097e-03 -2.89730192e-03 9.99963351e-01 -2.53280533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.66455357399997 meters Centerline goodness [0,1] 0.8327176203376844 Centerline is valid? [False, False] Translation: X:10.95, Y:0.29, Z:-2.53 [[ 9.99935314e-01 -7.08779630e-03 -8.89559372e-03 1.09535086e+01] [ 7.11328861e-03 9.99970675e-01 2.83736337e-03 2.90531475e-01] [ 8.87522220e-03 -2.90045676e-03 9.99956408e-01 -2.53280750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.694553574 meters Centerline goodness [0,1] 0.8441758241758242 Centerline is valid? [False, False] Translation: X:10.96, Y:0.29, Z:-2.53 [[ 9.99902277e-01 -9.48558375e-03 -1.02694148e-02 1.09589659e+01] [ 9.51561269e-03 9.99950580e-01 2.87921155e-03 2.89288019e-01] [ 1.02415963e-02 -2.97664996e-03 9.99943123e-01 -2.53210027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.72455357399997 meters Centerline goodness [0,1] 0.8461242229190735 Centerline is valid? [False, False] Translation: X:10.96, Y:0.29, Z:-2.53 [[ 9.99884743e-01 -1.04890598e-02 -1.09763268e-02 1.09616584e+01] [ 1.05216360e-02 9.99940399e-01 2.91433218e-03 2.88864965e-01] [ 1.09451040e-02 -3.02948520e-03 9.99935511e-01 -2.53191586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.754553574 meters Centerline goodness [0,1] 0.8508581628449815 Centerline is valid? [False, False] Translation: X:10.97, Y:0.29, Z:-2.53 [[ 9.99842599e-01 -1.27052772e-02 -1.23835763e-02 1.09671584e+01] [ 1.27372985e-02 9.99915726e-01 2.51035427e-03 2.89241405e-01] [ 1.23506379e-02 -2.66769245e-03 9.99920169e-01 -2.53208578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.784553574 meters Centerline goodness [0,1] 0.8476064997804128 Centerline is valid? [False, False] Translation: X:10.97, Y:0.29, Z:-2.53 [[ 9.99819667e-01 -1.37363289e-02 -1.31128522e-02 1.09702183e+01] [ 1.37666031e-02 9.99902769e-01 2.22127523e-03 2.89495977e-01] [ 1.30810650e-02 -2.40139410e-03 9.99911556e-01 -2.53268085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.814553574 meters Centerline goodness [0,1] 0.84413088832766 Centerline is valid? [False, False] Translation: X:10.97, Y:0.29, Z:-2.53 [[ 9.99794662e-01 -1.47282713e-02 -1.39180160e-02 1.09732130e+01] [ 1.47584647e-02 9.99888947e-01 2.06915222e-03 2.89712261e-01] [ 1.38859954e-02 -2.27413589e-03 9.99900999e-01 -2.53291440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.844553574 meters Centerline goodness [0,1] 0.852766308835673 Centerline is valid? [False, False] Translation: X:10.98, Y:0.29, Z:-2.53 [[ 9.99771090e-01 -1.56354137e-02 -1.46048506e-02 1.09758685e+01] [ 1.56635824e-02 9.99875669e-01 1.81632333e-03 2.90163459e-01] [ 1.45746358e-02 -2.04467184e-03 9.99891694e-01 -2.53321117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.874553574 meters Centerline goodness [0,1] 0.8547785035955426 Centerline is valid? [False, False] Translation: X:10.98, Y:0.29, Z:-2.53 [[ 9.99745757e-01 -1.65435905e-02 -1.53209058e-02 1.09781751e+01] [ 1.65690600e-02 9.99861542e-01 1.53695932e-03 2.91485739e-01] [ 1.52933576e-02 -1.79042156e-03 9.99881447e-01 -2.53285724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.904553574 meters Centerline goodness [0,1] 0.8551364913141891 Centerline is valid? [False, False] Translation: X:10.98, Y:0.29, Z:-2.53 [[ 9.99762505e-01 -1.41089635e-02 -1.66093761e-02 1.09816182e+01] [ 1.42088956e-02 9.99881559e-01 5.91404513e-03 2.92518564e-01] [ 1.65239678e-02 -6.14864146e-03 9.99844564e-01 -2.53019848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.93455357399995 meters Centerline goodness [0,1] 0.85013356593796 Centerline is valid? [False, False] Translation: X:10.98, Y:0.29, Z:-2.53 [[ 9.99766947e-01 -1.38907032e-02 -1.65257562e-02 1.09810405e+01] [ 1.39858510e-02 9.99886197e-01 5.65596938e-03 2.94445839e-01] [ 1.64453101e-02 -5.88577800e-03 9.99847443e-01 -2.53002774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.964553574 meters Centerline goodness [0,1] 0.8513410587019205 Centerline is valid? [False, False] Translation: X:10.98, Y:0.30, Z:-2.53 [[ 9.99775090e-01 -1.35292794e-02 -1.63318185e-02 1.09801901e+01] [ 1.36182920e-02 9.99892947e-01 5.35139849e-03 2.96477968e-01] [ 1.62576695e-02 -5.57260638e-03 9.99852306e-01 -2.53009179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.99455357399995 meters Centerline goodness [0,1] 0.8239467128777213 Centerline is valid? [False, False] Translation: X:10.98, Y:0.30, Z:-2.53 [[ 9.99779656e-01 -1.33335268e-02 -1.62128198e-02 1.09797756e+01] [ 1.34123646e-02 9.99898703e-01 4.76370857e-03 2.98565672e-01] [ 1.61476605e-02 -4.98011117e-03 9.99857216e-01 -2.53070265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.024553574 meters Centerline goodness [0,1] 0.8521400778210116 Centerline is valid? [False, False] Translation: X:10.98, Y:0.30, Z:-2.53 [[ 9.99794026e-01 -1.25734987e-02 -1.59314961e-02 1.09779918e+01] [ 1.26428727e-02 9.99910996e-01 4.26130987e-03 3.02344983e-01] [ 1.58764985e-02 -4.46185203e-03 9.99864005e-01 -2.53044743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.05455357399995 meters Centerline goodness [0,1] 0.857586225508717 Centerline is valid? [False, False] Translation: X:10.98, Y:0.30, Z:-2.53 [[ 9.99804050e-01 -1.20566414e-02 -1.57002585e-02 1.09769381e+01] [ 1.21187273e-02 9.99919095e-01 3.86532638e-03 3.04454540e-01] [ 1.56523854e-02 -4.05483612e-03 9.99869272e-01 -2.53076500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.084553574 meters Centerline goodness [0,1] 0.796735984564262 Centerline is valid? [False, False] Translation: X:10.98, Y:0.31, Z:-2.53 [[ 9.99837280e-01 -8.12897263e-03 -1.61038160e-02 1.09775053e+01] [ 8.25300303e-03 9.99936677e-01 7.65049897e-03 3.06967787e-01] [ 1.60406056e-02 -7.78215892e-03 9.99841056e-01 -2.52994118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.11455357399996 meters Centerline goodness [0,1] 0.8473437166631107 Centerline is valid? [False, False] Translation: X:10.98, Y:0.31, Z:-2.53 [[ 9.99843106e-01 -7.77594784e-03 -1.59153674e-02 1.09769475e+01] [ 7.88544352e-03 9.99945593e-01 6.82871853e-03 3.09293597e-01] [ 1.58614017e-02 -6.95314688e-03 9.99850024e-01 -2.53120294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.144553574 meters Centerline goodness [0,1] 0.8536429484448231 Centerline is valid? [False, False] Translation: X:10.98, Y:0.31, Z:-2.53 [[ 9.99853707e-01 -7.00604493e-03 -1.56038607e-02 1.09756313e+01] [ 7.09723662e-03 9.99958014e-01 5.79648670e-03 3.13206109e-01] [ 1.55625951e-02 -5.90638301e-03 9.99861451e-01 -2.53264638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.17455357399996 meters Centerline goodness [0,1] 0.8421978256235344 Centerline is valid? [False, False] Translation: X:10.98, Y:0.31, Z:-2.53 [[ 9.99853416e-01 -6.98559915e-03 -1.56316150e-02 1.09758367e+01] [ 7.06702428e-03 9.99961716e-01 5.15984177e-03 3.14800018e-01] [ 1.55949720e-02 -5.26955442e-03 9.99864505e-01 -2.53358206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.204553574 meters Centerline goodness [0,1] 0.8509835194045721 Centerline is valid? [False, False] Translation: X:10.98, Y:0.32, Z:-2.53 [[ 9.99854747e-01 -6.85655045e-03 -1.56035898e-02 1.09756067e+01] [ 6.93618688e-03 9.99963166e-01 5.05534204e-03 3.15836774e-01] [ 1.55683528e-02 -5.16283716e-03 9.99865477e-01 -2.53349684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.23455357399996 meters Centerline goodness [0,1] 0.8453638341913912 Centerline is valid? [False, False] Translation: X:10.98, Y:0.32, Z:-2.53 [[ 9.99857208e-01 -6.69432341e-03 -1.55161037e-02 1.09750661e+01] [ 6.76601108e-03 9.99966657e-01 4.57232960e-03 3.17976051e-01] [ 1.54849777e-02 -4.67665884e-03 9.99869164e-01 -2.53366430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.264553574 meters Centerline goodness [0,1] 0.8455781233470856 Centerline is valid? [False, False] Translation: X:10.97, Y:0.32, Z:-2.53 [[ 9.99858335e-01 -6.60532292e-03 -1.54816150e-02 1.09747929e+01] [ 6.67729342e-03 9.99967119e-01 4.60169970e-03 3.18766152e-01] [ 1.54507102e-02 -4.70442308e-03 9.99869563e-01 -2.53324220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.29455357399996 meters Centerline goodness [0,1] 0.8520866349709456 Centerline is valid? [False, False] Translation: X:10.97, Y:0.32, Z:-2.53 [[ 9.99857126e-01 -6.64018427e-03 -1.55446424e-02 1.09747558e+01] [ 6.70794826e-03 9.99968208e-01 4.31124090e-03 3.20237188e-01] [ 1.55155208e-02 -4.41489760e-03 9.99869880e-01 -2.53305574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.324553574 meters Centerline goodness [0,1] 0.8532366512854318 Centerline is valid? [False, False] Translation: X:10.97, Y:0.32, Z:-2.53 [[ 9.99856915e-01 -6.60074596e-03 -1.55749911e-02 1.09746528e+01] [ 6.66832980e-03 9.99968558e-01 4.29131772e-03 3.20809281e-01] [ 1.55461755e-02 -4.39456288e-03 9.99869494e-01 -2.53279433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.35455357399997 meters Centerline goodness [0,1] 0.8330522321193274 Centerline is valid? [False, False] Translation: X:10.97, Y:0.32, Z:-2.53 [[ 9.99856106e-01 -6.61634338e-03 -1.56201930e-02 1.09746561e+01] [ 6.68474237e-03 9.99968279e-01 4.33073926e-03 3.21051220e-01] [ 1.55910438e-02 -4.43453306e-03 9.99868619e-01 -2.53247576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.384553574 meters Centerline goodness [0,1] 0.8068876475548061 Centerline is valid? [False, False] Translation: X:10.98, Y:0.32, Z:-2.53 [[ 9.99851120e-01 -6.86668522e-03 -1.58299176e-02 1.09751045e+01] [ 6.93829949e-03 9.99965923e-01 4.47351000e-03 3.21424124e-01] [ 1.57986600e-02 -4.58267670e-03 9.99864692e-01 -2.53169175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.41455357399997 meters Centerline goodness [0,1] 0.8541293584746655 Centerline is valid? [False, False] Translation: X:10.98, Y:0.32, Z:-2.53 [[ 9.99845259e-01 -7.14999724e-03 -1.60727993e-02 1.09758822e+01] [ 7.22328627e-03 9.99963758e-01 4.50639763e-03 3.21534239e-01] [ 1.60399960e-02 -4.62179874e-03 9.99860669e-01 -2.53150294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.444553574 meters Centerline goodness [0,1] 0.8318113634569331 Centerline is valid? [False, False] Translation: X:10.98, Y:0.32, Z:-2.53 [[ 9.99839553e-01 -7.47528213e-03 -1.62784818e-02 1.09764471e+01] [ 7.55313271e-03 9.99960306e-01 4.72620379e-03 3.20837003e-01] [ 1.62425059e-02 -4.84839902e-03 9.99856327e-01 -2.53086217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.47455357399997 meters Centerline goodness [0,1] 0.8398439559280932 Centerline is valid? [False, False] Translation: X:10.98, Y:0.32, Z:-2.53 [[ 9.99835782e-01 -7.58546216e-03 -1.64581274e-02 1.09770239e+01] [ 7.66421654e-03 9.99959455e-01 4.72735013e-03 3.20874025e-01] [ 1.64216010e-02 -4.85271247e-03 9.99853380e-01 -2.53094046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.504553574 meters Centerline goodness [0,1] 0.8539781098716059 Centerline is valid? [False, False] Translation: X:10.98, Y:0.32, Z:-2.53 [[ 9.99833268e-01 -7.64956637e-03 -1.65807100e-02 1.09782898e+01] [ 7.70823926e-03 9.99964244e-01 3.47760742e-03 3.22770215e-01] [ 1.65535150e-02 -3.60483568e-03 9.99856483e-01 -2.53408133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.534553574 meters Centerline goodness [0,1] 0.8550800735101076 Centerline is valid? [False, False] Translation: X:10.98, Y:0.32, Z:-2.53 [[ 9.99831202e-01 -7.63387343e-03 -1.67120181e-02 1.09788719e+01] [ 7.68732852e-03 9.99965532e-01 3.13670088e-03 3.23483511e-01] [ 1.66874969e-02 -3.26464218e-03 9.99855424e-01 -2.53498444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.564553574 meters Centerline goodness [0,1] 0.8550800735101076 Centerline is valid? [False, False] Translation: X:10.98, Y:0.32, Z:-2.53 [[ 9.99831202e-01 -7.63387343e-03 -1.67120181e-02 1.09788719e+01] [ 7.68732852e-03 9.99965532e-01 3.13670088e-03 3.23483511e-01] [ 1.66874969e-02 -3.26464218e-03 9.99855424e-01 -2.53498444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.594553574 meters Centerline goodness [0,1] 0.8537218695903058 Centerline is valid? [False, False] Translation: X:10.98, Y:0.32, Z:-2.54 [[ 9.99830148e-01 -7.58516063e-03 -1.67970212e-02 1.09793392e+01] [ 7.63454028e-03 9.99966716e-01 2.87761572e-03 3.23701659e-01] [ 1.67746349e-02 -3.00536449e-03 9.99854779e-01 -2.53581663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.624553574 meters Centerline goodness [0,1] 0.853400940545937 Centerline is valid? [False, False] Translation: X:10.98, Y:0.32, Z:-2.53 [[ 9.99832044e-01 -7.44497318e-03 -1.67468209e-02 1.09787653e+01] [ 7.50781162e-03 9.99964998e-01 3.69252425e-03 3.21539044e-01] [ 1.67187440e-02 -3.81763605e-03 9.99852944e-01 -2.53431663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.654553574 meters Centerline goodness [0,1] 0.8542619761266236 Centerline is valid? [False, False] Translation: X:10.98, Y:0.32, Z:-2.53 [[ 9.99824923e-01 -7.79538531e-03 -1.70104327e-02 1.09794389e+01] [ 7.86809787e-03 9.99960176e-01 4.21185546e-03 3.20287222e-01] [ 1.69769222e-02 -4.34495781e-03 9.99846441e-01 -2.53315963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.68455357399995 meters Centerline goodness [0,1] 0.856067187952505 Centerline is valid? [False, False] Translation: X:10.98, Y:0.32, Z:-2.53 [[ 9.99777478e-01 -1.23951067e-02 -1.70691464e-02 1.09798093e+01] [ 1.24034645e-02 9.99923000e-01 3.83856610e-04 3.19826040e-01] [ 1.70630742e-02 -5.95487745e-04 9.99854238e-01 -2.53221020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.714553574 meters Centerline goodness [0,1] 0.8557689774194398 Centerline is valid? [False, False] Translation: X:10.98, Y:0.32, Z:-2.53 [[ 9.99742028e-01 -1.38583869e-02 -1.79950711e-02 1.09831459e+01] [ 1.38729622e-02 9.99903531e-01 6.85374090e-04 3.18638067e-01] [ 1.79838369e-02 -9.34842223e-04 9.99837841e-01 -2.53126468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.74455357399995 meters Centerline goodness [0,1] 0.8479715489989462 Centerline is valid? [False, False] Translation: X:10.99, Y:0.32, Z:-2.53 [[ 9.99691411e-01 -1.57798482e-02 -1.91853750e-02 1.09879175e+01] [ 1.57942134e-02 9.99875085e-01 5.97455662e-04 3.17980981e-01] [ 1.91735507e-02 -9.00289202e-04 9.99815765e-01 -2.53117526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.774553574 meters Centerline goodness [0,1] 0.8585666824869482 Centerline is valid? [False, False] Translation: X:10.98, Y:0.32, Z:-2.54 [[ 9.99583797e-01 -2.67593292e-02 -1.07782350e-02 1.09818936e+01] [ 2.67337628e-02 9.99639440e-01 -2.50920365e-03 3.19995243e-01] [ 1.08414934e-02 2.22001654e-03 9.99938765e-01 -2.53767994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.80455357399995 meters Centerline goodness [0,1] 0.8351807102332423 Centerline is valid? [False, False] Translation: X:10.99, Y:0.32, Z:-2.53 [[ 9.99477152e-01 -2.97864650e-02 -1.25773476e-02 1.09890745e+01] [ 2.97838456e-02 9.99556285e-01 -3.95561736e-04 3.17604852e-01] [ 1.25835492e-02 2.07531400e-05 9.99920824e-01 -2.53259559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.834553574 meters Centerline goodness [0,1] 0.8552288699955253 Centerline is valid? [False, False] Translation: X:11.00, Y:0.32, Z:-2.53 [[ 9.99218621e-01 -3.68686573e-02 -1.42424959e-02 1.09960594e+01] [ 3.67945836e-02 9.99308106e-01 -5.42847174e-03 3.20967819e-01] [ 1.44327821e-02 4.90018334e-03 9.99883835e-01 -2.53238336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.86455357399996 meters Centerline goodness [0,1] 0.7698456522310746 Centerline is valid? [False, False] Translation: X:11.00, Y:0.32, Z:-2.53 [[ 9.99193321e-01 -3.65050158e-02 -1.67359395e-02 1.10049951e+01] [ 3.65027917e-02 9.99333455e-01 -4.38453728e-04 3.21292320e-01] [ 1.67407900e-02 -1.72808477e-04 9.99859848e-01 -2.52861807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.894553574 meters Centerline goodness [0,1] 0.6927261944666477 Centerline is valid? [False, False] Translation: X:11.03, Y:0.33, Z:-2.52 [[ 9.99090048e-01 -3.72159960e-02 -2.08337576e-02 1.10259291e+01] [ 3.73780434e-02 9.99273475e-01 7.44337906e-03 3.25759895e-01] [ 2.05416086e-02 -8.21533104e-03 9.99755245e-01 -2.52453901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.92455357399996 meters Centerline goodness [0,1] 0.7025199594309937 Centerline is valid? [False, False] Translation: X:11.03, Y:0.33, Z:-2.53 [[ 9.99057566e-01 -3.77569024e-02 -2.14101748e-02 1.10279634e+01] [ 3.78967110e-02 9.99262662e-01 6.16216671e-03 3.30630891e-01] [ 2.11617240e-02 -6.96773448e-03 9.99751785e-01 -2.52577232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.954553574 meters Centerline goodness [0,1] 0.7306283532810565 Centerline is valid? [False, False] Translation: X:11.03, Y:0.34, Z:-2.52 [[ 9.99103145e-01 -3.53959564e-02 -2.32385837e-02 1.10309851e+01] [ 3.56090342e-02 9.99326874e-01 8.82014305e-03 3.39416708e-01] [ 2.29107438e-02 -9.63973618e-03 9.99691039e-01 -2.52298045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.98455357399996 meters Centerline goodness [0,1] 0.7388387752509211 Centerline is valid? [False, False] Translation: X:11.05, Y:0.35, Z:-2.53 [[ 9.99297337e-01 -3.31213975e-02 -1.75444010e-02 1.10481192e+01] [ 3.31558231e-02 9.99448791e-01 1.67489341e-03 3.46519968e-01] [ 1.74792556e-02 -2.25541558e-03 9.99844682e-01 -2.52844588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.014553574 meters Centerline goodness [0,1] 0.6411427706130277 Centerline is valid? [False, False] Translation: X:11.05, Y:0.35, Z:-2.53 [[ 9.99372560e-01 -3.00876093e-02 -1.86874718e-02 1.10502612e+01] [ 3.01906046e-02 9.99530351e-01 5.25395453e-03 3.51031330e-01] [ 1.85206163e-02 -5.81484406e-03 9.99811569e-01 -2.52652691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.04455357399996 meters Centerline goodness [0,1] 0.702366065955621 Centerline is valid? [False, False] Translation: X:11.08, Y:0.36, Z:-2.53 [[ 9.99543209e-01 -2.59019101e-02 -1.55712462e-02 1.10779005e+01] [ 2.59602344e-02 9.99656654e-01 3.55522149e-03 3.64079334e-01] [ 1.54738129e-02 -3.95783070e-03 9.99872440e-01 -2.53052175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.074553574 meters Centerline goodness [0,1] 0.71553723903065 Centerline is valid? [False, False] Translation: X:11.08, Y:0.37, Z:-2.53 [[ 9.99589766e-01 -2.31147465e-02 -1.69117986e-02 1.10813262e+01] [ 2.32284067e-02 9.99708691e-01 6.55546161e-03 3.69420484e-01] [ 1.67553442e-02 -6.94560647e-03 9.99835495e-01 -2.53007169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.10455357399997 meters Centerline goodness [0,1] 0.7261997091614154 Centerline is valid? [False, False] Translation: X:11.09, Y:0.38, Z:-2.53 [[ 9.99614607e-01 -2.02218452e-02 -1.90187830e-02 1.10856616e+01] [ 2.03937022e-02 9.99752537e-01 8.88603882e-03 3.81611594e-01] [ 1.88343845e-02 -9.27047761e-03 9.99779638e-01 -2.52875959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.134553574 meters Centerline goodness [0,1] 0.6965766888814307 Centerline is valid? [False, False] Translation: X:11.09, Y:0.39, Z:-2.53 [[ 0.99964252 -0.01747221 -0.02023755 11.08845375] [ 0.01771476 0.99977263 0.01186868 0.38693932] [ 0.02002557 -0.01222294 0.99972475 -2.52766413] [ 0. 0. 0. 1. ]] SLAMing on 348.16455357399997 meters Centerline goodness [0,1] 0.713423336998994 Centerline is valid? [False, False] Translation: X:11.09, Y:0.40, Z:-2.53 [[ 0.99966019 -0.01256752 -0.02283762 11.09445258] [ 0.01295273 0.99977499 0.01679843 0.39957609] [ 0.02262137 -0.01708853 0.99959805 -2.52602808] [ 0. 0. 0. 1. ]] SLAMing on 348.194553574 meters Centerline goodness [0,1] 0.7246216315983758 Centerline is valid? [False, False] Translation: X:11.10, Y:0.41, Z:-2.53 [[ 0.99965176 -0.01245064 -0.02326667 11.09569981] [ 0.01280412 0.99980392 0.01510548 0.40743995] [ 0.02307403 -0.01539813 0.99961517 -2.5275512 ] [ 0. 0. 0. 1. ]] SLAMing on 348.22455357399997 meters Centerline goodness [0,1] 0.5916871518459214 Centerline is valid? [False, False] Translation: X:11.10, Y:0.42, Z:-2.53 [[ 9.99623492e-01 -1.03836495e-02 -2.53979087e-02 1.11013262e+01] [ 1.08005397e-02 9.99808279e-01 1.63326223e-02 4.19857446e-01] [ 2.52234471e-02 -1.66007841e-02 9.99543992e-01 -2.52812500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.254553574 meters Centerline goodness [0,1] 0.6721694960566769 Centerline is valid? [False, False] Translation: X:11.12, Y:0.43, Z:-2.53 [[ 9.99759734e-01 -7.57388737e-03 -2.05696610e-02 1.11169723e+01] [ 7.76766378e-03 9.99926052e-01 9.35699296e-03 4.25897560e-01] [ 2.04972711e-02 -9.51452300e-03 9.99744635e-01 -2.53237336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.284553574 meters Centerline goodness [0,1] 0.6535636679704476 Centerline is valid? [False, False] Translation: X:11.13, Y:0.44, Z:-2.53 [[ 9.99719074e-01 -2.91959213e-03 -2.35212345e-02 1.11258932e+01] [ 3.26707710e-03 9.99885899e-01 1.47483879e-02 4.36235771e-01] [ 2.34754915e-02 -1.48210903e-02 9.99614544e-01 -2.53255136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.314553574 meters Centerline goodness [0,1] 0.6059134470755082 Centerline is valid? [False, False] Translation: X:11.13, Y:0.44, Z:-2.53 [[ 9.99713384e-01 -2.61314642e-03 -2.37975132e-02 1.11267499e+01] [ 2.93463363e-03 9.99904775e-01 1.34843892e-02 4.42159366e-01] [ 2.37600104e-02 -1.35503613e-02 9.99625855e-01 -2.53370530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.344553574 meters Centerline goodness [0,1] 0.6865019933765055 Centerline is valid? [False, False] Translation: X:11.13, Y:0.45, Z:-2.53 [[ 9.99689507e-01 1.04216133e-03 -2.48958616e-02 1.11297015e+01] [-6.49894733e-04 9.99875605e-01 1.57591954e-02 4.50621825e-01] [ 2.49091883e-02 -1.57381226e-02 9.99565828e-01 -2.53433317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.374553574 meters Centerline goodness [0,1] 0.6299853525842226 Centerline is valid? [False, False] Translation: X:11.15, Y:0.45, Z:-2.54 [[ 9.99765358e-01 5.71874055e-03 -2.08931592e-02 1.11459236e+01] [-5.50069775e-03 9.99929967e-01 1.04786928e-02 4.54516223e-01] [ 2.09516209e-02 -1.03613071e-02 9.99726799e-01 -2.53705654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.404553574 meters Centerline goodness [0,1] 0.7013945007355835 Centerline is valid? [False, False] Translation: X:11.15, Y:0.46, Z:-2.54 [[ 9.99762471e-01 6.36882159e-03 -2.08432145e-02 1.11456622e+01] [-6.16705958e-03 9.99933645e-01 9.72998973e-03 4.59118654e-01] [ 2.09038000e-02 -9.59913723e-03 9.99735409e-01 -2.53744984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.43455357399995 meters Centerline goodness [0,1] 0.6892500050909238 Centerline is valid? [False, False] Translation: X:11.15, Y:0.47, Z:-2.54 [[ 0.99966385 0.01223771 -0.02285661 11.15237347] [-0.01188653 0.99981018 0.0154374 0.4674356 ] [ 0.02304119 -0.01516052 0.99961956 -2.5387453 ] [ 0. 0. 0. 