+ python -m lidar_slam --no-model /working/84283bf0-e279-4586-a2c6-074052c145ce Lidar SLAM 0.0.14 ===================================================== The recording path: /working/84283bf0-e279-4586-a2c6-074052c145ce 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 0.019928851 Adjusted end_distance from 9.223372036854776e+18 to 205.149928851 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.019928851 meters Centerline goodness : 0.787137 Centerline is valid? [0, False] SLAMing on 0.049928850999999996 meters Centerline goodness : 0.185729 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.00 [[ 9.99999928e-01 -3.66426290e-04 9.93350904e-05 -4.18889935e-04] [ 3.66465267e-04 9.99999856e-01 -3.92650718e-04 9.40001563e-04] [-9.91911985e-05 3.92687092e-04 9.99999918e-01 3.58373590e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.079928851 meters Centerline goodness : 0.774837 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.00 [[ 9.99999805e-01 -6.24209199e-04 2.01107631e-05 -2.56619805e-04] [ 6.24220964e-04 9.99999631e-01 -5.90415360e-04 1.12677899e-03] [-1.97422130e-05 5.90427798e-04 9.99999826e-01 4.53553129e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.10992885099999998 meters Centerline goodness : 0.840091 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.00 [[ 9.99999497e-01 -9.99047790e-04 9.18036134e-05 -4.58772608e-04] [ 9.99108712e-04 9.99999279e-01 -6.65972005e-04 9.21854922e-04] [-9.11382094e-05 6.66063392e-04 9.99999774e-01 4.05959361e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.139928851 meters Centerline goodness : 0.295791 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.00 [[ 9.99998168e-01 -1.90942437e-03 1.37173793e-04 -7.75577670e-04] [ 1.90953135e-03 9.99997869e-01 -7.84042980e-04 4.08923183e-05] [-1.35676430e-04 7.84303481e-04 9.99999683e-01 5.16716921e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.16992885099999996 meters Centerline goodness : 0.834200 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:0.00 [[ 9.99997640e-01 -2.16991629e-03 1.06090097e-04 -6.85341673e-04] [ 2.16995723e-03 9.99997571e-01 -3.87373029e-04 -1.12023789e-03] [-1.05249273e-04 3.87602326e-04 9.99999919e-01 4.73923537e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.19992885099999996 meters Centerline goodness : 0.829301 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.00 [[ 9.99983080e-01 -5.77636806e-03 -6.87868615e-04 1.43200177e-03] [ 5.77294780e-03 9.99971456e-01 -4.87455118e-03 8.25460513e-04] [ 7.16006182e-04 4.87049768e-03 9.99987883e-01 8.61948609e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.22992885099999996 meters Centerline goodness : 0.832683 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.00 [[ 9.99980686e-01 -6.16867051e-03 -7.57924203e-04 1.61785961e-03] [ 6.16529621e-03 9.99971417e-01 -4.37650491e-03 -4.24357861e-04] [ 7.84899756e-04 4.37174755e-03 9.99990136e-01 1.35188048e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.25992885099999996 meters Centerline goodness : 0.818556 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.00 [[ 9.99938308e-01 -1.10127242e-02 -1.44902538e-03 2.57525962e-03] [ 1.09998351e-02 9.99902336e-01 -8.62105948e-03 6.46370999e-04] [ 1.54382521e-03 8.60458859e-03 9.99961788e-01 1.24005814e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.289928851 meters Centerline goodness : 0.813942 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.00 [[ 9.99935355e-01 -1.12687129e-02 -1.51753435e-03 3.15547400e-03] [ 1.12560601e-02 9.99903816e-01 -8.10301706e-03 -4.21510133e-04] [ 1.60869896e-03 8.08541178e-03 9.99966019e-01 3.57057685e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.31992885099999996 meters Centerline goodness : 0.812293 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99934835e-01 -1.12876002e-02 -1.70760614e-03 4.37635280e-03] [ 1.12740815e-02 9.99906571e-01 -7.72943762e-03 -1.16869032e-03] [ 1.79469341e-03 7.70968224e-03 9.99968669e-01 -3.91162726e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.349928851 meters Centerline goodness : 0.267518 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 0.99993087 -0.01156303 -0.00213436 0.00669562] [ 0.01154822 0.99991005 -0.00682166 -0.00386902] [ 0.00221305 0.00679654 0.99997445 -0.00184436] [ 0. 0. 0. 1. ]] SLAMing on 0.37992885099999996 meters Centerline goodness : 0.182087 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 0.9999315 -0.01142183 -0.00255731 0.00876046] [ 0.0114059 0.99991599 -0.00615762 -0.0059006 ] [ 0.00262742 0.00612803 0.99997777 -0.00284344] [ 0. 0. 0. 1. ]] SLAMing on 0.409928851 meters Centerline goodness : 0.163111 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 0.99993812 -0.01066847 -0.00315351 0.01187324] [ 0.01065001 0.99992639 -0.00581367 -0.00630247] [ 0.0032153 0.00577972 0.99997813 -0.00368463] [ 0. 0. 0. 1. ]] SLAMing on 0.43992885099999995 meters Centerline goodness : 0.155517 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 0.99997313 -0.00650501 -0.00337992 0.01353566] [ 0.00649971 0.99997763 -0.00157775 -0.00819251] [ 0.00339011 0.00155574 0.99999304 -0.00415202] [ 0. 0. 0. 1. ]] SLAMing on 0.469928851 meters Centerline goodness : 0.155129 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.00 [[ 0.9999746 -0.0053368 -0.00472333 0.01926325] [ 0.00532918 0.99998448 -0.00162533 -0.00801892] [ 0.00473193 0.00160011 0.99998752 -0.00386351] [ 0. 0. 0. 1. ]] SLAMing on 0.49992885099999995 meters Centerline goodness : 0.154908 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.00 [[ 0.99997506 -0.00486038 -0.00512386 0.02188057] [ 0.00485322 0.99998723 -0.00140939 -0.00915648] [ 0.00513064 0.00138449 0.99998588 -0.00456103] [ 0. 0. 0. 1. ]] SLAMing on 0.5299288509999999 meters Centerline goodness : 0.159878 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 9.99975175e-01 -4.13964348e-03 -5.70205210e-03 2.54538841e-02] [ 4.13403829e-03 9.99990960e-01 -9.94448188e-04 -1.10503726e-02] [ 5.70611722e-03 9.70850999e-04 9.99983249e-01 -5.68394715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5599288509999999 meters Centerline goodness : 0.166726 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 9.99973375e-01 -3.96900282e-03 -6.12335756e-03 2.81278113e-02] [ 3.96368491e-03 9.99991757e-01 -8.80355584e-04 -1.24633817e-02] [ 6.12680122e-03 8.56061085e-04 9.99980865e-01 -6.43613498e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5899288509999999 meters Centerline goodness : 0.166098 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 0.99993907 -0.0079715 -0.00763673 0.03344738] [ 0.00793688 0.99995814 -0.00455348 -0.01254164] [ 0.0076727 0.00449259 0.99996047 -0.00626185] [ 0. 0. 0. 1. ]] SLAMing on 0.6199288509999998 meters Centerline goodness : 0.168150 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.01 [[ 0.99993133 -0.00845465 -0.00811502 0.03509382] [ 0.00842115 0.99995592 -0.00415354 -0.01435014] [ 0.00814977 0.00408492 0.99995845 -0.00656613] [ 0. 0. 0. 1. ]] SLAMing on 0.6499288509999999 meters Centerline goodness : 0.184114 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.01 [[ 0.99991934 -0.00919904 -0.00875683 0.03678212] [ 0.0091678 0.99995149 -0.00360102 -0.01611113] [ 0.00878953 0.00352045 0.99995517 -0.00688875] [ 0. 0. 0. 1. ]] SLAMing on 0.6799288509999999 meters Centerline goodness : 0.196665 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.01 [[ 0.99990377 -0.01028062 -0.00931424 0.03793688] [ 0.01025058 0.99994212 -0.003267 -0.01791102] [ 0.00934728 0.00317121 0.99995128 -0.006746 ] [ 0. 0. 0. 1. ]] SLAMing on 0.7099288509999999 meters Centerline goodness : 0.245121 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.01 [[ 0.99981878 -0.0155943 -0.01091875 0.04213066] [ 0.01552231 0.99985742 -0.00664738 -0.019013 ] [ 0.01102086 0.00647669 0.99991829 -0.00622933] [ 0. 0. 0. 1. ]] SLAMing on 0.7399288509999998 meters Centerline goodness : 0.245121 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.01 [[ 0.99981878 -0.0155943 -0.01091875 0.04213066] [ 0.01552231 0.99985742 -0.00664738 -0.019013 ] [ 0.01102086 0.00647669 0.99991829 -0.00622933] [ 0. 0. 0. 1. ]] SLAMing on 0.7699288509999999 meters Centerline goodness : 0.257714 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.01 [[ 0.99979654 -0.01649015 -0.01161728 0.04467919] [ 0.01642098 0.99984702 -0.0060239 -0.02165288] [ 0.01171483 0.00583191 0.99991437 -0.00742016] [ 0. 0. 0. 1. ]] SLAMing on 0.7999288509999999 meters Centerline goodness : 0.264445 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-0.01 [[ 0.9997141 -0.02026482 -0.01269102 0.04853246] [ 0.02014336 0.99975076 -0.00962604 -0.02128523] [ 0.01288292 0.00936764 0.99987313 -0.00771405] [ 0. 0. 0. 1. ]] SLAMing on 0.8299288509999998 meters Centerline goodness : 0.271172 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.02, Z:-0.01 [[ 0.99959593 -0.02447007 -0.01446355 0.05529517] [ 0.0242898 0.99962667 -0.01251083 -0.02297829] [ 0.0147643 0.01215446 0.99981713 -0.00892645] [ 0. 0. 0. 1. ]] SLAMing on 0.8599288509999998 meters Centerline goodness : 0.279006 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.01 [[ 0.99957664 -0.02479223 -0.01522776 0.05856445] [ 0.024615 0.99962832 -0.01171829 -0.02519769] [ 0.01551263 0.0113385 0.99981538 -0.01036029] [ 0. 0. 0. 1. ]] SLAMing on 0.8899288509999999 meters Centerline goodness : 0.310365 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.01 [[ 0.99955857 -0.02516427 -0.01579321 0.06128318] [ 0.02499191 0.99962694 -0.01101772 -0.02727463] [ 0.01606457 0.01061815 0.99981457 -0.0116915 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9199288509999999 meters Centerline goodness : 0.312467 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.01 [[ 0.99954076 -0.02548438 -0.01639549 0.06423546] [ 0.02531882 0.99962711 -0.01022757 -0.02951848] [ 0.01665002 0.00980776 0.99981327 -0.01314901] [ 0. 0. 0. 1. ]] SLAMing on 0.9499288509999998 meters Centerline goodness : 0.591019 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.04, Z:-0.02 [[ 0.99956528 -0.02715555 -0.01148155 0.09642526] [ 0.0270491 0.99959059 -0.00932724 -0.03559063] [ 0.01173013 0.00901262 0.99989058 -0.01736413] [ 0. 0. 0. 1. ]] SLAMing on 0.9799288509999998 meters Centerline goodness : 0.368623 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.04, Z:-0.02 [[ 0.99955544 -0.02724861 -0.01210081 0.09946235] [ 0.02714651 0.99959513 -0.0085226 -0.03743964] [ 0.01232814 0.00819031 0.99989046 -0.01865607] [ 0. 0. 0. 1. ]] SLAMing on 1.009928851 meters Centerline goodness : 0.607268 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.04, Z:-0.02 [[ 0.99954778 -0.02729898 -0.01260946 0.10240639] [ 0.02720488 0.99960118 -0.00757527 -0.03947406] [ 0.01281123 0.00722881 0.9998918 -0.02026153] [ 0. 0. 0. 1. ]] SLAMing on 1.0399288509999998 meters Centerline goodness : 0.602523 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.04, Z:-0.02 [[ 0.99953905 -0.02741474 -0.01304328 0.1053479 ] [ 0.02732675 0.99960289 -0.0068776 -0.04152111] [ 0.01322664 0.006518 0.99989128 -0.02185611] [ 0. 0. 0. 1. ]] SLAMing on 1.0699288509999998 meters Centerline goodness : 0.328971 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.04, Z:-0.02 [[ 0.99952352 -0.02777667 -0.01346038 0.10790031] [ 0.02769518 0.99959717 -0.00620295 -0.04371033] [ 0.01362725 0.00582721 0.99989016 -0.02321095] [ 0. 0. 0. 1. ]] SLAMing on 1.0999288509999998 meters Centerline goodness : 0.345753 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.05, Z:-0.02 [[ 0.99939481 -0.03136952 -0.01503201 0.11521454] [ 0.03123337 0.9994697 -0.00920869 -0.045194 ] [ 0.01531291 0.00873362 0.99984461 -0.02424843] [ 0. 0. 0. 1. ]] SLAMing on 1.1299288509999998 meters Centerline goodness : 0.350737 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.04, Z:-0.02 [[ 0.99927163 -0.0345663 -0.0161671 0.11946196] [ 0.03436543 0.99933064 -0.0125417 -0.04445455] [ 0.01658979 0.01197697 0.99979064 -0.0244688 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1599288509999999 meters Centerline goodness : 0.353003 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.05, Z:-0.03 [[ 0.99925552 -0.03704864 -0.01076086 0.13408098] [ 0.03700636 0.99930661 -0.00410213 -0.04989149] [ 0.01090537 0.00370086 0.99993369 -0.03062459] [ 0. 0. 0. 1. ]] SLAMing on 1.189928851 meters Centerline goodness : 0.209283 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.05, Z:-0.03 [[ 0.99909658 -0.04061065 -0.01252157 0.14170003] [ 0.04052476 0.99915374 -0.00703892 -0.05224294] [ 0.01279683 0.00652513 0.99989683 -0.0314552 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2199288509999997 meters Centerline goodness : 0.243649 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.05, Z:-0.03 [[ 0.99907488 -0.04098802 -0.01301389 0.14421918] [ 0.04090978 0.99914347 -0.00622262 -0.05496407] [ 0.01325779 0.00568447 0.99989595 -0.03275141] [ 0. 0. 0. 1. ]] SLAMing on 1.2499288509999997 meters Centerline goodness : 0.691271 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.06, Z:-0.04 [[ 0.99901643 -0.04367325 -0.00766959 0.15948575] [ 0.04368524 0.99904436 0.00140253 -0.06085991] [ 0.007601 -0.0017362 0.9999696 -0.03839238] [ 0. 0. 0. 1. ]] SLAMing on 1.2799288509999998 meters Centerline goodness : 0.697816 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.06, Z:-0.04 [[ 0.99899354 -0.04410938 -0.00814021 0.16165838] [ 0.04412643 0.9990241 0.0019272 -0.06306728] [ 0.00804726 -0.00228446 0.99996501 -0.0391818 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3099288509999998 meters Centerline goodness : 0.279647 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.07, Z:-0.04 [[ 0.99879679 -0.04804035 -0.00985392 0.16907021] [ 0.04802762 0.99884484 -0.00152445 -0.06570606] [ 0.00991577 0.00104935 0.99995029 -0.0396861 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3399288509999998 meters Centerline goodness : 0.315250 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.07, Z:-0.04 [[ 0.99862897 -0.05119067 -0.01094065 0.1733528 ] [ 0.05113996 0.99867965 -0.00486525 -0.06600043] [ 0.01117526 0.00429908 0.99992831 -0.04007695] [ 0. 0. 0. 1. ]] SLAMing on 1.3699288509999998 meters Centerline goodness : 0.318792 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.07, Z:-0.04 [[ 0.99846276 -0.05410316 -0.01204042 0.1778862 ] [ 0.05400778 0.99850758 -0.00811045 -0.0662711 ] [ 0.01246125 0.00744771 0.99989462 -0.04059288] [ 0. 0. 0. 1. ]] SLAMing on 1.3999288509999999 meters Centerline goodness : 0.324529 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.07, Z:-0.04 [[ 0.99833057 -0.05622361 -0.01322808 0.19089572] [ 0.05605283 0.99834388 -0.01294549 -0.06865317] [ 0.01393401 0.01218241 0.9998287 -0.04244606] [ 0. 0. 0. 1. ]] SLAMing on 1.4299288509999997 meters Centerline goodness : 0.629353 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.07, Z:-0.05 [[ 0.9982738 -0.05818889 -0.00796762 0.20571563] [ 0.05815479 0.99829767 -0.00444686 -0.07420913] [ 0.00821282 0.00397583 0.99995837 -0.04792576] [ 0. 0. 0. 1. ]] SLAMing on 1.4599288509999997 meters Centerline goodness : 0.313498 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.07, Z:-0.05 [[ 0.99822254 -0.05894686 -0.00877715 0.21099278] [ 0.05889723 0.99824715 -0.0058092 -0.07448616] [ 0.0091042 0.00528193 0.99994461 -0.04966058] [ 0. 0. 0. 1. ]] SLAMing on 1.4899288509999997 meters Centerline goodness : 0.408590 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.08, Z:-0.05 [[ 0.99823182 -0.05865431 -0.00963853 0.21443552] [ 0.05860221 0.99826569 -0.00560272 -0.07528118] [ 0.00995044 0.00502797 0.99993785 -0.05029548] [ 0. 0. 0. 1. ]] SLAMing on 1.5199288509999997 meters Centerline goodness : 0.576533 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:-0.05 [[ 0.99847756 -0.054642 -0.00753734 0.23859253] [ 0.05454505 0.99843283 -0.01251865 -0.07558981] [ 0.00820958 0.01208846 0.99989323 -0.05130911] [ 0. 0. 0. 1. ]] SLAMing on 1.5499288509999998 meters Centerline goodness : 0.579735 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:-0.05 [[ 0.99849271 -0.05423018 -0.00844945 0.24212574] [ 0.05412307 0.99845692 -0.0124283 -0.07533087] [ 0.0091104 0.01195226 0.99988707 -0.05141531] [ 0. 0. 0. 1. ]] SLAMing on 1.5799288509999998 meters Centerline goodness : 0.585441 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.07, Z:-0.05 [[ 0.99852581 -0.05343094 -0.00955769 0.2464238 ] [ 0.05331268 0.99850301 -0.01222676 -0.0748118 ] [ 0.01019667 0.01169919 0.99987957 -0.05190744] [ 0. 0. 0. 1. ]] SLAMing on 1.6099288509999998 meters Centerline goodness : 0.689564 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.07, Z:-0.05 [[ 0.9988419 -0.04758507 -0.0071082 0.27503473] [ 0.04743906 0.99868449 -0.01946342 -0.07312669] [ 0.00802502 0.01910367 0.9997853 -0.05269449] [ 0. 0. 0. 1. ]] SLAMing on 1.6399288509999996 meters Centerline goodness : 0.575797 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.07, Z:-0.05 [[ 0.99888056 -0.04662621 -0.00797619 0.27916275] [ 0.0464666 0.99873636 -0.01914531 -0.07213677] [ 0.00885878 0.01875325 0.9997849 -0.05360163] [ 0. 0. 0. 1. ]] SLAMing on 1.6699288509999997 meters Centerline goodness : 0.579579 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.07, Z:-0.05 [[ 0.99892233 -0.04554861 -0.00891601 0.2838805 ] [ 0.04537542 0.99879407 -0.01874771 -0.07103345] [ 0.00975919 0.01832294 0.99978449 -0.05486062] [ 0. 0. 0. 1. ]] SLAMing on 1.6999288509999997 meters Centerline goodness : 0.576183 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.07, Z:-0.06 [[ 0.99919606 -0.03944013 -0.00719143 0.31137357] [ 0.03924542 0.99890524 -0.02545834 -0.06760235] [ 0.00818764 0.02515564 0.99965002 -0.05657373] [ 0. 0. 0. 1. ]] SLAMing on 1.7299288509999997 meters Centerline goodness : 0.577713 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.07, Z:-0.06 [[ 0.99923952 -0.03811601 -0.00821958 0.31659645] [ 0.03789873 0.99896525 -0.0251419 -0.06516563] [ 0.00916938 0.02481127 0.9996501 -0.05806561] [ 0. 0. 0. 1. ]] SLAMing on 1.7599288509999997 meters Centerline goodness : 0.581071 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.06, Z:-0.06 [[ 0.99928554 -0.03671351 -0.0089732 0.32136571] [ 0.03648217 0.99902872 -0.0247118 -0.06274343] [ 0.00987174 0.02436678 0.99965434 -0.059465 ] [ 0. 0. 0. 1. ]] SLAMing on 1.7899288509999998 meters Centerline goodness : 0.582943 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.06, Z:-0.06 [[ 0.99934037 -0.03503833 -0.00954717 0.32588523] [ 0.03479979 0.99910369 -0.02409967 -0.06015231] [ 0.01038302 0.02375153 0.99966397 -0.06082151] [ 0. 0. 0. 1. ]] SLAMing on 1.8199288509999998 meters Centerline goodness : 0.740027 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.06, Z:-0.06 [[ 0.99939624 -0.03321334 -0.01019929 0.33060908] [ 0.03296575 0.99917894 -0.0235522 -0.05703029] [ 0.01097317 0.02320175 0.99967058 -0.06221398] [ 0. 0. 0. 1. ]] SLAMing on 1.8499288509999996 meters Centerline goodness : 0.748059 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.05, Z:-0.06 [[ 0.99966568 -0.0248537 -0.00712839 0.36174614] [ 0.02461574 0.99919347 -0.03172487 -0.0491646 ] [ 0.00791112 0.0315388 0.99947122 -0.06153227] [ 0. 0. 0. 1. ]] SLAMing on 1.8799288509999996 meters Centerline goodness : 0.560973 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.05, Z:-0.06 [[ 0.99975814 -0.02066869 -0.00751485 0.36520081] [ 0.02045329 0.99940727 -0.02769068 -0.04741151] [ 0.00808273 0.02753028 0.99958829 -0.06366272] [ 0. 0. 0. 1. ]] SLAMing on 1.9099288509999996 meters Centerline goodness : 0.557692 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.05, Z:-0.07 [[ 0.99983309 -0.01648302 -0.007881 0.36876294] [ 0.01629183 0.99958545 -0.02373806 -0.04512148] [ 0.00826901 0.0236057 0.99968715 -0.06580303] [ 0. 0. 0. 1. ]] SLAMing on 1.9399288509999997 meters Centerline goodness : 0.532960 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.04, Z:-0.07 [[ 0.99996179 -0.00727661 -0.00484379 0.39864909] [ 0.007129 0.99952976 -0.02982343 -0.03552246] [ 0.00505853 0.02978776 0.99954345 -0.06645298] [ 0. 0. 0. 1. ]] SLAMing on 1.9699288509999997 meters Centerline goodness : 0.747219 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.03, Z:-0.07 [[ 0.99998023 -0.00300578 -0.00552343 0.40229836] [ 0.0028605 0.99965461 -0.02612422 -0.03223712] [ 0.00560005 0.02610791 0.99964344 -0.0681512 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9999288509999997 meters Centerline goodness : 0.551401 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.03, Z:-0.07 [[ 9.99981712e-01 -3.01703121e-04 -6.04017094e-03 4.07059881e-01] [ 1.51092771e-04 9.99689444e-01 -2.49197282e-02 -2.73660723e-02] [ 6.04581349e-03 2.49183598e-02 9.99671208e-01 -7.04527926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0299288509999998 meters Centerline goodness : 0.555157 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.02, Z:-0.07 [[ 0.99997296 0.00320677 -0.00661792 0.40944071] [-0.00334978 0.99975865 -0.021712 -0.02449826] [ 0.0065467 0.02173358 0.99974236 -0.07180022] [ 0. 0. 0. 1. ]] SLAMing on 2.0599288509999996 meters Centerline goodness : 0.694289 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.02, Z:-0.08 [[ 0.99997608 0.00194608 -0.00663651 0.42209871] [-0.00203446 0.99990899 -0.01333682 -0.0206793 ] [ 0.00660995 0.01335 0.99988904 -0.07628102] [ 0. 0. 0. 1. ]] SLAMing on 2.089928851 meters Centerline goodness : 0.770063 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.02, Z:-0.08 [[ 0.99996744 0.00260983 -0.00763652 0.42623398] [-0.0027157 0.99989989 -0.01388641 -0.015759 ] [ 0.00759951 0.0139067 0.99987442 -0.0772803 ] [ 0. 0. 0. 1. ]] SLAMing on 2.1199288509999996 meters Centerline goodness : 0.734734 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.01, Z:-0.08 [[ 0.99996272 0.00417504 -0.00755833 0.43140216] [-0.00427949 0.99989484 -0.01385657 -0.00717835] [ 0.00749968 0.0138884 0.99987543 -0.07992337] [ 0. 0. 0. 1. ]] SLAMing on 2.149928851 meters Centerline goodness : 0.749750 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.00, Z:-0.08 [[ 0.99995367 0.00438939 -0.00856643 0.43487672] [-0.0045143 0.99988298 -0.01461671 -0.00243292] [ 0.00850127 0.01465471 0.99985647 -0.08072154] [ 0. 0. 0. 1. ]] SLAMing on 2.1799288509999997 meters Centerline goodness : 0.605870 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:-0.08 [[ 0.99994174 0.00463 -0.00975086 0.43872379] [-0.00477881 0.99987163 -0.01529307 0.0018323 ] [ 0.0096788 0.01533878 0.99983551 -0.0815187 ] [ 0. 0. 0. 1. ]] SLAMing on 2.2099288509999995 meters Centerline goodness : 0.687719 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:-0.08 [[ 0.99993082 0.00474602 -0.01076222 0.44212918] [-0.00491743 0.99986059 -0.01595681 0.00587667] [ 0.01068499 0.01600863 0.99981476 -0.08237638] [ 0. 0. 0. 1. ]] SLAMing on 2.2399288509999997 meters Centerline goodness : 0.681632 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:-0.08 [[ 0.99993245 0.00433418 -0.01078501 0.44529193] [-0.00452045 0.99984 -0.01730743 0.01436623] [ 0.01070827 0.01735502 0.99979205 -0.08377347] [ 0. 0. 0. 1. ]] SLAMing on 2.2699288509999995 meters Centerline goodness : 0.779353 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:-0.09 [[ 0.99997953 0.0014271 -0.00623777 0.45452425] [-0.00146487 0.99998059 -0.00605547 0.0152291 ] [ 0.00622901 0.00606448 0.99996221 -0.09032736] [ 0. 0. 0. 1. ]] SLAMing on 2.2999288509999998 meters Centerline goodness : 0.634929 Centerline is valid? [False, False] Translation: X:0.46, Y:0.02, Z:-0.09 [[ 0.99997296 0.0011668 -0.00726039 0.45723885] [-0.00121877 0.99997364 -0.007158 0.01992749] [ 0.00725185 0.00716665 0.99994802 -0.09040735] [ 0. 0. 0. 1. ]] SLAMing on 2.3299288509999996 meters Centerline goodness : 0.638095 Centerline is valid? [False, False] Translation: X:0.46, Y:0.03, Z:-0.09 [[ 9.99971930e-01 3.76801339e-04 -7.48308182e-03 4.59643549e-01] [-4.44536709e-04 9.99958929e-01 -9.05220198e-03 2.94574211e-02] [ 7.47936360e-03 9.05527439e-03 9.99931028e-01 -9.04576795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.359928851 meters Centerline goodness : 0.781435 Centerline is valid? [False, False] Translation: X:0.46, Y:0.03, Z:-0.09 [[ 9.99961703e-01 5.53828341e-04 -8.73412875e-03 4.63261269e-01] [-6.39634256e-04 9.99951534e-01 -9.82447860e-03 3.40339235e-02] [ 8.72826437e-03 9.82968900e-03 9.99913594e-01 -9.09086750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3899288509999996 meters Centerline goodness : 0.782541 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:-0.09 [[ 9.99950362e-01 6.93981891e-04 -9.93941422e-03 4.66539014e-01] [-8.01596437e-04 9.99941063e-01 -1.08271630e-02 3.89894169e-02] [ 9.93131457e-03 1.08345929e-02 9.99891984e-01 -9.09900440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4199288509999994 meters Centerline goodness : 0.785070 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:-0.09 [[ 0.99995129 -0.00185507 -0.00969392 0.46591135] [ 0.00174085 0.99992912 -0.01177818 0.04298535] [ 0.00971509 0.01176073 0.99988364 -0.09071311] [ 0. 0. 0. 1. ]] SLAMing on 2.4499288509999997 meters Centerline goodness : 0.145285 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:-0.09 [[ 0.99993883 -0.00230942 -0.01081676 0.4682123 ] [ 0.00218076 0.99992692 -0.0118915 0.04385649] [ 0.01084343 0.01186718 0.99987079 -0.09104397] [ 0. 0. 0. 1. ]] SLAMing on 2.4799288509999995 meters Centerline goodness : 0.142552 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:-0.09 [[ 0.99992676 -0.00244258 -0.01185367 0.4705387 ] [ 0.0023022 0.99992723 -0.0118419 0.04400624] [ 0.01188173 0.01181375 0.99985962 -0.09135354] [ 0. 0. 0. 1. ]] SLAMing on 2.5099288509999997 meters Centerline goodness : 0.792122 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:-0.09 [[ 9.99924142e-01 5.85602401e-04 -1.23031271e-02 4.71804478e-01] [-6.77488740e-04 9.99971902e-01 -7.46569555e-03 4.19532138e-02] [ 1.22984095e-02 7.47346444e-03 9.99896443e-01 -9.28998237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5399288509999995 meters Centerline goodness : 0.137943 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:-0.09 [[ 0.99991431 0.00162915 -0.01298912 0.47633507] [-0.00171456 0.99997697 -0.00656709 0.04012225] [ 0.01297812 0.00658879 0.99989407 -0.09476395] [ 0. 0. 0. 1. ]] SLAMing on 2.569928851 meters Centerline goodness : 0.701759 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.09, Z:-0.19 [[ 0.99210577 0.11972566 -0.03730833 -0.32045268] [-0.10208233 0.9438326 0.3142598 -0.09499783] [ 0.07283778 -0.30797044 0.94860364 -0.18858619] [ 0. 0. 0. 1. ]] SLAMing on 2.5999288509999996 meters Centerline goodness : 0.136341 Centerline is valid? [False, False] Translation: X:0.11, Y:0.22, Z:0.00 [[ 9.80233523e-01 -1.58406558e-01 -1.18531022e-01 1.12686279e-01] [ 1.61765854e-01 9.86642051e-01 1.92164244e-02 2.18273163e-01] [ 1.13903683e-01 -3.80108553e-02 9.92764386e-01 8.29603419e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6299288509999994 meters Centerline goodness : 0.735436 Centerline is valid? [False, False] Translation: X:0.12, Y:0.22, Z:0.00 [[ 0.98018972 -0.15767066 -0.11986694 0.11602811] [ 0.16097117 0.98678928 0.01830832 0.21979152] [ 0.11539673 -0.03724075 0.99262114 0.00219835] [ 0. 0. 0. 1. ]] SLAMing on 2.6599288509999996 meters Centerline goodness : 0.735436 Centerline is valid? [False, False] Translation: X:0.12, Y:0.22, Z:0.00 [[ 0.98018972 -0.15767066 -0.11986694 0.11602811] [ 0.16097117 0.98678928 0.01830832 0.21979152] [ 0.11539673 -0.03724075 0.99262114 0.00219835] [ 0. 0. 0. 1. ]] SLAMing on 2.6899288509999995 meters Centerline goodness : 0.758864 Centerline is valid? [False, False] Translation: X:0.13, Y:0.23, Z:0.01 [[ 0.98052378 -0.15467499 -0.12103204 0.12878805] [ 0.15728129 0.98747815 0.01222708 0.22573496] [ 0.11762528 -0.03102502 0.99257329 0.00802256] [ 0. 0. 0. 1. ]] SLAMing on 2.7199288509999997 meters Centerline goodness : 0.774398 Centerline is valid? [False, False] Translation: X:0.13, Y:0.23, Z:0.01 [[ 0.98047601 -0.153945 -0.12234267 0.13192002] [ 0.15651369 0.98760752 0.01161223 0.2266338 ] [ 0.1190389 -0.03053382 0.99241999 0.00935523] [ 0. 0. 0. 1. ]] SLAMing on 2.7499288509999995 meters Centerline goodness : 0.773959 Centerline is valid? [False, False] Translation: X:0.14, Y:0.23, Z:0.01 [[ 0.98049048 -0.1527755 -0.12368535 0.13572249] [ 0.15530411 0.98780535 0.01100973 0.22863711] [ 0.12049504 -0.03000378 0.99226041 0.01028779] [ 0. 0. 0. 1. ]] SLAMing on 2.7799288509999998 meters Centerline goodness : 0.774159 Centerline is valid? [False, False] Translation: X:0.14, Y:0.23, Z:0.01 [[ 0.98068659 -0.14941153 -0.1262141 0.14396096] [ 0.15194729 0.98833118 0.01065328 0.23073308] [ 0.12314961 -0.02962542 0.99194582 0.01171464] [ 0. 0. 0. 1. ]] SLAMing on 2.8099288509999996 meters Centerline goodness : 0.775612 Centerline is valid? [False, False] Translation: X:0.15, Y:0.23, Z:0.01 [[ 0.98066247 -0.14853543 -0.12742977 0.14720491] [ 0.15107355 0.98846745 0.01043491 0.23077193] [ 0.12441023 -0.02948439 0.9917927 0.01244505] [ 0. 0. 0. 1. ]] SLAMing on 2.8399288509999994 meters Centerline goodness : 0.776184 Centerline is valid? [False, False] Translation: X:0.15, Y:0.23, Z:0.01 [[ 0.98073354 -0.14697662 -0.12868412 0.1511928 ] [ 0.14948094 0.98871433 0.00997081 0.23251066] [ 0.12576636 -0.02901453 0.99163551 0.0133039 ] [ 0. 0. 0. 1. ]] SLAMing on 2.8699288509999996 meters Centerline goodness : 0.777810 Centerline is valid? [False, False] Translation: X:0.16, Y:0.24, Z:0.01 [[ 0.98083097 -0.14532524 -0.12981207 0.15503704] [ 0.14777958 0.9889754 0.00942671 0.23509574] [ 0.127011 -0.02842958 0.9914938 0.0140603 ] [ 0. 0. 0. 1. ]] SLAMing on 2.8999288509999994 meters Centerline goodness : 0.774706 Centerline is valid? [False, False] Translation: X:0.18, Y:0.24, Z:0.02 [[ 0.98218717 -0.13950839 -0.12588001 0.17726669] [ 0.14040867 0.99009211 -0.00173626 0.24200976] [ 0.12487503 -0.01596931 0.99204395 0.02438557] [ 0. 0. 0. 1. ]] SLAMing on 2.9299288509999997 meters Centerline goodness : 0.779464 Centerline is valid? [False, False] Translation: X:0.18, Y:0.24, Z:0.03 [[ 0.98221014 -0.13846395 -0.12685023 0.1799516 ] [ 0.13929036 0.99024873 -0.00237567 0.24394577] [ 0.12594223 -0.01533561 0.99191904 0.02565541] [ 0. 0. 0. 1. ]] SLAMing on 2.9599288509999995 meters Centerline goodness : 0.782603 Centerline is valid? [False, False] Translation: X:0.18, Y:0.25, Z:0.03 [[ 0.98221449 -0.13752177 -0.12783764 0.18265329] [ 0.13829035 0.99038752 -0.00288699 0.24553226] [ 0.12700583 -0.01484307 0.99179091 0.02668118] [ 0. 0. 0. 1. ]] SLAMing on 2.9899288509999997 meters Centerline goodness : 0.782935 Centerline is valid? [False, False] Translation: X:0.19, Y:0.25, Z:0.03 [[ 0.9821998 -0.13612803 -0.12943228 0.19437074] [ 0.13612007 0.99065192 -0.00894978 0.2504612 ] [ 0.12944065 -0.00882786 0.99154787 0.03189837] [ 0. 0. 0. 1. ]] SLAMing on 3.0199288509999995 meters Centerline goodness : 0.785208 Centerline is valid? [False, False] Translation: X:0.20, Y:0.25, Z:0.03 [[ 0.98217945 -0.13510854 -0.13064918 0.19804187] [ 0.13505331 0.99079446 -0.00932425 0.25176878] [ 0.13070627 -0.00848651 0.99138481 0.03248869] [ 0. 0. 0. 1. ]] SLAMing on 3.0499288509999993 meters Centerline goodness : 0.786648 Centerline is valid? [False, False] Translation: X:0.20, Y:0.25, Z:0.03 [[ 0.98217791 -0.13424908 -0.13154364 0.20091498] [ 0.13417446 0.99091246 -0.00947134 0.25257294] [ 0.13161975 -0.00834726 0.99126513 0.03264589] [ 0. 0. 0. 1. ]] SLAMing on 3.0799288509999996 meters Centerline goodness : 0.793053 Centerline is valid? [False, False] Translation: X:0.20, Y:0.25, Z:0.03 [[ 0.98215089 -0.1336685 -0.1323343 0.20318877] [ 0.13354179 0.99099401 -0.00987266 0.2531466 ] [ 0.13246216 -0.00797572 0.99115597 0.0332973 ] [ 0. 0. 0. 1. ]] SLAMing on 3.1099288509999994 meters Centerline goodness : 0.795480 Centerline is valid? [False, False] Translation: X:0.20, Y:0.25, Z:0.03 [[ 0.98213109 -0.13333799 -0.13281381 0.2045812 ] [ 0.13318668 0.99103988 -0.01006286 0.2533015 ] [ 0.13296554 -0.00780598 0.99108992 0.03363205] [ 0. 0. 0. 1. ]] SLAMing on 3.1399288509999996 meters Centerline goodness : 0.797564 Centerline is valid? [False, False] Translation: X:0.21, Y:0.26, Z:0.04 [[ 0.98171492 -0.13553414 -0.1336649 0.20960086] [ 0.13459498 0.99077022 -0.01607966 0.25733604] [ 0.13461055 -0.00220498 0.99089613 0.03795092] [ 0. 0. 0. 1. ]] SLAMing on 3.1699288509999994 meters Centerline goodness : 0.792189 Centerline is valid? [False, False] Translation: X:0.21, Y:0.26, Z:0.04 [[ 0.98162345 -0.13576587 -0.13410081 0.21012101] [ 0.13471818 0.99073985 -0.01689868 0.2580249 ] [ 0.13515328 -0.00147768 0.9908236 0.03937555] [ 0. 0. 0. 1. ]] SLAMing on 3.1999288509999997 meters Centerline goodness : 0.792856 Centerline is valid? [False, False] Translation: X:0.21, Y:0.26, Z:0.04 [[ 0.98155003 -0.13607349 -0.13432624 0.20999461] [ 0.13496782 0.99069813 -0.01734641 0.25780553] [ 0.13543714 -0.00110335 0.99078533 0.04048947] [ 0. 0. 0. 1. ]] SLAMing on 3.2299288509999995 meters Centerline goodness : 0.794039 Centerline is valid? [False, False] Translation: X:0.21, Y:0.26, Z:0.04 [[ 0.98094501 -0.14005659 -0.13465156 0.21187454] [ 0.13819175 0.99013503 -0.02314438 0.2612045 ] [ 0.13656475 0.00409563 0.99062268 0.04375138] [ 0. 0. 0. 1. ]] SLAMing on 3.2599288509999993 meters Centerline goodness : 0.794985 Centerline is valid? [False, False] Translation: X:0.21, Y:0.26, Z:0.05 [[ 0.98035694 -0.14416871 -0.13459438 0.21300191] [ 0.14154282 0.98950932 -0.02892982 0.26469325] [ 0.13735317 0.00931068 0.99047838 0.0467941 ] [ 0. 0. 0. 1. ]] SLAMing on 3.2899288509999995 meters Centerline goodness : 0.790153 Centerline is valid? [False, False] Translation: X:0.22, Y:0.27, Z:0.05 [[ 0.97947586 -0.15017933 -0.13443667 0.21918174] [ 0.14591545 0.98844363 -0.04108365 0.27143968] [ 0.13905298 0.02062405 0.99007016 0.05430698] [ 0. 0. 0. 1. ]] SLAMing on 3.3199288509999993 meters Centerline goodness : 0.790273 Centerline is valid? [False, False] Translation: X:0.22, Y:0.27, Z:0.05 [[ 0.97942835 -0.1504207 -0.13451288 0.21936362] [ 0.14620142 0.98841434 -0.04077052 0.27036761] [ 0.1390872 0.02026583 0.99007275 0.05371199] [ 0. 0. 0. 1. ]] SLAMing on 3.3499288509999996 meters Centerline goodness : 0.795012 Centerline is valid? [False, False] Translation: X:0.22, Y:0.27, Z:0.05 [[ 0.97934428 -0.15076625 -0.13473798 0.21974894] [ 0.14654084 0.98836271 -0.04080375 0.26975753] [ 0.13932182 0.0202163 0.99004077 0.05357974] [ 0. 0. 0. 1. ]] SLAMing on 3.3799288509999994 meters Centerline goodness : 0.789279 Centerline is valid? [False, False] Translation: X:0.22, Y:0.27, Z:0.06 [[ 0.97859329 -0.15554237 -0.13476551 0.22071679] [ 0.15067791 0.98752898 -0.04563634 0.27072712] [ 0.14018323 0.02435323 0.98982604 0.05505611] [ 0. 0. 0. 1. ]] SLAMing on 3.4099288509999996 meters Centerline goodness : 0.790884 Centerline is valid? [False, False] Translation: X:0.22, Y:0.27, Z:0.06 [[ 0.97849945 -0.15622073 -0.13466224 0.22000895] [ 0.15135749 0.98742259 -0.04568953 0.26975452] [ 0.14010619 0.02432504 0.98983764 0.05502772] [ 0. 0. 0. 1. ]] SLAMing on 3.4399288509999995 meters Centerline goodness : 0.800820 Centerline is valid? [False, False] Translation: X:0.22, Y:0.27, Z:0.05 [[ 0.97844396 -0.15655868 -0.13467292 0.21992644] [ 0.15171584 0.98737333 -0.04556537 0.26901391] [ 0.1401061 0.02415115 0.98984191 0.0547307 ] [ 0. 0. 0. 1. ]] SLAMing on 3.4699288509999993 meters Centerline goodness : 0.800242 Centerline is valid? [False, False] Translation: X:0.22, Y:0.27, Z:0.05 [[ 0.97833144 -0.15755371 -0.13432949 0.21866506] [ 0.15273041 0.98721757 -0.04555087 0.26810758] [ 0.13978915 0.02404765 0.98988924 0.05421481] [ 0. 0. 0. 1. ]] SLAMing on 3.4999288509999995 meters Centerline goodness : 0.801936 Centerline is valid? [False, False] Translation: X:0.22, Y:0.27, Z:0.05 [[ 0.97828171 -0.15782808 -0.13436962 0.21841289] [ 0.15300769 0.98717509 -0.04554099 0.26793603] [ 0.13983399 0.02399233 0.98988425 0.05422534] [ 0. 0. 0. 1. ]] SLAMing on 3.5299288509999993 meters Centerline goodness : 0.805388 Centerline is valid? [False, False] Translation: X:0.22, Y:0.27, Z:0.05 [[ 0.97821636 -0.1582181 -0.13438674 0.21803542] [ 0.15335319 0.98710587 -0.04587816 0.26841693] [ 0.1399127 0.02427013 0.98986635 0.05463103] [ 0. 0. 0. 1. ]] SLAMing on 3.5599288509999996 meters Centerline goodness : 0.805504 Centerline is valid? [False, False] Translation: X:0.21, Y:0.27, Z:0.05 [[ 0.9784121 -0.15682754 -0.13459151 0.21450588] [ 0.15238011 0.9873949 -0.04279739 0.26680724] [ 0.13960679 0.02136442 0.98997652 0.05495813] [ 0. 0. 0. 1. ]] SLAMing on 3.5899288509999994 meters Centerline goodness : 0.805504 Centerline is valid? [False, False] Translation: X:0.21, Y:0.27, Z:0.05 [[ 0.9784121 -0.15682754 -0.13459151 0.21450588] [ 0.15238011 0.9873949 -0.04279739 0.26680724] [ 0.13960679 0.02136442 0.98997652 0.05495813] [ 0. 0. 0. 1. ]] SLAMing on 3.6199288509999996 meters Centerline goodness : 0.804852 Centerline is valid? [False, False] Translation: X:0.21, Y:0.27, Z:0.06 [[ 0.9783029 -0.15804416 -0.13396076 0.21197615] [ 0.15354674 0.98719091 -0.04333015 0.26673317] [ 0.13909292 0.02182077 0.9900389 0.05558006] [ 0. 0. 0. 1. ]] SLAMing on 3.6499288509999994 meters Centerline goodness : 0.805649 Centerline is valid? [False, False] Translation: X:0.21, Y:0.27, Z:0.06 [[ 0.97823426 -0.15870175 -0.13368427 0.21060579] [ 0.15419395 0.98708298 -0.04349042 0.26615327] [ 0.13885947 0.02193051 0.99006924 0.05593208] [ 0. 0. 0. 1. ]] SLAMing on 3.6799288509999992 meters Centerline goodness : 0.807287 Centerline is valid? [False, False] Translation: X:0.21, Y:0.27, Z:0.06 [[ 0.9781656 -0.15937517 -0.13338518 0.20928825] [ 0.15489363 0.98697767 -0.04339402 0.26515331] [ 0.13856413 0.02178602 0.99011381 0.05582757] [ 0. 0. 0. 1. ]] SLAMing on 3.7099288509999995 meters Centerline goodness : 0.805723 Centerline is valid? [False, False] Translation: X:0.21, Y:0.26, Z:0.06 [[ 0.97809738 -0.16002222 -0.13311048 0.20795115] [ 0.15555401 0.98687426 -0.04338376 0.26444369] [ 0.13830567 0.02172767 0.99015123 0.05592992] [ 0. 0. 0. 1. ]] SLAMing on 3.7399288509999993 meters Centerline goodness : 0.806470 Centerline is valid? [False, False] Translation: X:0.21, Y:0.26, Z:0.06 [[ 0.97810775 -0.15972902 -0.1333862 0.2086698 ] [ 0.15526329 0.98692356 -0.04330366 0.26469561] [ 0.13855883 0.02164566 0.99011763 0.0560158 ] [ 0. 0. 0. 1. ]] SLAMing on 3.7699288509999995 meters Centerline goodness : 0.804585 Centerline is valid? [False, False] Translation: X:0.21, Y:0.26, Z:0.06 [[ 0.97813503 -0.15928207 -0.1337202 0.21002283] [ 0.15485128 0.98700273 -0.04297314 0.26434532] [ 0.13882706 0.02132679 0.99008697 0.0555425 ] [ 0. 0. 0. 1. ]] SLAMing on 3.7999288509999993 meters Centerline goodness : 0.803527 Centerline is valid? [False, False] Translation: X:0.21, Y:0.26, Z:0.05 [[ 0.97821673 -0.15829951 -0.13428807 0.21260431] [ 0.15401152 0.98718421 -0.04180658 0.26250255] [ 0.13918503 0.02021399 0.99006006 0.05387895] [ 0. 0. 0. 1. ]] SLAMing on 3.8299288509999996 meters Centerline goodness : 0.802868 Centerline is valid? [False, False] Translation: X:0.21, Y:0.26, Z:0.05 [[ 0.97824923 -0.1578384 -0.13459375 0.21384805] [ 0.15359263 0.98726526 -0.04143209 0.26159406] [ 0.13941931 0.0198583 0.99003429 0.0534893 ] [ 0. 0. 0. 1. ]] SLAMing on 3.8599288509999994 meters Centerline goodness : 0.803389 Centerline is valid? [False, False] Translation: X:0.21, Y:0.26, Z:0.05 [[ 0.97827199 -0.15749546 -0.1348299 0.21480133] [ 0.15328318 0.98732564 -0.04113819 0.26079904] [ 0.1396001 0.01957718 0.99001442 0.05320851] [ 0. 0. 0. 1. ]] SLAMing on 3.889928850999999 meters Centerline goodness : 0.802584 Centerline is valid? [False, False] Translation: X:0.22, Y:0.26, Z:0.05 [[ 0.97828289 -0.15731747 -0.13495852 0.21516218] [ 0.15313223 0.98735826 -0.04091676 0.25979122] [ 0.13968933 0.01936167 0.99000607 0.05322662] [ 0. 0. 0. 1. ]] SLAMing on 3.9199288509999994 meters Centerline goodness : 0.804202 Centerline is valid? [False, False] Translation: X:0.21, Y:0.26, Z:0.05 [[ 0.97821441 -0.15799126 -0.13466751 0.21326269] [ 0.1537882 0.98724751 -0.04112835 0.25779437] [ 0.13944808 0.01952207 0.99003693 0.05451238] [ 0. 0. 0. 1. ]] SLAMing on 3.9499288509999992 meters Centerline goodness : 0.804115 Centerline is valid? [False, False] Translation: X:0.21, Y:0.26, Z:0.06 [[ 0.9781594 -0.15844945 -0.13452863 0.21211944] [ 0.15424816 0.98717421 -0.04116538 0.25662307] [ 0.13932583 0.01951551 0.99005427 0.05514426] [ 0. 0. 0. 1. ]] SLAMing on 3.9799288509999995 meters Centerline goodness : 0.804330 Centerline is valid? [False, False] Translation: X:0.21, Y:0.26, Z:0.06 [[ 0.97811041 -0.15884899 -0.13441361 0.21107624] [ 0.15466036 0.9871117 -0.04111783 0.25522259] [ 0.13921277 0.01942932 0.99007187 0.05574178] [ 0. 0. 0. 1. ]] SLAMing on 4.009928851 meters Centerline goodness : 0.802454 Centerline is valid? [False, False] Translation: X:0.21, Y:0.25, Z:0.06 [[ 0.97807532 -0.15913125 -0.13433507 0.21045252] [ 0.15498576 0.98707218 -0.04084032 0.25346541] [ 0.13909738 0.01912489 0.99009401 0.05583922] [ 0. 0. 0. 1. ]] SLAMing on 4.039928851 meters Centerline goodness : 0.804232 Centerline is valid? [False, False] Translation: X:0.21, Y:0.25, Z:0.06 [[ 0.97799334 -0.15978802 -0.13415221 0.20965029] [ 0.15576568 0.98698258 -0.04003056 0.24909361] [ 0.1388023 0.01825331 0.99015188 0.05510844] [ 0. 0. 0. 1. ]] SLAMing on 4.069928851 meters Centerline goodness : 0.800825 Centerline is valid? [False, False] Translation: X:0.21, Y:0.25, Z:0.05 [[ 0.97799319 -0.15987463 -0.13405007 0.2096564 ] [ 0.1559605 0.98698208 -0.03927708 0.24661546] [ 0.13858443 0.0175062 0.99019588 0.05415022] [ 0. 0. 0. 1. ]] SLAMing on 4.099928851 meters Centerline goodness : 0.800018 Centerline is valid? [False, False] Translation: X:0.21, Y:0.24, Z:0.05 [[ 0.97799925 -0.15989591 -0.13398048 0.20986602] [ 0.15608488 0.98699109 -0.03854999 0.2442273 ] [ 0.13840152 0.01678953 0.99023388 0.05322027] [ 0. 0. 0. 1. ]] SLAMing on 4.129928851 meters Centerline goodness : 0.802340 Centerline is valid? [False, False] Translation: X:0.21, Y:0.24, Z:0.05 [[ 0.97799827 -0.15988361 -0.13400226 0.21003521] [ 0.15617296 0.98700509 -0.03782816 0.24184819] [ 0.13830901 0.01606835 0.99025877 0.05250964] [ 0. 0. 0. 1. ]] SLAMing on 4.159928851 meters Centerline goodness : 0.799271 Centerline is valid? [False, False] Translation: X:0.21, Y:0.24, Z:0.05 [[ 0.97797637 -0.16012025 -0.13387951 0.20955303] [ 0.15646233 0.98697253 -0.03748015 0.24006449] [ 0.13813674 0.0157076 0.9902886 0.05233521] [ 0. 0. 0. 1. ]] SLAMing on 4.1899288509999995 meters Centerline goodness : 0.803181 Centerline is valid? [False, False] Translation: X:0.21, Y:0.24, Z:0.05 [[ 0.97788709 -0.16097604 -0.13350486 0.20743347] [ 0.15737905 0.98683957 -0.03714163 0.23681768] [ 0.13772679 0.01530946 0.99035193 0.05284914] [ 0. 0. 0. 1. ]] SLAMing on 4.219928851 meters Centerline goodness : 0.802617 Centerline is valid? [False, False] Translation: X:0.21, Y:0.23, Z:0.05 [[ 0.97784706 -0.16137812 -0.1333125 0.20638804] [ 0.15782139 0.986778 -0.03689969 0.2349569 ] [ 0.13750465 0.01504269 0.99038689 0.0530704 ] [ 0. 0. 0. 1. ]] SLAMing on 4.249928851 meters Centerline goodness : 0.802472 Centerline is valid? [False, False] Translation: X:0.20, Y:0.23, Z:0.05 [[ 0.97768616 -0.16254686 -0.13307251 0.20485359] [ 0.15908078 0.9865962 -0.03634888 0.22980384] [ 0.13719723 0.01436852 0.99043953 0.05298298] [ 0. 0. 0. 1. ]] SLAMing on 4.279928851 meters Centerline goodness : 0.801621 Centerline is valid? [False, False] Translation: X:0.20, Y:0.23, Z:0.05 [[ 0.97766188 -0.16269177 -0.1330738 0.20481275] [ 0.15931363 0.98658148 -0.03572323 0.22691548] [ 0.13710002 0.01372477 0.99046212 0.05261412] [ 0. 0. 0. 1. ]] SLAMing on 4.309928851 meters Centerline goodness : 0.802562 Centerline is valid? [False, False] Translation: X:0.20, Y:0.22, Z:0.05 [[ 0.97764827 -0.16280215 -0.13303879 0.20472241] [ 0.15950663 0.98657136 -0.03513681 0.22444407] [ 0.13697261 0.01313087 0.9904878 0.05220284] [ 0. 0. 0. 1. ]] SLAMing on 4.339928851 meters Centerline goodness : 0.801805 Centerline is valid? [False, False] Translation: X:0.20, Y:0.22, Z:0.05 [[ 0.97764401 -0.1627948 -0.13307909 0.20491112] [ 0.1595912 0.98658129 -0.03446758 0.22166171] [ 0.13690448 0.01245878 0.9905059 0.05178342] [ 0. 0. 0. 1. ]] SLAMing on 4.369928851 meters Centerline goodness : 0.802837 Centerline is valid? [False, False] Translation: X:0.20, Y:0.22, Z:0.05 [[ 0.97762904 -0.16291774 -0.13303858 0.20487811] [ 0.15980663 0.98656917 -0.03380988 0.2191932 ] [ 0.13675999 0.01179308 0.99053401 0.05118068] [ 0. 0. 0. 1. ]] SLAMing on 4.399928850999999 meters Centerline goodness : 0.801393 Centerline is valid? [False, False] Translation: X:0.21, Y:0.21, Z:0.05 [[ 0.97761107 -0.16287557 -0.13322219 0.20530917] [ 0.15991982 0.98658935 -0.03266657 0.21448695] [ 0.13675618 0.01063033 0.9905477 0.05051191] [ 0. 0. 0. 1. ]] SLAMing on 4.429928851 meters Centerline goodness : 0.798834 Centerline is valid? [False, False] Translation: X:0.21, Y:0.21, Z:0.05 [[ 0.97761989 -0.1625916 -0.13350403 0.20611105] [ 0.1596978 0.98664138 -0.03217772 0.21253826] [ 0.13695243 0.01013728 0.99052575 0.05039325] [ 0. 0. 0. 1. ]] SLAMing on 4.459928851 meters Centerline goodness : 0.800609 Centerline is valid? [False, False] Translation: X:0.21, Y:0.21, Z:0.05 [[ 0.97764165 -0.16227401 -0.13373086 0.20674567] [ 0.15943933 0.98669824 -0.03171261 0.21081415] [ 0.13709814 0.00968161 0.99051016 0.05031526] [ 0. 0. 0. 1. ]] SLAMing on 4.489928851 meters Centerline goodness : 0.800526 Centerline is valid? [False, False] Translation: X:0.21, Y:0.21, Z:0.05 [[ 0.97766551 -0.16196743 -0.13392794 0.20737595] [ 0.15917894 0.98675203 -0.0313447 0.20939265] [ 0.13723049 0.00932613 0.99049524 0.05029694] [ 0. 0. 0. 1. ]] SLAMing on 4.5199288509999995 meters Centerline goodness : 0.801224 Centerline is valid? [False, False] Translation: X:0.21, Y:0.21, Z:0.05 [[ 0.97770981 -0.16144669 -0.13423296 0.20772859] [ 0.15867569 0.98683884 -0.03116291 0.20756369] [ 0.13749745 0.00916878 0.99045968 0.05140406] [ 0. 0. 0. 1. ]] SLAMing on 4.549928851 meters Centerline goodness : 0.801224 Centerline is valid? [False, False] Translation: X:0.21, Y:0.21, Z:0.05 [[ 0.97770981 -0.16144669 -0.13423296 0.20772859] [ 0.15867569 0.98683884 -0.03116291 0.20756369] [ 0.13749745 0.00916878 0.99045968 0.05140406] [ 0. 0. 0. 1. ]] SLAMing on 4.579928851 meters Centerline goodness : 0.798927 Centerline is valid? [False, False] Translation: X:0.21, Y:0.21, Z:0.05 [[ 0.97773576 -0.16116086 -0.13438738 0.20794113] [ 0.15839473 0.98688602 -0.03109824 0.20689932] [ 0.13763685 0.0091196 0.99044078 0.05195504] [ 0. 0. 0. 1. ]] SLAMing on 4.609928850999999 meters Centerline goodness : 0.800868 Centerline is valid? [False, False] Translation: X:0.21, Y:0.21, Z:0.05 [[ 0.97778581 -0.16072373 -0.1345466 0.20842132] [ 0.15800141 0.98696019 -0.03074316 0.20570548] [ 0.13773329 0.00880168 0.99043025 0.05207787] [ 0. 0. 0. 1. ]] SLAMing on 4.639928851 meters Centerline goodness : 0.799435 Centerline is valid? [False, False] Translation: X:0.21, Y:0.20, Z:0.05 [[ 0.97782087 -0.16039787 -0.1346806 0.2087941 ] [ 0.15772626 0.98701642 -0.03034809 0.20426034] [ 0.13779973 0.00843233 0.99042422 0.0521253 ] [ 0. 0. 0. 1. ]] SLAMing on 4.669928851 meters Centerline goodness : 0.800927 Centerline is valid? [False, False] Translation: X:0.21, Y:0.20, Z:0.05 [[ 0.97788253 -0.15986258 -0.13486928 0.20937262] [ 0.15726727 0.9871078 -0.02975238 0.20130227] [ 0.13788681 0.00788381 0.99041662 0.05241055] [ 0. 0. 0. 1. ]] SLAMing on 4.699928851 meters Centerline goodness : 0.798742 Centerline is valid? [False, False] Translation: X:0.21, Y:0.20, Z:0.05 [[ 0.9779271 -0.15940335 -0.13508946 0.21011918] [ 0.15687018 0.98718561 -0.02926279 0.19990133] [ 0.13802296 0.00742537 0.99040119 0.05226694] [ 0. 0. 0. 1. ]] SLAMing on 4.7299288509999995 meters Centerline goodness : 0.796765 Centerline is valid? [False, False] Translation: X:0.21, Y:0.20, Z:0.05 [[ 0.97796283 -0.15889535 -0.13542885 0.21089824] [ 0.15642873 0.98727121 -0.02873332 0.1975954 ] [ 0.1382706 0.00691516 0.99037035 0.05260672] [ 0. 0. 0. 1. ]] SLAMing on 4.759928851 meters Centerline goodness : 0.798867 Centerline is valid? [False, False] Translation: X:0.21, Y:0.20, Z:0.05 [[ 0.97797521 -0.15859789 -0.13568784 0.21145259] [ 0.1561775 0.98732151 -0.02836944 0.19614992] [ 0.13846686 0.00655322 0.99034539 0.05277773] [ 0. 0. 0. 1. ]] SLAMing on 4.789928851 meters Centerline goodness : 0.797688 Centerline is valid? [False, False] Translation: X:0.21, Y:0.19, Z:0.05 [[ 0.97798985 -0.15832739 -0.1358981 0.21197227] [ 0.15595041 0.98736708 -0.02803082 0.19485383] [ 0.13861935 0.0062205 0.9903262 0.05285246] [ 0. 0. 0. 1. ]] SLAMing on 4.819928850999999 meters Centerline goodness : 0.797803 Centerline is valid? [False, False] Translation: X:0.21, Y:0.19, Z:0.05 [[ 0.97799871 -0.15809987 -0.13609904 0.21252294] [ 0.15576256 0.98740542 -0.02772308 0.19333482] [ 0.13876794 0.005914 0.99030727 0.05294269] [ 0. 0. 0. 1. ]] SLAMing on 4.849928851 meters Centerline goodness : 0.797590 Centerline is valid? [False, False] Translation: X:0.21, Y:0.19, Z:0.05 [[ 0.97802237 -0.15783317 -0.13623849 0.21316348] [ 0.15556166 0.98745082 -0.02722947 0.19136704] [ 0.13882652 0.00543755 0.99030179 0.05266511] [ 0. 0. 0. 1. ]] SLAMing on 4.879928851 meters Centerline goodness : 0.796244 Centerline is valid? [False, False] Translation: X:0.21, Y:0.19, Z:0.05 [[ 0.97804017 -0.15757655 -0.13640769 0.21415173] [ 0.15543134 0.98749641 -0.02630484 0.1875594 ] [ 0.13884713 0.00452516 0.99030349 0.05188858] [ 0. 0. 0. 1. ]] SLAMing on 4.909928851 meters Centerline goodness : 0.795159 Centerline is valid? [False, False] Translation: X:0.21, Y:0.19, Z:0.05 [[ 0.97802377 -0.15763484 -0.13645795 0.21426346] [ 0.15552533 0.9874883 -0.02605261 0.18602871] [ 0.13885742 0.0042574 0.99030323 0.05184249] [ 0. 0. 0. 1. ]] SLAMing on 4.9399288509999995 meters Centerline goodness : 0.795128 Centerline is valid? [False, False] Translation: X:0.21, Y:0.18, Z:0.05 [[ 0.97801768 -0.1577407 -0.13637918 0.21406616] [ 0.15566425 0.98747235 -0.02582641 0.18449447] [ 0.13874455 0.00402932 0.99032001 0.05181333] [ 0. 0. 0. 1. ]] SLAMing on 4.969928851 meters Centerline goodness : 0.793895 Centerline is valid? [False, False] Translation: X:0.21, Y:0.18, Z:0.05 [[ 0.97798931 -0.15795604 -0.13633341 0.21362916] [ 0.15588454 0.9874381 -0.0258073 0.18309677] [ 0.13869722 0.00398699 0.99032681 0.05223702] [ 0. 0. 0. 1. ]] SLAMing on 4.999928851 meters Centerline goodness : 0.795442 Centerline is valid? [False, False] Translation: X:0.21, Y:0.18, Z:0.05 [[ 0.9779728 -0.15812027 -0.13626147 0.21309368] [ 0.15607222 0.98741247 -0.02565319 0.18142442] [ 0.13860256 0.00382149 0.99034071 0.05263299] [ 0. 0. 0. 1. ]] SLAMing on 5.029928850999999 meters Centerline goodness : 0.796625 Centerline is valid? [False, False] Translation: X:0.21, Y:0.18, Z:0.05 [[ 0.97795158 -0.15836216 -0.13613275 0.21233063] [ 0.15632401 0.98737395 -0.02560263 0.17987563] [ 0.13846842 0.00375732 0.99035972 0.05318731] [ 0. 0. 0. 1. ]] SLAMing on 5.059928851 meters Centerline goodness : 0.797677 Centerline is valid? [False, False] Translation: X:0.21, Y:0.18, Z:0.06 [[ 0.9778608 -0.15918117 -0.13582934 0.20986049] [ 0.15709209 0.9872408 -0.02603224 0.1776703 ] [ 0.13824011 0.00411819 0.99039018 0.0553331 ] [ 0. 0. 0. 1. ]] SLAMing on 5.089928851 meters Centerline goodness : 0.797138 Centerline is valid? [False, False] Translation: X:0.21, Y:0.18, Z:0.06 [[ 0.97783031 -0.15940732 -0.13578364 0.20925597] [ 0.15732539 0.98720455 -0.02599792 0.17634764] [ 0.13819049 0.00405934 0.99039735 0.05593354] [ 0. 0. 0. 1. ]] SLAMing on 5.119928851 meters Centerline goodness : 0.799256 Centerline is valid? [False, False] Translation: X:0.21, Y:0.17, Z:0.06 [[ 0.9778037 -0.15955963 -0.13579639 0.20909286] [ 0.15751253 0.98718099 -0.02575844 0.17454394] [ 0.13816562 0.00379707 0.99040186 0.05606678] [ 0. 0. 0. 1. ]] SLAMing on 5.149928850999999 meters Centerline goodness : 0.795338 Centerline is valid? [False, False] Translation: X:0.21, Y:0.17, Z:0.06 [[ 0.97766536 -0.16017643 -0.13606599 0.20970193] [ 0.15817731 0.98708269 -0.02545014 0.16951827] [ 0.1383849 0.00335916 0.99037283 0.05612125] [ 0. 0. 0. 1. ]] SLAMing on 5.179928851 meters Centerline goodness : 0.798816 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.10, Z:-0.12 [[ 0.96780915 -0.00533541 -0.25162866 -0.57633634] [ 0.10273004 0.92107547 0.37558822 -0.10223935] [ 0.22976506 -0.38934754 0.89197338 -0.11865833] [ 0. 0. 0. 1. ]] SLAMing on 5.209928851 meters Centerline goodness : 0.797326 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.26, Z:0.08 [[ 0.91523353 -0.30986994 -0.25754263 -0.20127583] [ 0.3358134 0.93984732 0.06258092 0.25870006] [ 0.22265881 -0.14376242 0.96423826 0.07522642] [ 0. 0. 0. 1. ]] SLAMing on 5.239928850999999 meters Centerline goodness : 0.796556 Centerline is valid? [False, False] Translation: X:-0.23, Y:0.25, Z:0.08 [[ 0.91604583 -0.31467799 -0.24867206 -0.2304508 ] [ 0.33517005 0.94114225 0.04372979 0.25057877] [ 0.22027498 -0.12340592 0.96760008 0.07568062] [ 0. 0. 0. 1. ]] SLAMing on 5.2699288509999995 meters Centerline goodness : 0.795879 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.24, Z:0.07 [[ 0.91743861 -0.31552526 -0.24238443 -0.24694192] [ 0.33360768 0.94200662 0.03646145 0.24421536] [ 0.21682323 -0.11431245 0.9694949 0.07464385] [ 0. 0. 0. 1. ]] SLAMing on 5.299928851 meters Centerline goodness : 0.794786 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.24, Z:0.07 [[ 0.92011476 -0.31435074 -0.23360746 -0.25765563] [ 0.33058177 0.94320519 0.03285815 0.23758548] [ 0.21001079 -0.10745964 0.97177564 0.07075245] [ 0. 0. 0. 1. ]] SLAMing on 5.329928851 meters Centerline goodness : 0.797283 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.23, Z:0.07 [[ 0.92270753 -0.31311414 -0.22487853 -0.26773168] [ 0.32764408 0.94434066 0.02949701 0.2309645 ] [ 0.20312601 -0.10089723 0.97394023 0.06704897] [ 0. 0. 0. 1. ]] SLAMing on 5.359928850999999 meters Centerline goodness : 0.795479 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.22, Z:0.07 [[ 0.92408978 -0.31380789 -0.21813458 -0.28268113] [ 0.32645873 0.94491597 0.0236326 0.22164176] [ 0.19870275 -0.09305058 0.97563252 0.06554051] [ 0. 0. 0. 1. ]] SLAMing on 5.389928851 meters Centerline goodness : 0.796618 Centerline is valid? [False, False] Translation: X:-0.30, Y:0.22, Z:0.06 [[ 0.9258796 -0.31279584 -0.21190972 -0.29749463] [ 0.32370891 0.94598541 0.01800377 0.21514794] [ 0.194832 -0.08526638 0.9771234 0.06353456] [ 0. 0. 0. 1. ]] SLAMing on 5.419928851 meters Centerline goodness : 0.796954 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.21, Z:0.06 [[ 0.92861215 -0.31023522 -0.20355243 -0.30745122] [ 0.31986542 0.94733793 0.01539321 0.20890343] [ 0.18805743 -0.07940371 0.97894303 0.05940686] [ 0. 0. 0. 1. ]] SLAMing on 5.449928850999999 meters Centerline goodness : 0.796761 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.21, Z:0.06 [[ 0.9293899 -0.30974298 -0.20073291 -0.30999107] [ 0.31924048 0.94753921 0.01596778 0.20580296] [ 0.1852564 -0.07892236 0.97951586 0.05754249] [ 0. 0. 0. 1. ]] SLAMing on 5.4799288509999995 meters Centerline goodness : 0.795261 Centerline is valid? [False, False] Translation: X:-0.32, Y:0.20, Z:0.05 [[ 0.93212188 -0.30647074 -0.19293648 -0.31740664] [ 0.31505708 0.94895827 0.01473882 0.20008778] [ 0.17857165 -0.07452439 0.98110055 0.05259116] [ 0. 0. 0. 1. ]] SLAMing on 5.509928851 meters Centerline goodness : 0.796915 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.19, Z:0.05 [[ 0.93501609 -0.30271422 -0.18468624 -0.32739741] [ 0.31019337 0.95059349 0.0123324 0.19415173] [ 0.17182834 -0.06881944 0.98272016 0.04819189] [ 0. 0. 0. 1. ]] SLAMing on 5.539928851 meters Centerline goodness : 0.796575 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.19, Z:0.04 [[ 0.93746945 -0.29891756 -0.17832367 -0.33373319] [ 0.30597172 0.9519545 0.01280382 0.18909015] [ 0.16592873 -0.06656519 0.98388858 0.0443045 ] [ 0. 0. 0. 1. ]] SLAMing on 5.569928850999999 meters Centerline goodness : 0.797563 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.19, Z:0.04 [[ 0.93765595 -0.29833844 -0.17831292 -0.33370826] [ 0.30542282 0.95212754 0.01304047 0.18906519] [ 0.16588617 -0.06668831 0.98388742 0.04452239] [ 0. 0. 0. 1. ]] SLAMing on 5.599928851 meters Centerline goodness : 0.797141 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.18, Z:0.04 [[ 0.94028509 -0.29413656 -0.17131152 -0.34039171] [ 0.30072669 0.95361791 0.01327954 0.18471257] [ 0.15945974 -0.0640045 0.98512741 0.03933915] [ 0. 0. 0. 1. ]] SLAMing on 5.629928851 meters Centerline goodness : 0.797276 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.18, Z:0.04 [[ 0.94041122 -0.29362978 -0.17148848 -0.33988513] [ 0.30024589 0.95376754 0.01341226 0.1846465 ] [ 0.15962191 -0.06410175 0.98509482 0.0395669 ] [ 0. 0. 0. 1. ]] SLAMing on 5.659928850999999 meters Centerline goodness : 0.794969 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.18, Z:0.04 [[ 0.94136956 -0.29180551 -0.16933074 -0.34165808] [ 0.29850083 0.95429225 0.01495213 0.18106169] [ 0.1572279 -0.06462085 0.98544586 0.03827302] [ 0. 0. 0. 1. ]] SLAMing on 5.6899288509999995 meters Centerline goodness : 0.795117 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.18, Z:0.04 [[ 0.94139622 -0.29165237 -0.16944629 -0.34132345] [ 0.29837952 0.95432759 0.01511655 0.17988841] [ 0.15729849 -0.06478996 0.98542348 0.03859043] [ 0. 0. 0. 1. ]] SLAMing on 5.719928851 meters Centerline goodness : 0.798112 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.18, Z:0.04 [[ 0.94149938 -0.29160113 -0.16896066 -0.34185022] [ 0.29833678 0.95433678 0.01537757 0.17673508] [ 0.15676126 -0.06488516 0.98550283 0.03929331] [ 0. 0. 0. 1. ]] SLAMing on 5.749928851 meters Centerline goodness : 0.796203 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.17, Z:0.03 [[ 0.94368636 -0.28852247 -0.1618976 -0.34917241] [ 0.29475268 0.95545027 0.01535052 0.17148823] [ 0.15025614 -0.06220583 0.98668816 0.0346863 ] [ 0. 0. 0. 1. ]] SLAMing on 5.779928850999999 meters Centerline goodness : 0.795028 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.17, Z:0.04 [[ 0.94371718 -0.28832249 -0.16207412 -0.34883088] [ 0.29456054 0.95550962 0.01534438 0.17051998] [ 0.15043925 -0.0622214 0.98665928 0.03537092] [ 0. 0. 0. 1. ]] SLAMing on 5.809928851 meters Centerline goodness : 0.795630 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.17, Z:0.03 [[ 0.94622564 -0.28429642 -0.15437804 -0.35774859] [ 0.2899242 0.95693562 0.01477113 0.16507992] [ 0.14353046 -0.05873475 0.98790143 0.03081032] [ 0. 0. 0. 1. ]] SLAMing on 5.839928851 meters Centerline goodness : 0.798471 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.16, Z:0.03 [[ 0.94638682 -0.28353605 -0.15478792 -0.35660909] [ 0.28923448 0.95713845 0.01514618 0.16386096] [ 0.14385898 -0.05910415 0.98783161 0.03124781] [ 0. 0. 0. 1. ]] SLAMing on 5.869928850999999 meters Centerline goodness : 0.796912 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.16, Z:0.03 [[ 0.94645851 -0.28314241 -0.15506985 -0.35584356] [ 0.28888225 0.95724167 0.01534373 0.16326621] [ 0.14409486 -0.05931913 0.98778434 0.0314425 ] [ 0. 0. 0. 1. ]] SLAMing on 5.899928850999999 meters Centerline goodness : 0.797141 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.16, Z:0.03 [[ 0.94649161 -0.28296901 -0.15518429 -0.35549794] [ 0.28872645 0.95728728 0.01543025 0.16271995] [ 0.14418966 -0.05941041 0.98776503 0.03163611] [ 0. 0. 0. 1. ]] SLAMing on 5.929928851 meters Centerline goodness : 0.795808 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.16, Z:0.03 [[ 0.94652101 -0.28278494 -0.15534045 -0.35502355] [ 0.28856306 0.95733508 0.01552109 0.16203236] [ 0.14432373 -0.05951655 0.98773906 0.03183593] [ 0. 0. 0. 1. ]] SLAMing on 5.959928851 meters Centerline goodness : 0.798080 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.16, Z:0.03 [[ 0.94805195 -0.28061247 -0.14984704 -0.36058979] [ 0.28608196 0.95807428 0.01583596 0.15759211] [ 0.13912082 -0.05788185 0.98858236 0.02869897] [ 0. 0. 0. 1. ]] SLAMing on 5.989928850999999 meters Centerline goodness : 0.798974 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.16, Z:0.03 [[ 0.94809051 -0.28043704 -0.14993153 -0.36040883] [ 0.28591339 0.95812416 0.0158624 0.15727012] [ 0.13920462 -0.05790643 0.98856913 0.0289688 ] [ 0. 0. 0. 1. ]] SLAMing on 6.0199288509999995 meters Centerline goodness : 0.798811 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.16, Z:0.03 [[ 0.94807261 -0.28046231 -0.1499974 -0.36046027] [ 0.28590923 0.95812933 0.01562388 0.1572796 ] [ 0.139335 -0.05769822 0.98856293 0.02951502] [ 0. 0. 0. 1. ]] SLAMing on 6.049928851 meters Centerline goodness : 0.795190 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.16, Z:0.03 [[ 0.94825511 -0.2801839 -0.14936275 -0.36134647] [ 0.28566387 0.95819384 0.01614683 0.15653346] [ 0.13859439 -0.05797885 0.98865062 0.02908358] [ 0. 0. 0. 1. ]] SLAMing on 6.079928850999999 meters Centerline goodness : 0.795237 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.16, Z:0.03 [[ 0.94826592 -0.28006671 -0.14951382 -0.36094196] [ 0.28558177 0.95821501 0.01634187 0.15511779] [ 0.13868958 -0.05819486 0.98862458 0.02941659] [ 0. 0. 0. 1. ]] SLAMing on 6.109928850999999 meters Centerline goodness : 0.797147 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.15, Z:0.03 [[ 0.94817778 -0.28044876 -0.1493566 -0.36156578] [ 0.28595562 0.95810385 0.01632153 0.15391119] [ 0.13852178 -0.05818507 0.98864868 0.02989355] [ 0. 0. 0. 1. ]] SLAMing on 6.139928851 meters Centerline goodness : 0.797039 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.15, Z:0.03 [[ 0.94807375 -0.28087765 -0.14921093 -0.36215607] [ 0.28637708 0.95797836 0.01629828 0.15242624] [ 0.13836302 -0.05818256 0.98867106 0.03047059] [ 0. 0. 0. 1. ]] SLAMing on 6.169928851 meters Centerline goodness : 0.796444 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.15, Z:0.03 [[ 0.946934 -0.28506927 -0.1484975 -0.36173841] [ 0.29001031 0.9569446 0.01229059 0.15140926] [ 0.13860021 -0.05470418 0.9888364 0.03190992] [ 0. 0. 0. 1. ]] SLAMing on 6.199928850999999 meters Centerline goodness : 0.797444 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.15, Z:0.03 [[ 0.94678175 -0.28565288 -0.14834674 -0.36227108] [ 0.29058493 0.95677088 0.01224262 0.14969336] [ 0.1384367 -0.05469842 0.98885963 0.03235105] [ 0. 0. 0. 1. ]] SLAMing on 6.2299288509999995 meters Centerline goodness : 0.795788 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.15, Z:0.03 [[ 0.94667002 -0.28612361 -0.14815244 -0.36264304] [ 0.29106552 0.95662334 0.01235541 0.14787674] [ 0.1381909 -0.05481856 0.98888735 0.03249026] [ 0. 0. 0. 1. ]] SLAMing on 6.259928851 meters Centerline goodness : 0.794614 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.15, Z:0.03 [[ 0.94657953 -0.28645212 -0.14809584 -0.36273851] [ 0.29140351 0.95651958 0.01242121 0.14611424] [ 0.13809848 -0.05491331 0.98889501 0.03280473] [ 0. 0. 0. 1. ]] SLAMing on 6.289928850999999 meters Centerline goodness : 0.796147 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.15, Z:0.03 [[ 0.94546051 -0.29049994 -0.14735741 -0.36192842] [ 0.29491654 0.95548453 0.00857605 0.14544449] [ 0.13830638 -0.05156646 0.98904613 0.03357488] [ 0. 0. 0. 1. ]] SLAMing on 6.319928850999999 meters Centerline goodness : 0.795970 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.14, Z:0.03 [[ 0.94533876 -0.29095517 -0.14724033 -0.36241742] [ 0.29538507 0.95533884 0.00868088 0.14352347] [ 0.13813866 -0.05169897 0.98906265 0.03403131] [ 0. 0. 0. 1. ]] SLAMing on 6.349928851 meters Centerline goodness : 0.796537 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.14, Z:0.03 [[ 0.94517693 -0.29160112 -0.1470012 -0.36321492] [ 0.29602455 0.95514093 0.00867621 0.14166259] [ 0.13787687 -0.05171652 0.98909826 0.03451535] [ 0. 0. 0. 1. ]] SLAMing on 6.379928851 meters Centerline goodness : 0.795255 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.14, Z:0.03 [[ 0.94502733 -0.29217275 -0.14682792 -0.3638355 ] [ 0.29660433 0.9549603 0.00875736 0.13968288] [ 0.13765617 -0.05182575 0.98912328 0.03494262] [ 0. 0. 0. 1. ]] SLAMing on 6.409928850999999 meters Centerline goodness : 0.795138 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.14, Z:0.04 [[ 0.94478864 -0.29341301 -0.14588776 -0.36577744] [ 0.29773508 0.95461305 0.00823121 0.13757562] [ 0.13685121 -0.05121266 0.9892669 0.03565977] [ 0. 0. 0. 1. ]] SLAMing on 6.4399288509999995 meters Centerline goodness : 0.796320 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.13, Z:0.04 [[ 0.94505602 -0.29564553 -0.13950927 -0.38513812] [ 0.29874439 0.95433223 0.00133412 0.12934979] [ 0.13274377 -0.04293843 0.99021987 0.03548087] [ 0. 0. 0. 1. ]] SLAMing on 6.469928851 meters Centerline goodness : 0.796320 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.13, Z:0.04 [[ 0.94505602 -0.29564553 -0.13950927 -0.38513812] [ 0.29874439 0.95433223 0.00133412 0.12934979] [ 0.13274377 -0.04293843 0.99021987 0.03548087] [ 0. 0. 0. 1. ]] SLAMing on 6.499928850999999 meters Centerline goodness : 0.794558 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.13, Z:0.04 [[ 0.9447684 -0.2967437 -0.1391253 -0.38645955] [ 0.29980451 0.95400003 0.00109488 0.12692976] [ 0.13240064 -0.0427448 0.99027418 0.03633336] [ 0. 0. 0. 1. ]] SLAMing on 6.529928850999999 meters Centerline goodness : 0.796131 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.12, Z:0.04 [[ 0.94556405 -0.29649078 -0.13417094 -0.40568341] [ 0.29866326 0.95434973 -0.00410413 0.1204142 ] [ 0.12926283 -0.03619121 0.9909497 0.0358533 ] [ 0. 0. 0. 1. ]] SLAMing on 6.559928851 meters Centerline goodness : 0.794760 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.12, Z:0.04 [[ 0.94536371 -0.29726283 -0.13387406 -0.40668053] [ 0.29941945 0.95411235 -0.00419693 0.11855575] [ 0.12897849 -0.03611688 0.99098947 0.03645379] [ 0. 0. 0. 1. ]] SLAMing on 6.589928851 meters Centerline goodness : 0.794910 Centerline is valid? [False, False] Translation: X:-0.43, Y:0.11, Z:0.04 [[ 0.94604314 -0.29697401 -0.12964881 -0.42573032] [ 0.2983893 0.95440347 -0.00882289 0.1107207 ] [ 0.12635745 -0.03033899 0.99152072 0.03561901] [ 0. 0. 0. 1. ]] SLAMing on 6.619928850999999 meters Centerline goodness : 0.794766 Centerline is valid? [False, False] Translation: X:-0.43, Y:0.11, Z:0.04 [[ 0.94602218 -0.29710554 -0.12950033 -0.42587499] [ 0.29855245 0.95435495 -0.00854753 0.1094007 ] [ 0.1261288 -0.03057649 0.99154254 0.03552013] [ 0. 0. 0. 1. ]] SLAMing on 6.649928850999999 meters Centerline goodness : 0.795014 Centerline is valid? [False, False] Translation: X:-0.43, Y:0.11, Z:0.04 [[ 0.94601658 -0.29708235 -0.12959439 -0.42566455] [ 0.29854253 0.95435879 -0.00846464 0.10848164] [ 0.12619424 -0.03068175 0.99153096 0.03581228] [ 0. 0. 0. 1. ]] SLAMing on 6.679928851 meters Centerline goodness : 0.795850 Centerline is valid? [False, False] Translation: X:-0.43, Y:0.10, Z:0.03 [[ 0.94727691 -0.29499094 -0.12508714 -0.42977867] [ 0.29638467 0.95503723 -0.00774643 0.10437298] [ 0.121748 -0.02973589 0.99211552 0.03258447] [ 0. 0. 0. 1. ]] SLAMing on 6.709928850999999 meters Centerline goodness : 0.794384 Centerline is valid? [False, False] Translation: X:-0.43, Y:0.10, Z:0.03 [[ 0.94730385 -0.29483683 -0.12524638 -0.4292226 ] [ 0.29625844 0.95507799 -0.00754831 0.10361041] [ 0.12184558 -0.02995476 0.99209695 0.03250214] [ 0. 0. 0. 1. ]] SLAMing on 6.739928850999999 meters Centerline goodness : 0.794258 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.10, Z:0.03 [[ 0.94844419 -0.29223327 -0.12269201 -0.44604052] [ 0.29294493 0.95604622 -0.01260547 0.09846903] [ 0.12098296 -0.02398642 0.99236474 0.03249366] [ 0. 0. 0. 1. ]] SLAMing on 6.7699288509999995 meters Centerline goodness : 0.793173 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.10, Z:0.03 [[ 0.94848174 -0.29204611 -0.12284732 -0.44553043] [ 0.29278618 0.95609764 -0.0123914 0.09757896] [ 0.1210729 -0.02421498 0.99234822 0.0325217 ] [ 0. 0. 0. 1. ]] SLAMing on 6.799928851 meters Centerline goodness : 0.794437 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.10, Z:0.03 [[ 0.94849785 -0.29191759 -0.12302822 -0.44521238] [ 0.29267938 0.95613227 -0.01224155 0.09607544] [ 0.12120477 -0.02439674 0.99232767 0.03306172] [ 0. 0. 0. 1. ]] SLAMing on 6.829928850999999 meters Centerline goodness : 0.792957 Centerline is valid? [False, False] Translation: X:-0.44, Y:0.10, Z:0.03 [[ 0.9485261 -0.29176466 -0.1231731 -0.44484276] [ 0.29255706 0.95617264 -0.01201055 0.09511523] [ 0.121279 -0.02464284 0.99231252 0.03318552] [ 0. 0. 0. 1. ]] SLAMing on 6.859928850999999 meters Centerline goodness : 0.795224 Centerline is valid? [False, False] Translation: X:-0.44, Y:0.09, Z:0.03 [[ 0.94851154 -0.2917866 -0.12323326 -0.44477931] [ 0.29259033 0.95616345 -0.0119317 0.09424826] [ 0.12131265 -0.0247395 0.992306 0.03349163] [ 0. 0. 0. 1. ]] SLAMing on 6.889928851 meters Centerline goodness : 0.794571 Centerline is valid? [False, False] Translation: X:-0.44, Y:0.09, Z:0.03 [[ 0.94848087 -0.29187927 -0.1232499 -0.44496281] [ 0.29269548 0.95613241 -0.01183909 0.09324575] [ 0.12129881 -0.02484554 0.99230504 0.03391501] [ 0. 0. 0. 1. ]] SLAMing on 6.919928850999999 meters Centerline goodness : 0.795996 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.09, Z:0.03 [[ 0.94843555 -0.29206781 -0.12315193 -0.44545042] [ 0.29288329 0.95607492 -0.0118373 0.0921073 ] [ 0.12119976 -0.02484223 0.99231723 0.03452821] [ 0. 0. 0. 1. ]] SLAMing on 6.949928850999999 meters Centerline goodness : 0.795865 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.09, Z:0.03 [[ 0.95022331 -0.28932696 -0.11560957 -0.45497798] [ 0.28978684 0.95700045 -0.01318081 0.08522999] [ 0.11445198 -0.02097742 0.99320728 0.03140802] [ 0. 0. 0. 1. ]] SLAMing on 6.9799288509999995 meters Centerline goodness : 0.796326 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.08, Z:0.03 [[ 0.95022297 -0.28929731 -0.1156865 -0.45482369] [ 0.28978005 0.95700505 -0.01299477 0.08370873] [ 0.11447192 -0.02117571 0.99320077 0.03179582] [ 0. 0. 0. 1. ]] SLAMing on 7.009928851 meters Centerline goodness : 0.797391 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.08, Z:0.03 [[ 0.95022068 -0.28932453 -0.11563726 -0.45490994] [ 0.28983222 0.95699226 -0.01277074 0.0822159 ] [ 0.11435885 -0.02138038 0.99320941 0.032046 ] [ 0. 0. 0. 1. ]] SLAMing on 7.039928850999999 meters Centerline goodness : 0.797407 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.08, Z:0.03 [[ 0.95024795 -0.2892199 -0.11567489 -0.45476536] [ 0.2897466 0.95702037 -0.01260625 0.08124888] [ 0.1143492 -0.02153734 0.99320713 0.03225463] [ 0. 0. 0. 1. ]] SLAMing on 7.069928850999999 meters Centerline goodness : 0.796346 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.07, Z:0.03 [[ 0.95157369 -0.28564192 -0.11364947 -0.47060195] [ 0.28567941 0.9581865 -0.01630644 0.07448223] [ 0.11355519 -0.01695054 0.99338708 0.03195957] [ 0. 0. 0. 1. ]] SLAMing on 7.099928851 meters Centerline goodness : 0.795590 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.07, Z:0.03 [[ 0.95163951 -0.2852921 -0.11397656 -0.46945509] [ 0.28538352 0.95828211 -0.01586363 0.07305942] [ 0.11374746 -0.01743058 0.99335678 0.03167507] [ 0. 0. 0. 1. ]] SLAMing on 7.129928850999999 meters Centerline goodness : 0.794126 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.07, Z:0.03 [[ 0.95168718 -0.2850316 -0.11423002 -0.46855545] [ 0.28517756 0.9583508 -0.01541126 0.07152579] [ 0.11386512 -0.01790914 0.99333479 0.03146 ] [ 0. 0. 0. 1. ]] SLAMing on 7.159928850999999 meters Centerline goodness : 0.797098 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.07, Z:0.03 [[ 0.95174083 -0.28474698 -0.11449256 -0.46765975] [ 0.28494128 0.95842737 -0.01501457 0.06995637] [ 0.11400816 -0.01833368 0.99331063 0.03140561] [ 0. 0. 0. 1. ]] SLAMing on 7.1899288509999995 meters Centerline goodness : 0.795086 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.06, Z:0.03 [[ 0.95283177 -0.28283845 -0.11006374 -0.47259415] [ 0.2830148 0.95900825 -0.01434539 0.06498179] [ 0.10960946 -0.01748092 0.993821 0.02908622] [ 0. 0. 0. 1. ]] SLAMing on 7.219928851 meters Centerline goodness : 0.793951 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.06, Z:0.03 [[ 0.95279962 -0.28294464 -0.11006914 -0.47288212] [ 0.2831335 0.9589748 -0.01423918 0.06381092] [ 0.10958243 -0.01759717 0.99382193 0.02960565] [ 0. 0. 0. 1. ]] SLAMing on 7.249928850999999 meters Centerline goodness : 0.793797 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.06, Z:0.03 [[ 0.95284067 -0.28278234 -0.11013083 -0.47286445] [ 0.28300626 0.95901702 -0.01392163 0.06221648] [ 0.10955413 -0.01790262 0.9938196 0.03006458] [ 0. 0. 0. 1. ]] SLAMing on 7.279928850999999 meters Centerline goodness : 0.794831 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.05, Z:0.03 [[ 0.95482424 -0.27863553 -0.1033098 -0.48574448] [ 0.27848925 0.96030387 -0.01613097 0.05475924] [ 0.10370347 -0.01336842 0.99451841 0.02829081] [ 0. 0. 0. 1. ]] SLAMing on 7.309928851 meters Centerline goodness : 0.792594 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.05, Z:0.03 [[ 0.95482257 -0.27861126 -0.10339066 -0.48568326] [ 0.27848338 0.96030837 -0.0159638 0.05339631] [ 0.10373461 -0.01354999 0.99451271 0.02873185] [ 0. 0. 0. 1. ]] SLAMing on 7.339928850999999 meters Centerline goodness : 0.792582 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.05, Z:0.03 [[ 0.95645829 -0.27481233 -0.09831436 -0.49998085] [ 0.27424966 0.96146162 -0.01945949 0.04743336] [ 0.09987319 -0.00835049 0.99496513 0.02720289] [ 0. 0. 0. 1. ]] SLAMing on 7.369928850999999 meters Centerline goodness : 0.791333 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.05, Z:0.03 [[ 0.956452 -0.27481975 -0.09835485 -0.49969028] [ 0.27429038 0.96145659 -0.01913149 0.04575799] [ 0.09982163 -0.00867944 0.99496749 0.02715032] [ 0. 0. 0. 1. ]] SLAMing on 7.399928850999999 meters Centerline goodness : 0.842197 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.04, Z:0.03 [[ 0.95646159 -0.27475042 -0.09845529 -0.4990202 ] [ 0.27428947 0.96147008 -0.01845469 0.04254823] [ 0.09973225 -0.00935404 0.99497034 0.02697014] [ 0. 0. 0. 1. ]] SLAMing on 7.429928851 meters Centerline goodness : 0.790203 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.04, Z:0.03 [[ 0.95648141 -0.27463931 -0.0985726 -0.49869332] [ 0.27420762 0.96149888 -0.01816822 0.04142874] [ 0.09976715 -0.00965179 0.994964 0.02699811] [ 0. 0. 0. 1. ]] SLAMing on 7.459928850999999 meters Centerline goodness : 0.791117 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.04, Z:0.03 [[ 0.95651033 -0.27450332 -0.09867075 -0.49837535] [ 0.27410123 0.9615347 -0.0178757 0.0404067 ] [ 0.09978229 -0.00994748 0.99495957 0.02698895] [ 0. 0. 0. 1. ]] SLAMing on 7.489928850999999 meters Centerline goodness : 0.788033 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.04, Z:0.03 [[ 0.95650333 -0.27451034 -0.09871902 -0.49815102] [ 0.27412772 0.96153064 -0.0176868 0.03953051] [ 0.09977657 -0.01014414 0.99495816 0.02693447] [ 0. 0. 0. 1. ]] SLAMing on 7.5199288509999995 meters Centerline goodness : 0.840319 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.04, Z:0.03 [[ 0.95654371 -0.27428255 -0.09896066 -0.49723354] [ 0.27396426 0.96158857 -0.01705903 0.036895 ] [ 0.09983843 -0.01079398 0.99494511 0.02680295] [ 0. 0. 0. 1. ]] SLAMing on 7.549928850999999 meters Centerline goodness : 0.841866 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.04, Z:0.03 [[ 0.95657641 -0.27411816 -0.09910001 -0.4968917 ] [ 0.27382117 0.96163295 -0.01685354 0.03593908] [ 0.09991769 -0.01101398 0.99493475 0.02693326] [ 0. 0. 0. 1. ]] SLAMing on 7.579928850999999 meters Centerline goodness : 0.786861 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.04, Z:0.03 [[ 0.95660403 -0.27396088 -0.09926811 -0.49657403] [ 0.27367758 0.96167602 -0.01672777 0.03534516] [ 0.10004651 -0.0111656 0.99492011 0.02715308] [ 0. 0. 0. 1. ]] SLAMing on 7.609928850999999 meters Centerline goodness : 0.782288 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.03, Z:0.03 [[ 0.95671193 -0.27349923 -0.09950106 -0.49593697] [ 0.27326564 0.96180158 -0.01623593 0.03393656] [ 0.10014079 -0.01165711 0.99490499 0.02722331] [ 0. 0. 0. 1. ]] SLAMing on 7.639928851 meters Centerline goodness : 0.839398 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.03, Z:0.03 [[ 0.95677765 -0.27324168 -0.09957671 -0.49565761] [ 0.27304272 0.96187071 -0.01588727 0.03290727] [ 0.10012099 -0.01198811 0.99490305 0.02721456] [ 0. 0. 0. 1. ]] SLAMing on 7.669928850999999 meters Centerline goodness : 0.842006 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.03, Z:0.03 [[ 0.95682508 -0.27301392 -0.09974547 -0.49533461] [ 0.2728339 0.96193292 -0.01570758 0.03224133] [ 0.10023684 -0.01218454 0.994889 0.02743315] [ 0. 0. 0. 1. ]] SLAMing on 7.699928850999999 meters Centerline goodness : 0.839007 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.03, Z:0.03 [[ 0.95689793 -0.27266716 -0.09999482 -0.49475243] [ 0.27250116 0.96202929 -0.01558079 0.03174644] [ 0.10044632 -0.01233948 0.99486596 0.02765382] [ 0. 0. 0. 1. ]] SLAMing on 7.7299288509999995 meters Centerline goodness : 0.838964 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.03, Z:0.03 [[ 0.9571343 -0.27168799 -0.10039707 -0.4937205 ] [ 0.27156693 0.96230055 -0.01513467 0.03113173] [ 0.10072407 -0.01277861 0.99483233 0.02785903] [ 0. 0. 0. 1. ]] SLAMing on 7.759928850999999 meters Centerline goodness : 0.840029 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.03, Z:0.03 [[ 0.95722444 -0.27126275 -0.10068714 -0.49303994] [ 0.27114906 0.96241929 -0.01507638 0.0312329 ] [ 0.10099291 -0.01286975 0.9948039 0.02795579] [ 0. 0. 0. 1. ]] SLAMing on 7.789928850999999 meters Centerline goodness : 0.780618 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.03, Z:0.03 [[ 0.95732658 -0.27078978 -0.10098869 -0.49243197] [ 0.27067644 0.96255216 -0.01508622 0.03166605] [ 0.10129208 -0.01289282 0.99477319 0.02819893] [ 0. 0. 0. 1. ]] SLAMing on 7.819928850999999 meters Centerline goodness : 0.839269 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.03, Z:0.03 [[ 0.95744979 -0.27023975 -0.1012935 -0.49181087] [ 0.27012627 0.96270654 -0.01509708 0.0321766 ] [ 0.10159575 -0.01290734 0.99474203 0.02849105] [ 0. 0. 0. 1. ]] SLAMing on 7.849928851 meters Centerline goodness : 0.839110 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.03, Z:0.03 [[ 0.95859418 -0.26575685 -0.10232544 -0.49159627] [ 0.26606911 0.96389304 -0.01083677 0.03072904] [ 0.10151072 -0.01683757 0.99469195 0.02826769] [ 0. 0. 0. 1. ]] SLAMing on 7.879928850999999 meters Centerline goodness : 0.840639 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.03, Z:0.03 [[ 0.95873714 -0.2651309 -0.10260947 -0.49072625] [ 0.26544603 0.96406498 -0.01082202 0.03152268] [ 0.10179144 -0.0168618 0.99466285 0.02815856] [ 0. 0. 0. 1. ]] SLAMing on 7.909928850999999 meters Centerline goodness : 0.840748 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.03, Z:0.03 [[ 0.95887549 -0.26449177 -0.10296551 -0.48982385] [ 0.26481386 0.9642393 -0.01077879 0.03220535] [ 0.1021343 -0.01693118 0.99462652 0.02817487] [ 0. 0. 0. 1. ]] SLAMing on 7.9399288509999995 meters Centerline goodness : 0.838794 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.03, Z:0.03 [[ 0.95994807 -0.26020863 -0.10388058 -0.48999908] [ 0.26094483 0.96533061 -0.00667946 0.03103572] [ 0.10201715 -0.02069517 0.99456735 0.0281268 ] [ 0. 0. 0. 1. ]] SLAMing on 7.969928850999999 meters Centerline goodness : 0.839214 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.03, Z:0.03 [[ 0.96003172 -0.2598332 -0.10404711 -0.48965754] [ 0.26056616 0.96543258 -0.00672438 0.03142233] [ 0.10219769 -0.02065554 0.99454964 0.02837591] [ 0. 0. 0. 1. ]] SLAMing on 7.999928850999999 meters Centerline goodness : 0.839232 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.03, Z:0.03 [[ 0.96007605 -0.25958002 -0.1042698 -0.48944041] [ 0.26029806 0.96550365 -0.00690064 0.03192226] [ 0.10246414 -0.02051609 0.99452511 0.02888436] [ 0. 0. 0. 1. ]] SLAMing on 8.029928850999998 meters Centerline goodness : 0.838004 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.03, Z:0.03 [[ 0.96067057 -0.25741169 -0.10416945 -0.49075826] [ 0.258308 0.96604954 -0.00502601 0.03097254] [ 0.10192661 -0.02207947 0.99454686 0.02944382] [ 0. 0. 0. 1. ]] SLAMing on 8.059928850999999 meters Centerline goodness : 0.836574 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.03, Z:0.03 [[ 0.96068042 -0.25736902 -0.10418409 -0.4908348 ] [ 0.25826295 0.96606146 -0.00505007 0.03103842] [ 0.10194796 -0.02205539 0.99454521 0.02960978] [ 0. 0. 0. 1. ]] SLAMing on 8.089928850999998 meters Centerline goodness : 0.836249 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.03, Z:0.03 [[ 0.9606865 -0.25733157 -0.10422051 -0.49074196] [ 0.25822659 0.96607121 -0.00504529 0.03088125] [ 0.10198275 -0.02206556 0.99454142 0.02969925] [ 0. 0. 0. 1. ]] SLAMing on 8.119928851 meters Centerline goodness : 0.835471 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.03, Z:0.03 [[ 0.96071342 -0.25719356 -0.10431301 -0.49031483] [ 0.25810287 0.96610492 -0.0049186 0.03048037] [ 0.10204234 -0.02219812 0.99453235 0.02955099] [ 0. 0. 0. 1. ]] SLAMing on 8.149928850999999 meters Centerline goodness : 0.834804 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.03, Z:0.03 [[ 0.96072388 -0.25711366 -0.10441355 -0.48987581] [ 0.25803482 0.96612359 -0.0048208 0.03019518] [ 0.10211589 -0.02231087 0.99452228 0.02935669] [ 0. 0. 0. 1. ]] SLAMing on 8.179928850999998 meters Centerline goodness : 0.836141 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.03, Z:0.03 [[ 0.96071262 -0.25717307 -0.10437087 -0.48991544] [ 0.25809431 0.96610773 -0.00481393 0.0298595 ] [ 0.10207152 -0.02231272 0.9945268 0.02939843] [ 0. 0. 0. 1. ]] SLAMing on 8.209928850999999 meters Centerline goodness : 0.834154 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.03, Z:0.03 [[ 0.96063653 -0.2575434 -0.10415783 -0.4906072 ] [ 0.25844762 0.96601257 -0.00495344 0.02913865] [ 0.1018935 -0.02216088 0.99454845 0.02986664] [ 0. 0. 0. 1. ]] SLAMing on 8.239928850999998 meters Centerline goodness : 0.835567 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.03, Z:0.03 [[ 0.96059014 -0.25775261 -0.10406814 -0.49095451] [ 0.25865361 0.96595732 -0.00497664 0.02874681] [ 0.10180812 -0.02213709 0.99455772 0.03004974] [ 0. 0. 0. 1. ]] SLAMing on 8.269928850999998 meters Centerline goodness : 0.835720 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.03, Z:0.03 [[ 0.96052626 -0.25805843 -0.10389969 -0.4914815 ] [ 0.25894815 0.96587793 -0.00506682 0.02817418] [ 0.10166196 -0.02203782 0.99457487 0.03035889] [ 0. 0. 0. 1. ]] SLAMing on 8.299928850999999 meters Centerline goodness : 0.836035 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.03, Z:0.03 [[ 0.96046301 -0.25831645 -0.1038432 -0.49177831] [ 0.2591985 0.96581037 -0.00514369 0.02771446] [ 0.10162154 -0.02197568 0.99458038 0.03065177] [ 0. 0. 0. 1. ]] SLAMing on 8.329928850999998 meters Centerline goodness : 0.833189 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.03, Z:0.03 [[ 0.96034436 -0.25889777 -0.1034923 -0.49264433] [ 0.25977185 0.96565614 -0.00517718 0.0265443 ] [ 0.10127833 -0.02191251 0.99461678 0.03086039] [ 0. 0. 0. 1. ]] SLAMing on 8.359928850999998 meters Centerline goodness : 0.833189 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.03, Z:0.03 [[ 0.96034436 -0.25889777 -0.1034923 -0.49264433] [ 0.25977185 0.96565614 -0.00517718 0.0265443 ] [ 0.10127833 -0.02191251 0.99461678 0.03086039] [ 0. 0. 0. 1. ]] SLAMing on 8.389928850999999 meters Centerline goodness : 0.834460 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.03, Z:0.03 [[ 0.96027805 -0.25921211 -0.10332063 -0.49311999] [ 0.26007542 0.96557396 -0.00526265 0.02609819] [ 0.10112786 -0.02181755 0.99463418 0.03105643] [ 0. 0. 0. 1. ]] SLAMing on 8.419928850999998 meters Centerline goodness : 0.835447 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.03, Z:0.03 [[ 0.96017979 -0.25964111 -0.10315656 -0.4938611 ] [ 0.26048369 0.96546284 -0.00545445 0.02576497] [ 0.10101003 -0.02163335 0.99465018 0.03154088] [ 0. 0. 0. 1. ]] SLAMing on 8.449928850999997 meters Centerline goodness : 0.834869 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.03, Z:0.03 [[ 0.95989707 -0.26096726 -0.10243874 -0.4963857 ] [ 0.26174752 0.9651178 -0.00598867 0.02508409] [ 0.10042829 -0.02106458 0.99472129 0.03262291] [ 0. 0. 0. 1. ]] SLAMing on 8.479928850999999 meters Centerline goodness : 0.835280 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.02, Z:0.03 [[ 0.95985097 -0.26118182 -0.10232384 -0.49666319] [ 0.26195621 0.9650609 -0.00603421 0.02462974] [ 0.10032476 -0.02101242 0.99473284 0.03278867] [ 0. 0. 0. 1. ]] SLAMing on 8.509928850999998 meters Centerline goodness : 0.836781 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.02, Z:0.03 [[ 0.95979983 -0.26139692 -0.10225431 -0.49669558] [ 0.26216993 0.96500279 -0.00604479 0.02405698] [ 0.10025578 -0.02100621 0.99473992 0.03273375] [ 0. 0. 0. 1. ]] SLAMing on 8.539928850999999 meters Centerline goodness : 0.838690 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.02, Z:0.03 [[ 0.95977299 -0.2615367 -0.10214873 -0.49657865] [ 0.26232384 0.96496193 -0.00588965 0.02323863] [ 0.10010999 -0.02114332 0.9947517 0.03242906] [ 0. 0. 0. 1. ]] SLAMing on 8.569928850999998 meters Centerline goodness : 0.841798 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.02, Z:0.03 [[ 0.95961301 -0.26226825 -0.1017754 -0.49709297] [ 0.26305491 0.9647631 -0.0058542 0.02170657] [ 0.09972452 -0.02115475 0.99479018 0.03214451] [ 0. 0. 0. 1. ]] SLAMing on 8.599928850999998 meters Centerline goodness : 0.842200 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.02, Z:0.03 [[ 0.95952997 -0.26265082 -0.1015716 -0.49750996] [ 0.26342487 0.96466152 -0.00595716 0.02148723] [ 0.09954687 -0.02104042 0.9948104 0.03211741] [ 0. 0. 0. 1. ]] SLAMing on 8.629928850999999 meters Centerline goodness : 0.840677 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.02, Z:0.03 [[ 0.95948222 -0.26288136 -0.1014261 -0.49777543] [ 0.26364782 0.96460026 -0.00601456 0.0214054 ] [ 0.09941676 -0.0209699 0.99482489 0.0320699 ] [ 0. 0. 0. 1. ]] SLAMing on 8.659928850999998 meters Centerline goodness : 0.842152 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.02, Z:0.03 [[ 0.95939952 -0.26324066 -0.10127641 -0.49849508] [ 0.26398573 0.96450655 -0.00621621 0.02129479] [ 0.09931812 -0.0207717 0.99483891 0.0325335 ] [ 0. 0. 0. 1. ]] SLAMing on 8.689928850999998 meters Centerline goodness : 0.843705 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.02, Z:0.03 [[ 0.95918449 -0.26427883 -0.10060725 -0.50053145] [ 0.26498331 0.96423082 -0.00653943 0.02000488] [ 0.09873684 -0.02038672 0.99490473 0.0334103 ] [ 0. 0. 0. 1. ]] SLAMing on 8.719928850999999 meters Centerline goodness : 0.843186 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.02, Z:0.03 [[ 0.959105 -0.26467748 -0.10031663 -0.50117859] [ 0.26537722 0.96412243 -0.00654801 0.01909838] [ 0.09845062 -0.02034152 0.99493402 0.03353422] [ 0. 0. 0. 1. ]] SLAMing on 8.749928850999998 meters Centerline goodness : 0.842783 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.02, Z:0.03 [[ 0.95902158 -0.26505245 -0.10012395 -0.50162876] [ 0.26575194 0.96401933 -0.00653029 0.01816262] [ 0.09825229 -0.02034544 0.99495354 0.03369066] [ 0. 0. 0. 1. ]] SLAMing on 8.779928850999998 meters Centerline goodness : 0.846917 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.02, Z:0.03 [[ 0.95870375 -0.26640725 -0.09957052 -0.50339392] [ 0.26706821 0.96365308 -0.00687823 0.01694386] [ 0.09778385 -0.01999794 0.99500673 0.03424699] [ 0. 0. 0. 1. ]] SLAMing on 8.809928850999999 meters Centerline goodness : 0.843483 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.02, Z:0.03 [[ 0.95854392 -0.26708751 -0.09928656 -0.5042571 ] [ 0.26773056 0.96346812 -0.00703819 0.01600049] [ 0.09753925 -0.01983563 0.99503399 0.03459269] [ 0. 0. 0. 1. ]] SLAMing on 8.839928850999998 meters Centerline goodness : 0.846457 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.01, Z:0.03 [[ 0.95842857 -0.26764166 -0.09890711 -0.50485469] [ 0.26828977 0.96331328 -0.00693764 0.01460012] [ 0.09713533 -0.01988653 0.99507249 0.03443359] [ 0. 0. 0. 1. ]] SLAMing on 8.869928850999997 meters Centerline goodness : 0.845932 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.01, Z:0.03 [[ 0.95833478 -0.26805585 -0.09869397 -0.50509507] [ 0.2687151 0.96319569 -0.00680093 0.01296877] [ 0.09688464 -0.02000299 0.99509459 0.03439896] [ 0. 0. 0. 1. ]] SLAMing on 8.899928850999999 meters Centerline goodness : 0.844047 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.01, Z:0.03 [[ 0.9582426 -0.26846147 -0.09848628 -0.50531142] [ 0.26912272 0.96308218 -0.00675838 0.01154642] [ 0.09666474 -0.02002873 0.99511546 0.03436484] [ 0. 0. 0. 1. ]] SLAMing on 8.929928850999998 meters Centerline goodness : 0.847011 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.01, Z:0.03 [[ 0.95817009 -0.26879548 -0.09828059 -0.50550478] [ 0.26946587 0.96298706 -0.0066385 0.01058231] [ 0.09642733 -0.02012245 0.9951366 0.03409823] [ 0. 0. 0. 1. ]] SLAMing on 8.959928850999999 meters Centerline goodness : 0.777902 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.01, Z:0.03 [[ 0.95802197 -0.26947182 -0.09787152 -0.50646864] [ 0.27013636 0.96279912 -0.00664819 0.00913828] [ 0.09602212 -0.02006955 0.99517685 0.03432949] [ 0. 0. 0. 1. ]] SLAMing on 8.989928850999998 meters Centerline goodness : 0.845111 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.01, Z:0.03 [[ 0.95796669 -0.26973891 -0.0976767 -0.50700011] [ 0.27040666 0.96272366 -0.0065877 0.00839954] [ 0.09581263 -0.02010163 0.9951964 0.03451161] [ 0. 0. 0. 1. ]] SLAMing on 9.019928850999998 meters Centerline goodness : 0.777971 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.01, Z:0.03 [[ 0.95789927 -0.27005368 -0.09746795 -0.50744271] [ 0.27072709 0.96263419 -0.00650088 0.00727289] [ 0.09558157 -0.02016002 0.99521743 0.03464572] [ 0. 0. 0. 1. ]] SLAMing on 9.049928850999999 meters Centerline goodness : 0.844386 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.00, Z:0.04 [[ 0.95728919 -0.27252216 -0.09658717 -0.50897844] [ 0.2730097 0.96197471 -0.0083882 0.00478177] [ 0.09520039 -0.0183393 0.99528918 0.03603657] [ 0. 0. 0. 1. ]] SLAMing on 9.079928850999998 meters Centerline goodness : 0.842915 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.00, Z:0.04 [[ 0.95718738 -0.27297571 -0.09631499 -0.50966524] [ 0.27347147 0.96184454 -0.00827236 0.00307177] [ 0.0948982 -0.01842121 0.99531653 0.03632008] [ 0. 0. 0. 1. ]] SLAMing on 9.109928850999998 meters Centerline goodness : 0.843998 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.00, Z:0.04 [[ 0.95710783 -0.27333409 -0.09608895 -0.51013442] [ 0.27383055 0.96174266 -0.0082392 0.00183057] [ 0.09466489 -0.01842628 0.99533865 0.03653917] [ 0. 0. 0. 1. ]] SLAMing on 9.139928850999999 meters Centerline goodness : 0.843888 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.00, Z:0.04 [[ 9.57037824e-01 -2.73634745e-01 -9.59303364e-02 -5.10566860e-01] [ 2.74136321e-01 9.61656142e-01 -8.16952001e-03 8.84165350e-04] [ 9.44874618e-02 -1.84794499e-02 9.95354525e-01 3.66936561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.169928850999998 meters Centerline goodness : 0.843822 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.00, Z:0.04 [[ 9.56949234e-01 -2.74045156e-01 -9.56421286e-02 -5.11081510e-01] [ 2.74555696e-01 9.61537595e-01 -8.03889155e-03 -5.63011148e-04] [ 9.41665216e-02 -1.85662801e-02 9.95383323e-01 3.67196731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.199928850999997 meters Centerline goodness : 0.845059 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.00, Z:0.04 [[ 0.95696974 -0.27396495 -0.09566677 -0.51071594] [ 0.27449757 0.96155611 -0.00780627 -0.00123156] [ 0.09412761 -0.01878993 0.99538281 0.03638497] [ 0. 0. 0. 1. ]] SLAMing on 9.229928850999999 meters Centerline goodness : 0.844252 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.00, Z:0.04 [[ 0.95700766 -0.2738127 -0.09572326 -0.51018165] [ 0.27437022 0.96159453 -0.00754666 -0.00183308] [ 0.09411334 -0.0190414 0.99537938 0.03597004] [ 0. 0. 0. 1. ]] SLAMing on 9.259928850999998 meters Centerline goodness : 0.843522 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.00, Z:0.04 [[ 0.95706357 -0.27358904 -0.09580376 -0.50956469] [ 0.27418004 0.96165144 -0.00719776 -0.00301883] [ 0.09409905 -0.01937876 0.99537422 0.03565577] [ 0. 0. 0. 1. ]] SLAMing on 9.289928850999997 meters Centerline goodness : 0.843752 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.00, Z:0.04 [[ 0.95708121 -0.27353206 -0.09579026 -0.50941856] [ 0.27413652 0.96166495 -0.00704949 -0.00355065] [ 0.0940464 -0.01951267 0.99537658 0.03549169] [ 0. 0. 0. 1. ]] SLAMing on 9.319928850999998 meters Centerline goodness : 0.843966 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.00, Z:0.04 [[ 0.95710982 -0.27340347 -0.09587144 -0.50923611] [ 0.27401381 0.9617003 -0.00699779 -0.00379054] [ 0.09411281 -0.01957244 0.99536913 0.03561577] [ 0. 0. 0. 1. ]] SLAMing on 9.349928850999998 meters Centerline goodness : 0.842475 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.00, Z:0.04 [[ 0.95713634 -0.2732791 -0.09596122 -0.50900502] [ 0.27389369 0.96173475 -0.00696539 -0.00365193] [ 0.09419274 -0.01961634 0.9953607 0.03558908] [ 0. 0. 0. 1. ]] SLAMing on 9.379928850999999 meters Centerline goodness : 0.842069 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.00, Z:0.04 [[ 0.95722414 -0.27294014 -0.09605008 -0.50875836] [ 0.27356283 0.96182952 -0.00688125 -0.00339964] [ 0.09426197 -0.01968883 0.99535272 0.03558033] [ 0. 0. 0. 1. ]] SLAMing on 9.409928850999998 meters Centerline goodness : 0.842669 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.00, Z:0.04 [[ 0.95725176 -0.27282999 -0.09608777 -0.50868984] [ 0.273452 0.96186097 -0.00689069 -0.0034728 ] [ 0.09430306 -0.01967927 0.99534901 0.03573719] [ 0. 0. 0. 1. ]] SLAMing on 9.439928850999998 meters Centerline goodness : 0.842108 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.00, Z:0.04 [[ 0.95727398 -0.27273845 -0.09612626 -0.50864983] [ 0.27336304 0.96188643 -0.00686696 -0.00357603] [ 0.09433543 -0.01970381 0.99534546 0.03585564] [ 0. 0. 0. 1. ]] SLAMing on 9.469928850999999 meters Centerline goodness : 0.842659 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.00, Z:0.04 [[ 0.95733469 -0.27249276 -0.09621838 -0.50839486] [ 0.2731349 0.96195249 -0.00668866 -0.00435555] [ 0.09438012 -0.01987731 0.99533777 0.03602373] [ 0. 0. 0. 1. ]] SLAMing on 9.499928850999998 meters Centerline goodness : 0.783859 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.01, Z:0.04 [[ 0.95732997 -0.27251067 -0.0962147 -0.50836775] [ 0.27316241 0.96194537 -0.00658754 -0.00506347] [ 0.09434846 -0.01997579 0.9953388 0.03614279] [ 0. 0. 0. 1. ]] SLAMing on 9.529928850999998 meters Centerline goodness : 0.838958 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.01, Z:0.04 [[ 0.95732859 -0.27250842 -0.09623481 -0.50824809] [ 0.27316907 0.96194409 -0.00649767 -0.00561664] [ 0.09434318 -0.02006797 0.99533745 0.03617653] [ 0. 0. 0. 1. ]] SLAMing on 9.559928850999999 meters Centerline goodness : 0.840032 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.01, Z:0.04 [[ 0.9573414 -0.27243933 -0.09630293 -0.50814509] [ 0.27311185 0.9619611 -0.00638355 -0.00589623] [ 0.0943788 -0.02019024 0.9953316 0.03620758] [ 0. 0. 0. 1. ]] SLAMing on 9.589928850999998 meters Centerline goodness : 0.841070 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.01, Z:0.04 [[ 0.95736909 -0.27231709 -0.09637333 -0.50803709] [ 0.2730013 0.96199324 -0.00626932 -0.00618367] [ 0.09441773 -0.02030799 0.99532551 0.03633003] [ 0. 0. 0. 1. ]] SLAMing on 9.619928850999997 meters Centerline goodness : 0.841167 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.01, Z:0.04 [[ 0.95745293 -0.27195614 -0.09655953 -0.50747959] [ 0.27266112 0.96209097 -0.00607248 -0.00703719] [ 0.0945505 -0.02051392 0.99530869 0.03650576] [ 0. 0. 0. 1. ]] SLAMing on 9.649928850999999 meters Centerline goodness : 0.841967 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.01, Z:0.04 [[ 0.95750363 -0.27171236 -0.09674291 -0.50689358] [ 0.27243681 0.96215561 -0.00589538 -0.00769028] [ 0.09468358 -0.02071148 0.99529194 0.03648024] [ 0. 0. 0. 1. ]] SLAMing on 9.679928850999998 meters Centerline goodness : 0.840501 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.01, Z:0.04 [[ 0.95756595 -0.27142048 -0.09694525 -0.50624319] [ 0.27216218 0.96223425 -0.00574394 -0.00806788] [ 0.09484306 -0.02088463 0.99527314 0.0363709 ] [ 0. 0. 0. 1. ]] SLAMing on 9.709928850999997 meters Centerline goodness : 0.841713 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.01, Z:0.04 [[ 0.95760016 -0.27125225 -0.09707811 -0.50594379] [ 0.27200217 0.96227988 -0.00567851 -0.00815694] [ 0.09495663 -0.02096771 0.99526057 0.03642128] [ 0. 0. 0. 1. ]] SLAMing on 9.739928850999998 meters Centerline goodness : 0.844268 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.01, Z:0.04 [[ 0.95772387 -0.27072367 -0.09733286 -0.50543926] [ 0.2715031 0.96242242 -0.00539923 -0.00797291] [ 0.09513702 -0.0212552 0.99523724 0.03638529] [ 0. 0. 0. 1. ]] SLAMing on 9.769928850999998 meters Centerline goodness : 0.844684 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.01, Z:0.04 [[ 0.95776312 -0.27053429 -0.09747311 -0.50519812] [ 0.27131758 0.96247484 -0.00538075 -0.00779001] [ 0.09527109 -0.02129268 0.99522361 0.03654455] [ 0. 0. 0. 1. ]] SLAMing on 9.799928850999999 meters Centerline goodness : 0.848446 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.04 [[ 0.95780596 -0.27035197 -0.09755795 -0.50498229] [ 0.27114442 0.96252411 -0.00529487 -0.0076489 ] [ 0.09533336 -0.02138084 0.99521576 0.03650156] [ 0. 0. 0. 1. ]] SLAMing on 9.829928850999998 meters Centerline goodness : 0.848181 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.04 [[ 0.95783156 -0.2702302 -0.09764394 -0.50478404] [ 0.27102516 0.96255777 -0.00528171 -0.00781257] [ 0.09541521 -0.02140498 0.9952074 0.03661426] [ 0. 0. 0. 1. ]] SLAMing on 9.859928850999998 meters Centerline goodness : 0.847718 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.04 [[ 0.95791788 -0.26984711 -0.09785643 -0.50412716] [ 0.27066739 0.9626597 -0.00504624 -0.00882198] [ 0.09556415 -0.02165266 0.99518775 0.03670776] [ 0. 0. 0. 1. ]] SLAMing on 9.889928850999999 meters Centerline goodness : 0.846837 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.04 [[ 0.95795664 -0.26966454 -0.09798013 -0.50368826] [ 0.27049499 0.96270861 -0.00495922 -0.0091464 ] [ 0.09566364 -0.02175242 0.99517602 0.03666285] [ 0. 0. 0. 1. ]] SLAMing on 9.919928850999998 meters Centerline goodness : 0.846503 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.04 [[ 0.95797145 -0.2695899 -0.0980407 -0.50358429] [ 0.27041778 0.96273011 -0.00499591 -0.00907002] [ 0.09573358 -0.02172601 0.99516987 0.03677024] [ 0. 0. 0. 1. ]] SLAMing on 9.949928850999997 meters Centerline goodness : 0.846382 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.04 [[ 0.95798198 -0.26952407 -0.09811886 -0.50347865] [ 0.27035173 0.96274857 -0.00501253 -0.00887435] [ 0.09581479 -0.02172469 0.99516208 0.0368655 ] [ 0. 0. 0. 1. ]] SLAMing on 9.979928850999999 meters Centerline goodness : 0.846277 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.04 [[ 0.95797881 -0.26951508 -0.09817442 -0.50362237] [ 0.27034161 0.96275129 -0.00503652 -0.00911801] [ 0.09587496 -0.02171575 0.99515648 0.03733355] [ 0. 0. 0. 1. ]] SLAMing on 10.009928850999998 meters Centerline goodness : 0.846602 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.04 [[ 0.95798063 -0.26950826 -0.09817544 -0.50355758] [ 0.27034623 0.96275061 -0.0049176 -0.01003811] [ 0.0958438 -0.0218304 0.99515697 0.03748357] [ 0. 0. 0. 1. ]] SLAMing on 10.039928850999997 meters Centerline goodness : 0.848231 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.04 [[ 0.95793294 -0.26968041 -0.09816796 -0.50352689] [ 0.27052996 0.96269957 -0.00480464 -0.01140936] [ 0.09580197 -0.02195485 0.99515826 0.03766508] [ 0. 0. 0. 1. ]] SLAMing on 10.069928850999998 meters Centerline goodness : 0.848731 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.04 [[ 0.95802831 -0.2642523 -0.1111417 -0.50309334] [ 0.2655065 0.96410223 -0.00363042 -0.01779084] [ 0.10811131 -0.0260308 0.99379794 0.04258528] [ 0. 0. 0. 1. ]] SLAMing on 10.099928850999998 meters Centerline goodness : 0.850879 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.04 [[ 0.9570875 -0.26784699 -0.11064136 -0.50166769] [ 0.26874489 0.96318598 -0.00699641 -0.0188845 ] [ 0.10844217 -0.02303813 0.99383577 0.04269562] [ 0. 0. 0. 1. ]] SLAMing on 10.129928850999997 meters Centerline goodness : 0.849627 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.03, Z:0.05 [[ 0.95706862 -0.26205206 -0.12388852 -0.50058155] [ 0.2637781 0.96458001 -0.00255417 -0.02609671] [ 0.12016972 -0.03023456 0.99229285 0.04644523] [ 0. 0. 0. 1. ]] SLAMing on 10.159928850999998 meters Centerline goodness : 0.850349 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.03, Z:0.05 [[ 0.95697016 -0.2567838 -0.13516727 -0.50152082] [ 0.25882239 0.96592151 -0.00257234 -0.03150006] [ 0.13122151 -0.03252266 0.99081945 0.05176748] [ 0. 0. 0. 1. ]] SLAMing on 10.189928850999998 meters Centerline goodness : 0.851923 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.04, Z:0.06 [[ 0.9566717 -0.25041557 -0.14856415 -0.50080393] [ 0.25340049 0.96736071 0.00120413 -0.03814185] [ 0.14341359 -0.03879819 0.98890204 0.0561122 ] [ 0. 0. 0. 1. ]] SLAMing on 10.219928850999999 meters Centerline goodness : 0.849053 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.04, Z:0.06 [[ 0.95661919 -0.25027298 -0.14914141 -0.49969668] [ 0.25337878 0.9673653 0.00188821 -0.03956171] [ 0.14380166 -0.03959557 0.98881407 0.05653505] [ 0. 0. 0. 1. ]] SLAMing on 10.249928850999998 meters Centerline goodness : 0.854750 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.04, Z:0.06 [[ 0.95654692 -0.25035014 -0.14947507 -0.49872961] [ 0.25351886 0.96732789 0.00222116 -0.04029461] [ 0.14403533 -0.04001939 0.988763 0.0564728 ] [ 0. 0. 0. 1. ]] SLAMing on 10.279928850999998 meters Centerline goodness : 0.854750 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.04, Z:0.06 [[ 0.95654692 -0.25035014 -0.14947507 -0.49872961] [ 0.25351886 0.96732789 0.00222116 -0.04029461] [ 0.14403533 -0.04001939 0.988763 0.0564728 ] [ 0. 0. 0. 1. ]] SLAMing on 10.309928850999999 meters Centerline goodness : 0.854520 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.04, Z:0.06 [[ 0.95646972 -0.25016915 -0.15027 -0.49675472] [ 0.25353188 0.96732127 0.00333816 -0.04190889] [ 0.14452426 -0.04129109 0.98863936 0.0563339 ] [ 0. 0. 0. 1. ]] SLAMing on 10.339928850999998 meters Centerline goodness : 0.855357 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.04, Z:0.06 [[ 0.95644584 -0.25029098 -0.15021911 -0.49666698] [ 0.25364817 0.9672909 0.00330551 -0.04260388] [ 0.14447824 -0.04126434 0.9886472 0.05641621] [ 0. 0. 0. 1. ]] SLAMing on 10.369928850999997 meters Centerline goodness : 0.855164 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.04, Z:0.06 [[ 0.95649738 -0.24976118 -0.15077176 -0.49510203] [ 0.25328008 0.96738348 0.00429056 -0.04401139] [ 0.14478249 -0.0422914 0.98855929 0.05610941] [ 0. 0. 0. 1. ]] SLAMing on 10.399928850999999 meters Centerline goodness : 0.855355 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.04, Z:0.06 [[ 0.95653974 -0.2493846 -0.15112591 -0.494212 ] [ 0.25298149 0.96745947 0.00474673 -0.04443692] [ 0.14502443 -0.04277249 0.98850312 0.05595356] [ 0. 0. 0. 1. ]] SLAMing on 10.429928850999998 meters Centerline goodness : 0.854185 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.04, Z:0.06 [[ 0.95655153 -0.24911363 -0.15149777 -0.49316247] [ 0.25276793 0.96751377 0.00504744 -0.04439248] [ 0.14531879 -0.04312191 0.98844471 0.05562021] [ 0. 0. 0. 1. ]] SLAMing on 10.459928850999997 meters Centerline goodness : 0.853555 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.04, Z:0.06 [[ 0.95654446 -0.24873721 -0.15215945 -0.49173524] [ 0.25251865 0.967575 0.00574009 -0.04495888] [ 0.14579791 -0.04391375 0.98833929 0.05554725] [ 0. 0. 0. 1. ]] SLAMing on 10.489928850999998 meters Centerline goodness : 0.850134 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.05, Z:0.06 [[ 0.95653628 -0.24862263 -0.15239792 -0.49103757] [ 0.25245759 0.96758912 0.00603873 -0.04557957] [ 0.1459572 -0.04425027 0.98830077 0.05551855] [ 0. 0. 0. 1. ]] SLAMing on 10.519928850999998 meters Centerline goodness : 0.849187 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.05, Z:0.06 [[ 0.95648351 -0.24840855 -0.15307672 -0.48919784] [ 0.25238053 0.96760437 0.0067719 -0.04652339] [ 0.14643551 -0.0451108 0.9881911 0.05518208] [ 0. 0. 0. 1. ]] SLAMing on 10.549928850999997 meters Centerline goodness : 0.851858 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.05, Z:0.05 [[ 0.95642264 -0.24827598 -0.15367098 -0.48762761] [ 0.25232948 0.96761499 0.00714557 -0.04630104] [ 0.14692027 -0.0456099 0.98809624 0.0547491 ] [ 0. 0. 0. 1. ]] SLAMing on 10.579928850999998 meters Centerline goodness : 0.852701 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.05, Z:0.05 [[ 0.95641784 -0.24807976 -0.15401734 -0.48691418] [ 0.25220718 0.96764382 0.00754851 -0.04619909] [ 0.14716129 -0.04606381 0.98803931 0.05466198] [ 0. 0. 0. 1. ]] SLAMing on 10.609928850999998 meters Centerline goodness : 0.845042 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.05, Z:0.05 [[ 0.95638546 -0.24780776 -0.15465502 -0.48575426] [ 0.25204361 0.96768203 0.00809371 -0.04627441] [ 0.1476512 -0.04672052 0.98793538 0.05485205] [ 0. 0. 0. 1. ]] SLAMing on 10.639928850999999 meters Centerline goodness : 0.853035 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.05, Z:0.06 [[ 0.95640868 -0.24740377 -0.15515736 -0.48529573] [ 0.25174216 0.96775569 0.00864917 -0.0460216 ] [ 0.14801458 -0.04733179 0.9878519 0.05531929] [ 0. 0. 0. 1. ]] SLAMing on 10.669928850999998 meters Centerline goodness : 0.851338 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.05, Z:0.05 [[ 0.95645888 -0.24693627 -0.15559207 -0.48407034] [ 0.25137336 0.96784645 0.00920287 -0.04599955] [ 0.14831671 -0.04791387 0.98777852 0.05478402] [ 0. 0. 0. 1. ]] SLAMing on 10.699928850999997 meters Centerline goodness : 0.852066 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.05, Z:0.05 [[ 0.9564934 -0.24659532 -0.15592025 -0.4825829 ] [ 0.25109764 0.96791459 0.00955635 -0.04645679] [ 0.14856093 -0.0482918 0.98772342 0.05396668] [ 0. 0. 0. 1. ]] SLAMing on 10.729928850999999 meters Centerline goodness : 0.850323 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.05, Z:0.05 [[ 0.95643481 -0.2465889 -0.15628939 -0.48112346] [ 0.25114508 0.96789992 0.00979286 -0.04658825] [ 0.14885768 -0.04861755 0.98766276 0.05333233] [ 0. 0. 0. 1. ]] SLAMing on 10.759928850999998 meters Centerline goodness : 0.848459 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.05, Z:0.05 [[ 0.95642806 -0.24629141 -0.15679891 -0.47987764] [ 0.25092496 0.96795322 0.01016022 -0.04653935] [ 0.14927164 -0.04906228 0.98757829 0.05310878] [ 0. 0. 0. 1. ]] SLAMing on 10.789928850999997 meters Centerline goodness : 0.850318 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.05, Z:0.05 [[ 0.95675455 -0.24388028 -0.1585659 -0.47806094] [ 0.2491179 0.96837585 0.01372871 -0.04617052] [ 0.15020323 -0.05263661 0.98725295 0.05337235] [ 0. 0. 0. 1. ]] SLAMing on 10.819928850999998 meters Centerline goodness : 0.854936 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.05, Z:0.05 [[ 0.95669387 -0.2441378 -0.15853575 -0.47853456] [ 0.24929597 0.96833742 0.01319673 -0.04502123] [ 0.15029428 -0.05214755 0.98726504 0.05373788] [ 0. 0. 0. 1. ]] SLAMing on 10.849928850999998 meters Centerline goodness : 0.853838 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.04, Z:0.05 [[ 0.95673062 -0.24378859 -0.158851 -0.47772819] [ 0.24899224 0.96841261 0.01341229 -0.04443457] [ 0.15056355 -0.05238461 0.98721146 0.05332562] [ 0. 0. 0. 1. ]] SLAMing on 10.879928850999997 meters Centerline goodness : 0.851098 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.04, Z:0.05 [[ 0.95687809 -0.24328985 -0.15872737 -0.47718958] [ 0.2484334 0.96856037 0.01310149 -0.04419019] [ 0.15054958 -0.05196971 0.98723552 0.05238692] [ 0. 0. 0. 1. ]] SLAMing on 10.909928850999998 meters Centerline goodness : 0.852286 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.04, Z:0.05 [[ 0.95680853 -0.24332918 -0.15908598 -0.47615313] [ 0.24854012 0.96852871 0.01341419 -0.04433335] [ 0.15081528 -0.05237406 0.9871736 0.0521668 ] [ 0. 0. 0. 1. ]] SLAMing on 10.939928850999998 meters Centerline goodness : 0.847322 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.04, Z:0.05 [[ 0.95667921 -0.24362564 -0.15940963 -0.47574523] [ 0.24887946 0.96843958 0.01355685 -0.04438519] [ 0.1510758 -0.05264334 0.98711944 0.05258576] [ 0. 0. 0. 1. ]] SLAMing on 10.969928850999997 meters Centerline goodness : 0.853663 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.04, Z:0.05 [[ 0.95657978 -0.24354233 -0.16013201 -0.47467231] [ 0.24889985 0.96842827 0.01398401 -0.04416153] [ 0.15167067 -0.05323365 0.98699655 0.05303291] [ 0. 0. 0. 1. ]] SLAMing on 10.999928850999998 meters Centerline goodness : 0.851932 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.04, Z:0.05 [[ 0.95650163 -0.24351542 -0.16063894 -0.47416807] [ 0.24897768 0.96840089 0.01448591 -0.04370293] [ 0.15203535 -0.05385131 0.98690693 0.05345575] [ 0. 0. 0. 1. ]] SLAMing on 11.029928850999998 meters Centerline goodness : 0.854473 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.04, Z:0.05 [[ 0.95632156 -0.24412339 -0.16078819 -0.47389333] [ 0.24956589 0.96825289 0.01425514 -0.04367896] [ 0.15220362 -0.05375975 0.98688599 0.05368288] [ 0. 0. 0. 1. ]] SLAMing on 11.059928850999999 meters Centerline goodness : 0.855941 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.04, Z:0.05 [[ 0.95623801 -0.24412786 -0.16127754 -0.47257488] [ 0.24966103 0.96822222 0.01466631 -0.04387772] [ 0.15257204 -0.0542892 0.98680011 0.05342542] [ 0. 0. 0. 1. ]] SLAMing on 11.089928850999998 meters Centerline goodness : 0.854500 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.04, Z:0.05 [[ 0.95593235 -0.24484744 -0.16199715 -0.47084081] [ 0.25048168 0.96800513 0.01500003 -0.04421171] [ 0.15314135 -0.05491633 0.98667721 0.05346421] [ 0. 0. 0. 1. ]] SLAMing on 11.119928850999997 meters Centerline goodness : 0.855343 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.04, Z:0.05 [[ 0.95568904 -0.24520322 -0.16289209 -0.46901466] [ 0.25097833 0.9678678 0.0155498 -0.0446161 ] [ 0.15384515 -0.05574316 0.98652135 0.05378628] [ 0. 0. 0. 1. ]] SLAMing on 11.149928850999999 meters Centerline goodness : 0.855624 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.05, Z:0.05 [[ 0.9555532 -0.24524806 -0.16361987 -0.46747178] [ 0.25120182 0.96779543 0.01642072 -0.04554335] [ 0.15432342 -0.05679248 0.98638679 0.05396471] [ 0. 0. 0. 1. ]] SLAMing on 11.179928850999998 meters Centerline goodness : 0.853787 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.05, Z:0.05 [[ 0.95538797 -0.24561893 -0.16402793 -0.46658717] [ 0.25165399 0.9676722 0.01675681 -0.04627557] [ 0.15460948 -0.05728754 0.98631336 0.05428743] [ 0. 0. 0. 1. ]] SLAMing on 11.209928850999997 meters Centerline goodness : 0.855492 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.05, Z:0.05 [[ 0.95510433 -0.24628502 -0.16467971 -0.46538747] [ 0.25243726 0.96746033 0.01720269 -0.04720955] [ 0.15508432 -0.05800165 0.98619707 0.05491417] [ 0. 0. 0. 1. ]] SLAMing on 11.239928850999998 meters Centerline goodness : 0.854947 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.05, Z:0.06 [[ 0.9549855 -0.24666701 -0.16479707 -0.46503628] [ 0.25282012 0.9673616 0.01713233 -0.04751313] [ 0.15519237 -0.05802515 0.98617869 0.05508725] [ 0. 0. 0. 1. ]] SLAMing on 11.269928850999998 meters Centerline goodness : 0.856779 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.05, Z:0.06 [[ 0.95490063 -0.2466621 -0.16529548 -0.46413582] [ 0.25291356 0.96732937 0.01756742 -0.04772373] [ 0.15556196 -0.05858061 0.98608762 0.05527594] [ 0. 0. 0. 1. ]] SLAMing on 11.299928850999997 meters Centerline goodness : 0.856037 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.05, Z:0.06 [[ 0.95481865 -0.24651745 -0.16598344 -0.46305498] [ 0.25290509 0.96732032 0.01817751 -0.04774141] [ 0.15607808 -0.05933428 0.98596099 0.05560847] [ 0. 0. 0. 1. ]] SLAMing on 11.329928850999998 meters Centerline goodness : 0.856037 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.05, Z:0.06 [[ 0.95481865 -0.24651745 -0.16598344 -0.46305498] [ 0.25290509 0.96732032 0.01817751 -0.04774141] [ 0.15607808 -0.05933428 0.98596099 0.05560847] [ 0. 0. 0. 1. ]] SLAMing on 11.359928850999998 meters Centerline goodness : 0.856342 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.05, Z:0.06 [[ 0.95479151 -0.24623105 -0.1665636 -0.46222572] [ 0.25272201 0.96735958 0.01862867 -0.04753741] [ 0.15653994 -0.05988078 0.98585473 0.05582385] [ 0. 0. 0. 1. ]] SLAMing on 11.389928850999997 meters Centerline goodness : 0.853062 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.05, Z:0.06 [[ 0.95488003 -0.2457821 -0.1667192 -0.4616583 ] [ 0.25225456 0.96748426 0.01848931 -0.04667755] [ 0.15675386 -0.05971075 0.98583105 0.0553764 ] [ 0. 0. 0. 1. ]] SLAMing on 11.419928850999998 meters Centerline goodness : 0.854704 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.05, Z:0.05 [[ 0.9549045 -0.2454711 -0.16703692 -0.46066392] [ 0.25198525 0.96755126 0.01865438 -0.04653575] [ 0.15703768 -0.05990399 0.98577415 0.05492819] [ 0. 0. 0. 1. ]] SLAMing on 11.449928850999997 meters Centerline goodness : 0.853413 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.05, Z:0.05 [[ 0.9549027 -0.24537368 -0.16719028 -0.46029017] [ 0.25189126 0.96757631 0.01862478 -0.04650785] [ 0.15719932 -0.05989862 0.98574871 0.05489068] [ 0. 0. 0. 1. ]] SLAMing on 11.479928850999999 meters Centerline goodness : 0.855291 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.05, Z:0.06 [[ 0.95479533 -0.24538438 -0.16778671 -0.45939413] [ 0.25203405 0.96752749 0.01921963 -0.04633994] [ 0.15762206 -0.06063878 0.98563595 0.05515145] [ 0. 0. 0. 1. ]] SLAMing on 11.509928850999998 meters Centerline goodness : 0.857717 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.05, Z:0.06 [[ 0.95474569 -0.24531562 -0.1681693 -0.45889673] [ 0.25205924 0.96751203 0.01966267 -0.04696405] [ 0.15788226 -0.06116148 0.98556201 0.05561568] [ 0. 0. 0. 1. ]] SLAMing on 11.539928850999997 meters Centerline goodness : 0.857204 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.05, Z:0.06 [[ 0.95459794 -0.24541777 -0.1688576 -0.4577507 ] [ 0.25233383 0.96742398 0.020457 -0.04755879] [ 0.15833637 -0.0621367 0.98542814 0.05601342] [ 0. 0. 0. 1. ]] SLAMing on 11.569928850999998 meters Centerline goodness : 0.856989 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.05, Z:0.06 [[ 0.95451364 -0.24552226 -0.16918194 -0.45685323] [ 0.25249279 0.96737824 0.02065774 -0.04849068] [ 0.15859099 -0.06243532 0.98536832 0.05613937] [ 0. 0. 0. 1. ]] SLAMing on 11.599928850999998 meters Centerline goodness : 0.852584 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.05, Z:0.06 [[ 0.95445386 -0.24565961 -0.16931975 -0.45590524] [ 0.25269848 0.96731682 0.02101565 -0.05035698] [ 0.15862314 -0.06284531 0.98533708 0.0560334 ] [ 0. 0. 0. 1. ]] SLAMing on 11.629928850999997 meters Centerline goodness : 0.852845 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.05, Z:0.06 [[ 0.95433808 -0.24577904 -0.16979838 -0.45487759] [ 0.25292476 0.96724757 0.02147579 -0.05110668] [ 0.15895877 -0.06344137 0.98524479 0.05630614] [ 0. 0. 0. 1. ]] SLAMing on 11.659928850999998 meters Centerline goodness : 0.858878 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.05, Z:0.06 [[ 0.95416941 -0.24611192 -0.17026349 -0.45425437] [ 0.25331588 0.967142 0.02161994 -0.05138784] [ 0.15934805 -0.06375953 0.98516137 0.05700455] [ 0. 0. 0. 1. ]] SLAMing on 11.689928850999998 meters Centerline goodness : 0.851724 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.05, Z:0.06 [[ 0.95409255 -0.24597526 -0.17089057 -0.45307027] [ 0.25333684 0.96711994 0.02234886 -0.0517004 ] [ 0.15977441 -0.06461576 0.98503652 0.05714854] [ 0. 0. 0. 1. ]] SLAMing on 11.719928850999997 meters Centerline goodness : 0.853805 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.05, Z:0.06 [[ 0.95394217 -0.24622568 -0.17136873 -0.45232557] [ 0.25366378 0.96702834 0.02260248 -0.05202941] [ 0.16015311 -0.0650315 0.98494766 0.05763569] [ 0. 0. 0. 1. ]] SLAMing on 11.749928850999998 meters Centerline goodness : 0.854395 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.05, Z:0.06 [[ 0.95366497 -0.24718647 -0.17152838 -0.45138862] [ 0.25467646 0.9667581 0.02277466 -0.05404475] [ 0.16019686 -0.06540364 0.9849159 0.05795007] [ 0. 0. 0. 1. ]] SLAMing on 11.779928850999998 meters Centerline goodness : 0.853761 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.06, Z:0.06 [[ 0.95344484 -0.24754501 -0.17223357 -0.44929456] [ 0.25517398 0.96661427 0.02330427 -0.05512768] [ 0.16071458 -0.06616886 0.98478044 0.0577348 ] [ 0. 0. 0. 1. ]] SLAMing on 11.809928850999997 meters Centerline goodness : 0.855182 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.06, Z:0.06 [[ 0.95324262 -0.24809865 -0.17255599 -0.44812967] [ 0.25578256 0.96644967 0.02345897 -0.056265 ] [ 0.16094654 -0.0664989 0.98472032 0.05781593] [ 0. 0. 0. 1. ]] SLAMing on 11.839928850999998 meters Centerline goodness : 0.853082 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.06, Z:0.06 [[ 0.95307108 -0.24865029 -0.17270942 -0.44746335] [ 0.25633704 0.96630502 0.02336522 -0.05689515] [ 0.16108021 -0.06654053 0.98469565 0.05790853] [ 0. 0. 0. 1. ]] SLAMing on 11.869928850999997 meters Centerline goodness : 0.854174 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.06, Z:0.06 [[ 0.95298707 -0.24851431 -0.17336745 -0.44608481] [ 0.25638519 0.96627111 0.02422352 -0.05794714] [ 0.16150007 -0.06753355 0.98455927 0.05809293] [ 0. 0. 0. 1. ]] SLAMing on 11.899928850999999 meters Centerline goodness : 0.848784 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.06, Z:0.06 [[ 0.95291132 -0.24837916 -0.17397644 -0.44525751] [ 0.25646888 0.96622111 0.02530753 -0.05944219] [ 0.16181385 -0.06873538 0.98442457 0.05888414] [ 0. 0. 0. 1. ]] SLAMing on 11.929928850999998 meters Centerline goodness : 0.852948 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.06, Z:0.06 [[ 0.95279686 -0.24852096 -0.17440034 -0.44450258] [ 0.25672496 0.9661399 0.02580687 -0.06040329] [ 0.16208158 -0.06936162 0.98433659 0.05938546] [ 0. 0. 0. 1. ]] SLAMing on 11.959928850999997 meters Centerline goodness : 0.853452 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.06, Z:0.06 [[ 0.95268646 -0.24860376 -0.17488475 -0.4433778 ] [ 0.25693744 0.96606805 0.02637553 -0.06158489] [ 0.16239351 -0.07006205 0.98423557 0.05962525] [ 0. 0. 0. 1. ]] SLAMing on 11.989928850999998 meters Centerline goodness : 0.853689 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.06, Z:0.06 [[ 0.95247635 -0.2489781 -0.17549563 -0.44164288] [ 0.25746624 0.96590972 0.02701 -0.06315987] [ 0.16278803 -0.07091059 0.98410962 0.05972453] [ 0. 0. 0. 1. ]] SLAMing on 12.019928850999998 meters Centerline goodness : 0.855525 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.06, Z:0.06 [[ 0.95247489 -0.2485444 -0.17611717 -0.44026798] [ 0.25723061 0.96594528 0.0279667 -0.06439955] [ 0.16316859 -0.07194031 0.98397185 0.0598127 ] [ 0. 0. 0. 1. ]] SLAMing on 12.049928850999997 meters Centerline goodness : 0.855023 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.07, Z:0.06 [[ 0.95241064 -0.24851984 -0.17649891 -0.43936486] [ 0.25731743 0.96590749 0.02846862 -0.06542422] [ 0.1634066 -0.07253006 0.98388905 0.06000179] [ 0. 0. 0. 1. ]] SLAMing on 12.079928850999998 meters Centerline goodness : 0.855474 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.07, Z:0.06 [[ 0.95234567 -0.24857477 -0.17677193 -0.43889776] [ 0.25745295 0.96586079 0.02882572 -0.06616046] [ 0.16357173 -0.0729625 0.98382964 0.06038281] [ 0. 0. 0. 1. ]] SLAMing on 12.109928850999998 meters Centerline goodness : 0.859967 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.07, Z:0.06 [[ 0.95236943 -0.24829278 -0.17704002 -0.43844364] [ 0.25731453 0.96587452 0.02959119 -0.06776177] [ 0.16365117 -0.07373671 0.98375871 0.06080303] [ 0. 0. 0. 1. ]] SLAMing on 12.139928850999997 meters Centerline goodness : 0.859849 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.07, Z:0.06 [[ 0.95236185 -0.24815359 -0.17727575 -0.43757356] [ 0.25725077 0.9658805 0.02994826 -0.06853498] [ 0.16379542 -0.07412591 0.98370545 0.06063887] [ 0. 0. 0. 1. ]] SLAMing on 12.169928850999998 meters Centerline goodness : 0.859849 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.07, Z:0.06 [[ 0.95236185 -0.24815359 -0.17727575 -0.43757356] [ 0.25725077 0.9658805 0.02994826 -0.06853498] [ 0.16379542 -0.07412591 0.98370545 0.06063887] [ 0. 0. 0. 1. ]] SLAMing on 12.199928850999997 meters Centerline goodness : 0.862656 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.07, Z:0.06 [[ 0.95237849 -0.24791009 -0.1775269 -0.43668484] [ 0.25709012 0.96591071 0.0303508 -0.06923925] [ 0.16395087 -0.07454586 0.98364782 0.06034827] [ 0. 0. 0. 1. ]] SLAMing on 12.229928850999997 meters Centerline goodness : 0.859928 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.07, Z:0.06 [[ 0.95241559 -0.24752981 -0.17785818 -0.43548384] [ 0.2568006 0.96597432 0.0307743 -0.07000992] [ 0.16418888 -0.07498401 0.98357481 0.05993574] [ 0. 0. 0. 1. ]] SLAMing on 12.259928850999998 meters Centerline goodness : 0.858380 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.07, Z:0.06 [[ 0.95241371 -0.24717133 -0.17836607 -0.4341976 ] [ 0.25657949 0.96601324 0.03139081 -0.07048058] [ 0.16454508 -0.07566211 0.98346335 0.0597679 ] [ 0. 0. 0. 1. ]] SLAMing on 12.289928850999997 meters Centerline goodness : 0.854456 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.07, Z:0.06 [[ 0.95232238 -0.24736281 -0.17858816 -0.43364875] [ 0.25679833 0.96595368 0.03143425 -0.07068874] [ 0.16473222 -0.07579668 0.98342166 0.05988351] [ 0. 0. 0. 1. ]] SLAMing on 12.319928850999998 meters Centerline goodness : 0.858827 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.07, Z:0.06 [[ 0.95226412 -0.24743274 -0.17880182 -0.43278142] [ 0.25688621 0.96593027 0.03143559 -0.07114494] [ 0.16493189 -0.0758667 0.98338279 0.05978747] [ 0. 0. 0. 1. ]] SLAMing on 12.349928850999998 meters Centerline goodness : 0.860167 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.07, Z:0.06 [[ 0.95218692 -0.24762698 -0.178944 -0.4319507 ] [ 0.25715008 0.96584919 0.03176762 -0.07272068] [ 0.1649664 -0.07626418 0.98334626 0.05972101] [ 0. 0. 0. 1. ]] SLAMing on 12.379928850999997 meters Centerline goodness : 0.857958 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.07, Z:0.06 [[ 0.95218735 -0.24758964 -0.17899335 -0.43162495] [ 0.25717324 0.96583176 0.03210831 -0.07381493] [ 0.16492777 -0.07660542 0.98332621 0.05976375] [ 0. 0. 0. 1. ]] SLAMing on 12.409928850999998 meters Centerline goodness : 0.861409 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.07, Z:0.06 [[ 0.95216167 -0.24750049 -0.17925307 -0.43096248] [ 0.25715481 0.96582643 0.03241472 -0.07440211] [ 0.16510469 -0.07695984 0.98326885 0.05990009] [ 0. 0. 0. 1. ]] SLAMing on 12.439928850999998 meters Centerline goodness : 0.858862 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.07, Z:0.06 [[ 0.95210133 -0.24732679 -0.17981243 -0.4301279 ] [ 0.25712365 0.96581449 0.03301205 -0.07465888] [ 0.16550069 -0.07766485 0.98314683 0.06025544] [ 0. 0. 0. 1. ]] SLAMing on 12.469928850999997 meters Centerline goodness : 0.857908 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.07, Z:0.06 [[ 0.95219647 -0.24675603 -0.18009262 -0.42976571] [ 0.25666481 0.96591655 0.03359155 -0.0748128 ] [ 0.16566552 -0.0782092 0.98307592 0.06029669] [ 0. 0. 0. 1. ]] SLAMing on 12.499928850999998 meters Centerline goodness : 0.857511 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.07, Z:0.06 [[ 0.95215612 -0.2469817 -0.17999654 -0.42977095] [ 0.2568328 0.96588282 0.03327587 -0.07476333] [ 0.16563703 -0.07791284 0.98310425 0.06024771] [ 0. 0. 0. 1. ]] SLAMing on 12.529928850999998 meters Centerline goodness : 0.858618 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.08, Z:0.06 [[ 0.9521499 -0.24673571 -0.18036644 -0.42841574] [ 0.25668715 0.96590631 0.03371504 -0.07547295] [ 0.16589838 -0.07839952 0.98302149 0.05981746] [ 0. 0. 0. 1. ]] SLAMing on 12.559928850999997 meters Centerline goodness : 0.857935 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.08, Z:0.06 [[ 0.95214814 -0.24659455 -0.18056866 -0.42751115] [ 0.25662837 0.96590778 0.03411794 -0.07628881] [ 0.16599938 -0.07882437 0.98297046 0.05948554] [ 0. 0. 0. 1. ]] SLAMing on 12.589928850999998 meters Centerline goodness : 0.857265 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.08, Z:0.06 [[ 0.95214119 -0.24640569 -0.1808629 -0.42685272] [ 0.25655863 0.96590569 0.03469688 -0.0773293 ] [ 0.16614699 -0.07943826 0.9828961 0.05965289] [ 0. 0. 0. 1. ]] SLAMing on 12.619928850999997 meters Centerline goodness : 0.858375 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.08, Z:0.06 [[ 0.95222326 -0.24601579 -0.1809616 -0.4264854 ] [ 0.2562284 0.96598113 0.03503524 -0.07784109] [ 0.16618627 -0.07972887 0.98286593 0.05947684] [ 0. 0. 0. 1. ]] SLAMing on 12.649928850999997 meters Centerline goodness : 0.855715 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.08, Z:0.06 [[ 0.95230427 -0.24569287 -0.18097403 -0.42644572] [ 0.25594203 0.96604839 0.03527294 -0.07840924] [ 0.16616336 -0.07990943 0.98285514 0.05957682] [ 0. 0. 0. 1. ]] SLAMing on 12.679928850999998 meters Centerline goodness : 0.861924 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.08, Z:0.06 [[ 0.95252532 -0.24474774 -0.1810913 -0.42636985] [ 0.25512948 0.96623349 0.03608028 -0.07939057] [ 0.16614591 -0.0805691 0.98280423 0.05971596] [ 0. 0. 0. 1. ]] SLAMing on 12.709928850999997 meters Centerline goodness : 0.856208 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.08, Z:0.06 [[ 0.95254168 -0.24466404 -0.18111836 -0.42648266] [ 0.25504534 0.96625603 0.03607152 -0.07934494] [ 0.16618131 -0.08055302 0.98279956 0.059956 ] [ 0. 0. 0. 1. ]] SLAMing on 12.739928850999998 meters Centerline goodness : 0.858390 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.08, Z:0.06 [[ 0.95246642 -0.24493614 -0.18114636 -0.42643873] [ 0.25529719 0.96619536 0.03591484 -0.07949332] [ 0.16622593 -0.08045383 0.98280014 0.06012767] [ 0. 0. 0. 1. ]] SLAMing on 12.769928850999998 meters Centerline goodness : 0.865401 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.08, Z:0.06 [[ 0.95246384 -0.24468623 -0.18149732 -0.42503437] [ 0.25515711 0.96621374 0.03641225 -0.08026783] [ 0.16645563 -0.08099168 0.98271709 0.0596125 ] [ 0. 0. 0. 1. ]] SLAMing on 12.799928850999997 meters Centerline goodness : 0.859085 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.08, Z:0.06 [[ 0.95242402 -0.24466839 -0.18173021 -0.42414362] [ 0.25517212 0.96620675 0.03649262 -0.08087674] [ 0.16666037 -0.08112893 0.98267106 0.05944572] [ 0. 0. 0. 1. ]] SLAMing on 12.829928850999998 meters Centerline goodness : 0.858558 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.08, Z:0.06 [[ 0.95241353 -0.24493638 -0.18142394 -0.42460342] [ 0.25536694 0.96616669 0.03618905 -0.08136488] [ 0.16642175 -0.08079662 0.98273888 0.05952284] [ 0. 0. 0. 1. ]] SLAMing on 12.859928850999998 meters Centerline goodness : 0.858766 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.08, Z:0.06 [[ 0.95245978 -0.24457997 -0.18166181 -0.42415506] [ 0.2550997 0.96622073 0.03662835 -0.08143658] [ 0.16656684 -0.0812289 0.98267866 0.05945849] [ 0. 0. 0. 1. ]] SLAMing on 12.889928850999997 meters Centerline goodness : 0.857685 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.08, Z:0.06 [[ 0.95241812 -0.24471308 -0.18170096 -0.42466624] [ 0.25524368 0.96618144 0.03666174 -0.08179074] [ 0.16658449 -0.08129533 0.98267018 0.06024394] [ 0. 0. 0. 1. ]] SLAMing on 12.919928850999998 meters Centerline goodness : 0.860007 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.08, Z:0.06 [[ 0.95241418 -0.24456783 -0.18191703 -0.42410795] [ 0.25518598 0.9661806 0.03708314 -0.08237211] [ 0.16669537 -0.08174119 0.98261439 0.06027334] [ 0. 0. 0. 1. ]] SLAMing on 12.949928850999997 meters Centerline goodness : 0.861205 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.08, Z:0.06 [[ 0.95239797 -0.24443425 -0.18218123 -0.42297642] [ 0.25521688 0.96613949 0.03793178 -0.08454459] [ 0.16674066 -0.08262187 0.98253304 0.06020719] [ 0. 0. 0. 1. ]] SLAMing on 12.979928850999997 meters Centerline goodness : 0.860129 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.06 [[ 0.95229022 -0.24477778 -0.18228322 -0.42273321] [ 0.25557935 0.96604245 0.03796285 -0.08506793] [ 0.16680087 -0.08273948 0.98251293 0.06047603] [ 0. 0. 0. 1. ]] SLAMing on 13.009928850999998 meters Centerline goodness : 0.860873 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.06 [[ 0.95222674 -0.24504809 -0.18225168 -0.42267168] [ 0.25587509 0.96595854 0.0381056 -0.08581003] [ 0.16670986 -0.08291884 0.98251325 0.06066983] [ 0. 0. 0. 1. ]] SLAMing on 13.039928850999997 meters Centerline goodness : 0.859673 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.06 [[ 0.95222399 -0.24477376 -0.18263426 -0.421669 ] [ 0.2557009 0.96598803 0.03852511 -0.08628181] [ 0.16699258 -0.08338428 0.98242585 0.06053143] [ 0. 0. 0. 1. ]] SLAMing on 13.069928850999997 meters Centerline goodness : 0.862709 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.06 [[ 0.95227079 -0.24449679 -0.1827612 -0.42116315] [ 0.25546633 0.96604174 0.03873373 -0.08649816] [ 0.16708467 -0.08357433 0.98239404 0.06030816] [ 0. 0. 0. 1. ]] SLAMing on 13.099928850999998 meters Centerline goodness : 0.860135 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.06 [[ 0.95220483 -0.24466512 -0.18287958 -0.4210255 ] [ 0.25562998 0.96600253 0.03863186 -0.08641472] [ 0.16721027 -0.08353495 0.98237602 0.06049726] [ 0. 0. 0. 1. ]] SLAMing on 13.129928850999997 meters Centerline goodness : 0.865893 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.06 [[ 0.95223977 -0.24437681 -0.18308305 -0.42058348] [ 0.25541751 0.966044 0.03899845 -0.08680834] [ 0.16733597 -0.08389849 0.98232363 0.0605526 ] [ 0. 0. 0. 1. ]] SLAMing on 13.159928850999998 meters Centerline goodness : 0.860941 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.06 [[ 0.95221759 -0.24443175 -0.18312502 -0.42058452] [ 0.25550619 0.96601359 0.03917047 -0.0874602 ] [ 0.16732676 -0.08408839 0.98230896 0.06087371] [ 0. 0. 0. 1. ]] SLAMing on 13.189928850999998 meters Centerline goodness : 0.860695 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.06 [[ 0.95222443 -0.24443379 -0.18308675 -0.4204767 ] [ 0.25557416 0.96597904 0.03957706 -0.08885177] [ 0.16718399 -0.08447849 0.9822998 0.06101556] [ 0. 0. 0. 1. ]] SLAMing on 13.219928850999997 meters Centerline goodness : 0.858246 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.06 [[ 0.95205715 -0.24490004 -0.18333346 -0.42032943] [ 0.25607311 0.96584583 0.039603 -0.08893639] [ 0.16737308 -0.08465109 0.98225274 0.06161555] [ 0. 0. 0. 1. ]] SLAMing on 13.249928850999998 meters Centerline goodness : 0.866789 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.06 [[ 0.95200236 -0.24496961 -0.18352491 -0.41975111] [ 0.2562165 0.96579426 0.03993173 -0.08979355] [ 0.16746525 -0.08503722 0.98220368 0.06173866] [ 0. 0. 0. 1. ]] SLAMing on 13.279928850999998 meters Centerline goodness : 0.867795 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.06 [[ 0.95183149 -0.24556416 -0.18361661 -0.41955584] [ 0.25680238 0.96564478 0.03978313 -0.09009827] [ 0.16753911 -0.08502002 0.98219257 0.06213833] [ 0. 0. 0. 1. ]] SLAMing on 13.309928850999997 meters Centerline goodness : 0.865404 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.06 [[ 0.95180831 -0.2453927 -0.18396564 -0.41835406] [ 0.25676982 0.96562652 0.04043117 -0.09116552] [ 0.16772059 -0.08571955 0.98210079 0.06186723] [ 0. 0. 0. 1. ]] SLAMing on 13.339928850999998 meters Centerline goodness : 0.865744 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.06 [[ 0.95182757 -0.24536313 -0.18390544 -0.41862438] [ 0.2567305 0.96563795 0.04040785 -0.09131154] [ 0.16767147 -0.08567544 0.98211303 0.06207872] [ 0. 0. 0. 1. ]] SLAMing on 13.369928850999997 meters Centerline goodness : 0.858977 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.06 [[ 0.95190216 -0.24513057 -0.18382948 -0.41876491] [ 0.25649647 0.96569803 0.04045833 -0.09165916] [ 0.16760619 -0.08566399 0.98212517 0.06209758] [ 0. 0. 0. 1. ]] SLAMing on 13.399928850999997 meters Centerline goodness : 0.867491 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.06 [[ 0.95196644 -0.24506425 -0.1835849 -0.41960481] [ 0.25637514 0.9657382 0.04026813 -0.09153487] [ 0.16742667 -0.08540051 0.98217873 0.06241356] [ 0. 0. 0. 1. ]] SLAMing on 13.429928850999998 meters Centerline goodness : 0.861444 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.06 [[ 0.95203689 -0.24488971 -0.1834524 -0.42040007] [ 0.25622202 0.96577009 0.04047729 -0.09224758] [ 0.16726037 -0.08554042 0.98219489 0.06309205] [ 0. 0. 0. 1. ]] SLAMing on 13.459928850999997 meters Centerline goodness : 0.860394 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.06 [[ 0.95210901 -0.24440901 -0.18371901 -0.41958032] [ 0.25583729 0.96585246 0.04094263 -0.09268994] [ 0.16743871 -0.08598402 0.98212577 0.06284812] [ 0. 0. 0. 1. ]] SLAMing on 13.489928850999997 meters Centerline goodness : 0.864519 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.06 [[ 0.95209166 -0.24454398 -0.1836293 -0.41939307] [ 0.25590061 0.96585193 0.04055762 -0.09262669] [ 0.1674406 -0.08560542 0.98215852 0.06256895] [ 0. 0. 0. 1. ]] SLAMing on 13.519928850999998 meters Centerline goodness : 0.859220 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.06 [[ 0.95222904 -0.24413322 -0.18346343 -0.41943507] [ 0.25548158 0.96595982 0.04062987 -0.093279 ] [ 0.16729921 -0.08556047 0.98218653 0.06227312] [ 0. 0. 0. 1. ]] SLAMing on 13.549928850999997 meters Centerline goodness : 0.865024 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.06 [[ 0.95233696 -0.24360344 -0.1836074 -0.41899463] [ 0.25501565 0.96606837 0.04097466 -0.09350611] [ 0.16739573 -0.08584444 0.98214531 0.06202583] [ 0. 0. 0. 1. ]] SLAMing on 13.579928850999998 meters Centerline goodness : 0.865746 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.06 [[ 0.95244111 -0.24348677 -0.18322152 -0.41996399] [ 0.25478956 0.96614627 0.04054227 -0.09320161] [ 0.16714728 -0.08529705 0.98223531 0.06206456] [ 0. 0. 0. 1. ]] SLAMing on 13.609928850999998 meters Centerline goodness : 0.866646 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.06 [[ 0.9526308 -0.24289999 -0.1830141 -0.42070662] [ 0.25420201 0.96629461 0.04069477 -0.09335652] [ 0.16696078 -0.08528965 0.98226767 0.06226734] [ 0. 0. 0. 1. ]] SLAMing on 13.639928850999997 meters Centerline goodness : 0.860366 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.06 [[ 0.95307096 -0.24159443 -0.18244965 -0.42210261] [ 0.25282907 0.96665453 0.04069995 -0.09299322] [ 0.1665329 -0.08491852 0.98237245 0.06194397] [ 0. 0. 0. 1. ]] SLAMing on 13.669928850999998 meters Centerline goodness : 0.856619 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.06 [[ 0.95321315 -0.2411266 -0.18232566 -0.42203145] [ 0.25237706 0.96676433 0.04089682 -0.09372231] [ 0.16640464 -0.0849982 0.9823873 0.06162455] [ 0. 0. 0. 1. ]] SLAMing on 13.699928850999997 meters Centerline goodness : 0.857497 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.06 [[ 0.95322955 -0.24127877 -0.18203842 -0.42199558] [ 0.25244511 0.96676177 0.0405357 -0.09412612] [ 0.16620738 -0.08459453 0.98245553 0.06117009] [ 0. 0. 0. 1. ]] SLAMing on 13.729928850999997 meters Centerline goodness : 0.858785 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.06 [[ 0.95327565 -0.24084166 -0.18237549 -0.42074507] [ 0.25213176 0.96681849 0.04112888 -0.09483096] [ 0.16641845 -0.08518981 0.98236836 0.06064624] [ 0. 0. 0. 1. ]] SLAMing on 13.759928850999998 meters Centerline goodness : 0.862515 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.10, Z:0.06 [[ 0.95326508 -0.24102385 -0.18218998 -0.42159045] [ 0.25231607 0.96676641 0.04122256 -0.09545854] [ 0.16619954 -0.08526549 0.98239886 0.06139329] [ 0. 0. 0. 1. ]] SLAMing on 13.789928850999997 meters Centerline goodness : 0.857556 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.10, Z:0.06 [[ 0.95319799 -0.240941 -0.18264998 -0.42101163] [ 0.25236669 0.96672937 0.04177761 -0.09585544] [ 0.16650717 -0.08591711 0.98228998 0.06190942] [ 0. 0. 0. 1. ]] SLAMing on 13.819928850999997 meters Centerline goodness : 0.863282 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.10, Z:0.06 [[ 0.95306001 -0.2414229 -0.1827337 -0.42110681] [ 0.25285754 0.96660246 0.04174618 -0.09615824] [ 0.16655236 -0.08599221 0.98227575 0.06246129] [ 0. 0. 0. 1. ]] SLAMing on 13.849928850999998 meters Centerline goodness : 0.862362 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.10, Z:0.06 [[ 0.95255407 -0.24423001 -0.1816382 -0.42210945] [ 0.25504701 0.96616482 0.03842598 -0.09574692] [ 0.16610766 -0.0829291 0.98261437 0.06261023] [ 0. 0. 0. 1. ]] SLAMing on 13.879928850999997 meters Centerline goodness : 0.865578 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.10, Z:0.06 [[ 0.95205761 -0.24691305 -0.18061079 -0.42240799] [ 0.25712641 0.96573889 0.03513422 -0.09560662] [ 0.16574776 -0.07988961 0.98292692 0.06225632] [ 0. 0. 0. 1. ]] SLAMing on 13.909928850999997 meters Centerline goodness : 0.855665 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.10, Z:0.06 [[ 0.95180365 -0.24773919 -0.1808179 -0.42116529] [ 0.25806895 0.96546845 0.03565243 -0.09814316] [ 0.16574147 -0.0805976 0.98287018 0.06247894] [ 0. 0. 0. 1. ]] SLAMing on 13.939928850999998 meters Centerline goodness : 0.863769 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.10, Z:0.06 [[ 0.95170763 -0.24793525 -0.18105439 -0.42051832] [ 0.25834624 0.96538137 0.03600035 -0.09912694] [ 0.16586078 -0.08103652 0.98281396 0.06271154] [ 0. 0. 0. 1. ]] SLAMing on 13.969928850999997 meters Centerline goodness : 0.864995 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.10, Z:0.06 [[ 0.95158495 -0.24819268 -0.18134628 -0.4202052 ] [ 0.25867864 0.96528198 0.03627745 -0.09975313] [ 0.16604649 -0.08143149 0.98274996 0.06330465] [ 0. 0. 0. 1. ]] SLAMing on 13.999928850999998 meters Centerline goodness : 0.864026 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.10, Z:0.06 [[ 0.95154535 -0.24822856 -0.1815049 -0.4203006 ] [ 0.258806 0.96523048 0.03673657 -0.10047446] [ 0.16607499 -0.08193106 0.98270362 0.06394651] [ 0. 0. 0. 1. ]] SLAMing on 14.029928850999998 meters Centerline goodness : 0.854619 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.10, Z:0.06 [[ 0.95156655 -0.2479198 -0.18181549 -0.41981717] [ 0.25860317 0.9652658 0.03723349 -0.10082798] [ 0.16626936 -0.08244821 0.9826275 0.06412596] [ 0. 0. 0. 1. ]] SLAMing on 14.059928850999997 meters Centerline goodness : 0.863875 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.10, Z:0.06 [[ 0.95152571 -0.24797069 -0.1819598 -0.41961886] [ 0.25868349 0.96524054 0.03733034 -0.10129045] [ 0.16637814 -0.08259077 0.98259711 0.06442623] [ 0. 0. 0. 1. ]] SLAMing on 14.089928850999998 meters Centerline goodness : 0.863875 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.10, Z:0.06 [[ 0.95152571 -0.24797069 -0.1819598 -0.41961886] [ 0.25868349 0.96524054 0.03733034 -0.10129045] [ 0.16637814 -0.08259077 0.98259711 0.06442623] [ 0. 0. 0. 1. ]] SLAMing on 14.119928850999997 meters Centerline goodness : 0.864548 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.10, Z:0.06 [[ 0.95137343 -0.2483005 -0.18230595 -0.41823976] [ 0.2590713 0.96513111 0.03747006 -0.10209779] [ 0.16664531 -0.08287825 0.98252763 0.06419725] [ 0. 0. 0. 1. ]] SLAMing on 14.149928850999997 meters Centerline goodness : 0.867628 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.10, Z:0.06 [[ 0.95068399 -0.25165652 -0.18129796 -0.41715162] [ 0.26181668 0.9645158 0.03407782 -0.10325777] [ 0.16628884 -0.07986407 0.9828376 0.06315712] [ 0. 0. 0. 1. ]] SLAMing on 14.179928850999998 meters Centerline goodness : 0.864099 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.10, Z:0.06 [[ 0.95057598 -0.25184254 -0.18160574 -0.41642995] [ 0.26214534 0.9644024 0.03475397 -0.10482023] [ 0.16638848 -0.08064339 0.9827571 0.06359231] [ 0. 0. 0. 1. ]] SLAMing on 14.209928850999997 meters Centerline goodness : 0.868552 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.11, Z:0.06 [[ 0.95046831 -0.25175926 -0.18228347 -0.41539456] [ 0.26226559 0.96433786 0.03562663 -0.10569404] [ 0.16681351 -0.08166866 0.98260037 0.06422146] [ 0. 0. 0. 1. ]] SLAMing on 14.239928850999997 meters Centerline goodness : 0.862719 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.11, Z:0.07 [[ 0.95035587 -0.25200364 -0.1825319 -0.41562904] [ 0.26259226 0.96423634 0.03596644 -0.10621464] [ 0.16694022 -0.08211238 0.98254187 0.06526261] [ 0. 0. 0. 1. ]] SLAMing on 14.269928850999998 meters Centerline goodness : 0.865453 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.11, Z:0.07 [[ 0.95032599 -0.25179893 -0.18296944 -0.4151497 ] [ 0.26254224 0.96422329 0.03667451 -0.10662396] [ 0.16718879 -0.08288994 0.98243431 0.06574254] [ 0. 0. 0. 1. ]] SLAMing on 14.299928850999997 meters Centerline goodness : 0.862185 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.11, Z:0.07 [[ 0.95036514 -0.25156121 -0.18309303 -0.4142121 ] [ 0.26235104 0.9642665 0.03690601 -0.10727233] [ 0.16726636 -0.08310883 0.98240261 0.06515971] [ 0. 0. 0. 1. ]] SLAMing on 14.329928850999996 meters Centerline goodness : 0.863903 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.11, Z:0.06 [[ 0.95039922 -0.25144765 -0.1830721 -0.41364709] [ 0.26222535 0.96430263 0.03685507 -0.10756488] [ 0.16726978 -0.08303318 0.98240842 0.06456012] [ 0. 0. 0. 1. ]] SLAMing on 14.359928850999998 meters Centerline goodness : 0.864738 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.11, Z:0.06 [[ 0.95029684 -0.25139899 -0.18366944 -0.41225525] [ 0.26228982 0.96427103 0.03722132 -0.10788131] [ 0.16774972 -0.08354593 0.98228311 0.06460741] [ 0. 0. 0. 1. ]] SLAMing on 14.389928850999997 meters Centerline goodness : 0.864435 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.11, Z:0.06 [[ 0.95012945 -0.25181916 -0.18395962 -0.41172265] [ 0.26272267 0.96415738 0.03711273 -0.10736436] [ 0.16802033 -0.08359226 0.98223292 0.06479821] [ 0. 0. 0. 1. ]] SLAMing on 14.419928850999998 meters Centerline goodness : 0.861053 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.11, Z:0.07 [[ 0.95012697 -0.25154996 -0.18434034 -0.41150696] [ 0.26255044 0.96418892 0.03750981 -0.10713645] [ 0.16830333 -0.08403772 0.98214645 0.06526551] [ 0. 0. 0. 1. ]] SLAMing on 14.449928850999997 meters Centerline goodness : 0.864193 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.11, Z:0.07 [[ 0.95035867 -0.25114878 -0.18369181 -0.41304407] [ 0.2620243 0.96434628 0.03714197 -0.10716395] [ 0.16781435 -0.08342991 0.98228193 0.06534681] [ 0. 0. 0. 1. ]] SLAMing on 14.479928850999997 meters Centerline goodness : 0.865726 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.11, Z:0.06 [[ 0.95049859 -0.25048833 -0.18386961 -0.41195176] [ 0.26141553 0.96450106 0.03741145 -0.10748944] [ 0.1679713 -0.0836259 0.98223844 0.06452768] [ 0. 0. 0. 1. ]] SLAMing on 14.509928850999998 meters Centerline goodness : 0.868033 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.11, Z:0.06 [[ 0.95052313 -0.25030571 -0.1839914 -0.41114509] [ 0.26123256 0.96455249 0.03736366 -0.10723034] [ 0.16811703 -0.08357957 0.98221745 0.06392065] [ 0. 0. 0. 1. ]] SLAMing on 14.539928850999997 meters Centerline goodness : 0.864424 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.11, Z:0.06 [[ 0.95046913 -0.25042937 -0.18410205 -0.41128649] [ 0.26134503 0.96452712 0.03723184 -0.10685536] [ 0.16824748 -0.08350187 0.98220172 0.06429477] [ 0. 0. 0. 1. ]] SLAMing on 14.569928850999997 meters Centerline goodness : 0.863522 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.11, Z:0.06 [[ 0.95042297 -0.25022749 -0.18461416 -0.41077004] [ 0.26123558 0.96454521 0.03753 -0.10618698] [ 0.16867767 -0.08389717 0.98209425 0.06465173] [ 0. 0. 0. 1. ]] SLAMing on 14.599928850999998 meters Centerline goodness : 0.864363 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.11, Z:0.07 [[ 0.9504396 -0.24989487 -0.18497869 -0.41103569] [ 0.26103055 0.96457772 0.03811653 -0.10586471] [ 0.1689012 -0.08451254 0.98200306 0.06549719] [ 0. 0. 0. 1. ]] SLAMing on 14.629928850999997 meters Centerline goodness : 0.865710 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.11, Z:0.07 [[ 0.95043987 -0.24988599 -0.18498929 -0.41079256] [ 0.26103518 0.96457354 0.03819049 -0.10640665] [ 0.16889251 -0.08458647 0.98199819 0.06549592] [ 0. 0. 0. 1. ]] SLAMing on 14.659928850999997 meters Centerline goodness : 0.864169 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.11, Z:0.07 [[ 0.95052802 -0.24948751 -0.18507421 -0.41000911] [ 0.26073138 0.96463411 0.03873218 -0.10774816] [ 0.1688657 -0.08507068 0.98196097 0.0651211 ] [ 0. 0. 0. 1. ]] SLAMing on 14.689928850999998 meters Centerline goodness : 0.865106 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.11, Z:0.06 [[ 0.95001356 -0.25216065 -0.18409032 -0.40961872] [ 0.26284596 0.96417549 0.03574393 -0.10822083] [ 0.16848216 -0.08234461 0.98225919 0.0643258 ] [ 0. 0. 0. 1. ]] SLAMing on 14.719928850999997 meters Centerline goodness : 0.863979 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.11, Z:0.06 [[ 0.94975114 -0.25267696 -0.18473531 -0.40831426] [ 0.26348039 0.96399032 0.03606598 -0.10824959] [ 0.16897001 -0.08292783 0.98212632 0.0646471 ] [ 0. 0. 0. 1. ]] SLAMing on 14.749928850999996 meters Centerline goodness : 0.865343 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.11, Z:0.07 [[ 0.94941651 -0.25346131 -0.18537978 -0.40750022] [ 0.26438456 0.96373126 0.03637117 -0.10839456] [ 0.16943761 -0.08354294 0.98199362 0.06555694] [ 0. 0. 0. 1. ]] SLAMing on 14.779928850999998 meters Centerline goodness : 0.862001 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.11, Z:0.07 [[ 0.94915187 -0.25400071 -0.18599559 -0.40638408] [ 0.26505634 0.96353115 0.03678114 -0.10900119] [ 0.16987011 -0.0842102 0.9818619 0.06617956] [ 0. 0. 0. 1. ]] SLAMing on 14.809928850999997 meters Centerline goodness : 0.853592 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.10, Z:0.08 [[ 0.94870282 -0.2649774 -0.17248172 -0.37808094] [ 0.27133363 0.96238436 0.01394277 -0.09673561] [ 0.16229919 -0.06002764 0.98491403 0.07725056] [ 0. 0. 0. 1. ]] SLAMing on 14.839928850999998 meters Centerline goodness : 0.863540 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:0.07 [[ 0.94942298 -0.25204884 -0.18726288 -0.39118815] [ 0.26863945 0.96077845 0.06883039 -0.11735483] [ 0.16256952 -0.11565535 0.9798954 0.06544553] [ 0. 0. 0. 1. ]] SLAMing on 14.869928850999997 meters Centerline goodness : 0.866999 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:0.07 [[ 0.948796 -0.25535924 -0.18595112 -0.39247191] [ 0.27120162 0.9603252 0.0650015 -0.11662195] [ 0.16197481 -0.11210341 0.98040654 0.06561635] [ 0. 0. 0. 1. ]] SLAMing on 14.899928850999997 meters Centerline goodness : 0.865180 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:0.07 [[ 0.94865205 -0.25537067 -0.18666847 -0.39095595] [ 0.27143559 0.96020186 0.06584155 -0.1174704 ] [ 0.16242541 -0.11312919 0.98021415 0.06585613] [ 0. 0. 0. 1. ]] SLAMing on 14.929928850999998 meters Centerline goodness : 0.866428 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:0.07 [[ 0.947812 -0.25906256 -0.18584671 -0.39168534] [ 0.27450791 0.95955825 0.06239698 -0.11680995] [ 0.16216602 -0.110157 0.98059554 0.06674408] [ 0. 0. 0. 1. ]] SLAMing on 14.959928850999997 meters Centerline goodness : 0.867263 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:0.07 [[ 0.94770689 -0.25927489 -0.18608651 -0.39139745] [ 0.27479526 0.95945824 0.06266937 -0.11745065] [ 0.16229364 -0.11052788 0.98053269 0.06730802] [ 0. 0. 0. 1. ]] SLAMing on 14.989928850999997 meters Centerline goodness : 0.866863 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:0.07 [[ 0.94755687 -0.2597179 -0.18623264 -0.39129176] [ 0.2752657 0.95932131 0.06270106 -0.11774233] [ 0.16237235 -0.11067628 0.98050292 0.06783972] [ 0. 0. 0. 1. ]] SLAMing on 15.019928850999998 meters Centerline goodness : 0.867977 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:0.07 [[ 0.94748028 -0.25981635 -0.1864848 -0.39078007] [ 0.27544216 0.9592517 0.06299034 -0.11847953] [ 0.16251994 -0.11104788 0.98043645 0.0681927 ] [ 0. 0. 0. 1. ]] SLAMing on 15.049928850999997 meters Centerline goodness : 0.868447 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:0.07 [[ 0.94735058 -0.26022246 -0.18657748 -0.39025797] [ 0.27584713 0.95914199 0.06288888 -0.11900862] [ 0.1625892 -0.11104468 0.98042533 0.06823829] [ 0. 0. 0. 1. ]] SLAMing on 15.079928850999996 meters Centerline goodness : 0.868469 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:0.07 [[ 0.94711544 -0.26075986 -0.18702042 -0.3891117 ] [ 0.27650525 0.95892746 0.06326908 -0.12056702] [ 0.16284098 -0.11163525 0.98031647 0.06867024] [ 0. 0. 0. 1. ]] SLAMing on 15.109928850999998 meters Centerline goodness : 0.867842 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:0.07 [[ 0.94693868 -0.26124583 -0.18723716 -0.38888242] [ 0.27701162 0.95878554 0.06320488 -0.12093562] [ 0.16300826 -0.11171802 0.98027924 0.06927394] [ 0. 0. 0. 1. ]] SLAMing on 15.139928850999997 meters Centerline goodness : 0.866688 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:0.07 [[ 0.94671731 -0.26181642 -0.18755931 -0.38864047] [ 0.27763666 0.95860074 0.06326538 -0.12110107] [ 0.16323058 -0.11196777 0.98021375 0.07007774] [ 0. 0. 0. 1. ]] SLAMing on 15.169928850999996 meters Centerline goodness : 0.864168 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:0.07 [[ 0.94648841 -0.2622761 -0.18807163 -0.38800942] [ 0.27819276 0.9584271 0.06345298 -0.12122865] [ 0.16361074 -0.11237768 0.98010345 0.07078104] [ 0. 0. 0. 1. ]] SLAMing on 15.199928850999997 meters Centerline goodness : 0.870181 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:0.07 [[ 0.94627865 -0.26300103 -0.18811482 -0.38749462] [ 0.27887486 0.9582514 0.06311159 -0.12155078] [ 0.16366287 -0.11218165 0.98011721 0.07075143] [ 0. 0. 0. 1. ]] SLAMing on 15.229928850999997 meters Centerline goodness : 0.862612 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:0.07 [[ 0.9461484 -0.26342929 -0.18817069 -0.38690642] [ 0.27923547 0.95817762 0.0626354 -0.12143156] [ 0.16380094 -0.11180632 0.98013703 0.07048514] [ 0. 0. 0. 1. ]] SLAMing on 15.259928850999998 meters Centerline goodness : 0.862327 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:0.07 [[ 0.94615924 -0.26326492 -0.18834616 -0.38645328] [ 0.27912133 0.95819834 0.06282695 -0.12195783] [ 0.16393285 -0.11201573 0.98009107 0.07052626] [ 0. 0. 0. 1. ]] SLAMing on 15.289928850999997 meters Centerline goodness : 0.864307 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:0.07 [[ 0.94638258 -0.26268035 -0.18804004 -0.38761029] [ 0.27853567 0.95835233 0.06307688 -0.12230855] [ 0.16363955 -0.11207072 0.98013379 0.07095858] [ 0. 0. 0. 1. ]] SLAMing on 15.319928850999997 meters Centerline goodness : 0.863789 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:0.07 [[ 0.94637495 -0.26272503 -0.18801601 -0.38815707] [ 0.2785371 0.95836806 0.06283112 -0.12165283] [ 0.16368123 -0.11183123 0.98015419 0.07133818] [ 0. 0. 0. 1. ]] SLAMing on 15.349928850999998 meters Centerline goodness : 0.863433 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:0.07 [[ 0.9463709 -0.26248174 -0.18837584 -0.38759443] [ 0.27838314 0.95839283 0.06313484 -0.12114936] [ 0.16396631 -0.11218963 0.98006558 0.07128368] [ 0. 0. 0. 1. ]] SLAMing on 15.379928850999997 meters Centerline goodness : 0.859419 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:0.07 [[ 0.94634811 -0.26269066 -0.18819902 -0.38776227] [ 0.27849752 0.95838971 0.06267607 -0.12098747] [ 0.16390359 -0.11172634 0.98012899 0.07119483] [ 0. 0. 0. 1. ]] SLAMing on 15.409928850999997 meters Centerline goodness : 0.859016 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:0.07 [[ 0.94628436 -0.26305785 -0.18800659 -0.38798752] [ 0.27877373 0.95833805 0.06223652 -0.12103445] [ 0.16380206 -0.11130475 0.98019393 0.07120386] [ 0. 0. 0. 1. ]] SLAMing on 15.439928850999998 meters Centerline goodness : 0.870613 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:0.07 [[ 0.94622144 -0.26295881 -0.18846128 -0.38667707] [ 0.27880381 0.95829892 0.06270253 -0.12156461] [ 0.16411405 -0.1118742 0.98007691 0.07099099] [ 0. 0. 0. 1. ]] SLAMing on 15.469928850999997 meters Centerline goodness : 0.864576 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:0.07 [[ 0.9460516 -0.2635797 -0.18844658 -0.38659958] [ 0.27934988 0.95817144 0.06221845 -0.12137431] [ 0.16416461 -0.11150439 0.98011058 0.07114321] [ 0. 0. 0. 1. ]] SLAMing on 15.499928850999996 meters Centerline goodness : 0.866450 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:0.07 [[ 0.94574012 -0.26451226 -0.18870319 -0.38672898] [ 0.28035011 0.95786913 0.06237424 -0.12192373] [ 0.16425421 -0.11189278 0.9800513 0.0723895 ] [ 0. 0. 0. 1. ]] SLAMing on 15.529928850999998 meters Centerline goodness : 0.864838 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:0.07 [[ 0.94567645 -0.26418349 -0.18948122 -0.38536441] [ 0.28027428 0.95782613 0.06336743 -0.12287498] [ 0.16474943 -0.1130318 0.97983745 0.07286574] [ 0. 0. 0. 1. ]] SLAMing on 15.559928850999997 meters Centerline goodness : 0.857860 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:0.07 [[ 0.94508099 -0.26712939 -0.18831839 -0.38611056] [ 0.28249445 0.95741474 0.05961458 -0.12162519] [ 0.16437399 -0.10953951 0.98029704 0.07266043] [ 0. 0. 0. 1. ]] SLAMing on 15.589928850999998 meters Centerline goodness : 0.862047 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:0.07 [[ 0.94500041 -0.26733379 -0.18843264 -0.38592732] [ 0.28275548 0.95732243 0.0598591 -0.12247627] [ 0.16438843 -0.10984723 0.98026018 0.07305763] [ 0. 0. 0. 1. ]] SLAMing on 15.619928850999997 meters Centerline goodness : 0.864911 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.12, Z:0.07 [[ 0.94489319 -0.26738399 -0.18889852 -0.38479642] [ 0.28296052 0.95722398 0.06046156 -0.12401917] [ 0.16465174 -0.11058054 0.98013354 0.07344602] [ 0. 0. 0. 1. ]] SLAMing on 15.649928850999997 meters Centerline goodness : 0.859600 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.12, Z:0.07 [[ 0.94487116 -0.26736216 -0.1890396 -0.38421172] [ 0.28298761 0.95720352 0.06065837 -0.12456305] [ 0.16473162 -0.11081021 0.98009417 0.07339421] [ 0. 0. 0. 1. ]] SLAMing on 15.679928850999998 meters Centerline goodness : 0.860436 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.12, Z:0.07 [[ 0.94481351 -0.26734919 -0.18934581 -0.38371737] [ 0.28304478 0.95717334 0.06086754 -0.12496028] [ 0.16496388 -0.11110182 0.98002209 0.0737302 ] [ 0. 0. 0. 1. ]] SLAMing on 15.709928850999997 meters Centerline goodness : 0.864012 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.13, Z:0.07 [[ 0.94489972 -0.26684077 -0.18963258 -0.38343267] [ 0.28267204 0.95724199 0.06151657 -0.12563223] [ 0.16510914 -0.11173082 0.97992612 0.07407926] [ 0. 0. 0. 1. ]] SLAMing on 15.739928850999997 meters Centerline goodness : 0.866576 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.13, Z:0.07 [[ 0.94495686 -0.26678129 -0.18943148 -0.38416306] [ 0.28258946 0.95726603 0.06152191 -0.12604495] [ 0.16492342 -0.11166689 0.97996468 0.07455344] [ 0. 0. 0. 1. ]] SLAMing on 15.769928850999998 meters Centerline goodness : 0.865044 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.13, Z:0.07 [[ 0.94494873 -0.26690951 -0.18929136 -0.3845536 ] [ 0.28268671 0.95724361 0.06142395 -0.12665316] [ 0.1648033 -0.11155263 0.9799979 0.07493531] [ 0. 0. 0. 1. ]] SLAMing on 15.799928850999997 meters Centerline goodness : 0.864283 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.13, Z:0.07 [[ 0.94499914 -0.26658984 -0.18949007 -0.38345774] [ 0.28246808 0.95727665 0.06191286 -0.12765936] [ 0.16488908 -0.11203249 0.97992873 0.07448091] [ 0. 0. 0. 1. ]] SLAMing on 15.829928850999996 meters Centerline goodness : 0.863141 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.13, Z:0.07 [[ 0.94497448 -0.26672754 -0.18941927 -0.38328988] [ 0.28261654 0.95722623 0.0620149 -0.12885734] [ 0.16477601 -0.11213551 0.97993596 0.07458304] [ 0. 0. 0. 1. ]] SLAMing on 15.859928850999998 meters Centerline goodness : 0.863930 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.13, Z:0.07 [[ 0.94504277 -0.26622825 -0.18978059 -0.38250569] [ 0.28223774 0.95730513 0.06251992 -0.12906723] [ 0.16503337 -0.11264724 0.97983396 0.07443238] [ 0. 0. 0. 1. ]] SLAMing on 15.889928850999997 meters Centerline goodness : 0.864558 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.13, Z:0.07 [[ 0.94512183 -0.26616655 -0.18947321 -0.38323762] [ 0.28208805 0.95736917 0.06221422 -0.12870896] [ 0.16483647 -0.11224815 0.9799129 0.07440516] [ 0. 0. 0. 1. ]] SLAMing on 15.919928850999996 meters Centerline goodness : 0.867535 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.13, Z:0.07 [[ 0.94524185 -0.26550917 -0.18979655 -0.38276719] [ 0.28153529 0.9575026 0.06266299 -0.12871237] [ 0.16509309 -0.11266611 0.97982173 0.0744034 ] [ 0. 0. 0. 1. ]] SLAMing on 15.949928850999997 meters Centerline goodness : 0.862791 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.13, Z:0.07 [[ 0.94556845 -0.26448453 -0.18960022 -0.38277241] [ 0.28055118 0.95776151 0.0631183 -0.12970571] [ 0.16489798 -0.11287524 0.97983051 0.07390561] [ 0. 0. 0. 1. ]] SLAMing on 15.979928850999997 meters Centerline goodness : 0.862791 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.13, Z:0.07 [[ 0.94556845 -0.26448453 -0.18960022 -0.38277241] [ 0.28055118 0.95776151 0.0631183 -0.12970571] [ 0.16489798 -0.11287524 0.97983051 0.07390561] [ 0. 0. 0. 1. ]] SLAMing on 16.009928850999998 meters Centerline goodness : 0.865371 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.13, Z:0.07 [[ 0.94563936 -0.26453228 -0.18917947 -0.38346388] [ 0.28048004 0.9578099 0.06269884 -0.12958528] [ 0.1646121 -0.11235156 0.97993877 0.07368905] [ 0. 0. 0. 1. ]] SLAMing on 16.039928850999996 meters Centerline goodness : 0.867596 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.13, Z:0.07 [[ 0.94611311 -0.26310128 -0.18880597 -0.38431139] [ 0.27905904 0.95819681 0.06312625 -0.13034391] [ 0.16430468 -0.11241259 0.97998336 0.07351782] [ 0. 0. 0. 1. ]] SLAMing on 16.069928850999997 meters Centerline goodness : 0.868229 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.13, Z:0.07 [[ 0.94631991 -0.26243422 -0.18869795 -0.38484566] [ 0.27841669 0.95836563 0.06339933 -0.13049439] [ 0.16420348 -0.1125327 0.97998654 0.07355622] [ 0. 0. 0. 1. ]] SLAMing on 16.099928850999998 meters Centerline goodness : 0.867456 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.13, Z:0.07 [[ 0.94649106 -0.26196197 -0.18849561 -0.38544049] [ 0.27791114 0.95851385 0.06337668 -0.13061412] [ 0.16407337 -0.11237049 0.98002694 0.07365278] [ 0. 0. 0. 1. ]] SLAMing on 16.129928850999995 meters Centerline goodness : 0.862738 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.13, Z:0.07 [[ 0.94711894 -0.25839347 -0.19025912 -0.38349922] [ 0.27524766 0.95898017 0.06779203 -0.13216815] [ 0.1649377 -0.11657549 0.97939048 0.07393165] [ 0. 0. 0. 1. ]] SLAMing on 16.159928850999997 meters Centerline goodness : 0.859731 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.13, Z:0.07 [[ 0.94721325 -0.25820632 -0.19004359 -0.38408116] [ 0.27496336 0.95909055 0.06738295 -0.13144618] [ 0.1648703 -0.11608105 0.97946055 0.07382973] [ 0. 0. 0. 1. ]] SLAMing on 16.189928850999998 meters Centerline goodness : 0.868963 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.13, Z:0.07 [[ 0.94770958 -0.25655821 -0.18980104 -0.3839892 ] [ 0.27334503 0.95951974 0.06785547 -0.13190691] [ 0.16470897 -0.11618845 0.97947496 0.07276373] [ 0. 0. 0. 1. ]] SLAMing on 16.219928851 meters Centerline goodness : 0.866109 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.13, Z:0.07 [[ 0.94790583 -0.25602782 -0.18953703 -0.38419867] [ 0.27277633 0.95968158 0.06785529 -0.13240002] [ 0.16452236 -0.11602164 0.9795261 0.07237469] [ 0. 0. 0. 1. ]] SLAMing on 16.249928850999996 meters Centerline goodness : 0.865073 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.13, Z:0.07 [[ 0.94817954 -0.25514208 -0.1893623 -0.38406489] [ 0.2718969 0.95991498 0.0680831 -0.13313666] [ 0.16440084 -0.11604202 0.97954408 0.07183039] [ 0. 0. 0. 1. ]] SLAMing on 16.279928850999998 meters Centerline goodness : 0.859402 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.13, Z:0.07 [[ 0.94835457 -0.254795 -0.18895266 -0.38515794] [ 0.27144852 0.96006212 0.06779697 -0.13287845] [ 0.16413197 -0.11558648 0.97964303 0.07184876] [ 0. 0. 0. 1. ]] SLAMing on 16.309928851 meters Centerline goodness : 0.864146 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.13, Z:0.07 [[ 0.94880501 -0.25362724 -0.18826117 -0.38743529] [ 0.27012854 0.96045771 0.06746519 -0.13193587] [ 0.16370589 -0.11486603 0.97979905 0.07200063] [ 0. 0. 0. 1. ]] SLAMing on 16.339928850999996 meters Centerline goodness : 0.864648 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.13, Z:0.07 [[ 0.94900135 -0.25304932 -0.18804916 -0.38814794] [ 0.26950801 0.96063639 0.06740301 -0.13161241] [ 0.16359058 -0.1146463 0.97984404 0.07194925] [ 0. 0. 0. 1. ]] SLAMing on 16.369928850999997 meters Centerline goodness : 0.865230 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.13, Z:0.07 [[ 0.94915528 -0.25277602 -0.18763937 -0.38884879] [ 0.26908523 0.96079582 0.06681716 -0.13112792] [ 0.16339335 -0.11391084 0.97996272 0.07155038] [ 0. 0. 0. 1. ]] SLAMing on 16.399928851 meters Centerline goodness : 0.860458 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.13, Z:0.07 [[ 0.94951853 -0.25194316 -0.18692035 -0.38985952] [ 0.26804928 0.9611305 0.06616458 -0.13089474] [ 0.16298513 -0.11292836 0.98014439 0.07063357] [ 0. 0. 0. 1. ]] SLAMing on 16.429928850999996 meters Centerline goodness : 0.858579 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.13, Z:0.07 [[ 0.94953553 -0.25199857 -0.18675918 -0.39001205] [ 0.2679997 0.96118017 0.0656418 -0.13009629] [ 0.16296758 -0.11238063 0.98021027 0.07024836] [ 0. 0. 0. 1. ]] SLAMing on 16.459928850999997 meters Centerline goodness : 0.864773 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.13, Z:0.07 [[ 0.94947271 -0.25216422 -0.18685498 -0.3897616 ] [ 0.26814812 0.96115123 0.06545915 -0.12995791] [ 0.16308944 -0.11225649 0.98020422 0.07026969] [ 0. 0. 0. 1. ]] SLAMing on 16.489928851 meters Centerline goodness : 0.858958 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.13, Z:0.07 [[ 0.94933026 -0.25270567 -0.18684728 -0.39008358] [ 0.26872514 0.96097783 0.06563845 -0.13110519] [ 0.16296889 -0.11252313 0.9801937 0.07110121] [ 0. 0. 0. 1. ]] SLAMing on 16.519928850999996 meters Centerline goodness : 0.863217 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.13, Z:0.07 [[ 0.94918754 -0.25322744 -0.18686593 -0.39041141] [ 0.26922979 0.96084712 0.06548385 -0.13115244] [ 0.16296728 -0.11246633 0.98020048 0.07172722] [ 0. 0. 0. 1. ]] SLAMing on 16.549928850999997 meters Centerline goodness : 0.864685 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.13, Z:0.07 [[ 0.94915133 -0.25326563 -0.18699808 -0.39050001] [ 0.26933661 0.96079549 0.06580139 -0.13175193] [ 0.16300168 -0.1128209 0.98015402 0.07234669] [ 0. 0. 0. 1. ]] SLAMing on 16.579928851 meters Centerline goodness : 0.861676 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.13, Z:0.07 [[ 0.94899498 -0.25366624 -0.1872484 -0.3903934 ] [ 0.26978724 0.9606625 0.06589689 -0.13188612] [ 0.1631667 -0.11305304 0.98009981 0.07302455] [ 0. 0. 0. 1. ]] SLAMing on 16.609928850999996 meters Centerline goodness : 0.862570 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.13, Z:0.07 [[ 0.94882932 -0.25412686 -0.18746322 -0.38998877] [ 0.2702624 0.96053561 0.06579955 -0.13190533] [ 0.16334367 -0.11309681 0.98006528 0.07327548] [ 0. 0. 0. 1. ]] SLAMing on 16.639928850999997 meters Centerline goodness : 0.861511 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.13, Z:0.07 [[ 0.94858071 -0.25496405 -0.18758456 -0.38952302] [ 0.27099172 0.96038416 0.06500581 -0.13083513] [ 0.1635791 -0.11249713 0.98009503 0.07313824] [ 0. 0. 0. 1. ]] SLAMing on 16.669928850999998 meters Centerline goodness : 0.857305 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.13, Z:0.07 [[ 0.94857938 -0.25470484 -0.18794309 -0.38858103] [ 0.27080014 0.96042637 0.06518029 -0.13026104] [ 0.16390376 -0.1127237 0.98001476 0.07269594] [ 0. 0. 0. 1. ]] SLAMing on 16.699928850999996 meters Centerline goodness : 0.863566 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.13, Z:0.07 [[ 0.9484611 -0.25512659 -0.187968 -0.38905254] [ 0.27114835 0.96036115 0.0646918 -0.12915594] [ 0.16401257 -0.11232487 0.98004235 0.07308637] [ 0. 0. 0. 1. ]] SLAMing on 16.729928850999997 meters Centerline goodness : 0.854940 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.13, Z:0.07 [[ 0.94836643 -0.25549078 -0.18795102 -0.38970244] [ 0.27143413 0.9603129 0.06420781 -0.12801107] [ 0.16408728 -0.11190886 0.98007743 0.07351875] [ 0. 0. 0. 1. ]] SLAMing on 16.759928850999998 meters Centerline goodness : 0.866050 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.13, Z:0.07 [[ 0.94842961 -0.25550519 -0.18761231 -0.39098217] [ 0.27129983 0.96039452 0.06355134 -0.12672263] [ 0.16394413 -0.11117316 0.98018511 0.07375523] [ 0. 0. 0. 1. ]] SLAMing on 16.789928850999996 meters Centerline goodness : 0.865468 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.13, Z:0.07 [[ 0.94842635 -0.25577731 -0.18725764 -0.39177494] [ 0.27139682 0.96042139 0.06272583 -0.12569766] [ 0.1638024 -0.11031196 0.9803061 0.07359158] [ 0. 0. 0. 1. ]] SLAMing on 16.819928850999997 meters Centerline goodness : 0.863365 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:0.07 [[ 0.94847731 -0.25547947 -0.18740606 -0.39158694] [ 0.27108754 0.96051831 0.06257891 -0.12494317] [ 0.16401933 -0.11015812 0.98028713 0.07337067] [ 0. 0. 0. 1. ]] SLAMing on 16.849928850999998 meters Centerline goodness : 0.855598 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:0.07 [[ 0.9485843 -0.25528441 -0.18713015 -0.39275463] [ 0.27077038 0.96064201 0.06205097 -0.12357661] [ 0.16392444 -0.10952988 0.98037339 0.07345921] [ 0. 0. 0. 1. ]] SLAMing on 16.879928850999995 meters Centerline goodness : 0.864079 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.12, Z:0.07 [[ 0.94879259 -0.25490497 -0.18659069 -0.39549304] [ 0.27011367 0.96090788 0.0607836 -0.1197736 ] [ 0.16380242 -0.10807172 0.98055559 0.07385274] [ 0. 0. 0. 1. ]] SLAMing on 16.909928850999997 meters Centerline goodness : 0.860703 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.12, Z:0.07 [[ 0.94887196 -0.25484002 -0.18627553 -0.39639753] [ 0.26990669 0.96100603 0.06014798 -0.11830965] [ 0.1636838 -0.10734974 0.9806547 0.07359123] [ 0. 0. 0. 1. ]] SLAMing on 16.939928850999998 meters Centerline goodness : 0.864250 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.12, Z:0.07 [[ 0.94882921 -0.25504218 -0.18621657 -0.39650447] [ 0.26999971 0.96101915 0.05951773 -0.11723943] [ 0.16377815 -0.10675058 0.98070435 0.07337495] [ 0. 0. 0. 1. ]] SLAMing on 16.969928850999995 meters Centerline goodness : 0.850705 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.12, Z:0.07 [[ 0.94857008 -0.25577251 -0.18653477 -0.39603993] [ 0.27065983 0.96087566 0.05883212 -0.11566705] [ 0.16418908 -0.10629385 0.98068525 0.07340113] [ 0. 0. 0. 1. ]] SLAMing on 16.999928850999996 meters Centerline goodness : 0.860296 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.11, Z:0.07 [[ 0.94832779 -0.25667935 -0.18652106 -0.39671963] [ 0.27144752 0.96070046 0.05805916 -0.11416502] [ 0.16428828 -0.10568979 0.98073392 0.07397497] [ 0. 0. 0. 1. ]] SLAMing on 17.029928850999998 meters Centerline goodness : 0.859220 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.11, Z:0.07 [[ 0.94817809 -0.25700039 -0.1868398 -0.39660729] [ 0.27180443 0.96060068 0.05804039 -0.11334921] [ 0.16456203 -0.10581651 0.98067436 0.07444528] [ 0. 0. 0. 1. ]] SLAMing on 17.059928851 meters Centerline goodness : 0.852869 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.11, Z:0.08 [[ 0.94793374 -0.25770634 -0.18710711 -0.39672967] [ 0.27249844 0.96042214 0.05774012 -0.11235818] [ 0.16482182 -0.1057202 0.98064112 0.07517459] [ 0. 0. 0. 1. ]] SLAMing on 17.089928850999996 meters Centerline goodness : 0.864360 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.11, Z:0.08 [[ 0.94770627 -0.25813581 -0.18766655 -0.39599683] [ 0.27301767 0.96026648 0.05787602 -0.11199355] [ 0.16527002 -0.10608575 0.9805262 0.07575083] [ 0. 0. 0. 1. ]] SLAMing on 17.119928850999997 meters Centerline goodness : 0.853368 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.11, Z:0.08 [[ 0.94716322 -0.2596008 -0.18838594 -0.39521946] [ 0.27456304 0.95983224 0.05776863 -0.11087246] [ 0.16582212 -0.10644014 0.98039457 0.0767313 ] [ 0. 0. 0. 1. ]] SLAMing on 17.149928851 meters Centerline goodness : 0.855881 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.11, Z:0.08 [[ 0.9467971 -0.26056254 -0.1888979 -0.39467748] [ 0.27551644 0.95958646 0.05731076 -0.10966378] [ 0.16633082 -0.10630614 0.98032294 0.07737411] [ 0. 0. 0. 1. ]] SLAMing on 17.179928850999996 meters Centerline goodness : 0.861124 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.11, Z:0.08 [[ 0.94649441 -0.26124761 -0.18946773 -0.39364453] [ 0.27621526 0.95940592 0.05696854 -0.1080213 ] [ 0.16689357 -0.10625428 0.98023291 0.07738415] [ 0. 0. 0. 1. ]] SLAMing on 17.209928850999997 meters Centerline goodness : 0.852874 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.10, Z:0.08 [[ 0.94590238 -0.26285712 -0.19019682 -0.39238669] [ 0.27772881 0.95903707 0.05580862 -0.10473355] [ 0.16773611 -0.10561264 0.98015844 0.07740082] [ 0. 0. 0. 1. ]] SLAMing on 17.239928851 meters Centerline goodness : 0.864658 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.10, Z:0.08 [[ 0.94576589 -0.26345904 -0.19004266 -0.39259173] [ 0.27817492 0.95895751 0.05494726 -0.10334201] [ 0.16776648 -0.10483235 0.980237 0.07710869] [ 0. 0. 0. 1. ]] SLAMing on 17.269928850999996 meters Centerline goodness : 0.861785 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.10, Z:0.08 [[ 0.94551145 -0.26420281 -0.19027605 -0.39276589] [ 0.27885071 0.9587957 0.05434224 -0.10179014] [ 0.16807849 -0.10443982 0.98022546 0.07767496] [ 0. 0. 0. 1. ]] SLAMing on 17.299928850999997 meters Centerline goodness : 0.826269 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.10, Z:0.08 [[ 0.94528187 -0.26480896 -0.19057388 -0.39437103] [ 0.27939817 0.95866895 0.05376341 -0.09909633] [ 0.16846023 -0.10406757 0.98019952 0.07941227] [ 0. 0. 0. 1. ]] SLAMing on 17.329928851 meters Centerline goodness : 0.863947 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.10, Z:0.08 [[ 0.94519246 -0.26507262 -0.1906508 -0.39520554] [ 0.2796207 0.95862136 0.0534543 -0.09757067] [ 0.16859265 -0.10383451 0.98020147 0.08005361] [ 0. 0. 0. 1. ]] SLAMing on 17.359928850999996 meters Centerline goodness : 0.862735 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.10, Z:0.08 [[ 0.94518082 -0.26490219 -0.19094514 -0.39518781] [ 0.27944922 0.95868113 0.05327875 -0.09621531] [ 0.16894185 -0.10371752 0.98015373 0.08026014] [ 0. 0. 0. 1. ]] SLAMing on 17.389928850999997 meters Centerline goodness : 0.859579 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.09, Z:0.08 [[ 0.94518277 -0.26488344 -0.1909615 -0.39535049] [ 0.27935477 0.95873343 0.05283108 -0.09485582] [ 0.16908709 -0.10328103 0.98017477 0.08009873] [ 0. 0. 0. 1. ]] SLAMing on 17.419928850999998 meters Centerline goodness : 0.863593 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.09, Z:0.08 [[ 0.94502975 -0.26527571 -0.19117421 -0.39583971] [ 0.27960496 0.95871434 0.05184477 -0.09143866] [ 0.1695283 -0.1024481 0.98018597 0.08022637] [ 0. 0. 0. 1. ]] SLAMing on 17.449928850999996 meters Centerline goodness : 0.859636 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.09, Z:0.08 [[ 0.94488996 -0.26579571 -0.19114287 -0.39644416] [ 0.27997088 0.9586566 0.05092976 -0.08921177] [ 0.16970346 -0.10163746 0.98024005 0.08033661] [ 0. 0. 0. 1. ]] SLAMing on 17.479928850999997 meters Centerline goodness : 0.859287 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.09, Z:0.08 [[ 0.94477667 -0.26602784 -0.19137979 -0.39631331] [ 0.28011266 0.95865129 0.0502455 -0.08689754] [ 0.17009978 -0.10107868 0.98022914 0.08019924] [ 0. 0. 0. 1. ]] SLAMing on 17.509928850999998 meters Centerline goodness : 0.859687 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.08, Z:0.08 [[ 0.9446965 -0.26624698 -0.1914708 -0.39656929] [ 0.28021196 0.95866197 0.04948225 -0.08472278] [ 0.17038127 -0.10039811 0.98025019 0.08020264] [ 0. 0. 0. 1. ]] SLAMing on 17.539928850999996 meters Centerline goodness : 0.823545 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.08, Z:0.08 [[ 0.94470503 -0.26619498 -0.19150103 -0.39737322] [ 0.28001146 0.95876492 0.04861502 -0.08164324] [ 0.17066339 -0.09954933 0.98028768 0.08019168] [ 0. 0. 0. 1. ]] SLAMing on 17.569928850999997 meters Centerline goodness : 0.856080 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.08, Z:0.08 [[ 0.94472186 -0.26594654 -0.19176301 -0.39739281] [ 0.27974566 0.95885429 0.04838188 -0.0798218 ] [ 0.17100579 -0.09935229 0.980248 0.08014207] [ 0. 0. 0. 1. ]] SLAMing on 17.599928850999998 meters Centerline goodness : 0.856719 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.08, Z:0.08 [[ 0.94471343 -0.26618692 -0.19147079 -0.39866099] [ 0.27978745 0.95889143 0.04739421 -0.07750097] [ 0.17098398 -0.09834507 0.98035337 0.08025363] [ 0. 0. 0. 1. ]] SLAMing on 17.629928850999995 meters Centerline goodness : 0.858022 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.07, Z:0.08 [[ 0.94537031 -0.26290555 -0.192758 -0.39865148] [ 0.27703854 0.95955897 0.04996233 -0.07449583] [ 0.17182729 -0.1006343 0.97997353 0.08032122] [ 0. 0. 0. 1. ]] SLAMing on 17.659928850999997 meters Centerline goodness : 0.866274 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.07, Z:0.08 [[ 0.94549641 -0.26266843 -0.19246254 -0.39954487] [ 0.27661437 0.95972632 0.04909056 -0.07235735] [ 0.17181682 -0.09965285 0.98007566 0.07997995] [ 0. 0. 0. 1. ]] SLAMing on 17.689928850999998 meters Centerline goodness : 0.863071 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.07, Z:0.08 [[ 0.9456777 -0.26193587 -0.19257021 -0.39939635] [ 0.27582799 0.95996827 0.04878353 -0.07057313] [ 0.17208313 -0.09924975 0.98006984 0.07932815] [ 0. 0. 0. 1. ]] SLAMing on 17.719928850999995 meters Centerline goodness : 0.856986 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.07, Z:0.08 [[ 0.94639401 -0.25866488 -0.19347055 -0.40007059] [ 0.27298039 0.96066998 0.05094017 -0.06771832] [ 0.17268491 -0.10102314 0.97978275 0.07930806] [ 0. 0. 0. 1. ]] SLAMing on 17.749928850999996 meters Centerline goodness : 0.851910 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.07, Z:0.08 [[ 0.94657839 -0.25800629 -0.19344793 -0.40064678] [ 0.27224846 0.96089595 0.05059403 -0.06575896] [ 0.17282975 -0.10055711 0.97980516 0.07904729] [ 0. 0. 0. 1. ]] SLAMing on 17.779928850999998 meters Centerline goodness : 0.856661 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.06, Z:0.08 [[ 0.94668052 -0.25803277 -0.19291214 -0.40233999] [ 0.2720231 0.96101789 0.04947778 -0.06353652] [ 0.17262513 -0.09931621 0.97996778 0.07907408] [ 0. 0. 0. 1. ]] SLAMing on 17.809928850999995 meters Centerline goodness : 0.862516 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.06, Z:0.08 [[ 0.94672912 -0.25806566 -0.19262939 -0.40338789] [ 0.27189436 0.96109295 0.04872168 -0.06193618] [ 0.17256136 -0.09850108 0.98006128 0.07911536] [ 0. 0. 0. 1. ]] SLAMing on 17.839928850999996 meters Centerline goodness : 0.856792 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.06, Z:0.08 [[ 0.94678676 -0.25812226 -0.19226996 -0.40447225] [ 0.27178542 0.96116089 0.04798365 -0.06061964] [ 0.17241672 -0.09768646 0.98016827 0.07911308] [ 0. 0. 0. 1. ]] SLAMing on 17.869928850999997 meters Centerline goodness : 0.861909 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.06, Z:0.08 [[ 0.94730792 -0.25533101 -0.19342641 -0.40455132] [ 0.26954457 0.96165371 0.05067404 -0.05914444] [ 0.17307057 -0.10014096 0.97980527 0.07961321] [ 0. 0. 0. 1. ]] SLAMing on 17.899928851 meters Centerline goodness : 0.861909 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.06, Z:0.08 [[ 0.94730792 -0.25533101 -0.19342641 -0.40455132] [ 0.26954457 0.96165371 0.05067404 -0.05914444] [ 0.17307057 -0.10014096 0.97980527 0.07961321] [ 0. 0. 0. 1. ]] SLAMing on 17.929928850999996 meters Centerline goodness : 0.862252 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.06, Z:0.08 [[ 0.9473194 -0.25551106 -0.19313221 -0.40592448] [ 0.2695737 0.96168208 0.04997604 -0.05756362] [ 0.17296235 -0.09940664 0.97989915 0.07997533] [ 0. 0. 0. 1. ]] SLAMing on 17.959928850999997 meters Centerline goodness : 0.862189 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.06, Z:0.08 [[ 0.947393 -0.25535058 -0.19298339 -0.40665835] [ 0.26931254 0.96177955 0.04950607 -0.05617757] [ 0.17296608 -0.09887455 0.97995232 0.07999391] [ 0. 0. 0. 1. ]] SLAMing on 17.989928851 meters Centerline goodness : 0.863278 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.05, Z:0.08 [[ 0.94761606 -0.25499919 -0.19235183 -0.40823335] [ 0.2687168 0.96199665 0.04851522 -0.05436724] [ 0.17267047 -0.09766197 0.98012604 0.07966665] [ 0. 0. 0. 1. ]] SLAMing on 18.019928850999996 meters Centerline goodness : 0.867351 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.05, Z:0.08 [[ 0.9475888 -0.25532858 -0.19204889 -0.40912911] [ 0.26885607 0.96200442 0.04758046 -0.05276315] [ 0.17260323 -0.09672022 0.98023126 0.07960176] [ 0. 0. 0. 1. ]] SLAMing on 18.049928850999997 meters Centerline goodness : 0.861740 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.05, Z:0.08 [[ 0.94770327 -0.25514217 -0.19173154 -0.40997676] [ 0.26851857 0.96213121 0.0469181 -0.05133728] [ 0.17250012 -0.09594792 0.98032531 0.07938892] [ 0. 0. 0. 1. ]] SLAMing on 18.079928851 meters Centerline goodness : 0.862569 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.05, Z:0.08 [[ 0.94781375 -0.25494566 -0.19144663 -0.41094783] [ 0.26815689 0.96226891 0.04615647 -0.04990566] [ 0.17245575 -0.09508547 0.98041714 0.07937287] [ 0. 0. 0. 1. ]] SLAMing on 18.109928850999996 meters Centerline goodness : 0.859643 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.05, Z:0.08 [[ 0.94806269 -0.25443302 -0.19089522 -0.41224524] [ 0.26744234 0.96250565 0.04535937 -0.04836003] [ 0.1721968 -0.09405699 0.98056185 0.0789517 ] [ 0. 0. 0. 1. ]] SLAMing on 18.139928850999997 meters Centerline goodness : 0.860366 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.05, Z:0.08 [[ 0.94878602 -0.25248536 -0.18988479 -0.41474413] [ 0.26518092 0.96318069 0.04429488 -0.04561001] [ 0.17170955 -0.09238019 0.98080667 0.07808192] [ 0. 0. 0. 1. ]] SLAMing on 18.169928850999998 meters Centerline goodness : 0.862694 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.04, Z:0.08 [[ 0.94915701 -0.25139675 -0.18947466 -0.41614343] [ 0.26395876 0.96353673 0.04384914 -0.04411522] [ 0.17154226 -0.09163322 0.98090601 0.07791154] [ 0. 0. 0. 1. ]] SLAMing on 18.199928850999996 meters Centerline goodness : 0.862386 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.04, Z:0.08 [[ 0.94961306 -0.25024412 -0.18871386 -0.41831006] [ 0.26255404 0.96396245 0.04291583 -0.04182001] [ 0.17117364 -0.09030102 0.98109394 0.0775624 ] [ 0. 0. 0. 1. ]] SLAMing on 18.229928850999997 meters Centerline goodness : 0.863137 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.04, Z:0.08 [[ 0.95028726 -0.24862676 -0.18745361 -0.42138805] [ 0.26064322 0.96451943 0.04204022 -0.03996246] [ 0.17035032 -0.0888088 0.98137341 0.0769861 ] [ 0. 0. 0. 1. ]] SLAMing on 18.259928850999998 meters Centerline goodness : 0.864397 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.04, Z:0.08 [[ 0.95177425 -0.24345318 -0.18669849 -0.42436263] [ 0.25564795 0.96577202 0.043915 -0.03821172] [ 0.16961693 -0.08952625 0.98143525 0.07571465] [ 0. 0. 0. 1. ]] SLAMing on 18.289928850999996 meters Centerline goodness : 0.864613 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.04, Z:0.07 [[ 0.9521349 -0.24260463 -0.18596267 -0.42549053] [ 0.25455274 0.96610466 0.04294992 -0.03682083] [ 0.16923955 -0.08823143 0.98161764 0.07477794] [ 0. 0. 0. 1. ]] SLAMing on 18.319928850999997 meters Centerline goodness : 0.863547 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.04, Z:0.07 [[ 0.95241713 -0.24191197 -0.185419 -0.42633207] [ 0.25366209 0.9663743 0.04214572 -0.03560544] [ 0.1689886 -0.08717408 0.98175533 0.07398502] [ 0. 0. 0. 1. ]] SLAMing on 18.349928850999998 meters Centerline goodness : 0.863402 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.03, Z:0.07 [[ 0.95266462 -0.24148317 -0.18470519 -0.42784375] [ 0.25299314 0.96659226 0.04115667 -0.03404109] [ 0.16859596 -0.08593765 0.98193183 0.0735479 ] [ 0. 0. 0. 1. ]] SLAMing on 18.379928850999995 meters Centerline goodness : 0.864450 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.03, Z:0.07 [[ 0.95336588 -0.23947734 -0.18369567 -0.43077708] [ 0.25072438 0.96721883 0.04031162 -0.03099509] [ 0.16802019 -0.0844887 0.98215624 0.0729675 ] [ 0. 0. 0. 