1. ]] SLAMing on 348.464553574 meters Centerline goodness [0,1] 0.6691953837462674 Centerline is valid? [False, False] Translation: X:11.17, Y:0.47, Z:-2.54 [[ 9.99682817e-01 1.70653745e-02 -1.85212715e-02 1.11689298e+01] [-1.68637613e-02 9.99797422e-01 1.09876392e-02 4.71685584e-01] [ 1.87050277e-02 -1.06718158e-02 9.99768090e-01 -2.54210205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.49455357399995 meters Centerline goodness [0,1] 0.6272476624310717 Centerline is valid? [False, False] Translation: X:11.17, Y:0.48, Z:-2.54 [[ 9.99679795e-01 1.71215889e-02 -1.86321918e-02 1.11699777e+01] [-1.69384359e-02 9.99807087e-01 9.94374406e-03 4.75184522e-01] [ 1.87988501e-02 -9.62495984e-03 9.99776957e-01 -2.54341076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.524553574 meters Centerline goodness [0,1] 0.6491049991215914 Centerline is valid? [False, False] Translation: X:11.19, Y:0.48, Z:-2.55 [[ 9.99613114e-01 2.29133253e-02 -1.57670898e-02 1.11895836e+01] [-2.28159948e-02 9.99719670e-01 6.32547340e-03 4.80187930e-01] [ 1.59076074e-02 -5.96328433e-03 9.99855683e-01 -2.54510194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.55455357399995 meters Centerline goodness [0,1] 0.6299172451660979 Centerline is valid? [False, False] Translation: X:11.19, Y:0.48, Z:-2.55 [[ 9.99610109e-01 2.29580153e-02 -1.58921527e-02 1.11901767e+01] [-2.28664931e-02 9.99721018e-01 5.91693252e-03 4.82880300e-01] [ 1.60235601e-02 -5.55122776e-03 9.99856204e-01 -2.54524971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.584553574 meters Centerline goodness [0,1] 0.648941712168863 Centerline is valid? [False, False] Translation: X:11.19, Y:0.49, Z:-2.55 [[ 9.99590093e-01 2.30986529e-02 -1.69144102e-02 1.11937790e+01] [-2.30017227e-02 9.99717998e-01 5.90294961e-03 4.88270327e-01] [ 1.70459905e-02 -5.51146938e-03 9.99839516e-01 -2.54595655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.61455357399996 meters Centerline goodness [0,1] 0.6413407607343173 Centerline is valid? [False, False] Translation: X:11.20, Y:0.49, Z:-2.55 [[ 9.99600043e-01 2.23952016e-02 -1.72687359e-02 1.11959570e+01] [-2.23125875e-02 9.99738729e-01 4.96197599e-03 4.90512719e-01] [ 1.73753485e-02 -4.57468123e-03 9.99838572e-01 -2.54735925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.644553574 meters Centerline goodness [0,1] 0.6869263677654021 Centerline is valid? [False, False] Translation: X:11.21, Y:0.49, Z:-2.55 [[ 9.99555908e-01 2.25993037e-02 -1.94231446e-02 1.12061779e+01] [-2.24636609e-02 9.99721923e-01 7.17362402e-03 4.93387346e-01] [ 1.95798623e-02 -6.73412334e-03 9.99785617e-01 -2.54986752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.67455357399996 meters Centerline goodness [0,1] 0.6499765412404992 Centerline is valid? [False, False] Translation: X:11.21, Y:0.50, Z:-2.55 [[ 9.99560841e-01 2.21048392e-02 -1.97357980e-02 1.12080981e+01] [-2.19802579e-02 9.99737228e-01 6.50724047e-03 4.95472375e-01] [ 1.98744535e-02 -6.07058483e-03 9.99784054e-01 -2.55096097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.704553574 meters Centerline goodness [0,1] 0.7049556637479406 Centerline is valid? [False, False] Translation: X:11.22, Y:0.50, Z:-2.55 [[ 9.99497122e-01 2.29850974e-02 -2.18446539e-02 1.12176906e+01] [-2.27877751e-02 9.99697630e-01 9.23941095e-03 4.98541722e-01] [ 2.20504175e-02 -8.73697359e-03 9.99718683e-01 -2.55264453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.73455357399996 meters Centerline goodness [0,1] 0.6999871325894744 Centerline is valid? [False, False] Translation: X:11.22, Y:0.50, Z:-2.55 [[ 9.99501234e-01 2.21496373e-02 -2.25094744e-02 1.12210588e+01] [-2.19656754e-02 9.99723543e-01 8.38732237e-03 5.00549360e-01] [ 2.26890276e-02 -7.88870326e-03 9.99711447e-01 -2.55440947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.764553574 meters Centerline goodness [0,1] 0.6864276286845579 Centerline is valid? [False, False] Translation: X:11.22, Y:0.50, Z:-2.56 [[ 9.99504500e-01 2.14093034e-02 -2.30737211e-02 1.12239983e+01] [-2.12376487e-02 9.99745119e-01 7.65897911e-03 5.02712978e-01] [ 2.32318135e-02 -7.16515251e-03 9.99704428e-01 -2.55588862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.79455357399996 meters Centerline goodness [0,1] 0.6901595020777005 Centerline is valid? [False, False] Translation: X:11.24, Y:0.51, Z:-2.56 [[ 9.99445332e-01 1.97278930e-02 -2.68298133e-02 1.12404092e+01] [-1.94359450e-02 9.99749496e-01 1.10990923e-02 5.05254607e-01] [ 2.70420540e-02 -1.05714732e-02 9.99578397e-01 -2.55651372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.824553574 meters Centerline goodness [0,1] 0.6761251202730425 Centerline is valid? [False, False] Translation: X:11.24, Y:0.51, Z:-2.56 [[ 9.99448007e-01 1.81806901e-02 -2.78054694e-02 1.12448187e+01] [-1.79060309e-02 9.99788708e-01 1.00951973e-02 5.06714040e-01] [ 2.79831320e-02 -9.59173922e-03 9.99562376e-01 -2.55817952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.85455357399997 meters Centerline goodness [0,1] 0.6724125482834555 Centerline is valid? [False, False] Translation: X:11.28, Y:0.51, Z:-2.56 [[ 9.99543552e-01 1.64261180e-02 -2.53548724e-02 1.12777830e+01] [-1.62294587e-02 9.99836746e-01 7.94267587e-03 5.07508040e-01] [ 2.54812004e-02 -7.52755460e-03 9.99646960e-01 -2.55791704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.884553574 meters Centerline goodness [0,1] 0.6736670313312649 Centerline is valid? [False, False] Translation: X:11.28, Y:0.51, Z:-2.56 [[ 9.99541414e-01 1.40302094e-02 -2.68349544e-02 1.12842543e+01] [-1.38426137e-02 9.99878524e-01 7.16376928e-03 5.07005913e-01] [ 2.69322037e-02 -6.78901817e-03 9.99614208e-01 -2.55953280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.91455357399997 meters Centerline goodness [0,1] 0.6702203522783998 Centerline is valid? [False, False] Translation: X:11.32, Y:0.51, Z:-2.56 [[ 9.99576125e-01 8.20949856e-03 -2.79316018e-02 1.13158928e+01] [-7.82149702e-03 9.99871793e-01 1.39721442e-02 5.06456070e-01] [ 2.80427251e-02 -1.37477548e-02 9.99512183e-01 -2.55989349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.944553574 meters Centerline goodness [0,1] 0.6648013631064478 Centerline is valid? [False, False] Translation: X:11.32, Y:0.51, Z:-2.56 [[ 9.99534620e-01 5.61142020e-03 -2.99842358e-02 1.13239842e+01] [-5.21142866e-03 9.99896614e-01 1.34015984e-02 5.08264424e-01] [ 3.00563378e-02 -1.32391009e-02 9.99460526e-01 -2.56098661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.97455357399997 meters Centerline goodness [0,1] 0.6632216997157008 Centerline is valid? [False, False] Translation: X:11.34, Y:0.51, Z:-2.56 [[ 9.99678791e-01 5.67325927e-03 -2.47007719e-02 1.13432906e+01] [-5.45728026e-03 9.99946366e-01 8.80246437e-03 5.09352783e-01] [ 2.47493857e-02 -8.66483791e-03 9.99656135e-01 -2.56297026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.004553574 meters Centerline goodness [0,1] 0.6595083762770905 Centerline is valid? [False, False] Translation: X:11.38, Y:0.51, Z:-2.56 [[ 9.99764711e-01 1.61840617e-03 -2.16310770e-02 1.13750056e+01] [-1.52524423e-03 9.99989494e-01 4.32266080e-03 5.08323077e-01] [ 2.16378456e-02 -4.28865105e-03 9.99756676e-01 -2.56413945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.034553574 meters Centerline goodness [0,1] 0.6572315130522632 Centerline is valid? [False, False] Translation: X:11.38, Y:0.51, Z:-2.57 [[ 9.99734769e-01 -6.62496655e-04 -2.30206899e-02 1.13813332e+01] [ 7.45366386e-04 9.99993273e-01 3.59139948e-03 5.07804508e-01] [ 2.30181557e-02 -3.60760578e-03 9.99728538e-01 -2.56587758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.064553574 meters Centerline goodness [0,1] 0.648584132074784 Centerline is valid? [False, False] Translation: X:11.41, Y:0.51, Z:-2.57 [[ 9.99743085e-01 -4.74421417e-03 -2.21643225e-02 1.14080831e+01] [ 4.92594040e-03 9.99954642e-01 8.15165316e-03 5.07230377e-01] [ 2.21246440e-02 -8.25873900e-03 9.99721108e-01 -2.57032230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.094553574 meters Centerline goodness [0,1] 0.6565774581036182 Centerline is valid? [False, False] Translation: X:11.43, Y:0.51, Z:-2.57 [[ 9.99854493e-01 -2.90486579e-03 -1.68093491e-02 1.14269251e+01] [ 2.97095918e-03 9.99987949e-01 3.90830719e-03 5.08891481e-01] [ 1.67977934e-02 -3.95767839e-03 9.99851074e-01 -2.57385606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.124553574 meters Centerline goodness [0,1] 0.6418267912316946 Centerline is valid? [False, False] Translation: X:11.45, Y:0.51, Z:-2.58 [[ 9.99928995e-01 -9.59257581e-04 -1.18779325e-02 1.14480174e+01] [ 9.78291844e-04 9.99998247e-01 1.59678305e-03 5.10052393e-01] [ 1.18763799e-02 -1.60828975e-03 9.99928180e-01 -2.57621268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.154553574 meters Centerline goodness [0,1] 0.6517049344113675 Centerline is valid? [False, False] Translation: X:11.47, Y:0.51, Z:-2.58 [[ 9.99924393e-01 -3.04348828e-03 -1.19140920e-02 1.14718120e+01] [ 3.14234186e-03 9.99960722e-01 8.28729074e-03 5.11123410e-01] [ 1.18884018e-02 -8.32410231e-03 9.99894682e-01 -2.57862420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.18455357399995 meters Centerline goodness [0,1] 0.6385725414549097 Centerline is valid? [False, False] Translation: X:11.49, Y:0.51, Z:-2.58 [[ 9.99980969e-01 -1.97079223e-03 -5.84623989e-03 1.14881630e+01] [ 1.98269667e-03 9.99995972e-01 2.03116024e-03 5.12551862e-01] [ 5.84221334e-03 -2.04271291e-03 9.99980848e-01 -2.58201622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.214553574 meters Centerline goodness [0,1] 0.6431594322310026 Centerline is valid? [False, False] Translation: X:11.50, Y:0.51, Z:-2.58 [[ 9.99962999e-01 -4.56090139e-03 -7.29372907e-03 1.14963434e+01] [ 4.56893970e-03 9.99988973e-01 1.08580320e-03 5.13378277e-01] [ 7.28869640e-03 -1.11908763e-03 9.99972811e-01 -2.58489617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.24455357399995 meters Centerline goodness [0,1] 0.6445633802816901 Centerline is valid? [False, False] Translation: X:11.50, Y:0.52, Z:-2.59 [[ 9.99955686e-01 -5.26871205e-03 -7.80176863e-03 1.14992500e+01] [ 5.27571626e-03 9.99985698e-01 8.77464197e-04 5.15154133e-01] [ 7.79703395e-03 -9.18585231e-04 9.99969181e-01 -2.58535374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.274553574 meters Centerline goodness [0,1] 0.6571666951096953 Centerline is valid? [False, False] Translation: X:11.51, Y:0.52, Z:-2.59 [[ 9.99945681e-01 -4.07431642e-03 -9.59348617e-03 1.15081384e+01] [ 4.11493279e-03 9.99982639e-01 4.21781896e-03 5.19236390e-01] [ 9.57613488e-03 -4.25706640e-03 9.99945086e-01 -2.58611667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.30455357399995 meters Centerline goodness [0,1] 0.6562149417200662 Centerline is valid? [False, False] Translation: X:11.51, Y:0.52, Z:-2.59 [[ 9.99939410e-01 -4.53313051e-03 -1.00312751e-02 1.15110292e+01] [ 4.57106818e-03 9.99982475e-01 3.76224938e-03 5.21183713e-01] [ 1.00140445e-02 -3.80787507e-03 9.99942608e-01 -2.58735550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.334553574 meters Centerline goodness [0,1] 0.6577734050967456 Centerline is valid? [False, False] Translation: X:11.52, Y:0.52, Z:-2.59 [[ 9.99922780e-01 -5.58718238e-03 -1.11003754e-02 1.15174663e+01] [ 5.62168548e-03 9.99979456e-01 3.07951481e-03 5.23537869e-01] [ 1.10829415e-02 -3.14167983e-03 9.99933647e-01 -2.59026041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.36455357399996 meters Centerline goodness [0,1] 0.6629356840456997 Centerline is valid? [False, False] Translation: X:11.53, Y:0.53, Z:-2.59 [[ 9.99981479e-01 -4.06088486e-03 -4.53340763e-03 1.15345074e+01] [ 4.05104707e-03 9.99989424e-01 -2.17714413e-03 5.25583681e-01] [ 4.54220082e-03 2.15873876e-03 9.99987354e-01 -2.59480439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.394553574 meters Centerline goodness [0,1] 0.6653588423812761 Centerline is valid? [False, False] Translation: X:11.54, Y:0.53, Z:-2.60 [[ 9.99975919e-01 -4.84500042e-03 -4.96869965e-03 1.15375308e+01] [ 4.83276194e-03 9.99985266e-01 -2.47216999e-03 5.26673796e-01] [ 4.98060410e-03 2.44809792e-03 9.99984600e-01 -2.59578552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.42455357399996 meters Centerline goodness [0,1] 0.6781039347860166 Centerline is valid? [False, False] Translation: X:11.55, Y:0.53, Z:-2.60 [[ 9.99949083e-01 -6.04490649e-03 -8.08029601e-03 1.15519625e+01] [ 6.05773864e-03 9.99980428e-01 1.56454876e-03 5.28172925e-01] [ 8.07068031e-03 -1.61341742e-03 9.99966130e-01 -2.59594341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.454553574 meters Centerline goodness [0,1] 0.6781039347860166 Centerline is valid? [False, False] Translation: X:11.55, Y:0.53, Z:-2.60 [[ 9.99949083e-01 -6.04490649e-03 -8.08029601e-03 1.15519625e+01] [ 6.05773864e-03 9.99980428e-01 1.56454876e-03 5.28172925e-01] [ 8.07068031e-03 -1.61341742e-03 9.99966130e-01 -2.59594341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.48455357399996 meters Centerline goodness [0,1] 0.6851139041633936 Centerline is valid? [False, False] Translation: X:11.56, Y:0.53, Z:-2.60 [[ 9.99936822e-01 -7.12775505e-03 -8.69179133e-03 1.15554294e+01] [ 7.13966392e-03 9.99973615e-01 1.33986897e-03 5.29722068e-01] [ 8.68201173e-03 -1.40184079e-03 9.99961328e-01 -2.59639891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.514553574 meters Centerline goodness [0,1] 0.6938504791320187 Centerline is valid? [False, False] Translation: X:11.57, Y:0.53, Z:-2.60 [[ 9.99887887e-01 -1.04778422e-02 -1.06970971e-02 1.15655449e+01] [ 1.04886189e-02 9.99944540e-01 9.51836127e-04 5.31421049e-01] [ 1.06865307e-02 -1.06392719e-03 9.99942331e-01 -2.59768422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.54455357399996 meters Centerline goodness [0,1] 0.6977643001545963 Centerline is valid? [False, False] Translation: X:11.57, Y:0.53, Z:-2.60 [[ 9.99867281e-01 -1.17453538e-02 -1.12901162e-02 1.15690967e+01] [ 1.17549630e-02 9.99930600e-01 7.85126285e-04 5.31887871e-01] [ 1.12801111e-02 -9.17736982e-04 9.99935956e-01 -2.59812474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.574553574 meters Centerline goodness [0,1] 0.6936190457311634 Centerline is valid? [False, False] Translation: X:11.57, Y:0.53, Z:-2.60 [[ 9.99840299e-01 -1.32396779e-02 -1.20036206e-02 1.15732628e+01] [ 1.32444223e-02 9.99912239e-01 3.15837540e-04 5.32594357e-01] [ 1.19983855e-02 -4.74768120e-04 9.99927904e-01 -2.59908450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.60455357399997 meters Centerline goodness [0,1] 0.7098990381743234 Centerline is valid? [False, False] Translation: X:11.58, Y:0.53, Z:-2.60 [[ 9.99770225e-01 -1.64021813e-02 -1.38009223e-02 1.15822457e+01] [ 1.64044420e-02 9.99865437e-01 5.06139177e-05 5.34762574e-01] [ 1.37982350e-02 -2.76998717e-04 9.99904761e-01 -2.59930941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.634553574 meters Centerline goodness [0,1] 0.7153450092439815 Centerline is valid? [False, False] Translation: X:11.59, Y:0.54, Z:-2.60 [[ 9.99754551e-01 -1.60815943e-02 -1.52387485e-02 1.15898559e+01] [ 1.61066472e-02 9.99869120e-01 1.52272005e-03 5.36265873e-01] [ 1.52122663e-02 -1.76779145e-03 9.99882724e-01 -2.60208905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.66455357399997 meters Centerline goodness [0,1] 0.7225746342623796 Centerline is valid? [False, False] Translation: X:11.62, Y:0.54, Z:-2.60 [[ 9.99769569e-01 -1.74913937e-02 -1.24442511e-02 1.16221315e+01] [ 1.74892753e-02 9.99847012e-01 -2.79039995e-04 5.39503571e-01] [ 1.24472281e-02 6.13347624e-05 9.99922528e-01 -2.60363185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.694553574 meters Centerline goodness [0,1] 0.7286454183266933 Centerline is valid? [False, False] Translation: X:11.63, Y:0.54, Z:-2.60 [[ 9.99741690e-01 -1.86428331e-02 -1.29999249e-02 1.16254039e+01] [ 1.86359458e-02 9.99826124e-01 -6.50743421e-04 5.40730146e-01] [ 1.30097963e-02 4.08309431e-04 9.99915286e-01 -2.60417749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.72455357399997 meters Centerline goodness [0,1] 0.7298910016707774 Centerline is valid? [False, False] Translation: X:11.63, Y:0.54, Z:-2.61 [[ 9.99699103e-01 -2.02289309e-02 -1.38742473e-02 1.16301062e+01] [ 2.02106598e-02 9.99794684e-01 -1.45586915e-03 5.42111208e-01] [ 1.39008493e-02 1.17502340e-03 9.99902688e-01 -2.60572631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.754553574 meters Centerline goodness [0,1] 0.7385639090277087 Centerline is valid? [False, False] Translation: X:11.66, Y:0.55, Z:-2.61 [[ 9.99715674e-01 -2.13819988e-02 -1.05537322e-02 1.16611100e+01] [ 2.13387417e-02 9.99763504e-01 -4.19449274e-03 5.45771386e-01] [ 1.06409229e-02 3.96809677e-03 9.99935510e-01 -2.60857070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.784553574 meters Centerline goodness [0,1] 0.743713025068756 Centerline is valid? [False, False] Translation: X:11.68, Y:0.55, Z:-2.61 [[ 9.99633190e-01 -2.30469970e-02 -1.42239466e-02 1.16766174e+01] [ 2.30411063e-02 9.99734351e-01 -5.77895703e-04 5.48970457e-01] [ 1.42334868e-02 2.49948258e-04 9.99898668e-01 -2.60853786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.814553574 meters Centerline goodness [0,1] 0.7432691358024691 Centerline is valid? [False, False] Translation: X:11.68, Y:0.55, Z:-2.61 [[ 9.99623354e-01 -2.22310569e-02 -1.60913336e-02 1.16845427e+01] [ 2.22686765e-02 9.99749684e-01 2.16246233e-03 5.50072130e-01] [ 1.60392319e-02 -2.51998055e-03 9.99868188e-01 -2.61035438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.844553574 meters Centerline goodness [0,1] 0.7477253439122111 Centerline is valid? [False, False] Translation: X:11.69, Y:0.55, Z:-2.61 [[ 9.99575679e-01 -2.36627577e-02 -1.69863585e-02 1.16889573e+01] [ 2.36857338e-02 9.99718789e-01 1.15269058e-03 5.52198145e-01] [ 1.69543060e-02 -1.55453584e-03 9.99855057e-01 -2.61202259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.874553574 meters Centerline goodness [0,1] 0.750354247028261 Centerline is valid? [False, False] Translation: X:11.72, Y:0.56, Z:-2.61 [[ 9.99601382e-01 -2.48419083e-02 -1.34147842e-02 1.17192320e+01] [ 2.48225352e-02 9.99690579e-01 -1.60876734e-03 5.57199516e-01] [ 1.34505982e-02 1.27513711e-03 9.99908724e-01 -2.61409784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.904553574 meters Centerline goodness [0,1] 0.7557221861407963 Centerline is valid? [False, False] Translation: X:11.73, Y:0.56, Z:-2.62 [[ 9.99613032e-01 -2.33650723e-02 -1.50949887e-02 1.17261308e+01] [ 2.33881406e-02 9.99725544e-01 1.35346467e-03 5.59133746e-01] [ 1.50592220e-02 -1.70598464e-03 9.99885148e-01 -2.61567955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.93455357399995 meters Centerline goodness [0,1] 0.7558996471971776 Centerline is valid? [False, False] Translation: X:11.76, Y:0.56, Z:-2.61 [[ 9.99495651e-01 -2.20662622e-02 -2.28369154e-02 1.17627742e+01] [ 2.20677645e-02 9.99756460e-01 -1.86259847e-04 5.62642238e-01] [ 2.28354637e-02 -3.17793762e-04 9.99739186e-01 -2.61214737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.964553574 meters Centerline goodness [0,1] 0.7550721238419139 Centerline is valid? [False, False] Translation: X:11.77, Y:0.56, Z:-2.62 [[ 9.99453516e-01 -2.20476130e-02 -2.46286660e-02 1.17715240e+01] [ 2.20747295e-02 9.99755979e-01 8.29649386e-04 5.64231438e-01] [ 2.46043643e-02 -1.37286714e-03 9.99696324e-01 -2.61564739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.99455357399995 meters Centerline goodness [0,1] 0.7653421849067656 Centerline is valid? [False, False] Translation: X:11.79, Y:0.57, Z:-2.62 [[ 9.99614118e-01 -2.16710554e-02 -1.73776098e-02 1.17882556e+01] [ 2.16027684e-02 9.99758194e-01 -4.10775366e-03 5.67366482e-01] [ 1.74624271e-02 3.73076407e-03 9.99840560e-01 -2.61860806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.024553574 meters Centerline goodness [0,1] 0.77377812257564 Centerline is valid? [False, False] Translation: X:11.80, Y:0.57, Z:-2.62 [[ 9.99562682e-01 -2.19252076e-02 -1.98426498e-02 1.17997619e+01] [ 2.19133281e-02 9.99759541e-01 -8.15944591e-04 5.70806785e-01] [ 1.98557682e-02 3.80769268e-04 9.99802782e-01 -2.61875431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.05455357399995 meters Centerline goodness [0,1] 0.7773294982916047 Centerline is valid? [False, False] Translation: X:11.82, Y:0.57, Z:-2.62 [[ 9.99700947e-01 -2.08572716e-02 -1.27668128e-02 1.18169248e+01] [ 2.07983695e-02 9.99772505e-01 -4.72921600e-03 5.74912351e-01] [ 1.28625470e-02 4.46227282e-03 9.99907317e-01 -2.62144899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.084553574 meters Centerline goodness [0,1] 0.7615829000577701 Centerline is valid? [False, False] Translation: X:11.83, Y:0.58, Z:-2.62 [[ 9.99650873e-01 -2.15282298e-02 -1.53188726e-02 1.18292932e+01] [ 2.15144718e-02 9.99767973e-01 -1.06235946e-03 5.78383250e-01] [ 1.53381890e-02 7.32411111e-04 9.99882095e-01 -2.62087719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.11455357399996 meters Centerline goodness [0,1] 0.7539592651603862 Centerline is valid? [False, False] Translation: X:11.84, Y:0.58, Z:-2.62 [[ 9.99751105e-01 -2.09437325e-02 -7.68691520e-03 1.18449649e+01] [ 2.09001247e-02 9.99765262e-01 -5.71016141e-03 5.81175933e-01] [ 7.80470288e-03 5.54808269e-03 9.99954152e-01 -2.62345009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.144553574 meters Centerline goodness [0,1] 0.7598166158331895 Centerline is valid? [False, False] Translation: X:11.85, Y:0.58, Z:-2.63 [[ 9.99756507e-01 -1.99961268e-02 -9.33171398e-03 1.18527182e+01] [ 1.99719820e-02 9.99796966e-01 -2.67344910e-03 5.82033337e-01] [ 9.38327795e-03 2.48642531e-03 9.99952885e-01 -2.62511390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.17455357399996 meters Centerline goodness [0,1] 0.7622409823484267 Centerline is valid? [False, False] Translation: X:11.87, Y:0.58, Z:-2.62 [[ 9.99687143e-01 -2.19128416e-02 -1.20600044e-02 1.18669247e+01] [ 2.19256424e-02 9.99759171e-01 9.30221974e-04 5.83212881e-01] [ 1.20367162e-02 -1.19435429e-03 9.99926843e-01 -2.62481525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.204553574 meters Centerline goodness [0,1] 0.7624636238321336 Centerline is valid? [False, False] Translation: X:11.87, Y:0.58, Z:-2.63 [[ 9.99650135e-01 -2.31424423e-02 -1.28075974e-02 1.18707785e+01] [ 2.31472472e-02 9.99732041e-01 2.27029763e-04 5.84338611e-01] [ 1.27989115e-02 -5.23410957e-04 9.99917954e-01 -2.62617965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.23455357399996 meters Centerline goodness [0,1] 0.7665530578638993 Centerline is valid? [False, False] Translation: X:11.90, Y:0.59, Z:-2.62 [[ 9.99564841e-01 -2.34350073e-02 -1.79145014e-02 1.19015468e+01] [ 2.33508279e-02 9.99715354e-01 -4.89380001e-03 5.86496803e-01] [ 1.80240884e-02 4.47335199e-03 9.99827546e-01 -2.62337627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.264553574 meters Centerline goodness [0,1] 0.7674751445527928 Centerline is valid? [False, False] Translation: X:11.91, Y:0.59, Z:-2.63 [[ 9.99576156e-01 -2.17141934e-02 -1.93907613e-02 1.19078086e+01] [ 2.16786208e-02 9.99762904e-01 -2.04286067e-03 5.87569816e-01] [ 1.94305228e-02 1.62162985e-03 9.99809894e-01 -2.62543148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.29455357399996 meters Centerline goodness [0,1] 0.7683194383501536 Centerline is valid? [False, False] Translation: X:11.92, Y:0.59, Z:-2.63 [[ 9.99551148e-01 -2.11662042e-02 -2.12012958e-02 1.19165146e+01] [ 2.11581837e-02 9.99775959e-01 -6.02571888e-04 5.89596654e-01] [ 2.12093000e-02 1.53720511e-04 9.99775046e-01 -2.62898633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.324553574 meters Centerline goodness [0,1] 0.7769714100189072 Centerline is valid? [False, False] Translation: X:11.92, Y:0.59, Z:-2.63 [[ 9.99535861e-01 -2.18193860e-02 -2.12597546e-02 1.19195249e+01] [ 2.17965291e-02 9.99761574e-01 -1.30627898e-03 5.92633837e-01] [ 2.12831880e-02 8.42283827e-04 9.99773132e-01 -2.63009528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.35455357399997 meters Centerline goodness [0,1] 0.7797740005697464 Centerline is valid? [False, False] Translation: X:11.93, Y:0.60, Z:-2.63 [[ 9.99717237e-01 -1.99675924e-02 -1.29128291e-02 1.19319076e+01] [ 1.98821520e-02 9.99779803e-01 -6.71158501e-03 5.95795414e-01] [ 1.30439999e-02 6.45295239e-03 9.99894101e-01 -2.63377061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.384553574 meters Centerline goodness [0,1] 0.7928132387706855 Centerline is valid? [False, False] Translation: X:11.93, Y:0.60, Z:-2.63 [[ 9.99768134e-01 -1.71569044e-02 -1.30122758e-02 1.19348410e+01] [ 1.71140081e-02 9.99847761e-01 -3.40083127e-03 5.98704314e-01] [ 1.30686426e-02 3.17735054e-03 9.99909553e-01 -2.63392029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.41455357399997 meters Centerline goodness [0,1] 0.7967308199314527 Centerline is valid? [False, False] Translation: X:11.94, Y:0.60, Z:-2.64 [[ 9.99798866e-01 -1.44279139e-02 -1.39306415e-02 1.19387102e+01] [ 1.44255302e-02 9.99895910e-01 -2.71586231e-04 6.00396538e-01] [ 1.39331099e-02 7.05747167e-05 9.99902927e-01 -2.63520274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.444553574 meters Centerline goodness [0,1] 0.8026158221689993 Centerline is valid? [False, False] Translation: X:11.94, Y:0.60, Z:-2.64 [[ 9.99825092e-01 -1.20238326e-02 -1.43252534e-02 1.19426641e+01] [ 1.20659929e-02 9.99923112e-01 2.86029002e-03 6.03876850e-01] [ 1.42897603e-02 -3.03263814e-03 9.99893297e-01 -2.63551902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.47455357399997 meters Centerline goodness [0,1] 0.8039584069644152 Centerline is valid? [False, False] Translation: X:11.95, Y:0.61, Z:-2.64 [[ 9.99921005e-01 -1.10812064e-02 -5.93212912e-03 1.19549941e+01] [ 1.10622725e-02 9.99933642e-01 -3.21511238e-03 6.07029646e-01] [ 5.96736280e-03 3.14923558e-03 9.99977236e-01 -2.63941598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.504553574 meters Centerline goodness [0,1] 0.8144170924291686 Centerline is valid? [False, False] Translation: X:11.96, Y:0.61, Z:-2.64 [[ 9.99906481e-01 -1.23247165e-02 -5.92709309e-03 1.19580088e+01] [ 1.23007280e-02 9.99916073e-01 -4.06682643e-03 6.09169870e-01] [ 5.97671813e-03 3.99353855e-03 9.99974165e-01 -2.64042228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.534553574 meters Centerline goodness [0,1] 0.8181126755337896 Centerline is valid? [False, False] Translation: X:11.96, Y:0.61, Z:-2.64 [[ 9.99918682e-01 -1.05294790e-02 -7.19435727e-03 1.19634646e+01] [ 1.05192825e-02 9.99943614e-01 -1.45366011e-03 6.09596121e-01] [ 7.20925789e-03 1.37786242e-03 9.99973064e-01 -2.64267619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.564553574 meters Centerline goodness [0,1] 0.8233974715456197 Centerline is valid? [False, False] Translation: X:11.97, Y:0.61, Z:-2.64 [[ 