1. ]] SLAMing on 18.409928850999997 meters Centerline goodness : 0.864171 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.03, Z:0.07 [[ 0.95379467 -0.23825841 -0.1830537 -0.4326779 ] [ 0.24936648 0.96758571 0.03992814 -0.02972822] [ 0.16760693 -0.08373071 0.98229175 0.07267311] [ 0. 0. 0. 1. ]] SLAMing on 18.439928850999998 meters Centerline goodness : 0.866190 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.03, Z:0.07 [[ 0.95418797 -0.23730104 -0.18224578 -0.43468677] [ 0.24821843 0.96790668 0.03929734 -0.02852002] [ 0.16707161 -0.08273381 0.9824674 0.07246734] [ 0. 0. 0. 1. ]] SLAMing on 18.469928850999995 meters Centerline goodness : 0.863844 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.02, Z:0.07 [[ 0.95571575 -0.24155204 -0.16810716 -0.43728861] [ 0.25098076 0.96728548 0.03697927 -0.0227758 ] [ 0.1536752 -0.07753333 0.98507488 0.06744187] [ 0. 0. 0. 1. ]] SLAMing on 18.499928850999996 meters Centerline goodness : 0.865425 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.02, Z:0.07 [[ 0.95589203 -0.24115908 -0.16766848 -0.43819095] [ 0.25046156 0.96744114 0.03642308 -0.02200033] [ 0.15342563 -0.07681104 0.98517036 0.06720944] [ 0. 0. 0. 1. ]] SLAMing on 18.529928850999998 meters Centerline goodness : 0.863366 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.02, Z:0.07 [[ 0.95582104 -0.24163386 -0.16738939 -0.43907708] [ 0.25076868 0.96739774 0.03544984 -0.02080388] [ 0.15336623 -0.07585972 0.98525332 0.06746291] [ 0. 0. 0. 1. ]] SLAMing on 18.559928850999995 meters Centerline goodness : 0.865302 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.02, Z:0.07 [[ 0.95591502 -0.24154205 -0.16698479 -0.43982121] [ 0.25054694 0.96747794 0.03482342 -0.02017403] [ 0.15314278 -0.07512576 0.98534431 0.06731276] [ 0. 0. 0. 1. ]] SLAMing on 18.589928850999996 meters Centerline goodness : 0.862157 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.02, Z:0.07 [[ 0.95613239 -0.24079337 -0.16682145 -0.44042983] [ 0.24976463 0.96768297 0.03474618 -0.0194555 ] [ 0.15306363 -0.07488805 0.9853747 0.06722505] [ 0. 0. 0. 1. ]] SLAMing on 18.619928850999997 meters Centerline goodness : 0.865432 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.02, Z:0.07 [[ 0.95608178 -0.24086587 -0.16700678 -0.44117503] [ 0.24984469 0.96766405 0.03469742 -0.01834755] [ 0.15324904 -0.07489933 0.98534503 0.06814265] [ 0. 0. 0. 1. ]] SLAMing on 18.649928850999995 meters Centerline goodness : 0.864204 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.02, Z:0.07 [[ 0.95591024 -0.24150679 -0.16706311 -0.44157993] [ 0.25035264 0.96756574 0.03376541 -0.01642561] [ 0.15348997 -0.07410139 0.98536786 0.06846822] [ 0. 0. 0. 1. ]] SLAMing on 18.679928850999996 meters Centerline goodness : 0.864172 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.02, Z:0.07 [[ 0.95575555 -0.24225372 -0.1668666 -0.44169924] [ 0.25095504 0.96744036 0.03287441 -0.01567648] [ 0.15346954 -0.07329591 0.98543128 0.0683397 ] [ 0. 0. 0. 1. ]] SLAMing on 18.709928850999997 meters Centerline goodness : 0.865924 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.02, Z:0.07 [[ 0.95569768 -0.24250731 -0.16682969 -0.44179521] [ 0.25113249 0.96741087 0.0323835 -0.01529827] [ 0.15353962 -0.07284519 0.98545379 0.06847227] [ 0. 0. 0. 1. ]] SLAMing on 18.739928851 meters Centerline goodness : 0.858909 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.01, Z:0.07 [[ 0.95571582 -0.2423722 -0.1669221 -0.44247642] [ 0.25102261 0.96743508 0.03251164 -0.01466849] [ 0.15360637 -0.07297311 0.98543392 0.06914451] [ 0. 0. 0. 1. ]] SLAMing on 18.769928850999996 meters Centerline goodness : 0.866347 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.01, Z:0.07 [[ 0.95567255 -0.24262662 -0.16680016 -0.44334014] [ 0.25121627 0.96739656 0.03216032 -0.0139522 ] [ 0.15355895 -0.07263765 0.98546609 0.06966579] [ 0. 0. 0. 1. ]] SLAMing on 18.799928850999997 meters Centerline goodness : 0.860118 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.01, Z:0.07 [[ 0.95559924 -0.24267845 -0.16714441 -0.44280585] [ 0.25130958 0.9673691 0.03225718 -0.0134154 ] [ 0.15386221 -0.07282993 0.9854046 0.06970433] [ 0. 0. 0. 1. ]] SLAMing on 18.829928851 meters Centerline goodness : 0.857642 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.01, Z:0.07 [[ 0.95553714 -0.24274967 -0.16739584 -0.44271352] [ 0.25138439 0.96735309 0.0321542 -0.01311792] [ 0.15412546 -0.07280523 0.98536528 0.07021876] [ 0. 0. 0. 1. ]] SLAMing on 18.859928850999996 meters Centerline goodness : 0.867730 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.01, Z:0.07 [[ 0.95523245 -0.24376844 -0.16765414 -0.44241207] [ 0.25229531 0.96714516 0.03126198 -0.01168524] [ 0.1545252 -0.07216081 0.98535008 0.07056447] [ 0. 0. 0. 1. ]] SLAMing on 18.889928850999997 meters Centerline goodness : 0.862300 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.01, Z:0.07 [[ 0.95510102 -0.24406744 -0.16796763 -0.44156404] [ 0.25259115 0.96707412 0.03107006 -0.0113113 ] [ 0.15485396 -0.07210218 0.98530276 0.07042056] [ 0. 0. 0. 1. ]] SLAMing on 18.919928850999998 meters Centerline goodness : 0.865360 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.01, Z:0.07 [[ 0.95489504 -0.24476018 -0.16813068 -0.44174974] [ 0.25324758 0.96691403 0.03070711 -0.01087704] [ 0.15505203 -0.07190076 0.98528633 0.07113323] [ 0. 0. 0. 1. ]] SLAMing on 18.949928850999996 meters Centerline goodness : 0.864925 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.01, Z:0.07 [[ 0.95479235 -0.24478764 -0.16867302 -0.44133631] [ 0.25335257 0.96687904 0.03094188 -0.01082915] [ 0.15551222 -0.07227682 0.98518628 0.07188013] [ 0. 0. 0. 1. ]] SLAMing on 18.979928850999997 meters Centerline goodness : 0.863452 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.01, Z:0.07 [[ 0.95458509 -0.24580755 -0.16836256 -0.44321817] [ 0.25418383 0.96669642 0.02980956 -0.00904534] [ 0.15542807 -0.0712508 0.9852743 0.07307478] [ 0. 0. 0. 1. ]] SLAMing on 19.009928850999998 meters Centerline goodness : 0.864488 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.01, Z:0.07 [[ 0.95446815 -0.24638004 -0.16818867 -0.44375837] [ 0.2546553 0.96659083 0.02920348 -0.00803074] [ 0.15537447 -0.07070392 0.98532214 0.07326889] [ 0. 0. 0. 1. ]] SLAMing on 19.039928850999996 meters Centerline goodness : 0.864911 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.01, Z:0.07 [[ 0.95434965 -0.24696795 -0.16799875 -0.44435868] [ 0.25513881 0.96648193 0.02858101 -0.00738889] [ 0.15530916 -0.07013927 0.9853728 0.07365963] [ 0. 0. 0. 1. ]] SLAMing on 19.069928850999997 meters Centerline goodness : 0.864349 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.01, Z:0.07 [[ 0.95419409 -0.24782154 -0.16762493 -0.44550048] [ 0.25584892 0.9663178 0.02777127 -0.00600913] [ 0.15509663 -0.06938584 0.98545961 0.07387633] [ 0. 0. 0. 1. ]] SLAMing on 19.099928850999998 meters Centerline goodness : 0.861312 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.00, Z:0.07 [[ 0.95411959 -0.24818343 -0.16751358 -0.44601918] [ 0.25611739 0.96626296 0.02719878 -0.00456698] [ 0.15511188 -0.06885402 0.98549451 0.0740849 ] [ 0. 0. 0. 1. ]] SLAMing on 19.129928850999995 meters Centerline goodness : 0.864246 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.00, Z:0.07 [[ 0.95399429 -0.24883597 -0.16725895 -0.44705145] [ 0.25663416 0.96614808 0.02639699 -0.00283122] [ 0.15502839 -0.06810694 0.98555956 0.0744368 ] [ 0. 0. 0. 1. ]] SLAMing on 19.159928850999997 meters Centerline goodness : 0.865555 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.00, Z:0.08 [[ 9.53874198e-01 -2.49594793e-01 -1.66812630e-01 -4.48840639e-01] [ 2.57186967e-01 9.66032462e-01 2.52219510e-02 2.26428753e-04] [ 1.54851148e-01 -6.69606027e-02 9.85665968e-01 7.50871711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.189928850999998 meters Centerline goodness : 0.866671 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.00, Z:0.08 [[ 0.95380574 -0.24992624 -0.16670776 -0.44927231] [ 0.25743214 0.96598086 0.02469162 0.00138042] [ 0.15486542 -0.06646695 0.98569714 0.0753303 ] [ 0. 0. 0. 1. ]] SLAMing on 19.219928850999995 meters Centerline goodness : 0.867394 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.00, Z:0.08 [[ 0.95369315 -0.25042491 -0.16660355 -0.44989918] [ 0.25782275 0.9658939 0.02400848 0.00251717] [ 0.15490903 -0.06585091 0.98573163 0.07579793] [ 0. 0. 0. 1. ]] SLAMing on 19.249928850999996 meters Centerline goodness : 0.866431 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.00, Z:0.08 [[ 0.95365 -0.2507427 -0.16637239 -0.4505859 ] [ 0.25806131 0.96584081 0.02357745 0.00385956] [ 0.15477736 -0.06541891 0.98578108 0.07584352] [ 0. 0. 0. 1. ]] SLAMing on 19.279928850999998 meters Centerline goodness : 0.866189 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.01, Z:0.08 [[ 0.95354942 -0.25115811 -0.16632228 -0.4510306 ] [ 0.25837352 0.96577345 0.02290787 0.00557388] [ 0.15487614 -0.06481706 0.98580532 0.07611004] [ 0. 0. 0. 1. ]] SLAMing on 19.309928850999995 meters Centerline goodness : 0.869966 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.01, Z:0.08 [[ 0.953534 -0.25142165 -0.16601223 -0.45191301] [ 0.25848504 0.9657636 0.02204893 0.00916396] [ 0.15478499 -0.06393608 0.98587716 0.07595842] [ 0. 0. 0. 1. ]] SLAMing on 19.339928850999996 meters Centerline goodness : 0.867651 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.01, Z:0.08 [[ 0.95346892 -0.25167142 -0.16600759 -0.4523386 ] [ 0.2586443 0.96573435 0.02145421 0.01088113] [ 0.15491982 -0.06339284 0.98589107 0.07630652] [ 0. 0. 0. 1. ]] SLAMing on 19.369928850999997 meters Centerline goodness : 0.868069 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.01, Z:0.08 [[ 0.95346442 -0.25186142 -0.16574506 -0.45312942] [ 0.25875914 0.96571208 0.02106857 0.01233788] [ 0.15475564 -0.06297618 0.98594355 0.07636353] [ 0. 0. 0. 1. ]] SLAMing on 19.399928850999995 meters Centerline goodness : 0.868692 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.02, Z:0.08 [[ 0.95341433 -0.25220297 -0.16551367 -0.45417169] [ 0.25896837 0.96567262 0.02029228 0.01506652] [ 0.15471424 -0.06220975 0.98599871 0.07664581] [ 0. 0. 0. 1. ]] SLAMing on 19.429928850999996 meters Centerline goodness : 0.870297 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.02, Z:0.08 [[ 0.95334642 -0.25253809 -0.16539382 -0.45479733] [ 0.25920249 0.96562268 0.01966976 0.0167186 ] [ 0.15474066 -0.06162258 0.98603143 0.07693575] [ 0. 0. 0. 1. ]] SLAMing on 19.459928850999997 meters Centerline goodness : 0.868344 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.02, Z:0.08 [[ 0.95328068 -0.25296058 -0.16512687 -0.45580989] [ 0.25951734 0.96555042 0.01905609 0.01828319] [ 0.15461788 -0.06101909 0.98608822 0.07727261] [ 0. 0. 0. 1. ]] SLAMing on 19.489928850999995 meters Centerline goodness : 0.870934 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.02, Z:0.08 [[ 0.95319829 -0.25342051 -0.16489715 -0.45678353] [ 0.25987444 0.96546607 0.01845371 0.01952349] [ 0.15452606 -0.0604426 0.98613812 0.07773563] [ 0. 0. 0. 1. ]] SLAMing on 19.519928850999996 meters Centerline goodness : 0.869829 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.02, Z:0.08 [[ 0.95310011 -0.25397887 -0.16460531 -0.45779852] [ 0.26032669 0.96535566 0.0178455 0.02056275] [ 0.15437029 -0.05985971 0.98619807 0.07813772] [ 0. 0. 0. 1. ]] SLAMing on 19.549928850999997 meters Centerline goodness : 0.867802 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.02, Z:0.08 [[ 0.95295048 -0.2546573 -0.16442339 -0.45814743] [ 0.26091264 0.96520793 0.01726993 0.02209121] [ 0.15430484 -0.05935752 0.98623866 0.07780116] [ 0. 0. 0. 1. ]] SLAMing on 19.579928851 meters Centerline goodness : 0.871707 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.02, Z:0.08 [[ 0.95284098 -0.25516874 -0.16426499 -0.45856332] [ 0.26134975 0.96509771 0.0168142 0.02290845] [ 0.15424131 -0.05895187 0.98627293 0.07782226] [ 0. 0. 0. 1. ]] SLAMing on 19.609928850999996 meters Centerline goodness : 0.870093 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.02, Z:0.08 [[ 0.9527615 -0.25544825 -0.16429158 -0.45858731] [ 0.26156891 0.96504555 0.01639518 0.02381149] [ 0.15436073 -0.05859427 0.98627556 0.0779315 ] [ 0. 0. 0. 1. ]] SLAMing on 19.639928850999997 meters Centerline goodness : 0.870062 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.02, Z:0.08 [[ 0.95270865 -0.25570854 -0.16419309 -0.458809 ] [ 0.26177512 0.96499517 0.01606592 0.02456375] [ 0.15433735 -0.05828781 0.98629738 0.07795139] [ 0. 0. 0. 1. ]] SLAMing on 19.669928850999998 meters Centerline goodness : 0.873349 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.03, Z:0.08 [[ 0.95261427 -0.25618086 -0.16400432 -0.4595585 ] [ 0.26214163 0.96490617 0.01542261 0.0261604 ] [ 0.1542978 -0.05768415 0.98633905 0.07820359] [ 0. 0. 0. 1. ]] SLAMing on 19.699928850999996 meters Centerline goodness : 0.871200 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.03, Z:0.08 [[ 0.95250892 -0.25666149 -0.16386467 -0.46031385] [ 0.262545 0.96480406 0.01494163 0.02697753] [ 0.15426236 -0.05725389 0.98636967 0.07862803] [ 0. 0. 0. 1. ]] SLAMing on 19.729928850999997 meters Centerline goodness : 0.873134 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.03, Z:0.08 [[ 0.95242641 -0.2571222 -0.16362182 -0.46116589] [ 0.26293998 0.96470211 0.01457419 0.02752735] [ 0.15409897 -0.05690356 0.98641548 0.07888136] [ 0. 0. 0. 1. ]] SLAMing on 19.759928850999998 meters Centerline goodness : 0.873219 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.03, Z:0.08 [[ 0.95231281 -0.25760253 -0.16352752 -0.46176419] [ 0.26334513 0.96459881 0.01408843 0.02809622] [ 0.15410923 -0.05648076 0.98643817 0.07934067] [ 0. 0. 0. 1. ]] SLAMing on 19.789928850999996 meters Centerline goodness : 0.873219 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.03, Z:0.08 [[ 0.95231281 -0.25760253 -0.16352752 -0.46176419] [ 0.26334513 0.96459881 0.01408843 0.02809622] [ 0.15410923 -0.05648076 0.98643817 0.07934067] [ 0. 0. 0. 1. ]] SLAMing on 19.819928850999997 meters Centerline goodness : 0.874020 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.03, Z:0.08 [[ 0.95219036 -0.25821871 -0.16326856 -0.46273689] [ 0.26386895 0.96446348 0.01354183 0.02862418] [ 0.15396981 -0.0559759 0.98648872 0.07978752] [ 0. 0. 0. 1. ]] SLAMing on 19.849928850999998 meters Centerline goodness : 0.875671 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.03, Z:0.08 [[ 0.95212614 -0.2585797 -0.16307161 -0.46324184] [ 0.26418471 0.96438047 0.01329447 0.02892699] [ 0.1538254 -0.05573904 0.98652466 0.07983915] [ 0. 0. 0. 1. ]] SLAMing on 19.879928850999995 meters Centerline goodness : 0.874581 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.03, Z:0.08 [[ 0.95202372 -0.2590916 -0.16285693 -0.46410336] [ 0.26461526 0.964269 0.01280879 0.02916776] [ 0.15371923 -0.0552887 0.98656655 0.08043651] [ 0. 0. 0. 1. ]] SLAMing on 19.909928850999997 meters Centerline goodness : 0.875859 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.03, Z:0.08 [[ 0.95195947 -0.25943 -0.1626937 -0.46461707] [ 0.2648966 0.96419614 0.01247389 0.02941789] [ 0.15363253 -0.05497164 0.98659777 0.08075029] [ 0. 0. 0. 1. ]] SLAMing on 19.939928850999998 meters Centerline goodness : 0.873195 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.03, Z:0.08 [[ 0.95182267 -0.2601632 -0.16232284 -0.46591357] [ 0.26555152 0.96402144 0.01204421 0.02939992] [ 0.15334924 -0.05456903 0.98666419 0.08129929] [ 0. 0. 0. 1. ]] SLAMing on 19.969928850999995 meters Centerline goodness : 0.875893 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.03, Z:0.08 [[ 0.95172483 -0.26058785 -0.16221534 -0.46634835] [ 0.26593712 0.9639182 0.01179661 0.02896683] [ 0.15328826 -0.05436621 0.98668487 0.08171472] [ 0. 0. 0. 1. ]] SLAMing on 19.999928850999996 meters Centerline goodness : 0.873772 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.03, Z:0.08 [[ 0.95162496 -0.26099282 -0.16215019 -0.4666147 ] [ 0.26630769 0.96381869 0.01156511 0.02865256] [ 0.15326497 -0.05418749 0.98669831 0.08198884] [ 0. 0. 0. 1. ]] SLAMing on 20.029928850999998 meters Centerline goodness : 0.874439 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.03, Z:0.08 [[ 0.95151538 -0.26151918 -0.16194509 -0.46738427] [ 0.26677438 0.96369381 0.01121067 0.02863271] [ 0.15313367 -0.05386992 0.98673609 0.08241337] [ 0. 0. 0. 1. ]] SLAMing on 20.059928850999995 meters Centerline goodness : 0.875041 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.03, Z:0.08 [[ 0.95144521 -0.2618681 -0.16179343 -0.46786114] [ 0.26707549 0.96361365 0.01092761 0.0289434 ] [ 0.15304477 -0.05360808 0.98676414 0.08260898] [ 0. 0. 0. 1. ]] SLAMing on 20.089928850999996 meters Centerline goodness : 0.873398 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.03, Z:0.08 [[ 0.95127671 -0.26260929 -0.16158276 -0.46888251] [ 0.26773899 0.96343492 0.0104399 0.02897881] [ 0.15293286 -0.05319323 0.98680394 0.08320657] [ 0. 0. 0. 1. ]] SLAMing on 20.119928850999997 meters Centerline goodness : 0.876827 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.03, Z:0.08 [[ 0.95119692 -0.26299921 -0.16141819 -0.46931269] [ 0.26808979 0.96333979 0.01021305 0.02867983] [ 0.15281454 -0.05298919 0.98683325 0.08342541] [ 0. 0. 0. 1. ]] SLAMing on 20.149928850999995 meters Centerline goodness : 0.873990 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.03, Z:0.08 [[ 0.95112965 -0.26321057 -0.16147004 -0.46925248] [ 0.26827743 0.96328954 0.01002433 0.02838485] [ 0.15290389 -0.05285321 0.9868267 0.08364097] [ 0. 0. 0. 1. ]] SLAMing on 20.179928850999996 meters Centerline goodness : 0.872638 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.03, Z:0.08 [[ 0.95106563 -0.26348738 -0.1613957 -0.4692993 ] [ 0.26852574 0.96322221 0.00984355 0.02821631] [ 0.15286628 -0.05270077 0.98684068 0.0836427 ] [ 0. 0. 0. 1. ]] SLAMing on 20.209928850999997 meters Centerline goodness : 0.875237 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.03, Z:0.08 [[ 0.95090391 -0.264092 -0.16136037 -0.46972914] [ 0.26907509 0.96307285 0.00944916 0.0279559 ] [ 0.15290634 -0.0524033 0.98685032 0.08416482] [ 0. 0. 0. 1. ]] SLAMing on 20.239928850999995 meters Centerline goodness : 0.873564 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.03, Z:0.08 [[ 0.95081481 -0.26442046 -0.1613475 -0.47024408] [ 0.26935687 0.9629972 0.00912532 0.02819151] [ 0.15296426 -0.05213655 0.98685547 0.08475891] [ 0. 0. 0. 1. ]] SLAMing on 20.269928850999996 meters Centerline goodness : 0.872193 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.03, Z:0.09 [[ 0.95072537 -0.2648212 -0.16121728 -0.47113957] [ 0.26969213 0.96290717 0.00871448 0.02864712] [ 0.1529295 -0.05176411 0.98688046 0.08542916] [ 0. 0. 0. 1. ]] SLAMing on 20.299928850999997 meters Centerline goodness : 0.872630 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.03, Z:0.09 [[ 0.95068936 -0.26508229 -0.16100036 -0.47193648] [ 0.26990121 0.9628511 0.00843128 0.02851281] [ 0.15278439 -0.05146972 0.98691833 0.08598143] [ 0. 0. 0. 1. ]] SLAMing on 20.329928850999995 meters Centerline goodness : 0.872615 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.03, Z:0.09 [[ 0.95066924 -0.26514712 -0.16101244 -0.47210391] [ 0.26994781 0.96283915 0.00830398 0.02812259] [ 0.1528273 -0.05135929 0.98691744 0.08645832] [ 0. 0. 0. 1. ]] SLAMing on 20.359928850999996 meters Centerline goodness : 0.872807 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.03, Z:0.09 [[ 0.95060048 -0.26542689 -0.16095744 -0.47248803] [ 0.2701889 0.96277368 0.0080498 0.02836718] [ 0.15282895 -0.05114106 0.98692852 0.08673365] [ 0. 0. 0. 1. ]] SLAMing on 20.389928850999997 meters Centerline goodness : 0.871664 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.03, Z:0.09 [[ 0.95050646 -0.26583095 -0.1608458 -0.47288015] [ 0.27054816 0.96267513 0.00776482 0.02861798] [ 0.15277812 -0.05089704 0.986949 0.08689434] [ 0. 0. 0. 1. ]] SLAMing on 20.419928850999998 meters Centerline goodness : 0.872229 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.03, Z:0.09 [[ 0.95043577 -0.26604362 -0.16091191 -0.47282779] [ 0.27074128 0.96262216 0.00759865 0.02850752] [ 0.1528758 -0.05078752 0.98693952 0.0870952 ] [ 0. 0. 0. 1. ]] SLAMing on 20.449928850999996 meters Centerline goodness : 0.869091 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.03, Z:0.09 [[ 0.95037227 -0.26623655 -0.16096785 -0.4728844 ] [ 0.27091803 0.96257352 0.00745947 0.02819011] [ 0.15295741 -0.05069837 0.98693146 0.0874302 ] [ 0. 0. 0. 1. ]] SLAMing on 20.479928850999997 meters Centerline goodness : 0.872384 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.03, Z:0.09 [[ 0.95030873 -0.26651491 -0.16088231 -0.47313606] [ 0.27117236 0.96250305 0.00731 0.02770038] [ 0.15290149 -0.05057359 0.98694653 0.08768653] [ 0. 0. 0. 1. ]] SLAMing on 20.509928850999998 meters Centerline goodness : 0.868914 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.03, Z:0.09 [[ 0.95016491 -0.26723242 -0.16054121 -0.47414583] [ 0.2718477 0.96231415 0.00709227 0.02638121] [ 0.1525958 -0.05038159 0.98700366 0.08824204] [ 0. 0. 0. 1. ]] SLAMing on 20.539928850999996 meters Centerline goodness : 0.870989 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.03, Z:0.09 [[ 0.95008567 -0.26756859 -0.16045021 -0.47439796] [ 0.27216067 0.96222676 0.00694485 0.02590224] [ 0.15253126 -0.05026645 0.9870195 0.08846475] [ 0. 0. 0. 1. ]] SLAMing on 20.569928850999997 meters Centerline goodness : 0.869337 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.03, Z:0.09 [[ 0.94994736 -0.2681124 -0.16036132 -0.47485606] [ 0.27264859 0.96209127 0.00656773 0.02573753] [ 0.15252134 -0.04996129 0.98703653 0.08888568] [ 0. 0. 0. 1. ]] SLAMing on 20.599928850999998 meters Centerline goodness : 0.874435 Centerline is valid? [False, False] Translation: X:-0.48, Y:0.02, Z:0.09 [[ 0.94979793 -0.26892624 -0.15988298 -0.47606342] [ 0.27339023 0.96188329 0.00619089 0.02457694] [ 0.15212388 -0.04959054 0.98711656 0.08946902] [ 0. 0. 0. 1. ]] SLAMing on 20.629928850999995 meters Centerline goodness : 0.872231 Centerline is valid? [False, False] Translation: X:-0.48, Y:0.02, Z:0.09 [[ 0.94973505 -0.2691091 -0.1599488 -0.47595714] [ 0.2735612 0.9618354 0.00607701 0.02400252] [ 0.15220904 -0.04952734 0.98710661 0.08972815] [ 0. 0. 0. 1. ]] SLAMing on 20.659928850999997 meters Centerline goodness : 0.871132 Centerline is valid? [False, False] Translation: X:-0.48, Y:0.02, Z:0.09 [[ 0.94970013 -0.2692687 -0.15988754 -0.47586499] [ 0.2737162 0.96179145 0.00605417 0.02328157] [ 0.15214827 -0.04951345 0.98711667 0.08977689] [ 0. 0. 0. 1. ]] SLAMing on 20.689928850999998 meters Centerline goodness : 0.872419 Centerline is valid? [False, False] Translation: X:-0.48, Y:0.02, Z:0.09 [[ 0.94966526 -0.26938752 -0.15989451 -0.47579756] [ 0.27382349 0.96176145 0.00596717 0.02291174] [ 0.1521729 -0.04944969 0.98711607 0.08992124] [ 0. 0. 0. 1. ]] SLAMing on 20.719928850999995 meters Centerline goodness : 0.874743 Centerline is valid? [False, False] Translation: X:-0.48, Y:0.02, Z:0.09 [[ 0.94960965 -0.26966476 -0.15975743 -0.47637936] [ 0.27406531 0.96169384 0.00575949 0.02287358] [ 0.15208461 -0.04925324 0.9871395 0.09034028] [ 0. 0. 0. 1. ]] SLAMing on 20.749928850999996 meters Centerline goodness : 0.877883 Centerline is valid? [False, False] Translation: X:-0.48, Y:0.02, Z:0.09 [[ 0.94946993 -0.27036037 -0.15941178 -0.47810137] [ 0.27465725 0.96152845 0.00514145 0.02341864] [ 0.15188892 -0.04866525 0.98719879 0.09140676] [ 0. 0. 0. 1. ]] SLAMing on 20.779928850999998 meters Centerline goodness : 0.874808 Centerline is valid? [False, False] Translation: X:-0.48, Y:0.02, Z:0.09 [[ 0.94938645 -0.27072285 -0.15929377 -0.47870596] [ 0.27497788 0.96143818 0.00487772 0.0234192 ] [ 0.1518306 -0.04843311 0.98721918 0.0918297 ] [ 0. 0. 0. 1. ]] SLAMing on 20.809928850999995 meters Centerline goodness : 0.875582 Centerline is valid? [False, False] Translation: X:-0.48, Y:0.02, Z:0.09 [[ 0.94931872 -0.27099543 -0.15923394 -0.47892203] [ 0.27521994 0.96136992 0.00467607 0.02295344] [ 0.15181553 -0.04826344 0.9872298 0.09215586] [ 0. 0. 0. 1. ]] SLAMing on 20.839928850999996 meters Centerline goodness : 0.875040 Centerline is valid? [False, False] Translation: X:-0.48, Y:0.02, Z:0.09 [[ 0.94845576 -0.27443996 -0.15847518 -0.47753397] [ 0.27812306 0.96054481 0.00110764 0.02310664] [ 0.15191853 -0.04512615 0.98736234 0.09198343] [ 0. 0. 0. 1. ]] SLAMing on 20.869928850999997 meters Centerline goodness : 0.874196 Centerline is valid? [False, False] Translation: X:-0.48, Y:0.02, Z:0.09 [[ 9.48383358e-01 -2.74754957e-01 -1.58362624e-01 -4.77806499e-01] [ 2.78416164e-01 9.60460042e-01 9.73075766e-04 2.28014488e-02] [ 1.51833615e-01 -4.50135631e-02 9.87380541e-01 9.21181360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.899928850999995 meters Centerline goodness : 0.875380 Centerline is valid? [False, False] Translation: X:-0.48, Y:0.02, Z:0.09 [[ 9.48288142e-01 -2.75167729e-01 -1.58216055e-01 -4.78408104e-01] [ 2.78769723e-01 9.60357790e-01 5.97601993e-04 2.33049138e-02] [ 1.51779580e-01 -4.46725447e-02 9.87404336e-01 9.24668371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.929928850999996 meters Centerline goodness : 0.875450 Centerline is valid? [False, False] Translation: X:-0.48, Y:0.02, Z:0.09 [[ 9.48055004e-01 -2.76221817e-01 -1.57775843e-01 -4.80384659e-01] [ 2.79711758e-01 9.60084020e-01 -8.88634896e-05 2.38288312e-02] [ 1.51502612e-01 -4.40475110e-02 9.87474949e-01 9.34420647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.959928850999997 meters Centerline goodness : 0.873212 Centerline is valid? [False, False] Translation: X:-0.48, Y:0.02, Z:0.09 [[ 9.47919874e-01 -2.76788350e-01 -1.57594805e-01 -4.80910261e-01] [ 2.80228502e-01 9.59933238e-01 -4.07190198e-04 2.34218186e-02] [ 1.51393197e-01 -4.37765723e-02 9.87503778e-01 9.37551572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.989928850999995 meters Centerline goodness : 0.873994 Centerline is valid? [False, False] Translation: X:-0.48, Y:0.02, Z:0.09 [[ 9.47795120e-01 -2.77232942e-01 -1.57563658e-01 -4.80819319e-01] [ 2.80665401e-01 9.59805552e-01 -4.85010741e-04 2.23255976e-02] [ 1.51364935e-01 -4.37629764e-02 9.87508713e-01 9.37906022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.019928850999996 meters Centerline goodness : 0.873542 Centerline is valid? [False, False] Translation: X:-0.48, Y:0.02, Z:0.09 [[ 9.47636389e-01 -2.77882538e-01 -1.57373979e-01 -4.81280150e-01] [ 2.81274192e-01 9.59627150e-01 -7.49600269e-04 2.14022462e-02] [ 1.51228644e-01 -4.35548903e-02 9.87538794e-01 9.40865832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.049928850999997 meters Centerline goodness : 0.873483 Centerline is valid? [False, False] Translation: X:-0.48, Y:0.02, Z:0.09 [[ 0.94736959 -0.27903384 -0.15694256 -0.48285952] [ 0.28231968 0.95931934 -0.00141119 0.02093409] [ 0.1509518 -0.04297105 0.98760672 0.09497222] [ 0. 0. 0. 1. ]] SLAMing on 21.079928850999995 meters Centerline goodness : 0.872694 Centerline is valid? [False, False] Translation: X:-0.48, Y:0.02, Z:0.10 [[ 0.94720453 -0.27978204 -0.15660647 -0.48435547] [ 0.2829684 0.95912709 -0.00202794 0.02148386] [ 0.15077289 -0.04239381 0.987659 0.09583846] [ 0. 0. 0. 1. ]] SLAMing on 21.109928850999996 meters Centerline goodness : 0.871077 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.02, Z:0.10 [[ 0.94703478 -0.28052646 -0.15630108 -0.48575216] [ 0.28361306 0.95893512 -0.00265669 0.02216133] [ 0.15062786 -0.04181305 0.98770588 0.09661571] [ 0. 0. 0. 1. ]] SLAMing on 21.139928850999997 meters Centerline goodness : 0.870714 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.02, Z:0.10 [[ 0.94685863 -0.28127168 -0.15602877 -0.48669881] [ 0.28429902 0.95873087 -0.00303059 0.02205795] [ 0.15044202 -0.04148929 0.98774786 0.09700182] [ 0. 0. 0. 1. ]] SLAMing on 21.169928850999995 meters Centerline goodness : 0.870199 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.02, Z:0.10 [[ 0.94674467 -0.28168355 -0.15597723 -0.48679132] [ 0.28469057 0.95861418 -0.00318361 0.0215076 ] [ 0.15041876 -0.04139118 0.98775552 0.09709619] [ 0. 0. 0. 1. ]] SLAMing on 21.199928850999996 meters Centerline goodness : 0.870374 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.02, Z:0.10 [[ 0.9466222 -0.28212589 -0.15592112 -0.48681013] [ 0.28510432 0.95849049 -0.00339214 0.0211154 ] [ 0.15040592 -0.04124271 0.98776368 0.09712936] [ 0. 0. 0. 1. ]] SLAMing on 21.229928850999997 meters Centerline goodness : 0.865021 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.02, Z:0.10 [[ 0.94651793 -0.28256112 -0.15576591 -0.48718667] [ 0.28550935 0.95836923 -0.00358335 0.02066981] [ 0.15029377 -0.04108091 0.9877875 0.09731847] [ 0. 0. 0. 1. ]] SLAMing on 21.259928850999998 meters Centerline goodness : 0.866780 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.02, Z:0.10 [[ 0.94632022 -0.28347572 -0.15530474 -0.48889681] [ 0.2863255 0.95812329 -0.00417943 0.02072669] [ 0.14998586 -0.04051263 0.98785777 0.09815004] [ 0. 0. 0. 1. ]] SLAMing on 21.289928850999996 meters Centerline goodness : 0.864858 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.02, Z:0.10 [[ 0.9462588 -0.28376645 -0.15514794 -0.48968771] [ 0.28655364 0.95805329 -0.00457291 0.02122703] [ 0.14993763 -0.04013105 0.98788066 0.09878144] [ 0. 0. 0. 1. ]] SLAMing on 21.319928850999997 meters Centerline goodness : 0.872950 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.02, Z:0.10 [[ 0.94622747 -0.28401978 -0.15487523 -0.49065336] [ 0.28674928 0.95799313 -0.00490043 0.02201416] [ 0.14976123 -0.03977343 0.98792188 0.09916746] [ 0. 0. 0. 1. ]] SLAMing on 21.349928850999998 meters Centerline goodness : 0.872748 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.02, Z:0.10 [[ 0.94637136 -0.28351427 -0.15492229 -0.49042044] [ 0.28621641 0.95815168 -0.00505198 0.02359491] [ 0.14987136 -0.03956025 0.98791374 0.09912378] [ 0. 0. 0. 1. ]] SLAMing on 21.379928850999995 meters Centerline goodness : 0.868982 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.02, Z:0.10 [[ 0.94638897 -0.28337533 -0.15506879 -0.48989711] [ 0.28606672 0.95819586 -0.00515051 0.02419186] [ 0.1500458 -0.03948564 0.98789025 0.09894288] [ 0. 0. 0. 1. ]] SLAMing on 21.409928850999997 meters Centerline goodness : 0.871543 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.02, Z:0.10 [[ 0.94641297 -0.2831869 -0.15526646 -0.48918747] [ 0.28589783 0.95824675 -0.00505919 0.0241996 ] [ 0.15021628 -0.03960226 0.98785967 0.09871427] [ 0. 0. 0. 1. ]] SLAMing on 21.439928850999998 meters Centerline goodness : 0.856645 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.02, Z:0.10 [[ 0.94640446 -0.28325946 -0.15518592 -0.48925274] [ 0.28596184 0.95822744 -0.00509987 0.02426226] [ 0.15014799 -0.03955071 0.98787212 0.09862339] [ 0. 0. 0. 1. ]] SLAMing on 21.469928850999995 meters Centerline goodness : 0.870606 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.02, Z:0.10 [[ 0.94632558 -0.2835647 -0.15510948 -0.48980044] [ 0.28621091 0.958151 -0.00547413 0.02468501] [ 0.15017058 -0.03921372 0.98788212 0.09913977] [ 0. 0. 0. 1. ]] SLAMing on 21.499928850999996 meters Centerline goodness : 0.868960 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.02, Z:0.10 [[ 0.94626517 -0.28392757 -0.15481393 -0.4909139 ] [ 0.28651948 0.95805696 -0.0057836 0.0249688 ] [ 0.14996269 -0.03888438 0.98792672 0.0997273 ] [ 0. 0. 0. 1. ]] SLAMing on 21.529928850999998 meters Centerline goodness : 0.867457 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.02, Z:0.10 [[ 0.94621734 -0.28416286 -0.15467455 -0.49125041] [ 0.28673843 0.9579909 -0.00587404 0.02462636] [ 0.149846 -0.03879302 0.98794801 0.09985474] [ 0. 0. 0. 1. ]] SLAMing on 21.559928850999995 meters Centerline goodness : 0.868543 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.02, Z:0.10 [[ 0.94618651 -0.28433157 -0.15455305 -0.49145471] [ 0.28690141 0.95794198 -0.00589378 0.0240735 ] [ 0.14972864 -0.03876487 0.98796691 0.09995311] [ 0. 0. 0. 1. ]] SLAMing on 21.589928850999996 meters Centerline goodness : 0.865948 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.02, Z:0.10 [[ 0.9461866 -0.28434201 -0.15453332 -0.49127659] [ 0.28694506 0.95793026 -0.00567025 0.02312744] [ 0.14964443 -0.03897746 0.98797131 0.09984078] [ 0. 0. 0. 1. ]] SLAMing on 21.619928850999997 meters Centerline goodness : 0.865194 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.02, Z:0.10 [[ 0.94617186 -0.28434906 -0.15461058 -0.49102596] [ 0.2869603 0.95792589 -0.00563714 0.02290717] [ 0.1497084 -0.0390334 0.98795941 0.09984438] [ 0. 0. 0. 1. ]] SLAMing on 21.649928850999995 meters Centerline goodness : 0.864293 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.02, Z:0.10 [[ 0.94615694 -0.28436435 -0.15467373 -0.49076784] [ 0.28700477 0.95791358 -0.00546258 0.02225706] [ 0.14971743 -0.03922364 0.9879505 0.09974865] [ 0. 0. 0. 1. ]] SLAMing on 21.679928850999996 meters Centerline goodness : 0.864108 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.02, Z:0.10 [[ 0.94609851 -0.28462291 -0.15455552 -0.49136636] [ 0.28725104 0.95783935 -0.00553357 0.02133318] [ 0.14961434 -0.03916093 0.98796861 0.10039747] [ 0. 0. 0. 1. ]] SLAMing on 21.709928850999997 meters Centerline goodness : 0.864108 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.02, Z:0.10 [[ 0.94609851 -0.28462291 -0.15455552 -0.49136636] [ 0.28725104 0.95783935 -0.00553357 0.02133318] [ 0.14961434 -0.03916093 0.98796861 0.10039747] [ 0. 0. 0. 1. ]] SLAMing on 21.739928850999995 meters Centerline goodness : 0.864550 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.02, Z:0.10 [[ 0.94607458 -0.28480162 -0.15437269 -0.49200131] [ 0.28740924 0.9577913 -0.00563526 0.02126123] [ 0.14946175 -0.03903676 0.98799662 0.100692 ] [ 0. 0. 0. 1. ]] SLAMing on 21.769928850999996 meters Centerline goodness : 0.863175 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.02, Z:0.10 [[ 0.94606455 -0.28481896 -0.15440216 -0.4922402 ] [ 0.28741988 0.95778779 -0.00568883 0.02095718] [ 0.14950479 -0.03899625 0.98799171 0.10115013] [ 0. 0. 0. 1. ]] SLAMing on 21.799928850999997 meters Centerline goodness : 0.861881 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.02, Z:0.10 [[ 0.94602471 -0.28496794 -0.15437139 -0.4923332 ] [ 0.28756466 0.95774414 -0.00572065 0.02039084] [ 0.1494785 -0.03897988 0.98799633 0.10135964] [ 0. 0. 0. 1. ]] SLAMing on 21.829928850999995 meters Centerline goodness : 0.862993 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.02, Z:0.10 [[ 0.94602107 -0.2849975 -0.15433911 -0.49221101] [ 0.28762111 0.95772827 -0.00553668 0.01951545] [ 0.14939287 -0.03915337 0.98800242 0.10122987] [ 0. 0. 0. 1. ]] SLAMing on 21.859928850999996 meters Centerline goodness : 0.865459 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.02, Z:0.10 [[ 0.94738673 -0.28334163 -0.1489158 -0.4966904 ] [ 0.28569992 0.95830179 -0.00576486 0.01552894] [ 0.1443397 -0.03708368 0.98883308 0.09688661] [ 0. 0. 0. 1. ]] SLAMing on 21.889928850999997 meters Centerline goodness : 0.864340 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.02, Z:0.10 [[ 0.94740365 -0.28325476 -0.14897337 -0.49635153] [ 0.28563722 0.95832142 -0.0056074 0.01517227] [ 0.14435269 -0.03723986 0.98882531 0.09670665] [ 0. 0. 0. 1. ]] SLAMing on 21.919928850999995 meters Centerline goodness : 0.865431 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.01, Z:0.10 [[ 0.94738607 -0.28327622 -0.14904435 -0.49616703] [ 0.28567229 0.95831139 -0.00553448 0.01475009] [ 0.14439869 -0.03733455 0.98881502 0.09676646] [ 0. 0. 0. 1. ]] SLAMing on 21.949928850999996 meters Centerline goodness : 0.865587 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.01, Z:0.10 [[ 0.94733112 -0.2835042 -0.14896014 -0.49633519] [ 0.28590489 0.95824222 -0.00549877 0.01421281] [ 0.14429882 -0.03737927 0.98882791 0.09679721] [ 0. 0. 0. 1. ]] SLAMing on 21.979928850999997 meters Centerline goodness : 0.863927 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.01, Z:0.10 [[ 0.94704025 -0.2845881 -0.14874266 -0.49693262] [ 0.28696895 0.95792314 -0.0056633 0.01194242] [ 0.14409574 -0.03732115 0.98885972 0.0971837 ] [ 0. 0. 0. 1. ]] SLAMing on 22.009928850999994 meters Centerline goodness : 0.862075 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.01, Z:0.10 [[ 0.94693281 -0.28505322 -0.1485359 -0.4973529 ] [ 0.28744539 0.95778084 -0.00556795 0.01040226] [ 0.143852 -0.03742349 0.98889134 0.09729621] [ 0. 0. 0. 1. ]] SLAMing on 22.039928850999996 meters Centerline goodness : 0.856297 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.01, Z:0.10 [[ 0.94682002 -0.28554256 -0.14831484 -0.49807402] [ 0.28791967 0.95763789 -0.00565192 0.00913721] [ 0.14364577 -0.03735141 0.98892404 0.09774669] [ 0. 0. 0. 1. ]] SLAMing on 22.069928850999997 meters Centerline goodness : 0.862687 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.01, Z:0.10 [[ 0.94671809 -0.28595837 -0.14816431 -0.49857755] [ 0.28833485 0.95751298 -0.00564937 0.00799029] [ 0.14348473 -0.03737257 0.98894662 0.09804986] [ 0. 0. 0. 1. ]] SLAMing on 22.099928850999998 meters Centerline goodness : 0.861042 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.01, Z:0.10 [[ 0.94654887 -0.28671533 -0.14778214 -0.49962684] [ 0.28907512 0.95728931 -0.00572328 0.00654009] [ 0.14311122 -0.03730278 0.98900338 0.09845574] [ 0. 0. 0. 1. ]] SLAMing on 22.129928850999995 meters Centerline goodness : 0.862641 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.00, Z:0.10 [[ 0.94711193 -0.28622767 -0.1450955 -0.50259541] [ 0.28853766 0.95745375 -0.00532266 0.00475158] [ 0.14044572 -0.03682436 0.98940334 0.09675297] [ 0. 0. 0. 1. ]] SLAMing on 22.159928850999997 meters Centerline goodness : 0.859786 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.00, Z:0.10 [[ 0.94710874 -0.28617046 -0.14522912 -0.50198527] [ 0.28851948 0.95746056 -0.0050789 0.00398736] [ 0.14050459 -0.03709116 0.98938501 0.096459 ] [ 0. 0. 0. 1. ]] SLAMing on 22.189928850999998 meters Centerline goodness : 0.859563 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.00, Z:0.10 [[ 0.94701447 -0.28645559 -0.14528175 -0.50130622] [ 0.28885057 0.9573622 -0.00479129 0.00180952] [ 0.14045975 -0.03742729 0.98937872 0.09616583] [ 0. 0. 0. 1. ]] SLAMing on 22.219928850999995 meters Centerline goodness : 0.862171 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.00, Z:0.10 [[ 9.46956067e-01 -2.86704297e-01 -1.45171805e-01 -5.01510249e-01] [ 2.89101812e-01 9.57286507e-01 -4.76290719e-03 7.84629377e-04] [ 1.40336556e-01 -3.74591680e-02 9.89394998e-01 9.63234633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.249928850999996 meters Centerline goodness : 0.861753 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.00, Z:0.10 [[ 9.46906046e-01 -2.86979379e-01 -1.44954397e-01 -5.02087147e-01] [ 2.89369036e-01 9.57205675e-01 -4.78081913e-03 8.81633406e-05] [ 1.40123168e-01 -3.74183275e-02 9.89426787e-01 9.65739965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.279928850999998 meters Centerline goodness : 0.860218 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.00, Z:0.10 [[ 9.46854999e-01 -2.87235859e-01 -1.44779739e-01 -5.02793757e-01] [ 2.89598223e-01 9.57135520e-01 -4.94625969e-03 6.71958300e-06] [ 1.39994574e-01 -3.72445644e-02 9.89451546e-01 9.69888362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.309928850999995 meters Centerline goodness : 0.861116 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.00, Z:0.10 [[ 9.46826721e-01 -2.87448174e-01 -1.44543098e-01 -5.03825367e-01] [ 2.89773260e-01 9.57081399e-01 -5.16271800e-03 1.73991130e-04] [ 1.39823525e-01 -3.69965254e-02 9.89485037e-01 9.76428014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.339928850999996 meters Centerline goodness : 0.862539 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.00, Z:0.10 [[ 9.46802851e-01 -2.87564398e-01 -1.44468263e-01 -5.03832093e-01] [ 2.89875321e-01 9.57050007e-01 -5.25186865e-03 2.43991392e-04] [ 1.39773602e-01 -3.69052998e-02 9.89495497e-01 9.75272287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.369928850999997 meters Centerline goodness : 0.863584 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 9.46822570e-01 -2.87413992e-01 -1.44638235e-01 -5.03232402e-01] [ 2.89757414e-01 9.57086767e-01 -5.05585021e-03 -3.52910192e-04] [ 1.39884463e-01 -3.71230077e-02 9.89471687e-01 9.73643608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.399928850999995 meters Centerline goodness : 0.861690 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 9.46816280e-01 -2.87429579e-01 -1.44648433e-01 -5.02800012e-01] [ 2.89790313e-01 9.57077425e-01 -4.93731752e-03 -8.39214215e-04] [ 1.39858881e-01 -3.72429821e-02 9.89470795e-01 9.70372040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.429928850999996 meters Centerline goodness : 0.858997 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 0.94685245 -0.28725433 -0.14475979 -0.50169695] [ 0.28967669 0.95711389 -0.00451805 -0.00168581] [ 0.13984943 -0.03765561 0.98945651 0.09611996] [ 0. 0. 0. 1. ]] SLAMing on 22.459928850999997 meters Centerline goodness : 0.863944 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 0.94683532 -0.28730592 -0.14476946 -0.50165541] [ 0.28972881 0.9570981 -0.00452081 -0.00173059] [ 0.13985743 -0.03766342 0.98945509 0.09610618] [ 0. 0. 0. 1. ]] SLAMing on 22.489928850999995 meters Centerline goodness : 0.861374 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 0.94677037 -0.28758853 -0.14463299 -0.50228662] [ 0.28997542 0.95702226 -0.0047603 -0.00151419] [ 0.13978599 -0.0374331 0.98947392 0.09647182] [ 0. 0. 0. 1. ]] SLAMing on 22.519928850999996 meters Centerline goodness : 0.864246 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 0.9466683 -0.28809852 -0.14428574 -0.50383275] [ 0.29040984 0.956888 -0.00524115 -0.0015801 ] [ 0.13957526 -0.03694037 0.98952219 0.09758187] [ 0. 0. 0. 1. ]] SLAMing on 22.549928850999997 meters Centerline goodness : 0.863085 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 0.94666128 -0.28820289 -0.14412324 -0.50422319] [ 0.29051116 0.95685733 -0.0052273 -0.00191554] [ 0.1394119 -0.03692092 0.98954594 0.09767472] [ 0. 0. 0. 1. ]] SLAMing on 22.579928850999995 meters Centerline goodness : 0.869236 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 0.94666066 -0.28820893 -0.14411526 -0.50413373] [ 0.29051494 0.9568561 -0.00524172 -0.00200669] [ 0.13940827 -0.0369055 0.98954703 0.09760235] [ 0. 0. 0. 1. ]] SLAMing on 22.609928850999996 meters Centerline goodness : 0.865294 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 0.94669839 -0.28802028 -0.14424449 -0.50345744] [ 0.29035466 0.95690572 -0.00506061 -0.00208326] [ 0.13948594 -0.03709118 0.98952914 0.09714576] [ 0. 0. 0. 1. ]] SLAMing on 22.639928850999997 meters Centerline goodness : 0.868684 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 0.94671241 -0.28793462 -0.1443235 -0.50288873] [ 0.29028494 0.95692739 -0.00496225 -0.00193656] [ 0.13953592 -0.03719712 0.98951812 0.09665749] [ 0. 0. 0. 1. ]] SLAMing on 22.669928850999995 meters Centerline goodness : 0.858938 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 0.94673398 -0.28785403 -0.14434271 -0.50278853] [ 0.29021664 0.95694856 -0.00487411 -0.00181394] [ 0.13953159 -0.03727617 0.98951575 0.09649881] [ 0. 0. 0. 1. ]] SLAMing on 22.699928850999996 meters Centerline goodness : 0.865476 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 0.94669159 -0.28806325 -0.14420331 -0.50323456] [ 0.29040304 0.95689128 -0.0050144 -0.00161387] [ 0.13943136 -0.03712999 0.98953538 0.09660862] [ 0. 0. 0. 1. ]] SLAMing on 22.729928850999997 meters Centerline goodness : 0.864805 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 0.9466613 -0.28815616 -0.14421652 -0.50330001] [ 0.29049149 0.95686421 -0.00505677 -0.00188 ] [ 0.13945277 -0.03710662 0.98953324 0.09678965] [ 0. 0. 0. 1. ]] SLAMing on 22.759928850999994 meters Centerline goodness : 0.863340 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 0.94652881 -0.28867478 -0.1440489 -0.50369051] [ 0.29100477 0.95670807 -0.00508917 -0.00314425] [ 0.13928186 -0.03710187 0.98955748 0.0969823 ] [ 0. 0. 0. 1. ]] SLAMing on 22.789928850999996 meters Centerline goodness : 0.864232 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 0.94649441 -0.28881102 -0.14400182 -0.50365248] [ 0.29114507 0.95666555 -0.00505809 -0.00362381] [ 0.13922241 -0.03713796 0.9895645 0.09691722] [ 0. 0. 0. 1. ]] SLAMing on 22.819928850999997 meters Centerline goodness : 0.866174 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 0.9464839 -0.28889243 -0.14390757 -0.50392066] [ 0.29122021 0.95664254 -0.0050835 -0.00351972] [ 0.13913668 -0.03709734 0.98957808 0.09692446] [ 0. 0. 0. 1. ]] SLAMing on 22.849928850999994 meters Centerline goodness : 0.856080 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 0.94649066 -0.28891058 -0.14382668 -0.50420812] [ 0.29119672 0.95664818 -0.00535924 -0.00238224] [ 0.13913987 -0.03680938 0.98958838 0.09701409] [ 0. 0. 0. 1. ]] SLAMing on 22.879928850999995 meters Centerline goodness : 0.860280 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 0.94651542 -0.28880056 -0.1438847 -0.50396472] [ 0.29108797 0.95668129 -0.00535739 -0.00210183] [ 0.13919901 -0.03681225 0.98957996 0.09689813] [ 0. 0. 0. 1. ]] SLAMing on 22.909928850999997 meters Centerline goodness : 0.861415 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 0.94651087 -0.28879105 -0.14393367 -0.50380841] [ 0.29107521 0.95668498 -0.00539285 -0.00191914] [ 0.13925658 -0.03679113 0.98957264 0.09681874] [ 0. 0. 0. 1. ]] SLAMing on 22.939928850999998 meters Centerline goodness : 0.864123 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 0.94654653 -0.28862651 -0.1440292 -0.50326524] [ 0.29094059 0.95672703 -0.00519319 -0.00263852] [ 0.13929552 -0.03698834 0.98955981 0.09660563] [ 0. 0. 0. 1. ]] SLAMing on 22.969928850999995 meters Centerline goodness : 0.863889 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 0.94654753 -0.28857821 -0.14411937 -0.50296999] [ 0.29089433 0.95674106 -0.00519921 -0.00282362] [ 0.1393853 -0.03700221 0.98954665 0.09663537] [ 0. 0. 0. 1. ]] SLAMing on 22.999928850999996 meters Centerline goodness : 0.865285 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 0.94651163 -0.28870757 -0.14409603 -0.5032482 ] [ 0.29100362 0.95670702 -0.00534539 -0.00263989] [ 0.13940094 -0.036873 0.98954927 0.09689175] [ 0. 0. 0. 1. ]] SLAMing on 23.029928850999998 meters Centerline goodness : 0.867297 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 0.94645016 -0.2889299 -0.14405416 -0.50383376] [ 0.29117552 0.95665261 -0.00570918 -0.00206482] [ 0.13945934 -0.03654159 0.98955334 0.09748388] [ 0. 0. 0. 1. ]] SLAMing on 23.059928850999995 meters Centerline goodness : 0.866567 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 0.94646607 -0.28883473 -0.14414046 -0.50388561] [ 0.2910657 0.95668531 -0.00582858 -0.00155634] [ 0.13958055 -0.03643779 0.98954007 0.09774744] [ 0. 0. 0. 1. ]] SLAMing on 23.089928850999996 meters Centerline goodness : 0.871442 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 9.46466451e-01 -2.88843166e-01 -1.44121072e-01 -5.04159496e-01] [ 2.91049221e-01 9.56689261e-01 -6.00072941e-03 -8.97504750e-04] [ 1.39612352e-01 -3.62668367e-02 9.89541868e-01 9.79319541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.119928850999997 meters Centerline goodness : 0.867895 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 9.46538233e-01 -2.88558158e-01 -1.44220539e-01 -5.03718838e-01] [ 2.90792389e-01 9.56768563e-01 -5.80541508e-03 -9.92457715e-04] [ 1.39660878e-01 -3.64431878e-02 9.89528541e-01 9.77067888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.149928850999995 meters Centerline goodness : 0.864802 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 0.9465173 -0.28861085 -0.14425248 -0.50353464] [ 0.29085649 0.95674949 -0.00573705 -0.00157975] [ 0.13966926 -0.03652655 0.98952428 0.09768792] [ 0. 0. 0. 1. ]] SLAMing on 23.179928850999996 meters Centerline goodness : 0.869025 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 0.9464405 -0.28890302 -0.14417151 -0.50369364] [ 0.2911444 0.95666173 -0.00576823 -0.00232948] [ 0.13958983 -0.03651544 0.9895359 0.09781566] [ 0. 0. 0. 1. ]] SLAMing on 23.209928850999997 meters Centerline goodness : 0.868319 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.00, Z:0.10 [[ 0.9463776 -0.28911363 -0.1441622 -0.50366429] [ 0.29135727 0.95659693 -0.00576585 -0.00328769] [ 0.13957211 -0.03654604 0.98953727 0.09800038] [ 0. 0. 0. 1. ]] SLAMing on 23.239928850999995 meters Centerline goodness : 0.869197 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 0.94617973 -0.28984379 -0.14399476 -0.50407379] [ 0.29208658 0.9563744 -0.00578342 -0.00508998] [ 0.13938919 -0.03658678 0.98956155 0.09827812] [ 0. 0. 0. 1. ]] SLAMing on 23.269928850999996 meters Centerline goodness : 0.870219 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 0.94611652 -0.2901893 -0.14371394 -0.50458506] [ 0.29243104 0.95626937 -0.0057427 -0.00598318] [ 0.13909571 -0.03659315 0.98960261 0.09833689] [ 0. 0. 0. 1. ]] SLAMing on 23.299928850999997 meters Centerline goodness : 0.870255 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 0.94605143 -0.29039826 -0.14372036 -0.50472591] [ 0.29264326 0.95620448 -0.00573711 -0.00653466] [ 0.1390921 -0.0366312 0.98960171 0.09854572] [ 0. 0. 0. 1. ]] SLAMing on 23.329928850999995 meters Centerline goodness : 0.867610 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 0.94599419 -0.29061971 -0.1436495 -0.50499592] [ 0.29286295 0.95613715 -0.00574764 -0.00702986] [ 0.13901901 -0.03663238 0.98961194 0.09874964] [ 0. 0. 0. 1. ]] SLAMing on 23.359928850999996 meters Centerline goodness : 0.867214 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 0.94594338 -0.29083839 -0.14354148 -0.50490342] [ 0.29310122 0.95606504 -0.00559605 -0.00857203] [ 0.13886254 -0.03677864 0.98962848 0.09871759] [ 0. 0. 0. 1. ]] SLAMing on 23.389928850999997 meters Centerline goodness : 0.865585 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 0.94594231 -0.29082346 -0.14357873 -0.50467502] [ 0.29310683 0.95606412 -0.0054585 -0.0094979 ] [ 0.13885794 -0.03692048 0.98962384 0.09872757] [ 0. 0. 0. 1. ]] SLAMing on 23.419928850999995 meters Centerline goodness : 0.863748 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 0.94596404 -0.29073732 -0.14361003 -0.50449606] [ 0.29305846 0.95608043 -0.00519113 -0.01066769] [ 0.13881199 -0.03717551 0.98962074 0.09881272] [ 0. 0. 0. 1. ]] SLAMing on 23.449928850999996 meters Centerline goodness : 0.863428 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 0.94596992 -0.29068305 -0.14368116 -0.50445729] [ 0.29301369 0.95609444 -0.00513858 -0.01092369] [ 0.13886646 -0.0372396 0.98961069 0.09900117] [ 0. 0. 0. 1. ]] SLAMing on 23.479928850999997 meters Centerline goodness : 0.862935 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 0.9459797 -0.29065245 -0.14367871 -0.50456737] [ 0.29298566 0.95610314 -0.00511716 -0.01113821] [ 0.13885898 -0.03725507 0.98961116 0.0992081 ] [ 0. 0. 0. 1. ]] SLAMing on 23.509928850999994 meters Centerline goodness : 0.862179 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 0.94602951 -0.29045893 -0.14374205 -0.50432831] [ 0.29280855 0.956158 -0.00500271 -0.0115017 ] [ 0.1388932 -0.03735619 0.98960254 0.09926771] [ 0. 0. 0. 1. ]] SLAMing on 23.539928850999996 meters Centerline goodness : 0.860948 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 0.94613503 -0.29007446 -0.1438239 -0.50391729] [ 0.2924864 0.95625885 -0.00455169 -0.01272216] [ 0.1388532 -0.03776002 0.98959283 0.0991846 ] [ 0. 0. 0. 1. ]] SLAMing on 23.569928850999997 meters Centerline goodness : 0.860946 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 0.94616556 -0.28999392 -0.14378546 -0.50388692] [ 0.2924158 0.95628085 -0.00446409 -0.01292956] [ 0.13879384 -0.03782137 0.98959881 0.09912246] [ 0. 0. 0. 1. ]] SLAMing on 23.599928850999994 meters Centerline goodness : 0.860946 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 0.94616556 -0.28999392 -0.14378546 -0.50388692] [ 0.2924158 0.95628085 -0.00446409 -0.01292956] [ 0.13879384 -0.03782137 0.98959881 0.09912246] [ 0. 0. 0. 1. ]] SLAMing on 23.629928850999995 meters Centerline goodness : 0.861291 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 0.94622185 -0.2897415 -0.14392387 -0.50352428] [ 0.29219432 0.95634947 -0.00426252 -0.0131134 ] [ 0.13887655 -0.03802045 0.98957958 0.09905267] [ 0. 0. 0. 1. ]] SLAMing on 23.659928850999997 meters Centerline goodness : 0.862541 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 0.94628231 -0.28946066 -0.14409133 -0.50304331] [ 0.29193469 0.95642931 -0.00413645 -0.0132508 ] [ 0.13901051 -0.03815101 0.98955575 0.09900616] [ 0. 0. 0. 1. ]] SLAMing on 23.689928850999998 meters Centerline goodness : 0.861450 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 0.94631886 -0.28927497 -0.14422413 -0.50268455] [ 0.29176159 0.95648242 -0.00406954 -0.01331965] [ 0.13912506 -0.03822797 0.98953668 0.09901897] [ 0. 0. 0. 1. ]] SLAMing on 23.719928850999995 meters Centerline goodness : 0.862807 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 0.94653444 -0.28842088 -0.1445197 -0.50153953] [ 0.29098398 0.95672136 -0.00354319 -0.01355222] [ 0.13928702 -0.03869917 0.98949558 0.09853923] [ 0. 0. 0. 1. ]] SLAMing on 23.749928850999996 meters Centerline goodness : 0.863931 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 0.94656574 -0.28822278 -0.1447098 -0.50106043] [ 0.29079134 0.95677994 -0.00354263 -0.01328319] [ 0.1394765 -0.03872702 0.9894678 0.09851804] [ 0. 0. 0. 1. ]] SLAMing on 23.779928850999998 meters Centerline goodness : 0.862947 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 0.94668059 -0.28775995 -0.1448795 -0.50054764] [ 0.29037225 0.95690827 -0.00324475 -0.01343909] [ 0.1395701 -0.03899725 0.98944399 0.09836064] [ 0. 0. 0. 1. ]] SLAMing on 23.809928850999995 meters Centerline goodness : 0.861748 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 0.94676272 -0.28745503 -0.14494816 -0.50036963] [ 0.29008643 0.95699541 -0.00310544 -0.01354977] [ 0.1396074 -0.03910738 0.98943438 0.09841714] [ 0. 0. 0. 1. ]] SLAMing on 23.839928850999996 meters Centerline goodness : 0.861640 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 0.94686645 -0.28696816 -0.14523498 -0.49967334] [ 0.28961532 0.95713831 -0.00303778 -0.01323786] [ 0.1398817 -0.0391859 0.98939253 0.09847042] [ 0. 0. 0. 1. ]] SLAMing on 23.869928850999997 meters Centerline goodness : 0.861661 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 0.94697264 -0.28656568 -0.14533732 -0.49934485] [ 0.28920593 0.95726194 -0.00308463 -0.01251202] [ 0.14000983 -0.03911135 0.98937735 0.09842947] [ 0. 0. 0. 1. ]] SLAMing on 23.899928850999995 meters Centerline goodness : 0.862024 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 9.48094729e-01 -2.82315089e-01 -1.46337199e-01 -4.99813617e-01] [ 2.85483892e-01 9.58383265e-01 6.81420547e-04 -1.28617398e-02] [ 1.40054747e-01 -4.24229643e-02 9.89234532e-01 9.86686998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.929928850999996 meters Centerline goodness : 0.862617 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 9.48191421e-01 -2.81892688e-01 -1.46524882e-01 -4.99495350e-01] [ 2.85049178e-01 9.58512724e-01 5.69576581e-04 -1.15316688e-02] [ 1.40285404e-01 -4.23068649e-02 9.89206821e-01 9.87124904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.959928850999997 meters Centerline goodness : 0.863797 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 9.48318492e-01 -2.81280152e-01 -1.46879248e-01 -4.98477511e-01] [ 2.84462809e-01 9.58686826e-01 6.92858037e-04 -1.09483094e-02] [ 1.40616313e-01 -4.24387337e-02 9.89154187e-01 9.85371739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.989928850999995 meters Centerline goodness : 0.860661 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 9.48411433e-01 -2.80849401e-01 -1.47103259e-01 -4.97751694e-01] [ 2.84053766e-01 9.58808011e-01 8.10206671e-04 -1.07159545e-02] [ 1.40816237e-01 -4.25536439e-02 9.89120809e-01 9.83777944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.019928850999996 meters Centerline goodness : 0.862528 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 0.9485027 -0.28045924 -0.1472591 -0.49698424] [ 0.28371329 0.95890848 0.0011414 -0.01172245] [ 0.14088788 -0.04286198 0.98909729 0.09814553] [ 0. 0. 0. 1. ]] SLAMing on 24.049928850999997 meters Centerline goodness : 0.861852 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 0.94852378 -0.28043287 -0.1471735 -0.49710984] [ 0.28369453 0.95891393 0.00122325 -0.0121558 ] [ 0.14078367 -0.0429126 0.98910994 0.0982147 ] [ 0. 0. 0. 1. ]] SLAMing on 24.079928850999995 meters Centerline goodness : 0.861644 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 0.94860993 -0.28012406 -0.14720635 -0.49728766] [ 0.28336081 0.95901279 0.00106197 -0.01116104] [ 0.14087529 -0.04271991 0.98910523 0.09854519] [ 0. 0. 0. 1. ]] SLAMing on 24.109928850999996 meters Centerline goodness : 0.862472 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 9.48697172e-01 -2.79717736e-01 -1.47416634e-01 -4.96786392e-01] [ 2.82941290e-01 9.59136773e-01 9.36359353e-04 -1.00125534e-02] [ 1.41130798e-01 -4.25985740e-02 9.89074041e-01 9.85271700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.139928850999997 meters Centerline goodness : 0.861233 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 9.48813696e-01 -2.79231438e-01 -1.47588533e-01 -4.96324695e-01] [ 2.82439795e-01 9.59284680e-01 8.15135165e-04 -8.64136429e-03] [ 1.41351807e-01 -4.24582864e-02 9.89048513e-01 9.84448354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.169928850999995 meters Centerline goodness : 0.860707 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.10 [[ 9.48959136e-01 -2.78625567e-01 -1.47798348e-01 -4.95548540e-01] [ 2.81842678e-01 9.59460247e-01 8.59474229e-04 -7.60191743e-03] [ 1.41567168e-01 -4.24714880e-02 9.89017143e-01 9.81190852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.199928850999996 meters Centerline goodness : 0.860853 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.01, Z:0.10 [[ 9.49079083e-01 -2.78065975e-01 -1.48081760e-01 -4.94670716e-01] [ 2.81291998e-01 9.59621821e-01 8.79068022e-04 -6.60059663e-03] [ 1.41858049e-01 -4.24885191e-02 9.88974732e-01 9.78612862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.229928850999997 meters Centerline goodness : 0.856080 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.00, Z:0.10 [[ 0.94935496 -0.27699391 -0.14832238 -0.49365883] [ 0.28024426 0.95992814 0.00105874 -0.00488706] [ 0.14208557 -0.04257162 0.9889385 0.0973201 ] [ 0. 0. 0. 1. ]] SLAMing on 24.259928850999994 meters Centerline goodness : 0.860060 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.00, Z:0.10 [[ 9.49380210e-01 -2.76906852e-01 -1.48323339e-01 -4.93745436e-01] [ 2.80130278e-01 9.59961591e-01 8.77809463e-04 -4.00743405e-03] [ 1.42141637e-01 -4.23832331e-02 9.88938530e-01 9.74093913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.289928850999996 meters Centerline goodness : 0.858511 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.00, Z:0.10 [[ 9.49383682e-01 -2.76909213e-01 -1.48296704e-01 -4.94010940e-01] [ 2.80091852e-01 9.59973016e-01 6.01910591e-04 -3.25881338e-03] [ 1.42194160e-01 -4.21081426e-02 9.88942731e-01 9.77526664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.319928850999997 meters Centerline goodness : 0.860558 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.00, Z:0.10 [[ 9.49414412e-01 -2.76823960e-01 -1.48259127e-01 -4.94157891e-01] [ 2.79994988e-01 9.60001311e-01 5.39002987e-04 -2.65009338e-03] [ 1.42179748e-01 -4.20235497e-02 9.88948401e-01 9.77421253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.349928850999994 meters Centerline goodness : 0.861706 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.00, Z:0.10 [[ 9.49423046e-01 -2.76866145e-01 -1.48125006e-01 -4.94401100e-01] [ 2.79984934e-01 9.60004371e-01 2.12253841e-04 -1.61236428e-03] [ 1.42141887e-01 -4.16742888e-02 9.88968623e-01 9.77659880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.379928850999995 meters Centerline goodness : 0.860153 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.00, Z:0.10 [[ 9.49398653e-01 -2.76935729e-01 -1.48151274e-01 -4.94167229e-01] [ 2.80037922e-01 9.59988935e-01 8.36343361e-05 -1.13689865e-03] [ 1.42200422e-01 -4.15673772e-02 9.88964708e-01 9.75340977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.409928850999997 meters Centerline goodness : 0.859830 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.00, Z:0.10 [[ 9.49381176e-01 -2.77063494e-01 -1.48024335e-01 -4.94111128e-01] [ 2.80146102e-01 9.59957374e-01 -2.50517292e-05 -5.47028856e-04] [ 1.42103993e-01 -4.14446568e-02 9.88983719e-01 9.71044908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.439928850999994 meters Centerline goodness : 0.859201 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.00, Z:0.10 [[ 9.49341881e-01 -2.77195221e-01 -1.48029732e-01 -4.93939046e-01] [ 2.80250920e-01 9.59926753e-01 -2.24095865e-04 1.69303162e-04] [ 1.42159818e-01 -4.12727249e-02 9.88982886e-01 9.68715806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.469928850999995 meters Centerline goodness : 0.860871 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.00, Z:0.10 [[ 9.49312180e-01 -2.77305547e-01 -1.48013574e-01 -4.93749369e-01] [ 2.80337056e-01 9.59901546e-01 -3.96186382e-04 7.96221189e-04] [ 1.42188323e-01 -4.11175849e-02 9.88985250e-01 9.66317340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.499928850999996 meters Centerline goodness : 0.859253 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.00, Z:0.10 [[ 9.49199138e-01 -2.77865283e-01 -1.47688459e-01 -4.94744620e-01] [ 2.80822227e-01 9.59759413e-01 -8.64014839e-04 1.50026777e-03] [ 1.41985468e-01 -4.06540798e-02 9.89033555e-01 9.68855134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.529928850999998 meters Centerline goodness : 0.858087 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.00, Z:0.10 [[ 0.94911341 -0.27826298 -0.1474905 -0.49550215] [ 0.28115841 0.95966054 -0.0012664 0.0018713 ] [ 0.1418932 -0.04026624 0.98906266 0.09734329] [ 0. 0. 0. 1. ]] SLAMing on 24.559928850999995 meters Centerline goodness : 0.858359 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.00, Z:0.10 [[ 0.94903199 -0.27864247 -0.14729785 -0.49612704] [ 0.28147591 0.95956684 -0.00167297 0.00243174] [ 0.1418083 -0.03987309 0.98909077 0.09765773] [ 0. 0. 0. 1. ]] SLAMing on 24.589928850999996 meters Centerline goodness : 0.860538 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.00, Z:0.10 [[ 0.94894927 -0.27912364 -0.14691927 -0.49715628] [ 0.28186918 0.95945029 -0.0022169 0.0038761 ] [ 0.14158053 -0.03930829 0.989146 0.0977897 ] [ 0. 0. 0. 1. ]] SLAMing on 24.619928850999997 meters Centerline goodness : 0.862295 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.01, Z:0.10 [[ 0.94889567 -0.27935699 -0.14682195 -0.49745639] [ 0.2820443 0.95939782 -0.00261451 0.00506242] [ 0.14159104 -0.03892939 0.98915948 0.09784434] [ 0. 0. 0. 1. ]] SLAMing on 24.649928850999995 meters Centerline goodness : 0.860372 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.01, Z:0.10 [[ 0.94886083 -0.2795066 -0.14676237 -0.49745604] [ 0.28215415 0.95936474 -0.00288736 0.00616476] [ 0.14160568 -0.03866991 0.98916756 0.09759694] [ 0. 0. 0. 1. ]] SLAMing on 24.679928850999996 meters Centerline goodness : 0.859756 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.01, Z:0.10 [[ 0.94884021 -0.27959389 -0.14672937 -0.49733118] [ 0.28221568 0.95934609 -0.00306495 0.00709033] [ 0.14162119 -0.03850118 0.98917193 0.0972745 ] [ 0. 0. 0. 1. ]] SLAMing on 24.709928850999997 meters Centerline goodness : 0.858551 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.01, Z:0.10 [[ 0.94880711 -0.27978983 -0.14656983 -0.49737933] [ 0.28235435 0.95930402 -0.00343657 0.00871495] [ 0.14156655 -0.03812399 0.98919436 0.09680707] [ 0. 0. 0. 1. ]] SLAMing on 24.739928850999995 meters Centerline goodness : 0.859799 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.01, Z:0.10 [[ 0.9487583 -0.28006291 -0.1463641 -0.49788362] [ 0.28257307 0.95923832 -0.00378191 0.0098212 ] [ 0.14145723 -0.03777044 0.98922356 0.09673549] [ 0. 0. 0. 1. ]] SLAMing on 24.769928850999996 meters Centerline goodness : 0.859992 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.01, Z:0.10 [[ 0.94869814 -0.28033505 -0.14623302 -0.49833568] [ 0.282798 0.95917074 -0.00409788 0.01084009] [ 0.14141121 -0.03746676 0.98924169 0.09676458] [ 0. 0. 0. 1. ]] SLAMing on 24.799928850999997 meters Centerline goodness : 0.858524 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.01, Z:0.10 [[ 0.94860623 -0.28078763 -0.14596073 -0.49919845] [ 0.28318255 0.9590553 -0.00453642 0.0118303 ] [ 0.14125818 -0.03703026 0.98927998 0.09694683] [ 0. 0. 0. 1. ]] SLAMing on 24.829928850999995 meters Centerline goodness : 0.855801 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.01, Z:0.10 [[ 0.94843855 -0.2816983 -0.1452941 -0.50112021] [ 0.28395093 0.95882344 -0.00542982 0.01398464] [ 0.14084096 -0.03610654 0.98937361 0.09723131] [ 0. 0. 0. 1. ]] SLAMing on 24.859928850999996 meters Centerline goodness : 0.857819 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.02, Z:0.10 [[ 0.94834771 -0.28214532 -0.14501943 -0.50213363] [ 0.28429921 0.95871628 -0.00608745 0.01555409] [ 0.14075004 -0.03545589 0.98941008 0.09759473] [ 0. 0. 0. 1. ]] SLAMing on 24.889928850999997 meters Centerline goodness : 0.855200 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.02, Z:0.10 [[ 0.94833845 -0.2822914 -0.14479553 -0.50254644] [ 0.28439287 0.95868639 -0.0064106 0.01691874] [ 0.14062317 -0.03509939 0.98944083 0.09740673] [ 0. 0. 0. 1. ]] SLAMing on 24.919928850999995 meters Centerline goodness : 0.856372 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.02, Z:0.10 [[ 0.94828654 -0.28260272 -0.14452798 -0.50295642] [ 0.28463418 0.95861166 -0.00686031 0.01949057] [ 0.14048495 -0.03463206 0.98947693 0.09668159] [ 0. 0. 0. 1. ]] SLAMing on 24.949928850999996 meters Centerline goodness : 0.854316 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.02, Z:0.10 [[ 0.94822076 -0.28295005 -0.1442798 -0.50345653] [ 0.28492006 0.9585238 -0.00725837 0.02094761] [ 0.14034938 -0.03422567 0.98951031 0.09642286] [ 0. 0. 0. 1. ]] SLAMing on 24.979928850999997 meters Centerline goodness : 0.854893 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.02, Z:0.10 [[ 0.94814085 -0.28326874 -0.14417956 -0.50394752] [ 0.28517581 0.95844428 -0.00770197 0.02226966] [ 0.14036981 -0.03381397 0.98952157 0.09654985] [ 0. 0. 0. 1. ]] SLAMing on 25.009928850999994 meters Centerline goodness : 0.854234 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.02, Z:0.10 [[ 0.94805021 -0.28369914 -0.14392914 -0.50481451] [ 0.28552288 0.95833628 -0.00826205 0.02374343] [ 0.14027645 -0.03326223 0.98955351 0.09677702] [ 0. 0. 0. 1. ]] SLAMing on 25.039928850999996 meters Centerline goodness : 0.855084 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.03, Z:0.10 [[ 0.9479045 -0.2843741 -0.14355635 -0.506116 ] [ 0.28609465 0.95815953 -0.00895365 0.0250512 ] [ 0.14009607 -0.0325835 0.98960164 0.0972361 ] [ 0. 0. 0. 1. ]] SLAMing on 25.069928850999997 meters Centerline goodness : 0.854044 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.03, Z:0.10 [[ 0.94761223 -0.28570421 -0.14284317 -0.50819056] [ 0.28728402 0.95779443 -0.0098853 0.02635803] [ 0.13963867 -0.03166913 0.98969597 0.09757528] [ 0. 0. 0. 1. ]] SLAMing on 25.099928850999994 meters Centerline goodness : 0.851869 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.03, Z:0.10 [[ 0.94747584 -0.28627535 -0.14260421 -0.50877416] [ 0.28778852 0.95763809 -0.01034693 0.02703017] [ 0.1395253 -0.03123638 0.98972571 0.09763433] [ 0. 0. 0. 1. ]] SLAMing on 25.129928850999995 meters Centerline goodness : 0.852061 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.03, Z:0.10 [[ 0.94738638 -0.28665542 -0.14243497 -0.50915182] [ 0.28810662 0.95753769 -0.01077745 0.02815334] [ 0.13947627 -0.03082605 0.98974548 0.09757866] [ 0. 0. 0. 1. ]] SLAMing on 25.159928850999997 meters Centerline goodness : 0.850988 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.03, Z:0.10 [[ 0.94733031 -0.28692635 -0.14226227 -0.50938979] [ 0.28833293 0.95746615 -0.01107634 0.02936972] [ 0.1393894 -0.03052594 0.98976702 0.09722779] [ 0. 0. 0. 1. ]] SLAMing on 25.189928850999994 meters Centerline goodness : 0.852204 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.03, Z:0.10 [[ 0.9473731 -0.28677451 -0.14228349 -0.50909821] [ 0.28812194 0.9575248 -0.01148928 0.03188521] [ 0.1395348 -0.03011036 0.98975927 0.09677823] [ 0. 0. 0. 1. ]] SLAMing on 25.219928850999995 meters Centerline goodness : 0.852436 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.03, Z:0.10 [[ 0.94738374 -0.28673829 -0.14228565 -0.50900142] [ 0.28804032 0.95754547 -0.01180889 0.03373911] [ 0.13963104 -0.02979645 0.98975519 0.09649578] [ 0. 0. 0. 1. ]] SLAMing on 25.249928850999996 meters Centerline goodness : 0.851578 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.04, Z:0.10 [[ 0.94741433 -0.28662894 -0.1423023 -0.50910345] [ 0.28790302 0.95758436 -0.01200222 0.03513201] [ 0.13970664 -0.02959819 0.98975047 0.09649401] [ 0. 0. 0. 1. ]] SLAMing on 25.279928850999994 meters Centerline goodness : 0.850119 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.04, Z:0.10 [[ 0.94735739 -0.28685606 -0.14222366 -0.50973844] [ 0.28805639 0.95753153 -0.01252515 0.03673814] [ 0.13977656 -0.02910264 0.9897553 0.09693195] [ 0. 0. 0. 1. ]] SLAMing on 25.309928850999995 meters Centerline goodness : 0.804222 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.04, Z:0.10 [[ 0.94733696 -0.28714195 -0.14178217 -0.51142667] [ 0.28822555 0.95747042 -0.01328238 0.03924508] [ 0.13956617 -0.02828236 0.98980877 0.09761882] [ 0. 0. 0. 1. ]] SLAMing on 25.339928850999996 meters Centerline goodness : 0.804000 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.04, Z:0.10 [[ 0.94731655 -0.28728486 -0.14162899 -0.51188146] [ 0.28832402 0.95743664 -0.0135773 0.04021961] [ 0.13950134 -0.02797304 0.9898267 0.0977135 ] [ 0. 0. 0. 1. ]] SLAMing on 25.369928850999997 meters Centerline goodness : 0.805467 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.04, Z:0.10 [[ 0.94732474 -0.28727306 -0.1415981 -0.51200496] [ 0.28829517 0.95744371 -0.01369112 0.04098897] [ 0.1395053 -0.02785211 0.98982955 0.09763007] [ 0. 0. 0. 1. ]] SLAMing on 25.399928850999995 meters Centerline goodness : 0.804338 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.04, Z:0.10 [[ 0.94732351 -0.28725862 -0.14163563 -0.51194678] [ 0.28824483 0.95745509 -0.01395215 0.04220949] [ 0.13961763 -0.02760854 0.98982053 0.0975738 ] [ 0. 0. 0. 1. ]] SLAMing on 25.429928850999996 meters Centerline goodness : 0.804500 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.04, Z:0.10 [[ 0.94818856 -0.28428858 -0.14183953 -0.51121898] [ 0.28559444 0.95828157 -0.01149975 0.0437321 ] [ 0.13919146 -0.02960465 0.98982286 0.09581903] [ 0. 0. 0. 1. ]] SLAMing on 25.459928850999997 meters Centerline goodness : 0.805430 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.05, Z:0.10 [[ 0.94836959 -0.2834767 -0.14225359 -0.50981238] [ 0.2847952 0.95852015 -0.0114375 0.04544186] [ 0.13959519 -0.02966616 0.98976416 0.09526828] [ 0. 0. 0. 1. ]] SLAMing on 25.489928850999995 meters Centerline goodness : 0.853244 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.05, Z:0.10 [[ 0.94850152 -0.28293285 -0.14245653 -0.50912308] [ 0.28423892 0.95868418 -0.01152766 0.04716953] [ 0.13983238 -0.02955769 0.98973393 0.09500036] [ 0. 0. 0. 1. ]] SLAMing on 25.519928850999996 meters Centerline goodness : 0.853244 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.05, Z:0.10 [[ 0.94850152 -0.28293285 -0.14245653 -0.50912308] [ 0.28423892 0.95868418 -0.01152766 0.04716953] [ 0.13983238 -0.02955769 0.98973393 0.09500036] [ 0. 0. 0. 1. ]] SLAMing on 25.549928850999997 meters Centerline goodness : 0.808161 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.05, Z:0.10 [[ 0.94954967 -0.27897084 -0.14328538 -0.5100135 ] [ 0.28076292 0.95974404 -0.00797197 0.04740593] [ 0.13974124 -0.03265944 0.98964931 0.09516411] [ 0. 0. 0. 1. ]] SLAMing on 25.579928850999995 meters Centerline goodness : 0.807163 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.05, Z:0.10 [[ 0.94965722 -0.27849579 -0.14349657 -0.50951468] [ 0.28028066 0.95988445 -0.0080366 0.04845654] [ 0.13997828 -0.0325873 0.98961818 0.09520438] [ 0. 0. 0. 1. ]] SLAMing on 25.609928850999996 meters Centerline goodness : 0.808016 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.05, Z:0.10 [[ 0.94974387 -0.27815689 -0.14358039 -0.50952969] [ 0.27991382 0.95998987 -0.0082279 0.04961021] [ 0.14012437 -0.03237574 0.98960445 0.09552037] [ 0. 0. 0. 1. ]] SLAMing on 25.639928850999997 meters Centerline goodness : 0.806831 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.05, Z:0.10 [[ 0.94988579 -0.27759339 -0.14373205 -0.50914611] [ 0.27933176 0.96015833 -0.00835124 0.05103009] [ 0.14032377 -0.0322162 0.9895814 0.09561734] [ 0. 0. 0. 1. ]] SLAMing on 25.669928850999995 meters Centerline goodness : 0.806379 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.05, Z:0.10 [[ 0.95104378 -0.27311502 -0.14465103 -0.50944335] [ 0.27536288 0.96132916 -0.00464069 0.05220347] [ 0.14032469 -0.03541802 0.98947185 0.09532735] [ 0. 0. 0. 1. ]] SLAMing on 25.699928850999996 meters Centerline goodness : 0.807592 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.05, Z:0.09 [[ 0.9512904 -0.27198594 -0.14515587 -0.50771845] [ 0.27427034 0.96164244 -0.00442615 0.05367004] [ 0.14079189 -0.0356014 0.9893989 0.0948231 ] [ 0. 0. 0. 1. ]] SLAMing on 25.729928850999997 meters Centerline goodness : 0.806649 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.06, Z:0.09 [[ 0.95147251 -0.27103673 -0.14573658 -0.50587583] [ 0.27334589 0.96190607 -0.00432821 0.05514326] [ 0.14135801 -0.03571832 0.98931396 0.09433178] [ 0. 0. 0. 1. ]] SLAMing on 25.759928850999994 meters Centerline goodness : 0.804092 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.06, Z:0.09 [[ 0.95174138 -0.26983666 -0.1462071 -0.50401197] [ 0.27220497 0.96223121 -0.00394316 0.05630601] [ 0.14174904 -0.03604543 0.98924614 0.09355433] [ 0. 0. 0. 1. ]] SLAMing on 25.789928850999996 meters Centerline goodness : 0.804715 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.06, Z:0.09 [[ 9.52949460e-01 -2.64808885e-01 -1.47524849e-01 -5.02760991e-01] [ 2.67775856e-01 9.63481200e-01 2.60809105e-04 5.64641181e-02] [ 1.42068354e-01 -3.97521306e-02 9.89058315e-01 9.27212913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.819928850999997 meters Centerline goodness : 0.805705 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.06, Z:0.09 [[ 9.53125545e-01 -2.63966631e-01 -1.47896295e-01 -5.01747992e-01] [ 2.66947301e-01 9.63711076e-01 3.15937538e-04 5.76481228e-02] [ 1.42445901e-01 -3.97816450e-02 9.89002824e-01 9.27278225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.849928850999994 meters Centerline goodness : 0.804982 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.06, Z:0.09 [[ 9.53245697e-01 -2.63407243e-01 -1.48119091e-01 -5.01337630e-01] [ 2.66383760e-01 9.63867014e-01 2.67493073e-04 5.87054089e-02] [ 1.42696646e-01 -3.97115071e-02 9.88969496e-01 9.29453701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.879928850999995 meters Centerline goodness : 0.804746 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.06, Z:0.09 [[ 9.53378355e-01 -2.62740760e-01 -1.48448662e-01 -5.00501982e-01] [ 2.65724463e-01 9.64048979e-01 2.76118774e-04 5.94805770e-02] [ 1.43039233e-01 -3.97096866e-02 9.88920077e-01 9.31305211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.909928850999997 meters Centerline goodness : 0.806709 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.06, Z:0.09 [[ 0.9544842 -0.2580881 -0.14950063 -0.50002416] [ 0.2616616 0.96514964 0.00440289 0.05805588] [ 0.14315414 -0.04332106 0.98875183 0.09296948] [ 0. 0. 0. 1. ]] SLAMing on 25.939928850999994 meters Centerline goodness : 0.806087 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.06, Z:0.09 [[ 0.9546286 -0.2573704 -0.14981563 -0.49906356] [ 0.26095461 0.96534088 0.00443585 0.05872888] [ 0.14348149 -0.04332966 0.988704 0.09299948] [ 0. 0. 0. 1. ]] SLAMing on 25.969928850999995 meters Centerline goodness : 0.807150 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.06, Z:0.09 [[ 0.95479044 -0.25653333 -0.15021938 -0.49780984] [ 0.26015495 0.96555576 0.00463479 0.05932493] [ 0.14385621 -0.04350557 0.98864182 0.09282488] [ 0. 0. 0. 1. ]] SLAMing on 25.999928850999996 meters Centerline goodness : 0.807023 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.06, Z:0.09 [[ 0.9549338 -0.25579811 -0.15056152 -0.49672467] [ 0.25944232 0.96574696 0.0047422 0.06001276] [ 0.14419128 -0.04359052 0.98858927 0.09272276] [ 0. 0. 0. 1. ]] SLAMing on 26.029928850999994 meters Centerline goodness : 0.804264 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.06, Z:0.09 [[ 0.95518781 -0.25451632 -0.15112145 -0.49479509] [ 0.25824794 0.96606431 0.00526826 0.06092454] [ 0.14465218 -0.04405898 0.98850117 0.09208933] [ 0. 0. 0. 1. ]] SLAMing on 26.059928850999995 meters Centerline goodness : 0.802229 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.06, Z:0.09 [[ 0.95525227 -0.25408189 -0.15144469 -0.49387575] [ 0.25784333 0.96617162 0.005406 0.06104934] [ 0.144948 -0.0442131 0.98845095 0.09202728] [ 0. 0. 0. 1. ]] SLAMing on 26.089928850999996 meters Centerline goodness : 0.801028 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.06, Z:0.09 [[ 0.95526135 -0.25398592 -0.15154834 -0.49364793] [ 0.25775093 0.96619627 0.00540588 0.06068726] [ 0.14505243 -0.04422576 0.98843506 0.09228309] [ 0. 0. 0. 1. ]] SLAMing on 26.119928850999994 meters Centerline goodness : 0.800210 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.06, Z:0.09 [[ 0.95522241 -0.25421031 -0.15141754 -0.49406719] [ 0.25795542 0.96614232 0.00529307 0.05987547] [ 0.14494534 -0.04411503 0.98845572 0.0927345 ] [ 0. 0. 0. 1. ]] SLAMing on 26.149928850999995 meters Centerline goodness : 0.802776 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.06, Z:0.09 [[ 0.95498444 -0.2552975 -0.15108905 -0.49538323] [ 0.25899776 0.96586496 0.0050032 0.05770608] [ 0.14465431 -0.04390971 0.9885075 0.09361198] [ 0. 0. 0. 1. ]] SLAMing on 26.179928850999996 meters Centerline goodness : 0.800641 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.06, Z:0.09 [[ 0.95489908 -0.25565873 -0.15101777 -0.49555246] [ 0.25935746 0.96576852 0.00498647 0.05666859] [ 0.14457337 -0.04392916 0.98851847 0.09374274] [ 0. 0. 0. 1. ]] SLAMing on 26.209928850999997 meters Centerline goodness : 0.802471 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.06, Z:0.09 [[ 0.95480056 -0.25614641 -0.15081414 -0.49590228] [ 0.25983186 0.96564134 0.00492024 0.05576336] [ 0.14437207 -0.04388417 0.98854989 0.09374127] [ 0. 0. 0. 1. ]] SLAMing on 26.239928850999995 meters Centerline goodness : 0.800674 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.05, Z:0.09 [[ 0.95469242 -0.25660138 -0.15072532 -0.49609815] [ 0.26028106 0.9655206 0.00487269 0.05481179] [ 0.14427806 -0.04388286 0.98856367 0.09384739] [ 0. 0. 0. 1. ]] SLAMing on 26.269928850999996 meters Centerline goodness : 0.798907 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.05, Z:0.09 [[ 0.95439248 -0.25779352 -0.15059048 -0.4967157 ] [ 0.26143958 0.96520892 0.00459103 0.05299485] [ 0.14416774 -0.04375196 0.98858557 0.09424232] [ 0. 0. 0. 1. ]] SLAMing on 26.299928850999997 meters Centerline goodness : 0.800299 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.05, Z:0.09 [[ 0.95424479 -0.25837868 -0.15052356 -0.49703408] [ 0.26201122 0.96505446 0.00447335 0.05181559] [ 0.14410761 -0.04370753 0.9885963 0.09456889] [ 0. 0. 0. 1. ]] SLAMing on 26.329928850999995 meters Centerline goodness : 0.797963 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.05, Z:0.09 [[ 0.95412421 -0.25889939 -0.15039315 -0.49726811] [ 0.26253177 0.96491299 0.00447185 0.05044234] [ 0.14395855 -0.04374968 0.98861615 0.09465177] [ 0. 0. 0. 1. ]] SLAMing on 26.359928850999996 meters Centerline goodness : 0.798582 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.05, Z:0.09 [[ 0.95396575 -0.25960097 -0.15018886 -0.49789865] [ 0.26320925 0.96472912 0.00431456 0.04911123] [ 0.1437715 -0.04364704 0.98864791 0.09499201] [ 0. 0. 0. 1. ]] SLAMing on 26.389928850999997 meters Centerline goodness : 0.799782 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.05, Z:0.10 [[ 9.52799532e-01 -2.64480668e-01 -1.49073900e-01 -4.98775631e-01] [ 2.67464892e-01 9.63567606e-01 -3.07238367e-05 4.94788355e-02] [ 1.43650906e-01 -3.98427609e-02 9.88826057e-01 9.60660599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.419928850999995 meters Centerline goodness : 0.800998 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.05, Z:0.10 [[ 9.52572336e-01 -2.65499493e-01 -1.48714369e-01 -5.00008248e-01] [ 2.68428040e-01 9.63299659e-01 -3.93005729e-04 4.85263436e-02] [ 1.43360843e-01 -3.95447401e-02 9.88880115e-01 9.65908053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.449928850999996 meters Centerline goodness : 0.799425 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.05, Z:0.10 [[ 9.52358209e-01 -2.66456369e-01 -1.48374002e-01 -5.00978142e-01] [ 2.69340944e-01 9.63044651e-01 -6.76143887e-04 4.75503157e-02] [ 1.43070952e-01 -3.93192626e-02 9.88931089e-01 9.68638165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.479928850999997 meters Centerline goodness : 0.800889 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.05, Z:0.10 [[ 9.52208514e-01 -2.67082628e-01 -1.48208693e-01 -5.01401093e-01] [ 2.69964040e-01 9.62870150e-01 -7.00582541e-04 4.62063594e-02] [ 1.42892840e-01 -3.93439169e-02 9.88955860e-01 9.69819154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.509928850999994 meters Centerline goodness : 0.798575 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.05, Z:0.10 [[ 0.95107955 -0.27166429 -0.14712651 -0.50141409] [ 0.27394974 0.96173156 -0.00489464 0.04684888] [ 0.14282591 -0.03565007 0.98910557 0.09721758] [ 0. 0. 0. 1. ]] SLAMing on 26.539928850999996 meters Centerline goodness : 0.799248 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.05, Z:0.10 [[ 0.95096134 -0.27214913 -0.14699446 -0.5015972 ] [ 0.2744222 0.96159639 -0.00498469 0.0464144 ] [ 0.14270592 -0.03559829 0.98912476 0.09705883] [ 0. 0. 0. 1. ]] SLAMing on 26.569928850999997 meters Centerline goodness : 0.850399 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.05, Z:0.10 [[ 0.95079494 -0.27282702 -0.14681417 -0.50210206] [ 0.27507579 0.9614087 -0.0051603 0.04601513] [ 0.14255629 -0.03547864 0.98915063 0.09704352] [ 0. 0. 0. 1. ]] SLAMing on 26.599928850999994 meters Centerline goodness : 0.797012 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.05, Z:0.10 [[ 0.95062506 -0.27357394 -0.14652405 -0.50294014] [ 0.2757876 0.96120349 -0.00538902 0.04551638] [ 0.14231372 -0.03528657 0.98919243 0.09723522] [ 0. 0. 0. 1. ]] SLAMing on 26.629928850999995 meters Centerline goodness : 0.797488 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.05, Z:0.10 [[ 0.95013473 -0.2757032 -0.14571114 -0.50590885] [ 0.27774466 0.96063259 -0.00655157 0.04546724] [ 0.14178116 -0.03424562 0.98930548 0.09843077] [ 0. 0. 0. 1. ]] SLAMing on 26.659928850999997 meters Centerline goodness : 0.848650 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.05, Z:0.10 [[ 0.9499113 -0.27675382 -0.14517524 -0.50761583] [ 0.27871203 0.96034859 -0.00708405 0.04526859] [ 0.14137937 -0.03373287 0.9893806 0.09903551] [ 0. 0. 0. 1. ]] SLAMing on 26.689928850999994 meters Centerline goodness : 0.848180 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.04, Z:0.10 [[ 0.949529 -0.27840996 -0.14450805 -0.50967246] [ 0.28025208 0.95989422 -0.00786552 0.0449253 ] [ 0.14090228 -0.03303014 0.98947236 0.09956164] [ 0. 0. 0. 1. ]] SLAMing on 26.719928850999995 meters Centerline goodness : 0.848271 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.05, Z:0.10 [[ 0.94939719 -0.27896162 -0.14431006 -0.51028467] [ 0.28074941 0.95974571 -0.00824279 0.04536402] [ 0.14080038 -0.03268928 0.98949819 0.09969687] [ 0. 0. 0. 1. ]] SLAMing on 26.749928850999996 meters Centerline goodness : 0.798325 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.05, Z:0.10 [[ 0.94933191 -0.27921792 -0.14424383 -0.51037503] [ 0.28096554 0.95967996 -0.0085292 0.04625936] [ 0.14080942 -0.0324305 0.98950542 0.09952585] [ 0. 0. 0. 1. ]] SLAMing on 26.779928850999994 meters Centerline goodness : 0.802611 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.05, Z:0.10 [[ 0.94921712 -0.27970667 -0.14405222 -0.51106071] [ 0.28138157 0.95955344 -0.0090335 0.04788508] [ 0.14075253 -0.03195889 0.98952885 0.09954187] [ 0. 0. 0. 1. ]] SLAMing on 26.809928850999995 meters Centerline goodness : 0.801888 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.05, Z:0.10 [[ 0.94912376 -0.28012279 -0.14385867 -0.51157821] [ 0.28173827 0.95944487 -0.00943901 0.04930994] [ 0.14066854 -0.0315717 0.98955323 0.09940609] [ 0. 0. 0. 1. ]] SLAMing on 26.839928850999996 meters Centerline goodness : 0.802339 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.05, Z:0.10 [[ 0.94901998 -0.28049692 -0.1438143 -0.51195636] [ 0.28205647 0.95934723 -0.00985104 0.05035758] [ 0.14073103 -0.03121492 0.98955566 0.09959422] [ 0. 0. 0. 1. ]] SLAMing on 26.869928850999994 meters Centerline goodness : 0.802688 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.05, Z:0.10 [[ 0.94874695 -0.28179742 -0.14307144 -0.51428916] [ 0.2832249 0.95899365 -0.01071615 0.05154865] [ 0.14022439 -0.03035448 0.98965435 0.1000787 ] [ 0. 0. 0. 1. ]] SLAMing on 26.899928850999995 meters Centerline goodness : 0.801677 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.05, Z:0.10 [[ 0.94862099 -0.28245141 -0.14261633 -0.51548312] [ 0.28381404 0.9588148 -0.01112522 0.05188463] [ 0.13988499 -0.0299229 0.98971552 0.10024896] [ 0. 0. 0. 1. ]] SLAMing on 26.929928850999996 meters Centerline goodness : 0.803984 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.05, Z:0.10 [[ 0.94850977 -0.28295816 -0.14235133 -0.51631355] [ 0.28426734 0.95867626 -0.01148508 0.05238067] [ 0.13971863 -0.02957212 0.98974956 0.10047045] [ 0. 0. 0. 1. ]] SLAMing on 26.959928850999994 meters Centerline goodness : 0.805405 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.05, Z:0.10 [[ 0.94828209 -0.28406018 -0.14167181 -0.51850055] [ 0.28522397 0.95837994 -0.01245692 0.05490448] [ 0.13931393 -0.02859552 0.9898353 0.10083573] [ 0. 0. 0. 1. ]] SLAMing on 26.989928850999995 meters Centerline goodness : 0.802462 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.06, Z:0.10 [[ 0.94819633 -0.28438976 -0.14158453 -0.51896449] [ 0.28547949 0.95829678 -0.01299006 0.05670226] [ 0.13937424 -0.02810235 0.98984094 0.10098246] [ 0. 0. 0. 1. ]] SLAMing on 27.019928850999996 meters Centerline goodness : 0.804100 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.06, Z:0.10 [[ 0.94814334 -0.28460189 -0.14151312 -0.51922044] [ 0.28563929 0.95824403 -0.01336324 0.05819179] [ 0.13940731 -0.02775144 0.98984618 0.10091821] [ 0. 0. 0. 1. ]] SLAMing on 27.049928850999997 meters Centerline goodness : 0.804277 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.06, Z:0.10 [[ 0.94813968 -0.28460076 -0.14153996 -0.51888135] [ 0.28562508 0.95824689 -0.01346135 0.05892774] [ 0.13946133 -0.02766413 0.98984101 0.10052217] [ 0. 0. 0. 1. ]] SLAMing on 27.079928850999995 meters Centerline goodness : 0.804977 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.06, Z:0.10 [[ 0.94808535 -0.28489301 -0.14131576 -0.51886569] [ 0.2858788 0.95816767 -0.01371232 0.05978753] [ 0.13931073 -0.02739873 0.9898696 0.09987396] [ 0. 0. 0. 1. ]] SLAMing on 27.109928850999996 meters Centerline goodness : 0.806162 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.06, Z:0.10 [[ 0.94800387 -0.28520588 -0.14123126 -0.5191674 ] [ 0.28614476 0.95808335 -0.01405259 0.06082669] [ 0.1393192 -0.02709067 0.98987689 0.09987296] [ 0. 0. 0. 1. ]] SLAMing on 27.139928850999997 meters Centerline goodness : 0.807088 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.06, Z:0.10 [[ 0.94788295 -0.28572886 -0.14098556 -0.52025061] [ 0.28656908 0.9579461 -0.0147455 0.06282141] [ 0.13926979 -0.02642509 0.98990183 0.10030107] [ 0. 0. 0. 1. ]] SLAMing on 27.169928850999995 meters Centerline goodness : 0.806955 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.06, Z:0.10 [[ 0.94776051 -0.28624366 -0.14076429 -0.52142722] [ 0.28698132 0.95781123 -0.01547152 0.06496768] [ 0.13925424 -0.02573343 0.98992224 0.10083161] [ 0. 0. 0. 1. ]] SLAMing on 27.199928850999996 meters Centerline goodness : 0.809912 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.07, Z:0.10 [[ 0.94767455 -0.28667488 -0.14046516 -0.52258962] [ 0.28728711 0.95770512 -0.01634078 0.06780303] [ 0.13920869 -0.02486808 0.98995077 0.10123123] [ 0. 0. 0. 1. ]] SLAMing on 27.229928850999997 meters Centerline goodness : 0.812030 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.07, Z:0.10 [[ 0.94766219 -0.28673979 -0.14041606 -0.52254157] [ 0.28732955 0.95768971 -0.01649663 0.06831167] [ 0.13920525 -0.02471245 0.98995515 0.10105333] [ 0. 0. 0. 1. ]] SLAMing on 27.259928850999994 meters Centerline goodness : 0.808980 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.07, Z:0.10 [[ 0.94767947 -0.28665753 -0.14046738 -0.52204165] [ 0.28723009 0.95771738 -0.01662196 0.06920204] [ 0.13929287 -0.02459417 0.98994577 0.10058894] [ 0. 0. 0. 1. ]] SLAMing on 27.289928850999996 meters Centerline goodness : 0.817363 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.07, Z:0.10 [[ 0.94756083 -0.28715147 -0.14025868 -0.52301138] [ 0.28760766 0.95758934 -0.01744946 0.07192038] [ 0.13932085 -0.02380505 0.98996112 0.10091636] [ 0. 0. 0. 1. ]] SLAMing on 27.319928850999997 meters Centerline goodness : 0.817758 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.07, Z:0.10 [[ 0.94749202 -0.28745041 -0.14011116 -0.52360588] [ 0.28784628 0.95750979 -0.01787527 0.07353271] [ 0.13929606 -0.0233938 0.98997441 0.10099926] [ 0. 0. 0. 1. ]] SLAMing on 27.349928850999994 meters Centerline goodness : 0.817608 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.07, Z:0.10 [[ 0.94743014 -0.2876555 -0.14010866 -0.52382171] [ 0.28800051 0.95745631 -0.01825161 0.07474238] [ 0.13939809 -0.02305924 0.9899679 0.1011381 ] [ 0. 0. 0. 1. ]] SLAMing on 27.379928850999995 meters Centerline goodness : 0.815606 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.08, Z:0.10 [[ 0.94736162 -0.28790922 -0.14005085 -0.52404132] [ 0.28822617 0.9573844 -0.01846032 0.07547859] [ 0.13939739 -0.02287772 0.98997221 0.1010543 ] [ 0. 0. 0. 1. ]] SLAMing on 27.409928850999997 meters Centerline goodness : 0.815606 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.08, Z:0.10 [[ 0.94736162 -0.28790922 -0.14005085 -0.52404132] [ 0.28822617 0.9573844 -0.01846032 0.07547859] [ 0.13939739 -0.02287772 0.98997221 0.1010543 ] [ 0. 0. 0. 1. ]] SLAMing on 27.439928850999994 meters Centerline goodness : 0.819452 Centerline is valid? [False, False] Translation: X:-0.53, Y:0.08, Z:0.10 [[ 0.94715899 -0.28877572 -0.13963676 -0.52515213] [ 0.28902568 0.9571341 -0.01893353 0.0759517 ] [ 0.13911865 -0.02242555 0.99002177 0.10110251] [ 0. 0. 0. 1. ]] SLAMing on 27.469928850999995 meters Centerline goodness : 0.817748 Centerline is valid? [False, False] Translation: X:-0.53, Y:0.07, Z:0.10 [[ 0.94888248 -0.28649627 -0.13244595 -0.53364468] [ 0.28639614 0.95789793 -0.02021888 0.07283178] [ 0.13266233 -0.01874667 0.99098399 0.09691887] [ 0. 0. 0. 1. ]] SLAMing on 27.499928850999996 meters Centerline goodness : 0.819864 Centerline is valid? [False, False] Translation: X:-0.53, Y:0.07, Z:0.10 [[ 0.94876328 -0.28697995 -0.1322526 -0.53441139] [ 0.28682561 0.95776064 -0.02063088 0.07348119] [ 0.13258698 -0.01835961 0.99100132 0.09724087] [ 0. 0. 0. 1. ]] SLAMing on 27.529928850999994 meters Centerline goodness : 0.818992 Centerline is valid? [False, False] Translation: X:-0.54, Y:0.07, Z:0.10 [[ 0.94863599 -0.28752877 -0.13197336 -0.53543037] [ 0.2872988 0.95760644 -0.02119685 0.07461222] [ 0.13247325 -0.01780769 0.9910266 0.09763203] [ 0. 0. 0. 1. ]] SLAMing on 27.559928850999995 meters Centerline goodness : 0.819593 Centerline is valid? [False, False] Translation: X:-0.54, Y:0.08, Z:0.10 [[ 0.94838472 -0.28859384 -0.13145345 -0.53755133] [ 0.28822042 0.95730491 -0.02227752 0.07693356] [ 0.13227019 -0.01675991 0.991072 0.09847486] [ 0. 0. 0. 1. ]] SLAMing on 27.589928850999996 meters Centerline goodness : 0.820433 Centerline is valid? [False, False] Translation: X:-0.54, Y:0.08, Z:0.10 [[ 0.94831252 -0.28892776 -0.13124064 -0.53813458] [ 0.28851079 0.95720987 -0.02260053 0.07778405] [ 0.13215476 -0.01643198 0.99109289 0.0984997 ] [ 0. 0. 0. 1. ]] SLAMing on 27.619928850999994 meters Centerline goodness : 0.824003 Centerline is valid? [False, False] Translation: X:-0.54, Y:0.08, Z:0.10 [[ 0.94824049 -0.28926719 -0.1310132 -0.53864859] [ 0.28879775 0.95711406 -0.02298987 0.07860374] [ 0.13204479 -0.01603639 0.99111402 0.09856308] [ 0. 0. 0. 1. ]] SLAMing on 27.649928850999995 meters Centerline goodness : 0.824830 Centerline is valid? [False, False] Translation: X:-0.54, Y:0.08, Z:0.10 [[ 0.94810173 -0.28994611 -0.13051577 -0.54016039] [ 0.28940484 0.95691785 -0.02351735 0.07990623] [ 0.13171163 -0.01547505 0.99116728 0.09874891] [ 0. 0. 0. 1. ]] SLAMing on 27.679928850999996 meters Centerline goodness : 0.823306 Centerline is valid? [False, False] Translation: X:-0.54, Y:0.08, Z:0.10 [[ 0.94799422 -0.29039486 -0.1302988 -0.54091633] [ 0.28980202 0.95678787 -0.02391147 0.08077926] [ 0.13161208 -0.01509291 0.99118639 0.0989305 ] [ 0. 0. 0. 1. ]] SLAMing on 27.709928850999994 meters Centerline goodness : 0.824599 Centerline is valid? [False, False] Translation: X:-0.54, Y:0.08, Z:0.10 [[ 0.94790004 -0.29076396 -0.13016083 -0.54142377] [ 0.29013568 0.95667978 -0.02418838 0.0815858 ] [ 0.13155534 -0.01483613 0.9911978 0.09895405] [ 0. 0. 0. 1. ]] SLAMing on 27.739928850999995 meters Centerline goodness : 0.825528 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.08, Z:0.10 [[ 0.94899 -0.28856834 -0.12706806 -0.56169067] [ 0.287478 0.95739976 -0.02724142 0.07736084] [ 0.12951595 -0.01067744 0.99151985 0.09717003] [ 0. 0. 0. 1. ]] SLAMing on 27.769928850999996 meters Centerline goodness : 0.827324 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.08, Z:0.10 [[ 0.94880285 -0.28932518 -0.12674423 -0.56287285] [ 0.28814746 0.95717847 -0.02793577 0.07919034] [ 0.12939937 -0.01001549 0.99154198 0.09741927] [ 0. 0. 0. 1. ]] SLAMing on 27.799928850999994 meters Centerline goodness : 0.824510 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.08, Z:0.10 [[ 0.94873013 -0.28964946 -0.12654774 -0.56324396] [ 0.28843922 0.95708309 -0.02819183 0.08001586] [ 0.12928245 -0.00975489 0.99155983 0.09720012] [ 0. 0. 0. 1. ]] SLAMing on 27.829928850999995 meters Centerline goodness : 0.824993 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.08, Z:0.10 [[ 0.94867424 -0.28989471 -0.12640507 -0.56324093] [ 0.28866904 0.95701013 -0.02831607 0.0802644 ] [ 0.12917961 -0.00962651 0.99157448 0.09682453] [ 0. 0. 0. 1. ]] SLAMing on 27.859928850999996 meters Centerline goodness : 0.824250 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.08, Z:0.10 [[ 0.94861678 -0.29014865 -0.12625353 -0.56323174] [ 0.28892703 0.95693302 -0.02829066 0.08010502] [ 0.12902467 -0.00964107 0.99159452 0.09631426] [ 0. 0. 0. 1. ]] SLAMing on 27.889928850999997 meters Centerline goodness : 0.825049 Centerline is valid? [False, False] Translation: X:-0.57, Y:0.08, Z:0.09 [[ 0.95062555 -0.28705362 -0.11794609 -0.57491669] [ 0.28538535 0.95790602 -0.03116493 0.07608635] [ 0.12192727 -0.0040339 0.99253084 0.09170247] [ 0. 0. 0. 1. ]] SLAMing on 27.919928850999995 meters Centerline goodness : 0.828791 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.08, Z:0.09 [[ 0.95027158 -0.28861512 -0.11698392 -0.57815985] [ 0.28681751 0.9574409 -0.03228979 0.07742187] [ 0.12132451 -0.00286897 0.99260875 0.09285222] [ 0. 0. 0. 1. ]] SLAMing on 27.949928850999996 meters Centerline goodness : 0.825884 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.08, Z:0.09 [[ 0.95010005 -0.28934266 -0.11657926 -0.57983998] [ 0.28746324 0.95722314 -0.032996 0.07835053] [ 0.12113951 -0.00216276 0.99263313 0.09377631] [ 0. 0. 0. 1. ]] SLAMing on 27.979928850999997 meters Centerline goodness : 0.830714 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.08, Z:0.09 [[ 0.94996023 -0.28995947 -0.11618549 -0.58128823] [ 0.28800471 0.95703775 -0.03364566 0.07941772] [ 0.12094978 -0.00149993 0.99265749 0.09450435] [ 0. 0. 0. 1. ]] SLAMing on 28.009928850999994 meters Centerline goodness : 0.831574 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.08, Z:0.10 [[ 0.94984341 -0.29048999 -0.11581477 -0.5825469 ] [ 0.28848325 0.95687749 -0.03410116 0.07998846] [ 0.12072659 -0.00101986 0.99268527 0.09501232] [ 0. 0. 0. 1. ]] SLAMing on 28.039928850999996 meters Centerline goodness : 0.832881 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.08, Z:0.10 [[ 9.49668452e-01 -2.91284925e-01 -1.15251567e-01 -5.84182710e-01] [ 2.89226031e-01 9.56636213e-01 -3.45754123e-02 8.07852547e-02] [ 1.20325119e-01 -4.98574971e-04 9.92734414e-01 9.52150727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.069928850999997 meters Centerline goodness : 0.834746 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.08, Z:0.09 [[ 9.49593068e-01 -2.91592319e-01 -1.15095283e-01 -5.84490187e-01] [ 2.89527507e-01 9.56542595e-01 -3.46422532e-02 8.11353913e-02] [ 1.20194955e-01 -4.27206742e-04 9.92750215e-01 9.49160953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.099928850999994 meters Centerline goodness : 0.836823 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.08, Z:0.09 [[ 9.49537506e-01 -2.91841511e-01 -1.14921963e-01 -5.84796576e-01] [ 2.89771715e-01 9.56466626e-01 -3.46979306e-02 8.16278136e-02] [ 1.20045319e-01 -3.54147869e-04 9.92768350e-01 9.46299151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.129928850999995 meters Centerline goodness : 0.836683 Centerline is valid? [False, False] Translation: X:-0.59, Y:0.08, Z:0.09 [[ 9.49365379e-01 -2.92566804e-01 -1.14499092e-01 -5.85948757e-01] [ 2.90465260e-01 9.56245086e-01 -3.50038308e-02 8.22813899e-02] [ 1.19730153e-01 -2.65833983e-05 9.92806471e-01 9.45255065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.159928850999997 meters Centerline goodness : 0.835133 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.08, Z:0.09 [[ 0.95079965 -0.28980381 -0.10951614 -0.60291184] [ 0.28722535 0.95706967 -0.03897758 0.0777954 ] [ 0.11611043 0.00560406 0.9932205 0.09240081] [ 0. 0. 0. 1. ]] SLAMing on 28.189928850999994 meters Centerline goodness : 0.835159 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.08, Z:0.09 [[ 0.95077172 -0.28990901 -0.10948011 -0.60267331] [ 0.28735251 0.95703882 -0.03879732 0.07733186] [ 0.11602441 0.00542801 0.99323153 0.09193611] [ 0. 0. 0. 1. ]] SLAMing on 28.219928850999995 meters Centerline goodness : 0.835608 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.08, Z:0.09 [[ 0.95070944 -0.29018152 -0.1092989 -0.60289324] [ 0.28763762 0.95695658 -0.03871322 0.07687772] [ 0.11582816 0.00536654 0.99325477 0.09158391] [ 0. 0. 0. 1. ]] SLAMing on 28.249928850999996 meters Centerline goodness : 0.831672 Centerline is valid? [False, False] Translation: X:-0.63, Y:0.07, Z:0.09 [[ 0.95152422 -0.2890941 -0.10500598 -0.62788224] [ 0.28661118 0.95727936 -0.03834383 0.07032366] [ 0.11160504 0.00638919 0.9937321 0.08702327] [ 0. 0. 0. 1. ]] SLAMing on 28.279928850999994 meters Centerline goodness : 0.838589 Centerline is valid? [False, False] Translation: X:-0.63, Y:0.07, Z:0.09 [[ 0.9513946 -0.2896011 -0.10478321 -0.62884165] [ 0.28709848 0.95712466 -0.03855973 0.0699329 ] [ 0.11145753 0.00660241 0.99374726 0.08757956] [ 0. 0. 0. 1. ]] SLAMing on 28.309928850999995 meters Centerline goodness : 0.836522 Centerline is valid? [False, False] Translation: X:-0.63, Y:0.07, Z:0.09 [[ 0.95126165 -0.290153 -0.10446297 -0.62987522] [ 0.28763842 0.95695624 -0.03871544 0.06944235] [ 0.11119989 0.00678095 0.99377493 0.0879205 ] [ 0. 0. 0. 1. ]] SLAMing on 28.339928850999996 meters Centerline goodness : 0.836574 Centerline is valid? [False, False] Translation: X:-0.66, Y:0.06, Z:0.08 [[ 0.95199734 -0.28924717 -0.10018554 -0.65772186] [ 0.28720904 0.95724572 -0.03451964 0.0596133 ] [ 0.10588689 0.00408841 0.99436978 0.0800022 ] [ 0. 0. 0. 1. ]] SLAMing on 28.369928850999994 meters Centerline goodness : 0.838223 Centerline is valid? [False, False] Translation: X:-0.66, Y:0.06, Z:0.08 [[ 0.95191487 -0.2895902 -0.09997802 -0.65827284] [ 0.2875693 0.95714246 -0.03438338 0.05866714] [ 0.1056503 0.00397944 0.99439538 0.0800083 ] [ 0. 0. 0. 1. ]] SLAMing on 28.399928850999995 meters Centerline goodness : 0.837988 Centerline is valid? [False, False] Translation: X:-0.67, Y:0.05, Z:0.08 [[ 0.95336179 -0.28715035 -0.09298375 -0.66566415] [ 0.28507261 0.95785962 -0.03519315 0.05461453] [ 0.09917111 0.00704468 0.99504546 0.07508025] [ 0. 0. 0. 1. ]] SLAMing on 28.429928850999996 meters Centerline goodness : 0.837316 Centerline is valid? [False, False] Translation: X:-0.69, Y:0.05, Z:0.07 [[ 0.95425113 -0.28522477 -0.08973076 -0.69042245] [ 0.28342346 0.95844449 -0.03248553 0.04607332] [ 0.09526763 0.00556756 0.99543613 0.06865845] [ 0. 0. 0. 1. ]] SLAMing on 28.459928850999994 meters Centerline goodness : 0.834254 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.04, Z:0.06 [[ 0.95453422 -0.28546447 -0.08587467 -0.71685108] [ 0.28399156 0.95838307 -0.02916636 0.03516346] [ 0.09062679 0.00345261 0.99587894 0.06036412] [ 0. 0. 0. 1. ]] SLAMing on 28.489928850999995 meters Centerline goodness : 0.831301 Centerline is valid? [False, False] Translation: X:-0.73, Y:0.03, Z:0.06 [[ 0.95567998 -0.283106 -0.08078843 -0.73399569] [ 0.28130871 0.95904761 -0.03306198 0.02947711] [ 0.08683999 0.00887018 0.99618278 0.05863178] [ 0. 0. 0. 1. ]] SLAMing on 28.519928850999996 meters Centerline goodness : 0.832648 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.02, Z:0.06 [[ 0.95681329 -0.28037582 -0.07679667 -0.75478174] [ 0.27845607 0.95981545 -0.03487878 0.0232555 ] [ 0.08348979 0.01198798 0.99643652 0.0572692 ] [ 0. 0. 0. 1. ]] SLAMing on 28.549928850999994 meters Centerline goodness : 0.831884 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.02, Z:0.06 [[ 0.95819302 -0.27718536 -0.07095359 -0.77070185] [ 0.27508555 0.96066754 -0.0380238 0.01688762] [ 0.07870245 0.01691583 0.99675462 0.05564758] [ 0. 0. 0. 1. ]] SLAMing on 28.579928850999995 meters Centerline goodness : 0.830365 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.02, Z:0.06 [[ 0.95817844 -0.27724809 -0.07090546 -0.77080534] [ 0.27516392 0.96065244 -0.03783787 0.01598599] [ 0.07860598 0.01674481 0.99676512 0.05565764] [ 0. 0. 0. 1. ]] SLAMing on 28.609928850999996 meters Centerline goodness : 0.828365 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.01, Z:0.06 [[ 0.95821152 -0.27712162 -0.07095279 -0.770623 ] [ 0.27506563 0.96069515 -0.03746632 0.01463854] [ 0.07854672 0.01638399 0.99677579 0.05564068] [ 0. 0. 0. 1. ]] SLAMing on 28.639928850999993 meters Centerline goodness : 0.828309 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.01, Z:0.05 [[ 0.95938381 -0.273856 -0.06771702 -0.79470841] [ 0.27214352 0.96167273 -0.03351828 0.00513216] [ 0.07430079 0.01372815 0.99714138 0.04963589] [ 0. 0. 0. 1. ]] SLAMing on 28.669928850999995 meters Centerline goodness : 0.824306 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.00, Z:0.04 [[ 0.96058274 -0.27035748 -0.06471193 -0.81949375] [ 0.26902811 0.96270732 -0.02860934 -0.00365494] [ 0.0700334 0.01007231 0.9974938 0.04257161] [ 0. 0. 0. 1. ]] SLAMing on 28.699928850999996 meters Centerline goodness : 0.826418 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.00, Z:0.04 [[ 0.96067268 -0.26996064 -0.06503278 -0.81846956] [ 0.26866612 0.96282468 -0.02805603 -0.00496368] [ 0.07018919 0.00948055 0.99748864 0.04218621] [ 0. 0. 0. 1. ]] SLAMing on 28.729928850999997 meters Centerline goodness : 0.825140 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.01, Z:0.04 [[ 0.96078213 -0.26947384 -0.06543355 -0.81729745] [ 0.26820762 0.96296607 -0.02758649 -0.00608683] [ 0.07044412 0.00895483 0.99747553 0.04196788] [ 0. 0. 0. 1. ]] SLAMing on 28.759928850999994 meters Centerline goodness : 0.823617 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.01, Z:0.04 [[ 0.96237921 -0.26529606 -0.05868775 -0.82481052] [ 0.26408191 0.96410242 -0.02769973 -0.01053742] [ 0.06392963 0.01115927 0.99789201 0.03740431] [ 0. 0. 0. 1. ]] SLAMing on 28.789928850999996 meters Centerline goodness : 0.821254 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.01, Z:0.04 [[ 0.96251236 -0.26474133 -0.0590084 -0.82400992] [ 0.26355536 0.964261 -0.02719006 -0.01239205] [ 0.06409783 0.01061879 0.99788712 0.03767303] [ 0. 0. 0. 1. ]] SLAMing on 28.819928850999997 meters Centerline goodness : 0.822330 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.01, Z:0.04 [[ 0.96263482 -0.26420611 -0.05940815 -0.82284489] [ 0.26305149 0.96441438 -0.02662345 -0.01391888] [ 0.06432815 0.01000126 0.99787868 0.0374612 ] [ 0. 0. 0. 1. ]] SLAMing on 28.849928850999994 meters Centerline goodness : 0.819645 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.02, Z:0.04 [[ 0.96275969 -0.26369417 -0.0596587 -0.82189604] [ 0.26257255 0.9645603 -0.02605915 -0.01527025] [ 0.06441606 0.00942396 0.99787863 0.03709218] [ 0. 0. 0. 1. ]] SLAMing on 28.879928850999995 meters Centerline goodness : 0.821318 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.02, Z:0.04 [[ 0.962981 -0.26278747 -0.06008604 -0.82084216] [ 0.26169895 0.96481367 -0.02546056 -0.01717579] [ 0.06466255 0.00879358 0.99786844 0.03750313] [ 0. 0. 0. 1. ]] SLAMing on 28.909928850999997 meters Centerline goodness : 0.818960 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.02, Z:0.04 [[ 0.96309283 -0.26230726 -0.06039123 -0.82023403] [ 0.26122486 0.96494607 -0.0253112 -0.01751273] [ 0.06491359 0.00860134 0.99785382 0.03784265] [ 0. 0. 0. 1. ]] SLAMing on 28.939928850999994 meters Centerline goodness : 0.821762 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.02, Z:0.04 [[ 0.96324695 -0.26166187 -0.06073196 -0.81922901] [ 0.26060395 0.96512536 -0.02487223 -0.01832931] [ 0.06512207 0.00813111 0.99784418 0.03770007] [ 0. 0. 0. 1. ]] SLAMing on 28.969928850999995 meters Centerline goodness : 0.862303 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.02, Z:0.04 [[ 0.96362547 -0.26003954 -0.06168779 -0.81626706] [ 0.25905279 0.96557411 -0.02362836 -0.02098159] [ 0.06570844 0.0067885 0.99781577 0.03709526] [ 0. 0. 0. 1. ]] SLAMing on 28.999928850999996 meters Centerline goodness : 0.865155 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.02, Z:0.04 [[ 0.96377437 -0.25937703 -0.06214909 -0.81494419] [ 0.25841414 0.96575559 -0.02320053 -0.02198724] [ 0.06603851 0.00629987 0.99779719 0.03696765] [ 0. 0. 0. 1. ]] SLAMing on 29.029928850999994 meters Centerline goodness : 0.826619 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.02, Z:0.04 [[ 0.96391493 -0.2587368 -0.06263601 -0.81378386] [ 0.25779592 0.96593024 -0.02280405 -0.02284239] [ 0.06640226 0.00583386 0.99777588 0.03703341] [ 0. 0. 0. 1. ]] SLAMing on 29.059928850999995 meters Centerline goodness : 0.827613 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.02, Z:0.04 [[ 0.9640495 -0.25812728 -0.06307828 -0.81264361] [ 0.25720387 0.96609553 -0.02248546 -0.02333281] [ 0.06674375 0.00545312 0.99775525 0.03701042] [ 0. 0. 0. 1. ]] SLAMing on 29.089928850999996 meters Centerline goodness : 0.861196 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.04 [[ 0.964348 -0.25678921 -0.06397065 -0.81024691] [ 0.25592849 0.96645783 -0.02144439 -0.02560897] [ 0.06733162 0.00430794 0.99772135 0.03675677] [ 0. 0. 0. 1. ]] SLAMing on 29.119928850999994 meters Centerline goodness : 0.862415 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.04 [[ 0.96449948 -0.25612221 -0.06435961 -0.80891842] [ 0.25530167 0.96663757 -0.02080538 -0.027148 ] [ 0.06754113 0.00363566 0.99770987 0.03634361] [ 0. 0. 0. 1. ]] SLAMing on 29.149928850999995 meters Centerline goodness : 0.862948 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.04 [[ 0.96463647 -0.25552183 -0.06469214 -0.80787249] [ 0.25473489 0.96679839 -0.02027332 -0.02858504] [ 0.06772453 0.00307704 0.99769931 0.03621809] [ 0. 0. 0. 1. ]] SLAMing on 29.179928850999996 meters Centerline goodness : 0.860889 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.04 [[ 0.96476886 -0.25491416 -0.06511394 -0.80675537] [ 0.25415424 0.96696022 -0.01983839 -0.02962599] [ 0.06801968 0.00259048 0.99768062 0.03616206] [ 0. 0. 0. 1. ]] SLAMing on 29.209928850999994 meters Centerline goodness : 0.862032 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.04 [[ 0.96486802 -0.25445129 -0.0654541 -0.80590398] [ 0.25370878 0.96708294 -0.01955595 -0.03022639] [ 0.06827558 0.00226263 0.99766393 0.03619151] [ 0. 0. 0. 1. ]] SLAMing on 29.239928850999995 meters Centerline goodness : 0.862894 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.03, Z:0.04 [[ 0.96504807 -0.25363403 -0.06596964 -0.80497219] [ 0.25292282 0.96729875 -0.01905724 -0.03183271] [ 0.06864592 0.00170593 0.99763963 0.03689338] [ 0. 0. 0. 1. ]] SLAMing on 29.269928850999996 meters Centerline goodness : 0.861405 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.03, Z:0.04 [[ 0.96509944 -0.2534079 -0.06608711 -0.8047408 ] [ 0.25271511 0.96735847 -0.01877924 -0.0329896 ] [ 0.06868873 0.00142263 0.99763713 0.03711933] [ 0. 0. 0. 1. ]] SLAMing on 29.299928850999994 meters Centerline goodness : 0.863405 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.03, Z:0.04 [[ 9.65195208e-01 -2.52963977e-01 -6.63885257e-02 -8.03889617e-01] [ 2.52305286e-01 9.67475299e-01 -1.82643826e-02 -3.47266531e-02] [ 6.88494896e-02 8.78518545e-04 9.97626672e-01 3.71275767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.329928850999995 meters Centerline goodness : 0.863405 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.03, Z:0.04 [[ 9.65195208e-01 -2.52963977e-01 -6.63885257e-02 -8.03889617e-01] [ 2.52305286e-01 9.67475299e-01 -1.82643826e-02 -3.47266531e-02] [ 6.88494896e-02 8.78518545e-04 9.97626672e-01 3.71275767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.359928850999996 meters Centerline goodness : 0.863218 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.04, Z:0.04 [[ 9.65258671e-01 -2.52621549e-01 -6.67686424e-02 -8.02914323e-01] [ 2.52001633e-01 9.67565136e-01 -1.76885652e-02 -3.65972103e-02] [ 6.90715232e-02 2.48234009e-04 9.97611679e-01 3.70083110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.389928850999993 meters Centerline goodness : 0.863143 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.04, Z:0.04 [[ 9.65229719e-01 -2.52820539e-01 -6.64331573e-02 -8.03041791e-01] [ 2.52239133e-01 9.67513167e-01 -1.71374235e-02 -4.04304208e-02] [ 6.86076470e-02 -2.15491484e-04 9.97643696e-01 3.70252271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.419928850999995 meters Centerline goodness : 0.863652 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.04, Z:0.04 [[ 9.65222362e-01 -2.52829669e-01 -6.65052692e-02 -8.02924798e-01] [ 2.52274987e-01 9.67510613e-01 -1.67494832e-02 -4.22081303e-02] [ 6.85793201e-02 -6.10640182e-04 9.97645480e-01 3.71974881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.449928850999996 meters Centerline goodness : 0.860987 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.04, Z:0.04 [[ 9.65230171e-01 -2.52768212e-01 -6.66254326e-02 -8.02683381e-01] [ 2.52232322e-01 9.67526442e-01 -1.64754077e-02 -4.36650241e-02] [ 6.86263271e-02 -9.02526966e-04 9.97642026e-01 3.74189707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.479928850999993 meters Centerline goodness : 0.860839 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.04 [[ 0.96525057 -0.25267363 -0.06668856 -0.80245608] [ 0.25216303 0.96755073 -0.01610541 -0.04540841] [ 0.06859398 -0.00127064 0.99764385 0.03749701] [ 0. 0. 0. 1. ]] SLAMing on 29.509928850999994 meters Centerline goodness : 0.862293 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.04 [[ 0.96523735 -0.25271281 -0.06673151 -0.80199157] [ 0.25225489 0.96753921 -0.01534069 -0.04931038] [ 0.06844214 -0.00202594 0.99765303 0.03742251] [ 0. 0. 0. 1. ]] SLAMing on 29.539928850999996 meters Centerline goodness : 0.862109 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.04 [[ 0.96522375 -0.252747 -0.06679875 -0.801814 ] [ 0.25231888 0.96752927 -0.01490961 -0.05114841] [ 0.06839811 -0.00246347 0.99765507 0.03746674] [ 0. 0. 0. 1. ]] SLAMing on 29.569928850999997 meters Centerline goodness : 0.863206 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.04 [[ 0.96517629 -0.2529582 -0.06668495 -0.80227229] [ 0.25254396 0.9674736 -0.01471001 -0.05240345] [ 0.06823694 -0.00264312 0.99766564 0.03779842] [ 0. 0. 0. 1. ]] SLAMing on 29.599928850999994 meters Centerline goodness : 0.861932 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.04 [[ 0.96508991 -0.25331799 -0.06656921 -0.80278944] [ 0.2529233 0.96737869 -0.01443154 -0.05426939] [ 0.06805341 -0.00290917 0.99767744 0.03821189] [ 0. 0. 0. 1. ]] SLAMing on 29.629928850999995 meters Centerline goodness : 0.863887 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.06, Z:0.04 [[ 0.96507827 -0.25337915 -0.06650516 -0.80272331] [ 0.25301724 0.9673612 -0.0139495 -0.05634273] [ 0.06786902 -0.00336459 0.99768857 0.0380891 ] [ 0. 0. 0. 1. ]] SLAMing on 29.659928850999997 meters Centerline goodness : 0.864165 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.06, Z:0.04 [[ 0.96506251 -0.25343243 -0.06653082 -0.80224713] [ 0.25310791 0.96734521 -0.01340277 -0.05880914] [ 0.06775497 -0.00390496 0.99769435 0.03771554] [ 0. 0. 0. 1. ]] SLAMing on 29.689928850999994 meters Centerline goodness : 0.865905 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.06, Z:0.04 [[ 0.96503498 -0.25353545 -0.06653772 -0.80191285] [ 0.25324253 0.96731626 -0.01294112 -0.06110431] [ 0.06764405 -0.00436155 0.99769998 0.03750743] [ 0. 0. 0. 1. ]] SLAMing on 29.719928850999995 meters Centerline goodness : 0.862498 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.06, Z:0.04 [[ 0.96489663 -0.25416139 -0.06615492 -0.80298581] [ 0.2538859 0.96715106 -0.01267945 -0.06302346] [ 0.06720443 -0.00456145 0.9977288 0.03778421] [ 0. 0. 0. 1. ]] SLAMing on 29.749928850999996 meters Centerline goodness : 0.866859 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.06, Z:0.04 [[ 0.96483537 -0.25440208 -0.06612334 -0.80347164] [ 0.25411744 0.96708838 -0.01282156 -0.06302219] [ 0.06720895 -0.0044324 0.99772908 0.03831112] [ 0. 0. 0. 1. ]] SLAMing on 29.779928850999994 meters Centerline goodness : 0.865745 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.06, Z:0.04 [[ 0.96479384 -0.2545816 -0.06603826 -0.8039711 ] [ 0.25428713 0.96704182 -0.01296832 -0.0630366 ] [ 0.06716325 -0.00428093 0.99773282 0.03876613] [ 0. 0. 0. 1. ]] SLAMing on 29.809928850999995 meters Centerline goodness : 0.865273 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.06, Z:0.04 [[ 0.96482213 -0.25446968 -0.06605638 -0.80386625] [ 0.2541866 0.96707054 -0.01279625 -0.063524 ] [ 0.06713744 -0.00444455 0.99773384 0.03874553] [ 0. 0. 0. 1. ]] SLAMing on 29.839928850999996 meters Centerline goodness : 0.866344 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.06, Z:0.04 [[ 0.96485239 -0.25432572 -0.06616873 -0.80341686] [ 0.25405431 0.96710755 -0.01262543 -0.06419113] [ 0.06720325 -0.00462878 0.99772857 0.03862787] [ 0. 0. 0. 1. ]] SLAMing on 29.869928850999994 meters Centerline goodness : 0.864595 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.07, Z:0.04 [[ 0.96491534 -0.25406396 -0.06625625 -0.80267783] [ 0.25382836 0.9671737 -0.01209093 -0.06581421] [ 0.06715318 -0.00515099 0.99772938 0.0380555 ] [ 0. 0. 0. 1. ]] SLAMing on 29.899928850999995 meters Centerline goodness : 0.861248 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.07, Z:0.04 [[ 0.96488073 -0.25422729 -0.06613366 -0.80290808] [ 0.25399494 0.96713062 -0.01203882 -0.06633287] [ 0.06702048 -0.00518159 0.99773815 0.03806657] [ 0. 0. 0. 1. ]] SLAMing on 29.929928850999996 meters Centerline goodness : 0.864908 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.07, Z:0.04 [[ 0.96484579 -0.25436059 -0.06613085 -0.80306875] [ 0.25412101 0.9670961 -0.01215093 -0.06627402] [ 0.06704561 -0.00508147 0.99773697 0.03829843] [ 0. 0. 0. 1. ]] SLAMing on 29.959928850999994 meters Centerline goodness : 0.864570 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.07, Z:0.04 [[ 0.96483559 -0.25437453 -0.06622594 -0.80300419] [ 0.25412767 0.96709289 -0.01226683 -0.0659629 ] [ 0.067167 -0.00499437 0.99772925 0.03850188] [ 0. 0. 0. 1. ]] SLAMing on 29.989928850999995 meters Centerline goodness : 0.861668 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.07, Z:0.04 [[ 0.96486273 -0.25424755 -0.06631822 -0.80290393] [ 0.25398684 0.96712723 -0.01247455 -0.06541832] [ 0.06730978 -0.00480773 0.99772054 0.03882266] [ 0. 0. 0. 1. ]] SLAMing on 30.019928850999996 meters Centerline goodness : 0.860346 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.07, Z:0.04 [[ 0.96489312 -0.25411035 -0.06640174 -0.80269235] [ 0.25385272 0.96716301 -0.01243014 -0.06562005] [ 0.06737993 -0.00486251 0.99771554 0.03889289] [ 0. 0. 0. 1. ]] SLAMing on 30.049928850999994 meters Centerline goodness : 0.861434 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.07, Z:0.04 [[ 0.96492964 -0.25394566 -0.06650111 -0.80225498] [ 0.25369755 0.9672055 -0.01229085 -0.06577686] [ 0.06744144 -0.00501136 0.99771065 0.03862608] [ 0. 0. 0. 1. ]] SLAMing on 30.079928850999995 meters Centerline goodness : 0.863458 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.07, Z:0.04 [[ 0.9649601 -0.25382398 -0.06652361 -0.80220055] [ 0.25357831 0.96723726 -0.01225222 -0.0654101 ] [ 0.06745402 -0.00504604 0.99770962 0.03853601] [ 0. 0. 0. 1. ]] SLAMing on 30.109928850999996 meters Centerline goodness : 0.860098 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.07, Z:0.04 [[ 0.96494256 -0.25390407 -0.06647231 -0.80249018] [ 0.25365004 0.96721689 -0.01237496 -0.06518075] [ 0.0674352 -0.00491958 0.99771153 0.03878515] [ 0. 0. 0. 1. ]] SLAMing on 30.139928850999993 meters Centerline goodness : 0.858419 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.07, Z:0.04 [[ 0.96490208 -0.25406816 -0.06643295 -0.80288151] [ 0.25380029 0.9671748 -0.01258249 -0.06505579] [ 0.06744909 -0.00471983 0.99771155 0.03927062] [ 0. 0. 0. 1. ]] SLAMing on 30.169928850999995 meters Centerline goodness : 0.857653 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.06, Z:0.04 [[ 0.96484938 -0.25428341 -0.06637481 -0.80320302] [ 0.25400233 0.96711915 -0.01278134 -0.06498195] [ 0.06744243 -0.00452729 0.9977129 0.03960184] [ 0. 0. 0. 1. ]] SLAMing on 30.199928850999996 meters Centerline goodness : 0.858673 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.07, Z:0.04 [[ 0.9648133 -0.25445522 -0.06624082 -0.80352017] [ 0.25417827 0.96707377 -0.01271711 -0.06562245] [ 0.0672957 -0.00456734 0.99772262 0.03969724] [ 0. 0. 0. 1. ]] SLAMing on 30.229928850999993 meters Centerline goodness : 0.861786 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.07, Z:0.04 [[ 0.96463688 -0.25519832 -0.06595077 -0.80405551] [ 0.25492211 0.96687803 -0.01271222 -0.06747135] [ 0.06701048 -0.00454963 0.9977419 0.0397482 ] [ 0. 0. 0. 1. ]] SLAMing on 30.259928850999994 meters Centerline goodness : 0.860049 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.07, Z:0.04 [[ 0.96453879 -0.25564455 -0.06565659 -0.80466874] [ 0.25537836 0.96675964 -0.01255778 -0.06873921] [ 0.06668447 -0.00465481 0.99776326 0.03971852] [ 0. 0. 0. 1. ]] SLAMing on 30.289928850999996 meters Centerline goodness : 0.859264 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.07, Z:0.04 [[ 0.96441334 -0.2561953 -0.06535192 -0.80531506] [ 0.25593566 0.96661355 -0.01245694 -0.06998197] [ 0.06636146 -0.00471225 0.99778452 0.03972275] [ 0. 0. 0. 1. ]] SLAMing on 30.319928850999993 meters Centerline goodness : 0.857569 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.07, Z:0.04 [[ 0.96404658 -0.25770043 -0.06484355 -0.80683943] [ 0.25743378 0.96621407 -0.01257843 -0.07242344] [ 0.06589421 -0.00456673 0.99781616 0.04022316] [ 0. 0. 0. 1. ]] SLAMing on 30.349928850999994 meters Centerline goodness : 0.859136 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.07, Z:0.04 [[ 0.96395392 -0.25808828 -0.06467824 -0.80736918] [ 0.25782501 0.96611039 -0.01252887 -0.0734633 ] [ 0.06571988 -0.00459841 0.99782752 0.04050742] [ 0. 0. 0. 1. ]] SLAMing on 30.379928850999995 meters Centerline goodness : 0.855109 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.07, Z:0.04 [[ 0.96385979 -0.25849329 -0.06446339 -0.80817296] [ 0.25822522 0.96600257 -0.01260059 -0.0740855 ] [ 0.06552897 -0.00450087 0.99784052 0.04096604] [ 0. 0. 0. 1. ]] SLAMing on 30.409928850999997 meters Centerline goodness : 0.856484 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.08, Z:0.04 [[ 0.9638129 -0.2587334 -0.06420067 -0.80875961] [ 0.25847006 0.96593816 -0.01251823 -0.07503147] [ 0.06525276 -0.00452872 0.99785849 0.04114422] [ 0. 0. 0. 1. ]] SLAMing on 30.439928850999994 meters Centerline goodness : 0.857530 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.08, Z:0.04 [[ 0.96379212 -0.25882751 -0.06413318 -0.80886432] [ 0.25856702 0.96591279 -0.01247321 -0.07555089] [ 0.06517546 -0.00456115 0.99786339 0.04116452] [ 0. 0. 0. 1. ]] SLAMing on 30.469928850999995 meters Centerline goodness : 0.859426 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.08, Z:0.04 [[ 0.96377166 -0.25891418 -0.06409078 -0.80889181] [ 0.25865445 0.96588953 -0.01246151 -0.07591344] [ 0.06513107 -0.00456731 0.99786627 0.04116231] [ 0. 0. 0. 1. ]] SLAMing on 30.499928850999996 meters Centerline goodness : 0.857702 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.08, Z:0.04 [[ 0.96376775 -0.25892116 -0.06412141 -0.80862801] [ 0.25867091 0.96588696 -0.0123186 -0.07627035] [ 0.06512358 -0.00471407 0.99786607 0.04089902] [ 0. 0. 0. 1. ]] SLAMing on 30.529928850999994 meters Centerline goodness : 0.858808 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.08, Z:0.04 [[ 0.96373522 -0.25901403 -0.06423516 -0.80829712] [ 0.25876772 0.96586165 -0.0122697 -0.07651379] [ 0.06522031 -0.00479724 0.99785936 0.04075453] [ 0. 0. 0. 1. ]] SLAMing on 30.559928850999995 meters Centerline goodness : 0.856367 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.08, Z:0.04 [[ 0.96373613 -0.25901167 -0.06423103 -0.80799529] [ 0.25878233 0.965861 -0.01200959 -0.07718415] [ 0.06514887 -0.00504778 0.99786279 0.04036623] [ 0. 0. 0. 1. ]] SLAMing on 30.589928850999996 meters Centerline goodness : 0.858322 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.08, Z:0.04 [[ 0.9637318 -0.25905443 -0.06412352 -0.80823388] [ 0.25881789 0.96585018 -0.01211314 -0.07696275] [ 0.06507168 -0.00492249 0.99786845 0.04040924] [ 0. 0. 0. 1. ]] SLAMing on 30.619928850999994 meters Centerline goodness : 0.858035 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.08, Z:0.04 [[ 0.96377629 -0.25886868 -0.06420485 -0.80810789] [ 0.25862436 0.96590052 -0.01223221 -0.07643015] [ 0.06518203 -0.00481582 0.99786177 0.04054208] [ 0. 0. 0. 1. ]] SLAMing on 30.649928850999995 meters Centerline goodness : 0.857580 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.08, Z:0.04 [[ 0.96475033 -0.25503139 -0.0649291 -0.80866374] [ 0.25503001 0.96689622 -0.00844923 -0.07679333] [ 0.06493452 -0.00840747 0.99785411 0.04038292] [ 0. 0. 0. 1. ]] SLAMing on 30.679928850999996 meters Centerline goodness : 0.856296 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.08, Z:0.04 [[ 0.96486141 -0.25454842 -0.0651733 -0.80798072] [ 0.25453814 0.96702449 -0.0086005 -0.07520928] [ 0.06521342 -0.0082908 0.9978369 0.04015976] [ 0. 0. 0. 1. ]] SLAMing on 30.709928850999994 meters Centerline goodness : 0.857314 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.08, Z:0.04 [[ 0.96571339 -0.25115636 -0.06571249 -0.80921497] [ 0.25137901 0.96787585 -0.00499281 -0.07556034] [ 0.06485551 -0.01169712 0.99782611 0.04033734] [ 0. 0. 0. 1. ]] SLAMing on 30.739928850999995 meters Centerline goodness : 0.854683 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.08, Z:0.04 [[ 0.96670789 -0.2471047 -0.06644643 -0.80964086] [ 0.24757869 0.96886713 -0.00113403 -0.07513411] [ 0.06465799 -0.01535444 0.99778935 0.03996888] [ 0. 0. 0. 1. ]] SLAMing on 30.769928850999996 meters Centerline goodness : 0.856183 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.07, Z:0.04 [[ 0.96678786 -0.24673756 -0.06664685 -0.80891311] [ 0.24721136 0.96896087 -0.00117196 -0.07437602] [ 0.06486736 -0.01534282 0.99777594 0.03964383] [ 0. 0. 0. 1. ]] SLAMing on 30.799928850999994 meters Centerline goodness : 0.852768 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.07, Z:0.04 [[ 0.96689841 -0.24623426 -0.06690412 -0.80788919] [ 0.24671456 0.96908755 -0.00111563 -0.07373233] [ 0.06511066 -0.01542752 0.99775879 0.03915385] [ 0. 0. 0. 1. ]] SLAMing on 30.829928850999995 meters Centerline goodness : 0.853490 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.07, Z:0.04 [[ 0.96701474 -0.2457084 -0.06715567 -0.80692567] [ 0.24619037 0.96922083 -0.00113142 -0.07271195] [ 0.06536667 -0.01543898 0.99774187 0.03869555] [ 0. 0. 0. 1. ]] SLAMing on 30.859928850999996 meters Centerline goodness : 0.856247 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.07, Z:0.04 [[ 0.96804579 -0.24143551 -0.06779553 -0.80728955] [ 0.24216534 0.97023141 0.00263756 -0.07154568] [ 0.06514055 -0.018971 0.99769575 0.0381261 ] [ 0. 0. 0. 1. ]] SLAMing on 30.889928850999993 meters Centerline goodness : 0.855684 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.07, Z:0.04 [[ 0.96889365 -0.23788342 -0.06823914 -0.80859967] [ 0.23884973 0.97103642 0.00625045 -0.07150386] [ 0.06477581 -0.02235492 0.99764941 0.03824321] [ 0. 0. 0. 1. ]] SLAMing on 30.919928850999995 meters Centerline goodness : 0.857108 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.07, Z:0.04 [[ 0.96977498 -0.23408098 -0.06886639 -0.80931377] [ 0.23529497 0.97187293 0.00996437 -0.07145545] [ 0.06459691 -0.02586711 0.99757613 0.03823067] [ 0. 0. 0. 1. ]] SLAMing on 30.949928850999996 meters Centerline goodness : 0.857641 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.07, Z:0.04 [[ 0.97088905 -0.22912788 -0.06982023 -0.80853445] [ 0.23060289 0.97295087 0.01374463 -0.06902228] [ 0.06478238 -0.02944526 0.9974649 0.03726035] [ 0. 0. 0. 1. ]] SLAMing on 30.979928850999993 meters Centerline goodness : 0.857290 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.07, Z:0.04 [[ 0.97178962 -0.22505382 -0.0705387 -0.80870634] [ 0.22679712 0.97378189 0.01766067 -0.06912306] [ 0.0647147 -0.03316043 0.99735269 0.0368746 ] [ 0. 0. 0. 1. ]] SLAMing on 31.009928850999994 meters Centerline goodness : 0.858963 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.07, Z:0.04 [[ 0.97263597 -0.22114105 -0.07124539 -0.80903231] [ 0.22313563 0.97455527 0.02127254 -0.06880794] [ 0.06472834 -0.03658782 0.99723196 0.03677882] [ 0. 0. 0. 1. ]] SLAMing on 31.039928850999996 meters Centerline goodness : 0.859340 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.07, Z:0.04 [[ 0.97282763 -0.2202036 -0.07153165 -0.80811794] [ 0.22220104 0.97477072 0.02118345 -0.06650452] [ 0.06506229 -0.03650226 0.99721336 0.03644765] [ 0. 0. 0. 1. ]] SLAMing on 31.069928850999993 meters Centerline goodness : 0.859317 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.06, Z:0.04 [[ 0.97371684 -0.216047 -0.0721056 -0.80875148] [ 0.21828027 0.97557636 0.02458653 -0.06440531] [ 0.06503268 -0.03967954 0.99709392 0.03625514] [ 0. 0. 0. 1. ]] SLAMing on 31.099928850999994 meters Centerline goodness : 0.854101 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.06, Z:0.04 [[ 0.97375499 -0.21581222 -0.07229314 -0.80852844] [ 0.21801329 0.97565097 0.02398746 -0.06215635] [ 0.06535609 -0.03911878 0.99709493 0.03655396] [ 0. 0. 0. 1. ]] SLAMing on 31.129928850999995 meters Centerline goodness : 0.856439 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.06, Z:0.04 [[ 0.97380112 -0.21559382 -0.07232349 -0.80852652] [ 0.21776844 0.97571575 0.02357283 -0.06015294] [ 0.06548501 -0.03870502 0.99710262 0.03662486] [ 0. 0. 0. 1. ]] SLAMing on 31.159928850999997 meters Centerline goodness : 0.855493 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.06, Z:0.04 [[ 0.97388694 -0.21520679 -0.0723206 -0.80846678] [ 0.21734143 0.97582514 0.02297809 -0.05695507] [ 0.06562722 -0.03809633 0.99711671 0.0365346 ] [ 0. 0. 0. 1. ]] SLAMing on 31.189928850999994 meters Centerline goodness : 0.855845 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.06, Z:0.04 [[ 0.97389067 -0.21520105 -0.07228749 -0.80833403] [ 0.21732192 0.97583394 0.02278829 -0.05630159] [ 0.06563652 -0.03790296 0.99712347 0.03635386] [ 0. 0. 0. 1. ]] SLAMing on 31.219928850999995 meters Centerline goodness : 0.855845 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.06, Z:0.04 [[ 0.97389067 -0.21520105 -0.07228749 -0.80833403] [ 0.21732192 0.97583394 0.02278829 -0.05630159] [ 0.06563652 -0.03790296 0.99712347 0.03635386] [ 0. 0. 0. 1. ]] SLAMing on 31.249928850999996 meters Centerline goodness : 0.855290 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.06, Z:0.04 [[ 0.97388443 -0.21524026 -0.07225473 -0.80805342] [ 0.21735367 0.9758291 0.02269262 -0.0556583 ] [ 0.06562391 -0.03780482 0.99712803 0.03582867] [ 0. 0. 0. 1. ]] SLAMing on 31.279928850999994 meters Centerline goodness : 0.853238 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.06, Z:0.04 [[ 0.97387864 -0.21526465 -0.0722601 -0.80770358] [ 0.2173699 0.97582844 0.0225649 -0.05504678] [ 0.06565604 -0.03768264 0.99713053 0.03538248] [ 0. 0. 0. 1. ]] SLAMing on 31.309928850999995 meters Centerline goodness : 0.852398 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.05, Z:0.04 [[ 0.97382424 -0.2155517 -0.07213743 -0.80796711] [ 0.21763531 0.97577543 0.02229761 -0.05442857] [ 0.06558365 -0.03741361 0.99714543 0.03530932] [ 0. 0. 0. 1. ]] SLAMing on 31.339928850999996 meters Centerline goodness : 0.851181 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.05, Z:0.04 [[ 0.97355972 -0.21692063 -0.07160252 -0.81004787] [ 0.21892823 0.97550627 0.02139962 -0.05356244] [ 0.06520669 -0.03650962 0.99720366 0.03620926] [ 0. 0. 0. 1. ]] SLAMing on 31.369928850999994 meters Centerline goodness : 0.851022 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.05, Z:0.04 [[ 0.97340202 -0.21778939 -0.07110751 -0.8115514 ] [ 0.21974801 0.9753328 0.02089818 -0.05342016] [ 0.06480209 -0.03596806 0.99724971 0.03672975] [ 0. 0. 0. 1. ]] SLAMing on 31.399928850999995 meters Centerline goodness : 0.853001 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.05, Z:0.04 [[ 0.97324591 -0.21859371 -0.07077567 -0.81268885] [ 0.22051603 0.97516794 0.02049781 -0.05367084] [ 0.06453747 -0.03555658 0.99728163 0.03724908] [ 0. 0. 0. 1. ]] SLAMing on 31.429928850999996 meters Centerline goodness : 0.853810 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.05, Z:0.04 [[ 0.97311084 -0.21928792 -0.07048469 -0.81342328] [ 0.22119102 0.97501838 0.02033948 -0.05433081] [ 0.06426367 -0.03538315 0.99730548 0.03730301] [ 0. 0. 0. 1. ]] SLAMing on 31.459928850999994 meters Centerline goodness : 0.852003 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.06, Z:0.04 [[ 0.9729899 -0.21989288 -0.07026931 -0.81387159] [ 0.22178597 0.97488436 0.02028449 -0.05541165] [ 0.06404404 -0.03532135 0.9973218 0.03728229] [ 0. 0. 0. 1. ]] SLAMing on 31.489928850999995 meters Centerline goodness : 0.854622 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.05, Z:0.04 [[ 0.97199757 -0.2245245 -0.06935033 -0.81418933] [ 0.22611617 0.97397021 0.015922 -0.05477719] [ 0.06397027 -0.03115737 0.9974653 0.03767879] [ 0. 0. 0. 1. ]] SLAMing on 31.519928850999996 meters Centerline goodness : 0.854246 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.06, Z:0.04 [[ 0.97182275 -0.22539817 -0.06896521 -0.81545129] [ 0.22695946 0.97377915 0.01560676 -0.05511087] [ 0.06363915 -0.03081931 0.99749698 0.03807508] [ 0. 0. 0. 1. ]] SLAMing on 31.549928850999994 meters Centerline goodness : 0.855287 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.05, Z:0.04 [[ 0.97163017 -0.22636837 -0.06849941 -0.8170942 ] [ 0.22788442 0.97357125 0.0150898 -0.05494824] [ 0.06327321 -0.03027165 0.99753703 0.0387744 ] [ 0. 0. 0. 1. ]] SLAMing on 31.579928850999995 meters Centerline goodness : 0.856841 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.05, Z:0.04 [[ 0.97147744 -0.22713175 -0.06813774 -0.81833254] [ 0.22860865 0.97340863 0.01461954 -0.05498363] [ 0.0630053 -0.02977943 0.9975688 0.03942119] [ 0. 0. 0. 1. ]] SLAMing on 31.609928850999996 meters Centerline goodness : 0.855355 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.05, Z:0.04 [[ 0.97057249 -0.23115596 -0.06749784 -0.81765618] [ 0.23236807 0.9725703 0.01058751 -0.05466752] [ 0.06319903 -0.02596028 0.99766324 0.03954907] [ 0. 0. 0. 1. ]] SLAMing on 31.639928850999993 meters Centerline goodness : 0.860615 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.06, Z:0.04 [[ 0.97049858 -0.23149331 -0.06740432 -0.8176489 ] [ 0.23270271 0.97249045 0.01057222 -0.05541015] [ 0.06310266 -0.02594549 0.99766973 0.03935976] [ 0. 0. 0. 1. ]] SLAMing on 31.669928850999995 meters Centerline goodness : 0.857125 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.05, Z:0.04 [[ 0.97037733 -0.23208774 -0.06710532 -0.81831306] [ 0.2332715 0.97235742 0.01026956 -0.05484398] [ 0.06286692 -0.02561911 0.99769304 0.03923538] [ 0. 0. 0. 1. ]] SLAMing on 31.699928850999996 meters Centerline goodness : 0.815449 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.05, Z:0.04 [[ 0.97034813 -0.23222534 -0.06705141 -0.81860083] [ 0.23339042 0.97233179 0.00999045 -0.05368691] [ 0.06287618 -0.02534337 0.9976995 0.03931879] [ 0. 0. 0. 1. ]] SLAMing on 31.729928850999993 meters Centerline goodness : 0.814998 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.05, Z:0.04 [[ 0.97033948 -0.23225208 -0.06708407 -0.81881993] [ 0.23338911 0.9723367 0.0095319 -0.0520498 ] [ 0.0630145 -0.02490587 0.99770179 0.03967918] [ 0. 0. 0. 1. ]] SLAMing on 31.759928850999994 meters Centerline goodness : 0.813406 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.05, Z:0.04 [[ 0.9703912 -0.23199347 -0.06723059 -0.81849782] [ 0.23311323 0.97240598 0.00920993 -0.0506093 ] [ 0.06323878 -0.02460958 0.99769496 0.03979053] [ 0. 0. 0. 1. ]] SLAMing on 31.789928850999996 meters Centerline goodness : 0.856685 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.05, Z:0.04 [[ 0.97126769 -0.22809163 -0.06792118 -0.81876046] [ 0.22945494 0.9732339 0.01289233 -0.05053364] [ 0.06316257 -0.02810676 0.99760739 0.0395223 ] [ 0. 0. 0. 1. ]] SLAMing on 31.819928850999993 meters Centerline goodness : 0.815081 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.05, Z:0.04 [[ 0.97133212 -0.22775494 -0.06812935 -0.81818942] [ 0.22910147 0.97332168 0.01254661 -0.04885271] [ 0.06345422 -0.02779546 0.9975976 0.03947996] [ 0. 0. 0. 1. ]] SLAMing on 31.849928850999994 meters Centerline goodness : 0.815998 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.05, Z:0.04 [[ 0.97138815 -0.22747271 -0.06827312 -0.81786453] [ 0.22880468 0.97339509 0.01226443 -0.04728134] [ 0.06366689 -0.02753473 0.99759128 0.03951587] [ 0. 0. 0. 1. ]] SLAMing on 31.879928850999995 meters Centerline goodness : 0.858017 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.05, Z:0.04 [[ 0.97138529 -0.22745602 -0.06836946 -0.81781734] [ 0.22877025 0.97340714 0.01194597 -0.04581441] [ 0.06383414 -0.02724504 0.99758855 0.03957431] [ 0. 0. 0. 1. ]] SLAMing on 31.909928850999993 meters Centerline goodness : 0.817939 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.04, Z:0.04 [[ 0.97140983 -0.2273202 -0.06847233 -0.8178647 ] [ 0.22859953 0.97345423 0.01136254 -0.04405144] [ 0.06407174 -0.02669043 0.99758831 0.04017457] [ 0. 0. 0. 1. ]] SLAMing on 31.939928850999994 meters Centerline goodness : 0.818007 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.04, Z:0.04 [[ 0.97140392 -0.22734312 -0.06848009 -0.81799566] [ 0.22860674 0.97345541 0.01111409 -0.04335768] [ 0.0641356 -0.02645129 0.99759057 0.04041726] [ 0. 0. 0. 1. ]] SLAMing on 31.969928850999995 meters Centerline goodness : 0.818036 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.04, Z:0.04 [[ 0.97141022 -0.22729927 -0.06853638 -0.8179653 ] [ 0.22854294 0.97347412 0.01078254 -0.04240003] [ 0.06426753 -0.02613778 0.99759035 0.04064018] [ 0. 0. 0. 1. ]] SLAMing on 31.999928850999996 meters Centerline goodness : 0.816189 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.04, Z:0.04 [[ 0.9714259 -0.22725724 -0.06845344 -0.81822437] [ 0.22846723 0.97349717 0.01029464 -0.04084082] [ 0.0642997 -0.02563985 0.9976012 0.04091414] [ 0. 0. 0. 1. ]] SLAMing on 32.029928851 meters Centerline goodness : 0.816511 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.04, Z:0.04 [[ 0.97141338 -0.22729223 -0.06851484 -0.81816781] [ 0.22848761 0.97349502 0.01004271 -0.04008976] [ 0.06441623 -0.02541041 0.99759955 0.04105945] [ 0. 0. 0. 1. ]] SLAMing on 32.059928850999995 meters Centerline goodness : 0.817851 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.04, Z:0.04 [[ 0.97137962 -0.22744601 -0.06848317 -0.81828438] [ 0.22862908 0.97346368 0.00985932 -0.03931425] [ 0.06442342 -0.02523439 0.99760355 0.04098512] [ 0. 0. 0. 1. ]] SLAMing on 32.089928850999996 meters Centerline goodness : 0.817229 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.04, Z:0.04 [[ 0.97136588 -0.22748493 -0.06854882 -0.8181864 ] [ 0.22866028 0.97345782 0.00971296 -0.03876001] [ 0.06451983 -0.02510923 0.99760048 0.04104049] [ 0. 0. 0. 1. ]] SLAMing on 32.119928851 meters Centerline goodness : 0.816742 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.04, Z:0.04 [[ 0.97132412 -0.22762622 -0.0686714 -0.81783832] [ 0.22879799 0.97342653 0.00960519 -0.03855145] [ 0.06466017 -0.02504163 0.99759309 0.04090419] [ 0. 0. 0. 1. ]] SLAMing on 32.149928851 meters Centerline goodness : 0.814001 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.04, Z:0.04 [[ 0.97129233 -0.22777599 -0.06862442 -0.81785282] [ 0.22894671 0.9733916 0.0096022 -0.03906338] [ 0.06461128 -0.02503788 0.99759635 0.04090475] [ 0. 0. 0. 1. ]] SLAMing on 32.179928851 meters Centerline goodness : 0.812414 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.04, Z:0.04 [[ 0.97121163 -0.22817564 -0.06843864 -0.81830519] [ 0.22933224 0.9733024 0.00944266 -0.03960302] [ 0.06445691 -0.02486601 0.99761064 0.04111482] [ 0. 0. 0. 1. ]] SLAMing on 32.209928851 meters Centerline goodness : 0.813406 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.04, Z:0.04 [[ 0.97103001 -0.22909607 -0.06793899 -0.81972003] [ 0.230219 0.97309647 0.00908144 -0.04003283] [ 0.06403067 -0.0244592 0.99764814 0.04147804] [ 0. 0. 0. 1. ]] SLAMing on 32.239928850999995 meters Centerline goodness : 0.811894 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.04, Z:0.04 [[ 0.97095091 -0.22948185 -0.06776739 -0.82017232] [ 0.23058895 0.97301067 0.00888714 -0.04022378] [ 0.06389896 -0.02425539 0.99766157 0.04167513] [ 0. 0. 0. 1. ]] SLAMing on 32.269928850999996 meters Centerline goodness : 0.813601 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.04, Z:0.04 [[ 0.9708463 -0.22998564 -0.06755785 -0.82083262] [ 0.23107599 0.97289691 0.00868825 -0.0403863 ] [ 0.06372865 -0.02404596 0.99767753 0.04188887] [ 0. 0. 0. 1. ]] SLAMing on 32.299928851 meters Centerline goodness : 0.813747 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.04, Z:0.04 [[ 0.97059488 -0.23123776 -0.06689308 -0.82301773] [ 0.2322709 0.97261827 0.00799594 -0.04074375] [ 0.06321247 -0.02329814 0.99772811 0.04290796] [ 0. 0. 0. 1. ]] SLAMing on 32.329928851 meters Centerline goodness : 0.812381 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.04, Z:0.04 [[ 0.97051937 -0.2316315 -0.06662587 -0.82372772] [ 0.23265201 0.97252811 0.00788183 -0.0412492 ] [ 0.06296985 -0.02315011 0.9977469 0.04313125] [ 0. 0. 0. 1. ]] SLAMing on 32.359928851 meters Centerline goodness : 0.813281 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.04, Z:0.04 [[ 0.97041126 -0.23219278 -0.06624574 -0.82463613] [ 0.23319536 0.97239927 0.00771847 -0.04172661] [ 0.06262513 -0.02293829 0.99777349 0.04326773] [ 0. 0. 0. 1. ]] SLAMing on 32.389928851 meters Centerline goodness : 0.813922 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.04, Z:0.04 [[ 0.97033568 -0.2325451 -0.06611692 -0.82494868] [ 0.23354067 0.972317 0.00764245 -0.04231913] [ 0.06250939 -0.02285673 0.99778261 0.04338204] [ 0. 0. 0. 1. ]] SLAMing on 32.419928851 meters Centerline goodness : 0.811987 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.04, Z:0.04 [[ 0.97010588 -0.23363428 -0.06564756 -0.82616396] [ 0.23460187 0.9720639 0.00733013 -0.04307296] [ 0.06210105 -0.02251204 0.99781595 0.04349489] [ 0. 0. 0. 1. ]] SLAMing on 32.449928850999996 meters Centerline goodness : 0.809601 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.04, Z:0.04 [[ 0.97001978 -0.23405608 -0.06541696 -0.82656629] [ 0.23502397 0.97196137 0.00740518 -0.04386717] [ 0.06184953 -0.02255772 0.99783054 0.04327431] [ 0. 0. 0. 1. ]] SLAMing on 32.479928851 meters Centerline goodness : 0.858078 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.04, Z:0.04 [[ 0.96994569 -0.23440963 -0.06524933 -0.82684728] [ 0.23538066 0.97187427 0.00750609 -0.04490379] [ 0.06165465 -0.02263893 0.99784076 0.04316886] [ 0. 0. 0. 1. ]] SLAMing on 32.509928851 meters Centerline goodness : 0.853954 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.04 [[ 0.96982663 -0.23496786 -0.06501088 -0.8273384 ] [ 0.23593449 0.97173998 0.00750467 -0.04608751] [ 0.06141032 -0.02261654 0.99785633 0.04318852] [ 0. 0. 0. 1. ]] SLAMing on 32.539928851 meters Centerline goodness : 0.854043 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.04 [[ 0.96889963 -0.23896047 -0.06427591 -0.82681859] [ 0.23967744 0.97084601 0.00357161 -0.04587882] [ 0.06154853 -0.01886602 0.99792577 0.04337753] [ 0. 0. 0. 1. ]] SLAMing on 32.569928851 meters Centerline goodness : 0.855899 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.04 [[ 0.96876698 -0.23961102 -0.06385222 -0.82812811] [ 0.24030351 0.97069225 0.00328172 -0.04607991] [ 0.06119452 -0.01852313 0.99795397 0.04388649] [ 0. 0. 0. 1. ]] SLAMing on 32.599928851 meters Centerline goodness : 0.856734 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.04 [[ 0.968647 -0.24018338 -0.06352107 -0.82921032] [ 0.2408514 0.97055748 0.00296298 -0.04610793] [ 0.06093919 -0.01816922 0.9979761 0.04434702] [ 0. 0. 0. 1. ]] SLAMing on 32.629928850999995 meters Centerline goodness : 0.856306 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.04 [[ 0.96856806 -0.240552 -0.06332967 -0.82983378] [ 0.24120204 0.97047113 0.00271309 -0.04630454] [ 0.06080697 -0.01790306 0.99798897 0.0447696 ] [ 0. 0. 0. 1. ]] SLAMing on 32.659928851 meters Centerline goodness : 0.854382 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.04 [[ 0.96844692 -0.24116259 -0.06285837 -0.83085737] [ 0.241794 0.97032432 0.0025252 -0.04726096] [ 0.06038402 -0.01764429 0.99801926 0.04497912] [ 0. 0. 0. 1. ]] SLAMing on 32.689928851 meters Centerline goodness : 0.855233 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.04 [[ 0.96840839 -0.24138623 -0.0625929 -0.8312672 ] [ 0.2420156 0.97026898 0.00256196 -0.04803916] [ 0.06011353 -0.01762948 0.99803585 0.0449006 ] [ 0. 0. 0. 1. ]] SLAMing on 32.719928851 meters Centerline goodness : 0.851688 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.04 [[ 0.96833837 -0.24172433 -0.06237104 -0.83172934] [ 0.24234471 0.97018707 0.00246691 -0.04847784] [ 0.05991526 -0.0175041 0.99804998 0.04498709] [ 0. 0. 0. 1. ]] SLAMing on 32.749928851 meters Centerline goodness : 0.853896 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.05 [[ 0.96818244 -0.24248076 -0.06185339 -0.83326779] [ 0.24307389 0.97000542 0.00213771 -0.04839059] [ 0.05947977 -0.01710463 0.99808296 0.04547853] [ 0. 0. 0. 1. ]] SLAMing on 32.779928851 meters Centerline goodness : 0.855976 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.05 [[ 0.96814104 -0.24268644 -0.0616945 -0.83382368] [ 0.24326284 0.96995855 0.00189568 -0.04784377] [ 0.05938106 -0.01684326 0.99809328 0.04578491] [ 0. 0. 0. 1. ]] SLAMing on 32.809928850999995 meters Centerline goodness : 0.856268 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.05 [[ 0.96813439 -0.24271333 -0.06169309 -0.83365267] [ 0.24328311 0.96995368 0.0017839 -0.04741356] [ 0.05940646 -0.01673594 0.99809357 0.04562673] [ 0. 0. 0. 1. ]] SLAMing on 32.839928850999996 meters Centerline goodness : 0.855473 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.05 [[ 0.96818468 -0.24248541 -0.06180011 -0.83294263] [ 0.24306679 0.97000758 0.00195555 -0.04766275] [ 0.05947238 -0.01691489 0.99808663 0.04513275] [ 0. 0. 0. 1. ]] SLAMing on 32.869928851 meters Centerline goodness : 0.800999 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.04 [[ 0.96825499 -0.2421979 -0.06182596 -0.83168028] [ 0.24281174 0.9700702 0.00250237 -0.04897545] [ 0.05936945 -0.017435 0.99808381 0.04377435] [ 0. 0. 0. 1. ]] SLAMing on 32.899928851 meters Centerline goodness : 0.857996 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.04 [[ 0.96821339 -0.24239282 -0.06171352 -0.83179898] [ 0.24299795 0.97002388 0.00238266 -0.0488366 ] [ 0.05928605 -0.01730318 0.99809106 0.04366085] [ 0. 0. 0. 1. ]] SLAMing on 32.929928851 meters Centerline goodness : 0.858454 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.04 [[ 0.96818303 -0.24254023 -0.06161057 -0.83200179] [ 0.24313496 0.9699899 0.00223283 -0.04857098] [ 0.05922008 -0.01714147 0.99809777 0.04371843] [ 0. 0. 0. 1. ]] SLAMing on 32.959928851 meters Centerline goodness : 0.802264 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.04 [[ 0.96813936 -0.24275615 -0.06144618 -0.83244173] [ 0.24333687 0.9699397 0.00203703 -0.04810022] [ 0.05910458 -0.01692425 0.99810832 0.04382804] [ 0. 0. 0. 1. ]] SLAMing on 32.989928850999995 meters Centerline goodness : 0.854305 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.04 [[ 0.96808417 -0.24305526 -0.06113247 -0.83327115] [ 0.24361343 0.96987086 0.00173532 -0.04783791] [ 0.05886882 -0.01657263 0.99812815 0.04418202] [ 0. 0. 0. 1. ]] SLAMing on 33.019928850999996 meters Centerline goodness : 0.853399 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.04 [[ 0.96808487 -0.24306876 -0.06106773 -0.83332852] [ 0.24362326 0.96986847 0.00169095 -0.04806959] [ 0.05881664 -0.01651451 0.99813219 0.04425994] [ 0. 0. 0. 1. ]] SLAMing on 33.049928851 meters Centerline goodness : 0.802594 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.04 [[ 0.96802707 -0.24336837 -0.06079 -0.83399202] [ 0.24391629 0.96979489 0.00164793 -0.04892045] [ 0.05855277 -0.01642291 0.99814922 0.04450563] [ 0. 0. 0. 1. ]] SLAMing on 33.079928851 meters Centerline goodness : 0.853518 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.04 [[ 0.96796876 -0.24366868 -0.06051488 -0.83463831] [ 0.24420395 0.96972274 0.00149939 -0.04916433] [ 0.05831731 -0.01622934 0.99816617 0.04469363] [ 0. 0. 0. 1. ]] SLAMing on 33.109928851 meters Centerline goodness : 0.802079 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.04 [[ 0.96792957 -0.2438802 -0.06028921 -0.83517319] [ 0.24440989 0.96967091 0.00146003 -0.04944685] [ 0.05810463 -0.01614848 0.99817988 0.04482693] [ 0. 0. 0. 1. ]] SLAMing on 33.139928851 meters Centerline goodness : 0.849343 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.04 [[ 0.96791115 -0.24399629 -0.06011505 -0.83546386] [ 0.2445267 0.96964137 0.00151749 -0.04992034] [ 0.05791978 -0.01616853 0.9981903 0.04481639] [ 0. 0. 0. 1. ]] SLAMing on 33.169928850999995 meters Centerline goodness : 0.849343 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.04 [[ 0.96791115 -0.24399629 -0.06011505 -0.83546386] [ 0.2445267 0.96964137 0.00151749 -0.04992034] [ 0.05791978 -0.01616853 0.9981903 0.04481639] [ 0. 0. 0. 1. ]] SLAMing on 33.199928850999996 meters Centerline goodness : 0.848509 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.04 [[ 0.96788121 -0.24414675 -0.05998604 -0.83528684] [ 0.24469364 0.96959871 0.00183373 -0.0510893 ] [ 0.05771469 -0.01645304 0.99819753 0.04424883] [ 0. 0. 0. 1. ]] SLAMing on 33.229928851 meters Centerline goodness : 0.847791 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.04 [[ 0.96789953 -0.24408492 -0.05994202 -0.83495898] [ 0.2446484 0.96960951 0.00213562 -0.05195976] [ 0.05759908 -0.01673178 0.99819958 0.04381342] [ 0. 0. 0. 1. ]] SLAMing on 33.259928851 meters Centerline goodness : 0.797133 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.04 [[ 0.96787156 -0.24423035 -0.05980111 -0.83512383] [ 0.24479434 0.96957257 0.00218118 -0.05258932] [ 0.0574488 -0.01675008 0.99820793 0.04377567] [ 0. 0. 0. 1. ]] SLAMing on 33.289928851 meters Centerline goodness : 0.845200 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.04 [[ 0.96788225 -0.24420378 -0.05973665 -0.83490773] [ 0.24478104 0.96957534 0.0024317 -0.05354648] [ 0.05732535 -0.01697599 0.99821121 0.04348024] [ 0. 0. 0. 1. ]] SLAMing on 33.319928851 meters Centerline goodness : 0.845761 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.04 [[ 0.96785234 -0.2443656 -0.05955922 -0.83496283] [ 0.24494733 0.96953301 0.00255764 -0.05450638] [ 0.05711963 -0.01706429 0.9982215 0.04324478] [ 0. 0. 0. 1. ]] SLAMing on 33.349928851 meters Centerline goodness : 0.842301 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:0.04 [[ 0.9677743 -0.24474427 -0.05927187 -0.83547438] [ 0.24532821 0.9694364 0.00267125 -0.05612284] [ 0.05680653 -0.01712623 0.9982383 0.04334191] [ 0. 0. 0. 1. ]] SLAMing on 33.379928850999995 meters Centerline goodness : 0.843787 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:0.04 [[ 0.96774479 -0.24488083 -0.05918946 -0.83576289] [ 0.24546111 0.96940288 0.00262762 -0.05637839] [ 0.05673498 -0.01707157 0.99824331 0.0435682 ] [ 0. 0. 0. 1. ]] SLAMing on 33.409928851 meters Centerline goodness : 0.842932 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:0.04 [[ 0.96773295 -0.24493469 -0.05916033 -0.83565564] [ 0.24551815 0.96938826 0.00269092 -0.05687944] [ 0.05669023 -0.01712903 0.99824487 0.04345761] [ 0. 0. 0. 1. ]] SLAMing on 33.439928851 meters Centerline goodness : 0.840051 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:0.04 [[ 0.96774532 -0.24488348 -0.05916995 -0.8354185 ] [ 0.245471 0.9694 0.00276104 -0.05728184] [ 0.05668322 -0.01719649 0.99824411 0.04333666] [ 0. 0. 0. 1. ]] SLAMing on 33.469928851 meters Centerline goodness : 0.839659 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:0.04 [[ 0.96772676 -0.24500562 -0.05896754 -0.83571054] [ 0.24559123 0.96936948 0.00278516 -0.05749009] [ 0.05647895 -0.01717719 0.99825602 0.04316337] [ 0. 0. 0. 1. ]] SLAMing on 33.499928851 meters Centerline goodness : 0.840927 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:0.04 [[ 0.96774168 -0.2449527 -0.05894249 -0.8355597 ] [ 0.2455398 0.96938241 0.0028208 -0.05761274] [ 0.05644685 -0.01720253 0.99825739 0.04300865] [ 0. 0. 0. 1. ]] SLAMing on 33.529928851 meters Centerline goodness : 0.840868 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:0.04 [[ 0.96771618 -0.24508692 -0.05880302 -0.83575814] [ 0.24566933 0.96934972 0.00277617 -0.05793196] [ 0.05632029 -0.01713265 0.99826574 0.04300822] [ 0. 0. 0. 1. ]] SLAMing on 33.559928850999995 meters Centerline goodness : 0.839035 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:0.04 [[ 0.96772036 -0.24508428 -0.05874513 -0.83578446] [ 0.24566621 0.96935048 0.00278525 -0.05821125] [ 0.05626199 -0.01712704 0.99826913 0.04300549] [ 0. 0. 0. 1. ]] SLAMing on 33.589928850999996 meters Centerline goodness : 0.838468 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:0.04 [[ 0.96771685 -0.24510509 -0.05871619 -0.83586997] [ 0.2456835 0.96934625 0.00273112 -0.05829246] [ 0.05624691 -0.01706855 0.99827098 0.04314873] [ 0. 0. 0. 1. ]] SLAMing on 33.619928851 meters Centerline goodness : 0.838490 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:0.04 [[ 0.96773864 -0.24503821 -0.05863617 -0.83586238] [ 0.24561737 0.9693629 0.00277088 -0.05847238] [ 0.05616076 -0.01708354 0.99827557 0.04307251] [ 0. 0. 0. 1. ]] SLAMing on 33.649928851 meters Centerline goodness : 0.835189 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:0.04 [[ 0.96780212 -0.24475757 -0.05876039 -0.83541306] [ 0.2453488 0.96943036 0.00295559 -0.05854772] [ 0.0562407 -0.01727722 0.99826774 0.04286387] [ 0. 0. 0. 1. ]] SLAMing on 33.679928851 meters Centerline goodness : 0.838287 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:0.04 [[ 0.96783645 -0.24460634 -0.05882466 -0.83503044] [ 0.24520309 0.96946697 0.00303822 -0.05845961] [ 0.0562854 -0.01736448 0.99826371 0.04258311] [ 0. 0. 0. 1. ]] SLAMing on 33.709928851 meters Centerline goodness : 0.837622 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.04 [[ 0.96786803 -0.24445389 -0.05893873 -0.83469275] [ 0.24504869 0.96950622 0.00297298 -0.05799398] [ 0.05641471 -0.01732031 0.99825717 0.04251561] [ 0. 0. 0. 1. ]] SLAMing on 33.739928850999995 meters Centerline goodness : 0.839851 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.04 [[ 0.96804808 -0.24364486 -0.0593305 -0.83318751] [ 0.24426783 0.96970194 0.00337282 -0.05782247] [ 0.05671113 -0.01775758 0.9982327 0.04172206] [ 0. 0. 0. 1. ]] SLAMing on 33.769928850999996 meters Centerline goodness : 0.791361 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.04 [[ 0.96810012 -0.24340774 -0.05945452 -0.83255947] [ 0.24404169 0.9697583 0.00353405 -0.05820629] [ 0.0567963 -0.0179307 0.99822476 0.04144417] [ 0. 0. 0. 1. ]] SLAMing on 33.799928851 meters Centerline goodness : 0.838373 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.04 [[ 0.96814399 -0.24321432 -0.0595316 -0.83213204] [ 0.24386281 0.96980241 0.00377066 -0.05863449] [ 0.05681681 -0.01816808 0.9982193 0.04116773] [ 0. 0. 0. 1. ]] SLAMing on 33.829928851 meters Centerline goodness : 0.838569 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.04 [[ 0.96815865 -0.24315899 -0.05951918 -0.83208282] [ 0.24380993 0.96981551 0.00381939 -0.05895445] [ 0.05679391 -0.01820914 0.99821986 0.04117518] [ 0. 0. 0. 1. ]] SLAMing on 33.859928851 meters Centerline goodness : 0.790190 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.04 [[ 0.96818652 -0.24300774 -0.05968339 -0.8317563 ] [ 0.24366869 0.9698505 0.00394687 -0.0595032 ] [ 0.05692484 -0.01836428 0.99820955 0.04133715] [ 0. 0. 0. 1. ]] SLAMing on 33.889928851 meters Centerline goodness : 0.792409 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.04 [[ 0.96819087 -0.24298256 -0.05971527 -0.83172848] [ 0.24364131 0.96985757 0.00389879 -0.05946681] [ 0.05696797 -0.01832388 0.99820784 0.04145126] [ 0. 0. 0. 1. ]] SLAMing on 33.919928850999995 meters Centerline goodness : 0.793334 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.04 [[ 0.96821561 -0.24287664 -0.05974508 -0.83156446] [ 0.2435402 0.96988265 0.00397665 -0.05976343] [ 0.05697988 -0.01840058 0.99820575 0.04144253] [ 0. 0. 0. 1. ]] SLAMing on 33.949928850999996 meters Centerline goodness : 0.793347 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.04 [[ 0.96820752 -0.24292394 -0.05968381 -0.8316353 ] [ 0.24358645 0.96987104 0.00397649 -0.0598733 ] [ 0.05691961 -0.01838823 0.99820941 0.04139424] [ 0. 0. 0. 1. ]] SLAMing on 33.979928851 meters Centerline goodness : 0.794250 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.04 [[ 0.96816442 -0.24311035 -0.05962397 -0.83188721] [ 0.24376864 0.96982551 0.00391631 -0.06032098] [ 0.05687275 -0.01832609 0.99821323 0.0416662 ] [ 0. 0. 0. 1. ]] SLAMing on 34.009928851 meters Centerline goodness : 0.792164 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.04 [[ 0.96813348 -0.24324365 -0.05958267 -0.83197291] [ 0.24390002 0.96979257 0.00389189 -0.06055639] [ 0.05683615 -0.01830008 0.99821579 0.04171864] [ 0. 0. 0. 1. ]] SLAMing on 34.039928851 meters Centerline goodness : 0.836619 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.04 [[ 0.96810532 -0.24337713 -0.05949506 -0.83199862] [ 0.24403401 0.96975873 0.00392523 -0.06102849] [ 0.05674055 -0.01831885 0.99822088 0.04159584] [ 0. 0. 0. 1. ]] SLAMing on 34.069928851 meters Centerline goodness : 0.833907 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.04 [[ 0.96805842 -0.24357079 -0.05946574 -0.83139984] [ 0.24424791 0.96970335 0.00428537 -0.06316234] [ 0.05662033 -0.01867287 0.99822115 0.04098425] [ 0. 0. 0. 1. ]] SLAMing on 34.099928851 meters Centerline goodness : 0.836854 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.04 [[ 0.96802258 -0.24373338 -0.05938281 -0.83143668] [ 0.24441622 0.96966039 0.00440907 -0.06422642] [ 0.05650652 -0.0187822 0.99822555 0.04095925] [ 0. 0. 0. 1. ]] SLAMing on 34.129928850999995 meters Centerline goodness : 0.835887 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.04 [[ 0.96794829 -0.24405879 -0.05925725 -0.83181099] [ 0.24472798 0.96958268 0.00419947 -0.06431712] [ 0.05642988 -0.01856677 0.99823391 0.0411916 ] [ 0. 0. 0. 1. ]] SLAMing on 34.159928851 meters Centerline goodness : 0.789051 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.04 [[ 0.96790789 -0.24423784 -0.05917929 -0.83214751] [ 0.24489303 0.96954197 0.00397185 -0.06396568] [ 0.05640673 -0.01833698 0.99823947 0.04144464] [ 0. 0. 0. 1. ]] SLAMing on 34.189928851 meters Centerline goodness : 0.786379 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.04 [[ 0.96792798 -0.2441395 -0.05925647 -0.83172404] [ 0.24480427 0.96956377 0.00411918 -0.06421499] [ 0.05644728 -0.0184933 0.99823429 0.04112378] [ 0. 0. 0. 1. ]] SLAMing on 34.219928851 meters Centerline goodness : 0.834840 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.04 [[ 0.96793665 -0.24408947 -0.05932086 -0.83128421] [ 0.24476478 0.96957302 0.00428582 -0.06490107] [ 0.05646978 -0.01866806 0.99822977 0.04083301] [ 0. 0. 0. 1. ]] SLAMing on 34.249928851 meters Centerline goodness : 0.788197 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.04 [[ 0.96792853 -0.24413017 -0.05928596 -0.83113953] [ 0.24480992 0.96956122 0.00437486 -0.06562586] [ 0.05641333 -0.01874834 0.99823145 0.04075496] [ 0. 0. 0. 1. ]] SLAMing on 34.279928851 meters Centerline goodness : 0.838424 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.04 [[ 0.96789038 -0.24430191 -0.05920122 -0.8313379 ] [ 0.24498334 0.96951718 0.00442761 -0.06627138] [ 0.05631493 -0.01878876 0.99823625 0.04084903] [ 0. 0. 0. 1. ]] SLAMing on 34.309928850999995 meters Centerline goodness : 0.787694 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.04 [[ 0.96774338 -0.24497413 -0.05882542 -0.83275867] [ 0.24563233 0.96935431 0.00411944 -0.06692476] [ 0.05601352 -0.01843599 0.99825979 0.04178279] [ 0. 0. 0. 1. ]] SLAMing on 34.339928850999996 meters Centerline goodness : 0.788352 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.04 [[ 0.96769673 -0.24518686 -0.05870641 -0.8330758 ] [ 0.24584251 0.96930108 0.00410707 -0.06735287] [ 0.05589718 -0.01840693 0.99826684 0.04190166] [ 0. 0. 0. 1. ]] SLAMing on 34.369928851 meters Centerline goodness : 0.834826 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.04 [[ 0.9676808 -0.24524613 -0.05872144 -0.83297357] [ 0.24590868 0.9692838 0.00422353 -0.06829706] [ 0.05588194 -0.01852714 0.99826547 0.04197555] [ 0. 0. 0. 1. ]] SLAMing on 34.399928851 meters Centerline goodness : 0.786472 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.04 [[ 0.96766352 -0.24534991 -0.05857247 -0.8329563 ] [ 0.24601961 0.96925487 0.00439817 -0.06929817] [ 0.05569256 -0.01866593 0.99827347 0.04172782] [ 0. 0. 0. 1. ]] SLAMing on 34.429928851 meters Centerline goodness : 0.834638 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.04 [[ 0.96760125 -0.24561534 -0.05848863 -0.83292134] [ 0.2462967 0.96918343 0.00462792 -0.07093207] [ 0.05554953 -0.01888354 0.99827735 0.04162478] [ 0. 0. 0. 1. ]] SLAMing on 34.459928851 meters Centerline goodness : 0.833237 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.04 [[ 0.96756664 -0.24576358 -0.05843852 -0.83289711] [ 0.24644932 0.96914419 0.00471944 -0.07177597] [ 0.05547549 -0.0189685 0.99827985 0.04161077] [ 0. 0. 0. 1. ]] SLAMing on 34.489928850999995 meters Centerline goodness : 0.835826 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.04 [[ 0.96755809 -0.24580384 -0.05841084 -0.83276866] [ 0.24649323 0.96913266 0.00479355 -0.0723251 ] [ 0.05542957 -0.01903591 0.99828112 0.04151647] [ 0. 0. 0. 1. ]] SLAMing on 34.519928850999996 meters Centerline goodness : 0.782524 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.04 [[ 0.96754516 -0.24582453 -0.05853768 -0.83252985] [ 0.2465148 0.96912731 0.00476524 -0.0727344 ] [ 0.05555905 -0.01904099 0.99827383 0.04170582] [ 0. 0. 0. 1. ]] SLAMing on 34.549928851 meters Centerline goodness : 0.841790 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.04 [[ 0.96761539 -0.24549781 -0.05874763 -0.83189305] [ 0.2462055 0.96920468 0.00501475 -0.07311327] [ 0.05570737 -0.01931634 0.99826027 0.041511 ] [ 0. 0. 0. 1. ]] SLAMing on 34.579928851 meters Centerline goodness : 0.838951 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.04 [[ 0.96784297 -0.24451887 -0.05908051 -0.83068463] [ 0.24525519 0.9694433 0.00543877 -0.07286947] [ 0.05594532 -0.01975368 0.9982384 0.04112252] [ 0. 0. 0. 1. ]] SLAMing on 34.609928851 meters Centerline goodness : 0.781925 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.04 [[ 0.9679242 -0.24415705 -0.05924601 -0.83031081] [ 0.24489059 0.969536 0.00534186 -0.07193615] [ 0.05613689 -0.0196793 0.99822912 0.04116552] [ 0. 0. 0. 1. ]] SLAMing on 34.639928851 meters Centerline goodness : 0.840906 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.04 [[ 0.96805028 -0.24357474 -0.05958192 -0.82949224] [ 0.2443133 0.9696817 0.00533037 -0.07094818] [ 0.05647715 -0.01971672 0.99820919 0.04116324] [ 0. 0. 0. 1. ]] SLAMing on 34.669928850999995 meters Centerline goodness : 0.781730 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.04 [[ 0.96908416 -0.2391822 -0.06056218 -0.82903951] [ 0.24016403 0.970687 0.00938056 -0.07115899] [ 0.05654325 -0.02363541 0.99812035 0.04072576] [ 0. 0. 0. 1. ]] SLAMing on 34.699928850999996 meters Centerline goodness : 0.842007 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.04 [[ 0.96923154 -0.23847859 -0.06097694 -0.82776354] [ 0.23948183 0.97085335 0.00960359 -0.07066247] [ 0.05690942 -0.02391098 0.99809297 0.04029203] [ 0. 0. 0. 1. ]] SLAMing on 34.729928851 meters Centerline goodness : 0.778325 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.04 [[ 0.96934295 -0.23790516 -0.06144417 -0.82647608] [ 0.23892601 0.97098901 0.00973166 -0.07026462] [ 0.0573464 -0.02411393 0.99806308 0.04000239] [ 0. 0. 0. 1. ]] SLAMing on 34.759928851 meters Centerline goodness : 0.780578 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.07, Z:0.04 [[ 0.96963056 -0.23661081 -0.06190229 -0.82494867] [ 0.23767016 0.97129191 0.01024338 -0.06994057] [ 0.0577015 -0.02464462 0.99802965 0.03958907] [ 0. 0. 0. 1. ]] SLAMing on 34.789928851 meters Centerline goodness : 0.779891 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.07, Z:0.04 [[ 0.96967441 -0.23639714 -0.06203162 -0.82473363] [ 0.23745305 0.97134614 0.01013504 -0.06920538] [ 0.05785828 -0.02455729 0.99802272 0.03968948] [ 0. 0. 0. 1. ]] SLAMing on 34.819928851 meters Centerline goodness : 0.838394 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.07, Z:0.04 [[ 0.96971761 -0.2361771 -0.06219428 -0.8246459 ] [ 0.2372265 0.9714033 0.00996075 -0.06844435] [ 0.05806323 -0.02441325 0.99801436 0.04012785] [ 0. 0. 0. 1. ]] SLAMing on 34.849928850999994 meters Centerline goodness : 0.839050 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.07, Z:0.04 [[ 0.96976792 -0.2359502 -0.06227108 -0.82458868] [ 0.23700116 0.97145829 0.00996195 -0.06812576] [ 0.05814324 -0.0244191 0.99800955 0.04032872] [ 0. 0. 0. 1. ]] SLAMing on 34.879928850999995 meters Centerline goodness : 0.841904 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.07, Z:0.04 [[ 0.9697853 -0.23587554 -0.0622833 -0.82461962] [ 0.23692497 0.97147717 0.0099328 -0.06822862] [ 0.0581639 -0.02438915 0.99800908 0.04054957] [ 0. 0. 0. 1. ]] SLAMing on 34.909928851 meters Centerline goodness : 0.778238 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.07, Z:0.04 [[ 0.9698339 -0.23563658 -0.06243077 -0.82379867] [ 0.23671725 0.97152278 0.01041324 -0.07045206] [ 0.05819918 -0.02487756 0.99799497 0.04034923] [ 0. 0. 0. 1. ]] SLAMing on 34.939928851 meters Centerline goodness : 0.842026 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.07, Z:0.04 [[ 0.96980557 -0.23575538 -0.06242245 -0.82381596] [ 0.23684319 0.97149076 0.01053585 -0.07172583] [ 0.05815895 -0.02500205 0.99799421 0.04056743] [ 0. 0. 0. 1. ]] SLAMing on 34.969928851 meters Centerline goodness : 0.842774 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.07, Z:0.04 [[ 0.9696882 -0.23629533 -0.06220384 -0.8246409 ] [ 0.23738061 0.97135921 0.01057059 -0.07328187] [ 0.05792449 -0.02501617 0.99800749 0.04115125] [ 0. 0. 0. 1. ]] SLAMing on 34.999928851 meters Centerline goodness : 0.844502 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.07, Z:0.04 [[ 0.96964905 -0.23645284 -0.06221553 -0.82480218] [ 0.23754071 0.97131969 0.01060548 -0.07409485] [ 0.05792347 -0.02506231 0.99800639 0.04154002] [ 0. 0. 0. 1. ]] SLAMing on 35.029928851 meters Centerline goodness : 0.844417 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:0.04 [[ 0.96958209 -0.23674103 -0.06216305 -0.82493196] [ 0.23782529 0.97125057 0.01055744 -0.07503451] [ 0.05787652 -0.02502025 0.99801017 0.04179342] [ 0. 0. 0. 1. ]] SLAMing on 35.059928850999995 meters Centerline goodness : 0.844417 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:0.04 [[ 0.96958209 -0.23674103 -0.06216305 -0.82493196] [ 0.23782529 0.97125057 0.01055744 -0.07503451] [ 0.05787652 -0.02502025 0.99801017 0.04179342] [ 0. 0. 0. 1. ]] SLAMing on 35.089928850999996 meters Centerline goodness : 0.842934 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:0.04 [[ 0.96951633 -0.23702062 -0.0621233 -0.82483837] [ 0.2381132 0.97117836 0.01071001 -0.07645199] [ 0.05779431 -0.02517591 0.99801102 0.04171955] [ 0. 0. 0. 1. ]] SLAMing on 35.119928851 meters Centerline goodness : 0.845126 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:0.04 [[ 0.96875657 -0.24016591 -0.06189537 -0.82220152] [ 0.24109343 0.97047001 0.00786862 -0.07861375] [ 0.05817783 -0.02254534 0.99805163 0.04065497] [ 0. 0. 0. 1. ]] SLAMing on 35.149928851 meters Centerline goodness : 0.845688 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:0.04 [[ 0.96867867 -0.2404595 -0.06197475 -0.82176437] [ 0.2413972 0.97039339 0.00800328 -0.0801121 ] [ 0.05821543 -0.02271314 0.99804563 0.04052804] [ 0. 0. 0. 1. ]] SLAMing on 35.179928851 meters Centerline goodness : 0.844284 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:0.04 [[ 0.96858613 -0.2408611 -0.06186146 -0.82202141] [ 0.24179471 0.97029473 0.00796529 -0.08116687] [ 0.05810532 -0.02267285 0.99805296 0.04073217] [ 0. 0. 0. 1. ]] SLAMing on 35.209928851 meters Centerline goodness : 0.785759 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:0.04 [[ 0.96849406 -0.24127027 -0.06170823 -0.82260983] [ 0.24219428 0.97019603 0.00784767 -0.08186259] [ 0.05797567 -0.0225458 0.99806338 0.04118874] [ 0. 0. 0. 1. ]] SLAMing on 35.239928850999995 meters Centerline goodness : 0.844655 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:0.04 [[ 0.96833758 -0.24197412 -0.06140735 -0.82395326] [ 0.24287422 0.97002856 0.00753037 -0.08292366] [ 0.05774473 -0.0222062 0.99808438 0.04238482] [ 0. 0. 0. 1. ]] SLAMing on 35.269928850999996 meters Centerline goodness : 0.846352 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:0.04 [[ 0.968307 -0.24210004 -0.06139317 -0.82404199] [ 0.24300415 0.96999546 0.00760153 -0.08365074] [ 0.05771077 -0.02227941 0.99808471 0.04253739] [ 0. 0. 0. 1. ]] SLAMing on 35.299928851 meters Centerline goodness : 0.845773 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:0.04 [[ 0.96827786 -0.24222883 -0.06134474 -0.82398333] [ 0.24313494 0.9699623 0.00765103 -0.08440981] [ 0.05764879 -0.02232337 0.99808731 0.04248829] [ 0. 0. 0. 1. ]] SLAMing on 35.329928851 meters Centerline goodness : 0.786827 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.09, Z:0.04 [[ 0.96819811 -0.24257818 -0.06122294 -0.82420287] [ 0.2434815 0.96987546 0.00763929 -0.08554874] [ 0.0575255 -0.022303 0.99809488 0.04265966] [ 0. 0. 0. 1. ]] SLAMing on 35.359928851 meters Centerline goodness : 0.846457 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.09, Z:0.04 [[ 0.96818598 -0.24261456 -0.06127055 -0.82415813] [ 0.24351833 0.9698663 0.00762764 -0.08548534] [ 0.05757367 -0.02230548 0.99809205 0.04272066] [ 0. 0. 0. 1. ]] SLAMing on 35.389928851 meters Centerline goodness : 0.846098 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.09, Z:0.04 [[ 0.9681649 -0.24271138 -0.06122019 -0.82444136] [ 0.24361225 0.96984298 0.00759392 -0.085233 ] [ 0.05753084 -0.02226616 0.9980954 0.04285668] [ 0. 0. 0. 1. ]] SLAMing on 35.419928850999995 meters Centerline goodness : 0.846987 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.09, Z:0.04 [[ 0.9681456 -0.24280318 -0.06116135 -0.82473982] [ 0.24369648 0.96982269 0.00748242 -0.08521145] [ 0.05749891 -0.02214887 0.99809985 0.04318287] [ 0. 0. 0. 1. ]] SLAMing on 35.449928850999996 meters Centerline goodness : 0.846935 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.09, Z:0.04 [[ 0.96813289 -0.24285162 -0.0611702 -0.82477335] [ 0.24374226 0.96981157 0.00743152 -0.08590988] [ 0.05751881 -0.02210446 0.99809968 0.04351513] [ 0. 0. 0. 1. ]] SLAMing on 35.479928851 meters Centerline goodness : 0.845537 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.09, Z:0.04 [[ 0.96818222 -0.24262585 -0.06128527 -0.82419072] [ 0.24353268 0.96986233 0.0076745 -0.08647969] [ 0.05757624 -0.02235528 0.99809079 0.04316203] [ 0. 0. 0. 1. ]] SLAMing on 35.509928851 meters Centerline goodness : 0.845773 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.09, Z:0.04 [[ 0.96821621 -0.24245773 -0.06141347 -0.82376424] [ 0.24336989 0.96990281 0.00772195 -0.08642343] [ 0.05769285 -0.0224227 0.99808254 0.04299617] [ 0. 0. 0. 1. ]] SLAMing on 35.539928851 meters Centerline goodness : 0.846920 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:0.04 [[ 0.96836424 -0.24179572 -0.06168902 -0.8232303 ] [ 0.24271488 0.97006667 0.00775566 -0.08468803] [ 0.05796718 -0.02248315 0.99806529 0.04293707] [ 0. 0. 0. 1. ]] SLAMing on 35.569928851 meters Centerline goodness : 0.845618 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:0.04 [[ 0.9684256 -0.24150233 -0.06187465 -0.82291122] [ 0.24241346 0.97014362 0.00755494 -0.08327835] [ 0.05820276 -0.02231565 0.99805533 0.04301092] [ 0. 0. 0. 1. ]] SLAMing on 35.599928850999994 meters Centerline goodness : 0.848754 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:0.04 [[ 0.96851515 -0.2410886 -0.06208621 -0.82225557] [ 0.24200288 0.97024623 0.00754035 -0.08235313] [ 0.05842102 -0.02232798 0.99804231 0.04274787] [ 0. 0. 0. 1. ]] SLAMing on 35.629928850999995 meters Centerline goodness : 0.847301 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:0.04 [[ 0.96876043 -0.24001591 -0.0624147 -0.82091924] [ 0.24095656 0.97050378 0.00789605 -0.08148304] [ 0.05867852 -0.02268861 0.99801907 0.04200524] [ 0. 0. 0. 1. ]] SLAMing on 35.659928851 meters Centerline goodness : 0.846139 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:0.04 [[ 0.96882005 -0.23974489 -0.06253072 -0.82059226] [ 0.24068821 0.9705703 0.00790483 -0.08097247] [ 0.05879532 -0.02270877 0.99801173 0.0419398 ] [ 0. 0. 0. 1. ]] SLAMing on 35.689928851 meters Centerline goodness : 0.847239 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:0.04 [[ 0.96881743 -0.23976097 -0.0625097 -0.82089298] [ 0.24068212 0.97057474 0.00753631 -0.07990515] [ 0.05886343 -0.02234628 0.9980159 0.04233738] [ 0. 0. 0. 1. ]] SLAMing on 35.719928851 meters Centerline goodness : 0.844756 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:0.04 [[ 0.96882116 -0.23975099 -0.06249021 -0.82119282] [ 0.24065464 0.97058375 0.00724746 -0.07873188] [ 0.0589144 -0.02206005 0.99801926 0.04260233] [ 0. 0. 0. 1. ]] SLAMing on 35.749928851 meters Centerline goodness : 0.846094 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:0.04 [[ 0.96895769 -0.23913817 -0.06272097 -0.82065279] [ 0.24003929 0.97073693 0.00713734 -0.0766526 ] [ 0.05917875 -0.02197127 0.99800558 0.04241139] [ 0. 0. 0. 1. ]] SLAMing on 35.779928851 meters Centerline goodness : 0.845899 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:0.04 [[ 0.96898344 -0.23903515 -0.06271588 -0.82055709] [ 0.23992911 0.97076502 0.00702176 -0.07566178] [ 0.05920393 -0.02185134 0.99800672 0.04217609] [ 0. 0. 0. 1. ]] SLAMing on 35.809928850999995 meters Centerline goodness : 0.843523 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.07, Z:0.04 [[ 0.96899143 -0.23898558 -0.06278132 -0.82044585] [ 0.23986585 0.97078245 0.0067687 -0.07455752] [ 0.05932938 -0.0216179 0.99800435 0.04215931] [ 0. 0. 0. 1. ]] SLAMing on 35.839928850999996 meters Centerline goodness : 0.843006 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.07, Z:0.04 [[ 0.96897997 -0.23904335 -0.06273825 -0.82058325] [ 0.23990746 0.97077393 0.00651077 -0.07354278] [ 0.0593483 -0.02136018 0.99800878 0.0421681 ] [ 0. 0. 0. 1. ]] SLAMing on 35.869928851 meters Centerline goodness : 0.844395 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.07, Z:0.04 [[ 0.96898098 -0.23904484 -0.06271703 -0.8206375 ] [ 0.23989062 0.97078006 0.00621013 -0.07247918] [ 0.05939994 -0.02106273 0.99801203 0.04219299] [ 0. 0. 0. 1. ]] SLAMing on 35.899928851 meters Centerline goodness : 0.845273 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.07, Z:0.04 [[ 0.96893918 -0.23923397 -0.06264154 -0.82079892] [ 0.24006508 0.97073835 0.00598433 -0.07166161] [ 0.05937689 -0.0208365 0.99801815 0.04206544] [ 0. 0. 0. 1. ]] SLAMing on 35.929928851 meters Centerline goodness : 0.842212 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.07, Z:0.04 [[ 0.96888915 -0.23945322 -0.06257775 -0.82111733] [ 0.24026956 0.97068917 0.00575159 -0.07105526] [ 0.05936631 -0.02060818 0.99802352 0.04220802] [ 0. 0. 0. 1. ]] SLAMing on 35.959928851 meters Centerline goodness : 0.844485 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.07, Z:0.04 [[ 0.96872692 -0.24019707 -0.06223763 -0.82254944] [ 0.24096101 0.97052211 0.00496247 -0.06953407] [ 0.05921103 -0.01980412 0.99804902 0.04299085] [ 0. 0. 0. 1. ]] SLAMing on 35.989928850999995 meters Centerline goodness : 0.787125 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.07, Z:0.04 [[ 0.96860741 -0.24073655 -0.06201292 -0.82339873] [ 0.2414684 0.97039835 0.00447855 -0.06891118] [ 0.05909909 -0.01931212 0.9980653 0.04346296] [ 0. 0. 0. 1. ]] SLAMing on 36.019928850999996 meters Centerline goodness : 0.842212 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.07, Z:0.04 [[ 0.96855386 -0.2409816 -0.06189747 -0.82358412] [ 0.24170138 0.97034113 0.00430469 -0.06854749] [ 0.05902431 -0.01913002 0.99807323 0.0433325 ] [ 0. 0. 0. 1. ]] SLAMing on 36.049928851 meters Centerline goodness : 0.784796 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.07, Z:0.04 [[ 0.96849662 -0.24122334 -0.0618514 -0.82368974] [ 0.24192399 0.97028701 0.00398838 -0.0677621 ] [ 0.05905152 -0.01882607 0.9980774 0.04332936] [ 0. 0. 0. 1. ]] SLAMing on 36.079928851 meters Centerline goodness : 0.840991 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.07, Z:0.04 [[ 0.9683794 -0.24173203 -0.06170052 -0.82401417] [ 0.24240049 0.97017005 0.00347591 -0.06607001] [ 0.05901976 -0.01832224 0.99808866 0.04298169] [ 0. 0. 0. 1. ]] SLAMing on 36.109928851 meters Centerline goodness : 0.786156 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.07, Z:0.04 [[ 0.96831789 -0.2420247 -0.0615183 -0.82452451] [ 0.24267267 0.97010303 0.00317616 -0.06505844] [ 0.05891038 -0.01800434 0.9981009 0.04296685] [ 0. 0. 0. 1. ]] SLAMing on 36.139928851 meters Centerline goodness : 0.786750 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.04 [[ 0.96825179 -0.24233175 -0.06134979 -0.82514683] [ 0.24294818 0.97003556 0.00268294 -0.063675 ] [ 0.05886131 -0.01750258 0.99811272 0.04325181] [ 0. 0. 0. 1. ]] SLAMing on 36.169928850999995 meters Centerline goodness : 0.788598 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.04 [[ 0.96817091 -0.24270631 -0.06114514 -0.82603512] [ 0.24328613 0.96995227 0.00211008 -0.06208194] [ 0.05879574 -0.01691868 0.99812665 0.04367097] [ 0. 0. 0. 1. ]] SLAMing on 36.199928850999996 meters Centerline goodness : 0.787979 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.04 [[ 0.96808466 -0.24315394 -0.06073104 -0.8274884 ] [ 0.24367614 0.96985588 0.00123257 -0.05954246] [ 0.05860066 -0.01599194 0.99815341 0.0443061 ] [ 0. 0. 0. 1. ]] SLAMing on 36.229928851 meters Centerline goodness : 0.787496 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.04 [[ 9.67997540e-01 -2.43527686e-01 -6.06220161e-02 -8.28060049e-01] [ 2.44013139e-01 9.69771725e-01 6.24428434e-04 -5.79204326e-02] [ 5.86374515e-02 -1.53970136e-02 9.98160599e-01 4.46493819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.259928851 meters Centerline goodness : 0.844675 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.04 [[ 9.67924479e-01 -2.43857449e-01 -6.04627845e-02 -8.28572171e-01] [ 2.44318172e-01 9.69695094e-01 2.34311983e-04 -5.66096372e-02] [ 5.85733268e-02 -1.49989533e-02 9.98170425e-01 4.46750962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.289928851 meters Centerline goodness : 0.843007 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.04 [[ 9.67847980e-01 -2.44207550e-01 -6.02740427e-02 -8.29155878e-01] [ 2.44646699e-01 9.69612285e-01 -9.66644997e-05 -5.53236732e-02] [ 5.84660585e-02 -1.46522891e-02 9.98181862e-01 4.45883603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.319928851 meters Centerline goodness : 0.789200 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.04 [[ 9.67686905e-01 -2.44961519e-01 -5.97988998e-02 -8.30422483e-01] [ 2.45352984e-01 9.69433464e-01 -8.19817361e-04 -5.31512141e-02] [ 5.81718783e-02 -1.38785120e-02 9.98210108e-01 4.45515154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.349928850999994 meters Centerline goodness : 0.842963 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.04 [[ 0.96756457 -0.24552196 -0.05947921 -0.83128587] [ 0.24588622 0.96929792 -0.00122961 -0.05253684] [ 0.05795497 -0.01343539 0.99822879 0.04468915] [ 0. 0. 0. 1. ]] SLAMing on 36.379928850999995 meters Centerline goodness : 0.842293 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.04 [[ 0.96746664 -0.24596833 -0.05922743 -0.83191346] [ 0.24631159 0.96918946 -0.00154777 -0.0517614 ] [ 0.0577833 -0.01309098 0.99824332 0.04466692] [ 0. 0. 0. 1. ]] SLAMing on 36.409928851 meters Centerline goodness : 0.790160 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.04 [[ 0.96736118 -0.2464417 -0.05898165 -0.83252162] [ 0.24675677 0.96907539 -0.00199495 -0.05046657] [ 0.05764931 -0.01262428 0.99825707 0.04457151] [ 0. 0. 0. 1. ]] SLAMing on 36.439928851 meters Centerline goodness : 0.788315 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.04 [[ 0.96723867 -0.24696481 -0.0588026 -0.83330553] [ 0.24723177 0.96895231 -0.00280591 -0.04773824] [ 0.05766988 -0.01182388 0.99826569 0.04479821] [ 0. 0. 0. 1. ]] SLAMing on 36.469928851 meters Centerline goodness : 0.790417 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.04 [[ 0.96718064 -0.24722663 -0.05865672 -0.83379604] [ 0.24746788 0.96889071 -0.00322961 -0.04634769] [ 0.0576304 -0.01139204 0.99827299 0.04488608] [ 0. 0. 0. 1. ]] SLAMing on 36.499928851 meters Centerline goodness : 0.790099 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.04 [[ 0.9671247 -0.24745796 -0.05860344 -0.83408262] [ 0.24767693 0.96883595 -0.00361219 -0.04507158] [ 0.05767098 -0.01102128 0.99827481 0.04495734] [ 0. 0. 0. 1. ]] SLAMing on 36.529928850999994 meters Centerline goodness : 0.792076 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.04, Z:0.04 [[ 0.96708785 -0.24761953 -0.05852919 -0.83421654] [ 0.24782033 0.96879809 -0.00391768 -0.04390924] [ 0.05767306 -0.01071598 0.99827801 0.04484159] [ 0. 0. 0. 1. ]] SLAMing on 36.559928850999995 meters Centerline goodness : 0.842910 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.04, Z:0.05 [[ 0.96695481 -0.24821152 -0.05821886 -0.8354009 ] [ 0.24836731 0.96865472 -0.00466001 -0.04191562] [ 0.05755065 -0.00995364 0.99829297 0.04527367] [ 0. 0. 0. 1. ]] SLAMing on 36.589928850999996 meters Centerline goodness : 0.792854 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.04, Z:0.05 [[ 0.96684633 -0.24869249 -0.05796731 -0.83627051] [ 0.24882289 0.96853572 -0.00507288 -0.04103108] [ 0.057405 -0.0095189 0.99830559 0.04555447] [ 0. 0. 0. 1. ]] SLAMing on 36.619928851 meters Centerline goodness : 0.793358 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.04, Z:0.05 [[ 0.96662996 -0.24965691 -0.05742785 -0.8379277 ] [ 0.24974571 0.96829444 -0.00574128 -0.04005927] [ 0.05704041 -0.00879267 0.99833315 0.04600332] [ 0. 0. 0. 1. ]] SLAMing on 36.649928851 meters Centerline goodness : 0.794301 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.04, Z:0.05 [[ 0.96655014 -0.25003073 -0.05714426 -0.8384177 ] [ 0.25010947 0.96819968 -0.0058857 -0.04000427] [ 0.05679866 -0.00860349 0.99834858 0.04581544] [ 0. 0. 0. 1. ]] SLAMing on 36.679928851 meters Centerline goodness : 0.794672 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.04, Z:0.05 [[ 0.96646398 -0.25040732 -0.05695219 -0.83880086] [ 0.25047195 0.96810454 -0.00611648 -0.03981871] [ 0.05666729 -0.00835357 0.99835817 0.04578049] [ 0. 0. 0. 1. ]] SLAMing on 36.709928851 meters Centerline goodness : 0.796692 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.04, Z:0.05 [[ 0.96640496 -0.25065552 -0.05686176 -0.83899081] [ 0.25071007 0.9680418 -0.0062882 -0.03948767] [ 0.05662074 -0.00817887 0.99836226 0.04573664] [ 0. 0. 0. 1. ]] SLAMing on 36.739928850999995 meters Centerline goodness : 0.795100 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.04, Z:0.05 [[ 0.96627948 -0.25118051 -0.05667724 -0.83972073] [ 0.25120145 0.96791044 -0.00687111 -0.03773625] [ 0.05658438 -0.00759799 0.99836891 0.04593551] [ 0. 0. 0. 1. ]] SLAMing on 36.769928850999996 meters Centerline goodness : 0.797222 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.04, Z:0.05 [[ 0.96626081 -0.25122879 -0.05678151 -0.8397476 ] [ 0.25123696 0.96789949 -0.00711127 -0.03697743] [ 0.05674535 -0.00739427 0.9983613 0.04624843] [ 0. 0. 0. 1. ]] SLAMing on 36.799928851 meters Centerline goodness : 0.796896 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.04, Z:0.05 [[ 0.96624088 -0.25131248 -0.05675025 -0.83987464] [ 0.25131064 0.96787906 -0.00728588 -0.03635728] [ 0.05675842 -0.00722203 0.99836182 0.04628765] [ 0. 0. 0. 1. ]] SLAMing on 36.829928851 meters Centerline goodness : 0.794270 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.04, Z:0.05 [[ 0.9662812 -0.25116487 -0.05671723 -0.83954772] [ 0.25116558 0.96791712 -0.00723243 -0.03608072] [ 0.05671411 -0.00725686 0.99836409 0.04580405] [ 0. 0. 0. 1. ]] SLAMing on 36.859928851 meters Centerline goodness : 0.793648 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.04, Z:0.05 [[ 0.9662714 -0.25119464 -0.05675236 -0.8394829 ] [ 0.25118701 0.96791041 -0.0073843 -0.03555975] [ 0.0567861 -0.00712022 0.99836098 0.04581637] [ 0. 0. 0. 1. ]] SLAMing on 36.889928851 meters Centerline goodness : 0.842501 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.03, Z:0.05 [[ 0.96627167 -0.25117284 -0.05684417 -0.83949798] [ 0.2511531 0.96791748 -0.00760777 -0.03459495] [ 0.05693133 -0.00692542 0.99835408 0.04601951] [ 0. 0. 0. 1. ]] SLAMing on 36.919928850999995 meters Centerline goodness : 0.797207 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.03, Z:0.05 [[ 0.96629972 -0.25102989 -0.05699859 -0.83928769] [ 0.25100111 0.96795553 -0.00778023 -0.03338963] [ 0.05712517 -0.00678868 0.99834394 0.04605844] [ 0. 0. 0. 1. ]] SLAMing on 36.949928850999996 meters Centerline goodness : 0.797207 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.03, Z:0.05 [[ 0.96629972 -0.25102989 -0.05699859 -0.83928769] [ 0.25100111 0.96795553 -0.00778023 -0.03338963] [ 0.05712517 -0.00678868 0.99834394 0.04605844] [ 0. 0. 0. 1. ]] SLAMing on 36.979928851 meters Centerline goodness : 0.796780 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.03, Z:0.05 [[ 0.96726322 -0.24711286 -0.05776766 -0.83939201] [ 0.24730696 0.96892943 -0.00387758 -0.03366048] [ 0.05693099 -0.01053571 0.99832252 0.04550445] [ 0. 0. 0. 1. ]] SLAMing on 37.009928851 meters Centerline goodness : 0.796164 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.03, Z:0.05 [[ 0.96738458 -0.24657976 -0.05801294 -0.83859675] [ 0.24678254 0.96906361 -0.00375517 -0.03304256] [ 0.05714417 -0.01068389 0.99830877 0.04524204] [ 0. 0. 0. 1. ]] SLAMing on 37.039928851 meters Centerline goodness : 0.796133 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.03, Z:0.05 [[ 0.9674505 -0.24627717 -0.05819869 -0.83821649] [ 0.24647888 0.96914072 -0.00379949 -0.03234445] [ 0.05733845 -0.01066893 0.99829779 0.04532317] [ 0. 0. 0. 1. ]] SLAMing on 37.069928851 meters Centerline goodness : 0.798101 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.03, Z:0.05 [[ 9.68321097e-01 -2.42662336e-01 -5.89002862e-02 -8.38997365e-01] [ 2.43082155e-01 9.70005703e-01 -3.85586934e-05 -3.28222382e-02] [ 5.71429702e-02 -1.42802713e-02 9.98263870e-01 4.54440839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.099928850999994 meters Centerline goodness : 0.797432 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.03, Z:0.05 [[ 9.68397059e-01 -2.42328507e-01 -5.90256732e-02 -8.38760441e-01] [ 2.42740427e-01 9.70091257e-01 -1.97376488e-04 -3.17322588e-02] [ 5.73081195e-02 -1.41367783e-02 9.98256445e-01 4.56235559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.129928850999995 meters Centerline goodness : 0.797475 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.03, Z:0.05 [[ 9.68455909e-01 -2.42053462e-01 -5.91884523e-02 -8.38444605e-01] [ 2.42457854e-01 9.70161873e-01 -3.59843152e-04 -3.10215698e-02] [ 5.75094810e-02 -1.40022129e-02 9.98246762e-01 4.58669179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.159928851 meters Centerline goodness : 0.796441 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.03, Z:0.05 [[ 9.68519929e-01 -2.41753767e-01 -5.93655017e-02 -8.38058299e-01] [ 2.42156476e-01 9.70237116e-01 -4.22876900e-04 -3.09056063e-02] [ 5.77008453e-02 -1.39661760e-02 9.98236224e-01 4.61272694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.189928851 meters Centerline goodness : 0.795201 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.03, Z:0.05 [[ 9.68668493e-01 -2.41089800e-01 -5.96410868e-02 -8.37247052e-01] [ 2.41506177e-01 9.70399254e-01 -2.33688703e-04 -3.07560348e-02] [ 5.79320061e-02 -1.41773240e-02 9.98219859e-01 4.61116303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.219928851 meters Centerline goodness : 0.796597 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.03, Z:0.05 [[ 9.68680333e-01 -2.41024770e-01 -5.97115746e-02 -8.37105493e-01] [ 2.41438681e-01 9.70416034e-01 -2.91382411e-04 -3.04258983e-02] [ 5.80152997e-02 -1.41344274e-02 9.98215629e-01 4.61309691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.249928851 meters Centerline goodness : 0.796038 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.03, Z:0.05 [[ 9.68683474e-01 -2.41003704e-01 -5.97456336e-02 -8.37110140e-01] [ 2.41414102e-01 9.70422126e-01 -3.59455505e-04 -3.04781366e-02] [ 5.80651149e-02 -1.40752399e-02 9.98213569e-01 4.63905618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.279928850999994 meters Centerline goodness : 0.796363 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.03, Z:0.05 [[ 9.68613707e-01 -2.41325441e-01 -5.95778422e-02 -8.37785855e-01] [ 2.41732253e-01 9.70342911e-01 -3.90364015e-04 -3.13333578e-02] [ 5.79051417e-02 -1.40237741e-02 9.98223586e-01 4.69230008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.309928850999995 meters Centerline goodness : 0.794791 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.03, Z:0.05 [[ 9.68556781e-01 -2.41589610e-01 -5.94325005e-02 -8.38211283e-01] [ 2.41992680e-01 9.70277981e-01 -4.27841983e-04 -3.18138901e-02] [ 5.77694087e-02 -1.39678408e-02 9.98232235e-01 4.70886960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.339928850999996 meters Centerline goodness : 0.794223 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.03, Z:0.05 [[ 9.68482584e-01 -2.41910271e-01 -5.93372170e-02 -8.38698388e-01] [ 2.42303916e-01 9.70200226e-01 -5.77659535e-04 -3.25004759e-02] [ 5.77087231e-02 -1.38181869e-02 9.98237828e-01 4.76391431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.369928851 meters Centerline goodness : 0.795007 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.03, Z:0.05 [[ 9.68435814e-01 -2.42145960e-01 -5.91388841e-02 -8.38981452e-01] [ 2.42550551e-01 9.70138706e-01 -3.47115121e-04 -3.37630493e-02] [ 5.74569731e-02 -1.40080102e-02 9.98249704e-01 4.74951609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.399928851 meters Centerline goodness : 0.796709 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.04, Z:0.05 [[ 9.68220340e-01 -2.43035324e-01 -5.90186834e-02 -8.39478241e-01] [ 2.43428480e-01 9.69918697e-01 -5.43876483e-04 -3.62295238e-02] [ 5.73755057e-02 -1.38402361e-02 9.98256730e-01 4.81336956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.429928851 meters Centerline goodness : 0.797185 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.04, Z:0.05 [[ 9.68140137e-01 -2.43399838e-01 -5.88319193e-02 -8.39880735e-01] [ 2.43796130e-01 9.69826397e-01 -4.55020389e-04 -3.75839146e-02] [ 5.71675002e-02 -1.39024707e-02 9.98267799e-01 4.82725162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.459928851 meters Centerline goodness : 0.795781 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.04, Z:0.05 [[ 9.68040345e-01 -2.43843025e-01 -5.86384690e-02 -8.40423987e-01] [ 2.44234557e-01 9.69716055e-01 -5.04643549e-04 -3.85564454e-02] [ 5.69857186e-02 -1.38330252e-02 9.98279157e-01 4.85466566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.489928850999995 meters Centerline goodness : 0.794304 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.04, Z:0.05 [[ 9.67973151e-01 -2.44139569e-01 -5.85136750e-02 -8.40584379e-01] [ 2.44535137e-01 9.69640344e-01 -4.12367343e-04 -3.97436276e-02] [ 5.68378951e-02 -1.39094890e-02 9.98286522e-01 4.85235165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.519928850999996 meters Centerline goodness : 0.793447 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.04, Z:0.05 [[ 9.67814972e-01 -2.44776490e-01 -5.84692213e-02 -8.40552448e-01] [ 2.45178196e-01 9.69477980e-01 -3.12787152e-04 -4.18329241e-02] [ 5.67611855e-02 -1.40326581e-02 9.98289163e-01 4.84867317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.549928851 meters Centerline goodness : 0.794181 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.04, Z:0.05 [[ 9.67740514e-01 -2.45104173e-01 -5.83287451e-02 -8.40914227e-01] [ 2.45504260e-01 9.69395460e-01 -3.16384476e-04 -4.26370195e-02] [ 5.66211679e-02 -1.40137773e-02 9.98297379e-01 4.86671733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.579928851 meters Centerline goodness : 0.794591 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.04, Z:0.05 [[ 9.67664705e-01 -2.45447910e-01 -5.81407138e-02 -8.41549336e-01] [ 2.45839772e-01 9.69310387e-01 -4.25498349e-04 -4.32268500e-02] [ 5.64608354e-02 -1.38815601e-02 9.98308307e-01 4.90739897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.609928851 meters Centerline goodness : 0.794045 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.04, Z:0.05 [[ 9.67573604e-01 -2.45839990e-01 -5.80001682e-02 -8.42381785e-01] [ 2.46214127e-01 9.69215193e-01 -7.16590156e-04 -4.36388206e-02] [ 5.63908107e-02 -1.35871071e-02 9.98316316e-01 4.99229667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.639928851 meters Centerline goodness : 0.794396 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.04, Z:0.05 [[ 9.67487923e-01 -2.46229459e-01 -5.77769171e-02 -8.43322995e-01] [ 2.46586469e-01 9.69120300e-01 -9.78526522e-04 -4.42219847e-02] [ 5.62337253e-02 -1.33002934e-02 9.98329039e-01 5.07874968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.669928850999995 meters Centerline goodness : 0.794435 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.04, Z:0.05 [[ 0.96745655 -0.24635431 -0.05777001 -0.84359645] [ 0.24670195 0.96909072 -0.001147 -0.04425714] [ 0.05626694 -0.0131423 0.99832926 0.05125025] [ 0. 0. 0. 1. ]] SLAMing on 37.699928850999996 meters Centerline goodness : 0.792710 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.04, Z:0.05 [[ 0.96745987 -0.24634485 -0.05775478 -0.84362963] [ 0.24669402 0.96909278 -0.00111589 -0.04481444] [ 0.05624463 -0.01316818 0.99833018 0.05147721] [ 0. 0. 0. 1. ]] SLAMing on 37.729928851 meters Centerline goodness : 0.793353 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.05 [[ 0.96741289 -0.2465264 -0.05776698 -0.84371604] [ 0.24687486 0.9690467 -0.00113696 -0.04559328] [ 0.0562592 -0.0131613 0.99832945 0.05178246] [ 0. 0. 0. 1. ]] SLAMing on 37.759928851 meters Centerline goodness : 0.793298 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.05 [[ 9.67310465e-01 -2.46916433e-01 -5.78164217e-02 -8.43376127e-01] [ 2.47275406e-01 9.68944748e-01 -9.73647955e-04 -4.79526159e-02] [ 5.62613279e-02 -1.33547593e-02 9.98326757e-01 5.17867636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.789928851 meters Centerline goodness : 0.791782 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.05 [[ 9.67314966e-01 -2.46881265e-01 -5.78912613e-02 -8.42838281e-01] [ 2.47256923e-01 9.68949705e-01 -6.94522466e-04 -4.92578230e-02] [ 5.62651852e-02 -1.36421932e-02 9.98322653e-01 5.15331466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.819928851 meters Centerline goodness : 0.790889 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.05 [[ 9.67327526e-01 -2.46833856e-01 -5.78835429e-02 -8.42482858e-01] [ 2.47226638e-01 9.68957605e-01 -3.87159927e-04 -5.03402464e-02] [ 5.61822633e-02 -1.39358432e-02 9.98323267e-01 5.11881226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.849928850999994 meters Centerline goodness : 0.791270 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.05 [[ 9.67301780e-01 -2.46919285e-01 -5.79493989e-02 -8.42332211e-01] [ 2.47312139e-01 9.68935778e-01 -4.04784713e-04 -5.09140656e-02] [ 5.62491950e-02 -1.39400408e-02 9.98319440e-01 5.13580594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.879928850999995 meters Centerline goodness : 0.789390 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.05 [[ 9.67263522e-01 -2.47054648e-01 -5.80110268e-02 -8.42533731e-01] [ 2.47444658e-01 9.68901912e-01 -4.74552296e-04 -5.17924783e-02] [ 5.63242351e-02 -1.38955016e-02 9.98315830e-01 5.20623263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.909928851 meters Centerline goodness : 0.791497 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.05 [[ 9.67240051e-01 -2.47154884e-01 -5.79753934e-02 -8.42702127e-01] [ 2.47544858e-01 9.68876320e-01 -4.69409158e-04 -5.23740013e-02] [ 5.62870025e-02 -1.38974792e-02 9.98317902e-01 5.23224456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.939928851 meters Centerline goodness : 0.789536 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.05 [[ 9.67232001e-01 -2.47167604e-01 -5.80554203e-02 -8.42601890e-01] [ 2.47563357e-01 9.68871629e-01 -3.87170667e-04 -5.31309476e-02] [ 5.63439457e-02 -1.39979109e-02 9.98313287e-01 5.25802509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.969928851 meters Centerline goodness : 0.790143 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.05 [[ 9.67240042e-01 -2.47127293e-01 -5.80930531e-02 -8.42530314e-01] [ 2.47529613e-01 9.68880288e-01 -2.79032527e-04 -5.37740790e-02] [ 5.63541706e-02 -1.41098595e-02 9.98311134e-01 5.27391554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.999928851 meters Centerline goodness : 0.788954 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:0.05 [[ 9.67204188e-01 -2.47266232e-01 -5.80987821e-02 -8.42408558e-01] [ 2.47679847e-01 9.68841931e-01 -8.44782133e-05 -5.57372964e-02] [ 5.63094248e-02 -1.43081898e-02 9.98310836e-01 5.29661438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.029928850999994 meters Centerline goodness : 0.789609 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:0.05 [[ 9.67169366e-01 -2.47395032e-01 -5.81301594e-02 -8.42281307e-01] [ 2.47813351e-01 9.68807795e-01 -1.29614103e-05 -5.67875252e-02] [ 5.63201581e-02 -1.43928937e-02 9.98309012e-01 5.30945120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.059928850999995 meters Centerline goodness : 0.789416 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:0.05 [[ 9.67141627e-01 -2.47513053e-01 -5.80892669e-02 -8.42304569e-01] [ 2.47938869e-01 9.68775671e-01 1.26990190e-04 -5.78894518e-02] [ 5.62440368e-02 -1.45254046e-02 9.98311385e-01 5.31536685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.089928850999996 meters Centerline goodness : 0.790065 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:0.05 [[ 9.67099609e-01 -2.47671700e-01 -5.81126048e-02 -8.42226834e-01] [ 2.48107255e-01 9.68732526e-01 2.89056361e-04 -5.94874283e-02] [ 5.62239793e-02 -1.46977052e-02 9.98309993e-01 5.34362198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.119928851 meters Centerline goodness : 0.789819 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:0.05 [[ 9.67082573e-01 -2.47742344e-01 -5.80949961e-02 -8.42332197e-01] [ 2.48182899e-01 9.68713117e-01 3.80376452e-04 -6.02866038e-02] [ 5.61831494e-02 -1.47860400e-02 9.98310987e-01 5.36449934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.149928851 meters Centerline goodness : 0.790150 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:0.05 [[ 9.67068788e-01 -2.47794595e-01 -5.81016146e-02 -8.42294190e-01] [ 2.48239484e-01 9.68698587e-01 4.54079249e-04 -6.11653893e-02] [ 5.61704336e-02 -1.48622407e-02 9.98310571e-01 5.38605422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.179928851 meters Centerline goodness : 0.790019 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:0.05 [[ 9.67036396e-01 -2.47912673e-01 -5.81370435e-02 -8.42425895e-01] [ 2.48352474e-01 9.68669668e-01 3.50798473e-04 -6.19583584e-02] [ 5.62286233e-02 -1.47777135e-02 9.98308550e-01 5.44411494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.209928850999994 meters Centerline goodness : 0.791393 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:0.06 [[ 9.66956998e-01 -2.48256787e-01 -5.79890696e-02 -8.43091517e-01] [ 2.48698635e-01 9.68580826e-01 4.15964148e-04 -6.39286009e-02] [ 5.60638350e-02 -1.48240219e-02 9.98317131e-01 5.52409189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.239928850999995 meters Centerline goodness : 0.789729 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:0.06 [[ 9.66943516e-01 -2.48304253e-01 -5.80106387e-02 -8.43063186e-01] [ 2.48751789e-01 9.68567131e-01 5.10115499e-04 -6.47976453e-02] [ 5.60605340e-02 -1.49235030e-02 9.98315835e-01 5.54310054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.269928850999996 meters Centerline goodness : 0.790829 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.07, Z:0.06 [[ 9.66933213e-01 -2.48318681e-01 -5.81205145e-02 -8.42865897e-01] [ 2.48770945e-01 9.68562181e-01 5.64445785e-04 -6.56276821e-02] [ 5.61531698e-02 -1.50044767e-02 9.98309415e-01 5.56936791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.299928851 meters Centerline goodness : 0.792371 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.07, Z:0.06 [[ 9.66787577e-01 -2.48913989e-01 -5.79966171e-02 -8.43310437e-01] [ 2.49366326e-01 9.68409055e-01 5.81160494e-04 -6.81750209e-02] [ 5.60197901e-02 -1.50242620e-02 9.98316610e-01 5.63811549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.329928851 meters Centerline goodness : 0.792354 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.07, Z:0.06 [[ 9.66698013e-01 -2.49287500e-01 -5.78851881e-02 -8.43574083e-01] [ 2.49737897e-01 9.68313308e-01 5.65335122e-04 -6.96046535e-02] [ 5.59100670e-02 -1.50026335e-02 9.98323087e-01 5.67164380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.359928851 meters Centerline goodness : 0.790946 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.07, Z:0.06 [[ 9.66683583e-01 -2.49301347e-01 -5.80662548e-02 -8.43093904e-01] [ 2.49768688e-01 9.68305186e-01 8.18090629e-04 -7.12875114e-02] [ 5.60219045e-02 -1.52939671e-02 9.98312396e-01 5.69012182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.389928851 meters Centerline goodness : 0.792861 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.07, Z:0.06 [[ 0.96661297 -0.24955589 -0.05814823 -0.84279215] [ 0.25003772 0.96823553 0.00104603 -0.07355516] [ 0.05604014 -0.01555036 0.99830741 0.0570701 ] [ 0. 0. 0. 1. ]] SLAMing on 38.419928850999995 meters Centerline goodness : 0.794566 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.07, Z:0.06 [[ 0.96659789 -0.24960782 -0.05817607 -0.84271438] [ 0.25009647 0.96822023 0.00115823 -0.07453041] [ 0.05603815 -0.01566917 0.99830567 0.05723848] [ 0. 0. 0. 1. ]] SLAMing on 38.449928850999996 meters Centerline goodness : 0.793933 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.08, Z:0.06 [[ 0.9665756 -0.24969348 -0.05817876 -0.84281335] [ 0.25018084 0.96819846 0.00113195 -0.07529188] [ 0.05604595 -0.01564933 0.99830554 0.05764498] [ 0. 0. 0. 1. ]] SLAMing on 38.479928851 meters Centerline goodness : 0.796914 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.08, Z:0.06 [[ 0.96658339 -0.24966899 -0.05815447 -0.84318912] [ 0.25015899 0.96820404 0.00118639 -0.07658662] [ 0.05600918 -0.01569461 0.99830689 0.05855383] [ 0. 0. 0. 1. ]] SLAMing on 38.509928851 meters Centerline goodness : 0.795975 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.08, Z:0.06 [[ 0.96662933 -0.24946685 -0.05825824 -0.84291634] [ 0.24996751 0.96825328 0.00135314 -0.07731603] [ 0.05607117 -0.01587065 0.99830063 0.05871176] [ 0. 0. 0. 1. ]] SLAMing on 38.539928851 meters Centerline goodness : 0.795084 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.08, Z:0.06 [[ 0.96667356 -0.24926779 -0.05837638 -0.84259521] [ 0.24977861 0.9683018 0.00150625 -0.07812763] [ 0.05615049 -0.01603722 0.99829351 0.05889161] [ 0. 0. 0. 1. ]] SLAMing on 38.569928851 meters Centerline goodness : 0.797875 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.08, Z:0.06 [[ 0.96671995 -0.24905212 -0.0585285 -0.84219494] [ 0.24957707 0.96835341 0.0017199 -0.0790445 ] [ 0.05624793 -0.01627003 0.99828426 0.05901366] [ 0. 0. 0. 1. ]] SLAMing on 38.599928850999994 meters Centerline goodness : 0.795478 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.08, Z:0.06 [[ 0.9668579 -0.2484407 -0.05884748 -0.84139258] [ 0.24899627 0.96850197 0.00218705 -0.08042578] [ 0.05645055 -0.01676737 0.99826459 0.05927768] [ 0. 0. 0. 1. ]] SLAMing on 38.629928850999995 meters Centerline goodness : 0.795145 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.08, Z:0.06 [[ 0.96687676 -0.24833426 -0.05898667 -0.84125298] [ 0.24889199 0.96852878 0.00218705 -0.0806111 ] [ 0.05658717 -0.01679592 0.99825637 0.05961297] [ 0. 0. 0. 1. ]] SLAMing on 38.659928851 meters Centerline goodness : 0.796321 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.08, Z:0.06 [[ 0.96696327 -0.24791983 -0.05931101 -0.84050003] [ 0.24849931 0.96862889 0.0024851 -0.0812583 ] [ 0.05683425 -0.01714175 0.99823646 0.05966255] [ 0. 0. 0. 1. ]] SLAMing on 38.689928851 meters Centerline goodness : 0.795762 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.08, Z:0.06 [[ 0.96714281 -0.2471167 -0.0597338 -0.83902872] [ 0.24775113 0.96881794 0.00334207 -0.08366848] [ 0.05704529 -0.01803137 0.99820875 0.05934323] [ 0. 0. 0. 1. ]] SLAMing on 38.719928851 meters Centerline goodness : 0.793788 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.08, Z:0.06 [[ 0.9672223 -0.24674769 -0.05997165 -0.8382942 ] [ 0.24740463 0.9689053 0.00367072 -0.08470758] [ 0.05720111 -0.01838767 0.99819333 0.05928304] [ 0. 0. 0. 1. ]] SLAMing on 38.749928851 meters Centerline goodness : 0.792805 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.09, Z:0.06 [[ 0.96727006 -0.2465229 -0.06012568 -0.8379404 ] [ 0.24719133 0.96895913 0.00382785 -0.0851338 ] [ 0.05731568 -0.01856511 0.99818348 0.05935893] [ 0. 0. 0. 1. ]] SLAMing on 38.779928850999994 meters Centerline goodness : 0.793315 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.09, Z:0.06 [[ 0.96734393 -0.24617912 -0.06034536 -0.83742858] [ 0.24686146 0.96904249 0.00400862 -0.08532275] [ 0.05749038 -0.01877466 0.99816951 0.05940341] [ 0. 0. 0. 1. ]] SLAMing on 38.809928850999995 meters Centerline goodness : 0.792741 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.09, Z:0.06 [[ 0.96754459 -0.24529722 -0.06071855 -0.83650066] [ 0.24600413 0.96925907 0.0043383 -0.08573168] [ 0.05778784 -0.01913451 0.9981455 0.05960269] [ 0. 0. 0. 1. ]] SLAMing on 38.839928850999996 meters Centerline goodness : 0.792741 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.09, Z:0.06 [[ 0.96754459 -0.24529722 -0.06071855 -0.83650066] [ 0.24600413 0.96925907 0.0043383 -0.08573168] [ 0.05778784 -0.01913451 0.9981455 0.05960269] [ 0. 0. 0. 1. ]] SLAMing on 38.869928851 meters Centerline goodness : 0.794223 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.09, Z:0.06 [[ 0.96763041 -0.24489762 -0.06096343 -0.83578073] [ 0.24562499 0.96935391 0.00462167 -0.08639812] [ 0.0579633 -0.01944621 0.9981293 0.05951484] [ 0. 0. 0. 1. ]] SLAMing on 38.899928851 meters Centerline goodness : 0.792567 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.09, Z:0.06 [[ 0.96769024 -0.24464129 -0.06104298 -0.8354417 ] [ 0.24538914 0.969412 0.00495512 -0.08740756] [ 0.05796357 -0.0197743 0.99812284 0.05946172] [ 0. 0. 0. 1. ]] SLAMing on 38.929928851 meters Centerline goodness : 0.792637 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.09, Z:0.06 [[ 0.96773279 -0.24441124 -0.06128943 -0.83482759] [ 0.24517955 0.96946359 0.00522909 -0.08816286] [ 0.05813982 -0.02008727 0.99810634 0.059434 ] [ 0. 0. 0. 1. ]] SLAMing on 38.959928850999994 meters Centerline goodness : 0.792011 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.09, Z:0.06 [[ 0.96780998 -0.24405363 -0.06149519 -0.8342779 ] [ 0.24485175 0.9695439 0.00567937 -0.08967233] [ 0.05823622 -0.02055376 0.99809122 0.0595731 ] [ 0. 0. 0. 1. ]] SLAMing on 38.989928850999995 meters Centerline goodness : 0.790809 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.09, Z:0.06 [[ 0.96780081 -0.24410585 -0.06143236 -0.8345772 ] [ 0.24490434 0.96953045 0.00570658 -0.09029349] [ 0.05816753 -0.02056789 0.99809494 0.05997472] [ 0. 0. 0. 1. ]] SLAMing on 39.019928850999996 meters Centerline goodness : 0.790589 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.09, Z:0.06 [[ 0.96781894 -0.24401006 -0.06152721 -0.83453094] [ 0.24481755 0.96955164 0.00583007 -0.09102575] [ 0.05823121 -0.02070539 0.99808838 0.06033701] [ 0. 0. 0. 1. ]] SLAMing on 39.049928851 meters Centerline goodness : 0.791448 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.09, Z:0.06 [[ 0.96781494 -0.24403238 -0.06150154 -0.83474414] [ 0.24483565 0.96954745 0.00576608 -0.09147048] [ 0.05822155 -0.02063827 0.99809033 0.06077312] [ 0. 0. 0. 1. ]] SLAMing on 39.079928851 meters Centerline goodness : 0.791190 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.09, Z:0.06 [[ 0.96792103 -0.24356437 -0.06168689 -0.83411761] [ 0.24439413 0.96965636 0.00616795 -0.09273192] [ 0.05831279 -0.02104601 0.99807649 0.06079521] [ 0. 0. 0. 1. ]] SLAMing on 39.109928851 meters Centerline goodness : 0.791091 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.10, Z:0.07 [[ 0.96876683 -0.23682394 -0.07352038 -0.8358621 ] [ 0.23807468 0.97120864 0.00861538 -0.09830835] [ 0.0693633 -0.02584964 0.9972565 0.06520145] [ 0. 0. 0. 1. ]] SLAMing on 39.139928851 meters Centerline goodness : 0.791687 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.10, Z:0.07 [[ 0.96892305 -0.23648138 -0.07255814 -0.83891048] [ 0.23759205 0.97134014 0.00695378 -0.09860577] [ 0.0688342 -0.02397691 0.99733994 0.06700823] [ 0. 0. 0. 1. ]] SLAMing on 39.169928850999995 meters Centerline goodness : 0.789281 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.10, Z:0.07 [[ 0.96978649 -0.2326934 -0.07326621 -0.8396308 ] [ 0.23406948 0.9721613 0.01067204 -0.0993208 ] [ 0.06874326 -0.02749898 0.99725532 0.06743335] [ 0. 0. 0. 1. ]] SLAMing on 39.199928850999996 meters Centerline goodness : 0.789767 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.10, Z:0.07 [[ 0.97059268 -0.22494934 -0.08571841 -0.8407679 ] [ 0.22687983 0.97383111 0.01336052 -0.10453366] [ 0.08046981 -0.03241541 0.99622982 0.07208162] [ 0. 0. 0. 1. ]] SLAMing on 39.229928851 meters Centerline goodness : 0.789733 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.10, Z:0.07 [[ 0.97067637 -0.22455475 -0.08580527 -0.84037653] [ 0.22648918 0.97392163 0.01339036 -0.10393899] [ 0.08056073 -0.03243167 0.99622194 0.07186174] [ 0. 0. 0. 1. ]] SLAMing on 39.259928851 meters Centerline goodness : 0.788196 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.11, Z:0.08 [[ 0.97140184 -0.21621006 -0.09814113 -0.84109664] [ 0.21888729 0.97559755 0.01725591 -0.10958279] [ 0.09201535 -0.03824427 0.99502289 0.07561945] [ 0. 0. 0. 1. ]] SLAMing on 39.289928851 meters Centerline goodness : 0.788678 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.11, Z:0.07 [[ 0.97205436 -0.21378784 -0.09697976 -0.84322958] [ 0.21637705 0.97616371 0.01689347 -0.10831258] [ 0.0910565 -0.03740556 0.99514297 0.07471162] [ 0. 0. 0. 1. ]] SLAMing on 39.319928851 meters Centerline goodness : 0.786590 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.11, Z:0.08 [[ 0.97305084 -0.20619967 -0.10321708 -0.84860409] [ 0.208715 0.97787522 0.01407477 -0.11112656] [ 0.09803121 -0.03523842 0.99455927 0.07913004] [ 0. 0. 0. 1. ]] SLAMing on 39.349928850999994 meters Centerline goodness : 0.788074 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.11, Z:0.08 [[ 0.97340773 -0.20472324 -0.10279002 -0.84932819] [ 0.20717087 0.97821004 0.01361413 -0.10942596] [ 0.0977631 -0.0345472 0.99460991 0.07843221] [ 0. 0. 0. 1. ]] SLAMing on 39.379928850999995 meters Centerline goodness : 0.788738 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.11, Z:0.08 [[ 0.97401319 -0.19501792 -0.11517954 -0.85042793] [ 0.19829452 0.97998448 0.01759817 -0.11411898] [ 0.10944221 -0.03998032 0.99318879 0.08230872] [ 0. 0. 0. 1. ]] SLAMing on 39.409928851 meters Centerline goodness : 0.836163 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.11, Z:0.08 [[ 0.97527495 -0.18862419 -0.11515069 -0.85067953] [ 0.19218583 0.98114331 0.02055275 -0.11285452] [ 0.10910258 -0.04217491 0.99313539 0.08003263] [ 0. 0. 0. 1. ]] SLAMing on 39.439928851 meters Centerline goodness : 0.835356 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.11, Z:0.08 [[ 0.97609018 -0.18413782 -0.11550421 -0.85063539] [ 0.18803219 0.98187726 0.02368428 -0.11271708] [ 0.10904979 -0.04483651 0.99302459 0.07902731] [ 0. 0. 0. 1. ]] SLAMing on 39.469928851 meters Centerline goodness : 0.835111 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.11, Z:0.08 [[ 0.97774193 -0.1748695 -0.11593697 -0.85025506] [ 0.17936628 0.98334061 0.0294785 -0.1112056 ] [ 0.10885064 -0.04961755 0.99281904 0.07579332] [ 0. 0. 0. 1. ]] SLAMing on 39.499928851 meters Centerline goodness : 0.835515 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.11, Z:0.08 [[ 0.97834007 -0.17217247 -0.1149232 -0.85249886] [ 0.1765349 0.98387148 0.02885046 -0.10949796] [ 0.10810241 -0.04851352 0.99295534 0.0750698 ] [ 0. 0. 0. 1. ]] SLAMing on 39.529928850999994 meters Centerline goodness : 0.833737 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.11, Z:0.08 [[ 0.97901108 -0.1678852 -0.11555028 -0.85270991] [ 0.1726586 0.98444376 0.03254987 -0.10890866] [ 0.10828811 -0.05181743 0.99276817 0.07510365] [ 0. 0. 0. 1. ]] SLAMing on 39.559928850999995 meters Centerline goodness : 0.833540 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.11, Z:0.07 [[ 0.97968874 -0.16381149 -0.11565367 -0.85350325] [ 0.16888494 0.98499781 0.03545682 -0.10832752] [ 0.10811038 -0.05426881 0.99265656 0.07461385] [ 0. 0. 0. 1. ]] SLAMing on 39.589928850999996 meters Centerline goodness : 0.833459 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.11, Z:0.07 [[ 0.97987213 -0.16257522 -0.11584431 -0.85258422] [ 0.16766282 0.98520314 0.03555205 -0.10650262] [ 0.1083503 -0.05425925 0.99263092 0.07445069] [ 0. 0. 0. 1. ]] SLAMing on 39.619928851 meters Centerline goodness : 0.777132 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.11, Z:0.07 [[ 0.98060027 -0.15774473 -0.11636023 -0.85234006] [ 0.16325954 0.98579479 0.03943286 -0.10573825] [ 0.10848698 -0.05766479 0.99242398 0.07399692] [ 0. 0. 0. 1. ]] SLAMing on 39.649928851 meters Centerline goodness : 0.832680 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.10, Z:0.07 [[ 0.98068312 -0.15708487 -0.11655454 -0.85149553] [ 0.16257518 0.98591965 0.03913772 -0.10399076] [ 0.10876547 -0.05733057 0.99241286 0.07394748] [ 0. 0. 0. 1. ]] SLAMing on 39.679928851 meters Centerline goodness : 0.775721 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.10, Z:0.07 [[ 0.98073947 -0.15664143 -0.11667712 -0.85090218] [ 0.16210525 0.98600828 0.03885313 -0.10194232] [ 0.10895859 -0.05701878 0.99240964 0.07369126] [ 0. 0. 0. 1. ]] SLAMing on 39.709928850999994 meters Centerline goodness : 0.775839 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.10, Z:0.07 [[ 0.98082362 -0.15595801 -0.11688509 -0.84968327] [ 0.16133802 0.98616672 0.03801634 -0.09872734] [ 0.10933924 -0.05614534 0.99241757 0.07395015] [ 0. 0. 0. 1. ]] SLAMing on 39.739928850999995 meters Centerline goodness : 0.777368 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.10, Z:0.07 [[ 0.98080056 -0.15597159 -0.11706033 -0.84922662] [ 0.16132516 0.98618151 0.03768577 -0.09786322] [ 0.10956483 -0.055847 0.99240952 0.0739649 ] [ 0. 0. 0. 1. ]] SLAMing on 39.769928850999996 meters Centerline goodness : 0.831912 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.10, Z:0.07 [[ 0.98077779 -0.15603362 -0.11716842 -0.84890033] [ 0.16137175 0.98618144 0.03748764 -0.09774261] [ 0.10969999 -0.05567471 0.99240427 0.07398715] [ 0. 0. 0. 1. ]] SLAMing on 39.799928851 meters Centerline goodness : 0.773775 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.10, Z:0.07 [[ 0.98014469 -0.1603228 -0.1166747 -0.84884132] [ 0.16515234 0.98571877 0.03291202 -0.09592508] [ 0.10973189 -0.05152765 0.99262471 0.074697 ] [ 0. 0. 0. 1. ]] SLAMing on 39.829928851 meters Centerline goodness : 0.773783 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.09, Z:0.08 [[ 0.97949675 -0.16464567 -0.1160944 -0.84898907] [ 0.16895697 0.98521819 0.02826054 -0.0936508 ] [ 0.10972534 -0.04729606 0.99283605 0.07539419] [ 0. 0. 0. 1. ]] SLAMing on 39.859928851 meters Centerline goodness : 0.829634 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.09, Z:0.08 [[ 0.97880224 -0.16913823 -0.11549211 -0.84942693] [ 0.17293328 0.98465081 0.02359804 -0.09158547] [ 0.10972807 -0.04307025 0.99302805 0.07628427] [ 0. 0. 0. 1. ]] SLAMing on 39.889928851 meters Centerline goodness : 0.834378 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.09, Z:0.08 [[ 0.97805356 -0.17389082 -0.11477464 -0.84988747] [ 0.17715679 0.98400273 0.01881765 -0.08993925] [ 0.10966635 -0.03873778 0.99321331 0.07714028] [ 0. 0. 0. 1. ]] SLAMing on 39.919928850999995 meters Centerline goodness : 0.832128 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.09, Z:0.08 [[ 0.97710254 -0.17994123 -0.11354198 -0.85216672] [ 0.18265874 0.98307788 0.01391618 -0.08993806] [ 0.10911651 -0.03433697 0.99343574 0.07844831] [ 0. 0. 0. 1. ]] SLAMing on 39.949928850999996 meters Centerline goodness : 0.833133 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.09, Z:0.08 [[ 0.97630007 -0.1848187 -0.11260648 -0.85306287] [ 0.18703319 0.98230922 0.00933694 -0.0886663 ] [ 0.10888874 -0.0301768 0.99359579 0.07910526] [ 0. 0. 0. 1. ]] SLAMing on 39.979928851 meters Centerline goodness : 0.837635 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.09, Z:0.08 [[ 0.97547938 -0.18953691 -0.11187376 -0.85354906] [ 0.19125242 0.98152959 0.0047081 -0.08742086] [ 0.10891505 -0.02598879 0.99371127 0.0799798 ] [ 0. 0. 0. 1. ]] SLAMing on 40.009928851 meters Centerline goodness : 0.841612 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.09, Z:0.08 [[ 0.97522617 -0.19097798 -0.11163033 -0.85494943] [ 0.19262886 0.98126314 0.00409434 -0.08861265] [ 0.1087568 -0.02549613 0.99374137 0.08088913] [ 0. 0. 0. 1. ]] SLAMing on 40.039928851 meters Centerline goodness : 0.841733 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.09, Z:0.08 [[ 9.74279478e-01 -1.96376901e-01 -1.10524259e-01 -8.56176727e-01] [ 1.97530939e-01 9.80296516e-01 -5.17995202e-04 -8.80457258e-02] [ 1.08448269e-01 -2.13272886e-02 9.93873292e-01 8.14975364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.069928851 meters Centerline goodness : 0.840540 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.09, Z:0.08 [[ 9.74103355e-01 -1.97471145e-01 -1.10126298e-01 -8.57531514e-01] [ 1.98573099e-01 9.80085590e-01 -9.79805159e-04 -8.82705009e-02] [ 1.08126681e-01 -2.09136887e-02 9.93917119e-01 8.19091702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.099928850999994 meters Centerline goodness : 0.778282 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.09, Z:0.08 [[ 0.97392792 -0.1985842 -0.10967549 -0.85894303] [ 0.19961728 0.97987265 -0.00158999 -0.08813902] [ 0.10778376 -0.02034459 0.99396618 0.08231245] [ 0. 0. 0. 1. ]] SLAMing on 40.129928850999995 meters Centerline goodness : 0.838542 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.09, Z:0.08 [[ 0.97301148 -0.20355392 -0.10869438 -0.8595264 ] [ 0.2040685 0.97893512 -0.00648683 -0.08528274] [ 0.10772517 -0.01586934 0.99405405 0.08256943] [ 0. 0. 0. 1. ]] SLAMing on 40.159928851 meters Centerline goodness : 0.842901 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.08, Z:0.08 [[ 0.97288001 -0.20438621 -0.10830868 -0.86067886] [ 0.20483323 0.97877113 -0.00710163 -0.08455584] [ 0.10746089 -0.01527619 0.99409195 0.08286117] [ 0. 0. 0. 1. ]] SLAMing on 40.189928851 meters Centerline goodness : 0.777360 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.08, Z:0.08 [[ 0.97277851 -0.20503388 -0.10799572 -0.86153144] [ 0.20542432 0.97864336 -0.00761767 -0.08379412] [ 0.10725117 -0.01477464 0.99412217 0.08302711] [ 0. 0. 0. 1. ]] SLAMing on 40.219928851 meters Centerline goodness : 0.778032 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.08, Z:0.08 [[ 0.9726462 -0.20587078 -0.10759461 -0.86267176] [ 0.20613552 0.97848409 -0.00877699 -0.08041019] [ 0.10708654 -0.01364216 0.99415611 0.08317645] [ 0. 0. 0. 1. ]] SLAMing on 40.249928851 meters Centerline goodness : 0.779322 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.08, Z:0.08 [[ 0.97257691 -0.20627575 -0.10744516 -0.86331422] [ 0.20644448 0.97841051 -0.00967218 -0.07762097] [ 0.10712061 -0.01277452 0.99416396 0.08351696] [ 0. 0. 0. 1. ]] SLAMing on 40.279928850999994 meters Centerline goodness : 0.839400 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.07, Z:0.08 [[ 0.97252487 -0.20663701 -0.10722185 -0.86414727] [ 0.2067032 0.97834607 -0.01061815 -0.07461067] [ 0.10709418 -0.01183669 0.99417842 0.08396382] [ 0. 0. 0. 1. ]] SLAMing on 40.309928850999995 meters Centerline goodness : 0.839856 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.07, Z:0.08 [[ 0.97251479 -0.20666857 -0.10725242 -0.86428706] [ 0.20665713 0.97834767 -0.01134333 -0.07179126] [ 0.10727446 -0.01113292 0.99416711 0.08419951] [ 0. 0. 0. 1. ]] SLAMing on 40.339928850999996 meters Centerline goodness : 0.779120 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.07, Z:0.08 [[ 0.97249178 -0.20678679 -0.10723325 -0.86442713] [ 0.20668584 0.97833158 -0.01217688 -0.06877874] [ 0.10742769 -0.01032167 0.99415932 0.08437015] [ 0. 0. 0. 1. ]] SLAMing on 40.369928851 meters Centerline goodness : 0.841831 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.08 [[ 0.97315246 -0.20353187 -0.1074666 -0.86544074] [ 0.20373524 0.97898279 -0.00920055 -0.06629485] [ 0.10708055 -0.0129412 0.99416612 0.08369689] [ 0. 0. 0. 1. ]] SLAMing on 40.399928851 meters Centerline goodness : 0.841870 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.06, Z:0.08 [[ 0.9731253 -0.20368655 -0.10741944 -0.86530505] [ 0.20382528 0.9789582 -0.00980351 -0.06377078] [ 0.10715598 -0.01235475 0.99416546 0.08334501] [ 0. 0. 0. 1. ]] SLAMing on 40.429928851 meters Centerline goodness : 0.779521 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.06, Z:0.08 [[ 0.97307255 -0.20398629 -0.1073285 -0.86548013] [ 0.20405265 0.97890381 -0.01048119 -0.06129498] [ 0.1072023 -0.0117017 0.99416836 0.08319579] [ 0. 0. 0. 1. ]] SLAMing on 40.459928850999994 meters Centerline goodness : 0.840893 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.06, Z:0.08 [[ 0.97295292 -0.20479838 -0.10686553 -0.86654891] [ 0.20472281 0.97874891 -0.01179554 -0.05673389] [ 0.10701023 -0.01040131 0.99420351 0.08301374] [ 0. 0. 0. 1. ]] SLAMing on 40.489928850999995 meters Centerline goodness : 0.843430 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.05, Z:0.08 [[ 0.97283584 -0.20552354 -0.10653869 -0.86764345] [ 0.20534405 0.97860652 -0.01277122 -0.05413859] [ 0.10688425 -0.00945278 0.99422654 0.08338273] [ 0. 0. 0. 1. ]] SLAMing on 40.519928850999996 meters Centerline goodness : 0.841358 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.05, Z:0.08 [[ 0.97271911 -0.20627019 -0.10616098 -0.8688728 ] [ 0.20598936 0.97845799 -0.01372376 -0.05163862] [ 0.10670486 -0.00851867 0.99425425 0.08374522] [ 0. 0. 0. 1. ]] SLAMing on 40.549928851 meters Centerline goodness : 0.787389 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.05, Z:0.08 [[ 0.97243667 -0.20810585 -0.10516125 -0.87225668] [ 0.207616 0.97808431 -0.0157059 -0.04709663] [ 0.10612506 -0.00656016 0.99433115 0.08492671] [ 0. 0. 0. 1. ]] SLAMing on 40.579928851 meters Centerline goodness : 0.789103 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.05, Z:0.09 [[ 0.97229816 -0.20896503 -0.10473727 -0.87364673] [ 0.2083878 0.97790629 -0.01654744 -0.04515097] [ 0.10588108 -0.00573692 0.99436225 0.08529071] [ 0. 0. 0. 1. ]] SLAMing on 40.609928851 meters Centerline goodness : 0.790992 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.04, Z:0.09 [[ 0.97213645 -0.2099707 -0.1042259 -0.87527759] [ 0.20929476 0.97769591 -0.01750454 -0.04305745] [ 0.10557667 -0.00479714 0.99439959 0.08571846] [ 0. 0. 0. 1. ]] SLAMing on 40.63992885099999 meters Centerline goodness : 0.790427 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.04, Z:0.09 [[ 0.97198026 -0.21091448 -0.103776 -0.87663731] [ 0.21015415 0.97749637 -0.01833233 -0.04125161] [ 0.10530722 -0.0039903 0.99443173 0.08591443] [ 0. 0. 0. 1. ]] SLAMing on 40.669928850999995 meters Centerline goodness : 0.792204 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.04, Z:0.09 [[ 0.97169741 -0.21271127 -0.10275237 -0.87911101] [ 0.21183442 0.97711103 -0.01949909 -0.03846515] [ 0.10454815 -0.00281928 0.99451583 0.08556114] [ 0. 0. 0. 1. ]] SLAMing on 40.699928850999996 meters Centerline goodness : 0.793825 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.04, Z:0.09 [[ 0.97156873 -0.21345526 -0.10242582 -0.87989192] [ 0.21252631 0.97695011 -0.0200264 -0.03713745] [ 0.10433966 -0.00231115 0.99453904 0.08536649] [ 0. 0. 0. 1. ]] SLAMing on 40.729928851 meters Centerline goodness : 0.793922 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.04, Z:0.09 [[ 0.97143977 -0.21424058 -0.10200858 -0.88094104] [ 0.21325084 0.97677944 -0.02063987 -0.03560686] [ 0.10406178 -0.00170303 0.99456938 0.08528535] [ 0. 0. 0. 1. ]] SLAMing on 40.759928851 meters Centerline goodness : 0.793922 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.04, Z:0.09 [[ 0.97143977 -0.21424058 -0.10200858 -0.88094104] [ 0.21325084 0.97677944 -0.02063987 -0.03560686] [ 0.10406178 -0.00170303 0.99456938 0.08528535] [ 0. 0. 0. 1. ]] SLAMing on 40.789928851 meters Centerline goodness : 0.794858 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.03, Z:0.09 [[ 0.97132125 -0.21495881 -0.10162548 -0.88198543] [ 0.21390717 0.97662252 -0.02126466 -0.03382341] [ 0.10382076 -0.0010836 0.99459543 0.08524737] [ 0. 0. 0. 1. ]] SLAMing on 40.819928851 meters Centerline goodness : 0.795514 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.03, Z:0.09 [[ 9.71130597e-01 -2.16122436e-01 -1.00977507e-01 -8.83704950e-01] [ 2.14950114e-01 9.76366262e-01 -2.24804751e-02 -3.02043720e-02] [ 1.03449566e-01 1.26350616e-04 9.94634692e-01 8.52871894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.849928850999994 meters Centerline goodness : 0.795642 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.03, Z:0.09 [[ 9.71027683e-01 -2.16679897e-01 -1.00772323e-01 -8.84587753e-01] [ 2.15430604e-01 9.76242321e-01 -2.32504816e-02 -2.83435747e-02] [ 1.03416119e-01 8.67418763e-04 9.94637800e-01 8.57776647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.879928850999995 meters Centerline goodness : 0.794458 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.03, Z:0.09 [[ 0.97093623 -0.21725562 -0.10041334 -0.88574166] [ 0.21593876 0.9761135 -0.02393494 -0.02653477] [ 0.10321482 0.00155617 0.99465787 0.08613272] [ 0. 0. 0. 1. ]] SLAMing on 40.909928851 meters Centerline goodness : 0.797314 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.02, Z:0.09 [[ 0.97079205 -0.21812345 -0.09992475 -0.88728119] [ 0.21669391 0.97591747 -0.02507652 -0.02307314] [ 0.10298809 0.002691 0.99467895 0.08651435] [ 0. 0. 0. 1. ]] SLAMing on 40.939928851 meters Centerline goodness : 0.798752 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.02, Z:0.09 [[ 0.97072223 -0.21852093 -0.09973445 -0.88773057] [ 0.21705423 0.97582744 -0.02546119 -0.02166769] [ 0.10288742 0.00306795 0.99468828 0.086367 ] [ 0. 0. 0. 1. ]] SLAMing on 40.969928851 meters Centerline goodness : 0.797021 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.02, Z:0.09 [[ 0.97063934 -0.21899563 -0.09949965 -0.88837904] [ 0.21748544 0.97571952 -0.02591343 -0.02056608] [ 0.10275868 0.00351287 0.99470011 0.08641951] [ 0. 0. 0. 1. ]] SLAMing on 40.999928851 meters Centerline goodness : 0.799299 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.02, Z:0.09 [[ 0.97055361 -0.21950071 -0.09922265 -0.88910136] [ 0.21795367 0.97560452 -0.02630613 -0.0196296 ] [ 0.10257628 0.00390557 0.99471747 0.08644231] [ 0. 0. 0. 1. ]] SLAMing on 41.029928850999994 meters Centerline goodness : 0.799876 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.02, Z:0.09 [[ 0.97036827 -0.22059706 -0.098602 -0.89104933] [ 0.2189723 0.97535347 -0.02714286 -0.0178908 ] [ 0.10215944 0.00474746 0.99475671 0.08682967] [ 0. 0. 0. 1. ]] SLAMing on 41.059928850999995 meters Centerline goodness : 0.800047 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.02, Z:0.09 [[ 0.97027431 -0.22115772 -0.09827015 -0.89206991] [ 0.21950146 0.97522469 -0.02749395 -0.01739944] [ 0.10191597 0.00510623 0.99477991 0.08706863] [ 0. 0. 0. 1. ]] SLAMing on 41.089928850999996 meters Centerline goodness : 0.799079 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.02, Z:0.09 [[ 0.97020473 -0.22158057 -0.09800428 -0.89263997] [ 0.219915 0.97512797 -0.02761958 -0.01725223] [ 0.10168668 0.00524403 0.99480265 0.08684868] [ 0. 0. 0. 1. ]] SLAMing on 41.119928851 meters Centerline goodness : 0.802394 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.02, Z:0.09 [[ 0.97012871 -0.22198551 -0.09784028 -0.8931126 ] [ 0.22029611 0.97503448 -0.02788161 -0.01689215] [ 0.10158696 0.00549492 0.99481149 0.08690908] [ 0. 0. 0. 1. ]] SLAMing on 41.149928851 meters Centerline goodness : 0.803432 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.02, Z:0.09 [[ 0.97000484 -0.22265862 -0.09753844 -0.89407328] [ 0.22091764 0.97487779 -0.02843761 -0.01556576] [ 0.10141994 0.00603666 0.99482539 0.08711029] [ 0. 0. 0. 1. ]] SLAMing on 41.179928851 meters Centerline goodness : 0.804573 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.01, Z:0.09 [[ 0.96995865 -0.22291954 -0.09740169 -0.89451826] [ 0.22114966 0.97481624 -0.02874245 -0.01459758] [ 0.101356 0.00633864 0.99483003 0.08721584] [ 0. 0. 0. 1. ]] SLAMing on 41.209928850999994 meters Centerline goodness : 0.804495 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.09 [[ 0.96987651 -0.22339589 -0.09712794 -0.89520274] [ 0.22156857 0.97470306 -0.02934806 -0.01287114] [ 0.10122713 0.00694349 0.99483911 0.08728915] [ 0. 0. 0. 1. ]] SLAMing on 41.239928850999995 meters Centerline goodness : 0.803475 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.09 [[ 0.96982225 -0.2236582 -0.09706608 -0.89543003] [ 0.22180895 0.97464136 -0.02958065 -0.01248031] [ 0.10122057 0.00715785 0.99483826 0.08735839] [ 0. 0. 0. 1. ]] SLAMing on 41.269928850999996 meters Centerline goodness : 0.802360 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.09 [[ 0.96979041 -0.22384748 -0.09694773 -0.89546596] [ 0.22199671 0.97459762 -0.02961335 -0.01231589] [ 0.1011139 0.00719667 0.99484883 0.08700343] [ 0. 0. 0. 1. ]] SLAMing on 41.299928851 meters Centerline goodness : 0.802864 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.09 [[ 0.96974874 -0.2240451 -0.0969081 -0.89546443] [ 0.22218386 0.97455145 -0.02972879 -0.01192324] [ 0.10110252 0.00729804 0.99484924 0.08679607] [ 0. 0. 0. 1. ]] SLAMing on 41.329928851 meters Centerline goodness : 0.802366 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.09 [[ 0.96964163 -0.22463817 -0.0966064 -0.89645371] [ 0.22273266 0.97441118 -0.03021625 -0.01100472] [ 0.10092208 0.00778154 0.9948639 0.08712651] [ 0. 0. 0. 1. ]] SLAMing on 41.359928851 meters Centerline goodness : 0.802121 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.09 [[ 0.9695665 -0.22506406 -0.09636897 -0.89734039] [ 0.2231226 0.97430966 -0.0306104 -0.01028675] [ 0.10078251 0.00817672 0.99487488 0.08751496] [ 0. 0. 0. 1. ]] SLAMing on 41.38992885099999 meters Centerline goodness : 0.803886 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.09 [[ 0.96950041 -0.22540785 -0.09623024 -0.89808958] [ 0.2234327 0.97422719 -0.03097117 -0.00982229] [ 0.10073126 0.00852558 0.99487714 0.08807706] [ 0. 0. 0. 1. ]] SLAMing on 41.419928850999995 meters Centerline goodness : 0.805890 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.09 [[ 0.96942823 -0.22580098 -0.09603557 -0.89901381] [ 0.22379315 0.97413298 -0.03132988 -0.00915946] [ 0.10062573 0.00887997 0.99488472 0.08856609] [ 0. 0. 0. 1. ]] SLAMing on 41.449928850999996 meters Centerline goodness : 0.805521 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.09 [[ 0.96973117 -0.22460631 -0.09577823 -0.90198727] [ 0.22274882 0.97442022 -0.02980273 -0.00961652] [ 0.10002213 0.00756615 0.99495644 0.08983475] [ 0. 0. 0. 1. ]] SLAMing on 41.479928851 meters Centerline goodness : 0.806059 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.09 [[ 0.96971199 -0.22474757 -0.09564092 -0.90246614] [ 0.222861 0.97438513 -0.03010959 -0.00899111] [ 0.09995814 0.007883 0.99496042 0.09018009] [ 0. 0. 0. 1. ]] SLAMing on 41.509928851 meters Centerline goodness : 0.804123 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.09 [[ 0.96969718 -0.22482316 -0.0956134 -0.90265787] [ 0.22291454 0.9743659 -0.03033487 -0.00848541] [ 0.09998241 0.00810202 0.99495622 0.09045389] [ 0. 0. 0. 1. ]] SLAMing on 41.539928851 meters Centerline goodness : 0.809599 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.09 [[ 0.96965271 -0.22508336 -0.09545213 -0.90323443] [ 0.22314859 0.97430337 -0.03062105 -0.00799733] [ 0.09989162 0.00839178 0.99496294 0.09075478] [ 0. 0. 0. 1. ]] SLAMing on 41.569928851 meters Centerline goodness : 0.805674 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.09 [[ 0.96963652 -0.22520381 -0.09533234 -0.90333571] [ 0.22327607 0.97427587 -0.03056688 -0.00841838] [ 0.09976377 0.00835333 0.99497609 0.09058951] [ 0. 0. 0. 1. ]] SLAMing on 41.599928850999994 meters Centerline goodness : 0.803046 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.09 [[ 0.96963078 -0.22527446 -0.09522374 -0.90337655] [ 0.22336291 0.97426063 -0.03041765 -0.00899437] [ 0.09962506 0.00822444 0.99499106 0.0903306 ] [ 0. 0. 0. 1. ]] SLAMing on 41.629928850999995 meters Centerline goodness : 0.804918 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.09 [[ 0.96962994 -0.22531931 -0.09512615 -0.90335278] [ 0.22344104 0.97425273 -0.03009515 -0.00991174] [ 0.09945793 0.00792608 0.9950102 0.08993107] [ 0. 0. 0. 1. ]] SLAMing on 41.659928851 meters Centerline goodness : 0.806156 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.09 [[ 0.96960123 -0.22547071 -0.09506005 -0.90336863] [ 0.22364809 0.9742219 -0.02955022 -0.0117939 ] [ 0.09927229 0.00739193 0.99503285 0.08950929] [ 0. 0. 0. 1. ]] SLAMing on 41.689928851 meters Centerline goodness : 0.804630 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.09 [[ 0.96958893 -0.22549532 -0.09512711 -0.90319053] [ 0.22367253 0.97421636 -0.02954796 -0.01215893] [ 0.09933731 0.00737206 0.99502651 0.08960099] [ 0. 0. 0. 1. ]] SLAMing on 41.719928851 meters Centerline goodness : 0.803595 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.09 [[ 0.96958662 -0.22554226 -0.0950393 -0.90334826] [ 0.22373438 0.97420641 -0.02940736 -0.0126575 ] [ 0.0992205 0.00724943 0.99503906 0.08953472] [ 0. 0. 0. 1. ]] SLAMing on 41.749928851 meters Centerline goodness : 0.804810 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.09 [[ 0.96959144 -0.22550882 -0.09506953 -0.90318008] [ 0.22371954 0.97421555 -0.02921704 -0.01326036] [ 0.09920692 0.00705968 0.99504178 0.0893955 ] [ 0. 0. 0. 1. ]] SLAMing on 41.779928850999994 meters Centerline goodness : 0.802174 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.02, Z:0.09 [[ 0.96958756 -0.22561742 -0.09485112 -0.90344027] [ 0.22387855 0.97419348 -0.02873084 -0.01519745] [ 0.09888552 0.00662193 0.99507678 0.08905502] [ 0. 0. 0. 1. ]] SLAMing on 41.809928850999995 meters Centerline goodness : 0.800738 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.02, Z:0.09 [[ 0.96956873 -0.22571491 -0.09481168 -0.90357274] [ 0.22399523 0.97417212 -0.02854504 -0.0164691 ] [ 0.09880593 0.00643901 0.99508589 0.08916908] [ 0. 0. 0. 1. ]] SLAMing on 41.839928850999996 meters Centerline goodness : 0.799834 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.02, Z:0.09 [[ 0.96954671 -0.22586985 -0.09466773 -0.90386848] [ 0.22416999 0.97413727 -0.028362 -0.01771161] [ 0.09862548 0.00627662 0.99510483 0.08918582] [ 0. 0. 0. 1. ]] SLAMing on 41.869928851 meters Centerline goodness : 0.801668 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.02, Z:0.09 [[ 0.96947162 -0.22633536 -0.09432436 -0.90512278] [ 0.22463689 0.97402882 -0.02839219 -0.01907454] [ 0.0983008 0.00633669 0.99513657 0.08982995] [ 0. 0. 0. 1. ]] SLAMing on 41.899928851 meters Centerline goodness : 0.804393 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.02, Z:0.09 [[ 0.96946622 -0.22636741 -0.09430293 -0.90520056] [ 0.22468478 0.97402236 -0.02823477 -0.02003431] [ 0.0982446 0.00618422 0.99514308 0.08994424] [ 0. 0. 0. 1. ]] SLAMing on 41.929928851 meters Centerline goodness : 0.804469 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.02, Z:0.09 [[ 0.96950451 -0.22619291 -0.09432797 -0.90476245] [ 0.22455234 0.97406544 -0.02779855 -0.02140556] [ 0.09816945 0.00576926 0.99515299 0.08955529] [ 0. 0. 0. 1. ]] SLAMing on 41.959928850999994 meters Centerline goodness : 0.802206 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.02, Z:0.09 [[ 0.9695386 -0.22597377 -0.09450269 -0.90400415] [ 0.22439301 0.97411983 -0.02717229 -0.02389732] [ 0.09819717 0.00513884 0.99515371 0.08923254] [ 0. 0. 0. 1. ]] SLAMing on 41.989928850999995 meters Centerline goodness : 0.801378 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.02, Z:0.09 [[ 0.96957311 -0.2257299 -0.09473115 -0.90333846] [ 0.22416633 0.97417751 -0.02697474 -0.02463282] [ 0.09837396 0.00491845 0.99513736 0.08921467] [ 0. 0. 0. 1. ]] SLAMing on 42.019928850999996 meters Centerline goodness : 0.802900 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.03, Z:0.09 [[ 0.96959188 -0.22559297 -0.0948652 -0.90310756] [ 0.22404208 0.97421 -0.02683321 -0.02519063] [ 0.09847201 0.00476347 0.99512842 0.08935242] [ 0. 0. 0. 1. ]] SLAMing on 42.049928851 meters Centerline goodness : 0.796748 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.03, Z:0.09 [[ 0.96961727 -0.2254243 -0.09500649 -0.90273565] [ 0.22388967 0.97424995 -0.0266542 -0.02587767] [ 0.09856857 0.0045734 0.99511975 0.08942257] [ 0. 0. 0. 1. ]] SLAMing on 42.079928851 meters Centerline goodness : 0.797817 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.03, Z:0.09 [[ 0.96967313 -0.22514362 -0.09510188 -0.90254038] [ 0.223651 0.97431676 -0.02621226 -0.02805959] [ 0.09856088 0.0041477 0.99512238 0.08975132] [ 0. 0. 0. 1. ]] SLAMing on 42.109928851 meters Centerline goodness : 0.796495 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.03, Z:0.09 [[ 0.96970367 -0.22492845 -0.0952995 -0.90217536] [ 0.2234561 0.97436745 -0.02598919 -0.02899459] [ 0.09870244 0.00390656 0.99510932 0.08997894] [ 0. 0. 0. 1. ]] SLAMing on 42.13992885099999 meters Centerline goodness : 0.798429 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.03, Z:0.09 [[ 0.96974645 -0.22464253 -0.09553827 -0.90144895] [ 0.22319376 0.97443449 -0.02572863 -0.02993442] [ 0.09887553 0.0036267 0.9950932 0.0899326 ] [ 0. 0. 0. 1. ]] SLAMing on 42.169928850999995 meters Centerline goodness : 0.796196 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.03, Z:0.09 [[ 0.96980764 -0.22427372 -0.09578327 -0.90060045] [ 0.22286656 0.97452103 -0.02528373 -0.0311148 ] [ 0.09901328 0.00317347 0.99508105 0.08967017] [ 0. 0. 0. 1. ]] SLAMing on 42.199928850999996 meters Centerline goodness : 0.797242 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.03, Z:0.09 [[ 0.96987849 -0.22390109 -0.09593754 -0.90001208] [ 0.2225637 0.97460875 -0.02455995 -0.03372972] [ 0.09900056 0.00246795 0.99508432 0.08958057] [ 0. 0. 0. 1. ]] SLAMing on 42.229928851 meters Centerline goodness : 0.794252 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.04, Z:0.09 [[ 0.96991796 -0.22367403 -0.09606808 -0.89957388] [ 0.222368 0.97466166 -0.02423057 -0.03506777] [ 0.09905362 0.0021392 0.9950798 0.08960549] [ 0. 0. 0. 1. ]] SLAMing on 42.259928851 meters Centerline goodness : 0.793867 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.04, Z:0.09 [[ 0.96996568 -0.22340414 -0.09621417 -0.89896521] [ 0.22214426 0.97472448 -0.02375095 -0.03655984] [ 0.09908837 0.00166419 0.99507725 0.08933019] [ 0. 0. 0. 1. ]] SLAMing on 42.289928851 meters Centerline goodness : 0.791081 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.04, Z:0.09 [[ 9.70053582e-01 -2.22904587e-01 -9.64862300e-02 -8.97750314e-01] [ 2.21739296e-01 9.74840018e-01 -2.27733322e-02 -4.00532693e-02] [ 9.91349183e-02 6.96563711e-04 9.95073757e-01 8.88361785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.31992885099999 meters Centerline goodness : 0.790659 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.04, Z:0.09 [[ 9.70099110e-01 -2.22697528e-01 -9.65066225e-02 -8.97292556e-01] [ 2.21579587e-01 9.74887560e-01 -2.22874780e-02 -4.17625323e-02] [ 9.90464720e-02 2.37164981e-04 9.95082781e-01 8.84967869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.349928850999994 meters Centerline goodness : 0.789284 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.04, Z:0.09 [[ 9.70149715e-01 -2.22385596e-01 -9.67169947e-02 -8.96554232e-01] [ 2.21313008e-01 9.74958763e-01 -2.18165742e-02 -4.32607166e-02] [ 9.91467733e-02 -2.39385796e-04 9.95072791e-01 8.82768729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.379928850999995 meters Centerline goodness : 0.791155 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.04, Z:0.09 [[ 9.70227136e-01 -2.21927311e-01 -9.69926447e-02 -8.95643329e-01] [ 2.20895825e-01 9.75062976e-01 -2.13828655e-02 -4.43834602e-02] [ 9.93193786e-02 -6.79033997e-04 9.95055375e-01 8.81232155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.409928851 meters Centerline goodness : 0.791767 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.05, Z:0.09 [[ 0.97043695 -0.22068519 -0.09772502 -0.89333229] [ 0.21973196 0.97534389 -0.02054673 -0.04576099] [ 0.09984986 -0.00153401 0.99500133 0.08762989] [ 0. 0. 0. 1. ]] SLAMing on 42.439928851 meters Centerline goodness : 0.790541 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.05, Z:0.09 [[ 0.97051155 -0.22026454 -0.09793299 -0.89246357] [ 0.21934807 0.9754383 -0.02016306 -0.0465768 ] [ 0.0999688 -0.00191293 0.99498873 0.0872993 ] [ 0. 0. 0. 1. ]] SLAMing on 42.469928851 meters Centerline goodness : 0.790471 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.05, Z:0.09 [[ 0.97057539 -0.21988784 -0.09814659 -0.89173768] [ 0.21901028 0.97552241 -0.01976158 -0.04774151] [ 0.10008952 -0.00231501 0.99497574 0.08717073] [ 0. 0. 0. 1. ]] SLAMing on 42.499928851 meters Centerline goodness : 0.791032 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.05, Z:0.09 [[ 0.97062112 -0.21959875 -0.09834136 -0.89102658] [ 0.21876225 0.97558643 -0.01934392 -0.04909726] [ 0.1001884 -0.00273776 0.99496472 0.08698141] [ 0. 0. 0. 1. ]] SLAMing on 42.529928850999994 meters Centerline goodness : 0.789096 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.05, Z:0.09 [[ 0.97068027 -0.21925256 -0.09852985 -0.890381 ] [ 0.21848644 0.97566207 -0.01863322 -0.05151965] [ 0.10021722 -0.00344053 0.99495963 0.0868133 ] [ 0. 0. 0. 1. ]] SLAMing on 42.559928850999995 meters Centerline goodness : 0.791269 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.05, Z:0.09 [[ 0.97070038 -0.21912494 -0.09861556 -0.89011935] [ 0.21838281 0.97568986 -0.0183917 -0.05258582] [ 0.10024828 -0.00368312 0.99495564 0.086876 ] [ 0. 0. 0. 1. ]] SLAMing on 42.589928850999996 meters Centerline goodness : 0.788923 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.05, Z:0.09 [[ 0.97072173 -0.2190195 -0.09863962 -0.88990226] [ 0.21830831 0.97571235 -0.01808011 -0.05388787] [ 0.10020379 -0.00398309 0.99495896 0.08679352] [ 0. 0. 0. 1. ]] SLAMing on 42.619928851 meters Centerline goodness : 0.785876 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.06, Z:0.09 [[ 0.97076591 -0.21874389 -0.09881631 -0.88905853] [ 0.21809529 0.97577142 -0.0174522 -0.05653402] [ 0.10023969 -0.00460937 0.99495264 0.08650435] [ 0. 0. 0. 1. ]] SLAMing on 42.649928851 meters Centerline goodness : 0.785876 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.06, Z:0.09 [[ 0.97076591 -0.21874389 -0.09881631 -0.88905853] [ 0.21809529 0.97577142 -0.0174522 -0.05653402] [ 0.10023969 -0.00460937 0.99495264 0.08650435] [ 0. 0. 0. 1. ]] SLAMing on 42.679928851 meters Centerline goodness : 0.786912 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.06, Z:0.09 [[ 0.97079406 -0.21856721 -0.09893065 -0.88847149] [ 0.21795237 0.97580935 -0.01711355 -0.05761749] [ 0.10027791 -0.00494844 0.99494716 0.08619925] [ 0. 0. 0. 1. ]] SLAMing on 42.709928850999994 meters Centerline goodness : 0.785210 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.06, Z:0.09 [[ 0.97081037 -0.21847461 -0.09897506 -0.88818688] [ 0.21788376 0.97582886 -0.0168731 -0.05853885] [ 0.10026907 -0.00518447 0.99494685 0.08606104] [ 0. 0. 0. 1. ]] SLAMing on 42.739928850999995 meters Centerline goodness : 0.785412 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.06, Z:0.09 [[ 0.97081016 -0.21852069 -0.09887536 -0.88840526] [ 0.21795123 0.97581749 -0.01665777 -0.05992726] [ 0.10012438 -0.00537848 0.99496039 0.08622007] [ 0. 0. 0. 1. ]] SLAMing on 42.769928850999996 meters Centerline goodness : 0.785580 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.06, Z:0.09 [[ 0.97081935 -0.21842833 -0.09898919 -0.88816952] [ 0.2178762 0.97583715 -0.01648708 -0.06068292] [ 0.10019857 -0.00556141 0.99495192 0.08634029] [ 0. 0. 0. 1. ]] SLAMing on 42.799928851 meters Centerline goodness : 0.786536 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.06, Z:0.09 [[ 0.97084454 -0.21826538 -0.09910147 -0.88781748] [ 0.21773597 0.97587226 -0.01625962 -0.06158587] [ 0.10025929 -0.00579239 0.99494448 0.08634685] [ 0. 0. 0. 1. ]] SLAMing on 42.829928851 meters Centerline goodness : 0.784444 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.06, Z:0.09 [[ 0.97087969 -0.21804576 -0.09924048 -0.887431 ] [ 0.21754788 0.97591942 -0.01594382 -0.06270051] [ 0.10032719 -0.00611002 0.99493574 0.08633951] [ 0. 0. 0. 1. ]] SLAMing on 42.859928851 meters Centerline goodness : 0.784623 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.06, Z:0.09 [[ 0.97087765 -0.21804289 -0.09926669 -0.88757791] [ 0.21754508 0.97592003 -0.01594465 -0.06314388] [ 0.10035297 -0.00611468 0.99493311 0.08667235] [ 0. 0. 0. 1. ]] SLAMing on 42.88992885099999 meters Centerline goodness : 0.783924 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.06, Z:0.09 [[ 0.97090389 -0.21789685 -0.0993308 -0.88785474] [ 0.217406 0.97595221 -0.01587197 -0.06376786] [ 0.10040056 -0.00618496 0.99492787 0.0873539 ] [ 0. 0. 0. 1. ]] SLAMing on 42.919928850999995 meters Centerline goodness : 0.829675 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.06, Z:0.09 [[ 0.97091066 -0.21782629 -0.09941933 -0.88785045] [ 0.21734429 0.97596734 -0.01578631 -0.06447067] [ 0.1004687 -0.00628113 0.99492039 0.08771326] [ 0. 0. 0. 1. ]] SLAMing on 42.949928850999996 meters Centerline goodness : 0.783299 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.09 [[ 0.97093194 -0.21768055 -0.0995306 -0.88743219] [ 0.21723327 0.97599756 -0.01544218 -0.06636736] [ 0.10050308 -0.00662806 0.99491467 0.08779164] [ 0. 0. 0. 1. ]] SLAMing on 42.979928851 meters Centerline goodness : 0.783027 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.09 [[ 0.97092887 -0.21768135 -0.09955881 -0.88730845] [ 0.21725686 0.97599583 -0.01521846 -0.06746063] [ 0.10048175 -0.00685379 0.99491529 0.08777894] [ 0. 0. 0. 1. ]] SLAMing on 43.009928851 meters Centerline goodness : 0.832312 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.09 [[ 0.970932 -0.21764008 -0.09961855 -0.88697718] [ 0.21724263 0.9760031 -0.01495275 -0.06858122] [ 0.10048233 -0.00712329 0.99491334 0.08762481] [ 0. 0. 0. 1. ]] SLAMing on 43.039928851 meters Centerline goodness : 0.833625 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.09 [[ 0.97094409 -0.21755841 -0.09967908 -0.88674205] [ 0.21719291 0.97601896 -0.01463665 -0.07009738] [ 0.100473 -0.00743822 0.99491198 0.08765484] [ 0. 0. 0. 1. ]] SLAMing on 43.06992885099999 meters Centerline goodness : 0.834812 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.09 [[ 0.97081895 -0.21817836 -0.09954283 -0.88727411] [ 0.21781842 0.97588005 -0.01460331 -0.07295282] [ 0.10032799 -0.00750509 0.99492611 0.08828105] [ 0. 0. 0. 1. ]] SLAMing on 43.099928850999994 meters Centerline goodness : 0.833787 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.09 [[ 0.97075209 -0.21855155 -0.09937604 -0.88768216] [ 0.21820169 0.97579582 -0.01450996 -0.07440035] [ 0.1001419 -0.00759845 0.99494415 0.08841242] [ 0. 0. 0. 1. ]] SLAMing on 43.129928850999995 meters Centerline goodness : 0.835929 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.08, Z:0.09 [[ 0.97071642 -0.21876192 -0.09926151 -0.88792927] [ 0.21843263 0.97574714 -0.01430741 -0.07599684] [ 0.09998406 -0.00779351 0.99495852 0.08854584] [ 0. 0. 0. 1. ]] SLAMing on 43.159928851 meters Centerline goodness : 0.834656 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.08, Z:0.09 [[ 0.97065356 -0.21910622 -0.09911676 -0.888426 ] [ 0.2187902 0.97566886 -0.01418164 -0.07752462] [ 0.09981242 -0.00792032 0.99497475 0.0888446 ] [ 0. 0. 0. 1. ]] SLAMing on 43.189928851 meters Centerline goodness : 0.785102 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.08, Z:0.09 [[ 0.97027296 -0.22094229 -0.09876681 -0.88949905] [ 0.22052715 0.9752618 -0.01523835 -0.08044047] [ 0.09969029 -0.00699541 0.99499392 0.09002686] [ 0. 0. 0. 1. ]] SLAMing on 43.219928851 meters Centerline goodness : 0.784363 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.08, Z:0.09 [[ 0.97018111 -0.22142747 -0.09858243 -0.89004338] [ 0.22101525 0.97515157 -0.01522105 -0.0819632 ] [ 0.09950317 -0.00702105 0.99501247 0.09028256] [ 0. 0. 0. 1. ]] SLAMing on 43.249928851 meters Centerline goodness : 0.785067 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.08, Z:0.09 [[ 0.97010646 -0.22180207 -0.09847487 -0.89047963] [ 0.22140444 0.97506537 -0.01508648 -0.08376564] [ 0.09936565 -0.00716728 0.99502517 0.09063746] [ 0. 0. 0. 1. ]] SLAMing on 43.279928850999994 meters Centerline goodness : 0.784251 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.09, Z:0.09 [[ 0.9698804 -0.22288487 -0.09825657 -0.8913058 ] [ 0.2224628 0.97482 -0.01537118 -0.08662608] [ 0.09920847 -0.00695022 0.9950424 0.09139547] [ 0. 0. 0. 1. ]] SLAMing on 43.309928850999995 meters Centerline goodness : 0.784038 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.09, Z:0.09 [[ 0.96982905 -0.22314769 -0.09816683 -0.89140994] [ 0.22275151 0.97475802 -0.0151183 -0.08854269] [ 0.09906252 -0.00720464 0.99505513 0.09143133] [ 0. 0. 0. 1. ]] SLAMing on 43.339928850999996 meters Centerline goodness : 0.784984 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.09, Z:0.09 [[ 0.96974531 -0.22354579 -0.09808833 -0.89169148] [ 0.22316248 0.97466579 -0.0150035 -0.09033394] [ 0.09895731 -0.00734006 0.99506461 0.0917077 ] [ 0. 0. 0. 1. ]] SLAMing on 43.369928851 meters Centerline goodness : 0.785172 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.09, Z:0.09 [[ 0.96966374 -0.22397217 -0.09792186 -0.89225395] [ 0.22359115 0.97456775 -0.01498979 -0.09166626] [ 0.09878879 -0.00735941 0.99508121 0.0920229 ] [ 0. 0. 0. 1. ]] SLAMing on 43.399928851 meters Centerline goodness : 0.786266 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.09, Z:0.09 [[ 0.9695498 -0.22453133 -0.09776944 -0.89276968] [ 0.22416301 0.97443808 -0.01487864 -0.09409052] [ 0.09861099 -0.00749071 0.99509787 0.09243907] [ 0. 0. 0. 1. ]] SLAMing on 43.429928851 meters Centerline goodness : 0.786202 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.09 [[ 0.96955988 -0.22444502 -0.09786761 -0.89246728] [ 0.22410324 0.97445583 -0.01461405 -0.09516468] [ 0.09864771 -0.00776325 0.99509214 0.09237815] [ 0. 0. 0. 1. ]] SLAMing on 43.459928850999994 meters Centerline goodness : 0.785608 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.09 [[ 0.96956834 -0.22436437 -0.0979687 -0.89218828] [ 0.22403423 0.97447339 -0.01450065 -0.09598344] [ 0.09872133 -0.00788897 0.99508385 0.09249882] [ 0. 0. 0. 1. ]] SLAMing on 43.489928850999995 meters Centerline goodness : 0.786369 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.09 [[ 0.96960045 -0.22416536 -0.09810635 -0.89177209] [ 0.22385888 0.97451719 -0.0142633 -0.09686365] [ 0.09880366 -0.00813227 0.99507372 0.0924858 ] [ 0. 0. 0. 1. ]] SLAMing on 43.519928850999996 meters Centerline goodness : 0.785163 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.09 [[ 0.96970661 -0.22355922 -0.09843969 -0.8908765 ] [ 0.22329892 0.97465238 -0.01379611 -0.09791405] [ 0.09902873 -0.0086033 0.99504738 0.09245662] [ 0. 0. 0. 1. ]] SLAMing on 43.549928851 meters Centerline goodness : 0.785031 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.09 [[ 0.9697809 -0.22310562 -0.0987365 -0.89027181] [ 0.22285023 0.97475573 -0.01374962 -0.09762661] [ 0.09931159 -0.00866933 0.99501862 0.09269846] [ 0. 0. 0. 1. ]] SLAMing on 43.579928851 meters Centerline goodness : 0.783112 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.09 [[ 0.9706338 -0.21903931 -0.09945753 -0.89085805] [ 0.21916973 0.97563805 -0.00974819 -0.09926287] [ 0.09916979 -0.01233616 0.99499406 0.09312181] [ 0. 0. 0. 1. ]] SLAMing on 43.609928851 meters Centerline goodness : 0.783948 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.09 [[ 0.97069087 -0.21869789 -0.09965178 -0.89051238] [ 0.21884045 0.9757131 -0.00963327 -0.09923332] [ 0.09933833 -0.01245691 0.99497574 0.09329061] [ 0. 0. 0. 1. ]] SLAMing on 43.63992885099999 meters Centerline goodness : 0.784867 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.09 [[ 0.9707297 -0.21849331 -0.09972221 -0.89055467] [ 0.21864446 0.9757579 -0.00954561 -0.09953937] [ 0.09939039 -0.0125375 0.99496953 0.09362837] [ 0. 0. 0. 1. ]] SLAMing on 43.669928850999995 meters Centerline goodness : 0.782747 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.09 [[ 0.97083699 -0.21790196 -0.09997137 -0.89001482] [ 0.21807399 0.97588756 -0.00933786 -0.09962196] [ 0.09959556 -0.01273562 0.9949465 0.09382458] [ 0. 0. 0. 1. ]] SLAMing on 43.699928850999996 meters Centerline goodness : 0.783146 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.09 [[ 0.97087455 -0.21764532 -0.10016549 -0.88954844] [ 0.21782363 0.97594396 -0.00928675 -0.09951889] [ 0.09977712 -0.01280215 0.99492745 0.09386494] [ 0. 0. 0. 1. ]] SLAMing on 43.729928851 meters Centerline goodness : 0.783337 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.09 [[ 0.97090172 -0.21745866 -0.10030744 -0.88921437] [ 0.21764016 0.97598512 -0.00926363 -0.09931867] [ 0.09991302 -0.01283686 0.99491336 0.09387618] [ 0. 0. 0. 1. ]] SLAMing on 43.759928851 meters Centerline goodness : 0.838073 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.09 [[ 0.97095775 -0.21711841 -0.10050196 -0.88870151] [ 0.21732478 0.97605764 -0.00902377 -0.09968067] [ 0.10005494 -0.01307987 0.99489594 0.09382174] [ 0. 0. 0. 1. ]] SLAMing on 43.789928851 meters Centerline goodness : 0.783642 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.09 [[ 0.97095407 -0.21713949 -0.10049194 -0.88876402] [ 0.21735754 0.97605141 -0.00890735 -0.10014493] [ 0.10001943 -0.01319405 0.994898 0.09389415] [ 0. 0. 0. 1. ]] SLAMing on 43.81992885099999 meters Centerline goodness : 0.784177 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.09 [[ 0.97093299 -0.21722466 -0.10051162 -0.88865672] [ 0.21745146 0.97603122 -0.00882737 -0.10059274] [ 0.10002 -0.01328562 0.99489672 0.09381774] [ 0. 0. 0. 1. ]] SLAMing on 43.849928850999994 meters Centerline goodness : 0.784374 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.09 [[ 0.97089381 -0.21739549 -0.10052068 -0.88858633] [ 0.21762429 0.97599279 -0.00881763 -0.10113604] [ 0.10002437 -0.01331475 0.9948959 0.0938113 ] [ 0. 0. 0. 1. ]] SLAMing on 43.879928850999995 meters Centerline goodness : 0.780652 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.09 [[ 0.97082753 -0.21769684 -0.10050865 -0.88833827] [ 0.21794689 0.97592256 -0.00862031 -0.10271815] [ 0.09996527 -0.01353671 0.99489884 0.09353835] [ 0. 0. 0. 1. ]] SLAMing on 43.909928851 meters Centerline goodness : 0.781442 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.09 [[ 0.97078855 -0.21789109 -0.10046424 -0.8884258 ] [ 0.21814432 0.97587869 -0.00859279 -0.10335036] [ 0.0999132 -0.01357392 0.99490356 0.09359664] [ 0. 0. 0. 1. ]] SLAMing on 43.939928851 meters Centerline goodness : 0.783227 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.09 [[ 0.97074753 -0.21809968 -0.10040796 -0.88850428] [ 0.21834975 0.97583244 -0.00862747 -0.10367536] [ 0.09986299 -0.01354896 0.99490894 0.09356432] [ 0. 0. 0. 1. ]] SLAMing on 43.969928851 meters Centerline goodness : 0.781805 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.09 [[ 0.97068727 -0.21838027 -0.10038064 -0.88871666] [ 0.21861895 0.97577106 -0.00875185 -0.10402291] [ 0.09985976 -0.0134498 0.99491062 0.09380671] [ 0. 0. 0. 1. ]] SLAMing on 43.99992885099999 meters Centerline goodness : 0.781627 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.09 [[ 0.97063781 -0.21863456 -0.10030541 -0.88899013] [ 0.2188584 0.97571601 -0.00890284 -0.10420539] [ 0.09981607 -0.01331125 0.99491686 0.09401197] [ 0. 0. 0. 1. ]] SLAMing on 44.029928850999994 meters Centerline goodness : 0.780296 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.09 [[ 0.97057179 -0.2189943 -0.10015934 -0.88942958] [ 0.21919815 0.97563791 -0.00910152 -0.10436865] [ 0.09971243 -0.01312106 0.99492978 0.09423383] [ 0. 0. 0. 1. ]] SLAMing on 44.059928850999995 meters Centerline goodness : 0.781727 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.09 [[ 0.97048995 -0.21941587 -0.10002961 -0.8900766 ] [ 0.21959192 0.97554668 -0.00938398 -0.10477411] [ 0.09964255 -0.01285863 0.99494021 0.09483721] [ 0. 0. 0. 1. ]] SLAMing on 44.089928850999996 meters Centerline goodness : 0.837848 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.97041516 -0.21984816 -0.09980581 -0.890937 ] [ 0.21998842 0.9754539 -0.00973538 -0.10494702] [ 0.09949627 -0.01250876 0.99495931 0.09544456] [ 0. 0. 0. 1. ]] SLAMing on 44.119928851 meters Centerline goodness : 0.784486 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.97037879 -0.2200419 -0.09973247 -0.89134174] [ 0.22016112 0.97541281 -0.00994665 -0.1048127 ] [ 0.099469 -0.0123052 0.99496457 0.09578671] [ 0. 0. 0. 1. ]] SLAMing on 44.149928851 meters Centerline goodness : 0.783778 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.9703467 -0.22027155 -0.09953759 -0.89194027] [ 0.22037209 0.97536337 -0.01012149 -0.10462907] [ 0.0993148 -0.01211395 0.99498232 0.09598551] [ 0. 0. 0. 1. ]] SLAMing on 44.179928851 meters Centerline goodness : 0.782941 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.97035757 -0.2202426 -0.09949566 -0.89206464] [ 0.22034726 0.97536947 -0.01007355 -0.10489972] [ 0.09926366 -0.01214865 0.994987 0.09608852] [ 0. 0. 0. 1. ]] SLAMing on 44.209928850999994 meters Centerline goodness : 0.784728 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.97035466 -0.22023996 -0.09952989 -0.89187324] [ 0.22034274 0.97537026 -0.01009646 -0.10489087] [ 0.09930214 -0.01213354 0.99498335 0.09602911] [ 0. 0. 0. 1. ]] SLAMing on 44.239928850999995 meters Centerline goodness : 0.785198 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.97035245 -0.22019831 -0.09964351 -0.89152858] [ 0.2202944 0.97538036 -0.01017526 -0.1045303 ] [ 0.0994309 -0.01207732 0.99497117 0.09593777] [ 0. 0. 0. 1. ]] SLAMing on 44.269928850999996 meters Centerline goodness : 0.786007 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.97035961 -0.22013752 -0.09970808 -0.89128305] [ 0.22023302 0.97539411 -0.01018589 -0.10410715] [ 0.09949697 -0.01207503 0.9949646 0.09577975] [ 0. 0. 0. 1. ]] SLAMing on 44.299928851 meters Centerline goodness : 0.783269 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.97038524 -0.21999762 -0.09976738 -0.89121758] [ 0.22006667 0.97542886 -0.01045015 -0.10310994] [ 0.09961499 -0.0118148 0.99495591 0.09601478] [ 0. 0. 0. 1. ]] SLAMing on 44.329928851 meters Centerline goodness : 0.783032 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.97037364 -0.21999651 -0.09988256 -0.89124525] [ 0.22003229 0.97543285 -0.01079554 -0.10206235] [ 0.09980371 -0.01150168 0.99494067 0.09638784] [ 0. 0. 0. 1. ]] SLAMing on 44.359928851 meters Centerline goodness : 0.782676 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.9703703 -0.21998769 -0.09993449 -0.89122094] [ 0.21999684 0.97543781 -0.01106644 -0.10089981] [ 0.09991436 -0.01124673 0.99493248 0.09646524] [ 0. 0. 0. 1. ]] SLAMing on 44.38992885099999 meters Centerline goodness : 0.783050 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.97037322 -0.21993833 -0.10001475 -0.8910567 ] [ 0.21992619 0.97545124 -0.0112847 -0.09985487] [ 0.10004145 -0.01104549 0.99492196 0.09647141] [ 0. 0. 0. 1. ]] SLAMing on 44.419928850999995 meters Centerline goodness : 0.781652 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.97041425 -0.21971608 -0.10010508 -0.89061406] [ 0.21966947 0.97550509 -0.01162545 -0.09808497] [ 0.10020731 -0.01070853 0.99490895 0.09629728] [ 0. 0. 0. 1. ]] SLAMing on 44.449928850999996 meters Centerline goodness : 0.783271 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.97038504 -0.21984812 -0.10009832 -0.89059197] [ 0.21977716 0.97547784 -0.01187332 -0.09735992] [ 0.10025402 -0.01047763 0.9949067 0.09621581] [ 0. 0. 0. 1. ]] SLAMing on 44.479928851 meters Centerline goodness : 0.781294 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.97027833 -0.22047102 -0.09976218 -0.89178711] [ 0.22034153 0.97534329 -0.01245283 -0.09680254] [ 0.10004786 -0.00989904 0.99493338 0.09688599] [ 0. 0. 0. 1. ]] SLAMing on 44.509928851 meters Centerline goodness : 0.781285 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.97022892 -0.22077722 -0.09956532 -0.89249961] [ 0.22062667 0.97527618 -0.01265886 -0.0968906 ] [ 0.09989847 -0.00968477 0.9949505 0.09728385] [ 0. 0. 0. 1. ]] SLAMing on 44.539928851 meters Centerline goodness : 0.780849 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.97016429 -0.22108043 -0.09952238 -0.89284199] [ 0.22090685 0.9752096 -0.01289983 -0.09696352] [ 0.09990708 -0.00947022 0.9949517 0.09763685] [ 0. 0. 0. 1. ]] SLAMing on 44.56992885099999 meters Centerline goodness : 0.780849 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.97016429 -0.22108043 -0.09952238 -0.89284199] [ 0.22090685 0.9752096 -0.01289983 -0.09696352] [ 0.09990708 -0.00947022 0.9949517 0.09763685] [ 0. 0. 0. 1. ]] SLAMing on 44.599928850999994 meters Centerline goodness : 0.837913 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.97012545 -0.22129213 -0.09943042 -0.89312829] [ 0.22111663 0.97516177 -0.01292114 -0.09730032] [ 0.09982009 -0.00945059 0.99496062 0.09773621] [ 0. 0. 0. 1. ]] SLAMing on 44.629928850999995 meters Centerline goodness : 0.782253 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.97003416 -0.22175819 -0.09928256 -0.89348392] [ 0.22158134 0.97505597 -0.01294466 -0.0980985 ] [ 0.09967664 -0.0094424 0.99497508 0.09776962] [ 0. 0. 0. 1. ]] SLAMing on 44.659928851 meters Centerline goodness : 0.836243 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.96998008 -0.22202374 -0.09921742 -0.89367469] [ 0.22184483 0.97499568 -0.01297278 -0.0986433 ] [ 0.09961682 -0.00942754 0.99498121 0.09787673] [ 0. 0. 0. 1. ]] SLAMing on 44.689928851 meters Centerline goodness : 0.783433 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.96992223 -0.22229614 -0.09917305 -0.89386927] [ 0.22211636 0.97493361 -0.01299124 -0.09923126] [ 0.09957505 -0.00942746 0.99498539 0.0980213 ] [ 0. 0. 0. 1. ]] SLAMing on 44.719928851 meters Centerline goodness : 0.836823 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.9698634 -0.222634 -0.09899032 -0.89434642] [ 0.22244739 0.97485722 -0.01305971 -0.09973619] [ 0.09940896 -0.00935401 0.99500269 0.0981395 ] [ 0. 0. 0. 1. ]] SLAMing on 44.74992885099999 meters Centerline goodness : 0.781248 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.96980133 -0.22300943 -0.09875311 -0.89462962] [ 0.22282379 0.97477143 -0.01304682 -0.10058282] [ 0.09917127 -0.00935171 0.99502643 0.09792799] [ 0. 0. 0. 1. ]] SLAMing on 44.779928850999994 meters Centerline goodness : 0.782520 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.96979286 -0.22300396 -0.09884861 -0.89440159] [ 0.22282004 0.9747724 -0.01303829 -0.10056272] [ 0.09926249 -0.00938101 0.99501706 0.09791394] [ 0. 0. 0. 1. ]] SLAMing on 44.809928850999995 meters Centerline goodness : 0.781274 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.96978287 -0.22303069 -0.09888633 -0.89425418] [ 0.2228394 0.97476692 -0.01311714 -0.1001718 ] [ 0.09931665 -0.00931499 0.99501228 0.09783558] [ 0. 0. 0. 1. ]] SLAMing on 44.839928850999996 meters Centerline goodness : 0.783888 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.96982663 -0.22281493 -0.09894345 -0.89410538] [ 0.22260536 0.97481799 -0.0132944 -0.09907144] [ 0.09941405 -0.00913207 0.99500425 0.09787543] [ 0. 0. 0. 1. ]] SLAMing on 44.869928851 meters Centerline goodness : 0.781830 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.96987014 -0.22257758 -0.09905111 -0.89389161] [ 0.22235686 0.97487321 -0.01340362 -0.09818454] [ 0.09954562 -0.00902492 0.99499207 0.09791606] [ 0. 0. 0. 1. ]] SLAMing on 44.899928851 meters Centerline goodness : 0.781632 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.9699068 -0.2223637 -0.09917251 -0.89359849] [ 0.22211569 0.9749244 -0.01367592 -0.09699298] [ 0.09972673 -0.0087634 0.99497627 0.09800289] [ 0. 0. 0. 1. ]] SLAMing on 44.929928851 meters Centerline goodness : 0.780436 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.96996082 -0.2220055 -0.09944625 -0.89302567] [ 0.22174083 0.97500731 -0.01384735 -0.09593064] [ 0.10003501 -0.00861991 0.99494658 0.09817055] [ 0. 0. 0. 1. ]] SLAMing on 44.959928850999994 meters Centerline goodness : 0.779518 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.97079984 -0.21806729 -0.09997166 -0.89374698] [ 0.21816265 0.97586004 -0.01011173 -0.09606664] [ 0.09976338 -0.01199362 0.9949389 0.09807569] [ 0. 0. 0. 1. ]] SLAMing on 44.989928850999995 meters Centerline goodness : 0.780644 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.10 [[ 0.97087487 -0.21760698 -0.10024566 -0.89305268] [ 0.21769828 0.97596322 -0.01016124 -0.09516106] [ 0.10004724 -0.01195802 0.99491083 0.09804522] [ 0. 0. 0. 1. ]] SLAMing on 45.019928850999996 meters Centerline goodness : 0.840242 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.09, Z:0.10 [[ 0.97095414 -0.21714085 -0.10048836 -0.89226427] [ 0.21723882 0.97606623 -0.01009986 -0.09450984] [ 0.10027638 -0.01202347 0.99488697 0.09780624] [ 0. 0. 0. 1. ]] SLAMing on 45.049928851 meters Centerline goodness : 0.778740 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.09, Z:0.10 [[ 0.97175483 -0.21323195 -0.1011172 -0.89269312] [ 0.2136849 0.97688129 -0.00645749 -0.09499514] [ 0.10015644 -0.01533212 0.99485356 0.09785881] [ 0. 0. 0. 1. ]] SLAMing on 45.079928851 meters Centerline goodness : 0.777487 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.09, Z:0.10 [[ 0.97180529 -0.21296467 -0.10119547 -0.89238744] [ 0.21340685 0.97694138 -0.00656245 -0.09413994] [ 0.10025961 -0.01521838 0.99484492 0.09778082] [ 0. 0. 0. 1. ]] SLAMing on 45.109928851 meters Centerline goodness : 0.776500 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.09, Z:0.10 [[ 0.97185025 -0.21268883 -0.10134375 -0.8920733 ] [ 0.2131141 0.97700408 -0.00673809 -0.09334041] [ 0.10044637 -0.01504936 0.99482865 0.09797243] [ 0. 0. 0. 1. ]] SLAMing on 45.13992885099999 meters Centerline goodness : 0.836383 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.09, Z:0.10 [[ 0.97191262 -0.21235605 -0.10144341 -0.89181927] [ 0.2127767 0.97707732 -0.00678129 -0.09262234] [ 0.1005581 -0.01499397 0.9948182 0.09800192] [ 0. 0. 0. 1. ]] SLAMing on 45.169928850999995 meters Centerline goodness : 0.776920 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.09, Z:0.10 [[ 0.97272631 -0.2082079 -0.10223985 -0.89173667] [ 0.20900393 0.97791025 -0.00298339 -0.0931606 ] [ 0.10060256 -0.01846651 0.9947553 0.09788 ] [ 0. 0. 0. 1. ]] SLAMing on 45.199928850999996 meters Centerline goodness : 0.778108 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.09, Z:0.10 [[ 0.97279049 -0.2077892 -0.10248076 -0.89095238] [ 0.20858697 0.97799926 -0.00298851 -0.09233084] [ 0.10084709 -0.01846895 0.9947305 0.09762981] [ 0. 0. 0. 1. ]] SLAMing on 45.229928851 meters Centerline goodness : 0.778834 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.09, Z:0.10 [[ 0.97283849 -0.20742446 -0.10276367 -0.89013199] [ 0.20822153 0.978077 -0.0030281 -0.09157083] [ 0.10113888 -0.01845176 0.99470119 0.09747066] [ 0. 0. 0. 1. ]] SLAMing on 45.259928851 meters Centerline goodness : 0.780113 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.09, Z:0.10 [[ 0.97302194 -0.206406 -0.10307699 -0.8888024 ] [ 0.20723353 0.97828769 -0.00273269 -0.09074686] [ 0.10140299 -0.01870204 0.99466963 0.09694395] [ 0. 0. 0. 1. ]] SLAMing on 45.289928851 meters Centerline goodness : 0.780367 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.09, Z:0.10 [[ 0.97307309 -0.20605295 -0.10330026 -0.88818657] [ 0.2068769 0.978363 -0.00279031 -0.09006144] [ 0.10164011 -0.01865526 0.9946463 0.09687638] [ 0. 0. 0. 1. ]] SLAMing on 45.31992885099999 meters Centerline goodness : 0.837444 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.09, Z:0.10 [[ 0.97313456 -0.2056236 -0.10357637 -0.88742234] [ 0.20645336 0.97845255 -0.00276153 -0.08947078] [ 0.1019124 -0.01869635 0.99461767 0.09678599] [ 0. 0. 0. 1. ]] SLAMing on 45.349928850999994 meters Centerline goodness : 0.780520 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.09, Z:0.10 [[ 9.73844544e-01 -2.01971343e-01 -1.04088333e-01 -8.88455873e-01] [ 2.03155330e-01 9.79146204e-01 7.90056779e-04 -9.01247997e-02] [ 1.01758127e-01 -2.19154921e-02 9.94567743e-01 9.72859758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.379928850999995 meters Centerline goodness : 0.781872 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.09, Z:0.10 [[ 9.73886253e-01 -2.01653971e-01 -1.04313194e-01 -8.87976396e-01] [ 2.02832585e-01 9.79213176e-01 7.05960472e-04 -8.93646643e-02] [ 1.02002494e-01 -2.18456400e-02 9.94544247e-01 9.73721473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.409928851 meters Centerline goodness : 0.783705 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.09, Z:0.10 [[ 9.73920038e-01 -2.01390389e-01 -1.04506794e-01 -8.87529148e-01] [ 2.02564492e-01 9.79268719e-01 6.34508105e-04 -8.88582748e-02] [ 1.02212451e-01 -2.17873259e-02 9.94523970e-01 9.74262621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.439928851 meters Centerline goodness : 0.782436 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.09, Z:0.10 [[ 9.73960119e-01 -2.01104144e-01 -1.04684331e-01 -8.86973018e-01] [ 2.02279911e-01 9.79327546e-01 6.27968068e-04 -8.84352776e-02] [ 1.02393962e-01 -2.17871530e-02 9.94505302e-01 9.73186671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.469928851 meters Centerline goodness : 0.832119 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.09, Z:0.10 [[ 9.74012972e-01 -2.00769811e-01 -1.04834215e-01 -8.86396325e-01] [ 2.01949802e-01 9.79395655e-01 6.54804042e-04 -8.79656640e-02] [ 1.02542710e-01 -2.18090366e-02 9.94489496e-01 9.71290901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.49992885099999 meters Centerline goodness : 0.782706 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.09, Z:0.10 [[ 9.74156105e-01 -2.00019103e-01 -1.04939228e-01 -8.85895798e-01] [ 2.01197617e-01 9.79550451e-01 6.58331412e-04 -8.65333618e-02] [ 1.02661589e-01 -2.17548402e-02 9.94478419e-01 9.70054102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.529928850999994 meters Centerline goodness : 0.781149 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.09, Z:0.10 [[ 9.74190808e-01 -1.99776704e-01 -1.05078721e-01 -8.85552093e-01] [ 2.00931506e-01 9.79605206e-01 4.12330242e-04 -8.51148377e-02] [ 1.02853288e-01 -2.15153140e-02 9.94463822e-01 9.70355537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.559928850999995 meters Centerline goodness : 0.830611 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.08, Z:0.10 [[ 9.74218024e-01 -1.99536291e-01 -1.05283001e-01 -8.85198945e-01] [ 2.00664658e-01 9.79659981e-01 1.27344781e-04 -8.36851807e-02] [ 1.03116133e-01 -2.12506390e-02 9.94442293e-01 9.71843311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.589928850999996 meters Centerline goodness : 0.830680 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.08, Z:0.10 [[ 9.74443013e-01 -1.98252283e-01 -1.05625980e-01 -8.83680162e-01] [ 1.99406845e-01 9.79916715e-01 3.77567073e-04 -8.21208230e-02] [ 1.03429810e-01 -2.14304610e-02 9.94405858e-01 9.66024945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.619928851 meters Centerline goodness : 0.781658 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.08, Z:0.10 [[ 9.74529401e-01 -1.97660089e-01 -1.05938361e-01 -8.82558958e-01] [ 1.98819345e-01 9.80036079e-01 3.89651419e-04 -8.11327252e-02] [ 1.03746397e-01 -2.14423223e-02 9.94372622e-01 9.62371765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.649928851 meters Centerline goodness : 0.783793 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.08, Z:0.10 [[ 9.74636509e-01 -1.97080420e-01 -1.06032937e-01 -8.82034470e-01] [ 1.98228273e-01 9.80155838e-01 2.92248637e-04 -7.95777659e-02] [ 1.03871206e-01 -2.13035623e-02 9.94362575e-01 9.60485590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.67992885099999 meters Centerline goodness : 0.785109 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.08, Z:0.10 [[ 0.97545373 -0.19263565 -0.10668429 -0.88258714] [ 0.19412891 0.98096907 0.00369461 -0.07706384] [ 0.10394228 -0.02431443 0.99428608 0.09629223] [ 0. 0. 0. 1. ]] SLAMing on 45.709928850999994 meters Centerline goodness : 0.787788 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.08, Z:0.10 [[ 0.97616194 -0.1887496 -0.10715156 -0.88346275] [ 0.19060499 0.98164002 0.00725303 -0.07676968] [ 0.10381526 -0.02750375 0.99421624 0.09651791] [ 0. 0. 0. 1. ]] SLAMing on 45.739928850999995 meters Centerline goodness : 0.787891 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.08, Z:0.10 [[ 0.97682226 -0.1850648 -0.1075606 -0.88456652] [ 0.18727059 0.98225016 0.01069306 -0.07667262] [ 0.10367251 -0.03058816 0.99414102 0.09690142] [ 0. 0. 0. 1. ]] SLAMing on 45.769928850999996 meters Centerline goodness : 0.788224 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.08, Z:0.10 [[ 0.97755636 -0.18079356 -0.10815384 -0.8845593 ] [ 0.18337406 0.98293881 0.01432657 -0.07603837] [ 0.10371846 -0.03383763 0.99403093 0.09661548] [ 0. 0. 0. 1. ]] SLAMing on 45.799928851 meters Centerline goodness : 0.786888 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.07, Z:0.10 [[ 0.97757454 -0.1806145 -0.10828857 -0.8841941 ] [ 0.18316816 0.98298141 0.01403503 -0.07498691] [ 0.10391072 -0.03355531 0.99402042 0.0966877 ] [ 0. 0. 0. 1. ]] SLAMing on 45.829928851 meters Centerline goodness : 0.834735 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.07, Z:0.10 [[ 0.97755791 -0.1807015 -0.10829361 -0.88425408] [ 0.1832152 0.98297811 0.01364667 -0.07388111] [ 0.10398428 -0.03318144 0.99402528 0.09683964] [ 0. 0. 0. 1. ]] SLAMing on 45.859928851 meters Centerline goodness : 0.839349 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.07, Z:0.10 [[ 0.97751557 -0.18106735 -0.10806444 -0.88485654] [ 0.18351435 0.98293024 0.01306222 -0.07241456] [ 0.10385466 -0.0325999 0.99405807 0.09703022] [ 0. 0. 0. 1. ]] SLAMing on 45.88992885099999 meters Centerline goodness : 0.837876 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97743936 -0.18150245 -0.10802391 -0.88521655] [ 0.18391137 0.98286094 0.01268741 -0.07199652] [ 0.10386968 -0.03226799 0.99406733 0.09731309] [ 0. 0. 0. 1. ]] SLAMing on 45.919928850999995 meters Centerline goodness : 0.788251 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97737452 -0.18192762 -0.10789523 -0.88549692] [ 0.18431359 0.98278819 0.01248516 -0.07231248] [ 0.10376676 -0.03208923 0.99408387 0.0973809 ] [ 0. 0. 0. 1. ]] SLAMing on 45.949928850999996 meters Centerline goodness : 0.789102 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97727843 -0.18251622 -0.10777155 -0.88590613] [ 0.18487868 0.98268479 0.01226699 -0.07294604] [ 0.10366654 -0.03191293 0.9941 0.09751583] [ 0. 0. 0. 1. ]] SLAMing on 45.979928851 meters Centerline goodness : 0.787658 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97652301 -0.18685748 -0.10717786 -0.8856228 ] [ 0.1888063 0.98197976 0.00824269 -0.07297651] [ 0.10370628 -0.02828503 0.9942057 0.09779021] [ 0. 0. 0. 1. ]] SLAMing on 46.009928851 meters Centerline goodness : 0.842605 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97638236 -0.1878177 -0.10678014 -0.8870555 ] [ 0.18971461 0.98180828 0.0078013 -0.0736562 ] [ 0.1033724 -0.0278748 0.99425205 0.09845122] [ 0. 0. 0. 1. ]] SLAMing on 46.039928851 meters Centerline goodness : 0.843174 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97624452 -0.18867136 -0.10653521 -0.88812516] [ 0.1905325 0.98165241 0.00747749 -0.07437841] [ 0.10316976 -0.02759828 0.99428081 0.09900992] [ 0. 0. 0. 1. ]] SLAMing on 46.06992885099999 meters Centerline goodness : 0.789421 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97542736 -0.19325315 -0.10580492 -0.88835289] [ 0.19468079 0.98086131 0.00323647 -0.0741366 ] [ 0.1031545 -0.02375513 0.99438164 0.09966832] [ 0. 0. 0. 1. ]] SLAMing on 46.099928850999994 meters Centerline goodness : 0.788619 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.08, Z:0.10 [[ 0.97530449 -0.19398032 -0.10560679 -0.88898665] [ 0.19539608 0.98071942 0.00312864 -0.07516934] [ 0.10296374 -0.02368653 0.99440305 0.09978877] [ 0. 0. 0. 1. ]] SLAMing on 46.129928850999995 meters Centerline goodness : 0.843886 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.08, Z:0.10 [[ 0.97517713 -0.19480524 -0.10526385 -0.88982402] [ 0.19619615 0.98056031 0.00292327 -0.07601547] [ 0.10264808 -0.02350307 0.99444003 0.09985134] [ 0. 0. 0. 1. ]] SLAMing on 46.159928851 meters Centerline goodness : 0.788114 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.08, Z:0.10 [[ 0.97505438 -0.19553747 -0.10504309 -0.89060542] [ 0.1968983 0.98042036 0.00264298 -0.07671068] [ 0.10246958 -0.02325985 0.99446416 0.10022248] [ 0. 0. 0. 1. ]] SLAMing on 46.189928851 meters Centerline goodness : 0.786523 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97422962 -0.19999428 -0.10430211 -0.89066267] [ 0.20090081 0.97960984 -0.00184891 -0.07494056] [ 0.10254514 -0.01915312 0.99454394 0.10065407] [ 0. 0. 0. 1. ]] SLAMing on 46.219928851 meters Centerline goodness : 0.784560 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97414648 -0.20054531 -0.10402028 -0.89130478] [ 0.20141537 0.9795035 -0.00218001 -0.07471061] [ 0.10232542 -0.01882764 0.99457279 0.10068997] [ 0. 0. 0. 1. ]] SLAMing on 46.24992885099999 meters Centerline goodness : 0.786092 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97406661 -0.20100221 -0.10388621 -0.89179593] [ 0.20181789 0.97941932 -0.00270851 -0.07391932] [ 0.10229258 -0.01832783 0.9945855 0.10100496] [ 0. 0. 0. 1. ]] SLAMing on 46.279928850999994 meters Centerline goodness : 0.784390 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97399905 -0.20140871 -0.10373227 -0.89210192] [ 0.2021632 0.97934629 -0.00329794 -0.0720683 ] [ 0.10225405 -0.01775865 0.99459979 0.10086076] [ 0. 0. 0. 1. ]] SLAMing on 46.309928850999995 meters Centerline goodness : 0.783706 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97399457 -0.20139352 -0.1038038 -0.89176485] [ 0.20212556 0.97935326 -0.00352781 -0.07104318] [ 0.10237107 -0.01754533 0.99459154 0.10065124] [ 0. 0. 0. 1. ]] SLAMing on 46.339928850999996 meters Centerline goodness : 0.782445 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97397117 -0.2015142 -0.10378916 -0.89172563] [ 0.20221364 0.97933387 -0.0038484 -0.06963038] [ 0.10241975 -0.01723935 0.99459188 0.10043266] [ 0. 0. 0. 1. ]] SLAMing on 46.369928851 meters Centerline goodness : 0.781584 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97396089 -0.20154533 -0.1038252 -0.89163244] [ 0.20220906 0.97933336 -0.00420272 -0.06810051] [ 0.10252652 -0.01690111 0.99458668 0.10037473] [ 0. 0. 0. 1. ]] SLAMing on 46.399928851 meters Centerline goodness : 0.845613 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.06, Z:0.10 [[ 0.97392778 -0.20185636 -0.10353106 -0.89249932] [ 0.2024189 0.97928547 -0.00515409 -0.06471773] [ 0.10242685 -0.01593693 0.99461287 0.10069082] [ 0. 0. 0. 1. ]] SLAMing on 46.42992885099999 meters Centerline goodness : 0.783502 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.06, Z:0.10 [[ 0.97388566 -0.20210164 -0.10344879 -0.89281028] [ 0.20261178 0.97924277 -0.00566339 -0.06333404] [ 0.10244606 -0.01544445 0.99461866 0.10087535] [ 0. 0. 0. 1. ]] SLAMing on 46.459928850999994 meters Centerline goodness : 0.783502 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.06, Z:0.10 [[ 0.97388566 -0.20210164 -0.10344879 -0.89281028] [ 0.20261178 0.97924277 -0.00566339 -0.06333404] [ 0.10244606 -0.01544445 0.99461866 0.10087535] [ 0. 0. 0. 1. ]] SLAMing on 46.489928850999995 meters Centerline goodness : 0.781357 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.06, Z:0.10 [[ 0.97385081 -0.20235146 -0.10328835 -0.89309972] [ 0.20282913 0.97919596 -0.00596798 -0.06239891] [ 0.10234717 -0.01513796 0.99463355 0.10074571] [ 0. 0. 0. 1. ]] SLAMing on 46.519928850999996 meters Centerline goodness : 0.781309 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.06, Z:0.10 [[ 0.97376699 -0.20297104 -0.10286203 -0.89407723] [ 0.20336124 0.97908023 -0.00679032 -0.05994445] [ 0.10208842 -0.01430596 0.99467246 0.10072582] [ 0. 0. 0. 1. ]] SLAMing on 46.549928851 meters Centerline goodness : 0.781539 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.06, Z:0.10 [[ 0.97371879 -0.20327717 -0.10271375 -0.89456745] [ 0.20360685 0.97902495 -0.00737588 -0.05822056] [ 0.10205867 -0.01373119 0.99468361 0.10095146] [ 0. 0. 0. 1. ]] SLAMing on 46.579928851 meters Centerline goodness : 0.783829 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.10 [[ 0.97367933 -0.20356573 -0.10251609 -0.89516679] [ 0.20384368 0.97897182 -0.00786937 -0.0565363 ] [ 0.1019623 -0.01323501 0.99470022 0.1010679 ] [ 0. 0. 0. 1. ]] SLAMing on 46.609928851 meters Centerline goodness : 0.782198 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.05, Z:0.10 [[ 0.97363499 -0.20397155 -0.10212984 -0.89601309] [ 0.20415019 0.97889992 -0.008812 -0.05329577] [ 0.10177229 -0.01227015 0.99473205 0.10107792] [ 0. 0. 0. 1. ]] SLAMing on 46.63992885099999 meters Centerline goodness : 0.783994 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.05, Z:0.10 [[ 0.97361086 -0.20409474 -0.10211385 -0.89603542] [ 0.20423202 0.97887908 -0.00922064 -0.05160917] [ 0.10183899 -0.0118776 0.99472998 0.10098701] [ 0. 0. 0. 1. ]] SLAMing on 46.669928850999995 meters Centerline goodness : 0.783253 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.05, Z:0.10 [[ 0.97356004 -0.20436641 -0.10205493 -0.8962125 ] [ 0.20443828 0.97882973 -0.00986699 -0.04942621] [ 0.10191088 -0.01125782 0.99472983 0.10104381] [ 0. 0. 0. 1. ]] SLAMing on 46.699928850999996 meters Centerline goodness : 0.785400 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.05, Z:0.10 [[ 0.97352838 -0.20454092 -0.10200732 -0.89627939] [ 0.20457024 0.97879784 -0.01028628 -0.04781094] [ 0.10194851 -0.01085368 0.99473047 0.10094649] [ 0. 0. 0. 1. ]] SLAMing on 46.729928851 meters Centerline goodness : 0.784262 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.05, Z:0.10 [[ 0.97343374 -0.20515642 -0.10167398 -0.89695577] [ 0.20511624 0.97867622 -0.01096288 -0.04529178] [ 0.10175501 -0.01018335 0.99475737 0.10059037] [ 0. 0. 0. 1. ]] SLAMing on 46.759928851 meters Centerline goodness : 0.786180 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.04, Z:0.10 [[ 0.97333055 -0.20578596 -0.10138921 -0.89780536] [ 0.20568912 0.97854955 -0.01152243 -0.0441844 ] [ 0.10158552 -0.00963953 0.99478011 0.10078612] [ 0. 0. 0. 1. ]] SLAMing on 46.789928851 meters Centerline goodness : 0.782822 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.04, Z:0.10 [[ 0.97323032 -0.2063705 -0.10116301 -0.89850926] [ 0.20622836 0.9784306 -0.01197596 -0.04320088] [ 0.10145246 -0.00920732 0.99479778 0.10086556] [ 0. 0. 0. 1. ]] SLAMing on 46.81992885099999 meters Centerline goodness : 0.786847 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.04, Z:0.10 [[ 0.97312053 -0.2070313 -0.10086863 -0.89927962] [ 0.20684518 0.9782949 -0.01241583 -0.04230138] [ 0.10124973 -0.00878209 0.99482228 0.1008182 ] [ 0. 0. 0. 1. ]] SLAMing on 46.849928850999994 meters Centerline goodness : 0.786904 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.04, Z:0.10 [[ 0.97288835 -0.20848256 -0.10011638 -0.90102693] [ 0.20821522 0.97799357 -0.013229 -0.04093235] [ 0.10067119 -0.00797541 0.99488778 0.10055182] [ 0. 0. 0. 1. ]] SLAMing on 46.879928850999995 meters Centerline goodness : 0.784743 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.04, Z:0.10 [[ 0.9727893 -0.20910628 -0.09977748 -0.90181157] [ 0.20880356 0.97786324 -0.01358507 -0.04034704] [ 0.10040945 -0.00761848 0.99491703 0.10041711] [ 0. 0. 0. 1. ]] SLAMing on 46.909928851 meters Centerline goodness : 0.787340 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.04, Z:0.10 [[ 0.97252361 -0.21073677 -0.09893353 -0.90437644] [ 0.21031362 0.97752184 -0.0148062 -0.03823105] [ 0.0998299 -0.00640769 0.99498389 0.10093321] [ 0. 0. 0. 1. ]] SLAMing on 46.939928851 meters Centerline goodness : 0.787404 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.10 [[ 0.97237183 -0.21163622 -0.09850452 -0.90582668] [ 0.21115025 0.97733146 -0.01545291 -0.03706868] [ 0.09954196 -0.00577328 0.99501662 0.10129685] [ 0. 0. 0. 1. ]] SLAMing on 46.969928851 meters Centerline goodness : 0.789736 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.10 [[ 0.97226019 -0.21235242 -0.09806413 -0.90700833] [ 0.21181491 0.97717913 -0.01598092 -0.03611994] [ 0.09921981 -0.00523383 0.99505178 0.10146091] [ 0. 0. 0. 1. ]] SLAMing on 46.99992885099999 meters Centerline goodness : 0.787828 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.10 [[ 0.97213511 -0.21312602 -0.0976249 -0.90835707] [ 0.2125354 0.97701352 -0.0165314 -0.03533801] [ 0.09890412 -0.00467799 0.99508597 0.10181121] [ 0. 0. 0. 1. ]] SLAMing on 47.029928850999994 meters Centerline goodness : 0.787275 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.03, Z:0.10 [[ 0.97191777 -0.21450323 -0.09676886 -0.91092619] [ 0.21382591 0.97671611 -0.01743905 -0.03374523] [ 0.09825644 -0.00374236 0.99515409 0.10224926] [ 0. 0. 0. 1. ]] SLAMing on 47.059928850999995 meters Centerline goodness : 0.786135 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.03, Z:0.10 [[ 0.97180841 -0.2151523 -0.0964256 -0.91202302] [ 0.21442434 0.97657523 -0.01797264 -0.03270605] [ 0.09803371 -0.00321003 0.99517792 0.10254029] [ 0. 0. 0. 1. ]] SLAMing on 47.089928850999996 meters Centerline goodness : 0.788976 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.03, Z:0.10 [[ 0.97172405 -0.21569351 -0.09606606 -0.91301288] [ 0.21492603 0.97645717 -0.01839027 -0.03146029] [ 0.09777106 -0.00277682 0.99520506 0.10258288] [ 0. 0. 0. 1. ]] SLAMing on 47.119928851 meters Centerline goodness : 0.787262 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.03, Z:0.10 [[ 0.97164444 -0.21615664 -0.09583001 -0.91360915] [ 0.21534511 0.97635595 -0.01885571 -0.03012422] [ 0.09763999 -0.00231548 0.99521911 0.10257501] [ 0. 0. 0. 1. ]] SLAMing on 47.149928851 meters Centerline goodness : 0.788105 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.03, Z:0.10 [[ 0.97157631 -0.21660651 -0.09550441 -0.91395426] [ 0.21575775 0.97625714 -0.01925073 -0.02799661] [ 0.09740669 -0.00190226 0.99524284 0.10178292] [ 0. 0. 0. 1. ]] SLAMing on 47.17992885099999 meters Centerline goodness : 0.788281 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.03, Z:0.10 [[ 0.97155391 -0.21670179 -0.09551618 -0.9137437 ] [ 0.21582785 0.97623644 -0.01951282 -0.02654651] [ 0.09747483 -0.0016573 0.99523661 0.10143496] [ 0. 0. 0. 1. ]] SLAMing on 47.209928850999994 meters Centerline goodness : 0.792022 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.02, Z:0.10 [[ 0.97155413 -0.21669161 -0.09553699 -0.9134776 ] [ 0.21579174 0.9762391 -0.0197773 -0.02494411] [ 0.09755252 -0.00140138 0.99522939 0.10112275] [ 0. 0. 0. 1. ]] SLAMing on 47.239928850999995 meters Centerline goodness : 0.792926 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.02, Z:0.10 [[ 9.71552717e-01 -2.16753573e-01 -9.54107293e-02 -9.13551601e-01] [ 2.15799451e-01 9.76225993e-01 -2.03324055e-02 -2.18841491e-02] [ 9.75495556e-02 -8.35579213e-04 9.95230318e-01 1.00737166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.269928850999996 meters Centerline goodness : 0.792421 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.02, Z:0.10 [[ 9.71507465e-01 -2.16987325e-01 -9.53401659e-02 -9.13843323e-01] [ 2.15989622e-01 9.76174341e-01 -2.07879715e-02 -2.02933331e-02] [ 9.75793499e-02 -3.96816895e-04 9.95227669e-01 1.00827685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.299928851 meters Centerline goodness : 0.789196 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.02, Z:0.10 [[ 9.71447845e-01 -2.17340291e-01 -9.51434809e-02 -9.14509756e-01] [ 2.16293300e-01 9.76095889e-01 -2.13078627e-02 -1.87917752e-02] [ 9.75002176e-02 1.20579920e-04 9.95235496e-01 1.01037679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.329928851 meters Centerline goodness : 0.789677 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.02, Z:0.10 [[ 9.71421766e-01 -2.17471732e-01 -9.51094076e-02 -9.14641476e-01] [ 2.16387612e-01 9.76066495e-01 -2.16932791e-02 -1.73869618e-02] [ 9.75507811e-02 4.92825899e-04 9.95230427e-01 1.01114772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.359928851 meters Centerline goodness : 0.790124 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.10 [[ 0.97136826 -0.21778432 -0.09494044 -0.91512108] [ 0.21662353 0.97599608 -0.02249223 -0.01456998] [ 0.09755995 0.00128191 0.99522882 0.10127554] [ 0. 0. 0. 1. ]] SLAMing on 47.38992885099999 meters Centerline goodness : 0.793263 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.10 [[ 0.97134948 -0.21791794 -0.09482593 -0.91536269] [ 0.21672944 0.97596582 -0.02278317 -0.01326126] [ 0.09751173 0.00157885 0.99523312 0.10121333] [ 0. 0. 0. 1. ]] SLAMing on 47.419928850999995 meters Centerline goodness : 0.790436 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.10 [[ 0.971308 -0.21814936 -0.09471864 -0.91562192] [ 0.21692098 0.97591336 -0.02320337 -0.01173045] [ 0.09749899 0.00199116 0.99523363 0.10119122] [ 0. 0. 0. 1. ]] SLAMing on 47.449928850999996 meters Centerline goodness : 0.790692 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.10 [[ 0.97127853 -0.21831228 -0.09464547 -0.91590146] [ 0.21705327 0.97587624 -0.02352556 -0.01053363] [ 0.09749818 0.00230676 0.99523303 0.10129033] [ 0. 0. 0. 1. ]] SLAMing on 47.479928851 meters Centerline goodness : 0.793682 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.10 [[ 0.97121008 -0.21874617 -0.09434561 -0.91675768] [ 0.21745122 0.97577801 -0.02392154 -0.00913445] [ 0.09729311 0.00271728 0.99525206 0.10130138] [ 0. 0. 0. 1. ]] SLAMing on 47.509928851 meters Centerline goodness : 0.792513 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.10 [[ 0.97114728 -0.21913328 -0.09409335 -0.91736002] [ 0.21781498 0.97569034 -0.02418665 -0.00840054] [ 0.09710607 0.00299385 0.99526954 0.10120789] [ 0. 0. 0. 1. ]] SLAMing on 47.539928851 meters Centerline goodness : 0.794191 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.10 [[ 0.97111332 -0.21935741 -0.09392154 -0.91770866] [ 0.2180255 0.97563945 -0.02434246 -0.00799 ] [ 0.09697326 0.003162 0.99528196 0.10115023] [ 0. 0. 0. 1. ]] SLAMing on 47.56992885099999 meters Centerline goodness : 0.793308 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.10 [[ 0.97106211 -0.21968337 -0.09368878 -0.91810945] [ 0.21832799 0.97556516 -0.02460706 -0.00696612] [ 0.09680527 0.0034401 0.9952974 0.10086937] [ 0. 0. 0. 1. ]] SLAMing on 47.599928850999994 meters Centerline goodness : 0.792466 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.10 [[ 0.97104301 -0.21978891 -0.09363924 -0.9180872 ] [ 0.2184139 0.97554064 -0.02481574 -0.00601116] [ 0.09680311 0.00364504 0.99529688 0.10066376] [ 0. 0. 0. 1. ]] SLAMing on 47.629928850999995 meters Centerline goodness : 0.793473 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.10 [[ 0.97104443 -0.21977053 -0.0936676 -0.91786033] [ 0.21838381 0.97554436 -0.02493418 -0.00537284] [ 0.0968567 0.00375671 0.99529125 0.10051113] [ 0. 0. 0. 1. ]] SLAMing on 47.659928851 meters Centerline goodness : 0.790300 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.10 [[ 0.97102234 -0.21995379 -0.09346629 -0.9183531 ] [ 0.2185399 0.97550179 -0.02523033 -0.0038552 ] [ 0.09672604 0.00407311 0.99530271 0.10043436] [ 0. 0. 0. 1. ]] SLAMing on 47.689928851 meters Centerline goodness : 0.792883 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.10 [[ 0.97100167 -0.22008916 -0.09336225 -0.91871313] [ 0.21865375 0.97547024 -0.02546285 -0.00304314] [ 0.09667619 0.00431046 0.99530655 0.10055895] [ 0. 0. 0. 1. ]] SLAMing on 47.719928851 meters Centerline goodness : 0.792920 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.10 [[ 0.9709984 -0.22011818 -0.09332793 -0.91886169] [ 0.21867207 0.97546317 -0.02557598 -0.00260662] [ 0.0966677 0.00442603 0.99530687 0.10064476] [ 0. 0. 0. 1. ]] SLAMing on 47.74992885099999 meters Centerline goodness : 0.791851 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.10 [[ 0.97099953 -0.22012846 -0.09329184 -0.91873604] [ 0.2186839 0.97546088 -0.02556217 -0.00249982] [ 0.0966295 0.00441943 0.99531061 0.10040429] [ 0. 0. 0. 1. ]] SLAMing on 47.779928850999994 meters Centerline goodness : 0.793765 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.10 [[ 0.97099055 -0.22018705 -0.09324702 -0.91879505] [ 0.21875106 0.97544801 -0.02547859 -0.00256213] [ 0.09656767 0.00434158 0.99531695 0.10023013] [ 0. 0. 0. 1. ]] SLAMing on 47.809928850999995 meters Centerline goodness : 0.792007 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.10 [[ 0.97092621 -0.22054783 -0.09306423 -0.91957465] [ 0.21909408 0.97536555 -0.02568732 -0.00225316] [ 0.09643692 0.00455067 0.99532869 0.10054996] [ 0. 0. 0. 1. ]] SLAMing on 47.839928850999996 meters Centerline goodness : 0.793471 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.10 [[ 0.97089287 -0.22075964 -0.09290976 -0.91992309] [ 0.21930619 0.9753175 -0.02570161 -0.00246195] [ 0.09629039 0.00457782 0.99534276 0.10049929] [ 0. 0. 0. 1. ]] SLAMing on 47.869928851 meters Centerline goodness : 0.794323 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.10 [[ 0.9708729 -0.22092945 -0.09271459 -0.92030078] [ 0.21947939 0.97527901 -0.0256838 -0.00303348] [ 0.0960969 0.00458676 0.99536142 0.10053205] [ 0. 0. 0. 1. ]] SLAMing on 47.899928851 meters Centerline goodness : 0.790304 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.10 [[ 0.9708432 -0.2211111 -0.09259241 -0.92047427] [ 0.21966317 0.97523783 -0.02567608 -0.00375494] [ 0.09597688 0.00458831 0.99537299 0.10051702] [ 0. 0. 0. 1. ]] SLAMing on 47.92992885099999 meters Centerline goodness : 0.791009 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.10 [[ 0.97077113 -0.22156784 -0.09225567 -0.92115113] [ 0.22013958 0.97513479 -0.02550912 -0.00514685] [ 0.09561371 0.0044544 0.99540855 0.10033079] [ 0. 0. 0. 1. ]] SLAMing on 47.959928850999994 meters Centerline goodness : 0.789057 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.10 [[ 0.97070435 -0.22193292 -0.09208067 -0.92175305] [ 0.22049994 0.97505141 -0.0255836 -0.00545689] [ 0.09546123 0.00453033 0.99542284 0.10045631] [ 0. 0. 0. 1. ]] SLAMing on 47.989928850999995 meters Centerline goodness : 0.787993 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.10 [[ 0.97065518 -0.22223196 -0.09187755 -0.92227043] [ 0.22080182 0.97498325 -0.02557768 -0.00596792] [ 0.09526325 0.00454038 0.99544176 0.10050209] [ 0. 0. 0. 1. ]] SLAMing on 48.019928850999996 meters Centerline goodness : 0.788963 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.10 [[ 0.97062736 -0.2223898 -0.09178943 -0.92241837] [ 0.22097971 0.97494813 -0.02537936 -0.00699893] [ 0.09513404 0.0043503 0.99545497 0.10041835] [ 0. 0. 0. 1. ]] SLAMing on 48.049928851 meters Centerline goodness : 0.787130 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.10 [[ 0.97056569 -0.22271748 -0.09164697 -0.92237978] [ 0.22135665 0.97487537 -0.02488477 -0.00988843] [ 0.09488665 0.00386564 0.99548058 0.09993082] [ 0. 0. 0. 1. ]] SLAMing on 48.079928851 meters Centerline goodness : 0.785163 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.10 [[ 0.97053758 -0.22287094 -0.09157159 -0.92237936] [ 0.22153112 0.97484108 -0.02467433 -0.01113282] [ 0.09476694 0.0036614 0.99549275 0.09976526] [ 0. 0. 0. 1. ]] SLAMing on 48.10992885099999 meters Centerline goodness : 0.784117 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.10 [[ 0.97051105 -0.22303634 -0.09144993 -0.92260481] [ 0.22171793 0.97480398 -0.02446159 -0.01243038] [ 0.09460158 0.00346416 0.99550919 0.09975275] [ 0. 0. 0. 1. ]] SLAMing on 48.13992885099999 meters Centerline goodness : 0.784928 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.10 [[ 0.97046646 -0.22327836 -0.09133254 -0.9227626 ] [ 0.2220021 0.97474996 -0.02403285 -0.01457114] [ 0.0943924 0.00304706 0.99553041 0.09955689] [ 0. 0. 0. 1. ]] SLAMing on 48.169928850999995 meters Centerline goodness : 0.782356 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.02, Z:0.10 [[ 0.97047877 -0.22318388 -0.09143259 -0.92241539] [ 0.22193152 0.9747724 -0.02377331 -0.01558796] [ 0.09443178 0.00277972 0.99552745 0.09948478] [ 0. 0. 0. 1. ]] SLAMing on 48.199928850999996 meters Centerline goodness : 0.781419 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.02, Z:0.10 [[ 0.97049254 -0.22308132 -0.0915366 -0.92213929] [ 0.22184306 0.97479634 -0.02361696 -0.0164544 ] [ 0.09449805 0.00261332 0.99552162 0.09957746] [ 0. 0. 0. 1. ]] SLAMing on 48.229928851 meters Centerline goodness : 0.781122 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.02, Z:0.10 [[ 0.97053024 -0.2228489 -0.09170285 -0.92177392] [ 0.22163145 0.97485012 -0.02338264 -0.01723261] [ 0.09460733 0.00236932 0.99551185 0.09967755] [ 0. 0. 0. 1. ]] SLAMing on 48.259928851 meters Centerline goodness : 0.780608 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.02, Z:0.10 [[ 0.970692 -0.22197659 -0.0921056 -0.92047406] [ 0.22081122 0.97505037 -0.02278555 -0.01846723] [ 0.09486546 0.0017798 0.99548851 0.09955642] [ 0. 0. 0. 1. ]] SLAMing on 48.289928851 meters Centerline goodness : 0.783175 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.02, Z:0.10 [[ 0.97077944 -0.22143473 -0.09248749 -0.91944001] [ 0.22028288 0.97517392 -0.02261147 -0.018647 ] [ 0.09519835 0.00157734 0.99545707 0.09961387] [ 0. 0. 0. 1. ]] SLAMing on 48.31992885099999 meters Centerline goodness : 0.782598 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.02, Z:0.10 [[ 0.97089627 -0.2207239 -0.09295914 -0.91815367] [ 0.21960508 0.97533564 -0.0222262 -0.01899107] [ 0.09557222 0.00116504 0.99542182 0.0994925 ] [ 0. 0. 0. 1. ]] SLAMing on 48.349928850999994 meters Centerline goodness : 0.781959 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.02, Z:0.10 [[ 9.70983415e-01 -2.20155007e-01 -9.33968990e-02 -9.17007024e-01] [ 2.19054201e-01 9.75464477e-01 -2.20070718e-02 -1.91630889e-02] [ 9.59503243e-02 9.09518612e-04 9.95385708e-01 9.95086540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.379928850999995 meters Centerline goodness : 0.781959 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.02, Z:0.10 [[ 9.70983415e-01 -2.20155007e-01 -9.33968990e-02 -9.17007024e-01] [ 2.19054201e-01 9.75464477e-01 -2.20070718e-02 -1.91630889e-02] [ 9.59503243e-02 9.09518612e-04 9.95385708e-01 9.95086540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.409928851 meters Centerline goodness : 0.781504 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.02, Z:0.10 [[ 9.71236934e-01 -2.18674187e-01 -9.42359644e-02 -9.14257391e-01] [ 2.17661710e-01 9.75797925e-01 -2.10187945e-02 -2.07394363e-02] [ 9.65515263e-02 -9.73315732e-05 9.95327983e-01 9.89082519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.439928851 meters Centerline goodness : 0.780365 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.02, Z:0.10 [[ 9.71330221e-01 -2.18078425e-01 -9.46541241e-02 -9.13006926e-01] [ 2.17101197e-01 9.75931113e-01 -2.06284410e-02 -2.16675730e-02] [ 9.68745226e-02 -5.12495461e-04 9.95296471e-01 9.87472939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.469928851 meters Centerline goodness : 0.779619 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.02, Z:0.10 [[ 0.97149685 -0.21705827 -0.09528683 -0.91134852] [ 0.21614099 0.97615792 -0.01996983 -0.02331503] [ 0.09734961 -0.00119477 0.99524953 0.09886852] [ 0. 0. 0. 1. ]] SLAMing on 48.49992885099999 meters Centerline goodness : 0.779900 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.02, Z:0.10 [[ 0.97157385 -0.21657537 -0.09559999 -0.91049215] [ 0.21568378 0.97626476 -0.01968806 -0.0237938 ] [ 0.09759485 -0.00149097 0.99522511 0.09885832] [ 0. 0. 0. 1. ]] SLAMing on 48.529928850999994 meters Centerline goodness : 0.780518 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.02, Z:0.10 [[ 0.97163779 -0.21615224 -0.09590734 -0.9096986 ] [ 0.21528839 0.976358 -0.01938993 -0.02431435] [ 0.09783107 -0.00180775 0.99520139 0.09882627] [ 0. 0. 0. 1. ]] SLAMing on 48.559928850999995 meters Centerline goodness : 0.781581 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.02, Z:0.10 [[ 0.97168858 -0.21580379 -0.0961771 -0.90892756] [ 0.21496261 0.97643456 -0.01914765 -0.02467356] [ 0.09804278 -0.00206892 0.99518005 0.09869704] [ 0. 0. 0. 1. ]] SLAMing on 48.589928850999996 meters Centerline goodness : 0.780740 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.03, Z:0.10 [[ 0.97179226 -0.21511488 -0.09667158 -0.90756688] [ 0.21433297 0.97658497 -0.01852491 -0.02626905] [ 0.098393 -0.00271755 0.99514393 0.0985965 ] [ 0. 0. 0. 1. ]] SLAMing on 48.619928851 meters Centerline goodness : 0.779065 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.03, Z:0.10 [[ 0.97183463 -0.21481881 -0.09690376 -0.90676726] [ 0.21406277 0.97664931 -0.01825552 -0.02709078] [ 0.09856262 -0.00300214 0.99512632 0.09839792] [ 0. 0. 0. 1. ]] SLAMing on 48.649928851 meters Centerline goodness : 0.781024 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.03, Z:0.10 [[ 0.97186837 -0.21455598 -0.09714728 -0.90605605] [ 0.21382106 0.97670631 -0.0180371 -0.02804142] [ 0.09875433 -0.00324245 0.99510656 0.09839276] [ 0. 0. 0. 1. ]] SLAMing on 48.67992885099999 meters Centerline goodness : 0.778188 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.03, Z:0.10 [[ 0.97191393 -0.21429921 -0.09725826 -0.90554985] [ 0.21360117 0.97676138 -0.01765657 -0.02922507] [ 0.0987819 -0.00361382 0.99510255 0.09817818] [ 0. 0. 0. 1. ]] SLAMing on 48.709928850999994 meters Centerline goodness : 0.777335 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.03, Z:0.10 [[ 0.9719286 -0.21417537 -0.09738435 -0.90511597] [ 0.2135278 0.9767865 -0.01714683 -0.03199857] [ 0.09879614 -0.00412877 0.99509913 0.09821272] [ 0. 0. 0. 1. ]] SLAMing on 48.739928850999995 meters Centerline goodness : 0.777026 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.03, Z:0.10 [[ 0.9719654 -0.21401951 -0.09735968 -0.90478537] [ 0.21340569 0.97681925 -0.01679782 -0.03295773] [ 0.09869788 -0.00445021 0.99510749 0.09781698] [ 0. 0. 0. 1. ]] SLAMing on 48.769928850999996 meters Centerline goodness : 0.778740 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.03, Z:0.10 [[ 0.97197431 -0.21387953 -0.09757816 -0.90430646] [ 0.21328128 0.97684905 -0.01664404 -0.03363785] [ 0.09887895 -0.00463401 0.99508868 0.09793248] [ 0. 0. 0. 1. ]] SLAMing on 48.799928851 meters Centerline goodness : 0.777698 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.04, Z:0.10 [[ 0.97199195 -0.21375918 -0.09766604 -0.9041203 ] [ 0.21319885 0.9768735 -0.01626064 -0.03533692] [ 0.09888323 -0.00501707 0.9950864 0.09806611] [ 0. 0. 0. 1. ]] SLAMing on 48.829928851 meters Centerline goodness : 0.776996 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.04, Z:0.10 [[ 0.9720069 -0.21365671 -0.09774145 -0.90374345] [ 0.21313003 0.97689412 -0.01592084 -0.03691748] [ 0.09888465 -0.00535647 0.99508449 0.09799392] [ 0. 0. 0. 1. ]] SLAMing on 48.85992885099999 meters Centerline goodness : 0.776185 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.04, Z:0.10 [[ 0.97200541 -0.21362009 -0.09783626 -0.9033426 ] [ 0.21313363 0.97689979 -0.01551959 -0.03894075] [ 0.09889152 -0.00576707 0.99508151 0.09791288] [ 0. 0. 0. 1. ]] SLAMing on 48.88992885099999 meters Centerline goodness : 0.777681 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.04, Z:0.10 [[ 0.97198897 -0.21370131 -0.09782226 -0.9031314 ] [ 0.2132457 0.97688016 -0.01521234 -0.04076994] [ 0.09881152 -0.00607395 0.99508763 0.09777435] [ 0. 0. 0. 1. ]] SLAMing on 48.919928850999995 meters Centerline goodness : 0.775266 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.04, Z:0.10 [[ 0.97188973 -0.21418898 -0.0977417 -0.90351682] [ 0.2137687 0.97677103 -0.01487577 -0.04388611] [ 0.09865749 -0.0064365 0.99510063 0.09813095] [ 0. 0. 0. 1. ]] SLAMing on 48.949928850999996 meters Centerline goodness : 0.775987 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.05, Z:0.10 [[ 0.97184074 -0.2144574 -0.09764016 -0.90404574] [ 0.21404643 0.97671153 -0.01478876 -0.04508787] [ 0.09853783 -0.00652721 0.9951119 0.09852587] [ 0. 0. 0. 1. ]] SLAMing on 48.979928851 meters Centerline goodness : 0.777652 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.05, Z:0.10 [[ 0.97181482 -0.21456039 -0.09767191 -0.90399991] [ 0.2141761 0.97668704 -0.01452666 -0.04664397] [ 0.09851173 -0.00680177 0.99511264 0.09865905] [ 0. 0. 0. 1. ]] SLAMing on 49.009928851 meters Centerline goodness : 0.776883 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.05, Z:0.10 [[ 0.97166292 -0.21521973 -0.0977325 -0.90372973] [ 0.21483574 0.97654164 -0.01456124 -0.05057026] [ 0.09857372 -0.00684782 0.99510619 0.0991632 ] [ 0. 0. 0. 1. ]] SLAMing on 49.039928851 meters Centerline goodness : 0.775881 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.05, Z:0.10 [[ 0.9716673 -0.21517797 -0.09778085 -0.90321269] [ 0.21484417 0.97654719 -0.01405579 -0.05288089] [ 0.09851211 -0.0073501 0.99510871 0.09883588] [ 0. 0. 0. 1. ]] SLAMing on 49.06992885099999 meters Centerline goodness : 0.833843 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.05, Z:0.10 [[ 0.97167119 -0.21507702 -0.09796416 -0.90263774] [ 0.21479072 0.97656561 -0.01358521 -0.05494286] [ 0.0985903 -0.00784143 0.99509721 0.09874657] [ 0. 0. 0. 1. ]] SLAMing on 49.099928850999994 meters Centerline goodness : 0.775774 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.10 [[ 0.97164849 -0.21521515 -0.09788586 -0.90274986] [ 0.21495714 0.97653291 -0.01330014 -0.05651026] [ 0.09845116 -0.00811821 0.99510877 0.09871715] [ 0. 0. 0. 1. ]] SLAMing on 49.129928850999995 meters Centerline goodness : 0.779061 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.10 [[ 0.97163583 -0.21518752 -0.09807218 -0.90245775] [ 0.21497302 0.97653512 -0.01287503 -0.05876903] [ 0.09854147 -0.00857303 0.99509602 0.09904991] [ 0. 0. 0. 1. ]] SLAMing on 49.159928851 meters Centerline goodness : 0.778377 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.10 [[ 0.97167134 -0.21491959 -0.09830754 -0.90195339] [ 0.21472342 0.97659236 -0.01269724 -0.05964413] [ 0.09873528 -0.00877139 0.99507508 0.09931288] [ 0. 0. 0. 1. ]] SLAMing on 49.189928851 meters Centerline goodness : 0.777436 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.10 [[ 0.97171851 -0.21465912 -0.09841031 -0.90168414] [ 0.21448151 0.97664798 -0.01250631 -0.06019085] [ 0.09879682 -0.00895458 0.99506734 0.09941524] [ 0. 0. 0. 1. ]] SLAMing on 49.219928851 meters Centerline goodness : 0.777815 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.10 [[ 0.97187162 -0.21383111 -0.09870062 -0.90062258] [ 0.21371532 0.97682388 -0.01186905 -0.0616352 ] [ 0.09895109 -0.00955864 0.99504639 0.0992023 ] [ 0. 0. 0. 1. ]] SLAMing on 49.24992885099999 meters Centerline goodness : 0.778087 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.10 [[ 0.97189602 -0.21361018 -0.0989384 -0.90006996] [ 0.2135108 0.97687045 -0.01171616 -0.06236071] [ 0.09915269 -0.00973752 0.99502458 0.09930516] [ 0. 0. 0. 1. ]] SLAMing on 49.279928850999994 meters Centerline goodness : 0.776799 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.10 [[ 0.97195164 -0.21327989 -0.09910445 -0.89941406] [ 0.21321248 0.9769394 -0.01139507 -0.06326143] [ 0.09924939 -0.01005485 0.99501179 0.09913462] [ 0. 0. 0. 1. ]] SLAMing on 49.309928850999995 meters Centerline goodness : 0.778375 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.10 [[ 0.97201741 -0.21282052 -0.09944633 -0.8985095 ] [ 0.21280713 0.9770338 -0.01086615 -0.06442035] [ 0.09947496 -0.0106008 0.9949836 0.09897884] [ 0. 0. 0. 1. ]] SLAMing on 49.339928850999996 meters Centerline goodness : 0.777537 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.10 [[ 0.97203492 -0.21265847 -0.09962173 -0.89791834] [ 0.21266694 0.97706662 -0.01065834 -0.0649991 ] [ 0.09960365 -0.01082597 0.9949683 0.09885663] [ 0. 0. 0. 1. ]] SLAMing on 49.369928851 meters Centerline goodness : 0.775726 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.10 [[ 0.97204583 -0.21253855 -0.09977106 -0.89748625] [ 0.21256812 0.97709029 -0.01045791 -0.06599687] [ 0.09970805 -0.01104258 0.99495546 0.09886139] [ 0. 0. 0. 1. ]] SLAMing on 49.399928851 meters Centerline goodness : 0.777698 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.10 [[ 0.97209754 -0.21219257 -0.10000349 -0.89640778] [ 0.21228124 0.9771587 -0.00987706 -0.06867674] [ 0.09981512 -0.0116274 0.99493806 0.09858844] [ 0. 0. 0. 1. ]] SLAMing on 49.42992885099999 meters Centerline goodness : 0.778877 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.10 [[ 0.972119 -0.2120629 -0.10006985 -0.89607842] [ 0.21217814 0.97718372 -0.00961338 -0.06955179] [ 0.09982527 -0.01188729 0.99493397 0.09841867] [ 0. 0. 0. 1. ]] SLAMing on 49.459928850999994 meters Centerline goodness : 0.778276 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.10 [[ 0.97210662 -0.21207705 -0.10016013 -0.89596321] [ 0.21219663 0.97718001 -0.00958175 -0.07003784] [ 0.09990654 -0.01193916 0.99492519 0.09858721] [ 0. 0. 0. 1. ]] SLAMing on 49.489928850999995 meters Centerline goodness : 0.777836 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.10 [[ 0.97209388 -0.21210331 -0.10022807 -0.89596211] [ 0.21222542 0.97717391 -0.00956608 -0.07032558] [ 0.09996926 -0.01197182 0.9949185 0.09880511] [ 0. 0. 0. 1. ]] SLAMing on 49.519928850999996 meters Centerline goodness : 0.778412 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.10 [[ 0.97214906 -0.21170467 -0.1005353 -0.89528427] [ 0.21184928 0.97725754 -0.00935895 -0.07079181] [ 0.10023021 -0.01220004 0.99488947 0.0989781 ] [ 0. 0. 0. 1. ]] SLAMing on 49.549928851 meters Centerline goodness : 0.777976 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97219087 -0.21143917 -0.10068957 -0.89475435] [ 0.21159974 0.97731305 -0.00920572 -0.07092647] [ 0.10035169 -0.01235617 0.9948753 0.09881292] [ 0. 0. 0. 1. ]] SLAMing on 49.579928851 meters Centerline goodness : 0.778362 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97223523 -0.21118542 -0.10079373 -0.89438925] [ 0.21136686 0.97736537 -0.00899862 -0.07133558] [ 0.10041267 -0.01255568 0.99486665 0.0987127 ] [ 0. 0. 0. 1. ]] SLAMing on 49.60992885099999 meters Centerline goodness : 0.778459 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97233867 -0.21052271 -0.10118151 -0.89340638] [ 0.21073122 0.97750492 -0.00874535 -0.07143808] [ 0.10074651 -0.01281866 0.99482954 0.0987469 ] [ 0. 0. 0. 1. ]] SLAMing on 49.63992885099999 meters Centerline goodness : 0.777197 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97236981 -0.21031521 -0.10131368 -0.89314478] [ 0.21051875 0.97755021 -0.00880038 -0.07102603] [ 0.10089006 -0.01277121 0.99481561 0.09886689] [ 0. 0. 0. 1. ]] SLAMing on 49.669928850999995 meters Centerline goodness : 0.775637 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97239733 -0.21010539 -0.10148472 -0.89281328] [ 0.21030775 0.97759542 -0.00882275 -0.07059983] [ 0.10106471 -0.0127638 0.99479797 0.09896869] [ 0. 0. 0. 1. ]] SLAMing on 49.699928850999996 meters Centerline goodness : 0.838314 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.9724629 -0.20970491 -0.10168459 -0.89216574] [ 0.20992354 0.97767939 -0.00866712 -0.07030277] [ 0.10123246 -0.01291754 0.99477893 0.09876954] [ 0. 0. 0. 1. ]] SLAMing on 49.729928851 meters Centerline goodness : 0.777970 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97246687 -0.20966624 -0.10172638 -0.89206967] [ 0.209889 0.97768713 -0.00862992 -0.07063014] [ 0.10126598 -0.01295894 0.99477498 0.09886687] [ 0. 0. 0. 1. ]] SLAMing on 49.759928851 meters Centerline goodness : 0.837453 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97247444 -0.20961299 -0.10176371 -0.89192882] [ 0.20984462 0.97769741 -0.00854479 -0.07081515] [ 0.10128521 -0.01304498 0.9947719 0.0987811 ] [ 0. 0. 0. 1. ]] SLAMing on 49.78992885099999 meters Centerline goodness : 0.835975 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97246191 -0.20965543 -0.10179607 -0.89181152] [ 0.20988969 0.9776879 -0.00852539 -0.07092469] [ 0.10131219 -0.01307533 0.99476876 0.09870897] [ 0. 0. 0. 1. ]] SLAMing on 49.81992885099999 meters Centerline goodness : 0.837002 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97243327 -0.20981341 -0.10174414 -0.891915 ] [ 0.21003602 0.97765546 -0.00864139 -0.07102927] [ 0.1012838 -0.01296676 0.99477307 0.09878041] [ 0. 0. 0. 1. ]] SLAMing on 49.849928850999994 meters Centerline goodness : 0.834984 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97241142 -0.20994452 -0.10168253 -0.89209331] [ 0.21014511 0.97763009 -0.00885678 -0.07099474] [ 0.10126733 -0.01275565 0.99477747 0.09903423] [ 0. 0. 0. 1. ]] SLAMing on 49.879928850999995 meters Centerline goodness : 0.776522 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97239619 -0.21007926 -0.10154981 -0.8923208 ] [ 0.21026884 0.97760259 -0.00895525 -0.07102246] [ 0.10115666 -0.01264471 0.99479015 0.09903518] [ 0. 0. 0. 1. ]] SLAMing on 49.909928851 meters Centerline goodness : 0.836392 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.972355 -0.21028658 -0.10151501 -0.89261828] [ 0.21045713 0.97756027 -0.00914905 -0.0709841 ] [ 0.10116096 -0.01246844 0.99479194 0.09936361] [ 0. 0. 0. 1. ]] SLAMing on 49.939928851 meters Centerline goodness : 0.778397 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97227642 -0.21070804 -0.10139372 -0.89341565] [ 0.21082717 0.9774756 -0.00966212 -0.07003013] [ 0.10114577 -0.0119823 0.99479946 0.09998008] [ 0. 0. 0. 1. ]] SLAMing on 49.969928851 meters Centerline goodness : 0.839823 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97222825 -0.21095689 -0.10133819 -0.89380781] [ 0.21104525 0.97742543 -0.00997133 -0.06936212] [ 0.10115405 -0.01169253 0.99480206 0.10027946] [ 0. 0. 0. 1. ]] SLAMing on 49.99992885099999 meters Centerline goodness : 0.835668 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97221371 -0.21101995 -0.10134632 -0.89375672] [ 0.21110258 0.97741243 -0.01003192 -0.06923784] [ 0.10117409 -0.0116413 0.99480063 0.10022313] [ 0. 0. 0. 1. ]] SLAMing on 50.029928850999994 meters Centerline goodness : 0.838588 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.9721809 -0.21123718 -0.10120842 -0.89399089] [ 0.21130371 0.97736738 -0.01018588 -0.06906793] [ 0.10106944 -0.0114832 0.9948131 0.10016012] [ 0. 0. 0. 1. ]] SLAMing on 50.059928850999995 meters Centerline goodness : 0.836698 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97215699 -0.2113535 -0.10119527 -0.893993 ] [ 0.21141741 0.97734247 -0.01021631 -0.06910741] [ 0.10106169 -0.01146259 0.99481413 0.1001243 ] [ 0. 0. 0. 1. ]] SLAMing on 50.089928850999996 meters Centerline goodness : 0.775985 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.10 [[ 0.97210479 -0.21161661 -0.10114689 -0.89431097] [ 0.21165984 0.97728776 -0.01042818 -0.0687839 ] [ 0.10105639 -0.01127145 0.99481685 0.10031687] [ 0. 0. 0. 1. ]] SLAMing on 50.119928851 meters Centerline goodness : 0.833663 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.10 [[ 0.97201062 -0.21217129 -0.10088954 -0.8951332 ] [ 0.21218412 0.97717082 -0.01072833 -0.06896129] [ 0.10086255 -0.01097911 0.99483979 0.10066962] [ 0. 0. 0. 1. ]] SLAMing on 50.149928851 meters Centerline goodness : 0.777307 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.10 [[ 0.97196881 -0.21236668 -0.10088129 -0.89523923] [ 0.21236506 0.97712983 -0.01088018 -0.06909707] [ 0.1008847 -0.01084846 0.99483898 0.10083942] [ 0. 0. 0. 1. ]] SLAMing on 50.17992885099999 meters Centerline goodness : 0.776900 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.10 [[ 0.9719248 -0.21261567 -0.10078073 -0.89559351] [ 0.21259657 0.97707752 -0.0110548 -0.06906555] [ 0.10082101 -0.0106812 0.99484724 0.10102553] [ 0. 0. 0. 1. ]] SLAMing on 50.209928850999994 meters Centerline goodness : 0.833914 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.10 [[ 0.97189282 -0.21276944 -0.10076463 -0.89562892] [ 0.21274323 0.97704473 -0.01113128 -0.0691312 ] [ 0.10081994 -0.01061858 0.99484802 0.10107044] [ 0. 0. 0. 1. ]] SLAMing on 50.239928850999995 meters Centerline goodness : 0.835667 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.10 [[ 0.97182782 -0.21313405 -0.10062086 -0.89589037] [ 0.21309918 0.97696614 -0.01122069 -0.06953484] [ 0.10069469 -0.01053765 0.99486157 0.10099567] [ 0. 0. 0. 1. ]] SLAMing on 50.269928850999996 meters Centerline goodness : 0.835667 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.10 [[ 0.97182782 -0.21313405 -0.10062086 -0.89589037] [ 0.21309918 0.97696614 -0.01122069 -0.06953484] [ 0.10069469 -0.01053765 0.99486157 0.10099567] [ 0. 0. 0. 1. ]] SLAMing on 50.299928851 meters Centerline goodness : 0.836483 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.10 [[ 0.97178431 -0.21341822 -0.10043862 -0.89625024] [ 0.21337377 0.97690516 -0.0113112 -0.06986788] [ 0.10053302 -0.01043892 0.99487896 0.10100137] [ 0. 0. 0. 1. ]] SLAMing on 50.329928851 meters Centerline goodness : 0.835564 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.10 [[ 0.97175266 -0.2135804 -0.10040007 -0.89622911] [ 0.21353669 0.97686959 -0.01130831 -0.07029334] [ 0.10049301 -0.01045022 0.99488288 0.10092951] [ 0. 0. 0. 1. ]] SLAMing on 50.35992885099999 meters Centerline goodness : 0.837272 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.10 [[ 0.97169282 -0.21391543 -0.10026589 -0.89659977] [ 0.21387658 0.97679575 -0.01126353 -0.0710814 ] [ 0.10034874 -0.01049983 0.99489692 0.10095052] [ 0. 0. 0. 1. ]] SLAMing on 50.38992885099999 meters Centerline goodness : 0.838966 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.10 [[ 0.97164646 -0.21411775 -0.10028329 -0.89665429] [ 0.21407113 0.9767521 -0.01135288 -0.0712038 ] [ 0.10038276 -0.01043677 0.99489415 0.10105518] [ 0. 0. 0. 1. ]] SLAMing on 50.419928850999995 meters Centerline goodness : 0.838006 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.10 [[ 0.97161471 -0.21432397 -0.10015033 -0.89699336] [ 0.2142706 0.97670762 -0.01141664 -0.07135643] [ 0.10026445 -0.01036669 0.99490682 0.1011241 ] [ 0. 0. 0. 1. ]] SLAMing on 50.449928850999996 meters Centerline goodness : 0.777031 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.10 [[ 0.97154807 -0.21467381 -0.10004755 -0.89758605] [ 0.21460161 0.97663265 -0.01161122 -0.07154159] [ 0.10020233 -0.01018951 0.9949149 0.10158936] [ 0. 0. 0. 1. ]] SLAMing on 50.479928851 meters Centerline goodness : 0.836741 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.10 [[ 0.97144916 -0.21523207 -0.09980825 -0.89857648] [ 0.21513422 0.97651234 -0.011871 -0.07204786] [ 0.10001901 -0.0099401 0.99493587 0.10217616] [ 0. 0. 0. 1. ]] SLAMing on 50.509928851 meters Centerline goodness : 0.837972 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.10 [[ 0.97140783 -0.21549322 -0.09964685 -0.89893365] [ 0.21537998 0.97645632 -0.01202171 -0.07202252] [ 0.0998914 -0.00978396 0.99495024 0.10223602] [ 0. 0. 0. 1. ]] SLAMing on 50.53992885099999 meters Centerline goodness : 0.838123 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.10 [[ 0.97138964 -0.21555934 -0.0996812 -0.89877221] [ 0.2154393 0.97644231 -0.01209617 -0.07194412] [ 0.09994039 -0.00972516 0.9949459 0.10216321] [ 0. 0. 0. 1. ]] SLAMing on 50.56992885099999 meters Centerline goodness : 0.837142 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.10 [[ 0.97140711 -0.21544009 -0.0997687 -0.89811152] [ 0.21531106 0.97646946 -0.01218793 -0.07090636] [ 0.10004685 -0.00964186 0.99493601 0.10154998] [ 0. 0. 0. 1. ]] SLAMing on 50.599928850999994 meters Centerline goodness : 0.775127 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.10 [[ 0.97141654 -0.21536825 -0.09983199 -0.89791956] [ 0.2152224 0.97648687 -0.01235744 -0.06998863] [ 0.10014603 -0.00948186 0.99492757 0.10146362] [ 0. 0. 0. 1. ]] SLAMing on 50.629928850999995 meters Centerline goodness : 0.837054 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.10 [[ 0.97143278 -0.21529931 -0.09982262 -0.89784851] [ 0.21513653 0.97650371 -0.01252123 -0.06925877] [ 0.10017297 -0.00931195 0.99492646 0.10144102] [ 0. 0. 0. 1. ]] SLAMing on 50.659928851 meters Centerline goodness : 0.778522 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.10 [[ 0.97148048 -0.21505736 -0.09987999 -0.89755353] [ 0.21487104 0.97655923 -0.01274757 -0.06769409] [ 0.10028019 -0.0090773 0.99491783 0.10122637] [ 0. 0. 0. 1. ]] SLAMing on 50.689928851 meters Centerline goodness : 0.836543 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.10 [[ 0.9714687 -0.21507936 -0.09994714 -0.89739889] [ 0.21486848 0.97655649 -0.01299833 -0.06645109] [ 0.1003997 -0.00884802 0.99490784 0.10112152] [ 0. 0. 0. 1. ]] SLAMing on 50.719928851 meters Centerline goodness : 0.836678 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.10 [[ 0.97144073 -0.21514304 -0.10008184 -0.89741943] [ 0.2148923 0.97654571 -0.01340782 -0.06507444] [ 0.10061909 -0.00848192 0.99488887 0.10148163] [ 0. 0. 0. 1. ]] SLAMing on 50.74992885099999 meters Centerline goodness : 0.835754 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.10 [[ 0.97142776 -0.21520465 -0.10007532 -0.8975663 ] [ 0.21492133 0.97653481 -0.01373257 -0.06384069] [ 0.10068235 -0.00816812 0.99488509 0.10165778] [ 0. 0. 0. 1. ]] SLAMing on 50.779928850999994 meters Centerline goodness : 0.837838 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.10 [[ 0.97138452 -0.21551431 -0.09982837 -0.89873802] [ 0.21516137 0.97647208 -0.01441764 -0.06164094] [ 0.10058682 -0.00747414 0.99490021 0.10230283] [ 0. 0. 0. 1. ]] SLAMing on 50.809928850999995 meters Centerline goodness : 0.778583 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.10 [[ 0.97135898 -0.21559943 -0.09989301 -0.89886809] [ 0.21521452 0.97645551 -0.01474276 -0.0607609 ] [ 0.10071961 -0.00717791 0.99488896 0.10266467] [ 0. 0. 0. 1. ]] SLAMing on 50.839928850999996 meters Centerline goodness : 0.778665 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.10 [[ 0.97134424 -0.21566545 -0.09989381 -0.89896996] [ 0.21525736 0.97644253 -0.01497505 -0.0600765 ] [ 0.10077017 -0.00695695 0.99488541 0.10279948] [ 0. 0. 0. 1. ]] SLAMing on 50.869928851 meters Centerline goodness : 0.777821 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.10 [[ 0.97130211 -0.21590162 -0.0997933 -0.89936171] [ 0.21546193 0.97639249 -0.01529253 -0.05908567] [ 0.10073912 -0.00664799 0.99489066 0.10287579] [ 0. 0. 0. 1. ]] SLAMing on 50.899928851 meters Centerline goodness : 0.778012 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.10 [[ 0.97126238 -0.21612113 -0.09970484 -0.89964515] [ 0.21565015 0.97634596 -0.01560725 -0.05810099] [ 0.10071948 -0.00634263 0.99489465 0.1029644 ] [ 0. 0. 0. 1. ]] SLAMing on 50.92992885099999 meters Centerline goodness : 0.777648 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.10 [[ 0.97120555 -0.2164293 -0.09958982 -0.89996393] [ 0.21593304 0.97627926 -0.01586575 -0.05749554] [ 0.10066129 -0.00609582 0.99490208 0.1029765 ] [ 0. 0. 0. 1. ]] SLAMing on 50.959928850999994 meters Centerline goodness : 0.778373 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.10 [[ 0.97116651 -0.21665057 -0.09948938 -0.90005852] [ 0.21615545 0.97623014 -0.01585977 -0.05770741] [ 0.10056056 -0.0061027 0.99491222 0.10274491] [ 0. 0. 0. 1. ]] SLAMing on 50.989928850999995 meters Centerline goodness : 0.836768 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.10 [[ 0.97104173 -0.21734505 -0.09919222 -0.9006804 ] [ 0.21683223 0.97607688 -0.01605296 -0.05840087] [ 0.10030826 -0.00591997 0.9949388 0.10269938] [ 0. 0. 0. 1. ]] SLAMing on 51.019928850999996 meters Centerline goodness : 0.832666 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.10 [[ 0.97096543 -0.21777623 -0.0989932 -0.9011728 ] [ 0.21725157 0.97598152 -0.0161811 -0.0588075 ] [ 0.1001394 -0.00579514 0.99495654 0.10276 ] [ 0. 0. 0. 1. ]] SLAMing on 51.049928851 meters Centerline goodness : 0.776587 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.10 [[ 0.97084565 -0.21841153 -0.09876808 -0.90196335] [ 0.21785956 0.97584111 -0.01647231 -0.05911908] [ 0.0999797 -0.0055255 0.99497413 0.10310863] [ 0. 0. 0. 1. ]] SLAMing on 51.079928851 meters Centerline goodness : 0.777896 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.10 [[ 0.97058 -0.2197921 -0.0983153 -0.90377171] [ 0.21919343 0.97553358 -0.01698428 -0.06018127] [ 0.09964289 -0.00506547 0.99501037 0.10391642] [ 0. 0. 0. 1. ]] SLAMing on 51.10992885099999 meters Centerline goodness : 0.832909 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.10 [[ 0.97047839 -0.22033603 -0.09810065 -0.90443575] [ 0.21971667 0.97541195 -0.01720806 -0.0605978 ] [ 0.0994801 -0.00485429 0.99502771 0.10417966] [ 0. 0. 0. 1. ]] SLAMing on 51.13992885099999 meters Centerline goodness : 0.831361 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.10 [[ 0.97039213 -0.22078236 -0.09795035 -0.90494578] [ 0.22014812 0.97531175 -0.01737238 -0.06103523] [ 0.09936764 -0.00470556 0.99503966 0.10439471] [ 0. 0. 0. 1. ]] SLAMing on 51.169928850999995 meters Centerline goodness : 0.778919 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.10 [[ 0.97025387 -0.22150322 -0.09769217 -0.9058391 ] [ 0.22084079 0.97514962 -0.01767955 -0.06182081] [ 0.09918056 -0.00442076 0.99505963 0.10484468] [ 0. 0. 0. 1. ]] SLAMing on 51.199928850999996 meters Centerline goodness : 0.831388 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.10 [[ 0.97018786 -0.22182216 -0.09762396 -0.90607535] [ 0.22113981 0.97507797 -0.01789251 -0.06183058] [ 0.09915992 -0.00422944 0.99506252 0.10498086] [ 0. 0. 0. 1. ]] SLAMing on 51.229928851 meters Centerline goodness : 0.779106 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.97016206 -0.22190697 -0.09768762 -0.90603435] [ 0.22121399 0.97505905 -0.01800609 -0.06172178] [ 0.09924687 -0.00414105 0.99505422 0.10511117] [ 0. 0. 0. 1. ]] SLAMing on 51.259928851 meters Centerline goodness : 0.831088 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.97018983 -0.22175169 -0.09776436 -0.90610949] [ 0.22103436 0.97509534 -0.01824541 -0.06058025] [ 0.09937552 -0.00390777 0.99504233 0.10542866] [ 0. 0. 0. 1. ]] SLAMing on 51.28992885099999 meters Centerline goodness : 0.778755 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.97019643 -0.22163543 -0.09796236 -0.90584158] [ 0.22089911 0.97512238 -0.01843711 -0.05984826] [ 0.0996116 -0.00375218 0.99501932 0.10569285] [ 0. 0. 0. 1. ]] SLAMing on 51.31992885099999 meters Centerline goodness : 0.832222 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.97024871 -0.22131396 -0.09817116 -0.90542169] [ 0.22057259 0.9751955 -0.01847901 -0.05933581] [ 0.09982573 -0.00372463 0.99499796 0.1058644 ] [ 0. 0. 0. 1. ]] SLAMing on 51.349928850999994 meters Centerline goodness : 0.830258 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.11 [[ 0.97029819 -0.22096885 -0.09845911 -0.90479116] [ 0.22021056 0.97527424 -0.01864044 -0.05853341] [ 0.10014359 -0.00359495 0.9949665 0.10605649] [ 0. 0. 0. 1. ]] SLAMing on 51.379928850999995 meters Centerline goodness : 0.829430 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.97110163 -0.21710666 -0.0991278 -0.90527632] [ 0.21670965 0.9761226 -0.01488606 -0.05956875] [ 0.09999275 -0.00702607 0.99496336 0.10619656] [ 0. 0. 0. 1. ]] SLAMing on 51.409928851 meters Centerline goodness : 0.830165 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.11 [[ 0.97116223 -0.21677156 -0.09926736 -0.90492758] [ 0.21637841 0.97619678 -0.01484039 -0.05913163] [ 0.10012145 -0.00706689 0.99495013 0.10621482] [ 0. 0. 0. 1. ]] SLAMing on 51.439928851 meters Centerline goodness : 0.773396 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.11 [[ 0.97121738 -0.21643886 -0.09945361 -0.90447814] [ 0.21605258 0.97627004 -0.01476828 -0.05898037] [ 0.10029001 -0.007144 0.9949326 0.10626785] [ 0. 0. 0. 1. ]] SLAMing on 51.46992885099999 meters Centerline goodness : 0.834127 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.11 [[ 0.97131986 -0.21583309 -0.09976876 -0.90387639] [ 0.2154543 0.97640349 -0.01468542 -0.05856998] [ 0.10058417 -0.00723137 0.99490227 0.10655737] [ 0. 0. 0. 1. ]] SLAMing on 51.49992885099999 meters Centerline goodness : 0.833203 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.11 [[ 0.97134567 -0.21564846 -0.09991659 -0.90356709] [ 0.21527509 0.97644381 -0.01463293 -0.05835056] [ 0.1007185 -0.00729592 0.99488821 0.10662839] [ 0. 0. 0. 1. ]] SLAMing on 51.529928850999994 meters Centerline goodness : 0.831238 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.11 [[ 0.97136118 -0.21552425 -0.1000338 -0.9033401 ] [ 0.21515324 0.97647098 -0.01461173 -0.05829177] [ 0.10082928 -0.00732932 0.99487674 0.10673211] [ 0. 0. 0. 1. ]] SLAMing on 51.559928850999995 meters Centerline goodness : 0.831841 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.11 [[ 0.97137816 -0.21541318 -0.10010809 -0.90321011] [ 0.21505582 0.97649445 -0.01447685 -0.05869224] [ 0.1008735 -0.00746633 0.99487124 0.10677565] [ 0. 0. 0. 1. ]] SLAMing on 51.589928850999996 meters Centerline goodness : 0.835034 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.11 [[ 0.97136597 -0.21551501 -0.10000716 -0.90341495] [ 0.21515568 0.9764722 -0.01449403 -0.05898321] [ 0.10077789 -0.0074381 0.99488114 0.10683258] [ 0. 0. 0. 1. ]] SLAMing on 51.619928851 meters Centerline goodness : 0.834311 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.11 [[ 0.97130888 -0.21577612 -0.09999863 -0.90363476] [ 0.21539217 0.97641623 -0.01474996 -0.05913207] [ 0.10082298 -0.00721216 0.99487824 0.10722386] [ 0. 0. 0. 1. ]] SLAMing on 51.649928851 meters Centerline goodness : 0.830313 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.11 [[ 0.97125786 -0.21602572 -0.09995528 -0.90386431] [ 0.21562849 0.97636193 -0.0148909 -0.05960414] [ 0.10080935 -0.0070903 0.9948805 0.10751155] [ 0. 0. 0. 1. ]] SLAMing on 51.67992885099999 meters Centerline goodness : 0.830457 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.97111252 -0.21683497 -0.09961456 -0.90501528] [ 0.21640964 0.97618453 -0.0151869 -0.06057269] [ 0.10053524 -0.00680937 0.9949102 0.10802447] [ 0. 0. 0. 1. ]] SLAMing on 51.709928850999994 meters Centerline goodness : 0.773056 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.97105016 -0.21710405 -0.09963647 -0.90503816] [ 0.21667429 0.97612489 -0.01524599 -0.0612459 ] [ 0.1005676 -0.00678404 0.9949071 0.10818163] [ 0. 0. 0. 1. ]] SLAMing on 51.739928850999995 meters Centerline goodness : 0.831737 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.97101396 -0.21733193 -0.09949232 -0.90515472] [ 0.21691011 0.97607371 -0.01516941 -0.0618756 ] [ 0.10040863 -0.00685118 0.99492269 0.10793852] [ 0. 0. 0. 1. ]] SLAMing on 51.769928850999996 meters Centerline goodness : 0.833998 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.97094641 -0.21765854 -0.09943755 -0.90528586] [ 0.21722553 0.97600163 -0.01529342 -0.06233798] [ 0.10037995 -0.00675129 0.99492627 0.1080373 ] [ 0. 0. 0. 1. ]] SLAMing on 51.799928851 meters Centerline goodness : 0.775193 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.97080342 -0.21844457 -0.09910947 -0.9066414 ] [ 0.21796486 0.97582911 -0.01577587 -0.06238684] [ 0.10016005 -0.00628712 0.99495147 0.10881766] [ 0. 0. 0. 1. ]] SLAMing on 51.829928851 meters Centerline goodness : 0.833594 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.97074698 -0.21877067 -0.09894285 -0.90733552] [ 0.21827169 0.9757573 -0.01597374 -0.062574 ] [ 0.10003879 -0.00608997 0.9949649 0.10925147] [ 0. 0. 0. 1. ]] SLAMing on 51.85992885099999 meters Centerline goodness : 0.772768 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.9706781 -0.21922219 -0.09861874 -0.90819605] [ 0.21870809 0.97565704 -0.01612795 -0.06293776] [ 0.09975368 -0.00591367 0.99499459 0.10942947] [ 0. 0. 0. 1. ]] SLAMing on 51.88992885099999 meters Centerline goodness : 0.832476 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.9705418 -0.21994489 -0.09835066 -0.90918127] [ 0.21938824 0.97549684 -0.01657419 -0.06354692] [ 0.09958617 -0.00549103 0.99501379 0.11003522] [ 0. 0. 0. 1. ]] SLAMing on 51.919928850999995 meters Centerline goodness : 0.832566 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.97051273 -0.22009085 -0.09831099 -0.90938676] [ 0.21952338 0.97546451 -0.01668764 -0.06354277] [ 0.09957168 -0.00538599 0.99501582 0.11021427] [ 0. 0. 0. 1. ]] SLAMing on 51.949928850999996 meters Centerline goodness : 0.776105 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.97047314 -0.22030174 -0.09822946 -0.90964369] [ 0.21971298 0.97541805 -0.01690676 -0.06303991] [ 0.09953937 -0.00517473 0.99502017 0.11028164] [ 0. 0. 0. 1. ]] SLAMing on 51.979928851 meters Centerline goodness : 0.774082 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.97044564 -0.22045454 -0.0981583 -0.90999479] [ 0.2198489 0.97538441 -0.01707966 -0.06249244] [ 0.09950737 -0.00500512 0.99502424 0.11047502] [ 0. 0. 0. 1. ]] SLAMing on 52.009928851 meters Centerline goodness : 0.772405 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.97043012 -0.22052674 -0.09814962 -0.91023097] [ 0.21989627 0.9753693 -0.01733116 -0.06243598] [ 0.09955411 -0.00476406 0.99502074 0.1109628 ] [ 0. 0. 0. 1. ]] SLAMing on 52.03992885099999 meters Centerline goodness : 0.773129 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.97041188 -0.22061762 -0.09812564 -0.91029456] [ 0.21998522 0.97534883 -0.01735401 -0.0629831 ] [ 0.09953532 -0.00474565 0.99502271 0.11112949] [ 0. 0. 0. 1. ]] SLAMing on 52.06992885099999 meters Centerline goodness : 0.832457 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.97040638 -0.22064156 -0.09812624 -0.91023858] [ 0.22000988 0.97534337 -0.01734799 -0.06348027] [ 0.09953447 -0.00475414 0.99502276 0.11120279] [ 0. 0. 0. 1. ]] SLAMing on 52.099928850999994 meters Centerline goodness : 0.833213 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.9703934 -0.22064965 -0.09823636 -0.91003888] [ 0.22000774 0.97534193 -0.0174558 -0.06354078] [ 0.09966566 -0.00467377 0.99501001 0.11140899] [ 0. 0. 0. 1. ]] SLAMing on 52.129928850999995 meters Centerline goodness : 0.772511 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.97044851 -0.22034778 -0.09836945 -0.91000728] [ 0.21970131 0.97541035 -0.01749223 -0.06275944] [ 0.09980496 -0.00463659 0.99499622 0.11177893] [ 0. 0. 0. 1. ]] SLAMing on 52.159928851 meters Centerline goodness : 0.830270 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.9704866 -0.22009765 -0.09855351 -0.90979675] [ 0.21945128 0.97546673 -0.01748701 -0.06262283] [ 0.09998452 -0.00465678 0.9949781 0.11215372] [ 0. 0. 0. 1. ]] SLAMing on 52.189928851 meters Centerline goodness : 0.830270 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.9704866 -0.22009765 -0.09855351 -0.90979675] [ 0.21945128 0.97546673 -0.01748701 -0.06262283] [ 0.09998452 -0.00465678 0.9949781 0.11215372] [ 0. 0. 0. 1. ]] SLAMing on 52.21992885099999 meters Centerline goodness : 0.772814 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.97051001 -0.21992734 -0.09870305 -0.90952638] [ 0.21927428 0.97550537 -0.01755183 -0.06245249] [ 0.10014548 -0.00460881 0.99496213 0.1123556 ] [ 0. 0. 0. 1. ]] SLAMing on 52.24992885099999 meters Centerline goodness : 0.773064 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.97061147 -0.21936702 -0.09895191 -0.90862057] [ 0.21874972 0.97562975 -0.01718014 -0.06316527] [ 0.10030918 -0.00497046 0.9949439 0.11209736] [ 0. 0. 0. 1. ]] SLAMing on 52.279928850999994 meters Centerline goodness : 0.832317 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.97065696 -0.21906745 -0.09916912 -0.90794755] [ 0.21846935 0.97569598 -0.0169855 -0.06358731] [ 0.10047988 -0.00517832 0.99492561 0.11200519] [ 0. 0. 0. 1. ]] SLAMing on 52.309928850999995 meters Centerline goodness : 0.772224 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.97067132 -0.21895772 -0.09927084 -0.90771809] [ 0.21837243 0.97571988 -0.01685832 -0.06380609] [ 0.10055179 -0.00531413 0.99491763 0.11198013] [ 0. 0. 0. 1. ]] SLAMing on 52.339928850999996 meters Centerline goodness : 0.772765 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.97067596 -0.2188821 -0.09939218 -0.90748245] [ 0.21829937 0.97573662 -0.01683565 -0.06363267] [ 0.10066561 -0.00535529 0.9949059 0.11202958] [ 0. 0. 0. 1. ]] SLAMing on 52.369928851 meters Centerline goodness : 0.771222 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.11 [[ 0.97064684 -0.2190109 -0.09939287 -0.90773682] [ 0.21842238 0.97570798 -0.01689951 -0.06408133] [ 0.10067959 -0.00530617 0.99490475 0.11244014] [ 0. 0. 0. 1. ]] SLAMing on 52.399928851 meters Centerline goodness : 0.831573 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.11 [[ 0.97063219 -0.21908566 -0.09937121 -0.90781748] [ 0.2185037 0.97569085 -0.01683735 -0.06501421] [ 0.1006444 -0.0053701 0.99490797 0.11266993] [ 0. 0. 0. 1. ]] SLAMing on 52.42992885099999 meters Centerline goodness : 0.832808 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.11 [[ 0.97060567 -0.21922815 -0.0993159 -0.90803526] [ 0.21865356 0.97565846 -0.01676892 -0.06616575] [ 0.10057462 -0.00543977 0.99491465 0.11296444] [ 0. 0. 0. 1. ]] SLAMing on 52.459928850999994 meters Centerline goodness : 0.829634 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.11 [[ 0.97057465 -0.21941274 -0.09921136 -0.90826178] [ 0.21884113 0.97561684 -0.01674314 -0.06716279] [ 0.10046594 -0.00546106 0.99492551 0.11311094] [ 0. 0. 0. 1. ]] SLAMing on 52.489928850999995 meters Centerline goodness : 0.833834 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.11 [[ 0.97049532 -0.21979998 -0.09913025 -0.90868317] [ 0.21923455 0.9755293 -0.01669742 -0.06865072] [ 0.10037456 -0.00552801 0.99493436 0.11352837] [ 0. 0. 0. 1. ]] SLAMing on 52.519928850999996 meters Centerline goodness : 0.832517 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.11 [[ 0.97045473 -0.21998605 -0.09911481 -0.9089109 ] [ 0.21942329 0.97548716 -0.01667965 -0.06907404] [ 0.10035451 -0.00556125 0.9949362 0.11373036] [ 0. 0. 0. 1. ]] SLAMing on 52.549928851 meters Centerline goodness : 0.773761 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.11 [[ 0.97037693 -0.22038927 -0.09898073 -0.90966929] [ 0.21980378 0.97539739 -0.01691847 -0.069467 ] [ 0.1002742 -0.00533905 0.99494552 0.11438057] [ 0. 0. 0. 1. ]] SLAMing on 52.579928851 meters Centerline goodness : 0.776120 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.12 [[ 0.97019946 -0.221315 -0.09865433 -0.911047 ] [ 0.22069478 0.97518959 -0.01729396 -0.07219085] [ 0.10003409 -0.00499391 0.99497148 0.11569046] [ 0. 0. 0. 1. ]] SLAMing on 52.60992885099999 meters Centerline goodness : 0.777289 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.12 [[ 0.97013657 -0.22166955 -0.09847666 -0.91150841] [ 0.22105019 0.97510908 -0.01729458 -0.07382313] [ 0.09985917 -0.00499018 0.99498907 0.11604286] [ 0. 0. 0. 1. ]] SLAMing on 52.63992885099999 meters Centerline goodness : 0.834262 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.12 [[ 0.97008635 -0.22197732 -0.09827787 -0.91199705] [ 0.221363 0.9750389 -0.01724997 -0.07489128] [ 0.09965385 -0.00502113 0.9950095 0.1162052 ] [ 0. 0. 0. 1. ]] SLAMing on 52.669928850999995 meters Centerline goodness : 0.777990 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.12 [[ 0.97004401 -0.22216431 -0.09827326 -0.9121077 ] [ 0.22155487 0.97499602 -0.01721058 -0.0755314 ] [ 0.09963962 -0.0050779 0.99501063 0.11636193] [ 0. 0. 0. 1. ]] SLAMing on 52.699928850999996 meters Centerline goodness : 0.775738 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.12 [[ 0.96988548 -0.22296059 -0.09803432 -0.91310387] [ 0.22234238 0.97481468 -0.0173267 -0.07693821] [ 0.09942846 -0.00499227 0.99503219 0.11692261] [ 0. 0. 0. 1. ]] SLAMing on 52.729928851 meters Centerline goodness : 0.777409 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.12 [[ 0.9698602 -0.22309817 -0.09797141 -0.91316627] [ 0.22250432 0.97478197 -0.01708651 -0.0784821 ] [ 0.09931273 -0.00522753 0.99504254 0.1169699 ] [ 0. 0. 0. 1. ]] SLAMing on 52.759928851 meters Centerline goodness : 0.776243 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.12 [[ 0.96983696 -0.22321332 -0.09793916 -0.91315476] [ 0.22263921 0.97475454 -0.01689279 -0.08015408] [ 0.09923734 -0.00542184 0.99504902 0.11709316] [ 0. 0. 0. 1. ]] SLAMing on 52.78992885099999 meters Centerline goodness : 0.775934 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.12 [[ 0.96983806 -0.22317761 -0.09800963 -0.9129527 ] [ 0.22263286 0.97476101 -0.0166005 -0.08229578] [ 0.09924082 -0.00572037 0.995047 0.11734186] [ 0. 0. 0. 1. ]] SLAMing on 52.81992885099999 meters Centerline goodness : 0.777156 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.12 [[ 0.96987649 -0.22291567 -0.09822527 -0.91249314] [ 0.22237047 0.97482084 -0.01660421 -0.08236066] [ 0.09945338 -0.00573836 0.99502568 0.11757791] [ 0. 0. 0. 1. ]] SLAMing on 52.849928850999994 meters Centerline goodness : 0.777105 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.12 [[ 0.96989837 -0.22275115 -0.09838231 -0.91240939] [ 0.2221928 0.9748591 -0.01673622 -0.08188891] [ 0.0996369 -0.00562741 0.99500795 0.11800266] [ 0. 0. 0. 1. ]] SLAMing on 52.879928850999995 meters Centerline goodness : 0.776116 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.12 [[ 0.970639 -0.21935319 -0.09871225 -0.91439271] [ 0.21912934 0.975606 -0.01323852 -0.08328751] [ 0.09920817 -0.00878093 0.99502796 0.11907724] [ 0. 0. 0. 1. ]] SLAMing on 52.909928851 meters Centerline goodness : 0.776410 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.12 [[ 0.97071813 -0.21894894 -0.09883154 -0.91412233] [ 0.21873741 0.97569576 -0.01310497 -0.08320704] [ 0.09929884 -0.00889692 0.99501788 0.11919341] [ 0. 0. 0. 1. ]] SLAMing on 52.939928851 meters Centerline goodness : 0.774258 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.12 [[ 0.97079164 -0.21851737 -0.09906434 -0.913495 ] [ 0.21831281 0.9757918 -0.01303402 -0.08307209] [ 0.09951433 -0.0089737 0.99499566 0.11927682] [ 0. 0. 0. 1. ]] SLAMing on 52.96992885099999 meters Centerline goodness : 0.777139 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.12 [[ 0.97089184 -0.21791403 -0.09941078 -0.91256646] [ 0.21772987 0.97592473 -0.01283098 -0.08302275] [ 0.09981348 -0.0091872 0.99496375 0.11926125] [ 0. 0. 0. 1. ]] SLAMing on 52.99992885099999 meters Centerline goodness : 0.777429 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.12 [[ 0.97168628 -0.21407592 -0.09998638 -0.9135031 ] [ 0.21425696 0.9767354 -0.00905109 -0.08443233] [ 0.09959786 -0.01262796 0.99494764 0.11977583] [ 0. 0. 0. 1. ]] SLAMing on 53.029928850999994 meters Centerline goodness : 0.776694 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.12 [[ 0.97173732 -0.21376618 -0.10015286 -0.91337271] [ 0.21393885 0.9768043 -0.00913957 -0.0837658 ] [ 0.09978347 -0.01254532 0.99493008 0.12016037] [ 0. 0. 0. 1. ]] SLAMing on 53.059928850999995 meters Centerline goodness : 0.839639 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.12 [[ 0.97179683 -0.21336935 -0.10042135 -0.91290041] [ 0.21354384 0.97689077 -0.00913472 -0.08300304] [ 0.10004976 -0.01256727 0.99490307 0.12029327] [ 0. 0. 0. 1. ]] SLAMing on 53.089928850999996 meters Centerline goodness : 0.836163 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.12 [[ 0.97192134 -0.21261865 -0.10080786 -0.9118054 ] [ 0.2128219 0.97705084 -0.00885933 -0.08283535] [ 0.10037806 -0.01284355 0.99486647 0.12017213] [ 0. 0. 0. 1. ]] SLAMing on 53.119928851 meters Centerline goodness : 0.775633 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.12 [[ 0.97195932 -0.21236477 -0.10097669 -0.91106256] [ 0.21258955 0.97710326 -0.00865462 -0.08333167] [ 0.10050259 -0.01305465 0.99485115 0.11985254] [ 0. 0. 0. 1. ]] SLAMing on 53.14992885099999 meters Centerline goodness : 0.775447 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.12 [[ 0.97199389 -0.21211532 -0.10116805 -0.91017774] [ 0.21237377 0.97715297 -0.00833379 -0.08404739] [ 0.10062438 -0.01338505 0.99483445 0.11933999] [ 0. 0. 0. 1. ]] SLAMing on 53.17992885099999 meters Centerline goodness : 0.835558 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.12 [[ 0.97199947 -0.21207913 -0.10119025 -0.90990401] [ 0.21235297 0.97715877 -0.00818269 -0.08465121] [ 0.10061432 -0.01353448 0.99483344 0.11917618] [ 0. 0. 0. 1. ]] SLAMing on 53.209928850999994 meters Centerline goodness : 0.833563 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.09, Z:0.12 [[ 0.97196049 -0.21224595 -0.1012149 -0.9101861 ] [ 0.21250959 0.97712377 -0.00829558 -0.08504899] [ 0.10066019 -0.01344616 0.99483 0.11969894] [ 0. 0. 0. 1. ]] SLAMing on 53.239928850999995 meters Centerline goodness : 0.831453 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.09, Z:0.12 [[ 0.97193991 -0.21234957 -0.1011952 -0.91051584] [ 0.21260543 0.97710224 -0.00837523 -0.08530389] [ 0.10065654 -0.01337443 0.99483134 0.12013929] [ 0. 0. 0. 1. ]] SLAMing on 53.269928850999996 meters Centerline goodness : 0.774607 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.09, Z:0.12 [[ 0.97192219 -0.21241817 -0.10122138 -0.91071188] [ 0.21266262 0.97708876 -0.00849512 -0.08557478] [ 0.10070679 -0.0132694 0.99482766 0.12061792] [ 0. 0. 0. 1. ]] SLAMing on 53.299928851 meters Centerline goodness : 0.773869 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.09, Z:0.12 [[ 0.97187248 -0.21270136 -0.101104 -0.91130145] [ 0.2129412 0.97702769 -0.00854002 -0.0870605 ] [ 0.10059788 -0.01322939 0.99483921 0.12132386] [ 0. 0. 0. 1. ]] SLAMing on 53.329928851 meters Centerline goodness : 0.774303 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.09, Z:0.12 [[ 0.97181439 -0.21302418 -0.10098259 -0.91174861] [ 0.21325369 0.97695863 -0.00864305 -0.08766334] [ 0.10049699 -0.01313547 0.99485065 0.12162308] [ 0. 0. 0. 1. ]] SLAMing on 53.35992885099999 meters Centerline goodness : 0.830520 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.09, Z:0.12 [[ 0.97177437 -0.2132244 -0.10094523 -0.9119841 ] [ 0.21345514 0.97691469 -0.00863654 -0.08825551] [ 0.10045639 -0.01315451 0.9948545 0.1218557 ] [ 0. 0. 0. 1. ]] SLAMing on 53.38992885099999 meters Centerline goodness : 0.774319 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.09, Z:0.12 [[ 0.97169998 -0.21368707 -0.10068257 -0.91290443] [ 0.21390922 0.9768147 -0.00871134 -0.08959935] [ 0.10020972 -0.01307212 0.99488046 0.12241964] [ 0. 0. 0. 1. ]] SLAMing on 53.419928850999995 meters Centerline goodness : 0.777312 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.09, Z:0.12 [[ 0.97167105 -0.21385637 -0.10060234 -0.91314661] [ 0.21407461 0.97677813 -0.0087485 -0.09014403] [ 0.10013709 -0.01303574 0.99488825 0.12258588] [ 0. 0. 0. 1. ]] SLAMing on 53.449928850999996 meters Centerline goodness : 0.833803 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.09, Z:0.12 [[ 0.97166094 -0.21392664 -0.10055054 -0.91324523] [ 0.21414629 0.97676258 -0.00873144 -0.0904537 ] [ 0.10008189 -0.01304852 0.99489364 0.12262602] [ 0. 0. 0. 1. ]] SLAMing on 53.479928851 meters Centerline goodness : 0.840704 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.09, Z:0.12 [[ 0.97167868 -0.21380933 -0.10062858 -0.91309759] [ 0.21404043 0.97678675 -0.00862179 -0.09089072] [ 0.10013608 -0.01316098 0.9948867 0.12278836] [ 0. 0. 0. 1. ]] SLAMing on 53.509928851 meters Centerline goodness : 0.776859 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.09, Z:0.12 [[ 0.97168139 -0.21381052 -0.10059986 -0.91308075] [ 0.21405079 0.97678532 -0.00852691 -0.09113751] [ 0.10008761 -0.01324804 0.99489043 0.12273853] [ 0. 0. 0. 1. ]] SLAMing on 53.53992885099999 meters Centerline goodness : 0.775051 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.09, Z:0.12 [[ 0.97162112 -0.21414296 -0.10047484 -0.91355265] [ 0.21438106 0.97671269 -0.0085492 -0.09218254] [ 0.0999658 -0.01323332 0.99490287 0.12311361] [ 0. 0. 0. 1. ]] SLAMing on 53.56992885099999 meters Centerline goodness : 0.776018 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.09, Z:0.12 [[ 0.97158061 -0.21437102 -0.1003802 -0.9137624 ] [ 0.21461161 0.97666228 -0.00852377 -0.0928306 ] [ 0.0998648 -0.01326122 0.99491264 0.12319091] [ 0. 0. 0. 1. ]] SLAMing on 53.599928850999994 meters Centerline goodness : 0.836077 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.09, Z:0.12 [[ 0.97154306 -0.21455065 -0.10035983 -0.91378595] [ 0.2147919 0.97662264 -0.00852379 -0.09363003] [ 0.09984247 -0.01327525 0.99491469 0.12333178] [ 0. 0. 0. 1. ]] SLAMing on 53.629928850999995 meters Centerline goodness : 0.776779 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.09, Z:0.12 [[ 0.97146286 -0.21496428 -0.10025101 -0.91422778] [ 0.21517806 0.97653514 -0.00880473 -0.09390564] [ 0.09979134 -0.01301835 0.99492322 0.12369111] [ 0. 0. 0. 1. ]] SLAMing on 53.659928851 meters Centerline goodness : 0.776145 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.09, Z:0.12 [[ 0.97142151 -0.21516981 -0.10021077 -0.91429736] [ 0.21537487 0.97649092 -0.00889703 -0.09411177] [ 0.09976928 -0.01294011 0.99492645 0.12371388] [ 0. 0. 0. 1. ]] SLAMing on 53.689928851 meters Centerline goodness : 0.775436 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.09, Z:0.12 [[ 0.97135313 -0.21563896 -0.09986462 -0.91536544] [ 0.21580172 0.97639292 -0.00929934 -0.09357898] [ 0.0995124 -0.01251801 0.99495758 0.12407887] [ 0. 0. 0. 1. ]] SLAMing on 53.71992885099999 meters Centerline goodness : 0.777586 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.09, Z:0.12 [[ 0.97130491 -0.2159065 -0.0997555 -0.91588117] [ 0.21604537 0.97633673 -0.00953843 -0.09320793] [ 0.09945437 -0.01228699 0.99496626 0.1243792 ] [ 0. 0. 0. 1. ]] SLAMing on 53.74992885099999 meters Centerline goodness : 0.836468 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.09, Z:0.12 [[ 0.97123396 -0.21630765 -0.09957703 -0.91653759] [ 0.21641614 0.97625161 -0.00984147 -0.09304513] [ 0.09934102 -0.01199171 0.99498119 0.1247129 ] [ 0. 0. 0. 1. ]] SLAMing on 53.779928850999994 meters Centerline goodness : 0.777543 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.09, Z:0.12 [[ 0.97113128 -0.21689539 -0.09929964 -0.91719508] [ 0.21695712 0.97612671 -0.01030758 -0.09248022] [ 0.0991647 -0.01153375 0.99500419 0.12479639] [ 0. 0. 0. 1. ]] SLAMing on 53.809928850999995 meters Centerline goodness : 0.775499 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.09, Z:0.12 [[ 0.97107979 -0.21718635 -0.09916722 -0.9175572 ] [ 0.21721699 0.97606558 -0.01061933 -0.09194251] [ 0.09910008 -0.01122859 0.99501412 0.12492464] [ 0. 0. 0. 1. ]] SLAMing on 53.839928850999996 meters Centerline goodness : 0.776333 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.09, Z:0.12 [[ 0.9710289 -0.21748906 -0.09900191 -0.91798839] [ 0.21749236 0.97600126 -0.01089105 -0.09131016] [ 0.09899468 -0.01095663 0.99502764 0.1249592 ] [ 0. 0. 0. 1. ]] SLAMing on 53.869928851 meters Centerline goodness : 0.776759 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.09, Z:0.13 [[ 0.97091931 -0.21814838 -0.09862541 -0.91904425] [ 0.21809761 0.97586005 -0.0114281 -0.0901986 ] [ 0.09873762 -0.0104142 0.99505901 0.12514877] [ 0. 0. 0. 1. ]] SLAMing on 53.89992885099999 meters Centerline goodness : 0.777960 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.09, Z:0.13 [[ 0.97085376 -0.21847906 -0.0985387 -0.91942774] [ 0.21839487 0.97578947 -0.01177289 -0.08967705] [ 0.09872516 -0.0100906 0.99506358 0.12539437] [ 0. 0. 0. 1. ]] SLAMing on 53.92992885099999 meters Centerline goodness : 0.776849 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.09, Z:0.13 [[ 0.97078799 -0.21885778 -0.09834602 -0.91995106] [ 0.21873821 0.97570819 -0.01212966 -0.08902505] [ 0.09861169 -0.00973671 0.99507835 0.12551289] [ 0. 0. 0. 1. ]] SLAMing on 53.959928850999994 meters Centerline goodness : 0.837237 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.09, Z:0.13 [[ 0.97073196 -0.21914203 -0.09826613 -0.92020539] [ 0.21899569 0.97564695 -0.01240648 -0.0885686 ] [ 0.09859184 -0.00947649 0.99508283 0.12562239] [ 0. 0. 0. 1. ]] SLAMing on 53.989928850999995 meters Centerline goodness : 0.778893 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.09, Z:0.13 [[ 0.97061558 -0.21980226 -0.09794061 -0.92132082] [ 0.2195928 0.97550437 -0.01304741 -0.08765833] [ 0.09840935 -0.00884303 0.99510673 0.12615777] [ 0. 0. 0. 1. ]] SLAMing on 54.019928850999996 meters Centerline goodness : 0.837020 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.09, Z:0.13 [[ 0.97054294 -0.2202072 -0.09775068 -0.9220151 ] [ 0.21995788 0.97541658 -0.01345451 -0.08686673] [ 0.09831041 -0.00844285 0.99511998 0.12647125] [ 0. 0. 0. 1. ]] SLAMing on 54.049928851 meters Centerline goodness : 0.839486 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.09, Z:0.13 [[ 0.97048436 -0.22051432 -0.0976399 -0.92254704] [ 0.22022451 0.97535059 -0.0138706 -0.08597703] [ 0.0982918 -0.0080415 0.99512515 0.12681727] [ 0. 0. 0. 1. ]] SLAMing on 54.079928851 meters Centerline goodness : 0.839486 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.09, Z:0.13 [[ 0.97048436 -0.22051432 -0.0976399 -0.92254704] [ 0.22022451 0.97535059 -0.0138706 -0.08597703] [ 0.0982918 -0.0080415 0.99512515 0.12681727] [ 0. 0. 0. 1. ]] SLAMing on 54.10992885099999 meters Centerline goodness : 0.839547 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.08, Z:0.13 [[ 0.97036808 -0.22115357 -0.09734933 -0.92357634] [ 0.22078252 0.97521223 -0.01470326 -0.08375135] [ 0.09818794 -0.00722546 0.99514166 0.12716424] [ 0. 0. 0. 1. ]] SLAMing on 54.13992885099999 meters Centerline goodness : 0.778681 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.08, Z:0.13 [[ 0.97034403 -0.22130827 -0.09723742 -0.92380106] [ 0.22091373 0.9751789 -0.01494112 -0.08284604] [ 0.09813047 -0.00698305 0.99514906 0.12706313] [ 0. 0. 0. 1. ]] SLAMing on 54.169928850999995 meters Centerline goodness : 0.779006 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.08, Z:0.13 [[ 0.97031533 -0.22147335 -0.09714791 -0.92398342] [ 0.22105194 0.97514333 -0.01521572 -0.08199352] [ 0.09810302 -0.00671069 0.99515364 0.12704357] [ 0. 0. 0. 1. ]] SLAMing on 54.199928850999996 meters Centerline goodness : 0.778329 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.08, Z:0.13 [[ 0.97027585 -0.22171862 -0.09698262 -0.92435588] [ 0.22124953 0.97509083 -0.01570087 -0.0801131 ] [ 0.09804804 -0.00622319 0.99516223 0.1269521 ] [ 0. 0. 0. 1. ]] SLAMing on 54.229928851 meters Centerline goodness : 0.777030 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.08, Z:0.13 [[ 0.97022652 -0.22196191 -0.09691958 -0.92463229] [ 0.22145549 0.97503776 -0.01608818 -0.07897406] [ 0.09807122 -0.00585419 0.99516218 0.12710226] [ 0. 0. 0. 1. ]] SLAMing on 54.259928851 meters Centerline goodness : 0.778034 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:0.13 [[ 0.97010983 -0.22268673 -0.09642375 -0.92609581] [ 0.22212085 0.9748761 -0.0167008 -0.07797389] [ 0.09772026 -0.00521611 0.99520025 0.12758314] [ 0. 0. 0. 1. ]] SLAMing on 54.28992885099999 meters Centerline goodness : 0.836752 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:0.13 [[ 0.97002563 -0.22312905 -0.09624819 -0.92660363] [ 0.22252803 0.97477681 -0.01707181 -0.07767647] [ 0.09762972 -0.00485783 0.99521095 0.12778726] [ 0. 0. 0. 1. ]] SLAMing on 54.31992885099999 meters Centerline goodness : 0.778570 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:0.13 [[ 0.96997107 -0.22345133 -0.09605013 -0.9269406 ] [ 0.22283761 0.9747037 -0.01720766 -0.07774595] [ 0.09746549 -0.00471265 0.99522775 0.12771379] [ 0. 0. 0. 1. ]] SLAMing on 54.349928850999994 meters Centerline goodness : 0.837563 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:0.13 [[ 0.96992211 -0.22367422 -0.09602573 -0.92695825] [ 0.22304483 0.97465328 -0.0173776 -0.07760719] [ 0.09747871 -0.00456312 0.99522715 0.12770941] [ 0. 0. 0. 1. ]] SLAMing on 54.379928850999995 meters Centerline goodness : 0.840001 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:0.13 [[ 0.96979962 -0.22439752 -0.09557432 -0.92824786] [ 0.22371774 0.97448943 -0.01790894 -0.07709661] [ 0.09715489 -0.00401359 0.99526118 0.12809593] [ 0. 0. 0. 1. ]] SLAMing on 54.409928851 meters Centerline goodness : 0.780970 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:0.13 [[ 0.96973748 -0.22471886 -0.09544973 -0.92867995] [ 0.2240132 0.97441644 -0.01818499 -0.0767606 ] [ 0.0970943 -0.00374733 0.99526813 0.1282917 ] [ 0. 0. 0. 1. ]] SLAMing on 54.439928851 meters Centerline goodness : 0.838737 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:0.13 [[ 0.96968217 -0.22499688 -0.09535667 -0.92906086] [ 0.2242612 0.9743534 -0.01850298 -0.07631315] [ 0.09707421 -0.00344279 0.99527119 0.12857673] [ 0. 0. 0. 1. ]] SLAMing on 54.46992885099999 meters Centerline goodness : 0.782319 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:0.13 [[ 0.96958202 -0.22552394 -0.09512969 -0.92986633] [ 0.22475192 0.97423282 -0.01889422 -0.07590097] [ 0.09693957 -0.00306108 0.99528556 0.12891011] [ 0. 0. 0. 1. ]] SLAMing on 54.49992885099999 meters Centerline goodness : 0.839532 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:0.13 [[ 0.96952295 -0.2258606 -0.0949328 -0.93030395] [ 0.22508167 0.9741551 -0.01897561 -0.07616039] [ 0.09676511 -0.00297035 0.99530281 0.12889689] [ 0. 0. 0. 1. ]] SLAMing on 54.529928850999994 meters Centerline goodness : 0.782148 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:0.13 [[ 0.9694404 -0.22629185 -0.09474868 -0.93078038] [ 0.22549824 0.9740555 -0.01914234 -0.07647033] [ 0.09662223 -0.00280831 0.99531716 0.12901458] [ 0. 0. 0. 1. ]] SLAMing on 54.559928850999995 meters Centerline goodness : 0.784563 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:0.13 [[ 0.96927285 -0.22715045 -0.09440771 -0.93174559] [ 0.22633273 0.97385636 -0.0194236 -0.0775312 ] [ 0.09635163 -0.00254079 0.99534412 0.12940771] [ 0. 0. 0. 1. ]] SLAMing on 54.589928850999996 meters Centerline goodness : 0.783087 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:0.13 [[ 0.96917707 -0.22764824 -0.0941918 -0.93240761] [ 0.22680816 0.97374073 -0.01967363 -0.07782599] [ 0.09619706 -0.00229624 0.99535966 0.12973646] [ 0. 0. 0. 1. ]] SLAMing on 54.619928851 meters Centerline goodness : 0.785348 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:0.13 [[ 0.96899007 -0.22863639 -0.0937211 -0.93400324] [ 0.22776009 0.97351007 -0.02008688 -0.07897515] [ 0.09583103 -0.00188194 0.99539584 0.13058917] [ 0. 0. 0. 1. ]] SLAMing on 54.64992885099999 meters Centerline goodness : 0.838621 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:0.13 [[ 0.96890255 -0.22910676 -0.09347699 -0.93477836] [ 0.2282183 0.97339976 -0.0202314 -0.07955174] [ 0.09562563 -0.0017309 0.99541586 0.13092925] [ 0. 0. 0. 1. ]] SLAMing on 54.67992885099999 meters Centerline goodness : 0.839159 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.08, Z:0.13 [[ 0.96886336 -0.22931776 -0.09336576 -0.93508646] [ 0.22843249 0.97335004 -0.02020636 -0.08027267] [ 0.09551124 -0.00175057 0.99542681 0.13106324] [ 0. 0. 0. 1. ]] SLAMing on 54.709928850999994 meters Centerline goodness : 0.839186 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.08, Z:0.13 [[ 0.96881162 -0.22961889 -0.09316232 -0.93566207] [ 0.22872305 0.97327928 -0.02032755 -0.08071726] [ 0.09534055 -0.0016148 0.99544341 0.13134724] [ 0. 0. 0. 1. ]] SLAMing on 54.739928850999995 meters Centerline goodness : 0.787377 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.08, Z:0.13 [[ 0.96872035 -0.23008514 -0.09296085 -0.93650255] [ 0.22917494 0.97316942 -0.0204968 -0.0814091 ] [ 0.09518267 -0.00144863 0.99545877 0.13195554] [ 0. 0. 0. 1. ]] SLAMing on 54.769928850999996 meters Centerline goodness : 0.787417 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.08, Z:0.13 [[ 0.96873656 -0.22994807 -0.09313089 -0.93596964] [ 0.22904824 0.97320161 -0.02038453 -0.08171263] [ 0.09532251 -0.00158423 0.99544518 0.13183226] [ 0. 0. 0. 1. ]] SLAMing on 54.799928851 meters Centerline goodness : 0.839131 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.08, Z:0.13 [[ 0.96876872 -0.22973361 -0.09332543 -0.93536619] [ 0.2288424 0.97325206 -0.02028759 -0.08169803] [ 0.09548991 -0.00170283 0.99542894 0.13164739] [ 0. 0. 0. 1. ]] SLAMing on 54.829928851 meters Centerline goodness : 0.836955 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:0.13 [[ 0.9689282 -0.22892181 -0.09366397 -0.93405747] [ 0.22806061 0.97344268 -0.01994254 -0.08148033] [ 0.09574179 -0.00203817 0.99540412 0.13110927] [ 0. 0. 0. 1. ]] SLAMing on 54.85992885099999 meters Centerline goodness : 0.836728 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:0.13 [[ 0.96900888 -0.22845817 -0.09396095 -0.93335271] [ 0.22759271 0.97355161 -0.0199707 -0.08061102] [ 0.09603831 -0.00203304 0.99537556 0.1311534 ] [ 0. 0. 0. 1. ]] SLAMing on 54.88992885099999 meters Centerline goodness : 0.783839 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:0.13 [[ 0.96910306 -0.22796533 -0.0941864 -0.93273478] [ 0.22709702 0.97366714 -0.01998098 -0.07935567] [ 0.09626118 -0.00202583 0.99535405 0.13102498] [ 0. 0. 0. 1. ]] SLAMing on 54.919928850999995 meters Centerline goodness : 0.839608 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:0.13 [[ 0.97000158 -0.22378887 -0.09494983 -0.9334303 ] [ 0.22325267 0.97462313 -0.01637049 -0.07841396] [ 0.09620384 -0.0053184 0.99534745 0.13138938] [ 0. 0. 0. 1. ]] SLAMing on 54.949928850999996 meters Centerline goodness : 0.834487 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:0.13 [[ 0.97010829 -0.22320029 -0.09524466 -0.93277278] [ 0.22266749 0.9747578 -0.01632268 -0.0772984 ] [ 0.0964837 -0.00537312 0.99532006 0.13134882] [ 0. 0. 0. 1. ]] SLAMing on 54.979928851 meters Centerline goodness : 0.841925 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:0.13 [[ 0.97020899 -0.22266779 -0.09546502 -0.93216638] [ 0.22213318 0.97487962 -0.01632717 -0.07651387] [ 0.09670244 -0.00536518 0.99529888 0.13139374] [ 0. 0. 0. 1. ]] SLAMing on 55.009928851 meters Centerline goodness : 0.840959 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:0.13 [[ 0.97105863 -0.21856717 -0.09629918 -0.93187396] [ 0.21838036 0.97578232 -0.01260496 -0.07696939] [ 0.09672207 -0.00878969 0.99527262 0.1311171 ] [ 0. 0. 0. 1. ]] SLAMing on 55.03992885099999 meters Centerline goodness : 0.837892 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:0.13 [[ 0.97114303 -0.21804676 -0.09662729 -0.93079126] [ 0.21786612 0.97589803 -0.01254556 -0.07618559] [ 0.0970339 -0.00886828 0.99524157 0.13076491] [ 0. 0. 0. 1. ]] SLAMing on 55.06992885099999 meters Centerline goodness : 0.836719 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:0.13 [[ 0.97197385 -0.21405346 -0.09720055 -0.93132632] [ 0.21420112 0.97674778 -0.00903649 -0.07580066] [ 0.09687471 -0.01203724 0.99522379 0.13077285] [ 0. 0. 0. 1. ]] SLAMing on 55.099928850999994 meters Centerline goodness : 0.780358 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.07, Z:0.13 [[ 0.97206746 -0.2134339 -0.09762599 -0.93032414] [ 0.21357374 0.97688421 -0.00913819 -0.07417553] [ 0.09731968 -0.01196741 0.99518122 0.13073366] [ 0. 0. 0. 1. ]] SLAMing on 55.129928850999995 meters Centerline goodness : 0.780594 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.07, Z:0.13 [[ 0.97221383 -0.21264612 -0.09788713 -0.92939661] [ 0.21278834 0.97705588 -0.00910618 -0.07260736] [ 0.09757759 -0.01197609 0.99515586 0.13042274] [ 0. 0. 0. 1. ]] SLAMing on 55.159928851 meters Centerline goodness : 0.777956 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.07, Z:0.13 [[ 0.97298943 -0.20877332 -0.09851536 -0.92983098] [ 0.20927459 0.97784237 -0.0053336 -0.07309239] [ 0.09744601 -0.01542723 0.99512124 0.13034537] [ 0. 