9.99928541e-01 -8.53418004e-03 -8.37140094e-03 1.19684057e+01] [ 8.54616653e-03 9.99962505e-01 1.39711169e-03 6.09699694e-01] [ 8.35916385e-03 -1.46855524e-03 9.99963983e-01 -2.64453705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.594553574 meters Centerline goodness [0,1] 0.8316574106533331 Centerline is valid? [False, False] Translation: X:11.97, Y:0.61, Z:-2.65 [[ 9.99916916e-01 -9.68812250e-03 -8.50300453e-03 1.19716200e+01] [ 9.69200799e-03 9.99952945e-01 4.15866874e-04 6.12549779e-01] [ 8.49857546e-03 -4.98243510e-04 9.99963762e-01 -2.64603287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.624553574 meters Centerline goodness [0,1] 0.8320262396012753 Centerline is valid? [False, False] Translation: X:11.98, Y:0.61, Z:-2.65 [[ 9.99926796e-01 -7.34554888e-03 -9.61483072e-03 1.19762477e+01] [ 7.37713879e-03 9.99967493e-01 3.25420754e-03 6.13825702e-01] [ 9.59061423e-03 -3.32489926e-03 9.99948481e-01 -2.64799535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.654553574 meters Centerline goodness [0,1] 0.8451504893663992 Centerline is valid? [False, False] Translation: X:11.98, Y:0.62, Z:-2.65 [[ 9.99925239e-01 -7.83583816e-03 -9.38700943e-03 1.19775592e+01] [ 7.86343461e-03 9.99964859e-01 2.90656279e-03 6.15801442e-01] [ 9.36390420e-03 -2.98015963e-03 9.99951717e-01 -2.64806542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.68455357399995 meters Centerline goodness [0,1] 0.8467386513882768 Centerline is valid? [False, False] Translation: X:11.98, Y:0.62, Z:-2.65 [[ 9.99918590e-01 -8.20557879e-03 -9.77143670e-03 1.19790085e+01] [ 8.23036596e-03 9.99963007e-01 2.49919108e-03 6.16627981e-01] [ 9.75056791e-03 -2.57941012e-03 9.99949135e-01 -2.64855140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.714553574 meters Centerline goodness [0,1] 0.8461158295504466 Centerline is valid? [False, False] Translation: X:11.99, Y:0.62, Z:-2.65 [[ 9.99967236e-01 -7.80248310e-03 -2.15608228e-03 1.19917848e+01] [ 7.79048272e-03 9.99954422e-01 -5.51927649e-03 6.19368715e-01] [ 2.19904807e-03 5.50229874e-03 9.99982444e-01 -2.65361704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.74455357399995 meters Centerline goodness [0,1] 0.8563942263491772 Centerline is valid? [False, False] Translation: X:11.99, Y:0.62, Z:-2.66 [[ 9.99956138e-01 -9.02822921e-03 -2.49266499e-03 1.19949728e+01] [ 9.01180498e-03 9.99938114e-01 -6.52345561e-03 6.21037235e-01] [ 2.55140598e-03 6.50070606e-03 9.99975615e-01 -2.65508192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.774553574 meters Centerline goodness [0,1] 0.8578580236688569 Centerline is valid? [False, False] Translation: X:12.00, Y:0.62, Z:-2.66 [[ 9.99969779e-01 -6.91686016e-03 -3.54930780e-03 1.19994081e+01] [ 6.90320235e-03 9.99968777e-01 -3.84595179e-03 6.21573719e-01] [ 3.57579889e-03 3.82133397e-03 9.99986305e-01 -2.65709829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.80455357399995 meters Centerline goodness [0,1] 0.8657335216745244 Centerline is valid? [False, False] Translation: X:12.01, Y:0.62, Z:-2.66 [[ 9.99974744e-01 -5.37302762e-03 -4.65202600e-03 1.20053409e+01] [ 5.36462125e-03 9.99983958e-01 -1.81763160e-03 6.23837272e-01] [ 4.66171755e-03 1.79262934e-03 9.99987527e-01 -2.66021328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.834553574 meters Centerline goodness [0,1] 0.8579135046173539 Centerline is valid? [False, False] Translation: X:12.01, Y:0.62, Z:-2.66 [[ 9.99978792e-01 -3.21070175e-03 -5.66622008e-03 1.20097108e+01] [ 3.21597392e-03 9.99994404e-01 9.21590475e-04 6.23893996e-01] [ 5.66322942e-03 -9.39793346e-04 9.99983522e-01 -2.66231447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.86455357399996 meters Centerline goodness [0,1] 0.8699326796429094 Centerline is valid? [False, False] Translation: X:12.01, Y:0.62, Z:-2.66 [[ 9.99977720e-01 -3.63078970e-03 -5.60157882e-03 1.20109889e+01] [ 3.63480394e-03 9.99993144e-01 7.06612392e-04 6.24584006e-01] [ 5.59897486e-03 -7.26957289e-04 9.99984061e-01 -2.66253150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.894553574 meters Centerline goodness [0,1] 0.8719690330119778 Centerline is valid? [False, False] Translation: X:12.01, Y:0.62, Z:-2.66 [[ 9.99976458e-01 -3.64400845e-03 -5.81411058e-03 1.20115810e+01] [ 3.64794611e-03 9.99993124e-01 6.66798339e-04 6.24906053e-01] [ 5.81164078e-03 -6.87992204e-04 9.99982876e-01 -2.66251633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.92455357399996 meters Centerline goodness [0,1] 0.8742458039273047 Centerline is valid? [False, False] Translation: X:12.01, Y:0.63, Z:-2.66 [[ 9.99976395e-01 -3.52840833e-03 -5.89580089e-03 1.20117245e+01] [ 3.53189554e-03 9.99993594e-01 5.81166995e-04 6.25746700e-01] [ 5.89371253e-03 -6.01976629e-04 9.99982451e-01 -2.66230273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.954553574 meters Centerline goodness [0,1] 0.8736861280626651 Centerline is valid? [False, False] Translation: X:12.01, Y:0.63, Z:-2.66 [[ 9.99981989e-01 -2.86390986e-03 -5.27438619e-03 1.20109312e+01] [ 2.86847188e-03 9.99995518e-01 8.57576555e-04 6.27893872e-01] [ 5.27190653e-03 -8.72690538e-04 9.99985723e-01 -2.66158795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.98455357399996 meters Centerline goodness [0,1] 0.8752576755386103 Centerline is valid? [False, False] Translation: X:12.01, Y:0.63, Z:-2.66 [[ 9.99981914e-01 -2.64703170e-03 -5.40051106e-03 1.20112115e+01] [ 2.65076626e-03 9.99996252e-01 6.84480662e-04 6.29281699e-01] [ 5.39867898e-03 -6.98783774e-04 9.99985183e-01 -2.66172057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.014553574 meters Centerline goodness [0,1] 0.8776906238599052 Centerline is valid? [False, False] Translation: X:12.01, Y:0.63, Z:-2.66 [[ 9.99983866e-01 -2.09645981e-03 -5.27941116e-03 1.20115024e+01] [ 2.10041630e-03 9.99997517e-01 7.43985671e-04 6.30590833e-01] [ 5.27783832e-03 -7.55062629e-04 9.99985787e-01 -2.66201220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.04455357399996 meters Centerline goodness [0,1] 0.8756169972496949 Centerline is valid? [False, False] Translation: X:12.01, Y:0.63, Z:-2.66 [[ 9.99982242e-01 -2.12740899e-03 -5.56678273e-03 1.20127460e+01] [ 2.12965071e-03 9.99997654e-01 3.96800203e-04 6.31421028e-01] [ 5.56592551e-03 -4.08648459e-04 9.99984427e-01 -2.66294465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.074553574 meters Centerline goodness [0,1] 0.8776756187084348 Centerline is valid? [False, False] Translation: X:12.01, Y:0.63, Z:-2.66 [[ 9.99981766e-01 -2.35552596e-03 -5.56052585e-03 1.20139471e+01] [ 2.35580050e-03 9.99997224e-01 4.28236473e-05 6.32504068e-01] [ 5.56040955e-03 -5.59223561e-05 9.99984539e-01 -2.66369085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.10455357399997 meters Centerline goodness [0,1] 0.877442144170718 Centerline is valid? [False, False] Translation: X:12.02, Y:0.63, Z:-2.66 [[ 9.99978561e-01 -2.71421125e-03 -5.95910419e-03 1.20153370e+01] [ 2.71273501e-03 9.99996288e-01 -2.55797638e-04 6.32897352e-01] [ 5.95977636e-03 2.39626684e-04 9.99982212e-01 -2.66428795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.134553574 meters Centerline goodness [0,1] 0.8786267188780621 Centerline is valid? [False, False] Translation: X:12.02, Y:0.63, Z:-2.67 [[ 9.99974657e-01 -3.18431481e-03 -6.36755630e-03 1.20168892e+01] [ 3.18033940e-03 9.99994742e-01 -6.34350136e-04 6.33280995e-01] [ 6.36954279e-03 6.14083069e-04 9.99979526e-01 -2.66503040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.16455357399997 meters Centerline goodness [0,1] 0.8788484969721218 Centerline is valid? [False, False] Translation: X:12.02, Y:0.63, Z:-2.67 [[ 9.99972248e-01 -3.41424050e-03 -6.62164832e-03 1.20176653e+01] [ 3.40911137e-03 9.99993880e-01 -7.85732728e-04 6.33599493e-01] [ 6.62429048e-03 7.63136985e-04 9.99977768e-01 -2.66501715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.194553574 meters Centerline goodness [0,1] 0.8805951169888098 Centerline is valid? [False, False] Translation: X:12.02, Y:0.63, Z:-2.66 [[ 9.99971258e-01 -3.71139165e-03 -6.61120311e-03 1.20180080e+01] [ 3.70612260e-03 9.99992805e-01 -8.09060626e-04 6.33793500e-01] [ 6.61415828e-03 7.84535443e-04 9.99977818e-01 -2.66434171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.22455357399997 meters Centerline goodness [0,1] 0.8803320979579973 Centerline is valid? [False, False] Translation: X:12.02, Y:0.63, Z:-2.66 [[ 9.99968202e-01 -3.97605037e-03 -6.91276011e-03 1.20188723e+01] [ 3.96945168e-03 9.99991653e-01 -9.68023794e-04 6.34046739e-01] [ 6.91655132e-03 9.40553145e-04 9.99975638e-01 -2.66437640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.254553574 meters Centerline goodness [0,1] 0.8786181646820003 Centerline is valid? [False, False] Translation: X:12.02, Y:0.63, Z:-2.67 [[ 9.99957602e-01 -5.06330783e-03 -7.69137867e-03 1.20221004e+01] [ 5.04928091e-03 9.99985556e-01 -1.84204471e-03 6.34696549e-01] [ 7.70059441e-03 1.80313068e-03 9.99968724e-01 -2.66624454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.284553574 meters Centerline goodness [0,1] 0.8805514685848183 Centerline is valid? [False, False] Translation: X:12.02, Y:0.63, Z:-2.67 [[ 9.99952436e-01 -5.48959911e-03 -8.06168635e-03 1.20233835e+01] [ 5.47402065e-03 9.99983110e-01 -1.95320355e-03 6.34248176e-01] [ 8.07227250e-03 1.90898081e-03 9.99965597e-01 -2.66667121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.314553574 meters Centerline goodness [0,1] 0.8796145641248146 Centerline is valid? [False, False] Translation: X:12.03, Y:0.63, Z:-2.67 [[ 9.99932111e-01 -7.52308227e-03 -8.89807430e-03 1.20272975e+01] [ 7.49830692e-03 9.99967927e-01 -2.81444220e-03 6.32297784e-01] [ 8.91896219e-03 2.74753064e-03 9.99956451e-01 -2.66833629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.344553574 meters Centerline goodness [0,1] 0.8817634182962789 Centerline is valid? [False, False] Translation: X:12.03, Y:0.63, Z:-2.67 [[ 9.99924636e-01 -8.02263105e-03 -9.29295298e-03 1.20286366e+01] [ 7.99661602e-03 9.99964013e-01 -2.83321892e-03 6.31510451e-01] [ 9.31534842e-03 2.75869322e-03 9.99952806e-01 -2.66863100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.374553574 meters Centerline goodness [0,1] 0.8817634182962789 Centerline is valid? [False, False] Translation: X:12.03, Y:0.63, Z:-2.67 [[ 9.99924636e-01 -8.02263105e-03 -9.29295298e-03 1.20286366e+01] [ 7.99661602e-03 9.99964013e-01 -2.83321892e-03 6.31510451e-01] [ 9.31534842e-03 2.75869322e-03 9.99952806e-01 -2.66863100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.404553574 meters Centerline goodness [0,1] 0.8840137833985819 Centerline is valid? [False, False] Translation: X:12.03, Y:0.63, Z:-2.67 [[ 9.99914558e-01 -8.64706097e-03 -9.80329322e-03 1.20306927e+01] [ 8.61481868e-03 9.99957359e-01 -3.32639626e-03 6.31803479e-01] [ 9.83163875e-03 3.24165846e-03 9.99946414e-01 -2.66970425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.43455357399995 meters Centerline goodness [0,1] 0.88152447072011 Centerline is valid? [False, False] Translation: X:12.03, Y:0.63, Z:-2.67 [[ 9.99905559e-01 -9.13339434e-03 -1.02690661e-02 1.20322960e+01] [ 9.09558473e-03 9.99951705e-01 -3.72258874e-03 6.32356815e-01] [ 1.03025700e-02 3.62883402e-03 9.99940343e-01 -2.67030947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.464553574 meters Centerline goodness [0,1] 0.8841257516387078 Centerline is valid? [False, False] Translation: X:12.04, Y:0.63, Z:-2.67 [[ 9.99915222e-01 -6.96532102e-03 -1.10015027e-02 1.20355385e+01] [ 6.95594674e-03 9.99975411e-01 -8.90125879e-04 6.31272069e-01] [ 1.10074322e-02 8.13524549e-04 9.99939085e-01 -2.67179097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.49455357399995 meters Centerline goodness [0,1] 0.8817728651928912 Centerline is valid? [False, False] Translation: X:12.04, Y:0.63, Z:-2.67 [[ 9.99916953e-01 -6.76813375e-03 -1.09671581e-02 1.20353726e+01] [ 6.76148699e-03 9.99976934e-01 -6.43025266e-04 6.30717261e-01] [ 1.09712572e-02 5.68817568e-04 9.99939652e-01 -2.67136057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.524553574 meters Centerline goodness [0,1] 0.8823785430607692 Centerline is valid? [False, False] Translation: X:12.04, Y:0.63, Z:-2.67 [[ 9.99919027e-01 -6.54773030e-03 -1.09117935e-02 1.20351532e+01] [ 6.54156592e-03 9.99978423e-01 -6.00523824e-04 6.31181604e-01] [ 1.09154902e-02 5.29094980e-04 9.99940284e-01 -2.67120904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.55455357399995 meters Centerline goodness [0,1] 0.8786856256090079 Centerline is valid? [False, False] Translation: X:12.05, Y:0.63, Z:-2.68 [[ 9.99987866e-01 -3.27714002e-03 -3.67815784e-03 1.20479903e+01] [ 3.25393993e-03 9.99974887e-01 -6.29589002e-03 6.34977765e-01] [ 3.69869798e-03 6.28384512e-03 9.99973416e-01 -2.67653589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.584553574 meters Centerline goodness [0,1] 0.8784142400664344 Centerline is valid? [False, False] Translation: X:12.05, Y:0.63, Z:-2.68 [[ 9.99991418e-01 1.09221495e-04 -4.14137774e-03 1.20493569e+01] [-1.19166703e-04 9.99997110e-01 -2.40125433e-03 6.34245365e-01] [ 4.14110351e-03 2.40172724e-03 9.99988541e-01 -2.67648862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.61455357399996 meters Centerline goodness [0,1] 0.8791494901280104 Centerline is valid? [False, False] Translation: X:12.05, Y:0.63, Z:-2.68 [[ 9.99991376e-01 3.97352365e-04 -4.13411807e-03 1.20491720e+01] [-4.06097215e-04 9.99997682e-01 -2.11466348e-03 6.34127538e-01] [ 4.13326822e-03 2.11632410e-03 9.99989219e-01 -2.67620780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.644553574 meters Centerline goodness [0,1] 0.8791676433993905 Centerline is valid? [False, False] Translation: X:12.05, Y:0.63, Z:-2.68 [[ 9.99990231e-01 2.76762728e-04 -4.41159568e-03 1.20503133e+01] [-2.86191257e-04 9.99997676e-01 -2.13672720e-03 6.33874444e-01] [ 4.41099406e-03 2.13796889e-03 9.99987986e-01 -2.67698060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.67455357399996 meters Centerline goodness [0,1] 0.878001227569773 Centerline is valid? [False, False] Translation: X:12.05, Y:0.63, Z:-2.68 [[ 9.99989608e-01 1.72241994e-04 -4.55561868e-03 1.20508346e+01] [-1.82073336e-04 9.99997655e-01 -2.15774306e-03 6.33829673e-01] [ 4.55523635e-03 2.15855009e-03 9.99987295e-01 -2.67727816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.704553574 meters Centerline goodness [0,1] 0.8759625615408199 Centerline is valid? [False, False] Translation: X:12.05, Y:0.63, Z:-2.68 [[ 9.99988836e-01 -3.98027818e-04 -4.70840412e-03 1.20513599e+01] [ 3.87642884e-04 9.99997491e-01 -2.20632351e-03 6.33105594e-01] [ 4.70927049e-03 2.20447370e-03 9.99986481e-01 -2.67703016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.73455357399996 meters Centerline goodness [0,1] 0.8749977530513563 Centerline is valid? [False, False] Translation: X:12.05, Y:0.63, Z:-2.68 [[ 9.99987287e-01 -9.01290489e-04 -4.96124065e-03 1.20523062e+01] [ 8.89199612e-04 9.99996631e-01 -2.43873378e-03 6.32881015e-01] [ 4.96342194e-03 2.43429125e-03 9.99984719e-01 -2.67730752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.764553574 meters Centerline goodness [0,1] 0.8687703166250607 Centerline is valid? [False, False] Translation: X:12.05, Y:0.63, Z:-2.68 [[ 9.99985427e-01 -1.41740783e-03 -5.20932919e-03 1.20532149e+01] [ 1.40368378e-03 9.99995537e-01 -2.63722674e-03 6.32619764e-01] [ 5.21304397e-03 2.62987605e-03 9.99982954e-01 -2.67757529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.79455357399996 meters Centerline goodness [0,1] 0.8717451772095111 Centerline is valid? [False, False] Translation: X:12.06, Y:0.63, Z:-2.68 [[ 9.99962773e-01 -6.47514348e-03 -5.70311842e-03 1.20552822e+01] [ 6.43281262e-03 9.99951856e-01 -7.40973487e-03 6.32757488e-01] [ 5.75082295e-03 7.37277193e-03 9.99956284e-01 -2.67893943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.824553574 meters Centerline goodness [0,1] 0.8630748543254146 Centerline is valid? [False, False] Translation: X:12.06, Y:0.63, Z:-2.68 [[ 9.99953744e-01 -7.37155369e-03 -6.17813419e-03 1.20569029e+01] [ 7.32316044e-03 9.99942613e-01 -7.81934417e-03 6.32132665e-01] [ 6.23542036e-03 7.77373901e-03 9.99950343e-01 -2.67944137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.85455357399997 meters Centerline goodness [0,1] 0.8704412869976021 Centerline is valid? [False, False] Translation: X:12.06, Y:0.63, Z:-2.68 [[ 9.99943131e-01 -8.43252959e-03 -6.52895620e-03 1.20581407e+01] [ 8.37558792e-03 9.99927076e-01 -8.70017166e-03 6.33169995e-01] [ 6.60184454e-03 8.64499304e-03 9.99940838e-01 -2.67978899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.884553574 meters Centerline goodness [0,1] 0.8680395416599631 Centerline is valid? [False, False] Translation: X:12.06, Y:0.63, Z:-2.68 [[ 9.99956505e-01 -6.04189488e-03 -7.10514500e-03 1.20605162e+01] [ 6.00048219e-03 9.99964970e-01 -5.83549477e-03 6.33319859e-01] [ 7.14015355e-03 5.79260666e-03 9.99957731e-01 -2.68077024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.91455357399997 meters Centerline goodness [0,1] 0.8675578461373276 Centerline is valid? [False, False] Translation: X:12.06, Y:0.63, Z:-2.68 [[ 9.99965365e-01 -3.28705416e-03 -7.64612227e-03 1.20626817e+01] [ 3.26576930e-03 9.99990763e-01 -2.79456723e-03 6.33752567e-01] [ 7.65523754e-03 2.76949997e-03 9.99966863e-01 -2.68173987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.944553574 meters Centerline goodness [0,1] 0.8645381165919283 Centerline is valid? [False, False] Translation: X:12.06, Y:0.64, Z:-2.68 [[ 9.99967240e-01 -1.21518700e-04 -8.09340822e-03 1.20643155e+01] [ 1.21280823e-04 9.99999992e-01 -2.98823079e-05 6.36485791e-01] [ 8.09341179e-03 2.88997538e-05 9.99967247e-01 -2.68259414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.97455357399997 meters Centerline goodness [0,1] 0.8600465199499016 Centerline is valid? [False, False] Translation: X:12.06, Y:0.64, Z:-2.68 [[ 9.99966365e-01 -1.31364388e-04 -8.20074568e-03 1.20649584e+01] [ 1.25327306e-04 9.99999721e-01 -7.36672092e-04 6.38833604e-01] [ 8.20084016e-03 7.35619537e-04 9.99966102e-01 -2.68347544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.004553574 meters Centerline goodness [0,1] 0.8612306867911048 Centerline is valid? [False, False] Translation: X:12.06, Y:0.64, Z:-2.68 [[ 9.99967051e-01 3.76154232e-04 -8.10894643e-03 1.20645280e+01] [-3.87913600e-04 9.99998875e-01 -1.44864809e-03 6.43052757e-01] [ 8.10839240e-03 1.45174593e-03 9.99966073e-01 -2.68362318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.034553574 meters Centerline goodness [0,1] 0.8583184257602863 Centerline is valid? [False, False] Translation: X:12.06, Y:0.65, Z:-2.68 [[ 9.99969700e-01 1.03894319e-03 -7.71483569e-03 1.20628646e+01] [-1.04990679e-03 9.99998445e-01 -1.41719179e-03 6.45182987e-01] [ 7.71335131e-03 1.42524871e-03 9.99969236e-01 -2.68265770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.064553574 meters Centerline goodness [0,1] 0.856839551107067 Centerline is valid? [False, False] Translation: X:12.06, Y:0.65, Z:-2.68 [[ 9.99969751e-01 1.13470641e-03 -7.69478841e-03 1.20629222e+01] [-1.15086199e-03 9.99997142e-01 -2.09544528e-03 6.47828125e-01] [ 7.69238871e-03 2.10423754e-03 9.99968199e-01 -2.68292428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.094553574 meters Centerline goodness [0,1] 0.8548320938776238 Centerline is valid? [False, False] Translation: X:12.06, Y:0.65, Z:-2.68 [[ 9.99972008e-01 1.59983770e-03 -7.30910069e-03 1.20614220e+01] [-1.62080283e-03 9.99994587e-01 -2.86333735e-03 6.52487138e-01] [ 7.30448025e-03 2.87510381e-03 9.99969189e-01 -2.68213848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.124553574 meters Centerline goodness [0,1] 0.8583759875871663 Centerline is valid? [False, False] Translation: X:12.06, Y:0.65, Z:-2.68 [[ 9.99972287e-01 1.65777172e-03 -7.25783135e-03 1.20612139e+01] [-1.68140605e-03 9.99993300e-01 -3.25149990e-03 6.54311296e-01] [ 7.25239248e-03 3.26361316e-03 9.99968375e-01 -2.68205206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.154553574 meters Centerline goodness [0,1] 0.8548625322537593 Centerline is valid? [False, False] Translation: X:12.06, Y:0.66, Z:-2.68 [[ 9.99971721e-01 1.20195586e-03 -7.42371816e-03 1.20618866e+01] [-1.23561555e-03 9.99988971e-01 -4.53115370e-03 6.58156817e-01] [ 7.41819004e-03 4.54019842e-03 9.99962178e-01 -2.68265148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.18455357399995 meters Centerline goodness [0,1] 0.8518657248858448 Centerline is valid? [False, False] Translation: X:12.06, Y:0.66, Z:-2.68 [[ 9.99971407e-01 1.02994444e-03 -7.49157497e-03 1.20620599e+01] [-1.06798537e-03 9.99986549e-01 -5.07560225e-03 6.60018103e-01] [ 7.48624661e-03 5.08345802e-03 9.99959056e-01 -2.68273881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.214553574 meters Centerline goodness [0,1] 0.8504516082967406 Centerline is valid? [False, False] Translation: X:12.06, Y:0.66, Z:-2.68 [[ 9.99971008e-01 9.34147038e-04 -7.55719580e-03 1.20622438e+01] [-9.75925042e-04 9.99984253e-01 -5.52644405e-03 6.61687266e-01] [ 7.55191429e-03 5.53365908e-03 9.99956173e-01 -2.68286230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.24455357399995 meters Centerline goodness [0,1] 0.8498358081096516 Centerline is valid? [False, False] Translation: X:12.06, Y:0.67, Z:-2.68 [[ 9.99970305e-01 1.03684552e-03 -7.63632539e-03 1.20625496e+01] [-1.08498465e-03 9.99979550e-01 -6.30252249e-03 6.65174723e-01] [ 7.62963449e-03 6.31062064e-03 9.99950981e-01 -2.68341261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.274553574 meters Centerline goodness [0,1] 0.8756111101162228 Centerline is valid? [False, False] Translation: X:12.06, Y:0.67, Z:-2.69 [[ 9.99959019e-01 3.96227525e-03 -8.14012053e-03 1.20647849e+01] [-3.99412244e-03 9.99984419e-01 -3.89984933e-03 6.68572726e-01] [ 8.12454142e-03 3.93220215e-03 9.99959264e-01 -2.68501686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.30455357399995 meters Centerline goodness [0,1] 0.8775291533475007 Centerline is valid? [False, False] Translation: X:12.07, Y:0.67, Z:-2.69 [[ 9.99957782e-01 4.05213383e-03 -8.24710309e-03 1.20652687e+01] [-4.08897207e-03 9.99981717e-01 -4.45486131e-03 6.70769869e-01] [ 8.22890062e-03 4.48839541e-03 9.99956069e-01 -2.68559398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.334553574 meters Centerline goodness [0,1] 0.8479446421227672 Centerline is valid? [False, False] Translation: X:12.06, Y:0.67, Z:-2.69 [[ 9.99957963e-01 4.29798682e-03 -8.09934711e-03 1.20646489e+01] [-4.33647271e-03 9.99979363e-01 -4.74017184e-03 6.72633172e-01] [ 8.07880676e-03 4.77509517e-03 9.99955965e-01 -2.68522191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.36455357399996 meters Centerline goodness [0,1] 0.8459208040774138 Centerline is valid? [False, False] Translation: X:12.06, Y:0.68, Z:-2.68 [[ 9.99959995e-01 4.84020786e-03 -7.52204277e-03 1.20624527e+01] [-4.87922200e-03 9.99974696e-01 -5.17697421e-03 6.76598287e-01] [ 7.49679480e-03 5.21346882e-03 9.99958308e-01 -2.68385625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.394553574 meters Centerline goodness [0,1] 0.8812868632707774 Centerline is valid? [False, False] Translation: X:12.05, Y:0.68, Z:-2.69 [[ 9.99997830e-01 1.93339909e-03 -7.75720638e-04 1.20528464e+01] [-1.93435591e-03 9.99997367e-01 -1.23460917e-03 6.78657917e-01] [ 7.73331603e-04 1.23610701e-03 9.99998937e-01 -2.68614786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.42455357399996 meters Centerline goodness [0,1] 0.8739131211055366 Centerline is valid? [False, False] Translation: X:12.05, Y:0.68, Z:-2.69 [[ 9.99998854e-01 1.07265607e-03 -1.06798695e-03 1.20540217e+01] [-1.07583261e-03 9.99994986e-01 -2.97820976e-03 6.83316233e-01] [ 1.06478700e-03 2.97935533e-03 9.99994995e-01 -2.68697591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.454553574 meters Centerline goodness [0,1] 0.879122844673392 Centerline is valid? [False, False] Translation: X:12.05, Y:0.68, Z:-2.69 [[ 9.99999013e-01 5.48946710e-04 -1.29309601e-03 1.20547264e+01] [-5.53766367e-04 9.99992891e-01 -3.72981826e-03 6.84976112e-01] [ 1.29103935e-03 3.73053065e-03 9.99992208e-01 -2.68727031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.48455357399996 meters Centerline goodness [0,1] 0.8841781654393366 Centerline is valid? [False, False] Translation: X:12.06, Y:0.69, Z:-2.69 [[ 9.99998842e-01 -1.01122685e-04 -1.51880306e-03 1.20555208e+01] [ 9.42109391e-05 9.99989643e-01 -4.55016688e-03 6.86530167e-01] [ 1.51924746e-03 4.55001852e-03 9.99988495e-01 -2.68765666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.514553574 meters Centerline goodness [0,1] 0.8768870705518732 Centerline is valid? [False, False] Translation: X:12.06, Y:0.69, Z:-2.69 [[ 9.99995971e-01 -2.09718943e-03 -1.91285139e-03 1.20568794e+01] [ 2.08348135e-03 9.99972337e-01 -7.14036852e-03 6.91751555e-01] [ 1.92777318e-03 7.13635436e-03 9.99972678e-01 -2.68831745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.54455357399996 meters Centerline goodness [0,1] 0.8736742322619878 Centerline is valid? [False, False] Translation: X:12.06, Y:0.69, Z:-2.69 [[ 9.99994206e-01 -2.72031494e-03 -2.04662711e-03 1.20574846e+01] [ 2.70326280e-03 9.99961992e-01 -8.28895994e-03 6.94779926e-01] [ 2.06909790e-03 8.28337934e-03 9.99963552e-01 -2.68878802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.574553574 meters Centerline goodness [0,1] 0.872625 Centerline is valid? [False, False] Translation: X:12.06, Y:0.70, Z:-2.69 [[ 9.99988822e-01 -4.05143773e-03 -2.43756222e-03 1.20587119e+01] [ 4.02457309e-03 9.99932201e-01 -1.09268805e-02 7.02051017e-01] [ 2.48166653e-03 1.09169482e-02 9.99937329e-01 -2.68963793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.60455357399997 meters Centerline goodness [0,1] 0.8753015169653546 Centerline is valid? [False, False] Translation: X:12.06, Y:0.70, Z:-2.69 [[ 9.99993546e-01 -2.08589932e-03 -2.92535631e-03 1.20608463e+01] [ 2.05962136e-03 9.99957762e-01 -8.95725032e-03 7.04761677e-01] [ 2.94391667e-03 8.95116738e-03 9.99955604e-01 -2.69083529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.634553574 meters Centerline goodness [0,1] 0.8770015207084713 Centerline is valid? [False, False] Translation: X:12.06, Y:0.71, Z:-2.69 [[ 9.99994099e-01 -2.47115384e-04 -3.42636880e-03 1.20630657e+01] [ 2.22649613e-04 9.99974492e-01 -7.13898103e-03 7.07394712e-01] [ 3.42804556e-03 7.13817603e-03 9.99968647e-01 -2.69208017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.66455357399997 meters Centerline goodness [0,1] 0.8791151803436992 Centerline is valid? [False, False] Translation: X:12.06, Y:0.71, Z:-2.69 [[ 9.99993798e-01 -6.92784163e-04 -3.45312871e-03 1.20628573e+01] [ 6.61124183e-04 9.99957817e-01 -9.16121561e-03 7.14276921e-01] [ 3.45932979e-03 9.15887584e-03 9.99952073e-01 -2.69196713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.694553574 meters Centerline goodness [0,1] 0.8813613972234662 Centerline is valid? [False, False] Translation: X:12.06, Y:0.72, Z:-2.69 [[ 9.99991738e-01 1.82484102e-03 -3.63237528e-03 1.20630405e+01] [-1.85434807e-03 9.99965178e-01 -8.13662469e-03 7.21990624e-01] [ 3.61740074e-03 8.14329316e-03 9.99960300e-01 -2.69188270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.72455357399997 meters Centerline goodness [0,1] 0.880783555364561 Centerline is valid? [False, False] Translation: X:12.06, Y:0.73, Z:-2.69 [[ 9.99980621e-01 4.89687936e-03 -3.84426497e-03 1.20639187e+01] [-4.91917152e-03 9.99971017e-01 -5.81093118e-03 7.26237503e-01] [ 3.81569812e-03 5.82972917e-03 9.99975727e-01 -2.69240467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.754553574 meters Centerline goodness [0,1] 0.8768351049527667 Centerline is valid? [False, False] Translation: X:12.07, Y:0.73, Z:-2.69 [[ 9.99959242e-01 8.05260758e-03 -4.08289214e-03 1.20650447e+01] [-8.06694697e-03 9.99961309e-01 -3.50784599e-03 7.30650458e-01] [ 4.05448686e-03 3.54063949e-03 9.99985512e-01 -2.69316134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.784553574 meters Centerline goodness [0,1] 0.8670505758637956 Centerline is valid? [False, False] Translation: X:12.07, Y:0.74, Z:-2.69 [[ 9.99926630e-01 1.12579409e-02 -4.47145540e-03 1.20663960e+01] [-1.12693538e-02 9.99933284e-01 -2.53545697e-03 7.39357474e-01] [ 4.44261306e-03 2.58566135e-03 9.99986789e-01 -2.69426319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.814553574 meters Centerline goodness [0,1] 0.870182338219521 Centerline is valid? [False, False] Translation: X:12.07, Y:0.74, Z:-2.69 [[ 9.99923177e-01 1.15727254e-02 -4.43985353e-03 1.20663721e+01] [-1.15882692e-02 9.99926758e-01 -3.49138073e-03 7.43295504e-01] [ 4.39912356e-03 3.54256273e-03 9.99984049e-01 -2.69446861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.844553574 meters Centerline goodness [0,1] 0.8589906208128629 Centerline is valid? [False, False] Translation: X:12.07, Y:0.75, Z:-2.69 [[ 9.99877197e-01 1.50723894e-02 -4.29112394e-03 1.20657556e+01] [-1.50813099e-02 9.99884161e-01 -2.05412557e-03 7.51201834e-01] [ 4.25966628e-03 2.11858909e-03 9.99988683e-01 -2.69416108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.874553574 meters Centerline goodness [0,1] 0.8666678586754398 Centerline is valid? [False, False] Translation: X:12.07, Y:0.76, Z:-2.69 [[ 9.99869566e-01 1.56034367e-02 -4.16947569e-03 1.20654427e+01] [-1.56162990e-02 9.99873344e-01 -3.07032500e-03 7.56119560e-01] [ 4.12103998e-03 3.13503630e-03 9.99986594e-01 -2.69440736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.904553574 meters Centerline goodness [0,1] 0.8584558166148124 Centerline is valid? [False, False] Translation: X:12.07, Y:0.76, Z:-2.69 [[ 9.99861584e-01 1.61029774e-02 -4.18402948e-03 1.20655199e+01] [-1.61199955e-02 9.99861797e-01 -4.06602240e-03 7.61228087e-01] [ 4.11797617e-03 4.13290614e-03 9.99982981e-01 -2.69478771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.93455357399995 meters Centerline goodness [0,1] 0.8618117419770313 Centerline is valid? [False, False] Translation: X:12.07, Y:0.77, Z:-2.70 [[ 9.99810756e-01 1.89348266e-02 -4.46370939e-03 1.20665784e+01] [-1.89497790e-02 9.99814886e-01 -3.33161222e-03 7.70294204e-01] [ 4.39979960e-03 3.41556804e-03 9.99984488e-01 -2.69567685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.964553574 meters Centerline goodness [0,1] 0.8605583392984968 Centerline is valid? [False, False] Translation: X:12.07, Y:0.77, Z:-2.70 [[ 9.99810840e-01 1.88944803e-02 -4.61338604e-03 1.20672413e+01] [-1.89156749e-02 9.99810526e-01 -4.59456064e-03 7.74478757e-01] [ 4.52570009e-03 4.68095684e-03 9.99978803e-01 -2.69635854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.99455357399995 meters Centerline goodness [0,1] 0.8650505992966339 Centerline is valid? [False, False] Translation: X:12.07, Y:0.78, Z:-2.70 [[ 9.99752225e-01 2.17390208e-02 -4.78577308e-03 1.20677687e+01] [-2.17549553e-02 9.99757877e-01 -3.30306369e-03 7.81260665e-01] [ 4.71280896e-03 3.40635955e-03 9.99983093e-01 -2.69655284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.024553574 meters Centerline goodness [0,1] 0.8563005572532806 Centerline is valid? [False, False] Translation: X:12.07, Y:0.79, Z:-2.70 [[ 9.99748900e-01 2.18803837e-02 -4.83591362e-03 1.20682353e+01] [-2.19015049e-02 9.99750632e-01 -4.35865097e-03 7.85035315e-01] [ 4.73933874e-03 4.46347029e-03 9.99978808e-01 -2.69731883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.05455357399995 meters Centerline goodness [0,1] 0.8594013566378351 Centerline is valid? [False, False] Translation: X:12.07, Y:0.79, Z:-2.70 [[ 9.99746410e-01 2.19363602e-02 -5.09038037e-03 1.20694064e+01] [-2.19648487e-02 9.99743005e-01 -5.60979388e-03 7.89380673e-01] [ 4.96601371e-03 5.72018073e-03 9.99971309e-01 -2.69847969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.084553574 meters Centerline goodness [0,1] 0.8605352972875876 Centerline is valid? [False, False] Translation: X:12.07, Y:0.80, Z:-2.70 [[ 9.99676228e-01 2.48788483e-02 -5.33694210e-03 1.20705893e+01] [-2.49027904e-02 9.99679895e-01 -4.46756517e-03 7.97240883e-01] [ 5.22408584e-03 4.59902345e-03 9.99975779e-01 -2.69952483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.11455357399996 meters Centerline goodness [0,1] 0.859037874708311 Centerline is valid? [False, False] Translation: X:12.07, Y:0.80, Z:-2.70 [[ 9.99673322e-01 2.49682167e-02 -5.46234410e-03 1.20711558e+01] [-2.49984566e-02 9.99672141e-01 -5.53967262e-03 8.01317017e-01] [ 5.32223747e-03 5.67441310e-03 9.99969737e-01 -2.70009044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.144553574 meters Centerline goodness [0,1] 0.8552264839689989 Centerline is valid? [False, False] Translation: X:12.07, Y:0.81, Z:-2.70 [[ 9.99594540e-01 2.79210992e-02 -5.58286966e-03 1.20715148e+01] [-2.79438796e-02 9.99601310e-01 -4.04490351e-03 8.07865566e-01] [ 5.46770567e-03 4.19927050e-03 9.99976235e-01 -2.70010266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.17455357399996 meters Centerline goodness [0,1] 0.8546643198390746 Centerline is valid? [False, False] Translation: X:12.07, Y:0.81, Z:-2.70 [[ 9.99592146e-01 2.79945804e-02 -5.64322300e-03 1.20718013e+01] [-2.80226000e-02 9.99595040e-01 -4.94878912e-03 8.11034642e-01] [ 5.50239844e-03 5.10490851e-03 9.99971831e-01 -2.70034707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.204553574 meters Centerline goodness [0,1] 0.8545092266819847 Centerline is valid? [False, False] Translation: X:12.07, Y:0.82, Z:-2.70 [[ 9.99554665e-01 2.93520336e-02 -5.37863677e-03 1.20703669e+01] [-2.93797811e-02 9.99555031e-01 -5.15454317e-03 8.16841374e-01] [ 5.22494712e-03 5.31027084e-03 9.99972250e-01 -2.69914824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.23455357399996 meters Centerline goodness [0,1] 0.8559058654450732 Centerline is valid? [False, False] Translation: X:12.07, Y:0.82, Z:-2.70 [[ 9.99542858e-01 2.97510618e-02 -5.38045161e-03 1.20703810e+01] [-2.97818258e-02 9.99539994e-01 -5.73095434e-03 8.19907900e-01] [ 5.20747460e-03 5.88857415e-03 9.99969103e-01 -2.69925720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.264553574 meters Centerline goodness [0,1] 0.8559058654450732 Centerline is valid? [False, False] Translation: X:12.07, Y:0.82, Z:-2.70 [[ 9.99542858e-01 2.97510618e-02 -5.38045161e-03 1.20703810e+01] [-2.97818258e-02 9.99539994e-01 -5.73095434e-03 8.19907900e-01] [ 5.20747460e-03 5.88857415e-03 9.99969103e-01 -2.69925720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.29455357399996 meters Centerline goodness [0,1] 0.8539412535213795 Centerline is valid? [False, False] Translation: X:12.07, Y:0.82, Z:-2.70 [[ 9.99526870e-01 3.02741645e-02 -5.43236336e-03 1.20705403e+01] [-3.03081296e-02 9.99520856e-01 -6.28292196e-03 8.23082464e-01] [ 5.23955026e-03 6.44459410e-03 9.99965507e-01 -2.69946571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.324553574 meters Centerline goodness [0,1] 0.8522835266904553 Centerline is valid? [False, False] Translation: X:12.07, Y:0.83, Z:-2.70 [[ 9.99401675e-01 3.41586002e-02 -5.42977294e-03 1.20712009e+01] [-3.41782169e-02 9.99409406e-01 -3.56199447e-03 8.27298833e-01] [ 5.30489341e-03 3.74544320e-03 9.99978915e-01 -2.69993067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.35455357399997 meters Centerline goodness [0,1] 0.8518618311149432 Centerline is valid? [False, False] Translation: X:12.07, Y:0.83, Z:-2.70 [[ 9.99390779e-01 3.44681888e-02 -5.47851047e-03 1.20714154e+01] [-3.44905081e-02 9.99396888e-01 -4.03307295e-03 8.29440913e-01] [ 5.33619359e-03 4.21957253e-03 9.99976860e-01 -2.70011925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.384553574 meters Centerline goodness [0,1] 0.8516237904601188 Centerline is valid? [False, False] Translation: X:12.07, Y:0.83, Z:-2.70 [[ 9.99381825e-01 3.47127497e-02 -5.56718676e-03 1.20719329e+01] [-3.47386233e-02 9.99385752e-01 -4.62015151e-03 8.31876780e-01] [ 5.40338897e-03 4.81069185e-03 9.99973830e-01 -2.70069020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.41455357399997 meters Centerline goodness [0,1] 0.8496675651392632 Centerline is valid? [False, False] Translation: X:12.07, Y:0.84, Z:-2.70 [[ 9.99341468e-01 3.58409986e-02 -5.66160286e-03 1.20721415e+01] [-3.58684226e-02 9.99344903e-01 -4.81891282e-03 8.36283303e-01] [ 5.48517931e-03 5.01881218e-03 9.99972362e-01 -2.70088062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.444553574 meters Centerline goodness [0,1] 0.8497531196696293 Centerline is valid? [False, False] Translation: X:12.07, Y:0.84, Z:-2.70 [[ 9.99341358e-01 3.58261216e-02 -5.77394577e-03 1.20725613e+01] [-3.58567607e-02 9.99342921e-01 -5.29324917e-03 8.37819452e-01] [ 5.58051525e-03 5.49679781e-03 9.99969321e-01 -2.70113788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.47455357399997 meters Centerline goodness [0,1] 0.84889024565436 Centerline is valid? [False, False] Translation: X:12.07, Y:0.84, Z:-2.70 [[ 9.99340774e-01 3.58097476e-02 -5.97328198e-03 1.20731181e+01] [-3.58447756e-02 9.99340166e-01 -5.86389495e-03 8.40023239e-01] [ 5.75935601e-03 6.07414027e-03 9.99964967e-01 -2.70138554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.504553574 meters Centerline goodness [0,1] 0.8483945118885138 Centerline is valid? [False, False] Translation: X:12.07, Y:0.84, Z:-2.70 [[ 9.99344710e-01 3.56690747e-02 -6.15364686e-03 1.20738315e+01] [-3.57076410e-02 9.99342575e-01 -6.27549138e-03 8.41223544e-01] [ 5.92576033e-03 6.49111133e-03 9.99961375e-01 -2.70191041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.534553574 meters Centerline goodness [0,1] 0.8479029450297015 Centerline is valid? [False, False] Translation: X:12.07, Y:0.84, Z:-2.70 [[ 9.99344734e-01 3.56610673e-02 -6.19607389e-03 1.20740539e+01] [-3.57023264e-02 9.99340136e-01 -6.68101517e-03 8.42669167e-01] [ 5.95373319e-03 6.89785157e-03 9.99958485e-01 -2.70210418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.564553574 meters Centerline goodness [0,1] 0.8457617688759669 Centerline is valid? [False, False] Translation: X:12.07, Y:0.85, Z:-2.70 [[ 9.99337871e-01 3.58377879e-02 -6.28266186e-03 1.20742113e+01] [-3.58831309e-02 9.99329626e-01 -7.25942065e-03 8.45226906e-01] [ 6.01828855e-03 7.48005556e-03 9.99953913e-01 -2.70205920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.594553574 meters Centerline goodness [0,1] 0.8464964263908343 Centerline is valid? [False, False] Translation: X:12.07, Y:0.85, Z:-2.70 [[ 9.99331972e-01 3.59869091e-02 -6.36812855e-03 1.20745198e+01] [-3.60344093e-02 9.99322342e-01 -7.50847299e-03 8.46286204e-01] [ 6.09360640e-03 7.73292887e-03 9.99951534e-01 -2.70225946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.624553574 meters Centerline goodness [0,1] 0.8445249973082583 Centerline is valid? [False, False] Translation: X:12.07, Y:0.85, Z:-2.70 [[ 9.99307165e-01 3.66826721e-02 -6.29057058e-03 1.20743187e+01] [-3.67315553e-02 9.99294416e-01 -7.83984438e-03 8.48979930e-01] [ 5.99854562e-03 8.06547510e-03 9.99949482e-01 -2.70217511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.654553574 meters Centerline goodness [0,1] 0.8462035773292149 Centerline is valid? [False, False] Translation: X:12.07, Y:0.85, Z:-2.70 [[ 9.99291473e-01 3.71145429e-02 -6.25008809e-03 1.20741058e+01] [-3.71641135e-02 9.99277064e-01 -8.01112920e-03 8.50662649e-01] [ 5.94824028e-03 8.23773207e-03 9.99948378e-01 -2.70199931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.68455357399995 meters Centerline goodness [0,1] 0.8457535573938165 Centerline is valid? [False, False] Translation: X:12.08, Y:0.85, Z:-2.70 [[ 9.99156305e-01 4.05695608e-02 -6.38666304e-03 1.20755851e+01] [-4.06045761e-02 9.99160421e-01 -5.45179207e-03 8.54354288e-01] [ 6.16012412e-03 5.70652017e-03 9.99964744e-01 -2.70300124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.714553574 meters Centerline goodness [0,1] 0.8468306697791345 Centerline is valid? [False, False] Translation: X:12.08, Y:0.86, Z:-2.70 [[ 9.99132238e-01 4.11716664e-02 -6.29796707e-03 1.20753157e+01] [-4.12079788e-02 9.99134052e-01 -5.74887324e-03 8.56958595e-01] [ 6.05582266e-03 6.00341108e-03 9.99963642e-01 -2.70285998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.74455357399995 meters Centerline goodness [0,1] 0.8434450344431688 Centerline is valid? [False, False] Translation: X:12.08, Y:0.86, Z:-2.70 [[ 9.98963927e-01 4.51017804e-02 -6.07469845e-03 1.20754072e+01] [-4.51198164e-02 9.98977473e-01 -2.86539453e-03 8.60774365e-01] [ 5.93925251e-03 3.13651505e-03 9.99977444e-01 -2.70290195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.774553574 meters Centerline goodness [0,1] 0.844446039808317 Centerline is valid? [False, False] Translation: X:12.08, Y:0.86, Z:-2.70 [[ 9.98946533e-01 4.54742241e-02 -6.15777540e-03 1.20757906e+01] [-4.54956164e-02 9.98958822e-01 -3.37961448e-03 8.63292885e-01] [ 5.99767871e-03 3.65620596e-03 9.99975330e-01 -2.70318338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.80455357399995 meters Centerline goodness [0,1] 0.8451440270095539 Centerline is valid? [False, False] Translation: X:12.08, Y:0.87, Z:-2.70 [[ 9.98937215e-01 4.56742938e-02 -6.18866159e-03 1.20760952e+01] [-4.57000037e-02 9.98946883e-01 -4.07859749e-03 8.65927953e-01] [ 5.99585714e-03 4.35708467e-03 9.99972532e-01 -2.70355222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.834553574 meters Centerline goodness [0,1] 0.8484108895788095 Centerline is valid? [False, False] Translation: X:12.08, Y:0.87, Z:-2.70 [[ 9.98914447e-01 4.61434772e-02 -6.38023802e-03 1.20770754e+01] [-4.61767360e-02 9.98919920e-01 -5.16753472e-03 8.71267352e-01] [ 6.13489883e-03 5.45654365e-03 9.99966294e-01 -2.70446410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.86455357399996 meters Centerline goodness [0,1] 0.8441870904030883 Centerline is valid? [False, False] Translation: X:12.08, Y:0.87, Z:-2.70 [[ 9.98920890e-01 4.59885196e-02 -6.48930843e-03 1.20776034e+01] [-4.60273992e-02 9.98922309e-01 -5.97480404e-03 8.73820380e-01] [ 6.20754257e-03 6.26704256e-03 9.99961095e-01 -2.70490146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.894553574 meters Centerline goodness [0,1] 0.8436319821601985 Centerline is valid? [False, False] Translation: X:12.07, Y:0.88, Z:-2.71 [[ 9.99128184e-01 4.17268611e-02 -1.31953945e-03 1.20706850e+01] [-4.17326218e-02 9.99117807e-01 -4.69002060e-03 8.78147891e-01] [ 1.12267552e-03 4.74099961e-03 9.99988131e-01 -2.70910397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.92455357399996 meters Centerline goodness [0,1] 0.84299347603386 Centerline is valid? [False, False] Translation: X:12.07, Y:0.88, Z:-2.71 [[ 9.99156124e-01 4.10473088e-02 -1.46928014e-03 1.20712551e+01] [-4.10550368e-02 9.99140708e-01 -5.68595730e-03 8.80134099e-01] [ 1.23462436e-03 5.74148040e-03 9.99982755e-01 -2.70943093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.954553574 meters Centerline goodness [0,1] 0.8428168203800586 Centerline is valid? [False, False] Translation: X:12.06, Y:0.88, Z:-2.71 [[ 9.99359445e-01 3.56119889e-02 3.53354891e-03 1.20645710e+01] [-3.55926386e-02 9.99351815e-01 -5.39574898e-03 8.84514872e-01] [-3.72341187e-03 5.26652437e-03 9.99979200e-01 -2.71369309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.98455357399996 meters Centerline goodness [0,1] 0.8432577104776275 Centerline is valid? [False, False] Translation: X:12.07, Y:0.89, Z:-2.71 [[ 9.99387339e-01 3.48390688e-02 3.34448240e-03 1.20652812e+01] [-3.48165309e-02 9.99372087e-01 -6.57583876e-03 8.86964653e-01] [-3.57147845e-03 6.45536672e-03 9.99972786e-01 -2.71410349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.014553574 meters Centerline goodness [0,1] 0.8438482122012104 Centerline is valid? [False, False] Translation: X:12.07, Y:0.89, Z:-2.71 [[ 9.99410614e-01 3.41827816e-02 3.15629547e-03 1.20659366e+01] [-3.41576741e-02 9.99386850e-01 -7.69267215e-03 8.89527323e-01] [-3.41731712e-03 7.58032649e-03 9.99965430e-01 -2.71445184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.04455357399996 meters Centerline goodness [0,1] 0.8424133596695995 Centerline is valid? [False, False] Translation: X:12.06, Y:0.90, Z:-2.72 [[ 9.99508028e-01 3.02555434e-02 8.26463294e-03 1.20590619e+01] [-3.02024425e-02 9.99522823e-01 -6.47608513e-03 8.95418457e-01] [-8.45662672e-03 6.22328698e-03 9.99944877e-01 -2.71858515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.074553574 meters Centerline goodness [0,1] 0.842273445354014 Centerline is valid? [False, False] Translation: X:12.06, Y:0.90, Z:-2.72 [[ 9.99514791e-01 3.00906634e-02 8.04572804e-03 1.20598615e+01] [-3.00296883e-02 9.99520152e-01 -7.59494492e-03 8.98878100e-01] [-8.27040424e-03 7.34964908e-03 9.99938790e-01 -2.71905111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.10455357399997 meters Centerline goodness [0,1] 0.8437146296329566 Centerline is valid? [False, False] Translation: X:12.06, Y:0.91, Z:-2.72 [[ 9.99424715e-01 3.29624348e-02 7.98226685e-03 1.20606029e+01] [-3.29132107e-02 9.99438849e-01 -6.22149778e-03 9.05316970e-01] [-8.18286331e-03 5.95519662e-03 9.99948787e-01 -2.71950705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.134553574 meters Centerline goodness [0,1] 0.8419785471728624 Centerline is valid? [False, False] Translation: X:12.06, Y:0.91, Z:-2.72 [[ 9.99418827e-01 3.31879704e-02 7.78248631e-03 1.20614178e+01] [-3.31320804e-02 9.99425020e-01 -7.20374497e-03 9.08969599e-01] [-8.01708922e-03 6.94170838e-03 9.99943768e-01 -2.72014818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.16455357399997 meters Centerline goodness [0,1] 0.8423437190989015 Centerline is valid? [False, False] Translation: X:12.06, Y:0.92, Z:-2.72 [[ 9.99319684e-01 3.61040151e-02 7.52783642e-03 1.20633397e+01] [-3.60597735e-02 9.99332027e-01 -5.93226372e-03 9.15881114e-01] [-7.73698657e-03 5.65677583e-03 9.99954069e-01 -2.72175395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.194553574 meters Centerline goodness [0,1] 0.841868661439977 Centerline is valid? [False, False] Translation: X:12.06, Y:0.92, Z:-2.72 [[ 9.99321660e-01 3.60693562e-02 7.43115761e-03 1.20639317e+01] [-3.60171513e-02 9.99326353e-01 -7.04314771e-03 9.19709206e-01] [-7.68019343e-03 6.77072093e-03 9.99947585e-01 -2.72233395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.22455357399997 meters Centerline goodness [0,1] 0.8413908415886087 Centerline is valid? [False, False] Translation: X:12.06, Y:0.93, Z:-2.72 [[ 9.99338273e-01 3.56128719e-02 7.39861882e-03 1.20642662e+01] [-3.55453571e-02 9.99326952e-01 -9.06479484e-03 9.26148577e-01] [-7.71646257e-03 8.79580987e-03 9.99931543e-01 -2.72257501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.254553574 meters Centerline goodness [0,1] 0.8413319922408219 Centerline is valid? [False, False] Translation: X:12.06, Y:0.93, Z:-2.72 [[ 9.99352879e-01 3.52318877e-02 7.24821151e-03 1.20648263e+01] [-3.51585901e-02 9.99331684e-01 -1.00029396e-02 9.28707954e-01] [-7.59578987e-03 9.74162963e-03 9.99923699e-01 -2.72288152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.284553574 meters Centerline goodness [0,1] 0.8418781908391457 Centerline is valid? [False, False] Translation: X:12.06, Y:0.93, Z:-2.73 [[ 9.99473223e-01 2.99561154e-02 1.24863265e-02 1.20561284e+01] [-2.98483355e-02 9.99516309e-01 -8.73065557e-03 9.32359791e-01] [-1.27418235e-02 8.35336040e-03 9.99883927e-01 -2.72642015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.314553574 meters Centerline goodness [0,1] 0.8425499784265784 Centerline is valid? [False, False] Translation: X:12.06, Y:0.93, Z:-2.73 [[ 9.99498277e-01 2.91444684e-02 1.24013508e-02 1.20564328e+01] [-2.90248422e-02 9.99531437e-01 -9.71931819e-03 9.34002505e-01] [-1.26788044e-02 9.35449454e-03 9.99875863e-01 -2.72658316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.344553574 meters Centerline goodness [0,1] 0.8420873062902907 Centerline is valid? [False, False] Translation: X:12.05, Y:0.94, Z:-2.73 [[ 9.99580295e-01 2.32043403e-02 1.73433731e-02 1.20474270e+01] [-2.30713544e-02 9.99703166e-01 -7.82900039e-03 9.37814536e-01] [-1.75198918e-02 7.42557942e-03 9.99818941e-01 -2.73061648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.374553574 meters Centerline goodness [0,1] 0.8435828397056184 Centerline is valid? [False, False] Translation: X:12.04, Y:0.94, Z:-2.73 [[ 9.99553633e-01 1.96316063e-02 2.25196704e-02 1.20374495e+01] [-1.95680550e-02 9.99803909e-01 -3.03895522e-03 9.38786452e-01] [-2.25749141e-02 2.59693259e-03 9.99741781e-01 -2.73369616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.404553574 meters Centerline goodness [0,1] 0.8428789648665649 Centerline is valid? [False, False] Translation: X:12.03, Y:0.94, Z:-2.73 [[ 9.99778848e-01 1.50333588e-02 1.47055499e-02 1.20285728e+01] [-1.50626341e-02 9.99884781e-01 1.88202898e-03 9.40038876e-01] [-1.46755623e-02 -2.10311708e-03 9.99890096e-01 -2.72987496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.43455357399995 meters Centerline goodness [0,1] 0.8425109142846876 Centerline is valid? [False, False] Translation: X:12.03, Y:0.94, Z:-2.73 [[ 9.99788602e-01 1.46359135e-02 1.44409296e-02 1.20295181e+01] [-1.46490111e-02 9.99892376e-01 8.01608296e-04 9.42597813e-01] [-1.44276432e-02 -1.01298418e-03 9.99895403e-01 -2.73049075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.464553574 meters Centerline goodness [0,1] 0.8425109142846876 Centerline is valid? [False, False] Translation: X:12.03, Y:0.94, Z:-2.73 [[ 9.99788602e-01 1.46359135e-02 1.44409296e-02 1.20295181e+01] [-1.46490111e-02 9.99892376e-01 