0. 0. 1. ]] SLAMing on 55.189928851 meters Centerline goodness : 0.835588 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.07, Z:0.13 [[ 0.97399237 -0.20355425 -0.09952147 -0.92866139] [ 0.20444701 0.97887683 -0.00125311 -0.07165043] [ 0.09767433 -0.01912634 0.99503463 0.12950932] [ 0. 0. 0. 1. ]] SLAMing on 55.21992885099999 meters Centerline goodness : 0.779819 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.07, Z:0.13 [[ 0.97481742 -0.19920971 -0.10023218 -0.92837612] [ 0.20047776 0.9796947 0.00263907 -0.07157995] [ 0.09767121 -0.02266693 0.99496057 0.12898032] [ 0. 0. 0. 1. ]] SLAMing on 55.24992885099999 meters Centerline goodness : 0.836805 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.07, Z:0.13 [[ 0.97563859 -0.19473569 -0.10103141 -0.92791034] [ 0.19638106 0.98050606 0.00650701 -0.0711013 ] [ 0.09779476 -0.02618915 0.99486196 0.12850371] [ 0. 0. 0. 1. ]] SLAMing on 55.279928850999994 meters Centerline goodness : 0.777965 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.07, Z:0.13 [[ 0.97737387 -0.1861905 -0.1003664 -0.92994247] [ 0.18846719 0.98198509 0.01361629 -0.06920063] [ 0.09602309 -0.03222398 0.99485737 0.12669772] [ 0. 0. 0. 1. ]] SLAMing on 55.309928850999995 meters Centerline goodness : 0.835644 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.07, Z:0.13 [[ 0.97812558 -0.18185357 -0.10099321 -0.93013745] [ 0.1844766 0.98268654 0.01719144 -0.06781623] [ 0.09611834 -0.03544627 0.99473857 0.12660186] [ 0. 0. 0. 1. ]] SLAMing on 55.339928850999996 meters Centerline goodness : 0.779387 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.07, Z:0.13 [[ 0.97885134 -0.17759568 -0.10153729 -0.93059653] [ 0.18055873 0.9833463 0.02070276 -0.06655832] [ 0.0961696 -0.03859837 0.9946163 0.12673384] [ 0. 0. 0. 1. ]] SLAMing on 55.369928851 meters Centerline goodness : 0.836727 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.07, Z:0.12 [[ 0.98116166 -0.16761513 -0.09605706 -0.93718203] [ 0.17069408 0.98501374 0.02472783 -0.06567764] [ 0.09047277 -0.04065837 0.99506863 0.12165688] [ 0. 0. 0. 1. ]] SLAMing on 55.39992885099999 meters Centerline goodness : 0.836173 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.06, Z:0.12 [[ 0.98181076 -0.16352528 -0.0964734 -0.93760233] [ 0.1669217 0.98556683 0.02819877 -0.06489729] [ 0.09046977 -0.04378936 0.99493603 0.12164834] [ 0. 0. 0. 1. ]] SLAMing on 55.42992885099999 meters Centerline goodness : 0.837914 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.06, Z:0.12 [[ 0.98243948 -0.15942366 -0.09693694 -0.93790189] [ 0.16315886 0.98608526 0.03185974 -0.06441645] [ 0.09050889 -0.04711638 0.99478047 0.12148942] [ 0. 0. 0. 1. ]] SLAMing on 55.459928850999994 meters Centerline goodness : 0.779611 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.06, Z:0.12 [[ 0.98313888 -0.15473783 -0.09743792 -0.9379227 ] [ 0.1587862 0.98668472 0.03521658 -0.06132735] [ 0.09069117 -0.05009458 0.99461834 0.12125792] [ 0. 0. 0. 1. ]] SLAMing on 55.489928850999995 meters Centerline goodness : 0.779761 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.06, Z:0.12 [[ 0.98321951 -0.15411443 -0.09761217 -0.93716603] [ 0.15814213 0.98679874 0.03491881 -0.05899874] [ 0.09094207 -0.04976945 0.99461175 0.12106408] [ 0. 0. 0. 1. ]] SLAMing on 55.519928850999996 meters Centerline goodness : 0.782156 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.06, Z:0.12 [[ 0.98328069 -0.15357298 -0.09784899 -0.93637652] [ 0.15758515 0.98689761 0.03464142 -0.05712563] [ 0.09124695 -0.04948179 0.99459818 0.12101098] [ 0. 0. 0. 1. ]] SLAMing on 55.549928851 meters Centerline goodness : 0.781935 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.12 [[ 0.9834532 -0.15234609 -0.09803303 -0.93521492] [ 0.1563637 0.98709157 0.03465002 -0.0548148 ] [ 0.09148878 -0.04940548 0.99457976 0.12057632] [ 0. 0. 0. 1. ]] SLAMing on 55.57992885099999 meters Centerline goodness : 0.782522 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.05, Z:0.12 [[ 0.98347273 -0.15207088 -0.09826409 -0.93465037] [ 0.15607299 0.98714744 0.03436806 -0.05352016] [ 0.09177476 -0.04913642 0.99456674 0.12069879] [ 0. 0. 0. 1. ]] SLAMing on 55.60992885099999 meters Centerline goodness : 0.782229 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.05, Z:0.12 [[ 0.98347349 -0.15199632 -0.09837184 -0.93442514] [ 0.15597003 0.98717625 0.03400596 -0.05217547] [ 0.09194156 -0.04878702 0.99456854 0.12081664] [ 0. 0. 0. 1. ]] SLAMing on 55.63992885099999 meters Centerline goodness : 0.782900 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.12 [[ 0.98345519 -0.1522658 -0.09813775 -0.93547874] [ 0.15616157 0.98717087 0.03327511 -0.05066258] [ 0.09181207 -0.04804992 0.99461638 0.12177909] [ 0. 0. 0. 1. ]] SLAMing on 55.669928850999995 meters Centerline goodness : 0.783385 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.12 [[ 0.98340441 -0.15267167 -0.09801597 -0.93614568] [ 0.15652545 0.98712691 0.03286721 -0.05046719] [ 0.09173631 -0.04766376 0.99464195 0.12236647] [ 0. 0. 0. 1. ]] SLAMing on 55.699928850999996 meters Centerline goodness : 0.783820 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.12 [[ 0.98335856 -0.15303265 -0.09791301 -0.93652925] [ 0.15685503 0.9870846 0.03256524 -0.05075564] [ 0.09166488 -0.04738146 0.99466203 0.12272128] [ 0. 0. 0. 1. ]] SLAMing on 55.729928851 meters Centerline goodness : 0.782232 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.12 [[ 0.98327432 -0.15365463 -0.09778482 -0.93730774] [ 0.15744227 0.98700214 0.03222886 -0.05216118] [ 0.09156172 -0.04708528 0.99468559 0.12355567] [ 0. 0. 0. 1. ]] SLAMing on 55.759928851 meters Centerline goodness : 0.780958 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.12 [[ 0.98323141 -0.15393354 -0.09777764 -0.93747452] [ 0.15769769 0.98696992 0.03196583 -0.05250839] [ 0.09158297 -0.04684912 0.99469479 0.12394401] [ 0. 0. 0. 1. ]] SLAMing on 55.78992885099999 meters Centerline goodness : 0.781599 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.12 [[ 0.98319937 -0.15418256 -0.09770736 -0.93780889] [ 0.15792315 0.9869413 0.03173563 -0.05267524] [ 0.09153835 -0.04663271 0.99470906 0.12430655] [ 0. 0. 0. 1. ]] SLAMing on 55.81992885099999 meters Centerline goodness : 0.780288 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.12 [[ 0.98317819 -0.15427505 -0.09777451 -0.93762185] [ 0.15801383 0.98692864 0.03167787 -0.0529644 ] [ 0.09160936 -0.04659471 0.99470431 0.12436355] [ 0. 0. 0. 1. ]] SLAMing on 55.849928850999994 meters Centerline goodness : 0.781470 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.12 [[ 0.98318697 -0.15409591 -0.09796851 -0.9366751 ] [ 0.15787636 0.98693902 0.03203795 -0.05454086] [ 0.09175203 -0.04696621 0.99467368 0.12396698] [ 0. 0. 0. 1. ]] SLAMing on 55.879928850999995 meters Centerline goodness : 0.780573 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.06, Z:0.12 [[ 0.98316162 -0.15420941 -0.09804436 -0.93638046] [ 0.15799607 0.98691909 0.03206162 -0.05546754] [ 0.09181765 -0.04701238 0.99466545 0.12397037] [ 0. 0. 0. 1. ]] SLAMing on 55.909928851 meters Centerline goodness : 0.839040 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.06, Z:0.12 [[ 0.98313663 -0.15418861 -0.0983272 -0.93557431] [ 0.15801722 0.98690562 0.03237056 -0.05745871] [ 0.0920485 -0.04736207 0.99462752 0.12395182] [ 0. 0. 0. 1. ]] SLAMing on 55.939928851 meters Centerline goodness : 0.781562 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.06, Z:0.12 [[ 0.98310686 -0.15434483 -0.09837973 -0.935543 ] [ 0.15817658 0.98688008 0.03237097 -0.05827434] [ 0.09209271 -0.04738549 0.99462231 0.12415605] [ 0. 0. 0. 1. ]] SLAMing on 55.96992885099999 meters Centerline goodness : 0.781807 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.06, Z:0.12 [[ 0.98308149 -0.15447781 -0.09842453 -0.93555221] [ 0.1583069 0.98686106 0.03231363 -0.05900563] [ 0.0921396 -0.04734821 0.99461975 0.12447263] [ 0. 0. 0. 1. ]] SLAMing on 55.99992885099999 meters Centerline goodness : 0.781807 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.06, Z:0.12 [[ 0.98308149 -0.15447781 -0.09842453 -0.93555221] [ 0.1583069 0.98686106 0.03231363 -0.05900563] [ 0.0921396 -0.04734821 0.99461975 0.12447263] [ 0. 0. 0. 1. ]] SLAMing on 56.029928850999994 meters Centerline goodness : 0.837191 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.06, Z:0.12 [[ 0.9830681 -0.15449944 -0.09852423 -0.93529522] [ 0.15834265 0.98685205 0.03241359 -0.06003597] [ 0.09222096 -0.04746535 0.99460662 0.12462485] [ 0. 0. 0. 1. ]] SLAMing on 56.059928850999995 meters Centerline goodness : 0.778050 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.06, Z:0.12 [[ 0.98303286 -0.15461931 -0.09868774 -0.93459329] [ 0.15849551 0.98681874 0.0326794 -0.06201873] [ 0.09233405 -0.04776649 0.99458171 0.12442808] [ 0. 0. 0. 1. ]] SLAMing on 56.089928850999996 meters Centerline goodness : 0.777969 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.06, Z:0.12 [[ 0.98300727 -0.15467224 -0.09885948 -0.93399487] [ 0.15857167 0.98680124 0.032838 -0.06318324] [ 0.09247553 -0.04795631 0.99455943 0.12429435] [ 0. 0. 0. 1. ]] SLAMing on 56.119928851 meters Centerline goodness : 0.837344 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.06, Z:0.12 [[ 0.98247186 -0.15808256 -0.09878743 -0.93240868] [ 0.16166492 0.98640988 0.02932595 -0.06356911] [ 0.09280897 -0.04478238 0.99467635 0.12426112] [ 0. 0. 0. 1. ]] SLAMing on 56.14992885099999 meters Centerline goodness : 0.838437 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.06, Z:0.12 [[ 0.98240257 -0.15855454 -0.09872004 -0.93279549] [ 0.16212437 0.98633808 0.02920396 -0.06473366] [ 0.09274092 -0.04469497 0.99468663 0.12465683] [ 0. 0. 0. 1. ]] SLAMing on 56.17992885099999 meters Centerline goodness : 0.776476 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.07, Z:0.13 [[ 0.98232826 -0.15905983 -0.0986466 -0.93339687] [ 0.16261101 0.98626347 0.02901764 -0.06623353] [ 0.092676 -0.04454587 0.99469936 0.12538402] [ 0. 0. 0. 1. ]] SLAMing on 56.209928850999994 meters Centerline goodness : 0.776647 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.07, Z:0.13 [[ 0.98168103 -0.16330117 -0.09815843 -0.93330755] [ 0.16648608 0.98572361 0.02512679 -0.06736082] [ 0.09265385 -0.04100851 0.99485354 0.12616349] [ 0. 0. 0. 1. ]] SLAMing on 56.239928850999995 meters Centerline goodness : 0.775100 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.07, Z:0.13 [[ 0.98104791 -0.16720498 -0.0979157 -0.93252138] [ 0.17002311 0.98521368 0.02112206 -0.06681371] [ 0.09293617 -0.03736969 0.99497054 0.12663463] [ 0. 0. 0. 1. ]] SLAMing on 56.269928850999996 meters Centerline goodness : 0.832582 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.07, Z:0.13 [[ 0.9803429 -0.17150398 -0.09754066 -0.93204103] [ 0.1739857 0.98459321 0.01746956 -0.06877032] [ 0.09304178 -0.03409684 0.9950782 0.12719574] [ 0. 0. 0. 1. ]] SLAMing on 56.299928851 meters Centerline goodness : 0.773182 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.07, Z:0.13 [[ 0.98021686 -0.17223907 -0.09751209 -0.93257332] [ 0.17471429 0.98446583 0.01737647 -0.07080031] [ 0.09300442 -0.03406947 0.99508263 0.12784735] [ 0. 0. 0. 1. ]] SLAMing on 56.32992885099999 meters Centerline goodness : 0.832048 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.07, Z:0.13 [[ 0.9798339 -0.17461325 -0.09713775 -0.93302754] [ 0.17688128 0.9841151 0.01518187 -0.07214464] [ 0.09294377 -0.03205756 0.99515515 0.12877083] [ 0. 0. 0. 1. ]] SLAMing on 56.35992885099999 meters Centerline goodness : 0.833048 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.07, Z:0.13 [[ 0.97970513 -0.17540829 -0.09700404 -0.93373494] [ 0.17766902 0.98397425 0.0151128 -0.07436865] [ 0.09279857 -0.0320407 0.99516924 0.12933681] [ 0. 0. 0. 1. ]] SLAMing on 56.38992885099999 meters Centerline goodness : 0.830983 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:0.13 [[ 0.9789708 -0.17969787 -0.09656521 -0.93330303] [ 0.18162983 0.98329937 0.01153097 -0.0766896 ] [ 0.09288042 -0.0288276 0.99525986 0.1298787 ] [ 0. 0. 0. 1. ]] SLAMing on 56.419928850999995 meters Centerline goodness : 0.775065 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:0.13 [[ 0.97883492 -0.18045856 -0.09652418 -0.933885 ] [ 0.18237533 0.98316353 0.01134499 -0.07876305] [ 0.09285175 -0.0287085 0.99526598 0.13067483] [ 0. 0. 0. 1. ]] SLAMing on 56.449928850999996 meters Centerline goodness : 0.775562 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:0.13 [[ 0.97872484 -0.18117512 -0.09629776 -0.93452081] [ 0.18308534 0.98303195 0.01131109 -0.08078821] [ 0.09261448 -0.02870115 0.9952883 0.13096761] [ 0. 0. 0. 1. ]] SLAMing on 56.479928851 meters Centerline goodness : 0.838959 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.08, Z:0.13 [[ 0.97796275 -0.18552587 -0.09575496 -0.93437422] [ 0.18710335 0.98231015 0.00768795 -0.08315057] [ 0.09263476 -0.0254346 0.99537525 0.13164844] [ 0. 0. 0. 1. ]] SLAMing on 56.509928851 meters Centerline goodness : 0.776295 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.09, Z:0.13 [[ 0.97789015 -0.18600323 -0.09557013 -0.93484655] [ 0.18759168 0.98221585 0.00783438 -0.08516312] [ 0.09241328 -0.02558932 0.99539187 0.13183518] [ 0. 0. 0. 1. ]] SLAMing on 56.53992885099999 meters Centerline goodness : 0.839012 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.09, Z:0.13 [[ 0.97781873 -0.1863719 -0.09558264 -0.93500776] [ 0.18796826 0.98214334 0.00789858 -0.08703064] [ 0.09240378 -0.02568988 0.99539016 0.1322395 ] [ 0. 0. 0. 1. ]] SLAMing on 56.56992885099999 meters Centerline goodness : 0.777174 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.09, Z:0.13 [[ 0.97774265 -0.18678197 -0.09556044 -0.93504589] [ 0.1884037 0.98205778 0.00815869 -0.09000505] [ 0.09232197 -0.02598104 0.99539019 0.1324911 ] [ 0. 0. 0. 1. ]] SLAMing on 56.599928850999994 meters Centerline goodness : 0.837400 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.09, Z:0.13 [[ 0.97772798 -0.18685341 -0.09557095 -0.93512654] [ 0.18848846 0.98204036 0.00829594 -0.091123 ] [ 0.0923044 -0.02612519 0.99538805 0.13276553] [ 0. 0. 0. 1. ]] SLAMing on 56.629928850999995 meters Centerline goodness : 0.830715 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.09, Z:0.13 [[ 0.97771295 -0.18691642 -0.09560149 -0.93513286] [ 0.1885562 0.98202703 0.00833516 -0.09175347] [ 0.09232527 -0.02617565 0.99538479 0.13297235] [ 0. 0. 0. 1. ]] SLAMing on 56.659928851 meters Centerline goodness : 0.837508 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.09, Z:0.13 [[ 0.9777489 -0.18663085 -0.09579156 -0.93482036] [ 0.18830599 0.98207209 0.00867532 -0.09330475] [ 0.09245514 -0.0265204 0.99536361 0.13336755] [ 0. 0. 0. 1. ]] SLAMing on 56.689928851 meters Centerline goodness : 0.837336 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.09, Z:0.13 [[ 0.97775654 -0.18650734 -0.09595393 -0.93461607] [ 0.1881976 0.98209179 0.00879697 -0.09406857] [ 0.09259487 -0.0266596 0.9953469 0.13368746] [ 0. 0. 0. 1. ]] SLAMing on 56.71992885099999 meters Centerline goodness : 0.776576 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.09, Z:0.13 [[ 0.97778758 -0.18623762 -0.09616131 -0.9342497 ] [ 0.18794165 0.98213989 0.00889771 -0.0945532 ] [ 0.09278677 -0.02677279 0.99532599 0.1339781 ] [ 0. 0. 0. 1. ]] SLAMing on 56.74992885099999 meters Centerline goodness : 0.841635 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.09, Z:0.13 [[ 0.97789679 -0.18551126 -0.09645431 -0.93355581] [ 0.18725251 0.9822683 0.00924573 -0.09480105] [ 0.09302883 -0.02710268 0.99529447 0.13410871] [ 0. 0. 0. 1. ]] SLAMing on 56.779928850999994 meters Centerline goodness : 0.838640 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.09, Z:0.13 [[ 0.97793551 -0.18527288 -0.09651994 -0.93321337] [ 0.18701948 0.98231223 0.00929526 -0.09456251] [ 0.09309056 -0.02714127 0.99528765 0.13395979] [ 0. 0. 0. 1. ]] SLAMing on 56.809928850999995 meters Centerline goodness : 0.776694 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.09, Z:0.13 [[ 0.97801481 -0.1847721 -0.09667624 -0.93238195] [ 0.1865397 0.98240151 0.00949762 -0.09471181] [ 0.09321999 -0.02732276 0.99527057 0.13359648] [ 0. 0. 0. 1. ]] SLAMing on 56.839928850999996 meters Centerline goodness : 0.839698 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.09, Z:0.13 [[ 0.97802648 -0.18466078 -0.09677084 -0.93200532] [ 0.18643117 0.98242205 0.00950494 -0.09463596] [ 0.09331462 -0.02733718 0.9952613 0.13347956] [ 0. 0. 0. 1. ]] SLAMing on 56.869928851 meters Centerline goodness : 0.841146 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.09, Z:0.13 [[ 0.97804168 -0.18457261 -0.09678541 -0.9317744 ] [ 0.18634392 0.9824385 0.00951472 -0.09447837] [ 0.09332956 -0.02734116 0.99525979 0.13327517] [ 0. 0. 0. 1. ]] SLAMing on 56.89992885099999 meters Centerline goodness : 0.776436 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.09, Z:0.13 [[ 0.97805242 -0.18450976 -0.09679672 -0.93139353] [ 0.18627983 0.98245079 0.00950115 -0.09435511] [ 0.09334496 -0.0273239 0.99525882 0.13291811] [ 0. 0. 0. 1. ]] SLAMing on 56.92992885099999 meters Centerline goodness : 0.838753 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.09, Z:0.13 [[ 0.97801617 -0.18477641 -0.09665428 -0.93181202] [ 0.18652003 0.98240763 0.00924791 -0.0939883 ] [ 0.09324511 -0.02707257 0.99527505 0.13307365] [ 0. 0. 0. 1. ]] SLAMing on 56.959928850999994 meters Centerline goodness : 0.838489 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.09, Z:0.13 [[ 0.97794976 -0.18516648 -0.09657971 -0.93249422] [ 0.18686558 0.9823463 0.00877554 -0.09329627] [ 0.09324978 -0.02662946 0.99528657 0.13369787] [ 0. 0. 0. 1. ]] SLAMing on 56.989928850999995 meters Centerline goodness : 0.838275 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.09, Z:0.13 [[ 0.9778616 -0.18579794 -0.09625911 -0.93372299] [ 0.18744584 0.98223996 0.00828942 -0.09300282] [ 0.09300939 -0.02614927 0.99532179 0.134379 ] [ 0. 0. 0. 1. ]] SLAMing on 57.019928850999996 meters Centerline goodness : 0.837911 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.09, Z:0.13 [[ 0.97779036 -0.18624824 -0.09611248 -0.93414485] [ 0.18787097 0.98216081 0.00803961 -0.09335975] [ 0.09290055 -0.0259178 0.99533801 0.13461481] [ 0. 0. 0. 1. ]] SLAMing on 57.049928851 meters Centerline goodness : 0.839491 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.09, Z:0.13 [[ 0.97770093 -0.18680836 -0.09593502 -0.93469112] [ 0.1883988 0.9820623 0.00771602 -0.09368775] [ 0.09277275 -0.025618 0.99535769 0.13486678] [ 0. 0. 0. 1. ]] SLAMing on 57.07992885099999 meters Centerline goodness : 0.841016 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.09, Z:0.14 [[ 0.97764128 -0.18724828 -0.09568494 -0.93526625] [ 0.1888154 0.98198385 0.0075136 -0.09411843] [ 0.09255416 -0.0254124 0.99538331 0.13502431] [ 0. 0. 0. 1. ]] SLAMing on 57.10992885099999 meters Centerline goodness : 0.838308 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.09, Z:0.14 [[ 0.97748599 -0.1882386 -0.09532768 -0.93644093] [ 0.1897413 0.98181008 0.00687006 -0.09371317] [ 0.09230046 -0.02480299 0.99542224 0.13540887] [ 0. 0. 0. 1. ]] SLAMing on 57.13992885099999 meters Centerline goodness : 0.839288 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.09, Z:0.14 [[ 0.97741544 -0.18867531 -0.09518762 -0.93680511] [ 0.19014899 0.98173324 0.00657362 -0.09342291] [ 0.09220857 -0.02452499 0.99543765 0.13544528] [ 0. 0. 0. 1. ]] SLAMing on 57.169928850999995 meters Centerline goodness : 0.837656 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.09, Z:0.14 [[ 0.977273 -0.18957377 -0.09486444 -0.93753267] [ 0.19098514 0.98157494 0.00594284 -0.09285051] [ 0.09198995 -0.02392548 0.99547246 0.13540486] [ 0. 0. 0. 1. ]] SLAMing on 57.199928850999996 meters Centerline goodness : 0.837877 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.09, Z:0.14 [[ 0.97721777 -0.18994398 -0.09469275 -0.93790517] [ 0.19132409 0.98151077 0.00563119 -0.09247797] [ 0.09187234 -0.02361991 0.99549062 0.13540922] [ 0. 0. 0. 1. ]] SLAMing on 57.229928851 meters Centerline goodness : 0.837599 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.09, Z:0.14 [[ 0.97716527 -0.19029935 -0.0945208 -0.93821321] [ 0.19164414 0.9814503 0.00527548 -0.09176221] [ 0.09176354 -0.02326938 0.99550891 0.13533132] [ 0. 0. 0. 1. ]] SLAMing on 57.25992885099999 meters Centerline goodness : 0.838341 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.09, Z:0.14 [[ 0.97712642 -0.19062889 -0.0942581 -0.93890251] [ 0.19191494 0.98140037 0.00468809 -0.08970784] [ 0.09161125 -0.0226704 0.99553676 0.13540606] [ 0. 0. 0. 1. ]] SLAMing on 57.28992885099999 meters Centerline goodness : 0.839781 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.09, Z:0.14 [[ 0.97709513 -0.1908091 -0.09421778 -0.93927384] [ 0.19204838 0.98137655 0.0041814 -0.08813338] [ 0.09166528 -0.02218 0.99554283 0.13570916] [ 0. 0. 0. 1. ]] SLAMing on 57.31992885099999 meters Centerline goodness : 0.836843 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.09, Z:0.14 [[ 0.97708979 -0.1908147 -0.09426183 -0.93927867] [ 0.19201854 0.981384 0.00378587 -0.0864395 ] [ 0.09178465 -0.02179916 0.99554024 0.13579999] [ 0. 0. 0. 1. ]] SLAMing on 57.349928850999994 meters Centerline goodness : 0.837634 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.08, Z:0.14 [[ 0.97708117 -0.19081202 -0.09435653 -0.93925004] [ 0.19197478 0.98139425 0.00331861 -0.0846215 ] [ 0.09196772 -0.02135663 0.99553294 0.13599653] [ 0. 0. 0. 1. ]] SLAMing on 57.379928850999995 meters Centerline goodness : 0.773162 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.08, Z:0.14 [[ 0.97717218 -0.19042472 -0.09419641 -0.93947193] [ 0.19154228 0.98148012 0.00288451 -0.08150627] [ 0.09190263 -0.02086126 0.99554945 0.13582637] [ 0. 0. 0. 1. ]] SLAMing on 57.409928851 meters Centerline goodness : 0.837302 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.08, Z:0.14 [[ 0.97718394 -0.19039766 -0.09412904 -0.93961374] [ 0.19147983 0.98149332 0.00251762 -0.07993107] [ 0.09190768 -0.02048399 0.99555682 0.13582308] [ 0. 0. 0. 1. ]] SLAMing on 57.439928851 meters Centerline goodness : 0.775342 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.08, Z:0.14 [[ 0.97720279 -0.19029758 -0.09413574 -0.93965719] [ 0.19134657 0.98152016 0.00216169 -0.07830406] [ 0.09198476 -0.02012496 0.99555702 0.13589 ] [ 0. 0. 0. 1. ]] SLAMing on 57.46992885099999 meters Centerline goodness : 0.774442 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.08, Z:0.13 [[ 0.9774024 -0.18915907 -0.09435779 -0.93845521] [ 0.1902258 0.98173753 0.00235911 -0.0754001 ] [ 0.09218833 -0.02025508 0.99553556 0.13488221] [ 0. 0. 0. 1. ]] SLAMing on 57.49992885099999 meters Centerline goodness : 0.837966 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.07, Z:0.13 [[ 0.97745154 -0.18882564 -0.09451648 -0.93789252] [ 0.18987344 0.98180625 0.00213613 -0.07384232] [ 0.09239351 -0.02003413 0.99552101 0.13468501] [ 0. 0. 0. 1. ]] SLAMing on 57.529928850999994 meters Centerline goodness : 0.837086 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.07, Z:0.13 [[ 0.97815154 -0.18494774 -0.0949416 -0.93860237] [ 0.18631454 0.98247383 0.00566183 -0.07265479] [ 0.09223049 -0.02322713 0.99546674 0.13441979] [ 0. 0. 0. 1. ]] SLAMing on 57.559928850999995 meters Centerline goodness : 0.774536 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.07, Z:0.13 [[ 0.97819215 -0.18463257 -0.09513639 -0.93822696] [ 0.18596579 0.98254211 0.0052661 -0.0706059 ] [ 0.09250321 -0.02284337 0.99545032 0.13455497] [ 0. 0. 0. 1. ]] SLAMing on 57.589928850999996 meters Centerline goodness : 0.833839 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.07, Z:0.13 [[ 0.97889488 -0.18054139 -0.09575818 -0.93816907] [ 0.18221381 0.98321824 0.0089452 -0.06968021] [ 0.09253621 -0.02620487 0.99536443 0.13407972] [ 0. 0. 0. 1. ]] SLAMing on 57.619928851 meters Centerline goodness : 0.834107 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.07, Z:0.13 [[ 0.97894101 -0.18018864 -0.09595073 -0.93746728] [ 0.18184918 0.98328724 0.00877984 -0.06815117] [ 0.0927651 -0.02604351 0.99534736 0.13378574] [ 0. 0. 0. 1. ]] SLAMing on 57.64992885099999 meters Centerline goodness : 0.835889 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.07, Z:0.13 [[ 0.97894406 -0.18017169 -0.09595148 -0.93754477] [ 0.18180012 0.98329932 0.008436 -0.06672458] [ 0.09282909 -0.02570236 0.99535026 0.13388587] [ 0. 0. 0. 1. ]] SLAMing on 57.67992885099999 meters Centerline goodness : 0.836459 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.07, Z:0.13 [[ 0.97894424 -0.18012517 -0.09603696 -0.93747902] [ 0.18173134 0.98331423 0.00817613 -0.06549571] [ 0.09296178 -0.02545691 0.99534419 0.13399271] [ 0. 0. 0. 1. ]] SLAMing on 57.709928850999994 meters Centerline goodness : 0.834879 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.06, Z:0.13 [[ 0.97890054 -0.18044706 -0.09587799 -0.93801519] [ 0.1820034 0.98326798 0.00767028 -0.06393645] [ 0.09288968 -0.02495856 0.99536354 0.1341315 ] [ 0. 0. 0. 1. ]] SLAMing on 57.739928850999995 meters Centerline goodness : 0.835995 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.06, Z:0.13 [[ 0.97885091 -0.18078734 -0.09574356 -0.93830249] [ 0.18231688 0.98321196 0.00740276 -0.06375612] [ 0.09279789 -0.02470186 0.99537851 0.13417364] [ 0. 0. 0. 1. ]] SLAMing on 57.769928850999996 meters Centerline goodness : 0.835136 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.06, Z:0.13 [[ 0.97869656 -0.18184318 -0.09532099 -0.93945457] [ 0.18331303 0.98303092 0.00682284 -0.06395244] [ 0.09246279 -0.02415107 0.99542321 0.13441519] [ 0. 0. 0. 1. ]] SLAMing on 57.799928851 meters Centerline goodness : 0.835670 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.06, Z:0.13 [[ 0.97859164 -0.18257182 -0.09500489 -0.94034335] [ 0.1839915 0.98290745 0.0063296 -0.0638375 ] [ 0.09222541 -0.02367419 0.99545668 0.13468683] [ 0. 0. 0. 1. ]] SLAMing on 57.82992885099999 meters Centerline goodness : 0.834094 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.06, Z:0.14 [[ 0.97849138 -0.1832904 -0.0946533 -0.9414186 ] [ 0.1846637 0.98278416 0.0058839 -0.0636485 ] [ 0.0919453 -0.02323637 0.99549291 0.13501024] [ 0. 0. 0. 1. ]] SLAMing on 57.85992885099999 meters Centerline goodness : 0.835728 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.06, Z:0.14 [[ 0.97832366 -0.18437822 -0.09427347 -0.94288424] [ 0.18567489 0.98259802 0.00509647 -0.06323297] [ 0.09169324 -0.02249021 0.99553329 0.13574148] [ 0. 0. 0. 1. ]] SLAMing on 57.88992885099999 meters Centerline goodness : 0.835728 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.06, Z:0.14 [[ 0.97832366 -0.18437822 -0.09427347 -0.94288424] [ 0.18567489 0.98259802 0.00509647 -0.06323297] [ 0.09169324 -0.02249021 0.99553329 0.13574148] [ 0. 0. 0. 1. ]] SLAMing on 57.919928850999995 meters Centerline goodness : 0.835068 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.06, Z:0.14 [[ 0.97826702 -0.18476068 -0.09411237 -0.94329978] [ 0.18603805 0.98253028 0.0049083 -0.06311352] [ 0.09156139 -0.02231011 0.99554948 0.13574992] [ 0. 0. 0. 1. ]] SLAMing on 57.949928850999996 meters Centerline goodness : 0.837506 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.06, Z:0.14 [[ 0.9782034 -0.18514525 -0.09401779 -0.94369376] [ 0.18639752 0.98246345 0.00463999 -0.06294916] [ 0.09150997 -0.02206354 0.9955597 0.13594837] [ 0. 0. 0. 1. ]] SLAMing on 57.979928851 meters Centerline goodness : 0.835610 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.06, Z:0.14 [[ 0.97812625 -0.18569868 -0.09372858 -0.94452668] [ 0.1869156 0.98236657 0.00429836 -0.06256654] [ 0.09127763 -0.02172367 0.99558851 0.13609783] [ 0. 0. 0. 1. ]] SLAMing on 58.00992885099999 meters Centerline goodness : 0.834022 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.06, Z:0.14 [[ 0.97799273 -0.1866095 -0.09331188 -0.9459196 ] [ 0.18778183 0.98220315 0.00386696 -0.06276782] [ 0.09092962 -0.02130413 0.99562942 0.13654317] [ 0. 0. 0. 1. ]] SLAMing on 58.03992885099999 meters Centerline goodness : 0.834314 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.06, Z:0.14 [[ 0.97790358 -0.18719741 -0.09306839 -0.94658951] [ 0.18834393 0.98209649 0.00361333 -0.06302502] [ 0.09072573 -0.02106235 0.99565316 0.13668941] [ 0. 0. 0. 1. ]] SLAMing on 58.06992885099999 meters Centerline goodness : 0.837418 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.06, Z:0.14 [[ 0.97779526 -0.1878885 -0.09281349 -0.94726603] [ 0.18900507 0.98197053 0.00331092 -0.06332048] [ 0.09051803 -0.02077963 0.99567801 0.13676158] [ 0. 0. 0. 1. ]] SLAMing on 58.099928850999994 meters Centerline goodness : 0.833418 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.06, Z:0.14 [[ 9.77079878e-01 -1.91792933e-01 -9.23600768e-02 -9.46316394e-01] [ 1.92567411e-01 9.81283601e-01 -5.36134099e-04 -6.25871678e-02] [ 9.07342554e-02 -1.72616950e-02 9.95725529e-01 1.36488048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.129928850999995 meters Centerline goodness : 0.832757 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.06, Z:0.14 [[ 9.77013494e-01 -1.92169572e-01 -9.22794068e-02 -9.46468657e-01] [ 1.92933317e-01 9.81211651e-01 -6.56371409e-04 -6.28953070e-02] [ 9.06717637e-02 -1.71624883e-02 9.95732936e-01 1.36431362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.159928851 meters Centerline goodness : 0.833773 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.06, Z:0.14 [[ 0.97689525 -0.19293735 -0.09192849 -0.94744281] [ 0.19364627 0.98107064 -0.00122972 -0.061885 ] [ 0.0904256 -0.0166003 0.99576485 0.13652592] [ 0. 0. 0. 1. ]] SLAMing on 58.189928851 meters Centerline goodness : 0.836031 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.06, Z:0.14 [[ 0.976871 -0.19305744 -0.09193407 -0.9475959 ] [ 0.19373813 0.98105206 -0.00154714 -0.06085437] [ 0.09049079 -0.01629977 0.99576389 0.13672226] [ 0. 0. 0. 1. ]] SLAMing on 58.21992885099999 meters Centerline goodness : 0.834754 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.06, Z:0.14 [[ 0.97687356 -0.19300381 -0.0920194 -0.94745512] [ 0.19366465 0.98106618 -0.00177824 -0.05971866] [ 0.09062032 -0.01608379 0.99575563 0.13672666] [ 0. 0. 0. 1. ]] SLAMing on 58.24992885099999 meters Centerline goodness : 0.835722 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.06, Z:0.14 [[ 0.97695537 -0.19253315 -0.09213686 -0.94713113] [ 0.19315691 0.98116545 -0.00218359 -0.0572134 ] [ 0.09082192 -0.0156636 0.99574396 0.13679655] [ 0. 0. 0. 1. ]] SLAMing on 58.279928850999994 meters Centerline goodness : 0.837187 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.06, Z:0.14 [[ 0.97697033 -0.19241348 -0.09222812 -0.94693139] [ 0.19301344 0.98119304 -0.00245446 -0.0557991 ] [ 0.09096587 -0.01540333 0.99573488 0.13678997] [ 0. 0. 0. 1. ]] SLAMing on 58.309928850999995 meters Centerline goodness : 0.836613 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.05, Z:0.14 [[ 0.97696838 -0.19243679 -0.09220016 -0.94711156] [ 0.19299932 0.98119472 -0.00286038 -0.0542328 ] [ 0.09101675 -0.01500006 0.99573639 0.13698472] [ 0. 0. 0. 1. ]] SLAMing on 58.339928850999996 meters Centerline goodness : 0.836721 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.05, Z:0.14 [[ 0.97694633 -0.19251604 -0.09226835 -0.94714225] [ 0.19304119 0.98118516 -0.00328399 -0.05265284] [ 0.09116455 -0.0146033 0.99572876 0.13716692] [ 0. 0. 0. 1. ]] SLAMing on 58.369928851 meters Centerline goodness : 0.834422 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.05, Z:0.14 [[ 0.97688992 -0.19295022 -0.0919581 -0.94835406] [ 0.19339322 0.98111254 -0.00415401 -0.0498746 ] [ 0.09102276 -0.01372606 0.99575421 0.13771909] [ 0. 0. 0. 1. ]] SLAMing on 58.39992885099999 meters Centerline goodness : 0.834787 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.05, Z:0.14 [[ 0.97684914 -0.19319425 -0.09187896 -0.94882306] [ 0.19360199 0.98106965 -0.00453937 -0.04873378] [ 0.09101664 -0.01335367 0.99575984 0.13800304] [ 0. 0. 0. 1. ]] SLAMing on 58.42992885099999 meters Centerline goodness : 0.835827 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.05, Z:0.14 [[ 0.97681281 -0.19343416 -0.09176031 -0.94903827] [ 0.19379654 0.98102885 -0.00502989 -0.04676884] [ 0.09099247 -0.01286957 0.99576842 0.1378118 ] [ 0. 0. 0. 1. ]] SLAMing on 58.459928850999994 meters Centerline goodness : 0.838930 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.05, Z:0.14 [[ 0.97678323 -0.19357812 -0.09177162 -0.94890335] [ 0.19392114 0.98100307 -0.0052501 -0.04591191] [ 0.09104454 -0.01266825 0.99576624 0.13758972] [ 0. 0. 0. 1. ]] SLAMing on 58.489928850999995 meters Centerline goodness : 0.834603 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.05, Z:0.14 [[ 0.97675294 -0.19378124 -0.09166525 -0.94894596] [ 0.19410827 0.98096514 -0.00541992 -0.04515546] [ 0.0909707 -0.01249906 0.99577513 0.13722593] [ 0. 0. 0. 1. ]] SLAMing on 58.519928850999996 meters Centerline goodness : 0.834503 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.04, Z:0.14 [[ 0.97668945 -0.19417917 -0.09149952 -0.94894068] [ 0.19448792 0.98088884 -0.00561617 -0.04420711] [ 0.0908414 -0.01231029 0.99578928 0.1365153 ] [ 0. 0. 0. 1. ]] SLAMing on 58.549928851 meters Centerline goodness : 0.833545 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.04, Z:0.14 [[ 0.97665506 -0.19436112 -0.09148035 -0.94882263] [ 0.19465994 0.98085405 -0.00573107 -0.04379379] [ 0.09084277 -0.01221028 0.99579039 0.13623718] [ 0. 0. 0. 1. ]] SLAMing on 58.57992885099999 meters Centerline goodness : 0.777642 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.04, Z:0.14 [[ 0.97661045 -0.19462562 -0.09139414 -0.94889746] [ 0.194914 0.98080291 -0.00584642 -0.04379046] [ 0.09077751 -0.01210432 0.99579763 0.13603777] [ 0. 0. 0. 1. ]] SLAMing on 58.60992885099999 meters Centerline goodness : 0.833800 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.04, Z:0.14 [[ 0.97654103 -0.19501693 -0.09130178 -0.94923274] [ 0.19528506 0.98072771 -0.00607475 -0.043709 ] [ 0.09072686 -0.01189763 0.99580474 0.13615849] [ 0. 0. 0. 1. ]] SLAMing on 58.63992885099999 meters Centerline goodness : 0.836205 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.04, Z:0.14 [[ 0.97642042 -0.1958201 -0.09087158 -0.95064661] [ 0.19604663 0.98057294 -0.00651414 -0.04342436] [ 0.09038181 -0.01145453 0.99584131 0.13655924] [ 0. 0. 0. 1. ]] SLAMing on 58.669928850999995 meters Centerline goodness : 0.836912 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.04, Z:0.14 [[ 0.97634048 -0.19630636 -0.09068117 -0.95155806] [ 0.19650058 0.98047965 -0.00686932 -0.04326711] [ 0.09025953 -0.01111211 0.99585628 0.13711765] [ 0. 0. 0. 1. ]] SLAMing on 58.699928850999996 meters Centerline goodness : 0.836516 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.04, Z:0.14 [[ 0.97615532 -0.19747297 -0.09013999 -0.95391123] [ 0.19760834 0.98025229 -0.00750946 -0.04353097] [ 0.08984285 -0.01048202 0.99590079 0.13841744] [ 0. 0. 0. 1. ]] SLAMing on 58.729928851 meters Centerline goodness : 0.779303 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:0.14 [[ 0.97605663 -0.1980869 -0.08986124 -0.95513385] [ 0.19819955 0.98013099 -0.00775781 -0.04399641] [ 0.08961251 -0.01023839 0.99592408 0.13909077] [ 0. 0. 0. 1. ]] SLAMing on 58.75992885099999 meters Centerline goodness : 0.839023 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:0.14 [[ 0.97596809 -0.19866056 -0.089556 -0.95616608] [ 0.19875441 0.98001701 -0.00795897 -0.04472227] [ 0.08934754 -0.01003195 0.99594999 0.13957182] [ 0. 0. 0. 1. ]] SLAMing on 58.78992885099999 meters Centerline goodness : 0.811981 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.05, Z:0.14 [[ 0.9757524 -0.19986795 -0.08921921 -0.95732057] [ 0.19993378 0.97977434 -0.00828995 -0.04650063] [ 0.08907159 -0.009749 0.99597751 0.14003734] [ 0. 0. 0. 1. ]] SLAMing on 58.81992885099999 meters Centerline goodness : 0.777493 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.05, Z:0.14 [[ 0.97566345 -0.20039988 -0.08899841 -0.95787904] [ 0.20045844 0.97966644 -0.00837167 -0.04759394] [ 0.08886644 -0.00967255 0.99599659 0.14016685] [ 0. 0. 0. 1. ]] SLAMing on 58.849928850999994 meters Centerline goodness : 0.837546 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.05, Z:0.14 [[ 0.9755977 -0.20075934 -0.08890907 -0.95801914] [ 0.2008227 0.97959224 -0.00832453 -0.04854555] [ 0.08876586 -0.00973357 0.99600496 0.14009319] [ 0. 0. 0. 1. ]] SLAMing on 58.879928850999995 meters Centerline goodness : 0.779488 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.05, Z:0.14 [[ 0.97550013 -0.2014022 -0.0885249 -0.95860485] [ 0.20146675 0.9794602 -0.0082982 -0.04975197] [ 0.08837789 -0.00973993 0.9960394 0.13970401] [ 0. 0. 0. 1. ]] SLAMing on 58.909928851 meters Centerline goodness : 0.835172 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.05, Z:0.14 [[ 0.97546093 -0.20156189 -0.08859331 -0.95851 ] [ 0.20162271 0.97942763 -0.00835509 -0.05001887] [ 0.0884548 -0.00971236 0.99603284 0.1397987 ] [ 0. 0. 0. 1. ]] SLAMing on 58.93992885099999 meters Centerline goodness : 0.779658 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.05, Z:0.14 [[ 0.97543236 -0.20173733 -0.08850856 -0.95860775] [ 0.20179256 0.97939212 -0.00841678 -0.05004765] [ 0.08838257 -0.00965037 0.99603985 0.1397007 ] [ 0. 0. 0. 1. ]] SLAMing on 58.96992885099999 meters Centerline goodness : 0.835554 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.05, Z:0.14 [[ 0.97545655 -0.20153655 -0.08869914 -0.95784326] [ 0.20160492 0.97943192 -0.0082807 -0.05020767] [ 0.08854363 -0.00980472 0.99602404 0.13932217] [ 0. 0. 0. 1. ]] SLAMing on 58.99992885099999 meters Centerline goodness : 0.837055 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.05, Z:0.14 [[ 0.97548884 -0.20134446 -0.08878021 -0.95733221] [ 0.20142216 0.9794704 -0.00817595 -0.05019163] [ 0.08860377 -0.00990675 0.99601768 0.13901541] [ 0. 0. 0. 1. ]] SLAMing on 59.029928850999994 meters Centerline goodness : 0.836466 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.05, Z:0.14 [[ 0.97548576 -0.2013124 -0.08888677 -0.95716145] [ 0.20137666 0.9794784 -0.00833736 -0.04964319] [ 0.08874108 -0.00976674 0.99600684 0.13910776] [ 0. 0. 0. 1. ]] SLAMing on 59.059928850999995 meters Centerline goodness : 0.836970 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.05, Z:0.14 [[ 0.97549679 -0.20130367 -0.08878536 -0.95783931] [ 0.20132168 0.97948524 -0.00884526 -0.04784327] [ 0.08874454 -0.00924589 0.99601151 0.13981828] [ 0. 0. 0. 1. ]] SLAMing on 59.089928850999996 meters Centerline goodness : 0.836143 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.05, Z:0.14 [[ 0.97547659 -0.20135294 -0.08889552 -0.95790788] [ 0.20133683 0.97947847 -0.00924127 -0.0467295 ] [ 0.08893201 -0.0088833 0.99599808 0.14028348] [ 0. 0. 0. 1. ]] SLAMing on 59.119928851 meters Centerline goodness : 0.779269 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.05, Z:0.14 [[ 0.97547608 -0.20131194 -0.08899392 -0.95766493] [ 0.20127797 0.97948859 -0.00944896 -0.04587377] [ 0.08907072 -0.00869528 0.99598735 0.14029517] [ 0. 0. 0. 1. ]] SLAMing on 59.14992885099999 meters Centerline goodness : 0.835905 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:0.14 [[ 0.97554792 -0.20092926 -0.08907131 -0.95726689] [ 0.20088078 0.97956865 -0.00960101 -0.04448898] [ 0.08918059 -0.00852647 0.99597898 0.14014534] [ 0. 0. 0. 1. ]] SLAMing on 59.17992885099999 meters Centerline goodness : 0.835926 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:0.14 [[ 0.97556623 -0.20083044 -0.08909359 -0.95726023] [ 0.20075889 0.9795911 -0.0098562 -0.04335008] [ 0.08925471 -0.00827095 0.99597449 0.14026627] [ 0. 0. 0. 1. ]] SLAMing on 59.209928850999994 meters Centerline goodness : 0.838145 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:0.14 [[ 0.97614913 -0.19795365 -0.08914725 -0.95962371] [ 0.19813232 0.98015079 -0.00692937 -0.04275089] [ 0.08874944 -0.01089885 0.99599435 0.1410017 ] [ 0. 0. 0. 1. ]] SLAMing on 59.239928850999995 meters Centerline goodness : 0.780487 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:0.14 [[ 0.97617692 -0.19778902 -0.08920828 -0.95954132] [ 0.19795239 0.98018592 -0.00710082 -0.04156274] [ 0.08884516 -0.01072733 0.99598768 0.14107543] [ 0. 0. 0. 1. ]] SLAMing on 59.269928850999996 meters Centerline goodness : 0.837807 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:0.14 [[ 0.97619094 -0.19772172 -0.08920405 -0.95944539] [ 0.19786738 0.98020165 -0.00729579 -0.04045228] [ 0.0888805 -0.01052849 0.99598665 0.14095249] [ 0. 0. 0. 1. ]] SLAMing on 59.299928851 meters Centerline goodness : 0.838537 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:0.14 [[ 0.97617334 -0.19778264 -0.08926166 -0.95944339] [ 0.19790208 0.98019234 -0.00759894 -0.03954874] [ 0.08899653 -0.01024719 0.99597922 0.1411579 ] [ 0. 0. 0. 1. ]] SLAMing on 59.32992885099999 meters Centerline goodness : 0.837859 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:0.14 [[ 0.97612096 -0.19808385 -0.08916646 -0.95980788] [ 0.19817275 0.98013492 -0.00794391 -0.03837522] [ 0.08896872 -0.00991615 0.99598506 0.14118916] [ 0. 0. 0. 1. ]] SLAMing on 59.35992885099999 meters Centerline goodness : 0.837559 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:0.14 [[ 0.97601636 -0.19871621 -0.08890402 -0.96057504] [ 0.19875718 0.98001207 -0.00848129 -0.03674628] [ 0.08881239 -0.00939243 0.99600409 0.14114818] [ 0. 0. 0. 1. ]] SLAMing on 59.38992885099999 meters Centerline goodness : 0.782994 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:0.14 [[ 0.9759726 -0.1989989 -0.08875201 -0.96087292] [ 0.19901984 0.97995681 -0.00870309 -0.03600535] [ 0.08870505 -0.00916943 0.99601573 0.14097472] [ 0. 0. 0. 1. ]] SLAMing on 59.419928850999995 meters Centerline goodness : 0.837339 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:0.14 [[ 0.97591898 -0.19930861 -0.08864667 -0.96109686] [ 0.19930196 0.97989664 -0.00901632 -0.03513404] [ 0.0886616 -0.00886826 0.99602233 0.14088366] [ 0. 0. 0. 1. ]] SLAMing on 59.449928850999996 meters Centerline goodness : 0.780876 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.03, Z:0.14 [[ 0.97585373 -0.1996957 -0.0884937 -0.96153898] [ 0.19965539 0.97982111 -0.00939733 -0.03442795] [ 0.0885846 -0.00849782 0.99603241 0.14100586] [ 0. 0. 0. 1. ]] SLAMing on 59.479928851 meters Centerline goodness : 0.783124 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.03, Z:0.14 [[ 0.97578644 -0.20014889 -0.08821142 -0.96219993] [ 0.20005192 0.97973396 -0.01002943 -0.03218929] [ 0.08843111 -0.00786028 0.99605128 0.140867 ] [ 0. 0. 0. 1. ]] SLAMing on 59.50992885099999 meters Centerline goodness : 0.783346 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.03, Z:0.14 [[ 0.97574871 -0.20032656 -0.08822546 -0.96235045] [ 0.20018766 0.97970119 -0.01051081 -0.03058353] [ 0.08854018 -0.00740574 0.99604508 0.14107605] [ 0. 0. 0. 1. ]] SLAMing on 59.53992885099999 meters Centerline goodness : 0.837701 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.03, Z:0.14 [[ 0.97566304 -0.20091055 -0.08784407 -0.96357304] [ 0.20070045 0.97958738 -0.01130899 -0.02803868] [ 0.08832303 -0.00659658 0.99607004 0.14131973] [ 0. 0. 0. 1. ]] SLAMing on 59.56992885099999 meters Centerline goodness : 0.836817 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.03, Z:0.14 [[ 0.97558726 -0.20134102 -0.08769996 -0.96418602] [ 0.20109168 0.97950182 -0.01176076 -0.02736941] [ 0.08827019 -0.00616208 0.99607751 0.14169117] [ 0. 0. 0. 1. ]] SLAMing on 59.599928850999994 meters Centerline goodness : 0.784114 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.03, Z:0.14 [[ 0.97548188 -0.20195188 -0.08746734 -0.96522708] [ 0.20166145 0.97937885 -0.01223664 -0.02703464] [ 0.08813487 -0.00570217 0.99609223 0.14229423] [ 0. 0. 0. 1. ]] SLAMing on 59.629928850999995 meters Centerline goodness : 0.787046 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.03, Z:0.14 [[ 0.97523104 -0.2034925 -0.08669041 -0.96819727] [ 0.20310937 0.97906557 -0.01331108 -0.02560282] [ 0.0875843 -0.00462625 0.99614637 0.14345477] [ 0. 0. 0. 1. ]] SLAMing on 59.659928851 meters Centerline goodness : 0.787999 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.03, Z:0.14 [[ 0.97511977 -0.20416408 -0.08636237 -0.9694099 ] [ 0.20374217 0.97892779 -0.01376609 -0.02506981] [ 0.08735307 -0.00417207 0.99616868 0.14390929] [ 0. 0. 0. 1. ]] SLAMing on 59.68992885099999 meters Centerline goodness : 0.788085 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.14 [[ 0.97500871 -0.20481868 -0.08606582 -0.97036981] [ 0.20436766 0.97879245 -0.01411402 -0.02493672] [ 0.08713139 -0.00382778 0.99618947 0.14416124] [ 0. 0. 0. 1. ]] SLAMing on 59.71992885099999 meters Centerline goodness : 0.789301 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.03, Z:0.14 [[ 0.97474797 -0.20628769 -0.08550897 -0.97191575] [ 0.20578967 0.97848591 -0.01469478 -0.02622612] [ 0.08670067 -0.00327315 0.99622903 0.14447957] [ 0. 0. 0. 1. ]] SLAMing on 59.74992885099999 meters Centerline goodness : 0.789429 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.03, Z:0.14 [[ 0.97463711 -0.20698552 -0.08508524 -0.97282351] [ 0.20648115 0.9783389 -0.01478282 -0.02705547] [ 0.08630203 -0.00316061 0.99626401 0.14435421] [ 0. 0. 0. 1. ]] SLAMing on 59.779928850999994 meters Centerline goodness : 0.787785 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.03, Z:0.14 [[ 0.97454582 -0.20749726 -0.08488422 -0.97336216] [ 0.20698996 0.97823064 -0.01483164 -0.02780291] [ 0.08611387 -0.00311607 0.99628043 0.14439105] [ 0. 0. 0. 1. ]] SLAMing on 59.809928850999995 meters Centerline goodness : 0.787785 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.03, Z:0.14 [[ 0.97454582 -0.20749726 -0.08488422 -0.97336216] [ 0.20698996 0.97823064 -0.01483164 -0.02780291] [ 0.08611387 -0.00311607 0.99628043 0.14439105] [ 0. 0. 0. 1. ]] SLAMing on 59.839928850999996 meters Centerline goodness : 0.786766 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.03, Z:0.14 [[ 0.97433347 -0.2087409 -0.08427054 -0.97531644] [ 0.20820469 0.97796715 -0.01520039 -0.02816181] [ 0.08558676 -0.00273527 0.99632697 0.14470787] [ 0. 0. 0. 1. ]] SLAMing on 59.869928851 meters Centerline goodness : 0.787854 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.03, Z:0.14 [[ 0.97426235 -0.20916751 -0.08403471 -0.97602065] [ 0.20861179 0.97787666 -0.01543899 -0.02815488] [ 0.08540492 -0.002489 0.99634322 0.14494244] [ 0. 0. 0. 1. ]] SLAMing on 59.89992885099999 meters Centerline goodness : 0.788242 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.03, Z:0.15 [[ 0.97422384 -0.20941232 -0.0838713 -0.97645206] [ 0.20884842 0.97782454 -0.0155404 -0.02832647] [ 0.08526577 -0.00237656 0.99635541 0.14505224] [ 0. 0. 0. 1. ]] SLAMing on 59.92992885099999 meters Centerline goodness : 0.789167 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.03, Z:0.15 [[ 0.9742106 -0.20950297 -0.0837986 -0.97660655] [ 0.20892451 0.97780553 -0.01571258 -0.02853399] [ 0.08523057 -0.00220022 0.99635883 0.14529284] [ 0. 0. 0. 1. ]] SLAMing on 59.959928850999994 meters Centerline goodness : 0.837032 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.03, Z:0.15 [[ 0.97423155 -0.20936873 -0.08389054 -0.97638778] [ 0.20878584 0.97783438 -0.01576083 -0.02828297] [ 0.08533088 -0.00216046 0.99635033 0.14539375] [ 0. 0. 0. 1. ]] SLAMing on 59.989928850999995 meters Centerline goodness : 0.787463 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.03, Z:0.15 [[ 0.97425467 -0.20922743 -0.08397457 -0.9762851 ] [ 0.20863898 0.97786474 -0.01582182 -0.02778834] [ 0.08542613 -0.00210588 0.99634228 0.14551532] [ 0. 0. 0. 1. ]] SLAMing on 60.019928850999996 meters Centerline goodness : 0.787999 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.03, Z:0.15 [[ 0.97430239 -0.20893661 -0.08414484 -0.97609701] [ 0.20834036 0.97792707 -0.01590419 -0.02711592] [ 0.08561048 -0.00203528 0.9963266 0.1458659 ] [ 0. 0. 0. 1. ]] SLAMing on 60.049928851 meters Centerline goodness : 0.787730 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.03, Z:0.15 [[ 0.97433194 -0.20874155 -0.08428666 -0.97589791] [ 0.20814772 0.97796863 -0.01587103 -0.02723834] [ 0.08574266 -0.00208042 0.99631515 0.14612937] [ 0. 0. 0. 1. ]] SLAMing on 60.07992885099999 meters Centerline goodness : 0.787651 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.03, Z:0.15 [[ 0.97435886 -0.20859032 -0.08434986 -0.97582971] [ 0.20800099 0.97800077 -0.01581373 -0.02718386] [ 0.08579282 -0.0021366 0.99631071 0.14624778] [ 0. 0. 0. 1. ]] SLAMing on 60.10992885099999 meters Centerline goodness : 0.786198 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.03, Z:0.15 [[ 0.97439341 -0.20837461 -0.08448375 -0.97527585] [ 0.2078001 0.97804634 -0.0156359 -0.02750991] [ 0.08588715 -0.00232021 0.99630217 0.14603877] [ 0. 0. 0. 1. ]] SLAMing on 60.13992885099999 meters Centerline goodness : 0.837041 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.03, Z:0.15 [[ 0.97442358 -0.20821134 -0.08453825 -0.97479002] [ 0.20766203 0.97808038 -0.01533802 -0.02876691] [ 0.08587875 -0.00260965 0.99630218 0.14575014] [ 0. 0. 0. 1. ]] SLAMing on 60.169928850999995 meters Centerline goodness : 0.834266 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.03, Z:0.15 [[ 0.97441683 -0.20827172 -0.08446731 -0.97481702] [ 0.20774181 0.97806694 -0.01511308 -0.02957452] [ 0.08576231 -0.00282095 0.99631163 0.14553162] [ 0. 0. 0. 1. ]] SLAMing on 60.199928850999996 meters Centerline goodness : 0.785403 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.03, Z:0.15 [[ 0.9743997 -0.20834739 -0.08447835 -0.97476775] [ 0.20782074 0.9780507 -0.01507897 -0.03017217] [ 0.08576577 -0.00286341 0.99631121 0.14558093] [ 0. 0. 0. 1. ]] SLAMing on 60.229928851 meters Centerline goodness : 0.786075 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.03, Z:0.15 [[ 0.97436924 -0.20853211 -0.08437379 -0.9751128 ] [ 0.2079945 0.97801172 -0.01521096 -0.03031957] [ 0.08569053 -0.00272819 0.99631807 0.14582125] [ 0. 0. 0. 1. ]] SLAMing on 60.25992885099999 meters Centerline goodness : 0.784971 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.03, Z:0.15 [[ 0.97435183 -0.20862496 -0.08434533 -0.97541867] [ 0.2080995 0.97799152 -0.01507264 -0.03078871] [ 0.08563355 -0.00286617 0.99632258 0.14600366] [ 0. 0. 0. 1. ]] SLAMing on 60.28992885099999 meters Centerline goodness : 0.787898 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.03, Z:0.15 [[ 0.97434177 -0.20864647 -0.08440831 -0.97535614] [ 0.20812023 0.97798692 -0.01508482 -0.03092186] [ 0.08569761 -0.00286931 0.99631706 0.14615557] [ 0. 0. 0. 1. ]] SLAMing on 60.31992885099999 meters Centerline goodness : 0.834775 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.03, Z:0.15 [[ 0.97431795 -0.20881203 -0.08427373 -0.97582815] [ 0.20828658 0.97795161 -0.01507838 -0.03125035] [ 0.08556418 -0.00286195 0.99632855 0.14633652] [ 0. 0. 0. 1. ]] SLAMing on 60.349928850999994 meters Centerline goodness : 0.782876 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.03, Z:0.15 [[ 0.97427728 -0.20902663 -0.0842119 -0.9760925 ] [ 0.20849579 0.97790594 -0.01514842 -0.03178045] [ 0.08551774 -0.00279907 0.99633272 0.14660484] [ 0. 0. 0. 1. ]] SLAMing on 60.379928850999995 meters Centerline goodness : 0.834871 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.03, Z:0.15 [[ 0.97424158 -0.20927997 -0.08399543 -0.97658054] [ 0.2087566 0.97785159 -0.01506498 -0.0332823 ] [ 0.08528787 -0.00285767 0.99635225 0.14680597] [ 0. 0. 0. 1. ]] SLAMing on 60.409928851 meters Centerline goodness : 0.836757 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.03, Z:0.15 [[ 0.9742147 -0.20944007 -0.08390813 -0.97678328] [ 0.20892024 0.97781721 -0.01502753 -0.03387371] [ 0.08519418 -0.00289007 0.99636018 0.14686696] [ 0. 0. 0. 1. ]] SLAMing on 60.43992885099999 meters Centerline goodness : 0.835942 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.04, Z:0.15 [[ 0.97415112 -0.20976632 -0.08383135 -0.97727878] [ 0.20925918 0.97774683 -0.01489052 -0.03519647] [ 0.08508936 -0.00303686 0.9963687 0.14720683] [ 0. 0. 0. 1. ]] SLAMing on 60.46992885099999 meters Centerline goodness : 0.784660 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.04, Z:0.15 [[ 0.97412532 -0.20991114 -0.08376851 -0.97739036] [ 0.20941776 0.97771526 -0.01473333 -0.03627201] [ 0.08499444 -0.0031905 0.99637632 0.14720743] [ 0. 0. 0. 1. ]] SLAMing on 60.49992885099999 meters Centerline goodness : 0.785281 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.04, Z:0.15 [[ 0.97408635 -0.21014489 -0.08363557 -0.97756287] [ 0.20966169 0.9776647 -0.01461881 -0.03743852] [ 0.08483962 -0.00329519 0.99638917 0.14716179] [ 0. 0. 0. 1. ]] SLAMing on 60.529928850999994 meters Centerline goodness : 0.786422 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.04, Z:0.15 [[ 0.97398062 -0.21071937 -0.08342116 -0.97808018] [ 0.21024868 0.97754058 -0.01448787 -0.03999631] [ 0.08460045 -0.00342829 0.99640906 0.14733871] [ 0. 0. 0. 1. ]] SLAMing on 60.559928850999995 meters Centerline goodness : 0.835121 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.04, Z:0.15 [[ 0.97398001 -0.21073287 -0.08339428 -0.97798299] [ 0.21028303 0.97753681 -0.01424163 -0.04162851] [ 0.08452215 -0.00366534 0.99641486 0.14738985] [ 0. 0. 0. 1. ]] SLAMing on 60.589928850999996 meters Centerline goodness : 0.833235 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.04, Z:0.15 [[ 0.97398219 -0.21070301 -0.08344421 -0.97765955] [ 0.21028236 0.9775419 -0.01389858 -0.04308076] [ 0.08449868 -0.00400988 0.99641552 0.14719335] [ 0. 0. 0. 1. ]] SLAMing on 60.61992885099999 meters Centerline goodness : 0.782288 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.05, Z:0.15 [[ 0.97395155 -0.21085206 -0.08342531 -0.97800433] [ 0.21045646 0.97750851 -0.01360843 -0.04506715] [ 0.08441832 -0.00430344 0.99642111 0.14765857] [ 0. 0. 0. 1. ]] SLAMing on 60.64992885099999 meters Centerline goodness : 0.834497 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.05, Z:0.15 [[ 0.97394331 -0.21086663 -0.08348474 -0.97813676] [ 0.21048266 0.97750472 -0.0134749 -0.04578415] [ 0.08444814 -0.0044483 0.99641795 0.14798692] [ 0. 0. 0. 1. ]] SLAMing on 60.67992885099999 meters Centerline goodness : 0.834510 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.05, Z:0.15 [[ 0.97400356 -0.21052721 -0.08363831 -0.97783724] [ 0.21017748 0.97757595 -0.0130648 -0.04763197] [ 0.08451329 -0.00485373 0.99641053 0.1483587 ] [ 0. 0. 0. 1. ]] SLAMing on 60.709928850999994 meters Centerline goodness : 0.831334 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.05, Z:0.15 [[ 0.9740321 -0.21029951 -0.08387834 -0.97723564] [ 0.20996557 0.9776239 -0.01288313 -0.04850804] [ 0.08471079 -0.00506298 0.99639272 0.14847341] [ 0. 0. 0. 1. ]] SLAMing on 60.739928850999995 meters Centerline goodness : 0.832780 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.05, Z:0.15 [[ 0.97418696 -0.20940751 -0.08431053 -0.9757141 ] [ 0.20912979 0.97781164 -0.01221188 -0.05000746] [ 0.08499708 -0.00573519 0.99636469 0.14812852] [ 0. 0. 0. 1. ]] SLAMing on 60.769928850999996 meters Centerline goodness : 0.833732 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.05, Z:0.15 [[ 0.97423894 -0.2090736 -0.08453824 -0.97511819] [ 0.20881518 0.97788166 -0.01198697 -0.05025529] [ 0.08517455 -0.00597469 0.99634813 0.14806791] [ 0. 0. 0. 1. ]] SLAMing on 60.799928851 meters Centerline goodness : 0.831771 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.05, Z:0.15 [[ 0.97427444 -0.20882198 -0.08475075 -0.97463505] [ 0.20857458 0.97793452 -0.01186227 -0.05053538] [ 0.08535779 -0.00611975 0.99633157 0.14814382] [ 0. 0. 0. 1. ]] SLAMing on 60.82992885099999 meters Centerline goodness : 0.834388 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.05, Z:0.15 [[ 0.97431395 -0.20857928 -0.08489409 -0.97429837] [ 0.20834868 0.97798503 -0.01166618 -0.05077773] [ 0.08545847 -0.00632105 0.99632168 0.14811757] [ 0. 0. 0. 1. ]] SLAMing on 60.85992885099999 meters Centerline goodness : 0.783815 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.05, Z:0.15 [[ 0.97444555 -0.20778012 -0.08534218 -0.97285381] [ 0.20759534 0.97815144 -0.01113243 -0.05177145] [ 0.08579067 -0.00686869 0.99628951 0.14782058] [ 0. 0. 0. 1. ]] SLAMing on 60.88992885099999 meters Centerline goodness : 0.782835 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.05, Z:0.15 [[ 0.97462435 -0.20675727 -0.08578344 -0.97136811] [ 0.20660334 0.97836555 -0.01076605 -0.05190057] [ 0.08615352 -0.00723029 0.99625564 0.14759026] [ 0. 0. 0. 1. ]] SLAMing on 60.919928850999995 meters Centerline goodness : 0.781801 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.05, Z:0.15 [[ 0.97470207 -0.20626328 -0.08608916 -0.9705965 ] [ 0.20611062 0.97846959 -0.01075515 -0.05141658] [ 0.08645402 -0.00726083 0.99622938 0.14770792] [ 0. 0. 0. 1. ]] SLAMing on 60.949928850999996 meters Centerline goodness : 0.784876 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.05, Z:0.15 [[ 0.97478432 -0.20572272 -0.08645049 -0.96975925] [ 0.20557608 0.97858273 -0.01069236 -0.05080242] [ 0.08679861 -0.0073494 0.99619877 0.14778307] [ 0. 0. 0. 1. ]] SLAMing on 60.979928851 meters Centerline goodness : 0.784333 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.05, Z:0.15 [[ 0.97557198 -0.20170913 -0.08702146 -0.97037256] [ 0.20189638 0.97938372 -0.00673619 -0.05199798] [ 0.08658615 -0.01099768 0.99618366 0.1479443 ] [ 0. 0. 0. 1. ]] SLAMing on 61.00992885099999 meters Centerline goodness : 0.780560 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.05, Z:0.15 [[ 0.97563737 -0.2013077 -0.08721768 -0.9697938 ] [ 0.20149691 0.97946609 -0.00672062 -0.05151349] [ 0.08677967 -0.01101721 0.99616661 0.14794328] [ 0. 0. 0. 1. ]] SLAMing on 61.03992885099999 meters Centerline goodness : 0.785659 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.05, Z:0.15 [[ 0.97636295 -0.19749619 -0.08781033 -0.97057372] [ 0.19800799 0.98019603 -0.00293036 -0.05304072] [ 0.08665007 -0.01452605 0.9961329 0.14848785] [ 0. 0. 0. 1. ]] SLAMing on 61.06992885099999 meters Centerline goodness : 0.784749 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.05, Z:0.15 [[ 0.97642617 -0.19705777 -0.08809183 -0.96991507] [ 0.19757955 0.98028273 -0.00284337 -0.0526325 ] [ 0.08691521 -0.01462881 0.9961083 0.14852493] [ 0. 0. 0. 1. ]] SLAMing on 61.099928850999994 meters Centerline goodness : 0.783369 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.05, Z:0.15 [[ 0.97651852 -0.19651968 -0.08827004 -0.96952046] [ 0.19705097 0.98038942 -0.00274044 -0.05228624] [ 0.08707756 -0.01471761 0.99609281 0.14875006] [ 0. 0. 0. 1. ]] SLAMing on 61.129928850999995 meters Centerline goodness : 0.835733 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.05, Z:0.15 [[ 0.97652441 -0.19644392 -0.08837345 -0.96945155] [ 0.1969712 0.98040528 -0.0028003 -0.05221102] [ 0.0871919 -0.01467246 0.99608348 0.14902746] [ 0. 0. 0. 1. ]] SLAMing on 61.159928851 meters Centerline goodness : 0.836793 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.05, Z:0.15 [[ 0.97656564 -0.1962163 -0.08842354 -0.96930107] [ 0.19675626 0.98044884 -0.00265363 -0.05248193] [ 0.08721544 -0.01480644 0.99607943 0.14908893] [ 0. 0. 0. 1. ]] SLAMing on 61.18992885099999 meters Centerline goodness : 0.837656 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.05, Z:0.15 [[ 0.97654458 -0.19630053 -0.08846917 -0.96921143] [ 0.19683672 0.98043254 -0.00270819 -0.05306324] [ 0.08726967 -0.01476931 0.99607523 0.14925277] [ 0. 0. 0. 1. ]] SLAMing on 61.21992885099999 meters Centerline goodness : 0.785591 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.05, Z:0.15 [[ 0.97653322 -0.19635448 -0.08847474 -0.96910909] [ 0.1968981 0.98042044 -0.00262691 -0.05376691] [ 0.08725825 -0.01485524 0.99607496 0.14923928] [ 0. 0. 0. 1. ]] SLAMing on 61.24992885099999 meters Centerline goodness : 0.785591 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.05, Z:0.15 [[ 0.97653322 -0.19635448 -0.08847474 -0.96910909] [ 0.1968981 0.98042044 -0.00262691 -0.05376691] [ 0.08725825 -0.01485524 0.99607496 0.14923928] [ 0. 0. 0. 1. ]] SLAMing on 61.279928850999994 meters Centerline goodness : 0.785993 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.06, Z:0.15 [[ 0.97650287 -0.19651495 -0.08845353 -0.9688814 ] [ 0.19707258 0.98038579 -0.00247046 -0.05517043] [ 0.08720407 -0.01501935 0.99607724 0.14905912] [ 0. 0. 0. 1. ]] SLAMing on 61.309928850999995 meters Centerline goodness : 0.786704 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.06, Z:0.15 [[ 0.97646633 -0.19671528 -0.08841161 -0.96902302] [ 0.19726949 0.98034608 -0.00251144 -0.05573319] [ 0.08716801 -0.01498857 0.99608086 0.14922919] [ 0. 0. 0. 1. ]] SLAMing on 61.339928850999996 meters Centerline goodness : 0.838427 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.06, Z:0.15 [[ 0.97641816 -0.19703343 -0.08823496 -0.96950642] [ 0.19758694 0.98028217 -0.00250333 -0.05649413] [ 0.08698839 -0.01498978 0.99609654 0.14936687] [ 0. 0. 0. 1. ]] SLAMing on 61.36992885099999 meters Centerline goodness : 0.838427 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.06, Z:0.15 [[ 0.97641816 -0.19703343 -0.08823496 -0.96950642] [ 0.19758694 0.98028217 -0.00250333 -0.05649413] [ 0.08698839 -0.01498978 0.99609654 0.14936687] [ 0. 0. 0. 1. ]] SLAMing on 61.39992885099999 meters Centerline goodness : 0.785375 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.06, Z:0.15 [[ 0.976396 -0.19715393 -0.08821096 -0.96987974] [ 0.197687 0.98026137 -0.00273865 -0.05584729] [ 0.08700973 -0.01476416 0.99609805 0.14977218] [ 0. 0. 0. 1. ]] SLAMing on 61.42992885099999 meters Centerline goodness : 0.837627 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.06, Z:0.15 [[ 0.9763801 -0.19724329 -0.08818719 -0.9700799 ] [ 0.19775331 0.98024722 -0.00300258 -0.05514727] [ 0.08703749 -0.01450765 0.99609939 0.14998358] [ 0. 0. 0. 1. ]] SLAMing on 61.459928850999994 meters Centerline goodness : 0.839223 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.05, Z:0.15 [[ 0.97639118 -0.19720391 -0.08815263 -0.97037799] [ 0.19768653 0.9802597 -0.00330866 -0.05417824] [ 0.08706495 -0.01419604 0.99610148 0.15034495] [ 0. 0. 0. 1. ]] SLAMing on 61.489928850999995 meters Centerline goodness : 0.782654 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.05, Z:0.15 [[ 0.97639388 -0.19717797 -0.08818076 -0.97026668] [ 0.19764624 0.98026725 -0.00347615 -0.0535091 ] [ 0.08712613 -0.0140345 0.99609842 0.15031794] [ 0. 0. 0. 1. ]] SLAMing on 61.519928850999996 meters Centerline goodness : 0.783058 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.05, Z:0.15 [[ 0.97639248 -0.19715245 -0.08825328 -0.97003559] [ 0.19759901 0.98027582 -0.00373466 -0.05259845] [ 0.08724885 -0.01379227 0.99609107 0.15028745] [ 0. 0. 0. 1. ]] SLAMing on 61.549928851 meters Centerline goodness : 0.835477 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.05, Z:0.15 [[ 9.77038144e-01 -1.93722671e-01 -8.87017053e-02 -9.71144113e-01] [ 1.94455543e-01 9.80911256e-01 -3.86301023e-04 -5.24627625e-02] [ 8.70833364e-02 -1.68711074e-02 9.96058160e-01 1.50657437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.57992885099999 meters Centerline goodness : 0.836943 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.05, Z:0.15 [[ 9.77049145e-01 -1.93658949e-01 -8.87196670e-02 -9.71176265e-01] [ 1.94357182e-01 9.80930514e-01 -7.82845590e-04 -5.06838607e-02] [ 8.71794335e-02 -1.64784258e-02 9.96056328e-01 1.50789473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.60992885099999 meters Centerline goodness : 0.785999 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.05, Z:0.15 [[ 0.97705546 -0.19362364 -0.08872716 -0.97137079] [ 0.19429124 0.98094324 -0.00113245 -0.04915163] [ 0.08725558 -0.01613245 0.99605532 0.15104027] [ 0. 0. 0. 1. ]] SLAMing on 61.63992885099999 meters Centerline goodness : 0.785011 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.05, Z:0.15 [[ 0.97708541 -0.19340546 -0.08887308 -0.97098587] [ 0.19403559 0.98099322 -0.00157648 -0.04715702] [ 0.08748879 -0.01570418 0.99604171 0.15112629] [ 0. 0. 0. 1. ]] SLAMing on 61.669928850999995 meters Centerline goodness : 0.784297 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.05, Z:0.15 [[ 0.97707052 -0.19348601 -0.0888615 -0.97092897] [ 0.1941025 0.98097972 -0.00173333 -0.0467348 ] [ 0.0875067 -0.01555465 0.99604248 0.15104691] [ 0. 0. 0. 1. ]] SLAMing on 61.699928850999996 meters Centerline goodness : 0.784297 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.05, Z:0.15 [[ 0.97707052 -0.19348601 -0.0888615 -0.97092897] [ 0.1941025 0.98097972 -0.00173333 -0.0467348 ] [ 0.0875067 -0.01555465 0.99604248 0.15104691] [ 0. 0. 0. 1. ]] SLAMing on 61.729928851 meters Centerline goodness : 0.784035 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.04, Z:0.15 [[ 0.97696061 -0.19421749 -0.08847338 -0.97195793] [ 0.19476607 0.98084661 -0.00247295 -0.04474541] [ 0.0872591 -0.01481563 0.99607547 0.15106387] [ 0. 0. 0. 1. ]] SLAMing on 61.75992885099999 meters Centerline goodness : 0.783383 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.04, Z:0.15 [[ 0.97686726 -0.19480841 -0.08820451 -0.97293978] [ 0.19530923 0.98073712 -0.00300036 -0.043866 ] [ 0.08708993 -0.0142962 0.99609787 0.15146673] [ 0. 0. 0. 1. ]] SLAMing on 61.78992885099999 meters Centerline goodness : 0.784394 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.04, Z:0.15 [[ 0.97671946 -0.19573152 -0.08779673 -0.9745686 ] [ 0.19616807 0.98056326 -0.00371272 -0.04298291] [ 0.08681695 -0.01359663 0.99613149 0.1522178 ] [ 0. 0. 0. 1. ]] SLAMing on 61.81992885099999 meters Centerline goodness : 0.785052 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.04, Z:0.15 [[ 0.97648893 -0.19713539 -0.08721813 -0.97663655] [ 0.19749432 0.98029333 -0.00458031 -0.04252989] [ 0.08640229 -0.01275247 0.99617871 0.15298542] [ 0. 0. 0. 1. ]] SLAMing on 61.849928850999994 meters Centerline goodness : 0.784337 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.04, Z:0.15 [[ 0.97640845 -0.19759115 -0.08708774 -0.97677412] [ 0.19793228 0.98020401 -0.00478695 -0.04225972] [ 0.08630961 -0.01256346 0.99618914 0.15266554] [ 0. 0. 0. 1. ]] SLAMing on 61.879928850999995 meters Centerline goodness : 0.784182 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.04, Z:0.15 [[ 0.97633261 -0.19806333 -0.08686518 -0.97695324] [ 0.19839133 0.9801105 -0.00492756 -0.04210361] [ 0.08611345 -0.01242236 0.99620789 0.15216829] [ 0. 0. 0. 1. ]] SLAMing on 61.909928851 meters Centerline goodness : 0.783208 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.04, Z:0.15 [[ 0.97604154 -0.19977956 -0.08620348 -0.97905239] [ 0.20003274 0.97977217 -0.00577921 -0.0416892 ] [ 0.08561434 -0.01160277 0.99626079 0.15256053] [ 0. 0. 0. 1. ]] SLAMing on 61.93992885099999 meters Centerline goodness : 0.782994 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.04, Z:0.15 [[ 0.97589507 -0.20066205 -0.08581118 -0.98022054] [ 0.20087272 0.97959734 -0.00626161 -0.04152507] [ 0.08531687 -0.01112645 0.99629174 0.15284419] [ 0. 0. 0. 1. ]] SLAMing on 61.96992885099999 meters Centerline goodness : 0.784348 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.04, Z:0.15 [[ 0.97562649 -0.20226913 -0.08508909 -0.98226584] [ 0.20240844 0.97927562 -0.00707727 -0.04114849] [ 0.08475718 -0.01031798 0.99634821 0.1530984 ] [ 0. 0. 0. 1. ]] SLAMing on 61.99992885099999 meters Centerline goodness : 0.785587 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.04, Z:0.15 [[ 0.9755072 -0.20292889 -0.08488563 -0.98305309] [ 0.20302977 0.97914358 -0.00753383 -0.04100413] [ 0.08464405 -0.00988501 0.99636222 0.15351685] [ 0. 0. 0. 1. ]] SLAMing on 62.029928850999994 meters Centerline goodness : 0.783906 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.04, Z:0.15 [[ 0.97539619 -0.20362659 -0.0844896 -0.98419416] [ 0.20368893 0.97900319 -0.00797349 -0.04075689] [ 0.0843392 -0.00943228 0.99639246 0.1538163 ] [ 0. 0. 0. 1. ]] SLAMing on 62.059928850999995 meters Centerline goodness : 0.785215 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.15 [[ 0.97522045 -0.20465259 -0.08403806 -0.98566946] [ 0.20465624 0.97879557 -0.0086639 -0.03996178] [ 0.08402917 -0.00874971 0.99642488 0.15424206] [ 0. 0. 0. 1. ]] SLAMing on 62.089928850999996 meters Centerline goodness : 0.787659 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.15 [[ 0.97513759 -0.2051468 -0.08379417 -0.98641117] [ 0.20511075 0.97869617 -0.00913166 -0.03899924] [ 0.08388236 -0.00828246 0.99644124 0.1544467 ] [ 0. 0. 0. 1. ]] SLAMing on 62.11992885099999 meters Centerline goodness : 0.787200 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.15 [[ 0.97499873 -0.20592433 -0.08350238 -0.98749219] [ 0.20584278 0.97853721 -0.00967838 -0.03815597] [ 0.0837032 -0.00775195 0.99646058 0.15480547] [ 0. 0. 0. 1. ]] SLAMing on 62.14992885099999 meters Centerline goodness : 0.785782 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.15 [[ 0.97495244 -0.20618243 -0.08340584 -0.98771362] [ 0.2060906 0.97848381 -0.00980308 -0.03842272] [ 0.08363249 -0.00763162 0.99646744 0.15487576] [ 0. 0. 0. 1. ]] SLAMing on 62.17992885099999 meters Centerline goodness : 0.786245 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.9748351 -0.20684107 -0.08314627 -0.98852789] [ 0.20672486 0.978347 -0.0100989 -0.03873388] [ 0.08343477 -0.00734364 0.99648618 0.15512516] [ 0. 0. 0. 1. ]] SLAMing on 62.209928850999994 meters Centerline goodness : 0.833391 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.9747381 -0.2073673 -0.08297249 -0.98941122] [ 0.2072212 0.97823815 -0.01046382 -0.03886706] [ 0.08333671 -0.00699417 0.9964969 0.1558379 ] [ 0. 0. 0. 1. ]] SLAMing on 62.239928850999995 meters Centerline goodness : 0.785413 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97470879 -0.20751461 -0.08294849 -0.98955394] [ 0.20735419 0.97820808 -0.01063935 -0.03886563] [ 0.08334871 -0.00682945 0.99649704 0.15607898] [ 0. 0. 0. 1. ]] SLAMing on 62.269928850999996 meters Centerline goodness : 0.833763 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97473799 -0.20734604 -0.08302694 -0.98957176] [ 0.20718464 0.97824389 -0.01065023 -0.03905509] [ 0.08342888 -0.00682072 0.99649039 0.1565175 ] [ 0. 0. 0. 1. ]] SLAMing on 62.299928851 meters Centerline goodness : 0.788261 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.974905 -0.20635138 -0.08354248 -0.98834448] [ 0.20622379 0.97845119 -0.01024802 -0.03951297] [ 0.08385693 -0.0072376 0.99645152 0.15676899] [ 0. 0. 0. 1. ]] SLAMing on 62.32992885099999 meters Centerline goodness : 0.788261 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.974905 -0.20635138 -0.08354248 -0.98834448] [ 0.20622379 0.97845119 -0.01024802 -0.03951297] [ 0.08385693 -0.0072376 0.99645152 0.15676899] [ 0. 0. 0. 1. ]] SLAMing on 62.35992885099999 meters Centerline goodness : 0.788261 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.974905 -0.20635138 -0.08354248 -0.98834448] [ 0.20622379 0.97845119 -0.01024802 -0.03951297] [ 0.08385693 -0.0072376 0.99645152 0.15676899] [ 0. 0. 0. 1. ]] SLAMing on 62.38992885099999 meters Centerline goodness : 0.786046 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.9749294 -0.2061628 -0.08372318 -0.98811181] [ 0.20603486 0.97849087 -0.0102597 -0.03937261] [ 0.08403754 -0.00724741 0.99643623 0.15707942] [ 0. 0. 0. 1. ]] SLAMing on 62.419928850999995 meters Centerline goodness : 0.789317 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97556944 -0.20288531 -0.08427228 -0.98934428] [ 0.20304661 0.97914586 -0.00674291 -0.04089046] [ 0.08388289 -0.01053302 0.99641995 0.15788258] [ 0. 0. 0. 1. ]] SLAMing on 62.449928850999996 meters Centerline goodness : 0.787462 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.9756442 -0.20245194 -0.08444882 -0.98876127] [ 0.20263632 0.97923267 -0.00647257 -0.04174999] [ 0.08400542 -0.01079747 0.9964068 0.15797396] [ 0. 0. 0. 1. ]] SLAMing on 62.479928851 meters Centerline goodness : 0.787613 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97566338 -0.20230543 -0.08457829 -0.98842696] [ 0.2024988 0.97926175 -0.00637642 -0.04229968] [ 0.08411427 -0.01090576 0.99639643 0.1580644 ] [ 0. 0. 0. 1. ]] SLAMing on 62.50992885099999 meters Centerline goodness : 0.787456 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97571411 -0.2020396 -0.08462846 -0.98826791] [ 0.20224351 0.97931535 -0.00624653 -0.04276408] [ 0.08414 -0.01102073 0.996393 0.15823058] [ 0. 0. 0. 1. ]] SLAMing on 62.53992885099999 meters Centerline goodness : 0.785566 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97577126 -0.20167116 -0.08484803 -0.98806312] [ 0.20186893 0.97939208 -0.00633182 -0.04266065] [ 0.08437643 -0.01094978 0.99637379 0.15893199] [ 0. 0. 0. 1. ]] SLAMing on 62.56992885099999 meters Centerline goodness : 0.785430 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97579963 -0.20145294 -0.08504 -0.98771397] [ 0.20164492 0.97943768 -0.00641543 -0.04245643] [ 0.08458378 -0.01088771 0.99635688 0.1592165 ] [ 0. 0. 0. 1. ]] SLAMing on 62.599928850999994 meters Centerline goodness : 0.785430 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97579963 -0.20145294 -0.08504 -0.98771397] [ 0.20164492 0.97943768 -0.00641543 -0.04245643] [ 0.08458378 -0.01088771 0.99635688 0.1592165 ] [ 0. 0. 0. 1. ]] SLAMing on 62.629928850999995 meters Centerline goodness : 0.785430 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97579963 -0.20145294 -0.08504 -0.98771397] [ 0.20164492 0.97943768 -0.00641543 -0.04245643] [ 0.08458378 -0.01088771 0.99635688 0.1592165 ] [ 0. 0. 0. 1. ]] SLAMing on 62.659928851 meters Centerline goodness : 0.789753 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97588259 -0.20099656 -0.08516779 -0.98726179] [ 0.20119016 0.97953134 -0.00639273 -0.04185847] [ 0.08470943 -0.01089637 0.99634612 0.15925189] [ 0. 0. 0. 1. ]] SLAMing on 62.68992885099999 meters Centerline goodness : 0.839068 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97589578 -0.2008472 -0.08536874 -0.98687493] [ 0.20104424 0.97956144 -0.00637177 -0.04175335] [ 0.08490368 -0.01094471 0.99632905 0.15932901] [ 0. 0. 0. 1. ]] SLAMing on 62.71992885099999 meters Centerline goodness : 0.838250 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97591432 -0.20069913 -0.08550496 -0.98647615] [ 0.20090174 0.97959103 -0.00631756 -0.04181968] [ 0.08502782 -0.01101269 0.99631772 0.15926695] [ 0. 0. 0. 1. ]] SLAMing on 62.74992885099999 meters Centerline goodness : 0.836688 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97591767 -0.20064813 -0.08558638 -0.98626115] [ 0.20084507 0.97960216 -0.0063922 -0.04191816] [ 0.08512318 -0.01095134 0.99631025 0.15936847] [ 0. 0. 0. 1. ]] SLAMing on 62.779928850999994 meters Centerline goodness : 0.788313 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97595324 -0.20040834 -0.0857425 -0.98585585] [ 0.20060703 0.97965101 -0.00638136 -0.04161714] [ 0.0852766 -0.01097264 0.99629689 0.15940277] [ 0. 0. 0. 1. ]] SLAMing on 62.809928850999995 meters Centerline goodness : 0.788016 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97597143 -0.20023983 -0.08592893 -0.98526035] [ 0.20043555 0.97968577 -0.00643262 -0.04087827] [ 0.08547142 -0.01094515 0.9962805 0.15916981] [ 0. 0. 0. 1. ]] SLAMing on 62.839928850999996 meters Centerline goodness : 0.789616 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.04, Z:0.16 [[ 0.97599058 -0.20006434 -0.08612001 -0.98477311] [ 0.2002539 0.97972233 -0.00652086 -0.04028112] [ 0.08567829 -0.01088157 0.99626343 0.15916386] [ 0. 0. 0. 1. ]] SLAMing on 62.86992885099999 meters Centerline goodness : 0.787049 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97602097 -0.19995451 -0.08603058 -0.98504751] [ 0.20011695 0.97974828 -0.00682021 -0.03894731] [ 0.08565204 -0.01055951 0.99626915 0.15938479] [ 0. 0. 0. 1. ]] SLAMing on 62.89992885099999 meters Centerline goodness : 0.788067 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97595477 -0.20036851 -0.08581808 -0.98608209] [ 0.20049202 0.97966839 -0.00726588 -0.03858085] [ 0.08552911 -0.01011467 0.99628433 0.16019305] [ 0. 0. 0. 1. ]] SLAMing on 62.92992885099999 meters Centerline goodness : 0.837863 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97586836 -0.20088317 -0.08559726 -0.98711272] [ 0.20097464 0.97956668 -0.0076366 -0.03874184] [ 0.08538229 -0.00975056 0.99630055 0.16092757] [ 0. 0. 0. 1. ]] SLAMing on 62.959928850999994 meters Centerline goodness : 0.838310 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97581882 -0.20114178 -0.08555478 -0.98700818] [ 0.20123076 0.97951382 -0.00767215 -0.03912405] [ 0.08534528 -0.00972963 0.99630393 0.160714 ] [ 0. 0. 0. 1. ]] SLAMing on 62.989928850999995 meters Centerline goodness : 0.787225 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97580521 -0.20121908 -0.08552816 -0.98686426] [ 0.20131221 0.97949746 -0.00762407 -0.03935132] [ 0.08530873 -0.00977825 0.99630658 0.16050435] [ 0. 0. 0. 1. ]] SLAMing on 63.019928850999996 meters Centerline goodness : 0.785988 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97576434 -0.20143852 -0.08547799 -0.98699942] [ 0.20152923 0.97945258 -0.0076562 -0.03975138] [ 0.08526389 -0.00975567 0.99631064 0.16052523] [ 0. 0. 0. 1. ]] SLAMing on 63.04992885099999 meters Centerline goodness : 0.788219 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97563809 -0.2022406 -0.08502384 -0.98821036] [ 0.20230234 0.97929061 -0.00797956 -0.04045497] [ 0.08487684 -0.00941536 0.99634696 0.16083172] [ 0. 0. 0. 1. ]] SLAMing on 63.07992885099999 meters Centerline goodness : 0.786993 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97561554 -0.20236644 -0.08498319 -0.98807976] [ 0.20242921 0.97926448 -0.00796836 -0.04070279] [ 0.08483355 -0.00942903 0.99635052 0.16058619] [ 0. 0. 0. 1. ]] SLAMing on 63.10992885099999 meters Centerline goodness : 0.785861 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97563404 -0.20221915 -0.08512134 -0.98758385] [ 0.20228613 0.97929437 -0.00792795 -0.04066017] [ 0.08496204 -0.00948409 0.99633905 0.16041327] [ 0. 0. 0. 1. ]] SLAMing on 63.13992885099999 meters Centerline goodness : 0.786480 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97561086 -0.20235021 -0.08507552 -0.98800194] [ 0.20239593 0.97926963 -0.008178 -0.04030739] [ 0.0849667 -0.00924039 0.99634094 0.16087596] [ 0. 0. 0. 1. ]] SLAMing on 63.169928850999995 meters Centerline goodness : 0.786872 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97552455 -0.20282815 -0.08492701 -0.98915591] [ 0.20282751 0.97917559 -0.00872699 -0.03980548] [ 0.08492854 -0.00871214 0.99634896 0.16193078] [ 0. 0. 0. 1. ]] SLAMing on 63.199928850999996 meters Centerline goodness : 0.787416 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97542189 -0.20344637 -0.08462691 -0.99052438] [ 0.20341461 0.9790505 -0.00908937 -0.04007203] [ 0.08470322 -0.00834838 0.99637125 0.16283362] [ 0. 0. 0. 1. ]] SLAMing on 63.229928851 meters Centerline goodness : 0.788366 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97526257 -0.20432064 -0.08435638 -0.99156067] [ 0.20427619 0.97886959 -0.00925051 -0.04132896] [ 0.08446396 -0.00821033 0.99639271 0.16327199] [ 0. 0. 0. 1. ]] SLAMing on 63.25992885099999 meters Centerline goodness : 0.785210 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97518344 -0.20473244 -0.08427274 -0.99179191] [ 0.20467751 0.97878448 -0.00938401 -0.04195081] [ 0.08440606 -0.0080976 0.99639854 0.16335094] [ 0. 0. 0. 1. ]] SLAMing on 63.28992885099999 meters Centerline goodness : 0.783860 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.04, Z:0.16 [[ 0.97475266 -0.20706126 -0.08356372 -0.99281895] [ 0.20685868 0.97830706 -0.01117046 -0.0440237 ] [ 0.08406395 -0.00639745 0.99643983 0.16404212] [ 0. 0. 0. 1. ]] SLAMing on 63.31992885099999 meters Centerline goodness : 0.784928 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.05, Z:0.16 [[ 0.97464928 -0.20763549 -0.0833444 -0.99355078] [ 0.20743034 0.97818557 -0.01120903 -0.04563851] [ 0.08385368 -0.00636329 0.99645776 0.16443571] [ 0. 0. 0. 1. ]] SLAMing on 63.349928850999994 meters Centerline goodness : 0.784751 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.05, Z:0.16 [[ 0.97457662 -0.208058 -0.08314008 -0.99398024] [ 0.20785382 0.97809578 -0.01120013 -0.04718785] [ 0.08364923 -0.0063656 0.99647493 0.16461034] [ 0. 0. 0. 1. ]] SLAMing on 63.379928850999995 meters Centerline goodness : 0.837413 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.05, Z:0.17 [[ 0.97449465 -0.20850954 -0.08296962 -0.99443604] [ 0.20831093 0.97799921 -0.01113989 -0.04953764] [ 0.083467 -0.00642772 0.99648981 0.16500291] [ 0. 0. 0. 1. ]] SLAMing on 63.409928851 meters Centerline goodness : 0.837354 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.05, Z:0.17 [[ 0.97446907 -0.20860697 -0.08302513 -0.99465149] [ 0.208408 0.97797838 -0.01115274 -0.05028891] [ 0.08352333 -0.0064351 0.99648504 0.16553875] [ 0. 0. 0. 1. ]] SLAMing on 63.43992885099999 meters Centerline goodness : 0.836112 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.05, Z:0.17 [[ 0.97443179 -0.20877616 -0.08303737 -0.99519175] [ 0.20858017 0.97794199 -0.01112547 -0.05142752] [ 0.08352847 -0.00647894 0.99648433 0.16637664] [ 0. 0. 0. 1. ]] SLAMing on 63.46992885099999 meters Centerline goodness : 0.785171 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.05, Z:0.17 [[ 0.97441884 -0.20881939 -0.08308067 -0.99524428] [ 0.20863862 0.97793151 -0.01094913 -0.05262509] [ 0.08353359 -0.0066648 0.99648267 0.16665684] [ 0. 0. 0. 1. ]] SLAMing on 63.49992885099999 meters Centerline goodness : 0.835102 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.05, Z:0.17 [[ 0.97442778 -0.20877479 -0.08308782 -0.99513043] [ 0.20861638 0.97793922 -0.01068104 -0.05420976] [ 0.08348477 -0.00692558 0.99648499 0.16678416] [ 0. 0. 0. 1. ]] SLAMing on 63.529928850999994 meters Centerline goodness : 0.782943 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.06, Z:0.17 [[ 0.97440206 -0.20891892 -0.08302712 -0.99532129] [ 0.20876816 0.97790781 -0.01059074 -0.05566424] [ 0.08340547 -0.00701378 0.99649101 0.16707103] [ 0. 0. 0. 1. ]] SLAMing on 63.559928850999995 meters Centerline goodness : 0.836068 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.06, Z:0.17 [[ 0.97436299 -0.20913852 -0.08293279 -0.99564366] [ 0.20899503 0.97786027 -0.01050531 -0.05716787] [ 0.08329375 -0.00709655 0.99649977 0.16739965] [ 0. 0. 0. 1. ]] SLAMing on 63.589928850999996 meters Centerline goodness : 0.781865 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.06, Z:0.17 [[ 0.97439152 -0.20895416 -0.08306218 -0.99524498] [ 0.20884019 0.97789705 -0.01015571 -0.05916529] [ 0.08334834 -0.00745108 0.99649262 0.16758693] [ 0. 0. 0. 1. ]] SLAMing on 63.61992885099999 meters Centerline goodness : 0.781865 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.06, Z:0.17 [[ 0.97439152 -0.20895416 -0.08306218 -0.99524498] [ 0.20884019 0.97789705 -0.01015571 -0.05916529] [ 0.08334834 -0.00745108 0.99649262 0.16758693] [ 0. 0. 0. 1. ]] SLAMing on 63.64992885099999 meters Centerline goodness : 0.781429 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.06, Z:0.17 [[ 0.97444021 -0.20864826 -0.08325968 -0.99470445] [ 0.20855301 0.97796058 -0.00993683 -0.05968729] [ 0.08349798 -0.00768121 0.99647834 0.16759758] [ 0. 0. 0. 1. ]] SLAMing on 63.67992885099999 meters Centerline goodness : 0.835744 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.06, Z:0.17 [[ 0.97459276 -0.20774575 -0.08372967 -0.9934589 ] [ 0.20769476 0.97814837 -0.00941558 -0.06038554] [ 0.08385609 -0.00821386 0.99644402 0.16759742] [ 0. 0. 0. 1. ]] SLAMing on 63.709928850999994 meters Centerline goodness : 0.833705 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.06, Z:0.17 [[ 0.97466293 -0.207308 -0.08399739 -0.99287042] [ 0.20727063 0.9782398 -0.00926143 -0.06062925] [ 0.08408956 -0.00838342 0.99642293 0.16778867] [ 0. 0. 0. 1. ]] SLAMing on 63.739928850999995 meters Centerline goodness : 0.833489 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.06, Z:0.17 [[ 0.97474715 -0.20679414 -0.08428631 -0.99206831] [ 0.20678309 0.97834581 -0.00895701 -0.06118876] [ 0.08431342 -0.00869817 0.99640132 0.16776924] [ 0. 0. 0. 1. ]] SLAMing on 63.769928850999996 meters Centerline goodness : 0.782316 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.06, Z:0.17 [[ 0.97490129 -0.20587622 -0.08474932 -0.99073176] [ 0.20590663 0.97853492 -0.00847716 -0.06228757] [ 0.08467542 -0.00918605 0.99636624 0.16780752] [ 0. 0. 0. 1. ]] SLAMing on 63.79992885099999 meters Centerline goodness : 0.781269 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.06, Z:0.17 [[ 0.97493651 -0.20564487 -0.08490573 -0.99060035] [ 0.20568468 0.97858249 -0.00837357 -0.06284585] [ 0.08480924 -0.00930011 0.9963538 0.16821496] [ 0. 0. 0. 1. ]] SLAMing on 63.82992885099999 meters Centerline goodness : 0.782253 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.06, Z:0.17 [[ 0.97504189 -0.20502031 -0.08520553 -0.99000452] [ 0.20508826 0.97871038 -0.00804947 -0.06381897] [ 0.08504184 -0.00962608 0.99633088 0.16862425] [ 0. 0. 0. 1. ]] SLAMing on 63.85992885099999 meters Centerline goodness : 0.782744 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.06, Z:0.17 [[ 0.97509198 -0.2046969 -0.08540971 -0.98948242] [ 0.2047795 0.97877635 -0.00788713 -0.06427525] [ 0.08521148 -0.00979948 0.9963147 0.16871523] [ 0. 0. 0. 1. ]] SLAMing on 63.88992885099999 meters Centerline goodness : 0.783843 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.06, Z:0.17 [[ 0.97515107 -0.20429293 -0.08570172 -0.98876002] [ 0.2043958 0.9788583 -0.00766659 -0.06472593] [ 0.08545607 -0.01004099 0.99629134 0.16874594] [ 0. 0. 0. 1. ]] SLAMing on 63.919928850999995 meters Centerline goodness : 0.837835 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.07, Z:0.17 [[ 0.97527288 -0.20353146 -0.08612637 -0.98756817] [ 0.20367843 0.97901158 -0.00717087 -0.06547087] [ 0.08577821 -0.01054853 0.99625841 0.1686074 ] [ 0. 0. 0. 1. ]] SLAMing on 63.949928850999996 meters Centerline goodness : 0.837161 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.07, Z:0.17 [[ 0.97532919 -0.20320474 -0.08626012 -0.98707861] [ 0.2033754 0.97907654 -0.00689804 -0.06591634] [ 0.08585698 -0.01081533 0.99624877 0.16845634] [ 0. 0. 0. 1. ]] SLAMing on 63.979928851 meters Centerline goodness : 0.840519 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.07, Z:0.17 [[ 0.97539246 -0.20278857 -0.08652371 -0.98642259] [ 0.20298427 0.9791596 -0.00662293 -0.06639804] [ 0.08606357 -0.011103 0.99622778 0.16848627] [ 0. 0. 0. 1. ]] SLAMing on 64.00992885099998 meters Centerline goodness : 0.780553 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.07, Z:0.17 [[ 0.97550915 -0.20209099 -0.08683969 -0.98539282] [ 0.20233226 0.97929789 -0.00610684 -0.06698782] [ 0.08627607 -0.01161319 0.99620358 0.16822876] [ 0. 0. 0. 1. ]] SLAMing on 64.039928851 meters Centerline goodness : 0.840328 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.07, Z:0.17 [[ 0.97550191 -0.20205753 -0.08699867 -0.98520093] [ 0.20229634 0.97930501 -0.00615519 -0.06714307] [ 0.08644193 -0.01159512 0.99618941 0.168503 ] [ 0. 0. 0. 1. ]] SLAMing on 64.069928851 meters Centerline goodness : 0.839384 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.07, Z:0.17 [[ 0.97551751 -0.20196562 -0.08703725 -0.9852507 ] [ 0.20221697 0.97932229 -0.00601162 -0.06824036] [ 0.08645166 -0.01173597 0.99618692 0.16889201] [ 0. 0. 0. 1. ]] SLAMing on 64.09992885099999 meters Centerline goodness : 0.838856 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.07, Z:0.17 [[ 0.97548946 -0.20213742 -0.08695272 -0.98558001] [ 0.20238217 0.97928772 -0.00608389 -0.06858167] [ 0.08638151 -0.01166291 0.99619386 0.16913998] [ 0. 0. 0. 1. ]] SLAMing on 64.12992885099999 meters Centerline goodness : 0.836182 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.07, Z:0.17 [[ 0.97546987 -0.20221999 -0.08698049 -0.98577003] [ 0.20245826 0.97927148 -0.00616618 -0.06883175] [ 0.08642444 -0.01159499 0.99619093 0.16955956] [ 0. 0. 0. 1. ]] SLAMing on 64.15992885099999 meters Centerline goodness : 0.836983 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.07, Z:0.17 [[ 0.97546181 -0.20227724 -0.08693777 -0.98603222] [ 0.20251396 0.97925987 -0.00618086 -0.06975792] [ 0.08638492 -0.01157692 0.99619457 0.17002729] [ 0. 0. 0. 1. ]] SLAMing on 64.18992885099999 meters Centerline goodness : 0.838435 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.07, Z:0.17 [[ 0.97543483 -0.20243503 -0.08687315 -0.98635998] [ 0.20266046 0.97922874 -0.00630944 -0.07010346] [ 0.08634594 -0.01145131 0.9961994 0.17041256] [ 0. 0. 0. 1. ]] SLAMing on 64.21992885099999 meters Centerline goodness : 0.836874 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.07, Z:0.17 [[ 0.975407 -0.20262132 -0.08675129 -0.98679943] [ 0.20283892 0.97919125 -0.00639199 -0.07040257] [ 0.08624126 -0.01136175 0.99620949 0.17066347] [ 0. 0. 0. 1. ]] SLAMing on 64.24992885099999 meters Centerline goodness : 0.835747 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.07, Z:0.17 [[ 0.97537425 -0.20279204 -0.08672063 -0.98717607] [ 0.20300468 0.9791565 -0.00645302 -0.07078584] [ 0.08622169 -0.01131059 0.99621177 0.17111616] [ 0. 0. 0. 1. ]] SLAMing on 64.279928851 meters Centerline goodness : 0.836002 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.07, Z:0.17 [[ 0.97535559 -0.20286918 -0.08674998 -0.98720789] [ 0.20307868 0.97914087 -0.00649666 -0.07117625] [ 0.08625842 -0.01128051 0.99620893 0.17137091] [ 0. 0. 0. 1. ]] SLAMing on 64.309928851 meters Centerline goodness : 0.834413 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.07, Z:0.17 [[ 0.97527497 -0.20330753 -0.08663011 -0.98748506] [ 0.2035087 0.97905091 -0.00659674 -0.07195558] [ 0.08615646 -0.01119635 0.9962187 0.17147512] [ 0. 0. 0. 1. ]] SLAMing on 64.339928851 meters Centerline goodness : 0.836318 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.07, Z:0.17 [[ 0.97523781 -0.20355831 -0.08645937 -0.98779896] [ 0.20375644 0.97899922 -0.00662096 -0.07257676] [ 0.08599141 -0.01115964 0.99623338 0.17153187] [ 0. 0. 0. 1. ]] SLAMing on 64.369928851 meters Centerline goodness : 0.838709 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.07, Z:0.17 [[ 0.9751826 -0.20388232 -0.08631862 -0.98804895] [ 0.20407609 0.97893232 -0.00666765 -0.07320921] [ 0.0858595 -0.01111339 0.99624527 0.17155732] [ 0. 0. 0. 1. ]] SLAMing on 64.399928851 meters Centerline goodness : 0.837873 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.08, Z:0.17 [[ 0.9750206 -0.20474105 -0.08611586 -0.9890268 ] [ 0.20491326 0.9787556 -0.00693022 -0.07505665] [ 0.08570528 -0.01088918 0.99626103 0.17240152] [ 0. 0. 0. 1. ]] SLAMing on 64.429928851 meters Centerline goodness : 0.785888 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.08, Z:0.17 [[ 0.97496264 -0.20506147 -0.08600952 -0.98940723] [ 0.20522846 0.97868912 -0.00699168 -0.07588288] [ 0.0856103 -0.01083497 0.99626978 0.17270899] [ 0. 0. 0. 1. ]] SLAMing on 64.45992885099999 meters Centerline goodness : 0.786454 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.08, Z:0.17 [[ 0.97491304 -0.20534602 -0.08589278 -0.98973697] [ 0.20550959 0.97862986 -0.00702928 -0.07660986] [ 0.08550068 -0.01079885 0.99627959 0.17290734] [ 0. 0. 0. 1. ]] SLAMing on 64.48992885099999 meters Centerline goodness : 0.841113 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.08, Z:0.17 [[ 0.97482523 -0.20578688 -0.08583427 -0.9901534 ] [ 0.20595145 0.97853696 -0.00702976 -0.07816008] [ 0.08543864 -0.01082491 0.99628463 0.17342561] [ 0. 0. 0. 1. ]] SLAMing on 64.51992885099999 meters Centerline goodness : 0.842727 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.08, Z:0.17 [[ 0.9747903 -0.20598199 -0.08576293 -0.99039584] [ 0.206143 0.97849633 -0.00707097 -0.07885112] [ 0.0853752 -0.01078672 0.99629048 0.17367937] [ 0. 0. 0. 1. ]] SLAMing on 64.54992885099999 meters Centerline goodness : 0.843943 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.08, Z:0.17 [[ 0.97474391 -0.20624533 -0.0856573 -0.99076641] [ 0.20639714 0.97844198 -0.00717667 -0.079542 ] [ 0.08529085 -0.01068401 0.99629881 0.17402992] [ 0. 0. 0. 1. ]] SLAMing on 64.57992885099999 meters Centerline goodness : 0.843754 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.08, Z:0.17 [[ 0.97472522 -0.20640334 -0.08548923 -0.99125484] [ 0.20656034 0.97840809 -0.00710177 -0.08062065] [ 0.08510918 -0.01073641 0.99631378 0.17438034] [ 0. 0. 0. 1. ]] SLAMing on 64.60992885099999 meters Centerline goodness : 0.845820 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.08, Z:0.17 [[ 0.97471385 -0.20643737 -0.08553664 -0.9913939 ] [ 0.20659052 0.97840134 -0.0071544 -0.08079222] [ 0.0851661 -0.01069756 0.99630934 0.17475547] [ 0. 0. 0. 1. ]] SLAMing on 64.639928851 meters Centerline goodness : 0.845829 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.08, Z:0.18 [[ 0.97468319 -0.20662652 -0.08542924 -0.99201246] [ 0.20677766 0.97836167 -0.00717263 -0.08159717] [ 0.08506275 -0.01067382 0.99631842 0.17537826] [ 0. 0. 0. 1. ]] SLAMing on 64.669928851 meters Centerline goodness : 0.845406 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.08, Z:0.18 [[ 0.97464989 -0.20680256 -0.08538323 -0.99220616] [ 0.20695035 0.97832485 -0.00721393 -0.08208163] [ 0.08502439 -0.01063903 0.99632207 0.17557175] [ 0. 0. 0. 1. ]] SLAMing on 64.699928851 meters Centerline goodness : 0.844120 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.08, Z:0.18 [[ 0.97463856 -0.20685622 -0.08538253 -0.99215716] [ 0.20700749 0.97831304 -0.00717538 -0.08261424] [ 0.08501511 -0.01068142 0.99632241 0.17564832] [ 0. 0. 0. 1. ]] SLAMing on 64.729928851 meters Centerline goodness : 0.790281 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.08, Z:0.18 [[ 0.97467364 -0.20662035 -0.08555303 -0.99130445] [ 0.20680013 0.97835921 -0.00685289 -0.0833647 ] [ 0.08511754 -0.01101305 0.99631005 0.17514185] [ 0. 0. 0. 1. ]] SLAMing on 64.759928851 meters Centerline goodness : 0.842612 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.08, Z:0.18 [[ 0.97468103 -0.2065325 -0.08568086 -0.99086442] [ 0.20672309 0.97837628 -0.00673927 -0.08364402] [ 0.08522 -0.01114358 0.99629984 0.1750216 ] [ 0. 0. 0. 1. ]] SLAMing on 64.789928851 meters Centerline goodness : 0.789726 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.08, Z:0.17 [[ 0.97464298 -0.20676369 -0.08555609 -0.99115071] [ 0.206946 0.97832853 -0.00683 -0.08360389] [ 0.08511417 -0.01104868 0.99630994 0.17499908] [ 0. 0. 0. 1. ]] SLAMing on 64.819928851 meters Centerline goodness : 0.788563 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.08, Z:0.18 [[ 0.97465189 -0.20672924 -0.08553786 -0.9912192 ] [ 0.20690859 0.97833622 -0.00686079 -0.08380402] [ 0.08510311 -0.01101163 0.9963113 0.17523162] [ 0. 0. 0. 1. ]] SLAMing on 64.84992885099999 meters Centerline goodness : 0.789212 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.08, Z:0.18 [[ 0.97463142 -0.20683625 -0.08551236 -0.99143325] [ 0.20700214 0.97831531 -0.00701973 -0.08390155] [ 0.08510999 -0.0108596 0.99631238 0.17555842] [ 0. 0. 0. 1. ]] SLAMing on 64.87992885099999 meters Centerline goodness : 0.849251 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.08, Z:0.18 [[ 0.9746143 -0.20693941 -0.08545788 -0.99157234] [ 0.20709995 0.97829417 -0.00708013 -0.0843459 ] [ 0.08506811 -0.01079793 0.99631663 0.17575225] [ 0. 0. 0. 1. ]] SLAMing on 64.90992885099999 meters Centerline goodness : 0.789351 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.08, Z:0.18 [[ 0.97461383 -0.20696285 -0.0854065 -0.99193667] [ 0.20709982 0.9782922 -0.00735069 -0.08396076] [ 0.08507383 -0.01052359 0.99631907 0.17627241] [ 0. 0. 0. 1. ]] SLAMing on 64.93992885099999 meters Centerline goodness : 0.790007 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.08, Z:0.18 [[ 0.97461855 -0.2069261 -0.08544164 -0.99199042] [ 0.20705562 0.97830088 -0.00744063 -0.08349859] [ 0.08512729 -0.01043939 0.99631539 0.17643278] [ 0. 0. 0. 1. ]] SLAMing on 64.96992885099999 meters Centerline goodness : 0.790586 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.08, Z:0.18 [[ 0.9746259 -0.2068636 -0.08550912 -0.99198145] [ 0.20698194 0.97831542 -0.00757678 -0.08286532] [ 0.08522225 -0.01031432 0.99630858 0.1766398 ] [ 0. 0. 0. 1. ]] SLAMing on 64.99992885099999 meters Centerline goodness : 0.849345 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.08, Z:0.18 [[ 0.97468501 -0.20649362 -0.08572938 -0.99152004] [ 0.20663004 0.97839134 -0.00737631 -0.0828954 ] [ 0.08540005 -0.01052468 0.99629115 0.17670243] [ 0. 0. 0. 1. ]] SLAMing on 65.029928851 meters Centerline goodness : 0.787199 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.08, Z:0.18 [[ 0.97467221 -0.20658493 -0.08565485 -0.99169686] [ 0.20672034 0.97837222 -0.00738299 -0.08354877] [ 0.08532754 -0.0105106 0.99629752 0.1769014 ] [ 0. 0. 0. 1. ]] SLAMing on 65.059928851 meters Centerline goodness : 0.789642 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.09, Z:0.18 [[ 0.97458666 -0.20706903 -0.08545911 -0.99221783] [ 0.20721035 0.97826909 -0.00731098 -0.08585063] [ 0.08511588 -0.01058283 0.99631485 0.17730517] [ 0. 0. 0. 1. ]] SLAMing on 65.089928851 meters Centerline goodness : 0.848414 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.09, Z:0.18 [[ 0.97452663 -0.20741147 -0.0853131 -0.99267864] [ 0.20754894 0.978197 -0.00735306 -0.0867814 ] [ 0.08497813 -0.01054089 0.99632706 0.17761451] [ 0. 0. 0. 1. ]] SLAMing on 65.119928851 meters Centerline goodness : 0.846400 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.09, Z:0.18 [[ 0.97447886 -0.20764028 -0.08530223 -0.99288311] [ 0.20777889 0.97814822 -0.00734846 -0.08757191] [ 0.08496406 -0.01056308 0.99632802 0.17792316] [ 0. 0. 0. 1. ]] SLAMing on 65.149928851 meters Centerline goodness : 0.849693 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.09, Z:0.18 [[ 0.97443636 -0.20787878 -0.08520675 -0.99307694] [ 0.20802222 0.97809693 -0.00729028 -0.08835451] [ 0.08485596 -0.01062098 0.99633662 0.17796141] [ 0. 0. 0. 1. ]] SLAMing on 65.179928851 meters Centerline goodness : 0.847530 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.09, Z:0.18 [[ 0.97432319 -0.20856166 -0.08483139 -0.99399504] [ 0.20870863 0.97795113 -0.00723142 -0.09034172] [ 0.08446915 -0.0106593 0.99636908 0.17822174] [ 0. 0. 0. 1. ]] SLAMing on 65.20992885099999 meters Centerline goodness : 0.844871 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.09, Z:0.18 [[ 0.97427271 -0.20882282 -0.08476864 -0.99412507] [ 0.20896862 0.97789548 -0.00724877 -0.09136757] [ 0.08440858 -0.01065171 0.99637429 0.17840814] [ 0. 0. 0. 1. ]] SLAMing on 65.23992885099999 meters Centerline goodness : 0.847292 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.09, Z:0.18 [[ 0.97416808 -0.20938109 -0.08459385 -0.99472673] [ 0.20952171 0.97777665 -0.00731243 -0.09307458] [ 0.08424498 -0.01060072 0.99638868 0.17892533] [ 0. 0. 0. 1. ]] SLAMing on 65.26992885099999 meters Centerline goodness : 0.790117 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.09, Z:0.18 [[ 0.97414798 -0.20949705 -0.08453818 -0.99480659] [ 0.20964172 0.9777513 -0.00726244 -0.09358872] [ 0.08417877 -0.01064804 0.99639377 0.17894365] [ 0. 0. 0. 1. ]] SLAMing on 65.29992885099999 meters Centerline goodness : 0.847714 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.18 [[ 0.97411396 -0.20967606 -0.0844864 -0.99510561] [ 0.20981269 0.97771391 -0.00735887 -0.09387998] [ 0.0841465 -0.01055794 0.99639746 0.17927338] [ 0. 0. 0. 1. ]] SLAMing on 65.32992885099999 meters Centerline goodness : 0.845204 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.18 [[ 0.9740476 -0.2100584 -0.08430146 -0.99597752] [ 0.21017135 0.97763477 -0.00763332 -0.09409804] [ 0.08401948 -0.01028254 0.99641106 0.17993558] [ 0. 0. 0. 1. ]] SLAMing on 65.35992885099999 meters Centerline goodness : 0.844690 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.18 [[ 0.97403158 -0.21017241 -0.0842024 -0.99634961] [ 0.21027045 0.97761212 -0.00780304 -0.09398307] [ 0.08395727 -0.01010487 0.99641812 0.18026984] [ 0. 0. 0. 1. ]] SLAMing on 65.389928851 meters Centerline goodness : 0.843462 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.18 [[ 0.97404659 -0.21008637 -0.08424347 -0.99633027] [ 0.21015728 0.97763382 -0.00812601 -0.09307839] [ 0.08406643 -0.00978927 0.99641207 0.18056047] [ 0. 0. 0. 1. ]] SLAMing on 65.419928851 meters Centerline goodness : 0.844622 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.18 [[ 0.97409374 -0.20977949 -0.08446271 -0.99582454] [ 0.20984794 0.97769992 -0.00816716 -0.09242351] [ 0.08429248 -0.00976875 0.99639317 0.18058372] [ 0. 0. 0. 1. ]] SLAMing on 65.449928851 meters Centerline goodness : 0.847265 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.18 [[ 0.97420766 -0.20920782 -0.08456671 -0.99570252] [ 0.20926284 0.97782409 -0.00831277 -0.09100188] [ 0.08443046 -0.0095983 0.99638314 0.18086249] [ 0. 0. 0. 1. ]] SLAMing on 65.479928851 meters Centerline goodness : 0.843971 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.18 [[ 0.97424623 -0.20896993 -0.08471043 -0.99545045] [ 0.2090134 0.97787623 -0.00845474 -0.08995955] [ 0.08460311 -0.00946862 0.99636974 0.18096402] [ 0. 0. 0. 1. ]] SLAMing on 65.509928851 meters Centerline goodness : 0.843971 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.18 [[ 0.97424623 -0.20896993 -0.08471043 -0.99545045] [ 0.2090134 0.97787623 -0.00845474 -0.08995955] [ 0.08460311 -0.00946862 0.99636974 0.18096402] [ 0. 0. 0. 1. ]] SLAMing on 65.539928851 meters Centerline goodness : 0.845434 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.18 [[ 0.97428649 -0.20872679 -0.08484673 -0.9950768 ] [ 0.20875994 0.97792927 -0.00858077 -0.0886583 ] [ 0.08476514 -0.00935247 0.99635707 0.18083295] [ 0. 0. 0. 1. ]] SLAMing on 65.56992885099999 meters Centerline goodness : 0.792156 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.18 [[ 0.97500647 -0.20514922 -0.08530051 -0.99603722] [ 0.20547764 0.97864901 -0.00500644 -0.08892979] [ 0.08450632 -0.01264603 0.99634269 0.18098151] [ 0. 0. 0. 1. ]] SLAMing on 65.59992885099999 meters Centerline goodness : 0.846558 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.18 [[ 0.9750253 -0.20501952 -0.08539708 -0.99590942] [ 0.20533897 0.97867752 -0.00512084 -0.0884994 ] [ 0.08462607 -0.0125424 0.99633384 0.18114448] [ 0. 0. 0. 1. ]] SLAMing on 65.62992885099999 meters Centerline goodness : 0.792100 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.18 [[ 0.97505887 -0.20485068 -0.08541892 -0.99574782] [ 0.20517141 0.97871276 -0.00510163 -0.08841555] [ 0.08464566 -0.01255113 0.99633206 0.18108854] [ 0. 0. 0. 1. ]] SLAMing on 65.65992885099999 meters Centerline goodness : 0.848027 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.18 [[ 0.97508733 -0.20470194 -0.08545059 -0.9957389 ] [ 0.20501487 0.97874509 -0.00519149 -0.08811788] [ 0.08469706 -0.01245648 0.99632888 0.18132048] [ 0. 0. 0. 1. ]] SLAMing on 65.68992885099999 meters Centerline goodness : 0.792931 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.18 [[ 0.97507707 -0.20476286 -0.0854218 -0.99578235] [ 0.20506439 0.978734 -0.00532405 -0.08771315] [ 0.08469539 -0.01232561 0.99633065 0.18133923] [ 0. 0. 0. 1. ]] SLAMing on 65.71992885099999 meters Centerline goodness : 0.793107 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.18 [[ 0.97505502 -0.20487489 -0.08540481 -0.9957466 ] [ 0.20516264 0.9787125 -0.00548866 -0.08717489] [ 0.08471124 -0.01217013 0.99633122 0.18123304] [ 0. 0. 0. 1. ]] SLAMing on 65.74992885099999 meters Centerline goodness : 0.845074 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.18 [[ 0.9750409 -0.20492089 -0.08545567 -0.99555478] [ 0.20520556 0.97870325 -0.00553422 -0.08686712] [ 0.08476982 -0.01213989 0.9963266 0.18108143] [ 0. 0. 0. 1. ]] SLAMing on 65.779928851 meters Centerline goodness : 0.795699 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.18 [[ 0.97500074 -0.20515932 -0.08534177 -0.99581386] [ 0.20542469 0.978656 -0.00575541 -0.0864693 ] [ 0.08470102 -0.01191978 0.99633511 0.18110074] [ 0. 0. 0. 1. ]] SLAMing on 65.809928851 meters Centerline goodness : 0.845416 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.18 [[ 0.9749607 -0.20534938 -0.08534209 -0.9958924 ] [ 0.20559676 0.97861855 -0.00597538 -0.08607002] [ 0.08474439 -0.01172029 0.99633379 0.18120272] [ 0. 0. 0. 1. ]] SLAMing on 65.839928851 meters Centerline goodness : 0.797323 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.18 [[ 0.97489146 -0.20577925 -0.08509723 -0.99661491] [ 0.20599148 0.97853302 -0.00637466 -0.08559089] [ 0.08458222 -0.0113147 0.99635226 0.18149635] [ 0. 0. 0. 1. ]] SLAMing on 65.869928851 meters Centerline goodness : 0.794623 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.18 [[ 0.97482648 -0.20616446 -0.08490905 -0.99714045] [ 0.20635117 0.97845528 -0.00666745 -0.08505108] [ 0.0844543 -0.01102147 0.9963664 0.18158417] [ 0. 0. 0. 1. ]] SLAMing on 65.899928851 meters Centerline goodness : 0.795473 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.18 [[ 0.97468983 -0.20696207 -0.08453659 -0.99824579] [ 0.20708692 0.97829467 -0.00738585 -0.08361876] [ 0.08423029 -0.01030751 0.996393 0.18184154] [ 0. 0. 0. 1. ]] SLAMing on 65.929928851 meters Centerline goodness : 0.844519 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.18 [[ 0.97461755 -0.20736983 -0.08437053 -0.99865274] [ 0.20746665 0.97821167 -0.00771543 -0.08315584] [ 0.08413218 -0.00998448 0.99640458 0.1818981 ] [ 0. 0. 0. 1. ]] SLAMing on 65.95992885099999 meters Centerline goodness : 0.793953 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.18 [[ 0.97451719 -0.20795624 -0.084086 -0.99927526] [ 0.20802237 0.97809076 -0.0080715 -0.08297115] [ 0.08392226 -0.00962595 0.99642581 0.18193125] [ 0. 0. 0. 1. ]] SLAMing on 65.98992885099999 meters Centerline goodness : 0.794743 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.18 [[ 0.97445816 -0.20829093 -0.08394151 -0.99964215] [ 0.20832991 0.97802261 -0.0083922 -0.08267603] [ 0.08384471 -0.00930968 0.99643534 0.18207297] [ 0. 0. 0. 1. ]] SLAMing on 66.01992885099999 meters Centerline goodness : 0.794739 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.18 [[ 0.97440199 -0.20860422 -0.0838155 -1.00001873] [ 0.20861833 0.97795855 -0.0086877 -0.08208105] [ 0.08378037 -0.00902013 0.99644342 0.18215928] [ 0. 0. 0. 1. ]] SLAMing on 66.04992885099999 meters Centerline goodness : 0.794943 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.18 [[ 0.97435109 -0.20888071 -0.08371864 -1.0006072 ] [ 0.20886401 0.97790276 -0.00905585 -0.08129503] [ 0.08376028 -0.00866223 0.99644828 0.18261601] [ 0. 0. 0. 1. ]] SLAMing on 66.07992885099999 meters Centerline goodness : 0.848358 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.18 [[ 0.97429053 -0.20924983 -0.08350132 -1.00156937] [ 0.20917834 0.97782937 -0.00970229 -0.07928754] [ 0.08368025 -0.00801382 0.99646043 0.18316665] [ 0. 0. 0. 1. ]] SLAMing on 66.10992885099999 meters Centerline goodness : 0.796481 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.18 [[ 0.97426381 -0.20939203 -0.08345663 -1.00181387] [ 0.20929708 0.97780114 -0.00998358 -0.07843847] [ 0.08369447 -0.00774058 0.9964614 0.18336919] [ 0. 0. 0. 1. ]] SLAMing on 66.139928851 meters Centerline goodness : 0.795552 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.18 [[ 0.97425768 -0.20947206 -0.08332727 -1.00228335] [ 0.20934985 0.97778656 -0.01029993 -0.07727247] [ 0.08363383 -0.00740977 0.996469 0.18357939] [ 0. 0. 0. 1. ]] SLAMing on 66.169928851 meters Centerline goodness : 0.795889 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.18 [[ 0.97422556 -0.20961705 -0.08333816 -1.00232986] [ 0.20948042 0.97775669 -0.01047893 -0.07687979] [ 0.083681 -0.00724887 0.99646623 0.18364762] [ 0. 0. 0. 1. ]] SLAMing on 66.199928851 meters Centerline goodness : 0.848735 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.18 [[ 0.97418589 -0.20980605 -0.08332633 -1.00235852] [ 0.20965919 0.97771698 -0.01060794 -0.07662287] [ 0.08369518 -0.00713603 0.99646585 0.18359185] [ 0. 0. 0. 1. ]] SLAMing on 66.229928851 meters Centerline goodness : 0.847112 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.18 [[ 0.97410585 -0.21024872 -0.08314611 -1.0025369 ] [ 0.21009458 0.97762253 -0.01069835 -0.07683378] [ 0.08353482 -0.00704722 0.99647994 0.18327225] [ 0. 0. 0. 1. ]] SLAMing on 66.259928851 meters Centerline goodness : 0.798073 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.18 [[ 0.97407743 -0.21038768 -0.08312755 -1.00229823] [ 0.21023129 0.9775928 -0.01072966 -0.07686369] [ 0.08352229 -0.00702449 0.99648115 0.18293707] [ 0. 0. 0. 1. ]] SLAMing on 66.289928851 meters Centerline goodness : 0.847359 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.18 [[ 0.97399677 -0.21081093 -0.0830003 -1.00260494] [ 0.21062234 0.97750424 -0.01112157 -0.07598631] [ 0.08347769 -0.00664935 0.99648746 0.18290399] [ 0. 0. 0. 1. ]] SLAMing on 66.31992885099999 meters Centerline goodness : 0.798403 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.07, Z:0.18 [[ 0.97395076 -0.21106043 -0.08290609 -1.00289903] [ 0.21084322 0.97745263 -0.01146668 -0.07494892] [ 0.08345694 -0.0063122 0.99649139 0.18299138] [ 0. 0. 0. 1. ]] SLAMing on 66.34992885099999 meters Centerline goodness : 0.847838 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.07, Z:0.18 [[ 0.97390096 -0.21135237 -0.08274723 -1.00342778] [ 0.21109999 0.97739218 -0.01188767 -0.07380122] [ 0.08338898 -0.00589053 0.99649966 0.18319478] [ 0. 0. 0. 1. ]] SLAMing on 66.37992885099999 meters Centerline goodness : 0.847489 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.07, Z:0.18 [[ 0.97379154 -0.21196475 -0.08246807 -1.00425378] [ 0.21164321 0.97726419 -0.01272249 -0.07141439] [ 0.08328982 -0.00506475 0.9965125 0.18334901] [ 0. 0. 0. 1. ]] SLAMing on 66.40992885099999 meters Centerline goodness : 0.849523 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.07, Z:0.18 [[ 0.97371386 -0.21242244 -0.0822072 -1.00480764] [ 0.21204246 0.97716821 -0.01342672 -0.06916383] [ 0.0831824 -0.00435763 0.99652481 0.18320378] [ 0. 0. 0. 1. ]] SLAMing on 66.43992885099999 meters Centerline goodness : 0.848761 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.18 [[ 0.973647 -0.21278079 -0.08207229 -1.00525953] [ 0.21235673 0.97709244 -0.01396334 -0.06782892] [ 0.08316335 -0.00383324 0.99652856 0.18340162] [ 0. 0. 0. 1. ]] SLAMing on 66.46992885099999 meters Centerline goodness : 0.849222 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.18 [[ 0.97358105 -0.2131861 -0.08180239 -1.00606412] [ 0.2126879 0.97700721 -0.01485832 -0.06496418] [ 0.08308911 -0.0029326 0.99653781 0.18370304] [ 0. 0. 0. 1. ]] SLAMing on 66.49992885099999 meters Centerline goodness : 0.849222 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.18 [[ 0.97358105 -0.2131861 -0.08180239 -1.00606412] [ 0.2126879 0.97700721 -0.01485832 -0.06496418] [ 0.08308911 -0.0029326 0.99653781 0.18370304] [ 0. 0. 0. 1. ]] SLAMing on 66.529928851 meters Centerline goodness : 0.845667 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.18 [[ 0.97418785 -0.21035628 -0.08190398 -1.00800178] [ 0.21008424 0.97760936 -0.01202334 -0.06322228] [ 0.08259928 -0.00549374 0.9965677 0.1838742 ] [ 0. 0. 0. 1. ]] SLAMing on 66.559928851 meters Centerline goodness : 0.842872 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.18 [[ 0.9741655 -0.21045065 -0.08192739 -1.00802721] [ 0.21013493 0.97759177 -0.0125553 -0.06127529] [ 0.08273381 -0.00498487 0.99655921 0.18397813] [ 0. 0. 0. 1. ]] SLAMing on 66.589928851 meters Centerline goodness : 0.795480 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.18 [[ 0.97416989 -0.21037338 -0.08207358 -1.00780636] [ 0.2100231 0.97761031 -0.01297622 -0.05953645] [ 0.08296583 -0.00459631 0.99654179 0.18413662] [ 0. 0. 0. 1. ]] SLAMing on 66.619928851 meters Centerline goodness : 0.841941 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.18 [[ 0.97417257 -0.21039709 -0.08198086 -1.0080615 ] [ 0.20998536 0.9776084 -0.01371027 -0.05651258] [ 0.08302977 -0.00385861 0.9965396 0.18424712] [ 0. 0. 0. 1. ]] SLAMing on 66.649928851 meters Centerline goodness : 0.794661 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.18 [[ 0.97417261 -0.21038924 -0.08200058 -1.00811156] [ 0.20995197 0.97761121 -0.01401722 -0.05531116] [ 0.08311376 -0.00356099 0.9965337 0.18438649] [ 0. 0. 0. 1. ]] SLAMing on 66.679928851 meters Centerline goodness : 0.796963 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:0.18 [[ 0.97415283 -0.2105417 -0.0818441 -1.00864284] [ 0.21004726 0.97758067 -0.01470308 -0.05315258] [ 0.08310482 -0.00286808 0.99653668 0.18476286] [ 0. 0. 0. 1. ]] SLAMing on 66.70992885099999 meters Centerline goodness : 0.796429 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:0.18 [[ 0.97411675 -0.2107445 -0.08175148 -1.00894213] [ 0.21023037 0.97753764 -0.01494486 -0.05261298] [ 0.0830647 -0.00262861 0.99654069 0.1848683 ] [ 0. 0. 0. 1. ]] SLAMing on 66.73992885099999 meters Centerline goodness : 0.794611 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:0.18 [[ 0.97405798 -0.21106835 -0.08161616 -1.00928151] [ 0.21054231 0.97746816 -0.01509719 -0.05222721] [ 0.08296374 -0.00247811 0.99654949 0.18479556] [ 0. 0. 0. 1. ]] SLAMing on 66.76992885099999 meters Centerline goodness : 0.841531 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:0.18 [[ 0.97403155 -0.21121219 -0.08155952 -1.00924278] [ 0.21068983 0.97743699 -0.01505731 -0.05272239] [ 0.08289958 -0.00251747 0.99655473 0.18466061] [ 0. 0. 0. 1. ]] SLAMing on 66.79992885099999 meters Centerline goodness : 0.793170 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:0.18 [[ 0.9738989 -0.21191318 -0.08132487 -1.00949503] [ 0.21139136 0.97728527 -0.01507303 -0.05452831] [ 0.08267177 -0.00251177 0.99657366 0.18444989] [ 0. 0. 0. 1. ]] SLAMing on 66.82992885099999 meters Centerline goodness : 0.839130 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.18 [[ 0.97382369 -0.21229261 -0.08123593 -1.00957791] [ 0.21177181 0.97720288 -0.01507395 -0.05541656] [ 0.08258407 -0.00252411 0.99658091 0.18436066] [ 0. 0. 0. 1. ]] SLAMing on 66.85992885099999 meters Centerline goodness : 0.793058 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.18 [[ 0.97375983 -0.21261676 -0.08115357 -1.00970516] [ 0.21210817 0.97713203 -0.01493749 -0.05668424] [ 0.08247371 -0.00266781 0.99658967 0.18430645] [ 0. 0. 0. 1. ]] SLAMing on 66.889928851 meters Centerline goodness : 0.795375 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.18 [[ 0.97344544 -0.21419779 -0.08076687 -1.01099103] [ 0.2136442 0.97678798 -0.01553679 -0.0587731 ] [ 0.08222005 -0.00213115 0.99661192 0.18499359] [ 0. 0. 0. 1. ]] SLAMing on 66.919928851 meters Centerline goodness : 0.794038 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.19 [[ 0.97339067 -0.21442025 -0.08083663 -1.01085111] [ 0.21387377 0.97673893 -0.01546173 -0.05978816] [ 0.08227159 -0.00223853 0.99660743 0.18507059] [ 0. 0. 0. 1. ]] SLAMing on 66.949928851 meters Centerline goodness : 0.844288 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.18 [[ 0.97335696 -0.21457392 -0.08083475 -1.01046846] [ 0.21404259 0.97670474 -0.01528444 -0.06103633] [ 0.08223133 -0.00242486 0.99661032 0.18472808] [ 0. 0. 0. 1. ]] SLAMing on 66.979928851 meters Centerline goodness : 0.843048 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.18 [[ 0.97335318 -0.21453713 -0.08097782 -1.01011357] [ 0.21401534 0.97671247 -0.01517177 -0.0616159 ] [ 0.08234696 -0.002563 0.99660043 0.18470477] [ 0. 0. 0. 1. ]] SLAMing on 67.009928851 meters Centerline goodness : 0.842127 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.19 [[ 0.97330814 -0.21476763 -0.08090818 -1.01050148] [ 0.21423697 0.97666209 -0.01528675 -0.06210256] [ 0.08230305 -0.00245481 0.99660433 0.18517066] [ 0. 0. 0. 1. ]] SLAMing on 67.039928851 meters Centerline goodness : 0.844778 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.19 [[ 0.97328391 -0.21488044 -0.08090006 -1.01076418] [ 0.21434136 0.97663751 -0.01539308 -0.06232484] [ 0.0823177 -0.00235839 0.99660335 0.18559113] [ 0. 0. 0. 1. ]] SLAMing on 67.06992885099999 meters Centerline goodness : 0.843544 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.19 [[ 0.97329354 -0.2147702 -0.08107677 -1.01083723] [ 0.21421209 0.97666222 -0.0156234 -0.06243207] [ 0.08254006 -0.00216147 0.9965854 0.18650666] [ 0. 0. 0. 1. ]] SLAMing on 67.09992885099999 meters Centerline goodness : 0.843660 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.19 [[ 0.97334538 -0.21442556 -0.08136612 -1.01006657] [ 0.21388601 0.97673733 -0.01539332 -0.06296213] [ 0.08277405 -0.00242006 0.9965654 0.18646766] [ 0. 0. 0. 1. ]] SLAMing on 67.12992885099999 meters Centerline goodness : 0.844340 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.19 [[ 0.97337648 -0.21426875 -0.08140714 -1.01013804] [ 0.21373818 0.97677148 -0.01527986 -0.06390949] [ 0.08279017 -0.00252676 0.9965638 0.18695017] [ 0. 0. 0. 1. ]] SLAMing on 67.15992885099999 meters Centerline goodness : 0.843937 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.19 [[ 0.97340127 -0.21412204 -0.08149674 -1.00997026] [ 0.2135968 0.97680346 -0.01521238 -0.06426397] [ 0.08286361 -0.00259969 0.99655751 0.18713272] [ 0. 0. 0. 1. ]] SLAMing on 67.18992885099999 meters Centerline goodness : 0.844724 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.19 [[ 0.97343213 -0.21389852 -0.08171481 -1.00958654] [ 0.21337962 0.97685214 -0.01513373 -0.0645548 ] [ 0.08306036 -0.00270462 0.99654085 0.18735275] [ 0. 0. 0. 1. ]] SLAMing on 67.21992885099999 meters Centerline goodness : 0.848058 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.19 [[ 0.97366846 -0.21261138 -0.08225652 -1.00783818] [ 0.21215796 0.97713053 -0.01431561 -0.06559971] [ 0.08341902 -0.00351272 0.99650837 0.18696082] [ 0. 0. 0. 1. ]] SLAMing on 67.24992885099999 meters Centerline goodness : 0.847612 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.19 [[ 0.97379095 -0.21190465 -0.08262929 -1.00671559] [ 0.21148255 0.97728252 -0.0139286 -0.06588412] [ 0.0837037 -0.00391111 0.99648301 0.18675771] [ 0. 0. 0. 1. ]] SLAMing on 67.279928851 meters Centerline goodness : 0.845681 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.19 [[ 0.97391288 -0.21115011 -0.0831224 -1.0053523 ] [ 0.21075614 0.97744425 -0.01358646 -0.06588511] [ 0.0841163 -0.00428653 0.99644672 0.18654111] [ 0. 0. 0. 1. ]] SLAMing on 67.309928851 meters Centerline goodness : 0.846862 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.19 [[ 0.97477972 -0.20679367 -0.08390989 -1.00533667] [ 0.20675402 0.97834916 -0.00925737 -0.0675528 ] [ 0.08400754 -0.00832481 0.99643034 0.18644955] [ 0. 0. 0. 1. ]] SLAMing on 67.339928851 meters Centerline goodness : 0.844534 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.07, Z:0.19 [[ 0.97487862 -0.2061741 -0.08428477 -1.0043821 ] [ 0.2061541 0.97847782 -0.00903561 -0.06745837] [ 0.08433369 -0.00856703 0.99640074 0.18644562] [ 0. 0. 0. 1. ]] SLAMing on 67.369928851 meters Centerline goodness : 0.846943 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.07, Z:0.19 [[ 0.97509753 -0.20490133 -0.08485434 -1.00280682] [ 0.2049494 0.9787379 -0.00823815 -0.06869832] [ 0.08473816 -0.00935785 0.99635931 0.18639385] [ 0. 0. 0. 1. ]] SLAMing on 67.399928851 meters Centerline goodness : 0.847018 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.07, Z:0.19 [[ 0.97514843 -0.20458545 -0.08503135 -1.00242839] [ 0.20465405 0.97880165 -0.00800291 -0.06940147] [ 0.08486611 -0.00959798 0.99634614 0.18654496] [ 0. 0. 0. 1. ]] SLAMing on 67.429928851 meters Centerline goodness : 0.847018 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.07, Z:0.19 [[ 0.97514843 -0.20458545 -0.08503135 -1.00242839] [ 0.20465405 0.97880165 -0.00800291 -0.06940147] [ 0.08486611 -0.00959798 0.99634614 0.18654496] [ 0. 0. 0. 1. ]] SLAMing on 67.45992885099999 meters Centerline goodness : 0.846579 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.07, Z:0.19 [[ 0.97517449 -0.20437202 -0.08524548 -1.00198643] [ 0.20445696 0.97884427 -0.0078264 -0.07021261] [ 0.08504154 -0.00979693 0.99632924 0.18675316] [ 0. 0. 0. 1. ]] SLAMing on 67.48992885099999 meters Centerline goodness : 0.845704 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.07, Z:0.19 [[ 0.97516945 -0.20436164 -0.08532798 -1.00179436] [ 0.20448564 0.97884176 -0.00737808 -0.07257033] [ 0.08503039 -0.01025347 0.9963256 0.18690675] [ 0. 0. 0. 1. ]] SLAMing on 67.51992885099999 meters Centerline goodness : 0.847815 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.07, Z:0.19 [[ 0.97518171 -0.20428696 -0.08536674 -1.00155912] [ 0.20443942 0.97885386 -0.00704605 -0.0739612 ] [ 0.08500098 -0.01058114 0.99632468 0.1868476 ] [ 0. 0. 0. 1. ]] SLAMing on 67.54992885099999 meters Centerline goodness : 0.845459 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.19 [[ 0.97515363 -0.20441577 -0.08537913 -1.00129087] [ 0.2046064 0.97882204 -0.00660576 -0.07644696] [ 0.0849213 -0.01102749 0.99632664 0.18678245] [ 0. 0. 0. 1. ]] SLAMing on 67.57992885099999 meters Centerline goodness : 0.844821 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.19 [[ 0.97512447 -0.20456471 -0.08535548 -1.0013058 ] [ 0.20476396 0.97878975 -0.00650792 -0.07772289] [ 0.08487636 -0.01113169 0.99632931 0.18692825] [ 0. 0. 0. 1. ]] SLAMing on 67.60992885099999 meters Centerline goodness : 0.844731 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.19 [[ 0.97509019 -0.20470213 -0.08541757 -1.00115597] [ 0.20491318 0.97875933 -0.0063838 -0.07902079] [ 0.08491002 -0.0112784 0.99632479 0.18705469] [ 0. 0. 0. 1. ]] SLAMing on 67.639928851 meters Centerline goodness : 0.846211 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.19 [[ 0.97509243 -0.20463421 -0.08555464 -1.00058079] [ 0.20488833 0.97876761 -0.00589418 -0.08146142] [ 0.08494427 -0.01178178 0.99631604 0.18691769] [ 0. 0. 0. 1. ]] SLAMing on 67.669928851 meters Centerline goodness : 0.845624 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.19 [[ 0.97506282 -0.20480046 -0.08549425 -1.00077499] [ 0.20505123 0.97873326 -0.00593241 -0.08215225] [ 0.08489103 -0.01174623 0.996321 0.18716537] [ 0. 0. 0. 1. ]] SLAMing on 67.699928851 meters Centerline goodness : 0.846698 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.19 [[ 0.97505864 -0.20480451 -0.08553223 -1.00082959] [ 0.20507121 0.97873016 -0.00575095 -0.08352255] [ 0.0848908 -0.01193268 0.99631881 0.18759255] [ 0. 0. 0. 1. ]] SLAMing on 67.729928851 meters Centerline goodness : 0.845712 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.19 [[ 0.97502907 -0.20498269 -0.08544245 -1.00122741] [ 0.20523885 0.97869431 -0.00587007 -0.08381571] [ 0.0848253 -0.01181263 0.99632582 0.18795694] [ 0. 0. 0. 1. ]] SLAMing on 67.759928851 meters Centerline goodness : 0.842846 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.19 [[ 0.97500822 -0.20506746 -0.08547698 -1.00139565] [ 0.20532667 0.97867605 -0.00584277 -0.08456376] [ 0.08485244 -0.01185395 0.99632301 0.18837728] [ 0. 0. 0. 1. ]] SLAMing on 67.789928851 meters Centerline goodness : 0.845604 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.19 [[ 0.97504617 -0.20488277 -0.08548697 -1.00138792] [ 0.20514922 0.97871381 -0.00575091 -0.08604585] [ 0.08484554 -0.01193018 0.99632269 0.18889114] [ 0. 0. 0. 1. ]] SLAMing on 67.81992885099999 meters Centerline goodness : 0.845835 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.19 [[ 0.97506324 -0.20478556 -0.08552519 -1.00135595] [ 0.20504405 0.97873529 -0.00584546 -0.08610218] [ 0.08490359 -0.01183674 0.99631886 0.18914566] [ 0. 0. 0. 1. ]] SLAMing on 67.84992885099999 meters Centerline goodness : 0.845673 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.19 [[ 0.97570941 -0.2014889 -0.08598471 -1.00280892] [ 0.20202944 0.97937636 -0.00245898 -0.08706312] [ 0.08470685 -0.0149722 0.99629342 0.19008571] [ 0. 0. 0. 1. ]] SLAMing on 67.87992885099999 meters Centerline goodness : 0.844848 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.19 [[ 0.97571993 -0.20138854 -0.08610033 -1.00275794] [ 0.20192424 0.97939787 -0.00253189 -0.08648883] [ 0.08483637 -0.01491533 0.99628325 0.19029057] [ 0. 0. 0. 1. ]] SLAMing on 67.90992885099999 meters Centerline goodness : 0.843134 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.19 [[ 0.97574903 -0.2012013 -0.08620823 -1.00251916] [ 0.20174423 0.97943516 -0.00245786 -0.08653908] [ 0.0849299 -0.01499376 0.99627411 0.19035082] [ 0. 0. 0. 1. ]] SLAMing on 67.93992885099999 meters Centerline goodness : 0.844530 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.19 [[ 0.9758033 -0.20087578 -0.08635298 -1.00222827] [ 0.20143299 0.97949959 -0.00230176 -0.08719083] [ 0.08504507 -0.01514827 0.99626195 0.19061105] [ 0. 0. 0. 1. ]] SLAMing on 67.96992885099999 meters Centerline goodness : 0.845324 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.19 [[ 0.97582944 -0.20068429 -0.08650271 -1.0016746 ] [ 0.20125292 0.97953687 -0.00218643 -0.08783771] [ 0.08517138 -0.01527534 0.99624922 0.19057977] [ 0. 0. 0. 1. ]] SLAMing on 67.99992885099999 meters Centerline goodness : 0.843282 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.19 [[ 0.97593418 -0.2000048 -0.08689394 -1.00036259] [ 0.20062459 0.97966684 -0.00163046 -0.08860806] [ 0.08545321 -0.01584184 0.99621623 0.19005264] [ 0. 0. 0. 1. ]] SLAMing on 68.029928851 meters Centerline goodness : 0.844871 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.19 [[ 0.97595694 -0.19979674 -0.08711666 -0.99988709] [ 0.20042766 0.9797073 -0.0015331 -0.08833854] [ 0.08565513 -0.01596435 0.99619694 0.19001102] [ 0. 0. 0. 1. ]] SLAMing on 68.059928851 meters Centerline goodness : 0.842635 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.19 [[ 0.97594713 -0.19981514 -0.0871843 -0.99992739] [ 0.20042994 0.9797065 -0.00173389 -0.08767396] [ 0.08576149 -0.01578216 0.99619069 0.19026787] [ 0. 0. 0. 1. ]] SLAMing on 68.089928851 meters Centerline goodness : 0.842490 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.19 [[ 0.97596433 -0.19972438 -0.08719976 -0.99988101] [ 0.20033872 0.97972515 -0.00173797 -0.08752416] [ 0.08577891 -0.01577329 0.99618933 0.1903026 ] [ 0. 0. 0. 1. ]] SLAMing on 68.119928851 meters Centerline goodness : 0.843544 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.19 [[ 0.97596596 -0.19967551 -0.08729339 -0.99949364] [ 0.20029992 0.97973326 -0.00163615 -0.08796005] [ 0.08585093 -0.01588803 0.9961813 0.19013392] [ 0. 0. 0. 1. ]] SLAMing on 68.149928851 meters Centerline goodness : 0.843043 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.19 [[ 0.97589284 -0.20009113 -0.08715906 -0.99967107] [ 0.20069928 0.97965121 -0.00181881 -0.08850583] [ 0.08574941 -0.0157178 0.99619275 0.19008714] [ 0. 0. 0. 1. ]] SLAMing on 68.179928851 meters Centerline goodness : 0.843633 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.19 [[ 0.97585192 -0.20033326 -0.08706103 -0.99990714] [ 0.20092432 0.9796047 -0.00201041 -0.08848998] [ 0.08568814 -0.01553081 0.99620095 0.19021754] [ 0. 0. 0. 1. ]] SLAMing on 68.20992885099999 meters Centerline goodness : 0.849842 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.19 [[ 0.97571154 -0.20120861 -0.08661454 -1.00155908] [ 0.20172367 0.97943831 -0.00285526 -0.08724385] [ 0.0854081 -0.01468629 0.99623781 0.19106279] [ 0. 0. 0. 1. ]] SLAMing on 68.23992885099999 meters Centerline goodness : 0.847848 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.19 [[ 0.97561019 -0.20190383 -0.08613713 -1.00291667] [ 0.20236596 0.97930398 -0.00342396 -0.08645908] [ 0.08504575 -0.01409078 0.99627741 0.19145053] [ 0. 0. 0. 1. ]] SLAMing on 68.26992885099999 meters Centerline goodness : 0.842330 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.19 [[ 0.97557776 -0.20212103 -0.08599489 -1.00318741] [ 0.20256606 0.97926194 -0.00361056 -0.08608368] [ 0.08494129 -0.01389727 0.99628904 0.19141226] [ 0. 0. 0. 1. ]] SLAMing on 68.29992885099999 meters Centerline goodness : 0.797363 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.19 [[ 0.9755782 -0.20211949 -0.08599356 -1.00317626] [ 0.20253036 0.97926777 -0.00401067 -0.08418854] [ 0.08502136 -0.01350359 0.99628762 0.19134312] [ 0. 0. 0. 1. ]] SLAMing on 68.32992885099999 meters Centerline goodness : 0.847602 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.19 [[ 0.97557471 -0.20208737 -0.08610857 -1.00298962] [ 0.20247562 0.9792779 -0.00429234 -0.08285015] [ 0.08519164 -0.01324739 0.99627651 0.19135632] [ 0. 0. 0. 1. ]] SLAMing on 68.35992885099999 meters Centerline goodness : 0.847602 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.19 [[ 0.97557471 -0.20208737 -0.08610857 -1.00298962] [ 0.20247562 0.9792779 -0.00429234 -0.08285015] [ 0.08519164 -0.01324739 0.99627651 0.19135632] [ 0. 0. 0. 1. ]] SLAMing on 68.389928851 meters Centerline goodness : 0.847129 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.19 [[ 0.97562468 -0.20182645 -0.08615437 -1.00299403] [ 0.20218482 0.97933641 -0.00463688 -0.08044941] [ 0.08530995 -0.01289525 0.99627101 0.19139822] [ 0. 0. 0. 1. ]] SLAMing on 68.419928851 meters Centerline goodness : 0.846301 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.19 [[ 0.97564469 -0.20169663 -0.08623171 -1.00287611] [ 0.20204048 0.97936535 -0.00481223 -0.0793575 ] [ 0.08542296 -0.01272727 0.99626349 0.19141068] [ 0. 0. 0. 1. ]] SLAMing on 68.449928851 meters Centerline goodness : 0.848046 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.19 [[ 0.97573414 -0.20125211 -0.08625824 -1.00281286] [ 0.20156658 0.97946134 -0.00513881 -0.07717502] [ 0.08552081 -0.01237267 0.99625956 0.19153237] [ 0. 0. 0. 1. ]] SLAMing on 68.479928851 meters Centerline goodness : 0.847577 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.19 [[ 0.97574992 -0.2011278 -0.08636958 -1.0027026 ] [ 0.20141446 0.97949082 -0.00547293 -0.07607246] [ 0.08569897 -0.01205587 0.99624813 0.19185404] [ 0. 0. 0. 1. ]] SLAMing on 68.509928851 meters Centerline goodness : 0.848987 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.07, Z:0.19 [[ 0.97586367 -0.20052834 -0.08647816 -1.00191567] [ 0.2007991 0.97961617 -0.00564602 -0.0738237 ] [ 0.08584759 -0.01185499 0.99623775 0.19123238] [ 0. 0. 0. 1. ]] SLAMing on 68.539928851 meters Centerline goodness : 0.847205 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.07, Z:0.19 [[ 0.97591295 -0.20026309 -0.08653677 -1.00159857] [ 0.20052275 0.97967205 -0.00577091 -0.07259455] [ 0.08593335 -0.01172069 0.99623194 0.19100443] [ 0. 0. 0. 1. ]] SLAMing on 68.56992885099999 meters Centerline goodness : 0.847481 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.07, Z:0.19 [[ 0.97664168 -0.19645244 -0.08704862 -1.00182855] [ 0.19702049 0.98039712 -0.00210211 -0.07219084] [ 0.08575518 -0.01509735 0.99620185 0.19037236] [ 0. 0. 0. 1. ]] SLAMing on 68.59992885099999 meters Centerline goodness : 0.844593 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.07, Z:0.19 [[ 0.97667474 -0.1962119 -0.08722013 -1.00146852] [ 0.19676575 0.98044786 -0.00228616 -0.0709487 ] [ 0.08596336 -0.0149291 0.99618644 0.19038308] [ 0. 0. 0. 1. ]] SLAMing on 68.62992885099999 meters Centerline goodness : 0.842089 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.07, Z:0.19 [[ 0.97731772 -0.1927783 -0.08767323 -1.00244112] [ 0.19362017 0.98107593 0.00112088 -0.07054219] [ 0.08579802 -0.01807076 0.99614866 0.19051626] [ 0. 0. 0. 1. ]] SLAMing on 68.65992885099999 meters Centerline goodness : 0.841999 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.07, Z:0.19 [[ 9.77313701e-01 -1.92752186e-01 -8.77754187e-02 -1.00238031e+00] [ 1.93566815e-01 9.81086781e-01 7.84713714e-04 -6.91146082e-02] [ 8.59640477e-02 -1.77573197e-02 9.96139980e-01 1.90658225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.68992885099999 meters Centerline goodness : 0.841419 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.07, Z:0.19 [[ 9.77334967e-01 -1.92680021e-01 -8.76970390e-02 -1.00272909e+00] [ 1.93434643e-01 9.81113157e-01 1.08744533e-04 -6.61174580e-02] [ 8.60197659e-02 -1.70699253e-02 9.96147187e-01 1.90929017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.71992885099999 meters Centerline goodness : 0.841226 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.06, Z:0.19 [[ 9.77305961e-01 -1.92788970e-01 -8.77808188e-02 -1.00274840e+00] [ 1.93507909e-01 9.81098661e-01 -3.25445020e-04 -6.46348656e-02] [ 8.61843861e-02 -1.66682233e-02 9.96139760e-01 1.91132665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.74992885099999 meters Centerline goodness : 0.842096 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.06, Z:0.19 [[ 9.77266971e-01 -1.93061446e-01 -8.76158991e-02 -1.00310267e+00] [ 1.93741957e-01 9.81052237e-01 -7.50413709e-04 -6.35711658e-02] [ 8.61006497e-02 -1.62415212e-02 9.96154050e-01 1.91166674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.779928851 meters Centerline goodness : 0.838186 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.06, Z:0.19 [[ 0.97716455 -0.19374394 -0.08725099 -1.00387985] [ 0.19437273 0.98092687 -0.00131224 -0.0625378 ] [ 0.08584108 -0.01567694 0.9961855 0.19103686] [ 0. 0. 0. 1. ]] SLAMing on 68.809928851 meters Centerline goodness : 0.837304 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.06, Z:0.19 [[ 0.977081 -0.19426748 -0.08702225 -1.00442967] [ 0.19486046 0.98082948 -0.00171016 -0.06195881] [ 0.08568622 -0.01528624 0.9962049 0.19103276] [ 0. 0. 0. 1. ]] SLAMing on 68.839928851 meters Centerline goodness : 0.786973 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.19 [[ 0.97689538 -0.19538513 -0.08660295 -1.00579583] [ 0.19590334 0.98061988 -0.00255737 -0.06075372] [ 0.08542425 -0.01446753 0.99623962 0.19141131] [ 0. 0. 0. 1. ]] SLAMing on 68.869928851 meters Centerline goodness : 0.784421 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.19 [[ 0.97680584 -0.19590737 -0.08643289 -1.00648042] [ 0.19638407 0.98052235 -0.00303645 -0.0598027 ] [ 0.08534425 -0.01400802 0.99625305 0.19169606] [ 0. 0. 0. 1. ]] SLAMing on 68.899928851 meters Centerline goodness : 0.835488 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.19 [[ 0.97674716 -0.19628006 -0.08625032 -1.00680003] [ 0.19673193 0.98045172 -0.00331327 -0.05898059] [ 0.0852146 -0.01373197 0.99626799 0.19149475] [ 0. 0. 0. 1. ]] SLAMing on 68.92992885099999 meters Centerline goodness : 0.782114 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.19 [[ 0.97664834 -0.196872 -0.08601998 -1.00712891] [ 0.19729341 0.98033766 -0.003659 -0.05819936] [ 0.08504898 -0.01339762 0.99628669 0.19110741] [ 0. 0. 0. 1. ]] SLAMing on 68.95992885099999 meters Centerline goodness : 0.835239 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.19 [[ 0.97659359 -0.19718461 -0.0859255 -1.00719292] [ 0.1975985 0.98027588 -0.00374612 -0.05818321] [ 0.08496938 -0.01332032 0.99629452 0.19083823] [ 0. 0. 0. 1. ]] SLAMing on 68.98992885099999 meters Centerline goodness : 0.783144 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.19 [[ 0.9764744 -0.19795519 -0.08550724 -1.00809733] [ 0.19833318 0.98012593 -0.00413698 -0.05781441] [ 0.0846268 -0.01291927 0.99632896 0.19067615] [ 0. 0. 0. 1. ]] SLAMing on 69.01992885099999 meters Centerline goodness : 0.782511 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.19 [[ 0.97641 -0.19838868 -0.0852376 -1.00875359] [ 0.19874378 0.98004167 -0.00438489 -0.05758486] [ 0.08440631 -0.01265899 0.996351 0.19070994] [ 0. 0. 0. 1. ]] SLAMing on 69.04992885099999 meters Centerline goodness : 0.781906 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.19 [[ 0.97633648 -0.19885967 -0.08498178 -1.00958412] [ 0.1991812 0.9799511 -0.00476431 -0.05706589] [ 0.08422541 -0.01227521 0.99637112 0.19104096] [ 0. 0. 0. 1. ]] SLAMing on 69.07992885099999 meters Centerline goodness : 0.835831 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.19 [[ 0.97623151 -0.19952598 -0.08462522 -1.01097049] [ 0.19978095 0.97982497 -0.00553116 -0.05529159] [ 0.08402152 -0.01150681 0.9963975 0.1917045 ] [ 0. 0. 0. 1. ]] SLAMing on 69.10992885099999 meters Centerline goodness : 0.836604 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:0.19 [[ 0.97616314 -0.19995693 -0.08439636 -1.0113761 ] [ 0.2001764 0.97974186 -0.00594041 -0.05424805] [ 0.08387448 -0.01109535 0.99641456 0.19147616] [ 0. 0. 0. 1. ]] SLAMing on 69.139928851 meters Centerline goodness : 0.781801 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:0.19 [[ 0.97612515 -0.20019698 -0.08426664 -1.0114681 ] [ 0.20040337 0.97969455 -0.00608926 -0.05392044] [ 0.08377462 -0.01094344 0.99642464 0.19119537] [ 0. 0. 0. 1. ]] SLAMing on 69.169928851 meters Centerline goodness : 0.836124 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:0.19 [[ 0.97600977 -0.20091221 -0.08390007 -1.01234013] [ 0.20108298 0.97955266 -0.00649744 -0.05339867] [ 0.08348995 -0.01052931 0.99645299 0.19109965] [ 0. 0. 0. 1. ]] SLAMing on 69.199928851 meters Centerline goodness : 0.837049 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:0.19 [[ 0.97592812 -0.20143426 -0.08359752 -1.01322784] [ 0.20157203 0.97944955 -0.00687685 -0.05269912] [ 0.08326478 -0.01013961 0.99647587 0.1912824 ] [ 0. 0. 0. 1. ]] SLAMing on 69.229928851 meters Centerline goodness : 0.780375 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:0.19 [[ 0.97586049 -0.20184546 -0.08339495 -1.01379711] [ 0.20196433 0.97936717 -0.00709646 -0.05219714] [ 0.08310666 -0.00991765 0.99649131 0.19127942] [ 0. 0. 0. 1. ]] SLAMing on 69.259928851 meters Centerline goodness : 0.834140 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:0.19 [[ 0.97570355 -0.2027317 -0.08308092 -1.01468216] [ 0.20280433 0.97918938 -0.00765294 -0.05096098] [ 0.08290345 -0.00938217 0.99651342 0.1911645 ] [ 0. 0. 0. 1. ]] SLAMing on 69.289928851 meters Centerline goodness : 0.778328 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.19 [[ 0.97562747 -0.20318201 -0.08287412 -1.0150291 ] [ 0.20324286 0.97909736 -0.00779081 -0.05108283] [ 0.08272479 -0.00924264 0.99652957 0.19097609] [ 0. 0. 0. 1. ]] SLAMing on 69.31992885099999 meters Centerline goodness : 0.778328 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.19 [[ 0.97562747 -0.20318201 -0.08287412 -1.0150291 ] [ 0.20324286 0.97909736 -0.00779081 -0.05108283] [ 0.08272479 -0.00924264 0.99652957 0.19097609] [ 0. 0. 0. 1. ]] SLAMing on 69.34992885099999 meters Centerline goodness : 0.832983 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.19 [[ 0.97558468 -0.20348269 -0.08263979 -1.01535389] [ 0.20353458 0.979036 -0.00788558 -0.05110537] [ 0.08251191 -0.00912701 0.99654828 0.1907355 ] [ 0. 0. 0. 1. ]] SLAMing on 69.37992885099999 meters Centerline goodness : 0.834445 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.19 [[ 0.9754439 -0.20430311 -0.08227659 -1.01640315] [ 0.20430187 0.97887082 -0.00852418 -0.05002989] [ 0.08227967 -0.0084944 0.99657308 0.19093275] [ 0. 0. 0. 1. ]] SLAMing on 69.40992885099999 meters Centerline goodness : 0.833186 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.19 [[ 0.97539005 -0.2046274 -0.08210893 -1.0169086 ] [ 0.20459913 0.97880585 -0.00884847 -0.04905725] [ 0.08217934 -0.00816871 0.99658408 0.19100356] [ 0. 0. 0. 1. ]] SLAMing on 69.43992885099999 meters Centerline goodness : 0.780313 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.19 [[ 0.97527616 -0.20531343 -0.08174845 -1.01794385] [ 0.20523693 0.9786669 -0.00942853 -0.04761001] [ 0.0819403 -0.00758238 0.9966084 0.1911088 ] [ 0. 0. 0. 1. ]] SLAMing on 69.46992885099999 meters Centerline goodness : 0.780318 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.19 [[ 0.97524451 -0.20548892 -0.08168502 -1.01803833] [ 0.20540179 0.97863104 -0.00955943 -0.04736152] [ 0.08190386 -0.00745547 0.99661235 0.19102195] [ 0. 0. 0. 1. ]] SLAMing on 69.49992885099999 meters Centerline goodness : 0.781021 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.19 [[ 0.97515699 -0.20604771 -0.08132153 -1.01880058] [ 0.20593081 0.97851634 -0.00991348 -0.04686756] [ 0.08161709 -0.00707941 0.99663862 0.19089055] [ 0. 0. 0. 1. ]] SLAMing on 69.529928851 meters Centerline goodness : 0.780300 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.19 [[ 0.97512401 -0.20628064 -0.08112621 -1.0191744 ] [ 0.20614805 0.97846871 -0.01009828 -0.04660298] [ 0.08146254 -0.00687693 0.99665268 0.19087834] [ 0. 0. 0. 1. ]] SLAMing on 69.559928851 meters Centerline goodness : 0.781584 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.19 [[ 0.97503207 -0.20683647 -0.0808154 -1.02009259] [ 0.2066759 0.97835377 -0.01043873 -0.04616649] [ 0.08122516 -0.0065245 0.99667442 0.19103085] [ 0. 0. 0. 1. ]] SLAMing on 69.589928851 meters Centerline goodness : 0.834461 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.19 [[ 0.97498152 -0.2071241 -0.08068857 -1.02063768] [ 0.20695097 0.97829395 -0.0105949 -0.04600354] [ 0.0811316 -0.00636875 0.99668305 0.19129692] [ 0. 0. 0. 1. ]] SLAMing on 69.619928851 meters Centerline goodness : 0.781871 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.19 [[ 0.97492324 -0.20745428 -0.08054442 -1.02123211] [ 0.20726159 0.97822552 -0.01083793 -0.04563259] [ 0.08103898 -0.00612762 0.9966921 0.19158232] [ 0. 0. 0. 1. ]] SLAMing on 69.649928851 meters Centerline goodness : 0.780017 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.19 [[ 0.97486727 -0.20783957 -0.08022792 -1.02206036] [ 0.20763055 0.97814511 -0.01103138 -0.04535853] [ 0.08076731 -0.00590363 0.9967155 0.19170572] [ 0. 0. 0. 1. ]] SLAMing on 69.67992885099999 meters Centerline goodness : 0.780278 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.19 [[ 0.97483439 -0.20800165 -0.08020745 -1.02230497] [ 0.20777441 0.97811194 -0.01126144 -0.04493209] [ 0.08079426 -0.00568702 0.99671458 0.19199168] [ 0. 0. 0. 1. ]] SLAMing on 69.70992885099999 meters Centerline goodness : 0.778971 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.19 [[ 0.97482204 -0.2081076 -0.08008259 -1.02272406] [ 0.20785223 0.9780914 -0.0116045 -0.04358495] [ 0.08074308 -0.00533302 0.99672068 0.19219244] [ 0. 0. 0. 1. ]] SLAMing on 69.73992885099999 meters Centerline goodness : 0.779449 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.19 [[ 0.97481402 -0.20816411 -0.08003326 -1.02281932] [ 0.20789275 0.97808044 -0.011801 -0.04304644] [ 0.08073551 -0.00513455 0.99672234 0.19230186] [ 0. 0. 0. 1. ]] SLAMing on 69.76992885099999 meters Centerline goodness : 0.780784 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.19 [[ 0.97483406 -0.20799701 -0.08022346 -1.02232237] [ 0.20771889 0.9781163 -0.01188946 -0.04253342] [ 0.08094084 -0.00507367 0.99670599 0.19227437] [ 0. 0. 0. 1. ]] SLAMing on 69.79992885099999 meters Centerline goodness : 0.778499 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.19 [[ 0.97490893 -0.20757764 -0.0803996 -1.02117422] [ 0.2073189 0.9782041 -0.01164504 -0.04232351] [ 0.08106447 -0.00531551 0.99669469 0.19136665] [ 0. 0. 0. 1. ]] SLAMing on 69.82992885099999 meters Centerline goodness : 0.777269 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.19 [[ 0.97492375 -0.2074768 -0.08048016 -1.02067214] [ 0.20722147 0.97822523 -0.01160422 -0.04203962] [ 0.08113533 -0.00536399 0.99668866 0.19096083] [ 0. 0. 0. 1. ]] SLAMing on 69.85992885099999 meters Centerline goodness : 0.777687 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.19 [[ 0.97496499 -0.20722508 -0.08062899 -1.02019655] [ 0.20696362 0.97827893 -0.01167885 -0.04109426] [ 0.08129779 -0.0053008 0.99667576 0.1908043 ] [ 0. 0. 0. 1. ]] SLAMing on 69.889928851 meters Centerline goodness : 0.775692 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.19 [[ 0.97500651 -0.20691726 -0.08091698 -1.01955944] [ 0.20664856 0.9783444 -0.01177318 -0.04040391] [ 0.08160075 -0.00524245 0.99665131 0.19090341] [ 0. 0. 0. 1. ]] SLAMing on 69.919928851 meters Centerline goodness : 0.777244 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.19 [[ 0.9750679 -0.2065617 -0.08108547 -1.01914395] [ 0.20628479 0.97842 -0.01186923 -0.0394505 ] [ 0.08178737 -0.0051534 0.99663648 0.19099315] [ 0. 0. 0. 1. ]] SLAMing on 69.949928851 meters Centerline goodness : 0.832450 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.19 [[ 0.97577491 -0.20308414 -0.08136433 -1.02084687] [ 0.20307229 0.97912678 -0.00850836 -0.03951577] [ 0.0813939 -0.00822059 0.99664811 0.19168355] [ 0. 0. 0. 1. ]] SLAMing on 69.979928851 meters Centerline goodness : 0.777651 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.19 [[ 0.97580581 -0.20288468 -0.08149123 -1.02070233] [ 0.20286402 0.97916897 -0.00862039 -0.03888948] [ 0.08154263 -0.00811982 0.99663678 0.1918963 ] [ 0. 0. 0. 1. ]] SLAMing on 70.009928851 meters Centerline goodness : 0.777425 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.19 [[ 0.97586509 -0.20253548 -0.08164994 -1.02038355] [ 0.20251005 0.97924172 -0.00867967 -0.03838048] [ 0.08171297 -0.00806474 0.99662327 0.19214307] [ 0. 0. 0. 1. ]] SLAMing on 70.039928851 meters Centerline goodness : 0.778158 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.19 [[ 0.97590624 -0.2022919 -0.08176183 -1.01991332] [ 0.2022793 0.97929077 -0.00852426 -0.03844921] [ 0.08179299 -0.00821985 0.99661544 0.19192347] [ 0. 0. 0. 1. ]] SLAMing on 70.06992885099999 meters Centerline goodness : 0.778583 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.19 [[ 0.97585416 -0.20262198 -0.08156587 -1.02035764] [ 0.20262087 0.97922142 -0.00837802 -0.040172 ] [ 0.08156861 -0.00835122 0.99663274 0.1920694 ] [ 0. 0. 0. 1. ]] SLAMing on 70.09992885099999 meters Centerline goodness : 0.831297 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.19 [[ 0.97579288 -0.20300594 -0.081344 -1.0209158 ] [ 0.20300662 0.97914177 -0.00834948 -0.04150484] [ 0.08134231 -0.00836601 0.99665111 0.19227359] [ 0. 0. 0. 1. ]] SLAMing on 70.12992885099999 meters Centerline goodness : 0.776761 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.19 [[ 0.97558875 -0.20411963 -0.08100477 -1.02204528] [ 0.20410713 0.97891145 -0.00852333 -0.04417495] [ 0.08103627 -0.00821839 0.99667727 0.19286171] [ 0. 0. 0. 1. ]] SLAMing on 70.15992885099999 meters Centerline goodness : 0.777737 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.19 [[ 0.97551282 -0.20453786 -0.08086415 -1.02249575] [ 0.20452535 0.97882413 -0.00852655 -0.04529674] [ 0.08089579 -0.00822101 0.99668866 0.19308951] [ 0. 0. 0. 1. ]] SLAMing on 70.18992885099999 meters Centerline goodness : 0.777059 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.19 [[ 0.97545709 -0.20485388 -0.08073635 -1.02286137] [ 0.2048461 0.97875756 -0.00846834 -0.04660673] [ 0.08075608 -0.00827802 0.99669952 0.19329142] [ 0. 0. 0. 1. ]] SLAMing on 70.21992885099999 meters Centerline goodness : 0.777072 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.19 [[ 0.97540273 -0.20518361 -0.08055553 -1.02324704] [ 0.20519073 0.97868699 -0.00827916 -0.04805283] [ 0.08053739 -0.00845373 0.99671574 0.19330983] [ 0. 0. 0. 1. ]] SLAMing on 70.24992885099999 meters Centerline goodness : 0.777441 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.19 [[ 0.97520312 -0.20620143 -0.08037321 -1.02381833] [ 0.20619501 0.97847426 -0.00847021 -0.05093595] [ 0.08038968 -0.00831238 0.99672885 0.19381382] [ 0. 0. 0. 1. ]] SLAMing on 70.279928851 meters Centerline goodness : 0.777507 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.19 [[ 0.97515216 -0.20651399 -0.08018872 -1.0241331 ] [ 0.20652135 0.97840695 -0.00829273 -0.05263226] [ 0.08016977 -0.008474 0.9967452 0.19383466] [ 0. 0. 0. 1. ]] SLAMing on 70.309928851 meters Centerline goodness : 0.828950 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.06, Z:0.19 [[ 0.97487681 -0.20786179 -0.08005418 -1.02508674] [ 0.20783724 0.97812445 -0.00873146 -0.05548732] [ 0.08011789 -0.00812614 0.99675227 0.19485234] [ 0. 0. 0. 1. ]] SLAMing on 70.339928851 meters Centerline goodness : 0.830915 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.06, Z:0.20 [[ 0.97480436 -0.20824705 -0.07993517 -1.02555319] [ 0.20822378 0.97804235 -0.00871942 -0.05666915] [ 0.07999578 -0.00814468 0.99676193 0.19518919] [ 0. 0. 0. 1. ]] SLAMing on 70.369928851 meters Centerline goodness : 0.778235 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.06, Z:0.20 [[ 0.97473389 -0.20865331 -0.07973479 -1.02606281] [ 0.20863712 0.97795507 -0.00862731 -0.05800123] [ 0.07977716 -0.0082263 0.99677878 0.1952963 ] [ 0. 0. 0. 1. ]] SLAMing on 70.399928851 meters Centerline goodness : 0.777614 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.06, Z:0.20 [[ 0.97465776 -0.20906362 -0.07959049 -1.02637288] [ 0.20905375 0.97786677 -0.00855019 -0.05942273] [ 0.07961643 -0.00830518 0.99679098 0.1953819 ] [ 0. 0. 0. 1. ]] SLAMing on 70.42992885099999 meters Centerline goodness : 0.777162 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.06, Z:0.20 [[ 0.97448769 -0.20993626 -0.07937572 -1.02693363] [ 0.20991255 0.97768113 -0.0087373 -0.06203854] [ 0.07943842 -0.00814757 0.99680648 0.19587789] [ 0. 0. 0. 1. ]] SLAMing on 70.45992885099999 meters Centerline goodness : 0.827580 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.06, Z:0.20 [[ 0.97445455 -0.21008953 -0.07937712 -1.0270548 ] [ 0.21006034 0.97764871 -0.00881244 -0.0632918 ] [ 0.07945434 -0.00808667 0.99680571 0.19636572] [ 0. 0. 0. 1. ]] SLAMing on 70.48992885099999 meters Centerline goodness : 0.777546 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.06, Z:0.20 [[ 0.97446736 -0.21004247 -0.0793444 -1.02724538] [ 0.21000819 0.97765938 -0.00887095 -0.06307111] [ 0.07943508 -0.00801852 0.99680779 0.19657099] [ 0. 0. 0. 1. ]] SLAMing on 70.51992885099999 meters Centerline goodness : 0.829481 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.06, Z:0.20 [[ 0.97452057 -0.20970147 -0.07959237 -1.02681788] [ 0.20966232 0.97773296 -0.00894308 -0.06252127] [ 0.07969546 -0.0079723 0.99678738 0.19685139] [ 0. 0. 0. 1. ]] SLAMing on 70.54992885099999 meters Centerline goodness : 0.776333 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.06, Z:0.20 [[ 0.97531124 -0.20576043 -0.08019123 -1.02725605] [ 0.20603463 0.97853228 -0.00492991 -0.06390066] [ 0.07948409 -0.01171397 0.99676731 0.19677742] [ 0. 0. 0. 1. ]] SLAMing on 70.57992885099999 meters Centerline goodness : 0.833221 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.06, Z:0.20 [[ 0.97540865 -0.20518842 -0.08047155 -1.02636428] [ 0.20547514 0.97865061 -0.00479107 -0.06375517] [ 0.0797366 -0.01186165 0.99674539 0.1966511 ] [ 0. 0. 0. 1. ]] SLAMing on 70.60992885099999 meters Centerline goodness : 0.776614 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.06, Z:0.20 [[ 0.97553899 -0.2043879 -0.0809275 -1.0250585 ] [ 0.20469918 0.97881449 -0.00452026 -0.06357933] [ 0.0801369 -0.0121561 0.99670974 0.19646206] [ 0. 0. 0. 1. ]] SLAMing on 70.639928851 meters Centerline goodness : 0.776294 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.20 [[ 9.76359611e-01 -2.00106925e-01 -8.17259320e-02 -1.02488553e+00] [ 2.00735852e-01 9.79645260e-01 -5.31306030e-04 -6.42318038e-02] [ 8.01687399e-02 -1.58865789e-02 9.96654699e-01 1.96346158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.669928851 meters Centerline goodness : 0.834425 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.20 [[ 9.76506719e-01 -1.99213398e-01 -8.21501685e-02 -1.02368373e+00] [ 1.99863089e-01 9.79823781e-01 -3.21062030e-04 -6.34059903e-02] [ 8.05566486e-02 -1.61052672e-02 9.96619911e-01 1.96205141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.699928851 meters Centerline goodness : 0.775106 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.20 [[ 0.97727996 -0.19512115 -0.08277448 -1.02428799] [ 0.19607267 0.98058331 0.0034473 -0.06343557] [ 0.08049464 -0.01959879 0.99656234 0.19652474] [ 0. 0. 0. 1. ]] SLAMing on 70.729928851 meters Centerline goodness : 0.775965 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.20 [[ 0.97734771 -0.19464689 -0.08309058 -1.02352596] [ 0.19560271 0.98067718 0.00344321 -0.06289254] [ 0.08081482 -0.01961795 0.99653605 0.19662293] [ 0. 0. 0. 1. ]] SLAMing on 70.759928851 meters Centerline goodness : 0.774247 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.20 [[ 0.97760577 -0.19311641 -0.08362423 -1.02134775] [ 0.19412606 0.98096828 0.00403815 -0.06249312] [ 0.08125288 -0.02018136 0.99648918 0.19578265] [ 0. 0. 0. 1. ]] SLAMing on 70.789928851 meters Centerline goodness : 0.836276 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.20 [[ 0.97771469 -0.19242075 -0.08395383 -1.02013815] [ 0.19344889 0.98110131 0.00421152 -0.06171989] [ 0.08155682 -0.02035844 0.99646075 0.19527875] [ 0. 0. 0. 1. ]] SLAMing on 70.81992885099999 meters Centerline goodness : 0.773398 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.20 [[ 0.97781712 -0.19176458 -0.08426162 -1.01910418] [ 0.1927979 0.98122939 0.0042255 -0.06048186] [ 0.08186968 -0.02037722 0.99643471 0.19502475] [ 0. 0. 0. 1. ]] SLAMing on 70.84992885099999 meters Centerline goodness : 0.838854 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.19 [[ 0.97857847 -0.18757118 -0.08486004 -1.01911341] [ 0.18890982 0.9819622 0.00795753 -0.06002478] [ 0.08183675 -0.02381796 0.99636111 0.19468183] [ 0. 0. 0. 1. ]] SLAMing on 70.87992885099999 meters Centerline goodness : 0.836262 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.19 [[ 0.97863874 -0.18717701 -0.08503521 -1.01864044] [ 0.18850948 0.98204001 0.00784802 -0.05906118] [ 0.08203901 -0.02371032 0.99634704 0.19472226] [ 0. 0. 0. 1. ]] SLAMing on 70.90992885099999 meters Centerline goodness : 0.834764 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.19 [[ 0.97868717 -0.18678959 -0.08532916 -1.01796702] [ 0.1881139 0.98211719 0.00768068 -0.05808916] [ 0.08236856 -0.02356858 0.99632321 0.19490507] [ 0. 0. 0. 1. ]] SLAMing on 70.93992885099999 meters Centerline goodness : 0.835209 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.20 [[ 0.97880744 -0.18609194 -0.0854739 -1.01759677] [ 0.18740051 0.98225512 0.00747885 -0.0561374 ] [ 0.08256543 -0.0233382 0.99631234 0.19511469] [ 0. 0. 0. 1. ]] SLAMing on 70.96992885099999 meters Centerline goodness : 0.834442 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.20 [[ 0.9788011 -0.18609935 -0.08553033 -1.01768191] [ 0.18738531 0.98226017 0.00719015 -0.05519968] [ 0.08267496 -0.02306485 0.99630962 0.19541137] [ 0. 0. 0. 1. ]] SLAMing on 70.99992885099999 meters Centerline goodness : 0.772467 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.20 [[ 0.9787239 -0.18662208 -0.08527447 -1.01888351] [ 0.18785426 0.98217481 0.00658985 -0.05445146] [ 0.08252462 -0.02246881 0.99633571 0.19626898] [ 0. 0. 0. 1. ]] SLAMing on 71.029928851 meters Centerline goodness : 0.837370 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.20 [[ 0.97864119 -0.18719317 -0.0849714 -1.01986555] [ 0.18838652 0.98207553 0.0061783 -0.05420085] [ 0.0822918 -0.0220538 0.99636424 0.19666239] [ 0. 0. 0. 1. ]] SLAMing on 71.059928851 meters Centerline goodness : 0.834446 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.20 [[ 0.97857371 -0.18760349 -0.0848435 -1.02034042] [ 0.18877471 0.98200254 0.00592696 -0.05425974] [ 0.08220461 -0.02181628 0.99637666 0.19692975] [ 0. 0. 0. 1. ]] SLAMing on 71.089928851 meters Centerline goodness : 0.836142 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.20 [[ 0.97837722 -0.18877601 -0.08450815 -1.02146226] [ 0.18989321 0.98179039 0.00530977 -0.05447074] [ 0.08196693 -0.02124249 0.99640864 0.19726555] [ 0. 0. 0. 1. ]] SLAMing on 71.119928851 meters Centerline goodness : 0.838718 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.20 [[ 0.97828184 -0.18933979 -0.08435093 -1.0219246 ] [ 0.19043151 0.98168767 0.00501662 -0.05489637] [ 0.08185643 -0.02097074 0.99642348 0.19748647] [ 0. 0. 0. 1. ]] SLAMing on 71.149928851 meters Centerline goodness : 0.837652 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.20 [[ 0.97821632 -0.18976564 -0.08415358 -1.02220091] [ 0.19084641 0.9816076 0.00491574 -0.05534484] [ 0.08167295 -0.02086906 0.99644067 0.19731308] [ 0. 0. 0. 1. ]] SLAMing on 71.17992885099999 meters Centerline goodness : 0.837035 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.20 [[ 0.97802814 -0.19090699 -0.08375847 -1.02323795] [ 0.19194483 0.98139566 0.00444321 -0.0559479 ] [ 0.08135196 -0.02042259 0.99647618 0.1973977 ] [ 0. 0. 0. 1. ]] SLAMing on 71.20992885099999 meters Centerline goodness : 0.837365 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.20 [[ 0.97795589 -0.19135499 -0.08357963 -1.02384634] [ 0.19237258 0.98131288 0.00422088 -0.05627321] [ 0.08121008 -0.02020626 0.99649216 0.19771287] [ 0. 0. 0. 1. ]] SLAMing on 71.23992885099999 meters Centerline goodness : 0.837365 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.20 [[ 0.97795589 -0.19135499 -0.08357963 -1.02384634] [ 0.19237258 0.98131288 0.00422088 -0.05627321] [ 0.08121008 -0.02020626 0.99649216 0.19771287] [ 0. 0. 0. 1. ]] SLAMing on 71.26992885099999 meters Centerline goodness : 0.833551 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.06, Z:0.20 [[ 0.97776476 -0.19253291 -0.08310933 -1.02562653] [ 0.1935023 0.98109286 0.00369475 -0.05757132] [ 0.08082661 -0.01969444 0.99653359 0.19877212] [ 0. 0. 0. 1. ]] SLAMing on 71.29992885099999 meters Centerline goodness : 0.835279 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.06, Z:0.20 [[ 0.97766938 -0.1931493 -0.08280051 -1.02663903] [ 0.19410088 0.98097524 0.00352419 -0.0585892 ] [ 0.08054455 -0.01951715 0.99655991 0.19924257] [ 0. 0. 0. 1. ]] SLAMing on 71.32992885099999 meters Centerline goodness : 0.774122 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.06, Z:0.20 [[ 0.97756509 -0.19378818 -0.08253866 -1.02758983] [ 0.19471577 0.98085428 0.00326361 -0.05923525] [ 0.08032595 -0.01926197 0.99658252 0.19972856] [ 0. 0. 0. 1. ]] SLAMing on 71.35992885099999 meters Centerline goodness : 0.774897 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.06, Z:0.20 [[ 0.97728355 -0.19531564 -0.08227194 -1.02917671] [ 0.19619025 0.98056239 0.00260517 -0.06149404] [ 0.08016394 -0.01868694 0.99660651 0.20112694] [ 0. 0. 0. 1. ]] SLAMing on 71.389928851 meters Centerline goodness : 0.777218 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.06, Z:0.20 [[ 0.97721362 -0.19573335 -0.08210965 -1.02960674] [ 0.1966144 0.98047716 0.00270599 -0.06295631] [ 0.07997698 -0.01878827 0.99661963 0.20123996] [ 0. 0. 0. 1. ]] SLAMing on 71.419928851 meters Centerline goodness : 0.837189 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.06, Z:0.20 [[ 9.76482356e-01 -1.99516470e-01 -8.17030386e-02 -1.02861918e+00] [ 2.00118526e-01 9.79771339e-01 -8.36060921e-04 -6.40877954e-02] [ 8.02171035e-02 -1.55338929e-02 9.96656367e-01 2.01347679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.449928851 meters Centerline goodness : 0.834016 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.07, Z:0.20 [[ 9.76374806e-01 -2.00152383e-01 -8.14325640e-02 -1.02947938e+00] [ 2.00738862e-01 9.79644273e-01 -1.00412246e-03 -6.53863342e-02] [ 7.99759224e-02 -1.53662803e-02 9.96678348e-01 2.01853075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.479928851 meters Centerline goodness : 0.777185 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.07, Z:0.20 [[ 9.76284000e-01 -2.00661966e-01 -8.12670045e-02 -1.02998974e+00] [ 2.01249467e-01 9.79539530e-01 -9.80642550e-04 -6.69346947e-02] [ 7.98010210e-02 -1.53975557e-02 9.96691884e-01 2.02153008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.509928851 meters Centerline goodness : 0.778789 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.07, Z:0.20 [[ 0.97550225 -0.20464482 -0.08072085 -1.02953284] [ 0.20494115 0.97876308 -0.00468575 -0.067891 ] [ 0.0799655 -0.01197206 0.99672573 0.20260731] [ 0. 0. 0. 1. ]] SLAMing on 71.539928851 meters Centerline goodness : 0.836062 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.07, Z:0.20 [[ 0.97543388 -0.20502705 -0.08057705 -1.02994097] [ 0.20532635 0.97868255 -0.00464299 -0.06934792] [ 0.07981129 -0.01201566 0.99673757 0.2028743 ] [ 0. 0. 0. 1. ]] SLAMing on 71.56992885099999 meters Centerline goodness : 0.839254 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.07, Z:0.20 [[ 0.97537714 -0.20524534 -0.08070802 -1.02956177] [ 0.20556807 0.97863302 -0.00437954 -0.07216202] [ 0.07988242 -0.01231929 0.99672816 0.20304161] [ 0. 0. 0. 1. ]] SLAMing on 71.59992885099999 meters Centerline goodness : 0.838961 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.07, Z:0.20 [[ 0.97542309 -0.20495951 -0.08087886 -1.02888462] [ 0.20531993 0.97868704 -0.00392469 -0.07368741] [ 0.0799595 -0.01277781 0.99671621 0.20283591] [ 0. 0. 0. 1. ]] SLAMing on 71.62992885099999 meters Centerline goodness : 0.778663 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.07, Z:0.20 [[ 0.97543333 -0.20491027 -0.08088016 -1.02893355] [ 0.20527394 0.97869686 -0.00388217 -0.07390042] [ 0.07995265 -0.01281579 0.99671627 0.20298099] [ 0. 0. 0. 1. ]] SLAMing on 71.65992885099999 meters Centerline goodness : 0.778733 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.07, Z:0.20 [[ 0.97544765 -0.20479045 -0.08101081 -1.02884305] [ 0.20516279 0.97872052 -0.00379028 -0.07415344] [ 0.08006315 -0.01292318 0.99670602 0.20323423] [ 0. 0. 0. 1. ]] SLAMing on 71.68992885099999 meters Centerline goodness : 0.838723 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.07, Z:0.20 [[ 0.97549466 -0.20449684 -0.08118632 -1.02848452] [ 0.20488415 0.97877954 -0.00362045 -0.07458689] [ 0.08020388 -0.01310206 0.99669237 0.20338907] [ 0. 0. 0. 1. ]] SLAMing on 71.71992885099999 meters Centerline goodness : 0.839841 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.08, Z:0.20 [[ 0.9756203 -0.20375242 -0.08154743 -1.02756985] [ 0.20417605 0.97892896 -0.00319864 -0.07566933] [ 0.08048087 -0.01352937 0.99666433 0.20355924] [ 0. 0. 0. 1. ]] SLAMing on 71.74992885099999 meters Centerline goodness : 0.778546 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.08, Z:0.20 [[ 0.97567254 -0.2034213 -0.08174886 -1.02708716] [ 0.20386399 0.97899467 -0.00298314 -0.07646108] [ 0.08063853 -0.01375508 0.9966485 0.20368341] [ 0. 0. 0. 1. ]] SLAMing on 71.779928851 meters Centerline goodness : 0.840565 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.08, Z:0.20 [[ 0.97580199 -0.2027318 -0.08191634 -1.02685262] [ 0.20321257 0.97913142 -0.00251297 -0.0776521 ] [ 0.08071632 -0.01419427 0.99663604 0.20413304] [ 0. 0. 0. 1. ]] SLAMing on 71.809928851 meters Centerline goodness : 0.842121 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.08, Z:0.20 [[ 0.9758474 -0.20249039 -0.08197258 -1.02690905] [ 0.20298014 0.97917991 -0.00240182 -0.07786701] [ 0.08075225 -0.01429499 0.99663169 0.20444969] [ 0. 0. 0. 1. ]] SLAMing on 71.839928851 meters Centerline goodness : 0.839565 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.08, Z:0.20 [[ 0.97587968 -0.20229579 -0.08206868 -1.02683674] [ 0.20279487 0.97921855 -0.00229563 -0.0780457 ] [ 0.08082757 -0.01440285 0.99662403 0.20467181] [ 0. 0. 0. 1. ]] SLAMing on 71.869928851 meters Centerline goodness : 0.841100 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.08, Z:0.20 [[ 0.97592338 -0.2020015 -0.08227365 -1.02639993] [ 0.20252388 0.97927521 -0.00203316 -0.07871277] [ 0.08097925 -0.01467817 0.9966077 0.20475877] [ 0. 0. 0. 1. ]] SLAMing on 71.899928851 meters Centerline goodness : 0.841951 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.08, Z:0.20 [[ 0.97602925 -0.20133817 -0.0826429 -1.02498022] [ 0.20194294 0.97939671 -0.00106159 -0.08174876] [ 0.08115392 -0.01565301 0.99657866 0.20423637] [ 0. 0. 0. 1. ]] SLAMing on 71.92992885099999 meters Centerline goodness : 0.840205 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.09, Z:0.20 [[ 9.76056277e-01 -2.01136649e-01 -8.28142068e-02 -1.02420355e+00] [ 2.01812313e-01 9.79424190e-01 -2.16438822e-04 -8.55905642e-02] [ 8.11537711e-02 -1.65016702e-02 9.96564980e-01 2.04023800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95992885099999 meters Centerline goodness : 0.842314 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.09, Z:0.20 [[ 9.76029404e-01 -2.01271099e-01 -8.28042700e-02 -1.02438343e+00] [ 2.01958984e-01 9.79393978e-01 -6.99881728e-05 -8.68038502e-02] [ 8.11120899e-02 -1.66547557e-02 9.96565827e-01 2.04300503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.98992885099999 meters Centerline goodness : 0.840277 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.09, Z:0.20 [[ 9.76007512e-01 -2.01387709e-01 -8.27787795e-02 -1.02461061e+00] [ 2.02090904e-01 9.79366761e-01 1.18530231e-04 -8.78786021e-02] [ 8.10469147e-02 -1.68445247e-02 9.96567940e-01 2.04547370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.01992885099999 meters Centerline goodness : 0.838732 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.09, Z:0.21 [[ 9.75984530e-01 -2.01507584e-01 -8.27580262e-02 -1.02502970e+00] [ 2.02249220e-01 9.79333908e-01 5.90882607e-04 -9.04641778e-02] [ 8.09286739e-02 -1.73144385e-02 9.96569496e-01 2.05118165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.04992885099999 meters Centerline goodness : 0.838152 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.09, Z:0.21 [[ 9.75981644e-01 -2.01512301e-01 -8.27805705e-02 -1.02491641e+00] [ 2.02278733e-01 9.79327586e-01 8.91209390e-04 -9.19927309e-02] [ 8.08897066e-02 -1.76145529e-02 9.96567400e-01 2.05170464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.07992885099999 meters Centerline goodness : 0.839550 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.09, Z:0.21 [[ 0.97599594 -0.2013943 -0.08289912 -1.02445557] [ 0.20219288 0.9793449 0.0012659 -0.09360115] [ 0.08093188 -0.01799713 0.99655714 0.20506146] [ 0. 0. 0. 1. ]] SLAMing on 72.10992885099999 meters Centerline goodness : 0.838559 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.10, Z:0.21 [[ 0.97602914 -0.20117941 -0.08302993 -1.02402582] [ 0.20201938 0.97937995 0.00175494 -0.095771 ] [ 0.08096479 -0.01848653 0.99654551 0.20512283] [ 0. 0. 0. 1. ]] SLAMing on 72.139928851 meters Centerline goodness : 0.831960 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.10, Z:0.21 [[ 0.97602278 -0.20122054 -0.08300499 -1.02414584] [ 0.20206347 0.97937078 0.00179553 -0.09625809] [ 0.08093137 -0.01852475 0.99654751 0.20529331] [ 0. 0. 0. 1. ]] SLAMing on 72.169928851 meters Centerline goodness : 0.841104 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.10, Z:0.21 [[ 0.97600536 -0.20132222 -0.08296324 -1.0245093 ] [ 0.202161 0.97935074 0.00174962 -0.09682212] [ 0.08089787 -0.01847957 0.99655107 0.20576554] [ 0. 0. 0. 1. ]] SLAMing on 72.199928851 meters Centerline goodness : 0.834120 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.10, Z:0.21 [[ 0.97601462 -0.20129762 -0.08291393 -1.02465257] [ 0.20214691 0.97935338 0.00189151 -0.09773503] [ 0.08082129 -0.01860694 0.99655492 0.20595331] [ 0. 0. 0. 1. ]] SLAMing on 72.229928851 meters Centerline goodness : 0.836536 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.10, Z:0.21 [[ 0.97625155 -0.1952623 -0.09383791 -1.02724497] [ 0.1963063 0.98054071 0.00193623 -0.10211874] [ 0.09163382 -0.02031122 0.99558561 0.21069175] [ 0. 0. 0. 1. ]] SLAMing on 72.259928851 meters Centerline goodness : 0.842516 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.11, Z:0.22 [[ 0.97626691 -0.18902607 -0.10569794 -1.02943461] [ 0.19055823 0.98166559 0.00449681 -0.10723086] [ 0.10291002 -0.0245317 0.99438812 0.21510999] [ 0. 0. 0. 1. ]] SLAMing on 72.289928851 meters Centerline goodness : 0.841996 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.11, Z:0.22 [[ 0.97627842 -0.18896914 -0.1056935 -1.02950665] [ 0.19050035 0.98167685 0.00449178 -0.10707683] [ 0.10290805 -0.02451988 0.99438861 0.21519216] [ 0. 0. 0. 1. ]] SLAMing on 72.31992885099999 meters Centerline goodness : 0.843402 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.11, Z:0.22 [[ 0.97669056 -0.18613143 -0.10691421 -1.02815936] [ 0.18811078 0.98210975 0.00864734 -0.10923548] [ 0.10339194 -0.02855749 0.99423065 0.21529556] [ 0. 0. 0. 1. ]] SLAMing on 72.34992885099999 meters Centerline goodness : 0.839203 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.11, Z:0.22 [[ 0.97724667 -0.1826081 -0.10790381 -1.02713373] [ 0.18505967 0.9826403 0.01307526 -0.11236402] [ 0.10364298 -0.0327464 0.99407535 0.21539989] [ 0. 0. 0. 1. ]] SLAMing on 72.37992885099999 meters Centerline goodness : 0.842217 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.12, Z:0.22 [[ 0.97712766 -0.17600251 -0.11935098 -1.02942072] [ 0.17948301 0.98357791 0.01898294 -0.11982219] [ 0.11404994 -0.03997023 0.99267064 0.21885467] [ 0. 0. 0. 1. ]] SLAMing on 72.40992885099999 meters Centerline goodness : 0.839260 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.12, Z:0.22 [[ 0.97705376 -0.17644386 -0.1193043 -1.02938033] [ 0.17990821 0.98350309 0.01883344 -0.12027614] [ 0.11401311 -0.03986511 0.99267909 0.21899322] [ 0. 0. 0. 1. ]] SLAMing on 72.43992885099999 meters Centerline goodness : 0.836695 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.12, Z:0.22 [[ 0.97705788 -0.17604516 -0.11985827 -1.02789836] [ 0.17965638 0.9835274 0.01993561 -0.12164589] [ 0.11437433 -0.04101155 0.99259083 0.21871324] [ 0. 0. 0. 1. ]] SLAMing on 72.46992885099999 meters Centerline goodness : 0.842485 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.12, Z:0.22 [[ 0.97704297 -0.17616306 -0.11980653 -1.02775062] [ 0.17977679 0.98350472 0.01996931 -0.12261809] [ 0.11431244 -0.04104931 0.9925964 0.21878391] [ 0. 0. 0. 1. ]] SLAMing on 72.49992885099999 meters Centerline goodness : 0.839325 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.12, Z:0.22 [[ 0.97713121 -0.17576017 -0.11967861 -1.02710008] [ 0.17945024 0.98354919 0.02070259 -0.12480425] [ 0.11407111 -0.0417055 0.99259681 0.21802812] [ 0. 0. 0. 1. ]] SLAMing on 72.529928851 meters Centerline goodness : 0.838992 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.13, Z:0.22 [[ 0.97700752 -0.17635439 -0.11981418 -1.0264802 ] [ 0.18011764 0.98341541 0.02125504 -0.12739248] [ 0.11407869 -0.04234698 0.99256878 0.21830935] [ 0. 0. 0. 1. ]] SLAMing on 72.559928851 meters Centerline goodness : 0.840003 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.13, Z:0.22 [[ 0.97683541 -0.17680055 -0.12055767 -1.02477992] [ 0.18069049 0.98329283 0.02204882 -0.12852364] [ 0.11464525 -0.04332169 0.99246143 0.2184318 ] [ 0. 0. 0. 1. ]] SLAMing on 72.589928851 meters Centerline goodness : 0.842650 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.13, Z:0.22 [[ 0.97663697 -0.17719523 -0.12158155 -1.02244739] [ 0.18128742 0.98315229 0.02337609 -0.13070982] [ 0.11539104 -0.04487116 0.99230615 0.21861987] [ 0. 0. 0. 1. ]] SLAMing on 72.619928851 meters Centerline goodness : 0.839176 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.13, Z:0.22 [[ 0.97657498 -0.17740128 -0.12177887 -1.02164641] [ 0.18155574 0.98309208 0.0238219 -0.13223427] [ 0.1154938 -0.04537353 0.99227135 0.21858132] [ 0. 0. 0. 1. ]] SLAMing on 72.649928851 meters Centerline goodness : 0.842390 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.13, Z:0.22 [[ 0.97646719 -0.17750048 -0.12249655 -1.01975176] [ 0.18179139 0.98302687 0.02469938 -0.13391116] [ 0.11603325 -0.04638696 0.99216155 0.21850642] [ 0. 0. 0. 1. ]] SLAMing on 72.67992885099999 meters Centerline goodness : 0.842342 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.14, Z:0.22 [[ 0.9763953 -0.1777934 -0.12264475 -1.01902421] [ 0.18213601 0.98295383 0.02506463 -0.1356764 ] [ 0.1160978 -0.04681101 0.99213408 0.21853719] [ 0. 0. 0. 1. ]] SLAMing on 72.70992885099999 meters Centerline goodness : 0.844649 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.14, Z:0.22 [[ 0.97626233 -0.17817762 -0.12314463 -1.01743822] [ 0.18262744 0.98284485 0.02575288 -0.13817609] [ 0.11644348 -0.04763115 0.99205453 0.21852517] [ 0. 0. 0. 1. ]] SLAMing on 72.73992885099999 meters Centerline goodness : 0.844622 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.14, Z:0.22 [[ 0.97622654 -0.17802885 -0.12364254 -1.01612082] [ 0.18259524 0.98282972 0.0265465 -0.13930182] [ 0.11679352 -0.04849193 0.99197168 0.21838306] [ 0. 0. 0. 1. ]] SLAMing on 72.76992885099999 meters Centerline goodness : 0.844919 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.14, Z:0.22 [[ 0.97621793 -0.17785157 -0.12396523 -1.01519666] [ 0.1824965 0.9828333 0.02708753 -0.14006494] [ 0.1170196 -0.04906655 0.99191677 0.21820563] [ 0. 0. 0. 1. ]] SLAMing on 72.79992885099999 meters Centerline goodness : 0.845908 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.14, Z:0.22 [[ 0.97623686 -0.17752673 -0.12428133 -1.01444505] [ 0.18225896 0.98285999 0.02771129 -0.14076634] [ 0.11723165 -0.04970417 0.99185999 0.21812676] [ 0. 0. 0. 1. ]] SLAMing on 72.82992885099999 meters Centerline goodness : 0.844404 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.14, Z:0.22 [[ 0.97636819 -0.17702254 -0.12396847 -1.0148873 ] [ 0.18171569 0.98296532 0.02754254 -0.1408252 ] [ 0.11698105 -0.04941868 0.99190384 0.21787202] [ 0. 0. 0. 1. ]] SLAMing on 72.85992885099999 meters Centerline goodness : 0.844983 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.14, Z:0.22 [[ 0.97650849 -0.17626781 -0.12393878 -1.01449525] [ 0.18097083 0.98309881 0.02768207 -0.14078768] [ 0.11696461 -0.04946108 0.99190367 0.21721994] [ 0. 0. 0. 1. ]] SLAMing on 72.889928851 meters Centerline goodness : 0.845506 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.14, Z:0.22 [[ 0.97675952 -0.17499297 -0.12376715 -1.01447249] [ 0.1796854 0.98333298 0.02773808 -0.13992981] [ 0.11685035 -0.04933259 0.99192353 0.21628511] [ 0. 0. 0. 1. ]] SLAMing on 72.919928851 meters Centerline goodness : 0.836006 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.14, Z:0.22 [[ 0.97685465 -0.17445669 -0.12377343 -1.01448009] [ 0.1791413 0.98343334 0.02769964 -0.13918933] [ 0.11689053 -0.04923146 0.99192382 0.21608285] [ 0. 0. 0. 1. ]] SLAMing on 72.949928851 meters Centerline goodness : 0.842113 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.14, Z:0.22 [[ 0.97750753 -0.17011325 -0.12466158 -1.01369042] [ 0.17533287 0.98398615 0.03208786 -0.13999428] [ 0.1172067 -0.0532234 0.99168032 0.21567017] [ 0. 0. 0. 1. ]] SLAMing on 72.979928851 meters Centerline goodness : 0.840748 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.14, Z:0.22 [[ 0.9776131 -0.16954955 -0.12460167 -1.01380403] [ 0.17473526 0.98409986 0.03185983 -0.13900007] [ 0.11721867 -0.05291889 0.9916952 0.21544129] [ 0. 0. 0. 1. ]] SLAMing on 73.009928851 meters Centerline goodness : 0.838678 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.14, Z:0.21 [[ 0.977903 -0.16821693 -0.12413217 -1.01473418] [ 0.17331961 0.98436356 0.03144347 -0.13718711] [ 0.11690186 -0.0522632 0.99176737 0.21474578] [ 0. 0. 0. 1. ]] SLAMing on 73.03992885099998 meters Centerline goodness : 0.841226 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.14, Z:0.21 [[ 0.9780524 -0.16747525 -0.12395782 -1.01496971] [ 0.17257774 0.98449011 0.0315619 -0.13655714] [ 0.11674941 -0.05226156 0.99178541 0.21424957] [ 0. 0. 0. 1. ]] SLAMing on 73.06992885099999 meters Centerline goodness : 0.840584 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.14, Z:0.21 [[ 0.97817059 -0.16678477 -0.1239562 -1.0145108 ] [ 0.17188188 0.98461204 0.03155554 -0.13609113] [ 0.11678579 -0.05217253 0.99178582 0.21349862] [ 0. 0. 0. 1. ]] SLAMing on 73.09992885099999 meters Centerline goodness : 0.838521 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.14, Z:0.21 [[ 0.97823411 -0.16645616 -0.12389659 -1.01453145] [ 0.17151228 0.98468615 0.03125262 -0.13523919] [ 0.11679707 -0.05182217 0.99180286 0.21312108] [ 0. 0. 0. 1. ]] SLAMing on 73.12992885099999 meters Centerline goodness : 0.838521 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.14, Z:0.21 [[ 0.97823411 -0.16645616 -0.12389659 -1.01453145] [ 0.17151228 0.98468615 0.03125262 -0.13523919] [ 0.11679707 -0.05182217 0.99180286 0.21312108] [ 0. 0. 0. 1. ]] SLAMing on 73.15992885099999 meters Centerline goodness : 0.838755 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.13, Z:0.21 [[ 0.9783013 -0.16617186 -0.12374765 -1.01452296] [ 0.17116823 0.98475942 0.0308272 -0.13413132] [ 0.11673905 -0.05133995 0.99183477 0.21252869] [ 0. 0. 0. 1. ]] SLAMing on 73.18992885099999 meters Centerline goodness : 0.838754 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.13, Z:0.21 [[ 0.9783637 -0.16588928 -0.12363344 -1.01504322] [ 0.17084848 0.98482273 0.03057762 -0.13304113] [ 0.11668452 -0.05103862 0.99185673 0.21253537] [ 0. 0. 0. 1. ]] SLAMing on 73.21992885099999 meters Centerline goodness : 0.840830 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.13, Z:0.21 [[ 0.97847097 -0.16545736 -0.12336298 -1.0151086 ] [ 0.17035072 0.98492182 0.0301603 -0.13221628] [ 0.11651264 -0.05052595 0.99190319 0.2117052 ] [ 0. 0. 0. 1. ]] SLAMing on 73.24992885099999 meters Centerline goodness : 0.838433 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.13, Z:0.21 [[ 0.97863026 -0.16494114 -0.12278939 -1.01549735] [ 0.16965083 0.98508125 0.02887069 -0.13060918] [ 0.11619556 -0.04908505 0.99201273 0.21046299] [ 0. 0. 0. 1. ]] SLAMing on 73.279928851 meters Centerline goodness : 0.839021 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.13, Z:0.21 [[ 0.97865584 -0.16496586 -0.12255212 -1.01593841] [ 0.16960922 0.98510202 0.02840302 -0.12996926] [ 0.11604081 -0.04858275 0.99205557 0.21034157] [ 0. 0. 0. 1. ]] SLAMing on 73.309928851 meters Centerline goodness : 0.841939 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.13, Z:0.21 [[ 0.97869613 -0.16435934 -0.12304426 -1.01510076] [ 0.16910077 0.9851701 0.02906565 -0.12977796] [ 0.11644232 -0.04925331 0.99197545 0.2103254 ] [ 0. 0. 0. 1. ]] SLAMing on 73.339928851 meters Centerline goodness : 0.838959 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.13, Z:0.21 [[ 0.97871579 -0.16408555 -0.12325317 -1.01503164] [ 0.16889159 0.98519182 0.02954183 -0.12975061] [ 0.11658063 -0.04972948 0.99193545 0.2106636 ] [ 0. 0. 0. 1. ]] SLAMing on 73.369928851 meters Centerline goodness : 0.839556 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.13, Z:0.21 [[ 0.97869825 -0.16405152 -0.12343756 -1.01475337] [ 0.16887403 0.98519294 0.02960464 -0.12930065] [ 0.11675312 -0.04981941 0.99191065 0.21075084] [ 0. 0. 0. 1. ]] SLAMing on 73.399928851 meters Centerline goodness : 0.840129 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.13, Z:0.21 [[ 0.97869414 -0.16383905 -0.12375194 -1.01393851] [ 0.1687406 0.98519921 0.03015177 -0.12953131] [ 0.11698027 -0.05039134 0.99185499 0.21050784] [ 0. 0. 0. 1. ]] SLAMing on 73.42992885099999 meters Centerline goodness : 0.846525 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.13, Z:0.21 [[ 0.97839992 -0.16638552 -0.12267621 -1.01522698] [ 0.17078371 0.9849607 0.02617921 -0.12799832] [ 0.11647541 -0.04656483 0.9921014 0.21034849] [ 0. 0. 0. 1. ]] SLAMing on 73.45992885099999 meters Centerline goodness : 0.837158 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.13, Z:0.21 [[ 0.97829084 -0.16659655 -0.12325837 -1.01367298] [ 0.17110016 0.98488833 0.02682755 -0.12877438] [ 0.11692635 -0.04733467 0.99201192 0.2101042 ] [ 0. 0. 0. 1. ]] SLAMing on 73.48992885099999 meters Centerline goodness : 0.838148 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.13, Z:0.21 [[ 0.97813968 -0.16738321 -0.12339216 -1.01362853] [ 0.17184629 0.98477038 0.0263846 -0.12836428] [ 0.11709661 -0.04701231 0.99200717 0.21054921] [ 0. 0. 0. 1. ]] SLAMing on 73.51992885099999 meters Centerline goodness : 0.841284 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.13, Z:0.21 [[ 0.97801513 -0.16764252 -0.1240258 -1.01259439] [ 0.17221253 0.98468928 0.02701591 -0.12841906] [ 0.11759786 -0.04778077 0.99191116 0.21087727] [ 0. 0. 0. 1. ]] SLAMing on 73.54992885099999 meters Centerline goodness : 0.840344 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.13, Z:0.21 [[ 0.97793466 -0.16778997 -0.12446013 -1.01160492] [ 0.1724221 0.98464332 0.02735234 -0.12844327] [ 0.11795938 -0.04820848 0.99184753 0.21079576] [ 0. 0. 0. 1. ]] SLAMing on 73.57992885099999 meters Centerline goodness : 0.838516 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.13, Z:0.21 [[ 0.97790491 -0.16792252 -0.12451508 -1.01108775] [ 0.17251781 0.98463594 0.02701247 -0.12840626] [ 0.11806602 -0.0478967 0.99184995 0.21044617] [ 0. 0. 0. 1. ]] SLAMing on 73.60992885099999 meters Centerline goodness : 0.838702 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.13, Z:0.21 [[ 0.97776654 -0.16870458 -0.12454462 -1.01130064] [ 0.17324284 0.9845232 0.02647625 -0.12801208] [ 0.11815041 -0.04746405 0.9918607 0.21094534] [ 0. 0. 0. 1. ]] SLAMing on 73.639928851 meters Centerline goodness : 0.838203 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.13, Z:0.21 [[ 0.97762613 -0.16917438 -0.1250087 -1.0104746 ] [ 0.17376519 0.98442506 0.02670123 -0.12847401] [ 0.11854453 -0.04782598 0.99179628 0.2113879 ] [ 0. 0. 0. 1. ]] SLAMing on 73.669928851 meters Centerline goodness : 0.838373 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.13, Z:0.21 [[ 0.97760631 -0.16899933 -0.12539987 -1.009761 ] [ 0.17367083 0.98442734 0.02722605 -0.12843031] [ 0.11884587 -0.04839466 0.99173263 0.21140921] [ 0. 0. 0. 1. ]] SLAMing on 73.699928851 meters Centerline goodness : 0.840923 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.13, Z:0.21 [[ 0.97753191 -0.16937621 -0.12547137 -1.01007644] [ 0.17399962 0.98438168 0.02677382 -0.12748149] [ 0.11897687 -0.04800423 0.9917359 0.21194494] [ 0. 0. 0. 1. ]] SLAMing on 73.729928851 meters Centerline goodness : 0.838591 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.13, Z:0.21 [[ 0.97784862 -0.16655196 -0.12677748 -1.00893833] [ 0.17173058 0.98465608 0.03100007 -0.12782384] [ 0.11966909 -0.05208494 0.99144665 0.21235541] [ 0. 0. 0. 1. ]] SLAMing on 73.759928851 meters Centerline goodness : 0.837420 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.13, Z:0.21 [[ 0.97786672 -0.16659016 -0.12658749 -1.00965959] [ 0.17170013 0.98467665 0.03051172 -0.127034 ] [ 0.11956479 -0.05157148 0.99148608 0.21263616] [ 0. 0. 0. 1. ]] SLAMing on 73.78992885099998 meters Centerline goodness : 0.841925 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.13, Z:0.21 [[ 0.97789881 -0.16627666 -0.12675171 -1.00925115] [ 0.17140257 0.98472604 0.03059061 -0.12691846] [ 0.11972921 -0.05164009 0.99146267 0.21251442] [ 0. 0. 0. 1. ]] SLAMing on 73.81992885099999 meters Centerline goodness : 0.839420 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.13, Z:0.21 [[ 0.97787561 -0.16634325 -0.1268433 -1.00883229] [ 0.17146166 0.98471903 0.03048494 -0.126671 ] [ 0.11983404 -0.05155924 0.99145421 0.21225288] [ 0. 