8.01608296e-04 9.42597813e-01] [-1.44276432e-02 -1.01298418e-03 9.99895403e-01 -2.73049075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.49455357399995 meters Centerline goodness [0,1] 0.8433278240873814 Centerline is valid? [False, False] Translation: X:12.03, Y:0.95, Z:-2.73 [[ 9.99774705e-01 1.54798000e-02 1.45229076e-02 1.20291117e+01] [-1.54860369e-02 9.99880034e-01 3.17088043e-04 9.45905020e-01] [-1.45162569e-02 -5.41918888e-04 9.99894487e-01 -2.73006503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.524553574 meters Centerline goodness [0,1] 0.8433455981333573 Centerline is valid? [False, False] Translation: X:12.03, Y:0.95, Z:-2.73 [[ 9.99760173e-01 1.63218364e-02 1.46011664e-02 1.20289916e+01] [-1.63251713e-02 9.99866730e-01 1.09227775e-04 9.48479278e-01] [-1.45974377e-02 -3.47568122e-04 9.99893391e-01 -2.73023243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.55455357399995 meters Centerline goodness [0,1] 0.8437455171424473 Centerline is valid? [False, False] Translation: X:12.03, Y:0.95, Z:-2.73 [[ 9.99672451e-01 2.09886486e-02 1.46447031e-02 1.20294000e+01] [-2.10347429e-02 9.99774243e-01 3.00058234e-03 9.54391175e-01] [-1.45784188e-02 -3.30764706e-03 9.99888258e-01 -2.73083097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.584553574 meters Centerline goodness [0,1] 0.8438235135669008 Centerline is valid? [False, False] Translation: X:12.03, Y:0.96, Z:-2.73 [[ 9.99653060e-01 2.19659549e-02 1.45346662e-02 1.20297359e+01] [-2.20070293e-02 9.99754245e-01 2.67206179e-03 9.57694389e-01] [-1.44723998e-02 -2.99099957e-03 9.99890796e-01 -2.73119927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.61455357399996 meters Centerline goodness [0,1] 0.8430007178750898 Centerline is valid? [False, False] Translation: X:12.03, Y:0.96, Z:-2.73 [[ 9.99638963e-01 2.26767716e-02 1.44120602e-02 1.20302634e+01] [-2.27115075e-02 9.99739526e-01 2.25109749e-03 9.60386349e-01] [-1.43572586e-02 -2.57760437e-03 9.99893607e-01 -2.73168926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.644553574 meters Centerline goodness [0,1] 0.8427074939564867 Centerline is valid? [False, False] Translation: X:12.03, Y:0.96, Z:-2.73 [[ 9.99613781e-01 2.37256485e-02 1.44700646e-02 1.20300944e+01] [-2.37523128e-02 9.99716473e-01 1.67363583e-03 9.64122365e-01] [-1.44262538e-02 -2.01668694e-03 9.99893902e-01 -2.73167720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.67455357399996 meters Centerline goodness [0,1] 0.842949463847765 Centerline is valid? [False, False] Translation: X:12.03, Y:0.97, Z:-2.73 [[ 9.99610583e-01 2.38333584e-02 1.45139373e-02 1.20299604e+01] [-2.38529760e-02 9.99714781e-01 1.18000497e-03 9.65869768e-01] [-1.44816742e-02 -1.52574606e-03 9.99893971e-01 -2.73152975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.704553574 meters Centerline goodness [0,1] 0.8442238073049213 Centerline is valid? [False, False] Translation: X:12.03, Y:0.97, Z:-2.73 [[ 9.99609654e-01 2.37656841e-02 1.46877848e-02 1.20295526e+01] [-2.37704702e-02 9.99717431e-01 1.51336879e-04 9.69135458e-01] [-1.46800379e-02 -5.00413356e-04 9.99892117e-01 -2.73138038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.73455357399996 meters Centerline goodness [0,1] 0.8446076675026872 Centerline is valid? [False, False] Translation: X:12.03, Y:0.97, Z:-2.73 [[ 9.99617815e-01 2.35013993e-02 1.45570804e-02 1.20302170e+01] [-2.34970447e-02 9.99723796e-01 -4.70130073e-04 9.70784380e-01] [-1.45641083e-02 1.27902029e-04 9.99893930e-01 -2.73200438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.764553574 meters Centerline goodness [0,1] 0.8442386573286285 Centerline is valid? [False, False] Translation: X:12.02, Y:0.97, Z:-2.74 [[ 9.99645601e-01 1.84072213e-02 1.92314035e-02 1.20218257e+01] [-1.84598119e-02 9.99826324e-01 2.56067166e-03 9.72678806e-01] [-1.91809286e-02 -2.91477225e-03 9.99811780e-01 -2.73664591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.79455357399996 meters Centerline goodness [0,1] 0.8437007309731976 Centerline is valid? [False, False] Translation: X:12.02, Y:0.97, Z:-2.73 [[ 9.99686175e-01 1.57300481e-02 1.94965693e-02 1.20197399e+01] [-1.57255881e-02 9.99876272e-01 -3.82062448e-04 9.73176545e-01] [-1.95001668e-02 7.53475309e-05 9.99809851e-01 -2.73491685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.824553574 meters Centerline goodness [0,1] 0.8445905987347897 Centerline is valid? [False, False] Translation: X:12.02, Y:0.97, Z:-2.73 [[ 9.99703789e-01 1.47915732e-02 1.93272706e-02 1.20201023e+01] [-1.47802982e-02 9.99890502e-01 -7.26092040e-04 9.72247336e-01] [-1.93358943e-02 4.40214140e-04 9.99812947e-01 -2.73483079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.85455357399997 meters Centerline goodness [0,1] 0.8449934607735994 Centerline is valid? [False, False] Translation: X:12.01, Y:0.97, Z:-2.73 [[ 9.99837386e-01 8.72300183e-03 1.57832258e-02 1.20083271e+01] [-8.80749013e-03 9.99947213e-01 5.29147458e-03 9.69796781e-01] [-1.57362352e-02 -5.42962472e-03 9.99861435e-01 -2.73125203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.884553574 meters Centerline goodness [0,1] 0.8460160825259236 Centerline is valid? [False, False] Translation: X:12.01, Y:0.97, Z:-2.73 [[ 9.99841446e-01 8.46256461e-03 1.56674086e-02 1.20087501e+01] [-8.54133312e-03 9.99951184e-01 4.96746868e-03 9.70293594e-01] [-1.56246063e-02 -5.10050162e-03 9.99864919e-01 -2.73150840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.91455357399997 meters Centerline goodness [0,1] 0.8454249651374834 Centerline is valid? [False, False] Translation: X:12.01, Y:0.97, Z:-2.73 [[ 9.99841650e-01 8.79420728e-03 1.54704971e-02 1.20092685e+01] [-8.86414552e-03 9.99950775e-01 4.45800115e-03 9.72826475e-01] [-1.54305310e-02 -4.59442796e-03 9.99870387e-01 -2.73185173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.944553574 meters Centerline goodness [0,1] 0.8452018483361392 Centerline is valid? [False, False] Translation: X:12.01, Y:0.98, Z:-2.73 [[ 9.99892212e-01 1.28749825e-02 7.05686710e-03 1.20088672e+01] [-1.28455402e-02 9.99908665e-01 -4.20171235e-03 9.75625835e-01] [-7.11031953e-03 4.11061018e-03 9.99966273e-01 -2.73016768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.97455357399997 meters Centerline goodness [0,1] 0.845150220728852 Centerline is valid? [False, False] Translation: X:12.01, Y:0.98, Z:-2.73 [[ 9.99881088e-01 1.38449451e-02 6.79168355e-03 1.20097559e+01] [-1.38179816e-02 9.99896522e-01 -4.00106743e-03 9.76873727e-01] [-6.84637532e-03 3.90674429e-03 9.99968932e-01 -2.73084041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.004553574 meters Centerline goodness [0,1] 0.843850554165177 Centerline is valid? [False, False] Translation: X:12.01, Y:0.98, Z:-2.73 [[ 9.99878558e-01 1.40679780e-02 6.70535034e-03 1.20100378e+01] [-1.40411915e-02 9.99893315e-01 -4.02527325e-03 9.77346474e-01] [-6.76126244e-03 3.93063330e-03 9.99969417e-01 -2.73100089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.034553574 meters Centerline goodness [0,1] 0.8447230518841772 Centerline is valid? [False, False] Translation: X:12.01, Y:0.98, Z:-2.73 [[ 9.99869492e-01 1.46619907e-02 6.78416524e-03 1.20097737e+01] [-1.46341003e-02 9.99884334e-01 -4.14264490e-03 9.78952817e-01] [-6.84411996e-03 4.04282410e-03 9.99968406e-01 -2.73087157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.064553574 meters Centerline goodness [0,1] 0.8437243055803811 Centerline is valid? [False, False] Translation: X:12.01, Y:0.98, Z:-2.73 [[ 9.99867488e-01 1.48533661e-02 6.66213527e-03 1.20102960e+01] [-1.48230337e-02 9.99879646e-01 -4.57947168e-03 9.80757861e-01] [-6.72935402e-03 4.48011179e-03 9.99967322e-01 -2.73135679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.094553574 meters Centerline goodness [0,1] 0.8454522693944705 Centerline is valid? [False, False] Translation: X:12.01, Y:0.98, Z:-2.73 [[ 9.99858831e-01 1.54605108e-02 6.57950889e-03 1.20106439e+01] [-1.54271406e-02 9.99868025e-01 -5.09271312e-03 9.83913240e-01] [-6.65737651e-03 4.99049118e-03 9.99965387e-01 -2.73173436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.124553574 meters Centerline goodness [0,1] 0.8439584413726506 Centerline is valid? [False, False] Translation: X:12.01, Y:0.98, Z:-2.73 [[ 9.99861075e-01 1.54132308e-02 6.34534582e-03 1.20113675e+01] [-1.53788791e-02 9.99867008e-01 -5.42733689e-03 9.84827009e-01] [-6.42815474e-03 5.32899859e-03 9.99965140e-01 -2.73214391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.154553574 meters Centerline goodness [0,1] 0.8432658458569361 Centerline is valid? [False, False] Translation: X:12.01, Y:0.99, Z:-2.73 [[ 9.99869635e-01 1.48995982e-02 6.22217219e-03 1.20120471e+01] [-1.48617153e-02 9.99871007e-01 -6.09086355e-03 9.85870965e-01] [-6.31212099e-03 5.99759737e-03 9.99962092e-01 -2.73281574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.18455357399995 meters Centerline goodness [0,1] 0.8432658458569361 Centerline is valid? [False, False] Translation: X:12.01, Y:0.99, Z:-2.73 [[ 9.99869635e-01 1.48995982e-02 6.22217219e-03 1.20120471e+01] [-1.48617153e-02 9.99871007e-01 -6.09086355e-03 9.85870965e-01] [-6.31212099e-03 5.99759737e-03 9.99962092e-01 -2.73281574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.214553574 meters Centerline goodness [0,1] 0.8448944574523226 Centerline is valid? [False, False] Translation: X:12.01, Y:0.99, Z:-2.73 [[ 9.99876973e-01 1.44430171e-02 6.11874289e-03 1.20123906e+01] [-1.44022103e-02 9.99874092e-01 -6.66152248e-03 9.86957490e-01] [-6.21418497e-03 6.57257951e-03 9.99959092e-01 -2.73309772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.24455357399995 meters Centerline goodness [0,1] 0.8429353073704537 Centerline is valid? [False, False] Translation: X:12.00, Y:0.99, Z:-2.74 [[ 9.99905871e-01 8.65637185e-03 1.06449958e-02 1.20036107e+01] [-8.61310024e-03 9.99954484e-01 -4.10412090e-03 9.88807293e-01] [-1.06800381e-02 4.01204816e-03 9.99934918e-01 -2.73760510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.274553574 meters Centerline goodness [0,1] 0.843084297698045 Centerline is valid? [False, False] Translation: X:12.00, Y:0.99, Z:-2.74 [[ 9.99913350e-01 8.02232479e-03 1.04371798e-02 1.20042227e+01] [-7.97118797e-03 9.99956067e-01 -4.93189569e-03 9.90409138e-01] [-1.04762866e-02 4.84827162e-03 9.99933369e-01 -2.73781845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.30455357399995 meters Centerline goodness [0,1] 0.8442621485889943 Centerline is valid? [False, False] Translation: X:12.00, Y:0.99, Z:-2.74 [[ 9.99920239e-01 7.33692471e-03 1.02803296e-02 1.20047228e+01] [-7.27702364e-03 9.99956398e-01 -5.85210627e-03 9.92036560e-01] [-1.03228179e-02 5.77682930e-03 9.99930031e-01 -2.73800084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.334553574 meters Centerline goodness [0,1] 0.8439952097520869 Centerline is valid? [False, False] Translation: X:12.00, Y:1.00, Z:-2.74 [[ 9.99935671e-01 3.69926616e-03 1.07223682e-02 1.20025080e+01] [-3.58780702e-03 9.99939527e-01 -1.03956729e-02 9.95622620e-01] [-1.07601761e-02 1.03565344e-02 9.99888474e-01 -2.73619613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.36455357399996 meters Centerline goodness [0,1] 0.8450510112761769 Centerline is valid? [False, False] Translation: X:11.99, Y:1.00, Z:-2.73 [[ 9.99974849e-01 -1.34388741e-03 6.96391833e-03 1.19940730e+01] [ 1.36296422e-03 9.99995330e-01 -2.73535683e-03 9.97603491e-01] [-6.96020980e-03 2.74477961e-03 9.99972010e-01 -2.73366493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.394553574 meters Centerline goodness [0,1] 0.8435087844977345 Centerline is valid? [False, False] Translation: X:11.99, Y:1.00, Z:-2.73 [[ 9.99974681e-01 -1.67862023e-03 6.91521204e-03 1.19942513e+01] [ 1.70350656e-03 9.99992089e-01 -3.59446364e-03 1.00003002e+00] [-6.90912359e-03 3.60615274e-03 9.99969629e-01 -2.73381252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.42455357399996 meters Centerline goodness [0,1] 0.8437410586552218 Centerline is valid? [False, False] Translation: X:11.99, Y:1.00, Z:-2.73 [[ 9.99975037e-01 -2.07960964e-03 6.75284539e-03 1.19948394e+01] [ 2.11091328e-03 9.99987045e-01 -4.63180880e-03 1.00288206e+00] [-6.74312555e-03 4.64594785e-03 9.99966472e-01 -2.73422458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.454553574 meters Centerline goodness [0,1] 0.8418821003667591 Centerline is valid? [False, False] Translation: X:12.00, Y:1.01, Z:-2.74 [[ 9.99974054e-01 -3.22944739e-03 6.43916914e-03 1.19961828e+01] [ 3.27504694e-03 9.99969547e-01 -7.08366471e-03 1.00913473e+00] [-6.41609672e-03 7.10456949e-03 9.99954178e-01 -2.73526177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.48455357399996 meters Centerline goodness [0,1] 0.8420241827138379 Centerline is valid? [False, False] Translation: X:12.00, Y:1.01, Z:-2.74 [[ 9.99973453e-01 -3.73871071e-03 6.25418991e-03 1.19967511e+01] [ 3.78997353e-03 9.99959157e-01 -8.20488515e-03 1.01211403e+00] [-6.22325878e-03 8.22837055e-03 9.99946781e-01 -2.73559229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.514553574 meters Centerline goodness [0,1] 0.8401689969387207 Centerline is valid? [False, False] Translation: X:12.00, Y:1.02, Z:-2.74 [[ 9.99965996e-01 -5.40433032e-03 6.22892411e-03 1.19966056e+01] [ 5.47200126e-03 9.99925636e-01 -1.08986338e-02 1.01809670e+00] [-6.16956108e-03 1.09323479e-02 9.99921207e-01 -2.73526658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.54455357399996 meters Centerline goodness [0,1] 0.8412999516813114 Centerline is valid? [False, False] Translation: X:12.00, Y:1.02, Z:-2.74 [[ 9.99963136e-01 -5.99214083e-03 6.14988599e-03 1.19968412e+01] [ 6.06648714e-03 9.99907875e-01 -1.21424530e-02 1.02131693e+00] [-6.07656015e-03 1.21793136e-02 9.99907366e-01 -2.73532876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.574553574 meters Centerline goodness [0,1] 0.8397094084386072 Centerline is valid? [False, False] Translation: X:12.00, Y:1.03, Z:-2.74 [[ 9.99957720e-01 -6.96092672e-03 6.00858332e-03 1.19971863e+01] [ 7.04993483e-03 9.99863812e-01 -1.49216589e-02 1.02914848e+00] [-5.90389645e-03 1.49633882e-02 9.99870612e-01 -2.73545539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.60455357399997 meters Centerline goodness [0,1] 0.8403569124919372 Centerline is valid? [False, False] Translation: X:12.00, Y:1.03, Z:-2.74 [[ 9.99974207e-01 -4.14715785e-03 5.86403139e-03 1.19975303e+01] [ 4.22104910e-03 9.99911139e-01 -1.26450382e-02 1.03291098e+00] [-5.81106934e-03 1.26694644e-02 9.99902853e-01 -2.73545794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.634553574 meters Centerline goodness [0,1] 0.8388684987915137 Centerline is valid? [False, False] Translation: X:12.00, Y:1.04, Z:-2.74 [[ 9.99983915e-01 8.85568211e-04 5.60222948e-03 1.19982950e+01] [-8.32610182e-04 9.99955017e-01 -9.44830739e-03 1.04284213e+00] [-5.61034459e-03 9.44349094e-03 9.99939670e-01 -2.73559111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.66455357399997 meters Centerline goodness [0,1] 0.8388430491668307 Centerline is valid? [False, False] Translation: X:12.00, Y:1.05, Z:-2.74 [[ 9.99978422e-01 3.83310189e-03 5.33496865e-03 1.19996658e+01] [-3.79250481e-03 9.99963935e-01 -7.59904619e-03 1.04801290e+00] [-5.36390416e-03 7.57864933e-03 9.99956895e-01 -2.73654465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.694553574 meters Centerline goodness [0,1] 0.8370569280343716 Centerline is valid? [False, False] Translation: X:12.00, Y:1.06, Z:-2.74 [[ 9.99964209e-01 6.81449775e-03 5.01429111e-03 1.20011654e+01] [-6.77766820e-03 9.99950198e-01 -7.32561288e-03 1.05894346e+00] [-5.06396176e-03 7.29136549e-03 9.99960595e-01 -2.73765876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.72455357399997 meters Centerline goodness [0,1] 0.8377048593716453 Centerline is valid? [False, False] Translation: X:12.00, Y:1.06, Z:-2.74 [[ 9.99950924e-01 8.82005555e-03 4.51173366e-03 1.20033268e+01] [-8.79168915e-03 9.99941702e-01 -6.26891253e-03 1.06417833e+00] [-4.56676279e-03 6.22893912e-03 9.99970172e-01 -2.73903829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.754553574 meters Centerline goodness [0,1] 0.8358852359317426 Centerline is valid? [False, False] Translation: X:12.00, Y:1.07, Z:-2.74 [[ 9.99941026e-01 1.00065784e-02 4.22048454e-03 1.20046986e+01] [-9.97645738e-03 9.99925038e-01 -7.09852474e-03 1.07419389e+00] [-4.29120011e-03 7.05600063e-03 9.99965899e-01 -2.73986263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.784553574 meters Centerline goodness [0,1] 0.8361104648041093 Centerline is valid? [False, False] Translation: X:12.00, Y:1.08, Z:-2.74 [[ 9.99947832e-01 9.31150586e-03 4.19869187e-03 1.20048042e+01] [-9.27345908e-03 9.99916572e-01 -8.99178136e-03 1.07944039e+00] [-4.28206861e-03 8.95237588e-03 9.99950758e-01 -2.73989615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.814553574 meters Centerline goodness [0,1] 0.8361127495665541 Centerline is valid? [False, False] Translation: X:12.00, Y:1.09, Z:-2.74 [[ 9.99943992e-01 5.67775306e-03 8.93179204e-03 1.19961111e+01] [-5.59958364e-03 9.99946017e-01 -8.75261470e-03 1.08972336e+00] [-8.98100506e-03 8.70211017e-03 9.99921804e-01 -2.74254743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.844553574 meters Centerline goodness [0,1] 0.8357136473322013 Centerline is valid? [False, False] Translation: X:12.00, Y:1.09, Z:-2.74 [[ 9.99949444e-01 5.06542447e-03 8.68620389e-03 1.19969398e+01] [-4.97386749e-03 9.99932189e-01 -1.05299107e-02 1.09462302e+00] [-8.73895333e-03 1.04861743e-02 9.99906831e-01 -2.74293663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.874553574 meters Centerline goodness [0,1] 0.8376798641522925 Centerline is valid? [False, False] Translation: X:12.01, Y:1.11, Z:-2.74 [[ 9.99977344e-01 4.89224337e-03 4.62355161e-03 1.20051453e+01] [-4.85227134e-03 9.99951097e-01 -8.61734016e-03 1.10509655e+00] [-4.66548364e-03 8.59471020e-03 9.99952181e-01 -2.74107821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.904553574 meters Centerline goodness [0,1] 0.8351003069893624 Centerline is valid? [False, False] Translation: X:12.01, Y:1.11, Z:-2.74 [[ 9.99963233e-01 7.44078150e-03 4.26227134e-03 1.20068427e+01] [-7.40961924e-03 9.99946042e-01 -7.28090518e-03 1.11096963e+00] [-4.31621698e-03 7.24905568e-03 9.99964410e-01 -2.74214876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.93455357399995 meters Centerline goodness [0,1] 0.8341968911917098 Centerline is valid? [False, False] Translation: X:12.01, Y:1.12, Z:-2.74 [[ 9.99928681e-01 1.12962229e-02 3.87660808e-03 1.20083769e+01] [-1.12722832e-02 9.99917598e-01 -6.14267679e-03 1.12227092e+00] [-3.94567769e-03 6.09854048e-03 9.99973619e-01 -2.74285454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.964553574 meters Centerline goodness [0,1] 0.8349354965514777 Centerline is valid? [False, False] Translation: X:12.01, Y:1.13, Z:-2.74 [[ 9.99890812e-01 1.43536463e-02 3.51247784e-03 1.20100864e+01] [-1.43325433e-02 9.99879514e-01 -5.96116117e-03 1.13326920e+00] [-3.59761903e-03 5.91016754e-03 9.99976063e-01 -2.74390920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.99455357399995 meters Centerline goodness [0,1] 0.8331131031034607 Centerline is valid? [False, False] Translation: X:12.01, Y:1.14, Z:-2.74 [[ 9.99884499e-01 1.48832645e-02 3.07844860e-03 1.20118148e+01] [-1.48621435e-02 9.99866608e-01 -6.77362198e-03 1.13926037e+00] [-3.17885156e-03 6.72708727e-03 9.99972320e-01 -2.74491938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.024553574 meters Centerline goodness [0,1] 0.8335743746317424 Centerline is valid? [False, False] Translation: X:12.01, Y:1.14, Z:-2.75 [[ 9.99887805e-01 1.47151854e-02 2.80007735e-03 1.20125881e+01] [-1.46917067e-02 9.99858212e-01 -8.22856491e-03 1.14417437e+00] [-2.92076520e-03 8.18650379e-03 9.99962224e-01 -2.74512279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.05455357399995 meters Centerline goodness [0,1] 0.8339613207378703 Centerline is valid? [False, False] Translation: X:12.01, Y:1.15, Z:-2.74 [[ 9.99899279e-01 1.39385538e-02 2.67352855e-03 1.20127765e+01] [-1.39088998e-02 9.99844865e-01 -1.08068921e-02 1.15142622e+00] [-2.82374624e-03 1.07686178e-02 9.99938030e-01 -2.74479384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.084553574 meters Centerline goodness [0,1] 0.8351840611275753 Centerline is valid? [False, False] Translation: X:12.01, Y:1.16, Z:-2.75 [[ 9.99904258e-01 1.36164908e-02 2.46296788e-03 1.20135322e+01] [-1.35857137e-02 9.99834393e-01 -1.21084807e-02 1.15539408e+00] [-2.62743501e-03 1.20738603e-02 9.99923656e-01 -2.74514250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.11455357399996 meters Centerline goodness [0,1] 0.8324777183600713 Centerline is valid? [False, False] Translation: X:12.02, Y:1.17, Z:-2.74 [[ 9.99915034e-01 1.28976285e-02 -1.89081419e-03 1.20222042e+01] [-1.29149025e-02 9.99872156e-01 -9.42746794e-03 1.16529326e+00] [ 1.76898048e-03 9.45108661e-03 9.99953773e-01 -2.74227575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.144553574 meters Centerline goodness [0,1] 0.8325542541279349 Centerline is valid? [False, False] Translation: X:12.02, Y:1.17, Z:-2.74 [[ 9.99881115e-01 1.52549624e-02 -2.24527655e-03 1.20234414e+01] [-1.52749649e-02 9.99841200e-01 -9.17881515e-03 1.17489735e+00] [ 2.10489752e-03 9.21202045e-03 9.99955353e-01 -2.74246166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.17455357399996 meters Centerline goodness [0,1] 0.8327024034855898 Centerline is valid? [False, False] Translation: X:12.02, Y:1.18, Z:-2.74 [[ 9.99846804e-01 1.74063182e-02 -1.84102596e-03 1.20213965e+01] [-1.74201774e-02 9.99817826e-01 -7.80074672e-03 1.17893153e+00] [ 1.70490830e-03 7.83162268e-03 9.99967879e-01 -2.74071661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.204553574 meters Centerline goodness [0,1] 0.832430596521335 Centerline is valid? [False, False] Translation: X:12.02, Y:1.18, Z:-2.74 [[ 9.99838280e-01 1.78847068e-02 -1.88425414e-03 1.20216131e+01] [-1.79006273e-02 9.99801031e-01 -8.80141785e-03 1.18362216e+00] [ 1.72646846e-03 8.83372382e-03 9.99959491e-01 -2.74059214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.23455357399996 meters Centerline goodness [0,1] 0.8364106680938364 Centerline is valid? [False, False] Translation: X:12.02, Y:1.19, Z:-2.74 [[ 9.99775384e-01 2.11222263e-02 -1.74143430e-03 1.20211784e+01] [-2.11358885e-02 9.99742650e-01 -8.24065334e-03 1.19372266e+00] [ 1.56692519e-03 8.27560912e-03 9.99964529e-01 -2.73961643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.264553574 meters Centerline goodness [0,1] 0.8359691194037834 Centerline is valid? [False, False] Translation: X:12.02, Y:1.20, Z:-2.74 [[ 9.99707018e-01 2.41595244e-02 -1.48186359e-03 1.20202589e+01] [-2.41704696e-02 9.99676825e-01 -7.87621240e-03 1.20383713e+00] [ 1.29109914e-03 7.90972215e-03 9.99967884e-01 -2.73825793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.29455357399996 meters Centerline goodness [0,1] 0.8360790186849236 Centerline is valid? [False, False] Translation: X:12.02, Y:1.21, Z:-2.74 [[ 9.99635604e-01 2.69594784e-02 -1.35822728e-03 1.20201149e+01] [-2.69672615e-02 9.99617819e-01 -6.08130194e-03 1.20888745e+00] [ 1.19375947e-03 6.11571361e-03 9.99980586e-01 -2.73787875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.324553574 meters Centerline goodness [0,1] 0.8359044782507892 Centerline is valid? [False, False] Translation: X:12.02, Y:1.21, Z:-2.74 [[ 9.99629529e-01 2.71762727e-02 -1.50149407e-03 1.20205161e+01] [-2.71867419e-02 9.99602548e-01 -7.45829713e-03 1.21476569e+00] [ 1.29820858e-03 7.49635478e-03 9.99971059e-01 -2.73774371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.35455357399997 meters Centerline goodness [0,1] 0.8348291243846523 Centerline is valid? [False, False] Translation: X:12.03, Y:1.23, Z:-2.74 [[ 9.99671105e-01 2.49569604e-02 -5.90178039e-03 1.20295779e+01] [-2.49960562e-02 9.99665457e-01 -6.64611401e-03 1.22509319e+00] [ 5.73393918e-03 6.79144937e-03 9.99960498e-01 -2.73565997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.384553574 meters Centerline goodness [0,1] 0.8349524908977888 Centerline is valid? [False, False] Translation: X:12.03, Y:1.23, Z:-2.74 [[ 9.99691086e-01 2.40932618e-02 -6.10313004e-03 1.20302759e+01] [-2.41440802e-02 9.99673245e-01 -8.39447457e-03 1.22948525e+00] [ 5.89888554e-03 8.53923585e-03 9.99946141e-01 -2.73586217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.41455357399997 meters Centerline goodness [0,1] 0.8324340633985304 Centerline is valid? [False, False] Translation: X:12.04, Y:1.24, Z:-2.73 [[ 9.99779758e-01 1.77505383e-02 -1.11961399e-02 1.20410310e+01] [-1.78616875e-02 9.99791386e-01 -9.90683175e-03 1.23652562e+00] [ 1.10179526e-02 1.01046318e-02 9.99888244e-01 -2.73379127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.444553574 meters Centerline goodness [0,1] 0.8342505148050842 Centerline is valid? [False, False] Translation: X:12.05, Y:1.24, Z:-2.73 [[ 9.99886819e-01 1.28986575e-02 -7.74425655e-03 1.20501690e+01] [-1.29238581e-02 9.99911322e-01 -3.21292128e-03 1.23810115e+00] [ 7.70212743e-03 3.31264331e-03 9.99964851e-01 -2.73439058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.47455357399997 meters Centerline goodness [0,1] 0.8367190289182435 Centerline is valid? [False, False] Translation: X:12.05, Y:1.25, Z:-2.73 [[ 9.99915954e-01 1.04978753e-02 -7.60788780e-03 1.20495673e+01] [-1.05537646e-02 9.99917341e-01 -7.34369728e-03 1.24739696e+00] [ 7.53016572e-03 7.42337192e-03 9.99944094e-01 -2.73374526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.504553574 meters Centerline goodness [0,1] 0.8354572713643178 Centerline is valid? [False, False] Translation: X:12.06, Y:1.25, Z:-2.73 [[ 9.99877688e-01 9.41659661e-03 -1.24874354e-02 1.20587342e+01] [-9.45649674e-03 9.99950356e-01 -3.14003339e-03 1.25161427e+00] [ 1.24572471e-02 3.25773672e-03 9.99917099e-01 -2.73049915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.534553574 meters Centerline goodness [0,1] 0.8324644591925698 Centerline is valid? [False, False] Translation: X:12.06, Y:1.26, Z:-2.73 [[ 9.99845837e-01 1.21265056e-02 -1.26983993e-02 1.20596978e+01] [-1.21622211e-02 9.99922286e-01 -2.73916502e-03 1.26136543e+00] [ 1.26641959e-02 2.89318348e-03 9.99915620e-01 -2.73060417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.564553574 meters Centerline goodness [0,1] 0.8346114063558869 Centerline is valid? [False, False] Translation: X:12.06, Y:1.27, Z:-2.73 [[ 9.99837624e-01 1.26152104e-02 -1.28678362e-02 1.20602642e+01] [-1.26633473e-02 9.99913095e-01 -3.66626796e-03 1.26561580e+00] [ 1.28204672e-02 3.82862253e-03 9.99910485e-01 -2.73070199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.594553574 meters Centerline goodness [0,1] 0.8358906651441622 Centerline is valid? [False, False] Translation: X:12.06, Y:1.27, Z:-2.73 [[ 9.99830723e-01 1.30834894e-02 -1.29363083e-02 1.20607153e+01] [-1.31443364e-02 9.99902891e-01 -4.62979719e-03 1.27006552e+00] [ 1.28744781e-02 4.79905266e-03 9.99905604e-01 -2.73091720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.624553574 meters Centerline goodness [0,1] 0.8368538126167808 Centerline is valid? [False, False] Translation: X:12.06, Y:1.28, Z:-2.73 [[ 9.99785297e-01 1.62154618e-02 -1.29003096e-02 1.20612733e+01] [-1.62700150e-02 9.99859084e-01 -4.13517329e-03 1.28041029e+00] [ 1.28314380e-02 4.34417369e-03 9.99908237e-01 -2.73099021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.654553574 meters Centerline goodness [0,1] 0.8378956754346857 Centerline is valid? [False, False] Translation: X:12.06, Y:1.29, Z:-2.73 [[ 9.99746168e-01 1.86559021e-02 -1.26315731e-02 1.20606100e+01] [-1.87087769e-02 9.99816648e-01 -4.08076548e-03 1.29041476e+00] [ 1.25531267e-02 4.31605094e-03 9.99911891e-01 -2.73027236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.68455357399995 meters Centerline goodness [0,1] 0.8376261995647676 Centerline is valid? [False, False] Translation: X:12.06, Y:1.30, Z:-2.73 [[ 9.99748900e-01 1.84310469e-02 -1.27449718e-02 1.20610609e+01] [-1.85030858e-02 9.99813356e-01 -5.55770266e-03 1.29518520e+00] [ 1.26401587e-02 5.79212842e-03 9.99903334e-01 -2.73035597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.714553574 meters Centerline goodness [0,1] 0.8379464206353439 Centerline is valid? [False, False] Translation: X:12.06, Y:1.30, Z:-2.73 [[ 9.99734796e-01 1.87974120e-02 -1.33039803e-02 1.20640610e+01] [-1.88918025e-02 9.99796993e-01 -7.00514396e-03 1.30438312e+00] [ 1.31696009e-02 7.25462234e-03 9.99886960e-01 -2.73219861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.74455357399995 meters Centerline goodness [0,1] 0.8369545827535767 Centerline is valid? [False, False] Translation: X:12.06, Y:1.31, Z:-2.73 [[ 9.99733611e-01 1.87019454e-02 -1.35256827e-02 1.20646857e+01] [-1.88155447e-02 9.99788347e-01 -8.32086464e-03 1.30891070e+00] [ 1.33672036e-02 8.57314115e-03 9.99873902e-01 -2.73224015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.774553574 meters Centerline goodness [0,1] 0.8376376519302504 Centerline is valid? [False, False] Translation: X:12.07, Y:1.31, Z:-2.73 [[ 9.99708384e-01 1.95730018e-02 -1.41437048e-02 1.20674721e+01] [-1.96930293e-02 9.99770808e-01 -8.39742502e-03 1.31306305e+00] [ 1.39761004e-02 8.67350859e-03 9.99864710e-01 -2.73391880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.80455357399995 meters Centerline goodness [0,1] 0.8385260528194147 Centerline is valid? [False, False] Translation: X:12.07, Y:1.32, Z:-2.73 [[ 9.99655335e-01 2.21797322e-02 -1.40453131e-02 1.20676755e+01] [-2.22903543e-02 9.99721352e-01 -7.76912349e-03 1.32196340e+00] [ 1.38690823e-02 8.07952075e-03 9.99871177e-01 -2.73381340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.834553574 meters Centerline goodness [0,1] 0.8375706716922092 Centerline is valid? [False, False] Translation: X:12.08, Y:1.33, Z:-2.74 [[ 9.99708102e-01 2.20040147e-02 -9.97671597e-03 1.20780153e+01] [-2.19790462e-02 9.99755037e-01 2.60546743e-03 1.32859331e+00] [ 1.00316028e-02 -2.38542819e-03 9.99946837e-01 -2.73616473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.86455357399996 meters Centerline goodness [0,1] 0.8397878836574 Centerline is valid? [False, False] Translation: X:12.08, Y:1.33, Z:-2.74 [[ 9.99706712e-01 2.19665927e-02 -1.01960649e-02 1.20784429e+01] [-2.19540770e-02 9.99758085e-01 1.33782247e-03 1.33278885e+00] [ 1.02229858e-02 -1.11358491e-03 9.99947124e-01 -2.73597313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.894553574 meters Centerline goodness [0,1] 0.8402708303558668 Centerline is valid? [False, False] Translation: X:12.08, Y:1.34, Z:-2.74 [[ 9.99708553e-01 2.18334299e-02 -1.03009792e-02 1.20785749e+01] [-2.18337158e-02 9.99761612e-01 8.47171448e-05 1.33670847e+00] [ 1.03003733e-02 1.40216199e-04 9.99946940e-01 -2.73568970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.92455357399996 meters Centerline goodness [0,1] 0.84214948425964 Centerline is valid? [False, False] Translation: X:12.08, Y:1.34, Z:-2.73 [[ 9.99716081e-01 2.16110210e-02 -1.00359867e-02 1.20776693e+01] [-2.16362526e-02 9.99762998e-01 -2.41237108e-03 1.34466233e+00] [ 9.98147438e-03 2.62882730e-03 9.99946728e-01 -2.73448368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.954553574 meters Centerline goodness [0,1] 0.8413208389112004 Centerline is valid? [False, False] Translation: X:12.08, Y:1.35, Z:-2.73 [[ 9.99726522e-01 2.11775130e-02 -9.91936815e-03 1.20775436e+01] [-2.12277979e-02 9.99762203e-01 -4.99180163e-03 1.35322524e+00] [ 9.81129541e-03 5.20100282e-03 9.99938342e-01 -2.73397750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.98455357399996 meters Centerline goodness [0,1] 0.8423915951697198 Centerline is valid? [False, False] Translation: X:12.08, Y:1.36, Z:-2.73 [[ 9.99727067e-01 2.10630722e-02 -1.01063135e-02 1.20780863e+01] [-2.11274928e-02 9.99756874e-01 -6.31043197e-03 1.35758554e+00] [ 9.97093927e-03 6.52223071e-03 9.99929018e-01 -2.73394489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.014553574 meters Centerline goodness [0,1] 0.8422206771139755 Centerline is valid? [False, False] Translation: X:12.08, Y:1.36, Z:-2.73 [[ 9.99719938e-01 2.12438669e-02 -1.04279922e-02 1.20793645e+01] [-2.13223383e-02 9.99744728e-01 -7.47245981e-03 1.36246665e+00] [ 1.02665863e-02 7.69271624e-03 9.99917706e-01 -2.73449118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.04455357399996 meters Centerline goodness [0,1] 0.8422395489499884 Centerline is valid? [False, False] Translation: X:12.08, Y:1.37, Z:-2.73 [[ 9.99674593e-01 2.33490463e-02 -1.02728049e-02 1.20798641e+01] [-2.34279683e-02 9.99696407e-01 -7.63053597e-03 1.37278959e+00] [ 1.00915204e-02 7.86872388e-03 9.99918119e-01 -2.73482302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.074553574 meters Centerline goodness [0,1] 0.8422395489499884 Centerline is valid? [False, False] Translation: X:12.08, Y:1.37, Z:-2.73 [[ 9.99674593e-01 2.33490463e-02 -1.02728049e-02 1.20798641e+01] [-2.34279683e-02 9.99696407e-01 -7.63053597e-03 1.37278959e+00] [ 1.00915204e-02 7.86872388e-03 9.99918119e-01 -2.73482302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.10455357399997 meters Centerline goodness [0,1] 0.8416742493175614 Centerline is valid? [False, False] Translation: X:12.08, Y:1.38, Z:-2.73 [[ 9.99681071e-01 2.30007847e-02 -1.04268713e-02 1.20805062e+01] [-2.30980740e-02 9.99689870e-01 -9.30824579e-03 1.37811769e+00] [ 1.02095406e-02 9.54611777e-03 9.99902314e-01 -2.73493998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.134553574 meters Centerline goodness [0,1] 0.83992571295916 Centerline is valid? [False, False] Translation: X:12.09, Y:1.39, Z:-2.73 [[ 9.99802867e-01 1.83582198e-02 -7.56327130e-03 1.20872411e+01] [-1.83715907e-02 9.99829779e-01 -1.70220379e-03 1.38549892e+00] [ 7.53073444e-03 1.84081756e-03 9.99969949e-01 -2.73445236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.16455357399997 meters Centerline goodness [0,1] 0.8403026895825525 Centerline is valid? [False, False] Translation: X:12.10, Y:1.39, Z:-2.73 [[ 9.99829253e-01 1.32073600e-02 -1.29240521e-02 1.20964780e+01] [-1.32202935e-02 9.99912189e-01 -9.15808250e-04 1.38924235e+00] [ 1.29108218e-02 1.08651164e-03 9.99916062e-01 -2.73119389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.194553574 meters Centerline goodness [0,1] 0.8395707602756848 Centerline is valid? [False, False] Translation: X:12.10, Y:1.40, Z:-2.73 [[ 9.99953942e-01 5.38528271e-03 -7.94430634e-03 1.21028648e+01] [-5.35195334e-03 9.99976813e-01 4.21068906e-03 1.39607729e+00] [ 7.96679789e-03 -4.16797756e-03 9.99959578e-01 -2.73293017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.22455357399997 meters Centerline goodness [0,1] 0.8386584321005284 Centerline is valid? [False, False] Translation: X:12.10, Y:1.40, Z:-2.73 [[ 9.99964718e-01 3.64964189e-03 -7.56590917e-03 1.21014211e+01] [-3.63884214e-03 9.99992342e-01 1.44069654e-03 1.40184292e+00] [ 7.57110926e-03 -1.41311456e-03 9.99970340e-01 -2.73174138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.254553574 meters Centerline goodness [0,1] 0.8378157093782816 Centerline is valid? [False, False] Translation: X:12.10, Y:1.41, Z:-2.73 [[ 9.99976648e-01 7.08892551e-04 -6.79717634e-03 1.20987721e+01] [-7.30661813e-04 9.99994611e-01 -3.20074379e-03 1.41250063e+00] [ 6.79487072e-03 3.20563549e-03 9.99971776e-01 -2.72995386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.284553574 meters Centerline goodness [0,1] 0.8390131567202813 Centerline is valid? [False, False] Translation: X:12.10, Y:1.42, Z:-2.73 [[ 9.99977644e-01 -1.21316766e-04 -6.68563742e-03 1.20981670e+01] [ 8.68602664e-05 9.99986715e-01 -5.15385860e-03 1.41758341e+00] [ 6.68617385e-03 5.15316266e-03 9.99964369e-01 -2.72924516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.314553574 meters Centerline goodness [0,1] 0.8380345768880801 Centerline is valid? [False, False] Translation: X:12.10, Y:1.43, Z:-2.73 [[ 9.99982208e-01 7.09052489e-04 -5.92289257e-03 1.20962317e+01] [-7.45647170e-04 9.99980634e-01 -6.17859351e-03 1.42822582e+00] [ 5.91839692e-03 6.18289997e-03 9.99963371e-01 -2.72823960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.344553574 meters Centerline goodness [0,1] 0.8377775795951128 Centerline is valid? [False, False] Translation: X:12.10, Y:1.43, Z:-2.73 [[ 9.99981102e-01 3.88908699e-04 -6.13553534e-03 1.20971688e+01] [-4.37727898e-04 9.99968243e-01 -7.95745994e-03 1.43395833e+00] [ 6.13224577e-03 7.95999526e-03 9.99949516e-01 -2.72853046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.374553574 meters Centerline goodness [0,1] 0.8391981308744583 Centerline is valid? [False, False] Translation: X:12.10, Y:1.45, Z:-2.73 [[ 9.99982308e-01 1.74419989e-03 -5.68692851e-03 1.20971695e+01] [-1.79590948e-03 9.99956979e-01 -9.10031753e-03 1.44641372e+00] [ 5.67081108e-03 9.11036974e-03 9.99942420e-01 -2.72900470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.404553574 meters Centerline goodness [0,1] 0.839105068779104 Centerline is valid? [False, False] Translation: X:12.09, Y:1.46, Z:-2.73 [[ 9.99992982e-01 2.16192346e-03 -3.05983864e-03 1.20931696e+01] [-2.19034047e-03 9.99954221e-01 -9.31441584e-03 1.46200212e+00] [ 3.03956151e-03 9.32105256e-03 9.99951938e-01 -2.73128339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.43455357399995 meters Centerline goodness [0,1] 0.8373352333452084 Centerline is valid? [False, False] Translation: X:12.10, Y:1.47, Z:-2.73 [[ 9.99991845e-01 2.14881083e-03 -3.41942392e-03 1.20951946e+01] [-2.18669379e-03 9.99935848e-01 -1.11138553e-02 1.47043354e+00] [ 3.39532298e-03 1.11212419e-02 9.99932393e-01 -2.73235984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.464553574 meters Centerline goodness [0,1] 0.83830903477935 Centerline is valid? [False, False] Translation: X:12.10, Y:1.48, Z:-2.73 [[ 9.99992609e-01 1.47742938e-03 -3.54964534e-03 1.20966014e+01] [-1.52554413e-03 9.99906480e-01 -1.35905535e-02 1.47875425e+00] [ 3.52923429e-03 1.35958681e-02 9.99901344e-01 -2.73311149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.49455357399995 meters Centerline goodness [0,1] 0.8377934481835223 Centerline is valid? [False, False] Translation: X:12.11, Y:1.50, Z:-2.73 [[ 9.99948088e-01 -3.94223419e-03 -9.39576916e-03 1.21072740e+01] [ 3.80063962e-03 9.99879661e-01 -1.50405436e-02 1.49549832e+00] [ 9.45393183e-03 1.50040529e-02 9.99842738e-01 -2.72992823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.524553574 meters Centerline goodness [0,1] 0.834628112336088 Centerline is valid? [False, False] Translation: X:12.12, Y:1.50, Z:-2.73 [[ 9.99964804e-01 -7.16881714e-03 -4.35872578e-03 1.21189161e+01] [ 7.14051462e-03 9.99953546e-01 -6.47455592e-03 1.50120315e+00] [ 4.40493820e-03 6.44320450e-03 9.99969540e-01 -2.73480036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.55455357399995 meters Centerline goodness [0,1] 0.8322291504286827 Centerline is valid? [False, False] Translation: X:12.11, Y:1.52, Z:-2.74 [[ 9.99930079e-01 -1.17340156e-02 -1.46599271e-03 1.21131854e+01] [ 1.17166184e-02 9.99866826e-01 -1.13600356e-02 1.51931446e+00] [ 1.59909632e-03 1.13420648e-02 9.99934398e-01 -2.73654156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.584553574 meters Centerline goodness [0,1] 0.832637774210808 Centerline is valid? [False, False] Translation: X:12.11, Y:1.53, Z:-2.74 [[ 9.99946300e-01 -1.03551458e-02 -4.09026633e-04 1.21107942e+01] [ 1.03498295e-02 9.99881851e-01 -1.13650752e-02 1.52890738e+00] [ 5.26665317e-04 1.13602315e-02 9.99935332e-01 -2.73588419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.61455357399996 meters Centerline goodness [0,1] 0.8358370622913559 Centerline is valid? [False, False] Translation: X:12.10, Y:1.55, Z:-2.74 [[ 9.99937688e-01 -1.08143372e-02 2.76967738e-03 1.21039462e+01] [ 1.08495760e-02 9.99856102e-01 -1.30408111e-02 1.55051697e+00] [-2.62825110e-03 1.30700483e-02 9.99911129e-01 -2.73645486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.644553574 meters Centerline goodness [0,1] 0.8372789503707929 Centerline is valid? [False, False] Translation: X:12.10, Y:1.57, Z:-2.74 [[ 9.99931379e-01 -9.67277043e-03 6.60863684e-03 1.20951213e+01] [ 9.75521770e-03 9.99873540e-01 -1.25594854e-02 1.57091578e+00] [-6.48631609e-03 1.26230922e-02 9.99899288e-01 -2.73681025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.67455357399996 meters Centerline goodness [0,1] 0.8368294635708566 Centerline is valid? [False, False] Translation: X:12.09, Y:1.58, Z:-2.74 [[ 9.99940521e-01 -7.92909266e-03 7.48886994e-03 1.20933306e+01] [ 8.02424872e-03 9.99886353e-01 -1.27629278e-02 1.58174253e+00] [-7.38682041e-03 1.28222613e-02 9.99890506e-01 -2.73600141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.704553574 meters Centerline goodness [0,1] 0.8363425719632831 Centerline is valid? [False, False] Translation: X:12.10, Y:1.60, Z:-2.73 [[ 9.99949765e-01 -9.76168255e-03 2.27538387e-03 1.21014379e+01] [ 9.78760659e-03 9.99883941e-01 -1.16750806e-02 1.60481383e+00] [-2.16115136e-03 1.16967647e-02 9.99929255e-01 -2.73183428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.73455357399996 meters Centerline goodness [0,1] 0.8364702527358927 Centerline is valid? [False, False] Translation: X:12.10, Y:1.62, Z:-2.73 [[ 9.99961032e-01 -8.27958044e-03 3.06310948e-03 1.21010379e+01] [ 8.31514070e-03 9.99895986e-01 -1.17845732e-02 1.61526833e+00] [-2.96521955e-03 1.18095842e-02 9.99925868e-01 -2.73288370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.764553574 meters Centerline goodness [0,1] 0.8404027420736933 Centerline is valid? [False, False] Translation: X:12.10, Y:1.64, Z:-2.74 [[ 9.99960205e-01 -7.51405459e-03 4.80914479e-03 1.21010796e+01] [ 7.57701286e-03 9.99884038e-01 -1.32098515e-02 1.63666334e+00] [-4.70932756e-03 1.32457647e-02 9.99901181e-01 -2.73762311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.79455357399996 meters Centerline goodness [0,1] 0.8426655729519598 Centerline is valid? [False, False] Translation: X:12.10, Y:1.65, Z:-2.74 [[ 9.99972841e-01 -5.08754622e-03 5.33236582e-03 1.21014561e+01] [ 5.15426535e-03 9.99907660e-01 -1.25739554e-02 1.64729576e+00] [-5.26790285e-03 1.26010983e-02 9.99906726e-01 -2.73879702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.824553574 meters Centerline goodness [0,1] 0.8495108434164336 Centerline is valid? [False, False] Translation: X:12.11, Y:1.66, Z:-2.74 [[ 9.99979362e-01 -6.25158293e-03 -1.48092747e-03 1.21120606e+01] [ 6.23924081e-03 9.99946939e-01 -8.19700509e-03 1.65798939e+00] [ 1.53209315e-03 8.18759605e-03 9.99965307e-01 -2.73560641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.85455357399997 meters Centerline goodness [0,1] 0.8480861669930568 Centerline is valid? [False, False] Translation: X:12.11, Y:1.68, Z:-2.74 [[ 9.99998797e-01 -1.52229536e-03 2.99351392e-04 1.21101081e+01] [ 1.52438382e-03 9.99973599e-01 -7.10472456e-03 1.67935958e+00] [-2.88528000e-04 7.10517234e-03 9.99974716e-01 -2.73600252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.884553574 meters Centerline goodness [0,1] 0.8477023289015794 Centerline is valid? [False, False] Translation: X:12.11, Y:1.69, Z:-2.74 [[ 9.99998877e-01 1.37486244e-03 5.96543805e-04 1.21101698e+01] [-1.37106916e-03 9.99979131e-01 -6.31324513e-03 1.68929249e+00] [-6.05211200e-04 6.31242014e-03 9.99979893e-01 -2.73584184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.91455357399997 meters Centerline goodness [0,1] 0.8506550531390576 Centerline is valid? [False, False] Translation: X:12.11, Y:1.71, Z:-2.74 [[ 9.99973970e-01 6.92697005e-03 2.01914797e-03 1.21094736e+01] [-6.91697745e-03 9.99964000e-01 -4.91459047e-03 1.71002710e+00] [-2.05311850e-03 4.90049614e-03 9.99985885e-01 -2.73619328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.944553574 meters Centerline goodness [0,1] 0.8462792551264401 Centerline is valid? [False, False] Translation: X:12.12, Y:1.72, Z:-2.73 [[ 9.99965563e-01 6.44642816e-03 -5.22649182e-03 1.21215804e+01] [-6.44298143e-03 9.99979015e-01 6.76042874e-04 1.72032803e+00] [ 5.23074020e-03 -6.42345403e-04 9.99986113e-01 -2.73367669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.97455357399997 meters Centerline goodness [0,1] 0.8349550758677254 Centerline is valid? [False, False] Translation: X:12.12, Y:1.74, Z:-2.74 [[ 9.99915487e-01 1.24150804e-02 -3.85805190e-03 1.21219241e+01] [-1.24022910e-02 9.99917572e-01 3.32139809e-03 1.73976218e+00] [ 3.89896932e-03 -3.27326871e-03 9.99987042e-01 -2.73588767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.004553574 meters Centerline goodness [0,1] 0.8338583419786852 Centerline is valid? [False, False] Translation: X:12.12, Y:1.75, Z:-2.74 [[ 9.99874984e-01 1.53920896e-02 -3.61938437e-03 1.21232011e+01] [-1.53758235e-02 9.99871749e-01 4.47984708e-03 1.74830877e+00] [ 3.68787439e-03 -4.42363601e-03 9.99983415e-01 -2.73697758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.034553574 meters Centerline goodness [0,1] 0.8258598256073642 Centerline is valid? [False, False] Translation: X:12.13, Y:1.77, Z:-2.74 [[ 9.99808196e-01 1.93615740e-02 -2.94958132e-03 1.21253030e+01] [-1.93459536e-02 9.99799142e-01 5.23537107e-03 1.76580961e+00] [ 3.05035390e-03 -5.17730445e-03 9.99981945e-01 -2.73960492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.064553574 meters Centerline goodness [0,1] 0.8193732193732194 Centerline is valid? [False, False] Translation: X:12.13, Y:1.77, Z:-2.74 [[ 9.99799138e-01 1.97428968e-02 -3.45001932e-03 1.21277892e+01] [-1.97314840e-02 9.99799832e-01 3.31135309e-03 1.77479064e+00] [ 3.51470444e-03 -3.24261397e-03 9.99988566e-01 -2.74003137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.094553574 meters Centerline goodness [0,1] 0.8104780932776332 Centerline is valid? [False, False] Translation: X:12.14, Y:1.79, Z:-2.74 [[ 9.99804052e-01 1.68891575e-02 -1.03253882e-02 1.21386451e+01] [-1.68350377e-02 9.99844201e-01 5.30607697e-03 1.79182232e+00] [ 1.04133947e-02 -5.13120896e-03 9.99932614e-01 -2.73574968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.124553574 meters Centerline goodness [0,1] 0.8114599942761356 Centerline is valid? [False, False] Translation: X:12.14, Y:1.80, Z:-2.74 [[ 9.99819723e-01 1.61361681e-02 -1.00072277e-02 1.21383461e+01] [-1.61076420e-02 9.99865986e-01 2.92463220e-03 1.80081458e+00] [ 1.00530790e-02 -2.76291212e-03 9.99945649e-01 -2.73521663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.154553574 meters Centerline goodness [0,1] 0.8043724322964702 Centerline is valid? [False, False] Translation: X:12.15, Y:1.81, Z:-2.74 [[ 9.99914632e-01 1.27380830e-02 -2.91047380e-03 1.21497398e+01] [-1.27098450e-02 9.99873878e-01 9.52301417e-03 1.81449968e+00] [ 3.03141167e-03 -9.48520953e-03 9.99950419e-01 -2.74054413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.18455357399995 meters Centerline goodness [0,1] 0.7937448983975598 Centerline is valid? [False, False] Translation: X:12.16, Y:1.83, Z:-2.74 [[ 9.99928774e-01 6.33450050e-03 -1.01153811e-02 1.21613565e+01] [-6.24740924e-03 9.99943346e-01 8.61829759e-03 1.83095375e+00] [ 1.01694007e-02 -8.55448882e-03 9.99911698e-01 -2.73703444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.214553574 meters Centerline goodness [0,1] 0.7908563481888703 Centerline is valid? [False, False] Translation: X:12.16, Y:1.84, Z:-2.74 [[ 9.99945158e-01 4.90616872e-03 -9.25258474e-03 1.21603829e+01] [-4.84829508e-03 9.99968609e-01 6.26695430e-03 1.83897778e+00] [ 9.28304103e-03 -6.22175135e-03 9.99937556e-01 -2.73769277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.24455357399995 meters Centerline goodness [0,1] 0.788041682271816 Centerline is valid? [False, False] Translation: X:12.16, Y:1.85, Z:-2.74 [[ 9.99957836e-01 3.56479090e-03 -8.46276728e-03 1.21591192e+01] [-3.53080494e-03 9.99985656e-01 4.02748891e-03 1.84704654e+00] [ 8.47700305e-03 -3.99743871e-03 9.99956079e-01 -2.73794712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.274553574 meters Centerline goodness [0,1] 0.7873261344935638 Centerline is valid? [False, False] Translation: X:12.16, Y:1.86, Z:-2.74 [[ 9.99974244e-01 1.34797022e-03 -7.04948750e-03 1.21577775e+01] [-1.34806704e-03 9.99999091e-01 -8.98311391e-06 1.86336981e+00] [ 7.04946899e-03 1.84860643e-05 9.99975152e-01 -2.73957003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.30455357399995 meters Centerline goodness [0,1] 0.7854825721845162 Centerline is valid? [False, False] Translation: X:12.15, Y:1.88, Z:-2.74 [[ 9.99986708e-01 1.96313304e-03 -4.76756001e-03 1.21541923e+01] [-1.96455439e-03 9.99998027e-01 -2.93464256e-04 1.87951355e+00] [ 4.76697449e-03 3.02826487e-04 9.99988592e-01 -2.74186620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.334553574 meters Centerline goodness [0,1] 0.7772743116068317 Centerline is valid? [False, False] Translation: X:12.15, Y:1.89, Z:-2.74 [[ 9.99987662e-01 1.79771327e-03 -4.63074720e-03 1.21546783e+01] [-1.80674078e-03 9.99996474e-01 -1.94602650e-03 1.88861933e+00] [ 4.62723248e-03 1.95436905e-03 9.99987385e-01 -2.74207123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.36455357399996 meters Centerline goodness [0,1] 0.7756280817093214 Centerline is valid? [False, False] Translation: X:12.16, Y:1.90, Z:-2.74 [[ 9.99987999e-01 1.76833774e-03 -4.56897976e-03 1.21553615e+01] [-1.78456540e-03 9.99992106e-01 -3.55006906e-03 1.89786721e+00] [ 4.56266597e-03 3.55818010e-03 9.99983261e-01 -2.74219872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.394553574 meters Centerline goodness [0,1] 0.7844043286726681 Centerline is valid? [False, False] Translation: X:12.15, Y:1.91, Z:-2.74 [[ 9.99989910e-01 3.45525040e-03 -2.87061704e-03 1.21539273e+01] [-3.46477833e-03 9.99988484e-01 -3.32080835e-03 1.91417128e+00] [ 2.85910976e-03 3.33072090e-03 9.99990366e-01 -2.74485859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.42455357399996 meters Centerline goodness [0,1] 0.7680693009412732 Centerline is valid? [False, False] Translation: X:12.15, Y:1.92, Z:-2.75 [[ 9.99984275e-01 5.20707416e-03 -2.08225254e-03 1.21546721e+01] [-5.21180087e-03 9.99983840e-01 -2.27105050e-03 1.92177500e+00] [ 2.07039336e-03 2.28186707e-03 9.99995253e-01 -2.74771989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.454553574 meters Centerline goodness [0,1] 0.7681041497152157 Centerline is valid? [False, False] Translation: X:12.16, Y:1.94, Z:-2.75 [[ 9.99963713e-01 8.46635783e-03 -9.44819356e-04 1.21554583e+01] [-8.46781669e-03 9.99962945e-01 -1.55089763e-03 1.93856407e+00] [ 9.31653891e-04 1.55884191e-03 9.99998351e-01 -2.75023321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.48455357399996 meters Centerline goodness [0,1] 0.7650989975562317 Centerline is valid? [False, False] Translation: X:12.15, Y:1.95, Z:-2.75 [[ 9.99935879e-01 1.13234097e-02 1.31911998e-04 1.21549709e+01] [-1.13234672e-02 9.99935789e-01 4.43459168e-04 1.94690916e+00] [-1.26882058e-04 -4.44924434e-04 9.99999893e-01 -2.75194938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.514553574 meters Centerline goodness [0,1] 0.7663897280966767 Centerline is valid? [False, False] Translation: X:12.15, Y:1.96, Z:-2.75 [[ 9.99893935e-01 1.45354128e-02 9.17299217e-04 1.21547518e+01] [-1.45377816e-02 9.99890860e-01 2.63074808e-03 1.95527659e+00] [-8.78960094e-04 -2.64380455e-03 9.99996119e-01 -2.75305703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.54455357399996 meters Centerline goodness [0,1] 0.7742649709077802 Centerline is valid? [False, False] Translation: X:12.15, Y:1.97, Z:-2.75 [[ 9.99535647e-01 3.04008332e-02 2.06860056e-03 1.21534307e+01] [-3.04302740e-02 9.99406943e-01 1.61170939e-02 1.96666678e+00] [-1.57740067e-03 -1.61725580e-02 9.99867971e-01 -2.75120727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.574553574 meters Centerline goodness [0,1] 0.7758441288174392 Centerline is valid? [False, False] Translation: X:12.16, Y:1.97, Z:-2.75 [[ 9.99367271e-01 3.55332577e-02 1.56353500e-03 1.21557421e+01] [-3.55558348e-02 9.99202335e-01 1.81789960e-02 1.97333161e+00] [-9.16328874e-04 -1.82230864e-02 9.99833526e-01 -2.74841793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.60455357399997 meters Centerline goodness [0,1] 0.7705977382875606 Centerline is valid? [False, False] Translation: X:12.17, Y:1.97, Z:-2.75 [[ 9.99326968e-01 3.66635878e-02 -1.18016103e-03 1.21692535e+01] [-3.66438242e-02 9.99232916e-01 1.38134056e-02 1.97408098e+00] [ 1.68570475e-03 -1.37608631e-02 9.99903894e-01 -2.74773110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.634553574 meters Centerline goodness [0,1] 0.7648896293211163 Centerline is valid? [False, False] Translation: X:12.17, Y:1.97, Z:-2.75 [[ 9.99411704e-01 3.41932544e-02 -2.65826953e-03 1.21748786e+01] [-3.41633683e-02 9.99360312e-01 1.05750091e-02 1.97202881e+00] [ 3.01816305e-03 -1.04779724e-02 9.99940550e-01 -2.74955874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.66455357399997 meters Centerline goodness [0,1] 0.7576681567999173 Centerline is valid? [False, False] Translation: X:12.18, Y:1.97, Z:-2.75 [[ 9.99581569e-01 2.84936057e-02 -4.98002612e-03 1.21830998e+01] [-2.84765688e-02 9.99588475e-01 3.45912840e-03 1.96795661e+00] [ 5.07653976e-03 -3.31586693e-03 9.99981617e-01 -2.75080626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.694553574 meters Centerline goodness [0,1] 0.754751922631755 Centerline is valid? [False, False] Translation: X:12.20, Y:1.97, Z:-2.74 [[ 9.99639339e-01 2.18623919e-02 -1.55957798e-02 1.21995855e+01] [-2.18429064e-02 9.99760409e-01 1.41867506e-03 1.96699243e+00] [ 1.56230588e-02 -1.07750624e-03 9.99877372e-01 -2.74284716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.72455357399997 meters Centerline goodness [0,1] 0.7550579706419188 Centerline is valid? [False, False] Translation: X:12.20, Y:1.97, Z:-2.74 [[ 9.99669797e-01 1.92300482e-02 -1.70441164e-02 1.22036507e+01] [-1.92979203e-02 9.99806455e-01 -3.82664679e-03 1.96867158e+00] [ 1.69672310e-02 4.15429922e-03 9.99847416e-01 -2.73973855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.754553574 meters Centerline goodness [0,1] 0.7580495116026669 Centerline is valid? [False, False] Translation: X:12.20, Y:1.97, Z:-2.74 [[ 9.99676894e-01 1.88630938e-02 -1.70379573e-02 1.22023447e+01] [-1.89497107e-02 9.99808250e-01 -4.93669244e-03 1.96990815e+00] [ 1.69415690e-02 5.25796172e-03 9.99842656e-01 -2.73693113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.784553574 meters Centerline goodness [0,1] 0.7598935730522836 Centerline is valid? [False, False] Translation: X:12.20, Y:1.97, Z:-2.74 [[ 9.99682317e-01 1.86451177e-02 -1.69594807e-02 1.22016354e+01] [-1.87361128e-02 9.99810824e-01 -5.22245857e-03 1.97028113e+00] [ 1.68588990e-02 5.53855423e-03 9.99842539e-01 -2.73612094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.814553574 meters Centerline goodness [0,1] 0.754971828449407 Centerline is valid? [False, False] Translation: X:12.20, Y:1.97, Z:-2.74 [[ 9.99704720e-01 1.78639885e-02 -1.64727466e-02 1.21997120e+01] [-1.79474905e-02 9.99826750e-01 -4.93526300e-03 1.96902424e+00] [ 1.63817292e-02 5.22945017e-03 9.99852135e-01 -2.73647704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.844553574 meters Centerline goodness [0,1] 0.7634565998972779 Centerline is valid? [False, False] Translation: X:12.20, Y:1.97, Z:-2.74 [[ 9.99721302e-01 1.72682518e-02 -1.60973679e-02 1.21984529e+01] [-1.73430961e-02 9.99839374e-01 -4.52152077e-03 1.96769946e+00] [ 1.60167035e-02 4.79943883e-03 9.99860206e-01 -2.73737548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.874553574 meters Centerline goodness [0,1] 0.7534390450085816 Centerline is valid? [False, False] Translation: X:12.20, Y:1.97, Z:-2.74 [[ 9.99764075e-01 1.54377473e-02 -1.52797519e-02 1.21950295e+01] [-1.55048726e-02 9.99870613e-01 -4.28441416e-03 1.96564540e+00] [ 1.52116332e-02 4.52031397e-03 9.99874079e-01 -2.73848736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.904553574 meters Centerline goodness [0,1] 0.7517919311898423 Centerline is valid? [False, False] Translation: X:12.19, Y:1.96, Z:-2.74 [[ 9.99782773e-01 1.46967159e-02 -1.47787856e-02 1.21933086e+01] [-1.47568622e-02 9.99883234e-01 -3.96898306e-03 1.96467288e+00] [ 1.47187289e-02 4.18620940e-03 9.99882910e-01 -2.73920312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.93455357399995 meters Centerline goodness [0,1] 0.7409408691643833 Centerline is valid? [False, False] Translation: X:12.19, Y:1.97, Z:-2.74 [[ 9.99815326e-01 1.31867227e-02 -1.39794319e-02 1.21899744e+01] [-1.32465613e-02 9.99903454e-01 -4.19655103e-03 1.96530090e+00] [ 1.39227435e-02 4.38095544e-03 9.99893477e-01 -2.73921059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.964553574 meters Centerline goodness [0,1] 0.7450539338479627 Centerline is valid? [False, False] Translation: X:12.19, Y:1.96, Z:-2.74 [[ 9.99832562e-01 1.23727804e-02 -1.34819107e-02 1.21883550e+01] [-1.24272303e-02 9.99914928e-01 -3.96247511e-03 1.96498910e+00] [ 1.34317369e-02 4.12935445e-03 9.99901264e-01 -2.74018193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.99455357399995 meters Centerline goodness [0,1] 0.7450539338479627 Centerline is valid? [False, False] Translation: X:12.19, Y:1.96, Z:-2.74 [[ 9.99832562e-01 1.23727804e-02 -1.34819107e-02 1.21883550e+01] [-1.24272303e-02 9.99914928e-01 -3.96247511e-03 1.96498910e+00] [ 1.34317369e-02 4.12935445e-03 9.99901264e-01 -2.74018193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.024553574 meters Centerline goodness [0,1] 0.7393304370048557 Centerline is valid? [False, False] Translation: X:12.19, Y:1.96, Z:-2.74 [[ 9.99842835e-01 1.18863154e-02 -1.31537626e-02 1.21874191e+01] [-1.19347534e-02 9.99922261e-01 -3.61009609e-03 1.96421674e+00] [ 1.31098293e-02 3.76651562e-03 9.99906969e-01 -2.74122396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.05455357399995 meters Centerline goodness [0,1] 0.7398931137647992 Centerline is valid? [False, False] Translation: X:12.19, Y:1.96, Z:-2.74 [[ 9.99847813e-01 1.16384065e-02 -1.29960717e-02 1.21866727e+01] [-1.16883666e-02 9.99924563e-01 -3.77493099e-03 1.96411255e+00] [ 1.29511571e-02 3.92625935e-03 9.99908422e-01 -2.74086983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.084553574 meters Centerline goodness [0,1] 0.7417396649761795 Centerline is valid? [False, False] Translation: X:12.19, Y:1.96, Z:-2.74 [[ 9.99850032e-01 1.14810830e-02 -1.29652399e-02 1.21863044e+01] [-1.15352359e-02 9.99925021e-01 -4.10974331e-03 1.96443898e+00] [ 1.29170834e-02 4.25868408e-03 9.99907502e-01 -2.74026597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.11455357399996 meters Centerline goodness [0,1] 0.7453844385996271 Centerline is valid? [False, False] Translation: X:12.19, Y:1.97, Z:-2.74 [[ 9.99849834e-01 1.14704688e-02 -1.29899279e-02 1.21860843e+01] [-1.15328991e-02 9.99922253e-01 -4.74138530e-03 1.96589385e+00] [ 1.29345320e-02 4.89048483e-03 9.99904386e-01 -2.73902683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.144553574 meters Centerline goodness [0,1] 0.7497057770045541 Centerline is valid? [False, False] Translation: X:12.19, Y:1.97, Z:-2.74 [[ 9.99843225e-01 1.17483437e-02 -1.32477454e-02 1.21869768e+01] [-1.18152254e-02 9.99917789e-01 -4.98162139e-03 1.96694315e+00] [ 1.31881305e-02 5.13736549e-03 9.99899835e-01 -2.73872160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.17455357399996 meters Centerline goodness [0,1] 0.7444746423260346 Centerline is valid? [False, False] Translation: X:12.19, Y:1.97, Z:-2.74 [[ 9.99837170e-01 1.19925917e-02 -1.34837406e-02 1.21878135e+01] [-1.20639657e-02 9.99913579e-01 -5.22451872e-03 1.96789154e+00] [ 1.34199198e-02 5.38633540e-03 9.99895441e-01 -2.73846702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.204553574 meters Centerline goodness [0,1] 0.7517523966601382 Centerline is valid? [False, False] Translation: X:12.19, Y:1.97, Z:-2.74 [[ 9.99820327e-01 1.27485584e-02 -1.40281450e-02 1.21901835e+01] [-1.28226149e-02 9.99904256e-01 -5.20191912e-03 1.96921567e+00] [ 1.39604849e-02 5.38086197e-03 9.99888069e-01 -2.73896030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.23455357399996 meters Centerline goodness [0,1] 0.7471821722421397 Centerline is valid? [False, False] Translation: X:12.19, Y:1.97, Z:-2.74 [[ 9.99807763e-01 1.32484980e-02 -1.44538906e-02 1.21918709e+01] [-1.33260483e-02 9.99897252e-01 -5.28230078e-03 1.96979638e+00] [ 1.43824229e-02 5.47389857e-03 9.99881584e-01 -2.73902191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.264553574 meters Centerline goodness [0,1] 0.7486847534557458 Centerline is valid? [False, False] Translation: X:12.19, Y:1.97, Z:-2.74 [[ 9.99790285e-01 1.39695806e-02 -1.49745564e-02 1.21943101e+01] [-1.40445965e-02 9.99889284e-01 -4.91615271e-03 1.96976342e+00] [ 1.49042219e-02 5.12543332e-03 9.99875789e-01 -2.74005980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.29455357399996 meters Centerline goodness [0,1] 0.7484810093854228 Centerline is valid? [False, False] Translation: X:12.20, Y:1.97, Z:-2.74 [[ 9.99770780e-01 1.47181806e-02 -1.55486931e-02 1.21968634e+01] [-1.47953541e-02 9.99878731e-01 -4.86002264e-03 1.97042950e+00] [ 1.54752769e-02 5.08895705e-03 9.99867300e-01 -2.74065808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.324553574 meters Centerline goodness [0,1] 0.7499935352072613 Centerline is valid? [False, False] Translation: X:12.20, Y:1.97, Z:-2.74 [[ 9.99760886e-01 1.50206362e-02 -1.58918341e-02 1.21980867e+01] [-1.51005774e-02 9.99873864e-01 -4.92234632e-03 1.97097823e+00] [ 1.58158928e-02 5.16114519e-03 9.99861600e-01 -2.74069186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.35455357399997 meters Centerline goodness [0,1] 0.7445756304696804 Centerline is valid? [False, False] Translation: X:12.20, Y:1.97, Z:-2.74 [[ 9.99725252e-01 1.63295686e-02 -1.68156144e-02 1.22025089e+01] [-1.64090950e-02 9.99854770e-01 -4.60224990e-03 1.97203851e+00] [ 1.67380195e-02 4.87691445e-03 9.99848016e-01 -2.74234125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.384553574 meters Centerline goodness [0,1] 0.7500972132209981 Centerline is valid? [False, False] Translation: X:12.21, Y:1.97, Z:-2.74 [[ 9.99701840e-01 1.71082902e-02 -1.74223375e-02 1.22051810e+01] [-1.71923134e-02 9.99841228e-01 -4.68441701e-03 1.97312737e+00] [ 1.73394290e-02 4.98255059e-03 9.99837246e-01 -2.74286853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.41455357399997 meters Centerline goodness [0,1] 0.7536470588235294 Centerline is valid? [False, False] Translation: X:12.21, Y:1.98, Z:-2.74 [[ 9.99606164e-01 2.18684301e-02 -1.75866314e-02 1.22070590e+01] [-2.19010097e-02 9.99758763e-01 -1.66203947e-03 1.97775581e+00] [ 1.75460427e-02 2.04654989e-03 9.99843962e-01 -2.74281355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.444553574 meters Centerline goodness [0,1] 0.7537613233556518 Centerline is valid? [False, False] Translation: X:12.22, Y:1.98, Z:-2.74 [[ 9.99737567e-01 2.06989222e-02 -9.81589793e-03 1.22179123e+01] [-2.06485072e-02 9.99773222e-01 5.20989267e-03 1.97913476e+00] [ 9.92151107e-03 -5.00584179e-03 9.99938251e-01 -2.74291199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.47455357399997 meters Centerline goodness [0,1] 0.7596126009948154 Centerline is valid? [False, False] Translation: X:12.21, Y:1.98, Z:-2.74 [[ 9.99758525e-01 1.98664509e-02 -9.39234519e-03 1.22148263e+01] [-1.98520639e-02 9.99801612e-01 1.62253935e-03 1.98426235e+00] [ 9.42271596e-03 -1.43569011e-03 9.99954575e-01 -2.73589538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.504553574 meters Centerline goodness [0,1] 0.7596126009948154 Centerline is valid? [False, False] Translation: X:12.22, Y:1.99, Z:-2.74 [[ 9.99798721e-01 1.71597839e-02 -1.03951823e-02 1.22179309e+01] [-1.71822017e-02 9.99850230e-01 -2.07109376e-03 1.98604053e+00] [ 1.03580859e-02 2.24928901e-03 9.99943824e-01 -2.73599753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.534553574 meters Centerline goodness [0,1] 0.7590833749901339 Centerline is valid? [False, False] Translation: X:12.22, Y:1.99, Z:-2.74 [[ 9.99808355e-01 1.68069549e-02 -1.00389470e-02 1.22168273e+01] [-1.68314969e-02 9.99855543e-01 -2.36520759e-03 1.98593050e+00] [ 9.99774482e-03 2.53372482e-03 9.99946811e-01 -2.73583257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.564553574 meters Centerline goodness [0,1] 0.7628679364079962 Centerline is valid? [False, False] Translation: X:12.22, Y:1.99, Z:-2.74 [[ 9.99831913e-01 1.44347928e-02 -1.13041182e-02 1.22219426e+01] [-1.45103869e-02 9.99872711e-01 -6.63408281e-03 1.98719568e+00] [ 1.12069177e-02 6.79699483e-03 9.99914099e-01 -2.73568849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.594553574 meters Centerline goodness [0,1] 0.7637415874512269 Centerline is valid? [False, False] Translation: X:12.22, Y:1.99, Z:-2.74 [[ 9.99832169e-01 1.44654696e-02 -1.12420886e-02 1.22224748e+01] [-1.45335395e-02 9.99876399e-01 -5.99699027e-03 1.98675221e+00] [ 1.11539498e-02 6.15937112e-03 9.99918822e-01 -2.73755191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.624553574 meters Centerline goodness [0,1] 0.7650085313033206 Centerline is valid? [False, False] Translation: X:12.22, Y:1.99, Z:-2.74 [[ 9.99820940e-01 1.49854085e-02 -1.15553565e-02 1.22243782e+01] [-1.50493814e-02 9.99871793e-01 -5.46927859e-03 1.98724959e+00] [ 1.14719157e-02 5.64220022e-03 9.99918277e-01 -2.73910807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.654553574 meters Centerline goodness [0,1] 0.7685347879677953 Centerline is valid? [False, False] Translation: X:12.23, Y:1.99, Z:-2.74 [[ 9.99798321e-01 1.58859420e-02 -1.22863177e-02 1.22273563e+01] [-1.59567211e-02 9.99856525e-01 -5.68439249e-03 1.98872412e+00] [ 1.21942530e-02 5.87929542e-03 9.99908363e-01 -2.73908318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.68455357399995 meters Centerline goodness [0,1] 0.76650402215482 Centerline is valid? [False, False] Translation: X:12.23, Y:1.99, Z:-2.74 [[ 9.99733359e-01 1.87707695e-02 -1.34487679e-02 1.22345310e+01] [-1.88374479e-02 9.99810803e-01 -4.84854728e-03 1.99119318e+00] [ 1.33552124e-02 5.10059492e-03 9.99897806e-01 -2.74143639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.714553574 meters Centerline goodness [0,1] 0.769602663003276 Centerline is valid? [False, False] Translation: X:12.24, Y:1.99, Z:-2.74 [[ 9.99722213e-01 1.91236841e-02 -1.37761343e-02 1.22358398e+01] [-1.91913842e-02 9.99804311e-01 -4.79897465e-03 1.99141141e+00] [ 1.36816644e-02 5.06202464e-03 9.99893588e-01 -2.74163591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.74455357399995 meters Centerline goodness [0,1] 0.7671775898520085 Centerline is valid? [False, False] Translation: X:12.24, Y:1.99, Z:-2.74 [[ 9.99696472e-01 1.99699056e-02 -1.44279672e-02 1.22386637e+01] [-2.00379340e-02 9.99788703e-01 -4.58594690e-03 1.99143398e+00] [ 1.43333377e-02 4.87366160e-03 9.99885395e-01 -2.74232005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.774553574 meters Centerline goodness [0,1] 0.7684380202415242 Centerline is valid? [False, False] Translation: X:12.24, Y:1.99, Z:-2.74 [[ 9.99645557e-01 2.16236371e-02 -1.55299481e-02 1.22431043e+01] [-2.17024011e-02 9.99752363e-01 -4.92123483e-03 1.99252320e+00] [ 1.54196873e-02 5.25652769e-03 9.99867292e-01 -2.74157641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.80455357399995 meters Centerline goodness [0,1] 0.7713861569864539 Centerline is valid? [False, False] Translation: X:12.25, Y:1.99, Z:-2.74 [[ 9.99615018e-01 2.25286079e-02 -1.61950171e-02 1.22451828e+01] [-2.26239135e-02 9.99727649e-01 -5.72592684e-03 1.99357299e+00] [ 1.60616092e-02 6.09011713e-03 9.99852457e-01 -2.73940748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.834553574 meters Centerline goodness [0,1] 0.7694060297779897 Centerline is valid? [False, False] Translation: X:12.25, Y:1.99, Z:-2.74 [[ 9.99605677e-01 2.28136269e-02 -1.63715868e-02 1.22459557e+01] [-2.29064192e-02 9.99722468e-01 -5.50290522e-03 1.99284411e+00] [ 1.62415020e-02 5.87574973e-03 9.99850833e-01 -2.73960577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.86455357399996 meters Centerline goodness [0,1] 0.7696658913089448 Centerline is valid? [False, False] Translation: X:12.25, Y:1.99, Z:-2.74 [[ 9.99591189e-01 2.32481073e-02 -1.66427493e-02 1.22472990e+01] [-2.33311348e-02 9.99716211e-01 -4.81212995e-03 1.99015941e+00] [ 1.65261534e-02 5.19845693e-03 9.99849920e-01 -2.74057913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.894553574 meters Centerline goodness [0,1] 0.7722685967878276 Centerline is valid? [False, False] Translation: X:12.25, Y:1.99, Z:-2.74 [[ 9.99587445e-01 2.33357164e-02 -1.67446649e-02 1.22477762e+01] [-2.34160849e-02 9.99715132e-01 -4.61971806e-03 1.98929028e+00] [ 1.66320905e-02 5.00990667e-03 9.99849126e-01 -2.74089448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.92455357399996 meters Centerline goodness [0,1] 0.7721408785120696 Centerline is valid? [False, False] Translation: X:12.25, Y:1.99, Z:-2.74 [[ 9.99583938e-01 2.34347412e-02 -1.68155620e-02 1.22483134e+01] [-2.35086461e-02 9.99714765e-01 -4.21087606e-03 1.98816209e+00] [ 1.67120849e-02 4.60443518e-03 9.99849741e-01 -2.74167293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.954553574 meters Centerline goodness [0,1] 0.7719339933993399 Centerline is valid? [False, False] Translation: X:12.25, Y:1.99, Z:-2.74 [[ 9.99584722e-01 2.33987709e-02 -1.68190396e-02 1.22484025e+01] [-2.34739298e-02 9.99715265e-01 -4.28521117e-03 1.98810002e+00] [ 1.67139820e-02 4.67824058e-03 9.99849367e-01 -2.74165774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.98455357399996 meters Centerline goodness [0,1] 0.7735485234296582 Centerline is valid? [False, False] Translation: X:12.25, Y:1.99, Z:-2.74 [[ 9.99586216e-01 2.33294144e-02 -1.68266221e-02 1.22483038e+01] [-2.34095906e-02 9.99715450e-01 -4.58369179e-03 1.98845998e+00] [ 1.67148993e-02 4.97569946e-03 9.99847916e-01 -2.74106166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.014553574 meters Centerline goodness [0,1] 0.7750660327522452 Centerline is valid? [False, False] Translation: X:12.25, Y:1.99, Z:-2.74 [[ 9.99590411e-01 2.31958927e-02 -1.67618745e-02 1.22479198e+01] [-2.32797717e-02 9.99717339e-01 -4.82645443e-03 1.98871500e+00] [ 1.66451826e-02 5.21469018e-03 9.99847861e-01 -2.74056552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.04455357399996 meters Centerline goodness [0,1] 0.7753317884979988 Centerline is valid? [False, False] Translation: X:12.25, Y:1.99, Z:-2.74 [[ 9.99612264e-01 2.25752298e-02 -1.62997253e-02 1.22463213e+01] [-2.26570112e-02 9.99731532e-01 -4.85021277e-03 1.98814631e+00] [ 1.61858546e-02 5.21763523e-03 9.99855387e-01 -2.74069641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.074553574 meters Centerline goodness [0,1] 0.7740691175312918 Centerline is valid? [False, False] Translation: X:12.25, Y:1.99, Z:-2.74 [[ 9.99674586e-01 1.90685878e-02 -1.69443711e-02 1.22486858e+01] [-1.92245329e-02 9.99773882e-01 -9.08862215e-03 1.98865037e+00] [ 1.67672325e-02 9.41141220e-03 9.99815126e-01 -2.74057904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.10455357399997 meters Centerline goodness [0,1] 0.7740691175312918 Centerline is valid? [False, False] Translation: X:12.25, Y:1.99, Z:-2.74 [[ 9.99674586e-01 1.90685878e-02 -1.69443711e-02 1.22486858e+01] [-1.92245329e-02 9.99773882e-01 -9.08862215e-03 1.98865037e+00] [ 1.67672325e-02 9.41141220e-03 9.99815126e-01 -2.74057904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.134553574 meters Centerline goodness [0,1] 0.7748571728077991 Centerline is valid? [False, False] Translation: X:12.25, Y:1.99, Z:-2.74 [[ 9.99711571e-01 1.79190325e-02 -1.59900936e-02 1.22461271e+01] [-1.80445828e-02 9.99807206e-01 -7.74231336e-03 1.98710330e+00] [ 1.58482761e-02 8.02861482e-03 9.99842174e-01 -2.74426539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.16455357399997 meters Centerline goodness [0,1] 0.7732893220161374 Centerline is valid? [False, False] Translation: X:12.24, Y:1.99, Z:-2.74 [[ 9.99728610e-01 1.73419086e-02 -1.55552164e-02 1.22449113e+01] [-1.74644537e-02 9.99817238e-01 -7.77712966e-03 1.98794329e+00] [ 1.54175032e-02 8.04668239e-03 9.99848764e-01 -2.74498115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.194553574 meters Centerline goodness [0,1] 0.7739414195110398 Centerline is valid? [False, False] Translation: X:12.24, Y:1.99, Z:-2.74 [[ 9.99777299e-01 1.55269937e-02 -1.42921515e-02 1.22404199e+01] [-1.56536346e-02 9.99838819e-01 -8.79206182e-03 1.99135556e+00] [ 1.41533336e-02 9.01382793e-03 9.99859207e-01 -2.74449159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.22455357399997 meters Centerline goodness [0,1] 0.7763130196821387 Centerline is valid? [False, False] Translation: X:12.25, Y:1.99, Z:-2.75 [[ 9.99875994e-01 1.38033016e-02 -7.58060658e-03 1.22542384e+01] [-1.37977587e-02 9.99904500e-01 7.83005582e-04 1.98911453e+00] [ 7.59069069e-03 -6.78313104e-04 9.99970960e-01 -2.75185083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.254553574 meters Centerline goodness [0,1] 0.7756039915966386 Centerline is valid? [False, False] Translation: X:12.25, Y:1.99, Z:-2.75 [[ 9.99941161e-01 8.37104658e-03 -6.89930136e-03 1.22506498e+01] [-8.40654021e-03 9.99951497e-01 -5.13168206e-03 1.99194459e+00] [ 6.85600917e-03 5.18937937e-03 9.99963032e-01 -2.74860686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.284553574 meters Centerline goodness [0,1] 0.779129841860953 Centerline is valid? [False, False] Translation: X:12.25, Y:1.99, Z:-2.75 [[ 9.99941614e-01 8.31917191e-03 -6.89632953e-03 1.22504225e+01] [-8.35651120e-03 9.99950485e-01 -5.40335496e-03 1.99212891e+00] [ 6.85103662e-03 5.46066874e-03 9.99961621e-01 -2.74777550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.314553574 meters Centerline goodness [0,1] 0.7800309556913875 Centerline is valid? [False, False] Translation: X:12.25, Y:1.99, Z:-2.75 [[ 9.99929257e-01 9.20294686e-03 -7.53573430e-03 1.22529195e+01] [-9.24668041e-03 9.99940489e-01 -5.78935988e-03 1.99356932e+00] [ 7.48200667e-03 5.85863085e-03 9.99954847e-01 -2.74707674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.344553574 meters Centerline goodness [0,1] 