0. 0. 1. ]] SLAMing on 73.84992885099999 meters Centerline goodness : 0.837208 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.13, Z:0.21 [[ 0.97769216 -0.16739286 -0.12687663 -1.00961402] [ 0.17242023 0.98457693 0.02965683 -0.12516644] [ 0.11995546 -0.05087135 0.99147506 0.21324612] [ 0. 0. 0. 1. ]] SLAMing on 73.87992885099999 meters Centerline goodness : 0.843554 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.12, Z:0.21 [[ 0.97758867 -0.16758872 -0.12741432 -1.00859184] [ 0.17267217 0.98452609 0.02987808 -0.12453826] [ 0.1204355 -0.05120938 0.99139946 0.21323701] [ 0. 0. 0. 1. ]] SLAMing on 73.90992885099999 meters Centerline goodness : 0.836759 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.12, Z:0.21 [[ 0.97739167 -0.16853983 -0.12767084 -1.00812115] [ 0.17356092 0.98439013 0.02920051 -0.12336068] [ 0.12075646 -0.050699 0.99138665 0.21331838] [ 0. 0. 0. 1. ]] SLAMing on 73.93992885099999 meters Centerline goodness : 0.787398 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.12, Z:0.21 [[ 0.97730907 -0.16866737 -0.12813393 -1.00662865] [ 0.17373982 0.98435211 0.02941777 -0.1235554 ] [ 0.12116708 -0.05101222 0.99132048 0.21278437] [ 0. 0. 0. 1. ]] SLAMing on 73.96992885099999 meters Centerline goodness : 0.786259 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.12, Z:0.21 [[ 0.97712892 -0.16961333 -0.12825906 -1.00610254] [ 0.17461697 0.98421672 0.02874659 -0.12314315] [ 0.12135891 -0.05048533 0.99132399 0.2126851 ] [ 0. 0. 0. 1. ]] SLAMing on 73.99992885099999 meters Centerline goodness : 0.838564 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.12, Z:0.21 [[ 0.97684453 -0.17039601 -0.129383 -1.00415582] [ 0.17551969 0.98404266 0.02920405 -0.12239248] [ 0.12234213 -0.05123708 0.99116455 0.21304243] [ 0. 0. 0. 1. ]] SLAMing on 74.029928851 meters Centerline goodness : 0.843758 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.12, Z:0.21 [[ 0.97671163 -0.17105562 -0.12951589 -1.00445352] [ 0.17613843 0.98394466 0.02877783 -0.12135338] [ 0.12251386 -0.05092037 0.99115966 0.21368534] [ 0. 0. 0. 1. ]] SLAMing on 74.059928851 meters Centerline goodness : 0.843065 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.12, Z:0.21 [[ 0.97662064 -0.17120252 -0.13000703 -1.00402921] [ 0.17634462 0.98389997 0.02904182 -0.1206879 ] [ 0.12294188 -0.05128888 0.99108766 0.21429426] [ 0. 0. 0. 1. ]] SLAMing on 74.089928851 meters Centerline goodness : 0.843054 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.12, Z:0.21 [[ 0.97647879 -0.17182061 -0.13025683 -1.00400299] [ 0.17693784 0.9838035 0.02869973 -0.11979461] [ 0.12321592 -0.05107204 0.99106482 0.21490665] [ 0. 0. 0. 1. ]] SLAMing on 74.119928851 meters Centerline goodness : 0.843203 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.12, Z:0.22 [[ 0.97635291 -0.1721744 -0.13073244 -1.00335136] [ 0.17734613 0.98372362 0.02891696 -0.1194748 ] [ 0.12362582 -0.05141805 0.99099588 0.21532337] [ 0. 0. 0. 1. ]] SLAMing on 74.149928851 meters Centerline goodness : 0.839458 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.12, Z:0.22 [[ 0.97625741 -0.17287942 -0.13051506 -1.00401547] [ 0.17794309 0.98363955 0.02809807 -0.11812712] [ 0.1235222 -0.0506552 0.99104809 0.21555243] [ 0. 0. 0. 1. ]] SLAMing on 74.17992885099999 meters Centerline goodness : 0.842796 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.12, Z:0.22 [[ 0.97619359 -0.17329832 -0.1304368 -1.00436846] [ 0.17827596 0.98359856 0.02741464 -0.11662801] [ 0.12354654 -0.05001574 0.99107753 0.21578388] [ 0. 0. 0. 1. ]] SLAMing on 74.20992885099999 meters Centerline goodness : 0.841238 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.11, Z:0.22 [[ 0.97614951 -0.17349387 -0.13050674 -1.00439089] [ 0.17841487 0.98358703 0.02692021 -0.11499595] [ 0.12369424 -0.04956249 0.99108188 0.21589839] [ 0. 0. 0. 1. ]] SLAMing on 74.23992885099999 meters Centerline goodness : 0.842349 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.11, Z:0.22 [[ 0.97611291 -0.17316419 -0.13121645 -1.00282895] [ 0.17814097 0.98363174 0.02709959 -0.11361444] [ 0.12437599 -0.04982729 0.99098328 0.21546142] [ 0. 0. 0. 1. ]] SLAMing on 74.26992885099999 meters Centerline goodness : 0.839828 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.11, Z:0.21 [[ 0.97620399 -0.17250832 -0.13140265 -1.00180919] [ 0.17745925 0.98376155 0.02685923 -0.11100801] [ 0.12463544 -0.0495387 0.99096515 0.21483868] [ 0. 0. 0. 1. ]] SLAMing on 74.29992885099999 meters Centerline goodness : 0.841243 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.11, Z:0.21 [[ 0.97621161 -0.17236141 -0.1315387 -1.00139955] [ 0.17726972 0.98380613 0.02647552 -0.10924138] [ 0.12484522 -0.04916354 0.99095742 0.21469866] [ 0. 0. 0. 1. ]] SLAMing on 74.32992885099999 meters Centerline goodness : 0.839478 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.11, Z:0.21 [[ 0.97683652 -0.16850023 -0.13190178 -1.00227122] [ 0.17378949 0.98433824 0.02958797 -0.10740459] [ 0.12485038 -0.05182575 0.99082111 0.21478347] [ 0. 0. 0. 1. ]] SLAMing on 74.35992885099999 meters Centerline goodness : 0.838210 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.11, Z:0.21 [[ 0.97685222 -0.16828451 -0.13206085 -1.00200665] [ 0.17352138 0.9843995 0.02911957 -0.10500399] [ 0.12510027 -0.0513609 0.9908138 0.21486643] [ 0. 0. 0. 1. ]] SLAMing on 74.389928851 meters Centerline goodness : 0.780223 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.22 [[ 0.97740802 -0.16483877 -0.13229416 -1.00369646] [ 0.17041953 0.98485333 0.03195464 -0.10289139] [ 0.12502298 -0.05377823 0.99069529 0.21546869] [ 0. 0. 0. 1. ]] SLAMing on 74.419928851 meters Centerline goodness : 0.780544 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.22 [[ 0.97737665 -0.16500127 -0.1323233 -1.00394291] [ 0.1705058 0.98485852 0.03132845 -0.10082965] [ 0.1251505 -0.05318159 0.9907114 0.21575705] [ 0. 0. 0. 1. ]] SLAMing on 74.449928851 meters Centerline goodness : 0.780763 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.22 [[ 0.97732977 -0.16526474 -0.13234081 -1.00429522] [ 0.17067579 0.98485305 0.0305653 -0.09896667] [ 0.12528488 -0.05245975 0.9907329 0.21626423] [ 0. 0. 0. 1. ]] SLAMing on 74.479928851 meters Centerline goodness : 0.839676 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.10, Z:0.22 [[ 0.97726106 -0.16599502 -0.13193361 -1.00566749] [ 0.17125579 0.98478481 0.02950149 -0.09657275] [ 0.12502911 -0.05142505 0.99081945 0.21673702] [ 0. 0. 0. 1. ]] SLAMing on 74.509928851 meters Centerline goodness : 0.777957 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.10, Z:0.22 [[ 0.97719006 -0.1665691 -0.13173581 -1.00628727] [ 0.17173635 0.98472169 0.02880649 -0.09533379] [ 0.12492484 -0.05077324 0.99086622 0.21693777] [ 0. 0. 0. 1. ]] SLAMing on 74.53992885099998 meters Centerline goodness : 0.838908 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.09, Z:0.22 [[ 0.97706599 -0.16762547 -0.13131551 -1.00769251] [ 0.17263797 0.98459624 0.02768362 -0.09289945] [ 0.12465227 -0.04971877 0.99095401 0.21725382] [ 0. 0. 0. 1. ]] SLAMing on 74.56992885099999 meters Centerline goodness : 0.779832 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.09, Z:0.22 [[ 0.97695789 -0.16842553 -0.13109586 -1.00862324] [ 0.17333809 0.9844942 0.02692727 -0.09160054] [ 0.12452788 -0.04903072 0.99100393 0.21761958] [ 0. 0. 0. 1. ]] SLAMing on 74.59992885099999 meters Centerline goodness : 0.840435 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.09, Z:0.22 [[ 0.97684622 -0.16922266 -0.13090132 -1.00937846] [ 0.17404225 0.98438919 0.02621484 -0.09056603] [ 0.1244217 -0.04839023 0.99104875 0.21788585] [ 0. 0. 0. 1. ]] SLAMing on 74.62992885099999 meters Centerline goodness : 0.838455 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.09, Z:0.22 [[ 0.9761473 -0.17371335 -0.13023101 -1.00936229] [ 0.17795844 0.98380068 0.02161035 -0.08796557] [ 0.12436735 -0.04427059 0.99124814 0.21800346] [ 0. 0. 0. 1. ]] SLAMing on 74.65992885099999 meters Centerline goodness : 0.778169 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.09, Z:0.22 [[ 0.97603909 -0.1745071 -0.12998067 -1.01011705] [ 0.17866604 0.98368643 0.02096294 -0.08728344] [ 0.12420204 -0.04368378 0.9912949 0.21819917] [ 0. 0. 0. 1. ]] SLAMing on 74.68992885099999 meters Centerline goodness : 0.778420 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.09, Z:0.22 [[ 0.97593363 -0.17524117 -0.12978479 -1.01080099] [ 0.17931938 0.9835806 0.02034138 -0.08661064] [ 0.12408915 -0.04312477 0.99133351 0.2184672 ] [ 0. 0. 0. 1. ]] SLAMing on 74.71992885099999 meters Centerline goodness : 0.838160 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.09, Z:0.22 [[ 0.97582455 -0.17599972 -0.12957833 -1.01150161] [ 0.17998911 0.9834722 0.01965571 -0.08556995] [ 0.12397728 -0.04250322 0.99137435 0.21866709] [ 0. 0. 0. 1. ]] SLAMing on 74.74992885099999 meters Centerline goodness : 0.778088 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.08, Z:0.22 [[ 0.97566761 -0.17713717 -0.1292097 -1.01279875] [ 0.18096664 0.98331653 0.0184304 -0.08264753] [ 0.12378932 -0.04136459 0.991446 0.21896397] [ 0. 0. 0. 1. ]] SLAMing on 74.779928851 meters Centerline goodness : 0.777701 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.08, Z:0.22 [[ 0.97558781 -0.17775391 -0.12896501 -1.01359292] [ 0.18149091 0.98323274 0.0177324 -0.08095426] [ 0.12365061 -0.04070549 0.99149059 0.21916088] [ 0. 0. 0. 1. ]] SLAMing on 74.809928851 meters Centerline goodness : 0.777844 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.08, Z:0.22 [[ 0.97546698 -0.17875329 -0.12849683 -1.01530056] [ 0.18232323 0.9831005 0.0164816 -0.07811457] [ 0.12337916 -0.03950521 0.99157295 0.21978436] [ 0. 0. 0. 1. ]] SLAMing on 74.839928851 meters Centerline goodness : 0.836637 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.08, Z:0.22 [[ 0.9753864 -0.17931843 -0.12832097 -1.01606771] [ 0.18279376 0.98302525 0.01574183 -0.07692888] [ 0.12331995 -0.03881064 0.99160775 0.2202894 ] [ 0. 0. 0. 1. ]] SLAMing on 74.869928851 meters Centerline goodness : 0.829447 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.07, Z:0.23 [[ 0.97418191 -0.18408634 -0.13069743 -0.98108719] [ 0.18635106 0.98246942 0.00520771 -0.06757221] [ 0.12744756 -0.02942886 0.99140862 0.22906932] [ 0. 0. 0. 1. ]] SLAMing on 74.899928851 meters Centerline goodness : 0.781269 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.04, Z:0.27 [[ 0.9772885 -0.18123203 -0.10982777 -0.86501155] [ 0.17609948 0.9828437 -0.05483821 -0.03891918] [ 0.11788197 0.03425214 0.99243671 0.27195843] [ 0. 0. 0. 1. ]] SLAMing on 74.92992885099999 meters Centerline goodness : 0.779430 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.04, Z:0.27 [[ 0.97788789 -0.17787655 -0.10997818 -0.86634728] [ 0.17317033 0.98356878 -0.05103424 -0.03943473] [ 0.1172489 0.03086081 0.99262294 0.27156303] [ 0. 0. 0. 1. ]] SLAMing on 74.95992885099999 meters Centerline goodness : 0.837763 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.04, Z:0.27 [[ 0.97850087 -0.17434289 -0.1101844 -0.86753361] [ 0.17006323 0.98430278 -0.04718617 -0.03995145] [ 0.11668138 0.0274334 0.99279044 0.27119834] [ 0. 0. 0. 1. ]] SLAMing on 74.98992885099999 meters Centerline goodness : 0.836588 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.04, Z:0.27 [[ 0.97914143 -0.17053617 -0.11045124 -0.86825355] [ 0.16667945 0.98505879 -0.04332595 -0.03939272] [ 0.11618961 0.02401228 0.99293675 0.27046734] [ 0. 0. 0. 1. ]] SLAMing on 75.01992885099999 meters Centerline goodness : 0.837380 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.04, Z:0.27 [[ 0.97969829 -0.16730761 -0.11045103 -0.86977627] [ 0.16387788 0.98568962 -0.03949712 -0.04067327] [ 0.1154786 0.02059478 0.99309644 0.27005509] [ 0. 0. 0. 1. ]] SLAMing on 75.04992885099999 meters Centerline goodness : 0.837380 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.04, Z:0.27 [[ 0.97969829 -0.16730761 -0.11045103 -0.86977627] [ 0.16387788 0.98568962 -0.03949712 -0.04067327] [ 0.1154786 0.02059478 0.99309644 0.27005509] [ 0. 0. 0. 1. ]] SLAMing on 75.07992885099999 meters Centerline goodness : 0.837379 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.04, Z:0.27 [[ 0.98019354 -0.16422527 -0.11068286 -0.87091171] [ 0.16120287 0.9862723 -0.03578535 -0.0423646 ] [ 0.1150403 0.01723417 0.99321131 0.26985299] [ 0. 0. 0. 1. ]] SLAMing on 75.10992885099999 meters Centerline goodness : 0.835205 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.04, Z:0.27 [[ 0.98019956 -0.16407261 -0.11085574 -0.87038353] [ 0.16104853 0.98629823 -0.03576566 -0.04174851] [ 0.11520499 0.01720433 0.99319274 0.26966452] [ 0. 0. 0. 1. ]] SLAMing on 75.139928851 meters Centerline goodness : 0.779263 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.04, Z:0.27 [[ 0.9806568 -0.16135697 -0.11079786 -0.87217081] [ 0.15872497 0.98679642 -0.03223674 -0.04260232] [ 0.11453655 0.01402679 0.99332 0.26924625] [ 0. 0. 0. 1. ]] SLAMing on 75.169928851 meters Centerline goodness : 0.778181 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.04, Z:0.27 [[ 0.98064679 -0.16146387 -0.11073069 -0.87216544] [ 0.15884033 0.9867798 -0.0321774 -0.04232679] [ 0.1144623 0.01396616 0.99332942 0.26891278] [ 0. 0. 0. 1. ]] SLAMing on 75.199928851 meters Centerline goodness : 0.834316 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.04, Z:0.27 [[ 0.98058078 -0.16203721 -0.1104775 -0.87262214] [ 0.1594233 0.98668648 -0.03215584 -0.04311591] [ 0.1142171 0.01391872 0.99335831 0.26850193] [ 0. 0. 0. 1. ]] SLAMing on 75.229928851 meters Centerline goodness : 0.779747 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.04, Z:0.27 [[ 0.98054129 -0.16241306 -0.11027596 -0.87288717] [ 0.15980909 0.98662542 -0.03211432 -0.04372147] [ 0.11401685 0.01386632 0.99338204 0.26816645] [ 0. 0. 0. 1. ]] SLAMing on 75.259928851 meters Centerline goodness : 0.780052 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.04, Z:0.27 [[ 0.98049088 -0.16282259 -0.1101201 -0.873295 ] [ 0.16022489 0.98655842 -0.03210093 -0.04442648] [ 0.11386667 0.01383069 0.99339976 0.26809818] [ 0. 0. 0. 1. ]] SLAMing on 75.28992885099998 meters Centerline goodness : 0.834463 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.05, Z:0.27 [[ 0.9803384 -0.16396018 -0.10978924 -0.87466088] [ 0.16133437 0.98636621 -0.03244862 -0.04517859] [ 0.11361268 0.01409785 0.99342509 0.26849042] [ 0. 0. 0. 1. ]] SLAMing on 75.31992885099999 meters Centerline goodness : 0.833422 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.05, Z:0.27 [[ 0.98030444 -0.16437443 -0.10947264 -0.87552573] [ 0.16175594 0.98629725 -0.03244627 -0.04589349] [ 0.1133059 0.01409937 0.9934601 0.26855849] [ 0. 0. 0. 1. ]] SLAMing on 75.34992885099999 meters Centerline goodness : 0.833362 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.05, Z:0.27 [[ 0.98026453 -0.16472062 -0.10930949 -0.87610892] [ 0.16210248 0.98623917 -0.03248218 -0.04667977] [ 0.11315578 0.0141218 0.9934769 0.26876829] [ 0. 0. 0. 1. ]] SLAMing on 75.37992885099999 meters Centerline goodness : 0.779770 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.05, Z:0.27 [[ 0.98017691 -0.16555693 -0.10883068 -0.87769342] [ 0.1629325 0.98609708 -0.03264277 -0.04784285] [ 0.11272185 0.01426363 0.9935242 0.26917903] [ 0. 0. 0. 1. ]] SLAMing on 75.40992885099999 meters Centerline goodness : 0.781006 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.05, Z:0.27 [[ 0.98015124 -0.1657516 -0.10876556 -0.87802483] [ 0.16314528 0.98606656 -0.03250167 -0.04867792] [ 0.11263729 0.01411197 0.99353595 0.26928155] [ 0. 0. 0. 1. ]] SLAMing on 75.43992885099999 meters Centerline goodness : 0.835949 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.05, Z:0.27 [[ 0.98011503 -0.16621106 -0.1083901 -0.87892109] [ 0.16363608 0.98599198 -0.03229622 -0.05037207] [ 0.11223976 0.01391748 0.99358369 0.26925382] [ 0. 0. 0. 1. ]] SLAMing on 75.46992885099999 meters Centerline goodness : 0.779448 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.05, Z:0.27 [[ 0.98010905 -0.1663083 -0.10829498 -0.87917928] [ 0.16376116 0.98597871 -0.03206659 -0.05149862] [ 0.11210949 0.01369424 0.99360149 0.26925977] [ 0. 0. 0. 1. ]] SLAMing on 75.49992885099999 meters Centerline goodness : 0.835016 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.05, Z:0.27 [[ 0.98007195 -0.16665546 -0.10809687 -0.87990724] [ 0.16413703 0.98592308 -0.03185446 -0.05354856] [ 0.11188392 0.01347696 0.99362989 0.26953975] [ 0. 0. 0. 1. ]] SLAMing on 75.529928851 meters Centerline goodness : 0.781127 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.05, Z:0.27 [[ 0.98008731 -0.1665752 -0.10808129 -0.87968531] [ 0.16408981 0.98594046 -0.03155854 -0.0546432 ] [ 0.11181859 0.01319509 0.99364103 0.26928017] [ 0. 0. 0. 1. ]] SLAMing on 75.559928851 meters Centerline goodness : 0.778344 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.98010311 -0.16638838 -0.10822567 -0.87909827] [ 0.16393982 0.98597668 -0.03120454 -0.0557058 ] [ 0.11190006 0.01284117 0.99363649 0.26898414] [ 0. 0. 0. 1. ]] SLAMing on 75.589928851 meters Centerline goodness : 0.836478 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.98013331 -0.1660529 -0.10846722 -0.8782788 ] [ 0.16364392 0.9860383 -0.03080801 -0.05646705] [ 0.11206859 0.01244595 0.99362253 0.26868705] [ 0. 0. 0. 1. ]] SLAMing on 75.619928851 meters Centerline goodness : 0.833578 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.98014962 -0.16579435 -0.10871507 -0.87774246] [ 0.16340433 0.98608455 -0.03059883 -0.05677851] [ 0.11227537 0.01222692 0.9936019 0.26871616] [ 0. 0. 0. 1. ]] SLAMing on 75.649928851 meters Centerline goodness : 0.832981 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.98020513 -0.16537828 -0.10884822 -0.87731507] [ 0.16304272 0.98616035 -0.03008031 -0.05811429] [ 0.11231643 0.01173796 0.99360316 0.26861188] [ 0. 0. 0. 1. ]] SLAMing on 75.67992885099999 meters Centerline goodness : 0.778693 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.98030195 -0.16457579 -0.10919201 -0.8762846 ] [ 0.16229457 0.98630064 -0.02952164 -0.05985778] [ 0.1125547 0.01121885 0.99358219 0.26862947] [ 0. 0. 0. 1. ]] SLAMing on 75.70992885099999 meters Centerline goodness : 0.832236 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.9803626 -0.16399855 -0.10951547 -0.87536891] [ 0.16174893 0.98640044 -0.02917979 -0.06026361] [ 0.11281155 0.01089276 0.99355669 0.26853531] [ 0. 0. 0. 1. ]] SLAMing on 75.73992885099999 meters Centerline goodness : 0.780889 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.06, Z:0.27 [[ 0.98042539 -0.16343915 -0.10978931 -0.87452937] [ 0.16122137 0.9864967 -0.02884305 -0.06043891] [ 0.11302088 0.01057807 0.9935363 0.26836899] [ 0. 0. 0. 1. ]] SLAMing on 75.76992885099999 meters Centerline goodness : 0.779602 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.98105548 -0.15935282 -0.11016728 -0.87553883] [ 0.15756916 0.98719731 -0.02476766 -0.06161485] [ 0.11270364 0.00693948 0.99360442 0.26870974] [ 0. 0. 0. 1. ]] SLAMing on 75.79992885099999 meters Centerline goodness : 0.779315 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.98158135 -0.1558564 -0.11048452 -0.87651641] [ 0.15446759 0.98777309 -0.02107318 -0.06312044] [ 0.11241802 0.00361876 0.99365441 0.26893707] [ 0. 0. 0. 1. ]] SLAMing on 75.82992885099999 meters Centerline goodness : 0.777956 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.98164268 -0.15527999 -0.11075092 -0.87562915] [ 0.15391749 0.98786475 -0.0208003 -0.06313483] [ 0.1126368 0.00337196 0.99363051 0.26875743] [ 0. 0. 0. 1. ]] SLAMing on 75.85992885099999 meters Centerline goodness : 0.831649 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.06, Z:0.27 [[ 0.98170511 -0.15466081 -0.11106354 -0.87456978] [ 0.15333829 0.98796307 -0.0204044 -0.06373828] [ 0.11288244 0.00300081 0.99360382 0.26848322] [ 0. 0. 0. 1. ]] SLAMing on 75.889928851 meters Centerline goodness : 0.778263 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.98183022 -0.1535809 -0.11145551 -0.87279146] [ 0.1523386 0.98813342 -0.01962917 -0.06517412] [ 0.11314758 0.00229353 0.99357555 0.26774633] [ 0. 0. 0. 1. ]] SLAMing on 75.919928851 meters Centerline goodness : 0.833138 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.98191464 -0.15278029 -0.11181151 -0.87162717] [ 0.1515786 0.9882583 -0.01922113 -0.06513137] [ 0.11343527 0.00192528 0.99354352 0.26746898] [ 0. 0. 0. 1. ]] SLAMing on 75.949928851 meters Centerline goodness : 0.776456 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.06, Z:0.27 [[ 0.98192728 -0.15265458 -0.11187224 -0.87153471] [ 0.15145253 0.98827773 -0.01921613 -0.06479472] [ 0.11349428 0.00192551 0.99353678 0.26756512] [ 0. 0. 0. 1. ]] SLAMing on 75.979928851 meters Centerline goodness : 0.773945 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.06, Z:0.27 [[ 0.98193363 -0.15242483 -0.11212947 -0.87103866] [ 0.15123214 0.9883134 -0.01911706 -0.06478075] [ 0.11373297 0.0018141 0.9935097 0.26768918] [ 0. 0. 0. 1. ]] SLAMing on 76.009928851 meters Centerline goodness : 0.829730 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.98196304 -0.1521205 -0.11228509 -0.87034675] [ 0.15096762 0.98836088 -0.01874981 -0.06601775] [ 0.11383042 0.00146021 0.99349912 0.26742472] [ 0. 0. 0. 1. ]] SLAMing on 76.03992885099998 meters Centerline goodness : 0.830621 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.98195706 -0.15220635 -0.11222103 -0.87041943] [ 0.15107023 0.98834786 -0.01860925 -0.06711567] [ 0.11374586 0.00132023 0.993509 0.2673904 ] [ 0. 0. 0. 1. ]] SLAMing on 76.06992885099999 meters Centerline goodness : 0.830013 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.98187024 -0.15304257 -0.11184272 -0.87189412] [ 0.15188712 0.98821846 -0.01883046 -0.068852 ] [ 0.1134069 0.0015016 0.99354749 0.26812109] [ 0. 0. 0. 1. ]] SLAMing on 76.09992885099999 meters Centerline goodness : 0.828249 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.98184149 -0.15336689 -0.11165076 -0.87245128] [ 0.15222327 0.98816831 -0.01874762 -0.06979639] [ 0.11320501 0.00141135 0.99357065 0.26823434] [ 0. 0. 0. 1. ]] SLAMing on 76.12992885099999 meters Centerline goodness : 0.830176 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.98180937 -0.15364667 -0.11154844 -0.8728881 ] [ 0.15251114 0.98812494 -0.01869364 -0.07078187] [ 0.11309601 0.00134122 0.99358316 0.26845773] [ 0. 0. 0. 1. ]] SLAMing on 76.15992885099999 meters Centerline goodness : 0.773630 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.98177793 -0.15399003 -0.11135157 -0.87344568] [ 0.15285453 0.98807148 -0.01871503 -0.07157678] [ 0.11290524 0.00135341 0.99360484 0.26862331] [ 0. 0. 0. 1. ]] SLAMing on 76.18992885099999 meters Centerline goodness : 0.829365 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.98170621 -0.15472705 -0.1109615 -0.87460135] [ 0.1535755 0.98795609 -0.01890306 -0.07288605] [ 0.1125499 0.00151629 0.99364492 0.26896453] [ 0. 0. 0. 1. ]] SLAMing on 76.21992885099999 meters Centerline goodness : 0.829601 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.98168776 -0.15489333 -0.1108927 -0.87476043] [ 0.15375701 0.98793023 -0.01877879 -0.07358499] [ 0.11246296 0.00138437 0.99365495 0.26887537] [ 0. 0. 0. 1. ]] SLAMing on 76.24992885099999 meters Centerline goodness : 0.831293 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.98169222 -0.15480125 -0.11098176 -0.87446342] [ 0.15366714 0.9879447 -0.01875303 -0.0736148 ] [ 0.11254683 0.00135546 0.9936455 0.26883283] [ 0. 0. 0. 1. ]] SLAMing on 76.279928851 meters Centerline goodness : 0.832776 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.98171392 -0.15458933 -0.11108521 -0.87410568] [ 0.15346492 0.98797801 -0.01865423 -0.0733707 ] [ 0.11263349 0.00126543 0.9936358 0.26870347] [ 0. 0. 0. 1. ]] SLAMing on 76.309928851 meters Centerline goodness : 0.828305 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.98225768 -0.15080733 -0.11147647 -0.8747145 ] [ 0.15008184 0.988561 -0.01491978 -0.07381499] [ 0.1124513 -0.00207552 0.99365507 0.26867633] [ 0. 0. 0. 1. ]] SLAMing on 76.339928851 meters Centerline goodness : 0.828358 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.98227596 -0.15053754 -0.1116798 -0.8742461 ] [ 0.1497976 0.98860235 -0.01503573 -0.07262528] [ 0.11267036 -0.00196013 0.99363049 0.26869281] [ 0. 0. 0. 1. ]] SLAMing on 76.369928851 meters Centerline goodness : 0.828675 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.98229281 -0.15026964 -0.11189227 -0.87386138] [ 0.14950774 0.98864345 -0.01521745 -0.07135069] [ 0.11290828 -0.00178076 0.99360382 0.26887325] [ 0. 0. 0. 1. ]] SLAMing on 76.39992885099998 meters Centerline goodness : 0.773552 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.98233051 -0.14989249 -0.11206696 -0.87334778] [ 0.14911868 0.98870088 -0.01530339 -0.07012255] [ 0.11309457 -0.00167829 0.99358281 0.26883594] [ 0. 0. 0. 1. ]] SLAMing on 76.42992885099999 meters Centerline goodness : 0.827937 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.9828975 -0.14586801 -0.11240565 -0.87377298] [ 0.14546923 0.98929257 -0.01178589 -0.06993272] [ 0.11292126 -0.00476724 0.9935925 0.26879794] [ 0. 0. 0. 1. ]] SLAMing on 76.45992885099999 meters Centerline goodness : 0.828876 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.9829288 -0.14551498 -0.11258933 -0.87332309] [ 0.14508346 0.98934591 -0.01206104 -0.0682149 ] [ 0.11314486 -0.00447971 0.9935684 0.26892874] [ 0. 0. 0. 1. ]] SLAMing on 76.48992885099999 meters Centerline goodness : 0.769627 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.98346933 -0.14181736 -0.11258737 -0.87481751] [ 0.14173782 0.98986555 -0.00875154 -0.06667408] [ 0.11268748 -0.00735102 0.99360329 0.26901598] [ 0. 0. 0. 1. ]] SLAMing on 76.51992885099999 meters Centerline goodness : 0.769321 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.98348691 -0.14169621 -0.11258637 -0.87477204] [ 0.14158395 0.98988504 -0.00903301 -0.06508486] [ 0.11272751 -0.00705657 0.99360088 0.2690143 ] [ 0. 0. 0. 1. ]] SLAMing on 76.54992885099999 meters Centerline goodness : 0.770085 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.06, Z:0.27 [[ 0.98350487 -0.14150396 -0.11267121 -0.87443078] [ 0.14135537 0.98991479 -0.00934724 -0.06311497] [ 0.11285757 -0.00673363 0.99358836 0.26889519] [ 0. 0. 0. 1. ]] SLAMing on 76.57992885099999 meters Centerline goodness : 0.769334 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.06, Z:0.27 [[ 0.98349554 -0.14159283 -0.11264102 -0.87433528] [ 0.14141817 0.98990359 -0.00958012 -0.06229606] [ 0.11286023 -0.00650748 0.99358956 0.26876339] [ 0. 0. 0. 1. ]] SLAMing on 76.60992885099999 meters Centerline goodness : 0.770433 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.06, Z:0.27 [[ 0.98348059 -0.14177202 -0.11254613 -0.87448911] [ 0.14157028 0.98987947 -0.00982337 -0.06173208] [ 0.11279978 -0.0062721 0.99359794 0.26874253] [ 0. 0. 0. 1. ]] SLAMing on 76.639928851 meters Centerline goodness : 0.830197 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.06, Z:0.27 [[ 0.98343267 -0.14214364 -0.1124961 -0.87471434] [ 0.14191302 0.98982764 -0.01009639 -0.061513 ] [ 0.11278689 -0.00603554 0.99360087 0.26885078] [ 0. 0. 0. 1. ]] SLAMing on 76.669928851 meters Centerline goodness : 0.830791 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.98334663 -0.14312181 -0.1120069 -0.87619385] [ 0.14283438 0.98968954 -0.01062841 -0.06122932] [ 0.11237322 -0.00554702 0.99365059 0.26913239] [ 0. 0. 0. 1. ]] SLAMing on 76.699928851 meters Centerline goodness : 0.768501 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.98330274 -0.14355423 -0.11183876 -0.87658002] [ 0.14324968 0.98962769 -0.01079617 -0.0612903 ] [ 0.11222857 -0.00540496 0.99366772 0.26907063] [ 0. 0. 0. 1. ]] SLAMing on 76.729928851 meters Centerline goodness : 0.768282 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.9832133 -0.14445573 -0.11146369 -0.87742149] [ 0.14412281 0.98949776 -0.01108126 -0.06161351] [ 0.11189383 -0.00516922 0.99370672 0.2688559 ] [ 0. 0. 0. 1. ]] SLAMing on 76.759928851 meters Centerline goodness : 0.769561 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.98315912 -0.14497572 -0.11126631 -0.87810917] [ 0.14461125 0.98942308 -0.01138215 -0.06181652] [ 0.11173959 -0.0048999 0.99372544 0.26914333] [ 0. 0. 0. 1. ]] SLAMing on 76.78992885099998 meters Centerline goodness : 0.768766 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.98310541 -0.14555438 -0.11098505 -0.87897717] [ 0.14516515 0.98933916 -0.01162323 -0.06222252] [ 0.11149367 -0.00468431 0.9937541 0.26935192] [ 0. 0. 0. 1. ]] SLAMing on 76.81992885099999 meters Centerline goodness : 0.768650 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.98302143 -0.14636688 -0.11065987 -0.8802797 ] [ 0.14593424 0.98922098 -0.01204325 -0.06293846] [ 0.11122979 -0.00431029 0.99378537 0.2700313 ] [ 0. 0. 0. 1. ]] SLAMing on 76.84992885099999 meters Centerline goodness : 0.769895 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.98299918 -0.14652529 -0.11064783 -0.88044531] [ 0.14608359 0.98919785 -0.01213268 -0.06309647] [ 0.11123034 -0.00423741 0.99378562 0.27024413] [ 0. 0. 0. 1. ]] SLAMing on 76.87992885099999 meters Centerline goodness : 0.832948 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.9829843 -0.14665352 -0.11061018 -0.88088263] [ 0.14617899 0.98918004 -0.01243173 -0.06216296] [ 0.11123654 -0.00394869 0.99378611 0.27069673] [ 0. 0. 0. 1. ]] SLAMing on 76.90992885099999 meters Centerline goodness : 0.769162 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.98298063 -0.14658358 -0.11073545 -0.88073842] [ 0.14609295 0.98919093 -0.01257603 -0.06140254] [ 0.11138194 -0.00381567 0.99377035 0.27088502] [ 0. 0. 0. 1. ]] SLAMing on 76.93992885099999 meters Centerline goodness : 0.769162 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.98298063 -0.14658358 -0.11073545 -0.88073842] [ 0.14609295 0.98919093 -0.01257603 -0.06140254] [ 0.11138194 -0.00381567 0.99377035 0.27088502] [ 0. 0. 0. 1. ]] SLAMing on 76.96992885099999 meters Centerline goodness : 0.770536 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.98302489 -0.14615289 -0.11091164 -0.88011569] [ 0.14566116 0.98925471 -0.01256755 -0.0607056 ] [ 0.11155665 -0.00380131 0.99375081 0.27084525] [ 0. 0. 0. 1. ]] SLAMing on 76.99992885099999 meters Centerline goodness : 0.769419 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.9831002 -0.14549835 -0.1111046 -0.8792524 ] [ 0.14501393 0.989351 -0.0124722 -0.0597214 ] [ 0.11173614 -0.00385029 0.99373045 0.27057482] [ 0. 0. 0. 1. ]] SLAMing on 77.029928851 meters Centerline goodness : 0.769419 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.9831002 -0.14549835 -0.1111046 -0.8792524 ] [ 0.14501393 0.989351 -0.0124722 -0.0597214 ] [ 0.11173614 -0.00385029 0.99373045 0.27057482] [ 0. 0. 0. 1. ]] SLAMing on 77.059928851 meters Centerline goodness : 0.769173 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.98362766 -0.14175423 -0.11127611 -0.88048716] [ 0.14163213 0.98987807 -0.0090417 -0.05890954] [ 0.11143148 -0.00686661 0.9937484 0.27084071] [ 0. 0. 0. 1. ]] SLAMing on 77.089928851 meters Centerline goodness : 0.768791 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.98364773 -0.14137652 -0.11157876 -0.87992387] [ 0.14124174 0.98993283 -0.00915169 -0.05761639] [ 0.11174931 -0.00675754 0.99371345 0.27105435] [ 0. 0. 0. 1. ]] SLAMing on 77.119928851 meters Centerline goodness : 0.768908 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.98370095 -0.14083768 -0.11179079 -0.87944199] [ 0.14067021 0.99001166 -0.009424 -0.05618135] [ 0.11200144 -0.00645524 0.99368708 0.27147864] [ 0. 0. 0. 1. ]] SLAMing on 77.14992885099998 meters Centerline goodness : 0.768426 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.98369097 -0.14088949 -0.11181338 -0.87950681] [ 0.14071407 0.99000471 -0.00949883 -0.05617829] [ 0.11203406 -0.0063898 0.99368382 0.27163494] [ 0. 0. 0. 1. ]] SLAMing on 77.17992885099999 meters Centerline goodness : 0.769534 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.983682 -0.14090061 -0.1118782 -0.87942214] [ 0.14071311 0.99000377 -0.00961026 -0.05612611] [ 0.11211393 -0.00628929 0.99367546 0.27179178] [ 0. 0. 0. 1. ]] SLAMing on 77.20992885099999 meters Centerline goodness : 0.767984 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.98367339 -0.14107557 -0.11173338 -0.87972768] [ 0.1408791 0.98997937 -0.00969168 -0.05575983] [ 0.111981 -0.00620745 0.99369096 0.2716818 ] [ 0. 0. 0. 1. ]] SLAMing on 77.23992885099999 meters Centerline goodness : 0.767062 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.9836392 -0.14144074 -0.1115726 -0.88017526] [ 0.14124121 0.98992739 -0.00973066 -0.05582691] [ 0.11182508 -0.00618719 0.99370864 0.27162077] [ 0. 0. 0. 1. ]] SLAMing on 77.26992885099999 meters Centerline goodness : 0.767700 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.98358458 -0.14194823 -0.11140952 -0.88075383] [ 0.14173515 0.9898554 -0.00987087 -0.05651326] [ 0.11168047 -0.0060818 0.99372556 0.27182632] [ 0. 0. 0. 1. ]] SLAMing on 77.29992885099999 meters Centerline goodness : 0.769052 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.9830031 -0.14604247 -0.11124978 -0.8800048 ] [ 0.1454182 0.98927474 -0.01374905 -0.05694718] [ 0.11206454 -0.00266238 0.99369736 0.27233523] [ 0. 0. 0. 1. ]] SLAMing on 77.32992885099999 meters Centerline goodness : 0.767842 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.98294345 -0.14657855 -0.11107165 -0.88058728] [ 0.14594792 0.98919558 -0.01383164 -0.05831767] [ 0.111899 -0.00261495 0.99371614 0.27251862] [ 0. 0. 0. 1. ]] SLAMing on 77.35992885099999 meters Centerline goodness : 0.766753 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.98289037 -0.14702112 -0.11095637 -0.88103753] [ 0.146396 0.98912974 -0.01380495 -0.05978625] [ 0.11177987 -0.00267482 0.99372939 0.27275137] [ 0. 0. 0. 1. ]] SLAMing on 77.389928851 meters Centerline goodness : 0.768662 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.98266468 -0.14875674 -0.1106416 -0.88268139] [ 0.14806314 0.98887153 -0.01450525 -0.06230043] [ 0.11156808 -0.00212815 0.99375451 0.27376099] [ 0. 0. 0. 1. ]] SLAMing on 77.419928851 meters Centerline goodness : 0.769172 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.06, Z:0.27 [[ 0.98260569 -0.14931593 -0.11041198 -0.88340842] [ 0.14862297 0.98878723 -0.01452655 -0.06362802] [ 0.11134301 -0.00213589 0.99377974 0.27397068] [ 0. 0. 0. 1. ]] SLAMing on 77.449928851 meters Centerline goodness : 0.768089 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.07, Z:0.27 [[ 0.98255413 -0.1498124 -0.11019808 -0.8840104 ] [ 0.1491315 0.98871189 -0.01444244 -0.0651446 ] [ 0.11111781 -0.00224353 0.99380471 0.27402866] [ 0. 0. 0. 1. ]] SLAMing on 77.479928851 meters Centerline goodness : 0.767618 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.07, Z:0.27 [[ 0.98234073 -0.15131454 -0.11004819 -0.88484506] [ 0.1505673 0.98848417 -0.0151174 -0.0681503 ] [ 0.11106837 -0.00171922 0.99381128 0.27480648] [ 0. 0. 0. 1. ]] SLAMing on 77.509928851 meters Centerline goodness : 0.766702 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.27 [[ 0.98232759 -0.151578 -0.10980265 -0.88533383] [ 0.1508544 0.98844345 -0.0149163 -0.06974633] [ 0.1107947 -0.00191152 0.99384148 0.27478956] [ 0. 0. 0. 1. ]] SLAMing on 77.53992885099998 meters Centerline goodness : 0.765692 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.27 [[ 0.98230899 -0.15172596 -0.10976469 -0.88540369] [ 0.15102694 0.98842029 -0.01470327 -0.07111221] [ 0.11072451 -0.00213427 0.99384885 0.27476142] [ 0. 0. 0. 1. ]] SLAMing on 77.56992885099999 meters Centerline goodness : 0.767100 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.28 [[ 0.98223597 -0.1523818 -0.10950929 -0.88652076] [ 0.15168332 0.98831938 -0.01473 -0.07308849] [ 0.11047474 -0.0021424 0.99387662 0.27541826] [ 0. 0. 0. 1. ]] SLAMing on 77.59992885099999 meters Centerline goodness : 0.768605 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.07, Z:0.28 [[ 0.98224149 -0.15238447 -0.10945606 -0.88660129] [ 0.15170445 0.98831861 -0.01456293 -0.07399443] [ 0.11039663 -0.00230065 0.99388495 0.27544039] [ 0. 0. 0. 1. ]] SLAMing on 77.62992885099999 meters Centerline goodness : 0.767727 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.08, Z:0.28 [[ 0.98226231 -0.15221708 -0.10950213 -0.8865395 ] [ 0.15157718 0.98834352 -0.01419342 -0.07578388] [ 0.1103862 -0.00265636 0.99388522 0.275648 ] [ 0. 0. 0. 1. ]] SLAMing on 77.65992885099999 meters Centerline goodness : 0.768415 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.08, Z:0.28 [[ 0.98227087 -0.15208492 -0.10960891 -0.88635661] [ 0.15145343 0.98836364 -0.01411304 -0.07639746] [ 0.11047984 -0.00273782 0.99387459 0.27586541] [ 0. 0. 0. 1. ]] SLAMing on 77.68992885099999 meters Centerline goodness : 0.825790 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.08, Z:0.28 [[ 0.98229092 -0.15190441 -0.10967949 -0.88623882] [ 0.15127564 0.98839133 -0.01408027 -0.07667658] [ 0.11054511 -0.00276091 0.99386727 0.27609964] [ 0. 0. 0. 1. ]] SLAMing on 77.71992885099999 meters Centerline goodness : 0.768488 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.08, Z:0.28 [[ 0.98233349 -0.15142863 -0.10995581 -0.88548584] [ 0.15082551 0.98846365 -0.01383056 -0.07704472] [ 0.11078166 -0.00299792 0.99384025 0.27611295] [ 0. 0. 0. 1. ]] SLAMing on 77.74992885099999 meters Centerline goodness : 0.828410 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.08, Z:0.28 [[ 0.98245007 -0.15032729 -0.11042449 -0.88389051] [ 0.14977068 0.98863041 -0.01336591 -0.07705078] [ 0.11117827 -0.00340701 0.99379464 0.27582841] [ 0. 0. 0. 1. ]] SLAMing on 77.779928851 meters Centerline goodness : 0.768516 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.08, Z:0.28 [[ 0.98250476 -0.14972479 -0.110756 -0.88289995] [ 0.14919017 0.98872113 -0.01314609 -0.07691601] [ 0.11147509 -0.00360761 0.99376068 0.2757039 ] [ 0. 0. 0. 1. ]] SLAMing on 77.809928851 meters Centerline goodness : 0.828896 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.08, Z:0.28 [[ 0.98256951 -0.14898139 -0.11118324 -0.88165085] [ 0.14846341 0.98883284 -0.01297018 -0.07664185] [ 0.11187396 -0.00376254 0.99371528 0.27563815] [ 0. 0. 0. 1. ]] SLAMing on 77.839928851 meters Centerline goodness : 0.826311 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.08, Z:0.28 [[ 0.98265276 -0.14804237 -0.11170051 -0.88019748] [ 0.14754738 0.98897305 -0.01273111 -0.07632561] [ 0.11235354 -0.00397085 0.99366036 0.27562276] [ 0. 0. 0. 1. ]] SLAMing on 77.869928851 meters Centerline goodness : 0.768024 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.08, Z:0.28 [[ 0.98335753 -0.14273769 -0.11240072 -0.87969377] [ 0.14269682 0.98973037 -0.00845042 -0.07658132] [ 0.1124526 -0.00772944 0.99362703 0.27566925] [ 0. 0. 0. 1. ]] SLAMing on 77.89992885099998 meters Centerline goodness : 0.829753 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.08, Z:0.28 [[ 0.98391065 -0.13858393 -0.11275781 -0.88034311] [ 0.13894834 0.99028867 -0.00465906 -0.07716482] [ 0.11230845 -0.01108341 0.99361158 0.27597416] [ 0. 0. 0. 1. ]] SLAMing on 77.92992885099999 meters Centerline goodness : 0.828545 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.08, Z:0.28 [[ 9.84531029e-01 -1.33534330e-01 -1.13433839e-01 -8.80391340e-01] [ 1.34336565e-01 9.90935596e-01 -5.76584684e-04 -7.73292757e-02] [ 1.12482622e-01 -1.46706468e-02 9.93545385e-01 2.76636732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95992885099999 meters Centerline goodness : 0.828879 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.08, Z:0.28 [[ 9.84648040e-01 -1.32298001e-01 -1.13866046e-01 -8.78889452e-01] [ 1.33152118e-01 9.91095607e-01 -1.05347340e-04 -7.68805923e-02] [ 1.12866075e-01 -1.50577751e-02 9.93496106e-01 2.76366452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.98992885099999 meters Centerline goodness : 0.830524 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.08, Z:0.28 [[ 9.84745618e-01 -1.31240034e-01 -1.14245885e-01 -8.77556295e-01] [ 1.32124195e-01 9.91233156e-01 1.68482462e-04 -7.63075547e-02] [ 1.13222197e-01 -1.52605579e-02 9.93452490e-01 2.76219867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.01992885099999 meters Centerline goodness : 0.827294 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.08, Z:0.28 [[ 9.84835393e-01 -1.30251250e-01 -1.14603056e-01 -8.76342838e-01] [ 1.31164375e-01 9.91360541e-01 4.30783254e-04 -7.56902469e-02] [ 1.13556837e-01 -1.54560887e-02 9.93411271e-01 2.76096471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.04992885099999 meters Centerline goodness : 0.832080 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.08, Z:0.28 [[ 0.985429 -0.12517904 -0.11515164 -0.8760844 ] [ 0.12655471 0.99194856 0.00468523 -0.07590813] [ 0.11363801 -0.01918995 0.99333688 0.27609358] [ 0. 0. 0. 1. ]] SLAMing on 78.07992885099999 meters Centerline goodness : 0.828446 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.07, Z:0.28 [[ 0.98550556 -0.12425523 -0.11549644 -0.87504914] [ 0.12565161 0.99206252 0.00486079 -0.07484562] [ 0.11397571 -0.01930265 0.993296 0.27607645] [ 0. 0. 0. 1. ]] SLAMing on 78.10992885099999 meters Centerline goodness : 0.830780 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.28 [[ 0.98557513 -0.1234245 -0.11579319 -0.87413321] [ 0.12483117 0.99216566 0.00494793 -0.073831 ] [ 0.11427533 -0.01933116 0.99326102 0.27616125] [ 0. 0. 0. 1. ]] SLAMing on 78.139928851 meters Centerline goodness : 0.768463 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.28 [[ 0.98607925 -0.11905261 -0.11607837 -0.87462875] [ 0.12088225 0.99262761 0.00882657 -0.07455531] [ 0.11417177 -0.02273551 0.99320084 0.27638 ] [ 0. 0. 0. 1. ]] SLAMing on 78.169928851 meters Centerline goodness : 0.829169 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.28 [[ 0.98610499 -0.1185584 -0.11636522 -0.8738012 ] [ 0.12039805 0.99268594 0.00888463 -0.07436466] [ 0.11446077 -0.02277132 0.99316675 0.27643103] [ 0. 0. 0. 1. ]] SLAMing on 78.199928851 meters Centerline goodness : 0.831109 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.28 [[ 0.98611775 -0.11821301 -0.11660814 -0.8729601 ] [ 0.12006065 0.99272644 0.00892521 -0.07436459] [ 0.11470491 -0.02280136 0.9931379 0.27630488] [ 0. 0. 0. 1. ]] SLAMing on 78.229928851 meters Centerline goodness : 0.764686 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.28 [[ 0.98615395 -0.11775829 -0.11676205 -0.87224321] [ 0.11962471 0.99277763 0.00908328 -0.07456917] [ 0.11484912 -0.02292514 0.99311838 0.27614323] [ 0. 0. 0. 1. ]] SLAMing on 78.259928851 meters Centerline goodness : 0.831054 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.28 [[ 0.98614521 -0.11782853 -0.116765 -0.8723829 ] [ 0.11967836 0.99277251 0.00893512 -0.07446154] [ 0.11486827 -0.02278557 0.99311938 0.27641212] [ 0. 0. 0. 1. ]] SLAMing on 78.28992885099998 meters Centerline goodness : 0.830051 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.28 [[ 0.98612233 -0.11797487 -0.11681044 -0.87271376] [ 0.11979297 0.99276127 0.00864344 -0.07430875] [ 0.11494517 -0.02251656 0.99311662 0.27704814] [ 0. 0. 0. 1. ]] SLAMing on 78.31992885099999 meters Centerline goodness : 0.831380 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.28 [[ 0.98611627 -0.11810791 -0.11672716 -0.873236 ] [ 0.119896 0.99275098 0.00839264 -0.07457112] [ 0.11488977 -0.02227124 0.99312856 0.27768737] [ 0. 0. 0. 1. ]] SLAMing on 78.34992885099999 meters Centerline goodness : 0.829249 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.08, Z:0.28 [[ 0.98610229 -0.11810232 -0.11685086 -0.87296633] [ 0.11989218 0.99275151 0.0083842 -0.07503083] [ 0.11501368 -0.02227718 0.99311408 0.2777818 ] [ 0. 0. 0. 1. ]] SLAMing on 78.37992885099999 meters Centerline goodness : 0.770999 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.08, Z:0.28 [[ 0.98610317 -0.11803035 -0.11691607 -0.87269194] [ 0.11983378 0.99275764 0.0084928 -0.07563025] [ 0.11506692 -0.02238527 0.99310548 0.27774656] [ 0. 0. 0. 1. ]] SLAMing on 78.40992885099999 meters Centerline goodness : 0.831565 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.08, Z:0.28 [[ 0.98609577 -0.11806374 -0.11694482 -0.87278108] [ 0.11986273 0.99275454 0.00844683 -0.07622699] [ 0.11510023 -0.02234671 0.99310249 0.27811992] [ 0. 0. 0. 1. ]] SLAMing on 78.43992885099999 meters Centerline goodness : 0.831642 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.08, Z:0.28 [[ 0.98608565 -0.11809985 -0.11699363 -0.87293268] [ 0.11988626 0.99275271 0.00832676 -0.07627346] [ 0.11516235 -0.02223682 0.99309776 0.27852999] [ 0. 0. 0. 1. ]] SLAMing on 78.46992885099999 meters Centerline goodness : 0.830730 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.08, Z:0.28 [[ 0.9860665 -0.11827427 -0.11697889 -0.87324785] [ 0.1200274 0.99273808 0.00803237 -0.07591881] [ 0.11517938 -0.02196112 0.99310192 0.27895608] [ 0. 0. 0. 1. ]] SLAMing on 78.49992885099999 meters Centerline goodness : 0.831207 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.08, Z:0.28 [[ 0.98609802 -0.1179135 -0.11707733 -0.87318175] [ 0.1196648 0.99278197 0.00801882 -0.07587188] [ 0.11528673 -0.02191737 0.99309043 0.27941174] [ 0. 0. 0. 1. ]] SLAMing on 78.529928851 meters Centerline goodness : 0.830826 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.08, Z:0.28 [[ 0.98610696 -0.11761297 -0.11730409 -0.87252016] [ 0.11936033 0.9928191 0.00795916 -0.07599954] [ 0.11552564 -0.02185004 0.99306415 0.27955972] [ 0. 0. 0. 1. ]] SLAMing on 78.559928851 meters Centerline goodness : 0.829941 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.08, Z:0.28 [[ 0.98621636 -0.11641894 -0.11757518 -0.87107687] [ 0.11822796 0.99295004 0.00850648 -0.07621413] [ 0.11575597 -0.0222899 0.99302755 0.27907022] [ 0. 0. 0. 1. ]] SLAMing on 78.589928851 meters Centerline goodness : 0.831774 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.08, Z:0.28 [[ 0.98625784 -0.11580858 -0.11782972 -0.87012052] [ 0.11764387 0.99301758 0.00871796 -0.07594371] [ 0.11599737 -0.0224601 0.99299555 0.27883669] [ 0. 0. 0. 1. ]] SLAMing on 78.619928851 meters Centerline goodness : 0.827483 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.08, Z:0.28 [[ 0.98630638 -0.11514245 -0.11807598 -0.86924942] [ 0.11699048 0.99309389 0.008818 -0.07530607] [ 0.11624521 -0.02251101 0.99296541 0.27879037] [ 0. 0. 0. 1. ]] SLAMing on 78.64992885099998 meters Centerline goodness : 0.830566 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.08, Z:0.28 [[ 0.9867889 -0.11046034 -0.11851654 -0.86939833] [ 0.1127666 0.9935376 0.01291235 -0.07566247] [ 0.11632434 -0.02610647 0.99286812 0.27902723] [ 0. 0. 0. 1. ]] SLAMing on 78.67992885099999 meters Centerline goodness : 0.830530 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.28 [[ 0.98685485 -0.10974469 -0.11863224 -0.86884906] [ 0.11205497 0.99361746 0.01296236 -0.07477634] [ 0.11645252 -0.0260853 0.99285365 0.27908564] [ 0. 0. 0. 1. ]] SLAMing on 78.70992885099999 meters Centerline goodness : 0.829631 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.08, Z:0.28 [[ 0.98734045 -0.10475258 -0.11910386 -0.86837581] [ 0.1075343 0.99405335 0.01715569 -0.07582403] [ 0.11659849 -0.02974626 0.99273358 0.27907633] [ 0. 0. 0. 1. ]] SLAMing on 78.73992885099999 meters Centerline goodness : 0.830860 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.08, Z:0.28 [[ 0.98739097 -0.10411256 -0.11924615 -0.86767657] [ 0.10688742 0.99412411 0.01709796 -0.07519898] [ 0.11676536 -0.02962828 0.99271749 0.27920268] [ 0. 0. 0. 1. ]] SLAMing on 78.76992885099999 meters Centerline goodness : 0.825890 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.28 [[ 0.98740866 -0.10353011 -0.11960628 -0.86658181] [ 0.10631747 0.99418439 0.017146 -0.07484776] [ 0.11713557 -0.02964635 0.99267334 0.27921229] [ 0. 0. 0. 1. ]] SLAMing on 78.79992885099999 meters Centerline goodness : 0.826522 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.28 [[ 0.98751001 -0.10253627 -0.11962564 -0.86595772] [ 0.10530837 0.9942931 0.0170696 -0.07408024] [ 0.11719269 -0.02945398 0.99267232 0.27966536] [ 0. 0. 0. 1. ]] SLAMing on 78.82992885099999 meters Centerline goodness : 0.829102 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.98849444 -0.10783017 -0.10607256 -0.86657903] [ 0.10995426 0.9938328 0.01436762 -0.06960945] [ 0.10386913 -0.02586544 0.99425459 0.27423659] [ 0. 0. 0. 1. ]] SLAMing on 78.85992885099999 meters Centerline goodness : 0.829102 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.98849444 -0.10783017 -0.10607256 -0.86657903] [ 0.10995426 0.9938328 0.01436762 -0.06960945] [ 0.10386913 -0.02586544 0.99425459 0.27423659] [ 0. 0. 0. 1. ]] SLAMing on 78.889928851 meters Centerline goodness : 0.827982 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.98853565 -0.10731096 -0.10621501 -0.86586951] [ 0.10947805 0.99387947 0.01476995 -0.07095385] [ 0.10397994 -0.02622883 0.99423348 0.27411829] [ 0. 0. 0. 1. ]] SLAMing on 78.919928851 meters Centerline goodness : 0.828177 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.98901645 -0.11428914 -0.09372545 -0.86505592] [ 0.11597224 0.99317133 0.01269409 -0.06873105] [ 0.09163464 -0.02342421 0.99551715 0.26791171] [ 0. 0. 0. 1. ]] SLAMing on 78.949928851 meters Centerline goodness : 0.828177 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.98901645 -0.11428914 -0.09372545 -0.86505592] [ 0.11597224 0.99317133 0.01269409 -0.06873105] [ 0.09163464 -0.02342421 0.99551715 0.26791171] [ 0. 0. 0. 1. ]] SLAMing on 78.979928851 meters Centerline goodness : 0.767723 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.98873341 -0.11726445 -0.09303379 -0.8658662 ] [ 0.1186775 0.99288464 0.00978507 -0.06977596] [ 0.09122438 -0.02071584 0.99561487 0.26843206] [ 0. 0. 0. 1. ]] SLAMing on 79.009928851 meters Centerline goodness : 0.768878 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.98860867 -0.11808005 -0.09332737 -0.86562421] [ 0.11949336 0.99278778 0.00968354 -0.07055469] [ 0.09151084 -0.02072524 0.99558838 0.26922471] [ 0. 0. 0. 1. ]] SLAMing on 79.03992885099998 meters Centerline goodness : 0.767963 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.98846733 -0.11906234 -0.09357619 -0.86547361] [ 0.12050299 0.99266381 0.00987846 -0.07148574] [ 0.09171355 -0.02104074 0.99556311 0.27010498] [ 0. 0. 0. 1. ]] SLAMing on 79.06992885099999 meters Centerline goodness : 0.767574 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.98805304 -0.12286811 -0.09303024 -0.86600438] [ 0.12403168 0.9922549 0.00680842 -0.07191042] [ 0.09147317 -0.01826578 0.99564001 0.27089272] [ 0. 0. 0. 1. ]] SLAMing on 79.09992885099999 meters Centerline goodness : 0.829820 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 0.98774203 -0.12579889 -0.09241384 -0.86668112] [ 0.12666424 0.99193935 0.00353541 -0.07195886] [ 0.09122418 -0.0151976 0.99571441 0.27119392] [ 0. 0. 0. 1. ]] SLAMing on 79.12992885099999 meters Centerline goodness : 0.767320 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:0.27 [[ 9.87115185e-01 -1.30658211e-01 -9.23690656e-02 -8.65774897e-01] [ 1.31244299e-01 9.91350019e-01 2.73036343e-04 -7.32223904e-02] [ 9.15344005e-02 -1.23924316e-02 9.95724802e-01 2.71809951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.15992885099999 meters Centerline goodness : 0.769761 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.07, Z:0.27 [[ 9.86846575e-01 -1.32498848e-01 -9.26169134e-02 -8.64915083e-01] [ 1.33059986e-01 9.91107979e-01 -1.17405347e-04 -7.43376352e-02] [ 9.18089179e-02 -1.22077442e-02 9.95701810e-01 2.72189196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.18992885099999 meters Centerline goodness : 0.826710 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.08, Z:0.27 [[ 9.86611637e-01 -1.33892982e-01 -9.31136247e-02 -8.63793630e-01] [ 1.34507974e-01 9.90912456e-01 3.31943452e-04 -7.55217304e-02] [ 9.22230056e-02 -1.28520243e-02 9.95655434e-01 2.72668384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.21992885099999 meters Centerline goodness : 0.826517 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.08, Z:0.27 [[ 9.86367018e-01 -1.35272805e-01 -9.37089898e-02 -8.62419025e-01] [ 1.35943696e-01 9.90716255e-01 7.83393461e-04 -7.62724383e-02] [ 9.27330476e-02 -1.35118599e-02 9.95599323e-01 2.73066078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.24992885099999 meters Centerline goodness : 0.827584 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.08, Z:0.27 [[ 0.98598202 -0.13740595 -0.09465231 -0.86045174] [ 0.13819279 0.99040375 0.00177743 -0.07825441] [ 0.09349977 -0.01483278 0.9955088 0.27393814] [ 0. 0. 0. 1. ]] SLAMing on 79.279928851 meters Centerline goodness : 0.827001 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.08, Z:0.27 [[ 0.98576598 -0.13872299 -0.09498085 -0.86016906] [ 0.13951597 0.99021831 0.00172726 -0.07877069] [ 0.09381216 -0.01495402 0.9954776 0.27490494] [ 0. 0. 0. 1. ]] SLAMing on 79.309928851 meters Centerline goodness : 0.828063 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.08, Z:0.28 [[ 0.98550396 -0.14021218 -0.0955117 -0.85876506] [ 0.14107089 0.98999691 0.00226455 -0.07993539] [ 0.09423877 -0.01570564 0.99542573 0.27513853] [ 0. 0. 0. 1. ]] SLAMing on 79.339928851 meters Centerline goodness : 0.827723 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.08, Z:0.28 [[ 0.98530086 -0.1412872 -0.09602162 -0.85790759] [ 0.14217243 0.98983898 0.00240616 -0.08009243] [ 0.09470598 -0.01602242 0.99537634 0.27574627] [ 0. 0. 0. 1. ]] SLAMing on 79.369928851 meters Centerline goodness : 0.830329 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.08, Z:0.28 [[ 0.98503183 -0.14273756 -0.09663478 -0.85682831] [ 0.14364056 0.98962697 0.00241716 -0.07995659] [ 0.09528736 -0.01626165 0.99531697 0.27635471] [ 0. 0. 0. 1. ]] SLAMing on 79.39992885099998 meters Centerline goodness : 0.829868 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.08, Z:0.28 [[ 0.9844871 -0.1455118 -0.09803806 -0.85373001] [ 0.14649561 0.98920715 0.00287365 -0.08019078] [ 0.0965618 -0.01719121 0.99517852 0.27679944] [ 0. 0. 0. 1. ]] SLAMing on 79.42992885099999 meters Centerline goodness : 0.828723 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.08, Z:0.28 [[ 0.98419624 -0.1469355 -0.09883174 -0.8519303 ] [ 0.14794085 0.98899201 0.0028815 -0.0802152 ] [ 0.09732041 -0.01745721 0.99509999 0.27703728] [ 0. 0. 0. 1. ]] SLAMing on 79.45992885099999 meters Centerline goodness : 0.827203 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.08, Z:0.28 [[ 0.98393652 -0.14818363 -0.09955167 -0.85044299] [ 0.14924412 0.98879504 0.00324955 -0.08065474] [ 0.09795467 -0.01805485 0.99502709 0.27751589] [ 0. 0. 0. 1. ]] SLAMing on 79.48992885099999 meters Centerline goodness : 0.832351 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.08, Z:0.28 [[ 0.98345613 -0.15083522 -0.10031335 -0.84948785] [ 0.1519465 0.98838257 0.00348719 -0.08116093] [ 0.09862197 -0.01867176 0.99494978 0.27900739] [ 0. 0. 0. 1. ]] SLAMing on 79.51992885099999 meters Centerline goodness : 0.833041 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.08, Z:0.28 [[ 0.98324552 -0.15163581 -0.1011673 -0.84757515] [ 0.15280725 0.98824837 0.00388669 -0.08145092] [ 0.09938906 -0.01928067 0.99486184 0.27909544] [ 0. 0. 0. 1. ]] SLAMing on 79.54992885099999 meters Centerline goodness : 0.831117 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.08, Z:0.28 [[ 0.9828653 -0.153471 -0.10209045 -0.84594213] [ 0.15464498 0.98796341 0.00363847 -0.08023474] [ 0.10030323 -0.0193639 0.99476847 0.27966741] [ 0. 0. 0. 1. ]] SLAMing on 79.57992885099999 meters Centerline goodness : 0.829212 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.08, Z:0.28 [[ 0.982712 -0.15396971 -0.10281275 -0.84454588] [ 0.15518111 0.98787857 0.00384161 -0.07911845] [ 0.10097502 -0.0197298 0.99469331 0.27965593] [ 0. 0. 0. 1. ]] SLAMing on 79.60992885099999 meters Centerline goodness : 0.833932 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.08, Z:0.28 [[ 0.98262308 -0.15438431 -0.10304057 -0.84433391] [ 0.15557287 0.98781804 0.00355087 -0.07849974] [ 0.10123714 -0.01951948 0.99467082 0.28000965] [ 0. 0. 0. 1. ]] SLAMing on 79.639928851 meters Centerline goodness : 0.834673 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.08, Z:0.28 [[ 0.98246735 -0.15486028 -0.10380852 -0.84302126] [ 0.1560438 0.98774453 0.00332867 -0.07684684] [ 0.10202081 -0.01946898 0.99459173 0.28013408] [ 0. 0. 0. 1. ]] SLAMing on 79.669928851 meters Centerline goodness : 0.771531 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.08, Z:0.28 [[ 0.9824175 -0.15503946 -0.10401257 -0.84262775] [ 0.15622774 0.98771546 0.00332644 -0.07588376] [ 0.10221909 -0.0195176 0.99457042 0.28004977] [ 0. 0. 0. 1. ]] SLAMing on 79.699928851 meters Centerline goodness : 0.833260 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.07, Z:0.28 [[ 0.98239902 -0.15386099 -0.10591959 -0.84048532] [ 0.15544115 0.9878219 0.00677858 -0.07469823] [ 0.10358673 -0.02312354 0.99435159 0.28099759] [ 0. 0. 0. 1. ]] SLAMing on 79.729928851 meters Centerline goodness : 0.832809 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.07, Z:0.28 [[ 0.98233136 -0.15398164 -0.10637088 -0.83986389] [ 0.15557985 0.98779961 0.00684364 -0.07352593] [ 0.10401932 -0.02327189 0.99430297 0.28121464] [ 0. 0. 0. 1. ]] SLAMing on 79.759928851 meters Centerline goodness : 0.770763 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.07, Z:0.28 [[ 0.98226064 -0.15454571 -0.10620575 -0.84041051] [ 0.15606558 0.98772785 0.00610109 -0.07179369] [ 0.10395948 -0.02256793 0.99432546 0.28142619] [ 0. 0. 0. 1. ]] SLAMing on 79.78992885099998 meters Centerline goodness : 0.768491 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.07, Z:0.28 [[ 0.98213367 -0.15555548 -0.1059054 -0.84122168] [ 0.15694071 0.98759625 0.00482269 -0.06867169] [ 0.10384158 -0.02135739 0.99436451 0.28153326] [ 0. 0. 0. 1. ]] SLAMing on 79.81992885099999 meters Centerline goodness : 0.833938 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.07, Z:0.28 [[ 0.98206345 -0.1560707 -0.10579845 -0.84140471] [ 0.1573927 0.98752711 0.00421155 -0.0669492 ] [ 0.10382154 -0.02078791 0.99437868 0.28136497] [ 0. 0. 0. 1. ]] SLAMing on 79.84992885099999 meters Centerline goodness : 0.831350 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:0.28 [[ 0.98194056 -0.15711728 -0.10538927 -0.84215453] [ 0.15831259 0.98738442 0.00302109 -0.06351107] [ 0.10358506 -0.01965098 0.99442646 0.28096488] [ 0. 0. 0. 1. ]] SLAMing on 79.87992885099999 meters Centerline goodness : 0.767630 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:0.28 [[ 0.98186313 -0.15772616 -0.10520101 -0.84272625] [ 0.15883319 0.98730303 0.00217622 -0.06121266] [ 0.10352203 -0.01884616 0.9944486 0.28108843] [ 0. 0. 0. 1. ]] SLAMing on 79.90992885099999 meters Centerline goodness : 0.767577 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:0.28 [[ 0.98178198 -0.15832772 -0.10505462 -0.84330693] [ 0.15934702 0.98722174 0.00132759 -0.05888567] [ 0.10350201 -0.01804354 0.99446557 0.28130013] [ 0. 0. 0. 1. ]] SLAMing on 79.93992885099999 meters Centerline goodness : 0.767933 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.28 [[ 9.81717393e-01 -1.58936192e-01 -1.04738947e-01 -8.44451029e-01] [ 1.59802210e-01 9.87149046e-01 -1.25087692e-04 -5.38520868e-02] [ 1.03412833e-01 -1.66147145e-02 9.94499742e-01 2.81801243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.96992885099999 meters Centerline goodness : 0.768080 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.05, Z:0.28 [[ 0.98165554 -0.15939187 -0.10462618 -0.84518439] [ 0.16016182 0.98709021 -0.00105528 -0.05093665] [ 0.10344368 -0.0157212 0.99451106 0.2823229 ] [ 0. 0. 0. 1. ]] SLAMing on 79.99992885099999 meters Centerline goodness : 0.828760 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.05, Z:0.28 [[ 0.98157397 -0.16012975 -0.10426415 -0.84687896] [ 0.16072948 0.98699486 -0.00267941 -0.04593253] [ 0.10333723 -0.01412829 0.99454603 0.28340848] [ 0. 0. 0. 1. ]] SLAMing on 80.029928851 meters Centerline goodness : 0.769084 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.04, Z:0.28 [[ 0.98151121 -0.160582 -0.10415934 -0.84748093] [ 0.16110576 0.98693122 -0.00342054 -0.0437516 ] [ 0.10334738 -0.01342337 0.99455474 0.28374877] [ 0. 0. 0. 1. ]] SLAMing on 80.059928851 meters Centerline goodness : 0.829813 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.04, Z:0.28 [[ 0.98146713 -0.16093837 -0.10402456 -0.84788886] [ 0.16139627 0.98688135 -0.0040562 -0.04174686] [ 0.1033127 -0.01280815 0.99456646 0.28383993] [ 0. 0. 0. 1. ]] SLAMing on 80.089928851 meters Centerline goodness : 0.767484 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.04, Z:0.28 [[ 0.98138629 -0.16164086 -0.10369753 -0.84862919] [ 0.16198172 0.98678015 -0.00518192 -0.0378234 ] [ 0.10316427 -0.01171164 0.99459538 0.28368082] [ 0. 0. 0. 1. ]] SLAMing on 80.119928851 meters Centerline goodness : 0.826757 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.03, Z:0.28 [[ 0.98130657 -0.16238574 -0.10328742 -0.84953972] [ 0.16261244 0.98667004 -0.00627852 -0.03353282] [ 0.10293014 -0.01063467 0.99463174 0.28343368] [ 0. 0. 0. 1. ]] SLAMing on 80.14992885099998 meters Centerline goodness : 0.769030 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.03, Z:0.28 [[ 0.98124694 -0.16285205 -0.10311958 -0.85005332] [ 0.16301677 0.98659927 -0.00688522 -0.03164865] [ 0.10285897 -0.01005412 0.99464514 0.28347411] [ 0. 0. 0. 1. ]] SLAMing on 80.17992885099999 meters Centerline goodness : 0.825770 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.03, Z:0.28 [[ 0.98119941 -0.16318959 -0.1030382 -0.85026051] [ 0.1633019 0.98654838 -0.00740209 -0.02997413] [ 0.10286012 -0.00956341 0.99464986 0.28343307] [ 0. 0. 0. 1. ]] SLAMing on 80.20992885099999 meters Centerline goodness : 0.768839 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.03, Z:0.28 [[ 0.98116021 -0.16351435 -0.10289654 -0.85049264] [ 0.16358059 0.98649873 -0.0078519 -0.02844026] [ 0.1027912 -0.00912791 0.99466107 0.28326129] [ 0. 0. 0. 1. ]] SLAMing on 80.23992885099999 meters Centerline goodness : 0.770773 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.03, Z:0.28 [[ 0.98106736 -0.16422848 -0.10264426 -0.85116745] [ 0.16420149 0.98638783 -0.00877061 -0.02535422] [ 0.10268744 -0.00824978 0.99467946 0.28320267] [ 0. 0. 0. 1. ]] SLAMing on 80.26992885099999 meters Centerline goodness : 0.769312 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.02, Z:0.28 [[ 0.98100988 -0.16467204 -0.10248283 -0.85160672] [ 0.16458585 0.9863184 -0.00935495 -0.02375005] [ 0.1026212 -0.00768992 0.99469078 0.28323774] [ 0. 0. 0. 1. ]] SLAMing on 80.29992885099999 meters Centerline goodness : 0.772244 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.02, Z:0.28 [[ 0.98096199 -0.16507925 -0.10228596 -0.8521594 ] [ 0.16494556 0.98625376 -0.00982252 -0.02232404] [ 0.1025014 -0.00723609 0.99470654 0.28328018] [ 0. 0. 0. 1. ]] SLAMing on 80.32992885099999 meters Centerline goodness : 0.771074 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.02, Z:0.28 [[ 0.98087851 -0.16582981 -0.10187158 -0.85325023] [ 0.16561152 0.9861335 -0.01065603 -0.01969176] [ 0.10222606 -0.00641883 0.99474048 0.28329273] [ 0. 0. 0. 1. ]] SLAMing on 80.35992885099999 meters Centerline goodness : 0.769290 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.02, Z:0.28 [[ 0.98082615 -0.16622582 -0.10173027 -0.85357841] [ 0.16597371 0.98606886 -0.01099719 -0.01869408] [ 0.10214107 -0.00609822 0.99475123 0.28316696] [ 0. 0. 0. 1. ]] SLAMing on 80.389928851 meters Centerline goodness : 0.825246 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.02, Z:0.28 [[ 0.98070313 -0.16721891 -0.1012877 -0.85462104] [ 0.1668997 0.98590472 -0.01167819 -0.01681541] [ 0.10181283 -0.00545205 0.99478863 0.28286513] [ 0. 0. 0. 1. ]] SLAMing on 80.419928851 meters Centerline goodness : 0.768987 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.02, Z:0.28 [[ 0.98063374 -0.16775177 -0.10107825 -0.85514531] [ 0.16739709 0.98581601 -0.01204166 -0.01581739] [ 0.10166457 -0.00511174 0.9948056 0.28275489] [ 0. 0. 0. 1. ]] SLAMing on 80.449928851 meters Centerline goodness : 0.829855 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.01, Z:0.28 [[ 0.98054255 -0.16844637 -0.10080736 -0.85602165] [ 0.16803535 0.98570023 -0.01261627 -0.01472095] [ 0.101491 -0.00456841 0.99482597 0.28297005] [ 0. 0. 0. 1. ]] SLAMing on 80.479928851 meters Centerline goodness : 0.771528 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.01, Z:0.28 [[ 0.98036406 -0.16995541 -0.10000737 -0.85847401] [ 0.16945068 0.98544507 -0.01358266 -0.01328268] [ 0.10086022 -0.00363037 0.99489398 0.28338394] [ 0. 0. 0. 1. ]] SLAMing on 80.50992885099998 meters Centerline goodness : 0.773004 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.01, Z:0.28 [[ 0.98028522 -0.17063356 -0.09962463 -0.85956696] [ 0.17008194 0.98532951 -0.01406751 -0.01258505] [ 0.10056348 -0.00315418 0.99492564 0.28357363] [ 0. 0. 0. 1. ]] SLAMing on 80.53992885099998 meters Centerline goodness : 0.832712 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.01, Z:0.28 [[ 0.98014502 -0.17178431 -0.09902465 -0.8614239 ] [ 0.1711453 0.98513197 -0.01497611 -0.01078834] [ 0.10012501 -0.00226885 0.99497228 0.28395586] [ 0. 0. 0. 1. ]] SLAMing on 80.56992885099999 meters Centerline goodness : 0.772322 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.01, Z:0.28 [[ 0.98008582 -0.17222165 -0.09885083 -0.86196039] [ 0.17154098 0.98505648 -0.01540876 -0.00965986] [ 0.10002737 -0.00185507 0.99498296 0.28404134] [ 0. 0. 0. 1. ]] SLAMing on 80.59992885099999 meters Centerline goodness : 0.775080 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.01, Z:0.28 [[ 0.98004515 -0.17261622 -0.09856545 -0.8626557 ] [ 0.17186906 0.98498846 -0.01608621 -0.00684088] [ 0.09986257 -0.00117514 0.99500055 0.28395684] [ 0. 0. 0. 1. ]] SLAMing on 80.62992885099999 meters Centerline goodness : 0.776378 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.01, Z:0.28 [[ 9.80031098e-01 -1.72697964e-01 -9.85619627e-02 -8.62698999e-01] [ 1.71913120e-01 9.84974498e-01 -1.64656461e-02 -5.19113157e-03] [ 9.99246033e-02 -8.07249267e-04 9.94994684e-01 2.84006733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.65992885099999 meters Centerline goodness : 0.774930 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.00, Z:0.28 [[ 9.80008684e-01 -1.72897876e-01 -9.84342573e-02 -8.63096448e-01] [ 1.72047228e-01 9.84939746e-01 -1.71303358e-02 -2.54010193e-03] [ 9.99136110e-02 -1.47463318e-04 9.94996105e-01 2.84167379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.68992885099999 meters Centerline goodness : 0.775906 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.00, Z:0.28 [[ 9.80025426e-01 -1.72795269e-01 -9.84477509e-02 -8.62774825e-01] [ 1.71932703e-01 9.84957763e-01 -1.72438773e-02 -1.35737766e-03] [ 9.99465369e-02 -2.69497018e-05 9.94992809e-01 2.83829344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.71992885099999 meters Centerline goodness : 0.777849 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.00, Z:0.28 [[ 9.79990023e-01 -1.73101237e-01 -9.82624916e-02 -8.63170355e-01] [ 1.72186547e-01 9.84903908e-01 -1.77787708e-02 1.26439207e-03] [ 9.98566392e-02 5.03538900e-04 9.95001708e-01 2.83644119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.74992885099999 meters Centerline goodness : 0.777849 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.00, Z:0.28 [[ 9.79990023e-01 -1.73101237e-01 -9.82624916e-02 -8.63170355e-01] [ 1.72186547e-01 9.84903908e-01 -1.77787708e-02 1.26439207e-03] [ 9.98566392e-02 5.03538900e-04 9.95001708e-01 2.83644119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.779928851 meters Centerline goodness : 0.777369 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.00, Z:0.28 [[ 9.79960914e-01 -1.73320292e-01 -9.81666138e-02 -8.63484338e-01] [ 1.72380433e-01 9.84865220e-01 -1.80411759e-02 2.48111932e-03] [ 9.98077856e-02 7.57643773e-04 9.95006448e-01 2.83581116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.809928851 meters Centerline goodness : 0.780383 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.00, Z:0.28 [[ 0.97992379 -0.17349978 -0.0982201 -0.86345753] [ 0.17252484 0.98483331 -0.01839913 0.00356698] [ 0.09992267 0.00108434 0.99499461 0.28370988] [ 0. 0. 0. 1. ]] SLAMing on 80.839928851 meters Centerline goodness : 0.780870 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.00, Z:0.28 [[ 0.97988354 -0.17376322 -0.09815597 -0.86362658] [ 0.17275167 0.9847864 -0.01877763 0.00485931] [ 0.09992553 0.00144328 0.99499387 0.28366093] [ 0. 0. 0. 1. ]] SLAMing on 80.869928851 meters Centerline goodness : 0.779286 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.01, Z:0.28 [[ 0.97986998 -0.1739106 -0.0980302 -0.86360081] [ 0.172849 0.98475951 -0.01928551 0.00724842] [ 0.09989013 0.00195287 0.99499656 0.28328349] [ 0. 0. 0. 1. ]] SLAMing on 80.89992885099998 meters Centerline goodness : 0.780174 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.01, Z:0.28 [[ 0.97984083 -0.17403926 -0.09809327 -0.863485 ] [ 0.1729345 0.98473589 -0.01972032 0.00897201] [ 0.10002808 0.00235907 0.99498182 0.2832708 ] [ 0. 0. 0. 1. ]] SLAMing on 80.92992885099999 meters Centerline goodness : 0.781831 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.01, Z:0.28 [[ 0.97983294 -0.17410658 -0.09805259 -0.86347597] [ 0.17297631 0.98472334 -0.0199784 0.01037859] [ 0.10003304 0.00261472 0.99498068 0.28307903] [ 0. 0. 0. 1. ]] SLAMing on 80.95992885099999 meters Centerline goodness : 0.778832 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.01, Z:0.28 [[ 0.97988373 -0.17373224 -0.09820885 -0.86260971] [ 0.17257824 0.98478884 -0.02019131 0.01282398] [ 0.10022286 0.00283642 0.99496097 0.2825359 ] [ 0. 0. 0. 1. ]] SLAMing on 80.98992885099999 meters Centerline goodness : 0.781452 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.01, Z:0.28 [[ 0.9798911 -0.17360722 -0.09835633 -0.86217876] [ 0.17243175 0.98481033 -0.02039368 0.01417696] [ 0.10040282 0.00302383 0.99494227 0.28242469] [ 0. 0. 0. 1. ]] SLAMing on 81.01992885099999 meters Centerline goodness : 0.780950 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.01, Z:0.28 [[ 9.80448668e-01 -1.70449734e-01 -9.83224196e-02 -8.64093384e-01] [ 1.69602818e-01 9.85366372e-01 -1.69704882e-02 1.44595510e-02] [ 9.97762211e-02 -3.70668462e-05 9.95009902e-01 2.82350527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.04992885099999 meters Centerline goodness : 0.784154 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.02, Z:0.28 [[ 9.80422904e-01 -1.70565973e-01 -9.83777334e-02 -8.64270371e-01] [ 1.69686757e-01 9.85346222e-01 -1.72981660e-02 1.55768817e-02] [ 9.98866065e-02 2.66119551e-04 9.94998791e-01 2.82708665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.07992885099999 meters Centerline goodness : 0.780800 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.02, Z:0.28 [[ 9.80401060e-01 -1.70759428e-01 -9.82597507e-02 -8.64892348e-01] [ 1.69834995e-01 9.85312486e-01 -1.77589215e-02 1.72660710e-02] [ 9.98490625e-02 7.22921172e-04 9.95002333e-01 2.83110927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.10992885099999 meters Centerline goodness : 0.782755 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.02, Z:0.28 [[ 9.80387374e-01 -1.70770122e-01 -9.83776475e-02 -8.64695670e-01] [ 1.69825800e-01 9.85310489e-01 -1.79565432e-02 1.78844447e-02] [ 9.99989690e-02 8.97305629e-04 9.94987136e-01 2.83248789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.139928851 meters Centerline goodness : 0.783853 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.02, Z:0.28 [[ 0.98039849 -0.1706471 -0.09848028 -0.86436609] [ 0.16968388 0.98533163 -0.01813728 0.01892144] [ 0.1001308 0.00107125 0.99497371 0.28323053] [ 0. 0. 0. 1. ]] SLAMing on 81.169928851 meters Centerline goodness : 0.785865 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.02, Z:0.28 [[ 0.98037073 -0.17078963 -0.0985096 -0.86444576] [ 0.16979213 0.98530653 -0.01848458 0.01970093] [ 0.10021913 0.00139558 0.99496441 0.28352369] [ 0. 0. 0. 1. ]] SLAMing on 81.199928851 meters Centerline goodness : 0.784220 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.02, Z:0.28 [[ 0.98036917 -0.17075694 -0.09858172 -0.86422521] [ 0.16975531 0.98531215 -0.01852286 0.02012817] [ 0.10029667 0.00142447 0.99495656 0.28343684] [ 0. 0. 0. 1. ]] SLAMing on 81.229928851 meters Centerline goodness : 0.782401 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.02, Z:0.28 [[ 0.98034293 -0.17086247 -0.09865975 -0.86407477] [ 0.16985543 0.98529381 -0.01858071 0.02041372] [ 0.10038358 0.00145758 0.99494774 0.28337464] [ 0. 0. 0. 1. ]] SLAMing on 81.25992885099998 meters Centerline goodness : 0.784187 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.02, Z:0.28 [[ 0.9803395 -0.17082675 -0.09875574 -0.8636605 ] [ 0.16982856 0.98530015 -0.01848982 0.02026625] [ 0.1004626 0.00135475 0.99493991 0.28314081] [ 0. 0. 0. 1. ]] SLAMing on 81.28992885099998 meters Centerline goodness : 0.782734 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.02, Z:0.28 [[ 0.98028995 -0.17120593 -0.09859082 -0.86382088] [ 0.17022815 0.98523458 -0.01830858 0.01953864] [ 0.10026962 0.00116478 0.99495962 0.28259184] [ 0. 0. 0. 1. ]] SLAMing on 81.31992885099999 meters Centerline goodness : 0.780867 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.02, Z:0.28 [[ 0.98022943 -0.17164272 -0.09843295 -0.8643208 ] [ 0.1706559 0.98515846 -0.01842208 0.01917762] [ 0.10013407 0.0012597 0.99497316 0.28263115] [ 0. 0. 0. 1. ]] SLAMing on 81.34992885099999 meters Centerline goodness : 0.781596 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.02, Z:0.28 [[ 0.98018811 -0.1719424 -0.09832136 -0.86476509] [ 0.17094836 0.9851061 -0.01851032 0.01888768] [ 0.10003968 0.00133572 0.99498255 0.2828086 ] [ 0. 0. 0. 1. ]] SLAMing on 81.37992885099999 meters Centerline goodness : 0.782387 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.02, Z:0.28 [[ 0.98008407 -0.1727904 -0.09787081 -0.86632769] [ 0.17176011 0.98495709 -0.01892069 0.01921907] [ 0.09966786 0.00173357 0.99501925 0.28319033] [ 0. 0. 0. 1. ]] SLAMing on 81.40992885099999 meters Centerline goodness : 0.783456 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.02, Z:0.28 [[ 0.98005605 -0.17292331 -0.09791664 -0.86640369] [ 0.17187536 0.98493347 -0.01910267 0.01973646] [ 0.09974467 0.00189223 0.99501127 0.28337541] [ 0. 0. 0. 1. ]] SLAMing on 81.43992885099999 meters Centerline goodness : 0.781722 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.02, Z:0.28 [[ 0.98004472 -0.17310564 -0.09770769 -0.86698801] [ 0.17201713 0.98490052 -0.01952108 0.02102617] [ 0.09961156 0.00232414 0.99502369 0.2836091 ] [ 0. 0. 0. 1. ]] SLAMing on 81.46992885099999 meters Centerline goodness : 0.782917 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.02, Z:0.28 [[ 0.9800455 -0.17305651 -0.09778685 -0.86697442] [ 0.17193576 0.98490839 -0.01983845 0.02196627] [ 0.09974427 0.00262953 0.99500963 0.28401764] [ 0. 0. 0. 1. ]] SLAMing on 81.49992885099999 meters Centerline goodness : 0.784062 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.02, Z:0.28 [[ 0.98035626 -0.17143373 -0.09752987 -0.86916002] [ 0.17046347 0.98519483 -0.01825789 0.02188289] [ 0.09921594 0.00127396 0.99506511 0.28496959] [ 0. 0. 0. 1. ]] SLAMing on 81.529928851 meters Centerline goodness : 0.784177 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.02, Z:0.29 [[ 0.98090368 -0.16833921 -0.09741606 -0.87179743] [ 0.16766722 0.98572796 -0.01510296 0.02339903] [ 0.09856816 -0.00151893 0.99512914 0.28544262] [ 0. 0. 0. 1. ]] SLAMing on 81.559928851 meters Centerline goodness : 0.787981 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.03, Z:0.29 [[ 0.98094357 -0.1680162 -0.09757192 -0.87131987] [ 0.16730216 0.98578361 -0.01551301 0.02582922] [ 0.09879123 -0.00110661 0.99510757 0.28549171] [ 0. 0. 0. 1. ]] SLAMing on 81.589928851 meters Centerline goodness : 0.786030 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.03, Z:0.29 [[ 0.98095522 -0.16790976 -0.09763794 -0.87081805] [ 0.16718808 0.98580183 -0.01558541 0.0266789 ] [ 0.0988686 -0.00103531 0.99509996 0.28506332] [ 0. 0. 0. 1. ]] SLAMing on 81.619928851 meters Centerline goodness : 0.784105 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.03, Z:0.28 [[ 9.80948907e-01 -1.67893634e-01 -9.77290578e-02 -8.70454903e-01] [ 1.67150728e-01 9.85804761e-01 -1.57989915e-02 2.75767422e-02] [ 9.89943206e-02 -8.37479633e-04 9.95087646e-01 2.84942640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64992885099998 meters Centerline goodness : 0.786817 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.03, Z:0.28 [[ 9.80964156e-01 -1.67820631e-01 -9.77013887e-02 -8.70328841e-01] [ 1.67046721e-01 9.85817409e-01 -1.61067770e-02 2.98540638e-02] [ 9.90187794e-02 -5.20525644e-04 9.95085429e-01 2.84686797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67992885099999 meters Centerline goodness : 0.786493 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.03, Z:0.28 [[ 9.80956051e-01 -1.67820838e-01 -9.77823721e-02 -8.70079276e-01] [ 1.67022759e-01 9.85817468e-01 -1.63498511e-02 3.10654676e-02] [ 9.91394162e-02 -2.93396198e-04 9.95073510e-01 2.84657316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70992885099999 meters Centerline goodness : 0.788189 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.03, Z:0.28 [[ 9.80940635e-01 -1.67979101e-01 -9.76652058e-02 -8.70332450e-01] [ 1.67146432e-01 9.85790555e-01 -1.67048656e-02 3.27803427e-02] [ 9.90835057e-02 6.20907515e-05 9.95079120e-01 2.84561732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73992885099999 meters Centerline goodness : 0.787598 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.03, Z:0.28 [[ 9.80939802e-01 -1.67977872e-01 -9.76756824e-02 -8.70167277e-01] [ 1.67141991e-01 9.85790762e-01 -1.67370477e-02 3.33606883e-02] [ 9.90992391e-02 9.23281673e-05 9.95077551e-01 2.84313339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.76992885099999 meters Centerline goodness : 0.786503 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.03, Z:0.28 [[ 9.80931917e-01 -1.68060603e-01 -9.76125451e-02 -8.70284983e-01] [ 1.67224154e-01 9.85776660e-01 -1.67469206e-02 3.35696066e-02] [ 9.90386662e-02 1.04413591e-04 9.95083580e-01 2.84196985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.79992885099999 meters Centerline goodness : 0.788625 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.03, Z:0.28 [[ 9.80843165e-01 -1.68793126e-01 -9.72397320e-02 -8.71350007e-01] [ 1.67930566e-01 9.85651423e-01 -1.70469070e-02 3.39829202e-02] [ 9.87218810e-02 3.90818982e-04 9.95114987e-01 2.84137973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.82992885099999 meters Centerline goodness : 0.787613 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.03, Z:0.28 [[ 9.80783218e-01 -1.69202660e-01 -9.71325886e-02 -8.71733326e-01] [ 1.68338491e-01 9.85581197e-01 -1.70837875e-02 3.36429858e-02] [ 9.86226753e-02 4.04338654e-04 9.95124819e-01 2.84070630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.85992885099999 meters Centerline goodness : 0.787296 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.03, Z:0.28 [[ 9.80627278e-01 -1.70441714e-01 -9.65389248e-02 -8.73333761e-01] [ 1.69579357e-01 9.85367668e-01 -1.71289531e-02 3.25012981e-02] [ 9.80458233e-02 4.26109805e-04 9.95181810e-01 2.83625378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.889928851 meters Centerline goodness : 0.786023 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.03, Z:0.28 [[ 9.80570075e-01 -1.70913826e-01 -9.62849501e-02 -8.73653531e-01] [ 1.70076230e-01 9.85285961e-01 -1.69012114e-02 3.13146167e-02] [ 9.77568603e-02 1.97040865e-04 9.95210308e-01 2.82987027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.919928851 meters Centerline goodness : 0.786231 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.03, Z:0.28 [[ 9.80439981e-01 -1.71957107e-01 -9.57507066e-02 -8.74786590e-01] [ 1.71128157e-01 9.85104426e-01 -1.68648394e-02 3.04842143e-02] [ 9.72244739e-02 1.49320811e-04 9.95262468e-01 2.82212625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.949928851 meters Centerline goodness : 0.786702 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.03, Z:0.28 [[ 9.80387211e-01 -1.72323648e-01 -9.56319829e-02 -8.75217284e-01] [ 1.71479530e-01 9.85040338e-01 -1.70382933e-02 3.07076854e-02] [ 9.71374616e-02 3.05197404e-04 9.95270928e-01 2.82266142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.979928851 meters Centerline goodness : 0.788590 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.03, Z:0.28 [[ 9.80300103e-01 -1.72965166e-01 -9.53664466e-02 -8.76103995e-01] [ 1.72093064e-01 9.84927757e-01 -1.73577260e-02 3.11493121e-02] [ 9.69313423e-02 6.03876548e-04 9.95290887e-01 2.82352999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00992885099998 meters Centerline goodness : 0.788419 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.03, Z:0.28 [[ 9.80266803e-01 -1.73203812e-01 -9.52755701e-02 -8.76492155e-01] [ 1.72324260e-01 9.84885766e-01 -1.74464140e-02 3.09287891e-02] [ 9.68573383e-02 6.83848358e-04 9.95298040e-01 2.82533875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03992885099998 meters Centerline goodness : 0.788161 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.03, Z:0.28 [[ 9.80255997e-01 -1.73285088e-01 -9.52389531e-02 -8.76639968e-01] [ 1.72406864e-01 9.84871477e-01 -1.74369563e-02 3.06277883e-02] [ 9.68196929e-02 6.72831702e-04 9.95301710e-01 2.82600434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.06992885099999 meters Centerline goodness : 0.787207 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.03, Z:0.28 [[ 0.98020905 -0.17367307 -0.09501521 -0.8776687 ] [ 0.17276403 0.98480285 -0.01777474 0.03089365] [ 0.09665824 0.00100775 0.99531712 0.28325209] [ 0. 0. 0. 1. ]] SLAMing on 82.09992885099999 meters Centerline goodness : 0.788222 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.03, Z:0.28 [[ 0.98016909 -0.17388856 -0.09503329 -0.8780799 ] [ 0.17294428 0.98476441 -0.01814764 0.03138466] [ 0.09674107 0.00135229 0.99530866 0.28393801] [ 0. 0. 0. 1. ]] SLAMing on 82.12992885099999 meters Centerline goodness : 0.789090 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.03, Z:0.28 [[ 0.98020728 -0.17354821 -0.09526124 -0.87768182] [ 0.1726087 0.98482455 -0.018079 0.03127765] [ 0.09695319 0.00127825 0.99528812 0.28429387] [ 0. 0. 0. 1. ]] SLAMing on 82.15992885099999 meters Centerline goodness : 0.787750 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.03, Z:0.28 [[ 0.98024802 -0.17318142 -0.09550922 -0.8768693 ] [ 0.17225911 0.98488935 -0.01788181 0.03101498] [ 0.09716282 0.00107628 0.99526792 0.2841213 ] [ 0. 0. 0. 1. ]] SLAMing on 82.18992885099999 meters Centerline goodness : 0.788650 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.03, Z:0.28 [[ 9.80301586e-01 -1.72711564e-01 -9.58097904e-02 -8.76006042e-01] [ 1.71807282e-01 9.84972066e-01 -1.76716232e-02 3.06424537e-02] [ 9.74220609e-02 8.62700497e-04 9.95242783e-01 2.84108187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.21992885099999 meters Centerline goodness : 0.787749 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.03, Z:0.28 [[ 9.80491467e-01 -1.71294099e-01 -9.64096227e-02 -8.73835044e-01] [ 1.70436209e-01 9.85219875e-01 -1.71259022e-02 3.05075216e-02] [ 9.79182424e-02 3.60110324e-04 9.95194397e-01 2.83810291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.24992885099999 meters Centerline goodness : 0.787870 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.03, Z:0.28 [[ 0.98114208 -0.16722931 -0.09692566 -0.87415207] [ 0.16676915 0.98591175 -0.01288725 0.02895708] [ 0.09771527 -0.00351999 0.99520819 0.28348107] [ 0. 0. 0. 1. ]] SLAMing on 82.279928851 meters Centerline goodness : 0.787871 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.03, Z:0.28 [[ 0.98190851 -0.16205446 -0.09794912 -0.8731932 ] [ 0.16198994 0.98675437 -0.00866417 0.02926719] [ 0.09805579 -0.00735935 0.99515371 0.28358502] [ 0. 0. 0. 1. ]] SLAMing on 82.309928851 meters Centerline goodness : 0.788593 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.03, Z:0.28 [[ 0.98259747 -0.15737587 -0.09866637 -0.87274833] [ 0.15773118 0.98747299 -0.00423808 0.0278197 ] [ 0.09809735 -0.01139843 0.99511154 0.28326454] [ 0. 0. 0. 1. ]] SLAMing on 82.339928851 meters Centerline goodness : 0.789029 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.03, Z:0.28 [[ 9.83270223e-01 -1.52707771e-01 -9.92975600e-02 -8.72425863e-01] [ 1.53482991e-01 9.88151275e-01 1.69956718e-04 2.63288327e-02] [ 9.80950569e-02 -1.54075999e-02 9.95057770e-01 2.82954875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.369928851 meters Centerline goodness : 0.790132 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.02, Z:0.28 [[ 0.98553123 -0.14175941 -0.09291104 -0.87862478] [ 0.14265504 0.98976781 0.00303616 0.02258024] [ 0.09152996 -0.01624646 0.99566978 0.27689994] [ 0. 0. 0. 1. ]] SLAMing on 82.39992885099998 meters Centerline goodness : 0.789507 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.02, Z:0.28 [[ 0.98614811 -0.13694934 -0.0935777 -0.87807137] [ 0.13824137 0.99037065 0.00743621 0.02151348] [ 0.09165822 -0.02026952 0.99558421 0.27666303] [ 0. 0. 0. 1. ]] SLAMing on 82.42992885099999 meters Centerline goodness : 0.792450 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.02, Z:0.28 [[ 0.98674129 -0.13223715 -0.09410084 -0.87790136] [ 0.13392181 0.99092176 0.01179067 0.02065921] [ 0.09168741 -0.0242365 0.99549285 0.27645538] [ 0. 0. 0. 1. ]] SLAMing on 82.45992885099999 meters Centerline goodness : 0.790172 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.02, Z:0.28 [[ 0.98786968 -0.12256163 -0.09535277 -0.87680304] [ 0.1250595 0.99193424 0.02065394 0.01837625] [ 0.09205229 -0.03232817 0.99522925 0.275952 ] [ 0. 0. 0. 1. ]] SLAMing on 82.48992885099999 meters Centerline goodness : 0.792719 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.02, Z:0.28 [[ 0.9884 -0.11772231 -0.09595257 -0.87612636] [ 0.12064165 0.99237638 0.02519341 0.01668359] [ 0.09225524 -0.03647704 0.99506703 0.27558024] [ 0. 0. 0. 1. ]] SLAMing on 82.51992885099999 meters Centerline goodness : 0.789108 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.01, Z:0.27 [[ 0.98935059 -0.11069156 -0.09451345 -0.87612878] [ 0.11405206 0.9929938 0.03091028 0.01337495] [ 0.09042976 -0.04136056 0.9950436 0.27284625] [ 0. 0. 0. 1. ]] SLAMing on 82.54992885099999 meters Centerline goodness : 0.790360 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.01, Z:0.27 [[ 0.98943744 -0.10931862 -0.09519974 -0.87383052] [ 0.11274941 0.99312653 0.03142091 0.01310231] [ 0.09111049 -0.04182274 0.99496218 0.27264908] [ 0. 0. 0. 1. ]] SLAMing on 82.57992885099999 meters Centerline goodness : 0.788447 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.01, Z:0.27 [[ 0.98995058 -0.10382934 -0.0960069 -0.87211713] [ 0.10773203 0.99351382 0.03638805 0.01044208] [ 0.09160603 -0.04636539 0.99471533 0.27210777] [ 0. 0. 0. 1. ]] SLAMing on 82.60992885099999 meters Centerline goodness : 0.788924 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.01, Z:0.27 [[ 0.98999577 -0.10293324 -0.09650457 -0.87079523] [ 0.10688633 0.9935931 0.03671594 0.010138 ] [ 0.09210698 -0.04666364 0.99465512 0.27232696] [ 0. 0. 0. 1. ]] SLAMing on 82.639928851 meters Centerline goodness : 0.789061 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.01, Z:0.27 [[ 0.99003143 -0.10219762 -0.09691959 -0.86950699] [ 0.10618972 0.99365896 0.03695414 0.00965755] [ 0.0925284 -0.04687762 0.99460594 0.27241577] [ 0. 0. 0. 1. ]] SLAMing on 82.669928851 meters Centerline goodness : 0.789061 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.01, Z:0.27 [[ 0.99003143 -0.10219762 -0.09691959 -0.86950699] [ 0.10618972 0.99365896 0.03695414 0.00965755] [ 0.0925284 -0.04687762 0.99460594 0.27241577] [ 0. 0. 0. 1. ]] SLAMing on 82.699928851 meters Centerline goodness : 0.788352 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.01, Z:0.27 [[ 0.99013603 -0.10050095 -0.09762274 -0.86697479] [ 0.10463987 0.99377501 0.03823265 0.00639127] [ 0.09317263 -0.04807075 0.99448885 0.27209759] [ 0. 0. 0. 1. ]] SLAMing on 82.729928851 meters Centerline goodness : 0.786361 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.00, Z:0.27 [[ 0.99015344 -0.09996422 -0.09799653 -0.86592575] [ 0.10416228 0.99380749 0.0386897 0.00457897] [ 0.0935221 -0.04851628 0.99443441 0.27220591] [ 0. 0. 0. 1. ]] SLAMing on 82.75992885099998 meters Centerline goodness : 0.785864 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.00, Z:0.27 [[ 0.99015832 -0.09959072 -0.09832701 -0.86520292] [ 0.10383243 0.99383006 0.03899541 0.00314945] [ 0.09383675 -0.04882116 0.99438984 0.27248818] [ 0. 0. 0. 1. ]] SLAMing on 82.78992885099998 meters Centerline goodness : 0.786950 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.00, Z:0.27 [[ 0.99016931 -0.09919886 -0.09861202 -0.86458797] [ 0.10348096 0.99385515 0.0392891 0.00180619] [ 0.09410863 -0.04910733 0.99435006 0.27285089] [ 0. 0. 0. 1. ]] SLAMing on 82.81992885099999 meters Centerline goodness : 0.785478 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.00, Z:0.27 [[ 0.99017993 -0.09877063 -0.09893468 -0.86432288] [ 0.10312533 0.9938677 0.03990197 -0.00120428] [ 0.09438683 -0.0497128 0.9942936 0.27375294] [ 0. 0. 0. 1. ]] SLAMing on 82.84992885099999 meters Centerline goodness : 0.784575 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.00, Z:0.27 [[ 0.98981346 -0.10211268 -0.09920839 -0.86300902] [ 0.10618453 0.99367059 0.03665529 -0.004089 ] [ 0.09483749 -0.0468163 0.99439131 0.27476773] [ 0. 0. 0. 1. ]] SLAMing on 82.87992885099999 meters Centerline goodness : 0.784344 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.01, Z:0.28 [[ 0.98942341 -0.10577068 -0.09926675 -0.86202396] [ 0.10949472 0.99344494 0.03283369 -0.00500408] [ 0.09514321 -0.0433556 0.99451901 0.27560436] [ 0. 0. 0. 1. ]] SLAMing on 82.90992885099999 meters Centerline goodness : 0.786045 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.01, Z:0.28 [[ 0.98899641 -0.10961104 -0.09935553 -0.86115489] [ 0.11298518 0.99317403 0.02897768 -0.00619251] [ 0.09550105 -0.03988453 0.99462997 0.27656605] [ 0. 0. 0. 1. ]] SLAMing on 82.93992885099999 meters Centerline goodness : 0.784454 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.01, Z:0.28 [[ 0.98845853 -0.11475871 -0.09889474 -0.86238203] [ 0.11776895 0.99272277 0.02513924 -0.01092312] [ 0.09529012 -0.03649582 0.9947803 0.27828255] [ 0. 0. 0. 1. ]] SLAMing on 82.96992885099999 meters Centerline goodness : 0.783725 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.01, Z:0.28 [[ 0.98798126 -0.11891818 -0.09874966 -0.86202965] [ 0.12156715 0.99235605 0.02123446 -0.01210955] [ 0.09546966 -0.03298397 0.99488572 0.27916496] [ 0. 0. 0. 1. ]] SLAMing on 82.99992885099999 meters Centerline goodness : 0.781543 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.02, Z:0.28 [[ 0.98733605 -0.12442056 -0.09842285 -0.86304874] [ 0.12668741 0.99179523 0.01710302 -0.01780247] [ 0.09548734 -0.02935536 0.9949977 0.28127994] [ 0. 0. 0. 1. ]] SLAMing on 83.029928851 meters Centerline goodness : 0.780587 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.02, Z:0.28 [[ 0.98684064 -0.12844956 -0.09821541 -0.86256714] [ 0.13038329 0.9913717 0.01350368 -0.0196967 ] [ 0.09563344 -0.02613163 0.99507356 0.2818982 ] [ 0. 0. 0. 1. ]] SLAMing on 83.059928851 meters Centerline goodness : 0.840239 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.03, Z:0.28 [[ 0.98626368 -0.13309155 -0.09782939 -0.86309073] [ 0.13471091 0.99083338 0.01010873 -0.02539294] [ 0.09558724 -0.02314856 0.99515186 0.2833977 ] [ 0. 0. 0. 1. ]] SLAMing on 83.089928851 meters Centerline goodness : 0.842164 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.03, Z:0.28 [[ 0.98616374 -0.13390906 -0.09772128 -0.8639823 ] [ 0.13554423 0.99071817 0.01026046 -0.02883751] [ 0.09544028 -0.02336404 0.99516093 0.28410962] [ 0. 0. 0. 1. ]] SLAMing on 83.119928851 meters Centerline goodness : 0.838177 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.03, Z:0.29 [[ 0.98560362 -0.13818289 -0.09742172 -0.864084 ] [ 0.13952172 0.99019403 0.00703374 -0.03283682] [ 0.09549446 -0.02052493 0.99521834 0.28518166] [ 0. 0. 0. 1. ]] SLAMing on 83.14992885099998 meters Centerline goodness : 0.838203 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.04, Z:0.29 [[ 0.98553958 -0.13876525 -0.09724169 -0.86483623] [ 0.14012924 0.99010626 0.00730735 -0.03582542] [ 0.0952656 -0.02082809 0.99523397 0.2855765 ] [ 0. 0. 0. 1. ]] SLAMing on 83.17992885099999 meters Centerline goodness : 0.837982 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.04, Z:0.29 [[ 0.98547705 -0.13921979 -0.09722565 -0.86521545] [ 0.1406123 0.99003567 0.00758693 -0.03873155] [ 0.09520061 -0.02114787 0.99523345 0.28599613] [ 0. 0. 0. 1. ]] SLAMing on 83.20992885099999 meters Centerline goodness : 0.836579 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.04, Z:0.29 [[ 0.98495952 -0.14300391 -0.09697748 -0.86430199] [ 0.14411215 0.9895512 0.00448501 -0.04229928] [ 0.09532281 -0.01839318 0.99527647 0.28619478] [ 0. 0. 0. 1. ]] SLAMing on 83.23992885099999 meters Centerline goodness : 0.838395 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.04, Z:0.29 [[ 0.98491256 -0.14347517 -0.09675805 -0.86499711] [ 0.14458583 0.98948189 0.00453012 -0.04421375] [ 0.09509037 -0.01845162 0.99529762 0.28652498] [ 0. 0. 0. 1. ]] SLAMing on 83.26992885099999 meters Centerline goodness : 0.837713 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.05, Z:0.29 [[ 0.98483706 -0.14409717 -0.09660213 -0.8655192 ] [ 0.14521848 0.98938872 0.00464208 -0.04620656] [ 0.09490815 -0.01860011 0.99531225 0.28665517] [ 0. 0. 0. 1. ]] SLAMing on 83.29992885099999 meters Centerline goodness : 0.835482 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.05, Z:0.29 [[ 0.98480238 -0.14438252 -0.0965296 -0.8658486 ] [ 0.14548919 0.98934966 0.00448888 -0.04646528] [ 0.09485341 -0.01846467 0.99531999 0.28691075] [ 0. 0. 0. 1. ]] SLAMing on 83.32992885099999 meters Centerline goodness : 0.835515 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.05, Z:0.29 [[ 0.98478221 -0.14459895 -0.09641132 -0.86602299] [ 0.14571193 0.98931651 0.00456789 -0.0471273 ] [ 0.0947208 -0.01854666 0.9953311 0.28676608] [ 0. 0. 0. 1. ]] SLAMing on 83.35992885099999 meters Centerline goodness : 0.835799 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.05, Z:0.29 [[ 0.98475743 -0.14480136 -0.09636063 -0.86617438] [ 0.14590475 0.98928856 0.00446718 -0.04744309] [ 0.09468161 -0.01845856 0.99533646 0.28684651] [ 0. 0. 0. 1. ]] SLAMing on 83.389928851 meters Centerline goodness : 0.837598 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.05, Z:0.29 [[ 0.98472812 -0.14504947 -0.09628694 -0.86630491] [ 0.14614211 0.98925401 0.00435644 -0.04784541] [ 0.09462034 -0.01836148 0.99534409 0.28684992] [ 0. 0. 0. 1. ]] SLAMing on 83.419928851 meters Centerline goodness : 0.838596 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.05, Z:0.29 [[ 0.98465318 -0.1457233 -0.0960356 -0.86704832] [ 0.14678785 0.9891596 0.0040768 -0.04838677] [ 0.09440045 -0.01811109 0.99536955 0.28703061] [ 0. 0. 0. 1. ]] SLAMing on 83.449928851 meters Centerline goodness : 0.772818 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.05, Z:0.29 [[ 0.98458836 -0.14638515 -0.09569297 -0.86819772] [ 0.14740438 0.98906964 0.00363171 -0.04802788] [ 0.09411539 -0.0176813 0.99540427 0.2874482 ] [ 0. 0. 0. 1. ]] SLAMing on 83.479928851 meters Centerline goodness : 0.834647 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.05, Z:0.29 [[ 0.98443724 -0.14772989 -0.09517985 -0.8703983 ] [ 0.14866308 0.98888408 0.00274984 -0.04722842] [ 0.0937156 -0.01685678 0.99545629 0.28850155] [ 0. 0. 0. 1. ]] SLAMing on 83.50992885099998 meters Centerline goodness : 0.836876 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.05, Z:0.29 [[ 0.98435273 -0.14856341 -0.09475555 -0.87168019] [ 0.14944681 0.98876719 0.00225575 -0.04696684] [ 0.09335606 -0.01638137 0.99549801 0.28879732] [ 0. 0. 0. 1. ]] SLAMing on 83.53992885099998 meters Centerline goodness : 0.836815 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.05, Z:0.29 [[ 0.98431489 -0.14885613 -0.09468928 -0.87194438] [ 0.14971667 0.9887269 0.00200961 -0.04660028] [ 0.09332269 -0.01615465 0.99550485 0.28887154] [ 0. 0. 0. 1. ]] SLAMing on 83.56992885099999 meters Centerline goodness : 0.835464 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.04, Z:0.29 [[ 0.98426275 -0.1493624 -0.09443361 -0.87265513] [ 0.15015351 0.98866186 0.00128761 -0.04453723] [ 0.09317059 -0.01544688 0.99553033 0.28896665] [ 0. 0. 0. 1. ]] SLAMing on 83.59992885099999 meters Centerline goodness : 0.835464 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.04, Z:0.29 [[ 0.98426275 -0.1493624 -0.09443361 -0.87265513] [ 0.15015351 0.98866186 0.00128761 -0.04453723] [ 0.09317059 -0.01544688 0.99553033 0.28896665] [ 0. 0. 0. 1. ]] SLAMing on 83.62992885099999 meters Centerline goodness : 0.833900 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.04, Z:0.29 [[ 9.84237100e-01 -1.49664658e-01 -9.42221878e-02 -8.73133754e-01] [ 1.50366680e-01 9.88630232e-01 3.55109177e-04 -4.10275424e-02] [ 9.30977561e-02 -1.45173892e-02 9.95551130e-01 2.88969786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.65992885099999 meters Centerline goodness : 0.835415 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.04, Z:0.29 [[ 9.84231281e-01 -1.49796708e-01 -9.40730120e-02 -8.73581935e-01] [ 1.50413287e-01 9.88623057e-01 -5.42319943e-04 -3.68393987e-02] [ 9.30839865e-02 -1.36160627e-02 9.95565153e-01 2.89029352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.68992885099999 meters Centerline goodness : 0.833717 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.03, Z:0.29 [[ 0.98420766 -0.14998809 -0.09401517 -0.8738689 ] [ 0.15054384 0.98860261 -0.00119365 -0.03453167] [ 0.09312267 -0.0129786 0.99557005 0.2892254 ] [ 0. 0. 0. 1. ]] SLAMing on 83.71992885099999 meters Centerline goodness : 0.833988 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.03, Z:0.29 [[ 0.98418496 -0.15017738 -0.09395061 -0.87406891] [ 0.15068051 0.98858095 -0.00175628 -0.0324677 ] [ 0.09314154 -0.01242803 0.99557531 0.28926842] [ 0. 0. 0. 1. ]] SLAMing on 83.74992885099999 meters Centerline goodness : 0.834930 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.03, Z:0.29 [[ 0.98414768 -0.15054826 -0.09374739 -0.87460721] [ 0.15096147 0.98853593 -0.00270924 -0.02896543] [ 0.09308053 -0.01148595 0.99559233 0.28931826] [ 0. 0. 0. 1. ]] SLAMing on 83.779928851 meters Centerline goodness : 0.834573 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.03, Z:0.29 [[ 0.98410925 -0.15083971 -0.09368227 -0.87485651] [ 0.1511966 0.98849814 -0.00331763 -0.02687135] [ 0.09310518 -0.01089953 0.99559662 0.28938799] [ 0. 0. 0. 1. ]] SLAMing on 83.809928851 meters Centerline goodness : 0.834878 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.02, Z:0.29 [[ 0.98405694 -0.15124953 -0.09357096 -0.87532869] [ 0.15154028 0.98844286 -0.00403177 -0.02437617] [ 0.09309935 -0.01021228 0.99560445 0.28953021] [ 0. 0. 0. 1. ]] SLAMing on 83.839928851 meters Centerline goodness : 0.835658 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.02, Z:0.29 [[ 0.98395886 -0.15206397 -0.09328186 -0.87661002] [ 0.15222594 0.98833087 -0.00541856 -0.01968627] [ 0.09301731 -0.00886828 0.995625 0.29011407] [ 0. 0. 0. 1. ]] SLAMing on 83.86992885099998 meters Centerline goodness : 0.836684 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.02, Z:0.29 [[ 0.98389332 -0.15261123 -0.09307926 -0.87733499] [ 0.15270614 0.98825254 -0.00614411 -0.01760666] [ 0.09292348 -0.00816862 0.99563974 0.29029982] [ 0. 0. 0. 1. ]] SLAMing on 83.89992885099998 meters Centerline goodness : 0.778555 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.01, Z:0.29 [[ 0.9837844 -0.15359165 -0.09261673 -0.87851405] [ 0.15358273 0.98810907 -0.00726666 -0.0145061 ] [ 0.09263153 -0.0070755 0.99567532 0.29025792] [ 0. 0. 0. 1. ]] SLAMing on 83.92992885099999 meters Centerline goodness : 0.837442 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.01, Z:0.29 [[ 0.98373069 -0.15407799 -0.09237914 -0.87892073] [ 0.15402703 0.98803644 -0.00772417 -0.01321832] [ 0.09246408 -0.00663038 0.99569394 0.2899603 ] [ 0. 0. 0. 1. ]] SLAMing on 83.95992885099999 meters Centerline goodness : 0.833426 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.01, Z:0.29 [[ 0.98358818 -0.15529234 -0.09186177 -0.88047939] [ 0.15514576 0.98785259 -0.00877855 -0.01024244] [ 0.09210913 -0.00561749 0.99573307 0.28996646] [ 0. 0. 0. 1. ]] SLAMing on 83.98992885099999 meters Centerline goodness : 0.836137 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.01, Z:0.29 [[ 0.98349104 -0.15611299 -0.09151016 -0.8816911 ] [ 0.15589283 0.98772739 -0.00959315 -0.00811798] [ 0.09188471 -0.004831 0.99575793 0.29025097] [ 0. 0. 0. 1. ]] SLAMing on 84.01992885099999 meters Centerline goodness : 0.836148 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.01, Z:0.29 [[ 0.98341188 -0.15683241 -0.09112991 -0.88303704] [ 0.15655427 0.9876163 -0.01023727 -0.0064137 ] [ 0.09160692 -0.00419932 0.99578639 0.29061447] [ 0. 0. 0. 1. ]] SLAMing on 84.04992885099999 meters Centerline goodness : 0.783502 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.00, Z:0.29 [[ 0.98328575 -0.15801454 -0.09044628 -0.88515413] [ 0.15764499 0.98743165 -0.01126073 -0.00406086] [ 0.09108887 -0.00318589 0.99583767 0.29101937] [ 0. 0. 0. 1. ]] SLAMing on 84.07992885099999 meters Centerline goodness : 0.781291 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.00, Z:0.29 [[ 0.98321946 -0.15860642 -0.0901305 -0.88628626] [ 0.15818578 0.98733841 -0.01183699 -0.00300448] [ 0.09086672 -0.00261901 0.99585962 0.29148234] [ 0. 0. 0. 1. ]] SLAMing on 84.10992885099999 meters Centerline goodness : 0.784641 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.00, Z:0.29 [[ 9.83064403e-01 -1.60026079e-01 -8.93086380e-02 -8.89007846e-01] [ 1.59511307e-01 9.87111576e-01 -1.29182025e-02 -8.44958523e-04] [ 9.02248397e-02 -1.54631254e-03 9.95920221e-01 2.92158344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.139928851 meters Centerline goodness : 0.784394 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.00, Z:0.29 [[ 9.82995995e-01 -1.60574825e-01 -8.90763722e-02 -8.89840627e-01] [ 1.60018791e-01 9.87023073e-01 -1.33955371e-02 4.72350154e-04] [ 9.00714206e-02 -1.08613411e-03 9.95934716e-01 2.92322212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.169928851 meters Centerline goodness : 0.784765 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.00, Z:0.29 [[ 9.82899675e-01 -1.61421266e-01 -8.86081522e-02 -8.91079542e-01] [ 1.60802507e-01 9.86885526e-01 -1.41248796e-02 2.93581705e-03] [ 8.97261588e-02 -3.65073465e-04 9.95966407e-01 2.92210080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.199928851 meters Centerline goodness : 0.785468 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.00, Z:0.29 [[ 9.82839951e-01 -1.61875038e-01 -8.84426499e-02 -8.91589560e-01] [ 1.61225491e-01 9.86811264e-01 -1.44868748e-02 3.83663811e-03] [ 8.96212666e-02 -2.09303502e-05 9.95975917e-01 2.92192592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.229928851 meters Centerline goodness : 0.785488 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.00, Z:0.29 [[ 9.82813299e-01 -1.62150272e-01 -8.82343955e-02 -8.91790892e-01] [ 1.61492568e-01 9.86766072e-01 -1.45900422e-02 4.31933764e-03] [ 8.94324872e-02 9.00883436e-05 9.95992883e-01 2.91711102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25992885099998 meters Centerline goodness : 0.785069 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.01, Z:0.29 [[ 9.82774222e-01 -1.62473235e-01 -8.80753989e-02 -8.91677932e-01] [ 1.61799180e-01 9.86712911e-01 -1.47870570e-02 5.11233840e-03] [ 8.93076342e-02 2.81811150e-04 9.96004050e-01 2.90943726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28992885099998 meters Centerline goodness : 0.786296 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.01, Z:0.29 [[ 9.82749429e-01 -1.62636500e-01 -8.80507157e-02 -8.91762398e-01] [ 1.61931796e-01 9.86685861e-01 -1.51362227e-02 6.30763365e-03] [ 8.93400985e-02 6.16903726e-04 9.96000987e-01 2.90966027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31992885099999 meters Centerline goodness : 0.785895 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.01, Z:0.29 [[ 0.98323417 -0.15979525 -0.08784104 -0.8944172 ] [ 0.15936509 0.98714758 -0.01193405 0.00758554] [ 0.08861907 -0.00226483 0.99606302 0.29121399] [ 0. 0. 0. 1. ]] SLAMing on 84.34992885099999 meters Centerline goodness : 0.786887 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.01, Z:0.29 [[ 0.98321902 -0.15982671 -0.08795325 -0.89436798] [ 0.15935656 0.98714338 -0.01238698 0.00935981] [ 0.08880224 -0.00183681 0.99604758 0.29149142] [ 0. 0. 0. 1. ]] SLAMing on 84.37992885099999 meters Centerline goodness : 0.783418 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.01, Z:0.29 [[ 0.98325796 -0.15949148 -0.08812638 -0.89359146] [ 0.15901019 0.9871978 -0.01250034 0.01066294] [ 0.08899187 -0.00172193 0.99603086 0.29109902] [ 0. 0. 0. 1. ]] SLAMing on 84.40992885099999 meters Centerline goodness : 0.784339 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.01, Z:0.29 [[ 0.98325645 -0.15949015 -0.08814559 -0.89342896] [ 0.15900446 0.9871981 -0.01254982 0.01086593] [ 0.08901873 -0.00167585 0.99602854 0.29097987] [ 0. 0. 0. 1. ]] SLAMing on 84.43992885099999 meters Centerline goodness : 0.784817 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.01, Z:0.29 [[ 0.98323804 -0.15963944 -0.08808064 -0.89370742] [ 0.15914071 0.9871742 -0.01270132 0.0111108 ] [ 0.08897857 -0.0015288 0.99603237 0.2911371 ] [ 0. 0. 0. 1. ]] SLAMing on 84.46992885099999 meters Centerline goodness : 0.785959 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.29 [[ 9.83140529e-01 -1.60538115e-01 -8.75340664e-02 -8.95657425e-01] [ 1.59979900e-01 9.87029294e-01 -1.34016312e-02 1.23395331e-02] [ 8.85501604e-02 -8.28004413e-04 9.96071375e-01 2.91848301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49992885099999 meters Centerline goodness : 0.785763 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.29 [[ 9.83012856e-01 -1.61578669e-01 -8.70520505e-02 -8.97339796e-01] [ 1.60981571e-01 9.86859767e-01 -1.38828865e-02 1.25529389e-02] [ 8.81513446e-02 -3.66720027e-04 9.96107025e-01 2.92258954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.529928851 meters Centerline goodness : 0.785424 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.29 [[ 9.82977280e-01 -1.61882440e-01 -8.68892603e-02 -8.97705254e-01] [ 1.61288040e-01 9.86809975e-01 -1.38650863e-02 1.21535974e-02] [ 8.79877028e-02 -3.85133712e-04 9.96121486e-01 2.92105026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.559928851 meters Centerline goodness : 0.785424 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.29 [[ 9.82977280e-01 -1.61882440e-01 -8.68892603e-02 -8.97705254e-01] [ 1.61288040e-01 9.86809975e-01 -1.38650863e-02 1.21535974e-02] [ 8.79877028e-02 -3.85133712e-04 9.96121486e-01 2.92105026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.589928851 meters Centerline goodness : 0.785263 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.29 [[ 9.82944521e-01 -1.62229946e-01 -8.66112740e-02 -8.98193990e-01] [ 1.61640551e-01 9.86752894e-01 -1.38223857e-02 1.17366630e-02] [ 8.77063302e-02 -4.13255754e-04 9.96146289e-01 2.91765549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61992885099998 meters Centerline goodness : 0.785512 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.29 [[ 9.82823527e-01 -1.63200336e-01 -8.61601134e-02 -8.99521391e-01] [ 1.62581383e-01 9.86592949e-01 -1.42002225e-02 1.16591606e-02] [ 8.73224415e-02 -5.17175805e-05 9.96180098e-01 2.91806505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64992885099998 meters Centerline goodness : 0.785544 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.29 [[ 9.82780273e-01 -1.63589773e-01 -8.59146208e-02 -9.00262488e-01] [ 1.62962004e-01 9.86528449e-01 -1.43179610e-02 1.17917406e-02] [ 8.70994896e-02 7.05908164e-05 9.96199616e-01 2.91855725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67992885099999 meters Centerline goodness : 0.789170 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.29 [[ 9.82685563e-01 -1.64312789e-01 -8.56177037e-02 -9.01604484e-01] [ 1.63635387e-01 9.86408072e-01 -1.49189831e-02 1.25442693e-02] [ 8.69053737e-02 6.50583214e-04 9.96216358e-01 2.92584701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70992885099999 meters Centerline goodness : 0.786071 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.29 [[ 9.82660445e-01 -1.64437860e-01 -8.56658676e-02 -9.01627886e-01] [ 1.63744279e-01 9.86387103e-01 -1.51093740e-02 1.28475910e-02] [ 8.69842602e-02 8.20088382e-04 9.96209348e-01 2.92783321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73992885099999 meters Centerline goodness : 0.784453 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.29 [[ 9.82654224e-01 -1.64556743e-01 -8.55088006e-02 -9.01687197e-01] [ 1.63869874e-01 9.86367321e-01 -1.50390294e-02 1.29609623e-02] [ 8.68178603e-02 7.65849398e-04 9.96223907e-01 2.92269895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.76992885099999 meters Centerline goodness : 0.785699 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.29 [[ 9.82640588e-01 -1.64661850e-01 -8.54631480e-02 -9.01801349e-01] [ 1.63970217e-01 9.86349734e-01 -1.50986963e-02 1.31865632e-02] [ 8.67827325e-02 8.23180877e-04 9.96226922e-01 2.92224888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.79992885099999 meters Centerline goodness : 0.786404 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.29 [[ 0.98261242 -0.16490193 -0.08532406 -0.90237286] [ 0.16419446 0.98630944 -0.01529241 0.01340063] [ 0.08667768 0.00101677 0.99623589 0.29254422] [ 0. 0. 0. 1. ]] SLAMing on 84.82992885099999 meters Centerline goodness : 0.786727 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.29 [[ 0.98255863 -0.1653207 -0.08513282 -0.90343016] [ 0.16458137 0.98623888 -0.01567959 0.01357381] [ 0.08655346 0.00139484 0.99624623 0.29335876] [ 0. 0. 0. 1. ]] SLAMing on 84.85992885099999 meters Centerline goodness : 0.785385 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.29 [[ 0.98253613 -0.16555187 -0.08494314 -0.90422731] [ 0.16481339 0.98620008 -0.01568299 0.01309639] [ 0.08636727 0.00140934 0.99626237 0.29374846] [ 0. 0. 0. 1. ]] SLAMing on 84.889928851 meters Centerline goodness : 0.784879 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.29 [[ 0.98252439 -0.16569609 -0.08479757 -0.90464872] [ 0.16496248 0.98617591 -0.01563534 0.0124235 ] [ 0.08621603 0.00137369 0.99627552 0.29386716] [ 0. 0. 0. 1. ]] SLAMing on 84.919928851 meters Centerline goodness : 0.785918 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.29 [[ 0.98250986 -0.16581832 -0.08472698 -0.90479065] [ 0.16509296 0.98615548 -0.01554623 0.01176435] [ 0.08613183 0.0012865 0.99628292 0.29382591] [ 0. 0. 0. 1. ]] SLAMing on 84.949928851 meters Centerline goodness : 0.783025 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.29 [[ 0.98251122 -0.16585648 -0.08463646 -0.90479077] [ 0.16515533 0.98614937 -0.01526887 0.01086209] [ 0.08599664 0.00102367 0.9962949 0.29344558] [ 0. 0. 0. 1. ]] SLAMing on 84.979928851 meters Centerline goodness : 0.783713 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.29 [[ 9.82489227e-01 -1.66025601e-01 -8.45601446e-02 -9.04767438e-01] [ 1.65366156e-01 9.86121289e-01 -1.47931712e-02 8.75008348e-03] [ 8.58426040e-02 5.50745268e-04 9.96308559e-01 2.93027545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00992885099998 meters Centerline goodness : 0.780430 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.29 [[ 9.82513730e-01 -1.65849192e-01 -8.46216049e-02 -9.04229934e-01] [ 1.65227902e-01 9.86151121e-01 -1.43424938e-02 7.35807758e-03] [ 8.58283816e-02 1.09846857e-04 9.96309930e-01 2.92548977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03992885099998 meters Centerline goodness : 0.781720 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.29 [[ 9.82511884e-01 -1.65877415e-01 -8.45877133e-02 -9.04134325e-01] [ 1.65305374e-01 9.86146277e-01 -1.37715161e-02 5.21090095e-03] [ 8.57002420e-02 -4.52125311e-04 9.96320864e-01 2.92206335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.06992885099999 meters Centerline goodness : 0.784100 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.00, Z:0.29 [[ 9.82492197e-01 -1.66020540e-01 -8.45355779e-02 -9.04294969e-01] [ 1.65461620e-01 9.86122112e-01 -1.36247294e-02 4.41059985e-03] [ 8.56243875e-02 -6.01203442e-04 9.96327307e-01 2.92190165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09992885099999 meters Centerline goodness : 0.780456 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.00, Z:0.29 [[ 9.82488918e-01 -1.66008323e-01 -8.45976477e-02 -9.04222724e-01] [ 1.65482780e-01 9.86123850e-01 -1.32364100e-02 2.58404931e-03] [ 8.56211123e-02 -9.94827745e-04 9.96327273e-01 2.92284646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.12992885099999 meters Centerline goodness : 0.779534 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.00, Z:0.29 [[ 0.98250907 -0.16590129 -0.08457352 -0.90418569] [ 0.16539637 0.9861416 -0.01299143 0.00165566] [ 0.08555676 -0.00122395 0.99633255 0.29225156] [ 0. 0. 0. 1. ]] SLAMing on 85.15992885099999 meters Centerline goodness : 0.779228 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.00, Z:0.29 [[ 9.82531497e-01 -1.65737345e-01 -8.46344515e-02 -9.04275709e-01] [ 1.65244266e-01 9.86168990e-01 -1.28474112e-02 2.83811208e-04] [ 8.55931673e-02 -1.36237170e-03 9.96329240e-01 2.92800216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.18992885099999 meters Centerline goodness : 0.779455 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.00, Z:0.29 [[ 9.82537669e-01 -1.65709437e-01 -8.46174369e-02 -9.04494037e-01] [ 1.65215202e-01 9.86173703e-01 -1.28593973e-02 -7.10969225e-05] [ 8.55784146e-02 -1.34524472e-03 9.96330530e-01 2.93147793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.21992885099999 meters Centerline goodness : 0.778179 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.00, Z:0.29 [[ 9.82567844e-01 -1.65429788e-01 -8.48140135e-02 -9.04032884e-01] [ 1.64945434e-01 9.86220465e-01 -1.27356750e-02 -5.57053081e-04] [ 8.57521759e-02 -1.47601948e-03 9.96315405e-01 2.93311907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24992885099999 meters Centerline goodness : 0.778774 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.00, Z:0.29 [[ 9.82645929e-01 -1.64801433e-01 -8.51320546e-02 -9.03186361e-01] [ 1.64328988e-01 9.86325415e-01 -1.25761275e-02 -6.16278996e-04] [ 8.60404729e-02 -1.63178384e-03 9.96290306e-01 2.93468961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.279928851 meters Centerline goodness : 0.778129 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.00, Z:0.29 [[ 9.82682095e-01 -1.64528029e-01 -8.52433490e-02 -9.02900277e-01] [ 1.64056832e-01 9.86371028e-01 -1.25519479e-02 -5.22853955e-04] [ 8.61467170e-02 -1.65017933e-03 9.96281095e-01 2.93628098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.309928851 meters Centerline goodness : 0.778117 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.00, Z:0.29 [[ 0.98274193 -0.16405169 -0.08547132 -0.90236586] [ 0.16358806 0.98645019 -0.0124483 -0.00108704] [ 0.08635537 -0.00174862 0.99626286 0.29399207] [ 0. 0. 0. 1. ]] SLAMing on 85.339928851 meters Centerline goodness : 0.776171 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.00, Z:0.29 [[ 0.98276241 -0.16387841 -0.08556814 -0.90206402] [ 0.16342805 0.9864787 -0.01228982 -0.00180513] [ 0.08642519 -0.00190626 0.99625652 0.29403218] [ 0. 0. 0. 1. ]] SLAMing on 85.36992885099998 meters Centerline goodness : 0.776372 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.00, Z:0.29 [[ 0.98280698 -0.16350823 -0.08576419 -0.9012714 ] [ 0.16310298 0.98653897 -0.01175898 -0.00318683] [ 0.08653241 -0.00243159 0.99624607 0.29365513] [ 0. 0. 0. 1. ]] SLAMing on 85.39992885099998 meters Centerline goodness : 0.775520 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.00, Z:0.29 [[ 0.98280861 -0.16351879 -0.08572542 -0.90122399] [ 0.16313343 0.98653665 -0.01152911 -0.00412685] [ 0.08645649 -0.00265378 0.99625209 0.29348179] [ 0. 0. 0. 1. ]] SLAMing on 85.42992885099999 meters Centerline goodness : 0.774276 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.29 [[ 0.98280107 -0.16361895 -0.08562065 -0.90140939] [ 0.1632559 0.98651935 -0.01127282 -0.00529206] [ 0.08631088 -0.00289913 0.99626403 0.29340127] [ 0. 0. 0. 1. ]] SLAMing on 85.45992885099999 meters Centerline goodness : 0.774286 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.29 [[ 0.9827681 -0.1639115 -0.08543938 -0.90194276] [ 0.16358043 0.98646968 -0.01090947 -0.00745819] [ 0.08607154 -0.00325473 0.99628364 0.29344621] [ 0. 0. 0. 1. ]] SLAMing on 85.48992885099999 meters Centerline goodness : 0.772578 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.29 [[ 0.98274462 -0.16414459 -0.08526178 -0.90232393] [ 0.16382945 0.98643034 -0.01072804 -0.00863156] [ 0.08586576 -0.00342546 0.99630083 0.29335842] [ 0. 0. 0. 1. ]] SLAMing on 85.51992885099999 meters Centerline goodness : 0.773097 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.29 [[ 0.98273186 -0.16426739 -0.08517226 -0.90250399] [ 0.16398151 0.9864087 -0.01038979 -0.01033464] [ 0.08572136 -0.0037563 0.99631207 0.29328613] [ 0. 0. 0. 1. ]] SLAMing on 85.54992885099999 meters Centerline goodness : 0.770654 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.29 [[ 0.98248086 -0.16594228 -0.08482056 -0.90424526] [ 0.16561249 0.98613001 -0.01095909 -0.01295283] [ 0.08546268 -0.00328025 0.99633597 0.29429686] [ 0. 0. 0. 1. ]] SLAMing on 85.57992885099999 meters Centerline goodness : 0.822176 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.29 [[ 0.98244657 -0.16621954 -0.08467464 -0.90459503] [ 0.16590295 0.98608282 -0.01081139 -0.01429245] [ 0.08529328 -0.00342616 0.99635 0.29431503] [ 0. 0. 0. 1. ]] SLAMing on 85.60992885099999 meters Centerline goodness : 0.770776 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.02, Z:0.29 [[ 0.98239203 -0.16669957 -0.08436324 -0.90532792] [ 0.16639728 0.98600126 -0.01065185 -0.01644464] [ 0.08495792 -0.00357352 0.99637813 0.29436814] [ 0. 0. 0. 1. ]] SLAMing on 85.639928851 meters Centerline goodness : 0.772764 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.02, Z:0.29 [[ 0.9823906 -0.16672423 -0.08433117 -0.9053587 ] [ 0.16642853 0.98599682 -0.01057418 -0.01731075] [ 0.08491323 -0.00364714 0.99638167 0.29444843] [ 0. 0. 0. 1. ]] SLAMing on 85.669928851 meters Centerline goodness : 0.769409 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.02, Z:0.29 [[ 0.98239303 -0.1667137 -0.08432362 -0.90536011] [ 0.16640776 0.98599904 -0.01069363 -0.01732178] [ 0.08492579 -0.00352675 0.99638104 0.29461361] [ 0. 0. 0. 1. ]] SLAMing on 85.699928851 meters Centerline goodness : 0.770253 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.02, Z:0.29 [[ 0.98246115 -0.16617913 -0.08458475 -0.90456184] [ 0.16587889 0.986089 -0.01061478 -0.01673853] [ 0.08517205 -0.00360222 0.99635975 0.29455 ] [ 0. 0. 0. 1. ]] SLAMing on 85.729928851 meters Centerline goodness : 0.823251 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.02, Z:0.29 [[ 0.98247344 -0.16605763 -0.08468065 -0.90427051] [ 0.16575962 0.98610935 -0.01058758 -0.01645805] [ 0.08526253 -0.00363462 0.99635189 0.29445271] [ 0. 0. 0. 1. ]] SLAMing on 85.75992885099998 meters Centerline goodness : 0.770037 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.02, Z:0.29 [[ 0.98253782 -0.16554248 -0.08494181 -0.9033091 ] [ 0.16526567 0.98619499 -0.01032934 -0.01622243] [ 0.08547913 -0.003889 0.99633237 0.29408122] [ 0. 0. 0. 1. ]] SLAMing on 85.78992885099998 meters Centerline goodness : 0.770058 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.02, Z:0.29 [[ 0.98254296 -0.16549843 -0.08496823 -0.90324102] [ 0.16521735 0.98620257 -0.01037842 -0.01595405] [ 0.0855135 -0.00384098 0.99632961 0.29409227] [ 0. 0. 0. 1. ]] SLAMing on 85.81992885099999 meters Centerline goodness : 0.767759 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.02, Z:0.29 [[ 0.98255084 -0.16546165 -0.08494872 -0.90338519] [ 0.16517665 0.98620894 -0.01042158 -0.01563916] [ 0.08550156 -0.00379181 0.99633082 0.29425394] [ 0. 0. 0. 1. ]] SLAMing on 85.84992885099999 meters Centerline goodness : 0.768294 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.02, Z:0.29 [[ 0.98255055 -0.16548838 -0.08489999 -0.90351045] [ 0.1652011 0.98620457 -0.01044713 -0.01554636] [ 0.08545763 -0.00376073 0.99633471 0.29428201] [ 0. 0. 0. 1. ]] SLAMing on 85.87992885099999 meters Centerline goodness : 0.767786 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.02, Z:0.29 [[ 0.98252786 -0.16571189 -0.08472647 -0.90402051] [ 0.1654035 0.98616798 -0.01069573 -0.01530086] [ 0.08532694 -0.00350521 0.99634684 0.2945013 ] [ 0. 0. 0. 1. ]] SLAMing on 85.90992885099999 meters Centerline goodness : 0.766391 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.02, Z:0.29 [[ 0.98251122 -0.16586363 -0.08462241 -0.90426187] [ 0.16555126 0.98614265 -0.01074448 -0.01549797] [ 0.08523189 -0.00345278 0.99635516 0.2945104 ] [ 0. 0. 0. 1. ]] SLAMing on 85.93992885099999 meters Centerline goodness : 0.768679 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.02, Z:0.29 [[ 0.98246446 -0.16626002 -0.08438719 -0.90487743] [ 0.16593612 0.9860764 -0.0108872 -0.01612507] [ 0.08502232 -0.00330659 0.99637356 0.29463217] [ 0. 0. 0. 1. ]] SLAMing on 85.96992885099999 meters Centerline goodness : 0.768795 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.02, Z:0.29 [[ 0.98245462 -0.16636611 -0.08429255 -0.9049223 ] [ 0.16605089 0.98605819 -0.01078616 -0.01662979] [ 0.08491181 -0.00339994 0.99638267 0.29437788] [ 0. 0. 0. 1. ]] SLAMing on 85.99992885099999 meters Centerline goodness : 0.767684 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.02, Z:0.29 [[ 0.98240055 -0.16678154 -0.08410164 -0.90536427] [ 0.16646292 0.98598817 -0.01083647 -0.01701364] [ 0.08473054 -0.00335405 0.99639826 0.29424706] [ 0. 0. 0. 1. ]] SLAMing on 86.029928851 meters Centerline goodness : 0.768786 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.02, Z:0.29 [[ 0.98238192 -0.16695527 -0.08397443 -0.90551103] [ 0.16663816 0.98595874 -0.010821 -0.01737234] [ 0.08460195 -0.00336299 0.99640915 0.29409325] [ 0. 0. 0. 1. ]] SLAMing on 86.059928851 meters Centerline goodness : 0.767936 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.02, Z:0.29 [[ 0.98234947 -0.16721447 -0.08383819 -0.90597074] [ 0.1668909 0.98591508 -0.01090296 -0.0178 ] [ 0.08448046 -0.00328131 0.99641973 0.2942762 ] [ 0. 0. 0. 1. ]] SLAMing on 86.089928851 meters Centerline goodness : 0.769171 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.02, Z:0.29 [[ 0.98225502 -0.16800973 -0.08335348 -0.90745832] [ 0.16767642 0.98578034 -0.01103352 -0.01942138] [ 0.08402196 -0.00313868 0.99645896 0.29472203] [ 0. 0. 0. 1. ]] SLAMing on 86.11992885099998 meters Centerline goodness : 0.767617 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.02, Z:0.29 [[ 0.9822073 -0.1684198 -0.08308783 -0.90825756] [ 0.16808659 0.98571041 -0.01103988 -0.02048948] [ 0.08375987 -0.0031225 0.99648108 0.29498309] [ 0. 0. 0. 1. ]] SLAMing on 86.14992885099998 meters Centerline goodness : 0.819541 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.02, Z:0.30 [[ 0.98209226 -0.16930417 -0.08264925 -0.90962802] [ 0.1689777 0.98555871 -0.01098022 -0.02225885] [ 0.08331469 -0.0031823 0.99651821 0.29518339] [ 0. 0. 0. 1. ]] SLAMing on 86.17992885099999 meters Centerline goodness : 0.765644 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.02, Z:0.30 [[ 0.98204774 -0.16972287 -0.08231882 -0.91031879] [ 0.16940832 0.98548631 -0.01084202 -0.02349194] [ 0.08296421 -0.00329812 0.99654707 0.295066 ] [ 0. 0. 0. 1. ]] SLAMing on 86.20992885099999 meters Centerline goodness : 0.766142 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.02, Z:0.29 [[ 9.81420344e-01 -1.73413858e-01 -8.21081179e-02 -9.08819139e-01] [ 1.72830055e-01 9.84849013e-01 -1.42194814e-02 -2.48972975e-02] [ 8.33299540e-02 -2.35462268e-04 9.96521983e-01 2.94773120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23992885099999 meters Centerline goodness : 0.764742 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.03, Z:0.29 [[ 9.81378521e-01 -1.73756984e-01 -8.18822868e-02 -9.09339548e-01] [ 1.73191809e-01 9.84788466e-01 -1.40097746e-02 -2.65710206e-02] [ 8.30710278e-02 -4.32449496e-04 9.96543535e-01 2.94734272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.26992885099999 meters Centerline goodness : 0.765125 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.03, Z:0.29 [[ 9.81344647e-01 -1.74040766e-01 -8.16853454e-02 -9.09864693e-01] [ 1.73487948e-01 9.84738290e-01 -1.38719788e-02 -2.80555372e-02] [ 8.28529771e-02 -5.58230806e-04 9.96561625e-01 2.94903179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.29992885099999 meters Centerline goodness : 0.766658 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.03, Z:0.30 [[ 9.81264550e-01 -1.74747734e-01 -8.11363876e-02 -9.11228166e-01] [ 1.74212133e-01 9.84612988e-01 -1.36892695e-02 -3.06557824e-02] [ 8.22801099e-02 -7.02148345e-04 9.96608996e-01 2.95074358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.32992885099999 meters Centerline goodness : 0.765579 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.03, Z:0.30 [[ 9.81254648e-01 -1.74794900e-01 -8.11545321e-02 -9.11344976e-01] [ 1.74270332e-01 9.84604509e-01 -1.35577624e-02 -3.15830756e-02] [ 8.22749459e-02 -8.39209883e-04 9.96609316e-01 2.95320543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.35992885099999 meters Centerline goodness : 0.766081 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.03, Z:0.30 [[ 0.98131042 -0.17440272 -0.08132369 -0.91086862] [ 0.17390632 0.98467369 -0.01320255 -0.03259496] [ 0.08237986 -0.0011869 0.9966003 0.29535612] [ 0. 0. 0. 1. ]] SLAMing on 86.389928851 meters Centerline goodness : 0.765575 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.03, Z:0.30 [[ 0.98137489 -0.17386484 -0.0816967 -0.90971443] [ 0.17339203 0.98476838 -0.01290151 -0.03279695] [ 0.08269544 -0.00150434 0.99657373 0.29508702] [ 0. 0. 0. 1. ]] SLAMing on 86.419928851 meters Centerline goodness : 0.764463 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.03, Z:0.29 [[ 0.98209296 -0.16953316 -0.08217006 -0.90976792] [ 0.1694072 0.98550902 -0.00855351 -0.03486138] [ 0.08242944 -0.00551986 0.99658162 0.29465298] [ 0. 0. 0. 1. ]] SLAMing on 86.449928851 meters Centerline goodness : 0.764838 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.03, Z:0.29 [[ 0.98215993 -0.16898701 -0.08249404 -0.90906168] [ 0.16887418 0.98560187 -0.00839411 -0.03488735] [ 0.08272478 -0.00568675 0.99655621 0.2949235 ] [ 0. 0. 0. 1. ]] SLAMing on 86.479928851 meters Centerline goodness : 0.764838 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.03, Z:0.29 [[ 0.98215993 -0.16898701 -0.08249404 -0.90906168] [ 0.16887418 0.98560187 -0.00839411 -0.03488735] [ 0.08272478 -0.00568675 0.99655621 0.2949235 ] [ 0. 0. 0. 1. ]] SLAMing on 86.50992885099998 meters Centerline goodness : 0.763840 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.29 [[ 0.98287528 -0.16450244 -0.08303692 -0.90917259] [ 0.16474151 0.98632862 -0.00401158 -0.03668275] [ 0.08256161 -0.00973674 0.9965384 0.29476996] [ 0. 0. 0. 1. ]] SLAMing on 86.53992885099998 meters Centerline goodness : 0.765444 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.29 [[ 0.98296267 -0.16378365 -0.0834225 -0.90809853] [ 0.16404716 0.98644544 -0.00373282 -0.03679565] [ 0.08290312 -0.010016 0.99650728 0.29472874] [ 0. 0. 0. 1. ]] SLAMing on 86.56992885099999 meters Centerline goodness : 0.763752 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.29 [[ 9.83686060e-01 -1.59007981e-01 -8.41320180e-02 -9.07465449e-01] [ 1.59641352e-01 9.87174746e-01 8.11933186e-04 -3.91109949e-02] [ 8.29238996e-02 -1.42296365e-02 9.96454286e-01 2.94395801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59992885099999 meters Centerline goodness : 0.764728 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.29 [[ 0.98377061 -0.15827121 -0.08453177 -0.90623916] [ 0.15893227 0.98728887 0.00110605 -0.03908103] [ 0.08328222 -0.01452293 0.99642017 0.29421484] [ 0. 0. 0. 1. ]] SLAMing on 86.62992885099999 meters Centerline goodness : 0.762869 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.29 [[ 0.98386105 -0.15749094 -0.08493546 -0.90504812] [ 0.15817488 0.9874102 0.00134159 -0.03888775] [ 0.08365485 -0.0147546 0.99638555 0.29411214] [ 0. 0. 0. 1. ]] SLAMing on 86.65992885099999 meters Centerline goodness : 0.762089 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.04, Z:0.29 [[ 0.98394282 -0.15676846 -0.085324 -0.90398504] [ 0.15746744 0.98752307 0.00148236 -0.03845614] [ 0.08402703 -0.0148943 0.99635216 0.29411399] [ 0. 0. 0. 1. ]] SLAMing on 86.68992885099999 meters Centerline goodness : 0.764470 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.04, Z:0.29 [[ 0.9846448 -0.15188393 -0.08605752 -0.90340424] [ 0.15295702 0.98821476 0.00597736 -0.04038163] [ 0.08413544 -0.01904867 0.99627224 0.29395497] [ 0. 0. 0. 1. ]] SLAMing on 86.71992885099999 meters Centerline goodness : 0.762691 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.04, Z:0.29 [[ 0.98473011 -0.15121194 -0.08626444 -0.90253769] [ 0.15231003 0.98831297 0.00625456 -0.04050008] [ 0.0843105 -0.019298 0.99625264 0.29373455] [ 0. 0. 0. 1. ]] SLAMing on 86.74992885099999 meters Centerline goodness : 0.761540 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.04, Z:0.29 [[ 0.98487674 -0.14992669 -0.08683195 -0.90084769] [ 0.15109413 0.98849463 0.00699473 -0.04162565] [ 0.08478422 -0.02000875 0.99619842 0.29363281] [ 0. 0. 0. 1. ]] SLAMing on 86.779928851 meters Centerline goodness : 0.761447 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.04, Z:0.29 [[ 0.98490401 -0.14974456 -0.08683695 -0.90081673] [ 0.15092538 0.98851924 0.00715864 -0.0423035 ] [ 0.08476803 -0.02015647 0.99619682 0.29375543] [ 0. 0. 0. 1. ]] SLAMing on 86.809928851 meters Centerline goodness : 0.761042 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.04, Z:0.29 [[ 0.98491689 -0.14966608 -0.08682619 -0.90105874] [ 0.15088523 0.98852195 0.00761529 -0.04482604] [ 0.08468984 -0.02060122 0.99619437 0.29420591] [ 0. 0. 0. 1. ]] SLAMing on 86.839928851 meters Centerline goodness : 0.761478 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.05, Z:0.29 [[ 0.98489857 -0.14982402 -0.0867616 -0.9013511 ] [ 0.15105533 0.98849479 0.00776735 -0.04628518] [ 0.08459965 -0.02075586 0.99619882 0.29448837] [ 0. 0. 0. 1. ]] SLAMing on 86.86992885099998 meters Centerline goodness : 0.761851 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.05, Z:0.29 [[ 0.98486779 -0.15006381 -0.08669657 -0.90166857] [ 0.15130387 0.98845592 0.00787629 -0.04766385] [ 0.08451379 -0.02087463 0.99620363 0.29474473] [ 0. 0. 0. 1. ]] SLAMing on 86.89992885099998 meters Centerline goodness : 0.760292 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.05, Z:0.29 [[ 0.98428933 -0.15398993 -0.08638063 -0.90096643] [ 0.15492861 0.98791661 0.00422976 -0.04866773] [ 0.08468552 -0.01754614 0.99625323 0.29499688] [ 0. 0. 0. 1. ]] SLAMing on 86.92992885099999 meters Centerline goodness : 0.760725 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.05, Z:0.30 [[ 0.98420535 -0.1547227 -0.08602745 -0.90205092] [ 0.15564967 0.98780367 0.0041334 -0.05057334] [ 0.0843387 -0.01745826 0.99628419 0.29539031] [ 0. 0. 0. 1. ]] SLAMing on 86.95992885099999 meters Centerline goodness : 0.761885 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.05, Z:0.30 [[ 9.83558912e-01 -1.59011551e-01 -8.55990293e-02 -9.01688510e-01] [ 1.59628603e-01 9.87177073e-01 3.68896156e-04 -5.22367204e-02] [ 8.44427404e-02 -1.40268846e-02 9.96329599e-01 2.95795844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.98992885099999 meters Centerline goodness : 0.760335 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.05, Z:0.30 [[ 9.83500370e-01 -1.59546774e-01 -8.52751431e-02 -9.02388721e-01] [ 1.60165521e-01 9.87090082e-01 4.19940707e-04 -5.38174833e-02] [ 8.41072478e-02 -1.40711495e-02 9.96357352e-01 2.95781251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.01992885099999 meters Centerline goodness : 0.762012 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.05, Z:0.30 [[ 0.98289528 -0.1633914 -0.08497124 -0.90138874] [ 0.16371378 0.98650267 -0.00320753 -0.05441664] [ 0.08434844 -0.0107583 0.99637824 0.29569651] [ 0. 0. 0. 1. ]] SLAMing on 87.04992885099999 meters Centerline goodness : 0.759682 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.30 [[ 0.98285395 -0.16373759 -0.08478277 -0.90183453] [ 0.16406194 0.98644493 -0.00317515 -0.05524536] [ 0.08415343 -0.01078892 0.9963944 0.29569743] [ 0. 0. 0. 1. ]] SLAMing on 87.07992885099999 meters Centerline goodness : 0.760483 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.30 [[ 0.98282793 -0.1639547 -0.08466476 -0.90198843] [ 0.16427981 0.98640872 -0.00316019 -0.05567825] [ 0.08403218 -0.01080279 0.99640448 0.29554381] [ 0. 0. 0. 1. ]] SLAMing on 87.10992885099999 meters Centerline goodness : 0.760907 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.30 [[ 0.98271474 -0.16484378 -0.08425125 -0.90363145] [ 0.16514205 0.98626371 -0.00346481 -0.05692805] [ 0.0836651 -0.01050851 0.99643852 0.29643505] [ 0. 0. 0. 1. ]] SLAMing on 87.139928851 meters Centerline goodness : 0.761020 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.30 [[ 0.98270146 -0.16497496 -0.08414929 -0.90436857] [ 0.16526489 0.9862428 -0.00355698 -0.05765905] [ 0.08357845 -0.01041147 0.99644681 0.29722958] [ 0. 0. 0. 1. ]] SLAMing on 87.169928851 meters Centerline goodness : 0.762052 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.30 [[ 0.98267358 -0.16518007 -0.08407244 -0.90491513] [ 0.16545635 0.9862101 -0.00371899 -0.05791962] [ 0.0835274 -0.01025576 0.99645271 0.29775389] [ 0. 0. 0. 1. ]] SLAMing on 87.199928851 meters Centerline goodness : 0.763943 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.30 [[ 0.98265874 -0.16529204 -0.0840258 -0.9053387 ] [ 0.16555967 0.98619237 -0.0038214 -0.05816743] [ 0.08349725 -0.01015615 0.99645625 0.2982181 ] [ 0. 0. 0. 1. ]] SLAMing on 87.229928851 meters Centerline goodness : 0.765232 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.30 [[ 0.98263095 -0.16554642 -0.08384987 -0.90634066] [ 0.16579931 0.98615146 -0.00398702 -0.0581952 ] [ 0.08334871 -0.00998448 0.99647042 0.29895479] [ 0. 0. 0. 1. ]] SLAMing on 87.25992885099998 meters Centerline goodness : 0.765127 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.30 [[ 0.98262942 -0.16555116 -0.08385838 -0.90641194] [ 0.16580605 0.98615041 -0.00396436 -0.05858385] [ 0.08335328 -0.01000873 0.9964698 0.29913021] [ 0. 0. 0. 1. ]] SLAMing on 87.28992885099998 meters Centerline goodness : 0.764612 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.30 [[ 0.98264713 -0.1654343 -0.08388152 -0.90613211] [ 0.16570274 0.98616842 -0.00380009 -0.05936727] [ 0.08334997 -0.01016525 0.99646849 0.29898114] [ 0. 0. 0. 1. ]] SLAMing on 87.31992885099999 meters Centerline goodness : 0.766172 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.30 [[ 0.98270337 -0.16504061 -0.08399808 -0.90540941] [ 0.16535907 0.98622824 -0.00320001 -0.06158457] [ 0.08336941 -0.01074518 0.99646078 0.29858367] [ 0. 0. 0. 1. ]] SLAMing on 87.34992885099999 meters Centerline goodness : 0.765977 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.30 [[ 0.98272223 -0.16495889 -0.08393795 -0.905296 ] [ 0.16529429 0.98623977 -0.00298615 -0.06225708] [ 0.08327553 -0.01093991 0.99646651 0.29831313] [ 0. 0. 0. 1. ]] SLAMing on 87.37992885099999 meters Centerline goodness : 0.765526 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.30 [[ 0.98277839 -0.16451414 -0.08415299 -0.90447965] [ 0.16488179 0.98630988 -0.00261024 -0.06239347] [ 0.08343035 -0.01131001 0.99644943 0.29785523] [ 0. 0. 0. 1. ]] SLAMing on 87.40992885099999 meters Centerline goodness : 0.820707 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.30 [[ 0.98285157 -0.16394475 -0.08440921 -0.90365003] [ 0.16433919 0.9864012 -0.0023015 -0.06183252] [ 0.08363867 -0.01160971 0.99642852 0.29750088] [ 0. 0. 0. 1. ]] SLAMing on 87.43992885099999 meters Centerline goodness : 0.820707 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.30 [[ 0.98285157 -0.16394475 -0.08440921 -0.90365003] [ 0.16433919 0.9864012 -0.0023015 -0.06183252] [ 0.08363867 -0.01160971 0.99642852 0.29750088] [ 0. 0. 0. 1. ]] SLAMing on 87.46992885099999 meters Centerline goodness : 0.761330 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.30 [[ 0.98285616 -0.16389293 -0.0844563 -0.90349589] [ 0.1642896 0.98640952 -0.00227935 -0.06203879] [ 0.08368207 -0.01163501 0.99642458 0.29751226] [ 0. 0. 0. 1. ]] SLAMing on 87.49992885099999 meters Centerline goodness : 0.762621 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.30 [[ 0.98289748 -0.16359046 -0.0845619 -0.9027649 ] [ 0.1640132 0.98645617 -0.00197081 -0.06301432] [ 0.08373901 -0.01193217 0.99641628 0.29707251] [ 0. 0. 0. 1. ]] SLAMing on 87.529928851 meters Centerline goodness : 0.763181 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.30 [[ 0.98288424 -0.16371679 -0.0844712 -0.90286475] [ 0.16413091 0.9864364 -0.00206604 -0.06289992] [ 0.08366371 -0.01183366 0.99642378 0.2969712 ] [ 0. 0. 0. 1. ]] SLAMing on 87.559928851 meters Centerline goodness : 0.763608 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.30 [[ 0.98284771 -0.16397306 -0.08439917 -0.9031615 ] [ 0.16436603 0.98639669 -0.00231882 -0.0624871 ] [ 0.08363128 -0.01159331 0.99642933 0.2971567 ] [ 0. 0. 0. 1. ]] SLAMing on 87.589928851 meters Centerline goodness : 0.763193 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.30 [[ 0.98280443 -0.16433787 -0.08419328 -0.90379871] [ 0.16470867 0.98633891 -0.00257067 -0.06232591] [ 0.08346556 -0.0113409 0.99644613 0.2973701 ] [ 0. 0. 0. 1. ]] SLAMing on 87.61992885099998 meters Centerline goodness : 0.764576 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.30 [[ 0.98274771 -0.16475176 -0.08404642 -0.90425863] [ 0.16509793 0.98627302 -0.00286276 -0.06222527] [ 0.08336437 -0.01106252 0.99645773 0.29756432] [ 0. 0. 0. 1. ]] SLAMing on 87.64992885099998 meters Centerline goodness : 0.763573 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.30 [[ 0.98258421 -0.16594066 -0.08361798 -0.9056028 ] [ 0.16624755 0.98607843 -0.00332804 -0.06334192] [ 0.08300614 -0.01063121 0.99649233 0.29796807] [ 0. 0. 0. 1. ]] SLAMing on 87.67992885099999 meters Centerline goodness : 0.764519 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.30 [[ 0.9818809 -0.17038141 -0.08294615 -0.90566506] [ 0.17036676 0.98535363 -0.00730681 -0.06384654] [ 0.08297624 -0.00695685 0.99652724 0.29821729] [ 0. 0. 0. 1. ]] SLAMing on 87.70992885099999 meters Centerline goodness : 0.764749 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.30 [[ 0.98173613 -0.17143618 -0.08248521 -0.90711758] [ 0.17139074 0.98517317 -0.00768434 -0.06513905] [ 0.08257959 -0.0065932 0.99656266 0.29881527] [ 0. 0. 0. 1. ]] SLAMing on 87.73992885099999 meters Centerline goodness : 0.765557 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.30 [[ 0.98165019 -0.17207879 -0.08216931 -0.9080227 ] [ 0.17202088 0.98506213 -0.00783707 -0.06616279] [ 0.08229047 -0.00644158 0.99658757 0.29912126] [ 0. 0. 0. 1. ]] SLAMing on 87.76992885099999 meters Centerline goodness : 0.767248 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.30 [[ 0.98151217 -0.17308221 -0.08170929 -0.90942326] [ 0.17299848 0.98488831 -0.00815725 -0.06735099] [ 0.0818864 -0.00612914 0.99662282 0.29960323] [ 0. 0. 0. 1. ]] SLAMing on 87.79992885099999 meters Centerline goodness : 0.766713 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.30 [[ 0.98146572 -0.17343403 -0.08152101 -0.91001309] [ 0.17334447 0.98482688 -0.00822903 -0.06788459] [ 0.08171128 -0.00605471 0.99663765 0.29979495] [ 0. 0. 0. 1. ]] SLAMing on 87.82992885099999 meters Centerline goodness : 0.824922 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.30 [[ 0.98140121 -0.17394978 -0.08119809 -0.91102935] [ 0.17384887 0.98473681 -0.00836555 -0.06911301] [ 0.08141394 -0.00590623 0.99666288 0.30031465] [ 0. 0. 0. 1. ]] SLAMing on 87.85992885099999 meters Centerline goodness : 0.825619 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.30 [[ 0.98137762 -0.17413347 -0.08108951 -0.91138635] [ 0.1740229 0.98470506 -0.00848363 -0.06926471] [ 0.08132653 -0.00578579 0.99667072 0.3005267 ] [ 0. 0. 0. 1. ]] SLAMing on 87.889928851 meters Centerline goodness : 0.766770 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.30 [[ 0.98145725 -0.17360383 -0.08126114 -0.91089432] [ 0.17350176 0.98479799 -0.00836989 -0.06871192] [ 0.08147885 -0.00588427 0.9966577 0.30048952] [ 0. 0. 0. 1. ]] SLAMing on 87.919928851 meters Centerline goodness : 0.766779 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.30 [[ 0.98146282 -0.17354413 -0.08132142 -0.910936 ] [ 0.17342787 0.9848095 -0.00854517 -0.06810832] [ 0.08156907 -0.00571664 0.9966513 0.30072782] [ 0. 0. 0. 1. ]] SLAMing on 87.949928851 meters Centerline goodness : 0.765870 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.30 [[ 0.98147011 -0.17346888 -0.08139394 -0.91098654] [ 0.17334792 0.98482306 -0.00860454 -0.06797728] [ 0.08165125 -0.00566437 0.99664487 0.30102823] [ 0. 0. 0. 1. ]] SLAMing on 87.97992885099998 meters Centerline goodness : 0.768117 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.30 [[ 0.98154205 -0.17293687 -0.08165803 -0.91013965] [ 0.17282679 0.98491583 -0.00846822 -0.0674191 ] [ 0.08189076 -0.00580078 0.99662443 0.30076781] [ 0. 0. 0. 1. ]] SLAMing on 88.00992885099998 meters Centerline goodness : 0.767312 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.30 [[ 0.9815757 -0.17265685 -0.08184597 -0.90949649] [ 0.17255415 0.98496438 -0.00838021 -0.06738968] [ 0.08206227 -0.00589706 0.99660976 0.30055013] [ 0. 0. 0. 1. ]] SLAMing on 88.03992885099998 meters Centerline goodness : 0.767266 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.30 [[ 0.98171311 -0.17175841 -0.08208788 -0.90831258] [ 0.17168052 0.98511971 -0.00805944 -0.06658705] [ 0.08225067 -0.00618083 0.99659251 0.29987466] [ 0. 0. 0. 1. ]] SLAMing on 88.06992885099999 meters Centerline goodness : 0.766921 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.30 [[ 0.98174781 -0.17143413 -0.08235033 -0.90770948] [ 0.1713474 0.98517678 -0.00817232 -0.06543853] [ 0.08253065 -0.00608736 0.99656994 0.29986817] [ 0. 0. 0. 1. ]] SLAMing on 88.09992885099999 meters Centerline goodness : 0.766281 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.30 [[ 0.98177975 -0.17114653 -0.08256745 -0.90713418] [ 0.17105676 0.98522695 -0.00821285 -0.06451165] [ 0.08275328 -0.00606051 0.99655164 0.29973224] [ 0. 0. 0. 1. ]] SLAMing on 88.12992885099999 meters Centerline goodness : 0.766628 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.30 [[ 0.98191845 -0.17019308 -0.08288831 -0.90595243] [ 0.17012181 0.98539078 -0.00797399 -0.06321576] [ 0.0830345 -0.0062713 0.99652694 0.29927838] [ 0. 0. 0. 1. ]] SLAMing on 88.15992885099999 meters Centerline goodness : 0.765879 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.30 [[ 0.981954 -0.16988686 -0.08309513 -0.90533854] [ 0.16981014 0.98544398 -0.00804177 -0.06233542] [ 0.08325178 -0.00621375 0.99650917 0.29913202] [ 0. 0. 0. 1. ]] SLAMing on 88.18992885099999 meters Centerline goodness : 0.768185 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.30 [[ 0.98198674 -0.16967758 -0.08313581 -0.90529102] [ 0.16957395 0.98548203 -0.00835791 -0.06049543] [ 0.083347 -0.00589031 0.99650318 0.29919894] [ 0. 0. 0. 1. ]] SLAMing on 88.21992885099999 meters Centerline goodness : 0.766024 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.30 [[ 0.98196991 -0.16974768 -0.08319147 -0.90540081] [ 0.16961045 0.9854722 -0.00876607 -0.05924619] [ 0.0834709 -0.00550212 0.99649503 0.29951885] [ 0. 0. 0. 1. ]] SLAMing on 88.24992885099999 meters Centerline goodness : 0.765755 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.30 [[ 0.98194304 -0.16996306 -0.08306876 -0.90604454] [ 0.16978051 0.98543794 -0.00930867 -0.0571924 ] [ 0.08344124 -0.00496287 0.99650034 0.29985372] [ 0. 0. 0. 1. ]] SLAMing on 88.279928851 meters Centerline goodness : 0.766298 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.30 [[ 0.98190803 -0.1702081 -0.08298083 -0.90639964] [ 0.17000057 0.98539708 -0.00961232 -0.05649892] [ 0.08340516 -0.00466837 0.99650478 0.30005504] [ 0. 0. 0. 1. ]] SLAMing on 88.309928851 meters Centerline goodness : 0.766248 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.30 [[ 0.98185304 -0.17063857 -0.08274713 -0.90695016] [ 0.17040733 0.98532396 -0.00990141 -0.05611332] [ 0.08322229 -0.00437899 0.99652139 0.30002369] [ 0. 0. 0. 1. ]] SLAMing on 88.339928851 meters Centerline goodness : 0.765603 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.30 [[ 0.98175702 -0.17137473 -0.08236413 -0.9078383 ] [ 0.17111146 0.98519786 -0.01029745 -0.05598154] [ 0.08290969 -0.00398386 0.9965491 0.29999311] [ 0. 0. 0. 1. ]] SLAMing on 88.36992885099998 meters Centerline goodness : 0.765603 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.30 [[ 0.98175702 -0.17137473 -0.08236413 -0.9078383 ] [ 0.17111146 0.98519786 -0.01029745 -0.05598154] [ 0.08290969 -0.00398386 0.9965491 0.29999311] [ 0. 0. 0. 1. ]] SLAMing on 88.39992885099998 meters Centerline goodness : 0.765865 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.30 [[ 0.9817296 -0.17163979 -0.08213878 -0.90817477] [ 0.17135859 0.98515262 -0.01051386 -0.05536129] [ 0.08272383 -0.00375342 0.99656544 0.29979138] [ 0. 0. 0. 1. ]] SLAMing on 88.42992885099999 meters Centerline goodness : 0.767162 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.05, Z:0.30 [[ 0.98164512 -0.17222547 -0.08192216 -0.90899471] [ 0.1718775 0.98505312 -0.01133437 -0.052689 ] [ 0.08264974 -0.00295425 0.99657428 0.30002291] [ 0. 0. 0. 1. ]] SLAMing on 88.45992885099999 meters Centerline goodness : 0.765309 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.05, Z:0.30 [[ 0.98159061 -0.1725889 -0.08181046 -0.90961516] [ 0.17219437 0.98499102 -0.01190736 -0.05094181] [ 0.08263765 -0.00239915 0.99657677 0.30041826] [ 0. 0. 0. 1. ]] SLAMing on 88.48992885099999 meters Centerline goodness : 0.766959 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.05, Z:0.30 [[ 0.98150222 -0.17325264 -0.08146722 -0.91085555] [ 0.17278976 0.98487618 -0.01275195 -0.04891006] [ 0.08244443 -0.00156063 0.99659444 0.30098549] [ 0. 0. 0. 1. ]] SLAMing on 88.51992885099999 meters Centerline goodness : 0.765155 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.05, Z:0.30 [[ 0.98145584 -0.17361404 -0.08125637 -0.91137613] [ 0.17312666 0.98481298 -0.01305974 -0.04861531] [ 0.08228969 -0.00125008 0.99660767 0.30106982] [ 0. 0. 0. 1. ]] SLAMing on 88.54992885099999 meters Centerline goodness : 0.766030 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.05, Z:0.30 [[ 9.81419373e-01 -1.73893396e-01 -8.10993230e-02 -9.11717936e-01] [ 1.73385942e-01 9.84763979e-01 -1.33124449e-02 -4.82193229e-02] [ 8.21786382e-02 -9.96391204e-04 9.96617117e-01 3.01065244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.57992885099999 meters Centerline goodness : 0.767329 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.05, Z:0.30 [[ 9.81349883e-01 -1.74402606e-01 -8.08463898e-02 -9.12463514e-01] [ 1.73851977e-01 9.84674322e-01 -1.38552941e-02 -4.64171186e-02] [ 8.20237635e-02 -4.58413439e-04 9.96630268e-01 3.01105807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.60992885099999 meters Centerline goodness : 0.768151 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.05, Z:0.30 [[ 9.81302373e-01 -1.74733392e-01 -8.07087070e-02 -9.13092006e-01] [ 1.74152901e-01 9.84615780e-01 -1.42314183e-02 -4.51407573e-02] [ 8.19537704e-02 -9.03309550e-05 9.96636128e-01 3.01362254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.639928851 meters Centerline goodness : 0.765740 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.30 [[ 9.81255398e-01 -1.75032685e-01 -8.06312847e-02 -9.13345935e-01] [ 1.74408987e-01 9.84562530e-01 -1.47692383e-02 -4.32749571e-02] [ 8.19716411e-02 4.29574131e-04 9.96634570e-01 3.01376256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.669928851 meters Centerline goodness : 0.766824 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.30 [[ 9.81233180e-01 -1.75220419e-01 -8.04937963e-02 -9.13444481e-01] [ 1.74582585e-01 9.84529037e-01 -1.49497986e-02 -4.28737307e-02] [ 8.18679897e-02 6.16423365e-04 9.96642991e-01 3.01124524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.699928851 meters Centerline goodness : 0.766136 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.30 [[ 9.81239684e-01 -1.75181828e-01 -8.04985032e-02 -9.13021012e-01] [ 1.74536207e-01 9.84535841e-01 -1.50429564e-02 -4.22413209e-02] [ 8.18889142e-02 7.10842350e-04 9.96641209e-01 3.00626652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72992885099998 meters Centerline goodness : 0.764269 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.30 [[ 9.81229439e-01 -1.75236185e-01 -8.05050790e-02 -9.12995380e-01] [ 1.74578057e-01 9.84526050e-01 -1.51973069e-02 -4.15609370e-02] [ 8.19224655e-02 8.57624622e-04 9.96638337e-01 3.00574554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75992885099998 meters Centerline goodness : 0.766517 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.30 [[ 0.98121735 -0.17525495 -0.08061149 -0.9130148 ] [ 0.17457363 0.98452245 -0.01547861 -0.04051153] [ 0.08207652 0.00111524 0.99662541 0.30086656] [ 0. 0. 0. 1. ]] SLAMing on 88.78992885099998 meters Centerline goodness : 0.765443 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.30 [[ 0.98174005 -0.1722238 -0.08078014 -0.91481697] [ 0.17180625 0.9850559 -0.01214396 -0.0408081 ] [ 0.08166443 -0.00195632 0.99665796 0.30143439] [ 0. 0. 0. 1. ]] SLAMing on 88.81992885099999 meters Centerline goodness : 0.767200 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.30 [[ 0.98175408 -0.17206556 -0.08094674 -0.91449215] [ 0.17164082 0.98508369 -0.01222912 -0.04030278] [ 0.08184353 -0.00188778 0.9966434 0.30156138] [ 0. 0. 0. 1. ]] SLAMing on 88.84992885099999 meters Centerline goodness : 0.766793 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.30 [[ 0.98179099 -0.17177801 -0.08110957 -0.9140912 ] [ 0.17136407 0.98513359 -0.01208968 -0.04041655] [ 0.08198051 -0.00202973 0.99663187 0.3015634 ] [ 0. 0. 0. 1. ]] SLAMing on 88.87992885099999 meters Centerline goodness : 0.767477 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.30 [[ 0.98180453 -0.17165829 -0.08119914 -0.91395805] [ 0.17124503 0.98515443 -0.01207859 -0.04029335] [ 0.08206708 -0.00204613 0.99662471 0.30165901] [ 0. 0. 0. 1. ]] SLAMing on 88.90992885099999 meters Centerline goodness : 0.769811 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.30 [[ 0.98181181 -0.17156628 -0.08130543 -0.91379842] [ 0.17115097 0.98517048 -0.01210242 -0.0402471 ] [ 0.08217608 -0.0020332 0.99661575 0.30182398] [ 0. 0. 0. 1. ]] SLAMing on 88.93992885099999 meters Centerline goodness : 0.768438 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.30 [[ 0.98185479 -0.17125197 -0.08144892 -0.91362857] [ 0.17084317 0.98522499 -0.01201404 -0.04039722] [ 0.08230294 -0.00211895 0.99660511 0.3021803 ] [ 0. 0. 0. 1. ]] SLAMing on 88.96992885099999 meters Centerline goodness : 0.769046 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.30 [[ 0.98187516 -0.17107289 -0.0815796 -0.91336026] [ 0.17066481 0.98525605 -0.01200127 -0.04033104] [ 0.08242989 -0.00213902 0.99659457 0.30229062] [ 0. 0. 0. 1. ]] SLAMing on 88.99992885099999 meters Centerline goodness : 0.768087 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.30 [[ 0.9819851 -0.17023776 -0.08200222 -0.91199782] [ 0.16985217 0.98540002 -0.01170681 -0.04042537] [ 0.08279793 -0.00243235 0.99656339 0.30207079] [ 0. 0. 0. 1. ]] SLAMing on 89.029928851 meters Centerline goodness : 0.767337 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.30 [[ 0.98203655 -0.16981531 -0.08226169 -0.91121105] [ 0.16945017 0.98547222 -0.0114514 -0.04069198] [ 0.08301123 -0.00269356 0.99654497 0.30189786] [ 0. 0. 0. 1. ]] SLAMing on 89.059928851 meters Centerline goodness : 0.767916 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.30 [[ 0.98209448 -0.16942839 -0.08236779 -0.91080308] [ 0.16907721 0.98553836 -0.01127114 -0.04085737] [ 0.08308627 -0.00285719 0.99653826 0.30185708] [ 0. 0. 0. 1. ]] SLAMing on 89.089928851 meters Centerline goodness : 0.769669 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.30 [[ 0.98270289 -0.16568186 -0.08273184 -0.91193892] [ 0.1656406 0.98615834 -0.00741009 -0.04261053] [ 0.08281441 -0.00642184 0.9965443 0.30244366] [ 0. 0. 0. 1. ]] SLAMing on 89.11992885099998 meters Centerline goodness : 0.770548 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.30 [[ 0.98276184 -0.1652035 -0.08298775 -0.91129609] [ 0.16517172 0.98623784 -0.00729593 -0.04234273] [ 0.08305098 -0.00653707 0.99652386 0.30250693] [ 0. 0. 0. 1. ]] SLAMing on 89.14992885099998 meters Centerline goodness : 0.769603 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.30 [[ 0.98343133 -0.16088972 -0.08353031 -0.91157758] [ 0.16119088 0.98691816 -0.00317029 -0.0438323 ] [ 0.08294765 -0.01034656 0.99650019 0.30271578] [ 0. 0. 0. 1. ]] SLAMing on 89.17992885099999 meters Centerline goodness : 0.770147 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.30 [[ 0.98348975 -0.16041004 -0.08376469 -0.91111635] [ 0.16071833 0.98699546 -0.00309388 -0.04351016] [ 0.08317166 -0.01041973 0.99648076 0.30298862] [ 0. 0. 0. 1. ]] SLAMing on 89.20992885099999 meters Centerline goodness : 0.771590 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.30 [[ 0.98356095 -0.15980847 -0.08407802 -0.91069446] [ 0.16012316 0.98709239 -0.00303093 -0.04352988] [ 0.08347715 -0.01048174 0.99645456 0.30362582] [ 0. 0. 0. 1. ]] SLAMing on 89.23992885099999 meters Centerline goodness : 0.770689 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.30 [[ 0.98358316 -0.15962739 -0.08416218 -0.91037089] [ 0.15995176 0.98712052 -0.00291828 -0.04409931] [ 0.08354405 -0.01059152 0.9964478 0.30362609] [ 0. 0. 0. 1. ]] SLAMing on 89.26992885099999 meters Centerline goodness : 0.773262 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.05, Z:0.30 [[ 0.98358966 -0.15956492 -0.08420457 -0.90986075] [ 0.15991956 0.98712673 -0.00256006 -0.04576485] [ 0.08352908 -0.0109479 0.9964452 0.30321492] [ 0. 0. 0. 1. ]] SLAMing on 89.29992885099999 meters Centerline goodness : 0.769371 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.05, Z:0.30 [[ 0.98354813 -0.15989723 -0.08405924 -0.91011856] [ 0.16025596 0.98707231 -0.00250627 -0.0470445 ] [ 0.08337329 -0.01100596 0.99645761 0.30320136] [ 0. 0. 0. 1. ]] SLAMing on 89.32992885099999 meters Centerline goodness : 0.772366 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.05, Z:0.30 [[ 0.98351031 -0.16022641 -0.08387467 -0.91038149] [ 0.16059886 0.98701701 -0.00233153 -0.04843599] [ 0.0831593 -0.01117709 0.99647358 0.30304488] [ 0. 0. 0. 1. ]] SLAMing on 89.35992885099999 meters Centerline goodness : 0.772317 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.05, Z:0.30 [[ 0.98336053 -0.16126842 -0.08363349 -0.91136724] [ 0.16162411 0.98684911 -0.00254485 -0.05056233] [ 0.08294404 -0.01101469 0.99649333 0.30357508] [ 0. 0. 0. 1. ]] SLAMing on 89.389928851 meters Centerline goodness : 0.772788 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.05, Z:0.30 [[ 0.98331404 -0.1616706 -0.08340334 -0.91209358] [ 0.16202227 0.98678373 -0.00257949 -0.05184756] [ 0.08271808 -0.01097675 0.99651253 0.30394544] [ 0. 0. 0. 1. ]] SLAMing on 89.419928851 meters Centerline goodness : 0.773093 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.05, Z:0.30 [[ 0.98324737 -0.16220403 -0.08315325 -0.91314023] [ 0.16254199 0.98669784 -0.00273455 -0.05313612] [ 0.08249069 -0.01082716 0.99653302 0.30466484] [ 0. 0. 0. 1. ]] SLAMing on 89.449928851 meters Centerline goodness : 0.772932 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.31 [[ 0.98309826 -0.16326104 -0.08284716 -0.91448644] [ 0.16357555 0.98652618 -0.00302304 -0.0553216 ] [ 0.08222444 -0.01057982 0.99655768 0.30555225] [ 0. 0. 0. 1. ]] SLAMing on 89.47992885099998 meters Centerline goodness : 0.774922 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.31 [[ 0.98304138 -0.16370217 -0.08265138 -0.91498239] [ 0.16402061 0.98645245 -0.0029686 -0.05661146] [ 0.08201762 -0.01063827 0.9965741 0.30564102] [ 0. 0. 0. 1. ]] SLAMing on 89.50992885099998 meters Centerline goodness : 0.773997 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.06, Z:0.31 [[ 0.98298191 -0.16415781 -0.08245465 -0.91548138] [ 0.16448314 0.98637569 -0.00287812 -0.05820867] [ 0.08180373 -0.01073326 0.99659066 0.30575045] [ 0. 0. 0. 1. ]] SLAMing on 89.53992885099998 meters Centerline goodness : 0.775441 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.31 [[ 0.98237163 -0.16787488 -0.08224356 -0.91388156] [ 0.16793784 0.98577808 -0.00620122 -0.0593026 ] [ 0.08211493 -0.0077199 0.99659297 0.30513547] [ 0. 0. 0. 1. ]] SLAMing on 89.56992885099999 meters Centerline goodness : 0.775051 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.31 [[ 0.98204208 -0.16316041 -0.09472083 -0.91447048] [ 0.16347286 0.98653755 -0.0045042 -0.06498714] [ 0.09418057 -0.01106097 0.99549368 0.31032617] [ 0. 0. 0. 1. ]] SLAMing on 89.59992885099999 meters Centerline goodness : 0.776013 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.31 [[ 0.98189052 -0.16355221 -0.09561211 -0.91253015] [ 0.16396511 0.98645966 -0.00357564 -0.06636361] [ 0.09490229 -0.01216616 0.99541225 0.31032752] [ 0. 0. 0. 1. ]] SLAMing on 89.62992885099999 meters Centerline goodness : 0.776520 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.31 [[ 0.98185163 -0.16384505 -0.09551012 -0.91288132] [ 0.16426002 0.98641067 -0.00355497 -0.06750353] [ 0.09479466 -0.01219804 0.99542211 0.3105816 ] [ 0. 0. 0. 1. ]] SLAMing on 89.65992885099999 meters Centerline goodness : 0.777350 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.31 [[ 0.98176295 -0.16403648 -0.09609128 -0.91206672] [ 0.16457409 0.9863619 -0.00235805 -0.06985103] [ 0.09516759 -0.01349909 0.99536973 0.31139472] [ 0. 0. 0. 1. ]] SLAMing on 89.68992885099999 meters Centerline goodness : 0.776213 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.31 [[ 0.98172868 -0.16427277 -0.09603774 -0.91258817] [ 0.16478695 0.98632574 -0.00260718 -0.0697203 ] [ 0.09515278 -0.01326622 0.99537428 0.31191922] [ 0. 0. 0. 1. ]] SLAMing on 89.71992885099999 meters Centerline goodness : 0.778195 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.31 [[ 0.98172839 -0.1643022 -0.0959904 -0.91308608] [ 0.16480208 0.98632282 -0.00275166 -0.06952925] [ 0.09512962 -0.01311803 0.99537846 0.31244578] [ 0. 0. 0. 1. ]] SLAMing on 89.74992885099999 meters Centerline goodness : 0.779735 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.31 [[ 0.98173695 -0.16423594 -0.09601625 -0.91290012] [ 0.16473139 0.9863345 -0.00279827 -0.06902014] [ 0.09516372 -0.01306973 0.99537583 0.31228623] [ 0. 0. 0. 1. ]] SLAMing on 89.779928851 meters Centerline goodness : 0.776662 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.31 [[ 0.98172623 -0.16431322 -0.09599367 -0.91306237] [ 0.16477883 0.98632564 -0.00311107 -0.06802129] [ 0.09519221 -0.0127635 0.99537708 0.31248376] [ 0. 0. 0. 1. ]] SLAMing on 89.809928851 meters Centerline goodness : 0.778045 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.31 [[ 0.98175097 -0.16413426 -0.09604675 -0.91291099] [ 0.16459451 0.98635624 -0.00316548 -0.0670989 ] [ 0.09525588 -0.01270105 0.99537179 0.31238781] [ 0. 0. 0. 1. ]] SLAMing on 89.839928851 meters Centerline goodness : 0.776962 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.31 [[ 0.98173894 -0.16427773 -0.09592433 -0.91308068] [ 0.16473135 0.9863332 -0.00322539 -0.06712069] [ 0.09514321 -0.01263525 0.9953834 0.31228202] [ 0. 0. 0. 1. ]] SLAMing on 89.86992885099998 meters Centerline goodness : 0.779567 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.31 [[ 0.98170695 -0.16450371 -0.09586444 -0.91313061] [ 0.16494885 0.98629654 -0.00331732 -0.067212 ] [ 0.09509648 -0.01255609 0.99538887 0.3121441 ] [ 0. 0. 0. 1. ]] SLAMing on 89.89992885099998 meters Centerline goodness : 0.779044 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.31 [[ 0.98162275 -0.16513164 -0.09564685 -0.9135411 ] [ 0.16554846 0.98619503 -0.00361607 -0.06709884] [ 0.09492358 -0.01228458 0.99540876 0.3119727 ] [ 0. 0. 0. 1. ]] SLAMing on 89.92992885099999 meters Centerline goodness : 0.778557 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.31 [[ 0.98155682 -0.16560819 -0.09549939 -0.91387269] [ 0.16599844 0.98611831 -0.00389913 -0.06670762] [ 0.09481942 -0.01202553 0.99542185 0.31194642] [ 0. 0. 0. 1. ]] SLAMing on 89.95992885099999 meters Centerline goodness : 0.778268 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.31 [[ 0.98134255 -0.16718178 -0.0949582 -0.91563942] [ 0.16749041 0.98586218 -0.00476758 -0.06639024] [ 0.09441275 -0.01122595 0.99546984 0.31244113] [ 0. 0. 0. 1. ]] SLAMing on 89.98992885099999 meters Centerline goodness : 0.778627 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.31 [[ 0.98126938 -0.16775963 -0.09469487 -0.91621526] [ 0.16804193 0.98576695 -0.0050425 -0.06658136] [ 0.094193 -0.01096466 0.99549357 0.31241979] [ 0. 0. 0. 1. ]] SLAMing on 90.01992885099999 meters Centerline goodness : 0.778499 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.31 [[ 0.98119388 -0.16831627 -0.09448923 -0.91675671] [ 0.16858128 0.98567389 -0.00522839 -0.06719562] [ 0.09401559 -0.01079906 0.99551215 0.31250096] [ 0. 0. 0. 1. ]] SLAMing on 90.04992885099999 meters Centerline goodness : 0.777484 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.31 [[ 0.98100398 -0.16979782 -0.09380776 -0.91894753] [ 0.16997601 0.98542903 -0.0061462 -0.06713399] [ 0.0934845 -0.00991563 0.99557136 0.31329762] [ 0. 0. 0. 1. ]] SLAMing on 90.07992885099999 meters Centerline goodness : 0.779097 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.31 [[ 0.98093451 -0.17028467 -0.09365161 -0.91971485] [ 0.17041574 0.98534978 -0.00665539 -0.06654778] [ 0.09341291 -0.00943121 0.99558278 0.31387843] [ 0. 0. 0. 1. ]] SLAMing on 90.10992885099999 meters Centerline goodness : 0.777493 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.31 [[ 0.9808602 -0.17090983 -0.09329043 -0.92091449] [ 0.17100207 0.98524535 -0.00706387 -0.06595776] [ 0.09312125 -0.00902419 0.99561388 0.3142497 ] [ 0. 0. 0. 1. ]] SLAMing on 90.139928851 meters Centerline goodness : 0.776820 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.31 [[ 0.98080045 -0.1712766 -0.09324594 -0.92144552] [ 0.17134615 0.9851837 -0.00731973 -0.06583482] [ 0.09311808 -0.00879814 0.9956162 0.31470085] [ 0. 0. 0. 1. ]] SLAMing on 90.169928851 meters Centerline goodness : 0.776886 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.32 [[ 0.98076531 -0.17155538 -0.09310295 -0.9220429 ] [ 0.17160537 0.985137 -0.00752887 -0.06576754] [ 0.09301077 -0.00859291 0.99562802 0.31508817] [ 0. 0. 0. 1. ]] SLAMing on 90.199928851 meters Centerline goodness : 0.778287 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.32 [[ 0.98071632 -0.17194623 -0.09289772 -0.9228509 ] [ 0.17196995 0.98507123 -0.00781018 -0.06606591] [ 0.09285381 -0.00831604 0.99564502 0.31565154] [ 0. 0. 0. 1. ]] SLAMing on 90.22992885099998 meters Centerline goodness : 0.779878 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.32 [[ 0.98069284 -0.17214517 -0.09277709 -0.92334381] [ 0.17216195 0.98503711 -0.00788332 -0.06642062] [ 0.09274595 -0.00824157 0.9956557 0.31599313] [ 0. 0. 0. 1. ]] SLAMing on 90.25992885099998 meters Centerline goodness : 0.779191 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.32 [[ 0.98066426 -0.17236394 -0.09267293 -0.9238968 ] [ 0.17236517 0.98500021 -0.00805157 -0.06645781] [ 0.09267065 -0.0080777 0.99566405 0.31640663] [ 0. 0. 0. 1. ]] SLAMing on 90.28992885099998 meters Centerline goodness : 0.779191 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.32 [[ 0.98066426 -0.17236394 -0.09267293 -0.9238968 ] [ 0.17236517 0.98500021 -0.00805157 -0.06645781] [ 0.09267065 -0.0080777 0.99566405 0.31640663] [ 0. 0. 0. 1. ]] SLAMing on 90.31992885099999 meters Centerline goodness : 0.781205 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.32 [[ 0.9806123 -0.17274293 -0.09251698 -0.92485171] [ 0.1727249 0.98493545 -0.00826307 -0.06690315] [ 0.09255064 -0.00787712 0.99567682 0.31718892] [ 0. 0. 0. 1. ]] SLAMing on 90.34992885099999 meters Centerline goodness : 0.780147 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.32 [[ 0.98060471 -0.17274543 -0.09259278 -0.92467091] [ 0.17273129 0.98493462 -0.00822788 -0.06726429] [ 0.09261916 -0.00792537 0.99567007 0.31720784] [ 0. 0. 0. 1. ]] SLAMing on 90.37992885099999 meters Centerline goodness : 0.778844 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.32 [[ 0.98061685 -0.17267145 -0.09260214 -0.92439951] [ 0.1726673 0.98494675 -0.00811775 -0.06756757] [ 0.09260988 -0.00802895 0.9956701 0.31696059] [ 0. 0. 0. 1. ]] SLAMing on 90.40992885099999 meters Centerline goodness : 0.779794 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.32 [[ 0.98068403 -0.17215178 -0.0928579 -0.9233042 ] [ 0.1721672 0.98503602 -0.00790542 -0.06688718] [ 0.09282931 -0.00823436 0.99564799 0.3163319 ] [ 0. 0. 0. 1. ]] SLAMing on 90.43992885099999 meters Centerline goodness : 0.778595 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.32 [[ 0.98071006 -0.17194541 -0.09296533 -0.92286179] [ 0.17195716 0.98507239 -0.00794451 -0.06597816] [ 0.09294361 -0.0081948 0.99563765 0.316094 ] [ 0. 0. 0. 1. ]] SLAMing on 90.46992885099999 meters Centerline goodness : 0.778308 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.32 [[ 0.98134666 -0.16801829 -0.09342695 -0.92342269] [ 0.16837004 0.98571508 -0.00416145 -0.06629336] [ 0.09279155 -0.01164647 0.99561744 0.31608691] [ 0. 0. 0. 1. ]] SLAMing on 90.49992885099999 meters Centerline goodness : 0.777297 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.32 [[ 0.98140455 -0.16751304 -0.09372558 -0.92260349] [ 0.16786757 0.98580084 -0.00414506 -0.06550302] [ 0.09308911 -0.01166551 0.99558944 0.31601393] [ 0. 0. 0. 1. ]] SLAMing on 90.529928851 meters Centerline goodness : 0.776479 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.06, Z:0.32 [[ 0.98151198 -0.16675987 -0.09394352 -0.92197421] [ 0.1671075 0.98592969 -0.00420991 -0.0641811 ] [ 0.09332375 -0.01156659 0.99556863 0.31613648] [ 0. 0. 0. 1. ]] SLAMing on 90.559928851 meters Centerline goodness : 0.777675 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.06, Z:0.32 [[ 0.98153467 -0.16654561 -0.09408635 -0.92182725] [ 0.16687907 0.98596769 -0.0043683 -0.06339752] [ 0.09349362 -0.0114134 0.99555446 0.31643968] [ 0. 0. 0. 1. ]] SLAMing on 90.589928851 meters Centerline goodness : 0.830737 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.06, Z:0.32 [[ 0.98155429 -0.1663089 -0.09430019 -0.9216432 ] [ 0.16662404 0.98600988 -0.00457767 -0.06236033] [ 0.09374223 -0.01121945 0.99553328 0.31686251] [ 0. 0. 0. 1. ]] SLAMing on 90.61992885099998 meters Centerline goodness : 0.833950 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.06, Z:0.32 [[ 0.98212058 -0.162844 -0.09445106 -0.92319504] [ 0.16346422 0.98654855 -0.00118517 -0.06258689] [ 0.09337355 -0.01427539 0.9955288 0.31735612] [ 0. 0. 0. 1. ]] SLAMing on 90.64992885099998 meters Centerline goodness : 0.775214 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.06, Z:0.32 [[ 0.98215642 -0.16252176 -0.09463324 -0.92260334] [ 0.16315065 0.98660055 -0.00110528 -0.06226001] [ 0.09354484 -0.01435392 0.99551159 0.31716607] [ 0. 0. 0. 1. ]] SLAMing on 90.67992885099999 meters Centerline goodness : 0.776082 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.06, Z:0.32 [[ 9.82236786e-01 -1.61885983e-01 -9.48884853e-02 -9.21363190e-01] [ 1.62539747e-01 9.86701631e-01 -8.49893222e-04 -6.19731216e-02] [ 9.37642090e-02 -1.45883540e-02 9.95487545e-01 3.16474468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70992885099999 meters Centerline goodness : 0.776568 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.06, Z:0.32 [[ 9.82252281e-01 -1.61794691e-01 -9.48837943e-02 -9.21316410e-01] [ 1.62449880e-01 9.86716448e-01 -8.29619173e-04 -6.17210631e-02] [ 9.37576285e-02 -1.45989657e-02 9.95488010e-01 3.16396702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73992885099999 meters Centerline goodness : 0.777210 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.06, Z:0.32 [[ 0.98223925 -0.16183032 -0.09495794 -0.9213324 ] [ 0.16246401 0.98671389 -0.00107095 -0.06083185] [ 0.09386963 -0.01437532 0.99548071 0.31660386] [ 0. 0. 0. 1. ]] SLAMing on 90.76992885099999 meters Centerline goodness : 0.776250 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.06, Z:0.32 [[ 9.82285310e-01 -1.61389246e-01 -9.52317260e-02 -9.20430935e-01] [ 1.62043687e-01 9.86783199e-01 -8.72226665e-04 -6.00667506e-02] [ 9.41138352e-02 -1.45749245e-02 9.95454749e-01 3.16149000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.79992885099999 meters Centerline goodness : 0.775411 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.06, Z:0.32 [[ 9.82308827e-01 -1.61221231e-01 -9.52737241e-02 -9.20120042e-01] [ 1.61893831e-01 9.86807948e-01 -6.78605613e-04 -6.02915461e-02] [ 9.41262739e-02 -1.47576279e-02 9.95450881e-01 3.15890744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.82992885099999 meters Centerline goodness : 0.776442 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.06, Z:0.32 [[ 9.82283323e-01 -1.61411847e-01 -9.52139123e-02 -9.20316787e-01] [ 1.62074740e-01 9.86778176e-01 -7.81124480e-04 -6.08456892e-02] [ 9.40810934e-02 -1.46644845e-02 9.95456529e-01 3.16094135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.85992885099999 meters Centerline goodness : 0.833702 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.06, Z:0.32 [[ 9.82277239e-01 -1.61432528e-01 -9.52416159e-02 -9.20162918e-01] [ 1.62101585e-01 9.86773812e-01 -7.21266779e-04 -6.09214281e-02] [ 9.40983683e-02 -1.47303329e-02 9.95453924e-01 3.15925682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.889928851 meters Centerline goodness : 0.776647 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.06, Z:0.32 [[ 0.98223615 -0.16171434 -0.09518727 -0.92060406] [ 0.16235512 0.98673186 -0.00102552 -0.06068348] [ 0.09409015 -0.01444684 0.99545886 0.31637983] [ 0. 0. 0. 1. ]] SLAMing on 90.919928851 meters Centerline goodness : 0.777150 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.06, Z:0.32 [[ 0.98220328 -0.16193899 -0.09514457 -0.92093553] [ 0.16255565 0.98669854 -0.00128509 -0.06024296] [ 0.09408712 -0.01420407 0.99546264 0.31665814] [ 0. 0. 0. 1. ]] SLAMing on 90.949928851 meters Centerline goodness : 0.777783 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.06, Z:0.32 [[ 0.98218371 -0.16207556 -0.09511398 -0.92114496] [ 0.16266828 0.98667961 -0.00154045 -0.05950373] [ 0.09409669 -0.01395902 0.9954652 0.3168377 ] [ 0. 0. 0. 1. ]] SLAMing on 90.97992885099998 meters Centerline goodness : 0.777848 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.06, Z:0.32 [[ 0.98220827 -0.16192139 -0.09512299 -0.92135539] [ 0.16247433 0.98671083 -0.00195489 -0.05762306] [ 0.09417542 -0.01353493 0.99546361 0.31721435] [ 0. 0. 0. 1. ]] SLAMing on 91.00992885099998 meters Centerline goodness : 0.778097 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.06, Z:0.32 [[ 0.98220725 -0.16191076 -0.09515159 -0.92138948] [ 0.16243385 0.98671682 -0.0022739 -0.05668029] [ 0.09425584 -0.0132224 0.9954602 0.31747299] [ 0. 0. 0. 1. ]] SLAMing on 91.03992885099998 meters Centerline goodness : 0.836958 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.06, Z:0.32 [[ 0.9821928 -0.1619797 -0.09518336 -0.92160812] [ 0.16245681 0.98671178 -0.00276701 -0.05516728] [ 0.09436674 -0.01274544 0.99545591 0.31787008] [ 0. 0. 0. 1. ]] SLAMing on 91.06992885099999 meters Centerline goodness : 0.778211 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.05, Z:0.32 [[ 0.9821696 -0.16211913 -0.09518545 -0.92176529] [ 0.16257227 0.986692 -0.0030269 -0.0543517 ] [ 0.09440944 -0.01250159 0.99545496 0.31802085] [ 0. 0. 0. 1. ]] SLAMing on 91.09992885099999 meters Centerline goodness : 0.777856 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.05, Z:0.32 [[ 0.98213437 -0.16237469 -0.09511327 -0.92218704] [ 0.1627942 0.98665424 -0.00338439 -0.05342979] [ 0.09439345 -0.01215996 0.9954607 0.31829745] [ 0. 0. 0. 1. ]] SLAMing on 91.12992885099999 meters Centerline goodness : 0.776801 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.05, Z:0.32 [[ 0.98210309 -0.16257973 -0.09508603 -0.92235619] [ 0.16297631 0.9866233 -0.00363262 -0.05271092] [ 0.09440468 -0.01192916 0.99546243 0.31835651] [ 0. 0. 0. 1. ]] SLAMing on 91.15992885099999 meters Centerline goodness : 0.777214 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.05, Z:0.32 [[ 0.98208061 -0.16275381 -0.09502036 -0.92253026] [ 0.16312888 0.98659722 -0.0038596 -0.05218657] [ 0.09437499 -0.01171013 0.99546785 0.31839061] [ 0. 0. 0. 1. ]] SLAMing on 91.18992885099999 meters Centerline goodness : 0.776642 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.05, Z:0.32 [[ 0.98206272 -0.16289841 -0.09495749 -0.92261958] [ 0.163262 0.98657472 -0.00398006 -0.05181009] [ 0.09433101 -0.01159428 0.99547337 0.31827949] [ 0. 0. 0. 1. ]] SLAMing on 91.21992885099999 meters Centerline goodness : 0.777091 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.05, Z:0.32 [[ 0.9820496 -0.16293102 -0.09503713 -0.92248874] [ 0.16328823 0.98657006 -0.00405872 -0.05147834] [ 0.09442207 -0.01153258 0.99546545 0.31828732] [ 0. 0. 0. 1. ]] SLAMing on 91.24992885099999 meters Centerline goodness : 0.777239 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.05, Z:0.32 [[ 0.98197803 -0.16351401 -0.09477508 -0.92335681] [ 0.16383865 0.98647734 -0.00439891 -0.05114534] [ 0.09421275 -0.01120819 0.99548899 0.31854866] [ 0. 0. 0. 1. ]] SLAMing on 91.279928851 meters Centerline goodness : 0.776408 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.05, Z:0.32 [[ 0.98194405 -0.16373976 -0.09473741 -0.9234829 ] [ 0.16404083 0.98644257 -0.00465451 -0.05073263] [ 0.09421514 -0.01097033 0.99549142 0.31862423] [ 0. 0. 0. 1. ]] SLAMing on 91.309928851 meters Centerline goodness : 0.774279 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.05, Z:0.32 [[ 0.9819141 -0.16395038 -0.09468359 -0.92344411] [ 0.16423437 0.98640948 -0.00483888 -0.05004739] [ 0.09419013 -0.01079894 0.99549566 0.31830756] [ 0. 0. 0. 1. ]] SLAMing on 91.33992885099998 meters Centerline goodness : 0.775937 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.05, Z:0.32 [[ 0.98190779 -0.16396813 -0.09471827 -0.92326312] [ 0.16424061 0.98640781 -0.00496535 -0.04956264] [ 0.094245 -0.01068107 0.99549174 0.31819157] [ 0. 0. 0. 1. ]] SLAMing on 91.36992885099998 meters Centerline goodness : 0.775814 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.05, Z:0.32 [[ 0.98189178 -0.16402124 -0.09479219 -0.92311002] [ 0.16426852 0.98640173 -0.00524233 -0.04874312] [ 0.09436303 -0.01042397 0.99548328 0.31823721] [ 0. 0. 0. 1. ]] SLAMing on 91.39992885099998 meters Centerline goodness : 0.775871 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.05, Z:0.32 [[ 0.98188144 -0.16407747 -0.09480201 -0.92325642] [ 0.16428848 0.98639628 -0.00562847 -0.04711464] [ 0.09443585 -0.01004838 0.99548024 0.318394 ] [ 0. 0. 0. 1. ]] SLAMing on 91.42992885099999 meters Centerline goodness : 0.776306 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.05, Z:0.32 [[ 0.98184676 -0.16437645 -0.09464312 -0.92395996] [ 0.16455152 0.98635021 -0.00600538 -0.04625443] [ 0.09433841 -0.0096773 0.99549315 0.31880117] [ 0. 0. 0. 1. ]] SLAMing on 91.45992885099999 meters Centerline goodness : 0.775294 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.04, Z:0.32 [[ 0.98181129 -0.16466688 -0.09450613 -0.92466862] [ 0.16479924 0.986306 -0.00645648 -0.04495016] [ 0.09427514 -0.00923549 0.99550334 0.31923782] [ 0. 0. 0. 1. ]] SLAMing on 91.48992885099999 meters Centerline goodness : 0.776463 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.04, Z:0.32 [[ 0.98177857 -0.16492495 -0.09439595 -0.92507049] [ 0.16503184 0.9862653 -0.00672737 -0.04437483] [ 0.09420896 -0.00897355 0.995512 0.31938108] [ 0. 0. 0. 1. ]] SLAMing on 91.51992885099999 meters Centerline goodness : 0.834766 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.04, Z:0.32 [[ 0.98173268 -0.1652699 -0.0942699 -0.92564286] [ 0.1653503 0.98620997 -0.00701204 -0.04405334] [ 0.0941288 -0.00870361 0.99552198 0.31970442] [ 0. 0. 0. 1. ]] SLAMing on 91.54992885099999 meters Centerline goodness : 0.777113 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.04, Z:0.32 [[ 0.98163305 -0.16607498 -0.09389174 -0.92704825] [ 0.16609725 0.98607984 -0.00763263 -0.04344811] [ 0.09385234 -0.00810272 0.99555315 0.32033295] [ 0. 0. 0. 1. ]] SLAMing on 91.57992885099999 meters Centerline goodness : 0.777730 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.04, Z:0.32 [[ 0.98158182 -0.16650747 -0.093661 -0.92779339] [ 0.1665025 0.9860092 -0.00792298 -0.04324044] [ 0.09366984 -0.00781774 0.99557262 0.32060539] [ 0. 0. 0. 1. ]] SLAMing on 91.60992885099999 meters Centerline goodness : 0.777855 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.04, Z:0.32 [[ 0.98152458 -0.16690817 -0.09354766 -0.92816897] [ 0.16686613 0.9859444 -0.00832694 -0.04258634] [ 0.09362263 -0.00743684 0.99557998 0.3207456 ] [ 0. 0. 0. 1. ]] SLAMing on 91.639928851 meters Centerline goodness : 0.777408 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.04, Z:0.32 [[ 0.98149316 -0.16707193 -0.093585 -0.92830804] [ 0.16700243 0.98591872 -0.0086295 -0.0418447 ] [ 0.09370895 -0.00715913 0.99557389 0.32102635] [ 0. 0. 0. 1. ]] SLAMing on 91.669928851 meters Centerline goodness : 0.778390 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.04, Z:0.32 [[ 0.98146161 -0.1672801 -0.09354403 -0.92845038] [ 0.16719162 0.98588481 -0.00883813 -0.04117629] [ 0.09370208 -0.00696549 0.99557591 0.32097806] [ 0. 0. 0. 1. ]] SLAMing on 91.699928851 meters Centerline goodness : 0.778486 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.04, Z:0.32 [[ 0.98140947 -0.16771514 -0.09331175 -0.92903694] [ 0.16759696 0.98581306 -0.00915775 -0.04089702] [ 0.09352383 -0.00665126 0.99559482 0.32102952] [ 0. 0. 0. 1. ]] SLAMing on 91.72992885099998 meters Centerline goodness : 0.779202 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.04, Z:0.32 [[ 0.98133279 -0.16835768 -0.09296042 -0.93021628] [ 0.16821541 0.98570524 -0.00942063 -0.04156794] [ 0.0932176 -0.0063926 0.99562524 0.32150723] [ 0. 0. 0. 1. ]] SLAMing on 91.75992885099998 meters Centerline goodness : 0.776674 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.04, Z:0.32 [[ 0.98128118 -0.16872695 -0.0928357 -0.93081093] [ 0.16857101 0.985643 -0.00957577 -0.04207214] [ 0.09311855 -0.00625289 0.99563539 0.32192357] [ 0. 0. 0. 1. ]] SLAMing on 91.78992885099998 meters Centerline goodness : 0.775776 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.04, Z:0.32 [[ 0.98124876 -0.16900537 -0.0926718 -0.9314095 ] [ 0.16883751 0.98559611 -0.0097056 -0.04237725] [ 0.09297726 -0.00612287 0.99564941 0.32222696] [ 0. 0. 0. 1. ]] SLAMing on 91.81992885099999 meters Centerline goodness : 0.776033 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.04, Z:0.32 [[ 0.98123242 -0.16908826 -0.09269352 -0.9315022 ] [ 0.16892208 0.98558175 -0.00969307 -0.04285322] [ 0.09299603 -0.00614683 0.99564751 0.32244334] [ 0. 0. 0. 1. ]] SLAMing on 91.84992885099999 meters Centerline goodness : 0.777401 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.04, Z:0.32 [[ 0.98121577 -0.1691712 -0.09271847 -0.93191657] [ 0.1690046 0.9855675 -0.00970317 -0.04344772] [ 0.09302181 -0.00614894 0.99564508 0.32304627] [ 0. 0. 0. 1. ]] SLAMing on 91.87992885099999 meters Centerline goodness : 0.776847 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.04, Z:0.32 [[ 0.98120953 -0.16926736 -0.09260895 -0.93234242] [ 0.16910026 0.98555106 -0.00970578 -0.04382792] [ 0.09291372 -0.00613679 0.99565525 0.32331993] [ 0. 0. 0. 1. ]] SLAMing on 91.90992885099999 meters Centerline goodness : 0.777585 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.05, Z:0.32 [[ 0.98122763 -0.16915331 -0.09262561 -0.93250148] [ 0.16901574 0.98556867 -0.00938495 -0.04545871] [ 0.09287639 -0.00644641 0.99565678 0.32369622] [ 0. 0. 0. 1. ]] SLAMing on 91.93992885099999 meters Centerline goodness : 0.777897 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.05, Z:0.32 [[ 0.98123105 -0.16909476 -0.09269626 -0.93248014] [ 0.16896378 0.98557823 -0.0093165 -0.04599563] [ 0.09293478 -0.00652068 0.99565085 0.32391785] [ 0. 0. 0. 1. ]] SLAMing on 91.96992885099999 meters Centerline goodness : 0.777828 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.05, Z:0.32 [[ 0.98123838 -0.16901736 -0.0927598 -0.93246561] [ 0.16890051 0.98559048 -0.0091661 -0.04674825] [ 0.09297241 -0.00667305 0.99564632 0.32414316] [ 0. 0. 0. 1. ]] SLAMing on 91.99992885099999 meters Centerline goodness : 0.778461 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.05, Z:0.32 [[ 0.98124433 -0.16896751 -0.0927876 -0.93264836] [ 0.16886995 0.98559762 -0.00895906 -0.04814339] [ 0.09296503 -0.00687801 0.99564562 0.32456029] [ 0. 0. 0. 1. ]] SLAMing on 92.029928851 meters Centerline goodness : 0.777786 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.05, Z:0.32 [[ 0.98126765 -0.1687716 -0.0928975 -0.93232988] [ 0.16869109 0.9856299 -0.00877554 -0.04887127] [ 0.09304361 -0.00705982 0.995637 0.32459992] [ 0. 0. 0. 1. ]] SLAMing on 92.059928851 meters Centerline goodness : 0.779381 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.05, Z:0.32 [[ 0.98132398 -0.16836624 -0.09303787 -0.93166899] [ 0.16833453 0.98569544 -0.0082453 -0.05032772] [ 0.09309524 -0.00757018 0.99562843 0.32424671] [ 0. 