0.7803399657398866 Centerline is valid? [False, False] Translation: X:12.26, Y:1.99, Z:-2.75 [[ 9.99904349e-01 1.08539064e-02 -8.57233831e-03 1.22575938e+01] [-1.09038197e-02 9.99923745e-01 -5.79748528e-03 1.99493930e+00] [ 8.50875927e-03 5.89040198e-03 9.99946451e-01 -2.74743408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.374553574 meters Centerline goodness [0,1] 0.7825362395513702 Centerline is valid? [False, False] Translation: X:12.26, Y:2.00, Z:-2.75 [[ 9.99859439e-01 1.34448388e-02 -1.00169427e-02 1.22647035e+01] [-1.35002528e-02 9.99893823e-01 -5.48509858e-03 1.99662722e+00] [ 9.94213284e-03 5.61955885e-03 9.99934785e-01 -2.74847439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.404553574 meters Centerline goodness [0,1] 0.7799466441268919 Centerline is valid? [False, False] Translation: X:12.27, Y:2.00, Z:-2.75 [[ 9.99852210e-01 1.38014962e-02 -1.02507305e-02 1.22660290e+01] [-1.38540255e-02 9.99891168e-01 -5.07122774e-03 1.99580872e+00] [ 1.01796243e-02 5.21249214e-03 9.99934600e-01 -2.74932997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.43455357399995 meters Centerline goodness [0,1] 0.7817849866377371 Centerline is valid? [False, False] Translation: X:12.27, Y:2.00, Z:-2.75 [[ 9.99843897e-01 1.41825639e-02 -1.05373459e-02 1.22675141e+01] [-1.42335154e-02 9.99887291e-01 -4.77616332e-03 1.99535242e+00] [ 1.04684200e-02 4.92540123e-03 9.99933074e-01 -2.75009305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.464553574 meters Centerline goodness [0,1] 0.7834443537558253 Centerline is valid? [False, False] Translation: X:12.27, Y:1.99, Z:-2.75 [[ 9.99824174e-01 1.50723800e-02 -1.11555079e-02 1.22705771e+01] [-1.51201803e-02 9.99876808e-01 -4.21303461e-03 1.99460110e+00] [ 1.10906331e-02 4.38096713e-03 9.99928900e-01 -2.75135893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.49455357399995 meters Centerline goodness [0,1] 0.7866159615486188 Centerline is valid? [False, False] Translation: X:12.27, Y:1.99, Z:-2.75 [[ 9.99818374e-01 1.52911798e-02 -1.13754004e-02 1.22714804e+01] [-1.53408070e-02 9.99873127e-01 -4.28828259e-03 1.99455126e+00] [ 1.13083843e-02 4.46201155e-03 9.99926103e-01 -2.75126510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.524553574 meters Centerline goodness [0,1] 0.784685587676725 Centerline is valid? [False, False] Translation: X:12.27, Y:1.99, Z:-2.75 [[ 9.99801535e-01 1.59797443e-02 -1.18969548e-02 1.22736624e+01] [-1.60308405e-02 9.99862626e-01 -4.21199085e-03 1.99435618e+00] [ 1.18280139e-02 4.40187311e-03 9.99920358e-01 -2.75129438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.55455357399995 meters Centerline goodness [0,1] 0.7812384424367306 Centerline is valid? [False, False] Translation: X:12.27, Y:1.99, Z:-2.75 [[ 9.99792027e-01 1.63492213e-02 -1.21904316e-02 1.22749974e+01] [-1.64002089e-02 9.99857124e-01 -4.09441932e-03 1.99382391e+00] [ 1.21217493e-02 4.29349341e-03 9.99917311e-01 -2.75150426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.584553574 meters Centerline goodness [0,1] 0.7833324525709454 Centerline is valid? [False, False] Translation: X:12.28, Y:1.99, Z:-2.75 [[ 9.99778612e-01 1.68716949e-02 -1.25726672e-02 1.22767190e+01] [-1.69234975e-02 9.99848685e-01 -4.02531122e-03 1.99352985e+00] [ 1.25028510e-02 4.23719357e-03 9.99912859e-01 -2.75163524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.61455357399996 meters Centerline goodness [0,1] 0.7843655090452925 Centerline is valid? [False, False] Translation: X:12.28, Y:2.00, Z:-2.75 [[ 9.99732015e-01 1.87152756e-02 -1.36248798e-02 1.22807943e+01] [-1.87894983e-02 9.99809201e-01 -5.34009842e-03 1.99568710e+00] [ 1.35223387e-02 5.59467201e-03 9.99892917e-01 -2.74810275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.644553574 meters Centerline goodness [0,1] 0.7861675126903553 Centerline is valid? [False, False] Translation: X:12.28, Y:2.00, Z:-2.75 [[ 9.99708674e-01 1.94817273e-02 -1.42488392e-02 1.22828048e+01] [-1.95697712e-02 9.99790092e-01 -6.06590530e-03 1.99688291e+00] [ 1.41276739e-02 6.34298466e-03 9.99880080e-01 -2.74626452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.67455357399996 meters Centerline goodness [0,1] 0.7833915898739541 Centerline is valid? [False, False] Translation: X:12.29, Y:2.00, Z:-2.75 [[ 9.99684813e-01 2.02388092e-02 -1.48548097e-02 1.22852700e+01] [-2.03303941e-02 9.99775069e-01 -6.04042724e-03 1.99687209e+00] [ 1.47292173e-02 6.34052751e-03 9.99871416e-01 -2.74629916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.704553574 meters Centerline goodness [0,1] 0.7820366889906557 Centerline is valid? [False, False] Translation: X:12.29, Y:2.00, Z:-2.75 [[ 9.99622836e-01 2.22031210e-02 -1.61619343e-02 1.22918962e+01] [-2.22835508e-02 9.99740103e-01 -4.81351632e-03 1.99588869e+00] [ 1.60508587e-02 5.17184612e-03 9.99857801e-01 -2.74948719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.73455357399996 meters Centerline goodness [0,1] 0.7797682049110923 Centerline is valid? [False, False] Translation: X:12.29, Y:2.00, Z:-2.75 [[ 9.99602343e-01 2.27782508e-02 -1.66225068e-02 1.22941177e+01] [-2.28540883e-02 9.99729187e-01 -4.38671029e-03 1.99543187e+00] [ 1.65180836e-02 4.76485812e-03 9.99852214e-01 -2.75055094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.764553574 meters Centerline goodness [0,1] 0.7772273293241847 Centerline is valid? [False, False] Translation: X:12.30, Y:2.00, Z:-2.75 [[ 9.99568052e-01 2.37195105e-02 -1.73520862e-02 1.22973462e+01] [-2.37935403e-02 9.99708599e-01 -4.07237165e-03 1.99521091e+00] [ 1.72504351e-02 4.48348016e-03 9.99841148e-01 -2.75126780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.79455357399996 meters Centerline goodness [0,1] 0.776235057653655 Centerline is valid? [False, False] Translation: X:12.30, Y:2.00, Z:-2.75 [[ 9.99558554e-01 2.39851055e-02 -1.75331649e-02 1.22982495e+01] [-2.40606579e-02 9.99702048e-01 -4.11091367e-03 1.99507342e+00] [ 1.74293401e-02 4.53095841e-03 9.99837831e-01 -2.75115921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.824553574 meters Centerline goodness [0,1] 0.7424973488865323 Centerline is valid? [False, False] Translation: X:12.30, Y:2.00, Z:-2.75 [[ 9.99568828e-01 2.36876500e-02 -1.73509137e-02 1.22972859e+01] [-2.37742474e-02 9.99705821e-01 -4.80176601e-03 1.99584095e+00] [ 1.72320669e-02 5.21220054e-03 9.99837931e-01 -2.74953857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.85455357399997 meters Centerline goodness [0,1] 0.7436596600836554 Centerline is valid? [False, False] Translation: X:12.30, Y:2.00, Z:-2.75 [[ 9.99573862e-01 2.35229805e-02 -1.72848099e-02 1.22969355e+01] [-2.36125454e-02 9.99708701e-01 -4.99599858e-03 1.99567844e+00] [ 1.71622541e-02 5.40200796e-03 9.99838125e-01 -2.74891302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.884553574 meters Centerline goodness [0,1] 0.7436596600836554 Centerline is valid? [False, False] Translation: X:12.30, Y:2.00, Z:-2.75 [[ 9.99573862e-01 2.35229805e-02 -1.72848099e-02 1.22969355e+01] [-2.36125454e-02 9.99708701e-01 -4.99599858e-03 1.99567844e+00] [ 1.71622541e-02 5.40200796e-03 9.99838125e-01 -2.74891302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.91455357399997 meters Centerline goodness [0,1] 0.7629358382423181 Centerline is valid? [False, False] Translation: X:12.30, Y:2.00, Z:-2.75 [[ 9.99567783e-01 2.36756637e-02 -1.74272916e-02 1.22976387e+01] [-2.37688344e-02 9.99704172e-01 -5.15865369e-03 1.99583902e+00] [ 1.73000016e-02 5.57065044e-03 9.99834825e-01 -2.74877450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.944553574 meters Centerline goodness [0,1] 0.7390234219928543 Centerline is valid? [False, False] Translation: X:12.30, Y:2.00, Z:-2.75 [[ 9.99617006e-01 2.06272652e-02 -1.84487877e-02 1.23012012e+01] [-2.08022425e-02 9.99739950e-01 -9.34339265e-03 1.99646189e+00] [ 1.82512615e-02 9.72359035e-03 9.99786149e-01 -2.74814232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.97455357399997 meters Centerline goodness [0,1] 0.7260618578540409 Centerline is valid? [False, False] Translation: X:12.30, Y:2.00, Z:-2.75 [[ 9.99601353e-01 2.11267823e-02 -1.87295180e-02 1.23028940e+01] [-2.12976280e-02 9.99732942e-01 -8.96966738e-03 1.99611961e+00] [ 1.85350159e-02 9.36498596e-03 9.99784352e-01 -2.74901362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.004553574 meters Centerline goodness [0,1] 0.717853080443351 Centerline is valid? [False, False] Translation: X:12.32, Y:1.99, Z:-2.76 [[ 9.99695754e-01 2.17615023e-02 -1.16119492e-02 1.23218284e+01] [-2.17752175e-02 9.99762334e-01 -1.05598832e-03 1.99269422e+00] [ 1.15862095e-02 1.30851976e-03 9.99932021e-01 -2.75672294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.034553574 meters Centerline goodness [0,1] 0.7159262697255007 Centerline is valid? [False, False] Translation: X:12.33, Y:1.99, Z:-2.76 [[ 9.99665545e-01 2.27382453e-02 -1.23194795e-02 1.23251315e+01] [-2.27522340e-02 9.99740638e-01 -9.96515395e-04 1.99340845e+00] [ 1.22936253e-02 1.27647779e-03 9.99923616e-01 -2.75726463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.064553574 meters Centerline goodness [0,1] 0.7002154427214937 Centerline is valid? [False, False] Translation: X:12.33, Y:1.99, Z:-2.76 [[ 9.99631721e-01 2.37251936e-02 -1.31733730e-02 1.23286017e+01] [-2.37418137e-02 9.99717511e-01 -1.10666874e-03 1.99437982e+00] [ 1.31433958e-02 1.41902095e-03 9.99912615e-01 -2.75707622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.094553574 meters Centerline goodness [0,1] 0.6939922738777141 Centerline is valid? [False, False] Translation: X:12.33, Y:2.00, Z:-2.76 [[ 9.99669799e-01 2.14730367e-02 -1.41138695e-02 1.23328122e+01] [-2.15577163e-02 9.99750342e-01 -5.87522474e-03 1.99757318e+00] [ 1.39841869e-02 6.17754753e-03 9.99883133e-01 -2.75544913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.124553574 meters Centerline goodness [0,1] 0.6863064990639208 Centerline is valid? [False, False] Translation: X:12.33, Y:2.00, Z:-2.76 [[ 9.99656043e-01 2.18266180e-02 -1.45394136e-02 1.23349601e+01] [-2.19027857e-02 9.99747096e-01 -5.10021220e-03 1.99670826e+00] [ 1.44244162e-02 5.41691160e-03 9.99881290e-01 -2.75716933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.154553574 meters Centerline goodness [0,1] 0.6987478975892356 Centerline is valid? [False, False] Translation: X:12.34, Y:2.00, Z:-2.76 [[ 9.99690037e-01 1.92791422e-02 -1.57525792e-02 1.23397575e+01] [-1.94291157e-02 9.99766825e-01 -9.42364385e-03 1.99799703e+00] [ 1.55672264e-02 9.72678156e-03 9.99831511e-01 -2.75666941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.18455357399995 meters Centerline goodness [0,1] 0.6826843413421706 Centerline is valid? [False, False] Translation: X:12.34, Y:2.00, Z:-2.76 [[ 9.99668727e-01 1.99987371e-02 -1.62014199e-02 1.23423304e+01] [-2.01442908e-02 9.99757726e-01 -8.87117691e-03 1.99718424e+00] [ 1.60200824e-02 9.19460424e-03 9.99829394e-01 -2.75796312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.214553574 meters Centerline goodness [0,1] 0.6879347565363396 Centerline is valid? [False, False] Translation: X:12.35, Y:2.00, Z:-2.76 [[ 9.99615644e-01 2.16109618e-02 -1.73646457e-02 1.23478702e+01] [-2.17574004e-02 9.99728918e-01 -8.28893438e-03 1.99718986e+00] [ 1.71808066e-02 8.66355803e-03 9.99814864e-01 -2.75930626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.24455357399995 meters Centerline goodness [0,1] 0.6741315417633101 Centerline is valid? [False, False] Translation: X:12.35, Y:2.00, Z:-2.76 [[ 9.99591785e-01 2.22841785e-02 -1.78795479e-02 1.23502182e+01] [-2.24369905e-02 9.99713036e-01 -8.39214287e-03 1.99770863e+00] [ 1.76874051e-02 8.78988032e-03 9.99804928e-01 -2.75932576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.274553574 meters Centerline goodness [0,1] 0.6697792642140468 Centerline is valid? [False, False] Translation: X:12.35, Y:2.00, Z:-2.76 [[ 9.99545943e-01 2.35264468e-02 -1.88258889e-02 1.23544839e+01] [-2.36842846e-02 9.99685813e-01 -8.20548021e-03 1.99769653e+00] [ 1.86269282e-02 8.64763216e-03 9.99789106e-01 -2.75958830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.30455357399995 meters Centerline goodness [0,1] 0.6577901112682445 Centerline is valid? [False, False] Translation: X:12.36, Y:2.00, Z:-2.76 [[ 9.99527915e-01 2.40660676e-02 -1.90989860e-02 1.23563672e+01] [-2.42194516e-02 9.99675918e-01 -7.84071666e-03 1.99724187e+00] [ 1.89041012e-02 8.29958214e-03 9.99786853e-01 -2.76041437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.334553574 meters Centerline goodness [0,1] 0.6655894450082795 Centerline is valid? [False, False] Translation: X:12.36, Y:2.00, Z:-2.76 [[ 9.99527776e-01 2.40634967e-02 -1.91095057e-02 1.23567400e+01] [-2.42178566e-02 9.99675587e-01 -7.88770264e-03 1.99687760e+00] [ 1.89135006e-02 8.34676915e-03 9.99786283e-01 -2.76033314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.36455357399996 meters Centerline goodness [0,1] 0.6304045748490192 Centerline is valid? [False, False] Translation: X:12.38, Y:1.99, Z:-2.76 [[ 9.99647568e-01 2.16011104e-02 -1.54315463e-02 1.23830236e+01] [-2.16517435e-02 9.99760700e-01 -3.12162197e-03 1.99224824e+00] [ 1.53604230e-02 3.45464169e-03 9.99876054e-01 -2.76426146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.394553574 meters Centerline goodness [0,1] 0.6298594099478112 Centerline is valid? [False, False] Translation: X:12.39, Y:1.99, Z:-2.76 [[ 9.99706534e-01 1.80691650e-02 -1.61353782e-02 1.23853995e+01] [-1.81925306e-02 9.99806133e-01 -7.53188025e-03 1.99283986e+00] [ 1.59961553e-02 7.82321326e-03 9.99841448e-01 -2.76355649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.42455357399996 meters Centerline goodness [0,1] 0.628871181938911 Centerline is valid? [False, False] Translation: X:12.39, Y:1.99, Z:-2.76 [[ 9.99768962e-01 1.37245985e-02 -1.65426251e-02 1.23866756e+01] [-1.39071749e-02 9.99843083e-01 -1.09726770e-02 1.99150996e+00] [ 1.63894337e-02 1.12002030e-02 9.99802952e-01 -2.76419669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.454553574 meters Centerline goodness [0,1] 0.6189045466631216 Centerline is valid? [False, False] Translation: X:12.39, Y:1.99, Z:-2.77 [[ 9.99785716e-01 1.29600801e-02 -1.61418141e-02 1.23853777e+01] [-1.31302885e-02 9.99858835e-01 -1.04835965e-02 1.98988483e+00] [ 1.60036672e-02 1.06932967e-02 9.99814751e-01 -2.76512082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.48455357399996 meters Centerline goodness [0,1] 0.5982792852415619 Centerline is valid? [False, False] Translation: X:12.41, Y:1.99, Z:-2.77 [[ 9.99885523e-01 9.71661104e-03 -1.15986169e-02 1.24053622e+01] [-9.76017725e-03 9.99945503e-01 -3.70547862e-03 1.98604777e+00] [ 1.15619801e-02 3.81825898e-03 9.99925868e-01 -2.77043065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.514553574 meters Centerline goodness [0,1] 0.5873533073723807 Centerline is valid? [False, False] Translation: X:12.43, Y:1.98, Z:-2.77 [[ 9.99951132e-01 3.20346310e-03 -9.35261059e-03 1.24292169e+01] [-3.20297512e-03 9.99994868e-01 6.71541607e-05 1.98347254e+00] [ 9.35277772e-03 -3.71947001e-05 9.99956261e-01 -2.77443458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.54455357399996 meters Centerline goodness [0,1] 0.5829208248405114 Centerline is valid? [False, False] Translation: X:12.43, Y:1.98, Z:-2.78 [[ 9.99957235e-01 2.29948468e-03 -8.95772972e-03 1.24281356e+01] [-2.29589291e-03 9.99997280e-01 4.11232123e-04 1.98194066e+00] [ 8.95865097e-03 -3.90648548e-04 9.99959794e-01 -2.77549297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.574553574 meters Centerline goodness [0,1] 0.5614539128601175 Centerline is valid? [False, False] Translation: X:12.43, Y:1.98, Z:-2.78 [[ 9.99954835e-01 -2.43826431e-03 -9.18603816e-03 1.24292842e+01] [ 2.40892287e-03 9.99991966e-01 -3.20384542e-03 1.98249263e+00] [ 9.19377618e-03 3.18157226e-03 9.99952675e-01 -2.77652718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.60455357399997 meters Centerline goodness [0,1] 0.5586051271286505 Centerline is valid? [False, False] Translation: X:12.43, Y:1.98, Z:-2.78 [[ 9.99955502e-01 -2.77483757e-03 -9.01633502e-03 1.24295281e+01] [ 2.75206692e-03 9.99992995e-01 -2.53691462e-03 1.98129801e+00] [ 9.02331139e-03 2.51198818e-03 9.99956134e-01 -2.77823936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.634553574 meters Centerline goodness [0,1] 0.5433097669547002 Centerline is valid? [False, False] Translation: X:12.43, Y:1.98, Z:-2.78 [[ 9.99953904e-01 -3.22199006e-03 -9.04482226e-03 1.24312508e+01] [ 3.20885941e-03 9.99993777e-01 -1.46586809e-03 1.97886661e+00] [ 9.04948899e-03 1.43677695e-03 9.99958020e-01 -2.78087948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.66455357399997 meters Centerline goodness [0,1] 0.5406988909813768 Centerline is valid? [False, False] Translation: X:12.43, Y:1.98, Z:-2.78 [[ 9.99954846e-01 -3.15266469e-03 -8.96471439e-03 1.24321584e+01] [ 3.14260630e-03 9.99994417e-01 -1.13586256e-03 1.97778551e+00] [ 8.96824533e-03 1.10763870e-03 9.99959171e-01 -2.78178792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.694553574 meters Centerline goodness [0,1] 0.5275284417075462 Centerline is valid? [False, False] Translation: X:12.43, Y:1.98, Z:-2.78 [[ 9.99955644e-01 -3.00983752e-03 -8.92472758e-03 1.24333609e+01] [ 3.00152049e-03 9.99995049e-01 -9.45156120e-04 1.97706027e+00] [ 8.92752815e-03 9.18326444e-04 9.99959727e-01 -2.78252791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.72455357399997 meters Centerline goodness [0,1] 0.508757879508112 Centerline is valid? [False, False] Translation: X:12.44, Y:1.98, Z:-2.78 [[ 9.99938478e-01 -4.43585977e-03 -1.01667346e-02 1.24425075e+01] [ 4.39099539e-03 9.99980543e-01 -4.43094185e-03 1.97757932e+00] [ 1.01861919e-02 4.38602717e-03 9.99938500e-01 -2.78379581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.754553574 meters Centerline goodness [0,1] 0.5020989466635761 Centerline is valid? [False, False] Translation: X:12.45, Y:1.98, Z:-2.79 [[ 9.99938031e-01 -2.88798338e-03 -1.07514925e-02 1.24477089e+01] [ 2.84575834e-03 9.99988187e-01 -3.94059467e-03 1.97675682e+00] [ 1.07627458e-02 3.90975432e-03 9.99934436e-01 -2.78553283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.784553574 meters Centerline goodness [0,1] 0.48288612145333165 Centerline is valid? [False, False] Translation: X:12.46, Y:1.98, Z:-2.79 [[ 9.99932944e-01 -7.95500964e-04 -1.15531669e-02 1.24557643e+01] [ 7.58745598e-04 9.99994639e-01 -3.18544520e-03 1.97716397e+00] [ 1.15556390e-02 3.17646568e-03 9.99928186e-01 -2.78805866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.814553574 meters Centerline goodness [0,1] 0.48972787196388723 Centerline is valid? [False, False] Translation: X:12.46, Y:1.98, Z:-2.79 [[ 9.99929706e-01 1.08948649e-04 -1.18562721e-02 1.24592848e+01] [-1.40774057e-04 9.99996390e-01 -2.68346622e-03 1.97698009e+00] [ 1.18559370e-02 2.68494665e-03 9.99926111e-01 -2.78982347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.844553574 meters Centerline goodness [0,1] 0.48589668591194646 Centerline is valid? [False, False] Translation: X:12.46, Y:1.97, Z:-2.79 [[ 9.99927290e-01 5.72545491e-04 -1.20451662e-02 1.24641602e+01] [-5.88553055e-04 9.99998948e-01 -1.32545892e-03 1.97491236e+00] [ 1.20443946e-02 1.33245176e-03 9.99926576e-01 -2.79333719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.874553574 meters Centerline goodness [0,1] 0.48977215189873413 Centerline is valid? [False, False] Translation: X:12.47, Y:1.97, Z:-2.80 [[ 9.99925395e-01 1.33746318e-03 -1.21414676e-02 1.24675603e+01] [-1.34286165e-03 9.99999003e-01 -4.36488876e-04 1.97247045e+00] [ 1.21408717e-02 4.52760623e-04 9.99926194e-01 -2.79557538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.904553574 meters Centerline goodness [0,1] 0.48998104864181935 Centerline is valid? [False, False] Translation: X:12.47, Y:1.97, Z:-2.80 [[ 9.99914159e-01 3.13801637e-03 -1.27211133e-02 1.24741297e+01] [-3.13926075e-03 9.99995069e-01 -7.78532874e-05 1.97025157e+00] [ 1.27208062e-02 1.17781496e-04 9.99919080e-01 -2.79715843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.93455357399995 meters Centerline goodness [0,1] 0.4957200020260345 Centerline is valid? [False, False] Translation: X:12.48, Y:1.97, Z:-2.80 [[ 9.99888835e-01 5.83900630e-03 -1.37194964e-02 1.24835421e+01] [-5.84098510e-03 9.99982936e-01 -1.04166873e-04 1.96861987e+00] [ 1.37186540e-02 1.84290667e-04 9.99905878e-01 -2.79864200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.964553574 meters Centerline goodness [0,1] 0.49343997577837206 Centerline is valid? [False, False] Translation: X:12.49, Y:1.97, Z:-2.80 [[ 9.99890653e-01 3.82417962e-03 -1.42848901e-02 1.24928503e+01] [-3.87928834e-03 9.99985133e-01 -3.83211802e-03 1.96938359e+00] [ 1.42700230e-02 3.88711419e-03 9.99890622e-01 -2.80043907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.99455357399995 meters Centerline goodness [0,1] 0.48266471670995237 Centerline is valid? [False, False] Translation: X:12.50, Y:1.97, Z:-2.80 [[ 9.99879888e-01 2.54856575e-03 -1.52877266e-02 1.25030927e+01] [-2.64067773e-03 9.99978465e-01 -6.00806694e-03 1.97069317e+00] [ 1.52720854e-02 6.04771526e-03 9.99865085e-01 -2.80301564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.024553574 meters Centerline goodness [0,1] 0.4528249792926884 Centerline is valid? [False, False] Translation: X:12.51, Y:1.97, Z:-2.80 [[ 9.99873028e-01 3.75372920e-03 -1.54867145e-02 1.25080109e+01] [-3.84240985e-03 9.99976370e-01 -5.70046523e-03 1.96985010e+00] [ 1.54649506e-02 5.75924773e-03 9.99863824e-01 -2.80486953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.05455357399995 meters Centerline goodness [0,1] 0.4966481709307289 Centerline is valid? [False, False] Translation: X:12.51, Y:1.97, Z:-2.81 [[ 9.99876959e-01 4.00213813e-03 -1.51673621e-02 1.25104012e+01] [-4.08316745e-03 9.99977538e-01 -5.31515061e-03 1.96899667e+00] [ 1.51457495e-02 5.37642751e-03 9.99870842e-01 -2.80678779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.084553574 meters Centerline goodness [0,1] 0.5011023700957058 Centerline is valid? [False, False] Translation: X:12.51, Y:1.97, Z:-2.81 [[ 9.99881314e-01 4.24276709e-03 -1.48106982e-02 1.25127762e+01] [-4.31809780e-03 9.99977885e-01 -5.05796810e-03 1.96862417e+00] [ 1.47889109e-02 5.12132183e-03 9.99877523e-01 -2.80845932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.11455357399996 meters Centerline goodness [0,1] 0.458861310961189 Centerline is valid? [False, False] Translation: X:12.53, Y:1.97, Z:-2.81 [[ 9.99876785e-01 3.22434298e-03 -1.53628651e-02 1.25264352e+01] [-3.36893494e-03 9.99950189e-01 -9.39521811e-03 1.97020642e+00] [ 1.53318064e-02 9.44581697e-03 9.99837843e-01 -2.80986402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.144553574 meters Centerline goodness [0,1] 0.4899610354155809 Centerline is valid? [False, False] Translation: X:12.56, Y:1.97, Z:-2.81 [[ 9.99945181e-01 -8.55943968e-05 -1.04702847e-02 1.25575123e+01] [-4.07718261e-06 9.99963328e-01 -8.56406673e-03 1.97244080e+00] [ 1.04706338e-02 8.56363994e-03 9.99908511e-01 -2.81453555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.17455357399996 meters Centerline goodness [0,1] 0.49820299913248234 Centerline is valid? [False, False] Translation: X:12.56, Y:1.97, Z:-2.82 [[ 9.99949406e-01 -1.97639837e-04 -1.00571063e-02 1.25597592e+01] [ 1.15308459e-04 9.99966485e-01 -8.18630980e-03 1.97266289e+00] [ 1.00583872e-02 8.18473596e-03 9.99915916e-01 -2.81720610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.204553574 meters Centerline goodness [0,1] 0.49439542686715543 Centerline is valid? [False, False] Translation: X:12.56, Y:1.97, Z:-2.82 [[ 9.99951203e-01 2.60607061e-04 -9.87545767e-03 1.25631135e+01] [-3.41743236e-04 9.99966197e-01 -8.21514416e-03 1.97376876e+00] [ 9.87298292e-03 8.21811815e-03 9.99917490e-01 -2.81894724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.23455357399996 meters Centerline goodness [0,1] 0.468983743891493 Centerline is valid? [False, False] Translation: X:12.58, Y:1.98, Z:-2.82 [[ 9.99944182e-01 -7.11172081e-04 -1.05416823e-02 1.25759837e+01] [ 6.02598531e-04 9.99946782e-01 -1.02990524e-02 1.97719910e+00] [ 1.05484457e-02 1.02921252e-02 9.99891395e-01 -2.82452010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.264553574 meters Centerline goodness [0,1] 0.4864452558395438 Centerline is valid? [False, False] Translation: X:12.58, Y:1.98, Z:-2.83 [[ 9.99944515e-01 2.40607549e-03 -1.02555991e-02 1.25782940e+01] [-2.46741278e-03 9.99979121e-01 -5.97240886e-03 1.97699173e+00] [ 1.02410149e-02 5.99738228e-03 9.99929574e-01 -2.82833076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 10425.36 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%| | 0/12076 [00:00