0. 0. 1. ]] SLAMing on 92.08992885099998 meters Centerline goodness : 0.776183 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.05, Z:0.32 [[ 0.98135324 -0.1681137 -0.09318583 -0.93116252] [ 0.16811204 0.98573604 -0.00792442 -0.05115198] [ 0.09318884 -0.007889 0.9956172 0.32408426] [ 0. 0. 0. 1. ]] SLAMing on 92.11992885099998 meters Centerline goodness : 0.777569 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.05, Z:0.32 [[ 0.9813831 -0.16786968 -0.09331119 -0.93084978] [ 0.16790101 0.98577479 -0.00757121 -0.05253167] [ 0.09325479 -0.00823679 0.99560821 0.32419358] [ 0. 0. 0. 1. ]] SLAMing on 92.14992885099998 meters Centerline goodness : 0.832409 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.05, Z:0.32 [[ 0.98137907 -0.16787531 -0.09334351 -0.93091666] [ 0.1679199 0.98577262 -0.00743288 -0.05349465] [ 0.09326327 -0.00837976 0.99560622 0.32443039] [ 0. 0. 0. 1. ]] SLAMing on 92.17992885099999 meters Centerline goodness : 0.832409 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.05, Z:0.32 [[ 0.98137907 -0.16787531 -0.09334351 -0.93091666] [ 0.1679199 0.98577262 -0.00743288 -0.05349465] [ 0.09326327 -0.00837976 0.99560622 0.32443039] [ 0. 0. 0. 1. ]] SLAMing on 92.20992885099999 meters Centerline goodness : 0.835271 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.06, Z:0.32 [[ 0.98135153 -0.16815109 -0.09313636 -0.93154306] [ 0.16821845 0.98572357 -0.00718357 -0.05606401] [ 0.09301463 -0.00861765 0.99562745 0.32485323] [ 0. 0. 0. 1. ]] SLAMing on 92.23992885099999 meters Centerline goodness : 0.834300 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.06, Z:0.33 [[ 0.98133402 -0.16830995 -0.0930339 -0.93186611] [ 0.16839193 0.98569509 -0.00702491 -0.05760963] [ 0.09288542 -0.00877238 0.99563816 0.32510013] [ 0. 0. 0. 1. ]] SLAMing on 92.26992885099999 meters Centerline goodness : 0.835570 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.06, Z:0.33 [[ 0.98128737 -0.16862642 -0.09295287 -0.93241865] [ 0.16873507 0.98563835 -0.00674611 -0.06006768] [ 0.09275548 -0.00906454 0.99564766 0.32563619] [ 0. 0. 0. 1. ]] SLAMing on 92.29992885099999 meters Centerline goodness : 0.833868 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.06, Z:0.33 [[ 0.98127002 -0.16877013 -0.09287516 -0.9327752 ] [ 0.1688895 0.98561269 -0.00663016 -0.06118613] [ 0.09265791 -0.00917966 0.99565569 0.32590002] [ 0. 0. 0. 1. ]] SLAMing on 92.32992885099999 meters Centerline goodness : 0.836245 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.06, Z:0.33 [[ 0.98122156 -0.16913402 -0.09272506 -0.93321579] [ 0.16928293 0.98554727 -0.00631446 -0.06472536] [ 0.09245292 -0.00950088 0.99567173 0.3263222 ] [ 0. 0. 0. 1. ]] SLAMing on 92.35992885099999 meters Centerline goodness : 0.836945 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.07, Z:0.33 [[ 0.98121669 -0.16917377 -0.09270406 -0.9332814 ] [ 0.16935131 0.98553745 -0.00600571 -0.06670775] [ 0.09237934 -0.00980665 0.99567559 0.32652056] [ 0. 0. 0. 1. ]] SLAMing on 92.389928851 meters Centerline goodness : 0.838277 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.07, Z:0.33 [[ 0.98122658 -0.16909278 -0.09274718 -0.93315857] [ 0.16929772 0.98554841 -0.00571125 -0.06837545] [ 0.09237256 -0.01009785 0.99567331 0.32667033] [ 0. 0. 0. 1. ]] SLAMing on 92.419928851 meters Centerline goodness : 0.836637 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.07, Z:0.33 [[ 0.98122449 -0.16911152 -0.09273511 -0.93342182] [ 0.16937005 0.98553916 -0.00513275 -0.0715337 ] [ 0.09226209 -0.01067017 0.99567759 0.3270923 ] [ 0. 0. 0. 1. ]] SLAMing on 92.449928851 meters Centerline goodness : 0.837549 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.07, Z:0.33 [[ 0.98123592 -0.16910491 -0.09262608 -0.93374713] [ 0.16938577 0.98553775 -0.00487845 -0.0728761 ] [ 0.09211147 -0.01090263 0.99568901 0.32731679] [ 0. 0. 0. 1. ]] SLAMing on 92.47992885099998 meters Centerline goodness : 0.781695 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.07, Z:0.33 [[ 0.9812553 -0.16899569 -0.09262013 -0.93384905] [ 0.16930008 0.98555373 -0.00461803 -0.07431437] [ 0.09206255 -0.01114913 0.99569081 0.32761683] [ 0. 0. 0. 1. ]] SLAMing on 92.50992885099998 meters Centerline goodness : 0.839937 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.08, Z:0.33 [[ 0.9812842 -0.16218994 -0.10380631 -0.93586322] [ 0.16319941 0.98659231 0.00124904 -0.08385021] [ 0.10221192 -0.01816679 0.99459675 0.33115871] [ 0. 0. 0. 1. ]] SLAMing on 92.53992885099998 meters Centerline goodness : 0.834889 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.09, Z:0.33 [[ 0.98127337 -0.16237893 -0.10361302 -0.9359608 ] [ 0.16340367 0.98655827 0.00142253 -0.08557197] [ 0.10198929 -0.01832664 0.99461667 0.33117645] [ 0. 0. 0. 1. ]] SLAMing on 92.56992885099999 meters Centerline goodness : 0.836125 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.09, Z:0.33 [[ 0.98131261 -0.16176494 -0.10420009 -0.93365306] [ 0.16298333 0.98662354 0.00322933 -0.0896485 ] [ 0.10228387 -0.02015186 0.99455111 0.3302482 ] [ 0. 0. 0. 1. ]] SLAMing on 92.59992885099999 meters Centerline goodness : 0.838265 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.09, Z:0.33 [[ 0.98142824 -0.16104722 -0.1042228 -0.93299551] [ 0.16233021 0.98672882 0.00389087 -0.09119014] [ 0.10221303 -0.02073712 0.99454636 0.32964335] [ 0. 0. 0. 1. ]] SLAMing on 92.62992885099999 meters Centerline goodness : 0.783207 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.09, Z:0.33 [[ 0.98158369 -0.15995963 -0.10443357 -0.93224329] [ 0.16134599 0.98688569 0.0049095 -0.09238241] [ 0.10227868 -0.02166903 0.99451975 0.32922351] [ 0. 0. 0. 1. ]] SLAMing on 92.65992885099999 meters Centerline goodness : 0.836217 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.09, Z:0.33 [[ 0.98163433 -0.15961592 -0.10448354 -0.93201852] [ 0.16105223 0.9869311 0.00540264 -0.09340344] [ 0.1022557 -0.02213072 0.99451194 0.32921296] [ 0. 0. 0. 1. ]] SLAMing on 92.68992885099999 meters Centerline goodness : 0.834432 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.09, Z:0.33 [[ 0.98174011 -0.15893802 -0.10452307 -0.93153242] [ 0.16044319 0.98702623 0.00609935 -0.09456089] [ 0.10219759 -0.02275799 0.99450376 0.3287493 ] [ 0. 0. 0. 1. ]] SLAMing on 92.71992885099999 meters Centerline goodness : 0.781690 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.10, Z:0.33 [[ 0.9818401 -0.15822818 -0.10466068 -0.93068716] [ 0.15980835 0.9871244 0.00683498 -0.09587315] [ 0.10223162 -0.0234365 0.9944845 0.32810771] [ 0. 0. 0. 1. ]] SLAMing on 92.74992885099999 meters Centerline goodness : 0.784947 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.10, Z:0.33 [[ 0.98206343 -0.15694441 -0.10449815 -0.93010778] [ 0.15858079 0.98731762 0.00748729 -0.09751802] [ 0.10199778 -0.02392439 0.9944969 0.32700969] [ 0. 0. 0. 1. ]] SLAMing on 92.779928851 meters Centerline goodness : 0.839316 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.10, Z:0.33 [[ 0.98213369 -0.15640979 -0.10463931 -0.92977073] [ 0.15810689 0.987389 0.00807337 -0.09816151] [ 0.10205695 -0.02447333 0.99447747 0.32689553] [ 0. 0. 0. 1. ]] SLAMing on 92.809928851 meters Centerline goodness : 0.833823 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.10, Z:0.33 [[ 0.98221048 -0.15577811 -0.10486065 -0.92910755] [ 0.15754862 0.98747231 0.00876719 -0.09884827] [ 0.10218126 -0.02513188 0.99444828 0.326644 ] [ 0. 0. 0. 1. ]] SLAMing on 92.83992885099998 meters Centerline goodness : 0.836912 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.10, Z:0.33 [[ 0.98224635 -0.15528936 -0.10524884 -0.92826015] [ 0.15716507 0.98752454 0.00971762 -0.09972451] [ 0.10242677 -0.02608653 0.99439844 0.32660825] [ 0. 0. 0. 1. ]] SLAMing on 92.86992885099998 meters Centerline goodness : 0.786466 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.10, Z:0.33 [[ 0.98233319 -0.15470315 -0.10530169 -0.92801053] [ 0.15668174 0.98759082 0.01073361 -0.10160168] [ 0.10233446 -0.02704284 0.99438239 0.3266132 ] [ 0. 0. 0. 1. ]] SLAMing on 92.89992885099998 meters Centerline goodness : 0.784892 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.10, Z:0.33 [[ 0.9822754 -0.15481884 -0.10567011 -0.9264486 ] [ 0.15687654 0.98755247 0.01139624 -0.10325263] [ 0.10259042 -0.02777141 0.99433594 0.32603957] [ 0. 0. 0. 1. ]] SLAMing on 92.92992885099999 meters Centerline goodness : 0.839466 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.10, Z:0.33 [[ 0.98222127 -0.15491967 -0.10602482 -0.92521003] [ 0.15704534 0.98751908 0.01195134 -0.1047289 ] [ 0.10285004 -0.02838956 0.99429166 0.32580743] [ 0. 0. 0. 1. ]] SLAMing on 92.95992885099999 meters Centerline goodness : 0.840014 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.11, Z:0.33 [[ 0.98210818 -0.15559718 -0.10608036 -0.92476748] [ 0.15771652 0.98741345 0.01183951 -0.10561443] [ 0.10290298 -0.0283583 0.99428707 0.32582557] [ 0. 0. 0. 1. ]] SLAMing on 92.98992885099999 meters Centerline goodness : 0.839673 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.11, Z:0.33 [[ 0.98189008 -0.15630745 -0.10705065 -0.92272313] [ 0.15858238 0.98725983 0.01302555 -0.1075054 ] [ 0.10365081 -0.02976601 0.99416824 0.32622503] [ 0. 0. 0. 1. ]] SLAMing on 93.01992885099999 meters Centerline goodness : 0.839990 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.11, Z:0.33 [[ 0.98179856 -0.15645234 -0.10767665 -0.92123207] [ 0.15882118 0.98721184 0.01373371 -0.10836219] [ 0.104151 -0.03058507 0.9940911 0.32621284] [ 0. 0. 0. 1. ]] SLAMing on 93.04992885099999 meters Centerline goodness : 0.839040 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.11, Z:0.33 [[ 0.98158595 -0.15721073 -0.1085072 -0.91904094] [ 0.15968253 0.98706302 0.01442513 -0.10998978] [ 0.10483566 -0.03148621 0.993991 0.32605059] [ 0. 0. 0. 1. ]] SLAMing on 93.07992885099999 meters Centerline goodness : 0.838786 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.11, Z:0.33 [[ 0.98150052 -0.15742642 -0.10896625 -0.91766811] [ 0.15995821 0.9870122 0.01484194 -0.11094773] [ 0.10521451 -0.03199742 0.99393464 0.32583088] [ 0. 0. 0. 1. ]] SLAMing on 93.10992885099999 meters Centerline goodness : 0.834925 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.11, Z:0.33 [[ 0.98142343 -0.15768925 -0.1092802 -0.91684658] [ 0.16024912 0.98696267 0.01499673 -0.1114133 ] [ 0.10549066 -0.0322302 0.99389785 0.3258167 ] [ 0. 0. 0. 1. ]] SLAMing on 93.139928851 meters Centerline goodness : 0.838480 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.11, Z:0.33 [[ 0.98132297 -0.15789426 -0.10988462 -0.91562336] [ 0.16053223 0.98690838 0.01553259 -0.11152411] [ 0.10599355 -0.03288251 0.99382298 0.32588075] [ 0. 0. 0. 1. ]] SLAMing on 93.169928851 meters Centerline goodness : 0.836936 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.11, Z:0.33 [[ 0.9811962 -0.15816804 -0.11062047 -0.91428138] [ 0.16088762 0.98684223 0.01604967 -0.11159343] [ 0.10662641 -0.03354534 0.99373312 0.32613835] [ 0. 0. 0. 1. ]] SLAMing on 93.199928851 meters Centerline goodness : 0.836266 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.11, Z:0.33 [[ 0.98107642 -0.15854156 -0.11114686 -0.91346795] [ 0.16131848 0.9867662 0.01639545 -0.11162689] [ 0.1070766 -0.03401523 0.99366874 0.32659095] [ 0. 0. 0. 1. ]] SLAMing on 93.22992885099998 meters Centerline goodness : 0.839717 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.11, Z:0.33 [[ 0.98093109 -0.15904171 -0.1117136 -0.91266521] [ 0.16184829 0.98667834 0.01646176 -0.11043298] [ 0.10760728 -0.03422851 0.99360409 0.32690293] [ 0. 0. 0. 1. ]] SLAMing on 93.25992885099998 meters Centerline goodness : 0.836030 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.11, Z:0.33 [[ 0.98088213 -0.15905787 -0.11211974 -0.9116552 ] [ 0.16185828 0.9866798 0.01627462 -0.10926984] [ 0.10803767 -0.03411099 0.99356142 0.32644918] [ 0. 0. 0. 1. ]] SLAMing on 93.28992885099998 meters Centerline goodness : 0.835706 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.11, Z:0.33 [[ 0.98083776 -0.15910586 -0.11243939 -0.91113979] [ 0.16186036 0.98668798 0.01574992 -0.10688568] [ 0.10843669 -0.0336476 0.99353376 0.32616393] [ 0. 0. 0. 1. ]] SLAMing on 93.31992885099999 meters Centerline goodness : 0.835416 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.11, Z:0.33 [[ 0.98112436 -0.15639592 -0.11373347 -0.90975644] [ 0.1595997 0.98698772 0.01957472 -0.10736236] [ 0.10919213 -0.03735706 0.99331844 0.32649991] [ 0. 0. 0. 1. ]] SLAMing on 93.34992885099999 meters Centerline goodness : 0.836572 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.11, Z:0.33 [[ 0.98119519 -0.15589909 -0.11380455 -0.90971366] [ 0.15909357 0.98707105 0.0194928 -0.10582449] [ 0.10929427 -0.03723181 0.99331191 0.32626359] [ 0. 0. 0. 1. ]] SLAMing on 93.37992885099999 meters Centerline goodness : 0.834460 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.10, Z:0.33 [[ 0.98165729 -0.15241745 -0.11453337 -0.90897096] [ 0.15595874 0.9875057 0.02256925 -0.10442303] [ 0.10966241 -0.04001775 0.993163 0.32543879] [ 0. 0. 0. 1. ]] SLAMing on 93.40992885099999 meters Centerline goodness : 0.835528 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.10, Z:0.32 [[ 0.98207826 -0.14947032 -0.11480815 -0.90818039] [ 0.15323518 0.98788229 0.02464861 -0.10352873] [ 0.1097327 -0.04179951 0.99308184 0.32396681] [ 0. 0. 0. 1. ]] SLAMing on 93.43992885099999 meters Centerline goodness : 0.833416 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.10, Z:0.32 [[ 0.98208174 -0.14927658 -0.11503023 -0.90757882] [ 0.15302008 0.98792227 0.02438115 -0.10176222] [ 0.11000139 -0.04154622 0.99306274 0.32339203] [ 0. 0. 0. 1. ]] SLAMing on 93.46992885099999 meters Centerline goodness : 0.835134 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.10, Z:0.32 [[ 0.98210329 -0.1492693 -0.11485561 -0.90801068] [ 0.15291766 0.98795738 0.02358817 -0.09977094] [ 0.10995145 -0.04072947 0.9931021 0.32323924] [ 0. 0. 0. 1. ]] SLAMing on 93.49992885099999 meters Centerline goodness : 0.833526 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.10, Z:0.32 [[ 0.98233707 -0.14704561 -0.11572153 -0.90801591] [ 0.15103012 0.98817648 0.02640367 -0.098262 ] [ 0.11047075 -0.04341474 0.9929307 0.32401216] [ 0. 0. 0. 1. ]] SLAMing on 93.529928851 meters Centerline goodness : 0.834623 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.10, Z:0.32 [[ 0.98234802 -0.14677123 -0.11597664 -0.90763593] [ 0.15077572 0.98821283 0.02649694 -0.09729047] [ 0.11072061 -0.04351568 0.99289845 0.32395024] [ 0. 0. 0. 1. ]] SLAMing on 93.559928851 meters Centerline goodness : 0.833936 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.10, Z:0.32 [[ 0.9822691 -0.14740987 -0.115835 -0.90828461] [ 0.1513148 0.98815342 0.02562515 -0.09539422] [ 0.11068535 -0.04269834 0.99293787 0.3242374 ] [ 0. 0. 0. 1. ]] SLAMing on 93.58992885099998 meters Centerline goodness : 0.833398 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.09, Z:0.32 [[ 0.98222673 -0.14778858 -0.11571162 -0.90859281] [ 0.151627 0.98812017 0.02505558 -0.09402964] [ 0.11063406 -0.04215527 0.99296679 0.32426849] [ 0. 0. 0. 1. ]] SLAMing on 93.61992885099998 meters Centerline goodness : 0.836215 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.09, Z:0.32 [[ 0.98216862 -0.14822887 -0.11564166 -0.90907471] [ 0.15200341 0.98807664 0.02448505 -0.09272231] [ 0.11063343 -0.04162637 0.99298917 0.32454211] [ 0. 0. 0. 1. ]] SLAMing on 93.64992885099998 meters Centerline goodness : 0.831493 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.09, Z:0.32 [[ 0.98209186 -0.14884191 -0.1155061 -0.90958868] [ 0.15251918 0.98801799 0.02362953 -0.09031669] [ 0.11060504 -0.04082326 0.99302567 0.32465979] [ 0. 0. 0. 1. ]] SLAMing on 93.67992885099999 meters Centerline goodness : 0.832297 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.09, Z:0.32 [[ 0.9820302 -0.14928984 -0.1154523 -0.90989958] [ 0.15289785 0.98797424 0.0230034 -0.08911837] [ 0.11062972 -0.04024244 0.99304663 0.32489107] [ 0. 0. 0. 1. ]] SLAMing on 93.70992885099999 meters Centerline goodness : 0.830899 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.09, Z:0.32 [[ 0.98199877 -0.1495033 -0.11544339 -0.90965095] [ 0.15304862 0.98796402 0.02243241 -0.08682331] [ 0.11070019 -0.03969705 0.99306073 0.32447415] [ 0. 0. 0. 1. ]] SLAMing on 93.73992885099999 meters Centerline goodness : 0.831949 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.09, Z:0.32 [[ 0.98197374 -0.14972763 -0.11536553 -0.90983515] [ 0.15322537 0.98794587 0.0220213 -0.0855722 ] [ 0.11067771 -0.03930127 0.99307898 0.32444695] [ 0. 0. 0. 1. ]] SLAMing on 93.76992885099999 meters Centerline goodness : 0.830556 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.32 [[ 0.98192189 -0.15008744 -0.11533932 -0.91021158] [ 0.15352485 0.98791152 0.02146971 -0.08422491] [ 0.1107227 -0.03878903 0.9930941 0.32473463] [ 0. 0. 0. 1. ]] SLAMing on 93.79992885099999 meters Centerline goodness : 0.829260 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.33 [[ 0.98184405 -0.15074679 -0.11514196 -0.9111225 ] [ 0.1540764 0.98784552 0.02053517 -0.08213528] [ 0.11064686 -0.03790299 0.99313677 0.32522552] [ 0. 0. 0. 1. ]] SLAMing on 93.82992885099999 meters Centerline goodness : 0.829574 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.33 [[ 0.98178845 -0.15117811 -0.11505047 -0.91159299] [ 0.15444547 0.98779919 0.01998396 -0.08123496] [ 0.11062562 -0.03738905 0.99315861 0.32555925] [ 0. 0. 0. 1. ]] SLAMing on 93.85992885099999 meters Centerline goodness : 0.826904 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.33 [[ 0.9817203 -0.15178772 -0.11482917 -0.91260455] [ 0.15496597 0.98773274 0.01922448 -0.07953701] [ 0.11050249 -0.03666768 0.99319922 0.32605264] [ 0. 0. 0. 1. ]] SLAMing on 93.889928851 meters Centerline goodness : 0.830016 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.33 [[ 0.98169994 -0.15191285 -0.1148378 -0.91274898] [ 0.15504809 0.98772749 0.01882832 -0.0784946 ] [ 0.11056818 -0.03628915 0.99320581 0.3262901 ] [ 0. 0. 0. 1. ]] SLAMing on 93.919928851 meters Centerline goodness : 0.827932 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.33 [[ 0.98168911 -0.15196643 -0.11485942 -0.91285796] [ 0.15506309 0.98773186 0.01847181 -0.07739293] [ 0.11064321 -0.03594403 0.99321 0.32647556] [ 0. 0. 0. 1. ]] SLAMing on 93.949928851 meters Centerline goodness : 0.771869 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.33 [[ 0.98167455 -0.15210314 -0.11480297 -0.91329304] [ 0.15513139 0.98773223 0.01786858 -0.07550324] [ 0.11067673 -0.03535067 0.99322756 0.32685869] [ 0. 0. 0. 1. ]] SLAMing on 93.97992885099998 meters Centerline goodness : 0.770922 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.33 [[ 0.98166293 -0.15224023 -0.11472056 -0.91366118] [ 0.15522985 0.98772264 0.01754056 -0.07449865] [ 0.11064171 -0.03502698 0.99324293 0.32706071] [ 0. 0. 0. 1. ]] SLAMing on 94.00992885099998 meters Centerline goodness : 0.831277 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.33 [[ 0.98167381 -0.15213923 -0.11476143 -0.91372299] [ 0.1551029 0.98774682 0.01730037 -0.07349766] [ 0.11072317 -0.03478315 0.99324242 0.32730513] [ 0. 0. 0. 1. ]] SLAMing on 94.03992885099998 meters Centerline goodness : 0.831327 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.33 [[ 0.98167112 -0.15208153 -0.11486087 -0.9134687 ] [ 0.15504487 0.98775648 0.01726922 -0.07339927] [ 0.11082824 -0.03476129 0.99323147 0.32731005] [ 0. 0. 0. 1. ]] SLAMing on 94.06992885099999 meters Centerline goodness : 0.770538 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.33 [[ 0.98168131 -0.15204367 -0.11482392 -0.91349238] [ 0.15501329 0.98776021 0.01733924 -0.07371275] [ 0.11078217 -0.03482084 0.99323452 0.32729995] [ 0. 0. 0. 1. ]] SLAMing on 94.09992885099999 meters Centerline goodness : 0.770538 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.33 [[ 0.98168131 -0.15204367 -0.11482392 -0.91349238] [ 0.15501329 0.98776021 0.01733924 -0.07371275] [ 0.11078217 -0.03482084 0.99323452 0.32729995] [ 0. 0. 0. 1. ]] SLAMing on 94.12992885099999 meters Centerline goodness : 0.769374 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.33 [[ 0.98166863 -0.15218042 -0.11475116 -0.91387121] [ 0.15513032 0.98774466 0.01717778 -0.0738517 ] [ 0.11073072 -0.03466427 0.99324574 0.32766698] [ 0. 0. 0. 1. ]] SLAMing on 94.15992885099999 meters Centerline goodness : 0.832762 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.07, Z:0.33 [[ 0.98166144 -0.15223565 -0.11473934 -0.91403846] [ 0.15518222 0.98773701 0.0171486 -0.07416572] [ 0.11072167 -0.03463963 0.99324761 0.32791626] [ 0. 0. 0. 1. ]] SLAMing on 94.18992885099999 meters Centerline goodness : 0.770332 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.33 [[ 0.98167924 -0.15218027 -0.11466054 -0.9141854 ] [ 0.15513694 0.98774206 0.01726713 -0.0750506 ] [ 0.11062732 -0.03473887 0.99325465 0.32804037] [ 0. 0. 0. 1. ]] SLAMing on 94.21992885099999 meters Centerline goodness : 0.831455 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.33 [[ 0.98166853 -0.15218822 -0.11474167 -0.91403988] [ 0.15515265 0.98773883 0.01731067 -0.07571479] [ 0.11070032 -0.03479582 0.99324453 0.32816967] [ 0. 0. 0. 1. ]] SLAMing on 94.24992885099999 meters Centerline goodness : 0.770310 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.33 [[ 0.98167093 -0.15220109 -0.11470405 -0.91402967] [ 0.155176 0.98773331 0.0174159 -0.0764072 ] [ 0.11064629 -0.034896 0.99324703 0.32812873] [ 0. 0. 0. 1. ]] SLAMing on 94.279928851 meters Centerline goodness : 0.832862 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.33 [[ 0.98165221 -0.15241639 -0.11457828 -0.91422196] [ 0.15539174 0.98769883 0.01744794 -0.07780173] [ 0.11050948 -0.03493233 0.99326099 0.3282169 ] [ 0. 0. 0. 1. ]] SLAMing on 94.309928851 meters Centerline goodness : 0.771625 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.33 [[ 0.98163508 -0.15253937 -0.11456141 -0.91422601] [ 0.15551351 0.98767988 0.01743555 -0.07828048] [ 0.11049039 -0.03493119 0.99326315 0.32825187] [ 0. 0. 0. 1. ]] SLAMing on 94.33992885099998 meters Centerline goodness : 0.832675 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.33 [[ 0.98161116 -0.15276896 -0.11446038 -0.91436403] [ 0.15575311 0.98764019 0.01754511 -0.07952271] [ 0.11036533 -0.03505004 0.99327287 0.32819287] [ 0. 0. 0. 1. ]] SLAMing on 94.36992885099998 meters Centerline goodness : 0.772093 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:0.33 [[ 0.98158486 -0.15301859 -0.11435239 -0.91484554] [ 0.15598096 0.98760733 0.01736972 -0.07971999] [ 0.11027737 -0.03488665 0.99328839 0.32853457] [ 0. 0. 0. 1. ]] SLAMing on 94.39992885099998 meters Centerline goodness : 0.771067 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.08, Z:0.33 [[ 0.9814961 -0.1537465 -0.11413774 -0.91610046] [ 0.15664363 0.98751214 0.01680929 -0.079789 ] [ 0.11012804 -0.0343772 0.99332272 0.32951363] [ 0. 0. 0. 1. ]] SLAMing on 94.42992885099999 meters Centerline goodness : 0.773174 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.08, Z:0.33 [[ 0.98144792 -0.15424022 -0.11388558 -0.91689912] [ 0.15708975 0.98744763 0.01643108 -0.07974138] [ 0.10992171 -0.03401651 0.99335799 0.32987841] [ 0. 0. 0. 1. ]] SLAMing on 94.45992885099999 meters Centerline goodness : 0.771242 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.08, Z:0.33 [[ 0.98139269 -0.15475228 -0.1136667 -0.91758206] [ 0.15755083 0.9873811 0.01600963 -0.07952631] [ 0.10975483 -0.03362001 0.99338994 0.33012392] [ 0. 0. 0. 1. ]] SLAMing on 94.48992885099999 meters Centerline goodness : 0.832119 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.08, Z:0.33 [[ 0.98137102 -0.15490915 -0.11364013 -0.91766484] [ 0.15768517 0.98736295 0.01580514 -0.07907929] [ 0.1097557 -0.03343007 0.99339625 0.33014607] [ 0. 0. 0. 1. ]] SLAMing on 94.51992885099999 meters Centerline goodness : 0.832650 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.08, Z:0.33 [[ 0.98133799 -0.15521059 -0.113514 -0.91797094] [ 0.15793119 0.98733119 0.01532518 -0.07770863] [ 0.10969728 -0.03296659 0.9934182 0.3301282 ] [ 0. 0. 0. 1. ]] SLAMing on 94.54992885099999 meters Centerline goodness : 0.768912 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.08, Z:0.33 [[ 0.98130318 -0.15548777 -0.11343553 -0.91847772] [ 0.15815982 0.9873012 0.01489368 -0.07691524] [ 0.10967925 -0.03255616 0.99343372 0.33053779] [ 0. 0. 0. 1. ]] SLAMing on 94.57992885099999 meters Centerline goodness : 0.831909 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.08, Z:0.33 [[ 0.98127782 -0.15571821 -0.11333878 -0.9189665 ] [ 0.15834433 0.98727757 0.01449356 -0.07609596] [ 0.10963992 -0.03216876 0.99345068 0.33089298] [ 0. 0. 0. 1. ]] SLAMing on 94.60992885099999 meters Centerline goodness : 0.830762 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.08, Z:0.33 [[ 0.98126001 -0.15581546 -0.11335931 -0.91926301] [ 0.15840461 0.98727293 0.0141472 -0.07523395] [ 0.10971222 -0.03183872 0.99345333 0.33132324] [ 0. 0. 0. 1. ]] SLAMing on 94.639928851 meters Centerline goodness : 0.831338 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.33 [[ 0.98124516 -0.15597212 -0.1132724 -0.92003659] [ 0.15847989 0.98727091 0.01342679 -0.07334169] [ 0.10973634 -0.03112637 0.99347324 0.33215052] [ 0. 0. 0. 1. ]] SLAMing on 94.669928851 meters Centerline goodness : 0.829674 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.33 [[ 0.98126007 -0.15577021 -0.11342101 -0.92012494] [ 0.15823198 0.98731665 0.01297999 -0.07147677] [ 0.10996055 -0.03068358 0.99346223 0.33275638] [ 0. 0. 0. 1. ]] SLAMing on 94.699928851 meters Centerline goodness : 0.829247 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.33 [[ 0.98127455 -0.15556602 -0.11357584 -0.91973562] [ 0.1580316 0.98734871 0.01298239 -0.07089355] [ 0.11011934 -0.03068786 0.99344451 0.33265315] [ 0. 0. 0. 1. ]] SLAMing on 94.72992885099998 meters Centerline goodness : 0.831282 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.33 [[ 0.98127958 -0.15542554 -0.11372461 -0.9194251 ] [ 0.15788604 0.98737304 0.0129028 -0.07051173] [ 0.11028319 -0.03061678 0.99342852 0.3327389 ] [ 0. 0. 0. 1. ]] SLAMing on 94.75992885099998 meters Centerline goodness : 0.829107 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.33 [[ 0.98128741 -0.15543571 -0.11364315 -0.91946188] [ 0.15790045 0.98736994 0.01296312 -0.0712957 ] [ 0.1101929 -0.03066485 0.99343706 0.33274744] [ 0. 0. 0. 1. ]] SLAMing on 94.78992885099998 meters Centerline goodness : 0.827441 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.33 [[ 0.98126691 -0.15555997 -0.11365008 -0.91957056] [ 0.15802493 0.98735012 0.01295623 -0.07210935] [ 0.11019695 -0.03067306 0.99343636 0.3329981 ] [ 0. 0. 0. 1. ]] SLAMing on 94.81992885099999 meters Centerline goodness : 0.825749 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.33 [[ 0.9812323 -0.1558664 -0.11352902 -0.91985012] [ 0.15831838 0.98730442 0.01285598 -0.07265803] [ 0.11008388 -0.03058843 0.9934515 0.33305567] [ 0. 0. 0. 1. ]] SLAMing on 94.84992885099999 meters Centerline goodness : 0.825647 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.33 [[ 0.98116954 -0.15632871 -0.11343572 -0.9201528 ] [ 0.15877706 0.98723118 0.01282342 -0.07368175] [ 0.10998262 -0.03059294 0.99346258 0.33317163] [ 0. 0. 0. 1. ]] SLAMing on 94.87992885099999 meters Centerline goodness : 0.826117 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.33 [[ 0.98113873 -0.15663943 -0.11327349 -0.92042629] [ 0.15908116 0.98718264 0.01279165 -0.07444247] [ 0.10981795 -0.03057006 0.9934815 0.33312219] [ 0. 0. 0. 1. ]] SLAMing on 94.90992885099999 meters Centerline goodness : 0.824082 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.33 [[ 0.98056645 -0.16028395 -0.11313041 -0.9189924 ] [ 0.16235709 0.98668828 0.00929563 -0.07483857] [ 0.11013451 -0.02748251 0.99353666 0.3329258 ] [ 0. 0. 0. 1. ]] SLAMing on 94.93992885099999 meters Centerline goodness : 0.825532 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.08, Z:0.33 [[ 0.98051928 -0.16066179 -0.11300326 -0.91920249] [ 0.16273157 0.98662677 0.00927603 -0.07587546] [ 0.11000173 -0.02748452 0.99355132 0.33290066] [ 0. 0. 0. 1. ]] SLAMing on 94.96992885099999 meters Centerline goodness : 0.826707 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.08, Z:0.33 [[ 0.98042339 -0.16132223 -0.11289423 -0.91973736] [ 0.16337671 0.98652153 0.00912804 -0.07730707] [ 0.10990004 -0.02739363 0.99356508 0.33329263] [ 0. 0. 0. 1. ]] SLAMing on 94.99992885099999 meters Centerline goodness : 0.778971 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.08, Z:0.33 [[ 0.98035887 -0.16182076 -0.11274093 -0.9205111 ] [ 0.16383092 0.98644974 0.00873722 -0.07724065] [ 0.10979939 -0.02703606 0.993586 0.33382609] [ 0. 0. 0. 1. ]] SLAMing on 95.029928851 meters Centerline goodness : 0.777875 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.08, Z:0.33 [[ 0.98031412 -0.16213044 -0.11268517 -0.92105602] [ 0.16410898 0.98640604 0.00844747 -0.07712595] [ 0.10978374 -0.02677382 0.99359483 0.33436506] [ 0. 0. 0. 1. ]] SLAMing on 95.059928851 meters Centerline goodness : 0.829681 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.08, Z:0.34 [[ 0.98025897 -0.16255776 -0.11254925 -0.92194035] [ 0.16449255 0.98634539 0.00806044 -0.07712226] [ 0.10970215 -0.02641483 0.99361345 0.33509748] [ 0. 0. 0. 1. ]] SLAMing on 95.08992885099998 meters Centerline goodness : 0.828646 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.08, Z:0.34 [[ 0.98023007 -0.16273678 -0.11254219 -0.92212343] [ 0.16464234 0.98632259 0.00778735 -0.07692203] [ 0.10973562 -0.0261626 0.99361643 0.33539945] [ 0. 0. 0. 1. ]] SLAMing on 95.11992885099998 meters Centerline goodness : 0.828834 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.08, Z:0.34 [[ 0.98021242 -0.16282659 -0.11256609 -0.92233969] [ 0.1646943 0.98631664 0.0074341 -0.07590719] [ 0.10981534 -0.02582599 0.99361643 0.3357361 ] [ 0. 0. 0. 1. ]] SLAMing on 95.14992885099998 meters Centerline goodness : 0.784148 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.08, Z:0.34 [[ 0.98018475 -0.1629876 -0.11257401 -0.92261698] [ 0.16482091 0.98629787 0.00711192 -0.07529802] [ 0.10987235 -0.02552554 0.99361789 0.33610904] [ 0. 0. 0. 1. ]] SLAMing on 95.17992885099999 meters Centerline goodness : 0.831426 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.34 [[ 0.98014214 -0.1633921 -0.11235839 -0.92348959] [ 0.16517276 0.98624214 0.00666265 -0.07479248] [ 0.10972396 -0.02508889 0.99364541 0.33662591] [ 0. 0. 0. 1. ]] SLAMing on 95.20992885099999 meters Centerline goodness : 0.832243 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.34 [[ 0.98008624 -0.16384352 -0.11218852 -0.92425441] [ 0.16557506 0.98617751 0.00623094 -0.07493836] [ 0.10961689 -0.02468248 0.99366741 0.3372439 ] [ 0. 0. 0. 1. ]] SLAMing on 95.23992885099999 meters Centerline goodness : 0.830340 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.08, Z:0.34 [[ 0.98004415 -0.16413385 -0.11213184 -0.92442071] [ 0.16583745 0.98613501 0.00597411 -0.07502839] [ 0.10959658 -0.02445055 0.99367538 0.33739918] [ 0. 0. 0. 1. ]] SLAMing on 95.26992885099999 meters Centerline goodness : 0.830544 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.08, Z:0.34 [[ 0.98002341 -0.16427146 -0.11211153 -0.92452518] [ 0.16596512 0.98611409 0.00588076 -0.0753072 ] [ 0.10958872 -0.02436988 0.99367823 0.33750804] [ 0. 0. 0. 1. ]] SLAMing on 95.29992885099999 meters Centerline goodness : 0.781351 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.08, Z:0.34 [[ 0.98000215 -0.16452313 -0.11192823 -0.92489818] [ 0.16619286 0.98607685 0.00569032 -0.07516885] [ 0.10943364 -0.0241782 0.9937 0.33751421] [ 0. 0. 0. 1. ]] SLAMing on 95.32992885099999 meters Centerline goodness : 0.830717 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.34 [[ 0.97999659 -0.16447423 -0.11204871 -0.9246689 ] [ 0.16614203 0.98608565 0.00564882 -0.0748271 ] [ 0.10956054 -0.02415182 0.99368666 0.33753029] [ 0. 0. 0. 1. ]] SLAMing on 95.35992885099999 meters Centerline goodness : 0.828590 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.34 [[ 0.97999864 -0.16435157 -0.11221059 -0.92428884] [ 0.16601362 0.98610774 0.00556774 -0.07429193] [ 0.10973667 -0.02408486 0.99366885 0.33752472] [ 0. 0. 0. 1. ]] SLAMing on 95.389928851 meters Centerline goodness : 0.782543 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.34 [[ 0.97998531 -0.16435559 -0.11232111 -0.92422453] [ 0.16599716 0.98611167 0.00535796 -0.07376719] [ 0.10988055 -0.02389571 0.99365752 0.33776263] [ 0. 0. 0. 1. ]] SLAMing on 95.419928851 meters Centerline goodness : 0.779498 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.34 [[ 0.98002135 -0.16408828 -0.11239747 -0.92406025] [ 0.16570195 0.98616267 0.00510431 -0.07223872] [ 0.11000463 -0.02362681 0.99365022 0.33783308] [ 0. 0. 0. 1. ]] SLAMing on 95.44992885099998 meters Centerline goodness : 0.830122 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.34 [[ 0.98002893 -0.16394076 -0.1125465 -0.92381108] [ 0.16552581 0.98619367 0.00482239 -0.07090485] [ 0.11020206 -0.02335543 0.99363476 0.33795032] [ 0. 0. 0. 1. ]] SLAMing on 95.47992885099998 meters Centerline goodness : 0.829108 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.34 [[ 0.98059503 -0.16028797 -0.11287676 -0.92486383] [ 0.16221336 0.98672308 0.00802451 -0.06969943] [ 0.11009187 -0.02617891 0.99357659 0.33824677] [ 0. 0. 0. 1. ]] SLAMing on 95.50992885099998 meters Centerline goodness : 0.828152 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.07, Z:0.34 [[ 0.9806022 -0.16020507 -0.11293214 -0.92467351] [ 0.16207728 0.98674929 0.00753637 -0.06762422] [ 0.11022835 -0.02569391 0.99357412 0.33822202] [ 0. 0. 0. 1. ]] SLAMing on 95.53992885099998 meters Centerline goodness : 0.827999 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.06, Z:0.34 [[ 0.98067137 -0.15976904 -0.11294917 -0.92447357] [ 0.16156239 0.98683875 0.00684674 -0.06358107] [ 0.11036872 -0.02496274 0.99357718 0.33815474] [ 0. 0. 0. 1. ]] SLAMing on 95.56992885099999 meters Centerline goodness : 0.829557 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.06, Z:0.34 [[ 0.9806466 -0.15989342 -0.1129882 -0.92455456] [ 0.16162245 0.98683286 0.00625221 -0.0614637 ] [ 0.11050078 -0.02439263 0.99357666 0.33832896] [ 0. 0. 0. 1. ]] SLAMing on 95.59992885099999 meters Centerline goodness : 0.831820 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.06, Z:0.34 [[ 0.9806025 -0.16015597 -0.11299916 -0.92465287] [ 0.16181127 0.98680599 0.0055723 -0.05941442] [ 0.11061581 -0.02374874 0.99357946 0.33845099] [ 0. 0. 0. 1. ]] SLAMing on 95.62992885099999 meters Centerline goodness : 0.829513 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.06, Z:0.34 [[ 0.980573 -0.1603635 -0.11296077 -0.92470458] [ 0.16191121 0.9867946 0.00460273 -0.05581161] [ 0.11073097 -0.02280293 0.99358879 0.33839102] [ 0. 0. 0. 1. ]] SLAMing on 95.65992885099999 meters Centerline goodness : 0.776376 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.05, Z:0.34 [[ 0.98054497 -0.16056945 -0.11291154 -0.9248245 ] [ 0.1620581 0.98677282 0.00407125 -0.05392979] [ 0.11076432 -0.02229028 0.9935967 0.33836776] [ 0. 0. 0. 1. ]] SLAMing on 95.68992885099999 meters Centerline goodness : 0.775437 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.05, Z:0.34 [[ 0.98045699 -0.16126212 -0.11268817 -0.92561508] [ 0.1626095 0.98668651 0.00280831 -0.04996165] [ 0.11073502 -0.02107759 0.99362643 0.33858611] [ 0. 0. 0. 1. ]] SLAMing on 95.71992885099999 meters Centerline goodness : 0.776544 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.05, Z:0.34 [[ 0.98041858 -0.1615501 -0.11260983 -0.92587413] [ 0.16284001 0.98664983 0.00229104 -0.04816914] [ 0.11073635 -0.02058357 0.99363664 0.33862118] [ 0. 0. 0. 1. ]] SLAMing on 95.74992885099999 meters Centerline goodness : 0.776071 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.05, Z:0.34 [[ 0.98035642 -0.16203258 -0.1124577 -0.9265236 ] [ 0.1632416 0.98658488 0.00156559 -0.04634886] [ 0.11069539 -0.01989261 0.99365528 0.33895593] [ 0. 0. 0. 1. ]] SLAMing on 95.779928851 meters Centerline goodness : 0.775211 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.04, Z:0.34 [[ 9.80287772e-01 -1.62566312e-01 -1.12285700e-01 -9.27171881e-01] [ 1.63661129e-01 9.86516469e-01 5.40222883e-04 -4.31487285e-02] [ 1.10683870e-01 -1.89063783e-02 9.93675817e-01 3.39162561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.809928851 meters Centerline goodness : 0.777528 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.04, Z:0.34 [[ 9.80231582e-01 -1.63031940e-01 -1.12100990e-01 -9.27870856e-01] [ 1.64002352e-01 9.86459782e-01 -5.72397865e-04 -3.93644322e-02] [ 1.10676438e-01 -1.78237436e-02 9.93696654e-01 3.39437163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83992885099998 meters Centerline goodness : 0.774337 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.04, Z:0.34 [[ 0.98017939 -0.16344239 -0.11195955 -0.92847834] [ 0.16434121 0.9864028 -0.00121623 -0.03748246] [ 0.11063599 -0.01720744 0.99371202 0.33968651] [ 0. 0. 0. 1. ]] SLAMing on 95.86992885099998 meters Centerline goodness : 0.775255 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.04, Z:0.34 [[ 0.98014219 -0.16371766 -0.11188304 -0.92873629] [ 0.16456749 0.98636443 -0.00166011 -0.0359562 ] [ 0.11062924 -0.01678516 0.99372 0.33968117] [ 0. 0. 0. 1. ]] SLAMing on 95.89992885099998 meters Centerline goodness : 0.776854 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.03, Z:0.34 [[ 0.98009942 -0.16399553 -0.11185074 -0.9290034 ] [ 0.16479598 0.98632541 -0.00211447 -0.03453497] [ 0.11066799 -0.01636016 0.99372277 0.33979779] [ 0. 0. 0. 1. ]] SLAMing on 95.92992885099999 meters Centerline goodness : 0.827186 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.03, Z:0.34 [[ 0.98003491 -0.16456052 -0.11158589 -0.9295526 ] [ 0.16528228 0.98624228 -0.00281522 -0.03247384] [ 0.110514 -0.01568416 0.99375081 0.33962213] [ 0. 0. 0. 1. ]] SLAMing on 95.95992885099999 meters Centerline goodness : 0.828764 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.03, Z:0.34 [[ 0.9799931 -0.16492718 -0.11141163 -0.93011637] [ 0.16560487 0.98618697 -0.00320797 -0.03153081] [ 0.11040178 -0.01530652 0.99376917 0.3397482 ] [ 0. 0. 0. 1. ]] SLAMing on 95.98992885099999 meters Centerline goodness : 0.828764 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.03, Z:0.34 [[ 0.9799931 -0.16492718 -0.11141163 -0.93011637] [ 0.16560487 0.98618697 -0.00320797 -0.03153081] [ 0.11040178 -0.01530652 0.99376917 0.3397482 ] [ 0. 0. 0. 1. ]] SLAMing on 96.01992885099999 meters Centerline goodness : 0.777200 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.03, Z:0.34 [[ 0.97986634 -0.1660027 -0.11092818 -0.9321327 ] [ 0.16654056 0.9860245 -0.00446459 -0.02848974] [ 0.11011903 -0.01409934 0.9938184 0.34064733] [ 0. 0. 0. 1. ]] SLAMing on 96.04992885099999 meters Centerline goodness : 0.830089 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.03, Z:0.34 [[ 0.97981039 -0.16647058 -0.11072099 -0.932963 ] [ 0.16694263 0.98595363 -0.00505915 -0.02670487] [ 0.11000796 -0.01352705 0.99383865 0.34093869] [ 0. 0. 0. 1. ]] SLAMing on 96.07992885099999 meters Centerline goodness : 0.830076 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.02, Z:0.34 [[ 0.97969641 -0.16740859 -0.11031458 -0.93462328] [ 0.16776795 0.98580775 -0.00608282 -0.02430952] [ 0.10976728 -0.01254793 0.99387811 0.34162531] [ 0. 0. 0. 1. ]] SLAMing on 96.10992885099999 meters Centerline goodness : 0.829118 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.34 [[ 0.97962557 -0.16790677 -0.1101865 -0.93529248] [ 0.16820229 0.9857299 -0.00667469 -0.02309101] [ 0.10973486 -0.01199492 0.99388852 0.34200779] [ 0. 0. 0. 1. ]] SLAMing on 96.139928851 meters Centerline goodness : 0.827891 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.34 [[ 0.97958557 -0.16833205 -0.10989285 -0.93600123] [ 0.16858592 0.98566179 -0.00704447 -0.0220809 ] [ 0.10950299 -0.01162572 0.99391848 0.34194106] [ 0. 0. 0. 1. ]] SLAMing on 96.169928851 meters Centerline goodness : 0.829414 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.34 [[ 0.97950091 -0.16909738 -0.10947163 -0.93711769] [ 0.16926082 0.9855399 -0.00786579 -0.0196277 ] [ 0.10921875 -0.01082471 0.9939588 0.34192095] [ 0. 0. 0. 1. ]] SLAMing on 96.19992885099998 meters Centerline goodness : 0.830033 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.34 [[ 0.9794523 -0.16953259 -0.10923323 -0.93776594] [ 0.16964863 0.98546967 -0.00829861 -0.01831845] [ 0.10905292 -0.01040317 0.99398151 0.34190177] [ 0. 0. 0. 1. ]] SLAMing on 96.22992885099998 meters Centerline goodness : 0.782049 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.34 [[ 0.9793628 -0.17024235 -0.10893138 -0.93853927] [ 0.17028265 0.98535415 -0.00900119 -0.01617436] [ 0.10886837 -0.00973369 0.99400852 0.34175761] [ 0. 0. 0. 1. ]] SLAMing on 96.25992885099998 meters Centerline goodness : 0.780358 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.34 [[ 0.97932199 -0.17060608 -0.10872901 -0.93882552] [ 0.17061421 0.98529404 -0.00929747 -0.01541817] [ 0.10871625 -0.0094455 0.99402795 0.34149534] [ 0. 0. 0. 1. ]] SLAMing on 96.28992885099998 meters Centerline goodness : 0.783162 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.34 [[ 0.9792758 -0.17098509 -0.10854952 -0.93927938] [ 0.17095347 0.98523168 -0.00966681 -0.01482146] [ 0.10859931 -0.00909044 0.99404404 0.34154441] [ 0. 0. 0. 1. ]] SLAMing on 96.31992885099999 meters Centerline goodness : 0.781534 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.34 [[ 0.97917491 -0.17187397 -0.10805476 -0.94082999] [ 0.17176641 0.9850831 -0.01037238 -0.01392932] [ 0.10822566 -0.00840381 0.99409083 0.34194675] [ 0. 0. 0. 1. ]] SLAMing on 96.34992885099999 meters Centerline goodness : 0.826959 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.34 [[ 0.97911213 -0.17240061 -0.10778432 -0.94174734] [ 0.17224037 0.98499503 -0.01086522 -0.01304394] [ 0.10804019 -0.00792654 0.99411493 0.34224613] [ 0. 0. 0. 1. ]] SLAMing on 96.37992885099999 meters Centerline goodness : 0.783204 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.34 [[ 0.97902066 -0.17314267 -0.10742513 -0.94299799] [ 0.17290692 0.98487014 -0.01157643 -0.01137348] [ 0.10780418 -0.00724098 0.99414578 0.34259025] [ 0. 0. 0. 1. ]] SLAMing on 96.40992885099999 meters Centerline goodness : 0.825692 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.34 [[ 0.97898015 -0.17351688 -0.10719031 -0.94369759] [ 0.17326208 0.98480557 -0.01175719 -0.01135592] [ 0.10760168 -0.00706196 0.994169 0.34272353] [ 0. 0. 0. 1. ]] SLAMing on 96.43992885099999 meters Centerline goodness : 0.783928 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.01, Z:0.34 [[ 0.97884571 -0.1745824 -0.10668677 -0.94531375] [ 0.17430293 0.98461882 -0.01201126 -0.01284023] [ 0.10714275 -0.00683865 0.99422013 0.3431405 ] [ 0. 0. 0. 1. ]] SLAMing on 96.46992885099999 meters Centerline goodness : 0.782618 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.01, Z:0.34 [[ 0.97880089 -0.17495642 -0.1064851 -0.94582044] [ 0.17468549 0.98455189 -0.01193942 -0.01380889] [ 0.10692898 -0.00691509 0.99424261 0.34309209] [ 0. 0. 0. 1. ]] SLAMing on 96.49992885099999 meters Centerline goodness : 0.784099 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.01, Z:0.34 [[ 0.97874585 -0.17539591 -0.10626777 -0.94653357] [ 0.17511785 0.98447416 -0.01201565 -0.01453844] [ 0.10672537 -0.00684911 0.99426495 0.34329561] [ 0. 0. 0. 1. ]] SLAMing on 96.529928851 meters Centerline goodness : 0.782974 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.02, Z:0.34 [[ 0.97866758 -0.17605 -0.10590641 -0.9477512 ] [ 0.17577844 0.98435701 -0.01196714 -0.0162436 ] [ 0.10635654 -0.00690421 0.99430409 0.34367727] [ 0. 0. 0. 1. ]] SLAMing on 96.559928851 meters Centerline goodness : 0.782804 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.02, Z:0.34 [[ 0.97863635 -0.17634682 -0.10570099 -0.9482694 ] [ 0.17607819 0.98430374 -0.01194243 -0.01686453] [ 0.10614789 -0.00692434 0.99432624 0.34369671] [ 0. 0. 0. 1. ]] SLAMing on 96.58992885099998 meters Centerline goodness : 0.782496 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.02, Z:0.34 [[ 0.97856275 -0.17686221 -0.10552107 -0.94893686] [ 0.17660898 0.98421019 -0.01181386 -0.01909812] [ 0.10594433 -0.00707537 0.99434689 0.34402904] [ 0. 0. 0. 1. ]] SLAMing on 96.61992885099998 meters Centerline goodness : 0.780907 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.02, Z:0.34 [[ 0.9785778 -0.17673361 -0.10559694 -0.948497 ] [ 0.17651432 0.98423096 -0.01149369 -0.02029591] [ 0.1059631 -0.0073919 0.99434259 0.34376472] [ 0. 0. 0. 1. ]] SLAMing on 96.64992885099998 meters Centerline goodness : 0.779383 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.02, Z:0.34 [[ 0.9786118 -0.17645484 -0.10574799 -0.94776599] [ 0.17627977 0.9842778 -0.01107459 -0.02147726] [ 0.10603956 -0.00780351 0.99433129 0.34335753] [ 0. 0. 0. 1. ]] SLAMing on 96.67992885099999 meters Centerline goodness : 0.781595 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.02, Z:0.34 [[ 0.97868074 -0.17582359 -0.10616062 -0.94669346] [ 0.17568413 0.98438802 -0.01073807 -0.02214089] [ 0.10639125 -0.0081416 0.99429101 0.34341759] [ 0. 0. 0. 1. ]] SLAMing on 96.70992885099999 meters Centerline goodness : 0.780467 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.02, Z:0.34 [[ 0.97869733 -0.17564036 -0.1063109 -0.94655675] [ 0.17549258 0.98442132 -0.01081729 -0.02213928] [ 0.10655467 -0.00806993 0.9942741 0.3438339 ] [ 0. 0. 0. 1. ]] SLAMing on 96.73992885099999 meters Centerline goodness : 0.778373 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.02, Z:0.34 [[ 0.97876736 -0.17514862 -0.1064773 -0.94625002] [ 0.17503248 0.98450658 -0.01050819 -0.02314435] [ 0.1066681 -0.00835191 0.99425961 0.34415288] [ 0. 0. 0. 1. ]] SLAMing on 96.76992885099999 meters Centerline goodness : 0.779391 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.02, Z:0.34 [[ 0.97879784 -0.17485613 -0.10667763 -0.94575607] [ 0.17475814 0.98455711 -0.0103391 -0.02354778] [ 0.10683807 -0.00852289 0.9942399 0.3442082 ] [ 0. 0. 0. 1. ]] SLAMing on 96.79992885099999 meters Centerline goodness : 0.776997 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.34 [[ 0.97886525 -0.17422998 -0.10708282 -0.94464822] [ 0.17416261 0.98466559 -0.01005332 -0.02404314] [ 0.10719236 -0.00880898 0.99419928 0.3442186 ] [ 0. 0. 0. 1. ]] SLAMing on 96.82992885099999 meters Centerline goodness : 0.778077 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.34 [[ 0.97889736 -0.17398413 -0.10718899 -0.94430485] [ 0.17393865 0.98470727 -0.00984571 -0.02445984] [ 0.10726277 -0.00900637 0.99418991 0.34415788] [ 0. 0. 0. 1. ]] SLAMing on 96.85992885099999 meters Centerline goodness : 0.775079 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.34 [[ 0.9789302 -0.17372896 -0.10730289 -0.94386513] [ 0.17370196 0.98475079 -0.00967013 -0.02495872] [ 0.10734659 -0.00917234 0.99417935 0.34408529] [ 0. 0. 0. 1. ]] SLAMing on 96.889928851 meters Centerline goodness : 0.774530 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:0.34 [[ 0.97897115 -0.17340389 -0.10745502 -0.94339137] [ 0.17341681 0.98480465 -0.00929596 -0.02635471] [ 0.10743416 -0.00953403 0.99416649 0.34409836] [ 0. 0. 0. 1. ]] SLAMing on 96.919928851 meters Centerline goodness : 0.776511 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:0.34 [[ 0.97899436 -0.17317583 -0.10761122 -0.94291066] [ 0.17322141 0.98484183 -0.00899547 -0.02749049] [ 0.10753783 -0.00983405 0.99415236 0.34404907] [ 0. 0. 0. 1. ]] SLAMing on 96.94992885099998 meters Centerline goodness : 0.773091 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:0.34 [[ 0.97902558 -0.17292663 -0.10772784 -0.94233477] [ 0.17302382 0.98488083 -0.00851568 -0.02953575] [ 0.10757167 -0.01030241 0.99414395 0.34387033] [ 0. 0. 0. 1. ]] SLAMing on 96.97992885099998 meters Centerline goodness : 0.773161 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:0.34 [[ 0.97902211 -0.17293543 -0.10774529 -0.94233013] [ 0.17304233 0.98487833 -0.00842809 -0.03038931] [ 0.10757351 -0.01039321 0.99414281 0.34402121] [ 0. 0. 0. 1. ]] SLAMing on 97.00992885099998 meters Centerline goodness : 0.773094 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:0.34 [[ 0.97900271 -0.1731932 -0.10750728 -0.94307574] [ 0.17332301 0.98483084 -0.00820695 -0.03260025] [ 0.10729788 -0.01059886 0.99417042 0.34442054] [ 0. 0. 0. 1. ]] SLAMing on 97.03992885099998 meters Centerline goodness : 0.773410 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:0.34 [[ 0.97898155 -0.17337658 -0.10740432 -0.94348285] [ 0.17351461 0.98479773 -0.00813061 -0.03364782] [ 0.10718118 -0.0106765 0.99418218 0.3446568 ] [ 0. 0. 0. 1. ]] SLAMing on 97.06992885099999 meters Centerline goodness : 0.773263 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:0.34 [[ 0.97899214 -0.17332221 -0.10739553 -0.943455 ] [ 0.17348913 0.98480443 -0.00785872 -0.03495349] [ 0.10712568 -0.01093833 0.99418532 0.34468712] [ 0. 0. 0. 1. ]] SLAMing on 97.09992885099999 meters Centerline goodness : 0.773164 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.34 [[ 0.97904499 -0.17292022 -0.1075616 -0.94283745] [ 0.17317044 0.98486642 -0.00708116 -0.03784097] [ 0.10715828 -0.01169372 0.9941732 0.3445897 ] [ 0. 0. 0. 1. ]] SLAMing on 97.12992885099999 meters Centerline goodness : 0.772942 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.34 [[ 0.97905305 -0.1728974 -0.10752493 -0.94301446] [ 0.17316565 0.98486848 -0.00690854 -0.03889923] [ 0.10709238 -0.0118558 0.99417839 0.34480011] [ 0. 0. 0. 1. ]] SLAMing on 97.15992885099999 meters Centerline goodness : 0.773676 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.35 [[ 0.9790613 -0.17286541 -0.1075013 -0.94318418] [ 0.17314838 0.9848725 -0.00676747 -0.03974839] [ 0.10704493 -0.01198791 0.99418191 0.34502964] [ 0. 0. 0. 1. ]] SLAMing on 97.18992885099999 meters Centerline goodness : 0.770129 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.35 [[ 0.97906631 -0.17283976 -0.10749691 -0.94356019] [ 0.17312887 0.98487633 -0.00670851 -0.04067512] [ 0.10703066 -0.01204274 0.99418278 0.34562735] [ 0. 0. 0. 1. ]] SLAMing on 97.21992885099999 meters Centerline goodness : 0.773522 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.35 [[ 0.97907697 -0.17284536 -0.10739075 -0.94439075] [ 0.17315748 0.98487281 -0.00648289 -0.04269754] [ 0.10688676 -0.01224826 0.99419576 0.34655158] [ 0. 0. 0. 1. ]] SLAMing on 97.24992885099999 meters Centerline goodness : 0.772087 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.35 [[ 0.97913754 -0.17237567 -0.10759323 -0.94376001] [ 0.17275757 0.98494711 -0.00583212 -0.04485863] [ 0.10697896 -0.0128771 0.99417789 0.34651734] [ 0. 0. 0. 1. ]] SLAMing on 97.279928851 meters Centerline goodness : 0.770768 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 0.9791718 -0.17205243 -0.10779869 -0.94316458] [ 0.17246661 0.98499979 -0.00553962 -0.04557579] [ 0.10713479 -0.01316743 0.99415731 0.34642403] [ 0. 0. 0. 1. ]] SLAMing on 97.309928851 meters Centerline goodness : 0.770689 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 0.97919051 -0.17185425 -0.10794473 -0.9428102 ] [ 0.17227867 0.98503317 -0.00545186 -0.04595852] [ 0.10726606 -0.01325817 0.99414195 0.34651934] [ 0. 0. 0. 1. ]] SLAMing on 97.33992885099998 meters Centerline goodness : 0.769369 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 0.97928416 -0.17103217 -0.10839986 -0.94137698] [ 0.17150827 0.98517006 -0.00498559 -0.04611794] [ 0.10764499 -0.01370917 0.99409487 0.34610661] [ 0. 0. 0. 1. ]] SLAMing on 97.36992885099998 meters Centerline goodness : 0.769749 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 0.97940485 -0.17007511 -0.10881446 -0.94000793] [ 0.17059797 0.98533019 -0.00455514 -0.04646617] [ 0.10799289 -0.0141022 0.99405164 0.34591964] [ 0. 0. 0. 1. ]] SLAMing on 97.39992885099998 meters Centerline goodness : 0.769749 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 0.97940485 -0.17007511 -0.10881446 -0.94000793] [ 0.17059797 0.98533019 -0.00455514 -0.04646617] [ 0.10799289 -0.0141022 0.99405164 0.34591964] [ 0. 0. 0. 1. ]] SLAMing on 97.42992885099999 meters Centerline goodness : 0.765968 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 0.97952917 -0.16911603 -0.10918966 -0.9386766 ] [ 0.16966693 0.98549211 -0.00429346 -0.04589572] [ 0.10833164 -0.01432031 0.99401166 0.34563434] [ 0. 0. 0. 1. ]] SLAMing on 97.45992885099999 meters Centerline goodness : 0.768039 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 0.97956974 -0.16863104 -0.10957504 -0.93782016] [ 0.16918211 0.98557536 -0.00431595 -0.04526392] [ 0.10872227 -0.01431036 0.99396916 0.34579998] [ 0. 0. 0. 1. ]] SLAMing on 97.48992885099999 meters Centerline goodness : 0.768343 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 9.80218095e-01 -1.64591957e-01 -1.09918035e-01 -9.38760824e-01] [ 1.65547963e-01 9.86201644e-01 -4.34420264e-04 -4.62718865e-02] [ 1.08472848e-01 -1.77708801e-02 9.93940560e-01 3.46050833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.51992885099999 meters Centerline goodness : 0.767473 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 9.80253508e-01 -1.64227769e-01 -1.10146721e-01 -9.38204909e-01] [ 1.65177412e-01 9.86263739e-01 -5.09829527e-04 -4.55009182e-02] [ 1.08717445e-01 -1.76939881e-02 9.93915208e-01 3.46110737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.54992885099999 meters Centerline goodness : 0.768228 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.35 [[ 9.80292434e-01 -1.63849481e-01 -1.10363449e-01 -9.37612438e-01] [ 1.64785045e-01 9.86329287e-01 -6.52475054e-04 -4.44412921e-02] [ 1.08961609e-01 -1.75466295e-02 9.93891082e-01 3.46133381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.57992885099999 meters Centerline goodness : 0.766484 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.35 [[ 9.80358352e-01 -1.63276465e-01 -1.10626844e-01 -9.37018787e-01] [ 1.64194077e-01 9.86427708e-01 -8.26154792e-04 -4.30901124e-02] [ 1.09260276e-01 -1.73543447e-02 9.93861670e-01 3.46404654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.60992885099999 meters Centerline goodness : 0.766918 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.35 [[ 9.80349898e-01 -1.63330029e-01 -1.10622688e-01 -9.37208291e-01] [ 1.64234319e-01 9.86420897e-01 -9.49672339e-04 -4.30282593e-02] [ 1.09275641e-01 -1.72370307e-02 9.93862022e-01 3.46699464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.639928851 meters Centerline goodness : 0.768301 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.35 [[ 9.80361894e-01 -1.63344393e-01 -1.10495097e-01 -9.37555349e-01] [ 1.64259592e-01 9.86416796e-01 -8.30886696e-04 -4.37205086e-02] [ 1.09129941e-01 -1.73353099e-02 9.93876322e-01 3.46805606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.669928851 meters Centerline goodness : 0.769574 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.35 [[ 9.80371999e-01 -1.63329558e-01 -1.10427344e-01 -9.37544619e-01] [ 1.64264836e-01 9.86416068e-01 -6.36207568e-04 -4.47050407e-02] [ 1.09031218e-01 -1.75156095e-02 9.93883996e-01 3.46695325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69992885099998 meters Centerline goodness : 0.770691 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 9.80351697e-01 -1.63535208e-01 -1.10303154e-01 -9.37716190e-01] [ 1.64507460e-01 9.86375796e-01 -2.90140632e-04 -4.70091295e-02] [ 1.08847810e-01 -1.78612519e-02 9.93897947e-01 3.46651253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72992885099998 meters Centerline goodness : 0.770711 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 9.80329042e-01 -1.63688510e-01 -1.10277111e-01 -9.37790864e-01] [ 1.64669961e-01 9.86348701e-01 -2.10421214e-04 -4.78675629e-02] [ 1.08806129e-01 -1.79530455e-02 9.93900857e-01 3.46706771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75992885099998 meters Centerline goodness : 0.770545 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 9.80287282e-01 -1.64064402e-01 -1.10089582e-01 -9.38275035e-01] [ 1.65071973e-01 9.86281523e-01 3.87580907e-05 -4.94997859e-02] [ 1.08572962e-01 -1.82106985e-02 9.93921668e-01 3.46743306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78992885099998 meters Centerline goodness : 0.770215 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 9.80281194e-01 -1.64110534e-01 -1.10075032e-01 -9.38242952e-01] [ 1.65141083e-01 9.86269923e-01 2.49052868e-04 -5.05505188e-02] [ 1.08522821e-01 -1.84220519e-02 9.93923249e-01 3.46682360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81992885099999 meters Centerline goodness : 0.769177 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 9.80256829e-01 -1.64309084e-01 -1.09995787e-01 -9.38391431e-01] [ 1.65365744e-01 9.86232189e-01 4.90857659e-04 -5.22858106e-02] [ 1.08400734e-01 -1.86707018e-02 9.93931932e-01 3.46714121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.84992885099999 meters Centerline goodness : 0.769282 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 9.80243936e-01 -1.64416213e-01 -1.09950601e-01 -9.38445492e-01] [ 1.65476702e-01 9.86213558e-01 5.27831618e-04 -5.29734029e-02] [ 1.08347989e-01 -1.87116666e-02 9.93936913e-01 3.46756996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.87992885099999 meters Centerline goodness : 0.768909 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 9.80242578e-01 -1.64387716e-01 -1.10005305e-01 -9.38398602e-01] [ 1.65458531e-01 9.86216557e-01 6.14603761e-04 -5.36305404e-02] [ 1.08388020e-01 -1.88037771e-02 9.93930810e-01 3.46945762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.90992885099999 meters Centerline goodness : 0.768909 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 9.80242578e-01 -1.64387716e-01 -1.10005305e-01 -9.38398602e-01] [ 1.65458531e-01 9.86216557e-01 6.14603761e-04 -5.36305404e-02] [ 1.08388020e-01 -1.88037771e-02 9.93930810e-01 3.46945762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.93992885099999 meters Centerline goodness : 0.771080 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 9.80198236e-01 -1.64758687e-01 -1.09845319e-01 -9.39164764e-01] [ 1.65815813e-01 9.86156615e-01 4.96136497e-04 -5.40969998e-02] [ 1.08242945e-01 -1.87004030e-02 9.93948570e-01 3.47420277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.96992885099999 meters Centerline goodness : 0.769784 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 9.80167178e-01 -1.64941961e-01 -1.09847410e-01 -9.39537770e-01] [ 1.65981034e-01 9.86128893e-01 3.19791387e-04 -5.39910569e-02] [ 1.08270958e-01 -1.85460358e-02 9.93948411e-01 3.47854085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99992885099999 meters Centerline goodness : 0.769275 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 9.80141536e-01 -1.65161453e-01 -1.09746365e-01 -9.39726371e-01] [ 1.66194621e-01 9.86092934e-01 2.70703031e-04 -5.43411050e-02] [ 1.08175406e-01 -1.85045828e-02 9.93959588e-01 3.47805254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.029928851 meters Centerline goodness : 0.768020 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 9.80128119e-01 -1.65261903e-01 -1.09714964e-01 -9.39791865e-01] [ 1.66290692e-01 9.86076748e-01 2.30263552e-04 -5.45698301e-02] [ 1.08149321e-01 -1.84702651e-02 9.93963065e-01 3.47837981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.059928851 meters Centerline goodness : 0.768529 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 9.80099646e-01 -1.65484086e-01 -1.09634400e-01 -9.40001345e-01] [ 1.66485534e-01 9.86043897e-01 -1.96981237e-05 -5.43437932e-02] [ 1.08107591e-01 -1.82332355e-02 9.93971980e-01 3.47935077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08992885099998 meters Centerline goodness : 0.768974 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 9.80054031e-01 -1.65875976e-01 -1.09449787e-01 -9.40605815e-01] [ 1.66832898e-01 9.85985095e-01 -4.20154842e-04 -5.37430675e-02] [ 1.07985552e-01 -1.78480508e-02 9.93992237e-01 3.48166195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11992885099998 meters Centerline goodness : 0.769774 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 0.97999138 -0.16641755 -0.10918834 -0.94154999] [ 0.16731001 0.98590383 -0.00100125 -0.05233099] [ 0.10781583 -0.01728709 0.99402058 0.34850705] [ 0. 0. 0. 1. ]] SLAMing on 98.14992885099998 meters Centerline goodness : 0.829673 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 0.97994694 -0.16672774 -0.10911398 -0.94204405] [ 0.16758416 0.98585686 -0.00133899 -0.0518479 ] [ 0.10779401 -0.01697364 0.99402834 0.3488992 ] [ 0. 0. 0. 1. ]] SLAMing on 98.17992885099999 meters Centerline goodness : 0.770246 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 0.97991877 -0.16696395 -0.10900567 -0.94236886] [ 0.16779592 0.98582052 -0.0015606 -0.05161381] [ 0.10772059 -0.01676144 0.9940399 0.34902987] [ 0. 0. 0. 1. ]] SLAMing on 98.20992885099999 meters Centerline goodness : 0.769580 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 0.97986813 -0.16736031 -0.10885303 -0.94281689] [ 0.16813892 0.98576118 -0.00205165 -0.05051376] [ 0.10764645 -0.01629208 0.99405574 0.34913494] [ 0. 0. 0. 1. ]] SLAMing on 98.23992885099999 meters Centerline goodness : 0.768987 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 0.97984146 -0.16747449 -0.10891743 -0.94279347] [ 0.16822282 0.9857462 -0.00234722 -0.04940144] [ 0.10775805 -0.01602249 0.99404803 0.34921018] [ 0. 0. 0. 1. ]] SLAMing on 98.26992885099999 meters Centerline goodness : 0.769454 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 0.97980194 -0.16773808 -0.10886733 -0.94323253] [ 0.16840866 0.98571248 -0.00307146 -0.04705747] [ 0.10782709 -0.01532478 0.99405154 0.34961851] [ 0. 0. 0. 1. ]] SLAMing on 98.29992885099999 meters Centerline goodness : 0.767577 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.35 [[ 0.97977422 -0.16787309 -0.10890871 -0.94346895] [ 0.16850044 0.98569542 -0.00348314 -0.04588787] [ 0.10793555 -0.01493847 0.99404565 0.35002903] [ 0. 0. 0. 1. ]] SLAMing on 98.32992885099999 meters Centerline goodness : 0.767253 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.35 [[ 0.97975831 -0.16799721 -0.10886043 -0.94395715] [ 0.16855353 0.98568382 -0.00413752 -0.04374014] [ 0.10799706 -0.01429504 0.99404843 0.35052822] [ 0. 0. 0. 1. ]] SLAMing on 98.35992885099999 meters Centerline goodness : 0.768258 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.35 [[ 0.97979824 -0.16770102 -0.1089577 -0.94333932] [ 0.16822967 0.98573806 -0.00438831 -0.04182263] [ 0.10813967 -0.01403026 0.9940367 0.35012535] [ 0. 0. 0. 1. ]] SLAMing on 98.389928851 meters Centerline goodness : 0.765916 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.35 [[ 0.97979138 -0.16768119 -0.10904984 -0.94314323] [ 0.16817072 0.9857464 -0.00475851 -0.04039686] [ 0.1082934 -0.01367664 0.99402489 0.35017752] [ 0. 0. 0. 1. ]] SLAMing on 98.419928851 meters Centerline goodness : 0.766731 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.35 [[ 0.97978263 -0.16767306 -0.10914092 -0.94292271] [ 0.16813349 0.98575137 -0.00503644 -0.03901289] [ 0.10843029 -0.01341563 0.99401353 0.35010337] [ 0. 0. 0. 1. ]] SLAMing on 98.44992885099998 meters Centerline goodness : 0.766731 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.35 [[ 0.97978263 -0.16767306 -0.10914092 -0.94292271] [ 0.16813349 0.98575137 -0.00503644 -0.03901289] [ 0.10843029 -0.01341563 0.99401353 0.35010337] [ 0. 0. 0. 1. ]] SLAMing on 98.47992885099998 meters Centerline goodness : 0.765888 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.35 [[ 0.97974765 -0.16797905 -0.10898432 -0.94332734] [ 0.16835693 0.98570909 -0.00579133 -0.03629685] [ 0.10839966 -0.01267423 0.9940266 0.35013614] [ 0. 0. 0. 1. ]] SLAMing on 98.50992885099998 meters Centerline goodness : 0.765553 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.35 [[ 0.97972265 -0.16813639 -0.10896642 -0.94334279] [ 0.16848885 0.98568511 -0.00603119 -0.0352896 ] [ 0.10842064 -0.01245073 0.99402713 0.35002505] [ 0. 0. 0. 1. ]] SLAMing on 98.53992885099998 meters Centerline goodness : 0.766176 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:0.35 [[ 0.97962201 -0.16884938 -0.1087686 -0.94409365] [ 0.1691295 0.98557098 -0.00671215 -0.03375647] [ 0.10833252 -0.01182061 0.99404444 0.35021075] [ 0. 0. 0. 1. ]] SLAMing on 98.56992885099999 meters Centerline goodness : 0.827519 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:0.35 [[ 0.9795797 -0.16922265 -0.10856939 -0.94449967] [ 0.16947768 0.98550958 -0.00694163 -0.03354364] [ 0.10817086 -0.01160021 0.99406464 0.35014448] [ 0. 0. 0. 1. ]] SLAMing on 98.59992885099999 meters Centerline goodness : 0.764982 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.03, Z:0.35 [[ 0.97951836 -0.16974644 -0.10830483 -0.94516303] [ 0.16996742 0.98542297 -0.00725567 -0.03319723] [ 0.10795769 -0.01130123 0.99409125 0.35014243] [ 0. 0. 0. 1. ]] SLAMing on 98.62992885099999 meters Centerline goodness : 0.766152 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.03, Z:0.35 [[ 0.97936634 -0.17098954 -0.10772259 -0.94689784] [ 0.17112738 0.98521617 -0.00803237 -0.03181063] [ 0.10750349 -0.01056765 0.99414854 0.35030988] [ 0. 0. 0. 1. ]] SLAMing on 98.65992885099999 meters Centerline goodness : 0.766007 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.03, Z:0.35 [[ 0.97928258 -0.17166147 -0.10741494 -0.94775744] [ 0.17175276 0.98510367 -0.00847048 -0.03100476] [ 0.10726891 -0.01015382 0.99417819 0.35035318] [ 0. 0. 0. 1. ]] SLAMing on 98.68992885099999 meters Centerline goodness : 0.766882 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.03, Z:0.35 [[ 0.97906601 -0.17337409 -0.10663572 -0.95018366] [ 0.17336722 0.98481234 -0.00940584 -0.03030714] [ 0.1066469 -0.0092782 0.99425367 0.35082187] [ 0. 0. 0. 1. ]] SLAMing on 98.71992885099999 meters Centerline goodness : 0.767560 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.03, Z:0.35 [[ 0.97895789 -0.17417723 -0.10631909 -0.95139864] [ 0.17411883 0.98467485 -0.00990352 -0.02995971] [ 0.1064147 -0.00881702 0.99428274 0.35127625] [ 0. 0. 0. 1. ]] SLAMing on 98.74992885099999 meters Centerline goodness : 0.767512 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.03, Z:0.35 [[ 0.97888836 -0.17470186 -0.10609825 -0.9521081 ] [ 0.17460852 0.98458468 -0.01024075 -0.0294364 ] [ 0.10625179 -0.00850111 0.99430292 0.35139599] [ 0. 0. 0. 1. ]] SLAMing on 98.779928851 meters Centerline goodness : 0.766663 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.03, Z:0.35 [[ 0.97882406 -0.17519002 -0.10588634 -0.95275611] [ 0.17505906 0.98450084 -0.01060287 -0.02912311] [ 0.10610271 -0.00815802 0.99432171 0.35159362] [ 0. 0. 0. 1. ]] SLAMing on 98.80992885099998 meters Centerline goodness : 0.764537 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.03, Z:0.35 [[ 0.97872101 -0.17598311 -0.10552316 -0.95377099] [ 0.17578756 0.98436413 -0.01122485 -0.02806072] [ 0.1058486 -0.00756366 0.99435349 0.35171353] [ 0. 0. 0. 1. ]] SLAMing on 98.83992885099998 meters Centerline goodness : 0.769537 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.03, Z:0.35 [[ 0.97867469 -0.17633478 -0.10536559 -0.95433585] [ 0.17609716 0.98430411 -0.0116282 -0.02714491] [ 0.10576224 -0.00717435 0.99436557 0.35194035] [ 0. 0. 0. 1. ]] SLAMing on 98.86992885099998 meters Centerline goodness : 0.768714 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.02, Z:0.35 [[ 0.97865602 -0.17649279 -0.10527435 -0.9547971 ] [ 0.17618081 0.9842806 -0.0123298 -0.02488082] [ 0.10579562 -0.00648069 0.99436678 0.35237778] [ 0. 0. 0. 1. ]] SLAMing on 98.89992885099998 meters Centerline goodness : 0.769216 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.02, Z:0.35 [[ 0.97866975 -0.17635259 -0.1053816 -0.95462001] [ 0.17601277 0.98430737 -0.01259026 -0.0235488 ] [ 0.10594821 -0.0062268 0.99435215 0.35247234] [ 0. 0. 0. 1. ]] SLAMing on 98.92992885099999 meters Centerline goodness : 0.769092 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.35 [[ 0.97927943 -0.17287495 -0.10548005 -0.95671606] [ 0.17287585 0.98490061 -0.0092044 -0.02304742] [ 0.10547858 -0.00922127 0.99437882 0.35310424] [ 0. 0. 0. 1. ]] SLAMing on 98.95992885099999 meters Centerline goodness : 0.772960 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.35 [[ 0.97922633 -0.17332186 -0.10523935 -0.95793019] [ 0.17326882 0.98482663 -0.00971681 -0.02221756] [ 0.10532665 -0.00871974 0.99439945 0.35392893] [ 0. 0. 0. 1. ]] SLAMing on 98.98992885099999 meters Centerline goodness : 0.771632 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.35 [[ 0.97918852 -0.17363301 -0.10507814 -0.95875411] [ 0.17354637 0.98477454 -0.0100378 -0.02178885] [ 0.10522117 -0.00840703 0.99441331 0.35447771] [ 0. 0. 0. 1. ]] SLAMing on 99.01992885099999 meters Centerline goodness : 0.771773 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.35 [[ 0.97919781 -0.17357525 -0.10508698 -0.95859595] [ 0.17349378 0.98478433 -0.00998653 -0.02178629] [ 0.10522142 -0.00845315 0.99441289 0.35429731] [ 0. 0. 0. 1. ]] SLAMing on 99.04992885099999 meters Centerline goodness : 0.771369 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.35 [[ 0.97919475 -0.17357569 -0.10511477 -0.95845739] [ 0.17348892 0.98478465 -0.01003888 -0.02164444] [ 0.10525792 -0.00840623 0.99440943 0.35426512] [ 0. 0. 0. 1. ]] SLAMing on 99.07992885099999 meters Centerline goodness : 0.769280 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.35 [[ 0.97917178 -0.17371091 -0.10510538 -0.95847064] [ 0.17361252 0.98476168 -0.01015518 -0.02161806] [ 0.10526781 -0.00830394 0.99440924 0.35428804] [ 0. 0. 0. 1. ]] SLAMing on 99.10992885099999 meters Centerline goodness : 0.770080 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.35 [[ 0.97916908 -0.17374286 -0.10507772 -0.95837023] [ 0.17364839 0.98475574 -0.01011775 -0.02172179] [ 0.10523378 -0.00833959 0.99441254 0.35406935] [ 0. 0. 0. 1. ]] SLAMing on 99.139928851 meters Centerline goodness : 0.768585 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.35 [[ 0.97916268 -0.1737171 -0.1051799 -0.95807817] [ 0.17361561 0.98476077 -0.01019068 -0.02158898] [ 0.10534733 -0.00828254 0.994401 0.35405479] [ 0. 0. 0. 1. ]] SLAMing on 99.169928851 meters Centerline goodness : 0.768701 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.35 [[ 0.97916788 -0.17364615 -0.10524861 -0.9577246 ] [ 0.17354516 0.98477322 -0.01018759 -0.02137098] [ 0.10541505 -0.00829002 0.99439376 0.35386936] [ 0. 0. 0. 1. ]] SLAMing on 99.19992885099998 meters Centerline goodness : 0.826208 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.35 [[ 0.97920326 -0.17337588 -0.10536496 -0.95718329] [ 0.1732915 0.98481955 -0.01002575 -0.02142606] [ 0.1055037 -0.0084416 0.99438308 0.35355599] [ 0. 0. 0. 1. ]] SLAMing on 99.22992885099998 meters Centerline goodness : 0.769514 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.35 [[ 0.97921215 -0.17324691 -0.10549441 -0.95684905] [ 0.17315962 0.98484243 -0.01005652 -0.02124368] [ 0.10563763 -0.00841991 0.99436904 0.35358723] [ 0. 0. 0. 1. ]] SLAMing on 99.25992885099998 meters Centerline goodness : 0.769360 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.35 [[ 0.97921609 -0.17325398 -0.1054462 -0.95695519] [ 0.17315965 0.98484178 -0.01011933 -0.02115774] [ 0.10560104 -0.00835001 0.99437352 0.35365227] [ 0. 0. 0. 1. ]] SLAMing on 99.28992885099998 meters Centerline goodness : 0.769353 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.35 [[ 0.97921018 -0.17329095 -0.10544033 -0.95733495] [ 0.17318667 0.98483605 -0.01021461 -0.02146564] [ 0.10561154 -0.00825861 0.99437317 0.35420759] [ 0. 0. 0. 1. ]] SLAMing on 99.31992885099999 meters Centerline goodness : 0.769593 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.35 [[ 0.9792161 -0.1732718 -0.10541688 -0.95747723] [ 0.17317589 0.98483879 -0.01013282 -0.02201312] [ 0.10557436 -0.00833345 0.99437649 0.3543701 ] [ 0. 0. 0. 1. ]] SLAMing on 99.34992885099999 meters Centerline goodness : 0.768669 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.35 [[ 0.97923016 -0.17314262 -0.10549847 -0.95746787] [ 0.17306616 0.98485995 -0.00994924 -0.02312539] [ 0.10562386 -0.00851562 0.99436969 0.35473502] [ 0. 0. 0. 1. ]] SLAMing on 99.37992885099999 meters Centerline goodness : 0.767989 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.35 [[ 0.97924798 -0.17303026 -0.10551745 -0.95743826] [ 0.17297364 0.98487812 -0.00975793 -0.02388449] [ 0.10561025 -0.0086963 0.99436957 0.35480306] [ 0. 0. 0. 1. ]] SLAMing on 99.40992885099999 meters Centerline goodness : 0.767974 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.35 [[ 0.97926052 -0.17294428 -0.10554197 -0.9573653 ] [ 0.17290232 0.98489202 -0.0096172 -0.02439064] [ 0.10561069 -0.00883071 0.99436834 0.35484342] [ 0. 0. 0. 1. ]] SLAMing on 99.43992885099999 meters Centerline goodness : 0.769285 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.03, Z:0.36 [[ 0.97930544 -0.17265491 -0.10559899 -0.95736979] [ 0.17263221 0.98494126 -0.00942512 -0.02536985] [ 0.10563609 -0.00899972 0.99436413 0.35523624] [ 0. 0. 0. 1. ]] SLAMing on 99.46992885099999 meters Centerline goodness : 0.769115 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.03, Z:0.36 [[ 0.97932505 -0.17254385 -0.10559857 -0.9575438 ] [ 0.17253125 0.98495991 -0.00932402 -0.02618118] [ 0.10561916 -0.00908781 0.99436513 0.35560522] [ 0. 0. 0. 1. ]] SLAMing on 99.49992885099999 meters Centerline goodness : 0.768200 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.03, Z:0.36 [[ 0.97935262 -0.17241388 -0.10555517 -0.95771111] [ 0.17242069 0.98498109 -0.00913038 -0.02703456] [ 0.10554405 -0.00925803 0.99437153 0.35578162] [ 0. 0. 0. 1. ]] SLAMing on 99.529928851 meters Centerline goodness : 0.767461 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.03, Z:0.36 [[ 0.97935741 -0.17237063 -0.10558136 -0.95777777] [ 0.17238326 0.98498815 -0.00907548 -0.02770651] [ 0.10556073 -0.00931232 0.99436925 0.35608153] [ 0. 0. 0. 1. ]] SLAMing on 99.55992885099998 meters Centerline goodness : 0.769672 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.03, Z:0.36 [[ 0.97944666 -0.17171616 -0.10581969 -0.9568103 ] [ 0.17179455 0.98509662 -0.00844283 -0.02944579] [ 0.10569239 -0.00990994 0.99434949 0.35582349] [ 0. 0. 0. 1. ]] SLAMing on 99.58992885099998 meters Centerline goodness : 0.767806 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.03, Z:0.36 [[ 0.97950125 -0.17121962 -0.1061185 -0.95579326] [ 0.17134004 0.98517907 -0.00804951 -0.0303047 ] [ 0.10592396 -0.01029785 0.99432091 0.35555897] [ 0. 0. 0. 1. ]] SLAMing on 99.61992885099998 meters Centerline goodness : 0.768157 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.03, Z:0.36 [[ 0.97957408 -0.17056242 -0.10650391 -0.95436398] [ 0.17073263 0.9852882 -0.00758547 -0.03089219] [ 0.10623085 -0.01075316 0.99428335 0.35502994] [ 0. 0. 0. 1. ]] SLAMing on 99.64992885099998 meters Centerline goodness : 0.768166 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.03, Z:0.35 [[ 0.97973998 -0.16922774 -0.1071053 -0.95225979] [ 0.16947834 0.98551028 -0.00682486 -0.03140194] [ 0.10670833 -0.01146544 0.99422426 0.35440938] [ 0. 0. 0. 1. ]] SLAMing on 99.67992885099999 meters Centerline goodness : 0.769281 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.03, Z:0.35 [[ 0.97980625 -0.16867348 -0.10737302 -0.9514353 ] [ 0.16894421 0.98560327 -0.00663608 -0.03122341] [ 0.10694653 -0.01163798 0.99419666 0.35429455] [ 0. 0. 0. 1. ]] SLAMing on 99.70992885099999 meters Centerline goodness : 0.769161 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.03, Z:0.35 [[ 0.97987326 -0.16810278 -0.10765614 -0.95070316] [ 0.16839715 0.98569835 -0.00641646 -0.03099081] [ 0.1071951 -0.01184167 0.99416748 0.3542685 ] [ 0. 0. 0. 1. ]] SLAMing on 99.73992885099999 meters Centerline goodness : 0.769725 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.03, Z:0.35 [[ 0.980539 -0.16389787 -0.10807754 -0.95154834] [ 0.16460269 0.98635696 -0.00242834 -0.03249438] [ 0.10700103 -0.01540877 0.9941395 0.35475772] [ 0. 0. 0. 1. ]] SLAMing on 99.76992885099999 meters Centerline goodness : 0.769813 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.03, Z:0.36 [[ 0.98057919 -0.16342775 -0.10842423 -0.95088302] [ 0.16413529 0.98643485 -0.00242724 -0.03207158] [ 0.10735012 -0.01541614 0.99410175 0.35504515] [ 0. 0. 0. 1. ]] SLAMing on 99.79992885099999 meters Centerline goodness : 0.769813 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.03, Z:0.36 [[ 0.98057919 -0.16342775 -0.10842423 -0.95088302] [ 0.16413529 0.98643485 -0.00242724 -0.03207158] [ 0.10735012 -0.01541614 0.99410175 0.35504515] [ 0. 0. 0. 1. ]] SLAMing on 99.82992885099999 meters Centerline goodness : 0.770260 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.03, Z:0.36 [[ 0.98062564 -0.16303556 -0.10859444 -0.95048514] [ 0.16374211 0.98650016 -0.00243931 -0.03163553] [ 0.10752613 -0.01538944 0.99408314 0.35516554] [ 0. 0. 0. 1. ]] SLAMing on 99.85992885099999 meters Centerline goodness : 0.771956 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.03, Z:0.36 [[ 0.98076116 -0.16197289 -0.10896019 -0.94944324] [ 0.16270257 0.98667266 -0.00221971 -0.03101723] [ 0.10786758 -0.0155511 0.99404364 0.35528212] [ 0. 0. 0. 1. ]] SLAMing on 99.889928851 meters Centerline goodness : 0.770820 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.03, Z:0.36 [[ 0.98078607 -0.16170184 -0.10913846 -0.94910801] [ 0.16242152 0.98671873 -0.00232249 -0.03051052] [ 0.10806452 -0.01544856 0.99402384 0.35549261] [ 0. 0. 0. 1. ]] SLAMing on 99.919928851 meters Centerline goodness : 0.772954 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.03, Z:0.36 [[ 0.9808817 -0.16099233 -0.10932775 -0.94878317] [ 0.16172775 0.98683304 -0.00216561 -0.03037376] [ 0.10823688 -0.01555712 0.9940034 0.35585384] [ 0. 0. 0. 1. ]] SLAMing on 99.94992885099998 meters Centerline goodness : 0.775542 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.03, Z:0.36 [[ 0.98088881 -0.16079721 -0.10955089 -0.94838017] [ 0.16154028 0.98686385 -0.00211685 -0.03051421] [ 0.1084522 -0.01562048 0.99397893 0.35602621] [ 0. 0. 0. 1. ]] SLAMing on 99.97992885099998 meters Centerline goodness : 0.772997 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.03, Z:0.36 [[ 0.98092622 -0.16047129 -0.10969372 -0.94776231] [ 0.16123955 0.98691349 -0.00188866 -0.0307274 ] [ 0.10856129 -0.01583433 0.99396364 0.35574865] [ 0. 0. 0. 1. ]] SLAMing on 100.00992885099998 meters Centerline goodness : 0.773381 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.03, Z:0.36 [[ 0.98095113 -0.16019168 -0.10987949 -0.94720854] [ 0.16098191 0.98695589 -0.00169952 -0.03118663] [ 0.10871846 -0.01602146 0.99394346 0.35568203] [ 0. 0. 0. 1. ]] SLAMing on 100.03992885099998 meters Centerline goodness : 0.773937 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.03, Z:0.36 [[ 9.81040382e-01 -1.59302332e-01 -1.10374523e-01 -9.45542534e-01] [ 1.60178638e-01 9.87087596e-01 -9.39013853e-04 -3.28489306e-02] [ 1.09098910e-01 -1.67584304e-02 9.93889623e-01 3.55234150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.06992885099999 meters Centerline goodness : 0.774324 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.03, Z:0.36 [[ 9.81067651e-01 -1.59042461e-01 -1.10506831e-01 -9.45114433e-01] [ 1.59952539e-01 9.87124500e-01 -6.37496348e-04 -3.37026703e-02] [ 1.09185390e-01 -1.70504212e-02 9.93875160e-01 3.55127168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09992885099999 meters Centerline goodness : 0.830120 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:0.36 [[ 9.81097818e-01 -1.58787718e-01 -1.10605296e-01 -9.44755462e-01] [ 1.59725477e-01 9.87161396e-01 -3.86858619e-04 -3.43972492e-02] [ 1.09246707e-01 -1.72869375e-02 9.93864336e-01 3.55071059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.12992885099999 meters Centerline goodness : 0.828516 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:0.36 [[ 9.81121042e-01 -1.58545114e-01 -1.10747222e-01 -9.44504696e-01] [ 1.59500101e-01 9.87197883e-01 -2.39245106e-04 -3.46517780e-02] [ 1.09367355e-01 -1.74294647e-02 9.93848578e-01 3.55214304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.15992885099999 meters Centerline goodness : 0.827871 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.36 [[ 9.81191630e-01 -1.57781701e-01 -1.11211147e-01 -9.43750451e-01] [ 1.58770567e-01 9.87315505e-01 3.62493076e-05 -3.50601001e-02] [ 1.09794771e-01 -1.76926244e-02 9.93796800e-01 3.55820004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.18992885099999 meters Centerline goodness : 0.778564 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.36 [[ 9.81246019e-01 -1.57197211e-01 -1.11558450e-01 -9.42847108e-01] [ 1.58208061e-01 9.87405775e-01 2.11504841e-04 -3.50237435e-02] [ 1.10120210e-01 -1.78569844e-02 9.93757852e-01 3.55860850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.21992885099999 meters Centerline goodness : 0.778049 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.36 [[ 9.81295894e-01 -1.56618860e-01 -1.11932578e-01 -9.41934693e-01] [ 1.57653206e-01 9.87494461e-01 3.94765179e-04 -3.50301302e-02] [ 1.10470974e-01 -1.80339113e-02 9.93715725e-01 3.55916229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24992885099999 meters Centerline goodness : 0.778765 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.36 [[ 0.98195974 -0.15186957 -0.11265304 -0.94149904] [ 0.1533597 0.98815958 0.00463082 -0.03645072] [ 0.1106159 -0.02182372 0.99362359 0.35591138] [ 0. 0. 0. 1. ]] SLAMing on 100.279928851 meters Centerline goodness : 0.823403 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.36 [[ 0.98205597 -0.15099148 -0.11299404 -0.94051855] [ 0.15249489 0.98829293 0.00473215 -0.03546434] [ 0.1109567 -0.02187825 0.9935844 0.35594747] [ 0. 0. 0. 1. ]] SLAMing on 100.30992885099998 meters Centerline goodness : 0.828085 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:0.36 [[ 0.98214491 -0.15022306 -0.11324489 -0.93976255] [ 0.15172355 0.98841179 0.00470012 -0.03413777] [ 0.11122652 -0.02179811 0.99355599 0.35601862] [ 0. 0. 0. 1. ]] SLAMing on 100.33992885099998 meters Centerline goodness : 0.829711 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:0.36 [[ 0.9822404 -0.1493803 -0.11353115 -0.93895215] [ 0.15087932 0.98854112 0.00467888 -0.03297556] [ 0.11153128 -0.02172529 0.99352342 0.35621404] [ 0. 0. 0. 1. ]] SLAMing on 100.36992885099998 meters Centerline goodness : 0.836261 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:0.36 [[ 0.98289098 -0.14459515 -0.11409454 -0.93902009] [ 0.14654649 0.9891641 0.00886013 -0.03410681] [ 0.11157709 -0.02542869 0.99343039 0.35646346] [ 0. 0. 0. 1. ]] SLAMing on 100.39992885099998 meters Centerline goodness : 0.835711 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:0.36 [[ 0.98293205 -0.14419751 -0.1142439 -0.93874183] [ 0.14614377 0.98922419 0.00880336 -0.03363451] [ 0.1117434 -0.02534914 0.99341373 0.35673774] [ 0. 0. 0. 1. ]] SLAMing on 100.42992885099999 meters Centerline goodness : 0.779670 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:0.36 [[ 0.98294571 -0.14408316 -0.11427058 -0.93893379] [ 0.14600835 0.98924583 0.00861647 -0.03330096] [ 0.1118002 -0.02515398 0.9934123 0.35722137] [ 0. 0. 0. 1. ]] SLAMing on 100.45992885099999 meters Centerline goodness : 0.839431 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:0.36 [[ 0.98295262 -0.14401506 -0.11429701 -0.93909213] [ 0.14592633 0.98925902 0.0084908 -0.0332905 ] [ 0.11184655 -0.025025 0.99341034 0.35764388] [ 0. 0. 0. 1. ]] SLAMing on 100.48992885099999 meters Centerline goodness : 0.839705 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:0.36 [[ 0.98292933 -0.14422031 -0.1142385 -0.93981664] [ 0.14612557 0.98923005 0.00843891 -0.03425888] [ 0.1117911 -0.02498802 0.99341751 0.3584623 ] [ 0. 0. 0. 1. ]] SLAMing on 100.51992885099999 meters Centerline goodness : 0.841312 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.36 [[ 0.98287167 -0.14472423 -0.11409723 -0.94058514] [ 0.14660112 0.98916179 0.00818962 -0.03514426] [ 0.11167538 -0.02477613 0.99343583 0.35910132] [ 0. 0. 0. 1. ]] SLAMing on 100.54992885099999 meters Centerline goodness : 0.840052 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.36 [[ 0.98281706 -0.14516704 -0.11400511 -0.94106544] [ 0.14704982 0.98909479 0.00823746 -0.03683005] [ 0.11156605 -0.02486035 0.99344601 0.35948232] [ 0. 0. 0. 1. ]] SLAMing on 100.57992885099999 meters Centerline goodness : 0.842719 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.36 [[ 0.98220892 -0.14962821 -0.11347703 -0.94127646] [ 0.15110218 0.98850812 0.00445204 -0.03856119] [ 0.11150681 -0.02151946 0.99353065 0.36014238] [ 0. 0. 0. 1. ]] SLAMing on 100.60992885099999 meters Centerline goodness : 0.844449 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.36 [[ 0.98212058 -0.15040334 -0.1132166 -0.94233038] [ 0.15186572 0.98839154 0.00435501 -0.04038312] [ 0.11124732 -0.02147087 0.99356079 0.36068823] [ 0. 0. 0. 1. ]] SLAMing on 100.639928851 meters Centerline goodness : 0.842710 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.36 [[ 0.9820383 -0.15110776 -0.11299211 -0.94337442] [ 0.15255083 0.98828676 0.00418574 -0.0421824 ] [ 0.1110361 -0.0213476 0.99358707 0.36144077] [ 0. 0. 0. 1. ]] SLAMing on 100.669928851 meters Centerline goodness : 0.845876 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.36 [[ 9.81430804e-01 -1.55270276e-01 -1.12626454e-01 -9.43291388e-01] [ 1.56313138e-01 9.87707454e-01 4.34353720e-04 -4.35446615e-02] [ 1.11174546e-01 -1.80312826e-02 9.93637305e-01 3.62337646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69992885099998 meters Centerline goodness : 0.842578 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.36 [[ 9.81388498e-01 -1.55574841e-01 -1.12574800e-01 -9.43752386e-01] [ 1.56625815e-01 9.87657889e-01 4.97923984e-04 -4.50444671e-02] [ 1.11107925e-01 -1.81207767e-02 9.93643128e-01 3.62811418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72992885099998 meters Centerline goodness : 0.845422 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.36 [[ 0.98130165 -0.15591705 -0.11285808 -0.94293784] [ 0.15704356 0.98759106 0.00110598 -0.04667544] [ 0.11128519 -0.01880893 0.9936105 0.362955 ] [ 0. 0. 0. 1. ]] SLAMing on 100.75992885099998 meters Centerline goodness : 0.786400 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.36 [[ 0.98119183 -0.15744855 -0.11168058 -0.94377723] [ 0.15831321 0.98738829 -0.00113923 -0.04905353] [ 0.11045146 -0.01656271 0.9937435 0.36240208] [ 0. 0. 0. 1. ]] SLAMing on 100.78992885099998 meters Centerline goodness : 0.786535 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.36 [[ 9.81299389e-01 -1.56715427e-01 -1.11766652e-01 -9.43174348e-01] [ 1.57687494e-01 9.87489055e-01 -1.44292238e-04 -5.07161276e-02] [ 1.10390958e-01 -1.74826094e-02 9.93734469e-01 3.61996539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81992885099999 meters Centerline goodness : 0.787122 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.36 [[ 9.81427669e-01 -1.56220393e-01 -1.11332470e-01 -9.44023644e-01] [ 1.57222782e-01 9.87563135e-01 2.27133212e-04 -5.21776528e-02] [ 1.09912360e-01 -1.77269155e-02 9.93783190e-01 3.62123926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.84992885099999 meters Centerline goodness : 0.788146 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.05, Z:0.36 [[ 0.98163771 -0.15510604 -0.11103838 -0.94433517] [ 0.15618667 0.987727 0.00104744 -0.05362228] [ 0.10951315 -0.01837092 0.99381557 0.3617078 ] [ 0. 0. 0. 1. ]] SLAMing on 100.87992885099999 meters Centerline goodness : 0.787925 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.05, Z:0.36 [[ 0.98181051 -0.15432461 -0.11059851 -0.94521868] [ 0.15543856 0.98784447 0.00146928 -0.0549801 ] [ 0.10902738 -0.01863383 0.99386408 0.3617997 ] [ 0. 0. 0. 1. ]] SLAMing on 100.90992885099999 meters Centerline goodness : 0.849188 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.06, Z:0.36 [[ 0.98210744 -0.15290265 -0.1099352 -0.94626594] [ 0.15409538 0.9880531 0.00238577 -0.05770853] [ 0.10825703 -0.01928358 0.99393589 0.36163535] [ 0. 0. 0. 1. ]] SLAMing on 100.93992885099999 meters Centerline goodness : 0.848984 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.06, Z:0.36 [[ 0.98218607 -0.1525315 -0.10974817 -0.9463444 ] [ 0.15377356 0.98810188 0.0028938 -0.05905429] [ 0.10800097 -0.01971862 0.99395521 0.36135024] [ 0. 0. 0. 1. ]] SLAMing on 100.96992885099999 meters Centerline goodness : 0.789971 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.06, Z:0.36 [[ 0.98232492 -0.15188016 -0.10940828 -0.94643873] [ 0.15317769 0.98819245 0.00350459 -0.06094147] [ 0.10758415 -0.02020155 0.99399072 0.3608296 ] [ 0. 0. 0. 1. ]] SLAMing on 100.99992885099999 meters Centerline goodness : 0.851036 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.06, Z:0.36 [[ 0.98235563 -0.1518033 -0.1092391 -0.9466773 ] [ 0.15311895 0.98820081 0.00370854 -0.06245697] [ 0.10738719 -0.02036968 0.99400858 0.36097888] [ 0. 0. 0. 1. ]] SLAMing on 101.029928851 meters Centerline goodness : 0.791324 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.07, Z:0.36 [[ 0.98219939 -0.15346433 -0.10831927 -0.94679174] [ 0.15457177 0.98797983 0.00185224 -0.06600033] [ 0.106733 -0.01856237 0.99411443 0.36039136] [ 0. 0. 0. 1. ]] SLAMing on 101.05992885099998 meters Centerline goodness : 0.792363 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.07, Z:0.36 [[ 0.98200335 -0.15454116 -0.10856543 -0.94557911] [ 0.15571165 0.98779979 0.0023363 -0.06821565] [ 0.10687985 -0.01919915 0.99408656 0.36031554] [ 0. 0. 0. 1. ]] SLAMing on 101.08992885099998 meters Centerline goodness : 0.847368 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.07, Z:0.36 [[ 0.98173676 -0.15595774 -0.10895011 -0.94436687] [ 0.15720134 0.98756241 0.00286676 -0.07069663] [ 0.10714794 -0.01994151 0.99404309 0.36078422] [ 0. 0. 0. 1. ]] SLAMing on 101.11992885099998 meters Centerline goodness : 0.849887 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.07, Z:0.36 [[ 0.98150316 -0.15716497 -0.10931932 -0.94323171] [ 0.15854159 0.98734435 0.00396203 -0.0735384 ] [ 0.10731312 -0.02122041 0.99399879 0.36132266] [ 0. 0. 0. 1. ]] SLAMing on 101.14992885099998 meters Centerline goodness : 0.795001 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.08, Z:0.36 [[ 0.98068855 -0.16216752 -0.10932368 -0.94261276] [ 0.16342322 0.98655272 0.00256546 -0.07762824] [ 0.10743754 -0.02038194 0.99400289 0.36329102] [ 0. 0. 0. 1. ]] SLAMing on 101.17992885099999 meters Centerline goodness : 0.848259 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.08, Z:0.36 [[ 0.98039848 -0.16356817 -0.10983747 -0.94103929] [ 0.16498278 0.98628892 0.00385471 -0.08094462] [ 0.10770097 -0.02190044 0.99394209 0.36380098] [ 0. 0. 0. 1. ]] SLAMing on 101.20992885099999 meters Centerline goodness : 0.850255 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.08, Z:0.36 [[ 0.9801092 -0.1651252 -0.1100892 -0.94000131] [ 0.16664763 0.98600526 0.0047104 -0.08479504] [ 0.10777072 -0.02296281 0.99391055 0.36451422] [ 0. 0. 0. 1. ]] SLAMing on 101.23992885099999 meters Centerline goodness : 0.798587 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.09, Z:0.36 [[ 0.97965987 -0.16803836 -0.10967976 -0.93938806] [ 0.16933806 0.98555465 0.00257766 -0.08712985] [ 0.10766225 -0.02109819 0.99396363 0.36466105] [ 0. 0. 0. 1. ]] SLAMing on 101.26992885099999 meters Centerline goodness : 0.798586 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.09, Z:0.37 [[ 0.97898826 -0.1717765 -0.1098855 -0.93761473] [ 0.17304695 0.98491142 0.00205931 -0.09256528] [ 0.10787374 -0.02103139 0.99394212 0.36573285] [ 0. 0. 0. 1. ]] SLAMing on 101.29992885099999 meters Centerline goodness : 0.843887 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.10, Z:0.37 [[ 0.97878567 -0.17259829 -0.11040124 -0.93637491] [ 0.17406447 0.98472727 0.00370973 -0.09585506] [ 0.10807482 -0.02284796 0.99388018 0.36650033] [ 0. 0. 0. 1. ]] SLAMing on 101.32992885099999 meters Centerline goodness : 0.797368 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.10, Z:0.37 [[ 0.97858783 -0.17338055 -0.11092809 -0.93500364] [ 0.1750238 0.98455059 0.0051767 -0.09875994] [ 0.10831677 -0.02448092 0.99381495 0.36705676] [ 0. 0. 0. 1. ]] SLAMing on 101.35992885099999 meters Centerline goodness : 0.774354 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.10, Z:0.37 [[ 0.97841086 -0.17398737 -0.1115374 -0.93349041] [ 0.17580186 0.98440366 0.00656858 -0.10149098] [ 0.10865497 -0.02603526 0.99373853 0.36756102] [ 0. 0. 0. 1. ]] SLAMing on 101.389928851 meters Centerline goodness : 0.849051 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.11, Z:0.37 [[ 0.97791035 -0.17708002 -0.1110586 -0.93250248] [ 0.17871629 0.98388857 0.00487587 -0.10530162] [ 0.10840587 -0.02461615 0.9938019 0.36747211] [ 0. 0. 0. 1. ]] SLAMing on 101.419928851 meters Centerline goodness : 0.844749 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.11, Z:0.37 [[ 0.97779745 -0.17731063 -0.11168294 -0.93051858] [ 0.17909344 0.98381342 0.00605759 -0.1078853 ] [ 0.10880109 -0.02592478 0.99372543 0.36725254] [ 0. 0. 0. 1. ]] SLAMing on 101.44992885099998 meters Centerline goodness : 0.850766 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.11, Z:0.37 [[ 0.97768326 -0.17758915 -0.11223876 -0.92863531] [ 0.17949958 0.98373265 0.00706964 -0.11007284] [ 0.10915745 -0.02705868 0.99365612 0.36697907] [ 0. 0. 0. 1. ]] SLAMing on 101.47992885099998 meters Centerline goodness : 0.851129 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.11, Z:0.37 [[ 0.97723587 -0.17954983 -0.11301292 -0.92650465] [ 0.18160794 0.98333764 0.00810248 -0.11309339] [ 0.10967506 -0.02844208 0.99356048 0.36765515] [ 0. 0. 0. 1. ]] SLAMing on 101.50992885099998 meters Centerline goodness : 0.841283 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.11, Z:0.37 [[ 0.97701695 -0.18019729 -0.11387189 -0.92447712] [ 0.18238409 0.98318617 0.00900017 -0.11449401] [ 0.11033546 -0.02956174 0.99345467 0.36788725] [ 0. 0. 0. 1. ]] SLAMing on 101.53992885099998 meters Centerline goodness : 0.841945 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.12, Z:0.37 [[ 0.97683395 -0.18084772 -0.11440955 -0.92319009] [ 0.18313841 0.98303879 0.00975002 -0.11584896] [ 0.11070575 -0.03047694 0.99338582 0.36822427] [ 0. 0. 0. 1. ]] SLAMing on 101.56992885099999 meters Centerline goodness : 0.852584 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.12, Z:0.37 [[ 0.97672507 -0.18106939 -0.11498699 -0.9217215 ] [ 0.18347422 0.9829674 0.01059744 -0.1171768 ] [ 0.11110959 -0.03144794 0.99331047 0.36825613] [ 0. 0. 0. 1. ]] SLAMing on 101.59992885099999 meters Centerline goodness : 0.848789 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.12, Z:0.37 [[ 0.97656562 -0.18153368 -0.11560756 -0.92057581] [ 0.1840859 0.98284045 0.01170622 -0.11899396] [ 0.11149871 -0.03271362 0.99322599 0.36897809] [ 0. 0. 0. 1. ]] SLAMing on 101.62992885099999 meters Centerline goodness : 0.841195 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.12, Z:0.37 [[ 0.976536 -0.18146821 -0.11596005 -0.91964428] [ 0.18411042 0.98282728 0.01240556 -0.1201087 ] [ 0.11171749 -0.03346393 0.9931764 0.3689789 ] [ 0. 0. 0. 1. ]] SLAMing on 101.65992885099999 meters Centerline goodness : 0.837415 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.12, Z:0.37 [[ 0.9763884 -0.18189555 -0.11653199 -0.91842414] [ 0.18461557 0.98272618 0.01289762 -0.12075687] [ 0.11217301 -0.0341067 0.99310319 0.36925735] [ 0. 0. 0. 1. ]] SLAMing on 101.68992885099999 meters Centerline goodness : 0.849666 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.12, Z:0.37 [[ 0.97607642 -0.18296738 -0.11746388 -0.91666819] [ 0.18578275 0.98249961 0.01338948 -0.1209276 ] [ 0.11295838 -0.03489192 0.99298689 0.3698096 ] [ 0. 0. 0. 1. ]] SLAMing on 101.71992885099999 meters Centerline goodness : 0.849666 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.12, Z:0.37 [[ 0.97607642 -0.18296738 -0.11746388 -0.91666819] [ 0.18578275 0.98249961 0.01338948 -0.1209276 ] [ 0.11295838 -0.03489192 0.99298689 0.3698096 ] [ 0. 0. 0. 1. ]] SLAMing on 101.74992885099999 meters Centerline goodness : 0.842266 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.12, Z:0.37 [[ 0.97594457 -0.18326228 -0.11809798 -0.915514 ] [ 0.18614426 0.98242609 0.01375837 -0.12073367] [ 0.11350115 -0.03541067 0.99290663 0.3700679 ] [ 0. 0. 0. 1. ]] SLAMing on 101.779928851 meters Centerline goodness : 0.842815 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.12, Z:0.37 [[ 0.9758216 -0.18356186 -0.11864757 -0.91452537] [ 0.18649073 0.98235729 0.01397715 -0.12042845] [ 0.11398863 -0.03576587 0.99283805 0.37023763] [ 0. 0. 0. 1. ]] SLAMing on 101.80992885099998 meters Centerline goodness : 0.842409 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.12, Z:0.37 [[ 0.97570593 -0.18387095 -0.11911933 -0.91356028] [ 0.18682419 0.98229329 0.01402179 -0.11994583] [ 0.11443192 -0.03593552 0.99278093 0.37024116] [ 0. 0. 0. 1. ]] SLAMing on 101.83992885099998 meters Centerline goodness : 0.844651 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.12, Z:0.37 [[ 0.97559663 -0.18421219 -0.11948675 -0.91275062] [ 0.18712703 0.98224222 0.01355383 -0.11841854] [ 0.11486814 -0.03558227 0.99274328 0.36995514] [ 0. 0. 0. 1. ]] SLAMing on 101.86992885099998 meters Centerline goodness : 0.842190 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.12, Z:0.37 [[ 0.97579399 -0.18212495 -0.12106438 -0.91080991] [ 0.18551604 0.98248964 0.01725994 -0.11885077] [ 0.11580104 -0.03930153 0.99249459 0.37039591] [ 0. 0. 0. 1. ]] SLAMing on 101.89992885099998 meters Centerline goodness : 0.849385 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.12, Z:0.37 [[ 0.97578262 -0.1820479 -0.12127178 -0.91045799] [ 0.185415 0.98251344 0.01698848 -0.11759232] [ 0.11605843 -0.03906267 0.99247395 0.37024737] [ 0. 0. 0. 1. ]] SLAMing on 101.92992885099999 meters Centerline goodness : 0.849240 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.12, Z:0.37 [[ 0.97570946 -0.18218429 -0.12165498 -0.91004545] [ 0.18551559 0.98250201 0.01654586 -0.11569312] [ 0.11651187 -0.03871285 0.99243453 0.37033236] [ 0. 0. 0. 1. ]] SLAMing on 101.95992885099999 meters Centerline goodness : 0.844661 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.11, Z:0.37 [[ 0.97589265 -0.17998357 -0.12344821 -0.90827617] [ 0.18370351 0.98279124 0.01934919 -0.11256657] [ 0.11784128 -0.0415606 0.99216236 0.37068231] [ 0. 0. 0. 1. ]] SLAMing on 101.98992885099999 meters Centerline goodness : 0.845681 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.11, Z:0.37 [[ 0.97605545 -0.17797071 -0.12506872 -0.90650774] [ 0.18212213 0.98301869 0.02248974 -0.11132586] [ 0.11894237 -0.04472902 0.99189315 0.37111847] [ 0. 0. 0. 1. ]] SLAMing on 102.01992885099999 meters Centerline goodness : 0.844919 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.11, Z:0.37 [[ 0.97597628 -0.17804567 -0.12557886 -0.90547544] [ 0.18212615 0.9830356 0.02170408 -0.10814558] [ 0.11958418 -0.04405386 0.9918462 0.37048629] [ 0. 0. 0. 1. ]] SLAMing on 102.04992885099999 meters Centerline goodness : 0.799689 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.10, Z:0.37 [[ 0.97607001 -0.17641519 -0.12714171 -0.90355738] [ 0.18071656 0.98326537 0.02303785 -0.10302519] [ 0.12094982 -0.04546317 0.99161698 0.36991687] [ 0. 0. 0. 1. ]] SLAMing on 102.07992885099999 meters Centerline goodness : 0.851210 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.10, Z:0.37 [[ 0.97630417 -0.17415882 -0.12844797 -0.90184713] [ 0.17884486 0.98353874 0.02580833 -0.10144761] [ 0.12183881 -0.04816904 0.99138038 0.369512 ] [ 0. 0. 0. 1. ]] SLAMing on 102.10992885099999 meters Centerline goodness : 0.852201 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.10, Z:0.37 [[ 0.97645018 -0.1723702 -0.12974423 -0.90085757] [ 0.17739254 0.98373849 0.02811512 -0.0987858 ] [ 0.12278818 -0.05046867 0.99114882 0.36987007] [ 0. 0. 0. 1. ]] SLAMing on 102.139928851 meters Centerline goodness : 0.853454 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.09, Z:0.37 [[ 0.97641671 -0.17220104 -0.13021989 -0.90030914] [ 0.17710579 0.98382182 0.02698446 -0.0943277 ] [ 0.12346642 -0.04941078 0.99111786 0.36941188] [ 0. 0. 0. 1. ]] SLAMing on 102.169928851 meters Centerline goodness : 0.855414 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.09, Z:0.37 [[ 0.97668885 -0.16990534 -0.13119097 -0.90082055] [ 0.17494097 0.98418699 0.02777833 -0.08660922] [ 0.12439676 -0.05008146 0.99096786 0.36957185] [ 0. 0. 0. 1. ]] SLAMing on 102.19992885099998 meters Centerline goodness : 0.797510 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.08, Z:0.37 [[ 0.97691105 -0.16778284 -0.13226383 -0.90039471] [ 0.17311975 0.98444811 0.02985768 -0.08339253] [ 0.12519728 -0.05206578 0.99076475 0.3698604 ] [ 0. 0. 0. 1. ]] SLAMing on 102.22992885099998 meters Centerline goodness : 0.851862 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.08, Z:0.37 [[ 0.97690045 -0.16787776 -0.13222163 -0.90112715] [ 0.17298447 0.98452506 0.02804943 -0.07883864] [ 0.12546663 -0.05027379 0.99082323 0.36979751] [ 0. 0. 0. 1. ]] SLAMing on 102.25992885099998 meters Centerline goodness : 0.855059 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.37 [[ 0.97720453 -0.16521256 -0.1333271 -0.90126164] [ 0.17051949 0.98491742 0.029339 -0.07157439] [ 0.12646902 -0.05140508 0.99063773 0.36984296] [ 0. 0. 0. 1. ]] SLAMing on 102.28992885099998 meters Centerline goodness : 0.851394 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.37 [[ 0.97710869 -0.16560124 -0.1335471 -0.9017184 ] [ 0.17072636 0.98492609 0.02780466 -0.06634739] [ 0.12692954 -0.04996818 0.99065235 0.36995753] [ 0. 0. 0. 1. ]] SLAMing on 102.31992885099999 meters Centerline goodness : 0.852193 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.37 [[ 0.97734901 -0.16326263 -0.1346634 -0.90112913] [ 0.16873271 0.98519962 0.03018248 -0.06332187] [ 0.12774266 -0.05222093 0.99043162 0.37019135] [ 0. 0. 0. 1. ]] SLAMing on 102.34992885099999 meters Centerline goodness : 0.850727 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.37 [[ 0.97776029 -0.16109431 -0.13428861 -0.90329431] [ 0.1666741 0.98551433 0.03132481 -0.05593517] [ 0.1272971 -0.05301059 0.99044703 0.36971098] [ 0. 0. 0. 1. ]] SLAMing on 102.37992885099999 meters Centerline goodness : 0.849600 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.05, Z:0.37 [[ 0.97767955 -0.16174547 -0.1340936 -0.90394877] [ 0.16713015 0.98548295 0.02984726 -0.05108764] [ 0.1273193 -0.05159214 0.99051908 0.36976494] [ 0. 0. 0. 1. ]] SLAMing on 102.40992885099999 meters Centerline goodness : 0.792394 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.05, Z:0.37 [[ 0.97758575 -0.16247461 -0.1338959 -0.90479308] [ 0.16765159 0.98544101 0.02826572 -0.04606914] [ 0.12735405 -0.05008003 0.99059222 0.37002295] [ 0. 0. 0. 1. ]] SLAMing on 102.43992885099999 meters Centerline goodness : 0.850633 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.04, Z:0.37 [[ 0.97749848 -0.16312775 -0.13373879 -0.90539967] [ 0.16810444 0.98540676 0.02672859 -0.04094189] [ 0.12742694 -0.04860924 0.9906561 0.37013801] [ 0. 0. 0. 1. ]] SLAMing on 102.46992885099999 meters Centerline goodness : 0.846798 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.03, Z:0.37 [[ 0.97791486 -0.16098831 -0.1332865 -0.90771337] [ 0.16608191 0.9857158 0.02794919 -0.03327772] [ 0.12688312 -0.04946841 0.99068338 0.36944025] [ 0. 0. 0. 1. ]] SLAMing on 102.49992885099999 meters Centerline goodness : 0.789774 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.03, Z:0.37 [[ 0.97784071 -0.16155945 -0.13313938 -0.90822834] [ 0.16645708 0.98569413 0.0264408 -0.02796807] [ 0.12696294 -0.04801688 0.99074456 0.36948591] [ 0. 0. 0. 1. ]] SLAMing on 102.529928851 meters Centerline goodness : 0.791981 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.02, Z:0.37 [[ 0.97779581 -0.16200529 -0.13292717 -0.90876249] [ 0.16671425 0.98568775 0.02502019 -0.02254823] [ 0.12697128 -0.0466255 0.99080995 0.36940547] [ 0. 0. 0. 1. ]] SLAMing on 102.55992885099998 meters Centerline goodness : 0.792205 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.01, Z:0.37 [[ 0.97824356 -0.15953075 -0.13262535 -0.91058809] [ 0.16433611 0.98606059 0.02604143 -0.01379245] [ 0.12662222 -0.04726999 0.99082408 0.36879319] [ 0. 0. 0. 1. ]] SLAMing on 102.58992885099998 meters Centerline goodness : 0.844291 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.01, Z:0.37 [[ 0.97825905 -0.15941098 -0.13265512 -0.9102759 ] [ 0.16408334 0.98612969 0.02499802 -0.00861221] [ 0.12683019 -0.04622104 0.99084697 0.36845465] [ 0. 0. 0. 1. ]] SLAMing on 102.61992885099998 meters Centerline goodness : 0.792330 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.01, Z:0.37 [[ 0.97880255 -0.15590094 -0.13281741 -0.91129086] [ 0.16093075 0.98656986 0.02795018 -0.00567753] [ 0.12667619 -0.04873211 0.99074635 0.36801001] [ 0. 0. 0. 1. ]] SLAMing on 102.64992885099998 meters Centerline goodness : 0.791704 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.00, Z:0.37 [[ 0.97933556 -0.15267828 -0.13263186 -0.91350225] [ 0.15785033 0.98702721 0.02933547 0.00279495] [ 0.12643236 -0.04966525 0.99073115 0.36828917] [ 0. 0. 0. 1. ]] SLAMing on 102.67992885099999 meters Centerline goodness : 0.796450 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.01, Z:0.37 [[ 0.979405 -0.15227052 -0.13258781 -0.9134805 ] [ 0.15731419 0.98714095 0.02837238 0.0077525 ] [ 0.12656258 -0.048646 0.9907651 0.36838829] [ 0. 0. 0. 1. ]] SLAMing on 102.70992885099999 meters Centerline goodness : 0.797598 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.01, Z:0.37 [[ 0.9794376 -0.15214584 -0.13249013 -0.91372344] [ 0.15703963 0.98721643 0.02724467 0.01266962] [ 0.12665127 -0.04749066 0.99080982 0.36858503] [ 0. 0. 0. 1. ]] SLAMing on 102.73992885099999 meters Centerline goodness : 0.798567 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.02, Z:0.37 [[ 0.98000462 -0.14842218 -0.13252096 -0.9152439 ] [ 0.15354162 0.98770979 0.02922901 0.01937974] [ 0.12655402 -0.04899205 0.99074914 0.36882033] [ 0. 0. 0. 1. ]] SLAMing on 102.76992885099999 meters Centerline goodness : 0.800347 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.02, Z:0.37 [[ 0.98000195 -0.14856021 -0.13238595 -0.91562215] [ 0.15352843 0.98774493 0.02808882 0.02367521] [ 0.12659067 -0.04785211 0.99080017 0.36902116] [ 0. 0. 0. 1. ]] SLAMing on 102.79992885099999 meters Centerline goodness : 0.801032 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.03, Z:0.37 [[ 0.97999116 -0.14866666 -0.13234631 -0.91593112] [ 0.15348979 0.98778233 0.02696211 0.02759059] [ 0.12672098 -0.04673644 0.99083677 0.36948514] [ 0. 0. 0. 1. ]] SLAMing on 102.82992885099999 meters Centerline goodness : 0.799774 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.03, Z:0.37 [[ 0.98046751 -0.14558194 -0.13224735 -0.9181 ] [ 0.15069966 0.98813944 0.02949676 0.0313848 ] [ 0.12638462 -0.04885025 0.99077777 0.36963485] [ 0. 0. 0. 1. ]] SLAMing on 102.85992885099999 meters Centerline goodness : 0.802140 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.03, Z:0.37 [[ 0.98042142 -0.14584146 -0.13230306 -0.91820902] [ 0.15086843 0.98813575 0.02874829 0.03359681] [ 0.12654069 -0.04814579 0.99079233 0.36992288] [ 0. 0. 0. 1. ]] SLAMing on 102.889928851 meters Centerline goodness : 0.800301 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.04, Z:0.37 [[ 0.98037489 -0.14626734 -0.13217768 -0.91878484] [ 0.15120336 0.98810441 0.0280575 0.03543006] [ 0.12650146 -0.04749258 0.99082886 0.37021403] [ 0. 0. 0. 1. ]] SLAMing on 102.91992885099998 meters Centerline goodness : 0.802493 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.04, Z:0.37 [[ 0.98032122 -0.14675933 -0.13203032 -0.91953493] [ 0.15160493 0.98806204 0.02737407 0.037127 ] [ 0.12643674 -0.04685183 0.99086763 0.37059287] [ 0. 0. 0. 1. ]] SLAMing on 102.94992885099998 meters Centerline goodness : 0.799979 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.04, Z:0.37 [[ 0.98022463 -0.14777242 -0.13161681 -0.92156033] [ 0.15245654 0.98796291 0.02619716 0.03971508] [ 0.12616131 -0.04574494 0.99095445 0.37166545] [ 0. 0. 0. 1. ]] SLAMing on 102.97992885099998 meters Centerline goodness : 0.801489 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.04, Z:0.37 [[ 0.98016231 -0.14836959 -0.13140895 -0.92250382] [ 0.15297454 0.98789815 0.02561339 0.04053197] [ 0.12601841 -0.0452075 0.9909973 0.37219871] [ 0. 0. 0. 1. ]] SLAMing on 103.00992885099998 meters Centerline goodness : 0.800740 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.04, Z:0.37 [[ 0.9801218 -0.14887747 -0.13113642 -0.92340762] [ 0.15343662 0.98783405 0.02531978 0.04067603] [ 0.12577148 -0.0449376 0.99104094 0.37241288] [ 0. 0. 0. 1. ]] SLAMing on 103.03992885099998 meters Centerline goodness : 0.800333 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.04, Z:0.37 [[ 0.98001934 -0.14983656 -0.13080942 -0.92483538] [ 0.15433296 0.98770552 0.02488264 0.0403205 ] [ 0.12547285 -0.04457367 0.99109523 0.37293696] [ 0. 0. 0. 1. ]] SLAMing on 103.06992885099999 meters Centerline goodness : 0.800454 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.04, Z:0.37 [[ 0.97996941 -0.15034814 -0.13059633 -0.92563275] [ 0.15480748 0.98763748 0.0246342 0.0399422 ] [ 0.12527812 -0.04435806 0.99112953 0.37328134] [ 0. 0. 0. 1. ]] SLAMing on 103.09992885099999 meters Centerline goodness : 0.797004 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.04, Z:0.37 [[ 0.97992541 -0.15086458 -0.13033064 -0.92648246] [ 0.155302 0.9875626 0.02452348 0.03939597] [ 0.12500994 -0.04427179 0.99116725 0.37342668] [ 0. 0. 0. 1. ]] SLAMing on 103.12992885099999 meters Centerline goodness : 0.797265 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.04, Z:0.37 [[ 0.97987263 -0.1513946 -0.13011269 -0.92738592] [ 0.15580356 0.98748807 0.02434264 0.03870978] [ 0.12479939 -0.04412471 0.99120034 0.37383553] [ 0. 0. 0. 1. ]] SLAMing on 103.15992885099999 meters Centerline goodness : 0.798753 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.04, Z:0.37 [[ 0.97974443 -0.15257724 -0.12969596 -0.92923669] [ 0.15695563 0.98730973 0.02417507 0.03686929] [ 0.12436152 -0.0440419 0.99125906 0.37447908] [ 0. 0. 0. 1. ]] SLAMing on 103.18992885099999 meters Centerline goodness : 0.795772 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.04, Z:0.37 [[ 0.97968922 -0.15311687 -0.12947683 -0.93017972] [ 0.15747035 0.98723152 0.02402134 0.03598546] [ 0.12414554 -0.04392221 0.99129144 0.37494509] [ 0. 0. 0. 1. ]] SLAMing on 103.21992885099999 meters Centerline goodness : 0.798714 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.04, Z:0.38 [[ 0.97965397 -0.15348898 -0.12930285 -0.93088926] [ 0.15783642 0.98717328 0.02401229 0.035104 ] [ 0.1239587 -0.04393243 0.99131437 0.37524229] [ 0. 0. 0. 1. ]] SLAMing on 103.24992885099999 meters Centerline goodness : 0.796429 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.03, Z:0.38 [[ 0.97959919 -0.15405316 -0.12904667 -0.93193772] [ 0.15839409 0.98708383 0.02401723 0.03348788] [ 0.12367995 -0.04396749 0.99134763 0.37574768] [ 0. 0. 0. 1. ]] SLAMing on 103.279928851 meters Centerline goodness : 0.795594 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.03, Z:0.38 [[ 0.97957406 -0.15432208 -0.12891608 -0.93253338] [ 0.15865045 0.98704437 0.02394677 0.03269068] [ 0.12355038 -0.04391023 0.99136633 0.37614233] [ 0. 0. 0. 1. ]] SLAMing on 103.30992885099998 meters Centerline goodness : 0.798042 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.03, Z:0.38 [[ 0.97955859 -0.15446069 -0.12886763 -0.93282191] [ 0.15879274 0.98702056 0.02398518 0.03185519] [ 0.12349023 -0.04395813 0.9913717 0.37640893] [ 0. 0. 0. 1. ]] SLAMing on 103.33992885099998 meters Centerline goodness : 0.796996 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.03, Z:0.38 [[ 0.9795531 -0.15456156 -0.12878834 -0.93312191] [ 0.15889607 0.9870029 0.02402724 0.03119092] [ 0.12340078 -0.04399992 0.99138098 0.37661385] [ 0. 0. 0. 1. ]] SLAMing on 103.36992885099998 meters Centerline goodness : 0.795744 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.03, Z:0.38 [[ 0.97953201 -0.15464969 -0.12884295 -0.93311309] [ 0.15903455 0.98697129 0.02440668 0.02911119] [ 0.1233898 -0.0443976 0.99136462 0.37678635] [ 0. 0. 0. 1. ]] SLAMing on 103.39992885099998 meters Centerline goodness : 0.793256 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.03, Z:0.38 [[ 0.97953007 -0.15469512 -0.1288032 -0.93321493] [ 0.15911354 0.98695156 0.02468807 0.02769752] [ 0.12330339 -0.04467704 0.99136282 0.37683155] [ 0. 0. 0. 1. ]] SLAMing on 103.42992885099999 meters Centerline goodness : 0.792509 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.03, Z:0.38 [[ 0.97951444 -0.15477967 -0.12882052 -0.93334071] [ 0.15922702 0.9869277 0.02490926 0.02620493] [ 0.12328109 -0.04491069 0.99135503 0.37710851] [ 0. 0. 0. 1. ]] SLAMing on 103.45992885099999 meters Centerline goodness : 0.791803 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.02, Z:0.38 [[ 0.97950956 -0.15487352 -0.12874475 -0.93345994] [ 0.15935925 0.98689795 0.02524023 0.02452901] [ 0.12314889 -0.04523971 0.9913565 0.3770556 ] [ 0. 0. 0. 1. ]] SLAMing on 103.48992885099999 meters Centerline goodness : 0.791502 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.02, Z:0.38 [[ 0.97947697 -0.15505447 -0.12877488 -0.93351155] [ 0.15960713 0.98684454 0.02575699 0.02114009] [ 0.12308705 -0.04578177 0.9913393 0.37736642] [ 0. 0. 0. 1. ]] SLAMing on 103.51992885099999 meters Centerline goodness : 0.790026 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.02, Z:0.38 [[ 0.9794694 -0.15508137 -0.12880009 -0.93361241] [ 0.15967054 0.98682685 0.02603994 0.01964042] [ 0.12306508 -0.04607091 0.99132863 0.37756811] [ 0. 0. 0. 1. ]] SLAMing on 103.54992885099999 meters Centerline goodness : 0.787145 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.02, Z:0.38 [[ 0.97948928 -0.15484177 -0.12893709 -0.93311148] [ 0.15953168 0.98682859 0.02681378 0.01644124] [ 0.12308691 -0.04683336 0.99129019 0.37757516] [ 0. 0. 0. 1. ]] SLAMing on 103.57992885099999 meters Centerline goodness : 0.786752 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.01, Z:0.38 [[ 0.97951252 -0.15457083 -0.12908555 -0.93256567] [ 0.15932854 0.98684756 0.02731872 0.01486928] [ 0.12316509 -0.04732604 0.99125708 0.37741408] [ 0. 0. 0. 1. ]] SLAMing on 103.60992885099999 meters Centerline goodness : 0.786752 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.01, Z:0.38 [[ 0.97951252 -0.15457083 -0.12908555 -0.93256567] [ 0.15932854 0.98684756 0.02731872 0.01486928] [ 0.12316509 -0.04732604 0.99125708 0.37741408] [ 0. 0. 0. 1. ]] SLAMing on 103.639928851 meters Centerline goodness : 0.787681 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.01, Z:0.38 [[ 0.97952405 -0.15440453 -0.12919702 -0.93236493] [ 0.15920116 0.98686033 0.0275986 0.01353951] [ 0.12323806 -0.04760181 0.99123481 0.37765052] [ 0. 0. 0. 1. ]] SLAMing on 103.66992885099998 meters Centerline goodness : 0.787651 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.01, Z:0.38 [[ 0.97955061 -0.15422094 -0.12921498 -0.93211176] [ 0.15905953 0.98687355 0.02794023 0.01221512] [ 0.12320988 -0.04792174 0.9912229 0.37759202] [ 0. 0. 0. 1. ]] SLAMing on 103.69992885099998 meters Centerline goodness : 0.784726 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.01, Z:0.38 [[ 0.97955971 -0.15405629 -0.12934234 -0.931886 ] [ 0.15893721 0.98688472 0.02824045 0.01073423] [ 0.12329536 -0.04822052 0.99119778 0.37784923] [ 0. 0. 0. 1. ]] SLAMing on 103.72992885099998 meters Centerline goodness : 0.784451 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.01, Z:0.38 [[ 0.97957522 -0.15389512 -0.12941672 -0.93167427] [ 0.1588446 0.98688427 0.02877186 0.00774802] [ 0.12329148 -0.04874135 0.99117279 0.37814611] [ 0. 0. 0. 1. ]] SLAMing on 103.75992885099998 meters Centerline goodness : 0.782743 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.01, Z:0.38 [[ 0.97957554 -0.15387393 -0.12943948 -0.93164844] [ 0.15885937 0.98687366 0.02905314 0.00650671] [ 0.12326989 -0.04902242 0.99116161 0.37819569] [ 0. 0. 0. 1. ]] SLAMing on 103.78992885099998 meters Centerline goodness : 0.782310 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.01, Z:0.38 [[ 0.97958542 -0.1537256 -0.12954088 -0.93145828] [ 0.15874852 0.98688353 0.02932258 0.00538785] [ 0.12333413 -0.04928839 0.99114043 0.3783729 ] [ 0. 0. 0. 1. ]] SLAMing on 103.81992885099999 meters Centerline goodness : 0.782581 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.00, Z:0.38 [[ 0.97961187 -0.15336161 -0.12977213 -0.93080632] [ 0.15845677 0.98691518 0.029831 0.00351047] [ 0.12349915 -0.04978608 0.991095 0.37849657] [ 0. 0. 0. 1. ]] SLAMing on 103.84992885099999 meters Centerline goodness : 0.781987 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.00, Z:0.38 [[ 0.97962619 -0.15323746 -0.12981069 -0.93060145] [ 0.15835986 0.98692435 0.03004133 0.00268921] [ 0.12350987 -0.04998608 0.9910836 0.37848587] [ 0. 0. 0. 1. ]] SLAMing on 103.87992885099999 meters Centerline goodness : 0.780666 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.00, Z:0.38 [[ 0.97962598 -0.15312865 -0.12994056 -0.93030395] [ 0.15827664 0.98693286 0.03020008 0.0017552 ] [ 0.12361811 -0.05015134 0.99106176 0.37863308] [ 0. 0. 0. 1. ]] SLAMing on 103.90992885099999 meters Centerline goodness : 0.779568 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.00, Z:0.38 [[ 9.79644531e-01 -1.52927239e-01 -1.30037891e-01 -9.30107154e-01] [ 1.58123055e-01 9.86946533e-01 3.05555387e-02 6.79247178e-05] [ 1.23667672e-01 -5.04955550e-02 9.91038095e-01 3.78867870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.93992885099999 meters Centerline goodness : 0.780372 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.00, Z:0.38 [[ 9.79645616e-01 -1.52897131e-01 -1.30065117e-01 -9.30003847e-01] [ 1.58107224e-01 9.86945813e-01 3.06605306e-02 -6.53452279e-04] [ 1.23679316e-01 -5.06006891e-02 9.91031280e-01 3.78951469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.96992885099999 meters Centerline goodness : 0.779281 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.00, Z:0.38 [[ 0.97964474 -0.15284573 -0.13013211 -0.92991278] [ 0.15806721 0.98695015 0.03072719 -0.0011347 ] [ 0.12373738 -0.05067135 0.99102042 0.37912147] [ 0. 0. 0. 1. ]] SLAMing on 103.99992885099999 meters Centerline goodness : 0.779227 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.00, Z:0.38 [[ 0.97964654 -0.15273088 -0.13025333 -0.92973258] [ 0.15797002 0.98696265 0.03082536 -0.00164285] [ 0.12384719 -0.05077408 0.99100145 0.37933047] [ 0. 0. 0. 1. ]] SLAMing on 104.029928851 meters Centerline goodness : 0.834619 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.00, Z:0.38 [[ 0.97965779 -0.1525851 -0.13033958 -0.92975527] [ 0.15786964 0.98696815 0.03116159 -0.00349224] [ 0.12388622 -0.05110436 0.99097959 0.3797844 ] [ 0. 0. 0. 1. ]] SLAMing on 104.05992885099998 meters Centerline goodness : 0.780912 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.00, Z:0.38 [[ 0.97963527 -0.15278179 -0.13027839 -0.93011008] [ 0.15806562 0.98693653 0.03116957 -0.00431403] [ 0.12381436 -0.05112734 0.99098739 0.38009959] [ 0. 0. 0. 1. ]] SLAMing on 104.08992885099998 meters Centerline goodness : 0.832958 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.01, Z:0.38 [[ 0.97961973 -0.15284885 -0.13031656 -0.93018527] [ 0.15815711 0.98691631 0.03134519 -0.00546367] [ 0.12382046 -0.05131686 0.99097683 0.38033652] [ 0. 0. 0. 1. ]] SLAMing on 104.11992885099998 meters Centerline goodness : 0.835018 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.01, Z:0.38 [[ 0.97959663 -0.15297857 -0.13033806 -0.93027343] [ 0.15831937 0.98688252 0.03158896 -0.0068431 ] [ 0.12379592 -0.05157947 0.99096626 0.38046995] [ 0. 0. 0. 1. ]] SLAMing on 104.14992885099998 meters Centerline goodness : 0.832174 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.01, Z:0.38 [[ 0.97955769 -0.15321325 -0.13035505 -0.93054001] [ 0.15860262 0.9868252 0.03195671 -0.00949163] [ 0.12374146 -0.0519781 0.99095223 0.38093803] [ 0. 0. 0. 1. ]] SLAMing on 104.17992885099999 meters Centerline goodness : 0.836719 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.01, Z:0.38 [[ 0.97953903 -0.15330873 -0.13038295 -0.93065111] [ 0.15872365 0.98679967 0.03214382 -0.01076356] [ 0.12373392 -0.05218098 0.99094251 0.38118347] [ 0. 0. 0. 1. ]] SLAMing on 104.20992885099999 meters Centerline goodness : 0.835121 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.01, Z:0.38 [[ 0.97952916 -0.15340228 -0.13034707 -0.93095056] [ 0.15883739 0.98677576 0.03231524 -0.01192863] [ 0.1236661 -0.0523577 0.99094166 0.38147774] [ 0. 0. 0. 1. ]] SLAMing on 104.23992885099999 meters Centerline goodness : 0.778267 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.01, Z:0.38 [[ 0.97950158 -0.15368917 -0.13021631 -0.93180253] [ 0.15912256 0.986729 0.03234037 -0.01345259] [ 0.12351784 -0.05239779 0.99095803 0.38228761] [ 0. 0. 0. 1. ]] SLAMing on 104.26992885099999 meters Centerline goodness : 0.834396 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.01, Z:0.38 [[ 0.97948525 -0.15375241 -0.13026451 -0.93177002] [ 0.15919469 0.98671582 0.03238728 -0.01412628] [ 0.12355443 -0.05246028 0.99095016 0.38248525] [ 0. 0. 0. 1. ]] SLAMing on 104.29992885099999 meters Centerline goodness : 0.833617 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.01, Z:0.38 [[ 0.97946873 -0.15387751 -0.13024098 -0.93191644] [ 0.15932562 0.98669307 0.03243673 -0.01496684] [ 0.12351658 -0.05252149 0.99095164 0.382684 ] [ 0. 0. 0. 1. ]] SLAMing on 104.32992885099999 meters Centerline goodness : 0.832393 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.02, Z:0.38 [[ 0.9794533 -0.15401078 -0.13019951 -0.93201321] [ 0.1594801 0.98666217 0.03261692 -0.01614674] [ 0.12343957 -0.05271098 0.99095117 0.38271729] [ 0. 0. 0. 1. ]] SLAMing on 104.35992885099999 meters Centerline goodness : 0.833579 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.02, Z:0.38 [[ 0.9794171 -0.15420297 -0.13024437 -0.93192452] [ 0.1597133 0.98661453 0.0329154 -0.01805757] [ 0.12342534 -0.05303966 0.99093541 0.38277038] [ 0. 0. 0. 1. ]] SLAMing on 104.389928851 meters Centerline goodness : 0.830397 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.02, Z:0.38 [[ 0.97938483 -0.15449365 -0.13014251 -0.93237936] [ 0.159989 0.98657298 0.03282199 -0.01842528] [ 0.1233243 -0.05296673 0.99095189 0.38301421] [ 0. 0. 0. 1. ]] SLAMing on 104.41992885099998 meters Centerline goodness : 0.829790 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.02, Z:0.38 [[ 0.97935548 -0.15470415 -0.13011332 -0.93278223] [ 0.16018664 0.98654433 0.03271886 -0.01879241] [ 0.12330082 -0.05288581 0.99095913 0.38343007] [ 0. 0. 0. 1. ]] SLAMing on 104.44992885099998 meters Centerline goodness : 0.777627 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.02, Z:0.38 [[ 0.97932327 -0.15503903 -0.12995706 -0.93353452] [ 0.16048437 0.98650424 0.0324678 -0.01892945] [ 0.12316942 -0.05265254 0.99098789 0.38394976] [ 0. 0. 0. 1. ]] SLAMing on 104.47992885099998 meters Centerline goodness : 0.827819 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.02, Z:0.38 [[ 0.97924948 -0.15565433 -0.12977741 -0.93479693] [ 0.16103518 0.9864301 0.03198941 -0.01908778] [ 0.12303705 -0.05222434 0.99102699 0.38495028] [ 0. 0. 0. 1. ]] SLAMing on 104.50992885099998 meters Centerline goodness : 0.827854 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.39 [[ 0.97922028 -0.15593945 -0.12965544 -0.93529131] [ 0.16129553 0.98639288 0.03182507 -0.0191576 ] [ 0.12292842 -0.0520766 0.99104825 0.38518652] [ 0. 0. 0. 1. ]] SLAMing on 104.53992885099998 meters Centerline goodness : 0.829313 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.39 [[ 0.97919491 -0.15626536 -0.12945445 -0.93580105] [ 0.16158631 0.98635227 0.03160798 -0.01908816] [ 0.12274846 -0.05186844 0.99108147 0.38527421] [ 0. 0. 0. 1. ]] SLAMing on 104.56992885099999 meters Centerline goodness : 0.829225 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.39 [[ 0.97914355 -0.15673504 -0.12927501 -0.93630491] [ 0.16203014 0.98628458 0.03144783 -0.0192554 ] [ 0.12257298 -0.05173839 0.99110999 0.38528474] [ 0. 0. 0. 1. ]] SLAMing on 104.59992885099999 meters Centerline goodness : 0.829917 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.39 [[ 0.9790902 -0.1571596 -0.12916359 -0.93679755] [ 0.16242275 0.9862275 0.0312116 -0.01927602] [ 0.12247948 -0.05153807 0.99113198 0.38550211] [ 0. 0. 0. 1. ]] SLAMing on 104.62992885099999 meters Centerline goodness : 0.831780 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.39 [[ 0.97902962 -0.15775782 -0.1288933 -0.93774303] [ 0.1629693 0.98614802 0.03087214 -0.01928415] [ 0.12223755 -0.05123039 0.9911778 0.3858296 ] [ 0. 0. 0. 1. ]] SLAMing on 104.65992885099999 meters Centerline goodness : 0.832398 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.39 [[ 0.97897548 -0.1582703 -0.12867603 -0.93845714] [ 0.16345799 0.98607125 0.03074056 -0.01985428] [ 0.12201842 -0.05112738 0.99121012 0.38602456] [ 0. 0. 0. 1. ]] SLAMing on 104.68992885099999 meters Centerline goodness : 0.835410 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.39 [[ 0.9783018 -0.16277697 -0.12817662 -0.93841438] [ 0.16742149 0.98553555 0.02626264 -0.01862754] [ 0.12204766 -0.04715231 0.99140356 0.38662263] [ 0. 0. 0. 1. ]] SLAMing on 104.71992885099999 meters Centerline goodness : 0.775609 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.39 [[ 0.97824324 -0.16328394 -0.12797862 -0.93914881] [ 0.16789682 0.98546028 0.0260519 -0.01891266] [ 0.12186399 -0.0469723 0.9914347 0.38691074] [ 0. 0. 0. 1. ]] SLAMing on 104.74992885099999 meters Centerline goodness : 0.834731 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.39 [[ 0.97818769 -0.16376491 -0.12778847 -0.93982217] [ 0.16834672 0.985389 0.02584385 -0.01901404] [ 0.12168904 -0.0467929 0.99146467 0.38712595] [ 0. 0. 0. 1. ]] SLAMing on 104.779928851 meters Centerline goodness : 0.832074 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.39 [[ 0.97815517 -0.16412717 -0.12757251 -0.94043597] [ 0.16868984 0.98533278 0.02574976 -0.01924305] [ 0.12147514 -0.04670745 0.99149493 0.38721651] [ 0. 0. 0. 1. ]] SLAMing on 104.80992885099998 meters Centerline goodness : 0.834705 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.39 [[ 0.97812226 -0.16442358 -0.12744304 -0.94079555] [ 0.1689551 0.98529311 0.02552763 -0.01922221] [ 0.12137141 -0.04650129 0.99151733 0.38738403] [ 0. 0. 0. 1. ]] SLAMing on 104.83992885099998 meters Centerline goodness : 0.835515 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.39 [[ 0.97809605 -0.16462954 -0.12737827 -0.94114865] [ 0.16913105 0.98526892 0.02529503 -0.01877268] [ 0.12133754 -0.04628459 0.99153161 0.38758991] [ 0. 0. 0. 1. ]] SLAMing on 104.86992885099998 meters Centerline goodness : 0.833514 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.39 [[ 0.97806448 -0.16484808 -0.12733807 -0.94162983] [ 0.16930534 0.98524815 0.02493577 -0.01817293] [ 0.12134899 -0.04594781 0.99154588 0.38807071] [ 0. 0. 0. 1. ]] SLAMing on 104.89992885099998 meters Centerline goodness : 0.831375 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.39 [[ 0.97804716 -0.16502125 -0.12724673 -0.94237894] [ 0.16938945 0.98525124 0.0242323 -0.01615512] [ 0.12137116 -0.04525459 0.99157504 0.38875873] [ 0. 0. 0. 1. ]] SLAMing on 104.92992885099999 meters Centerline goodness : 0.776213 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.39 [[ 0.978039 -0.16493757 -0.1274179 -0.94213685] [ 0.16927534 0.98527836 0.02392499 -0.01511922] [ 0.12159597 -0.04496828 0.99156052 0.38898647] [ 0. 0. 0. 1. ]] SLAMing on 104.95992885099999 meters Centerline goodness : 0.776161 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.39 [[ 0.97803676 -0.16485639 -0.12754004 -0.94181705] [ 0.16916832 0.98530281 0.02367395 -0.01424118] [ 0.12176275 -0.04472973 0.99155085 0.38904957] [ 0. 0. 0. 1. ]] SLAMing on 104.98992885099999 meters Centerline goodness : 0.776003 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.39 [[ 0.97802908 -0.1648434 -0.12761574 -0.94158881] [ 0.16912802 0.98531569 0.02342446 -0.01336235] [ 0.12188042 -0.0444932 0.99154703 0.38903804] [ 0. 0. 0. 1. ]] SLAMing on 105.01992885099999 meters Centerline goodness : 0.775755 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.39 [[ 0.97800482 -0.1649317 -0.12768752 -0.9415091 ] [ 0.16917695 0.98531559 0.02307272 -0.01218388] [ 0.12200708 -0.04416701 0.99154604 0.38916117] [ 0. 0. 0. 1. ]] SLAMing on 105.04992885099999 meters Centerline goodness : 0.776652 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.39 [[ 0.97799163 -0.16501397 -0.12768229 -0.94153116] [ 0.16924431 0.98530692 0.02294844 -0.01188419] [ 0.12201943 -0.04405289 0.9915496 0.38917957] [ 0. 0. 0. 1. ]] SLAMing on 105.07992885099999 meters Centerline goodness : 0.774634 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.39 [[ 0.97797056 -0.1651136 -0.12771484 -0.94149991] [ 0.16932491 0.98529707 0.02277603 -0.0115948 ] [ 0.12207642 -0.04389959 0.99154938 0.38927268] [ 0. 0. 0. 1. ]] SLAMing on 105.10992885099999 meters Centerline goodness : 0.832280 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.39 [[ 0.9779449 -0.16528995 -0.12768324 -0.94160793] [ 0.16947447 0.98527635 0.02255912 -0.0112039 ] [ 0.12207448 -0.04370063 0.99155841 0.3893114 ] [ 0. 0. 0. 1. ]] SLAMing on 105.139928851 meters Centerline goodness : 0.828887 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.39 [[ 0.97788654 -0.16578667 -0.12748608 -0.94221005] [ 0.16992704 0.98520563 0.0222409 -0.01083358] [ 0.12191276 -0.04341241 0.99159097 0.38940804] [ 0. 0. 0. 1. ]] SLAMing on 105.16992885099998 meters Centerline goodness : 0.771125 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.39 [[ 0.97780753 -0.16644757 -0.12723067 -0.94304007] [ 0.17056714 0.98509767 0.02212296 -0.0115438 ] [ 0.12165232 -0.04333337 0.99162641 0.38955428] [ 0. 0. 0. 1. ]] SLAMing on 105.19992885099998 meters Centerline goodness : 0.825639 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.39 [[ 0.97775458 -0.16694752 -0.12698234 -0.94368723] [ 0.171058 0.9850129 0.02210767 -0.01257151] [ 0.12138843 -0.04333722 0.99165858 0.38965496] [ 0. 0. 0. 1. ]] SLAMing on 105.22992885099998 meters Centerline goodness : 0.826201 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.39 [[ 0.97712763 -0.1707918 -0.12669549 -0.94256263] [ 0.17442094 0.98450585 0.01804324 -0.01200833] [ 0.12165082 -0.03972889 0.99177754 0.38989403] [ 0. 0. 0. 1. ]] SLAMing on 105.25992885099998 meters Centerline goodness : 0.826641 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.39 [[ 0.97709641 -0.17104853 -0.1265899 -0.94297903] [ 0.17465772 0.9844665 0.01789941 -0.01215664] [ 0.12156185 -0.03959935 0.99179363 0.39011628] [ 0. 0. 0. 1. ]] SLAMing on 105.28992885099998 meters Centerline goodness : 0.769735 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.39 [[ 0.97705375 -0.17139891 -0.12644521 -0.94369022] [ 0.17496075 0.98441919 0.01753863 -0.01185494] [ 0.12146899 -0.03925914 0.99181853 0.39062642] [ 0. 0. 0. 1. ]] SLAMing on 105.31992885099999 meters Centerline goodness : 0.821036 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.01, Z:0.39 [[ 0.97698131 -0.17202565 -0.12615347 -0.94519537] [ 0.1755027 0.98433386 0.01690153 -0.010873 ] [ 0.12126963 -0.03865276 0.99186675 0.39156014] [ 0. 0. 0. 1. ]] SLAMing on 105.34992885099999 meters Centerline goodness : 0.820693 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.01, Z:0.39 [[ 0.97696629 -0.17219015 -0.1260453 -0.94553044] [ 0.17563901 0.98431306 0.01669536 -0.01062873] [ 0.12119326 -0.03844927 0.99188399 0.39175453] [ 0. 0. 0. 1. ]] SLAMing on 105.37992885099999 meters Centerline goodness : 0.821009 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.01, Z:0.39 [[ 0.97695218 -0.17231947 -0.12597791 -0.94565511] [ 0.17575637 0.98429354 0.01661106 -0.01058214] [ 0.12113683 -0.03836963 0.99189397 0.39176027] [ 0. 0. 0. 1. ]] SLAMing on 105.40992885099999 meters Centerline goodness : 0.822050 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.01, Z:0.39 [[ 0.97693222 -0.17241201 -0.12600612 -0.94547561] [ 0.17581877 0.98428677 0.01634972 -0.00995451] [ 0.12120727 -0.03812681 0.99189472 0.39175583] [ 0. 0. 0. 1. ]] SLAMing on 105.43992885099999 meters Centerline goodness : 0.823229 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.01, Z:0.39 [[ 0.97692616 -0.1724864 -0.12595129 -0.94544328] [ 0.1758763 0.98427856 0.01622447 -0.00946888] [ 0.12117265 -0.03800195 0.99190375 0.39157918] [ 0. 0. 0. 1. ]] SLAMing on 105.46992885099999 meters Centerline goodness : 0.824408 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.01, Z:0.39 [[ 0.97690682 -0.17257123 -0.12598506 -0.94538611] [ 0.17593272 0.98427254 0.01597616 -0.00888299] [ 0.12124661 -0.03777211 0.99190349 0.391659 ] [ 0. 0. 0. 1. ]] SLAMing on 105.49992885099999 meters Centerline goodness : 0.827251 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.01, Z:0.39 [[ 0.97689877 -0.17261133 -0.12599258 -0.94523289] [ 0.17594741 0.98427335 0.01576343 -0.00809217] [ 0.1212902 -0.03756735 0.99190593 0.39153427] [ 0. 0. 0. 1. ]] SLAMing on 105.529928851 meters Centerline goodness : 0.827251 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.01, Z:0.39 [[ 0.97689877 -0.17261133 -0.12599258 -0.94523289] [ 0.17594741 0.98427335 0.01576343 -0.00809217] [ 0.1212902 -0.03756735 0.99190593 0.39153427] [ 0. 0. 0. 1. ]] SLAMing on 105.55992885099998 meters Centerline goodness : 0.829466 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.39 [[ 0.97691204 -0.17249774 -0.12604522 -0.94495111] [ 0.17577636 0.98431146 0.01528452 -0.00605115] [ 0.12143121 -0.0370874 0.99190674 0.39147503] [ 0. 0. 0. 1. ]] SLAMing on 105.58992885099998 meters Centerline goodness : 0.825804 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.39 [[ 0.97689876 -0.17256264 -0.12605931 -0.94503765] [ 0.17579063 0.98431537 0.0148628 -0.00468951] [ 0.12151735 -0.0366795 0.99191136 0.39167847] [ 0. 0. 0. 1. ]] SLAMing on 105.61992885099998 meters Centerline goodness : 0.827987 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.39 [[ 0.97687665 -0.17269336 -0.12605166 -0.94521267] [ 0.17585391 0.98431231 0.01430662 -0.00309967] [ 0.12160354 -0.03614248 0.99192051 0.39196406] [ 0. 0. 0. 1. ]] SLAMing on 105.64992885099998 meters Centerline goodness : 0.828408 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.39 [[ 9.76879442e-01 -1.72728303e-01 -1.25982100e-01 -9.45569626e-01] [ 1.75789694e-01 9.84334947e-01 1.35164675e-02 -3.30010977e-04] [ 1.21673907e-01 -3.53503141e-02 9.91940429e-01 3.92401887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67992885099999 meters Centerline goodness : 0.826777 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.00, Z:0.39 [[ 9.76857612e-01 -1.72930931e-01 -1.25873347e-01 -9.46037245e-01] [ 1.75937325e-01 9.84314374e-01 1.30870747e-02 8.32459057e-04] [ 1.21635785e-01 -3.49300285e-02 9.91959994e-01 3.92662082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.70992885099999 meters Centerline goodness : 0.784966 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.00, Z:0.39 [[ 0.97681624 -0.17316628 -0.12587089 -0.94632903] [ 0.17612028 0.98428742 0.01264595 0.00179476] [ 0.12170328 -0.03452118 0.99196603 0.39302806] [ 0. 0. 0. 1. ]] SLAMing on 105.73992885099999 meters Centerline goodness : 0.826543 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.00, Z:0.39 [[ 0.97679764 -0.17330756 -0.12582078 -0.94648429] [ 0.17622532 0.9842723 0.01235603 0.00256517] [ 0.12170052 -0.03424215 0.99197604 0.39310465] [ 0. 0. 0. 1. ]] SLAMing on 105.76992885099999 meters Centerline goodness : 0.764979 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.00, Z:0.39 [[ 0.97676622 -0.17356387 -0.12571132 -0.94668928] [ 0.17643707 0.98423868 0.01200769 0.00369368] [ 0.12164585 -0.03390884 0.99199419 0.39303047] [ 0. 0. 0. 1. ]] SLAMing on 105.79992885099999 meters Centerline goodness : 0.824755 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.00, Z:0.39 [[ 0.97676283 -0.17368063 -0.12557634 -0.94678016] [ 0.17653994 0.98422124 0.01192493 0.00392075] [ 0.12152377 -0.03381707 0.99201229 0.39282192] [ 0. 0. 0. 1. ]] SLAMing on 105.82992885099999 meters Centerline goodness : 0.765923 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.00, Z:0.39 [[ 0.97674507 -0.17385301 -0.12547587 -0.94688204] [ 0.17669215 0.9841957 0.01177759 0.00426771] [ 0.12144525 -0.03367431 0.99202676 0.39269879] [ 0. 0. 0. 1. ]] SLAMing on 105.85992885099999 meters Centerline goodness : 0.766277 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.00, Z:0.39 [[ 0.9767208 -0.17403367 -0.12541436 -0.94694137] [ 0.17685688 0.98416759 0.01165335 0.00459702] [ 0.12140068 -0.03356247 0.99203601 0.3925701 ] [ 0. 0. 0. 1. ]] SLAMing on 105.889928851 meters Centerline goodness : 0.767047 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.00, Z:0.39 [[ 0.97670146 -0.17424663 -0.12526922 -0.94680726] [ 0.17708494 0.98412478 0.01180413 0.00415294] [ 0.12122372 -0.0337124 0.99205256 0.39198756] [ 0. 0. 0. 1. ]] SLAMing on 105.91992885099998 meters Centerline goodness : 0.767490 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.00, Z:0.39 [[ 0.97668881 -0.17434285 -0.12523397 -0.94664559] [ 0.17720494 0.98410078 0.01200265 0.00312323] [ 0.12115027 -0.03391493 0.99205463 0.39176045] [ 0. 0. 0. 1. ]] SLAMing on 105.94992885099998 meters Centerline goodness : 0.766085 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.00, Z:0.39 [[ 0.97666674 -0.17460993 -0.12503378 -0.94687082] [ 0.17748046 0.98404979 0.01211193 0.00207155] [ 0.12092461 -0.03402037 0.99207855 0.39156346] [ 0. 0. 0. 1. ]] SLAMing on 105.97992885099998 meters Centerline goodness : 0.765628 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.00, Z:0.39 [[ 0.97664494 -0.17483926 -0.12488348 -0.94720237] [ 0.17771261 0.98400725 0.01216352 0.00113353] [ 0.12075959 -0.03407281 0.99209685 0.39165083] [ 0. 0. 0. 1. ]] SLAMing on 106.00992885099998 meters Centerline goodness : 0.825161 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.00, Z:0.39 [[ 9.76530394e-01 -1.75841164e-01 -1.24371522e-01 -9.48926687e-01] [ 1.78655939e-01 9.83841275e-01 1.17644276e-02 5.30732673e-04] [ 1.20293166e-01 -3.37080322e-02 9.92165975e-01 3.92224251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03992885099998 meters Centerline goodness : 0.818086 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.39 [[ 9.76488667e-01 -1.76210628e-01 -1.24176075e-01 -9.49610368e-01] [ 1.79011343e-01 9.83777668e-01 1.16807270e-02 -1.75002800e-05] [ 1.20103382e-01 -3.36350236e-02 9.92191445e-01 3.92495338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.06992885099999 meters Centerline goodness : 0.766564 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.39 [[ 9.76454981e-01 -1.76465167e-01 -1.24079467e-01 -9.49876127e-01] [ 1.79266375e-01 9.83731041e-01 1.16963935e-02 -9.27622129e-04] [ 1.19996817e-01 -3.36642779e-02 9.92203346e-01 3.92636982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09992885099999 meters Centerline goodness : 0.821475 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.39 [[ 0.97643957 -0.1766301 -0.12396598 -0.95008506] [ 0.17943645 0.98369926 0.01176088 -0.00172249] [ 0.11986791 -0.03372781 0.99221677 0.39266927] [ 0. 0. 0. 1. ]] SLAMing on 106.12992885099999 meters Centerline goodness : 0.767701 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.39 [[ 0.97643977 -0.17668601 -0.12388476 -0.95014131] [ 0.17949567 0.9836879 0.0118079 -0.00225366] [ 0.11977764 -0.03376648 0.99222636 0.39264444] [ 0. 0. 0. 1. ]] SLAMing on 106.15992885099999 meters Centerline goodness : 0.814369 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.39 [[ 0.97643455 -0.17671585 -0.12388329 -0.95026618] [ 0.17950913 0.98368708 0.01167086 -0.00242622] [ 0.11979997 -0.03363401 0.99222816 0.3929889 ] [ 0. 0. 0. 1. ]] SLAMing on 106.18992885099999 meters Centerline goodness : 0.815859 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.39 [[ 0.97642089 -0.17679132 -0.1238833 -0.95038327] [ 0.1795602 0.98368019 0.01146407 -0.00216017] [ 0.1198348 -0.03343827 0.99223057 0.39322714] [ 0. 0. 0. 1. ]] SLAMing on 106.21992885099999 meters Centerline goodness : 0.811656 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.39 [[ 0.976426 -0.17673428 -0.1239244 -0.95032722] [ 0.1794906 0.98369419 0.01135218 -0.00173917] [ 0.11989739 -0.03332783 0.99222672 0.39336648] [ 0. 0. 0. 1. ]] SLAMing on 106.24992885099999 meters Centerline goodness : 0.767134 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.39 [[ 9.76462093e-01 -1.76510375e-01 -1.23959142e-01 -9.50155610e-01] [ 1.79243776e-01 9.83741315e-01 1.11666128e-02 -7.21708088e-04] [ 1.19972706e-01 -3.31226787e-02 9.92224490e-01 3.93434652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27992885099998 meters Centerline goodness : 0.813922 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.39 [[ 9.76473237e-01 -1.76418001e-01 -1.24002851e-01 -9.50032028e-01] [ 1.79140902e-01 9.83761108e-01 1.10733549e-02 -3.92302478e-04] [ 1.20035643e-01 -3.30268172e-02 9.92220073e-01 3.93533642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30992885099998 meters Centerline goodness : 0.814517 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.39 [[ 9.76489249e-01 -1.76352385e-01 -1.23970090e-01 -9.49982244e-01] [ 1.79078249e-01 9.83772091e-01 1.11109933e-02 -6.69444892e-04] [ 1.19998865e-01 -3.30501122e-02 9.92223746e-01 3.93523214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33992885099998 meters Centerline goodness : 0.816555 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.39 [[ 9.76496381e-01 -1.76342308e-01 -1.23928240e-01 -9.50107951e-01] [ 1.79064548e-01 9.83774785e-01 1.10932468e-02 -9.77264116e-04] [ 1.19961269e-01 -3.30236695e-02 9.92229173e-01 3.93691833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36992885099998 meters Centerline goodness : 0.816905 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.39 [[ 0.97647157 -0.17667508 -0.12364942 -0.95092155] [ 0.17936411 0.98372265 0.01087489 -0.00111463] [ 0.11971541 -0.03279729 0.99226637 0.39399547] [ 0. 0. 0. 1. ]] SLAMing on 106.39992885099998 meters Centerline goodness : 0.818195 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.39 [[ 0.97646216 -0.17677334 -0.12358333 -0.95106334] [ 0.17945745 0.98370594 0.01084636 -0.0012558 ] [ 0.11965231 -0.03276901 0.99227492 0.39402842] [ 0. 0. 0. 1. ]] SLAMing on 106.42992885099999 meters Centerline goodness : 0.818291 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.39 [[ 0.97646346 -0.1768285 -0.1234941 -0.95117202] [ 0.17951395 0.98369528 0.01087872 -0.00157548] [ 0.11955689 -0.03279159 0.99228568 0.39399083] [ 0. 0. 0. 1. ]] SLAMing on 106.45992885099999 meters Centerline goodness : 0.820165 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.39 [[ 0.97646594 -0.17684146 -0.12345595 -0.95111481] [ 0.1795352 0.98369052 0.01095732 -0.0021265 ] [ 0.11950474 -0.03286414 0.99228956 0.3939437 ] [ 0. 0. 0. 1. ]] SLAMing on 106.48992885099999 meters Centerline goodness : 0.816233 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.39 [[ 0.97643424 -0.17721285 -0.12317379 -0.95146619] [ 0.17992645 0.98361655 0.01117812 -0.00410773] [ 0.11917487 -0.03307692 0.99232216 0.39378292] [ 0. 0. 0. 1. ]] SLAMing on 106.51992885099999 meters Centerline goodness : 0.815788 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.01, Z:0.39 [[ 0.97641721 -0.17738095 -0.12306677 -0.95161355] [ 0.18010999 0.98358126 0.01132649 -0.00532452] [ 0.11903706 -0.03322494 0.99233375 0.3937903 ] [ 0. 0. 0. 1. ]] SLAMing on 106.54992885099999 meters Centerline goodness : 0.819392 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.01, Z:0.39 [[ 0.97640668 -0.17754318 -0.12291628 -0.95191418] [ 0.18029827 0.98354386 0.01157641 -0.00678942] [ 0.11883824 -0.03346487 0.99234952 0.39379282] [ 0. 0. 0. 1. ]] SLAMing on 106.57992885099999 meters Centerline goodness : 0.816781 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.01, Z:0.39 [[ 0.9760932 -0.17968059 -0.12229863 -0.95283765] [ 0.18221869 0.98320916 0.00980242 -0.00957963] [ 0.11848383 -0.03185317 0.99244494 0.3948026 ] [ 0. 0. 0. 1. ]] SLAMing on 106.60992885099999 meters Centerline goodness : 0.818585 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.01, Z:0.40 [[ 0.97605268 -0.18011073 -0.12198888 -0.95367161] [ 0.18265732 0.98312648 0.00993156 -0.01132632] [ 0.11814171 -0.03197589 0.99248178 0.39504129] [ 0. 0. 0. 1. ]] SLAMing on 106.639928851 meters Centerline goodness : 0.818177 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.01, Z:0.40 [[ 0.97602934 -0.18037292 -0.12178805 -0.95409783] [ 0.18295063 0.98306885 0.01023242 -0.01309092] [ 0.11788039 -0.03226834 0.99250338 0.3950138 ] [ 0. 0. 0. 1. ]] SLAMing on 106.66992885099998 meters Centerline goodness : 0.765418 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.01, Z:0.40 [[ 0.97601962 -0.18053528 -0.1216253 -0.95443743] [ 0.18314073 0.98303062 0.01050142 -0.01478269] [ 0.11766552 -0.03252413 0.99252053 0.39512019] [ 0. 0. 0. 1. ]] SLAMing on 106.69992885099998 meters Centerline goodness : 0.818448 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.02, Z:0.40 [[ 0.97600882 -0.18071465 -0.12144548 -0.95472548] [ 0.1833551 0.98298702 0.01083646 -0.01728546] [ 0.11742102 -0.03284413 0.99253895 0.39527952] [ 0. 0. 0. 1. ]] SLAMing on 106.72992885099998 meters Centerline goodness : 0.821360 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.02, Z:0.40 [[ 0.97602505 -0.18059559 -0.12149208 -0.9545485 ] [ 0.18327329 0.98299882 0.01114529 -0.0185001 ] [ 0.11741378 -0.03314433 0.99252983 0.39529384] [ 0. 0. 0. 1. ]] SLAMing on 106.75992885099998 meters Centerline goodness : 0.819761 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.02, Z:0.40 [[ 0.97605758 -0.18045339 -0.12144204 -0.95426306] [ 0.18316026 0.9830168 0.01141491 -0.01952553] [ 0.1173197 -0.03338496 0.99253289 0.39505268] [ 0. 0. 0. 1. ]] SLAMing on 106.78992885099998 meters Centerline goodness : 0.822467 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.02, Z:0.39 [[ 0.9760985 -0.18014317 -0.12157363 -0.95366168] [ 0.18290143 0.98306007 0.01183034 -0.02093934] [ 0.11738303 -0.03378357 0.99251191 0.39489815] [ 0. 0. 0. 1. ]] SLAMing on 106.81992885099999 meters Centerline goodness : 0.822365 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.02, Z:0.39 [[ 0.9761476 -0.17975975 -0.12174681 -0.95295084] [ 0.18257506 0.98311516 0.01228509 -0.02226787] [ 0.11748277 -0.03422 0.99248516 0.39471268] [ 0. 0. 0. 1. ]] SLAMing on 106.84992885099999 meters Centerline goodness : 0.818929 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.02, Z:0.39 [[ 0.97625364 -0.17897819 -0.12204769 -0.95175217] [ 0.18188797 0.98323278 0.0130406 -0.02391181] [ 0.1176673 -0.03492994 0.99243856 0.3943534 ] [ 0. 0. 0. 1. ]] SLAMing on 106.87992885099999 meters Centerline goodness : 0.823612 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.02, Z:0.39 [[ 0.97629322 -0.17858599 -0.12230535 -0.95109136] [ 0.1815206 0.9832986 0.0131963 -0.02426909] [ 0.11790601 -0.0350844 0.99240479 0.39446754] [ 0. 0. 0. 1. ]] SLAMing on 106.90992885099999 meters Centerline goodness : 0.821056 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.02, Z:0.39 [[ 0.97635166 -0.17802811 -0.12265168 -0.95015135] [ 0.18099391 0.98339308 0.01338832 -0.02455487] [ 0.11823132 -0.03527092 0.99235947 0.39454492] [ 0. 0. 0. 1. ]] SLAMing on 106.93992885099999 meters Centerline goodness : 0.822906 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.02, Z:0.39 [[ 0.97643085 -0.17735064 -0.1230022 -0.94909658] [ 0.1803535 0.98350736 0.01363444 -0.0248199 ] [ 0.11855549 -0.03549697 0.99231273 0.3945232 ] [ 0. 0. 0. 1. ]] SLAMing on 106.96992885099999 meters Centerline goodness : 0.822199 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.02, Z:0.39 [[ 0.97651874 -0.17655797 -0.12344407 -0.94783531] [ 0.1795998 0.98364191 0.01387465 -0.02485216] [ 0.11897508 -0.03571939 0.99225453 0.39451493] [ 0. 0. 0. 1. ]] SLAMing on 106.99992885099999 meters Centerline goodness : 0.822136 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.03, Z:0.39 [[ 0.97729831 -0.17174785 -0.12405922 -0.94758012] [ 0.17529573 0.98434777 0.01818978 -0.02613007] [ 0.11899336 -0.03952389 0.99210808 0.39425635] [ 0. 0. 0. 1. ]] SLAMing on 107.02992885099998 meters Centerline goodness : 0.822847 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.03, Z:0.39 [[ 0.97738262 -0.17099349 -0.12443652 -0.94659949] [ 0.1745533 0.98447935 0.01820845 -0.02521755] [ 0.11939166 -0.03951742 0.99206048 0.39439444] [ 0. 0. 0. 1. ]] SLAMing on 107.05992885099998 meters Centerline goodness : 0.825434 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.03, Z:0.39 [[ 0.97816394 -0.16585822 -0.12524522 -0.94587888] [ 0.16994816 0.98519304 0.02263396 -0.02635796] [ 0.11963669 -0.04342492 0.9918676 0.39419291] [ 0. 0. 0. 1. ]] SLAMing on 107.08992885099998 meters Centerline goodness : 0.822617 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:0.39 [[ 0.97826206 -0.16497327 -0.125647 -0.94465641] [ 0.1690967 0.98533532 0.0228171 -0.02600523] [ 0.12004022 -0.0435676 0.99181259 0.39415467] [ 0. 0. 0. 1. ]] SLAMing on 107.11992885099998 meters Centerline goodness : 0.823873 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:0.39 [[ 0.97835915 -0.16411933 -0.12600879 -0.94358053] [ 0.16828514 0.985468 0.0230854 -0.02592721] [ 0.12038887 -0.04379122 0.99176048 0.39414796] [ 0. 0. 0. 1. ]] SLAMing on 107.14992885099998 meters Centerline goodness : 0.824343 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:0.39 [[ 0.97844982 -0.16332486 -0.1263366 -0.94264628] [ 0.16751572 0.98559594 0.02321897 -0.02560275] [ 0.1207246 -0.04388196 0.99171566 0.39426887] [ 0. 0. 0. 1. ]] SLAMing on 107.17992885099999 meters Centerline goodness : 0.823552 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:0.39 [[ 0.97917473 -0.15832428 -0.1270837 -0.9419829 ] [ 0.16305932 0.98622743 0.02769685 -0.02748925] [ 0.12094835 -0.04784224 0.99150523 0.39410576] [ 0. 0. 0. 1. ]] SLAMing on 107.20992885099999 meters Centerline goodness : 0.824956 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:0.39 [[ 0.97927133 -0.15732496 -0.12757943 -0.94044973] [ 0.16211411 0.98637465 0.02800101 -0.02715426] [ 0.12143586 -0.04810301 0.99143302 0.39395129] [ 0. 0. 0. 1. ]] SLAMing on 107.23992885099999 meters Centerline goodness : 0.825804 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:0.39 [[ 0.97938422 -0.15623227 -0.12805481 -0.93886742] [ 0.16108601 0.98653161 0.02840207 -0.02700999] [ 0.1218928 -0.04844438 0.99136032 0.3936866 ] [ 0. 0. 0. 1. ]] SLAMing on 107.26992885099999 meters Centerline goodness : 0.825343 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:0.39 [[ 0.97948359 -0.15511151 -0.12865578 -0.93694892] [ 0.16003509 0.98669127 0.02879442 -0.02680403] [ 0.12247719 -0.0487931 0.99127119 0.39335934] [ 0. 0. 0. 1. ]] SLAMing on 107.29992885099999 meters Centerline goodness : 0.825172 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.03, Z:0.39 [[ 0.98023736 -0.14942982 -0.12963585 -0.93493931] [ 0.15496244 0.98734749 0.033639 -0.02845912] [ 0.12296896 -0.0530629 0.9909909 0.39241756] [ 0. 0. 0. 1. ]] SLAMing on 107.32992885099999 meters Centerline goodness : 0.824545 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.03, Z:0.39 [[ 0.98037127 -0.14812049 -0.13012489 -0.93323637] [ 0.15371641 0.98752947 0.03401199 -0.02795537] [ 0.12346429 -0.05334671 0.99091407 0.39223124] [ 0. 0. 0. 1. ]] SLAMing on 107.35992885099999 meters Centerline goodness : 0.823902 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.03, Z:0.39 [[ 0.98051196 -0.1467867 -0.13057549 -0.93163812] [ 0.15244197 0.98771463 0.03436941 -0.02730735] [ 0.12392635 -0.0536048 0.99084246 0.392061 ] [ 0. 0. 0. 1. ]] SLAMing on 107.389928851 meters Centerline goodness : 0.823723 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.03, Z:0.39 [[ 0.9806356 -0.14563008 -0.13094159 -0.93038315] [ 0.15132862 0.98787695 0.03462333 -0.02664351] [ 0.12431198 -0.05376808 0.99078531 0.39202915] [ 0. 0. 0. 1. ]] SLAMing on 107.41992885099998 meters Centerline goodness : 0.823723 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.03, Z:0.39 [[ 0.9806356 -0.14563008 -0.13094159 -0.93038315] [ 0.15132862 0.98787695 0.03462333 -0.02664351] [ 0.12431198 -0.05376808 0.99078531 0.39202915] [ 0. 0. 0. 1. ]] SLAMing on 107.44992885099998 meters Centerline goodness : 0.824049 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.03, Z:0.39 [[ 0.9807428 -0.14465017 -0.13122458 -0.92938292] [ 0.15037423 0.98801785 0.03476097 -0.02579954] [ 0.12462405 -0.05382437 0.99074305 0.39203567] [ 0. 0. 0. 1. ]] SLAMing on 107.47992885099998 meters Centerline goodness : 0.823320 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.03, Z:0.39 [[ 0.98139517 -0.13939406 -0.13203337 -0.92818038] [ 0.14568038 0.98855616 0.03916556 -0.02692099] [ 0.12506296 -0.05767156 0.99047123 0.39169071] [ 0. 0. 0. 1. ]] SLAMing on 107.50992885099998 meters Centerline goodness : 0.826632 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.03, Z:0.39 [[ 0.98145391 -0.13868136 -0.13234688 -0.92703191] [ 0.14500143 0.98864952 0.03932817 -0.02665384] [ 0.12539059 -0.05778928 0.99042294 0.39150601] [ 0. 0. 0. 1. ]] SLAMing on 107.53992885099998 meters Centerline goodness : 0.827160 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.03, Z:0.39 [[ 0.9815131 -0.13806412 -0.13255309 -0.9261417 ] [ 0.14441979 0.98872584 0.03954908 -0.02671911] [ 0.12559836 -0.05796123 0.99038656 0.39131536] [ 0. 0. 0. 1. ]] SLAMing on 107.56992885099999 meters Centerline goodness : 0.829363 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.03, Z:0.39 [[ 0.98160019 -0.13720293 -0.13280221 -0.92497089] [ 0.14360847 0.98883088 0.03987592 -0.02714682] [ 0.12584783 -0.05821373 0.99034009 0.39113931] [ 0. 0. 0. 1. ]] SLAMing on 107.59992885099999 meters Centerline goodness : 0.829776 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.03, Z:0.39 [[ 0.98159714 -0.13712043 -0.13290991 -0.92476952] [ 0.1435239 0.98884565 0.03981426 -0.02724129] [ 0.12596804 -0.05815731 0.99032812 0.39131905] [ 0. 0. 0. 1. ]] SLAMing on 107.62992885099999 meters Centerline goodness : 0.831572 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.03, Z:0.39 [[ 0.98160542 -0.13701531 -0.13295718 -0.92460357] [ 0.14341019 0.9888655 0.03973089 -0.02732016] [ 0.12603303 -0.05806747 0.99032512 0.39151193] [ 0. 0. 0. 1. ]] SLAMing on 107.65992885099999 meters Centerline goodness : 0.832582 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.03, Z:0.39 [[ 0.98160097 -0.13698393 -0.13302228 -0.92454744] [ 0.14337618 0.9888724 0.03968185 -0.02775175] [ 0.12610629 -0.05802397 0.99031834 0.39179469] [ 0. 0. 0. 1. ]] SLAMing on 107.68992885099999 meters Centerline goodness : 0.834502 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.03, Z:0.39 [[ 0.98159478 -0.13698832 -0.13306348 -0.92454169] [ 0.14341356 0.98885733 0.03992149 -0.02957082] [ 0.12611202 -0.05826983 0.99030318 0.39218577] [ 0. 0. 0. 1. ]] SLAMing on 107.71992885099999 meters Centerline goodness : 0.834955 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.03, Z:0.39 [[ 0.98156017 -0.13729142 -0.13300638 -0.92491225] [ 0.14371231 0.98881497 0.03989634 -0.03058425] [ 0.12604128 -0.05827531 0.99031186 0.39255301] [ 0. 0. 0. 1. ]] SLAMing on 107.74992885099999 meters Centerline goodness : 0.834609 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.03, Z:0.39 [[ 0.981057 -0.14097486 -0.13286553 -0.92390168] [ 0.14692668 0.98848984 0.03606081 -0.02982792] [ 0.12625256 -0.05489921 0.99047785 0.3928157 ] [ 0. 0. 0. 1. ]] SLAMing on 107.77992885099998 meters Centerline goodness : 0.835253 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.03, Z:0.39 [[ 0.98099602 -0.14147166 -0.13278775 -0.92435765] [ 0.14742773 0.98841385 0.03609877 -0.03160965] [ 0.12614229 -0.05498934 0.9904869 0.39322482] [ 0. 0. 0. 1. ]] SLAMing on 107.80992885099998 meters Centerline goodness : 0.837567 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.03, Z:0.39 [[ 0.98045292 -0.14542727 -0.13252542 -0.92360458] [ 0.15091109 0.98802062 0.03226606 -0.03155769] [ 0.12624548 -0.05163491 0.99065429 0.39350246] [ 0. 0. 0. 1. ]] SLAMing on 107.83992885099998 meters Centerline goodness : 0.837412 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.03, Z:0.39 [[ 0.97978833 -0.15035498 -0.13194015 -0.92404082] [ 0.15534956 0.98745251 0.02835596 -0.03377604] [ 0.12602118 -0.04827968 0.99085202 0.3943488 ] [ 0. 0. 0. 1. ]] SLAMing on 107.86992885099998 meters Centerline goodness : 0.834179 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.03, Z:0.39 [[ 0.97919403 -0.15452229 -0.13153672 -0.92370986] [ 0.15903251 0.98697081 0.02443951 -0.03393568] [ 0.12604645 -0.04484963 0.99100999 0.39478633] [ 0. 0. 0. 1. ]] SLAMing on 107.89992885099998 meters Centerline goodness : 0.834131 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.04, Z:0.40 [[ 0.97852162 -0.15921624 -0.13094134 -0.92395469] [ 0.1632805 0.98635952 0.02084173 -0.03641614] [ 0.12583689 -0.04177425 0.99117102 0.39533994] [ 0. 0. 0. 1. ]] SLAMing on 107.92992885099999 meters Centerline goodness : 0.836414 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.04, Z:0.40 [[ 0.97822611 -0.16160683 -0.13021871 -0.92448461] [ 0.16537314 0.98605612 0.01857582 -0.03725096] [ 0.12540097 -0.03970602 0.99131127 0.39570587] [ 0. 0. 0. 1. ]] SLAMing on 107.95992885099999 meters Centerline goodness : 0.834297 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.04, Z:0.40 [[ 0.97816045 -0.16203435 -0.13018069 -0.92469234] [ 0.16581809 0.98597906 0.01869881 -0.03885837] [ 0.12532559 -0.03987675 0.99131395 0.39584954] [ 0. 0. 0. 1. ]] SLAMing on 107.98992885099999 meters Centerline goodness : 0.834781 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.04, Z:0.40 [[ 0.9781212 -0.1622669 -0.13018594 -0.9246394 ] [ 0.16607839 0.98593138 0.01890197 -0.04039717] [ 0.12528724 -0.04010949 0.99130941 0.39587504] [ 0. 0. 0. 1. ]] SLAMing on 108.01992885099999 meters Centerline goodness : 0.833275 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.04, Z:0.40 [[ 0.9777052 -0.16541353 -0.12934801 -0.92479162] [ 0.16886906 0.98550629 0.01614315 -0.04191606] [ 0.12480298 -0.03762612 0.99146785 0.39568936] [ 0. 0. 0. 1. ]] SLAMing on 108.04992885099999 meters Centerline goodness : 0.833260 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.04, Z:0.40 [[ 0.97763761 -0.16573008 -0.12945366 -0.92437495] [ 0.16921145 0.98544504 0.01629616 -0.04288837] [ 0.1248687 -0.03783678 0.99145156 0.39578475] [ 0. 0. 0. 1. ]] SLAMing on 108.07992885099999 meters Centerline goodness : 0.832706 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.04, Z:0.40 [[ 0.97754617 -0.16614102 -0.12961734 -0.92396695] [ 0.16965743 0.985365 0.01649799 -0.04353622] [ 0.1249794 -0.03811809 0.99142683 0.39596524] [ 0. 0. 0. 1. ]] SLAMing on 108.10992885099999 meters Centerline goodness : 0.833233 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.04, Z:0.40 [[ 0.97745135 -0.16646545 -0.12991581 -0.92356878] [ 0.17001252 0.9853016 0.01662839 -0.04374638] [ 0.1252382 -0.03834075 0.99138559 0.39638136] [ 0. 0. 0. 1. ]] SLAMing on 108.139928851 meters Centerline goodness : 0.831183 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.04, Z:0.40 [[ 0.97737687 -0.1668102 -0.13003388 -0.92346439] [ 0.1703616 0.98524171 0.01660424 -0.04418942] [ 0.12534505 -0.03838138 0.99137051 0.39687687] [ 0. 0. 0. 1. ]] SLAMing on 108.16992885099998 meters Centerline goodness : 0.831840 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.04, Z:0.40 [[ 0.9774009 -0.16669919 -0.12999562 -0.923285 ] [ 0.17028656 0.98524952 0.01690781 -0.04450033] [ 0.12525961 -0.03866222 0.9913704 0.39658552] [ 0. 0. 0. 1. ]] SLAMing on 108.19992885099998 meters Centerline goodness : 0.832061 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.04, Z:0.40 [[ 0.97741614 -0.16673449 -0.12983564 -0.92321166] [ 0.17028932 0.98525263 0.01669752 -0.04460103] [ 0.12513685 -0.03843005 0.99139493 0.39620892] [ 0. 0. 0. 1. ]] SLAMing on 108.22992885099998 meters Centerline goodness : 0.830321 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.04, Z:0.40 [[ 0.97733535 -0.16711765 -0.12995116 -0.92246709] [ 0.17062623 0.98520147 0.01627146 -0.04394004] [ 0.12530883 -0.03807575 0.99138687 0.39568513] [ 0. 0. 0. 1. ]] SLAMing on 108.25992885099998 meters Centerline goodness : 0.828587 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.04, Z:0.40 [[ 0.97726172 -0.16745848 -0.1300661 -0.92208954] [ 0.1709436 0.98515042 0.01602915 -0.04324927] [ 0.12545046 -0.03789864 0.99137575 0.39556056] [ 0. 0. 0. 1. ]] SLAMing on 108.28992885099998 meters Centerline goodness : 0.829470 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.04, Z:0.40 [[ 0.97722498 -0.16762585 -0.13012651 -0.92204804] [ 0.1710846 0.98512978 0.0157918 -0.04270852] [ 0.12554439 -0.03769478 0.99137163 0.39563114] [ 0. 0. 0. 1. ]] SLAMing on 108.31992885099999 meters Centerline goodness : 0.827577 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.04, Z:0.40 [[ 0.97717554 -0.16788309 -0.13016616 -0.92205814] [ 0.17131205 0.98509444 0.01552819 -0.04204579] [ 0.12561904 -0.0374728 0.99137059 0.39586549] [ 0. 0. 0. 1. ]] SLAMing on 108.34992885099999 meters Centerline goodness : 0.822770 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.04, Z:0.40 [[ 0.97700527 -0.16870232 -0.13038493 -0.92187599] [ 0.17204739 0.98497825 0.01474936 -0.04022919] [ 0.12593807 -0.03684258 0.99135373 0.39609068] [ 0. 0. 0. 1. ]] SLAMing on 108.37992885099999 meters Centerline goodness : 0.825136 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.04, Z:0.40 [[ 0.97687237 -0.16905561 -0.13092199 -0.92078267] [ 0.17242083 0.98491329 0.01472653 -0.03926127] [ 0.12645721 -0.03695961 0.99128329 0.39603064] [ 0. 0. 0. 1. ]] SLAMing on 108.40992885099999 meters Centerline goodness : 0.822951 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.04, Z:0.40 [[ 0.97670788 -0.1697981 -0.1311881 -0.92070711] [ 0.17313306 0.9847937 0.01436352 -0.03839367] [ 0.12675432 -0.03674196 0.99125343 0.3967159 ] [ 0. 0. 0. 1. ]] SLAMing on 108.43992885099999 meters Centerline goodness : 0.762989 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.04, Z:0.40 [[ 0.97664772 -0.17040583 -0.13084755 -0.92162504] [ 0.17366894 0.98470655 0.01386068 -0.03770056] [ 0.1264845 -0.03626115 0.9913056 0.39691469] [ 0. 0. 0. 1. ]] SLAMing on 108.46992885099999 meters Centerline goodness : 0.821920 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.04, Z:0.40 [[ 0.97648124 -0.17164004 -0.13047635 -0.92312243] [ 0.17476495 0.98452694 0.01280271 -0.03620935] [ 0.12626002 -0.03530429 0.99136876 0.39755127] [ 0. 0. 0. 1. ]] SLAMing on 108.49992885099999 meters Centerline goodness : 0.818472 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.04, Z:0.40 [[ 0.97639962 -0.17228254 -0.13024022 -0.92387776] [ 0.17533189 0.98443337 0.0122336 -0.03559352] [ 0.12610518 -0.03478015 0.99140699 0.39787422] [ 0. 0. 0. 1. ]] SLAMing on 108.52992885099998 meters Centerline goodness : 0.817829 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.04, Z:0.40 [[ 0.9763261 -0.17290338 -0.12996831 -0.9246262 ] [ 0.17589315 0.98433854 0.01179993 -0.03519031] [ 0.12589257 -0.03438111 0.99144793 0.39805288] [ 0. 0. 0. 1. ]] SLAMing on 108.55992885099998 meters Centerline goodness : 0.763491 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.03, Z:0.40 [[ 0.97623078 -0.17362343 -0.12972419 -0.9253807 ] [ 0.17653423 0.9842308 0.01119778 -0.03438037] [ 0.12573435 -0.03383237 0.99148689 0.3982881 ] [ 0. 0. 0. 1. ]] SLAMing on 108.58992885099998 meters Centerline goodness : 0.764896 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.03, Z:0.40 [[ 0.97603042 -0.17512064 -0.12921838 -0.9269133 ] [ 0.17789288 0.98399759 0.01014231 -0.03272202] [ 0.12537445 -0.03288623 0.99156429 0.39844752] [ 0. 0. 0. 1. ]] SLAMing on 108.61992885099998 meters Centerline goodness : 0.764166 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.03, Z:0.40 [[ 0.97593148 -0.17593754 -0.12885546 -0.92784601] [ 0.17861798 0.98387304 0.00945795 -0.0317375 ] [ 0.1251134 -0.03224621 0.99161828 0.39859669] [ 0. 0. 0. 1. ]] SLAMing on 108.64992885099998 meters Centerline goodness : 0.764554 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.03, Z:0.40 [[ 0.97583213 -0.17667816 -0.12859423 -0.92857187] [ 0.17927162 0.98376037 0.00878763 -0.03047548] [ 0.12495332 -0.03162854 0.99165836 0.39869618] [ 0. 0. 0. 1. ]] SLAMing on 108.67992885099999 meters Centerline goodness : 0.764983 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.03, Z:0.40 [[ 0.9757351 -0.17746986 -0.12823987 -0.92953592] [ 0.17996384 0.9836404 0.00803578 -0.02910928] [ 0.12471581 -0.03091933 0.99171062 0.39887983] [ 0. 0. 0. 1. ]] SLAMing on 108.70992885099999 meters Centerline goodness : 0.821332 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.03, Z:0.40 [[ 0.97564221 -0.17825681 -0.12785456 -0.93049364] [ 0.18065128 0.98352021 0.00728827 -0.02732492] [ 0.12444836 -0.03020783 0.99176615 0.39888245] [ 0. 0. 0. 1. ]] SLAMing on 108.73992885099999 meters Centerline goodness : 0.816562 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.02, Z:0.40 [[ 0.97545432 -0.17975414 -0.12719009 -0.93215319] [ 0.18194962 0.98329097 0.00576238 -0.0232159 ] [ 0.12402906 -0.02876313 0.99186162 0.39872504] [ 0. 0. 0. 1. ]] SLAMing on 108.76992885099999 meters Centerline goodness : 0.762730 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.02, Z:0.40 [[ 0.97537787 -0.1803144 -0.12698319 -0.93268881] [ 0.18242378 0.98320685 0.00508544 -0.02129952] [ 0.12393376 -0.02812498 0.99189183 0.39867181] [ 0. 0. 0. 1. ]] SLAMing on 108.79992885099999 meters Centerline goodness : 0.817917 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.02, Z:0.40 [[ 0.97530631 -0.18084728 -0.12677486 -0.93309118] [ 0.18286795 0.98312769 0.00438803 -0.01937136] [ 0.12384231 -0.02746273 0.99192181 0.39853618] [ 0. 0. 0. 1. ]] SLAMing on 108.82992885099999 meters Centerline goodness : 0.764415 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.01, Z:0.40 [[ 0.97520009 -0.18182236 -0.12619591 -0.93429105] [ 0.1836638 0.9829845 0.00301427 -0.01460451] [ 0.12350056 -0.02611713 0.99200076 0.39817786] [ 0. 0. 0. 1. ]] SLAMing on 108.85992885099999 meters Centerline goodness : 0.815805 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.40 [[ 0.97511693 -0.18244413 -0.12594094 -0.93517991] [ 0.1841475 0.98289675 0.00191833 -0.01116595] [ 0.12343695 -0.0250623 0.99203589 0.3984301 ] [ 0. 0. 0. 1. ]] SLAMing on 108.889928851 meters Centerline goodness : 0.766297 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.40 [[ 9.75037088e-01 -1.82965742e-01 -1.25802285e-01 -9.35828551e-01] [ 1.84534083e-01 9.82825766e-01 8.27721468e-04 -7.51553078e-03] [ 1.23490282e-01 -2.40218683e-02 9.92054988e-01 3.98684976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91992885099998 meters Centerline goodness : 0.813876 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.00, Z:0.40 [[ 9.74988478e-01 -1.83371298e-01 -1.25588358e-01 -9.36453465e-01] [ 1.84809724e-01 9.82774300e-01 -2.01030740e-04 -3.75483486e-03] [ 1.23461874e-01 -2.30139472e-02 9.92082418e-01 3.98766245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94992885099998 meters Centerline goodness : 0.816149 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.00, Z:0.40 [[ 9.75570168e-01 -1.80351180e-01 -1.25444407e-01 -9.38329522e-01] [ 1.82050948e-01 9.83286803e-01 2.12474901e-03 6.05748417e-04] [ 1.22964629e-01 -2.49101149e-02 9.92098375e-01 3.98436410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97992885099998 meters Centerline goodness : 0.769314 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.00, Z:0.40 [[ 0.97554379 -0.18056701 -0.12533898 -0.93842787] [ 0.18215447 0.98326916 0.0012262 0.00399034] [ 0.12302054 -0.02402727 0.99211322 0.39832682] [ 0. 0. 0. 1. ]] SLAMing on 109.00992885099998 meters Centerline goodness : 0.769963 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.01, Z:0.40 [[ 9.75506698e-01 -1.80799877e-01 -1.25292008e-01 -9.38333688e-01] [ 1.82287467e-01 9.83245192e-01 4.15311541e-04 7.17369360e-03] [ 1.23117676e-01 -2.32443020e-02 9.92119822e-01 3.98038718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03992885099998 meters Centerline goodness : 0.769970 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.01, Z:0.40 [[ 9.75493234e-01 -1.80957936e-01 -1.25168590e-01 -9.38107104e-01] [ 1.82372193e-01 9.83229554e-01 -1.62584733e-04 9.98575930e-03] [ 1.23098878e-01 -2.26686699e-02 9.92135473e-01 3.97337761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06992885099999 meters Centerline goodness : 0.772540 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.02, Z:0.40 [[ 9.75497692e-01 -1.81089507e-01 -1.24943358e-01 -9.37903655e-01] [ 1.82398358e-01 9.83224226e-01 -9.79751763e-04 1.57653901e-02] [ 1.23024759e-01 -2.18337177e-02 9.92163392e-01 3.96031596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09992885099999 meters Centerline goodness : 0.775347 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.02, Z:0.40 [[ 0.97542855 -0.18161454 -0.12472093 -0.9386367 ] [ 0.1828133 0.98314588 -0.00186234 0.01887356] [ 0.1229571 -0.02098406 0.99219011 0.39613014] [ 0. 0. 0. 1. ]] SLAMing on 109.12992885099999 meters Centerline goodness : 0.774090 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.02, Z:0.40 [[ 0.97533331 -0.18237654 -0.12435324 -0.9399289 ] [ 0.18345285 0.98302441 -0.00283801 0.02183958] [ 0.12275986 -0.02004495 0.99223395 0.39645795] [ 0. 0. 0. 1. ]] SLAMing on 109.15992885099999 meters Centerline goodness : 0.775609 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.03, Z:0.40 [[ 0.97517038 -0.18386058 -0.12344239 -0.9426433 ] [ 0.18472829 0.98277943 -0.00447855 0.02644667] [ 0.12214007 -0.01843595 0.99234163 0.39686552] [ 0. 0. 0. 1. ]] SLAMing on 109.18992885099999 meters Centerline goodness : 0.778762 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.03, Z:0.40 [[ 0.97507869 -0.18469121 -0.12292561 -0.94414923] [ 0.18545844 0.98263797 -0.00527168 0.02840838] [ 0.121765 -0.01765729 0.99240189 0.39705555] [ 0. 0. 0. 1. ]] SLAMing on 109.21992885099999 meters Centerline goodness : 0.780010 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.40 [[ 0.97498351 -0.18551526 -0.12243875 -0.9454968 ] [ 0.1861921 0.98249509 -0.00599163 0.03029527] [ 0.12140701 -0.01695539 0.99245799 0.39708965] [ 0. 0. 0. 1. ]] SLAMing on 109.24992885099999 meters Centerline goodness : 0.779392 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.40 [[ 0.97489609 -0.18626604 -0.12199414 -0.94672661] [ 0.18685339 0.98236489 -0.00671 0.03217856] [ 0.12109261 -0.01625346 0.99250814 0.39715239] [ 0. 0. 0. 1. ]] SLAMing on 109.27992885099998 meters Centerline goodness : 0.782210 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.04, Z:0.40 [[ 0.97475379 -0.18749963 -0.12123918 -0.94856852] [ 0.18794641 0.98214797 -0.00784316 0.03583048] [ 0.1205454 -0.01514132 0.99259234 0.39681181] [ 0. 0. 0. 1. ]] SLAMing on 109.30992885099998 meters Centerline goodness : 0.784351 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.04, Z:0.40 [[ 0.97468189 -0.18801449 -0.12101968 -0.94905459] [ 0.18839172 0.98205786 -0.00842104 0.03786433] [ 0.12043161 -0.01459127 0.99261439 0.39659039] [ 0. 0. 0. 1. ]] SLAMing on 109.33992885099998 meters Centerline goodness : 0.784351 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.04, Z:0.40 [[ 0.97468189 -0.18801449 -0.12101968 -0.94905459] [ 0.18839172 0.98205786 -0.00842104 0.03786433] [ 0.12043161 -0.01459127 0.99261439 0.39659039] [ 0. 0. 0. 1. ]] SLAMing on 109.36992885099998 meters Centerline goodness : 0.783816 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.04, Z:0.40 [[ 0.97461858 -0.18847087 -0.12081949 -0.94939321] [ 0.18878139 0.98197812 -0.00897552 0.03980253] [ 0.12033372 -0.01406076 0.99263392 0.39628588] [ 0. 0. 0. 1. ]] SLAMing on 109.39992885099998 meters Centerline goodness : 0.783691 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.04, Z:0.40 [[ 0.97457575 -0.18879447 -0.12065966 -0.949474 ] [ 0.18906002 0.98192104 -0.0093482 0.04145388] [ 0.12024314 -0.01370139 0.99264992 0.3957809 ] [ 0. 0. 0. 1. ]] SLAMing on 109.42992885099999 meters Centerline goodness : 0.783392 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.04, Z:0.39 [[ 0.97450292 -0.18938338 -0.12032456 -0.94971174] [ 0.18956694 0.98181662 -0.01002468 0.04430419] [ 0.12003516 -0.01304048 0.99268399 0.39487938] [ 0. 0. 0. 1. ]] SLAMing on 109.45992885099999 meters Centerline goodness : 0.784833 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.39 [[ 0.97447978 -0.1895838 -0.1201963 -0.94967914] [ 0.18973535 0.98178137 -0.01028803 0.04546734] [ 0.11995693 -0.01278001 0.99269683 0.39446534] [ 0. 0. 0. 1. ]] SLAMing on 109.48992885099999 meters Centerline goodness : 0.785614 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.39 [[ 0.97444298 -0.18981552 -0.12012885 -0.94966239] [ 0.18992247 0.98174117 -0.01066429 0.04692091] [ 0.11995969 -0.01242343 0.99270103 0.39419998] [ 0. 0. 0. 1. ]] SLAMing on 109.51992885099999 meters Centerline goodness : 0.785902 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.39 [[ 0.97438751 -0.19017421 -0.12001144 -0.95006677] [ 0.19020572 0.98167924 -0.01129886 0.0489616 ] [ 0.1199615 -0.01181739 0.99270821 0.39431033] [ 0. 0. 0. 1. ]] SLAMing on 109.54992885099999 meters Centerline goodness : 0.789675 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.39 [[ 0.97496733 -0.18721486 -0.11995545 -0.95231747] [ 0.18759593 0.98221198 -0.00820949 0.05061756] [ 0.11935862 -0.01449917 0.99274533 0.39415494] [ 0. 0. 0. 1. ]] SLAMing on 109.57992885099999 meters Centerline goodness : 0.791292 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.39 [[ 0.97494213 -0.18733582 -0.11997139 -0.95245437] [ 0.18764159 0.98219774 -0.00884485 0.05283766] [ 0.11949258 -0.01388841 0.99273795 0.39442919] [ 0. 0. 0. 1. ]] SLAMing on 109.60992885099999 meters Centerline goodness : 0.792022 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.39 [[ 0.97492456 -0.18741322 -0.11999332 -0.95243453] [ 0.18766055 0.98218956 -0.0093374 0.05466265] [ 0.11960614 -0.01341475 0.99273079 0.39452121] [ 0. 0. 0. 1. ]] SLAMing on 109.639928851 meters Centerline goodness : 0.793013 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.06, Z:0.39 [[ 0.97489599 -0.18771066 -0.11976021 -0.95298444] [ 0.18785227 0.98214425 -0.01020805 0.05756533] [ 0.11953796 -0.01254544 0.99275037 0.39465077] [ 0. 0. 0. 1. ]] SLAMing on 109.66992885099998 meters Centerline goodness : 0.793741 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.06, Z:0.39 [[ 0.97483623 -0.18822515 -0.11943873 -0.95385875] [ 0.18830381 0.98205221 -0.01072975 0.05897759] [ 0.11931468 -0.01203102 0.99278359 0.39468626] [ 0. 0. 0. 1. ]] SLAMing on 109.69992885099998 meters Centerline goodness : 0.793918 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.06, Z:0.39 [[ 0.97479995 -0.18850214 -0.11929799 -0.9542567 ] [ 0.18855827 0.98200129 -0.01092014 0.05949953] [ 0.11920925 -0.01184967 0.99279844 0.3946396 ] [ 0. 0. 0. 1. ]] SLAMing on 109.72992885099998 meters Centerline goodness : 0.795073 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.06, Z:0.39 [[ 0.97475629 -0.1888621 -0.11908515 -0.95482804] [ 0.18889485 0.9819344 -0.01111603 0.05989901] [ 0.1190332 -0.01165915 0.99282182 0.39464317] [ 0. 0. 0. 1. ]] SLAMing on 109.75992885099998 meters Centerline goodness : 0.794842 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.06, Z:0.39 [[ 0.97471611 -0.18920859 -0.11886388 -0.95529844] [ 0.18922608 0.98186918 -0.01124289 0.06010899] [ 0.11883603 -0.01153352 0.9928469 0.39447549] [ 0. 0. 0. 1. ]] SLAMing on 109.78992885099998 meters Centerline goodness : 0.795391 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.06, Z:0.39 [[ 0.97469658 -0.18944052 -0.11865441 -0.95550386] [ 0.18947251 0.98182311 -0.01111517 0.05970785] [ 0.11860331 -0.01164783 0.9928734 0.39401821] [ 0. 0. 0. 1. ]] SLAMing on 109.81992885099999 meters Centerline goodness : 0.796106 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.06, Z:0.39 [[ 0.97467588 -0.18966635 -0.11846348 -0.95572332] [ 0.18971719 0.98177769 -0.01095207 0.05902163] [ 0.11838204 -0.01179984 0.99289801 0.39361246] [ 0. 0. 0. 1. ]] SLAMing on 109.84992885099999 meters Centerline goodness : 0.794813 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.06, Z:0.39 [[ 0.97465061 -0.18984747 -0.11838129 -0.95582419] [ 0.18990121 0.98174236 -0.0109306 0.0587145 ] [ 0.11829508 -0.01182723 0.99290805 0.3934587 ] [ 0. 0. 0. 1. ]] SLAMing on 109.87992885099999 meters Centerline goodness : 0.794573 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.06, Z:0.39 [[ 0.97464225 -0.18995817 -0.11827244 -0.95595081] [ 0.1900144 0.98172073 -0.01090544 0.05870998] [ 0.11818208 -0.01184456 0.9929213 0.39323702] [ 0. 0. 0. 1. ]] SLAMing on 109.90992885099999 meters Centerline goodness : 0.794495 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.06, Z:0.39 [[ 0.97462351 -0.19004225 -0.11829185 -0.95581009] [ 0.19009734 0.98170449 -0.01092208 0.05891831] [ 0.1182033 -0.01184204 0.9929188 0.39302451] [ 0. 0. 0. 1. ]] SLAMing on 109.93992885099999 meters Centerline goodness : 0.794249 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.06, Z:0.39 [[ 0.97461146 -0.19009089 -0.11831295 -0.95574053] [ 0.19014576 0.98169504 -0.01092901 0.05880297] [ 0.11822474 -0.01184517 0.99291621 0.39301336] [ 0. 0. 0. 1. ]] SLAMing on 109.96992885099999 meters Centerline goodness : 0.796557 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.06, Z:0.39 [[ 0.97459484 -0.19021332 -0.11825305 -0.95582721] [ 0.19027503 0.98167061 -0.01087292 0.05831069] [ 0.11815372 -0.01190392 0.99292396 0.39294064] [ 0. 0. 0. 1. ]] SLAMing on 109.99992885099999 meters Centerline goodness : 0.795455 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.06, Z:0.39 [[ 0.97460739 -0.19014356 -0.11826181 -0.95550046] [ 0.19024661 0.98167994 -0.01052212 0.05708951] [ 0.11809596 -0.01224397 0.9929267 0.39260374] [ 0. 0. 0. 1. ]] SLAMing on 110.02992885099998 meters Centerline goodness : 0.794969 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.06, Z:0.39 [[ 0.97459602 -0.19018262 -0.11829276 -0.95532326] [ 0.19031012 0.98166976 -0.01032218 0.05603815] [ 0.11808752 -0.01245236 0.99292511 0.39248566] [ 0. 0. 0. 1. ]] SLAMing on 110.05992885099998 meters Centerline goodness : 0.797593 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.05, Z:0.39 [[ 0.97457045 -0.19033915 -0.1182516 -0.95535939] [ 0.19049681 0.98163613 -0.01007361 0.05447142] [ 0.11799745 -0.01270911 0.99293257 0.39246174] [ 0. 0. 0. 1. ]] SLAMing on 110.08992885099998 meters Centerline goodness : 0.795809 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.05, Z:0.39 [[ 0.97454593 -0.19049802 -0.11819789 -0.95568504] [ 0.19064825 0.98160604 -0.01013998 0.05428255] [ 0.11795541 -0.01265235 0.99293829 0.39268838] [ 0. 0. 0. 1. ]] SLAMing on 110.11992885099998 meters Centerline goodness : 0.795093 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.05, Z:0.39 [[ 0.97454243 -0.19046528 -0.11827943 -0.95567732] [ 0.19061594 0.98161229 -0.01014327 0.05389264] [ 0.11803648 -0.01266089 0.99292854 0.3930357 ] [ 0. 0. 0. 1. ]] SLAMing on 110.14992885099998 meters Centerline goodness : 0.795898 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.05, Z:0.39 [[ 0.97454703 -0.19040136 -0.11834443 -0.95554924] [ 0.19055766 0.98162406 -0.01009898 0.05333964] [ 0.11809259 -0.0127095 0.99292125 0.39319515] [ 0. 0. 0. 1. ]] SLAMing on 110.17992885099999 meters Centerline goodness : 0.797432 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.39 [[ 0.97463022 -0.18976806 -0.1186761 -0.95446902] [ 0.1899642 0.98174248 -0.00976196 0.05193656] [ 0.11836188 -0.01302991 0.99288503 0.39331576] [ 0. 0. 0. 1. ]] SLAMing on 110.20992885099999 meters Centerline goodness : 0.798517 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.39 [[ 0.97467386 -0.18934553 -0.11899219 -0.95352902] [ 0.18956521 0.98182145 -0.0095741 0.05148367] [ 0.1186419 -0.01322516 0.99284903 0.39330641] [ 0. 0. 0. 1. ]] SLAMing on 110.23992885099999 meters Centerline goodness : 0.797885 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.39 [[ 0.974717 -0.18894095 -0.11928152 -0.95277607] [ 0.18918087 0.98189714 -0.00941277 0.05132388] [ 0.11890065 -0.01339099 0.99281585 0.3933444 ] [ 0. 0. 0. 1. ]] SLAMing on 110.26992885099999 meters Centerline goodness : 0.798974 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.39 [[ 0.97547316 -0.18455586 -0.11996353 -0.95281423] [ 0.18530366 0.98266864 -0.0049891 0.04909347] [ 0.11880517 -0.01736295 0.99276576 0.39318071] [ 0. 0. 0. 1. ]] SLAMing on 110.29992885099999 meters Centerline goodness : 0.797623 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.39 [[ 0.97552452 -0.18397878 -0.1204314 -0.95163617] [ 0.18475101 0.98277355 -0.00481879 0.04888321] [ 0.11924335 -0.01754897 0.99270996 0.3933289 ] [ 0. 0. 0. 1. ]] SLAMing on 110.32992885099999 meters Centerline goodness : 0.799231 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.39 [[ 0.97557348 -0.18355543 -0.12068056 -0.95108783] [ 0.1843535 0.98284917 -0.00461482 0.04821417] [ 0.11945786 -0.01774579 0.99268067 0.39361236] [ 0. 0. 0. 1. ]] SLAMing on 110.35992885099999 meters Centerline goodness : 0.797908 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.39 [[ 0.97557847 -0.18347281 -0.12076582 -0.95117479] [ 0.18428462 0.98286258 -0.00450832 0.04708125] [ 0.11952336 -0.01785706 0.99267079 0.39416886] [ 0. 0. 0. 1. ]] SLAMing on 110.38992885099998 meters Centerline goodness : 0.799464 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.04, Z:0.39 [[ 0.97556675 -0.18342546 -0.12093232 -0.95098299] [ 0.18430189 0.98286157 -0.00399431 0.04403008] [ 0.11959239 -0.01839134 0.99265272 0.39460771] [ 0. 0. 0. 1. ]] SLAMing on 110.41992885099998 meters Centerline goodness : 0.798325 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.04, Z:0.39 [[ 0.97560461 -0.18308827 -0.12113769 -0.95005633] [ 0.18404148 0.98291271 -0.00336868 0.04210105] [ 0.11968454 -0.01900786 0.99263 0.39417331] [ 0. 0. 0. 1. ]] SLAMing on 110.44992885099998 meters Centerline goodness : 0.799275 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.04, Z:0.39 [[ 0.97561363 -0.18294293 -0.12128448 -0.94944042] [ 0.18395097 0.98293106 -0.00292872 0.04027383] [ 0.11975007 -0.0194531 0.99261347 0.39397319] [ 0. 0. 0. 1. ]] SLAMing on 110.47992885099998 meters Centerline goodness : 0.798596 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.04, Z:0.39 [[ 0.97562109 -0.18283276 -0.12139058 -0.9489659 ] [ 0.18388723 0.98294403 -0.00255464 0.03865972] [ 0.11978722 -0.01982982 0.99260153 0.39382641] [ 0. 0. 0. 1. ]] SLAMing on 110.50992885099998 meters Centerline goodness : 0.796481 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.04, Z:0.39 [[ 0.97562243 -0.18287536 -0.1213156 -0.94902882] [ 0.18395469 0.98293194 -0.00233861 0.03702226] [ 0.11967265 -0.02003497 0.99261123 0.39393236] [ 0. 0. 0. 1. ]] SLAMing on 110.53992885099998 meters Centerline goodness : 0.796773 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.04, Z:0.39 [[ 0.97561927 -0.18291227 -0.12128536 -0.94920294] [ 0.18402655 0.98291914 -0.00204582 0.03505341] [ 0.1195879 -0.02032379 0.99261557 0.3942242 ] [ 0. 0. 0. 1. ]] SLAMing on 110.56992885099999 meters Centerline goodness : 0.798269 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.39 [[ 0.97561974 -0.18288435 -0.12132372 -0.94929584] [ 0.1840528 0.98291505 -0.00160099 0.03131098] [ 0.1195437 -0.02076801 0.9926117 0.39491452] [ 0. 0. 0. 1. ]] SLAMing on 110.59992885099999 meters Centerline goodness : 0.797477 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.40 [[ 0.97564526 -0.18264734 -0.12147538 -0.94894391] [ 0.18385847 0.98295192 -0.00125884 0.02993287] [ 0.11963438 -0.0211061 0.99259365 0.39506366] [ 0. 0. 0. 1. ]] SLAMing on 110.62992885099999 meters Centerline goodness : 0.797456 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.40 [[ 0.97566434 -0.18244975 -0.12161901 -0.94873967] [ 0.18368615 0.98298437 -0.0010625 0.02904652] [ 0.11974344 -0.02130309 0.99257629 0.395362 ] [ 0. 0. 0. 1. ]] SLAMing on 110.65992885099999 meters Centerline goodness : 0.798065 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.40 [[ 9.75687072e-01 -1.82198859e-01 -1.21812612e-01 -9.48470223e-01] [ 1.83469543e-01 9.83025071e-01 -7.97821152e-04 2.79147060e-02] [ 1.19890214e-01 -2.15704805e-02 9.92552795e-01 3.95750280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.68992885099999 meters Centerline goodness : 0.795981 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.02, Z:0.40 [[ 9.75721989e-01 -1.81929498e-01 -1.21935469e-01 -9.48379938e-01] [ 1.83271428e-01 9.83062327e-01 -2.13828659e-04 2.45324650e-02] [ 1.19909067e-01 -2.21386501e-02 9.92538007e-01 3.96426950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.71992885099999 meters Centerline goodness : 0.796934 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.02, Z:0.40 [[ 9.75749072e-01 -1.81735215e-01 -1.22008441e-01 -9.48078507e-01] [ 1.83145597e-01 9.83085737e-01 3.51198406e-04 2.19303662e-02] [ 1.19880933e-01 -2.26879903e-02 9.92529001e-01 3.96478618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74992885099999 meters Centerline goodness : 0.794792 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.02, Z:0.40 [[ 9.75762416e-01 -1.81692787e-01 -1.21964906e-01 -9.48054827e-01] [ 1.83157064e-01 9.83083331e-01 8.08664733e-04 1.92566135e-02] [ 1.19754738e-01 -2.31277988e-02 9.92534084e-01 3.96624644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77992885099998 meters Centerline goodness : 0.794999 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.02, Z:0.40 [[ 0.97521239 -0.18443726 -0.12224436 -0.94494883] [ 0.18560412 0.98262282 -0.00187185 0.01605888] [ 0.12046534 -0.02086361 0.99249827 0.39643641] [ 0. 0. 0. 1. ]] SLAMing on 110.80992885099998 meters Centerline goodness : 0.790559 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.01, Z:0.40 [[ 0.97525248 -0.18415067 -0.12235655 -0.9441169 ] [ 0.18540909 0.98266078 -0.00111945 0.01355492] [ 0.12044113 -0.02159427 0.99248558 0.39588842] [ 0. 0. 0. 1. ]] SLAMing on 110.83992885099998 meters Centerline goodness : 0.790419 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.01, Z:0.40 [[ 9.75274134e-01 -1.83959537e-01 -1.22471434e-01 -9.43554851e-01] [ 1.85285773e-01 9.82684516e-01 -5.69664251e-04 1.13594786e-02] [ 1.20455577e-01 -2.21366355e-02 9.92471875e-01 3.95721158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86992885099998 meters Centerline goodness : 0.790485 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.01, Z:0.40 [[ 9.75307942e-01 -1.83683155e-01 -1.22616953e-01 -9.42889051e-01] [ 1.85083001e-01 9.82722892e-01 2.67525072e-05 9.13273565e-03] [ 1.20493573e-01 -2.27204056e-02 9.92454071e-01 3.95534248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89992885099998 meters Centerline goodness : 0.835856 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.00, Z:0.40 [[ 9.75254229e-01 -1.83905653e-01 -1.22710636e-01 -9.42540900e-01] [ 1.85378988e-01 9.82666918e-01 6.00111698e-04 4.32822433e-03] [ 1.20473319e-01 -2.33332350e-02 9.92442310e-01 3.95857869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92992885099999 meters Centerline goodness : 0.789830 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.00, Z:0.40 [[ 9.75239912e-01 -1.84034737e-01 -1.22630866e-01 -9.42785712e-01] [ 1.85548446e-01 9.82634667e-01 9.40533343e-04 1.82055841e-03] [ 1.20328250e-01 -2.36712123e-02 9.92451906e-01 3.96167408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95992885099999 meters Centerline goodness : 0.835218 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.00, Z:0.40 [[ 9.75235046e-01 -1.84070106e-01 -1.22616479e-01 -9.42886950e-01] [ 1.85635639e-01 9.82617696e-01 1.36879847e-03 -7.22475849e-04] [ 1.20233167e-01 -2.40968887e-02 9.92453186e-01 3.96442329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.98992885099999 meters Centerline goodness : 0.788163 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.00, Z:0.40 [[ 0.97523196 -0.1841659 -0.1224971 -0.94318578] [ 0.18578016 0.98258971 0.00178966 -0.00329207] [ 0.1200348 -0.02450287 0.99246726 0.39667584] [ 0. 0. 0. 1. ]] SLAMing on 111.01992885099999 meters Centerline goodness : 0.787780 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.40 [[ 0.97517888 -0.18451582 -0.12239304 -0.94345987] [ 0.18618464 0.98251222 0.00224101 -0.00779592] [ 0.11983916 -0.02497309 0.99247918 0.39720941] [ 0. 0. 0. 1. ]] SLAMing on 111.04992885099999 meters Centerline goodness : 0.836807 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.40 [[ 0.97517325 -0.18455023 -0.12238607 -0.94357534] [ 0.18625432 0.9824983 0.00253247 -0.00948861] [ 0.11977674 -0.02526453 0.99247934 0.39746795] [ 0. 0. 0. 1. ]] SLAMing on 111.07992885099999 meters Centerline goodness : 0.836341 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.40 [[ 0.97517811 -0.18452546 -0.12238467 -0.94363755] [ 0.1862633 0.98249583 0.00281406 -0.01100003] [ 0.11972316 -0.02553998 0.99247875 0.39769442] [ 0. 0. 0. 1. ]] SLAMing on 111.10992885099999 meters Centerline goodness : 0.838114 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.40 [[ 0.97519014 -0.18446579 -0.12237879 -0.94366084] [ 0.18623423 0.98250057 0.00307272 -0.01243733] [ 0.11967042 -0.02578761 0.99247871 0.39790443] [ 0. 0. 0. 1. ]] SLAMing on 111.13992885099998 meters Centerline goodness : 0.789989 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.40 [[ 0.97523219 -0.18420186 -0.12244124 -0.9431373 ] [ 0.18604463 0.98253436 0.00369203 -0.01556581] [ 0.11962265 -0.02638012 0.9924689 0.39787019] [ 0. 0. 0. 1. ]] SLAMing on 111.16992885099998 meters Centerline goodness : 0.785445 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.40 [[ 0.97527661 -0.18396557 -0.12244269 -0.94261017] [ 0.18585826 0.98256793 0.00412063 -0.01695217] [ 0.1195502 -0.02677574 0.99246703 0.39746028] [ 0. 0. 0. 1. ]] SLAMing on 111.19992885099998 meters Centerline goodness : 0.787932 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.40 [[ 0.97530469 -0.18382506 -0.12243003 -0.9423557 ] [ 0.18574079 0.98258927 0.00432357 -0.01782473] [ 0.11950365 -0.02695705 0.99246773 0.39732462] [ 0. 0. 0. 1. ]] SLAMing on 111.22992885099998 meters Centerline goodness : 0.787932 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.40 [[ 0.97530469 -0.18382506 -0.12243003 -0.9423557 ] [ 0.18574079 0.98258927 0.00432357 -0.01782473] [ 0.11950365 -0.02695705 0.99246773 0.39732462] [ 0. 0. 0. 1. ]] SLAMing on 111.25992885099998 meters Centerline goodness : 0.787084 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.40 [[ 0.97532865 -0.18365336 -0.12249678 -0.9420041 ] [ 0.18559265 0.9826164 0.00451463 -0.01833938] [ 0.11953821 -0.02713775 0.99245864 0.39719778] [ 0. 0. 0. 1. ]] SLAMing on 111.28992885099998 meters Centerline goodness : 0.785759 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.40 [[ 0.97539931 -0.18319409 -0.1226218 -0.94131498] [ 0.18517142 0.98269436 0.0048301 -0.0188681 ] [ 0.1196149 -0.02741733 0.99244172 0.39696985] [ 0. 0. 0. 1. ]] SLAMing on 111.31992885099999 meters Centerline goodness : 0.786205 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.40 [[ 0.97543607 -0.18294197 -0.12270575 -0.94092588] [ 0.18493969 0.98273718 0.00499543 -0.01909133] [ 0.11967362 -0.02756588 0.99243052 0.39681183] [ 0. 0. 0. 1. ]] SLAMing on 111.34992885099999 meters Centerline goodness : 0.783993 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.40 [[ 0.9754724 -0.18266742 -0.12282591 -0.9403669 ] [ 0.18468622 0.982784 0.00515921 -0.01941134] [ 0.11976892 -0.02771691 0.99241482 0.39660544] [ 0. 0. 0. 1. ]] SLAMing on 111.37992885099999 meters Centerline goodness : 0.783969 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.40 [[ 0.9755033 -0.18245255 -0.12289984 -0.94006258] [ 0.18448437 0.98282135 0.00526329 -0.01983639] [ 0.11982828 -0.02780745 0.99240512 0.3966297 ] [ 0. 0. 0. 1. ]] SLAMing on 111.40992885099999 meters Centerline goodness : 0.784954 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.40 [[ 0.97556867 -0.18203879 -0.12299449 -0.93952452] [ 0.18409352 0.98289359 0.00545644 -0.01992152] [ 0.11989721 -0.02796562 0.99239235 0.39641573] [ 0. 0. 0. 1. ]] SLAMing on 111.43992885099999 meters Centerline goodness : 0.784814 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.40 [[ 0.9755711 -0.18198516 -0.12305457 -0.93939705] [ 0.1840244 0.98290729 0.00531752 -0.01947265] [ 0.11998352 -0.02783266 0.99238566 0.39651764] [ 0. 0. 0. 1. ]] SLAMing on 111.46992885099999 meters Centerline goodness : 0.783797 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.40 [[ 0.97557502 -0.18198294 -0.12302681 -0.93947054] [ 0.18401312 0.98290977 0.0052492 -0.01899781] [ 0.11996899 -0.02775953 0.99238946 0.3965083 ] [ 0. 0. 0. 1. ]] SLAMing on 111.49992885099999 meters Centerline goodness : 0.783223 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.40 [[ 0.97556716 -0.18214487 -0.12284933 -0.93978307] [ 0.18415843 0.98288312 0.00514288 -0.01879347] [ 0.11980978 -0.02764097 0.99241201 0.39643141] [ 0. 0. 0. 1. ]] SLAMing on 111.52992885099998 meters Centerline goodness : 0.783639 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.40 [[ 0.9755622 -0.18220247 -0.12280333 -0.93977347] [ 0.18421327 0.98287292 0.00512709 -0.01908022] [ 0.1197659 -0.0276238 0.99241778 0.39640662] [ 0. 0. 0. 1. ]] SLAMing on 111.55992885099998 meters Centerline goodness : 0.781914 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.40 [[ 0.97549806 -0.1828096 -0.12240987 -0.94050594] [ 0.18479299 0.98276498 0.00495334 -0.01987511] [ 0.11939462 -0.02745246 0.99246727 0.39632026] [ 0. 0. 0. 1. ]] SLAMing on 111.58992885099998 meters Centerline goodness : 0.783895 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.40 [[ 0.97545401 -0.18325141 -0.12209994 -0.94120704] [ 0.18519908 0.98268978 0.00470021 -0.02008956] [ 0.11912504 -0.02719763 0.99250668 0.39640111] [ 0. 0. 0. 1. ]] SLAMing on 111.61992885099998 meters Centerline goodness : 0.783649 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.40 [[ 0.97541326 -0.18372275 -0.12171657 -0.9420254 ] [ 0.18564563 0.98260622 0.00455225 -0.02042104] [ 0.1187631 -0.02703647 0.99255446 0.3963614 ] [ 0. 0. 0. 1. ]] SLAMing on 111.64992885099998 meters Centerline goodness : 0.782914 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.40 [[ 0.97531241 -0.18452425 -0.12131164 -0.94313511] [ 0.18639474 0.98246614 0.00415687 -0.02053597] [ 0.11841753 -0.0266661 0.99260577 0.39660096] [ 0. 0. 0. 1. ]] SLAMing on 111.67992885099999 meters Centerline goodness : 0.784399 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.40 [[ 0.9752702 -0.18486819 -0.1211272 -0.94366719] [ 0.18670668 0.98240793 0.00390895 -0.02005584] [ 0.11827368 -0.02642753 0.9926293 0.39667674] [ 0. 0. 0. 1. ]] SLAMing on 111.70992885099999 meters Centerline goodness : 0.783390 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.40 [[ 0.97523803 -0.18517669 -0.12091476 -0.94413878] [ 0.18699176 0.98235436 0.00374108 -0.01981862] [ 0.11808838 -0.02625851 0.99265584 0.39664468] [ 0. 0. 0. 1. ]] SLAMing on 111.73992885099999 meters Centerline goodness : 0.783212 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.40 [[ 0.97520904 -0.18534288 -0.12089391 -0.94418965] [ 0.1871408 0.98232654 0.00359133 -0.01982373] [ 0.11809167 -0.02612648 0.99265894 0.39672135] [ 0. 0. 0. 1. ]] SLAMing on 111.76992885099999 meters Centerline goodness : 0.784664 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.40 [[ 0.97521465 -0.1853268 -0.12087335 -0.94390353] [ 0.18713462 0.98232738 0.00368017 -0.01975966] [ 0.11805517 -0.02620854 0.99266112 0.39628447] [ 0. 0. 0. 1. ]] SLAMing on 111.79992885099999 meters Centerline goodness : 0.825110 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.40 [[ 0.97519814 -0.18547003 -0.12078683 -0.94398743] [ 0.18724713 0.98230684 0.00343231 -0.01877265] [ 0.11801314 -0.02596417 0.99267253 0.39615796] [ 0. 0. 0. 1. ]] SLAMing on 111.82992885099999 meters Centerline goodness : 0.784648 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.40 [[ 0.97515224 -0.18577152 -0.12069405 -0.94464573] [ 0.18749723 0.98226054 0.00300194 -0.01762831] [ 0.11799533 -0.02555715 0.99268521 0.39658878] [ 0. 0. 0. 1. ]] SLAMing on 111.85992885099999 meters Centerline goodness : 0.787763 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.40 [[ 0.97513065 -0.18592162 -0.12063732 -0.94489529] [ 0.18761174 0.98223954 0.0027055 -0.01660997] [ 0.11799174 -0.02527119 0.99269296 0.39669225] [ 0. 0. 0. 1. ]] SLAMing on 111.88992885099998 meters Centerline goodness : 0.787383 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.01, Z:0.40 [[ 0.97510422 -0.18608881 -0.12059314 -0.94551101] [ 0.18770281 0.9822237 0.00206449 -0.0148186 ] [ 0.11806526 -0.02464876 0.99269987 0.39736908] [ 0. 0. 0. 1. ]] SLAMing on 111.91992885099998 meters Centerline goodness : 0.788209 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.01, Z:0.40 [[ 0.97508756 -0.18621013 -0.12054058 -0.9458366 ] [ 0.18778177 0.98220928 0.00171194 -0.01383228] [ 0.11807729 -0.02430462 0.99270692 0.397658 ] [ 0. 0. 0. 1. ]] SLAMing on 111.94992885099998 meters Centerline goodness : 0.788294 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.01, Z:0.40 [[ 0.97507976 -0.18621768 -0.12059199 -0.94580981] [ 0.18775035 0.98221582 0.00137335 -0.01264818] [ 0.11819162 -0.02398031 0.99270121 0.39780393] [ 0. 0. 0. 1. ]] SLAMing on 111.97992885099998 meters Centerline goodness : 0.825095 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.01, Z:0.40 [[ 0.97508638 -0.18615424 -0.12063646 -0.94560577] [ 0.18765966 0.98223345 0.00113936 -0.01165784] [ 0.11828107 -0.02374957 0.9926961 0.39772468] [ 0. 0. 0. 1. ]] SLAMing on 112.00992885099998 meters Centerline goodness : 0.787336 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.40 [[ 0.97518851 -0.18549856 -0.12082074 -0.94470253] [ 0.18698846 0.98236159 0.00101259 -0.00954601] [ 0.11850182 -0.02357955 0.99267382 0.39729563] [ 0. 0. 0. 1. ]] SLAMing on 112.03992885099998 meters Centerline goodness : 0.788194 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.40 [[ 9.75199475e-01 -1.85424347e-01 -1.20846167e-01 -9.44503511e-01] [ 1.86882998e-01 9.82381892e-01 7.50378386e-04 -8.20277620e-03] [ 1.18577948e-01 -2.33158626e-02 9.92670963e-01 3.97163906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.06992885099999 meters Centerline goodness : 0.788385 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.40 [[ 9.75196661e-01 -1.85398219e-01 -1.20908944e-01 -9.44343308e-01] [ 1.86837014e-01 9.82390758e-01 5.73450078e-04 -7.26724652e-03] [ 1.18673512e-01 -2.31494926e-02 9.92663437e-01 3.97071595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09992885099999 meters Centerline goodness : 0.787951 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.40 [[ 9.75174126e-01 -1.85565954e-01 -1.20833356e-01 -9.44474670e-01] [ 1.86967908e-01 9.82365985e-01 2.69669258e-04 -6.27642532e-03] [ 1.18652538e-01 -2.28549343e-02 9.92672769e-01 3.97003048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.12992885099999 meters Centerline goodness : 0.827120 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.01, Z:0.40 [[ 9.75132776e-01 -1.85931102e-01 -1.20605529e-01 -9.45034793e-01] [ 1.87289558e-01 9.82304747e-01 -7.31095519e-05 -5.10717353e-03] [ 1.18484977e-01 -2.25168648e-02 9.92700509e-01 3.96940588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.15992885099999 meters Centerline goodness : 0.829125 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.40 [[ 9.75082991e-01 -1.86326770e-01 -1.20397238e-01 -9.45537946e-01] [ 1.87654283e-01 9.82235089e-01 -3.17218191e-04 -4.86194521e-03] [ 1.18317498e-01 -2.22837433e-02 9.92725745e-01 3.96951741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.18992885099999 meters Centerline goodness : 0.788409 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.40 [[ 9.75024901e-01 -1.86826572e-01 -1.20092773e-01 -9.46236226e-01] [ 1.88124611e-01 9.82145020e-01 -5.37973471e-04 -4.92176553e-03] [ 1.18049026e-01 -2.20678686e-02 9.92762528e-01 3.96968051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.21992885099999 meters Centerline goodness : 0.835214 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.40 [[ 9.74946978e-01 -1.87469231e-01 -1.19723338e-01 -9.47062517e-01] [ 1.88735472e-01 9.82027657e-01 -7.75887521e-04 -4.93645677e-03] [ 1.17717084e-01 -2.18395915e-02 9.92806991e-01 3.96853113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24992885099999 meters Centerline goodness : 0.791431 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.40 [[ 0.97411063 -0.1922535 -0.11894144 -0.94713285] [ 0.1930084 0.98118306 -0.00524917 -0.00310396] [ 0.11771249 -0.01784342 0.9928874 0.39685162] [ 0. 0. 0. 1. ]] SLAMing on 112.27992885099998 meters Centerline goodness : 0.835934 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.40 [[ 0.97400865 -0.19302437 -0.11852738 -0.94805441] [ 0.19375099 0.98103548 -0.00547228 -0.00360606] [ 0.11733585 -0.01763475 0.9929357 0.39679379] [ 0. 0. 0. 1. ]] SLAMing on 112.30992885099998 meters Centerline goodness : 0.791689 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.40 [[ 0.97389512 -0.19391334 -0.11800812 -0.9491236 ] [ 0.19459902 0.98086576 -0.00579555 -0.00411618] [ 0.11687396 -0.01732 0.99299572 0.39669175] [ 0. 0. 0. 1. ]] SLAMing on 112.33992885099998 meters Centerline goodness : 0.789979 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.40 [[ 0.97379156 -0.19466371 -0.11762671 -0.94992961] [ 0.19532582 0.98072015 -0.00598495 -0.0046321 ] [ 0.11652393 -0.01714744 0.99303985 0.39653462] [ 0. 0. 0. 1. ]] SLAMing on 112.36992885099998 meters Centerline goodness : 0.792941 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.40 [[ 0.97356051 -0.19628746 -0.11683818 -0.95209653] [ 0.19685814 0.98040875 -0.00674972 -0.00444273] [ 0.11587406 -0.01642929 0.99312803 0.39679642] [ 0. 0. 0. 1. ]] SLAMing on 112.39992885099998 meters Centerline goodness : 0.792959 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.40 [[ 0.97348132 -0.19680907 -0.11662034 -0.952922 ] [ 0.19733407 0.98031028 -0.0071422 -0.0038507 ] [ 0.11572977 -0.01606037 0.99315089 0.39707914] [ 0. 0. 0. 1. ]] SLAMing on 112.42992885099999 meters Centerline goodness : 0.794908 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.40 [[ 0.97341992 -0.19725823 -0.11637379 -0.95372498] [ 0.19773378 0.98022661 -0.00755986 -0.00301682] [ 0.11556393 -0.01565211 0.99317672 0.39730581] [ 0. 0. 0. 1. ]] SLAMing on 112.45992885099999 meters Centerline goodness : 0.794439 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:0.40 [[ 0.97336919 -0.19757677 -0.1162576 -0.95432095] [ 0.19801043 0.98016789 -0.00792334 -0.0023679 ] [ 0.11551744 -0.01530788 0.99318749 0.39768129] [ 0. 0. 0. 1. ]] SLAMing on 112.48992885099999 meters Centerline goodness : 0.842271 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.00, Z:0.40 [[ 9.73322821e-01 -1.97883942e-01 -1.16123348e-01 -9.55081567e-01] [ 1.98239954e-01 9.80115861e-01 -8.59188281e-03 -5.75199033e-04] [ 1.15514531e-01 -1.46576116e-02 9.93197638e-01 3.98259615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.51992885099999 meters Centerline goodness : 0.799963 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.01, Z:0.41 [[ 0.9724742 -0.20084804 -0.11812699 -0.91952789] [ 0.2002694 0.97959558 -0.01687191 0.00743739] [ 0.11910537 -0.00724972 0.99285515 0.40629072] [ 0. 0. 0. 1. ]] SLAMing on 112.54992885099999 meters Centerline goodness : 0.795386 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.03, Z:0.44 [[ 0.97484349 -0.19744318 -0.10342323 -0.80894527] [ 0.19174874 0.97945354 -0.0624755 0.02848914] [ 0.11363361 0.04107256 0.99267338 0.44145818] [ 0. 0. 0. 1. ]] SLAMing on 112.57992885099999 meters Centerline goodness : 0.841460 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.03, Z:0.44 [[ 0.9755458 -0.19386869 -0.10356318 -0.81025807] [ 0.18861411 0.98031212 -0.05841965 0.0272679 ] [ 0.11284998 0.03745756 0.99290574 0.44094848] [ 0. 0. 0. 1. ]] SLAMing on 112.60992885099999 meters Centerline goodness : 0.796629 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.03, Z:0.44 [[ 0.97617643 -0.1905855 -0.10371473 -0.81177726] [ 0.18576608 0.98108773 -0.05438594 0.02571299] [ 0.11211842 0.03382359 0.99311904 0.4405532 ] [ 0. 0. 0. 1. ]] SLAMing on 112.63992885099998 meters Centerline goodness : 0.843047 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.02, Z:0.44 [[ 0.976817 -0.18713263 -0.10397082 -0.81282934] [ 0.18276169 0.98187626 -0.05017146 0.0236474 ] [ 0.1114752 0.03000645 0.9933141 0.43995139] [ 0. 0. 0. 1. ]] SLAMing on 112.66992885099998 meters Centerline goodness : 0.795477 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.02, Z:0.44 [[ 0.97733336 -0.18435711 -0.10407665 -0.81441668] [ 0.18034585 0.98248922 -0.04680072 0.02175418] [ 0.11088224 0.02697011 0.99346753 0.44004715] [ 0. 0. 0. 1. ]] SLAMing on 112.69992885099998 meters Centerline goodness : 0.794959 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.02, Z:0.44 [[ 0.9773956 -0.18396835 -0.10418009 -0.81367875] [ 0.18000942 0.98257519 -0.04628831 0.02115567] [ 0.11088036 0.02648859 0.9934807 0.4393413 ] [ 0. 0. 0. 1. ]] SLAMing on 112.72992885099998 meters Centerline goodness : 0.793962 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.02, Z:0.44 [[ 0.97740725 -0.18389089 -0.10420747 -0.81344329] [ 0.1799525 0.98259475 -0.04609406 0.02067 ] [ 0.11086999 0.02630027 0.99348686 0.43910989] [ 0. 0. 0. 1. ]] SLAMing on 112.75992885099998 meters Centerline goodness : 0.795490 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.02, Z:0.44 [[ 0.97742205 -0.18376146 -0.10429696 -0.81315555] [ 0.17984521 0.98262496 -0.04586824 0.02013085] [ 0.11091362 0.02607532 0.99348792 0.43895631] [ 0. 0. 0. 1. ]] SLAMing on 112.78992885099998 meters Centerline goodness : 0.798076 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.02, Z:0.44 [[ 0.97741431 -0.183848 -0.10421699 -0.81318764] [ 0.17994902 0.98261209 -0.04573653 0.01953608] [ 0.11081344 0.0259498 0.99350239 0.43875553] [ 0. 0. 0. 1. ]] SLAMing on 112.81992885099999 meters Centerline goodness : 0.837389 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.02, Z:0.44 [[ 0.97740975 -0.18392301 -0.10412732 -0.81329876] [ 0.18006805 0.98260745 -0.04536616 0.01805438] [ 0.11066016 0.02559133 0.99352877 0.4385712 ] [ 0. 0. 0. 1. ]] SLAMing on 112.84992885099999 meters Centerline goodness : 0.836775 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.02, Z:0.44 [[ 0.97740717 -0.18391721 -0.10416176 -0.81303411] [ 0.18008369 0.98261384 -0.04516541 0.01746188] [ 0.11065749 0.02538716 0.9935343 0.43830268] [ 0. 0. 0. 1. ]] SLAMing on 112.87992885099999 meters Centerline goodness : 0.835611 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.02, Z:0.44 [[ 0.97743266 -0.1837141 -0.10428097 -0.81249353] [ 0.17991762 0.98266117 -0.04479591 0.01678253] [ 0.1107025 0.02502301 0.99353853 0.4379102 ] [ 0. 0. 0. 1. ]] SLAMing on 112.90992885099999 meters Centerline goodness : 0.833872 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.02, Z:0.44 [[ 0.97742681 -0.18377987 -0.10421992 -0.81247474] [ 0.18000749 0.98265378 -0.04459649 0.01601693] [ 0.11060804 0.02482944 0.9935539 0.43768503] [ 0. 0. 0. 1. ]] SLAMing on 112.93992885099999 meters Centerline goodness : 0.835227 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.01, Z:0.44 [[ 0.97739846 -0.18396627 -0.10415687 -0.81240138] [ 0.18024141 0.98262916 -0.04419244 0.01449401] [ 0.11047749 0.02442024 0.99357857 0.43722257] [ 0. 0. 0. 1. ]] SLAMing on 112.96992885099999 meters Centerline goodness : 0.832682 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.01, Z:0.44 [[ 0.97737612 -0.18416423 -0.10401663 -0.81273826] [ 0.18045563 0.98259459 -0.04408674 0.01366407] [ 0.11032538 0.02431894 0.99359796 0.437229 ] [ 0. 0. 0. 1. ]] SLAMing on 112.99992885099999 meters Centerline goodness : 0.798669 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.01, Z:0.44 [[ 0.97733096 -0.18450764 -0.10383217 -0.81338984] [ 0.18081213 0.98253177 -0.04402611 0.01281074] [ 0.11014156 0.02425396 0.99361994 0.43739461] [ 0. 0. 0. 1. ]] SLAMing on 113.02992885099998 meters Centerline goodness : 0.833561 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.01, Z:0.44 [[ 0.97728813 -0.18480233 -0.10371115 -0.813888 ] [ 0.18111417 0.98247727 -0.04400076 0.01202563] [ 0.11002529 0.02421786 0.9936337 0.4375958 ] [ 0. 0. 0. 1. ]] SLAMing on 113.05992885099998 meters Centerline goodness : 0.831714 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.01, Z:0.44 [[ 0.97725705 -0.18511839 -0.10344005 -0.81444161] [ 0.18145532 0.98242112 -0.04384881 0.01094796] [ 0.10973891 0.02408182 0.99366868 0.43747055] [ 0. 0. 0. 1. ]] SLAMing on 113.08992885099998 meters Centerline goodness : 0.832988 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.01, Z:0.44 [[ 0.97727182 -0.18497325 -0.10356004 -0.81407345] [ 0.18132154 0.98245188 -0.0437127 0.01054213] [ 0.10982844 0.02394153 0.99366217 0.43737906] [ 0. 0. 0. 1. ]] SLAMing on 113.11992885099998 meters Centerline goodness : 0.832196 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.01, Z:0.44 [[ 0.9777162 -0.18257438 -0.10362254 -0.81580438] [ 0.17923294 0.98296154 -0.04076961 0.00889788] [ 0.10930046 0.02128853 0.99378076 0.43772079] [ 0. 0. 0. 1. ]] SLAMing on 113.14992885099998 meters Centerline goodness : 0.832196 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.01, Z:0.44 [[ 0.9777162 -0.18257438 -0.10362254 -0.81580438] [ 0.17923294 0.98296154 -0.04076961 0.00889788] [ 0.10930046 0.02128853 0.99378076 0.43772079] [ 0. 0. 0. 1. ]] SLAMing on 113.17992885099999 meters Centerline goodness : 0.831918 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.01, Z:0.44 [[ 0.97823116 -0.17972066 -0.10375107 -0.8177309 ] [ 0.17674627 0.98355095 -0.0372596 0.00723189] [ 0.10874078 0.01811089 0.99390515 0.43808189] [ 0. 0. 0. 1. ]] SLAMing on 113.20992885099999 meters Centerline goodness : 0.831107 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.01, Z:0.44 [[ 0.97871768 -0.17697259 -0.10388649 -0.81934613] [ 0.17434276 0.98409979 -0.03394418 0.00549879] [ 0.10824186 0.01510991 0.99400975 0.4383648 ] [ 0. 0. 0. 1. ]] SLAMing on 113.23992885099999 meters Centerline goodness : 0.831466 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.01, Z:0.44 [[ 0.97873234 -0.17677549 -0.10408378 -0.81895624] [ 0.17415802 0.98413769 -0.03379334 0.00536144] [ 0.10840661 0.01494761 0.99399425 0.43839408] [ 0. 0. 0. 1. ]] SLAMing on 113.26992885099999 meters Centerline goodness : 0.832075 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.00, Z:0.44 [[ 0.9787531 -0.17657706 -0.10422532 -0.81856009] [ 0.17397789 0.9841763 -0.03359614 0.00488234] [ 0.1085084 0.01474942 0.99398611 0.43833802] [ 0. 0. 0. 1. ]] SLAMing on 113.29992885099999 meters Centerline goodness : 0.832231 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.00, Z:0.44 [[ 0.97877757 -0.17639506 -0.10430366 -0.81831102] [ 0.17381962 0.98421234 -0.03335888 0.00424558] [ 0.1085413 0.0145209 0.99398588 0.43826969] [ 0. 0. 0. 1. ]] SLAMing on 113.32992885099999 meters Centerline goodness : 0.831472 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.00, Z:0.44 [[ 0.97877552 -0.1763811 -0.10434651 -0.81829981] [ 0.17381722 0.98421656 -0.03324653 0.00377417] [ 0.10856362 0.01440366 0.99398515 0.43831916] [ 0. 0. 0. 1. ]] SLAMing on 113.35992885099999 meters Centerline goodness : 0.832883 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.00, Z:0.44 [[ 0.97877753 -0.17633497 -0.10440557 -0.81830429] [ 0.17379852 0.98422866 -0.03298527 0.00251335] [ 0.10857541 0.01413971 0.99398765 0.43849382] [ 0. 0. 0. 1. ]] SLAMing on 113.38992885099998 meters Centerline goodness : 0.832196 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.00, Z:0.44 [[ 0.97879841 -0.17619581 -0.10444479 -0.81810999] [ 0.17368737 0.98425724 -0.03271656 0.00166521] [ 0.10856506 0.01388218 0.99399241 0.43838263] [ 0. 0. 0. 1. ]] SLAMing on 113.41992885099998 meters Centerline goodness : 0.836597 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.00, Z:0.44 [[ 9.78819250e-01 -1.76005191e-01 -1.04570786e-01 -8.17804173e-01] [ 1.73532056e-01 9.84296173e-01 -3.23677284e-02 8.87601180e-05] [ 1.08625513e-01 1.35357720e-02 9.93990584e-01 4.38466145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44992885099998 meters Centerline goodness : 0.796791 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.00, Z:0.44 [[ 9.78851849e-01 -1.75760136e-01 -1.04677759e-01 -8.17379184e-01] [ 1.73318397e-01 9.84344061e-01 -3.20546897e-02 -7.20677077e-04] [ 1.08672867e-01 1.32342110e-02 9.93989469e-01 4.38306684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47992885099998 meters Centerline goodness : 0.839296 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.00, Z:0.44 [[ 0.97888838 -0.17548088 -0.10480461 -0.81685953] [ 0.17307578 0.98439856 -0.03168998 -0.00168124] [ 0.10873049 0.01288182 0.9939878 0.43808026] [ 0. 0. 0. 1. ]] SLAMing on 113.50992885099998 meters Centerline goodness : 0.798870 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.00, Z:0.44 [[ 0.97893093 -0.17513562 -0.1049845 -0.81624456] [ 0.17277115 0.98446519 -0.03127979 -0.00268444] [ 0.10883179 0.01248246 0.99398181 0.43788196] [ 0. 0. 0. 1. ]] SLAMing on 113.53992885099998 meters Centerline goodness : 0.797728 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.00, Z:0.44 [[ 0.97895775 -0.1749006 -0.10512615 -0.81593275] [ 0.17256367 0.98451042 -0.03100014 -0.00354904] [ 0.10891974 0.01220687 0.99397559 0.43793744] [ 0. 0. 0. 1. ]] SLAMing on 113.56992885099999 meters Centerline goodness : 0.842931 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.01, Z:0.44 [[ 0.97900216 -0.17447469 -0.10541986 -0.8152986 ] [ 0.17220142 0.98459363 -0.03036526 -0.00563871] [ 0.10909369 0.0115742 0.99396409 0.43802769] [ 0. 0. 0. 1. ]] SLAMing on 113.59992885099999 meters Centerline goodness : 0.844762 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.01, Z:0.44 [[ 0.97902586 -0.17427275 -0.10553379 -0.81494277] [ 0.17204254 0.98463411 -0.02995059 -0.00719753] [ 0.10913175 0.0111661 0.99396458 0.43798158] [ 0. 0. 0. 1. ]] SLAMing on 113.62992885099999 meters Centerline goodness : 0.845065 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.01, Z:0.44 [[ 0.97907303 -0.17397025 -0.10559528 -0.81441411] [ 0.17180763 0.98469432 -0.02931284 -0.0091186 ] [ 0.10907863 0.01055734 0.99397706 0.43753636] [ 0. 0. 0. 1. ]] SLAMing on 113.65992885099999 meters Centerline goodness : 0.847882 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.01, Z:0.44 [[ 0.97910072 -0.17383064 -0.10556841 -0.81424852] [ 0.17175877 0.98472727 -0.02848044 -0.01288074] [ 0.10890686 0.00975292 0.99400411 0.43738914] [ 0. 0. 0. 1. ]] SLAMing on 113.68992885099999 meters Centerline goodness : 0.844709 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.01, Z:0.44 [[ 0.97912926 -0.17364757 -0.10560498 -0.81404349] [ 0.17163102 0.98476438 -0.02796262 -0.01441848] [ 0.10885166 0.00925393 0.99401493 0.43719898] [ 0. 0. 0. 1. ]] SLAMing on 113.71992885099999 meters Centerline goodness : 0.848728 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.02, Z:0.44 [[ 0.97916481 -0.17338721 -0.10570311 -0.81374026] [ 0.17142085 0.98481451 -0.02748236 -0.0158902 ] [ 0.10886304 0.00879004 0.99401789 0.43712123] [ 0. 0. 0. 1. ]] SLAMing on 113.74992885099998 meters Centerline goodness : 0.851018 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.02, Z:0.44 [[ 0.97920206 -0.17312393 -0.10578953 -0.81334514] [ 0.17120372 0.98486451 -0.02704029 -0.01728666] [ 0.10886967 0.00836634 0.99402082 0.43694342] [ 0. 0. 0. 1. ]] SLAMing on 113.77992885099998 meters Centerline goodness : 0.849546 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.02, Z:0.44 [[ 0.9792303 -0.17289317 -0.10590544 -0.81288974] [ 0.171057 0.98491133 -0.02625218 -0.02060677] [ 0.10884629 0.00759107 0.99402961 0.43682283] [ 0. 0. 0. 1. ]] SLAMing on 113.80992885099998 meters Centerline goodness : 0.851542 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.02, Z:0.44 [[ 0.9792658 -0.17259375 -0.10606552 -0.81230634] [ 0.17081495 0.98496786 -0.02570165 -0.02221675] [ 0.10890707 0.00705117 0.99402693 0.43657425] [ 0. 0. 0. 1. ]] SLAMing on 113.83992885099998 meters Centerline goodness : 0.853683 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.02, Z:0.44 [[ 0.97928805 -0.17240786 -0.10616232 -0.81193669] [ 0.17067074 0.98500312 -0.02530516 -0.02345019] [ 0.10893303 0.00666224 0.99402677 0.4363883 ] [ 0. 0. 0. 1. ]] SLAMing on 113.86992885099998 meters Centerline goodness : 0.851351 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.02, Z:0.44 [[ 0.97930124 -0.17229235 -0.10622818 -0.81175897] [ 0.17059017 0.98502547 -0.02497626 -0.02477112] [ 0.10894068 0.0063378 0.99402805 0.43639904] [ 0. 0. 0. 1. ]] SLAMing on 113.89992885099998 meters Centerline goodness : 0.854576 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.44 [[ 0.97933267 -0.17215072 -0.10616804 -0.81184044] [ 0.17051345 0.98505371 -0.02437943 -0.02768419] [ 0.10877815 0.00577249 0.99404929 0.43651658] [ 0. 0. 0. 1. ]] SLAMing on 113.92992885099999 meters Centerline goodness : 0.856481 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.44 [[ 0.97935361 -0.17208757 -0.10607724 -0.81204271] [ 0.17048631 0.98506647 -0.0240514 -0.02922716] [ 0.10863208 0.00547011 0.99406697 0.43663496] [ 0. 0. 0. 1. ]] SLAMing on 113.95992885099999 meters Centerline goodness : 0.855247 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.44 [[ 0.97936767 -0.17208981 -0.10594368 -0.81229744] [ 0.17051986 0.98506746 -0.02377148 -0.03034158] [ 0.1084525 0.00521552 0.99408795 0.4365737 ] [ 0. 0. 0. 1. ]] SLAMing on 113.98992885099999 meters Centerline goodness : 0.857606 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.44 [[ 0.97939241 -0.17193357 -0.10596864 -0.81238941] [ 0.17041205 0.98509695 -0.02331791 -0.0321185 ] [ 0.10839851 0.00477905 0.99409603 0.43677672] [ 0. 0. 0. 1. ]] SLAMing on 114.01992885099999 meters Centerline goodness : 0.856154 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.44 [[ 0.97940006 -0.1718755 -0.10599218 -0.81237346] [ 0.17037525 0.98510801 -0.02311869 -0.03302371] [ 0.10838728 0.004584 0.99409818 0.43687115] [ 0. 0. 0. 1. ]] SLAMing on 114.04992885099999 meters Centerline goodness : 0.857202 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.44 [[ 0.97943033 -0.17167166 -0.10604279 -0.81216632] [ 0.17020528 0.98514494 -0.02279514 -0.0338766 ] [ 0.1083808 0.00427721 0.99410025 0.43678182] [ 0. 0. 0. 1. ]] SLAMing on 114.07992885099999 meters Centerline goodness : 0.855619 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.44 [[ 0.97944133 -0.17157294 -0.10610095 -0.81200326] [ 0.17012732 0.98516296 -0.02259712 -0.03464184] [ 0.10840378 0.00408188 0.99409857 0.43677015] [ 0. 0. 0. 1. ]] SLAMing on 114.10992885099999 meters Centerline goodness : 0.853988 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.04, Z:0.44 [[ 0.97948169 -0.17131012 -0.10615301 -0.81183006] [ 0.16992512 0.98521081 -0.0220252 -0.03660421] [ 0.10835624 0.00353522 0.99410584 0.43675374] [ 0. 0. 0. 1. ]] SLAMing on 114.13992885099998 meters Centerline goodness : 0.853201 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.04, Z:0.44 [[ 0.97949565 -0.17115658 -0.10627179 -0.81148591] [ 0.16978449 0.98523796 -0.02189478 -0.03703075] [ 0.10845044 0.00340254 0.99409603 0.43672643] [ 0. 0. 0. 1. ]] SLAMing on 114.16992885099998 meters Centerline goodness : 0.852075 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.04, Z:0.44 [[ 0.97952636 -0.1709125 -0.10638148 -0.81110877] [ 0.16955623 0.98528085 -0.02173329 -0.03733557] [ 0.10853013 0.00325069 0.99408785 0.43663956] [ 0. 0. 0. 1. ]] SLAMing on 114.19992885099998 meters Centerline goodness : 0.852422 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.04, Z:0.44 [[ 0.97955458 -0.17064822 -0.10654577 -0.81062938] [ 0.16930671 0.98532714 -0.02157902 -0.03742353] [ 0.10866486 0.00309891 0.99407361 0.43652361] [ 0. 0. 0. 1. ]] SLAMing on 114.22992885099998 meters Centerline goodness : 0.851545 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.04, Z:0.44 [[ 0.97956622 -0.17055344 -0.1065905 -0.81046942] [ 0.16922543 0.98534394 -0.02144928 -0.0375387 ] [ 0.10868655 0.00297317 0.99407162 0.43643372] [ 0. 0. 0. 1. ]] SLAMing on 114.25992885099998 meters Centerline goodness : 0.850183 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.04, Z:0.44 [[ 0.97962078 -0.17023028 -0.10660572 -0.81013532] [ 0.16893426 0.98540061 -0.02113873 -0.03811492] [ 0.1086478 0.00269858 0.99407664 0.43613576] [ 0. 0. 0. 1. ]] SLAMing on 114.28992885099998 meters Centerline goodness : 0.849375 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.04, Z:0.44 [[ 0.97965742 -0.17001833 -0.10660724 -0.80976717] [ 0.16875864 0.98543802 -0.02079478 -0.03882127] [ 0.10859033 0.00238087 0.99408374 0.43570097] [ 0. 0. 0. 1. ]] SLAMing on 114.31992885099999 meters Centerline goodness : 0.847825 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.04, Z:0.44 [[ 0.97968837 -0.16977428 -0.10671173 -0.80926812] [ 0.1685405 0.98548065 -0.02054229 -0.03924598] [ 0.1086499 0.00213979 0.99407777 0.43540378] [ 0. 0. 0. 1. ]] SLAMing on 114.34992885099999 meters Centerline goodness : 0.847708 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.04, Z:0.44 [[ 0.97971799 -0.16951918 -0.10684521 -0.80875454] [ 0.16830677 0.98552499 -0.02033054 -0.03928013] [ 0.10874504 0.00193542 0.99406779 0.43514109] [ 0. 0. 0. 1. ]] SLAMing on 114.37992885099999 meters Centerline goodness : 0.844137 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.04, Z:0.44 [[ 0.97972293 -0.16943725 -0.10692984 -0.80865046] [ 0.16822188 0.98553905 -0.02035156 -0.03889514] [ 0.10883184 0.00195095 0.99405826 0.43523257] [ 0. 0. 0. 1. ]] SLAMing on 114.40992885099999 meters Centerline goodness : 0.847017 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.04, Z:0.44 [[ 0.97973459 -0.16932534 -0.10700033 -0.80855924] [ 0.16810179 0.98555815 -0.0204189 -0.03830073] [ 0.10891248 0.00201816 0.99404929 0.4353022 ] [ 0. 0. 0. 1. ]] SLAMing on 114.43992885099999 meters Centerline goodness : 0.845354 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.04, Z:0.44 [[ 0.97974755 -0.16917478 -0.1071197 -0.80829882] [ 0.16794225 0.98558386 -0.02049041 -0.03777241] [ 0.10904191 0.00208551 0.99403497 0.43533284] [ 0. 0. 0. 1. ]] SLAMing on 114.46992885099999 meters Centerline goodness : 0.844694 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.04, Z:0.43 [[ 0.97982452 -0.16869436 -0.10717332 -0.80774095] [ 0.16746889 0.9856663 -0.02039894 -0.03686694] [ 0.10907831 0.00203919 0.99403107 0.43491252] [ 0. 0. 0. 1. ]] SLAMing on 114.49992885099998 meters Centerline goodness : 0.844439 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.04, Z:0.43 [[ 0.97983943 -0.16851964 -0.10731178 -0.80730726] [ 0.16728537 0.98569605 -0.02046694 -0.03618277] [ 0.10922588 0.00210262 0.99401473 0.43478433] [ 0. 0. 0. 1. ]] SLAMing on 114.52992885099998 meters Centerline goodness : 0.841903 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.04, Z:0.43 [[ 0.97985847 -0.16835982 -0.10738878 -0.80699548] [ 0.16710855 0.98572304 -0.0206113 -0.03517087] [ 0.10932571 0.00225058 0.99400343 0.43465141] [ 0. 0. 0. 1. ]] SLAMing on 114.55992885099998 meters Centerline goodness : 0.839768 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.43 [[ 0.97988077 -0.16812822 -0.10754798 -0.80660961] [ 0.16686025 0.98576225 -0.02074703 -0.03426695] [ 0.1095049 0.00238413 0.9939834 0.43467368] [ 0. 0. 0. 1. ]] SLAMing on 114.58992885099998 meters Centerline goodness : 0.838095 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.44 [[ 9.80437739e-01 -1.64773028e-01 -1.07664710e-01 -8.08294600e-01] [ 1.63840777e-01 9.86331397e-01 -1.75092656e-02 -3.40731584e-02] [ 1.09078139e-01 -4.73125008e-04 9.94033066e-01 4.35198206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61992885099998 meters Centerline goodness : 0.838706 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.44 [[ 9.80451956e-01 -1.64596032e-01 -1.07805885e-01 -8.07953374e-01] [ 1.63642928e-01 9.86361018e-01 -1.76899526e-02 -3.30251433e-02] [ 1.09247218e-01 -2.97522008e-04 9.94014566e-01 4.35200604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64992885099998 meters Centerline goodness : 0.835780 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.44 [[ 9.80478199e-01 -1.64400906e-01 -1.07864931e-01 -8.07692437e-01] [ 1.63429668e-01 9.86393595e-01 -1.78443007e-02 -3.19594466e-02] [ 1.09330896e-01 -1.32382076e-04 9.94005401e-01 4.35095071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67992885099999 meters Centerline goodness : 0.835031 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.43 [[ 0.98107576 -0.16060221 -0.10815398 -0.80844527] [ 0.16000729 0.98701349 -0.01421378 -0.0318604 ] [ 0.1090322 -0.00336063 0.99403254 0.43491682] [ 0. 0. 0. 1. ]] SLAMing on 114.70992885099999 meters Centerline goodness : 0.835408 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.43 [[ 0.9810942 -0.16039731 -0.1082907 -0.80807372] [ 0.15977899 0.98704749 -0.01441975 -0.03064629] [ 0.10920095 -0.00315545 0.99401469 0.43487543] [ 0. 0. 0. 1. ]] SLAMing on 114.73992885099999 meters Centerline goodness : 0.834295 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.43 [[ 0.98110446 -0.16033499 -0.10829001 -0.80799372] [ 0.15970936 0.98705783 -0.01448285 -0.02992198] [ 0.10921061 -0.00308574 0.99401384 0.43471381] [ 0. 0. 0. 1. ]] SLAMing on 114.76992885099999 meters Centerline goodness : 0.836630 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.43 [[ 0.98109053 -0.16045328 -0.10824104 -0.80803499] [ 0.15981426 0.98703898 -0.01460988 -0.02947151] [ 0.10918233 -0.00296485 0.99401732 0.43461191] [ 0. 0. 0. 1. ]] SLAMing on 114.79992885099999 meters Centerline goodness : 0.839777 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.43 [[ 0.98109816 -0.16041044 -0.10823533 -0.80785407] [ 0.15978202 0.98704566 -0.01451081 -0.02943157] [ 0.1091609 -0.00305753 0.99401939 0.43434461] [ 0. 0. 0. 1. ]] SLAMing on 114.82992885099999 meters Centerline goodness : 0.838876 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.43 [[ 0.98105724 -0.1607941 -0.1080368 -0.80836557] [ 0.16015009 0.98698368 -0.01466854 -0.02920695] [ 0.10898917 -0.00291142 0.99403867 0.43429239] [ 0. 0. 0. 1. ]] SLAMing on 114.85992885099999 meters Centerline goodness : 0.838127 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.43 [[ 0.98102387 -0.16108405 -0.1079078 -0.8086996 ] [ 0.16042401 0.98693682 -0.01482745 -0.02915667] [ 0.10888664 -0.00276492 0.99405033 0.43433676] [ 0. 0. 0. 1. ]] SLAMing on 114.88992885099998 meters Centerline goodness : 0.834738 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.43 [[ 0.98099328 -0.16145231 -0.10763522 -0.80935528] [ 0.16077787 0.98687704 -0.01497247 -0.0292821 ] [ 0.10864006 -0.00261747 0.99407771 0.43437358] [ 0. 0. 0. 1. ]] SLAMing on 114.91992885099998 meters Centerline goodness : 0.834394 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.43 [[ 0.98095902 -0.16179523 -0.10743229 -0.80990974] [ 0.16110433 0.98682129 -0.01513726 -0.02940113] [ 0.10846561 -0.00245878 0.99409716 0.4344966 ] [ 0. 0. 0. 1. ]] SLAMing on 114.94992885099998 meters Centerline goodness : 0.834087 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.43 [[ 0.98092321 -0.1621268 -0.1072593 -0.81048952] [ 0.16142138 0.9867672 -0.01528474 -0.02960898] [ 0.10831802 -0.00232079 0.99411358 0.43471139] [ 0. 0. 0. 1. ]] SLAMing on 114.97992885099998 meters Centerline goodness : 0.836970 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.43 [[ 0.98084732 -0.16281979 -0.10690301 -0.81154357] [ 0.16209636 0.98665349 -0.01548069 -0.02998063] [ 0.10799679 -0.0021444 0.99414893 0.43488718] [ 0. 0. 0. 1. ]] SLAMing on 115.00992885099998 meters Centerline goodness : 0.833612 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.44 [[ 0.98080738 -0.16317863 -0.10672213 -0.81212362] [ 0.16245429 0.98659424 -0.01550497 -0.03058137] [ 0.10782152 -0.00213007 0.99416798 0.43502173] [ 0. 0. 0. 1. ]] SLAMing on 115.03992885099998 meters Centerline goodness : 0.833612 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.44 [[ 0.98080738 -0.16317863 -0.10672213 -0.81212362] [ 0.16245429 0.98659424 -0.01550497 -0.03058137] [ 0.10782152 -0.00213007 0.99416798 0.43502173] [ 0. 0. 0. 1. ]] SLAMing on 115.06992885099999 meters Centerline goodness : 0.837170 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.44 [[ 0.98076474 -0.16357952 -0.10650003 -0.81264243] [ 0.16284653 0.98652804 -0.01560232 -0.03102397] [ 0.10761749 -0.00204096 0.99419028 0.43503652] [ 0. 0. 0. 1. ]] SLAMing on 115.09992885099999 meters Centerline goodness : 0.833865 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.43 [[ 0.98074419 -0.16381865 -0.10632163 -0.81297329] [ 0.16309171 0.98648827 -0.01555591 -0.03163914] [ 0.10743339 -0.00208381 0.9942101 0.4349576 ] [ 0. 0. 0. 1. ]] SLAMing on 115.12992885099999 meters Centerline goodness : 0.833383 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.43 [[ 0.9806703 -0.16447005 -0.10599703 -0.81369203] [ 0.16374098 0.98637994 -0.01560461 -0.03245135] [ 0.10711983 -0.00205308 0.994244 0.43482868] [ 0. 0. 0. 1. ]] SLAMing on 115.15992885099999 meters Centerline goodness : 0.835873 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.43 [[ 0.9806445 -0.16473423 -0.10582532 -0.81409192] [ 0.16401178 0.98633575 -0.01555402 -0.03293709] [ 0.10694158 -0.00210363 0.99426308 0.43474321] [ 0. 0. 0. 1. ]] SLAMing on 115.18992885099999 meters Centerline goodness : 0.838334 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.44 [[ 0.98056686 -0.16533395 -0.10560931 -0.81491187] [ 0.16459335 0.98623574 -0.01575115 -0.03342074] [ 0.10675988 -0.00193754 0.99428294 0.43507453] [ 0. 0. 0. 1. ]] SLAMing on 115.21992885099999 meters Centerline goodness : 0.835779 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.03, Z:0.44 [[ 0.98053101 -0.16561164 -0.10550697 -0.81529485] [ 0.16486487 0.98618926 -0.01582176 -0.03377741] [ 0.1066701 -0.00188067 0.99429269 0.43522962] [ 0. 0. 0. 1. ]] SLAMing on 115.24992885099998 meters Centerline goodness : 0.839608 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.03, Z:0.44 [[ 0.98050036 -0.16597114 -0.10522657 -0.81606107] [ 0.1652174 0.98612898 -0.01590124 -0.03425906] [ 0.10640611 -0.00179409 0.99432114 0.43540517] [ 0. 0. 0. 1. ]] SLAMing on 115.27992885099998 meters Centerline goodness : 0.836268 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.03, Z:0.44 [[ 0.98046405 -0.16625508 -0.10511659 -0.81657035] [ 0.16549364 0.98608128 -0.01598664 -0.03465683] [ 0.10631136 -0.0017218 0.9943314 0.43568793] [ 0. 0. 0. 1. ]] SLAMing on 115.30992885099998 meters Centerline goodness : 0.835383 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.04, Z:0.44 [[ 0.98041289 -0.16671202 -0.10486981 -0.81736955] [ 0.16594585 0.98600422 -0.01605138 -0.03536691] [ 0.10607803 -0.00166573 0.99435641 0.43593204] [ 0. 0. 0. 1. ]] SLAMing on 115.33992885099998 meters Centerline goodness : 0.835385 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.04, Z:0.44 [[ 0.98040431 -0.16688641 -0.10467243 -0.81775806] [ 0.16612396 0.9859747 -0.01602265 -0.03562912] [ 0.10587833 -0.00167993 0.99437767 0.43587094] [ 0. 0. 0. 1. ]] SLAMing on 115.36992885099998 meters Centerline goodness : 0.835517 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.04, Z:0.44 [[ 0.98040737 -0.1669078 -0.10460967 -0.81757804] [ 0.16618708 0.98597036 -0.01563047 -0.03678502] [ 0.10575088 -0.00206055 0.99439052 0.43542767] [ 0. 0. 0. 1. ]] SLAMing on 115.39992885099998 meters Centerline goodness : 0.842824 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.04, Z:0.44 [[ 0.98041359 -0.1668474 -0.10464771 -0.81719348] [ 0.16616079 0.98597986 -0.01530736 -0.03783037] [ 0.10573453 -0.0023808 0.99439154 0.43507964] [ 0. 0. 0. 1. ]] SLAMing on 115.42992885099999 meters Centerline goodness : 0.839480 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.04, Z:0.43 [[ 0.98039362 -0.1670447 -0.10451996 -0.81734545] [ 0.16639238 0.98594564 -0.01499211 -0.03971595] [ 0.10555535 -0.00269316 0.99440978 0.43498274] [ 0. 0. 0. 1. ]] SLAMing on 115.45992885099999 meters Centerline goodness : 0.839961 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.04, Z:0.44 [[ 0.98036028 -0.16734498 -0.10435217 -0.81797877] [ 0.16671672 0.9858941 -0.01477667 -0.04145562] [ 0.10535299 -0.00291079 0.99443063 0.43532609] [ 0. 0. 0. 1. ]] SLAMing on 115.48992885099999 meters Centerline goodness : 0.838817 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.04, Z:0.44 [[ 0.98032331 -0.16726777 -0.10482221 -0.81706469] [ 0.16672941 0.98590414 -0.01394038 -0.04260502] [ 0.10567642 -0.00381086 0.99439327 0.43548933] [ 0. 0. 0. 1. ]] SLAMing on 115.51992885099999 meters Centerline goodness : 0.838817 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.04, Z:0.44 [[ 0.98032331 -0.16726777 -0.10482221 -0.81706469] [ 0.16672941 0.98590414 -0.01394038 -0.04260502] [ 0.10567642 -0.00381086 0.99439327 0.43548933] [ 0. 0. 0. 1. ]] SLAMing on 115.54992885099999 meters Centerline goodness : 0.838045 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.04, Z:0.44 [[ 0.98024895 -0.16730801 -0.10545149 -0.81572992] [ 0.16685223 0.98589365 -0.01319259 -0.04371867] [ 0.10617118 -0.00466279 0.99433693 0.43560394] [ 0. 0. 0. 1. ]] SLAMing on 115.57992885099999 meters Centerline goodness : 0.839847 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.05, Z:0.44 [[ 0.98022461 -0.16715459 -0.10592001 -0.81430031] [ 0.16678151 0.98591548 -0.01243351 -0.04517566] [ 0.10650649 -0.00547787 0.99429692 0.43523802] [ 0. 0. 0. 1. ]] SLAMing on 115.60992885099999 meters Centerline goodness : 0.842326 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.05, Z:0.43 [[ 0.98021294 -0.16698088 -0.10630139 -0.81284246] [ 0.16669121 0.98594012 -0.01166746 -0.04681165] [ 0.10675504 -0.00628292 0.9942655 0.4345985 ] [ 0. 0. 0. 1. ]] SLAMing on 115.63992885099998 meters Centerline goodness : 0.839718 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.05, Z:0.43 [[ 0.98019345 -0.16678866 -0.10678177 -0.81133908] [ 0.16661505 0.98596495 -0.0106085 -0.04899774] [ 0.10705246 -0.00739307 0.99422589 0.43421063] [ 0. 0. 0. 1. ]] SLAMing on 115.66992885099998 meters Centerline goodness : 0.841389 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.05, Z:0.43 [[ 0.98017751 -0.16659422 -0.10723063 -0.81033853] [ 0.16649681 0.98599205 -0.00992386 -0.04965643] [ 0.10738181 -0.00812641 0.99418465 0.43416986] [ 0. 0. 0. 1. ]] SLAMing on 115.69992885099998 meters Centerline goodness : 0.840297 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.05, Z:0.43 [[ 0.98012573 -0.16652443 -0.10781079 -0.80902136] [ 0.1665001 0.98599766 -0.00929095 -0.05019475] [ 0.10784836 -0.00884421 0.99412802 0.4340843 ] [ 0. 0. 0. 1. ]] SLAMing on 115.72992885099998 meters Centerline goodness : 0.841104 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.05, Z:0.43 [[ 0.98009439 -0.16634076 -0.10837775 -0.80762819] [ 0.16639721 0.98602142 -0.00858647 -0.05091534] [ 0.10829106 -0.0096182 0.9940727 0.433895 ] [ 0. 0. 0. 1. ]] SLAMing on 115.75992885099998 meters Centerline goodness : 0.839639 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.05, Z:0.43 [[ 0.98002671 -0.16647171 -0.10878793 -0.80626436] [ 0.1665896 0.98599331 -0.00806835 -0.05178188] [ 0.10860732 -0.01021574 0.99403224 0.43341704] [ 0. 0. 0. 1. ]] SLAMing on 115.78992885099998 meters Centerline goodness : 0.839672 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.43 [[ 0.98001854 -0.16617777 -0.10930975 -0.8049788 ] [ 0.16640247 0.98603216 -0.0071276 -0.05273001] [ 0.10896737 -0.01120423 0.99398218 0.43317416] [ 0. 0. 0. 1. ]] SLAMing on 115.81992885099999 meters Centerline goodness : 0.838153 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.43 [[ 0.97997953 -0.16613099 -0.10972978 -0.80375273] [ 0.16640238 0.98603487 -0.00674406 -0.05307906] [ 0.10931778 -0.01165026 0.99393858 0.43274647] [ 0. 0. 0. 1. ]] SLAMing on 115.84992885099999 meters Centerline goodness : 0.840373 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.43 [[ 0.97997859 -0.16587405 -0.1101261 -0.80260687] [ 0.16619429 0.98607271 -0.00632937 -0.05340357] [ 0.10964222 -0.01209968 0.99389747 0.43231149] [ 0. 0. 0. 1. ]] SLAMing on 115.87992885099999 meters Centerline goodness : 0.795799 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.43 [[ 0.97993722 -0.1658057 -0.11059615 -0.80178391] [ 0.16616966 0.98607903 -0.00598289 -0.05322126] [ 0.11004854 -0.01251487 0.99384742 0.43240386] [ 0. 0. 0. 1. ]] SLAMing on 115.90992885099999 meters Centerline goodness : 0.839393 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.43 [[ 0.97992535 -0.16560674 -0.1109987 -0.80103264] [ 0.16601882 0.98610677 -0.0055846 -0.05312545] [ 0.11038142 -0.01295538 0.99380486 0.43239139] [ 0. 0. 0. 1. ]] SLAMing on 115.93992885099999 meters Centerline goodness : 0.838899 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.43 [[ 0.9799251 -0.16544025 -0.11124892 -0.80039265] [ 0.16586426 0.98613327 -0.00549744 -0.0527629 ] [ 0.11061576 -0.01306514 0.99377737 0.43219447] [ 0. 0. 0. 1. ]] SLAMing on 115.96992885099999 meters Centerline goodness : 0.838915 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.43 [[ 0.98002606 -0.16488368 -0.11118582 -0.79965883] [ 0.16530894 0.98622679 -0.00544703 -0.05278056] [ 0.11055256 -0.01304178 0.99378471 0.4310831 ] [ 0. 0. 0. 1. ]] SLAMing on 115.99992885099998 meters Centerline goodness : 0.836505 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.43 [[ 0.98006349 -0.16458734 -0.11129493 -0.79887022] [ 0.16501353 0.98627633 -0.00543479 -0.05255527] [ 0.11066205 -0.01303873 0.99377256 0.43038132] [ 0. 0. 0. 1. ]] SLAMing on 116.02992885099998 meters Centerline goodness : 0.838130 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.43 [[ 0.9804658 -0.16140224 -0.11241053 -0.79741686] [ 0.16230131 0.98674055 -0.0011676 -0.05441379] [ 0.11110849 -0.01709958 0.99366116 0.43014513] [ 0. 0. 0. 1. ]] SLAMing on 116.05992885099998 meters Centerline goodness : 0.837577 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.06, Z:0.43 [[ 0.98088878 -0.15803631 -0.11349773 -0.79591705] [ 0.15941757 0.98720625 0.00314079 -0.05631094] [ 0.11154931 -0.02117429 0.99353329 0.429843 ] [ 0. 0. 0. 1. ]] SLAMing on 116.08992885099998 meters Centerline goodness : 0.835766 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.06, Z:0.43 [[ 0.9808842 -0.15794028 -0.11367077 -0.79557573] [ 0.15933047 0.98722014 0.00319261 -0.0558514 ] [ 0.11171383 -0.0212428 0.99351334 0.4298234 ] [ 0. 0. 0. 1. ]] SLAMing on 116.11992885099998 meters Centerline goodness : 0.838619 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.06, Z:0.43 [[ 0.98074693 -0.15834022 -0.11429715 -0.7952703 ] [ 0.15993337 0.98711591 0.00484715 -0.05858144] [ 0.11205704 -0.02303375 0.99343478 0.4315093 ] [ 0. 0. 0. 1. ]] SLAMing on 116.14992885099998 meters Centerline goodness : 0.838272 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.06, Z:0.43 [[ 0.98059547 -0.15881105 -0.11494158 -0.79369105] [ 0.16054523 0.98701066 0.00593102 -0.06104161] [ 0.11250665 -0.02426926 0.99335455 0.43168593] [ 0. 0. 0. 1. ]] SLAMing on 116.17992885099999 meters Centerline goodness : 0.838936 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.06, Z:0.43 [[ 0.98041732 -0.15954516 -0.1154436 -0.79181296] [ 0.16137762 0.98687037 0.00664418 -0.06378562] [ 0.11286783 -0.02514408 0.99329181 0.43131607] [ 0. 0. 0. 1. ]] SLAMing on 116.20992885099999 meters Centerline goodness : 0.838456 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.07, Z:0.43 [[ 0.98021447 -0.16004967 -0.11646327 -0.78914095] [ 0.16207286 0.98674594 0.00805231 -0.06678798] [ 0.11363089 -0.02676852 0.99316236 0.43106372] [ 0. 0. 0. 1. ]] SLAMing on 116.23992885099999 meters Centerline goodness : 0.833471 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.07, Z:0.43 [[ 0.97939694 -0.16459018 -0.11701153 -0.78634768] [ 0.1664307 0.98603448 0.00606884 -0.07034053] [ 0.11437853 -0.02541811 0.99311201 0.43120695] [ 0. 0. 0. 1. ]] SLAMing on 116.26992885099999 meters Centerline goodness : 0.836870 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.07, Z:0.43 [[ 0.97918492 -0.1653084 -0.1177711 -0.784693 ] [ 0.16731378 0.98587682 0.00728029 -0.07315648] [ 0.1149043 -0.02683348 0.99301408 0.43160128] [ 0. 0. 0. 1. ]] SLAMing on 116.29992885099999 meters Centerline goodness : 0.831502 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.08, Z:0.43 [[ 0.97904034 -0.16560294 -0.11855668 -0.78306119] [ 0.16779194 0.98578442 0.00865647 -0.07634342] [ 0.1154378 -0.02836789 0.99290955 0.43206321] [ 0. 0. 0. 1. ]] SLAMing on 116.32992885099999 meters Centerline goodness : 0.838323 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.08, Z:0.43 [[ 0.97893499 -0.16578681 -0.11916803 -0.78152517] [ 0.16812927 0.98571615 0.00980874 -0.07909564] [ 0.1158397 -0.02963776 0.99282565 0.43214931] [ 0. 0. 0. 1. ]] SLAMing on 116.35992885099999 meters Centerline goodness : 0.840130 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.08, Z:0.43 [[ 0.97880325 -0.1659599 -0.1200063 -0.77931114] [ 0.1685365 0.98562741 0.0115781 -0.08358405] [ 0.11636 -0.03155812 0.99270561 0.4320895 ] [ 0. 0. 0. 1. ]] SLAMing on 116.38992885099998 meters Centerline goodness : 0.841144 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.09, Z:0.43 [[ 0.97883935 -0.16547851 -0.12037603 -0.77814913] [ 0.16818967 0.98567347 0.01265111 -0.08579317] [ 0.11655797 -0.03262941 0.99264775 0.43187184] [ 0. 0. 0. 1. ]] SLAMing on 116.41992885099998 meters Centerline goodness : 0.834912 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.09, Z:0.43 [[ 0.97884903 -0.1651137 -0.12079755 -0.77738437] [ 0.1679517 0.98570098 0.01363126 -0.08730449] [ 0.11681955 -0.03363109 0.99258357 0.43205691] [ 0. 0. 0. 1. ]] SLAMing on 116.44992885099998 meters Centerline goodness : 0.836894 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.09, Z:0.43 [[ 0.97891897 -0.16455881 -0.12098776 -0.77714416] [ 0.16749348 0.98576758 0.01442962 -0.08861697] [ 0.11689129 -0.03439009 0.99254912 0.43235232] [ 0. 0. 0. 1. ]] SLAMing on 116.47992885099998 meters Centerline goodness : 0.835710 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.09, Z:0.43 [[ 0.97914942 -0.16345235 -0.12062232 -0.77821371] [ 0.16646549 0.985929 0.01527227 -0.09004522] [ 0.11642875 -0.03503329 0.99258099 0.43279911] [ 0. 0. 0. 1. ]] SLAMing on 116.50992885099998 meters Centerline goodness : 0.837033 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.09, Z:0.43 [[ 0.97962058 -0.15972144 -0.12178908 -0.77701659] [ 0.16331832 0.98636903 0.02008149 -0.09304989] [ 0.11692153 -0.03956263 0.99235284 0.43314 ] [ 0. 0. 0. 1. ]] SLAMing on 116.53992885099998 meters Centerline goodness : 0.835527 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.09, Z:0.43 [[ 0.97977674 -0.15881539 -0.12171778 -0.77675749] [ 0.16246014 0.98650077 0.02056533 -0.09380772] [ 0.11680859 -0.03992372 0.99235168 0.43270501] [ 0. 0. 0. 1. ]] SLAMing on 116.56992885099999 meters Centerline goodness : 0.837854 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.09, Z:0.43 [[ 0.97996551 -0.1577481 -0.12158591 -0.77639975] [ 0.1614506 0.98665383 0.02116404 -0.0948011 ] [ 0.11662462 -0.04037015 0.99235525 0.43194656] [ 0. 0. 0. 1. ]] SLAMing on 116.59992885099999 meters Centerline goodness : 0.840799 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:0.43 [[ 0.98036291 -0.15560268 -0.12114603 -0.77678832] [ 0.159396 0.98696469 0.02221756 -0.09641441] [ 0.11610974 -0.04109146 0.99238602 0.43128031] [ 0. 0. 0. 1. ]] SLAMing on 116.62992885099999 meters Centerline goodness : 0.842186 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:0.43 [[ 0.9805579 -0.15449993 -0.12097926 -0.77690041] [ 0.15836264 0.98711462 0.02293454 -0.09735365] [ 0.11587701 -0.04164724 0.99239006 0.43092717] [ 0. 0. 0. 1. ]] SLAMing on 116.65992885099999 meters Centerline goodness : 0.840015 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:0.43 [[ 0.98070739 -0.15354493 -0.12098331 -0.77678873] [ 0.15747709 0.98724102 0.02358254 -0.0982347 ] [ 0.11581871 -0.04217968 0.99237438 0.43081689] [ 0. 0. 0. 1. ]] SLAMing on 116.68992885099999 meters Centerline goodness : 0.766445 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:0.43 [[ 0.98085005 -0.152998 -0.12051883 -0.77755394] [ 0.15688803 0.98733862 0.02342205 -0.09858343] [ 0.11540937 -0.04188148 0.99243469 0.43059677] [ 0. 0. 0. 1. ]] SLAMing on 116.71992885099999 meters Centerline goodness : 0.841316 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:0.43 [[ 0.98121092 -0.15106816 -0.12001471 -0.77764249] [ 0.15498172 0.98762773 0.02391914 -0.09963491] [ 0.11491643 -0.04206981 0.99248393 0.42928293] [ 0. 0. 0. 1. ]] SLAMing on 116.74992885099998 meters Centerline goodness : 0.735958 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:0.43 [[ 0.98138495 -0.15005415 -0.11986381 -0.77716938] [ 0.15399469 0.98777367 0.02426535 -0.10019997] [ 0.1147572 -0.04227204 0.99249376 0.42821532] [ 0. 0. 0. 1. ]] SLAMing on 116.77992885099998 meters Centerline goodness : 0.840929 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:0.43 [[ 0.98156862 -0.14928399 -0.11932032 -0.77780997] [ 0.15315664 0.98791236 0.02392086 -0.10025338] [ 0.11430702 -0.04175466 0.99256761 0.42752594] [ 0. 0. 0. 1. ]] SLAMing on 116.80992885099998 meters Centerline goodness : 0.837511 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:0.43 [[ 0.98227701 -0.14427851 -0.11964779 -0.77766653] [ 0.14868168 0.98846906 0.02868213 -0.10266654] [ 0.11412992 -0.04596324 0.99240201 0.42693385] [ 0. 0. 0. 1. ]] SLAMing on 116.83992885099998 meters Centerline goodness : 0.837511 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:0.43 [[ 0.98227701 -0.14427851 -0.11964779 -0.77766653] [ 0.14868168 0.98846906 0.02868213 -0.10266654] [ 0.11412992 -0.04596324 0.99240201 0.42693385] [ 0. 0. 0. 1. ]] SLAMing on 116.86992885099998 meters Centerline goodness : 0.837032 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:0.43 [[ 0.98275685 -0.14193605 -0.11850372 -0.7799166 ] [ 0.14630363 0.98881563 0.02896368 -0.10341147] [ 0.11306734 -0.04580178 0.99253109 0.42656588] [ 0. 0. 0. 1. ]] SLAMing on 116.89992885099998 meters Centerline goodness : 0.835686 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:0.43 [[ 0.98303713 -0.14055824 -0.11781926 -0.78109184] [ 0.14488866 0.98902318 0.02899 -0.10361928] [ 0.11245119 -0.04556892 0.99261181 0.42598397] [ 0. 0. 0. 1. ]] SLAMing on 116.92992885099999 meters Centerline goodness : 0.836408 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:0.42 [[ 0.98361402 -0.1375506 -0.11654735 -0.7832015 ] [ 0.1418313 0.98945923 0.0292288 -0.10413194] [ 0.11129842 -0.04527992 0.99275495 0.42482558] [ 0. 0. 0. 1. ]] SLAMing on 116.95992885099999 meters Centerline goodness : 0.836408 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:0.42 [[ 0.98361402 -0.1375506 -0.11654735 -0.7832015 ] [ 0.1418313 0.98945923 0.0292288 -0.10413194] [ 0.11129842 -0.04527992 0.99275495 0.42482558] [ 0. 0. 0. 1. ]] SLAMing on 116.98992885099999 meters Centerline goodness : 0.844231 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:0.42 [[ 0.98379693 -0.13667467 -0.11603291 -0.78423494] [ 0.14094082 0.9895827 0.02935598 -0.1045096 ] [ 0.11081194 -0.0452341 0.99281146 0.42468968] [ 0. 0. 0. 1. ]] SLAMing on 117.01992885099999 meters Centerline goodness : 0.840219 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.11, Z:0.42 [[ 0.9839719 -0.13576852 -0.11561229 -0.78476907] [ 0.14005029 0.98969834 0.02971721 -0.10521668] [ 0.11038663 -0.04543243 0.99284978 0.42416985] [ 0. 0. 0. 1. ]] SLAMing on 117.04992885099999 meters Centerline goodness : 0.842097 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.11, Z:0.42 [[ 0.98409016 -0.13533289 -0.11511549 -0.78555181] [ 0.1395576 0.98977649 0.02943092 -0.1053749 ] [ 0.10995563 -0.04502792 0.99291603 0.42380465] [ 0. 0. 0. 1. ]] SLAMing on 117.07992885099999 meters Centerline goodness : 0.842961 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.11, Z:0.42 [[ 0.98435279 -0.13412349 -0.11428247 -0.78637264] [ 0.13826793 0.98996701 0.02910855 -0.10605856] [ 0.10923173 -0.04445468 0.99302176 0.42256503] [ 0. 0. 0. 1. ]] SLAMing on 117.10992885099999 meters Centerline goodness : 0.841739 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.11, Z:0.42 [[ 0.98442172 -0.13388361 -0.11396952 -0.78688263] [ 0.13797364 0.99001844 0.02875334 -0.10612994] [ 0.10898233 -0.0440302 0.99306807 0.42233046] [ 0. 0. 0. 1. ]] SLAMing on 117.13992885099998 meters Centerline goodness : 0.834950 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.11, Z:0.42 [[ 0.98449815 -0.13357958 -0.11366564 -0.7870833 ] [ 0.13762325 0.99007542 0.0284692 -0.10580574] [ 0.10873465 -0.04367091 0.99311108 0.42168209] [ 0. 0. 0. 1. ]] SLAMing on 117.16992885099998 meters Centerline goodness : 0.839316 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.11, Z:0.42 [[ 0.98465081 -0.13286921 -0.11317488 -0.78795843] [ 0.13685109 0.99019191 0.02813806 -0.10569955] [ 0.10832617 -0.04319427 0.99317657 0.42129559] [ 0. 0. 0. 1. ]] SLAMing on 117.19992885099998 meters Centerline goodness : 0.838198 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.11, Z:0.42 [[ 0.98483182 -0.13206462 -0.11253983 -0.78965738] [ 0.13598215 0.99031999 0.02784178 -0.10562005] [ 0.10777353 -0.04272288 0.99325708 0.42159475] [ 0. 0. 0. 1. ]] SLAMing on 117.22992885099998 meters Centerline goodness : 0.841086 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.11, Z:0.42 [[ 0.98485562 -0.13201946 -0.11238444 -0.79036443] [ 0.13592541 0.99032897 0.02779934 -0.10589093] [ 0.10762751 -0.04265424 0.99327586 0.42216351] [ 0. 0. 0. 1. ]] SLAMing on 117.25992885099998 meters Centerline goodness : 0.841254 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.10, Z:0.42 [[ 0.98523768 -0.13762417 -0.10181503 -0.78714972] [ 0.1411168 0.98959971 0.02790108 -0.10355038] [ 0.09691626 -0.04185701 0.994412 0.41683684] [ 0. 0. 0. 1. ]] SLAMing on 117.28992885099998 meters Centerline goodness : 0.840539 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.10, Z:0.42 [[ 0.98523472 -0.13776646 -0.10165114 -0.78735578] [ 0.14123844 0.9895865 0.02775361 -0.10396433] [ 0.09676908 -0.04170087 0.9944329 0.41683536] [ 0. 0. 0. 1. ]] SLAMing on 117.31992885099999 meters Centerline goodness : 0.840874 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.10, Z:0.42 [[ 0.98528007 -0.13755835 -0.10149327 -0.78721441] [ 0.14104845 0.98960615 0.02801797 -0.10498587] [ 0.09658426 -0.04192102 0.99444161 0.41642225] [ 0. 0. 0. 1. ]] SLAMing on 117.34992885099999 meters Centerline goodness : 0.839202 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.11, Z:0.42 [[ 0.98521455 -0.13800584 -0.10152181 -0.78659137] [ 0.14148941 0.98954602 0.02791815 -0.10581588] [ 0.09660763 -0.04186963 0.9944415 0.41606684] [ 0. 0. 0. 1. ]] SLAMing on 117.37992885099999 meters Centerline goodness : 0.836398 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.11, Z:0.42 [[ 0.98520312 -0.13806064 -0.10155823 -0.78634557] [ 0.14155944 0.98953209 0.02805644 -0.10605819] [ 0.09662163 -0.04201782 0.99443389 0.41600489] [ 0. 0. 0. 1. ]] SLAMing on 117.40992885099999 meters Centerline goodness : 0.837335 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.11, Z:0.42 [[ 0.98525823 -0.13755287 -0.10171248 -0.78585487] [ 0.1410961 0.98958649 0.0284688 -0.10630563] [ 0.09673733 -0.04240035 0.99440641 0.41572568] [ 0. 0. 0. 1. ]] SLAMing on 117.43992885099999 meters Centerline goodness : 0.836675 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.11, Z:0.42 [[ 0.98526958 -0.13750201 -0.1016713 -0.78609375] [ 0.14104948 0.98959129 0.02853278 -0.1064253 ] [ 0.09668972 -0.04245317 0.99440878 0.41593718] [ 0. 0. 0. 1. ]] SLAMing on 117.46992885099999 meters Centerline goodness : 0.839771 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.11, Z:0.42 [[ 0.98521861 -0.13789645 -0.10163097 -0.78605869] [ 0.14142643 0.98954266 0.02835287 -0.10677014] [ 0.09665842 -0.04230708 0.99441805 0.41601858] [ 0. 0. 0. 1. ]] SLAMing on 117.49992885099998 meters Centerline goodness : 0.836855 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.11, Z:0.42 [[ 0.98516757 -0.1379484 -0.10205441 -0.7848436 ] [ 0.14155051 0.98950897 0.02890413 -0.10751802] [ 0.09699647 -0.04292126 0.99435881 0.41582303] [ 0. 0. 0. 1. ]] SLAMing on 117.52992885099998 meters Centerline goodness : 0.837252 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.11, Z:0.42 [[ 0.98507744 -0.13856684 -0.10208658 -0.78458691] [ 0.14213932 0.98943461 0.02855825 -0.10777171] [ 0.09705077 -0.04264261 0.9943655 0.41584364] [ 0. 0. 0. 1. ]] SLAMing on 117.55992885099998 meters Centerline goodness : 0.839308 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.11, Z:0.42 [[ 0.98492346 -0.13944825 -0.10237166 -0.78405562] [ 0.14305147 0.98929884 0.02870669 -0.10827905] [ 0.09727307 -0.0429183 0.99433192 0.41644507] [ 0. 0. 0. 1. ]] SLAMing on 117.58992885099998 meters Centerline goodness : 0.841383 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.11, Z:0.42 [[ 0.98488935 -0.13951074 -0.10261446 -0.78348098] [ 0.1431603 0.98927252 0.02906905 -0.10856224] [ 0.09745822 -0.04332011 0.99429637 0.41650956] [ 0. 0. 0. 1. ]] SLAMing on 117.61992885099998 meters Centerline goodness : 0.840902 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.11, Z:0.42 [[ 0.98483462 -0.13984749 -0.1026813 -0.78327664] [ 0.14348257 0.98923147 0.02887645 -0.1082201 ] [ 0.09753727 -0.04317151 0.99429508 0.41649182] [ 0. 0. 0. 1. ]] SLAMing on 117.64992885099998 meters Centerline goodness : 0.839914 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.11, Z:0.42 [[ 0.98475202 -0.14020874 -0.10298043 -0.78263627] [ 0.14384975 0.98918074 0.02878741 -0.10797078] [ 0.09783001 -0.04316217 0.99426672 0.4165749 ] [ 0. 0. 0. 1. ]] SLAMing on 117.67992885099999 meters Centerline goodness : 0.840180 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.11, Z:0.42 [[ 0.9847066 -0.14046621 -0.10306385 -0.78206473] [ 0.1441098 0.98914354 0.02876496 -0.10788289] [ 0.09790444 -0.04317756 0.99425873 0.41617306] [ 0. 0. 0. 1. ]] SLAMing on 117.70992885099999 meters Centerline goodness : 0.845534 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.11, Z:0.42 [[ 0.98459769 -0.14113879 -0.10318544 -0.78185142] [ 0.14473524 0.98906842 0.02820218 -0.10717594] [ 0.09807704 -0.04270237 0.99426224 0.41628682] [ 0. 0. 0. 1. ]] SLAMing on 117.73992885099999 meters Centerline goodness : 0.840560 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.11, Z:0.42 [[ 0.98449486 -0.14148333 -0.10369351 -0.78068496] [ 0.14510833 0.98901231 0.028253 -0.1064647 ] [ 0.09855683 -0.04286172 0.99420794 0.41613595] [ 0. 0. 0. 1. ]] SLAMing on 117.76992885099999 meters Centerline goodness : 0.841383 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.11, Z:0.42 [[ 0.98441768 -0.14193929 -0.10380303 -0.78059393] [ 0.1455377 0.98895878 0.02791605 -0.10575679] [ 0.09869454 -0.04258831 0.99420603 0.41629425] [ 0. 0. 0. 1. ]] SLAMing on 117.79992885099999 meters Centerline goodness : 0.839187 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.11, Z:0.42 [[ 0.98437973 -0.14212219 -0.10391263 -0.78052863] [ 0.14571583 0.98893548 0.02781217 -0.10526372] [ 0.09881016 -0.04251946 0.99419749 0.41653315] [ 0. 0. 0. 1. ]] SLAMing on 117.82992885099999 meters Centerline goodness : 0.842081 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:0.42 [[ 0.98432512 -0.14230058 -0.10418539 -0.78038664] [ 0.14588381 0.98891717 0.02758176 -0.1037684 ] [ 0.09910582 -0.04234838 0.99417536 0.41681682] [ 0. 0. 0. 1. ]] SLAMing on 117.85992885099998 meters Centerline goodness : 0.841058 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:0.42 [[ 0.98428933 -0.14235131 -0.10445389 -0.77974604] [ 0.14592942 0.98891513 0.0274131 -0.10312063] [ 0.09939374 -0.04222531 0.99415185 0.4166168 ] [ 0. 0. 0. 1. ]] SLAMing on 117.88992885099998 meters Centerline goodness : 0.841480 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:0.42 [[ 0.98425004 -0.14265369 -0.10441165 -0.77956272] [ 0.14616828 0.98889715 0.02678159 -0.10197227] [ 0.09943189 -0.04162146 0.9941735 0.41614951] [ 0. 0. 0. 1. ]] SLAMing on 117.91992885099998 meters Centerline goodness : 0.843234 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:0.42 [[ 0.98419125 -0.14272303 -0.10487006 -0.77839685] [ 0.14623896 0.98889162 0.02659955 -0.10094286] [ 0.09990875 -0.04151514 0.99413014 0.41568474] [ 0. 0. 0. 1. ]] SLAMing on 117.94992885099998 meters Centerline goodness : 0.843544 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:0.41 [[ 0.98420279 -0.14258361 -0.10495137 -0.77771054] [ 0.14607702 0.98892227 0.02634842 -0.10029253] [ 0.1000319 -0.04126317 0.99412825 0.41488176] [ 0. 0. 0. 1. ]] SLAMing on 117.97992885099998 meters Centerline goodness : 0.846006 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:0.41 [[ 0.98415397 -0.14267458 -0.10528497 -0.7767936 ] [ 0.14611533 0.98893407 0.02568482 -0.09811187] [ 0.10045532 -0.04066157 0.99411034 0.4141568 ] [ 0. 0. 0. 1. ]] SLAMing on 118.00992885099998 meters Centerline goodness : 0.838801 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:0.41 [[ 0.98414065 -0.14260132 -0.10550854 -0.7762205 ] [ 0.1460238 0.9889545 0.02541727 -0.0969476 ] [ 0.10071861 -0.04042093 0.99409351 0.41381931] [ 0. 0. 0. 1. ]] SLAMing on 118.03992885099998 meters Centerline goodness : 0.843854 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:0.41 [[ 0.98414418 -0.14238449 -0.10576805 -0.77575802] [ 0.14581212 0.98898685 0.02537406 -0.09599602] [ 0.10099034 -0.040394 0.99406704 0.41368949] [ 0. 0. 0. 1. ]] SLAMing on 118.06992885099999 meters Centerline goodness : 0.838683 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.09, Z:0.41 [[ 0.98422942 -0.14193046 -0.105585 -0.77629515] [ 0.1453258 0.98906412 0.02515127 -0.09446477] [ 0.10086061 -0.04009885 0.99409216 0.41348191] [ 0. 0. 0. 1. ]] SLAMing on 118.09992885099999 meters Centerline goodness : 0.838683 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.09, Z:0.41 [[ 0.98422942 -0.14193046 -0.105585 -0.77629515] [ 0.1453258 0.98906412 0.02515127 -0.09446477] [ 0.10086061 -0.04009885 0.99409216 0.41348191] [ 0. 0. 0. 1. ]] SLAMing on 118.12992885099999 meters Centerline goodness : 0.841254 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.09, Z:0.41 [[ 0.98425943 -0.14176063 -0.10553336 -0.77658779] [ 0.14512437 0.98910084 0.02486869 -0.0929346 ] [ 0.10085773 -0.03979271 0.99410475 0.41343888] [ 0. 0. 0. 1. ]] SLAMing on 118.15992885099999 meters Centerline goodness : 0.742272 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.09, Z:0.41 [[ 0.98428014 -0.14157029 -0.10559577 -0.77690781] [ 0.14493972 0.98912689 0.02490917 -0.09214728] [ 0.10092122 -0.03982263 0.99409711 0.41381255] [ 0. 0. 0. 1. ]] SLAMing on 118.18992885099999 meters Centerline goodness : 0.760536 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.09, Z:0.41 [[ 0.98427356 -0.141428 -0.10584748 -0.77674543] [ 0.14481725 0.98914225 0.02501129 -0.09093981] [ 0.10116092 -0.0399465 0.99406778 0.41405636] [ 0. 0. 0. 1. ]] SLAMing on 118.21992885099999 meters Centerline goodness : 0.742709 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.09, Z:0.41 [[ 0.98424672 -0.14143235 -0.10609097 -0.77646347] [ 0.14482169 0.98914402 0.02491557 -0.09001102] [ 0.10141538 -0.03988734 0.99404422 0.41415737] [ 0. 0. 0. 1. ]] SLAMing on 118.24992885099998 meters Centerline goodness : 0.850556 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.09, Z:0.41 [[ 0.98399911 -0.14280114 -0.10655324 -0.77570409] [ 0.14611515 0.98897808 0.02393148 -0.08807164] [ 0.10196137 -0.0391176 0.99401896 0.41437945] [ 0. 0. 0. 1. ]] SLAMing on 118.27992885099998 meters Centerline goodness : 0.853330 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.09, Z:0.41 [[ 0.98385558 -0.14335698 -0.10713063 -0.77416038] [ 0.14668066 0.98889812 0.02377599 -0.08755874] [ 0.10253283 -0.03910613 0.99396063 0.4139924 ] [ 0. 0. 0. 1. ]] SLAMing on 118.30992885099998 meters Centerline goodness : 0.736862 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.09, Z:0.41 [[ 0.98372575 -0.14410912 -0.10731357 -0.7735945 ] [ 0.14739629 0.98880267 0.0233153 -0.08665787] [ 0.102752 -0.03875349 0.99395181 0.41377051] [ 0. 0. 0. 1. ]] SLAMing on 118.33992885099998 meters Centerline goodness : 0.851457 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.08, Z:0.41 [[ 0.98347154 -0.1453741 -0.10793568 -0.77229392] [ 0.14861857 0.98863616 0.02260651 -0.08447041] [ 0.10342271 -0.0382741 0.99390082 0.41366169] [ 0. 0. 0. 1. ]] SLAMing on 118.36992885099998 meters Centerline goodness : 0.853226 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.08, Z:0.41 [[ 0.98339207 -0.14560339 -0.10834983 -0.77130692] [ 0.14886456 0.98859928 0.02260104 -0.08379048] [ 0.10382378 -0.03835514 0.99385588 0.41340038] [ 0. 0. 0. 1. ]] SLAMing on 118.39992885099998 meters Centerline goodness : 0.854041 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.08, Z:0.41 [[ 0.98332246 -0.14582175 -0.10868741 -0.7706902 ] [ 0.14908066 0.98857031 0.02244339 -0.08282306] [ 0.10417241 -0.03827228 0.99382259 0.41338443] [ 0. 0. 0. 1. ]] SLAMing on 118.42992885099999 meters Centerline goodness : 0.852556 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.08, Z:0.41 [[ 0.98322825 -0.14604113 -0.10924372 -0.76958497] [ 0.14928777 0.98854654 0.02211112 -0.08118881] [ 0.10476336 -0.03804903 0.99376904 0.41319275] [ 0. 0. 0. 1. ]] SLAMing on 118.45992885099999 meters Centerline goodness : 0.852786 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.08, Z:0.41 [[ 0.98317447 -0.14614958 -0.1095822 -0.76872898] [ 0.14928602 0.98857228 0.02094123 -0.07752224] [ 0.10526937 -0.03694797 0.99375712 0.4124056 ] [ 0. 0. 0. 1. ]] SLAMing on 118.48992885099999 meters Centerline goodness : 0.803873 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.08, Z:0.41 [[ 0.9831612 -0.14610207 -0.1097645 -0.76818102] [ 0.14918096 0.98860075 0.02033731 -0.07576253] [ 0.10554194 -0.03636963 0.99374954 0.41187146] [ 0. 0. 0. 1. ]] SLAMing on 118.51992885099999 meters Centerline goodness : 0.854763 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.07, Z:0.41 [[ 0.98316397 -0.14605523 -0.10980202 -0.76811191] [ 0.14906794 0.98863062 0.01970411 -0.07378339] [ 0.10567575 -0.03574033 0.99375815 0.41157384] [ 0. 0. 0. 1. ]] SLAMing on 118.54992885099999 meters Centerline goodness : 0.852049 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.07, Z:0.41 [[ 0.98339095 -0.14376187 -0.11079153 -0.76822864] [ 0.14704588 0.98888452 0.02202061 -0.07042403] [ 0.10639431 -0.0379463 0.99359968 0.41245238] [ 0. 0. 0. 1. ]] SLAMing on 118.57992885099999 meters Centerline goodness : 0.854433 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.07, Z:0.41 [[ 0.9833928 -0.14366852 -0.11089612 -0.76811482] [ 0.14688401 0.98892331 0.02134903 -0.06825357] [ 0.10660058 -0.03728335 0.99360267 0.41217236] [ 0. 0. 0. 1. ]] SLAMing on 118.60992885099998 meters Centerline goodness : 0.852372 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.07, Z:0.41 [[ 0.98349896 -0.14182736 -0.11231565 -0.76612178] [ 0.14542869 0.98906518 0.02450652 -0.0678292 ] [ 0.1076118 -0.04043605 0.99337034 0.41218497] [ 0. 0. 0. 1. ]] SLAMing on 118.63992885099998 meters Centerline goodness : 0.803028 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.07, Z:0.41 [[ 0.98350855 -0.14180746 -0.11225673 -0.76591005] [ 0.14535532 0.98908751 0.02403605 -0.06659384] [ 0.10762323 -0.03995678 0.99338849 0.41157576] [ 0. 0. 0. 1. ]] SLAMing on 118.66992885099998 meters Centerline goodness : 0.854907 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.06, Z:0.41 [[ 0.98337779 -0.14251297 -0.11250856 -0.76592339] [ 0.14592638 0.98903572 0.02266797 -0.0626762 ] [ 0.1080445 -0.03870914 0.99339216 0.41172475] [ 0. 0. 0. 1. ]] SLAMing on 118.69992885099998 meters Centerline goodness : 0.854052 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.06, Z:0.41 [[ 0.98331301 -0.14264894 -0.11290175 -0.7655013 ] [ 0.14603545 0.98902859 0.02227312 -0.06055017] [ 0.10848582 -0.03838911 0.99335648 0.41181821] [ 0. 0. 0. 1. ]] SLAMing on 118.72992885099998 meters Centerline goodness : 0.853209 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.06, Z:0.41 [[ 0.98321009 -0.14302429 -0.11332247 -0.76492161] [ 0.14635137 0.98899765 0.02156205 -0.05810343] [ 0.10899176 -0.03778492 0.99332427 0.41186442] [ 0. 0. 0. 1. ]] SLAMing on 118.75992885099998 meters Centerline goodness : 0.852182 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.06, Z:0.41 [[ 0.9831297 -0.14328892 -0.11368501 -0.76422615] [ 0.14655462 0.98898252 0.02086437 -0.05600194] [ 0.10944285 -0.03717344 0.99329774 0.41166978] [ 0. 0. 0. 1. ]] SLAMing on 118.78992885099998 meters Centerline goodness : 0.849803 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.05, Z:0.41 [[ 0.98286476 -0.14435048 -0.11462899 -0.76222882] [ 0.14749171 0.98887366 0.01936701 -0.05157081] [ 0.11055795 -0.03594198 0.99321957 0.41105793] [ 0. 0. 0. 1. ]] SLAMing on 118.81992885099999 meters Centerline goodness : 0.851241 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.05, Z:0.41 [[ 0.98272193 -0.14506201 -0.11495486 -0.76173406] [ 0.14812045 0.98879665 0.01848015 -0.04919721] [ 0.11098621 -0.03518802 0.9931988 0.41105459] [ 0. 0. 0. 1. ]] SLAMing on 118.84992885099999 meters Centerline goodness : 0.851241 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.05, Z:0.41 [[ 0.98272193 -0.14506201 -0.11495486 -0.76173406] [ 0.14812045 0.98879665 0.01848015 -0.04919721] [ 0.11098621 -0.03518802 0.9931988 0.41105459] [ 0. 0. 0. 1. ]] SLAMing on 118.87992885099999 meters Centerline goodness : 0.850263 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.05, Z:0.41 [[ 0.98265615 -0.14558825 -0.11485183 -0.76200336] [ 0.14855544 0.98874626 0.017667 -0.04666313] [ 0.11098721 -0.03442245 0.99322552 0.41094109] [ 0. 0. 0. 1. ]] SLAMing on 118.90992885099999 meters Centerline goodness : 0.850141 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.41 [[ 0.98250549 -0.14689796 -0.11447247 -0.76324109] [ 0.1496432 0.98861506 0.01572191 -0.04143197] [ 0.11085969 -0.03257689 0.99330201 0.41125643] [ 0. 0. 0. 1. ]] SLAMing on 118.93992885099999 meters Centerline goodness : 0.799506 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.41 [[ 0.9824126 -0.14765568 -0.11429469 -0.76414093] [ 0.15027864 0.98853535 0.01463554 -0.03883308] [ 0.11082332 -0.03155419 0.99333908 0.41175406] [ 0. 0. 0. 1. ]] SLAMing on 118.96992885099999 meters Centerline goodness : 0.798624 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.41 [[ 0.98231245 -0.14848076 -0.11408642 -0.7651049 ] [ 0.15096667 0.98844777 0.01341931 -0.03589234] [ 0.11077596 -0.0304052 0.99338019 0.41225448] [ 0. 0. 0. 1. ]] SLAMing on 118.99992885099998 meters Centerline goodness : 0.848597 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.41 [[ 0.98223386 -0.14919468 -0.11383143 -0.76612168] [ 0.15155715 0.98837145 0.01234106 -0.03320481] [ 0.11066652 -0.02937378 0.99342343 0.41271557] [ 0. 0. 0. 1. ]] SLAMing on 119.02992885099998 meters Centerline goodness : 0.847638 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.41 [[ 0.98213435 -0.15017941 -0.11339429 -0.7672705 ] [ 0.15234331 0.98827063 0.01061514 -0.02805014] [ 0.11047007 -0.02770035 0.99349336 0.41282033] [ 0. 0. 0. 1. ]] SLAMing on 119.05992885099998 meters Centerline goodness : 0.847884 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.41 [[ 0.9820561 -0.1507984 -0.1132504 -0.76791716] [ 0.1528472 0.98820339 0.00958089 -0.02525395] [ 0.11046965 -0.02671898 0.99352028 0.41313768] [ 0. 0. 0. 1. ]] SLAMing on 119.08992885099998 meters Centerline goodness : 0.800095 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.41 [[ 0.98195977 -0.15165859 -0.11293667 -0.76890908] [ 0.15353308 0.98811081 0.00803827 -0.02053923] [ 0.11037487 -0.02523277 0.99356967 0.41336084] [ 0. 0. 0. 1. ]] SLAMing on 119.11992885099998 meters Centerline goodness : 0.845844 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.41 [[ 0.98188611 -0.15231429 -0.11269435 -0.76975419] [ 0.15409386 0.98802997 0.00720123 -0.01839413] [ 0.11024854 -0.02443629 0.99360361 0.41359933] [ 0. 0. 0. 1. ]] SLAMing on 119.14992885099998 meters Centerline goodness : 0.847629 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.41 [[ 0.98183839 -0.15272792 -0.11255027 -0.77012987] [ 0.15444278 0.98797951 0.00662629 -0.01688092] [ 0.11018534 -0.02388852 0.99362394 0.41363718] [ 0. 0. 0. 1. ]] SLAMing on 119.17992885099999 meters Centerline goodness : 0.841785 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.41 [[ 0.98177494 -0.15335848 -0.11224594 -0.77090301] [ 0.15500476 0.98789527 0.00603736 -0.01533128] [ 0.10996135 -0.02332599 0.99366212 0.41357556] [ 0. 0. 0. 1. ]] SLAMing on 119.20992885099999 meters Centerline goodness : 0.841835 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.01, Z:0.41 [[ 0.98162275 -0.1547791 -0.1116253 -0.77282193] [ 0.15629742 0.98769774 0.00492844 -0.01326398] [ 0.10948923 -0.02228461 0.99373815 0.41391199] [ 0. 0. 0. 1. ]] SLAMing on 119.23992885099999 meters Centerline goodness : 0.843633 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.01, Z:0.41 [[ 0.98155726 -0.15542453 -0.11130392 -0.77362261] [ 0.15689979 0.98760397 0.00456628 -0.0127612 ] [ 0.10921448 -0.02194563 0.99377592 0.41386879] [ 0. 0. 0. 1. ]] SLAMing on 119.26992885099999 meters Centerline goodness : 0.843121 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.01, Z:0.41 [[ 0.98148565 -0.15612047 -0.11096085 -0.77441854] [ 0.1575444 0.98750328 0.00412843 -0.01207863] [ 0.10892967 -0.02153325 0.9938162 0.41378634] [ 0. 0. 0. 1. ]] SLAMing on 119.29992885099999 meters Centerline goodness : 0.841922 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.01, Z:0.41 [[ 0.98141832 -0.15668364 -0.11076243 -0.77496134] [ 0.15806168 0.98742225 0.00371707 -0.01144945] [ 0.10878689 -0.0211553 0.99383996 0.41380758] [ 0. 0. 0. 1. ]] SLAMing on 119.32992885099999 meters Centerline goodness : 0.797646 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.01, Z:0.41 [[ 0.98136308 -0.15720782 -0.11050884 -0.77546787] [ 0.15854508 0.98734601 0.00336421 -0.01074916] [ 0.10858159 -0.02082214 0.99386945 0.41365139] [ 0. 0. 0. 1. ]] SLAMing on 119.35992885099998 meters Centerline goodness : 0.840175 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.01, Z:0.41 [[ 0.98128583 -0.15787981 -0.1102365 -0.77599892] [ 0.15915732 0.98724917 0.00283128 -0.00973189] [ 0.10838389 -0.02032324 0.99390135 0.41342593] [ 0. 0. 0. 1. ]] SLAMing on 119.38992885099998 meters Centerline goodness : 0.841205 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.01, Z:0.41 [[ 0.98124581 -0.15827661 -0.11002351 -0.7766008 ] [ 0.15951313 0.98719271 0.00247289 -0.00888477] [ 0.10822301 -0.01997671 0.99392591 0.41349501] [ 0. 0. 0. 1. ]] SLAMing on 119.41992885099998 meters Centerline goodness : 0.798367 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.01, Z:0.41 [[ 0.98120092 -0.15869437 -0.10982192 -0.77727719] [ 0.1598805 0.9871343 0.00202365 -0.00787194] [ 0.10808784 -0.01954399 0.99394922 0.4136989 ] [ 0. 0. 0. 1. ]] SLAMing on 119.44992885099998 meters Centerline goodness : 0.798816 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.01, Z:0.41 [[ 0.98116518 -0.15900386 -0.10969345 -0.77783382] [ 0.16014535 0.98709212 0.00161889 -0.00692053] [ 0.10802013 -0.01915529 0.99396415 0.41398391] [ 0. 0. 0. 1. ]] SLAMing on 119.47992885099998 meters Centerline goodness : 0.797064 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.01, Z:0.41 [[ 0.98111858 -0.15934695 -0.10961244 -0.77840732] [ 0.1604356 0.98704567 0.00112791 -0.00593578] [ 0.10801276 -0.01869236 0.99397376 0.41443706] [ 0. 0. 0. 1. ]] SLAMing on 119.50992885099998 meters Centerline goodness : 0.798035 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.01, Z:0.41 [[ 0.98111246 -0.15942477 -0.109554 -0.77843837] [ 0.16050436 0.98703457 0.00105037 -0.00574774] [ 0.10796613 -0.01861443 0.99398029 0.4143303 ] [ 0. 0. 0. 1. ]] SLAMing on 119.53992885099998 meters Centerline goodness : 0.797967 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.01, Z:0.41 [[ 9.81097386e-01 -1.59541615e-01 -1.09518915e-01 -7.78686847e-01] [ 1.60603833e-01 9.87018549e-01 8.89962904e-04 -5.69715479e-03] [ 1.07955215e-01 -1.84622979e-02 9.93984313e-01 4.14575838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.56992885099999 meters Centerline goodness : 0.797748 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.01, Z:0.41 [[ 9.81082650e-01 -1.59636219e-01 -1.09513068e-01 -7.78942729e-01] [ 1.60681896e-01 9.87005973e-01 7.33418847e-04 -5.55975725e-03] [ 1.07972972e-01 -1.83163118e-02 9.93985085e-01 4.14904433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59992885099999 meters Centerline goodness : 0.798050 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.01, Z:0.42 [[ 9.81059051e-01 -1.59978135e-01 -1.09225158e-01 -7.79958246e-01] [ 1.60990916e-01 9.86955781e-01 4.60061730e-04 -5.32027527e-03] [ 1.07726801e-01 -1.80356060e-02 9.94016928e-01 4.15365434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.62992885099999 meters Centerline goodness : 0.841564 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.01, Z:0.42 [[ 9.81037789e-01 -1.60116038e-01 -1.09214060e-01 -7.80225005e-01] [ 1.61122210e-01 9.86934384e-01 3.93285930e-04 -5.37423587e-03] [ 1.07724140e-01 -1.79826391e-02 9.94018176e-01 4.15581650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.65992885099999 meters Centerline goodness : 0.799427 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.01, Z:0.42 [[ 9.81045019e-01 -1.60098577e-01 -1.09174703e-01 -7.80287070e-01] [ 1.61110263e-01 9.86936310e-01 4.51775911e-04 -5.81694990e-03] [ 1.07676150e-01 -1.80323777e-02 9.94022475e-01 4.15654357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.68992885099999 meters Centerline goodness : 0.799265 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.01, Z:0.42 [[ 9.81050961e-01 -1.60077209e-01 -1.09152645e-01 -7.80161724e-01] [ 1.61107961e-01 9.86936586e-01 6.32746445e-04 -6.53567864e-03] [ 1.07625451e-01 -1.82061166e-02 9.94024798e-01 4.15457362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71992885099999 meters Centerline goodness : 0.844885 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.01, Z:0.42 [[ 0.98105584 -0.16007547 -0.10911133 -0.78002007] [ 0.16116029 0.98692759 0.00113969 -0.00866338] [ 0.10750254 -0.01870252 0.99402888 0.41520361] [ 0. 0. 0. 1. ]] SLAMing on 119.74992885099998 meters Centerline goodness : 0.799252 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.01, Z:0.42 [[ 0.98105721 -0.16009287 -0.10907351 -0.77995412] [ 0.16120068 0.98692072 0.00135794 -0.00972505] [ 0.10742951 -0.01891494 0.99403276 0.4150811 ] [ 0. 0. 0. 1. ]] SLAMing on 119.77992885099998 meters Centerline goodness : 0.799140 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.01, Z:0.42 [[ 0.98105834 -0.1601235 -0.10901837 -0.7800751 ] [ 0.16125071 0.98691226 0.00154567 -0.01075046] [ 0.10734407 -0.01909568 0.99403853 0.41512366] [ 0. 0. 0. 1. ]] SLAMing on 119.80992885099998 meters Centerline goodness : 0.797880 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.01, Z:0.42 [[ 0.98107108 -0.16005625 -0.10900242 -0.78006147] [ 0.1612091 0.98691865 0.00178978 -0.01185613] [ 0.10729006 -0.01932808 0.99403987 0.41516259] [ 0. 0. 0. 1. ]] SLAMing on 119.83992885099998 meters Centerline goodness : 0.799019 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.01, Z:0.42 [[ 0.98111461 -0.15976519 -0.10903766 -0.78000335] [ 0.16097383 0.98695596 0.00231631 -0.01374922] [ 0.1072453 -0.01982478 0.99403492 0.41530368] [ 0. 0. 0. 1. ]] SLAMing on 119.86992885099998 meters Centerline goodness : 0.847583 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.01, Z:0.42 [[ 0.98113848 -0.15960082 -0.10906355 -0.77986796] [ 0.16082247 0.98698033 0.00244124 -0.01425435] [ 0.10725395 -0.01993507 0.99403178 0.41534375] [ 0. 0. 0. 1. ]] SLAMing on 119.89992885099998 meters Centerline goodness : 0.846115 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.01, Z:0.42 [[ 0.98118349 -0.15920021 -0.10924405 -0.77927873] [ 0.16046534 0.98703741 0.00283205 -0.01497473] [ 0.1073771 -0.02030865 0.99401092 0.41516179] [ 0. 0. 0. 1. ]] SLAMing on 119.92992885099999 meters Centerline goodness : 0.845580 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:0.42 [[ 0.98120049 -0.15897059 -0.10942551 -0.77894945] [ 0.16025727 0.98707069 0.00300932 -0.0155366 ] [ 0.10753232 -0.02048898 0.99399044 0.41532491] [ 0. 0. 0. 1. ]] SLAMing on 119.95992885099999 meters Centerline goodness : 0.845601 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:0.42 [[ 0.9812638 -0.15843492 -0.10963452 -0.7784779 ] [ 0.15978079 0.98714615 0.00354532 -0.01717364] [ 0.1076636 -0.02099638 0.99396564 0.41549725] [ 0. 0. 0. 1. ]] SLAMing on 119.98992885099999 meters Centerline goodness : 0.846305 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:0.42 [[ 0.98131137 -0.15814554 -0.10962654 -0.77828334] [ 0.15952648 0.987186 0.00388677 -0.01814735] [ 0.10760711 -0.02130247 0.99396525 0.4153919 ] [ 0. 0. 0. 1. ]] SLAMing on 120.01992885099999 meters Centerline goodness : 0.847026 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:0.42 [[ 0.98134943 -0.1578557 -0.10970353 -0.77796185] [ 0.15927137 0.98722587 0.00420804 -0.01916485] [ 0.1076379 -0.02160219 0.99395545 0.41535113] [ 0. 0. 0. 1. ]] SLAMing on 120.04992885099999 meters Centerline goodness : 0.849060 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:0.42 [[ 0.98144355 -0.15701123 -0.11007287 -0.77685206] [ 0.15850831 0.98734534 0.00492989 -0.02071475] [ 0.10790588 -0.02228587 0.99391129 0.41517594] [ 0. 0. 0. 1. ]] SLAMing on 120.07992885099999 meters Centerline goodness : 0.846535 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:0.42 [[ 0.98149072 -0.15658068 -0.11026535 -0.77631008] [ 0.1581092 0.98740792 0.00520297 -0.02117249] [ 0.1080622 -0.02254063 0.99388857 0.415135 ] [ 0. 0. 0. 1. ]] SLAMing on 120.10992885099998 meters Centerline goodness : 0.848380 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:0.42 [[ 0.98154182 -0.15617725 -0.11038263 -0.77588622] [ 0.15772654 0.98746811 0.00539159 -0.02138661] [ 0.10815729 -0.02270234 0.99387454 0.41509912] [ 0. 0. 0. 1. ]] SLAMing on 120.13992885099998 meters Centerline goodness : 0.848170 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.41 [[ 0.98170175 -0.15481634 -0.11087641 -0.77409695] [ 0.15645745 0.98766522 0.00620369 -0.02208281] [ 0.10854834 -0.02343761 0.99381484 0.41453356] [ 0. 0. 0. 1. ]] SLAMing on 120.16992885099998 meters Centerline goodness : 0.847942 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.41 [[ 0.98174175 -0.15439764 -0.11110584 -0.77346832] [ 0.15605214 0.98772873 0.00629961 -0.02209119] [ 0.10876979 -0.0235229 0.99378861 0.41454568] [ 0. 0. 0. 1. ]] SLAMing on 120.19992885099998 meters Centerline goodness : 0.850795 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.41 [[ 0.98179065 -0.15386447 -0.11141291 -0.77258558] [ 0.15554263 0.98780794 0.00647823 -0.02190767] [ 0.10905778 -0.02368972 0.99375309 0.41441754] [ 0. 0. 0. 1. ]] SLAMing on 120.22992885099998 meters Centerline goodness : 0.847884 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.41 [[ 0.9818359 -0.15345363 -0.11158065 -0.77212129] [ 0.15513495 0.98787195 0.00649331 -0.02127456] [ 0.10923097 -0.02368542 0.99373417 0.41437804] [ 0. 0. 0. 1. ]] SLAMing on 120.25992885099998 meters Centerline goodness : 0.848744 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.41 [[ 0.98229105 -0.15080276 -0.11118819 -0.77312154] [ 0.1526662 0.98824219 0.00839112 -0.02208378] [ 0.10861545 -0.0252172 0.99376394 0.41468356] [ 0. 0. 0. 1. ]] SLAMing on 120.28992885099998 meters Centerline goodness : 0.851669 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.41 [[ 0.98231535 -0.15052328 -0.11135215 -0.77285915] [ 0.15238888 0.98828501 0.00838817 -0.02183818] [ 0.10878504 -0.02520866 0.99374561 0.41488576] [ 0. 0. 0. 1. ]] SLAMing on 120.31992885099999 meters Centerline goodness : 0.850676 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.41 [[ 0.98233011 -0.15033327 -0.11147851 -0.77253475] [ 0.15220238 0.98831364 0.0084013 -0.02172453] [ 0.10891274 -0.02522015 0.99373133 0.4149145 ] [ 0. 0. 0. 1. ]] SLAMing on 120.34992885099999 meters Centerline goodness : 0.851175 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.41 [[ 0.98234354 -0.15019853 -0.1115418 -0.77226297] [ 0.15207996 0.98833159 0.0085063 -0.02192393] [ 0.10896265 -0.02531938 0.99372334 0.41477539] [ 0. 0. 0. 1. ]] SLAMing on 120.37992885099999 meters Centerline goodness : 0.854157 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.41 [[ 0.98236394 -0.15017452 -0.11139438 -0.77238394] [ 0.15207415 0.98833072 0.00870847 -0.02278677] [ 0.1087867 -0.02549509 0.99373812 0.41456745] [ 0. 0. 0. 1. ]] SLAMing on 120.40992885099999 meters Centerline goodness : 0.852576 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.42 [[ 0.98233136 -0.15049492 -0.11124918 -0.77308108] [ 0.15236489 0.98828815 0.00845368 -0.02286807] [ 0.10867401 -0.02525478 0.99375659 0.41502844] [ 0. 0. 0. 1. ]] SLAMing on 120.43992885099999 meters Centerline goodness : 0.800177 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.42 [[ 0.98231331 -0.15081259 -0.11097803 -0.7737465 ] [ 0.15265784 0.98824448 0.00827294 -0.02291931] [ 0.10842576 -0.02506829 0.99378843 0.4151378 ] [ 0. 0. 0. 1. ]] SLAMing on 120.46992885099999 meters Centerline goodness : 0.851530 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.42 [[ 0.98225946 -0.15133424 -0.11074428 -0.77451366] [ 0.15314952 0.98817046 0.00802328 -0.02319666] [ 0.10822003 -0.02484138 0.99381655 0.41542374] [ 0. 0. 0. 1. ]] SLAMing on 120.49992885099998 meters Centerline goodness : 0.850848 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.42 [[ 0.98224065 -0.15159172 -0.11055881 -0.77489487] [ 0.15340006 0.98813188 0.00798819 -0.02358402] [ 0.10803574 -0.02480606 0.99383748 0.41537267] [ 0. 0. 0. 1. ]] SLAMing on 120.52992885099998 meters Centerline goodness : 0.850539 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:0.42 [[ 0.98221477 -0.15197222 -0.11026597 -0.77544844] [ 0.15376624 0.98807565 0.00790297 -0.02390669] [ 0.10775009 -0.02471759 0.9938707 0.41522529] [ 0. 0. 0. 1. ]] SLAMing on 120.55992885099998 meters Centerline goodness : 0.851607 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:0.42 [[ 0.98217844 -0.15233236 -0.11009251 -0.77595046] [ 0.15411082 0.98802294 0.00777937 -0.02429143] [ 0.10758888 -0.02460718 0.9938909 0.4153549 ] [ 0. 0. 0. 1. ]] SLAMing on 120.58992885099998 meters Centerline goodness : 0.851271 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:0.42 [[ 0.98215855 -0.15260359 -0.10989414 -0.77631398] [ 0.15437651 0.98798163 0.0077589 -0.02461497] [ 0.10738936 -0.02458554 0.99391301 0.41522741] [ 0. 0. 0. 1. ]] SLAMing on 120.61992885099998 meters Centerline goodness : 0.850110 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:0.42 [[ 0.98208961 -0.15325873 -0.10959816 -0.77703204] [ 0.15501029 0.98788367 0.00759314 -0.02503728] [ 0.10710652 -0.02444599 0.99394697 0.41515886] [ 0. 0. 0. 1. ]] SLAMing on 120.64992885099998 meters Centerline goodness : 0.850528 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:0.42 [[ 0.98204652 -0.15374867 -0.1092977 -0.77787336] [ 0.15547008 0.98781322 0.00735496 -0.02509558] [ 0.1068349 -0.02421544 0.99398185 0.415347 ] [ 0. 0. 0. 1. ]] SLAMing on 120.67992885099999 meters Centerline goodness : 0.851838 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:0.42 [[ 0.982026 -0.15397636 -0.10916139 -0.77821823] [ 0.15569519 0.98777781 0.00734955 -0.02534994] [ 0.10669554 -0.02421335 0.99399687 0.41530923] [ 0. 0. 0. 1. ]] SLAMing on 120.70992885099999 meters Centerline goodness : 0.801607 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:0.42 [[ 0.98198616 -0.15438301 -0.1089452 -0.77874524] [ 0.15608375 0.98771753 0.00720793 -0.02567933] [ 0.1064943 -0.02408266 0.99402162 0.41535738] [ 0. 0. 0. 1. ]] SLAMing on 120.73992885099999 meters Centerline goodness : 0.801178 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:0.42 [[ 0.98196736 -0.15456434 -0.10885753 -0.77891143] [ 0.15624784 0.98769267 0.00705709 -0.02547704] [ 0.10642701 -0.02393859 0.99403231 0.41530886] [ 0. 0. 0. 1. ]] SLAMing on 120.76992885099999 meters Centerline goodness : 0.801178 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:0.42 [[ 0.98196736 -0.15456434 -0.10885753 -0.77891143] [ 0.15624784 0.98769267 0.00705709 -0.02547704] [ 0.10642701 -0.02393859 0.99403231 0.41530886] [ 0. 0. 0. 1. ]] SLAMing on 120.79992885099999 meters Centerline goodness : 0.851932 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:0.42 [[ 0.98196473 -0.15456944 -0.10887402 -0.77880299] [ 0.15624151 0.98769446 0.00694636 -0.02501986] [ 0.10646057 -0.02383172 0.99403129 0.41523136] [ 0. 0. 0. 1. ]] SLAMing on 120.82992885099999 meters Centerline goodness : 0.855105 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:0.42 [[ 0.9819559 -0.15456792 -0.10895584 -0.77868096] [ 0.15622394 0.9876984 0.00677827 -0.02435269] [ 0.10656781 -0.02367747 0.99402348 0.415272 ] [ 0. 0. 0. 1. ]] SLAMing on 120.85992885099998 meters Centerline goodness : 0.853733 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:0.42 [[ 0.9819968 -0.15418414 -0.10913084 -0.77804448] [ 0.15581131 0.98776551 0.00649152 -0.02266227] [ 0.10679479 -0.02337847 0.9940062 0.41511205] [ 0. 0. 0. 1. ]] SLAMing on 120.88992885099998 meters Centerline goodness : 0.855707 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:0.42 [[ 0.9820184 -0.15393069 -0.10929414 -0.77755786] [ 0.15553646 0.98781025 0.00627075 -0.02139409] [ 0.10699661 -0.02315721 0.99398967 0.41503655] [ 0. 0. 0. 1. ]] SLAMing on 120.91992885099998 meters Centerline goodness : 0.854274 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:0.41 [[ 0.98263855 -0.14960847 -0.10972137 -0.77769514] [ 0.15160205 0.98839092 0.0100105 -0.02065249] [ 0.10694995 -0.02647069 0.99391197 0.41469448] [ 0. 0. 0. 1. ]] SLAMing on 120.94992885099998 meters Centerline goodness : 0.850825 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:0.41 [[ 0.98267245 -0.14918107 -0.1099994 -0.77710354] [ 0.15113901 0.98846557 0.00963443 -0.01881457] [ 0.10729335 -0.02609269 0.99388496 0.41490403] [ 0. 0. 0. 1. ]] SLAMing on 120.97992885099998 meters Centerline goodness : 0.798347 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:0.42 [[ 0.98272329 -0.14866401 -0.11024494 -0.7765002 ] [ 0.15058753 0.98855308 0.00928489 -0.01695684] [ 0.10760265 -0.02572599 0.99386108 0.41506998] [ 0. 0. 0. 1. ]] SLAMing on 121.00992885099998 meters Centerline goodness : 0.852999 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:0.42 [[ 0.98279014 -0.14806799 -0.11045091 -0.77583422] [ 0.14996168 0.98865091 0.00899321 -0.01506181] [ 0.10786579 -0.02540185 0.99384089 0.4151109 ] [ 0. 0. 0. 1. ]] SLAMing on 121.03992885099998 meters Centerline goodness : 0.855036 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.01, Z:0.42 [[ 0.98284576 -0.14742807 -0.11081143 -0.77480963] [ 0.14930193 0.98875284 0.0087613 -0.01321104] [ 0.10827346 -0.02515536 0.99380283 0.41503352] [ 0. 0. 0. 1. ]] SLAMing on 121.06992885099999 meters Centerline goodness : 0.852488 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.01, Z:0.41 [[ 0.98290384 -0.14681206 -0.11111375 -0.77385388] [ 0.14867114 0.98884939 0.00858956 -0.01155599] [ 0.10861371 -0.02496212 0.99377057 0.41488571] [ 0. 0. 0. 1. ]] SLAMing on 121.09992885099999 meters Centerline goodness : 0.850945 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.01, Z:0.41 [[ 0.98349089 -0.14253435 -0.11148827 -0.77393393] [ 0.14479427 0.98938406 0.01240162 -0.01044956] [ 0.10853706 -0.02833974 0.99368836 0.41422391] [ 0. 0. 0. 1. ]] SLAMing on 121.12992885099999 meters Centerline goodness : 0.791317 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.01, Z:0.41 [[ 0.98351824 -0.14226648 -0.11158907 -0.77327212] [ 0.14452104 0.98942477 0.01234078 -0.0094823 ] [ 0.10865332 -0.02826435 0.99367781 0.41377647] [ 0. 0. 0. 1. ]] SLAMing on 121.15992885099999 meters Centerline goodness : 0.851913 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.01, Z:0.41 [[ 0.98351728 -0.14218329 -0.11170347 -0.77288462] [ 0.14442932 0.98943944 0.01223756 -0.00894977] [ 0.10878385 -0.02816911 0.99366623 0.4136486 ] [ 0. 0. 0. 1. ]] SLAMing on 121.18992885099999 meters Centerline goodness : 0.850220 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.01, Z:0.41 [[ 0.98350621 -0.14228795 -0.11166768 -0.7728084 ] [ 0.14452433 0.98942661 0.01215297 -0.00887161] [ 0.10875775 -0.02809122 0.99367129 0.41347792] [ 0. 0. 0. 1. ]] SLAMing on 121.21992885099998 meters Centerline goodness : 0.850738 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.01, Z:0.41 [[ 0.98350263 -0.14236978 -0.11159487 -0.77292742] [ 0.14460718 0.98941422 0.01217671 -0.00905629] [ 0.10867996 -0.02811325 0.99367918 0.4134421 ] [ 0. 0. 0. 1. ]] SLAMing on 121.24992885099998 meters Centerline goodness : 0.850249 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.01, Z:0.41 [[ 0.98345878 -0.14279685 -0.11143555 -0.77346698] [ 0.14500293 0.98935956 0.01190808 -0.00903189] [ 0.10854939 -0.02786959 0.99370032 0.41365121] [ 0. 0. 0. 1. ]] SLAMing on 121.27992885099998 meters Centerline goodness : 0.851587 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.01, Z:0.41 [[ 0.98342168 -0.14323317 -0.1112028 -0.77407414] [ 0.14542302 0.98929925 0.0117954 -0.00937917] [ 0.10832336 -0.0277713 0.99372773 0.41366951] [ 0. 0. 0. 1. ]] SLAMing on 121.30992885099998 meters Centerline goodness : 0.848397 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.01, Z:0.41 [[ 0.98282387 -0.14764317 -0.11071913 -0.77382905] [ 0.14940492 0.98874579 0.00774172 -0.00936895] [ 0.10833006 -0.02415073 0.99382158 0.41380347] [ 0. 0. 0. 1. ]] SLAMing on 121.33992885099998 meters Centerline goodness : 0.846427 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.01, Z:0.41 [[ 0.98274377 -0.14841289 -0.1104006 -0.77479777] [ 0.15015966 0.98863229 0.00763305 -0.01062815] [ 0.10801276 -0.02407905 0.99385786 0.41400907] [ 0. 0. 0. 1. ]] SLAMing on 121.36992885099998 meters Centerline goodness : 0.847322 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.01, Z:0.41 [[ 0.98267397 -0.14901517 -0.11021043 -0.7753804 ] [ 0.15077666 0.98853725 0.00777832 -0.01233239] [ 0.10778803 -0.02426071 0.99387784 0.41403596] [ 0. 0. 0. 1. ]] SLAMing on 121.39992885099998 meters Centerline goodness : 0.847685 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.01, Z:0.41 [[ 0.98259539 -0.14966904 -0.11002487 -0.77603082] [ 0.15143839 0.98843547 0.00785713 -0.01399419] [ 0.10757652 -0.02438237 0.99389778 0.41418537] [ 0. 0. 0. 1. ]] SLAMing on 121.42992885099999 meters Centerline goodness : 0.850888 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:0.41 [[ 0.98195758 -0.15422773 -0.10942172 -0.77600464] [ 0.15560665 0.98781049 0.00412495 -0.01526288] [ 0.10745174 -0.02107728 0.99398686 0.41424585] [ 0. 0. 0. 1. ]] SLAMing on 121.45992885099999 meters Centerline goodness : 0.789766 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:0.41 [[ 0.98190216 -0.15477109 -0.10915153 -0.77669984] [ 0.15615804 0.98772305 0.00422297 -0.01674714] [ 0.10715788 -0.02119143 0.99401615 0.41429827] [ 0. 0. 0. 1. ]] SLAMing on 121.48992885099999 meters Centerline goodness : 0.848856 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:0.41 [[ 0.98186054 -0.15515321 -0.1089833 -0.77705432] [ 0.15655555 0.98765945 0.0043785 -0.01814231] [ 0.10695905 -0.02136101 0.99403394 0.41421412] [ 0. 0. 0. 1. ]] SLAMing on 121.51992885099999 meters Centerline goodness : 0.847028 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:0.41 [[ 9.81289174e-01 -1.58794988e-01 -1.08883921e-01 -7.75533289e-01] [ 1.59842757e-01 9.87142072e-01 9.06962681e-04 -1.90153003e-02] [ 1.07339879e-01 -1.82942989e-02 9.94054057e-01 4.14033568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.54992885099999 meters Centerline goodness : 0.790516 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:0.41 [[ 0.98126803 -0.15898041 -0.10880385 -0.77586311] [ 0.16004052 0.98710991 0.00102489 -0.02018414] [ 0.10723842 -0.01841871 0.99406271 0.41424394] [ 0. 0. 0. 1. ]] SLAMing on 121.57992885099999 meters Centerline goodness : 0.791741 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:0.41 [[ 0.98126972 -0.15901356 -0.10874014 -0.77606809] [ 0.16008643 0.98710233 0.00115243 -0.02086106] [ 0.10715439 -0.01853867 0.99406954 0.41434913] [ 0. 0. 0. 1. ]] SLAMing on 121.60992885099998 meters Centerline goodness : 0.790662 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:0.41 [[ 0.98134317 -0.15833282 -0.10907016 -0.77510632] [ 0.1594537 0.98720415 0.0015768 -0.02158178] [ 0.10742486 -0.01893903 0.9940328 0.4142674 ] [ 0. 0. 0. 1. ]] SLAMing on 121.63992885099998 meters Centerline goodness : 0.788670 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.41 [[ 0.98140059 -0.15781065 -0.10930999 -0.77434931] [ 0.15896212 0.98728296 0.00184574 -0.02167584] [ 0.10762861 -0.01918756 0.994006 0.41409663] [ 0. 0. 0. 1. ]] SLAMing on 121.66992885099998 meters Centerline goodness : 0.788331 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.41 [[ 0.98146792 -0.15715807 -0.10964515 -0.77313241] [ 0.15833843 0.98738269 0.00208789 -0.02159274] [ 0.10793359 -0.01941024 0.9939686 0.41374719] [ 0. 0. 0. 1. ]] SLAMing on 121.69992885099998 meters Centerline goodness : 0.787720 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.41 [[ 0.98155162 -0.15635672 -0.11004088 -0.77187346] [ 0.15757654 0.9875038 0.00242322 -0.0216612 ] [ 0.1082869 -0.01971838 0.99392411 0.41348195] [ 0. 0. 0. 1. ]] SLAMing on 121.72992885099998 meters Centerline goodness : 0.784233 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.41 [[ 0.98223791 -0.15154626 -0.11064544 -0.77155164] [ 0.15324301 0.98816412 0.00694576 -0.0234537 ] [ 0.10828325 -0.02377803 0.99383567 0.41317486] [ 0. 0. 0. 1. ]] SLAMing on 121.75992885099998 meters Centerline goodness : 0.784613 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.41 [[ 0.98229995 -0.15098031 -0.11086817 -0.77081615] [ 0.15270309 0.98824613 0.00716649 -0.02336477] [ 0.10848304 -0.02396956 0.99380928 0.41304259] [ 0. 0. 0. 1. ]] SLAMing on 121.78992885099998 meters Centerline goodness : 0.843920 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.41 [[ 0.98233079 -0.15064518 -0.11105061 -0.77043343] [ 0.15238188 0.98829494 0.00727185 -0.02347089] [ 0.10865528 -0.02406546 0.99378815 0.41318693] [ 0. 0. 0. 1. ]] SLAMing on 121.81992885099999 meters Centerline goodness : 0.839866 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.41 [[ 0.9824224 -0.14982905 -0.11134398 -0.7692771 ] [ 0.15165512 0.98840055 0.00806755 -0.0251738 ] [ 0.10884369 -0.02481163 0.99374918 0.41277514] [ 0. 0. 0. 1. ]] SLAMing on 121.84992885099999 meters Centerline goodness : 0.782304 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.41 [[ 0.98243546 -0.14974989 -0.11133526 -0.76929091] [ 0.1516043 0.98840614 0.00833282 -0.02623604] [ 0.10879661 -0.02506536 0.99374797 0.41281485] [ 0. 0. 0. 1. ]] SLAMing on 121.87992885099999 meters Centerline goodness : 0.842171 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.41 [[ 0.98243318 -0.1498186 -0.11126286 -0.76964785] [ 0.15169421 0.98839058 0.00853954 -0.0274523 ] [ 0.10869178 -0.02526746 0.99375432 0.41308958] [ 0. 0. 0. 1. ]] SLAMing on 121.90992885099999 meters Centerline goodness : 0.838253 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.41 [[ 0.9824163 -0.15002411 -0.11113498 -0.77030247] [ 0.15195323 0.98834627 0.00904806 -0.0306051 ] [ 0.10848241 -0.02577628 0.99376413 0.41361586] [ 0. 0. 0. 1. ]] SLAMing on 121.93992885099999 meters Centerline goodness : 0.840429 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.41 [[ 0.98240015 -0.15018529 -0.11106001 -0.77072165] [ 0.15213843 0.98831565 0.00927744 -0.03206557] [ 0.10836901 -0.02601065 0.9937704 0.41392654] [ 0. 0. 0. 1. ]] SLAMing on 121.96992885099998 meters Centerline goodness : 0.782859 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.41 [[ 0.98239463 -0.15032404 -0.11092099 -0.77115315] [ 0.15229817 0.98828897 0.0094961 -0.03338685] [ 0.10819449 -0.02622198 0.99378386 0.41411755] [ 0. 0. 0. 1. ]] SLAMing on 121.99992885099998 meters Centerline goodness : 0.784035 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.41 [[ 0.98237291 -0.15052756 -0.11083735 -0.77149654] [ 0.15252263 0.9882524 0.00969783 -0.03484777] [ 0.10807549 -0.02643209 0.99379124 0.41432517] [ 0. 0. 0. 1. ]] SLAMing on 122.02992885099998 meters Centerline goodness : 0.784352 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.41 [[ 0.98195959 -0.15363791 -0.11023051 -0.77139558] [ 0.1553194 0.98784103 0.00678161 -0.0365037 ] [ 0.10784831 -0.02378021 0.99388291 0.4143921 ] [ 0. 0. 0. 1. ]] SLAMing on 122.05992885099998 meters Centerline goodness : 0.783014 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.41 [[ 0.98195332 -0.15379179 -0.11007161 -0.77184912] [ 0.15550564 0.98780944 0.00710724 -0.03824698] [ 0.10763674 -0.02409573 0.99389825 0.41453092] [ 0. 0. 0. 1. ]] SLAMing on 122.08992885099998 meters Centerline goodness : 0.786484 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.41 [[ 0.98192073 -0.15355124 -0.11069641 -0.77051565] [ 0.15541269 0.98781446 0.00833637 -0.04044669] [ 0.10806745 -0.02538928 0.9938193 0.41472986] [ 0. 0. 0. 1. ]] SLAMing on 122.11992885099998 meters Centerline goodness : 0.784170 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.41 [[ 0.98192367 -0.15336067 -0.11093425 -0.76971486] [ 0.15531065 0.98782373 0.00910352 -0.04218087] [ 0.10818736 -0.02616823 0.99378605 0.41461545] [ 0. 0. 0. 1. ]] SLAMing on 122.14992885099998 meters Centerline goodness : 0.844891 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.42 [[ 0.98185417 -0.15331073 -0.11161631 -0.76863281] [ 0.15540009 0.98779881 0.01021418 -0.04372831] [ 0.10868851 -0.02737402 0.99369888 0.41522656] [ 0. 0. 0. 1. ]] SLAMing on 122.17992885099999 meters Centerline goodness : 0.842426 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.41 [[ 0.98186498 -0.15300831 -0.1119358 -0.76779862] [ 0.15514268 0.98783563 0.01056054 -0.04384711] [ 0.10895832 -0.02773505 0.99365932 0.41499382] [ 0. 0. 0. 1. ]] SLAMing on 122.20992885099999 meters Centerline goodness : 0.843971 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.41 [[ 0.98193552 -0.1524821 -0.11203503 -0.76745612] [ 0.15464559 0.98791065 0.01082966 -0.04389728] [ 0.10902927 -0.02795975 0.99364524 0.41474901] [ 0. 0. 0. 1. ]] SLAMing on 122.23992885099999 meters Centerline goodness : 0.785266 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.41 [[ 0.98220978 -0.15101721 -0.11161427 -0.76810179] [ 0.15314775 0.98814518 0.01071811 -0.04329767] [ 0.10867248 -0.02762091 0.9936938 0.41411851] [ 0. 0. 0. 1. ]] SLAMing on 122.26992885099999 meters Centerline goodness : 0.783487 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.41 [[ 0.98271941 -0.14712923 -0.112319 -0.7672526 ] [ 0.14973859 0.9886101 0.01511388 -0.04494603] [ 0.10881601 -0.03167119 0.99355725 0.41355005] [ 0. 0. 0. 1. ]] SLAMing on 122.29992885099999 meters Centerline goodness : 0.782627 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.41 [[ 0.98291485 -0.14600287 -0.11207833 -0.76759021] [ 0.1485935 0.98878346 0.01507459 -0.0443747 ] [ 0.10862026 -0.03147115 0.99358503 0.4130352 ] [ 0. 0. 0. 1. ]] SLAMing on 122.32992885099999 meters Centerline goodness : 0.781441 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.41 [[ 0.98357424 -0.14121352 -0.1124298 -0.76767774] [ 0.14419191 0.98937163 0.01877435 -0.04409547] [ 0.10858366 -0.03467743 0.99348229 0.41235026] [ 0. 0. 0. 1. ]] SLAMing on 122.35992885099998 meters Centerline goodness : 0.781694 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.41 [[ 0.98376486 -0.14017692 -0.1120586 -0.76846819] [ 0.14310169 0.98953586 0.01845753 -0.04279338] [ 0.10829868 -0.03419364 0.99353017 0.41196753] [ 0. 0. 0. 1. ]] SLAMing on 122.38992885099998 meters Centerline goodness : 0.839984 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.41 [[ 0.98391829 -0.13960508 -0.11142359 -0.77003007] [ 0.14240522 0.989653 0.01754131 -0.04098868] [ 0.10782183 -0.03312651 0.99361818 0.41191037] [ 0. 0. 0. 1. ]] SLAMing on 122.41992885099998 meters Centerline goodness : 0.841706 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.41 [[ 0.98435016 -0.13598635 -0.11208241 -0.76930929] [ 0.13923425 0.99002296 0.0216416 -0.04180882] [ 0.1080212 -0.03690863 0.99346322 0.41147196] [ 0. 0. 0. 1. ]] SLAMing on 122.44992885099998 meters Centerline goodness : 0.840123 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.41 [[ 0.98439725 -0.13568473 -0.11203441 -0.76937164] [ 0.13887291 0.99008487 0.02112489 -0.03988449] [ 0.10805724 -0.03635383 0.99347976 0.41174448] [ 0. 0. 0. 1. ]] SLAMing on 122.47992885099998 meters Centerline goodness : 0.838959 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.41 [[ 0.98448141 -0.13544771 -0.11158076 -0.7704084 ] [ 0.13857939 0.99013351 0.0207698 -0.03930151] [ 0.10766663 -0.03591027 0.9935383 0.41168835] [ 0. 0. 0. 1. ]] SLAMing on 122.50992885099998 meters Centerline goodness : 0.839928 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.41 [[ 0.98458834 -0.13489013 -0.11131238 -0.7707329 ] [ 0.13801905 0.9902098 0.02086396 -0.03914331] [ 0.10740826 -0.03590564 0.99356643 0.41132755] [ 0. 0. 0. 1. ]] SLAMing on 122.53992885099998 meters Centerline goodness : 0.841504 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.41 [[ 0.98461943 -0.13493157 -0.1109867 -0.77177813] [ 0.1380078 0.99021932 0.02048281 -0.03868892] [ 0.1071374 -0.03548481 0.99361079 0.4117394 ] [ 0. 0. 0. 1. ]] SLAMing on 122.56992885099999 meters Centerline goodness : 0.780659 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.41 [[ 0.98456123 -0.13516106 -0.11122349 -0.77173231] [ 0.13829985 0.99016835 0.02097098 -0.03898931] [ 0.10729552 -0.03602941 0.99357413 0.41236486] [ 0. 0. 0. 1. ]] SLAMing on 122.59992885099999 meters Centerline goodness : 0.835549 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.41 [[ 0.98443848 -0.13593941 -0.1113614 -0.77190252] [ 0.13907593 0.99006194 0.02086234 -0.03907472] [ 0.10741867 -0.03602538 0.99356097 0.41308477] [ 0. 0. 0. 1. ]] SLAMing on 122.62992885099999 meters Centerline goodness : 0.840432 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.41 [[ 0.98430246 -0.13662569 -0.11172328 -0.77094872] [ 0.13983164 0.98994521 0.02134459 -0.03981296] [ 0.10768371 -0.03663198 0.9935101 0.41307142] [ 0. 0. 0. 1. ]] SLAMing on 122.65992885099999 meters Centerline goodness : 0.840432 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.41 [[ 0.98430246 -0.13662569 -0.11172328 -0.77094872] [ 0.13983164 0.98994521 0.02134459 -0.03981296] [ 0.10768371 -0.03663198 0.9935101 0.41307142] [ 0. 0. 0. 1. ]] SLAMing on 122.68992885099999 meters Centerline goodness : 0.777302 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.41 [[ 0.98407021 -0.13784444 -0.11227081 -0.7698482 ] [ 0.14108096 0.98976731 0.02137379 -0.04022211] [ 0.10817572 -0.03687258 0.99344775 0.41346235] [ 0. 0. 0. 1. ]] SLAMing on 122.71992885099998 meters Centerline goodness : 0.777389 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.41 [[ 0.98327795 -0.14331921 -0.11235696 -0.76853815] [ 0.14612686 0.98911768 0.01712176 -0.03910773] [ 0.10868038 -0.03325382 0.99352039 0.41369763] [ 0. 0. 0. 1. ]] SLAMing on 122.74992885099998 meters Centerline goodness : 0.777465 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.41 [[ 0.98302564 -0.14435105 -0.11324034 -0.76641212] [ 0.14725087 0.98894202 0.0176312 -0.03980053] [ 0.10944305 -0.03400666 0.99341118 0.41364101] [ 0. 0. 0. 1. ]] SLAMing on 122.77992885099998 meters Centerline goodness : 0.775594 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.41 [[ 0.9827713 -0.14555813 -0.11390084 -0.76502908] [ 0.14854081 0.98874049 0.01810725 -0.04043371] [ 0.10998272 -0.03471421 0.9933271 0.41393464] [ 0. 0. 0. 1. ]] SLAMing on 122.80992885099998 meters Centerline goodness : 0.838917 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.41 [[ 0.98253594 -0.14670575 -0.1144576 -0.76376268] [ 0.14972725 0.98855951 0.01821665 -0.04066515] [ 0.11047566 -0.03503593 0.9932611 0.41408525] [ 0. 0. 0. 1. ]] SLAMing on 122.83992885099998 meters Centerline goodness : 0.775771 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.41 [[ 0.98174375 -0.15160104 -0.11487529 -0.76203699] [ 0.15423781 0.98792923 0.01437127 -0.03910245] [ 0.11130996 -0.03182702 0.99327596 0.41447104] [ 0. 0. 0. 1. ]] SLAMing on 122.86992885099998 meters Centerline goodness : 0.776401 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.41 [[ 0.98155871 -0.152548 -0.11520241 -0.76138349] [ 0.15519205 0.98778098 0.01428869 -0.03928083] [ 0.11161504 -0.03190369 0.99323927 0.41474098] [ 0. 0. 0. 1. ]] SLAMing on 122.89992885099998 meters Centerline goodness : 0.776208 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.42 [[ 0.98124264 -0.1538115 -0.11621057 -0.75939565] [ 0.15651888 0.98756871 0.0144873 -0.03908278] [ 0.11253761 -0.0324047 0.99311894 0.41502712] [ 0. 0. 0. 1. ]] SLAMing on 122.92992885099999 meters Centerline goodness : 0.776805 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.41 [[ 0.98114635 -0.15403535 -0.11672597 -0.75822767] [ 0.15675254 0.98753276 0.01441176 -0.0383524 ] [ 0.1130508 -0.03243714 0.99305959 0.41483082] [ 0. 0. 0. 1. ]] SLAMing on 122.95992885099999 meters Centerline goodness : 0.838084 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.42 [[ 0.98109041 -0.15451767 -0.11655855 -0.75885232] [ 0.15716441 0.98747585 0.01381301 -0.0370741 ] [ 0.1129644 -0.03187067 0.99308776 0.41506491] [ 0. 0. 0. 1. ]] SLAMing on 122.98992885099999 meters Centerline goodness : 0.777500 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.42 [[ 0.98104276 -0.15498733 -0.11633585 -0.75965617] [ 0.15755527 0.98742254 0.01315568 -0.0354438 ] [ 0.11283368 -0.03123561 0.9931228 0.41535982] [ 0. 0. 0. 1. ]] SLAMing on 123.01992885099999 meters Centerline goodness : 0.778204 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98100584 -0.15531862 -0.11620529 -0.76034162] [ 0.15782065 0.9873875 0.01259244 -0.03417732] [ 0.11278381 -0.03069285 0.99314539 0.41581691] [ 0. 0. 0. 1. ]] SLAMing on 123.04992885099999 meters Centerline goodness : 0.779624 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.9809439 -0.1558596 -0.11600367 -0.7613552 ] [ 0.15822006 0.98733842 0.01136886 -0.03090486] [ 0.11276293 -0.02950632 0.99318372 0.41654069] [ 0. 0. 0. 1. ]] SLAMing on 123.07992885099999 meters Centerline goodness : 0.779799 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98090205 -0.1562211 -0.11587116 -0.76195879] [ 0.15850382 0.98730041 0.01069779 -0.02911186] [ 0.11272843 -0.0288595 0.99320664 0.41686751] [ 0. 0. 0. 1. ]] SLAMing on 123.10992885099998 meters Centerline goodness : 0.778609 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98088461 -0.15631111 -0.11589742 -0.76185356] [ 0.15854321 0.98729894 0.01024005 -0.02748491] [ 0.11282477 -0.02841906 0.9932084 0.41680805] [ 0. 0. 0. 1. ]] SLAMing on 123.13992885099998 meters Centerline goodness : 0.779173 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98085909 -0.15643287 -0.11594911 -0.76176812] [ 0.15860291 0.98729506 0.00967416 -0.0255816 ] [ 0.11296262 -0.02787885 0.99320804 0.41683818] [ 0. 0. 0. 1. ]] SLAMing on 123.16992885099998 meters Centerline goodness : 0.777232 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.02, Z:0.42 [[ 0.98088342 -0.15635612 -0.11584682 -0.76165198] [ 0.15841625 0.98733376 0.0087373 -0.02142282] [ 0.11301334 -0.02692229 0.99322866 0.41653286] [ 0. 0. 0. 1. ]] SLAMing on 123.19992885099998 meters Centerline goodness : 0.776875 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.02, Z:0.42 [[ 0.98087761 -0.15634923 -0.11590529 -0.76153378] [ 0.15833685 0.98735204 0.00808712 -0.01899441] [ 0.11317491 -0.02628455 0.99322735 0.41662056] [ 0. 0. 0. 1. ]] SLAMing on 123.22992885099998 meters Centerline goodness : 0.776829 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.02, Z:0.42 [[ 0.98087504 -0.15637343 -0.11589438 -0.76163302] [ 0.15828604 0.98736534 0.00743019 -0.01668214] [ 0.11326821 -0.02563255 0.99323375 0.41680223] [ 0. 0. 0. 1. ]] SLAMing on 123.25992885099998 meters Centerline goodness : 0.775360 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:0.42 [[ 0.98144964 -0.15263901 -0.11600835 -0.76270533] [ 0.15487613 0.98787844 0.01046771 -0.01411251] [ 0.11300436 -0.02824046 0.99319308 0.4165877 ] [ 0. 0. 0. 1. ]] SLAMing on 123.28992885099998 meters Centerline goodness : 0.776838 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:0.42 [[ 0.98147327 -0.15240303 -0.11611867 -0.76224545] [ 0.15456844 0.98793324 0.00982422 -0.0113291 ] [ 0.11322025 -0.02759049 0.99318676 0.41651404] [ 0. 0. 0. 1. ]] SLAMing on 123.31992885099999 meters Centerline goodness : 0.775757 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:0.42 [[ 0.98149691 -0.15213494 -0.11627029 -0.76180416] [ 0.15423364 0.9879914 0.00921839 -0.00857578] [ 0.1134716 -0.02698062 0.99317483 0.41655959] [ 0. 0. 0. 1. ]] SLAMing on 123.34992885099999 meters Centerline goodness : 0.836651 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:0.42 [[ 0.9815626 -0.15154205 -0.11648977 -0.7608733 ] [ 0.15360014 0.98809349 0.00884573 -0.00591916] [ 0.11376229 -0.02657548 0.9931525 0.41627415] [ 0. 0. 0. 1. ]] SLAMing on 123.37992885099999 meters Centerline goodness : 0.775055 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.00, Z:0.42 [[ 0.98215349 -0.14736947 -0.11686217 -0.76102481] [ 0.14976465 0.9886496 0.01193806 -0.00273979] [ 0.11377644 -0.02922683 0.99307639 0.41585722] [ 0. 0. 0. 1. ]] SLAMing on 123.40992885099999 meters Centerline goodness : 0.834060 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.00, Z:0.42 [[ 9.82168759e-01 -1.47183183e-01 -1.16968543e-01 -7.60519663e-01] [ 1.49512585e-01 9.88694700e-01 1.13479874e-02 -1.64530463e-05] [ 1.13975946e-01 -2.86339080e-02 9.93070785e-01 4.15653724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.43992885099999 meters Centerline goodness : 0.774659 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.00, Z:0.42 [[ 0.98217886 -0.14708301 -0.11700969 -0.76021897] [ 0.14934942 0.98872555 0.01079493 0.00240667] [ 0.11410272 -0.02807788 0.9930721 0.41547295] [ 0. 0. 0. 1. ]] SLAMing on 123.46992885099998 meters Centerline goodness : 0.773951 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.01, Z:0.41 [[ 0.98221549 -0.14679039 -0.11706973 -0.75942565] [ 0.14897905 0.98878856 0.01012107 0.00640777] [ 0.11427154 -0.02738201 0.99307212 0.41476725] [ 0. 0. 0. 1. ]] SLAMing on 123.49992885099998 meters Centerline goodness : 0.832655 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.01, Z:0.41 [[ 0.98218295 -0.14716231 -0.11687559 -0.7598327 ] [ 0.14929232 0.98874615 0.00963595 0.00775552] [ 0.11414224 -0.0269129 0.99309982 0.41469249] [ 0. 0. 0. 1. ]] SLAMing on 123.52992885099998 meters Centerline goodness : 0.775037 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.01, Z:0.41 [[ 0.9821344 -0.14761995 -0.11670637 -0.76035809] [ 0.14968371 0.98869231 0.0090724 0.00899646] [ 0.11404743 -0.02637936 0.99312502 0.41484887] [ 0. 0. 0. 1. ]] SLAMing on 123.55992885099998 meters Centerline goodness : 0.777288 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.01, Z:0.42 [[ 0.98202318 -0.14885033 -0.1160778 -0.76214067] [ 0.15079767 0.98853122 0.00812911 0.01042495] [ 0.11353651 -0.02548724 0.99320686 0.41510312] [ 0. 0. 0. 1. ]] SLAMing on 123.58992885099998 meters Centerline goodness : 0.832465 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.01, Z:0.42 [[ 0.98195455 -0.14961626 -0.11567299 -0.76325008] [ 0.15150281 0.98842728 0.00764287 0.01100447] [ 0.11319084 -0.02502973 0.99325795 0.41521171] [ 0. 0. 0. 1. ]] SLAMing on 123.61992885099998 meters Centerline goodness : 0.776638 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.01, Z:0.42 [[ 0.98188615 -0.15041528 -0.11521649 -0.76445812] [ 0.1522389 0.9883179 0.00714445 0.01161263] [ 0.11279589 -0.02455547 0.99331471 0.41529592] [ 0. 0. 0. 1. ]] SLAMing on 123.64992885099998 meters Centerline goodness : 0.777426 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.01, Z:0.42 [[ 0.98181644 -0.151174 -0.11481681 -0.76544863] [ 0.15294142 0.9882126 0.00669201 0.01219259] [ 0.11245176 -0.02413057 0.99336414 0.41527724] [ 0. 0. 0. 1. ]] SLAMing on 123.67992885099999 meters Centerline goodness : 0.776752 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.01, Z:0.42 [[ 0.98162683 -0.15285366 -0.11421266 -0.76737139] [ 0.15449454 0.98797775 0.00560331 0.01355914] [ 0.11198308 -0.02314559 0.99344052 0.41556539] [ 0. 0. 0. 1. ]] SLAMing on 123.70992885099999 meters Centerline goodness : 0.777074 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.01, Z:0.42 [[ 0.98156447 -0.15360759 -0.11373606 -0.7685995 ] [ 0.15518792 0.9878717 0.00512028 0.01428024] [ 0.11157012 -0.02267635 0.99349781 0.4156142 ] [ 0. 0. 0. 1. ]] SLAMing on 123.73992885099999 meters Centerline goodness : 0.778510 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.02, Z:0.42 [[ 0.98139586 -0.15532425 -0.11285634 -0.77156074] [ 0.15675044 0.98763085 0.0038209 0.01641895] [ 0.11086692 -0.0214401 0.99360397 0.41640133] [ 0. 0. 0. 1. ]] SLAMing on 123.76992885099999 meters Centerline goodness : 0.778134 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.02, Z:0.42 [[ 0.98131002 -0.15621623 -0.11237049 -0.77327539] [ 0.15755133 0.9875061 0.00304545 0.01757055] [ 0.1104908 -0.02069265 0.99366171 0.41702783] [ 0. 0. 0. 1. ]] SLAMing on 123.79992885099999 meters Centerline goodness : 0.777789 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.02, Z:0.42 [[ 0.9812198 -0.15701392 -0.11204612 -0.77476948] [ 0.15825921 0.98739503 0.00225185 0.01895697] [ 0.11028021 -0.01994189 0.99370046 0.41779534] [ 0. 0. 0. 1. ]] SLAMing on 123.82992885099999 meters Centerline goodness : 0.779375 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.02, Z:0.42 [[ 0.98115054 -0.15768198 -0.11171394 -0.77599624] [ 0.15883981 0.98730325 0.00148446 0.02041016] [ 0.11006147 -0.0192011 0.9937393 0.41837429] [ 0. 0. 0. 1. ]] SLAMing on 123.85992885099998 meters Centerline goodness : 0.779438 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.02, Z:0.42 [[ 9.81080752e-01 -1.58251208e-01 -1.11521805e-01 -7.76834014e-01] [ 1.59330809e-01 9.87224942e-01 7.78768004e-04 2.19470314e-02] [ 1.09973867e-01 -1.85328937e-02 9.93761682e-01 4.18800450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88992885099998 meters Centerline goodness : 0.777830 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.02, Z:0.42 [[ 9.81011887e-01 -1.58945578e-01 -1.11139470e-01 -7.77614764e-01] [ 1.59927667e-01 9.87128733e-01 -7.92246393e-05 2.46589656e-02] [ 1.09721556e-01 -1.76965558e-02 9.93804816e-01 4.18571275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91992885099998 meters Centerline goodness : 0.779751 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.03, Z:0.42 [[ 9.80983240e-01 -1.59200982e-01 -1.11026714e-01 -7.77726913e-01] [ 1.60152333e-01 9.87092247e-01 -3.53974121e-04 2.56470822e-02] [ 1.09649961e-01 -1.74339445e-02 9.93817359e-01 4.18282024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94992885099998 meters Centerline goodness : 0.777538 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.03, Z:0.42 [[ 9.80956652e-01 -1.59454650e-01 -1.10897526e-01 -7.77831658e-01] [ 1.60372481e-01 9.87056352e-01 -6.51713935e-04 2.65695106e-02] [ 1.09566026e-01 -1.71456082e-02 9.93831633e-01 4.18010726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97992885099998 meters Centerline goodness : 0.777990 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.03, Z:0.42 [[ 0.98089772 -0.15998943 -0.11064829 -0.77838507] [ 0.16082667 0.98698171 -0.00137489 0.02858984] [ 0.10942781 -0.01644657 0.99385867 0.41793284] [ 0. 0. 0. 1. ]] SLAMing on 124.00992885099998 meters Centerline goodness : 0.779278 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.03, Z:0.42 [[ 0.98086013 -0.16028093 -0.11055963 -0.77858898] [ 0.16106001 0.98694277 -0.00190632 0.03030652] [ 0.10942158 -0.0159369 0.99386766 0.41791048] [ 0. 0. 0. 1. ]] SLAMing on 124.03992885099998 meters Centerline goodness : 0.778329 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.03, Z:0.42 [[ 0.98082126 -0.16058356 -0.11046528 -0.7789913 ] [ 0.16130333 0.98690184 -0.00244853 0.03198901] [ 0.10941158 -0.01541685 0.99387697 0.41811279] [ 0. 0. 0. 1. ]] SLAMing on 124.06992885099999 meters Centerline goodness : 0.777922 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.03, Z:0.42 [[ 0.98078058 -0.16090487 -0.11035888 -0.77941602] [ 0.16156734 0.98685721 -0.0029723 0.03354142] [ 0.10938672 -0.01491522 0.99388736 0.41829635] [ 0. 0. 0. 1. ]] SLAMing on 124.09992885099999 meters Centerline goodness : 0.778420 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.04, Z:0.42 [[ 0.98070822 -0.16151062 -0.11011674 -0.78032866] [ 0.16206855 0.9867717 -0.00392449 0.0361097 ] [ 0.10929393 -0.01399768 0.99391091 0.41871811] [ 0. 0. 0. 1. ]] SLAMing on 124.12992885099999 meters Centerline goodness : 0.777054 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.04, Z:0.42 [[ 0.98067167 -0.16182854 -0.10997542 -0.78084346] [ 0.16233575 0.98672583 -0.00438584 0.0372756 ] [ 0.10922535 -0.01355187 0.99392463 0.4189484 ] [ 0. 0. 0. 1. ]] SLAMing on 124.15992885099999 meters Centerline goodness : 0.778076 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.04, Z:0.42 [[ 0.98062717 -0.16221256 -0.10980632 -0.78146414] [ 0.16267192 0.98666843 -0.00482223 0.03829697] [ 0.10912466 -0.01313359 0.9939413 0.4191585 ] [ 0. 0. 0. 1. ]] SLAMing on 124.18992885099999 meters Centerline goodness : 0.779170 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.04, Z:0.42 [[ 0.98058887 -0.16255988 -0.10963462 -0.78195939] [ 0.16298261 0.98661547 -0.00515494 0.03911126] [ 0.1090052 -0.01281366 0.99395859 0.41924898] [ 0. 0. 0. 1. ]] SLAMing on 124.21992885099998 meters Centerline goodness : 0.779563 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.04, Z:0.42 [[ 0.98051469 -0.16330744 -0.10918615 -0.78303918] [ 0.1636733 0.98649834 -0.00566414 0.04024672] [ 0.10863696 -0.01231708 0.99400518 0.41911703] [ 0. 0. 0. 1. ]] SLAMing on 124.24992885099998 meters Centerline goodness : 0.778912 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.04, Z:0.42 [[ 0.98046891 -0.16378001 -0.10888907 -0.78378728] [ 0.16412249 0.9864225 -0.00587097 0.04020953] [ 0.10837217 -0.01211484 0.99403657 0.41911948] [ 0. 0. 0. 1. ]] SLAMing on 124.27992885099998 meters Centerline goodness : 0.779309 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.04, Z:0.42 [[ 0.98042958 -0.16421204 -0.10859211 -0.78447644] [ 0.16454448 0.98635169 -0.00595395 0.03998199] [ 0.10808772 -0.01203081 0.99406856 0.41903104] [ 0. 0. 0. 1. ]] SLAMing on 124.30992885099998 meters Centerline goodness : 0.779733 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.04, Z:0.42 [[ 0.98030168 -0.16545992 -0.10785004 -0.78652238] [ 0.16575393 0.98614705 -0.00629534 0.0397607 ] [ 0.10739762 -0.01170524 0.99414724 0.41902566] [ 0. 0. 0. 1. ]] SLAMing on 124.33992885099998 meters Centerline goodness : 0.780007 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.04, Z:0.42 [[ 0.9802319 -0.16610454 -0.10749283 -0.78760213] [ 0.16637916 0.98604061 -0.00647167 0.03955942] [ 0.10706727 -0.01154083 0.9941848 0.41915366] [ 0. 0. 0. 1. ]] SLAMing on 124.36992885099998 meters Centerline goodness : 0.779155 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.04, Z:0.42 [[ 0.98016845 -0.16666601 -0.10720196 -0.78845444] [ 0.16692211 0.9859477 -0.00664339 0.03939034] [ 0.10680275 -0.01138274 0.99421507 0.41923989] [ 0. 0. 0. 1. ]] SLAMing on 124.39992885099998 meters Centerline goodness : 0.779960 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.04, Z:0.42 [[ 0.98013518 -0.16699179 -0.10699893 -0.78883006] [ 0.16724521 0.98589281 -0.00666439 0.03923834] [ 0.10660237 -0.01136305 0.9942368 0.41903669] [ 0. 0. 0. 1. ]] SLAMing on 124.42992885099999 meters Centerline goodness : 0.778968 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.04, Z:0.42 [[ 0.97959811 -0.17009205 -0.10703383 -0.78649411] [ 0.16997083 0.98539504 -0.01032158 0.04084574] [ 0.10722623 -0.00808163 0.9942018 0.41869823] [ 0. 0. 0. 1. ]] SLAMing on 124.45992885099999 meters Centerline goodness : 0.778243 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.04, Z:0.42 [[ 0.97957939 -0.1702867 -0.10689556 -0.78684059] [ 0.17016806 0.98536125 -0.01029786 0.04038458] [ 0.10708433 -0.00810264 0.99421693 0.4186933 ] [ 0. 0. 0. 1. ]] SLAMing on 124.48992885099999 meters Centerline goodness : 0.779048 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.04, Z:0.42 [[ 0.97959479 -0.17020164 -0.10688993 -0.78660065] [ 0.17009257 0.98537526 -0.01020383 0.04028016] [ 0.1070634 -0.00818556 0.9942185 0.41847835] [ 0. 0. 0. 1. ]] SLAMing on 124.51992885099999 meters Centerline goodness : 0.778846 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.04, Z:0.42 [[ 0.97958684 -0.1702725 -0.10684988 -0.78677317] [ 0.17015034 0.98536401 -0.01032629 0.04046591] [ 0.1070443 -0.00806505 0.99422154 0.41864945] [ 0. 0. 0. 1. ]] SLAMing on 124.54992885099999 meters Centerline goodness : 0.778724 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.04, Z:0.42 [[ 0.97958833 -0.17021039 -0.10693516 -0.78677821] [ 0.17007332 0.98537581 -0.01046773 0.04079877] [ 0.10715304 -0.00793275 0.99421089 0.41899425] [ 0. 0. 0. 1. ]] SLAMing on 124.57992885099999 meters Centerline goodness : 0.778724 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.04, Z:0.42 [[ 0.97958833 -0.17021039 -0.10693516 -0.78677821] [ 0.17007332 0.98537581 -0.01046773 0.04079877] [ 0.10715304 -0.00793275 0.99421089 0.41899425] [ 0. 0. 0. 1. ]] SLAMing on 124.60992885099998 meters Centerline goodness : 0.779709 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.04, Z:0.42 [[ 0.97960213 -0.17007427 -0.10702529 -0.78665708] [ 0.16991511 0.98540092 -0.01067159 0.04161511] [ 0.10727779 -0.0077313 0.99419903 0.4192605 ] [ 0. 0. 0. 1. ]] SLAMing on 124.63992885099998 meters Centerline goodness : 0.778210 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.04, Z:0.42 [[ 0.98022056 -0.16637788 -0.10717297 -0.78826167] [ 0.16660844 0.98599926 -0.00686222 0.04079868] [ 0.1068142 -0.01112943 0.99421671 0.41958204] [ 0. 0. 0. 1. ]] SLAMing on 124.66992885099998 meters Centerline goodness : 0.778732 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.04, Z:0.42 [[ 0.9802258 -0.16626834 -0.10729504 -0.78823005] [ 0.16648379 0.98601928 -0.00700949 0.04096967] [ 0.10696044 -0.010992 0.99420251 0.4200342 ] [ 0. 0. 0. 1. ]] SLAMing on 124.69992885099998 meters Centerline goodness : 0.778381 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.04, Z:0.42 [[ 0.98023237 -0.16617352 -0.10738185 -0.78825267] [ 0.16638185 0.98603598 -0.00707943 0.04087992] [ 0.10705878 -0.01092691 0.99419265 0.42043635] [ 0. 0. 0. 1. ]] SLAMing on 124.72992885099998 meters Centerline goodness : 0.778177 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.04, Z:0.42 [[ 0.98024624 -0.16606728 -0.10741955 -0.78822885] [ 0.16627622 0.98605386 -0.00707173 0.04083666] [ 0.10709584 -0.01092928 0.99418863 0.42060067] [ 0. 0. 0. 1. ]] SLAMing on 124.75992885099998 meters Centerline goodness : 0.777764 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.04, Z:0.42 [[ 0.98026459 -0.16600211 -0.10735286 -0.78845414] [ 0.16623234 0.98606273 -0.00686346 0.04008625] [ 0.106996 -0.01111751 0.99419729 0.42068801] [ 0. 0. 0. 1. ]] SLAMing on 124.78992885099998 meters Centerline goodness : 0.777481 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.04, Z:0.42 [[ 0.98030131 -0.16584257 -0.10726412 -0.78826345] [ 0.16613914 0.98608265 -0.0062283 0.03813769] [ 0.1068042 -0.01171516 0.99421105 0.42020735] [ 0. 0. 0. 1. ]] SLAMing on 124.81992885099999 meters Centerline goodness : 0.775534 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.04, Z:0.42 [[ 0.98032352 -0.16562495 -0.10739727 -0.78771393] [ 0.16596969 0.9861139 -0.00578298 0.03692387] [ 0.10686375 -0.0121555 0.99419937 0.4199204 ] [ 0. 0. 0. 1. ]] SLAMing on 124.84992885099999 meters Centerline goodness : 0.777126 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.04, Z:0.42 [[ 0.98034556 -0.16552299 -0.10735322 -0.78745618] [ 0.1659141 0.98612575 -0.00534064 0.03572306] [ 0.10674777 -0.01257574 0.9942066 0.41948068] [ 0. 0. 0. 1. ]] SLAMing on 124.87992885099999 meters Centerline goodness : 0.774928 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.03, Z:0.42 [[ 0.98036915 -0.1654587 -0.10723687 -0.78735408] [ 0.16589354 0.98613142 -0.0049154 0.03450134] [ 0.10656294 -0.012971 0.99422135 0.41903357] [ 0. 0. 0. 1. ]] SLAMing on 124.90992885099999 meters Centerline goodness : 0.774016 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.03, Z:0.42 [[ 0.98040871 -0.16514127 -0.10736445 -0.7866294 ] [ 0.1656774 0.98617202 -0.00396904 0.03151221] [ 0.10653527 -0.01389658 0.99421181 0.41848681] [ 0. 0. 0. 1. ]] SLAMing on 124.93992885099999 meters Centerline goodness : 0.773899 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.03, Z:0.42 [[ 0.98041413 -0.1651445 -0.10730993 -0.78676791] [ 0.16570683 0.98616805 -0.0037174 0.03023762] [ 0.10643953 -0.0141374 0.99421867 0.41860298] [ 0. 0. 0. 1. ]] SLAMing on 124.96992885099998 meters Centerline goodness : 0.773460 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.03, Z:0.42 [[ 0.98041324 -0.16526566 -0.10713141 -0.78727577] [ 0.16588146 0.98614051 -0.00319968 0.02784618] [ 0.10617542 -0.01463411 0.99423972 0.41872924] [ 0. 0. 0. 1. ]] SLAMing on 124.99992885099998 meters Centerline goodness : 0.774678 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.03, Z:0.42 [[ 0.98041309 -0.16524986 -0.10715718 -0.78723673] [ 0.16589275 0.98613939 -0.00294863 0.02675188] [ 0.10615918 -0.01488573 0.99423772 0.41876023] [ 0. 0. 0. 1. ]] SLAMing on 125.02992885099998 meters Centerline goodness : 0.773815 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.03, Z:0.42 [[ 0.98042282 -0.16525238 -0.10706424 -0.78725994] [ 0.16593379 0.98613353 -0.00257451 0.02548424] [ 0.10600508 -0.01524147 0.99424877 0.41851368] [ 0. 0. 0. 1. ]] SLAMing on 125.05992885099998 meters Centerline goodness : 0.774154 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.02, Z:0.42 [[ 0.98042816 -0.16525213 -0.10701569 -0.7872405 ] [ 0.16596262 0.98612938 -0.00229464 0.0242447 ] [ 0.10591051 -0.01551087 0.99425468 0.41840989] [ 0. 0. 0. 1. ]] SLAMing on 125.08992885099998 meters Centerline goodness : 0.771975 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.02, Z:0.42 [[ 0.98045382 -0.16515757 -0.10692657 -0.78690413] [ 0.16593615 0.98613514 -0.00163626 0.02143046] [ 0.10571429 -0.01613871 0.99426557 0.41791202] [ 0. 0. 0. 1. ]] SLAMing on 125.11992885099998 meters Centerline goodness : 0.774735 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.02, Z:0.42 [[ 0.98044494 -0.16535515 -0.10670239 -0.78746744] [ 0.16614515 0.98610016 -0.00150488 0.02044812] [ 0.10546808 -0.01625263 0.99428987 0.41799162] [ 0. 0. 0. 1. ]] SLAMing on 125.14992885099998 meters Centerline goodness : 0.774702 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.02, Z:0.42 [[ 0.98039237 -0.16587505 -0.10637793 -0.78865329] [ 0.16665637 0.9860138 -0.0015648 0.01946298] [ 0.10514967 -0.01619444 0.99432454 0.41849814] [ 0. 0. 0. 1. ]] SLAMing on 125.17992885099999 meters Centerline goodness : 0.774151 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.02, Z:0.42 [[ 0.98037392 -0.16609744 -0.10620084 -0.78926055] [ 0.16689619 0.9859735 -0.0013841 0.01823425] [ 0.10494111 -0.01636758 0.99434374 0.41871185] [ 0. 0. 0. 1. ]] SLAMing on 125.20992885099999 meters Centerline goodness : 0.773245 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.02, Z:0.42 [[ 9.80374647e-01 -1.66169660e-01 -1.06081082e-01 -7.89466850e-01] [ 1.67026637e-01 9.85952045e-01 -8.16692888e-04 1.57402500e-02] [ 1.04726569e-01 -1.69177014e-02 9.94357148e-01 4.18628351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23992885099999 meters Centerline goodness : 0.774464 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.01, Z:0.42 [[ 9.80365832e-01 -1.66334901e-01 -1.05903428e-01 -7.89887211e-01] [ 1.67217003e-01 9.85919958e-01 -5.57704939e-04 1.44822694e-02] [ 1.04505069e-01 -1.71620989e-02 9.94376263e-01 4.18588084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.26992885099999 meters Centerline goodness : 0.773795 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.01, Z:0.42 [[ 9.80355423e-01 -1.66452970e-01 -1.05814242e-01 -7.90267476e-01] [ 1.67372376e-01 9.85893732e-01 -1.93948242e-04 1.25239068e-02] [ 1.04353881e-01 -1.75202429e-02 9.94385895e-01 4.18820098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.29992885099999 meters Centerline goodness : 0.773675 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.01, Z:0.42 [[ 9.80364435e-01 -1.66440654e-01 -1.05750103e-01 -7.90495875e-01] [ 1.67385296e-01 9.85891556e-01 5.82141447e-05 1.14465296e-02] [ 1.04248444e-01 -1.77580833e-02 9.94392736e-01 4.18953286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.32992885099998 meters Centerline goodness : 0.775357 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.01, Z:0.42 [[ 9.80365602e-01 -1.66464104e-01 -1.05702355e-01 -7.90671233e-01] [ 1.67428176e-01 9.85884244e-01 2.50578232e-04 1.05513967e-02] [ 1.04168574e-01 -1.79432107e-02 9.94397782e-01 4.19055337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35992885099998 meters Centerline goodness : 0.775631 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.01, Z:0.42 [[ 9.80376540e-01 -1.66363120e-01 -1.05759882e-01 -7.90617760e-01] [ 1.67343918e-01 9.85898498e-01 4.05651336e-04 9.78812025e-03] [ 1.04201023e-01 -1.80959641e-02 9.94391614e-01 4.19248488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38992885099998 meters Centerline goodness : 0.774344 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.01, Z:0.42 [[ 0.98045565 -0.1657723 -0.10595406 -0.78957408] [ 0.16682962 0.98598509 0.00113286 0.00809974] [ 0.10428133 -0.01878699 0.99437038 0.4186254 ] [ 0. 0. 0. 1. ]] SLAMing on 125.41992885099998 meters Centerline goodness : 0.775150 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.01, Z:0.42 [[ 0.98051121 -0.16531427 -0.10615531 -0.78867431] [ 0.16642287 0.98605316 0.00160933 0.00708817] [ 0.10440874 -0.01924464 0.99434826 0.41821466] [ 0. 0. 0. 1. ]] SLAMing on 125.44992885099998 meters Centerline goodness : 0.773671 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.01, Z:0.42 [[ 0.98061236 -0.16444369 -0.10657238 -0.78722712] [ 0.16562019 0.98618711 0.00222344 0.00615246] [ 0.10473468 -0.01983087 0.99430246 0.41780324] [ 0. 0. 0. 1. ]] SLAMing on 125.47992885099998 meters Centerline goodness : 0.775947 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.01, Z:0.42 [[ 0.9806387 -0.16410183 -0.10685655 -0.78664177] [ 0.16528647 0.986243 0.00226498 0.00613619] [ 0.10501484 -0.01988307 0.99427187 0.41800558] [ 0. 0. 0. 1. ]] SLAMing on 125.50992885099998 meters Centerline goodness : 0.774968 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.01, Z:0.42 [[ 0.98066986 -0.16371454 -0.10716428 -0.7859734 ] [ 0.16490866 0.98630612 0.00231697 0.00619622] [ 0.10531746 -0.0199445 0.99423863 0.418179 ] [ 0. 0. 0. 1. ]] SLAMing on 125.53992885099998 meters Centerline goodness : 0.774764 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.00, Z:0.42 [[ 0.98131881 -0.159518 -0.10755181 -0.78681454] [ 0.16113098 0.98691214 0.00642126 0.00477421] [ 0.10511988 -0.02363124 0.99417874 0.4184813 ] [ 0. 0. 0. 1. ]] SLAMing on 125.56992885099999 meters Centerline goodness : 0.774280 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.01, Z:0.42 [[ 0.98135099 -0.15918599 -0.10775001 -0.78636349] [ 0.16079281 0.98696784 0.00633625 0.00547768] [ 0.10533715 -0.02354351 0.99415783 0.41859095] [ 0. 0. 0. 1. ]] SLAMing on 125.59992885099999 meters Centerline goodness : 0.773388 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.01, Z:0.42 [[ 0.98139944 -0.15875258 -0.10794795 -0.78582379] [ 0.16036565 0.9870371 0.00637417 0.00590238] [ 0.10553672 -0.02356675 0.99413611 0.41861147] [ 0. 0. 0. 1. ]] SLAMing on 125.62992885099999 meters Centerline goodness : 0.775916 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.01, Z:0.42 [[ 0.98142471 -0.15843769 -0.10818055 -0.78538672] [ 0.16005159 0.98708825 0.00634682 0.00616458] [ 0.10577818 -0.02354339 0.994111 0.41883846] [ 0. 0. 0. 1. ]] SLAMing on 125.65992885099999 meters Centerline goodness : 0.776256 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.01, Z:0.42 [[ 0.98145202 -0.15819984 -0.1082809 -0.78512237] [ 0.15980954 0.98712778 0.00629793 0.00642216] [ 0.10589075 -0.02348544 0.99410039 0.41893996] [ 0. 0. 0. 1. ]] SLAMing on 125.68992885099999 meters Centerline goodness : 0.775645 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.01, Z:0.42 [[ 0.98150792 -0.15761928 -0.10862031 -0.78402308] [ 0.15928717 0.98720888 0.00679854 0.00535761] [ 0.10615936 -0.02397464 0.99406006 0.41863087] [ 0. 0. 0. 1. ]] SLAMing on 125.71992885099998 meters Centerline goodness : 0.773759 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.00, Z:0.42 [[ 0.98152788 -0.15751556 -0.10859039 -0.78371362] [ 0.1592127 0.98721888 0.00708506 0.00466445] [ 0.10608648 -0.02424315 0.99406133 0.41819933] [ 0. 0. 0. 1. ]] SLAMing on 125.74992885099998 meters Centerline goodness : 0.776057 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.00, Z:0.42 [[ 0.98154076 -0.15740207 -0.10863854 -0.78330842] [ 0.15913554 0.98722886 0.00742053 0.00368792] [ 0.10608309 -0.0245718 0.99405362 0.41784505] [ 0. 0. 0. 1. ]] SLAMing on 125.77992885099998 meters Centerline goodness : 0.774745 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.00, Z:0.42 [[ 0.98153705 -0.15751831 -0.10850345 -0.78338075] [ 0.15927336 0.98720489 0.00764824 0.00282764] [ 0.1059104 -0.02478874 0.99406665 0.41754148] [ 0. 0. 0. 1. ]] SLAMing on 125.80992885099998 meters Centerline goodness : 0.772979 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.00, Z:0.42 [[ 0.98152436 -0.1576635 -0.10840738 -0.78351734] [ 0.15943841 0.98717667 0.00784961 0.00179197] [ 0.10577964 -0.02498889 0.99407556 0.41743092] [ 0. 0. 0. 1. ]] SLAMing on 125.83992885099998 meters Centerline goodness : 0.774247 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.00, Z:0.42 [[ 9.80925034e-01 -1.61497184e-01 -1.08188435e-01 -7.82253875e-01] [ 1.62902919e-01 9.86633057e-01 4.22494370e-03 9.58735399e-04] [ 1.06059970e-01 -2.17685649e-02 9.94121427e-01 4.17356052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86992885099998 meters Centerline goodness : 0.775011 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.00, Z:0.42 [[ 9.80898748e-01 -1.61702626e-01 -1.08119877e-01 -7.82347110e-01] [ 1.63132905e-01 9.86594030e-01 4.45817083e-03 -5.03165452e-04] [ 1.05949527e-01 -2.20109238e-02 9.94127867e-01 4.17291442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89992885099998 meters Centerline goodness : 0.776510 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.00, Z:0.42 [[ 0.98087545 -0.16190678 -0.10802568 -0.78266625] [ 0.16334927 0.98655767 0.00458147 -0.0015491 ] [ 0.10583179 -0.02213977 0.99413755 0.41740963] [ 0. 0. 0. 1. ]] SLAMing on 125.92992885099999 meters Centerline goodness : 0.775086 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.00, Z:0.42 [[ 0.98085915 -0.16208021 -0.10791354 -0.78308936] [ 0.16353067 0.98652719 0.00467062 -0.00221869] [ 0.10570263 -0.02222839 0.99414931 0.41757044] [ 0. 0. 0. 1. ]] SLAMing on 125.95992885099999 meters Centerline goodness : 0.775955 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.00, Z:0.42 [[ 0.98082361 -0.16239769 -0.10775915 -0.78402436] [ 0.1638364 0.98647691 0.00457538 -0.00272734] [ 0.10555888 -0.02214251 0.9941665 0.41823655] [ 0. 0. 0. 1. ]] SLAMing on 125.98992885099999 meters Centerline goodness : 0.777498 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.00, Z:0.42 [[ 0.98080848 -0.16248302 -0.1077682 -0.78421765] [ 0.16391566 0.98646404 0.00451169 -0.00292385] [ 0.10557638 -0.02209 0.99416581 0.41853059] [ 0. 0. 0. 1. ]] SLAMing on 126.01992885099999 meters Centerline goodness : 0.777077 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.00, Z:0.42 [[ 0.98081245 -0.16248957 -0.10772222 -0.7843543 ] [ 0.16392994 0.98646129 0.00459381 -0.0033924 ] [ 0.10551735 -0.02216457 0.99417042 0.41861267] [ 0. 0. 0. 1. ]] SLAMing on 126.04992885099999 meters Centerline goodness : 0.777375 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.00, Z:0.42 [[ 0.98083336 -0.16225128 -0.10789085 -0.783918 ] [ 0.16373568 0.98649165 0.00498543 -0.00478303] [ 0.10562453 -0.02255546 0.99415024 0.41858676] [ 0. 0. 0. 1. ]] SLAMing on 126.07992885099998 meters Centerline goodness : 0.779910 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.01, Z:0.42 [[ 0.98083961 -0.16226724 -0.10781005 -0.78396802] [ 0.16376094 0.98648692 0.00508956 -0.00516561] [ 0.10552733 -0.02264712 0.99415848 0.41841364] [ 0. 0. 0. 1. ]] SLAMing on 126.10992885099998 meters Centerline goodness : 0.779098 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.01, Z:0.42 [[ 0.98084125 -0.16222811 -0.10785402 -0.78399555] [ 0.16372414 0.98649296 0.00510418 -0.00553903] [ 0.10556919 -0.0226647 0.99415364 0.41864458] [ 0. 0. 0. 1. ]] SLAMing on 126.13992885099998 meters Centerline goodness : 0.779189 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.01, Z:0.42 [[ 0.9808392 -0.1622496 -0.10784027 -0.78421015] [ 0.16374112 0.98649035 0.00506342 -0.00566279] [ 0.10556184 -0.02262429 0.99415534 0.41889594] [ 0. 0. 0. 1. ]] SLAMing on 126.16992885099998 meters Centerline goodness : 0.780121 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.01, Z:0.42 [[ 0.98080646 -0.16260772 -0.1075984 -0.78555791] [ 0.16406154 0.98643871 0.00474049 -0.00572785] [ 0.10536839 -0.02230226 0.99418314 0.41993341] [ 0. 0. 0. 1. ]] SLAMing on 126.19992885099998 meters Centerline goodness : 0.779963 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.01, Z:0.42 [[ 0.98078657 -0.16278797 -0.10750713 -0.78606862] [ 0.16423207 0.98641073 0.0046584 -0.00596586] [ 0.10528785 -0.02222502 0.9941934 0.42031299] [ 0. 0. 0. 1. ]] SLAMing on 126.22992885099998 meters Centerline goodness : 0.778156 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.01, Z:0.42 [[ 0.98078175 -0.16286445 -0.10743524 -0.78616539] [ 0.16431724 0.9863961 0.00475162 -0.00651759] [ 0.10519983 -0.02231376 0.99420073 0.42025953] [ 0. 0. 0. 1. ]] SLAMing on 126.25992885099998 meters Centerline goodness : 0.779872 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.01, Z:0.42 [[ 0.98079508 -0.16277286 -0.10745233 -0.78585185] [ 0.16426383 0.98640319 0.00511377 -0.00771774] [ 0.10515894 -0.02266609 0.99419709 0.41993877] [ 0. 0. 0. 1. ]] SLAMing on 126.28992885099998 meters Centerline goodness : 0.778277 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.01, Z:0.42 [[ 0.98080131 -0.16275627 -0.10742059 -0.78530284] [ 0.16429925 0.98639457 0.00561366 -0.00940035] [ 0.10504542 -0.02315501 0.99419782 0.41918829] [ 0. 0. 0. 1. ]] SLAMing on 126.31992885099999 meters Centerline goodness : 0.776464 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.01, Z:0.42 [[ 0.98081215 -0.16270295 -0.10740236 -0.78517809] [ 0.16426567 0.98639904 0.00580749 -0.01002007] [ 0.10499669 -0.02333858 0.99419868 0.41902076] [ 0. 0. 0. 1. ]] SLAMing on 126.34992885099999 meters Centerline goodness : 0.779418 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.01, Z:0.42 [[ 0.98080748 -0.16277064 -0.1073425 -0.78525188] [ 0.16434195 0.98638579 0.00589855 -0.01044761] [ 0.104921 -0.02342622 0.9942046 0.41894649] [ 0. 0. 0. 1. ]] SLAMing on 126.37992885099999 meters Centerline goodness : 0.778279 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.01, Z:0.42 [[ 0.98081732 -0.16270144 -0.10735743 -0.78520944] [ 0.16430204 0.98639074 0.00617652 -0.01142123] [ 0.10489145 -0.02369708 0.9942013 0.41897724] [ 0. 0. 0. 1. ]] SLAMing on 126.40992885099999 meters Centerline goodness : 0.779301 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.01, Z:0.42 [[ 0.98081995 -0.16267847 -0.1073683 -0.78520256] [ 0.16429005 0.98639209 0.00627939 -0.01198747] [ 0.10488572 -0.0237985 0.99419949 0.419047 ] [ 0. 0. 0. 1. ]] SLAMing on 126.43992885099999 meters Centerline goodness : 0.777919 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.01, Z:0.42 [[ 0.98082934 -0.16261906 -0.10737244 -0.78517137] [ 0.16425092 0.98639735 0.00647386 -0.01265823] [ 0.10485912 -0.02398577 0.99419779 0.41903303] [ 0. 0. 0. 1. ]] SLAMing on 126.46992885099998 meters Centerline goodness : 0.777919 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.01, Z:0.42 [[ 0.98082934 -0.16261906 -0.10737244 -0.78517137] [ 0.16425092 0.98639735 0.00647386 -0.01265823] [ 0.10485912 -0.02398577 0.99419779 0.41903303] [ 0. 0. 0. 1. ]] SLAMing on 126.49992885099998 meters Centerline goodness : 0.778325 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.01, Z:0.42 [[ 0.98077987 -0.16304832 -0.10717322 -0.78612899] [ 0.16467121 0.98632768 0.00641148 -0.01359527] [ 0.10466253 -0.0239366 0.99421969 0.4196444 ] [ 0. 0. 0. 1. ]] SLAMing on 126.52992885099998 meters Centerline goodness : 0.778208 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.01, Z:0.42 [[ 0.98073552 -0.16344413 -0.10697592 -0.78702904] [ 0.16504791 0.98626572 0.00625376 -0.0142137 ] [ 0.10448454 -0.02378943 0.99424194 0.42020348] [ 0. 0. 0. 1. ]] SLAMing on 126.55992885099998 meters Centerline goodness : 0.778093 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.42 [[ 0.98071326 -0.16365318 -0.1068604 -0.78743333] [ 0.16526528 0.98622872 0.00634836 -0.01508509] [ 0.10434987 -0.02388624 0.99425377 0.42035715] [ 0. 0. 0. 1. ]] SLAMing on 126.58992885099998 meters Centerline goodness : 0.778534 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.42 [[ 0.98070476 -0.16382477 -0.1066753 -0.78779941] [ 0.16544975 0.98619677 0.00650469 -0.01607789] [ 0.1041372 -0.02402858 0.99427263 0.42032959] [ 0. 0. 0. 1. ]] SLAMing on 126.61992885099998 meters Centerline goodness : 0.780343 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.42 [[ 0.98063617 -0.16440088 -0.10641919 -0.78846229] [ 0.16603943 0.9860966 0.0066635 -0.01823563] [ 0.10384412 -0.02420425 0.99429903 0.42042382] [ 0. 0. 0. 1. ]] SLAMing on 126.64992885099998 meters Centerline goodness : 0.778925 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.42 [[ 0.98063361 -0.1644833 -0.10631544 -0.78855735] [ 0.16614616 0.98607688 0.00691642 -0.01933967] [ 0.10369756 -0.02444637 0.9943084 0.42027784] [ 0. 0. 0. 1. ]] SLAMing on 126.67992885099999 meters Centerline goodness : 0.780689 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.42 [[ 0.98060391 -0.16474236 -0.10618818 -0.7890075 ] [ 0.16640298 0.98603361 0.00691141 -0.01998623] [ 0.10356651 -0.02444739 0.99432203 0.42048115] [ 0. 0. 0. 1. ]] SLAMing on 126.70992885099999 meters Centerline goodness : 0.780449 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.42 [[ 0.98058677 -0.16499192 -0.10595874 -0.78970795] [ 0.16667051 0.9859869 0.0071256 -0.02133045] [ 0.10329827 -0.02464746 0.994345 0.4207193 ] [ 0. 0. 0. 1. ]] SLAMing on 126.73992885099999 meters Centerline goodness : 0.782231 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.42 [[ 0.98057087 -0.16513107 -0.1058891 -0.78999796] [ 0.1668144 0.98596217 0.00718065 -0.02193708] [ 0.10321689 -0.02470496 0.99435202 0.42089122] [ 0. 0. 0. 1. ]] SLAMing on 126.76992885099999 meters Centerline goodness : 0.782829 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.42 [[ 0.98058063 -0.16508305 -0.10587354 -0.79010237] [ 0.16678795 0.98596506 0.00739489 -0.02300453] [ 0.10316684 -0.02490972 0.9943521 0.4210705 ] [ 0. 0. 0. 1. ]] SLAMing on 126.79992885099999 meters Centerline goodness : 0.782784 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.42 [[ 0.98058108 -0.16507677 -0.10587918 -0.79015055] [ 0.16679939 0.98596183 0.0075646 -0.02392962] [ 0.10314409 -0.02507829 0.99435023 0.42120383] [ 0. 0. 0. 1. ]] SLAMing on 126.82992885099998 meters Centerline goodness : 0.783913 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.03, Z:0.42 [[ 0.98060266 -0.16496995 -0.10584581 -0.79033106] [ 0.16673038 0.98597053 0.00794313 -0.02542232] [ 0.10305047 -0.02543676 0.99435083 0.42138477] [ 0. 0. 0. 1. ]] SLAMing on 126.85992885099998 meters Centerline goodness : 0.784584 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.03, Z:0.42 [[ 0.98061445 -0.1648458 -0.10592996 -0.79012851] [ 0.16662217 0.98598769 0.00808255 -0.02587641] [ 0.10311326 -0.02557614 0.99434074 0.42141142] [ 0. 0. 0. 1. ]] SLAMing on 126.88992885099998 meters Centerline goodness : 0.782801 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.03, Z:0.42 [[ 0.98063434 -0.16472977 -0.1059264 -0.79007085] [ 0.16652259 0.98600314 0.00824813 -0.02646672] [ 0.10308505 -0.02572754 0.99433976 0.4214051 ] [ 0. 0. 0. 1. ]] SLAMing on 126.91992885099998 meters Centerline goodness : 0.783589 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.03, Z:0.42 [[ 0.98071592 -0.16409777 -0.10615179 -0.78909007] [ 0.16595224 0.98609436 0.00881869 -0.02745776] [ 0.10322855 -0.02626476 0.99431083 0.42093286] [ 0. 0. 0. 1. ]] SLAMing on 126.94992885099998 meters Centerline goodness : 0.784390 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.03, Z:0.42 [[ 0.98077502 -0.16355427 -0.10644414 -0.78787693] [ 0.16545167 0.98617512 0.00918521 -0.02797398] [ 0.10347028 -0.02661998 0.99427626 0.42018705] [ 0. 0. 0. 1. ]] SLAMing on 126.97992885099998 meters Centerline goodness : 0.782141 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.03, Z:0.42 [[ 0.98135371 -0.15955552 -0.10717715 -0.7862382 ] [ 0.16190882 0.98671241 0.01357013 -0.03110284] [ 0.10358784 -0.03067003 0.99414733 0.41886096] [ 0. 0. 0. 1. ]] SLAMing on 127.00992885099998 meters Centerline goodness : 0.782141 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.03, Z:0.42 [[ 0.98135371 -0.15955552 -0.10717715 -0.7862382 ] [ 0.16190882 0.98671241 0.01357013 -0.03110284] [ 0.10358784 -0.03067003 0.99414733 0.41886096] [ 0. 0. 0. 1. ]] SLAMing on 127.03992885099998 meters Centerline goodness : 0.784528 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.03, Z:0.42 [[ 0.98155667 -0.15843805 -0.10697614 -0.78600391] [ 0.16079384 0.98689276 0.01371238 -0.03131614] [ 0.10340142 -0.03066059 0.99416703 0.41793152] [ 0. 0. 0. 1. ]] SLAMing on 127.06992885099999 meters Centerline goodness : 0.782506 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.03, Z:0.42 [[ 0.98163326 -0.1578848 -0.10709127 -0.78555608] [ 0.16028105 0.98697077 0.01409572 -0.03167052] [ 0.10347046 -0.03100153 0.99414927 0.41760955] [ 0. 0. 0. 1. ]] SLAMing on 127.09992885099999 meters Centerline goodness : 0.784383 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:0.42 [[ 0.98171412 -0.1572926 -0.10722136 -0.78498171] [ 0.15973069 0.98705429 0.01448907 -0.03211388] [ 0.10355428 -0.03135066 0.99412959 0.4172159 ] [ 0. 0. 0. 1. ]] SLAMing on 127.12992885099999 meters Centerline goodness : 0.782790 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.03, Z:0.42 [[ 0.98188309 -0.15642957 -0.10693634 -0.78519538] [ 0.15887165 0.98719041 0.01465934 -0.03253315] [ 0.10327337 -0.03138291 0.9941578 0.41665541] [ 0. 0. 0. 1. ]] SLAMing on 127.15992885099999 meters Centerline goodness : 0.783811 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:0.42 [[ 0.98191634 -0.15601874 -0.10723089 -0.78456181] [ 0.15852509 0.98723782 0.01520812 -0.0329256 ] [ 0.10348963 -0.03193189 0.99411783 0.41658726] [ 0. 0. 0. 1. ]] SLAMing on 127.18992885099999 meters Centerline goodness : 0.783309 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:0.42 [[ 0.98182797 -0.15605725 -0.10798137 -0.78314905] [ 0.15865996 0.98720535 0.01589381 -0.03333905] [ 0.10411944 -0.0327373 0.99402586 0.41676234] [ 0. 0. 0. 1. ]] SLAMing on 127.21992885099998 meters Centerline goodness : 0.784156 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:0.42 [[ 0.98176346 -0.15616415 -0.10841247 -0.78187262] [ 0.15882485 0.98717215 0.01630375 -0.03412273] [ 0.10447571 -0.03322502 0.9939723 0.41646358] [ 0. 0. 0. 1. ]] SLAMing on 127.24992885099998 meters Centerline goodness : 0.783653 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:0.42 [[ 0.98165251 -0.15649958 -0.10893221 -0.78054329] [ 0.1592262 0.98710011 0.01674481 -0.03508341] [ 0.10490644 -0.03378245 0.99390814 0.41636367] [ 0. 0. 0. 1. ]] SLAMing on 127.27992885099998 meters Centerline goodness : 0.783059 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:0.42 [[ 0.98157393 -0.15663065 -0.10945073 -0.77905888] [ 0.15944429 0.98705373 0.01739135 -0.03637868] [ 0.10530974 -0.03452219 0.99384007 0.41611807] [ 0. 0. 0. 1. ]] SLAMing on 127.30992885099998 meters Centerline goodness : 0.783528 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:0.42 [[ 0.98136124 -0.15733177 -0.11034864 -0.77735695] [ 0.16028372 0.98690031 0.01835513 -0.03797811] [ 0.10601527 -0.0357001 0.99372344 0.41661736] [ 0. 0. 0. 1. ]] SLAMing on 127.33992885099998 meters Centerline goodness : 0.783479 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:0.42 [[ 0.98122378 -0.15766372 -0.11109471 -0.77606158] [ 0.1607065 0.98682066 0.01893176 -0.03845841] [ 0.10664571 -0.03642993 0.99362948 0.41704218] [ 0. 0. 0. 1. ]] SLAMing on 127.36992885099998 meters Centerline goodness : 0.784223 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:0.42 [[ 0.9811177 -0.1579721 -0.11159244 -0.77510255] [ 0.16106417 0.98675712 0.01920213 -0.03870021] [ 0.10708123 -0.03681309 0.99356852 0.41720081] [ 0. 0. 0. 1. ]] SLAMing on 127.39992885099998 meters Centerline goodness : 0.784681 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.42 [[ 0.98095753 -0.15846867 -0.11229431 -0.7738433 ] [ 0.16163567 0.98665535 0.01962489 -0.03890752] [ 0.10768585 -0.03740195 0.99348118 0.41756427] [ 0. 0. 0. 1. ]] SLAMing on 127.42992885099999 meters Centerline goodness : 0.784142 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.42 [[ 0.9808945 -0.15845808 -0.11285839 -0.77270067] [ 0.16169885 0.9866353 0.02010646 -0.03923017] [ 0.10816404 -0.03797139 0.99340763 0.41765464] [ 0. 0. 0. 1. ]] SLAMing on 127.45992885099999 meters Centerline goodness : 0.784298 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.42 [[ 0.9808507 -0.15836313 -0.11337122 -0.77160549] [ 0.16167652 0.98662888 0.02059508 -0.03963482] [ 0.10859382 -0.03853016 0.99333922 0.41765181] [ 0. 0. 0. 1. ]] SLAMing on 127.48992885099999 meters Centerline goodness : 0.785259 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.42 [[ 0.98077992 -0.15856319 -0.11370341 -0.77089021] [ 0.16190711 0.98658794 0.02074442 -0.03959369] [ 0.10888911 -0.0387551 0.99329814 0.4176784 ] [ 0. 0. 0. 1. ]] SLAMing on 127.51992885099999 meters Centerline goodness : 0.784865 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.42 [[ 0.98073372 -0.15863182 -0.11400578 -0.77024321] [ 0.1619934 0.98657274 0.02079328 -0.03906928] [ 0.10917652 -0.03886085 0.99326246 0.41755283] [ 0. 0. 0. 1. ]] SLAMing on 127.54992885099999 meters Centerline goodness : 0.785241 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.42 [[ 0.98074085 -0.15848058 -0.11415463 -0.77032284] [ 0.16184468 0.98659762 0.02077115 -0.03812002] [ 0.10933286 -0.03884644 0.99324583 0.41780445] [ 0. 0. 0. 1. ]] SLAMing on 127.57992885099998 meters Centerline goodness : 0.785942 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.42 [[ 0.98076601 -0.1581492 -0.11439783 -0.76989661] [ 0.16152624 0.98664878 0.02081979 -0.0373102 ] [ 0.10957785 -0.0388976 0.99321683 0.4177128 ] [ 0. 0. 0. 1. ]] SLAMing on 127.60992885099998 meters Centerline goodness : 0.784754 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.42 [[ 0.9808241 -0.1577737 -0.1144183 -0.76977005] [ 0.16113132 0.98671677 0.02065694 -0.03658246] [ 0.10963934 -0.03869719 0.99321787 0.41745592] [ 0. 0. 0. 1. ]] SLAMing on 127.63992885099998 meters Centerline goodness : 0.785563 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.42 [[ 0.98086404 -0.15743874 -0.11453723 -0.76943371] [ 0.16077971 0.98677777 0.02048231 -0.03550559] [ 0.10979808 -0.03850562 0.99320778 0.41710475] [ 0. 0. 0. 1. ]] SLAMing on 127.66992885099998 meters Centerline goodness : 0.783611 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.42 [[ 0.98143346 -0.15342176 -0.11510917 -0.76921945] [ 0.15716165 0.98727889 0.02409578 -0.03546729] [ 0.10994804 -0.04173915 0.99306056 0.41664336] [ 0. 0. 0. 1. ]] SLAMing on 127.69992885099998 meters Centerline goodness : 0.783387 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98152547 -0.15282256 -0.11512178 -0.7690095 ] [ 0.15652208 0.98738866 0.02375873 -0.03414997] [ 0.11003907 -0.04133889 0.99306722 0.41609974] [ 0. 0. 0. 1. ]] SLAMing on 127.72992885099998 meters Centerline goodness : 0.783037 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98155916 -0.15257544 -0.11516226 -0.76885791] [ 0.15621053 0.98745185 0.02317575 -0.03166182] [ 0.11018114 -0.04073793 0.9930763 0.41617838] [ 0. 0. 0. 1. ]] SLAMing on 127.75992885099998 meters Centerline goodness : 0.783514 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98153853 -0.152666 -0.11521807 -0.76886377] [ 0.15626371 0.98745187 0.02281354 -0.03053937] [ 0.11028945 -0.04039678 0.99307821 0.41630614] [ 0. 0. 0. 1. ]] SLAMing on 127.78992885099998 meters Centerline goodness : 0.784653 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98151536 -0.15280426 -0.11523221 -0.76893675] [ 0.15637272 0.98744095 0.02253741 -0.02965464] [ 0.11034119 -0.04013999 0.99308288 0.41635427] [ 0. 0. 0. 1. ]] SLAMing on 127.81992885099999 meters Centerline goodness : 0.786626 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98143958 -0.15328435 -0.11524001 -0.76874315] [ 0.15680305 0.98738347 0.0220608 -0.02915964] [ 0.1104045 -0.03972133 0.99309268 0.41615152] [ 0. 0. 0. 1. ]] SLAMing on 127.84992885099999 meters Centerline goodness : 0.786481 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98140224 -0.15319388 -0.11567748 -0.76723652] [ 0.15679017 0.98737325 0.02260319 -0.02960382] [ 0.11075418 -0.04031991 0.99302962 0.41544552] [ 0. 0. 0. 1. ]] SLAMing on 127.87992885099999 meters Centerline goodness : 0.787081 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98134885 -0.15346399 -0.11577234 -0.76703533] [ 0.15705754 0.98733245 0.02252929 -0.02968085] [ 0.11084835 -0.04029201 0.99302024 0.41552023] [ 0. 0. 0. 1. ]] SLAMing on 127.90992885099999 meters Centerline goodness : 0.786640 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98134078 -0.15330713 -0.11604827 -0.76636674] [ 0.15693993 0.98734521 0.02278788 -0.02986739] [ 0.11108616 -0.04057529 0.99298213 0.41543274] [ 0. 0. 0. 1. ]] SLAMing on 127.93992885099999 meters Centerline goodness : 0.787924 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98135638 -0.15312615 -0.11615525 -0.766159 ] [ 0.1568164 0.98735356 0.02327167 -0.03016845] [ 0.1111228 -0.04105286 0.9929584 0.41533186] [ 0. 0. 0. 1. ]] SLAMing on 127.96992885099998 meters Centerline goodness : 0.788809 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98134451 -0.15294333 -0.1164959 -0.76546906] [ 0.15666013 0.98737552 0.02339184 -0.02985388] [ 0.11144758 -0.04120572 0.99291567 0.41535677] [ 0. 0. 0. 1. ]] SLAMing on 127.99992885099998 meters Centerline goodness : 0.787580 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98128158 -0.15326541 -0.11660268 -0.76537201] [ 0.15699171 0.98732221 0.02341913 -0.0296814 ] [ 0.11153507 -0.04128641 0.99290249 0.41554591] [ 0. 0. 0. 1. ]] SLAMing on 128.029928851 meters Centerline goodness : 0.788479 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98119706 -0.15348756 -0.11702095 -0.76447709] [ 0.15727528 0.98726806 0.02379636 -0.03002719] [ 0.1118786 -0.04175342 0.99284431 0.41556079] [ 0. 0. 0. 1. ]] SLAMing on 128.059928851 meters Centerline goodness : 0.789313 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98113408 -0.15359512 -0.11740721 -0.76334528] [ 0.15744337 0.98723191 0.02418128 -0.03054263] [ 0.11219402 -0.04221007 0.99278941 0.41522118] [ 0. 0. 0. 1. ]] SLAMing on 128.089928851 meters Centerline goodness : 0.789083 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98093529 -0.15462261 -0.11771921 -0.7627994 ] [ 0.15846204 0.98707507 0.0239288 -0.03043491] [ 0.11249777 -0.04212663 0.99275858 0.41553954] [ 0. 0. 0. 1. ]] SLAMing on 128.119928851 meters Centerline goodness : 0.787004 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98081734 -0.15521541 -0.11792167 -0.76276464] [ 0.15902733 0.98699261 0.02357749 -0.02969001] [ 0.11272823 -0.04187798 0.99274296 0.41595114] [ 0. 0. 0. 1. ]] SLAMing on 128.14992885099997 meters Centerline goodness : 0.788250 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98108273 -0.15247783 -0.1192778 -0.76091044] [ 0.15684459 0.98722442 0.02806623 -0.03136621] [ 0.11347448 -0.04624337 0.99246415 0.41597893] [ 0. 0. 0. 1. ]] SLAMing on 128.17992885099997 meters Centerline goodness : 0.787978 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.9809982 -0.15288127 -0.11945651 -0.76104524] [ 0.15722206 0.98717348 0.02774412 -0.03070325] [ 0.11368274 -0.04599813 0.99245172 0.41656676] [ 0. 0. 0. 1. ]] SLAMing on 128.20992885099997 meters Centerline goodness : 0.786219 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98092472 -0.15296151 -0.1199561 -0.76062056] [ 0.15734167 0.98715062 0.02787926 -0.02973721] [ 0.11415029 -0.04622154 0.99238767 0.41714049] [ 0. 0. 0. 1. ]] SLAMing on 128.23992885099997 meters Centerline goodness : 0.786729 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98091485 -0.15312205 -0.11983194 -0.76115471] [ 0.15744831 0.98714559 0.02745199 -0.0288483 ] [ 0.11408807 -0.0457954 0.99241458 0.41738466] [ 0. 0. 0. 1. ]] SLAMing on 128.26992885099997 meters Centerline goodness : 0.785609 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98128892 -0.14999011 -0.12072706 -0.76022547] [ 0.15475239 0.98746572 0.03103454 -0.02898443] [ 0.11455896 -0.04913665 0.9922005 0.41710781] [ 0. 0. 0. 1. ]] SLAMing on 128.29992885099998 meters Centerline goodness : 0.786561 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98135079 -0.14992939 -0.12029886 -0.76162913] [ 0.15460196 0.98750768 0.03044362 -0.02761163] [ 0.11423165 -0.04847431 0.99227082 0.41747973] [ 0. 0. 0. 1. ]] SLAMing on 128.32992885099998 meters Centerline goodness : 0.786511 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98149178 -0.14930686 -0.11992224 -0.76281217] [ 0.15391458 0.98762639 0.03007365 -0.02681006] [ 0.11394817 -0.04797482 0.99232768 0.41774327] [ 0. 0. 0. 1. ]] SLAMing on 128.35992885099998 meters Centerline goodness : 0.784463 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98208757 -0.14516555 -0.12012898 -0.76343002] [ 0.15014044 0.98810016 0.03340541 -0.02613602] [ 0.11385015 -0.05084326 0.9921961 0.41732684] [ 0. 0. 0. 1. ]] SLAMing on 128.38992885099998 meters Centerline goodness : 0.784463 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98208757 -0.14516555 -0.12012898 -0.76343002] [ 0.15014044 0.98810016 0.03340541 -0.02613602] [ 0.11385015 -0.05084326 0.9921961 0.41732684] [ 0. 0. 0. 1. ]] SLAMing on 128.41992885099998 meters Centerline goodness : 0.784896 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.02, Z:0.42 [[ 0.98217687 -0.14489512 -0.11972468 -0.76449177] [ 0.14977455 0.98817705 0.03276744 -0.02493744] [ 0.11356134 -0.05011513 0.99226624 0.41741891] [ 0. 0. 0. 1. ]] SLAMing on 128.44992885099998 meters Centerline goodness : 0.782830 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.02, Z:0.42 [[ 0.98228972 -0.14432034 -0.11949287 -0.76491233] [ 0.14916532 0.98827475 0.03259951 -0.02413154] [ 0.11338702 -0.04984636 0.99229972 0.41708774] [ 0. 0. 0. 1. ]] SLAMing on 128.47992885099998 meters Centerline goodness : 0.782647 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.42 [[ 0.9822796 -0.14434937 -0.11954101 -0.76510517] [ 0.14914527 0.98829258 0.03214745 -0.02268614] [ 0.11350103 -0.04940676 0.99230867 0.41744491] [ 0. 0. 0. 1. ]] SLAMing on 128.50992885099998 meters Centerline goodness : 0.784081 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.02, Z:0.42 [[ 0.9823076 -0.14408047 -0.11963522 -0.76487773] [ 0.14883767 0.98835075 0.03178265 -0.0209132 ] [ 0.1136623 -0.04902657 0.99230906 0.41755257] [ 0. 0. 0. 1. ]] SLAMing on 128.53992885099998 meters Centerline goodness : 0.841726 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.02, Z:0.42 [[ 0.98230802 -0.14399933 -0.11972945 -0.76470882] [ 0.14874596 0.98836869 0.03165402 -0.02043767] [ 0.11377868 -0.04890327 0.99230181 0.41764188] [ 0. 0. 0. 1. ]] SLAMing on 128.569928851 meters Centerline goodness : 0.841287 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.02, Z:0.42 [[ 0.98230728 -0.14398988 -0.11974689 -0.76470395] [ 0.14872913 0.9883735 0.03158269 -0.0202797 ] [ 0.11380706 -0.04883376 0.99230198 0.41769783] [ 0. 0. 0. 1. ]] SLAMing on 128.599928851 meters Centerline goodness : 0.840152 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.02, Z:0.42 [[ 0.98229726 -0.1440115 -0.1198031 -0.76472428] [ 0.14873547 0.9883776 0.03142405 -0.0199202 ] [ 0.11388528 -0.04868673 0.99230023 0.41791334] [ 0. 0. 0. 1. ]] SLAMing on 128.629928851 meters Centerline goodness : 0.782969 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.02, Z:0.42 [[ 0.98226634 -0.14420179 -0.11982773 -0.76486311] [ 0.14889713 0.98836182 0.03115386 -0.01958572] [ 0.11394071 -0.04844339 0.99230578 0.41816182] [ 0. 0. 0. 1. ]] SLAMing on 128.659928851 meters Centerline goodness : 0.783040 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.02, Z:0.42 [[ 0.98225141 -0.14426277 -0.11987665 -0.76489262] [ 0.14895514 0.98835465 0.03110379 -0.01974372] [ 0.11399352 -0.04840798 0.99230144 0.41835416] [ 0. 0. 0. 1. ]] SLAMing on 128.689928851 meters Centerline goodness : 0.779895 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.42 [[ 0.98222777 -0.14450033 -0.11978419 -0.76537846] [ 0.14917695 0.98832467 0.03099325 -0.02001874] [ 0.11390714 -0.04831147 0.99231606 0.41869628] [ 0. 0. 0. 1. ]] SLAMing on 128.719928851 meters Centerline goodness : 0.782025 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.42 [[ 0.98191259 -0.14713314 -0.11916166 -0.76681121] [ 0.15152368 0.98803938 0.02861379 -0.02121386] [ 0.11352637 -0.04615206 0.99246247 0.41989465] [ 0. 0. 0. 1. ]] SLAMing on 128.749928851 meters Centerline goodness : 0.782007 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.42 [[ 0.9818777 -0.14746371 -0.11904047 -0.76717599] [ 0.15185335 0.98798808 0.02863763 -0.02237321] [ 0.11338756 -0.04619534 0.99247632 0.42007111] [ 0. 0. 0. 1. ]] SLAMing on 128.779928851 meters Centerline goodness : 0.780919 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.42 [[ 0.98129644 -0.15164321 -0.11858176 -0.76660376] [ 0.15560901 0.9875054 0.02487798 -0.02289157] [ 0.11332755 -0.04286506 0.99263259 0.4199823 ] [ 0. 0. 0. 1. ]] SLAMing on 128.809928851 meters Centerline goodness : 0.781641 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.42 [[ 0.98118067 -0.15211201 -0.11893877 -0.76602094] [ 0.15615286 0.98740698 0.02537198 -0.02424658] [ 0.11358159 -0.04346712 0.99257737 0.42048942] [ 0. 0. 0. 1. ]] SLAMing on 128.839928851 meters Centerline goodness : 0.781690 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98113157 -0.15257972 -0.11874461 -0.7668343 ] [ 0.15660111 0.9873391 0.02525057 -0.02508424] [ 0.11338847 -0.04336967 0.99260371 0.42096583] [ 0. 0. 0. 1. ]] SLAMing on 128.869928851 meters Centerline goodness : 0.781432 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98109459 -0.15301496 -0.1184898 -0.76774595] [ 0.15701889 0.98727477 0.02517155 -0.02588283] [ 0.11313037 -0.04330081 0.99263617 0.42138575] [ 0. 0. 0. 1. ]] SLAMing on 128.89992885099997 meters Centerline goodness : 0.782455 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98104668 -0.15343504 -0.11834318 -0.76852578] [ 0.15741911 0.98721462 0.02503048 -0.02657834] [ 0.11298956 -0.04318555 0.99265723 0.42192523] [ 0. 0. 0. 1. ]] SLAMing on 128.92992885099997 meters Centerline goodness : 0.780930 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98095738 -0.15393007 -0.11844049 -0.76887227] [ 0.157937 0.98712844 0.02516636 -0.02726366] [ 0.11304212 -0.04339326 0.99264218 0.42282112] [ 0. 0. 0. 1. ]] SLAMing on 128.95992885099997 meters Centerline goodness : 0.780900 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98095529 -0.15357334 -0.11891994 -0.76775502] [ 0.15774754 0.98712477 0.02646518 -0.02922376] [ 0.11332447 -0.04472048 0.99255108 0.42282812] [ 0. 0. 0. 1. ]] SLAMing on 128.98992885099997 meters Centerline goodness : 0.779779 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98091803 -0.153801 -0.1189331 -0.7675961 ] [ 0.15796146 0.98709425 0.02632713 -0.02946056] [ 0.11334904 -0.0446116 0.99255317 0.42279663] [ 0. 0. 0. 1. ]] SLAMing on 129.01992885099997 meters Centerline goodness : 0.780176 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98098283 -0.15348333 -0.1188089 -0.76753317] [ 0.15764779 0.98714168 0.02642882 -0.02993835] [ 0.11322483 -0.04465618 0.99256534 0.42247428] [ 0. 0. 0. 1. ]] SLAMing on 129.04992885099998 meters Centerline goodness : 0.781965 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98104419 -0.15313242 -0.11875505 -0.76765734] [ 0.15732129 0.98718691 0.0266836 -0.03019147] [ 0.11314731 -0.04486049 0.99256497 0.42248739] [ 0. 0. 0. 1. ]] SLAMing on 129.07992885099998 meters Centerline goodness : 0.782404 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98114593 -0.15246085 -0.11877855 -0.76765551] [ 0.15670263 0.98727189 0.02717525 -0.03053118] [ 0.11312357 -0.04527579 0.99254882 0.4225147 ] [ 0. 0. 0. 1. ]] SLAMing on 129.10992885099998 meters Centerline goodness : 0.781323 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98141548 -0.15107824 -0.11831747 -0.7681674 ] [ 0.15531734 0.98748419 0.02741331 -0.03075683] [ 0.11269507 -0.0452806 0.99259734 0.42172558] [ 0. 0. 0. 1. ]] SLAMing on 129.13992885099998 meters Centerline goodness : 0.781271 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98155619 -0.15053507 -0.1178416 -0.7688131 ] [ 0.15472283 0.98758392 0.02718171 -0.03071427] [ 0.11228667 -0.04491316 0.99266032 0.42122629] [ 0. 0. 0. 1. ]] SLAMing on 129.16992885099998 meters Centerline goodness : 0.780305 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98175376 -0.14962707 -0.11735113 -0.76980929] [ 0.15379087 0.98772853 0.02721609 -0.03092095] [ 0.1118388 -0.04476703 0.99271748 0.42112166] [ 0. 0. 0. 1. ]] SLAMing on 129.19992885099998 meters Centerline goodness : 0.781385 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98208359 -0.14814423 -0.11646939 -0.77156662] [ 0.15224711 0.98797064 0.02710794 -0.03077334] [ 0.11105245 -0.04435439 0.99282427 0.42079657] [ 0. 0. 0. 1. ]] SLAMing on 129.22992885099998 meters Centerline goodness : 0.781520 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98223894 -0.14716021 -0.11640679 -0.77154161] [ 0.15129403 0.98810725 0.02746247 -0.03087667] [ 0.11098101 -0.04458636 0.99282187 0.42044079] [ 0. 0. 0. 1. ]] SLAMing on 129.25992885099998 meters Centerline goodness : 0.782296 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98234518 -0.14670605 -0.1160831 -0.77247514] [ 0.15080705 0.98818554 0.0273234 -0.03081846] [ 0.11070313 -0.04434716 0.99286361 0.42065552] [ 0. 0. 0. 1. ]] SLAMing on 129.28992885099998 meters Centerline goodness : 0.834189 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98242892 -0.14613015 -0.11610084 -0.77248676] [ 0.150279 0.98825337 0.02777604 -0.03122047] [ 0.11067813 -0.04473551 0.99284897 0.42067973] [ 0. 0. 0. 1. ]] SLAMing on 129.319928851 meters Centerline goodness : 0.781744 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98251748 -0.14577874 -0.11579273 -0.77258788] [ 0.14989569 0.98831558 0.02763336 -0.03175315] [ 0.1104114 -0.04450709 0.99288894 0.42012357] [ 0. 0. 0. 1. ]] SLAMing on 129.349928851 meters Centerline goodness : 0.781744 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98251748 -0.14577874 -0.11579273 -0.77258788] [ 0.14989569 0.98831558 0.02763336 -0.03175315] [ 0.1104114 -0.04450709 0.99288894 0.42012357] [ 0. 0. 0. 1. ]] SLAMing on 129.379928851 meters Centerline goodness : 0.782520 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.9822601 -0.1482287 -0.11486231 -0.77363121] [ 0.15195021 0.98808933 0.02430238 -0.03152256] [ 0.10989191 -0.04132461 0.99308411 0.42025209] [ 0. 0. 0. 1. ]] SLAMing on 129.409928851 meters Centerline goodness : 0.782230 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98217559 -0.14851633 -0.11521291 -0.7730912 ] [ 0.15230726 0.98802249 0.02478016 -0.03216355] [ 0.11015269 -0.04188623 0.99303169 0.42060924] [ 0. 0. 0. 1. ]] SLAMing on 129.439928851 meters Centerline goodness : 0.785069 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98210404 -0.1487955 -0.11546237 -0.77255419] [ 0.15264195 0.987961 0.02516944 -0.03305835] [ 0.11032722 -0.04234341 0.99299292 0.42082347] [ 0. 0. 0. 1. ]] SLAMing on 129.469928851 meters Centerline goodness : 0.784018 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.9816092 -0.15212637 -0.11532973 -0.77179159] [ 0.15567776 0.98755422 0.02238525 -0.03348027] [ 0.11048898 -0.03992784 0.993075 0.42103202] [ 0. 0. 0. 1. ]] SLAMing on 129.499928851 meters Centerline goodness : 0.782849 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98150093 -0.15228391 -0.11604113 -0.76989719] [ 0.15593738 0.9874984 0.0230312 -0.03444837] [ 0.11108315 -0.0407003 0.99297735 0.42072234] [ 0. 0. 0. 1. ]] SLAMing on 129.529928851 meters Centerline goodness : 0.780591 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98135285 -0.15306017 -0.11627195 -0.76933342] [ 0.15671511 0.98737794 0.02291687 -0.03470549] [ 0.1112967 -0.0407111 0.992953 0.42086839] [ 0. 0. 0. 1. ]] SLAMing on 129.559928851 meters Centerline goodness : 0.781854 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.42 [[ 0.98126115 -0.15330516 -0.11672227 -0.76808547] [ 0.15704237 0.98731296 0.02346943 -0.03545702] [ 0.11164342 -0.04135998 0.99288725 0.42070944] [ 0. 0. 0. 1. ]] SLAMing on 129.589928851 meters Centerline goodness : 0.781346 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.42 [[ 0.98107384 -0.15426422 -0.11703279 -0.76734727] [ 0.15804992 0.98714591 0.02373141 -0.03652919] [ 0.11186753 -0.04177929 0.99284447 0.42108553] [ 0. 0. 0. 1. ]] SLAMing on 129.619928851 meters Centerline goodness : 0.781554 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.42 [[ 0.98098963 -0.15472752 -0.11712701 -0.76737866] [ 0.1585444 0.9870614 0.02394707 -0.03719638] [ 0.11190628 -0.04206166 0.99282818 0.42158378] [ 0. 0. 0. 1. ]] SLAMing on 129.64992885099997 meters Centerline goodness : 0.780656 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.42 [[ 0.98095101 -0.15481662 -0.11733257 -0.76686086] [ 0.15872123 0.98701588 0.02464174 -0.03857333] [ 0.11199415 -0.04279551 0.99278691 0.42178352] [ 0. 0. 0. 1. ]] SLAMing on 129.67992885099997 meters Centerline goodness : 0.782909 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.42 [[ 0.98091608 -0.15502298 -0.11735211 -0.76671109] [ 0.15895712 0.98697182 0.02488477 -0.03948748] [ 0.11196552 -0.04306382 0.99277854 0.42191039] [ 0. 0. 0. 1. ]] SLAMing on 129.70992885099997 meters Centerline goodness : 0.835251 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.42 [[ 0.98089959 -0.15489564 -0.11765772 -0.76588163] [ 0.15889295 0.98697077 0.02533254 -0.04011578] [ 0.11220083 -0.04354366 0.99273104 0.42178165] [ 0. 0. 0. 1. ]] SLAMing on 129.73992885099997 meters Centerline goodness : 0.782430 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.42 [[ 0.98079485 -0.15517702 -0.118159 -0.76514314] [ 0.15930886 0.98687821 0.02630769 -0.04180745] [ 0.11252619 -0.04462622 0.99264614 0.42252362] [ 0. 0. 0. 1. ]] SLAMing on 129.76992885099997 meters Centerline goodness : 0.782283 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.42 [[ 0.98075947 -0.15534066 -0.11823765 -0.76524573] [ 0.15950796 0.98683875 0.02658002 -0.04235018] [ 0.11255254 -0.04492845 0.99262952 0.42303417] [ 0. 0. 0. 1. ]] SLAMing on 129.79992885099998 meters Centerline goodness : 0.781838 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.42 [[ 0.98066362 -0.15580042 -0.11842758 -0.76523363] [ 0.1600009 0.98675379 0.02677085 -0.04297953] [ 0.11268795 -0.04520172 0.99260175 0.42375399] [ 0. 0. 0. 1. ]] SLAMing on 129.82992885099998 meters Centerline goodness : 0.783507 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.42 [[ 0.98060471 -0.15600936 -0.11864015 -0.76461617] [ 0.16026098 0.98670195 0.02712345 -0.04382434] [ 0.11283096 -0.04561077 0.99256679 0.42371883] [ 0. 0. 0. 1. ]] SLAMing on 129.85992885099998 meters Centerline goodness : 0.782845 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.42 [[ 0.98055881 -0.15601697 -0.11900888 -0.76310899] [ 0.16033976 0.986676 0.02759765 -0.04471175] [ 0.11311751 -0.04614298 0.99250957 0.42300084] [ 0. 0. 0. 1. ]] SLAMing on 129.88992885099998 meters Centerline goodness : 0.784426 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.05, Z:0.42 [[ 0.98044439 -0.15644334 -0.11939126 -0.76172499] [ 0.16080955 0.98659393 0.02779746 -0.04518017] [ 0.11344196 -0.04645312 0.99245807 0.42242536] [ 0. 0. 0. 1. ]] SLAMing on 129.91992885099998 meters Centerline goodness : 0.782950 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.42 [[ 0.98035291 -0.1569887 -0.11942663 -0.76189206] [ 0.16131884 0.98652086 0.02743747 -0.04460345] [ 0.11350949 -0.04616417 0.99246384 0.42277761] [ 0. 0. 0. 1. ]] SLAMing on 129.94992885099998 meters Centerline goodness : 0.783083 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.42 [[ 0.98026447 -0.15724837 -0.11981033 -0.76168006] [ 0.16160713 0.9864715 0.02751592 -0.04427913] [ 0.11386264 -0.04633509 0.99241542 0.42354626] [ 0. 0. 0. 1. ]] SLAMing on 129.97992885099998 meters Centerline goodness : 0.785887 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.42 [[ 0.9802367 -0.15721478 -0.12008133 -0.76107143] [ 0.1615725 0.98648045 0.027398 -0.0433089 ] [ 0.11415051 -0.04625837 0.99238592 0.42333144] [ 0. 0. 0. 1. ]] SLAMing on 130.00992885099998 meters Centerline goodness : 0.786335 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.42 [[ 0.98031306 -0.15668633 -0.12014864 -0.76075711] [ 0.1610757 0.98655397 0.02767479 -0.04339 ] [ 0.11419686 -0.04648298 0.9923701 0.42297124] [ 0. 0. 0. 1. ]] SLAMing on 130.03992885099998 meters Centerline goodness : 0.784832 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.42 [[ 0.98032608 -0.15680528 -0.11988693 -0.76137934] [ 0.16112901 0.98655835 0.02720404 -0.04284303] [ 0.11400972 -0.04598609 0.99241476 0.42302033] [ 0. 0. 0. 1. ]] SLAMing on 130.069928851 meters Centerline goodness : 0.784773 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.42 [[ 0.98043636 -0.15620134 -0.11977343 -0.76125697] [ 0.16050453 0.98666288 0.02710457 -0.04231241] [ 0.11394223 -0.04579848 0.99243119 0.42239951] [ 0. 0. 0. 1. ]] SLAMing on 130.099928851 meters Centerline goodness : 0.783190 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.42 [[ 0.98049207 -0.15584538 -0.11978115 -0.7612112 ] [ 0.16012756 0.98672868 0.0269383 -0.04154081] [ 0.11399328 -0.04559305 0.99243479 0.42221831] [ 0. 0. 0. 1. ]] SLAMing on 130.129928851 meters Centerline goodness : 0.783811 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.42 [[ 0.98051554 -0.15548421 -0.12005808 -0.76074647] [ 0.15979803 0.98677707 0.02712184 -0.04102868] [ 0.11425354 -0.04577843 0.99239632 0.42214707] [ 0. 0. 0. 1. ]] SLAMing on 130.159928851 meters Centerline goodness : 0.783281 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.42 [[ 0.98051184 -0.15546199 -0.12011705 -0.76052013] [ 0.15973878 0.98679606 0.02677794 -0.03944282] [ 0.11436808 -0.04544344 0.99239853 0.42198445] [ 0. 0. 0. 1. ]] SLAMing on 130.189928851 meters Centerline goodness : 0.785742 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.42 [[ 0.98058552 -0.15514477 -0.11992559 -0.7606384 ] [ 0.15938171 0.9868606 0.02652596 -0.03881374] [ 0.11423447 -0.04512492 0.99242845 0.42150928] [ 0. 0. 0. 1. ]] SLAMing on 130.219928851 meters Centerline goodness : 0.784415 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.42 [[ 0.98069151 -0.15458138 -0.11978633 -0.7600124 ] [ 0.15878329 0.9869629 0.02630796 -0.03827501] [ 0.11415794 -0.04482006 0.99245107 0.42021345] [ 0. 0. 0. 1. ]] SLAMing on 130.249928851 meters Centerline goodness : 0.785779 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.42 [[ 0.98073589 -0.15437567 -0.11968818 -0.75975317] [ 0.15853148 0.98701266 0.02595722 -0.03781226] [ 0.11412659 -0.04443152 0.99247215 0.41955869] [ 0. 0. 0. 1. ]] SLAMing on 130.279928851 meters Centerline goodness : 0.785779 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.42 [[ 0.98073589 -0.15437567 -0.11968818 -0.75975317] [ 0.15853148 0.98701266 0.02595722 -0.03781226] [ 0.11412659 -0.04443152 0.99247215 0.41955869] [ 0. 0. 0. 1. ]] SLAMing on 130.309928851 meters Centerline goodness : 0.785680 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.42 [[ 0.98076891 -0.1541083 -0.11976219 -0.7594343 ] [ 0.15826163 0.9870569 0.0259216 -0.03727392] [ 0.11421736 -0.04437686 0.99246415 0.41921181] [ 0. 0. 0. 1. ]] SLAMing on 130.339928851 meters Centerline goodness : 0.785806 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.42 [[ 0.9808179 -0.15378345 -0.11977855 -0.75950659] [ 0.15790982 0.98711906 0.02569906 -0.03620263] [ 0.1142836 -0.04412031 0.99246796 0.41913391] [ 0. 0. 0. 1. ]] SLAMing on 130.36992885099997 meters Centerline goodness : 0.785816 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.42 [[ 0.98131097 -0.14998825 -0.12055005 -0.75887323] [ 0.15458396 0.98753412 0.02966751 -0.03623902] [ 0.11459751 -0.04774816 0.99226384 0.41868197] [ 0. 0. 0. 1. ]] SLAMing on 130.39992885099997 meters Centerline goodness : 0.785936 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.42 [[ 0.98140336 -0.14938131 -0.12055149 -0.75883439] [ 0.15398225 0.98762577 0.02974555 -0.03569741] [ 0.11461634 -0.04775517 0.99226133 0.41838783] [ 0. 0. 0. 1. ]] SLAMing on 130.42992885099997 meters Centerline goodness : 0.785328 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.9814886 -0.14918714 -0.12009713 -0.75985426] [ 0.15364897 0.98770748 0.02873893 -0.03399319] [ 0.11433336 -0.04665973 0.99234609 0.41821348] [ 0. 0. 0. 1. ]] SLAMing on 130.45992885099997 meters Centerline goodness : 0.783462 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98161997 -0.14864525 -0.11969471 -0.76017615] [ 0.15302687 0.98781856 0.02823598 -0.03292036] [ 0.11403951 -0.04603351 0.99240914 0.41731704] [ 0. 0. 0. 1. ]] SLAMing on 130.48992885099997 meters Centerline goodness : 0.784851 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.9817478 -0.14799764 -0.11944858 -0.76013213] [ 0.15234104 0.98793019 0.02803838 -0.03242418] [ 0.11385724 -0.04572354 0.9924444 0.41643129] [ 0. 0. 0. 1. ]] SLAMing on 130.51992885099997 meters Centerline goodness : 0.784910 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.41 [[ 0.98195319 -0.14670426 -0.11935575 -0.75952614] [ 0.15098312 0.98815141 0.0275842 -0.03071517] [ 0.11389483 -0.0451071 0.9924683 0.41497862] [ 0. 0. 0. 1. ]] SLAMing on 130.54992885099998 meters Centerline goodness : 0.784726 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98206916 -0.14632604 -0.11886483 -0.76086947] [ 0.1505201 0.98823656 0.02705938 -0.02971898] [ 0.11350708 -0.04446573 0.99254166 0.41513005] [ 0. 0. 0. 1. ]] SLAMing on 130.57992885099998 meters Centerline goodness : 0.784847 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98212975 -0.14619957 -0.11851935 -0.76229076] [ 0.15030523 0.98828635 0.02642766 -0.02840156] [ 0.11326734 -0.04376947 0.99259999 0.41576774] [ 0. 0. 0. 1. ]] SLAMing on 130.60992885099998 meters Centerline goodness : 0.784494 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98250446 -0.14288277 -0.11945503 -0.7614333 ] [ 0.14752213 0.98857608 0.03089584 -0.02975316] [ 0.1136759 -0.04797757 0.99235878 0.41590352] [ 0. 0. 0. 1. ]] SLAMing on 130.63992885099998 meters Centerline goodness : 0.785930 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.9825456 -0.14290965 -0.1190839 -0.76259666] [ 0.14747748 0.98859731 0.03042608 -0.02916037] [ 0.11337784 -0.04745721 0.99241789 0.41630032] [ 0. 0. 0. 1. ]] SLAMing on 130.66992885099998 meters Centerline goodness : 0.786541 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98259671 -0.14281866 -0.11877095 -0.76310627] [ 0.14736075 0.98861745 0.03033718 -0.02937105] [ 0.11308632 -0.04731139 0.99245812 0.41617467] [ 0. 0. 0. 1. ]] SLAMing on 130.69992885099998 meters Centerline goodness : 0.784570 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98246422 -0.1435369 -0.11900089 -0.76278843] [ 0.14806475 0.98852021 0.03007698 -0.02917421] [ 0.11331763 -0.04716939 0.99243849 0.41648901] [ 0. 0. 0. 1. ]] SLAMing on 130.72992885099998 meters Centerline goodness : 0.786367 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98237549 -0.14409372 -0.11906048 -0.76247347] [ 0.14862719 0.98843598 0.03007122 -0.02960815] [ 0.11335059 -0.04723686 0.99243152 0.41646779] [ 0. 0. 0. 1. ]] SLAMing on 130.75992885099998 meters Centerline goodness : 0.785801 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98232083 -0.14443317 -0.11910019 -0.76197121] [ 0.14900936 0.98836806 0.03041024 -0.03045919] [ 0.11332257 -0.04761966 0.99241643 0.41616439] [ 0. 0. 0. 1. ]] SLAMing on 130.78992885099998 meters Centerline goodness : 0.784156 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98178404 -0.14816201 -0.11894582 -0.76069162] [ 0.15230201 0.9879799 0.02645401 -0.02926521] [ 0.1135966 -0.04408781 0.99254827 0.41604399] [ 0. 0. 0. 1. ]] SLAMing on 130.819928851 meters Centerline goodness : 0.786376 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98175268 -0.14846823 -0.1188228 -0.76092792] [ 0.15259232 0.98793799 0.02634602 -0.02953156] [ 0.11347802 -0.04399672 0.99256588 0.41599764] [ 0. 0. 0. 1. ]] SLAMing on 130.849928851 meters Centerline goodness : 0.786843 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98171957 -0.1488407 -0.11863021 -0.76131347] [ 0.15294376 0.98788709 0.02621657 -0.02981075] [ 0.11329116 -0.04388107 0.99259235 0.41594885] [ 0. 0. 0. 1. ]] SLAMing on 130.879928851 meters Centerline goodness : 0.784803 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98159996 -0.14952354 -0.11876124 -0.76106874] [ 0.15363818 0.98777899 0.02622924 -0.03030491] [ 0.11338797 -0.04399288 0.99257634 0.41621522] [ 0. 0. 0. 1. ]] SLAMing on 130.909928851 meters Centerline goodness : 0.786424 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98156871 -0.1498113 -0.11865685 -0.76159186] [ 0.15388751 0.98774841 0.02591753 -0.029874 ] [ 0.11332038 -0.04369965 0.99259701 0.41654782] [ 0. 0. 0. 1. ]] SLAMing on 130.939928851 meters Centerline goodness : 0.787631 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98154217 -0.15015406 -0.11844289 -0.76239977] [ 0.15418423 0.98771099 0.02557785 -0.02955645] [ 0.11314673 -0.04336776 0.99263138 0.41696047] [ 0. 0. 0. 1. ]] SLAMing on 130.969928851 meters Centerline goodness : 0.787397 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98150739 -0.15053292 -0.11825004 -0.76332779] [ 0.15451722 0.98766794 0.02522835 -0.02935021] [ 0.11299408 -0.04303348 0.99266332 0.41754951] [ 0. 0. 0. 1. ]] SLAMing on 130.999928851 meters Centerline goodness : 0.787266 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98161257 -0.15004701 -0.1179943 -0.76373892] [ 0.15406097 0.98772927 0.02561451 -0.03032192] [ 0.11270305 -0.04332185 0.99268386 0.41750207] [ 0. 0. 0. 1. ]] SLAMing on 131.029928851 meters Centerline goodness : 0.787487 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98158245 -0.15036429 -0.11784088 -0.76436587] [ 0.15435247 0.98768855 0.02542907 -0.03056503] [ 0.11256647 -0.04314976 0.99270685 0.41782857] [ 0. 0. 0. 1. ]] SLAMing on 131.059928851 meters Centerline goodness : 0.787304 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98155621 -0.15063497 -0.11771367 -0.76481449] [ 0.15460443 0.98765251 0.02529811 -0.03070647] [ 0.11244942 -0.04303057 0.99272529 0.41800493] [ 0. 0. 0. 1. ]] SLAMing on 131.089928851 meters Centerline goodness : 0.784497 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98150845 -0.15105882 -0.11756865 -0.76525399] [ 0.15501188 0.98759151 0.02518578 -0.03120142] [ 0.11230527 -0.04294459 0.99274533 0.41807711] [ 0. 0. 0. 1. ]] SLAMing on 131.11992885099997 meters Centerline goodness : 0.784449 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98149515 -0.15119705 -0.11750198 -0.76514545] [ 0.15516035 0.98756542 0.02529446 -0.03175269] [ 0.11221645 -0.04305804 0.99275046 0.41775374] [ 0. 0. 0. 1. ]] SLAMing on 131.14992885099997 meters Centerline goodness : 0.783908 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98147863 -0.15134567 -0.11744867 -0.76492426] [ 0.15531624 0.98753894 0.02537132 -0.03214909] [ 0.1121453 -0.04314309 0.99275481 0.41732841] [ 0. 0. 0. 1. ]] SLAMing on 131.17992885099997 meters Centerline goodness : 0.782753 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98121537 -0.15258273 -0.11804622 -0.76293467] [ 0.15655431 0.98735083 0.02508173 -0.03259917] [ 0.112726 -0.04309123 0.99269129 0.41680631] [ 0. 0. 0. 1. ]] SLAMing on 131.20992885099997 meters Centerline goodness : 0.782171 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98118554 -0.15285449 -0.11794254 -0.76325894] [ 0.15682369 0.98730797 0.02508576 -0.03333042] [ 0.11261114 -0.04310997 0.99270351 0.41694049] [ 0. 0. 0. 1. ]] SLAMing on 131.23992885099997 meters Centerline goodness : 0.783414 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.03, Z:0.42 [[ 0.98107749 -0.15318094 -0.11841686 -0.76239197] [ 0.15723002 0.98723048 0.02558703 -0.03422205] [ 0.11298529 -0.04372154 0.99263425 0.4172777 ] [ 0. 0. 0. 1. ]] SLAMing on 131.26992885099997 meters Centerline goodness : 0.783509 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.42 [[ 0.98100261 -0.1536217 -0.11846624 -0.76257247] [ 0.15770614 0.98714758 0.0258541 -0.03515835] [ 0.11297191 -0.0440458 0.99262144 0.41782745] [ 0. 0. 0. 1. ]] SLAMing on 131.29992885099998 meters Centerline goodness : 0.786671 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.42 [[ 0.98089599 -0.1545226 -0.11817708 -0.76379882] [ 0.1585721 0.98701519 0.02561053 -0.03607738] [ 0.11268517 -0.04386085 0.99266222 0.4183741 ] [ 0. 0. 0. 1. ]] SLAMing on 131.32992885099998 meters Centerline goodness : 0.787293 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.42 [[ 0.98084628 -0.15486816 -0.11813737 -0.76412257] [ 0.15889476 0.9869686 0.02540537 -0.03629529] [ 0.11266339 -0.04369017 0.99267222 0.41865816] [ 0. 0. 0. 1. ]] SLAMing on 131.35992885099998 meters Centerline goodness : 0.786719 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.42 [[ 0.98081424 -0.1551435 -0.11804205 -0.76438862] [ 0.15915474 0.98692963 0.02529197 -0.03645044] [ 0.11257531 -0.04359367 0.99268645 0.4186816 ] [ 0. 0. 0. 1. ]] SLAMing on 131.38992885099998 meters Centerline goodness : 0.784312 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:0.42 [[ 0.9807837 -0.15540857 -0.11794707 -0.76456972] [ 0.15940087 0.9868936 0.02514726 -0.0364296 ] [ 0.1124931 -0.04346489 0.99270142 0.41862002] [ 0. 0. 0. 1. ]] SLAMing on 131.41992885099998 meters Centerline goodness : 0.786741 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.42 [[ 0.98074855 -0.1558638 -0.11763823 -0.7654321 ] [ 0.15979387 0.98684154 0.02469212 -0.03562656] [ 0.11224168 -0.04301463 0.99274949 0.41880147] [ 0. 0. 0. 1. ]] SLAMing on 131.44992885099998 meters Centerline goodness : 0.785866 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98068924 -0.15625637 -0.11761192 -0.76593177] [ 0.1601316 0.98679909 0.02419561 -0.03481794] [ 0.11227862 -0.04256176 0.99276483 0.41927364] [ 0. 0. 0. 1. ]] SLAMing on 131.47992885099998 meters Centerline goodness : 0.788665 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98065445 -0.15656995 -0.11748492 -0.76656635] [ 0.16039323 0.98676701 0.02376703 -0.03410003] [ 0.11220904 -0.04215103 0.99279022 0.41969722] [ 0. 0. 0. 1. ]] SLAMing on 131.50992885099998 meters Centerline goodness : 0.787201 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98062518 -0.15680332 -0.11741798 -0.76700395] [ 0.16058417 0.98674464 0.02340391 -0.03336515] [ 0.11219175 -0.04180593 0.99280677 0.42003085] [ 0. 0. 0. 1. ]] SLAMing on 131.53992885099998 meters Centerline goodness : 0.786500 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98060047 -0.15701255 -0.11734473 -0.76735898] [ 0.16075739 0.98672357 0.02310109 -0.03269026] [ 0.11215965 -0.04151698 0.99282252 0.42022636] [ 0. 0. 0. 1. ]] SLAMing on 131.569928851 meters Centerline goodness : 0.784873 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98056266 -0.15733053 -0.11723469 -0.76761545] [ 0.16102985 0.98668796 0.02272123 -0.03214005] [ 0.11209931 -0.04115787 0.99284429 0.42025636] [ 0. 0. 0. 1. ]] SLAMing on 131.599928851 meters Centerline goodness : 0.782859 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98053764 -0.1575411 -0.1171612 -0.7677548 ] [ 0.16121074 0.98666409 0.0224737 -0.03152929] [ 0.11205822 -0.04092395 0.99285859 0.42017462] [ 0. 0. 0. 1. ]] SLAMing on 131.629928851 meters Centerline goodness : 0.783482 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98050027 -0.1578317 -0.11708276 -0.76787705] [ 0.16143835 0.98663915 0.0219282 -0.0299161 ] [ 0.11205747 -0.04040225 0.99288004 0.42007096] [ 0. 0. 0. 1. ]] SLAMing on 131.659928851 meters Centerline goodness : 0.783482 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98050027 -0.1578317 -0.11708276 -0.76787705] [ 0.16143835 0.98663915 0.0219282 -0.0299161 ] [ 0.11205747 -0.04040225 0.99288004 0.42007096] [ 0. 0. 0. 1. ]] SLAMing on 131.689928851 meters Centerline goodness : 0.781109 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98045962 -0.1581366 -0.11701174 -0.767968 ] [ 0.16169751 0.98660545 0.02153152 -0.02872675] [ 0.1120395 -0.0400313 0.9928971 0.41988644] [ 0. 0. 0. 1. ]] SLAMing on 131.719928851 meters Centerline goodness : 0.780998 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98041904 -0.15834394 -0.11707135 -0.76787144] [ 0.16187114 0.98658415 0.02120018 -0.02786117] [ 0.11214382 -0.03973553 0.9928972 0.41988534] [ 0. 0. 0. 1. ]] SLAMing on 131.749928851 meters Centerline goodness : 0.781087 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98038232 -0.15863453 -0.11698541 -0.76818699] [ 0.16212392 0.98654948 0.0208797 -0.02705339] [ 0.11209965 -0.03943623 0.99291412 0.41995947] [ 0. 0. 0. 1. ]] SLAMing on 131.779928851 meters Centerline goodness : 0.781314 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98034311 -0.15903703 -0.11676733 -0.76898668] [ 0.16246855 0.98650238 0.020421 -0.02615932] [ 0.11194355 -0.03899061 0.99294933 0.42027428] [ 0. 0. 0. 1. ]] SLAMing on 131.809928851 meters Centerline goodness : 0.782429 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98030964 -0.15931152 -0.1166741 -0.76952456] [ 0.16271073 0.98646801 0.02015168 -0.02593607] [ 0.11188487 -0.03873902 0.99296579 0.42065746] [ 0. 0. 0. 1. ]] SLAMing on 131.839928851 meters Centerline goodness : 0.779325 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98025222 -0.15981301 -0.11647056 -0.77061603] [ 0.16314173 0.98640857 0.01956826 -0.02507747] [ 0.1117603 -0.03818304 0.99300136 0.42138709] [ 0. 0. 0. 1. ]] SLAMing on 131.86992885099997 meters Centerline goodness : 0.780949 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.42 [[ 0.9802145 -0.16012801 -0.11635527 -0.77125303] [ 0.16341202 0.9863712 0.0191927 -0.02454364] [ 0.1116962 -0.03782681 0.9930222 0.42182075] [ 0. 0. 0. 1. ]] SLAMing on 131.89992885099997 meters Centerline goodness : 0.779843 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.42 [[ 0.9801947 -0.1603288 -0.11624553 -0.77173696] [ 0.16359757 0.98634257 0.01908335 -0.02458668] [ 0.11159831 -0.03772288 0.99303716 0.42203844] [ 0. 0. 0. 1. ]] SLAMing on 131.92992885099997 meters Centerline goodness : 0.779042 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.42 [[ 0.98016454 -0.16061981 -0.11609802 -0.77231636] [ 0.16386389 0.98630194 0.0188974 -0.02467824] [ 0.11147241 -0.03754684 0.99305797 0.42234414] [ 0. 0. 0. 1. ]] SLAMing on 131.95992885099997 meters Centerline goodness : 0.780741 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98012335 -0.16105224 -0.11584641 -0.77318351] [ 0.16429797 0.98622826 0.01897345 -0.02587907] [ 0.11119529 -0.03762965 0.99308591 0.42265004] [ 0. 0. 0. 1. ]] SLAMing on 131.98992885099997 meters Centerline goodness : 0.779377 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98007257 -0.16143953 -0.11573693 -0.77374275] [ 0.16467313 0.98616747 0.0188808 -0.02657067] [ 0.11108789 -0.03756331 0.99310044 0.42302824] [ 0. 0. 0. 1. ]] SLAMing on 132.01992885099997 meters Centerline goodness : 0.780388 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.98004227 -0.16169291 -0.11563972 -0.77418523] [ 0.16494016 0.98612013 0.01902192 -0.02790725] [ 0.11095895 -0.03771592 0.99310907 0.42331454] [ 0. 0. 0. 1. ]] SLAMing on 132.04992885099998 meters Centerline goodness : 0.779924 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.97999334 -0.16217565 -0.1153781 -0.77496096] [ 0.16542853 0.98603612 0.01913541 -0.02947642] [ 0.11066368 -0.03783941 0.99313732 0.42355598] [ 0. 0. 0. 1. ]] SLAMing on 132.07992885099998 meters Centerline goodness : 0.780060 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.97935909 -0.16616138 -0.11509197 -0.77400312] [ 0.16904586 0.98548308 0.0157037 -0.0310721 ] [ 0.11081184 -0.03483538 0.9932307 0.42360182] [ 0. 0. 0. 1. ]] SLAMing on 132.10992885099998 meters Centerline goodness : 0.780340 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.42 [[ 0.97931321 -0.16649596 -0.1149988 -0.77436198] [ 0.16940558 0.98541751 0.01594005 -0.03301825] [ 0.11066788 -0.03509174 0.99323773 0.42384691] [ 0. 0. 0. 1. ]] SLAMing on 132.13992885099998 meters Centerline goodness : 0.780459 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:0.42 [[ 0.97926495 -0.16694546 -0.11475791 -0.77503864] [ 0.1698738 0.98533331 0.01616041 -0.03496979] [ 0.11037689 -0.03531969 0.99326203 0.42402955] [ 0. 0. 0. 1. ]] SLAMing on 132.16992885099998 meters Centerline goodness : 0.783179 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.42 [[ 0.97863661 -0.17082626 -0.11440622 -0.77436612] [ 0.17338563 0.9847717 0.01273235 -0.0365372 ] [ 0.11048899 -0.03229674 0.99335246 0.42440137] [ 0. 0. 0. 1. ]] SLAMing on 132.19992885099998 meters Centerline goodness : 0.783179 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.42 [[ 0.97863661 -0.17082626 -0.11440622 -0.77436612] [ 0.17338563 0.9847717 0.01273235 -0.0365372 ] [ 0.11048899 -0.03229674 0.99335246 0.42440137] [ 0. 0. 0. 1. ]] SLAMing on 132.22992885099998 meters Centerline goodness : 0.782777 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:0.43 [[ 0.97859569 -0.17119562 -0.11420394 -0.77524524] [ 0.17374746 0.98470831 0.01270329 -0.03771977] [ 0.11028282 -0.03227403 0.9933761 0.42500417] [ 0. 0. 0. 1. ]] SLAMing on 132.25992885099998 meters Centerline goodness : 0.783167 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:0.43 [[ 0.97858208 -0.171342 -0.114101 -0.77569182] [ 0.17390194 0.9846798 0.01279841 -0.03873577] [ 0.11016005 -0.03236668 0.99338671 0.42535272] [ 0. 0. 0. 1. ]] SLAMing on 132.28992885099998 meters Centerline goodness : 0.781942 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:0.43 [[ 0.97859803 -0.17124159 -0.11411491 -0.77571678] [ 0.17382366 0.98469099 0.01299952 -0.03947292] [ 0.11014186 -0.03255717 0.9933825 0.42545714] [ 0. 0. 0. 1. ]] SLAMing on 132.319928851 meters Centerline goodness : 0.783959 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:0.43 [[ 0.9786526 -0.17086185 -0.11421614 -0.7753444 ] [ 0.17350278 0.98474055 0.01352138 -0.04027444] [ 0.11016298 -0.03304955 0.9933639 0.42521881] [ 0. 0. 0. 1. ]] SLAMing on 132.349928851 meters Centerline goodness : 0.785468 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:0.43 [[ 0.97867712 -0.17065027 -0.11432223 -0.77511415] [ 0.17330795 0.98477306 0.01365207 -0.04077118] [ 0.11025172 -0.03317392 0.99334991 0.42535366] [ 0. 0. 0. 1. ]] SLAMing on 132.379928851 meters Centerline goodness : 0.786787 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:0.43 [[ 0.97924403 -0.16669734 -0.1152958 -0.77428025] [ 0.1699252 0.98527974 0.01868863 -0.0437667 ] [ 0.11048327 -0.0378924 0.99315538 0.42534397] [ 0. 0. 0. 1. ]] SLAMing on 132.409928851 meters Centerline goodness : 0.785503 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:0.43 [[ 0.9793765 -0.16613868 -0.11497653 -0.77510695] [ 0.1693484 0.98537946 0.01866635 -0.0437588 ] [ 0.11019431 -0.03775247 0.99319281 0.42549839] [ 0. 0. 0. 1. ]] SLAMing on 132.439928851 meters Centerline goodness : 0.786086 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:0.43 [[ 0.98015235 -0.16120124 -0.11539297 -0.77562059] [ 0.16496442 0.98601286 0.02377757 -0.0466919 ] [ 0.10994597 -0.04234138 0.99303529 0.4257672 ] [ 0. 0. 0. 1. ]] SLAMing on 132.469928851 meters Centerline goodness : 0.786962 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:0.43 [[ 0.98031555 -0.16064348 -0.11478283 -0.77683978] [ 0.16434356 0.98612386 0.02347197 -0.04669008] [ 0.10941947 -0.04187376 0.99311327 0.42572016] [ 0. 0. 0. 1. ]] SLAMing on 132.499928851 meters Centerline goodness : 0.787168 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:0.42 [[ 0.98104413 -0.15569816 -0.11537111 -0.77533504] [ 0.15995997 0.98670926 0.02859441 -0.05050054] [ 0.10938565 -0.04650714 0.9929108 0.42413564] [ 0. 0. 0. 1. ]] SLAMing on 132.529928851 meters Centerline goodness : 0.786813 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:0.42 [[ 0.98118667 -0.15487161 -0.11527147 -0.77505281] [ 0.15911649 0.9868476 0.02852657 -0.05038797] [ 0.10933742 -0.04633149 0.99292433 0.42341599] [ 0. 0. 0. 1. ]] SLAMing on 132.559928851 meters Centerline goodness : 0.786262 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:0.42 [[ 0.98134183 -0.15405491 -0.11504479 -0.77519882] [ 0.15826401 0.98699003 0.0283405 -0.04974768] [ 0.10918207 -0.04601917 0.99295595 0.42279108] [ 0. 0. 0. 1. ]] SLAMing on 132.589928851 meters Centerline goodness : 0.785796 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.05, Z:0.42 [[ 0.98192209 -0.14994819 -0.11551865 -0.7748193 ] [ 0.15460742 0.98744335 0.03243721 -0.05132416] [ 0.10920422 -0.04971085 0.99277554 0.42226017] [ 0. 0. 0. 1. ]] SLAMing on 132.61992885099997 meters Centerline goodness : 0.783595 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:0.42 [[ 0.98210625 -0.14900769 -0.11516955 -0.77547232] [ 0.15361769 0.98760569 0.03219644 -0.05066724] [ 0.10894459 -0.0493124 0.99282393 0.42185489] [ 0. 0. 0. 1. ]] SLAMing on 132.64992885099997 meters Centerline goodness : 0.785940 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:0.42 [[ 0.98283938 -0.14412832 -0.11512503 -0.77610902] [ 0.14909836 0.98817594 0.03574903 -0.05129479] [ 0.10861134 -0.05230051 0.99270753 0.42093564] [ 0. 0. 0. 1. ]] SLAMing on 132.67992885099997 meters Centerline goodness : 0.785429 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:0.42 [[ 0.98303421 -0.14311074 -0.11473034 -0.77669422] [ 0.14803527 0.98834209 0.03557353 -0.05070344] [ 0.10830187 -0.05195413 0.99275952 0.42021012] [ 0. 0. 0. 1. ]] SLAMing on 132.70992885099997 meters Centerline goodness : 0.787365 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:0.42 [[ 0.98336079 -0.14156992 -0.11383985 -0.7779992 ] [ 0.1463431 0.98862567 0.03468388 -0.04951039] [ 0.1076348 -0.05076644 0.99289351 0.41902876] [ 0. 0. 0. 1. ]] SLAMing on 132.73992885099997 meters Centerline goodness : 0.786519 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:0.42 [[ 0.98348103 -0.14114079 -0.11333289 -0.77893694] [ 0.14581336 0.98872721 0.03401422 -0.04875416] [ 0.10725451 -0.04997779 0.99297467 0.41868146] [ 0. 0. 0. 1. ]] SLAMing on 132.76992885099997 meters Centerline goodness : 0.786390 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:0.42 [[ 0.98357139 -0.14088045 -0.1128717 -0.77992905] [ 0.14545205 0.98880456 0.03330539 -0.04766961] [ 0.10691598 -0.04917565 0.99305122 0.41848824] [ 0. 0. 0. 1. ]] SLAMing on 132.79992885099998 meters Centerline goodness : 0.785358 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:0.42 [[ 0.98369099 -0.14022697 -0.11264292 -0.78042378] [ 0.14475985 0.98891358 0.03308336 -0.04679881] [ 0.10675494 -0.04884998 0.99308462 0.41815132] [ 0. 0. 0. 1. ]] SLAMing on 132.82992885099998 meters Centerline goodness : 0.787582 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:0.42 [[ 0.98378251 -0.13995658 -0.112179 -0.78166893] [ 0.14439442 0.98898887 0.03242324 -0.04569696] [ 0.10640594 -0.04809544 0.9931589 0.41825586] [ 0. 0. 0. 1. ]] SLAMing on 132.85992885099998 meters Centerline goodness : 0.788590 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:0.42 [[ 0.98400545 -0.13897775 -0.1114381 -0.78361943] [ 0.14331666 0.98916327 0.03188038 -0.04452821] [ 0.10579981 -0.0473414 0.99325988 0.41834108] [ 0. 0. 0. 1. ]] SLAMing on 132.88992885099998 meters Centerline goodness : 0.788951 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:0.42 [[ 0.98404522 -0.13885916 -0.11123463 -0.78430271] [ 0.14314597 0.98920056 0.03148792 -0.04360252] [ 0.10566097 -0.04690833 0.99329521 0.41847538] [ 0. 0. 0. 1. ]] SLAMing on 132.91992885099998 meters Centerline goodness : 0.789255 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:0.42 [[ 0.98411675 -0.13872114 -0.110773 -0.78548107] [ 0.14294413 0.98924205 0.03109893 -0.04319652] [ 0.10526723 -0.04643932 0.99335905 0.41862621] [ 0. 0. 0. 1. ]] SLAMing on 132.94992885099998 meters Centerline goodness : 0.789346 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:0.42 [[ 0.98426134 -0.13801905 -0.11036464 -0.78594972] [ 0.14218153 0.9893631 0.03074198 -0.0429644 ] [ 0.10494772 -0.04594995 0.99341561 0.41795805] [ 0. 0. 0. 1. ]] SLAMing on 132.97992885099998 meters Centerline goodness : 0.789010 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:0.42 [[ 0.98429291 -0.1381025 -0.10997806 -0.78667028] [ 0.14218736 0.98937983 0.03017129 -0.04248538] [ 0.10464335 -0.04533488 0.99347598 0.41778821] [ 0. 0. 0. 1. ]] SLAMing on 133.00992885099998 meters Centerline goodness : 0.790386 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:0.42 [[ 0.98435507 -0.13774354 -0.10987179 -0.78679368] [ 0.14183967 0.98942451 0.03034223 -0.04255152] [ 0.1045304 -0.04545171 0.99348253 0.41759329] [ 0. 0. 0. 1. ]] SLAMing on 133.03992885099998 meters Centerline goodness : 0.788624 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:0.42 [[ 0.9843714 -0.13783099 -0.10961551 -0.78736721] [ 0.14187349 0.98943193 0.02993942 -0.04210786] [ 0.10433051 -0.04502304 0.99352306 0.417644 ] [ 0. 0. 0. 1. ]] SLAMing on 133.069928851 meters Centerline goodness : 0.788509 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:0.42 [[ 0.98446481 -0.13752799 -0.10915631 -0.78818798] [ 0.1415157 0.98949248 0.02963012 -0.04217067] [ 0.10393438 -0.04461714 0.99358289 0.41739084] [ 0. 0. 0. 1. ]] SLAMing on 133.099928851 meters Centerline goodness : 0.788509 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:0.42 [[ 0.98446481 -0.13752799 -0.10915631 -0.78818798] [ 0.1415157 0.98949248 0.02963012 -0.04217067] [ 0.10393438 -0.04461714 0.99358289 0.41739084] [ 0. 0. 0. 1. ]] SLAMing on 133.129928851 meters Centerline goodness : 0.790801 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:0.42 [[ 0.98459644 -0.13684243 -0.10883014 -0.78878719] [ 0.14085734 0.98957328 0.03006541 -0.04287668] [ 0.10358117 -0.04493182 0.99360559 0.41722001] [ 0. 0. 0. 1. ]] SLAMing on 133.159928851 meters Centerline goodness : 0.788656 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:0.42 [[ 0.98465338 -0.13671216 -0.10847813 -0.78943215] [ 0.14068852 0.98960368 0.0298546 -0.04308734] [ 0.10326887 -0.04465806 0.99365044 0.41719183] [ 0. 0. 0. 1. ]] SLAMing on 133.189928851 meters Centerline goodness : 0.787822 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:0.42 [[ 0.98470445 -0.13655705 -0.10820964 -0.78983576] [ 0.14050395 0.98963471 0.02969488 -0.04350739] [ 0.10303297 -0.04444456 0.9936845 0.41703733] [ 0. 0. 0. 1. ]] SLAMing on 133.219928851 meters Centerline goodness : 0.786572 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:0.42 [[ 0.9848248 -0.13599718 -0.10781874 -0.79054638] [ 0.13995198 0.98970468 0.02996816 -0.04451347] [ 0.10263312 -0.04460283 0.99371879 0.41694339] [ 0. 0. 0. 1. ]] SLAMing on 133.249928851 meters Centerline goodness : 0.787750 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:0.42 [[ 0.98491599 -0.13561323 -0.10746879 -0.79106551] [ 0.13956803 0.98975368 0.03013983 -0.04499648] [ 0.10228027 -0.04468441 0.9937515 0.41674301] [ 0. 0. 0. 1. ]] SLAMing on 133.279928851 meters Centerline goodness : 0.788821 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:0.42 [[ 0.98496824 -0.13537641 -0.10728837 -0.79156822] [ 0.13934243 0.98977937 0.03033965 -0.04571481] [ 0.10208454 -0.04483341 0.99376492 0.41701645] [ 0. 0. 0. 1. ]] SLAMing on 133.309928851 meters Centerline goodness : 0.787777 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:0.42 [[ 0.98518921 -0.13436706 -0.10652564 -0.79246821] [ 0.13829902 0.9899241 0.03039188 -0.04705329] [ 0.10136863 -0.04467414 0.99384537 0.41621646] [ 0. 0. 0. 1. ]] SLAMing on 133.339928851 meters Centerline goodness : 0.786372 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:0.42 [[ 0.9852452 -0.13418815 -0.10623293 -0.79307574] [ 0.13807938 0.98996277 0.03012983 -0.04721317] [ 0.10112358 -0.04435385 0.99388468 0.4162021 ] [ 0. 0. 0. 1. ]] SLAMing on 133.36992885099997 meters Centerline goodness : 0.788203 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:0.42 [[ 0.98535017 -0.1337858 -0.1057658 -0.79409682] [ 0.13764348 0.99002668 0.03002397 -0.04761399] [ 0.10069418 -0.04414209 0.9939377 0.41626251] [ 0. 0. 0. 1. ]] SLAMing on 133.39992885099997 meters Centerline goodness : 0.786933 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.42 [[ 0.98544344 -0.13342195 -0.1053556 -0.79502628] [ 0.13724226 0.99008758 0.02985202 -0.04771191] [ 0.10032836 -0.04387672 0.99398645 0.41633336] [ 0. 0. 0. 1. ]] SLAMing on 133.42992885099997 meters Centerline goodness : 0.786627 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.42 [[ 0.98564654 -0.13246738 -0.10465793 -0.79654755] [ 0.13622804 0.99023492 0.02960955 -0.04800079] [ 0.09971364 -0.0434419 0.9940674 0.41623316] [ 0. 0. 0. 1. ]] SLAMing on 133.45992885099997 meters Centerline goodness : 0.787233 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.42 [[ 0.98572668 -0.13213181 -0.10432693 -0.79715508] [ 0.13586422 0.99028853 0.02948784 -0.04798577] [ 0.09941748 -0.04324125 0.99410581 0.41604307] [ 0. 0. 0. 1. ]] SLAMing on 133.48992885099997 meters Centerline goodness : 0.787085 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.42 [[ 0.98577592 -0.13197467 -0.10406017 -0.7976004 ] [ 0.13568569 0.9903157 0.02939744 -0.04820608] [ 0.09917271 -0.04309877 0.99413644 0.41594656] [ 0. 0. 0. 1. ]] SLAMing on 133.51992885099997 meters Centerline goodness : 0.786591 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.42 [[ 0.98588456 -0.13158421 -0.10352406 -0.7978943 ] [ 0.13522994 0.99038997 0.02899256 -0.04910454] [ 0.09871423 -0.04258287 0.99420431 0.41507281] [ 0. 0. 0. 1. ]] SLAMing on 133.54992885099998 meters Centerline goodness : 0.788484 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.41 [[ 0.98596545 -0.13122626 -0.10320761 -0.79795202] [ 0.13485906 0.99043986 0.02901587 -0.0496068 ] [ 0.09841328 -0.04252713 0.99423653 0.41432827] [ 0. 0. 0. 1. ]] SLAMing on 133.57992885099998 meters Centerline goodness : 0.789169 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.41 [[ 0.98600926 -0.13115681 -0.1028768 -0.79848629] [ 0.13474439 0.99046453 0.02870478 -0.04970684] [ 0.09813099 -0.04216525 0.99427984 0.41418585] [ 0. 0. 0. 1. ]] SLAMing on 133.60992885099998 meters Centerline goodness : 0.787046 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.41 [[ 0.98616162 -0.13048818 -0.10226479 -0.79950508] [ 0.13400193 0.99057838 0.02824817 -0.04988749] [ 0.09761524 -0.04156094 0.99435605 0.41384793] [ 0. 0. 0. 1. ]] SLAMing on 133.63992885099998 meters Centerline goodness : 0.787115 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.41 [[ 0.98621169 -0.13024407 -0.10209302 -0.79971576] [ 0.13375647 0.99060953 0.02831902 -0.05024187] [ 0.09744593 -0.04158415 0.99437169 0.41370759] [ 0. 0. 0. 1. ]] SLAMing on 133.66992885099998 meters Centerline goodness : 0.786596 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.41 [[ 0.98624977 -0.13014629 -0.10184958 -0.80019932] [ 0.13362077 0.99063577 0.02804024 -0.050243 ] [ 0.09724651 -0.0412639 0.99440455 0.41360272] [ 0. 0. 0. 1. ]] SLAMing on 133.69992885099998 meters Centerline goodness : 0.786827 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.41 [[ 0.98633343 -0.12980037 -0.1014802 -0.80111621] [ 0.13323585 0.99069401 0.02781359 -0.05033874] [ 0.09692561 -0.04095427 0.99444868 0.41373631] [ 0. 0. 0. 1. ]] SLAMing on 133.72992885099998 meters Centerline goodness : 0.787999 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.41 [[ 0.98643886 -0.12937795 -0.10099371 -0.80233554] [ 0.13277419 0.99076097 0.02763543 -0.05048771] [ 0.09648521 -0.04067002 0.99450317 0.41392227] [ 0. 0. 0. 1. ]] SLAMing on 133.75992885099998 meters Centerline goodness : 0.787075 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.41 [[ 0.98667274 -0.12819499 -0.10021447 -0.80427692] [ 0.13156006 0.99092121 0.02769652 -0.05106694] [ 0.09575409 -0.04051163 0.99458029 0.41409111] [ 0. 0. 0. 1. ]] SLAMing on 133.78992885099998 meters Centerline goodness : 0.787653 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.05, Z:0.41 [[ 0.98678387 -0.12768694 -0.09976795 -0.80511419] [ 0.13103693 0.99098897 0.02775223 -0.05151706] [ 0.09532534 -0.04045873 0.99462363 0.41399112] [ 0. 0. 0. 1. ]] SLAMing on 133.819928851 meters Centerline goodness : 0.787558 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.05, Z:0.41 [[ 0.98683932 -0.12748046 -0.09948314 -0.8058309 ] [ 0.13079757 0.99102654 0.02753898 -0.05169691] [ 0.09507975 -0.0401887 0.99465809 0.41416747] [ 0. 0. 0. 1. ]] SLAMing on 133.849928851 meters Centerline goodness : 0.787697 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.05, Z:0.41 [[ 0.98690137 -0.12737203 -0.09900536 -0.80668958] [ 0.13063814 0.99105662 0.02721134 -0.05188824] [ 0.09465395 -0.03978878 0.99471477 0.41401716] [ 0. 0. 0. 1. ]] SLAMing on 133.879928851 meters Centerline goodness : 0.789455 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.05, Z:0.41 [[ 0.98695256 -0.12733581 -0.09854048 -0.80722952] [ 0.13055815 0.99107436 0.02694778 -0.05291945] [ 0.09422953 -0.03946145 0.99476811 0.41370438] [ 0. 0. 0. 1. ]] SLAMing on 133.909928851 meters Centerline goodness : 0.787612 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.05, Z:0.41 [[ 0.98691547 -0.12762302 -0.0985405 -0.80713 ] [ 0.13082971 0.99104337 0.02676988 -0.05328343] [ 0.09424145 -0.03931163 0.99477291 0.41376698] [ 0. 0. 0. 1. ]] SLAMing on 133.939928851 meters Centerline goodness : 0.789511 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.05, Z:0.41 [[ 0.98685887 -0.12802132 -0.09859061 -0.80690576] [ 0.13121656 0.99099652 0.02661054 -0.05341321] [ 0.09429623 -0.03919757 0.99477222 0.41382954] [ 0. 0. 0. 1. ]] SLAMing on 133.969928851 meters Centerline goodness : 0.787752 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.05, Z:0.41 [[ 0.98679558 -0.12846405 -0.09864818 -0.80657427] [ 0.13165928 0.99093897 0.02656675 -0.05387853] [ 0.09434146 -0.0392039 0.99476768 0.41380044] [ 0. 0. 0. 1. ]] SLAMing on 133.999928851 meters Centerline goodness : 0.788613 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.05, Z:0.41 [[ 0.98666773 -0.12933038 -0.09879494 -0.80609462] [ 0.13250442 0.99083492 0.02624404 -0.05375163] [ 0.09449532 -0.03898492 0.99476169 0.41386242] [ 0. 0. 0. 1. ]] SLAMing on 134.029928851 meters Centerline goodness : 0.788461 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.05, Z:0.41 [[ 0.98630334 -0.13255127 -0.09816255 -0.80654751] [ 0.13540208 0.99052505 0.02294332 -0.05343163] [ 0.0941913 -0.03592049 0.99490588 0.41391595] [ 0. 0. 0. 1. ]] SLAMing on 134.059928851 meters Centerline goodness : 0.788291 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.05, Z:0.41 [[ 0.98618061 -0.13331325 -0.09836351 -0.80576758] [ 0.13620667 0.99040685 0.02328116 -0.05385687] [ 0.09431621 -0.03635719 0.99487819 0.41385846] [ 0. 0. 0. 1. ]] SLAMing on 134.089928851 meters Centerline goodness : 0.788291 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.05, Z:0.41 [[ 0.98618061 -0.13331325 -0.09836351 -0.80576758] [ 0.13620667 0.99040685 0.02328116 -0.05385687] [ 0.09431621 -0.03635719 0.99487819 0.41385846] [ 0. 0. 0. 1. ]] SLAMing on 134.11992885099997 meters Centerline goodness : 0.787961 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.41 [[ 0.9859824 -0.1344233 -0.09883868 -0.80495696] [ 0.1373896 0.99023081 0.02381281 -0.05443862] [ 0.09467211 -0.03705842 0.99481851 0.41460448] [ 0. 0. 0. 1. ]] SLAMing on 134.14992885099997 meters Centerline goodness : 0.786927 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.42 [[ 0.98537411 -0.13795473 -0.10003181 -0.80268846] [ 0.14100132 0.98971797 0.02402011 -0.0549127 ] [ 0.09568959 -0.03777341 0.99469426 0.41598561] [ 0. 0. 0. 1. ]] SLAMing on 134.17992885099997 meters Centerline goodness : 0.786075 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.06, Z:0.42 [[ 0.98508745 -0.13964721 -0.10050563 -0.80155819] [ 0.14271414 0.98947376 0.02396548 -0.0550245 ] [ 0.09610098 -0.03795167 0.99464781 0.41643777] [ 0. 0. 0. 1. ]] SLAMing on 134.20992885099997 meters Centerline goodness : 0.786447 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.42 [[ 0.98458123 -0.14310554 -0.10060125 -0.80125731] [ 0.1459413 0.98906221 0.02137927 -0.05376608] [ 0.0964414 -0.0357315 0.9946971 0.41726845] [ 0. 0. 0. 1. ]] SLAMing on 134.23992885099997 meters Centerline goodness : 0.786784 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.42 [[ 0.98403226 -0.14577616 -0.10212652 -0.79876588] [ 0.14869102 0.98865007 0.02149443 -0.05230554] [ 0.09783402 -0.0363365 0.99453917 0.41857336] [ 0. 0. 0. 1. ]] SLAMing on 134.26992885099997 meters Centerline goodness : 0.785858 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.42 [[ 0.98381858 -0.14677448 -0.10275335 -0.79784009] [ 0.14972376 0.98849274 0.02156141 -0.05155267] [ 0.09840628 -0.03659714 0.99447315 0.41921008] [ 0. 0. 0. 1. ]] SLAMing on 134.29992885099998 meters Centerline goodness : 0.786828 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.42 [[ 0.98365578 -0.14746999 -0.10331464 -0.7969809 ] [ 0.15043056 0.98838823 0.02143252 -0.05041765] [ 0.09895432 -0.0366239 0.99441779 0.41960483] [ 0. 0. 0. 1. ]] SLAMing on 134.32992885099998 meters Centerline goodness : 0.785920 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:0.42 [[ 0.98355814 -0.14787247 -0.10366834 -0.79650239] [ 0.15081059 0.98833839 0.02105692 -0.04886435] [ 0.09934566 -0.03634499 0.994389 0.41976458] [ 0. 0. 0. 1. ]] SLAMing on 134.35992885099998 meters Centerline goodness : 0.783872 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.04, Z:0.42 [[ 0.98341139 -0.14797701 -0.10490398 -0.79538385] [ 0.15099863 0.98830171 0.02142763 -0.04422351] [ 0.10050598 -0.03691254 0.99425148 0.4203249 ] [ 0. 0. 0. 1. ]] SLAMing on 134.38992885099998 meters Centerline goodness : 0.784029 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.04, Z:0.42 [[ 0.98339353 -0.14795117 -0.10510768 -0.795596 ] [ 0.15088085 0.98834048 0.02044682 -0.04118202] [ 0.10085704 -0.035966 0.99425062 0.42043248] [ 0. 0. 0. 1. ]] SLAMing on 134.41992885099998 meters Centerline goodness : 0.833882 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.04, Z:0.42 [[ 0.98344461 -0.14769294 -0.10499279 -0.79614898] [ 0.15052677 0.9884125 0.01955558 -0.03846738] [ 0.10088797 -0.03503606 0.99428069 0.42026332] [ 0. 0. 0. 1. ]] SLAMing on 134.44992885099998 meters Centerline goodness : 0.784479 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.04, Z:0.42 [[ 0.98352493 -0.14729399 -0.10480072 -0.79686352] [ 0.1500197 0.98850849 0.01857581 -0.03559749] [ 0.1008603 -0.03399195 0.99431974 0.41999459] [ 0. 0. 0. 1. ]] SLAMing on 134.47992885099998 meters Centerline goodness : 0.783425 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.03, Z:0.42 [[ 0.98378975 -0.14460242 -0.10605601 -0.79533068] [ 0.14770425 0.98878779 0.02195835 -0.03430764] [ 0.10169165 -0.03726732 0.99411768 0.41987379] [ 0. 0. 0. 1. ]] SLAMing on 134.50992885099998 meters Centerline goodness : 0.782482 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.03, Z:0.42 [[ 0.98399008 -0.14237789 -0.10720103 -0.79407618] [ 0.14572645 0.98903283 0.02403873 -0.02999664] [ 0.10260275 -0.03927589 0.99394672 0.4193729 ] [ 0. 0. 0. 1. ]] SLAMing on 134.53992885099998 meters Centerline goodness : 0.782628 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.03, Z:0.42 [[ 0.98384539 -0.14325462 -0.1073609 -0.79400598] [ 0.14649379 0.98894704 0.02287626 -0.02736765] [ 0.10289712 -0.03823441 0.9939569 0.41939881] [ 0. 0. 0. 1. ]] SLAMing on 134.569928851 meters Centerline goodness : 0.780440 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.42 [[ 0.9835548 -0.14462635 -0.10818118 -0.7928237 ] [ 0.1477755 0.98878416 0.02164013 -0.02339794] [ 0.10383811 -0.03727078 0.99389564 0.4195979 ] [ 0. 0. 0. 1. ]] SLAMing on 134.599928851 meters Centerline goodness : 0.779000 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.42 [[ 0.98336839 -0.1455814 -0.10859403 -0.79275519] [ 0.14867771 0.98866399 0.02093914 -0.02134532] [ 0.10431465 -0.0367364 0.99386563 0.42044725] [ 0. 0. 0. 1. ]] SLAMing on 134.629928851 meters Centerline goodness : 0.779712 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.42 [[ 0.98310025 -0.14665997 -0.10956624 -0.79159281] [ 0.14975605 0.98850962 0.02053934 -0.01886409] [ 0.10529499 -0.03660044 0.99376726 0.42121943] [ 0. 0. 0. 1. ]] SLAMing on 134.659928851 meters Centerline goodness : 0.779225 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.42 [[ 0.98296931 -0.14786664 -0.10911828 -0.79330221] [ 0.15081312 0.98837549 0.01921683 -0.01602936] [ 0.1050083 -0.03534602 0.993843 0.42184989] [ 0. 0. 0. 1. ]] SLAMing on 134.689928851 meters Centerline goodness : 0.777840 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.01, Z:0.42 [[ 0.98284335 -0.14898205 -0.10873504 -0.79465951] [ 0.15178267 0.98825172 0.01790429 -0.01316909] [ 0.10479017 -0.0341012 0.99390952 0.42233187] [ 0. 0. 0. 1. ]] SLAMing on 134.719928851 meters Centerline goodness : 0.775803 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.01, Z:0.42 [[ 0.98263217 -0.15089629 -0.10800154 -0.79701502] [ 0.15343747 0.98803567 0.01557085 -0.00763015] [ 0.10435979 -0.0318719 0.99402878 0.42292869] [ 0. 0. 0. 1. ]] SLAMing on 134.749928851 meters Centerline goodness : 0.831121 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.00, Z:0.42 [[ 0.98252987 -0.15188858 -0.10754026 -0.79842966] [ 0.15428825 0.98792227 0.01430818 -0.00445665] [ 0.10406817 -0.03065041 0.99409777 0.42321484] [ 0. 0. 0. 1. ]] SLAMing on 134.779928851 meters Centerline goodness : 0.775813 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.00, Z:0.42 [[ 9.82421147e-01 -1.52824441e-01 -1.07207188e-01 -7.99616545e-01] [ 1.55079646e-01 9.87816765e-01 1.29746776e-02 -9.34057901e-04] [ 1.03918210e-01 -2.93722503e-02 9.94152039e-01 4.23570618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.809928851 meters Centerline goodness : 0.773777 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.00, Z:0.42 [[ 0.98231181 -0.15375339 -0.10688034 -0.80071394] [ 0.15585676 0.98771199 0.01156305 0.00300047] [ 0.10378913 -0.02801654 0.99420465 0.4238794 ] [ 0. 0. 0. 1. ]] SLAMing on 134.839928851 meters Centerline goodness : 0.775102 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.01, Z:0.42 [[ 0.98220408 -0.15465162 -0.10657406 -0.80191734] [ 0.15659624 0.98761131 0.01007543 0.00706407] [ 0.10369556 -0.02658523 0.99425372 0.42441116] [ 0. 0. 0. 1. ]] SLAMing on 134.86992885099997 meters Centerline goodness : 0.774503 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.01, Z:0.42 [[ 0.98209715 -0.15546928 -0.10636959 -0.80284164] [ 0.15727004 0.98751728 0.00870415 0.01098862] [ 0.10368858 -0.02527708 0.99428856 0.42480913] [ 0. 0. 0. 1. ]] SLAMing on 134.89992885099997 meters Centerline goodness : 0.772813 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:0.42 [[ 0.98200436 -0.15638177 -0.10588756 -0.80393193] [ 0.15799285 0.9874158 0.00694927 0.01777109] [ 0.10346831 -0.02355369 0.99435383 0.42445861] [ 0. 0. 0. 1. ]] SLAMing on 134.92992885099997 meters Centerline goodness : 0.769937 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:0.42 [[ 0.98191626 -0.15699851 -0.10579188 -0.80448867] [ 0.15848587 0.98734451 0.00574942 0.02129135] [ 0.10355038 -0.02241196 0.99437167 0.42478734] [ 0. 0. 0. 1. ]] SLAMing on 134.95992885099997 meters Centerline goodness : 0.770900 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.02, Z:0.43 [[ 0.981832 -0.15769275 -0.10554113 -0.80541997] [ 0.1590455 0.98726112 0.00447264 0.02492234] [ 0.10349135 -0.02117722 0.99440488 0.42521058] [ 0. 0. 0. 1. ]] SLAMing on 134.98992885099997 meters Centerline goodness : 0.771556 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.03, Z:0.43 [[ 0.98170119 -0.15880108 -0.10509514 -0.8071658 ] [ 0.15993031 0.98712551 0.00235195 0.0313952 ] [ 0.1033686 -0.01911681 0.99445939 0.42600967] [ 0. 0. 0. 1. ]] SLAMing on 135.01992885099997 meters Centerline goodness : 0.774471 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.03, Z:0.43 [[ 0.98165217 -0.15912641 -0.10506098 -0.80735047] [ 0.16016489 0.98708918 0.00146822 0.03425012] [ 0.10347092 -0.01826836 0.9944647 0.42614592] [ 0. 0. 0. 1. ]] SLAMing on 135.04992885099998 meters Centerline goodness : 0.771332 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.04, Z:0.43 [[ 9.81624655e-01 -1.59378456e-01 -1.04935906e-01 -8.07175612e-01] [ 1.60304035e-01 9.87067608e-01 3.91486366e-04 3.91025825e-02] [ 1.03516439e-01 -1.72059417e-02 9.94478910e-01 4.25530382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.07992885099998 meters Centerline goodness : 0.771289 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.04, Z:0.43 [[ 9.81573587e-01 -1.59762793e-01 -1.04829113e-01 -8.07557827e-01] [ 1.60604926e-01 9.87018686e-01 -4.13131490e-04 4.18010786e-02] [ 1.03534297e-01 -1.64305531e-02 9.94490164e-01 4.25620303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.10992885099998 meters Centerline goodness : 0.770949 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.04, Z:0.43 [[ 0.98151314 -0.16018905 -0.10474457 -0.80793446] [ 0.16094112 0.98696317 -0.00128757 0.04446598] [ 0.10358529 -0.01559394 0.99449832 0.42582147] [ 0. 0. 0. 1. ]] SLAMing on 135.13992885099998 meters Centerline goodness : 0.772645 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.05, Z:0.43 [[ 0.98141623 -0.16097569 -0.10444621 -0.80911418] [ 0.16157592 0.98685647 -0.00274462 0.04915823] [ 0.10351524 -0.01418238 0.99452675 0.42633246] [ 0. 0. 0. 1. ]] SLAMing on 135.16992885099998 meters Centerline goodness : 0.773668 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.05, Z:0.43 [[ 0.98133873 -0.1616158 -0.10418558 -0.81019126] [ 0.16213245 0.98676263 -0.00354731 0.05112196] [ 0.10337974 -0.01341075 0.99455155 0.42682293] [ 0. 0. 0. 1. ]] SLAMing on 135.19992885099998 meters Centerline goodness : 0.775784 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.05, Z:0.43 [[ 0.98126094 -0.16224833 -0.10393477 -0.81119927] [ 0.16269764 0.98666705 -0.00419726 0.05251898] [ 0.10323002 -0.01279133 0.99457526 0.42721438] [ 0. 0. 0. 1. ]] SLAMing on 135.22992885099998 meters Centerline goodness : 0.774624 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.05, Z:0.43 [[ 0.98119192 -0.16289265 -0.10357801 -0.81221754] [ 0.16328951 0.98656703 -0.00469379 0.05373564] [ 0.10295123 -0.01230769 0.99461026 0.42727024] [ 0. 0. 0. 1. ]] SLAMing on 135.25992885099998 meters Centerline goodness : 0.773226 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.06, Z:0.43 [[ 0.98103305 -0.1642987 -0.10285956 -0.81450888] [ 0.16459012 0.98634554 -0.00570629 0.05587035] [ 0.10239261 -0.01133161 0.99467952 0.42757049] [ 0. 0. 0. 1. ]] SLAMing on 135.28992885099998 meters Centerline goodness : 0.776066 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.06, Z:0.43 [[ 0.9809513 -0.16511893 -0.10232446 -0.81610111] [ 0.16535237 0.98621471 -0.00625552 0.05688287] [ 0.10194679 -0.01078323 0.99473141 0.42781797] [ 0. 0. 0. 1. ]] SLAMing on 135.319928851 meters Centerline goodness : 0.778176 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.06, Z:0.43 [[ 0.98085596 -0.16599828 -0.10181435 -0.81786614] [ 0.16616876 0.98607344 -0.00686415 0.05775439] [ 0.10153587 -0.01018562 0.99477973 0.42831544] [ 0. 0. 0. 1. ]] SLAMing on 135.349928851 meters Centerline goodness : 0.777283 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.06, Z:0.43 [[ 0.98076564 -0.16676546 -0.10142998 -0.81929575] [ 0.1668774 0.98594958 -0.00744076 0.05856739] [ 0.10124571 -0.00962872 0.99481485 0.42881203] [ 0. 0. 0. 1. ]] SLAMing on 135.379928851 meters Centerline goodness : 0.778171 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.06, Z:0.43 [[ 0.98063851 -0.16793057 -0.10073453 -0.8211992 ] [ 0.16797355 0.98575809 -0.00811624 0.0597239 ] [ 0.10066284 -0.00896163 0.99488023 0.42885228] [ 0. 0. 0. 1. ]] SLAMing on 135.409928851 meters Centerline goodness : 0.777948 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.06, Z:0.43 [[ 0.98056916 -0.16849411 -0.10046817 -0.82209094] [ 0.1684974 0.98566532 -0.00851455 0.06030639] [ 0.10046264 -0.00857952 0.99490384 0.42907038] [ 0. 0. 0. 1. ]] SLAMing on 135.439928851 meters Centerline goodness : 0.780181 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.06, Z:0.43 [[ 0.98050872 -0.16906052 -0.10010586 -0.82306582] [ 0.16903097 0.98557111 -0.00883886 0.06094165] [ 0.10015575 -0.00825441 0.99493753 0.42906072] [ 0. 0. 0. 1. ]] SLAMing on 135.469928851 meters Centerline goodness : 0.778568 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.06, Z:0.43 [[ 0.98045656 -0.16954353 -0.09979942 -0.82389426] [ 0.1694796 0.98549093 -0.00918069 0.06154495] [ 0.09990795 -0.0079127 0.99496522 0.4291558 ] [ 0. 0. 0. 1. ]] SLAMing on 135.499928851 meters Centerline goodness : 0.778159 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.06, Z:0.43 [[ 0.98040568 -0.17000488 -0.09951401 -0.82467256] [ 0.16991224 0.98541371 -0.00946813 0.06227423] [ 0.0996721 -0.00762604 0.99499111 0.42914859] [ 0. 0. 0. 1. ]] SLAMing on 135.529928851 meters Centerline goodness : 0.777949 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.06, Z:0.43 [[ 0.98033743 -0.17046533 -0.09939869 -0.82541598] [ 0.17031983 0.98533798 -0.01001082 0.06342683] [ 0.0996478 -0.00711558 0.99499733 0.42965701] [ 0. 0. 0. 1. ]] SLAMing on 135.559928851 meters Centerline goodness : 0.778716 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.06, Z:0.43 [[ 0.98031431 -0.17069292 -0.09923597 -0.82589907] [ 0.17052026 0.98530052 -0.01028228 0.06408003] [ 0.09953236 -0.00684188 0.9950108 0.42976419] [ 0. 0. 0. 1. ]] SLAMing on 135.589928851 meters Centerline goodness : 0.778937 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.06, Z:0.43 [[ 0.9802829 -0.1709508 -0.09910232 -0.82647842] [ 0.170751 0.98525765 -0.0105577 0.06435334] [ 0.09944617 -0.00657229 0.99502124 0.43013465] [ 0. 0. 0. 1. ]] SLAMing on 135.61992885099997 meters Centerline goodness : 0.780176 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.06, Z:0.43 [[ 0.9802619 -0.17114931 -0.09896729 -0.82703866] [ 0.17091907 0.98522518 -0.01086376 0.06485356] [ 0.09936439 -0.00626607 0.99503138 0.43050745] [ 0. 0. 0. 1. ]] SLAMing on 135.64992885099997 meters Centerline goodness : 0.779943 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.07, Z:0.43 [[ 0.98029539 -0.1708633 -0.09912966 -0.82684627] [ 0.1706023 0.98527669 -0.01116702 0.06603562] [ 0.09957818 -0.00596477 0.99501186 0.43099384] [ 0. 0. 0. 1. ]] SLAMing on 135.67992885099997 meters Centerline goodness : 0.779400 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.07, Z:0.43 [[ 0.98031365 -0.1706651 -0.09929031 -0.8265119 ] [ 0.17038298 0.98531223 -0.01137725 0.06673951] [ 0.09977365 -0.0057641 0.99499346 0.43124977] [ 0. 0. 0. 1. ]] SLAMing on 135.70992885099997 meters Centerline goodness : 0.778884 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.07, Z:0.43 [[ 0.98033346 -0.17042937 -0.09949943 -0.82610426] [ 0.1701293 0.98535399 -0.01155598 0.06739121] [ 0.10001164 -0.00559905 0.99497051 0.43152436] [ 0. 0. 0. 1. ]] SLAMing on 135.73992885099997 meters Centerline goodness : 0.779771 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.07, Z:0.43 [[ 0.98101713 -0.16625945 -0.09981572 -0.8266741 ] [ 0.16638556 0.98603508 -0.0071188 0.06558176] [ 0.09960537 -0.00962423 0.99498047 0.4309949 ] [ 0. 0. 0. 1. ]] SLAMing on 135.76992885099997 meters Centerline goodness : 0.779679 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.07, Z:0.43 [[ 0.98106167 -0.16586509 -0.10003386 -0.82597474] [ 0.16600155 0.98610053 -0.00701663 0.06575135] [ 0.09980726 -0.00972203 0.99495929 0.43090774] [ 0. 0. 0. 1. ]] SLAMing on 135.79992885099998 meters Centerline goodness : 0.780329 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.07, Z:0.43 [[ 0.9811029 -0.16549952 -0.10023476 -0.82523526] [ 0.16564247 0.98616136 -0.00695297 0.06589434] [ 0.09999836 -0.00978156 0.99493952 0.43077554] [ 0. 0. 0. 1. ]] SLAMing on 135.82992885099998 meters Centerline goodness : 0.780285 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.06, Z:0.43 [[ 0.98176194 -0.16135475 -0.10053925 -0.82585941] [ 0.16191384 0.9868014 -0.00262832 0.06425412] [ 0.09963637 -0.01369831 0.99492962 0.43039383] [ 0. 0. 0. 1. ]] SLAMing on 135.85992885099998 meters Centerline goodness : 0.780253 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.06, Z:0.43 [[ 0.98178817 -0.16110984 -0.10067581 -0.82545882] [ 0.16166188 0.9868425 -0.00270482 0.06482912] [ 0.09978694 -0.01361988 0.99491561 0.43045207] [ 0. 0. 0. 1. ]] SLAMing on 135.88992885099998 meters Centerline goodness : 0.781798 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.07, Z:0.43 [[ 0.98180545 -0.16090495 -0.10083479 -0.82514714] [ 0.16145532 0.98687624 -0.00273283 0.06516788] [ 0.09995119 -0.01359721 0.99489943 0.43056476] [ 0. 0. 0. 1. ]] SLAMing on 135.91992885099998 meters Centerline goodness : 0.780546 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.07, Z:0.43 [[ 0.9818365 -0.1606221 -0.10098328 -0.82463326] [ 0.16117997 0.98692144 -0.00266401 0.06515987] [ 0.10009046 -0.01366086 0.99488456 0.43053639] [ 0. 0. 0. 1. ]] SLAMing on 135.94992885099998 meters Centerline goodness : 0.780220 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.06, Z:0.43 [[ 0.981877 -0.16033004 -0.10105358 -0.82424453] [ 0.16092077 0.98696457 -0.00233215 0.06431988] [ 0.10011022 -0.01397173 0.99487825 0.43035081] [ 0. 0. 0. 1. ]] SLAMing on 135.97992885099998 meters Centerline goodness : 0.780959 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.06, Z:0.43 [[ 0.98189699 -0.16029255 -0.1009188 -0.82428499] [ 0.16092855 0.98696431 -0.00186058 0.06272713] [ 0.09990149 -0.01441382 0.99489293 0.42998457] [ 0. 0. 0. 1. ]] SLAMing on 136.00992885099998 meters Centerline goodness : 0.780959 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.06, Z:0.43 [[ 0.98189699 -0.16029255 -0.1009188 -0.82428499] [ 0.16092855 0.98696431 -0.00186058 0.06272713] [ 0.09990149 -0.01441382 0.99489293 0.42998457] [ 0. 0. 0. 1. ]] SLAMing on 136.03992885099998 meters Centerline goodness : 0.783794 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.06, Z:0.43 [[ 0.98190219 -0.16031719 -0.10082897 -0.82445487] [ 0.16096239 0.98695898 -0.00175716 0.06211638] [ 0.09979576 -0.01450431 0.99490222 0.43001631] [ 0. 0. 0. 1. ]] SLAMing on 136.069928851 meters Centerline goodness : 0.783212 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.06, Z:0.43 [[ 0.98188677 -0.16051986 -0.10065653 -0.82503611] [ 0.16119447 0.9869216 -0.00144851 0.06033391] [ 0.09957262 -0.014803 0.99492018 0.43018371] [ 0. 0. 0. 1. ]] SLAMing on 136.099928851 meters Centerline goodness : 0.783167 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.06, Z:0.43 [[ 0.98187866 -0.16070766 -0.10043581 -0.8256096 ] [ 0.16139939 0.98688837 -0.00125355 0.05915091] [ 0.09932038 -0.01497945 0.99494275 0.43021445] [ 0. 0. 0. 1. ]] SLAMing on 136.129928851 meters Centerline goodness : 0.782966 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.06, Z:0.43 [[ 9.81849421e-01 -1.61035141e-01 -1.00196791e-01 -8.26211464e-01] [ 1.61775301e-01 9.86827337e-01 -7.47464326e-04 5.61716953e-02] [ 9.89973007e-02 -1.54754687e-02 9.94967358e-01 4.30185958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.159928851 meters Centerline goodness : 0.787099 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.05, Z:0.43 [[ 9.81830841e-01 -1.61357689e-01 -9.98593783e-02 -8.27023590e-01] [ 1.62149698e-01 9.86766153e-01 -1.87577144e-04 5.34377822e-02] [ 9.85681215e-02 -1.60079990e-02 9.95001542e-01 4.30085563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.189928851 meters Centerline goodness : 0.784173 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.05, Z:0.43 [[ 9.81843792e-01 -1.61358511e-01 -9.97306280e-02 -8.27149134e-01] [ 1.62185473e-01 9.86760274e-01 1.86817833e-04 5.20719670e-02] [ 9.83800771e-02 -1.63582850e-02 9.95014456e-01 4.29884615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.219928851 meters Centerline goodness : 0.783240 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.05, Z:0.43 [[ 9.81853834e-01 -1.61304849e-01 -9.97185787e-02 -8.27139491e-01] [ 1.62168036e-01 9.86762999e-01 5.58083956e-04 5.06720820e-02] [ 9.83085821e-02 -1.67191229e-02 9.95015524e-01 4.29839495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.249928851 meters Centerline goodness : 0.783240 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.05, Z:0.43 [[ 9.81853834e-01 -1.61304849e-01 -9.97185787e-02 -8.27139491e-01] [ 1.62168036e-01 9.86762999e-01 5.58083956e-04 5.06720820e-02] [ 9.83085821e-02 -1.67191229e-02 9.95015524e-01 4.29839495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.279928851 meters Centerline goodness : 0.784093 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.05, Z:0.43 [[ 9.81874329e-01 -1.61220126e-01 -9.96537666e-02 -8.27140689e-01] [ 1.62118012e-01 9.86770943e-01 9.24981217e-04 4.93705505e-02] [ 9.81863157e-02 -1.70638858e-02 9.95021744e-01 4.29696473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.309928851 meters Centerline goodness : 0.784110 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.05, Z:0.43 [[ 0.98189328 -0.16113244 -0.09960882 -0.82708141] [ 0.16205492 0.98678103 0.00118667 0.04844591] [ 0.09810089 -0.01730729 0.99502597 0.42955125] [ 0. 0. 0. 1. ]] SLAMing on 136.339928851 meters Centerline goodness : 0.783379 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.05, Z:0.43 [[ 0.98192395 -0.16089705 -0.09968702 -0.82658739] [ 0.16186035 0.98681238 0.00159856 0.04735556] [ 0.09811518 -0.01770504 0.99501756 0.42921148] [ 0. 0. 0. 1. ]] SLAMing on 136.36992885099997 meters Centerline goodness : 0.784285 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.05, Z:0.43 [[ 0.98196102 -0.16053774 -0.09990088 -0.82582175] [ 0.1615413 0.98686396 0.0019855 0.04652054] [ 0.09826983 -0.0180878 0.99499541 0.42892353] [ 0. 0. 0. 1. ]] SLAMing on 136.39992885099997 meters Centerline goodness : 0.783954 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.05, Z:0.43 [[ 0.98199622 -0.16020172 -0.10009409 -0.82512748] [ 0.16124097 0.98691232 0.00232745 0.0458132 ] [ 0.09841123 -0.01842481 0.99497525 0.42868772] [ 0. 0. 0. 1. ]] SLAMing on 136.42992885099997 meters Centerline goodness : 0.781949 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.05, Z:0.43 [[ 0.98203845 -0.15986864 -0.10021226 -0.82452361] [ 0.16093934 0.98696077 0.00263979 0.04534657] [ 0.09848354 -0.01872047 0.99496258 0.42832269] [ 0. 0. 0. 1. ]] SLAMing on 136.45992885099997 meters Centerline goodness : 0.830158 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.04, Z:0.43 [[ 0.98207698 -0.15947696 -0.10045842 -0.82374436] [ 0.16057992 0.98701847 0.00293788 0.04484953] [ 0.0986858 -0.01901683 0.99493692 0.42812468] [ 0. 0. 0. 1. ]] SLAMing on 136.48992885099997 meters Centerline goodness : 0.783161 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.04, Z:0.43 [[ 0.9822037 -0.15839068 -0.100937 -0.82184451] [ 0.15956561 0.98718068 0.00362325 0.0438129 ] [ 0.09906916 -0.01966484 0.99488622 0.42751249] [ 0. 0. 0. 1. ]] SLAMing on 136.51992885099997 meters Centerline goodness : 0.829576 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.04, Z:0.43 [[ 0.98225959 -0.15790409 -0.10115531 -0.82100731] [ 0.15910404 0.98725429 0.00385527 0.04372367] [ 0.09925725 -0.01988109 0.99486318 0.42722315] [ 0. 0. 0. 1. ]] SLAMing on 136.54992885099998 meters Centerline goodness : 0.781711 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.04, Z:0.43 [[ 0.98230397 -0.1574284 -0.10146529 -0.82013344] [ 0.15863755 0.98732915 0.00390925 0.04418866] [ 0.09956421 -0.01993628 0.9948314 0.42717589] [ 0. 0. 0. 1. ]] SLAMing on 136.57992885099998 meters Centerline goodness : 0.781686 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.05, Z:0.43 [[ 0.98233138 -0.15705213 -0.10178254 -0.81934888] [ 0.15825266 0.98739142 0.00377894 0.04510009] [ 0.09990571 -0.01981952 0.99479949 0.4272765 ] [ 0. 0. 0. 1. ]] SLAMing on 136.60992885099998 meters Centerline goodness : 0.780664 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.04, Z:0.43 [[ 0.98299625 -0.15248754 -0.10230308 -0.81889005] [ 0.15411986 0.98801814 0.0081991 0.04432341] [ 0.09982704 -0.02382662 0.99471949 0.42627095] [ 0. 0. 0. 1. ]] SLAMing on 136.63992885099998 meters Centerline goodness : 0.782029 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.04, Z:0.43 [[ 0.98304087 -0.15203335 -0.10255003 -0.81793181] [ 0.15367316 0.9880874 0.0082375 0.04497095] [ 0.10007602 -0.02385698 0.99469374 0.42596124] [ 0. 0. 0. 1. ]] SLAMing on 136.66992885099998 meters Centerline goodness : 0.779420 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.05, Z:0.43 [[ 0.98306836 -0.15170276 -0.1027758 -0.81710032] [ 0.15333904 0.9881399 0.00816546 0.04578689] [ 0.10031815 -0.02378675 0.99467103 0.42573458] [ 0. 0. 0. 1. ]] SLAMing on 136.69992885099998 meters Centerline goodness : 0.780929 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.05, Z:0.43 [[ 0.98311295 -0.15125171 -0.10301382 -0.81627487] [ 0.15288464 0.98821086 0.00809878 0.04670354] [ 0.10057442 -0.02371125 0.99464695 0.42557705] [ 0. 0. 0. 1. ]] SLAMing on 136.72992885099998 meters Centerline goodness : 0.780487 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.05, Z:0.43 [[ 0.98310726 -0.15133696 -0.10294286 -0.81651061] [ 0.152955 0.98820107 0.00796384 0.04699915] [ 0.10052302 -0.02357493 0.99465539 0.42567386] [ 0. 0. 0. 1. ]] SLAMing on 136.75992885099998 meters Centerline goodness : 0.780694 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.05, Z:0.43 [[ 0.98309565 -0.15145563 -0.10287918 -0.81682478] [ 0.15306056 0.98818569 0.00784303 0.04722846] [ 0.10047587 -0.02345719 0.99466294 0.42583273] [ 0. 0. 0. 1. ]] SLAMing on 136.78992885099998 meters Centerline goodness : 0.781486 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.05, Z:0.43 [[ 0.98308286 -0.15164385 -0.10272407 -0.81732808] [ 0.15324537 0.9881571 0.00783597 0.04690961] [ 0.10031925 -0.02344539 0.99467902 0.42598268] [ 0. 0. 0. 1. ]] SLAMing on 136.819928851 meters Centerline goodness : 0.780274 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.05, Z:0.43 [[ 0.98302164 -0.15231448 -0.10231694 -0.81838661] [ 0.15391761 0.98805199 0.00791383 0.04540507] [ 0.09988907 -0.02352785 0.99472037 0.42597044] [ 0. 0. 0. 1. ]] SLAMing on 136.849928851 meters Centerline goodness : 0.827234 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.04, Z:0.43 [[ 0.98296759 -0.15294947 -0.10188803 -0.81944229] [ 0.15455408 0.98795196 0.0079982 0.04400081] [ 0.09943716 -0.02360918 0.99476372 0.42590779] [ 0. 0. 0. 1. ]] SLAMing on 136.879928851 meters Centerline goodness : 0.779616 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.04, Z:0.43 [[ 0.98283068 -0.1540999 -0.10147449 -0.82112192] [ 0.1556744 0.98777813 0.00773662 0.04257289] [ 0.09904207 -0.02340076 0.99480806 0.42651867] [ 0. 0. 0. 1. ]] SLAMing on 136.909928851 meters Centerline goodness : 0.777958 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.04, Z:0.43 [[ 0.98209323 -0.15923476 -0.10068357 -0.82210735] [ 0.1604283 0.98704011 0.00381835 0.04081031] [ 0.09877071 -0.01990247 0.99491117 0.42709704] [ 0. 0. 0. 1. ]] SLAMing on 136.939928851 meters Centerline goodness : 0.779434 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.04, Z:0.43 [[ 0.98198987 -0.1600686 -0.10036905 -0.82308809] [ 0.161266 0.98690335 0.00387909 0.03894179] [ 0.09843363 -0.01999534 0.99494272 0.42719685] [ 0. 0. 0. 1. ]] SLAMing on 136.969928851 meters Centerline goodness : 0.826996 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.04, Z:0.43 [[ 0.98184553 -0.1611283 -0.10008506 -0.82421798] [ 0.16230943 0.9867329 0.00371874 0.03715033] [ 0.09815803 -0.01989598 0.99497193 0.42756802] [ 0. 0. 0. 1. ]] SLAMing on 136.999928851 meters Centerline goodness : 0.778717 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.04, Z:0.43 [[ 0.98172687 -0.16210573 -0.0996699 -0.82565637] [ 0.16327785 0.98657333 0.00366273 0.03541432] [ 0.09773791 -0.01986968 0.99501382 0.42793142] [ 0. 0. 0. 1. ]] SLAMing on 137.029928851 meters Centerline goodness : 0.826652 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.03, Z:0.43 [[ 9.80968581e-01 -1.67185047e-01 -9.87410902e-02 -8.27084339e-01] [ 1.67966585e-01 9.85792607e-01 -4.03493533e-04 3.35344807e-02] [ 9.74056948e-02 -1.61893892e-02 9.95113076e-01 4.29038919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.059928851 meters Centerline goodness : 0.778839 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.03, Z:0.43 [[ 9.80878215e-01 -1.67919889e-01 -9.83912495e-02 -8.28274583e-01] [ 1.68710095e-01 9.85665673e-01 -2.92844344e-04 3.13688589e-02] [ 9.70300515e-02 -1.63123524e-02 9.95147766e-01 4.29427616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.089928851 meters Centerline goodness : 0.780473 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.03, Z:0.43 [[ 9.80822410e-01 -1.68423055e-01 -9.80870793e-02 -8.29153312e-01] [ 1.69224356e-01 9.85577543e-01 -1.52311633e-04 2.95609546e-02] [ 9.66980754e-02 -1.64493322e-02 9.95177824e-01 4.29627545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.11992885099997 meters Centerline goodness : 0.825404 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.03, Z:0.43 [[ 9.80702023e-01 -1.69290441e-01 -9.77971832e-02 -8.30255587e-01] [ 1.70097980e-01 9.85427151e-01 -8.14332051e-05 2.69521572e-02] [ 9.63857855e-02 -1.65552416e-02 9.95206363e-01 4.30096192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.14992885099997 meters Centerline goodness : 0.778604 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.03, Z:0.43 [[ 9.80707066e-01 -1.69351544e-01 -9.76406922e-02 -8.30477547e-01] [ 1.70188170e-01 9.85411552e-01 2.43483200e-04 2.56391596e-02] [ 9.61750318e-02 -1.68560764e-02 9.95221702e-01 4.29939913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.17992885099997 meters Centerline goodness : 0.777751 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.02, Z:0.43 [[ 9.80705819e-01 -1.69461690e-01 -9.74619522e-02 -8.30862828e-01] [ 1.70316333e-01 9.85389334e-01 4.56349520e-04 2.44196364e-02] [ 9.59606344e-02 -1.70469069e-02 9.95239147e-01 4.29980066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.20992885099997 meters Centerline goodness : 0.827144 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.02, Z:0.43 [[ 9.80705309e-01 -1.69524429e-01 -9.73579260e-02 -8.31196716e-01] [ 1.70393428e-01 9.85375915e-01 6.20911837e-04 2.33715834e-02] [ 9.58288957e-02 -1.71980823e-02 9.95249239e-01 4.30162462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.23992885099997 meters Centerline goodness : 0.779574 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.02, Z:0.43 [[ 9.80699760e-01 -1.69571343e-01 -9.73321131e-02 -8.31503190e-01] [ 1.70447723e-01 9.85366472e-01 6.99922565e-04 2.26374503e-02] [ 9.57891141e-02 -1.72764509e-02 9.95251712e-01 4.30520250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.26992885099997 meters Centerline goodness : 0.780644 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.02, Z:0.43 [[ 9.80701908e-01 -1.69498196e-01 -9.74378242e-02 -8.31590935e-01] [ 1.70375253e-01 9.85379011e-01 6.91418426e-04 2.21106838e-02] [ 9.58959927e-02 -1.72790693e-02 9.95241374e-01 4.31043472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.29992885099998 meters Centerline goodness : 0.781126 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.02, Z:0.43 [[ 0.98081514 -0.16856474 -0.09791622 -0.83027741] [ 0.16949143 0.98553097 0.00116409 0.02112856] [ 0.09630324 -0.01773772 0.99519398 0.43111485] [ 0. 0. 0. 1. ]] SLAMing on 137.32992885099998 meters Centerline goodness : 0.777883 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.02, Z:0.43 [[ 0.98087944 -0.16803787 -0.09817735 -0.82950757] [ 0.16898587 0.98561753 0.00136184 0.02106065] [ 0.09653648 -0.01792639 0.995168 0.43106042] [ 0. 0. 0. 1. ]] SLAMing on 137.35992885099998 meters Centerline goodness : 0.828015 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.02, Z:0.43 [[ 0.98094442 -0.1674196 -0.09858361 -0.82851036] [ 0.16838577 0.98572003 0.0015036 0.02119121] [ 0.09692411 -0.01807503 0.99512764 0.43113204] [ 0. 0. 0. 1. ]] SLAMing on 137.38992885099998 meters Centerline goodness : 0.778117 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.02, Z:0.43 [[ 0.98103113 -0.16666655 -0.09899584 -0.82730432] [ 0.16765673 0.98584395 0.00170979 0.0214127 ] [ 0.09730949 -0.01827467 0.99508638 0.43103382] [ 0. 0. 0. 1. ]] SLAMing on 137.41992885099998 meters Centerline goodness : 0.828613 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.02, Z:0.43 [[ 0.98178022 -0.16171363 -0.09978128 -0.82648109] [ 0.16314105 0.98658289 0.00626127 0.02022712] [ 0.09742997 -0.02242562 0.99498969 0.43040817] [ 0. 0. 0. 1. ]] SLAMing on 137.44992885099998 meters Centerline goodness : 0.779286 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.02, Z:0.43 [[ 0.98186449 -0.16094428 -0.10019508 -0.82522521] [ 0.16239945 0.98670378 0.00648664 0.02045548] [ 0.09781888 -0.02264063 0.99494667 0.43026978] [ 0. 0. 0. 1. ]] SLAMing on 137.47992885099998 meters Centerline goodness : 0.778204 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.02, Z:0.43 [[ 0.98192526 -0.1603887 -0.10049003 -0.82439254] [ 0.16186819 0.98678969 0.00669268 0.02043857] [ 0.0980891 -0.02283785 0.99491555 0.43021085] [ 0. 0. 0. 1. ]] SLAMing on 137.50992885099998 meters Centerline goodness : 0.776156 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.02, Z:0.43 [[ 0.98202858 -0.15950737 -0.10088247 -0.82313568] [ 0.16104044 0.98692164 0.007187 0.01980149] [ 0.09841671 -0.023304 0.99487239 0.43003042] [ 0. 0. 0. 1. ]] SLAMing on 137.53992885099998 meters Centerline goodness : 0.775779 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.02, Z:0.43 [[ 0.98203814 -0.15939852 -0.1009614 -0.82298126] [ 0.16094187 0.98693706 0.00727748 0.01941396] [ 0.09848253 -0.02339568 0.99486373 0.43010928] [ 0. 0. 0. 1. ]] SLAMing on 137.569928851 meters Centerline goodness : 0.775828 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.02, Z:0.43 [[ 0.98204898 -0.1593016 -0.10100894 -0.82293551] [ 0.16085959 0.98694942 0.00741885 0.01870405] [ 0.09850888 -0.02353393 0.99485786 0.43028929] [ 0. 0. 0. 1. ]] SLAMing on 137.599928851 meters Centerline goodness : 0.777021 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.02, Z:0.43 [[ 0.98206077 -0.15924273 -0.10098712 -0.822913 ] [ 0.16081872 0.98695463 0.00760899 0.01787518] [ 0.09845803 -0.02371311 0.99485864 0.43028392] [ 0. 0. 0. 1. ]] SLAMing on 137.629928851 meters Centerline goodness : 0.829456 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.02, Z:0.43 [[ 0.98204295 -0.15949097 -0.10076842 -0.82352001] [ 0.16108997 0.98690825 0.0078826 0.01600338] [ 0.09819199 -0.02397383 0.99487868 0.43043528] [ 0. 0. 0. 1. ]] SLAMing on 137.659928851 meters Centerline goodness : 0.775761 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.01, Z:0.43 [[ 0.98203964 -0.15957574 -0.10066646 -0.82377543] [ 0.16119043 0.98689039 0.0080626 0.01493608] [ 0.09806017 -0.02414426 0.99488756 0.43051618] [ 0. 0. 0. 1. ]] SLAMing on 137.689928851 meters Centerline goodness : 0.830936 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.01, Z:0.43 [[ 0.98202683 -0.15975915 -0.10050033 -0.8241374 ] [ 0.16138435 0.98685755 0.00820134 0.01387201] [ 0.09786927 -0.02427312 0.99490322 0.43056237] [ 0. 0. 0. 1. ]] SLAMing on 137.719928851 meters Centerline goodness : 0.775550 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.01, Z:0.43 [[ 0.98200706 -0.16000343 -0.10030474 -0.82471818] [ 0.1616381 0.98681491 0.00833448 0.01264574] [ 0.09764867 -0.02439758 0.99492185 0.43074795] [ 0. 0. 0. 1. ]] SLAMing on 137.749928851 meters Centerline goodness : 0.776403 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.01, Z:0.43 [[ 0.98190409 -0.16081499 -0.10001448 -0.82581286] [ 0.16245661 0.98667961 0.00843815 0.01000977] [ 0.09732526 -0.02453347 0.9949502 0.43124972] [ 0. 0. 0. 1. ]] SLAMing on 137.779928851 meters Centerline goodness : 0.833194 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.01, Z:0.43 [[ 0.98187649 -0.16109428 -0.09983585 -0.82630207] [ 0.16275152 0.98662935 0.00862961 0.00856784] [ 0.0971108 -0.02472165 0.9949665 0.43135798] [ 0. 0. 0. 1. ]] SLAMing on 137.809928851 meters Centerline goodness : 0.776163 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.01, Z:0.43 [[ 0.98183804 -0.16139948 -0.09972097 -0.82664185] [ 0.16307185 0.98657496 0.00879911 0.00706313] [ 0.09696204 -0.02490098 0.99497653 0.43147771] [ 0. 0. 0. 1. ]] SLAMing on 137.83992885099997 meters Centerline goodness : 0.781532 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.01, Z:0.43 [[ 0.98155608 -0.16343409 -0.09918147 -0.82728111] [ 0.16493329 0.9862795 0.00705355 0.00524084] [ 0.09666786 -0.02328178 0.99504436 0.43203352] [ 0. 0. 0. 1. ]] SLAMing on 137.86992885099997 meters Centerline goodness : 0.778363 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.00, Z:0.43 [[ 0.98153363 -0.16360439 -0.09912281 -0.82743558] [ 0.16510979 0.98624947 0.00712314 0.00454396] [ 0.09659444 -0.02335775 0.99504971 0.43207056] [ 0. 0. 0. 1. ]] SLAMing on 137.89992885099997 meters Centerline goodness : 0.778363 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.00, Z:0.43 [[ 0.98153363 -0.16360439 -0.09912281 -0.82743558] [ 0.16510979 0.98624947 0.00712314 0.00454396] [ 0.09659444 -0.02335775 0.99504971 0.43207056] [ 0. 0. 0. 1. ]] SLAMing on 137.92992885099997 meters Centerline goodness : 0.781830 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.00, Z:0.43 [[ 0.98150379 -0.16384529 -0.09902037 -0.8279397 ] [ 0.16535429 0.98620814 0.00717333 0.00375128] [ 0.09647937 -0.0234141 0.99505955 0.43238149] [ 0. 0. 0. 1. ]] SLAMing on 137.95992885099997 meters Centerline goodness : 0.835078 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.00, Z:0.43 [[ 0.98145179 -0.16432877 -0.09873418 -0.82913666] [ 0.16583075 0.98612833 0.00714675 0.00218849] [ 0.09619016 -0.02338735 0.99508818 0.43312361] [ 0. 0. 0. 1. ]] SLAMing on 137.98992885099997 meters Centerline goodness : 0.783045 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.00, Z:0.43 [[ 0.98143754 -0.16445524 -0.09866519 -0.8294948 ] [ 0.16595474 0.98610758 0.00713169 0.00155847] [ 0.09612165 -0.02337327 0.99509513 0.43345189] [ 0. 0. 0. 1. ]] SLAMing on 138.01992885099997 meters Centerline goodness : 0.836876 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.00, Z:0.43 [[ 0.98143551 -0.1645148 -0.09858609 -0.82981237] [ 0.16601208 0.98609798 0.00712511 0.00119803] [ 0.09604336 -0.02335932 0.99510302 0.43367902] [ 0. 0. 0. 1. ]] SLAMing on 138.04992885099998 meters Centerline goodness : 0.837037 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.00, Z:0.43 [[ 0.98144033 -0.16444408 -0.09865611 -0.82984804] [ 0.16594506 0.98610908 0.00714982 0.00100847] [ 0.09610994 -0.02338861 0.9950959 0.43393718] [ 0. 0. 0. 1. ]] SLAMing on 138.07992885099998 meters Centerline goodness : 0.786294 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.00, Z:0.43 [[ 9.81403207e-01 -1.64759783e-01 -9.84985262e-02 -8.30806262e-01] [ 1.66271849e-01 9.86053020e-01 7.28787025e-03 -5.55299138e-04] [ 9.59240214e-02 -2.35298713e-02 9.95110510e-01 4.34638620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.10992885099998 meters Centerline goodness : 0.836932 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.00, Z:0.43 [[ 0.98133285 -0.16534213 -0.09822332 -0.83168578] [ 0.16687126 0.98595013 0.00750487 -0.00267453] [ 0.09560242 -0.02375543 0.9951361 0.4349028 ] [ 0. 0. 0. 1. ]] SLAMing on 138.13992885099998 meters Centerline goodness : 0.787607 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.01, Z:0.44 [[ 0.98122693 -0.1660823 -0.09803257 -0.83255688] [ 0.16761689 0.98582312 0.00757332 -0.00539038] [ 0.09538498 -0.02386306 0.99515439 0.43553183] [ 0. 0. 0. 1. ]] SLAMing on 138.16992885099998 meters Centerline goodness : 0.787633 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.01, Z:0.44 [[ 0.98050947 -0.17061984 -0.09741686 -0.83257188] [ 0.17185871 0.98511174 0.0044088 -0.01070845] [ 0.09521426 -0.0210648 0.9952339 0.43611972] [ 0. 0. 0. 1. ]] SLAMing on 138.19992885099998 meters Centerline goodness : 0.791855 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.01, Z:0.44 [[ 0.97985228 -0.17453939 -0.0970851 -0.83175763] [ 0.17546707 0.98448476 0.00103456 -0.01269817] [ 0.09539823 -0.01804896 0.99527555 0.43633595] [ 0. 0. 0. 1. ]] SLAMing on 138.22992885099998 meters Centerline goodness : 0.791737 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.02, Z:0.44 [[ 9.79535099e-01 -1.76555401e-01 -9.66394335e-02 -8.32559979e-01] [ 1.77350899e-01 9.84147614e-01 -3.63677426e-04 -1.56692356e-02] [ 9.51716771e-02 -1.67828556e-02 9.95319390e-01 4.37161770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25992885099998 meters Centerline goodness : 0.791516 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.02, Z:0.44 [[ 9.79424529e-01 -1.77277939e-01 -9.64371562e-02 -8.33486069e-01] [ 1.78091095e-01 9.84013989e-01 -1.78193814e-04 -1.86628945e-02] [ 9.49271006e-02 -1.70000714e-02 9.95339059e-01 4.37851900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.28992885099998 meters Centerline goodness : 0.792282 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.02, Z:0.44 [[ 0.97866555 -0.18180771 -0.09570628 -0.83388302] [ 0.18237719 0.98322455 -0.00283715 -0.02453196] [ 0.09461658 -0.01467802 0.99540557 0.4384139 ] [ 0. 0. 0. 1. ]] SLAMing on 138.319928851 meters Centerline goodness : 0.789917 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.03, Z:0.44 [[ 0.97803136 -0.1853566 -0.0953813 -0.83265085] [ 0.18566531 0.98259648 -0.00570603 -0.02738399] [ 0.09477898 -0.01212833 0.99542446 0.43822485] [ 0. 0. 0. 1. ]] SLAMing on 138.349928851 meters Centerline goodness : 0.793400 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.03, Z:0.44 [[ 0.97738444 -0.18883878 -0.09518182 -0.83108499] [ 0.18888662 0.98196134 -0.00858927 -0.03030508] [ 0.09508686 -0.00958356 0.99542285 0.4380477 ] [ 0. 0. 0. 1. ]] SLAMing on 138.379928851 meters Centerline goodness : 0.791883 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.03, Z:0.44 [[ 0.97713328 -0.19034022 -0.09476891 -0.83135536] [ 0.19030061 0.98167952 -0.00953931 -0.03427923] [ 0.09484841 -0.00871341 0.99545359 0.43862331] [ 0. 0. 0. 1. ]] SLAMing on 138.409928851 meters Centerline goodness : 0.795555 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.44 [[ 0.97719728 -0.18477267 -0.10461615 -0.83403591] [ 0.18557665 0.98262759 -0.0020811 -0.04840768] [ 0.10318325 -0.01738067 0.9945105 0.44166692] [ 0. 0. 0. 1. ]] SLAMing on 138.439928851 meters Centerline goodness : 0.794148 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.44 [[ 9.77209713e-01 -1.84303781e-01 -1.05324705e-01 -8.32673561e-01] [ 1.85280845e-01 9.82685474e-01 -5.16565774e-04 -5.10267881e-02] [ 1.03596262e-01 -1.90098571e-02 9.94437751e-01 4.41929741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.469928851 meters Centerline goodness : 0.796077 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.44 [[ 9.77298254e-01 -1.83783506e-01 -1.05412264e-01 -8.32145030e-01] [ 1.84849656e-01 9.82766748e-01 3.50315912e-04 -5.30764996e-02] [ 1.03531285e-01 -1.98277838e-02 9.94428545e-01 4.41761972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.499928851 meters Centerline goodness : 0.796107 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.44 [[ 0.97742565 -0.18299088 -0.10560979 -0.83124058] [ 0.18415157 0.98289705 0.00126191 -0.05488588] [ 0.10357263 -0.02068163 0.99440685 0.44125772] [ 0. 0. 0. 1. ]] SLAMing on 138.529928851 meters Centerline goodness : 0.797733 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.44 [[ 0.97769925 -0.17555432 -0.11525995 -0.83481335] [ 0.17757114 0.98408023 0.00738882 -0.06626059] [ 0.1121279 -0.02769088 0.99330788 0.44398343] [ 0. 0. 0. 1. ]] SLAMing on 138.559928851 meters Centerline goodness : 0.798043 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.44 [[ 0.97771701 -0.17525577 -0.11556325 -0.83420663] [ 0.1774536 0.98408864 0.00893183 -0.06979889] [ 0.11215912 -0.02923991 0.99325997 0.44447165] [ 0. 0. 0. 1. ]] SLAMing on 138.58992885099997 meters Centerline goodness : 0.796587 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.44 [[ 0.97776345 -0.17472355 -0.11597552 -0.8332235 ] [ 0.17710818 0.98413533 0.01050468 -0.07325296] [ 0.11230019 -0.03081131 0.99319652 0.44471733] [ 0. 0. 0. 1. ]] SLAMing on 138.61992885099997 meters Centerline goodness : 0.795977 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.08, Z:0.44 [[ 0.97786949 -0.17396183 -0.11622624 -0.83246006] [ 0.17650464 0.98422815 0.01187659 -0.07572823] [ 0.11232707 -0.03212823 0.99315175 0.44456615] [ 0. 0. 0. 1. ]] SLAMing on 138.64992885099997 meters Centerline goodness : 0.796430 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.08, Z:0.44 [[ 0.9787622 -0.16847571 -0.11679254 -0.83181202] [ 0.17162482 0.98500907 0.01737938 -0.07982518] [ 0.11211371 -0.03705478 0.99300426 0.44377423] [ 0. 0. 0. 1. ]] SLAMing on 138.67992885099997 meters Centerline goodness : 0.794967 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.08, Z:0.44 [[ 0.97946206 -0.16395104 -0.11736326 -0.83161549] [ 0.16759883 0.98561311 0.02185012 -0.08203367] [ 0.11209242 -0.04107131 0.99284865 0.44360624] [ 0. 0. 0. 1. ]] SLAMing on 138.70992885099997 meters Centerline goodness : 0.797064 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.08, Z:0.44 [[ 0.98016755 -0.15924189 -0.11795594 -0.83141836] [ 0.16337808 0.98621543 0.02620544 -0.08337777] [ 0.11215696 -0.04495713 0.99267299 0.44326615] [ 0. 0. 0. 1. ]] SLAMing on 138.73992885099997 meters Centerline goodness : 0.795321 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.08, Z:0.44 [[ 0.98052193 -0.15763644 -0.11716439 -0.83290241] [ 0.16168142 0.98650567 0.02580084 -0.08236275] [ 0.11151619 -0.04424159 0.99277733 0.44268597] [ 0. 0. 0. 1. ]] SLAMing on 138.76992885099997 meters Centerline goodness : 0.796921 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.08, Z:0.44 [[ 0.98138244 -0.15207027 -0.11731644 -0.83367932] [ 0.15661428 0.98718927 0.03048476 -0.08374665] [ 0.1111777 -0.04829064 0.99262658 0.44230815] [ 0. 0. 0. 1. ]] SLAMing on 138.79992885099998 meters Centerline goodness : 0.793555 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.08, Z:0.44 [[ 0.98160918 -0.15113034 -0.11663203 -0.83502918] [ 0.15558573 0.98736556 0.03003888 -0.08315603] [ 0.11061866 -0.04763272 0.99272082 0.44196174] [ 0. 0. 0. 1. ]] SLAMing on 138.82992885099998 meters Centerline goodness : 0.796015 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.09, Z:0.44 [[ 0.98219496 -0.14681238 -0.11721425 -0.8342018 ] [ 0.15176668 0.98781492 0.03447536 -0.08544042] [ 0.11072457 -0.05165074 0.99250807 0.44125573] [ 0. 0. 0. 1. ]] SLAMing on 138.85992885099998 meters Centerline goodness : 0.793973 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.09, Z:0.44 [[ 0.9823892 -0.14602949 -0.11656261 -0.83516226] [ 0.15091222 0.98795618 0.03417729 -0.08555086] [ 0.11016786 -0.05116612 0.99259512 0.44064009] [ 0. 0. 0. 1. ]] SLAMing on 138.88992885099998 meters Centerline goodness : 0.793011 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.08, Z:0.44 [[ 0.98266171 -0.1444721 -0.11620574 -0.83547476] [ 0.14932311 0.988199 0.03413703 -0.08487792] [ 0.10990255 -0.05089735 0.99263835 0.43968021] [ 0. 0. 0. 1. ]] SLAMing on 138.91992885099998 meters Centerline goodness : 0.793925 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.08, Z:0.44 [[ 0.98279391 -0.14387293 -0.11583056 -0.83611624] [ 0.14865516 0.98831404 0.03371948 -0.08402846] [ 0.10962565 -0.05035811 0.99269647 0.43926632] [ 0. 0. 0. 1. ]] SLAMing on 138.94992885099998 meters Centerline goodness : 0.794452 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.08, Z:0.44 [[ 0.98291067 -0.14330196 -0.11554719 -0.83649054] [ 0.14804275 0.98841331 0.03350348 -0.08333848] [ 0.10940727 -0.05003685 0.9927368 0.43876702] [ 0. 0. 0. 1. ]] SLAMing on 138.97992885099998 meters Centerline goodness : 0.792179 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.08, Z:0.44 [[ 0.98319577 -0.14190781 -0.11484012 -0.83730127] [ 0.14650186 0.98867433 0.03256181 -0.08146055] [ 0.1089187 -0.04883893 0.99285018 0.43729487] [ 0. 0. 0. 1. ]] SLAMing on 139.00992885099998 meters Centerline goodness : 0.791505 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.08, Z:0.44 [[ 0.98325273 -0.14173286 -0.11456815 -0.83760326] [ 0.14621322 0.9887465 0.03165527 -0.07996726] [ 0.10879227 -0.04787651 0.99291091 0.4366675 ] [ 0. 0. 0. 1. ]] SLAMing on 139.03992885099998 meters Centerline goodness : 0.836259 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.08, Z:0.44 [[ 0.98330758 -0.14137538 -0.11453908 -0.83747567] [ 0.1458326 0.98880846 0.03147514 -0.07923661] [ 0.1088074 -0.04765327 0.99291999 0.43619602] [ 0. 0. 0. 1. ]] SLAMing on 139.069928851 meters Centerline goodness : 0.790469 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.08, Z:0.44 [[ 0.98335669 -0.14121221 -0.11431855 -0.83817957] [ 0.14563535 0.98884407 0.0312691 -0.07861726] [ 0.10862764 -0.0473975 0.99295192 0.43631494] [ 0. 0. 0. 1. ]] SLAMing on 139.099928851 meters Centerline goodness : 0.835818 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.08, Z:0.44 [[ 0.98337601 -0.14115836 -0.11421885 -0.83907045] [ 0.14556716 0.98885678 0.03118451 -0.07782939] [ 0.10854413 -0.04729261 0.99296605 0.43704859] [ 0. 0. 0. 1. ]] SLAMing on 139.129928851 meters Centerline goodness : 0.791579 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.08, Z:0.44 [[ 0.9833344 -0.14118452 -0.11454427 -0.83850707] [ 0.14563767 0.98883813 0.0314454 -0.07755715] [ 0.10882614 -0.0476033 0.99292034 0.43717845] [ 0. 0. 0. 1. ]] SLAMing on 139.159928851 meters Centerline goodness : 0.793109 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.08, Z:0.44 [[ 0.98294412 -0.14456078 -0.11367951 -0.83969066] [ 0.14851224 0.98854054 0.0270501 -0.07550534] [ 0.10846642 -0.04347153 0.99314916 0.43741503] [ 0. 0. 0. 1. ]] SLAMing on 139.189928851 meters Centerline goodness : 0.791079 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.08, Z:0.44 [[ 0.98277891 -0.14508273 -0.11444041 -0.83793452] [ 0.14913352 0.98843121 0.02762119 -0.07605868] [ 0.10910911 -0.04421242 0.99304605 0.43737832] [ 0. 0. 0. 1. ]] SLAMing on 139.219928851 meters Centerline goodness : 0.791627 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.07, Z:0.44 [[ 0.98214232 -0.14939649 -0.11435538 -0.8370869 ] [ 0.15304766 0.98793232 0.02379396 -0.07488586] [ 0.10942064 -0.04087088 0.99315492 0.43757335] [ 0. 0. 0. 1. ]] SLAMing on 139.249928851 meters Centerline goodness : 0.789653 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.08, Z:0.44 [[ 0.98200383 -0.1500047 -0.11474785 -0.83625987] [ 0.15370291 0.98782464 0.02403967 -0.0752622 ] [ 0.10974468 -0.04124413 0.99310373 0.43776708] [ 0. 0. 0. 1. ]] SLAMing on 139.279928851 meters Centerline goodness : 0.788736 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.08, Z:0.44 [[ 0.98188046 -0.15053917 -0.11510313 -0.83558296] [ 0.1542852 0.98772728 0.02430848 -0.07578954] [ 0.11003112 -0.04162673 0.99305608 0.43811387] [ 0. 0. 0. 1. ]] SLAMing on 139.309928851 meters Centerline goodness : 0.793097 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.08, Z:0.44 [[ 0.98171151 -0.15117544 -0.11570872 -0.83450043] [ 0.15500411 0.98760283 0.02478658 -0.07623146] [ 0.11052713 -0.04226859 0.99297388 0.43855412] [ 0. 0. 0. 1. ]] SLAMing on 139.33992885099997 meters Centerline goodness : 0.792968 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.08, Z:0.44 [[ 0.98138679 -0.15281029 -0.11631414 -0.83412283] [ 0.15672381 0.9873203 0.02522454 -0.07711724] [ 0.11098474 -0.04298422 0.99289211 0.44015098] [ 0. 0. 0. 1. ]] SLAMing on 139.36992885099997 meters Centerline goodness : 0.791521 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.08, Z:0.44 [[ 0.98124171 -0.15324947 -0.11695857 -0.83297431] [ 0.15725195 0.98722295 0.02574231 -0.07767742] [ 0.11151919 -0.0436514 0.99280312 0.44059793] [ 0. 0. 0. 1. ]] SLAMing on 139.39992885099997 meters Centerline goodness : 0.791333 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.08, Z:0.44 [[ 0.98110513 -0.15392915 -0.11721153 -0.83286118] [ 0.157929 0.98711902 0.02558244 -0.07738671] [ 0.11176384 -0.04361016 0.99277742 0.44120208] [ 0. 0. 0. 1. ]] SLAMing on 139.42992885099997 meters Centerline goodness : 0.791145 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.08, Z:0.44 [[ 0.98098984 -0.15454207 -0.11736987 -0.8330007 ] [ 0.15853309 0.98702668 0.02540862 -0.07669688] [ 0.11192049 -0.0435326 0.99276317 0.44180266] [ 0. 0. 0. 1. ]] SLAMing on 139.45992885099997 meters Centerline goodness : 0.792574 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.08, Z:0.44 [[ 0.9809634 -0.1544091 -0.11776517 -0.8322962 ] [ 0.15844143 0.98703575 0.02562679 -0.07639934] [ 0.11228142 -0.04379783 0.99271075 0.44182991] [ 0. 0. 0. 1. ]] SLAMing on 139.48992885099997 meters Centerline goodness : 0.792275 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.08, Z:0.44 [[ 0.98097069 -0.15427133 -0.11788498 -0.83209241] [ 0.15830269 0.98705926 0.02557874 -0.07584865] [ 0.1124134 -0.0437535 0.99269777 0.4417461 ] [ 0. 0. 0. 1. ]] SLAMing on 139.51992885099997 meters Centerline goodness : 0.792140 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.08, Z:0.44 [[ 0.98131626 -0.15122663 -0.11894921 -0.83126664] [ 0.15572954 0.98736019 0.02946452 -0.07564833] [ 0.11298989 -0.04743792 0.99246306 0.44195045] [ 0. 0. 0. 1. ]] SLAMing on 139.54992885099998 meters Centerline goodness : 0.792261 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.44 [[ 0.98132989 -0.15127141 -0.11877966 -0.83182976] [ 0.15566666 0.9873959 0.02858721 -0.07382401] [ 0.11295812 -0.04654352 0.99250902 0.44193523] [ 0. 0. 0. 1. ]] SLAMing on 139.57992885099998 meters Centerline goodness : 0.793551 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.44 [[ 0.98137285 -0.1511253 -0.11861061 -0.83212005] [ 0.15542232 0.98745683 0.02780135 -0.07198566] [ 0.11292137 -0.04571822 0.99255157 0.4415035 ] [ 0. 0. 0. 1. ]] SLAMing on 139.60992885099998 meters Centerline goodness : 0.793686 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.44 [[ 0.98145064 -0.15068039 -0.11853291 -0.83195859] [ 0.15490617 0.98755382 0.0272309 -0.0705645 ] [ 0.11295447 -0.04508727 0.99257666 0.44082005] [ 0. 0. 0. 1. ]] SLAMing on 139.63992885099998 meters Centerline goodness : 0.793198 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.44 [[ 0.98153229 -0.150241 -0.11841457 -0.83202483] [ 0.15440209 0.98764634 0.02673375 -0.0690976 ] [ 0.11293521 -0.0445235 0.9926043 0.44029366] [ 0. 0. 0. 1. ]] SLAMing on 139.66992885099998 meters Centerline goodness : 0.793024 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.44 [[ 0.98191519 -0.14680152 -0.11954864 -0.83064674] [ 0.15149532 0.98796797 0.03112002 -0.06995522] [ 0.11354176 -0.04866827 0.9923405 0.44009079] [ 0. 0. 0. 1. ]] SLAMing on 139.69992885099998 meters Centerline goodness : 0.838784 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.44 [[ 0.98199105 -0.14654594 -0.11923872 -0.83169801] [ 0.15107787 0.98807107 0.02985035 -0.06656275] [ 0.11344189 -0.04732711 0.99241679 0.43996794] [ 0. 0. 0. 1. ]] SLAMing on 139.72992885099998 meters Centerline goodness : 0.792529 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.44 [[ 0.98195921 -0.14654976 -0.11949594 -0.83143363] [ 0.15107551 0.98807631 0.02968841 -0.06553591] [ 0.11372027 -0.04720572 0.99239071 0.44013031] [ 0. 0. 0. 1. ]] SLAMing on 139.75992885099998 meters Centerline goodness : 0.837744 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.44 [[ 0.98188736 -0.14707978 -0.11943516 -0.83200586] [ 0.1515332 0.98802509 0.02905363 -0.06430042] [ 0.11373173 -0.04662578 0.99241681 0.44056675] [ 0. 0. 0. 1. ]] SLAMing on 139.78992885099998 meters Centerline goodness : 0.790940 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.44 [[ 0.98180747 -0.1472675 -0.11985985 -0.83134878] [ 0.15175911 0.98798608 0.02920068 -0.06383131] [ 0.11411955 -0.04685927 0.99236129 0.44074932] [ 0. 0. 0. 1. ]] SLAMing on 139.819928851 meters Centerline goodness : 0.790940 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.44 [[ 0.98180747 -0.1472675 -0.11985985 -0.83134878] [ 0.15175911 0.98798608 0.02920068 -0.06383131] [ 0.11411955 -0.04685927 0.99236129 0.44074932] [ 0. 0. 0. 1. ]] SLAMing on 139.849928851 meters Centerline goodness : 0.790930 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.44 [[ 0.98167169 -0.14783759 -0.12026948 -0.83054696] [ 0.152365 0.98788956 0.02931079 -0.06432971] [ 0.11447972 -0.04709843 0.99230849 0.44097803] [ 0. 0. 0. 1. ]] SLAMing on 139.879928851 meters Centerline goodness : 0.789115 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.44 [[ 0.98157596 -0.14816847 -0.12064307 -0.82954607] [ 0.15276437 0.98781535 0.02973023 -0.06498977] [ 0.11476799 -0.04761244 0.99225066 0.44084818] [ 0. 0. 0. 1. ]] SLAMing on 139.909928851 meters Centerline goodness : 0.791086 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.44 [[ 0.98136479 -0.14912261 -0.12118413 -0.82884541] [ 0.15377683 0.98765147 0.02995442 -0.06536354] [ 0.1152208 -0.04803152 0.99217798 0.44159434] [ 0. 0. 0. 1. ]] SLAMing on 139.939928851 meters Centerline goodness : 0.791628 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.44 [[ 0.98124226 -0.1494914 -0.12172078 -0.82819263] [ 0.15421259 0.98757348 0.03028378 -0.06554708] [ 0.11568105 -0.04848661 0.99210228 0.4422744 ] [ 0. 0. 0. 1. ]] SLAMing on 139.969928851 meters Centerline goodness : 0.791397 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.44 [[ 0.98118891 -0.149632 -0.12197785 -0.82789965] [ 0.15442583 0.98752452 0.03078952 -0.06641051] [ 0.11584902 -0.04904687 0.99205514 0.44276415] [ 0. 0. 0. 1. ]] SLAMing on 139.999928851 meters Centerline goodness : 0.791941 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.44 [[ 0.98116907 -0.14966013 -0.12210281 -0.82758819] [ 0.15450806 0.98749884 0.03119768 -0.06740979] [ 0.11590734 -0.04947607 0.99202702 0.44288873] [ 0. 0. 0. 1. ]] SLAMing on 140.029928851 meters Centerline goodness : 0.792257 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.44 [[ 0.981168 -0.14932305 -0.1225234 -0.82654921] [ 0.1543151 0.98749469 0.03226586 -0.06908188] [ 0.11617317 -0.05056544 0.99194099 0.44287869] [ 0. 0. 0. 1. ]] SLAMing on 140.059928851 meters Centerline goodness : 0.791221 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.44 [[ 0.98085926 -0.1523019 -0.1213229 -0.82786858] [ 0.15675138 0.98724225 0.02795984 -0.06788472] [ 0.11551675 -0.0464422 0.99221923 0.44274661] [ 0. 0. 0. 1. ]] SLAMing on 140.08992885099997 meters Centerline goodness : 0.791430 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.44 [[ 0.98121971 -0.14907786 -0.12240779 -0.82642849] [ 0.15408531 0.98752415 0.03246167 -0.06974777] [ 0.11604134 -0.05071327 0.99194888 0.44262939] [ 0. 0. 0. 1. ]] SLAMing on 140.11992885099997 meters Centerline goodness : 0.792603 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.44 [[ 0.9813228 -0.14844083 -0.12235558 -0.82647842] [ 0.15345066 0.9876204 0.03253991 -0.06934748] [ 0.11601061 -0.0507077 0.99195275 0.4423685 ] [ 0. 0. 0. 1. ]] SLAMing on 140.14992885099997 meters Centerline goodness : 0.791577 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.44 [[ 0.98138624 -0.14823239 -0.12209913 -0.82731256] [ 0.15316986 0.98768018 0.03204443 -0.06829777] [ 0.11584487 -0.05014987 0.99200048 0.44256431] [ 0. 0. 0. 1. ]] SLAMing on 140.17992885099997 meters Centerline goodness : 0.792653 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.44 [[ 0.98195658 -0.14411307 -0.12244464 -0.82783294] [ 0.14945489 0.98812835 0.03557532 -0.06820786] [ 0.11586416 -0.05323337 0.99183754 0.44253454] [ 0. 0. 0. 1. ]] SLAMing on 140.20992885099997 meters Centerline goodness : 0.793211 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.44 [[ 0.98212423 -0.1435859 -0.12171721 -0.82947925] [ 0.14876982 0.98826698 0.03458216 -0.06669246] [ 0.11532358 -0.05207183 0.99196219 0.44237669] [ 0. 0. 0. 1. ]] SLAMing on 140.23992885099997 meters Centerline goodness : 0.790695 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.07, Z:0.44 [[ 0.98282118 -0.13893877 -0.12148472 -0.83056236] [ 0.14440511 0.98881272 0.03737078 -0.06563297] [ 0.11493339 -0.0542718 0.99188955 0.44139584] [ 0. 0. 0. 1. ]] SLAMing on 140.26992885099997 meters Centerline goodness : 0.790936 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.44 [[ 0.98301573 -0.13816399 -0.12079237 -0.83184445] [ 0.14347475 0.98898464 0.03639202 -0.06388751] [ 0.11443373 -0.05310458 0.9920105 0.44072787] [ 0. 0. 0. 1. ]] SLAMing on 140.29992885099998 meters Centerline goodness : 0.791675 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.44 [[ 0.98325984 -0.13699295 -0.12013751 -0.83293644] [ 0.14218876 0.98919344 0.03575879 -0.06242291] [ 0.11394054 -0.05224238 0.99211304 0.43993891] [ 0. 0. 0. 1. ]] SLAMing on 140.32992885099998 meters Centerline goodness : 0.791549 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.44 [[ 0.98344172 -0.13621425 -0.11953267 -0.83425317] [ 0.14125001 0.98936634 0.03467966 -0.06004216] [ 0.11353773 -0.05098942 0.9922244 0.43941819] [ 0. 0. 0. 1. ]] SLAMing on 140.35992885099998 meters Centerline goodness : 0.790763 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:0.44 [[ 0.9838605 -0.13431355 -0.1182302 -0.83680229] [ 0.13905213 0.9897434 0.03274919 -0.05594068] [ 0.1126189 -0.04866079 0.99244602 0.43829158] [ 0. 0. 0. 1. ]] SLAMing on 140.38992885099998 meters Centerline goodness : 0.846978 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.44 [[ 0.98399895 -0.13371177 -0.11775923 -0.83803504] [ 0.13834312 0.98986603 0.03203779 -0.05438251] [ 0.11228203 -0.04781633 0.99252524 0.43821847] [ 0. 0. 0. 1. ]] SLAMing on 140.41992885099998 meters Centerline goodness : 0.789244 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.44 [[ 0.98412985 -0.13327836 -0.11715511 -0.83954438] [ 0.13780623 0.98996132 0.03140107 -0.05316253] [ 0.11179395 -0.04704744 0.99261707 0.43820063] [ 0. 0. 0. 1. ]] SLAMing on 140.44992885099998 meters Centerline goodness : 0.843326 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.44 [[ 0.98419034 -0.13314221 -0.1168012 -0.8404312 ] [ 0.13759214 0.99000797 0.03086452 -0.05230033] [ 0.11152475 -0.04644749 0.99267561 0.43818776] [ 0. 0. 0. 1. ]] SLAMing on 140.47992885099998 meters Centerline goodness : 0.788879 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.44 [[ 0.98420412 -0.13337588 -0.11641787 -0.84139685] [ 0.13778782 0.98998668 0.03067389 -0.05236569] [ 0.11116098 -0.04623033 0.99272654 0.43840191] [ 0. 0. 0. 1. ]] SLAMing on 140.50992885099998 meters Centerline goodness : 0.845586 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.44 [[ 0.98411942 -0.13393404 -0.11649309 -0.84147025] [ 0.1383424 0.9899122 0.03058126 -0.05267462] [ 0.11122206 -0.04621154 0.99272058 0.43884403] [ 0. 0. 0. 1. ]] SLAMing on 140.53992885099998 meters Centerline goodness : 0.845298 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.44 [[ 0.98397791 -0.13471229 -0.11679075 -0.84124672] [ 0.13916491 0.98978981 0.03081017 -0.05323039] [ 0.11144779 -0.0465697 0.99267852 0.43958674] [ 0. 0. 0. 1. ]] SLAMing on 140.569928851 meters Centerline goodness : 0.790309 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.44 [[ 0.9834073 -0.13893936 -0.11664447 -0.84115719] [ 0.14306163 0.98932596 0.02770417 -0.05386846] [ 0.1115502 -0.04393183 0.99278726 0.44070809] [ 0. 0. 0. 1. ]] SLAMing on 140.599928851 meters Centerline goodness : 0.792034 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:0.44 [[ 0.98319983 -0.13991607 -0.1172245 -0.84030669] [ 0.14413047 0.98915569 0.02823875 -0.05517473] [ 0.11200223 -0.04465995 0.99270388 0.44155574] [ 0. 0. 0. 1. ]] SLAMing on 140.629928851 meters Centerline goodness : 0.791512 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.44 [[ 0.98276998 -0.14344112 -0.11656678 -0.84046238] [ 0.14724263 0.98879349 0.02463819 -0.05491565] [ 0.11172634 -0.04137727 0.99287721 0.44143542] [ 0. 0. 0. 1. ]] SLAMing on 140.659928851 meters Centerline goodness : 0.792144 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:0.44 [[ 0.98264855 -0.14381523 -0.11712816 -0.83916877] [ 0.14780368 0.98867323 0.02606379 -0.05769501] [ 0.11205311 -0.04292352 0.99277473 0.44180123] [ 0. 0. 0. 1. ]] SLAMing on 140.689928851 meters Centerline goodness : 0.793530 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.06, Z:0.44 [[ 0.98147345 -0.15234871 -0.11618837 -0.77353977] [ 0.15856491 0.98626585 0.04622594 -0.05583506] [ 0.10755016 -0.06379293 0.99215091 0.43820439] [ 0. 0. 0. 1. ]] SLAMing on 140.719928851 meters Centerline goodness : 0.793370 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.44 [[ 0.98104121 -0.15326617 -0.11860705 -0.82928966] [ 0.158627 0.98664112 0.03710501 -0.05781061] [ 0.11133565 -0.05521583 0.99224774 0.4401283 ] [ 0. 0. 0. 1. ]] SLAMing on 140.749928851 meters Centerline goodness : 0.792682 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.44 [[ 0.98095508 -0.15362682 -0.11885259 -0.82868155] [ 0.15906245 0.98655113 0.03762984 -0.05933427] [ 0.1114732 -0.05581816 0.9921986 0.44041933] [ 0. 0. 0. 1. ]] SLAMing on 140.779928851 meters Centerline goodness : 0.794546 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.44 [[ 0.98061714 -0.15647429 -0.11792296 -0.8293669 ] [ 0.16144344 0.98630379 0.03377642 -0.0586402 ] [ 0.11102273 -0.05215963 0.99244815 0.44017299] [ 0. 0. 0. 1. ]] SLAMing on 140.809928851 meters Centerline goodness : 0.793397 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.44 [[ 0.98065984 -0.1561878 -0.11794766 -0.82843842] [ 0.16117112 0.98634387 0.03390626 -0.05924287] [ 0.1110412 -0.05226026 0.99244079 0.43914193] [ 0. 0. 0. 1. ]] SLAMing on 140.83992885099997 meters Centerline goodness : 0.793883 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.44 [[ 0.98077992 -0.15557944 -0.11775303 -0.82853103] [ 0.1605316 0.98645348 0.0337511 -0.05893525] [ 0.11090691 -0.05200548 0.99246919 0.43861627] [ 0. 0. 0. 1. ]] SLAMing on 140.86992885099997 meters Centerline goodness : 0.792428 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.44 [[ 0.98099054 -0.15442877 -0.11751304 -0.82855969] [ 0.15935489 0.98664633 0.03369037 -0.0583852 ] [ 0.11074105 -0.05177622 0.99249969 0.43770836] [ 0. 0. 0. 1. ]] SLAMing on 140.89992885099997 meters Centerline goodness : 0.790369 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.44 [[ 0.98125212 -0.15296772 -0.11723969 -0.82898684] [ 0.15784522 0.98689688 0.03345785 -0.05722757] [ 0.11058552 -0.05133631 0.99253989 0.43701122] [ 0. 0. 0. 1. ]] SLAMing on 140.92992885099997 meters Centerline goodness : 0.791633 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.44 [[ 0.98228193 -0.14679 -0.11651137 -0.83170819] [ 0.15194758 0.98770901 0.03664496 -0.05614223] [ 0.10970021 -0.05369931 0.9925131 0.43634973] [ 0. 0. 0. 1. ]] SLAMing on 140.95992885099997 meters Centerline goodness : 0.791851 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.44 [[ 0.98293952 -0.14332453 -0.11527352 -0.83444203] [ 0.14842991 0.98823228 0.036953 -0.05543572] [ 0.10862074 -0.0534326 0.99264621 0.43564196] [ 0. 0. 0. 1. ]] SLAMing on 140.98992885099997 meters Centerline goodness : 0.794793 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.44 [[ 0.98335289 -0.14144809 -0.11405937 -0.83736371] [ 0.14635994 0.98858109 0.03586351 -0.05349657] [ 0.10768411 -0.05196021 0.9928264 0.43539572] [ 0. 0. 0. 1. ]] SLAMing on 141.01992885099997 meters Centerline goodness : 0.791541 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.43 [[ 0.98373901 -0.13957865 -0.11302818 -0.83975823] [ 0.14432991 0.98891169 0.03496481 -0.05163228] [ 0.10689455 -0.0507096 0.99297638 0.43488992] [ 0. 0. 0. 1. ]] SLAMing on 141.04992885099998 meters Centerline goodness : 0.793539 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.43 [[ 0.98410689 -0.13774565 -0.11207033 -0.84160551] [ 0.14233366 0.98923514 0.03398484 -0.04995567] [ 0.10618264 -0.04939609 0.99311896 0.43399866] [ 0. 0. 0. 1. ]] SLAMing on 141.07992885099998 meters Centerline goodness : 0.792071 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.43 [[ 0.98489792 -0.13255224 -0.11138222 -0.84355768] [ 0.13732213 0.98986217 0.03626994 -0.04862275] [ 0.10544538 -0.05101743 0.99311555 0.43264094] [ 0. 0. 0. 1. ]] SLAMing on 141.10992885099998 meters Centerline goodness : 0.792188 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.05, Z:0.43 [[ 0.98510339 -0.13169456 -0.11057958 -0.84527911] [ 0.13633063 0.9900295 0.03543386 -0.04765081] [ 0.1048106 -0.0499814 0.99323542 0.43227834] [ 0. 0. 0. 1. ]] SLAMing on 141.13992885099998 meters Centerline goodness : 0.793210 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.05, Z:0.43 [[ 0.98524906 -0.13106889 -0.11002376 -0.84635661] [ 0.13564543 0.99013323 0.03516391 -0.04751095] [ 0.10432928 -0.04956943 0.99330674 0.43196849] [ 0. 0. 0. 1. ]] SLAMing on 141.16992885099998 meters Centerline goodness : 0.793072 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.04, Z:0.43 [[ 0.98584047 -0.13702252 -0.09666124 -0.84687577] [ 0.14057251 0.98958828 0.03089338 -0.04381185] [ 0.09142174 -0.04404386 0.99483778 0.4270588 ] [ 0. 0. 0. 1. ]] SLAMing on 141.19992885099998 meters Centerline goodness : 0.790737 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.04, Z:0.43 [[ 0.98575244 -0.13751957 -0.09685295 -0.84652987] [ 0.14110161 0.98950561 0.03112838 -0.044539 ] [ 0.09155578 -0.04435098 0.99481181 0.42746286] [ 0. 0. 0. 1. ]] SLAMing on 141.22992885099998 meters Centerline goodness : 0.793821 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.04, Z:0.43 [[ 0.98538609 -0.14068243 -0.09603494 -0.84766158] [ 0.14390156 0.98921188 0.0274261 -0.04411508] [ 0.09114054 -0.04084487 0.99500005 0.42795165] [ 0. 0. 0. 1. ]] SLAMing on 141.25992885099998 meters Centerline goodness : 0.792209 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.05, Z:0.43 [[ 0.98518053 -0.14160701 -0.09678215 -0.84629468] [ 0.14495153 0.98903075 0.02841167 -0.04546134] [ 0.09169723 -0.04201934 0.99489999 0.428674 ] [ 0. 0. 0. 1. ]] SLAMing on 141.28992885099998 meters Centerline goodness : 0.792910 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.43 [[ 0.98429307 -0.14729013 -0.09732813 -0.84466175] [ 0.15042452 0.98828864 0.02565196 -0.04699421] [ 0.09241 -0.03988958 0.99492171 0.43033416] [ 0. 0. 0. 1. ]] SLAMing on 141.319928851 meters Centerline goodness : 0.792706 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.43 [[ 0.9836786 -0.15131683 -0.0973634 -0.84332031] [ 0.1541902 0.98778145 0.02265376 -0.0476486 ] [ 0.09274586 -0.0372965 0.99499104 0.43049813] [ 0. 0. 0. 1. ]] SLAMing on 141.349928851 meters Centerline goodness : 0.791442 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.43 [[ 0.9830181 -0.15549956 -0.09744386 -0.84176519] [ 0.15810908 0.98722694 0.01960854 -0.04826183] [ 0.09315008 -0.03468231 0.99504784 0.43053936] [ 0. 0. 0. 1. ]] SLAMing on 141.379928851 meters Centerline goodness : 0.791467 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.43 [[ 0.98230445 -0.15985044 -0.09760022 -0.84026568] [ 0.16220697 0.98661618 0.01665572 -0.04907398] [ 0.09363153 -0.03219242 0.99508632 0.43097303] [ 0. 0. 0. 1. ]] SLAMing on 141.409928851 meters Centerline goodness : 0.792654 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.43 [[ 0.98119984 -0.16589089 -0.09862596 -0.83724953] [ 0.16809664 0.98566484 0.01443418 -0.05131153] [ 0.09481764 -0.0307415 0.99501989 0.43233869] [ 0. 0. 0. 1. ]] SLAMing on 141.439928851 meters Centerline goodness : 0.791713 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.05, Z:0.43 [[ 0.98088203 -0.16709239 -0.09975253 -0.83503079] [ 0.1694603 0.98541202 0.01569599 -0.05337625] [ 0.09567467 -0.03230001 0.99488847 0.43306015] [ 0. 0. 0. 1. ]] SLAMing on 141.469928851 meters Centerline goodness : 0.792203 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.43 [[ 0.98055926 -0.16837636 -0.10076182 -0.83327372] [ 0.1708722 0.98515316 0.01661159 -0.05500165] [ 0.09646882 -0.03350604 0.99477189 0.43400795] [ 0. 0. 0. 1. ]] SLAMing on 141.499928851 meters Centerline goodness : 0.790163 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.43 [[ 0.98015782 -0.17013022 -0.10171707 -0.83112157] [ 0.17272397 0.98482016 0.01719561 -0.0567707 ] [ 0.09724753 -0.03442339 0.99466474 0.43448382] [ 0. 0. 0. 1. ]] SLAMing on 141.529928851 meters Centerline goodness : 0.790020 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.43 [[ 0.98004543 -0.17043944 -0.10228072 -0.82968381] [ 0.17308005 0.98475303 0.01745736 -0.0571578 ] [ 0.09774583 -0.03481175 0.99460238 0.43425996] [ 0. 0. 0. 1. ]] SLAMing on 141.559928851 meters Centerline goodness : 0.789738 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.43 [[ 0.97996779 -0.17056046 -0.10282151 -0.8284398 ] [ 0.17324641 0.98471913 0.01771763 -0.05696956] [ 0.09822838 -0.03517616 0.99454202 0.4340752 ] [ 0. 0. 0. 1. ]] SLAMing on 141.58992885099997 meters Centerline goodness : 0.788644 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.43 [[ 0.98039537 -0.16733249 -0.10404211 -0.82744341] [ 0.17043447 0.98513197 0.02161225 -0.05722388] [ 0.09887878 -0.03892091 0.99433805 0.43439045] [ 0. 0. 0. 1. ]] SLAMing on 141.61992885099997 meters Centerline goodness : 0.790516 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.43 [[ 0.98082673 -0.16434381 -0.10473798 -0.82735634] [ 0.16779782 0.98550424 0.02500587 -0.05734025] [ 0.09911017 -0.04210123 0.99418543 0.43459886] [ 0. 0. 0. 1. ]] SLAMing on 141.64992885099997 meters Centerline goodness : 0.789475 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.43 [[ 0.98144431 -0.16073451 -0.10455377 -0.82788289] [ 0.16436288 0.98603008 0.02700959 -0.0576771 ] [ 0.09875179 -0.04369316 0.9941524 0.43381438] [ 0. 0. 0. 1. ]] SLAMing on 141.67992885099997 meters Centerline goodness : 0.790041 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.43 [[ 0.98201947 -0.15682528 -0.10508846 -0.82775208] [ 0.16081027 0.98651295 0.03053274 -0.05757583] [ 0.09888282 -0.04688305 0.99399405 0.43341518] [ 0. 0. 0. 1. ]] SLAMing on 141.70992885099997 meters Centerline goodness : 0.790041 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.43 [[ 0.98201947 -0.15682528 -0.10508846 -0.82775208] [ 0.16081027 0.98651295 0.03053274 -0.05757583] [ 0.09888282 -0.04688305 0.99399405 0.43341518] [ 0. 0. 0. 1. ]] SLAMing on 141.73992885099997 meters Centerline goodness : 0.789561 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.06, Z:0.43 [[ 0.9825881 -0.15286919 -0.10560133 -0.82777353] [ 0.15720471 0.98698124 0.03398112 -0.05709239] [ 0.09903186 -0.04999047 0.99382777 0.43302572] [ 0. 0. 0. 1. ]] SLAMing on 141.76992885099997 meters Centerline goodness : 0.842202 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.43 [[ 0.98335345 -0.14754995 -0.10604246 -0.82803189] [ 0.15212974 0.98768865 0.03643725 -0.05297933] [ 0.09936062 -0.05196291 0.99369378 0.43181965] [ 0. 0. 0. 1. ]] SLAMing on 141.79992885099998 meters Centerline goodness : 0.843841 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.43 [[ 0.98388795 -0.14375778 -0.106293 -0.82849232] [ 0.14861769 0.98811475 0.03926855 -0.05181156] [ 0.09938452 -0.05443287 0.99355915 0.4313906 ] [ 0. 0. 0. 1. ]] SLAMing on 141.82992885099998 meters Centerline goodness : 0.789437 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.43 [[ 0.98455203 -0.13947173 -0.10585337 -0.83078256] [ 0.14448056 0.98865005 0.041188 -0.04880909] [ 0.09890737 -0.05584549 0.99352837 0.43105303] [ 0. 0. 0. 1. ]] SLAMing on 141.85992885099998 meters Centerline goodness : 0.844023 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.05, Z:0.43 [[ 0.9846777 -0.13885476 -0.10549499 -0.83148254] [ 0.14375475 0.98879157 0.04032119 -0.04665028] [ 0.09871377 -0.05486878 0.99360204 0.43044212] [ 0. 0. 0. 1. ]] SLAMing on 141.88992885099998 meters Centerline goodness : 0.788977 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.04, Z:0.43 [[ 0.98474131 -0.13862394 -0.10520434 -0.83218814] [ 0.1434259 0.98887229 0.03950441 -0.04494391] [ 0.0985574 -0.05399066 0.99366566 0.43020378] [ 0. 0. 0. 1. ]] SLAMing on 141.91992885099998 meters Centerline goodness : 0.842306 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.04, Z:0.43 [[ 0.98475727 -0.13877611 -0.10485378 -0.83300174] [ 0.14346047 0.98890681 0.03850216 -0.04305218] [ 0.09834743 -0.05295765 0.99374205 0.42999529] [ 0. 0. 0. 1. ]] SLAMing on 141.94992885099998 meters Centerline goodness : 0.843012 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.04, Z:0.43 [[ 0.98467153 -0.13940207 -0.10482863 -0.83345367] [ 0.14394329 0.98889236 0.03704352 -0.03962172] [ 0.09850028 -0.05156507 0.99380015 0.42997889] [ 0. 0. 0. 1. ]] SLAMing on 141.97992885099998 meters Centerline goodness : 0.841856 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.04, Z:0.43 [[ 0.98458878 -0.13984659 -0.10501361 -0.83328147] [ 0.14433646 0.98885858 0.03641011 -0.03780456] [ 0.09875178 -0.05100628 0.99380403 0.43001151] [ 0. 0. 0. 1. ]] SLAMing on 142.00992885099998 meters Centerline goodness : 0.841518 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.04, Z:0.43 [[ 0.98454952 -0.14010804 -0.10503321 -0.83319127] [ 0.14454304 0.98884936 0.0358366 -0.03658663] [ 0.09884103 -0.05046473 0.9938228 0.42981635] [ 0. 0. 0. 1. ]] SLAMing on 142.03992885099998 meters Centerline goodness : 0.841670 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.04, Z:0.43 [[ 0.98448952 -0.14039321 -0.10521467 -0.83274431] [ 0.14479018 0.98883073 0.03534953 -0.03520094] [ 0.09907667 -0.0500353 0.99382105 0.42953447] [ 0. 0. 0. 1. ]] SLAMing on 142.069928851 meters Centerline goodness : 0.840501 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.03, Z:0.43 [[ 0.984401 -0.1407117 -0.1056167 -0.83214349] [ 0.14507205 0.98881009 0.03476652 -0.03323677] [ 0.0995428 -0.04954623 0.99379897 0.42953083] [ 0. 0. 0. 1. ]] SLAMing on 142.099928851 meters Centerline goodness : 0.840131 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.03, Z:0.43 [[ 0.98434069 -0.14123856 -0.1054755 -0.83283811] [ 0.14552271 0.98876873 0.03405199 -0.03177959] [ 0.09948142 -0.04886783 0.99383871 0.42993404] [ 0. 0. 0. 1. ]] SLAMing on 142.129928851 meters Centerline goodness : 0.841961 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.03, Z:0.43 [[ 0.98430768 -0.14151875 -0.10540798 -0.83330156] [ 0.14574262 0.9887562 0.03347037 -0.03033635] [ 0.09948611 -0.04830758 0.99386563 0.43033044] [ 0. 0. 0. 1. ]] SLAMing on 142.159928851 meters Centerline goodness : 0.841871 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.03, Z:0.43 [[ 0.9842624 -0.14189326 -0.1053273 -0.83385856] [ 0.14601165 0.98875089 0.03243878 -0.02707556] [ 0.09953961 -0.04730729 0.99390839 0.43068222] [ 0. 0. 0. 1. ]] SLAMing on 142.189928851 meters Centerline goodness : 0.839949 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.03, Z:0.43 [[ 0.98423186 -0.14200977 -0.10545551 -0.83368704] [ 0.14608859 0.98875454 0.03197791 -0.02556143] [ 0.09972843 -0.04687953 0.99390973 0.43076782] [ 0. 0. 0. 1. ]] SLAMing on 142.219928851 meters Centerline goodness : 0.841189 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.02, Z:0.43 [[ 0.98420468 -0.14216026 -0.10550648 -0.83353658] [ 0.14619883 0.98875212 0.03154609 -0.02418032] [ 0.09983516 -0.04647273 0.99391812 0.43067792] [ 0. 0. 0. 1. ]] SLAMing on 142.249928851 meters Centerline goodness : 0.839023 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.02, Z:0.43 [[ 0.98420676 -0.14211791 -0.10554411 -0.83312123] [ 0.14613433 0.98876915 0.0313101 -0.02294616] [ 0.09990904 -0.04623923 0.99392159 0.43024045] [ 0. 0. 0. 1. ]] SLAMing on 142.279928851 meters Centerline goodness : 0.839556 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.02, Z:0.43 [[ 0.98420807 -0.14207166 -0.10559416 -0.83268787] [ 0.14604179 0.98879795 0.03082883 -0.02108866] [ 0.10003138 -0.04576314 0.99393131 0.42993423] [ 0. 0. 0. 1. ]] SLAMing on 142.309928851 meters Centerline goodness : 0.840165 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.02, Z:0.43 [[ 0.98420638 -0.14201343 -0.10568813 -0.83234605] [ 0.14596283 0.98881725 0.03058262 -0.02001583] [ 0.1001631 -0.04552615 0.99392893 0.42976537] [ 0. 0. 0. 1. ]] SLAMing on 142.33992885099997 meters Centerline goodness : 0.837385 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.02, Z:0.43 [[ 0.98420779 -0.14186531 -0.10587379 -0.8317383 ] [ 0.14578423 0.98885526 0.0302031 -0.01838294] [ 0.10040909 -0.04516085 0.99392078 0.42960431] [ 0. 0. 0. 1. ]] SLAMing on 142.36992885099997 meters Centerline goodness : 0.839432 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.02, Z:0.43 [[ 0.98421305 -0.14171982 -0.10601961 -0.83138577] [ 0.14560296 0.98889448 0.02979057 -0.01662218] [ 0.10062029 -0.04475704 0.99391768 0.42960384] [ 0. 0. 0. 1. ]] SLAMing on 142.39992885099997 meters Centerline goodness : 0.840029 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.01, Z:0.43 [[ 0.98473442 -0.13786452 -0.10626147 -0.8327929 ] [ 0.14204581 0.98931638 0.03280369 -0.01419054] [ 0.10060375 -0.04739691 0.99379697 0.43028888] [ 0. 0. 0. 1. ]] SLAMing on 142.42992885099997 meters Centerline goodness : 0.841055 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.01, Z:0.43 [[ 0.98477903 -0.13750358 -0.1063157 -0.83287724] [ 0.14162523 0.98939631 0.03220623 -0.01180236] [ 0.10075989 -0.046773 0.99381071 0.43081872] [ 0. 0. 0. 1. ]] SLAMing on 142.45992885099997 meters Centerline goodness : 0.840114 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.01, Z:0.43 [[ 0.98484116 -0.13696875 -0.10643049 -0.83278826] [ 0.14104289 0.98949553 0.03170965 -0.00954137] [ 0.10096927 -0.04624023 0.99381439 0.4313325 ] [ 0. 0. 0. 1. ]] SLAMing on 142.48992885099997 meters Centerline goodness : 0.843699 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.01, Z:0.43 [[ 0.98547955 -0.13210124 -0.10667393 -0.83348776] [ 0.13650356 0.99001941 0.0350477 -0.00684218] [ 0.10097942 -0.04910016 0.99367617 0.43176352] [ 0. 0. 0. 1. ]] SLAMing on 142.51992885099997 meters Centerline goodness : 0.841861 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.00, Z:0.43 [[ 0.98557813 -0.13131319 -0.10673611 -0.83289473] [ 0.13569561 0.99013719 0.03485751 -0.00468859] [ 0.10110614 -0.04883843 0.99367618 0.43155653] [ 0. 0. 0. 1. ]] SLAMing on 142.54992885099998 meters Centerline goodness : 0.844079 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.00, Z:0.43 [[ 0.98560913 -0.13081925 -0.10705592 -0.83206282] [ 0.13517455 0.99022238 0.03445982 -0.00266985] [ 0.10150116 -0.04843515 0.99365565 0.43162629] [ 0. 0. 0. 1. ]] SLAMing on 142.57992885099998 meters Centerline goodness : 0.841569 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.00, Z:0.43 [[ 0.98562483 -0.1305687 -0.10721709 -0.83162085] [ 0.1348946 0.99027277 0.0341069 -0.00110478] [ 0.10172087 -0.04807962 0.99365045 0.43165739] [ 0. 0. 0. 1. ]] SLAMing on 142.60992885099998 meters Centerline goodness : 0.843750 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.00, Z:0.43 [[ 9.85643331e-01 -1.30393518e-01 -1.07260215e-01 -8.31446863e-01] [ 1.34679609e-01 9.90315766e-01 3.37058948e-02 6.20497833e-04] [ 1.01826451e-01 -4.76677542e-02 9.93659478e-01 4.31670593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63992885099998 meters Centerline goodness : 0.844254 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.00, Z:0.43 [[ 0.9856152 -0.13072123 -0.1071197 -0.83173693] [ 0.13496557 0.99028892 0.03334903 0.00106953] [ 0.10172003 -0.04732678 0.99368668 0.43168671] [ 0. 0. 0. 1. ]] SLAMing on 142.66992885099998 meters Centerline goodness : 0.842897 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.00, Z:0.43 [[ 9.85575234e-01 -1.31056613e-01 -1.07077642e-01 -8.31833278e-01] [ 1.35274147e-01 9.90255462e-01 3.30911536e-02 9.93868962e-04] [ 1.01697405e-01 -4.70986582e-02 9.93699831e-01 4.31731298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69992885099998 meters Centerline goodness : 0.843502 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.00, Z:0.43 [[ 0.98503376 -0.13543626 -0.10660912 -0.83157307] [ 0.13919535 0.9898515 0.0286124 0.00284188] [ 0.10165204 -0.04302367 0.99388924 0.43178879] [ 0. 0. 0. 1. ]] SLAMing on 142.72992885099998 meters Centerline goodness : 0.843191 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.00, Z:0.43 [[ 0.98498158 -0.13599582 -0.10637869 -0.8322756 ] [ 0.13970847 0.98979022 0.02822876 0.00304347] [ 0.10145359 -0.04266682 0.9939249 0.43202208] [ 0. 0. 0. 1. ]] SLAMing on 142.75992885099998 meters Centerline goodness : 0.844790 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.00, Z:0.43 [[ 0.98492296 -0.13652383 -0.10624503 -0.83302901] [ 0.1401826 0.98973724 0.02773151 0.00350416] [ 0.10136865 -0.0422071 0.9939532 0.43257883] [ 0. 0. 0. 1. ]] SLAMing on 142.78992885099998 meters Centerline goodness : 0.842916 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.00, Z:0.43 [[ 0.9848684 -0.13707161 -0.10604531 -0.83380143] [ 0.14067312 0.98968166 0.02722664 0.00405767] [ 0.1012191 -0.04173238 0.99398848 0.43295971] [ 0. 0. 0. 1. ]] SLAMing on 142.819928851 meters Centerline goodness : 0.844890 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.00, Z:0.43 [[ 0.98481876 -0.13757609 -0.10585288 -0.83446638] [ 0.14112976 0.98962797 0.02681166 0.00432807] [ 0.10106633 -0.04134362 0.99402027 0.43324126] [ 0. 0. 0. 1. ]] SLAMing on 142.849928851 meters Centerline goodness : 0.844019 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.00, Z:0.43 [[ 0.98477834 -0.13796954 -0.10571672 -0.83493246] [ 0.14147922 0.98958873 0.02641559 0.00471798] [ 0.10097153 -0.04097022 0.99404537 0.43346857] [ 0. 0. 0. 1. ]] SLAMing on 142.879928851 meters Centerline goodness : 0.785967 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.01, Z:0.43 [[ 0.98473564 -0.13846811 -0.10546231 -0.83582859] [ 0.14191823 0.98953929 0.02590786 0.00541173] [ 0.10077169 -0.04047942 0.99408575 0.43385959] [ 0. 0. 0. 1. ]] SLAMing on 142.909928851 meters Centerline goodness : 0.847605 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.01, Z:0.43 [[ 0.98466511 -0.139228 -0.10511983 -0.83740185] [ 0.14257461 0.98946864 0.02498583 0.00718293] [ 0.10053405 -0.0395901 0.99414563 0.43477856] [ 0. 0. 0. 1. ]] SLAMing on 142.939928851 meters Centerline goodness : 0.845211 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.01, Z:0.44 [[ 0.98461683 -0.13966325 -0.10499468 -0.83805225] [ 0.14294608 0.98943008 0.02438311 0.00836461] [ 0.10047947 -0.0390166 0.99417382 0.43522997] [ 0. 0. 0. 1. ]] SLAMing on 142.969928851 meters Centerline goodness : 0.786801 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.01, Z:0.44 [[ 0.98459438 -0.13995195 -0.10482062 -0.8384799 ] [ 0.14316593 0.98941357 0.02375494 0.01021344] [ 0.1003864 -0.03839572 0.99420739 0.43529577] [ 0. 0. 0. 1. ]] SLAMing on 142.999928851 meters Centerline goodness : 0.845070 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.01, Z:0.44 [[ 0.98457538 -0.14012962 -0.10476168 -0.8385903 ] [ 0.1432984 0.98940471 0.02332128 0.01140213] [ 0.1003837 -0.03797374 0.99422387 0.43535943] [ 0. 0. 0. 1. ]] SLAMing on 143.029928851 meters Centerline goodness : 0.845070 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.01, Z:0.44 [[ 0.98457538 -0.14012962 -0.10476168 -0.8385903 ] [ 0.1432984 0.98940471 0.02332128 0.01140213] [ 0.1003837 -0.03797374 0.99422387 0.43535943] [ 0. 0. 0. 1. ]] SLAMing on 143.059928851 meters Centerline goodness : 0.846139 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.01, Z:0.44 [[ 0.98455116 -0.14031185 -0.10474537 -0.83863756] [ 0.14343299 0.98939628 0.02284681 0.01282054] [ 0.10042901 -0.0375178 0.99423661 0.4353812 ] [ 0. 0. 0. 1. ]] SLAMing on 143.08992885099997 meters Centerline goodness : 0.788508 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.02, Z:0.44 [[ 0.98453285 -0.14061642 -0.10450879 -0.83909461] [ 0.1436465 0.9893841 0.02201769 0.01564419] [ 0.10030329 -0.03668946 0.99428021 0.43532817] [ 0. 0. 0. 1. ]] SLAMing on 143.11992885099997 meters Centerline goodness : 0.788850 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.02, Z:0.44 [[ 0.98450502 -0.14091254 -0.10437205 -0.83941184] [ 0.14389065 0.98935919 0.02153785 0.01719857] [ 0.10022649 -0.03622228 0.99430508 0.43524645] [ 0. 0. 0. 1. ]] SLAMing on 143.14992885099997 meters Centerline goodness : 0.789901 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.02, Z:0.44 [[ 0.9844791 -0.14109457 -0.10437061 -0.83935775] [ 0.14403116 0.9893478 0.02111775 0.01872238] [ 0.10027923 -0.0358226 0.99431424 0.43512729] [ 0. 0. 0. 1. ]] SLAMing on 143.17992885099997 meters Centerline goodness : 0.789008 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.02, Z:0.43 [[ 0.9844301 -0.14150142 -0.10428199 -0.83919552] [ 0.14437089 0.98931203 0.02046368 0.02156997] [ 0.10027179 -0.03520035 0.99433722 0.43441139] [ 0. 0. 0. 1. ]] SLAMing on 143.20992885099997 meters Centerline goodness : 0.788716 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.02, Z:0.43 [[ 0.98439844 -0.14177059 -0.10421518 -0.83922973] [ 0.1445951 0.9892882 0.02002805 0.02305229] [ 0.10025946 -0.03478459 0.99435309 0.43422044] [ 0. 0. 0. 1. ]] SLAMing on 143.23992885099997 meters Centerline goodness : 0.789083 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.02, Z:0.43 [[ 0.98434617 -0.14228162 -0.10401231 -0.83984246] [ 0.14503963 0.98923538 0.01941291 0.0247446 ] [ 0.10013056 -0.03419493 0.99438653 0.43430844] [ 0. 0. 0. 1. ]] SLAMing on 143.26992885099997 meters Centerline goodness : 0.788898 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.03, Z:0.43 [[ 0.98428792 -0.14280731 -0.10384296 -0.84039396] [ 0.14549941 0.98917989 0.01878984 0.02637596] [ 0.10003604 -0.0336037 0.9944162 0.43442031] [ 0. 0. 0. 1. ]] SLAMing on 143.29992885099998 meters Centerline goodness : 0.789179 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.03, Z:0.43 [[ 0.98421149 -0.1436081 -0.10346231 -0.8415479 ] [ 0.14621313 0.98908914 0.01801067 0.02805905] [ 0.09974697 -0.03285385 0.99447029 0.43463675] [ 0. 0. 0. 1. ]] SLAMing on 143.32992885099998 meters Centerline goodness : 0.789274 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.03, Z:0.43 [[ 0.98402594 -0.14537213 -0.1027613 -0.84370712] [ 0.14782312 0.9888743 0.01661147 0.03066735] [ 0.09920317 -0.03153661 0.99456733 0.43489257] [ 0. 0. 0. 1. ]] SLAMing on 143.35992885099998 meters Centerline goodness : 0.788518 Centerline is valid? [False, False] Translation: X:-0.85, Y:0.03, Z:0.43 [[ 0.98393639 -0.14632708 -0.10226222 -0.84503801] [ 0.14869726 0.98875476 0.01591055 0.03182549] [ 0.09878411 -0.03086108 0.99463023 0.43498057] [ 0. 0. 0. 1. ]] SLAMing on 143.38992885099998 meters Centerline goodness : 0.791404 Centerline is valid? [False, False] Translation: X:-0.85, Y:0.03, Z:0.44 [[ 0.98369532 -0.14858814 -0.10131672 -0.84801279] [ 0.15077212 0.98846645 0.0142073 0.03488964] [ 0.09803714 -0.02925139 0.99475277 0.43539018] [ 0. 0. 0. 1. ]] SLAMing on 143.41992885099998 meters Centerline goodness : 0.791624 Centerline is valid? [False, False] Translation: X:-0.85, Y:0.04, Z:0.44 [[ 0.98359151 -0.14967192 -0.10072763 -0.84959188] [ 0.15176059 0.988327 0.01335907 0.03658222] [ 0.09755235 -0.02842635 0.99482435 0.43546092] [ 0. 0. 0. 1. ]] SLAMing on 143.44992885099998 meters Centerline goodness : 0.791331 Centerline is valid? [False, False] Translation: X:-0.85, Y:0.04, Z:0.44 [[ 0.983504 -0.15053263 -0.10029865 -0.85089433] [ 0.15253434 0.98821845 0.01255258 0.03839008] [ 0.0972274 -0.0276445 0.99487819 0.43568522] [ 0. 0. 0. 1. ]] SLAMing on 143.47992885099998 meters Centerline goodness : 0.793540 Centerline is valid? [False, False] Translation: X:-0.85, Y:0.04, Z:0.44 [[ 0.98341264 -0.15140296 -0.09988355 -0.85207341] [ 0.15331492 0.98810803 0.01170714 0.04060305] [ 0.09692324 -0.02682659 0.99493026 0.43574742] [ 0. 0. 0. 1. ]] SLAMing on 143.50992885099998 meters Centerline goodness : 0.792412 Centerline is valid? [False, False] Translation: X:-0.85, Y:0.05, Z:0.44 [[ 0.9832734 -0.1526916 -0.09929095 -0.85377143] [ 0.15444917 0.98794791 0.01021655 0.04520364] [ 0.0965343 -0.02538107 0.99500599 0.43577914] [ 0. 0. 0. 1. ]] SLAMing on 143.53992885099998 meters Centerline goodness : 0.794462 Centerline is valid? [False, False] Translation: X:-0.85, Y:0.05, Z:0.44 [[ 0.98321187 -0.15327746 -0.09899713 -0.85462242] [ 0.15495619 0.98787613 0.00945106 0.0477425 ] [ 0.09634827 -0.02463262 0.99504284 0.43580076] [ 0. 0. 0. 1. ]] SLAMing on 143.569928851 meters Centerline goodness : 0.796205 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.05, Z:0.44 [[ 0.98312106 -0.1540679 -0.09867152 -0.85579689] [ 0.1556392 0.98777839 0.00838373 0.05084207] [ 0.09617393 -0.02359938 0.99508474 0.43617039] [ 0. 0. 0. 1. ]] SLAMing on 143.599928851 meters Centerline goodness : 0.796778 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.05, Z:0.44 [[ 0.98301626 -0.15494923 -0.09833493 -0.85713339] [ 0.1564077 0.98766595 0.00725308 0.05390603] [ 0.0959982 -0.02251024 0.99512694 0.43669629] [ 0. 0. 0. 1. ]] SLAMing on 143.629928851 meters Centerline goodness : 0.796778 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.05, Z:0.44 [[ 0.98301626 -0.15494923 -0.09833493 -0.85713339] [ 0.1564077 0.98766595 0.00725308 0.05390603] [ 0.0959982 -0.02251024 0.99512694 0.43669629] [ 0. 0. 0. 1. ]] SLAMing on 143.659928851 meters Centerline goodness : 0.794792 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.06, Z:0.44 [[ 0.98294004 -0.15554983 -0.09814854 -0.85788108] [ 0.15691529 0.98759196 0.00630229 0.05685056] [ 0.09595039 -0.02159578 0.99515182 0.43695915] [ 0. 0. 0. 1. ]] SLAMing on 143.689928851 meters Centerline goodness : 0.797729 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.06, Z:0.44 [[ 0.98287961 -0.15600332 -0.09803386 -0.85805781] [ 0.15730047 0.98753493 0.00559704 0.05918896] [ 0.0959387 -0.02092199 0.99516734 0.4367597 ] [ 0. 0. 0. 1. ]] SLAMing on 143.719928851 meters Centerline goodness : 0.798912 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.06, Z:0.44 [[ 0.9828105 -0.15665895 -0.09768058 -0.85827951] [ 0.15785861 0.98745088 0.00462812 0.06291582] [ 0.09572974 -0.01996829 0.99520706 0.43590235] [ 0. 0. 0. 1. ]] SLAMing on 143.749928851 meters Centerline goodness : 0.797290 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.07, Z:0.44 [[ 0.98274776 -0.15718766 -0.09746219 -0.85891031] [ 0.15831241 0.9873815 0.00386792 0.06523703] [ 0.09562437 -0.01923066 0.99523171 0.43595409] [ 0. 0. 0. 1. ]] SLAMing on 143.779928851 meters Centerline goodness : 0.800747 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.07, Z:0.44 [[ 0.98268941 -0.15768693 -0.09724382 -0.85959284] [ 0.15872741 0.98731786 0.0030092 0.06781367] [ 0.09553605 -0.01839237 0.99525604 0.43618391] [ 0. 0. 0. 1. ]] SLAMing on 143.809928851 meters Centerline goodness : 0.801397 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.07, Z:0.44 [[ 0.98263521 -0.15808883 -0.09713893 -0.86008626] [ 0.15903954 0.98727004 0.00207415 0.07080843] [ 0.09557446 -0.01748706 0.99526867 0.43653907] [ 0. 0. 0. 1. ]] SLAMing on 143.83992885099997 meters Centerline goodness : 0.804883 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.07, Z:0.44 [[ 0.98312099 -0.15518575 -0.0969046 -0.86241954] [ 0.15639044 0.98768308 0.00491606 0.07381731] [ 0.09494813 -0.01998803 0.99528153 0.43639748] [ 0. 0. 0. 1. ]] SLAMing on 143.86992885099997 meters Centerline goodness : 0.803422 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.08, Z:0.44 [[ 0.98308088 -0.15551653 -0.09678114 -0.86291769] [ 0.15664592 0.98764616 0.0041362 0.07634282] [ 0.09494228 -0.01922659 0.99529709 0.43667225] [ 0. 0. 0. 1. ]] SLAMing on 143.89992885099997 meters Centerline goodness : 0.802072 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.08, Z:0.44 [[ 0.98304328 -0.15586416 -0.09660367 -0.86348024] [ 0.15691523 0.98760645 0.00333331 0.07877479] [ 0.09488686 -0.01843538 0.99531735 0.43696318] [ 0. 0. 0. 1. ]] SLAMing on 143.92992885099997 meters Centerline goodness : 0.805534 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.08, Z:0.44 [[ 0.9829756 -0.15656998 -0.09614994 -0.86514813] [ 0.15748348 0.98751972 0.00193948 0.08300795] [ 0.09464629 -0.01704849 0.99536497 0.43778384] [ 0. 0. 0. 1. ]] SLAMing on 143.95992885099997 meters Centerline goodness : 0.803376 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.09, Z:0.44 [[ 9.82902355e-01 -1.57279780e-01 -9.57393931e-02 -8.66680296e-01] [ 1.58095207e-01 9.87423422e-01 9.44360559e-04 8.55920628e-02] [ 9.43867903e-02 -1.60641534e-02 9.95405986e-01 4.38483626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.98992885099997 meters Centerline goodness : 0.806159 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.09, Z:0.44 [[ 9.82833454e-01 -1.57847535e-01 -9.55120767e-02 -8.67761113e-01] [ 1.58574432e-01 9.87347026e-01 2.05488410e-05 8.80353452e-02] [ 9.43003213e-02 -1.51659694e-02 9.95428271e-01 4.39196528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.01992885099997 meters Centerline goodness : 0.807083 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.09, Z:0.44 [[ 9.82760798e-01 -1.58494801e-01 -9.51872515e-02 -8.68986059e-01] [ 1.59134855e-01 9.87256465e-01 -8.77431345e-04 9.06228296e-02] [ 9.41132978e-02 -1.42853043e-02 9.95458998e-01 4.39698792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.04992885099998 meters Centerline goodness : 0.805780 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.09, Z:0.44 [[ 0.98265537 -0.15944396 -0.0946892 -0.8702957 ] [ 0.15998238 0.98711799 -0.00192693 0.09418394] [ 0.09377665 -0.0132551 0.99550502 0.43958768] [ 0. 0. 0. 1. ]] SLAMing on 144.07992885099998 meters Centerline goodness : 0.805727 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.10, Z:0.44 [[ 0.98259745 -0.15999593 -0.09435865 -0.87104977] [ 0.16049948 0.9870333 -0.00227785 0.09522587] [ 0.09349957 -0.0129063 0.99553566 0.43931851] [ 0. 0. 0. 1. ]] SLAMing on 144.10992885099998 meters Centerline goodness : 0.806335 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.10, Z:0.44 [[ 0.98253248 -0.16061617 -0.09398071 -0.87189926] [ 0.16108049 0.98693765 -0.00267431 0.09623 ] [ 0.09318264 -0.01251087 0.99557043 0.43907919] [ 0. 0. 0. 1. ]] SLAMing on 144.13992885099998 meters Centerline goodness : 0.804594 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.10, Z:0.44 [[ 0.98237443 -0.16197524 -0.09329787 -0.87381009] [ 0.16235608 0.98672587 -0.00354459 0.0982982 ] [ 0.09263355 -0.01166536 0.99563193 0.43893633] [ 0. 0. 0. 1. ]] SLAMing on 144.16992885099998 meters Centerline goodness : 0.806062 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.10, Z:0.44 [[ 0.982297 -0.16262191 -0.09298774 -0.87463166] [ 0.16296267 0.98662426 -0.00396806 0.09927603] [ 0.09238925 -0.01125572 0.99565935 0.4388468 ] [ 0. 0. 0. 1. ]] SLAMing on 144.19992885099998 meters Centerline goodness : 0.806683 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.10, Z:0.44 [[ 0.98222635 -0.16328148 -0.09257733 -0.87565389] [ 0.16358375 0.98651979 -0.00436555 0.10015887] [ 0.09204218 -0.01085618 0.99569593 0.43871236] [ 0. 0. 0. 1. ]] SLAMing on 144.22992885099998 meters Centerline goodness : 0.803213 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.10, Z:0.44 [[ 0.9821545 -0.16393082 -0.09219124 -0.87679493] [ 0.16419068 0.98641689 -0.00481082 0.10091846] [ 0.09172764 -0.01041198 0.9957297 0.43888895] [ 0. 0. 0. 1. ]] SLAMing on 144.25992885099998 meters Centerline goodness : 0.804596 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.10, Z:0.44 [[ 0.98198433 -0.16534195 -0.09148123 -0.87932071] [ 0.16550868 0.9861912 -0.00581369 0.10256338] [ 0.09117923 -0.00943199 0.99578983 0.43957313] [ 0. 0. 0. 1. ]] SLAMing on 144.28992885099998 meters Centerline goodness : 0.807106 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.10, Z:0.44 [[ 0.98191891 -0.16592019 -0.09113584 -0.88051573] [ 0.16604154 0.98609862 -0.00630198 0.10326003] [ 0.09091455 -0.0089443 0.99581853 0.44002877] [ 0. 0. 0. 1. ]] SLAMing on 144.319928851 meters Centerline goodness : 0.805111 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.10, Z:0.44 [[ 0.9818604 -0.16644506 -0.09080859 -0.88162291] [ 0.16652369 0.98601426 -0.00676349 0.10403003] [ 0.09066431 -0.00848098 0.9958454 0.44041826] [ 0. 0. 0. 1. ]] SLAMing on 144.349928851 meters Centerline goodness : 0.806919 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.10, Z:0.44 [[ 0.98180635 -0.16689953 -0.09055843 -0.88260774] [ 0.16693857 0.98594103 -0.00719696 0.10485382] [ 0.09048644 -0.00805167 0.99586514 0.44083035] [ 0. 0. 0. 1. ]] SLAMing on 144.379928851 meters Centerline goodness : 0.806201 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.11, Z:0.44 [[ 0.98174638 -0.1674052 -0.09027482 -0.88360739] [ 0.16739843 0.98585925 -0.00770047 0.10572015] [ 0.09028736 -0.00755195 0.99588712 0.44126109] [ 0. 0. 0. 1. ]] SLAMing on 144.409928851 meters Centerline goodness : 0.805600 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.11, Z:0.44 [[ 0.98170164 -0.16784104 -0.08995151 -0.8844511 ] [ 0.16780729 0.98578742 -0.00799198 0.10660233] [ 0.09001445 -0.00724878 0.99591408 0.44119644] [ 0. 0. 0. 1. ]] SLAMing on 144.439928851 meters Centerline goodness : 0.803675 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.11, Z:0.44 [[ 0.98169862 -0.16788638 -0.08989981 -0.88437783] [ 0.16786417 0.98577878 -0.00786215 0.10644959] [ 0.08994127 -0.0073727 0.99591978 0.44083136] [ 0. 0. 0. 1. ]] SLAMing on 144.469928851 meters Centerline goodness : 0.802983 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.11, Z:0.44 [[ 0.98170078 -0.16793754 -0.08978063 -0.88428779] [ 0.16793478 0.98576851 -0.00763901 0.10602211] [ 0.0897858 -0.00757807 0.99593227 0.44024451] [ 0. 0. 0. 1. ]] SLAMing on 144.499928851 meters Centerline goodness : 0.804012 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.11, Z:0.44 [[ 0.98169139 -0.16806075 -0.08965263 -0.884357 ] [ 0.16807388 0.98574619 -0.00745723 0.1053549 ] [ 0.08962801 -0.00774756 0.99594518 0.43986894] [ 0. 0. 0. 1. ]] SLAMing on 144.529928851 meters Centerline goodness : 0.797541 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.10, Z:0.44 [[ 0.98168046 -0.16824608 -0.08942445 -0.88434472] [ 0.16831246 0.98570988 -0.00685247 0.10369701] [ 0.08929946 -0.00832432 0.99597004 0.43879627] [ 0. 0. 0. 1. ]] SLAMing on 144.559928851 meters Centerline goodness : 0.800005 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.10, Z:0.44 [[ 0.98168813 -0.16821198 -0.08940438 -0.88410572] [ 0.16829899 0.98571377 -0.00661874 0.10314078] [ 0.08924048 -0.00854912 0.99597342 0.43839355] [ 0. 0. 0. 1. ]] SLAMing on 144.58992885099997 meters Centerline goodness : 0.798568 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.10, Z:0.44 [[ 0.98167891 -0.16831502 -0.08931169 -0.88427322] [ 0.16840935 0.9856955 -0.00653276 0.10289482] [ 0.08913369 -0.00862785 0.9959823 0.43824332] [ 0. 0. 0. 1. ]] SLAMing on 144.61992885099997 meters Centerline goodness : 0.800905 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.10, Z:0.44 [[ 0.98169964 -0.16816277 -0.08937059 -0.88409577] [ 0.16826017 0.98572121 -0.00649719 0.10278235] [ 0.08918707 -0.00865922 0.99597725 0.43832304] [ 0. 0. 0. 1. ]] SLAMing on 144.64992885099997 meters Centerline goodness : 0.800172 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.10, Z:0.44 [[ 0.98171831 -0.16805788 -0.08936284 -0.88400915] [ 0.16816424 0.98573827 -0.00639157 0.10253239] [ 0.08916253 -0.00875292 0.99597863 0.43822952] [ 0. 0. 0. 1. ]] SLAMing on 144.67992885099997 meters Centerline goodness : 0.801463 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.10, Z:0.44 [[ 0.98172034 -0.16808003 -0.08929884 -0.88418738] [ 0.16818528 0.98573463 -0.0063988 0.10216174] [ 0.08910047 -0.00873692 0.99598432 0.43837398] [ 0. 0. 0. 1. ]] SLAMing on 144.70992885099997 meters Centerline goodness : 0.799000 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.10, Z:0.44 [[ 0.98171286 -0.16816235 -0.08922604 -0.88448581] [ 0.16828148 0.98571923 -0.00624003 0.10125959] [ 0.08900116 -0.00888918 0.99599186 0.43847568] [ 0. 0. 0. 1. ]] SLAMing on 144.73992885099997 meters Centerline goodness : 0.800620 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.10, Z:0.44 [[ 0.98166738 -0.16855787 -0.08897974 -0.88542125] [ 0.16867278 0.98565209 -0.00628069 0.10048403] [ 0.08876173 -0.00884291 0.99601363 0.43885647] [ 0. 0. 0. 1. ]] SLAMing on 144.76992885099997 meters Centerline goodness : 0.797988 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.10, Z:0.44 [[ 0.98161463 -0.16899405 -0.08873399 -0.88624695] [ 0.16914039 0.98557418 -0.00592207 0.09842005] [ 0.08845472 -0.00919531 0.99603775 0.43887708] [ 0. 0. 0. 1. ]] SLAMing on 144.79992885099998 meters Centerline goodness : 0.797525 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.10, Z:0.44 [[ 0.98160886 -0.16912564 -0.0885469 -0.88658452] [ 0.16930226 0.98554845 -0.00556672 0.09689701] [ 0.08820874 -0.00952685 0.99605645 0.43866695] [ 0. 0. 0. 1. ]] SLAMing on 144.82992885099998 meters Centerline goodness : 0.797270 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.10, Z:0.44 [[ 0.98159113 -0.16929658 -0.08841677 -0.88677106] [ 0.16950365 0.98551576 -0.00521589 0.0952857 ] [ 0.08801915 -0.00986709 0.99606991 0.43839455] [ 0. 0. 0. 1. ]] SLAMing on 144.85992885099998 meters Centerline goodness : 0.797122 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.09, Z:0.44 [[ 0.98150492 -0.16987107 -0.08827182 -0.88708485] [ 0.17011699 0.98541226 -0.00478495 0.09175535] [ 0.08779696 -0.01032009 0.99608493 0.43818395] [ 0. 0. 0. 1. ]] SLAMing on 144.88992885099998 meters Centerline goodness : 0.795561 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.09, Z:0.44 [[ 0.98149475 -0.17000909 -0.08811902 -0.88730087] [ 0.17028313 0.98538511 -0.00445336 0.08989924] [ 0.08758829 -0.01063423 0.9961 0.43804226] [ 0. 0. 0. 1. ]] SLAMing on 144.91992885099998 meters Centerline goodness : 0.794281 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.09, Z:0.44 [[ 0.98147953 -0.17020301 -0.08791397 -0.88760845] [ 0.17050029 0.98534879 -0.00417205 0.08826536] [ 0.08733602 -0.01089457 0.99611933 0.43786822] [ 0. 0. 0. 1. ]] SLAMing on 144.94992885099998 meters Centerline goodness : 0.795322 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.09, Z:0.44 [[ 0.98140679 -0.17069649 -0.08776919 -0.88852548] [ 0.17102797 0.9852589 -0.0037852 0.08526231] [ 0.0871215 -0.01129616 0.99613365 0.4383783 ] [ 0. 0. 0. 1. ]] SLAMing on 144.97992885099998 meters Centerline goodness : 0.795437 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.08, Z:0.44 [[ 0.98138878 -0.17088603 -0.08760153 -0.88904116] [ 0.17124267 0.98522272 -0.00348361 0.08348788] [ 0.08690232 -0.01158234 0.9961495 0.43853594] [ 0. 0. 0. 1. ]] SLAMing on 145.00992885099998 meters Centerline goodness : 0.795265 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.08, Z:0.44 [[ 0.98132619 -0.17125169 -0.08758861 -0.88929142] [ 0.17165221 0.98515306 -0.0029949 0.0787416 ] [ 0.08680107 -0.01209581 0.99615223 0.4390288 ] [ 0. 0. 0. 1. ]] SLAMing on 145.03992885099998 meters Centerline goodness : 0.793826 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.08, Z:0.44 [[ 0.98132183 -0.17140073 -0.08734559 -0.88984785] [ 0.17183477 0.9851224 -0.00258154 0.076314 ] [ 0.08648858 -0.01247569 0.99617473 0.4390919 ] [ 0. 0. 0. 1. ]] SLAMing on 145.069928851 meters Centerline goodness : 0.793826 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.08, Z:0.44 [[ 0.98132183 -0.17140073 -0.08734559 -0.88984785] [ 0.17183477 0.9851224 -0.00258154 0.076314 ] [ 0.08648858 -0.01247569 0.99617473 0.4390919 ] [ 0. 0. 0. 1. ]] SLAMing on 145.099928851 meters Centerline goodness : 0.793535 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.07, Z:0.44 [[ 0.98131404 -0.17150591 -0.08722661 -0.89014943] [ 0.17198221 0.98509786 -0.00208135 0.07391009] [ 0.08628371 -0.01295896 0.99618632 0.43910415] [ 0. 0. 0. 1. ]] SLAMing on 145.129928851 meters Centerline goodness : 0.794108 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.07, Z:0.44 [[ 0.98128517 -0.1717009 -0.08716771 -0.8905941 ] [ 0.17224268 0.98505366 -0.00132409 0.06943517] [ 0.08609222 -0.01371469 0.99619277 0.4395463 ] [ 0. 0. 0. 1. ]] SLAMing on 145.159928851 meters Centerline goodness : 0.793602 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.07, Z:0.44 [[ 9.81282693e-01 -1.71749976e-01 -8.70989272e-02 -8.90943590e-01] [ 1.72325706e-01 9.85039594e-01 -9.21859821e-04 6.71127828e-02] [ 8.59542212e-02 -1.41047791e-02 9.96199241e-01 4.39878283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.189928851 meters Centerline goodness : 0.792538 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.06, Z:0.44 [[ 9.81299513e-01 -1.71715878e-01 -8.69765641e-02 -8.91222073e-01] [ 1.72333431e-01 9.85038586e-01 -4.14526121e-04 6.45324992e-02] [ 8.57464525e-02 -1.45821954e-02 9.96210272e-01 4.40045749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.219928851 meters Centerline goodness : 0.793552 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.06, Z:0.44 [[ 9.81320428e-01 -1.71602621e-01 -8.69641212e-02 -8.91266828e-01] [ 1.72262825e-01 9.85051020e-01 8.84527740e-05 6.18968291e-02] [ 8.56489175e-02 -1.50674857e-02 9.96211440e-01 4.40288263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.249928851 meters Centerline goodness : 0.790821 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.06, Z:0.44 [[ 0.98134144 -0.17143835 -0.08705092 -0.89105056] [ 0.17217805 0.98506533 0.00100495 0.05644934] [ 0.08557855 -0.01597445 0.99620336 0.44072061] [ 0. 0. 0. 1. ]] SLAMing on 145.279928851 meters Centerline goodness : 0.790430 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.05, Z:0.44 [[ 0.98137167 -0.17129897 -0.08698454 -0.89101757] [ 0.17209932 0.98507808 0.0017307 0.05367547] [ 0.0853901 -0.01666844 0.99620816 0.44054416] [ 0. 0. 0. 1. ]] SLAMing on 145.30992885099997 meters Centerline goodness : 0.791241 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.05, Z:0.44 [[ 0.98139299 -0.17115115 -0.08703499 -0.89084469] [ 0.17200801 0.98509266 0.00238653 0.0508216 ] [ 0.08532907 -0.01731284 0.9962024 0.44061493] [ 0. 0. 0. 1. ]] SLAMing on 145.33992885099997 meters Centerline goodness : 0.789552 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.04, Z:0.44 [[ 0.98144246 -0.17077551 -0.0872148 -0.89010367] [ 0.17172888 0.98513806 0.00349213 0.04491453] [ 0.08532225 -0.01840462 0.99618341 0.44079056] [ 0. 0. 0. 1. ]] SLAMing on 145.36992885099997 meters Centerline goodness : 0.788939 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.04, Z:0.44 [[ 0.98150007 -0.17041484 -0.08727192 -0.88966578] [ 0.17143901 0.98518525 0.00432233 0.04195182] [ 0.08524242 -0.01920418 0.99617515 0.44057309] [ 0. 0. 0. 1. ]] SLAMing on 145.39992885099997 meters Centerline goodness : 0.786108 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.04, Z:0.44 [[ 0.98155194 -0.17006167 -0.0873774 -0.88919464] [ 0.17115366 0.98523112 0.00510606 0.0388553 ] [ 0.08521859 -0.01996683 0.99616219 0.44051269] [ 0. 0. 0. 1. ]] SLAMing on 145.42992885099997 meters Centerline goodness : 0.787556 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.04, Z:0.44 [[ 0.98159879 -0.16974194 -0.08747283 -0.88871642] [ 0.17090133 0.98527057 0.00588527 0.03576591] [ 0.08518542 -0.02072619 0.99614952 0.44041235] [ 0. 0. 0. 1. ]] SLAMing on 145.45992885099997 meters Centerline goodness : 0.785103 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.03, Z:0.44 [[ 0.98164973 -0.16925186 -0.08784996 -0.88742861] [ 0.17052058 0.98532861 0.00708912 0.0297919 ] [ 0.08536123 -0.02193926 0.99610849 0.44044332] [ 0. 0. 0. 1. ]] SLAMing on 145.48992885099997 meters Centerline goodness : 0.785983 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.03, Z:0.44 [[ 0.9817177 -0.1687869 -0.08798492 -0.88667977] [ 0.1701374 0.98538765 0.00802835 0.02674013] [ 0.08534417 -0.0228511 0.99608945 0.44008421] [ 0. 0. 0. 1. ]] SLAMing on 145.51992885099997 meters Centerline goodness : 0.785983 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.03, Z:0.44 [[ 0.9817177 -0.1687869 -0.08798492 -0.88667977] [ 0.1701374 0.98538765 0.00802835 0.02674013] [ 0.08534417 -0.0228511 0.99608945 0.44008421] [ 0. 0. 0. 1. ]] SLAMing on 145.54992885099998 meters Centerline goodness : 0.782162 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.02, Z:0.44 [[ 0.98179178 -0.16824546 -0.088195 -0.88580169] [ 0.16967432 0.98545992 0.00890868 0.02365732] [ 0.0854138 -0.0237109 0.99606339 0.43990681] [ 0. 0. 0. 1. ]] SLAMing on 145.57992885099998 meters Centerline goodness : 0.784650 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.02, Z:0.44 [[ 0.9818644 -0.1677525 -0.08832548 -0.88497742] [ 0.16925336 0.98552452 0.00973274 0.02098342] [ 0.08541423 -0.02450561 0.99604412 0.43951229] [ 0. 0. 0. 1. ]] SLAMing on 145.60992885099998 meters Centerline goodness : 0.782386 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.02, Z:0.44 [[ 0.98204856 -0.1662693 -0.08907942 -0.88261825] [ 0.16790975 0.98573878 0.01119703 0.01651437] [ 0.08594732 -0.02595333 0.99596159 0.43934773] [ 0. 0. 0. 1. ]] SLAMing on 145.63992885099998 meters Centerline goodness : 0.782475 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.01, Z:0.44 [[ 0.98212377 -0.16567672 -0.08935398 -0.88191013] [ 0.16737004 0.98582412 0.01175089 0.01476423] [ 0.08614046 -0.02649601 0.99593061 0.43949792] [ 0. 0. 0. 1. ]] SLAMing on 145.66992885099998 meters Centerline goodness : 0.782281 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.01, Z:0.44 [[ 0.98218028 -0.16523854 -0.08954394 -0.88165402] [ 0.16697384 0.9858859 0.01219583 0.01302141] [ 0.08626489 -0.02693 0.9959082 0.43996832] [ 0. 0. 0. 1. ]] SLAMing on 145.69992885099998 meters Centerline goodness : 0.830338 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.01, Z:0.44 [[ 0.98220775 -0.16503538 -0.08961725 -0.88187966] [ 0.16679515 0.98591279 0.01246403 0.01141383] [ 0.08629779 -0.02718999 0.99589829 0.44069323] [ 0. 0. 0. 1. ]] SLAMing on 145.72992885099998 meters Centerline goodness : 0.782337 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.01, Z:0.44 [[ 0.98228332 -0.16446173 -0.08984325 -0.88181911] [ 0.16631124 0.98598156 0.01345143 0.00709212] [ 0.08637154 -0.02815506 0.99586508 0.44163406] [ 0. 0. 0. 1. ]] SLAMing on 145.75992885099998 meters Centerline goodness : 0.782613 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.00, Z:0.44 [[ 0.98234305 -0.16399786 -0.09003792 -0.88113458] [ 0.16591711 0.9860373 0.01421081 0.00438543] [ 0.08645021 -0.02889872 0.99583695 0.4416096 ] [ 0. 0. 0. 1. ]] SLAMing on 145.78992885099998 meters Centerline goodness : 0.783490 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.00, Z:0.44 [[ 0.9823827 -0.16369571 -0.09015514 -0.88063194] [ 0.16567589 0.9860679 0.01488598 0.00178322] [ 0.08646232 -0.02956026 0.99581648 0.44150163] [ 0. 0. 0. 1. ]] SLAMing on 145.819928851 meters Centerline goodness : 0.782945 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.00, Z:0.44 [[ 9.82409161e-01 -1.63488640e-01 -9.02424829e-02 -8.80303022e-01] [ 1.65523519e-01 9.86084115e-01 1.54945958e-02 -9.66442458e-04] [ 8.64534885e-02 -3.01592862e-02 9.95799283e-01 4.41568147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.849928851 meters Centerline goodness : 0.782569 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.01, Z:0.44 [[ 0.98249859 -0.16273869 -0.09062357 -0.87894407] [ 0.16489523 0.98616816 0.01679058 -0.00603614] [ 0.0866376 -0.03144011 0.99574366 0.44141683] [ 0. 0. 0. 1. ]] SLAMing on 145.879928851 meters Centerline goodness : 0.783716 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.01, Z:0.44 [[ 0.98255535 -0.16232695 -0.09074655 -0.87849237] [ 0.16453796 0.98621747 0.0173888 -0.0080637 ] [ 0.08667316 -0.03201671 0.9957222 0.44139952] [ 0. 0. 0. 1. ]] SLAMing on 145.909928851 meters Centerline goodness : 0.837660 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.01, Z:0.44 [[ 0.98261575 -0.16186774 -0.0909127 -0.87792762] [ 0.16413653 0.98627321 0.01800979 -0.00998791] [ 0.08674956 -0.0326188 0.995696 0.44135626] [ 0. 0. 0. 1. ]] SLAMing on 145.939928851 meters Centerline goodness : 0.782591 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.01, Z:0.44 [[ 0.9826906 -0.16127899 -0.09114972 -0.8771357 ] [ 0.16361042 0.98634848 0.0186631 -0.01196946] [ 0.08689542 -0.03325309 0.9956623 0.4413286 ] [ 0. 0. 0. 1. ]] SLAMing on 145.969928851 meters Centerline goodness : 0.781774 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.02, Z:0.44 [[ 0.98283858 -0.16017989 -0.09149164 -0.87581327] [ 0.16264239 0.98648081 0.02007642 -0.01598153] [ 0.08703891 -0.0346123 0.99560344 0.44102744] [ 0. 0. 0. 1. ]] SLAMing on 145.999928851 meters Centerline goodness : 0.779936 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.02, Z:0.44 [[ 0.9828949 -0.15972971 -0.09167357 -0.87524838] [ 0.16224774 0.98653381 0.02065714 -0.0178597 ] [ 0.08713952 -0.03517763 0.99557483 0.4410256 ] [ 0. 0. 0. 1. ]] SLAMing on 146.029928851 meters Centerline goodness : 0.781074 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.02, Z:0.44 [[ 0.98294758 -0.15933364 -0.0917979 -0.87485063] [ 0.16190815 0.98657662 0.02126816 -0.0200103 ] [ 0.08717692 -0.03576831 0.99555051 0.44107869] [ 0. 0. 0. 1. ]] SLAMing on 146.05992885099997 meters Centerline goodness : 0.837679 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.02, Z:0.44 [[ 0.98300463 -0.15893288 -0.09188167 -0.87468153] [ 0.16159302 0.98660711 0.0222283 -0.02403311] [ 0.0871183 -0.03669796 0.9955218 0.4414483 ] [ 0. 0. 0. 1. ]] SLAMing on 146.08992885099997 meters Centerline goodness : 0.839032 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.03, Z:0.44 [[ 0.9830311 -0.15873934 -0.09193299 -0.87449188] [ 0.16143896 0.98662238 0.02266581 -0.02600004] [ 0.08710519 -0.03712276 0.9955072 0.44157151] [ 0. 0. 0. 1. ]] SLAMing on 146.11992885099997 meters Centerline goodness : 0.840198 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.03, Z:0.44 [[ 0.98304839 -0.15862487 -0.09194575 -0.87426828] [ 0.16136912 0.98662197 0.02317533 -0.02821292] [ 0.08703952 -0.03761967 0.99549429 0.44151281] [ 0. 0. 0. 1. ]] SLAMing on 146.14992885099997 meters Centerline goodness : 0.839259 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.03, Z:0.44 [[ 0.98305619 -0.15857205 -0.09195343 -0.87412282] [ 0.1613588 0.98661214 0.02366042 -0.03070215] [ 0.08697049 -0.03809702 0.99548217 0.44158264] [ 0. 0. 0. 1. ]] SLAMing on 146.17992885099997 meters Centerline goodness : 0.836837 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.03, Z:0.44 [[ 0.98257863 -0.16150412 -0.0919546 -0.8720416 ] [ 0.1640877 0.98621759 0.02121554 -0.0341759 ] [ 0.08726085 -0.03593455 0.99553717 0.44110374] [ 0. 0. 0. 1. ]] SLAMing on 146.20992885099997 meters Centerline goodness : 0.838119 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.04, Z:0.44 [[ 0.98256858 -0.16155963 -0.09196453 -0.87205299] [ 0.16418115 0.98619277 0.02164205 -0.0366243 ] [ 0.08719827 -0.03636364 0.99552707 0.44132973] [ 0. 0. 0. 1. ]] SLAMing on 146.23992885099997 meters Centerline goodness : 0.782958 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.04, Z:0.44 [[ 0.98253436 -0.16144172 -0.09253538 -0.87066396] [ 0.16419373 0.98616247 0.02289096 -0.03979821] [ 0.08755937 -0.03768488 0.99544623 0.44155218] [ 0. 0. 0. 1. ]] SLAMing on 146.26992885099997 meters Centerline goodness : 0.782584 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.04, Z:0.44 [[ 0.9824556 -0.16172098 -0.09288339 -0.8697006 ] [ 0.16455729 0.98608313 0.02368449 -0.04221957] [ 0.08776047 -0.0385536 0.99539526 0.44175192] [ 0. 0. 0. 1. ]] SLAMing on 146.29992885099998 meters Centerline goodness : 0.782061 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.04, Z:0.44 [[ 0.98200846 -0.1646563 -0.09245373 -0.86881419] [ 0.16726716 0.98568396 0.02118559 -0.04456775] [ 0.08764182 -0.0362689 0.99549158 0.44150943] [ 0. 0. 0. 1. ]] SLAMing on 146.32992885099998 meters Centerline goodness : 0.782121 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.05, Z:0.45 [[ 0.98175685 -0.15903525 -0.10421747 -0.87000337] [ 0.16239255 0.98642183 0.02450792 -0.05151699] [ 0.09890477 -0.04098496 0.99425252 0.44603359] [ 0. 0. 0. 1. ]] SLAMing on 146.35992885099998 meters Centerline goodness : 0.841778 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.05, Z:0.45 [[ 0.98168087 -0.15927112 -0.10457239 -0.86888948] [ 0.16270632 0.98635447 0.02512996 -0.05341144] [ 0.09914297 -0.04168419 0.99419973 0.44601318] [ 0. 0. 0. 1. ]] SLAMing on 146.38992885099998 meters Centerline goodness : 0.840632 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.06, Z:0.45 [[ 0.98166773 -0.15897686 -0.10514195 -0.86695929] [ 0.1625416 0.98635386 0.02619701 -0.05547333] [ 0.09954245 -0.0428067 0.99411211 0.44533856] [ 0. 0. 0. 1. ]] SLAMing on 146.41992885099998 meters Centerline goodness : 0.786875 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.06, Z:0.44 [[ 0.98169977 -0.15871701 -0.1052353 -0.86551775] [ 0.16233532 0.98637425 0.02670374 -0.0582089 ] [ 0.09956305 -0.04329846 0.99408875 0.4443945 ] [ 0. 0. 0. 1. ]] SLAMing on 146.44992885099998 meters Centerline goodness : 0.786138 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.06, Z:0.44 [[ 0.98176281 -0.15824438 -0.10535894 -0.86472723] [ 0.16192444 0.98642578 0.0272882 -0.059554 ] [ 0.09961057 -0.04385073 0.99405978 0.4439325 ] [ 0. 0. 0. 1. ]] SLAMing on 146.47992885099998 meters Centerline goodness : 0.786020 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.06, Z:0.44 [[ 0.98182835 -0.15769129 -0.1055772 -0.86395273] [ 0.16144583 0.98648542 0.02795994 -0.06061828] [ 0.09974133 -0.04449686 0.99401796 0.4436372 ] [ 0. 0. 0. 1. ]] SLAMing on 146.50992885099998 meters Centerline goodness : 0.786811 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.06, Z:0.44 [[ 0.98198623 -0.15695771 -0.10520129 -0.86467909] [ 0.16070745 0.98660156 0.0281154 -0.06120798] [ 0.09937883 -0.04451556 0.99405343 0.44359861] [ 0. 0. 0. 1. ]] SLAMing on 146.53992885099998 meters Centerline goodness : 0.788015 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.06, Z:0.44 [[ 0.98214442 -0.15606474 -0.10505299 -0.8649538 ] [ 0.15982013 0.98674096 0.02828069 -0.06101096] [ 0.09924647 -0.04456531 0.99406442 0.44335217] [ 0. 0. 0. 1. ]] SLAMing on 146.569928851 meters Centerline goodness : 0.788266 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.06, Z:0.44 [[ 0.9828714 -0.15142043 -0.10505079 -0.86569406] [ 0.15549226 0.98732927 0.03167111 -0.0615616 ] [ 0.09892407 -0.04746322 0.99396241 0.44275359] [ 0. 0. 0. 1. ]] SLAMing on 146.599928851 meters Centerline goodness : 0.790614 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.06, Z:0.44 [[ 0.98312588 -0.14979404 -0.10500123 -0.86506893] [ 0.15383375 0.98759622 0.03144637 -0.06015801] [ 0.09898833 -0.04706847 0.99397478 0.44125377] [ 0. 0. 0. 1. ]] SLAMing on 146.629928851 meters Centerline goodness : 0.842684 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.06, Z:0.44 [[ 0.98346339 -0.14800045 -0.10438208 -0.86564447] [ 0.15193339 0.98791237 0.03074715 -0.05856344] [ 0.09856976 -0.04609782 0.99406187 0.43974776] [ 0. 0. 0. 1. ]] SLAMing on 146.659928851 meters Centerline goodness : 0.787593 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.06, Z:0.44 [[ 0.98450795 -0.14103385 -0.10418033 -0.86656629] [ 0.14520422 0.98883252 0.03355571 -0.05528098] [ 0.09828441 -0.04816328 0.99399219 0.43756242] [ 0. 0. 0. 1. ]] SLAMing on 146.689928851 meters Centerline goodness : 0.790062 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.05, Z:0.44 [[ 0.98521247 -0.13628567 -0.10383935 -0.86801137] [ 0.14067244 0.98939676 0.03612926 -0.05411145] [ 0.09781442 -0.05020234 0.99393766 0.43661306] [ 0. 0. 0. 1. ]] SLAMing on 146.719928851 meters Centerline goodness : 0.791718 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.05, Z:0.44 [[ 0.98590779 -0.13139979 -0.10353705 -0.86933192] [ 0.13601563 0.98994548 0.038829 -0.05275423] [ 0.09739392 -0.05236447 0.99386739 0.43558434] [ 0. 0. 0. 1. ]] SLAMing on 146.749928851 meters Centerline goodness : 0.789686 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.05, Z:0.43 [[ 0.98657389 -0.12660076 -0.10317076 -0.87076486] [ 0.13141485 0.99046863 0.04125567 -0.05145237] [ 0.0969644 -0.05425993 0.99380771 0.43461055] [ 0. 0. 0. 1. ]] SLAMing on 146.779928851 meters Centerline goodness : 0.789668 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.05, Z:0.43 [[ 0.98764217 -0.11933758 -0.10159468 -0.87441534] [ 0.12415146 0.99135544 0.04243583 -0.04731024] [ 0.09565225 -0.05452454 0.99392038 0.43252443] [ 0. 0. 0. 1. ]] SLAMing on 146.80992885099997 meters Centerline goodness : 0.790404 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.04, Z:0.43 [[ 0.98798849 -0.11736929 -0.10051461 -0.87701312] [ 0.12197532 0.99168784 0.04095433 -0.04436301] [ 0.09487234 -0.0527227 0.99409233 0.43196794] [ 0. 0. 0. 1. ]] SLAMing on 146.83992885099997 meters Centerline goodness : 0.842254 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.04, Z:0.43 [[ 0.98894174 -0.12003985 -0.08709003 -0.87874103] [ 0.12372014 0.99158354 0.03814977 -0.03844817] [ 0.08177755 -0.04850269 0.9954697 0.42702429] [ 0. 0. 0. 1. ]] SLAMing on 146.86992885099997 meters Centerline goodness : 0.842949 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.04, Z:0.43 [[ 0.98923633 -0.11819426 -0.08626466 -0.88063248] [ 0.12176308 0.99185677 0.03733491 -0.03625499] [ 0.08114941 -0.0474369 0.99557245 0.42646711] [ 0. 0. 0. 1. ]] SLAMing on 146.89992885099997 meters Centerline goodness : 0.846223 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.03, Z:0.43 [[ 0.98964548 -0.11470656 -0.0862799 -0.88187829] [ 0.11841966 0.99218925 0.03920807 -0.03321186] [ 0.08110856 -0.04901933 0.99549912 0.42632599] [ 0. 0. 0. 1. ]] SLAMing on 146.92992885099997 meters Centerline goodness : 0.789770 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.03, Z:0.43 [[ 0.98973979 -0.11433206 -0.08569324 -0.88304052] [ 0.11794943 0.99227707 0.03839472 -0.03209566] [ 0.08064168 -0.04810826 0.9955815 0.42596283] [ 0. 0. 0. 1. ]] SLAMing on 146.95992885099997 meters Centerline goodness : 0.788972 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.03, Z:0.43 [[ 0.9897964 -0.11413919 -0.08529559 -0.88364431] [ 0.11769249 0.9923287 0.03784493 -0.03144214] [ 0.08032167 -0.04749743 0.99563669 0.42557075] [ 0. 0. 0. 1. ]] SLAMing on 146.98992885099997 meters Centerline goodness : 0.847375 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.03, Z:0.43 [[ 0.98967023 -0.11517564 -0.08536634 -0.8843414 ] [ 0.11865717 0.99225009 0.03688142 -0.02948434] [ 0.08045692 -0.04662977 0.99566679 0.42651206] [ 0. 0. 0. 1. ]] SLAMing on 147.01992885099997 meters Centerline goodness : 0.850266 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.03, Z:0.43 [[ 0.98953377 -0.11603586 -0.08578221 -0.88428046] [ 0.11953893 0.99214437 0.03687813 -0.02849832] [ 0.08082915 -0.04674647 0.99563116 0.42754674] [ 0. 0. 0. 1. ]] SLAMing on 147.04992885099998 meters Centerline goodness : 0.786954 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.03, Z:0.43 [[ 0.98934522 -0.11729645 -0.08624142 -0.88408719] [ 0.12080098 0.99200218 0.03658952 -0.02756143] [ 0.08125986 -0.04661771 0.99560214 0.42857781] [ 0. 0. 0. 1. ]] SLAMing on 147.07992885099998 meters Centerline goodness : 0.849994 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.03, Z:0.43 [[ 0.98915428 -0.11866685 -0.08655633 -0.88384669] [ 0.12218423 0.9918353 0.03652049 -0.02695004] [ 0.08151585 -0.04670022 0.99557735 0.42936626] [ 0. 0. 0. 1. ]] SLAMing on 147.10992885099998 meters Centerline goodness : 0.848967 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.03, Z:0.43 [[ 0.98855072 -0.12340897 -0.08681994 -0.88333529] [ 0.12664923 0.99140384 0.03283885 -0.02563545] [ 0.08202101 -0.04345855 0.99568263 0.4306869 ] [ 0. 0. 0. 1. ]] SLAMing on 147.13992885099998 meters Centerline goodness : 0.791649 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.02, Z:0.43 [[ 0.9881533 -0.12666148 -0.08665987 -0.88311076] [ 0.12961608 0.9911301 0.02933935 -0.02447084] [ 0.08217504 -0.04022429 0.99580584 0.43095163] [ 0. 0. 0. 1. ]] SLAMing on 147.16992885099998 meters Centerline goodness : 0.791071 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.02, Z:0.43 [[ 0.9877564 -0.13007978 -0.08611942 -0.88374251] [ 0.13270758 0.99082711 0.02550172 -0.02311928] [ 0.0820122 -0.03661819 0.99595839 0.43136226] [ 0. 0. 0. 1. ]] SLAMing on 147.19992885099998 meters Centerline goodness : 0.791802 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.02, Z:0.43 [[ 0.98751379 -0.13150098 -0.08674099 -0.88287568] [ 0.13415582 0.99063219 0.02549683 -0.02321121] [ 0.08257556 -0.03681528 0.99590457 0.43225324] [ 0. 0. 0. 1. ]] SLAMing on 147.22992885099998 meters Centerline goodness : 0.792858 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.02, Z:0.43 [[ 0.98735766 -0.13247243 -0.08703963 -0.88276213] [ 0.13515069 0.99049408 0.025608 -0.02338008] [ 0.08281989 -0.03704773 0.99587566 0.43313854] [ 0. 0. 0. 1. ]] SLAMing on 147.25992885099998 meters Centerline goodness : 0.846161 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.02, Z:0.43 [[ 0.98717811 -0.13334131 -0.08774663 -0.88183214] [ 0.13605244 0.9903695 0.02565137 -0.02295362] [ 0.08348119 -0.03726062 0.9958125 0.43399558] [ 0. 0. 0. 1. ]] SLAMing on 147.28992885099998 meters Centerline goodness : 0.793477 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.02, Z:0.43 [[ 0.98667462 -0.13734971 -0.08722532 -0.88140205] [ 0.13968679 0.98996767 0.02125113 -0.01952952] [ 0.08343141 -0.03315217 0.99596191 0.43354463] [ 0. 0. 0. 1. ]] SLAMing on 147.319928851 meters Centerline goodness : 0.793161 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.02, Z:0.43 [[ 0.98662018 -0.13783321 -0.08707827 -0.8816667 ] [ 0.14013248 0.98991345 0.02083854 -0.01898454] [ 0.08332771 -0.03276222 0.9959835 0.43344344] [ 0. 0. 0. 1. ]] SLAMing on 147.349928851 meters Centerline goodness : 0.792093 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.02, Z:0.43 [[ 0.98655775 -0.13831484 -0.08702185 -0.88186981] [ 0.1405688 0.98986279 0.02029975 -0.01810519] [ 0.08333194 -0.03225943 0.99599956 0.43351909] [ 0. 0. 0. 1. ]] SLAMing on 147.379928851 meters Centerline goodness : 0.794078 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.02, Z:0.43 [[ 0.98650813 -0.13874718 -0.08689612 -0.88229493] [ 0.14095334 0.98981903 0.01975942 -0.01694346] [ 0.08326987 -0.03174113 0.9960214 0.43366376] [ 0. 0. 0. 1. ]] SLAMing on 147.409928851 meters Centerline goodness : 0.792674 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.01, Z:0.43 [[ 0.98644813 -0.13928487 -0.08671682 -0.88299427] [ 0.14140434 0.989774 0.01876799 -0.01382035] [ 0.08321596 -0.03077578 0.9960562 0.43390363] [ 0. 0. 0. 1. ]] SLAMing on 147.439928851 meters Centerline goodness : 0.792674 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.01, Z:0.43 [[ 0.98644813 -0.13928487 -0.08671682 -0.88299427] [ 0.14140434 0.989774 0.01876799 -0.01382035] [ 0.08321596 -0.03077578 0.9960562 0.43390363] [ 0. 0. 0. 1. ]] SLAMing on 147.469928851 meters Centerline goodness : 0.794018 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.01, Z:0.43 [[ 0.98641119 -0.13961136 -0.08661197 -0.8835547 ] [ 0.14168427 0.98974392 0.01823596 -0.01221617] [ 0.08317772 -0.03025971 0.99607521 0.43420039] [ 0. 0. 0. 1. ]] SLAMing on 147.499928851 meters Centerline goodness : 0.794637 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.01, Z:0.43 [[ 0.98634061 -0.14027953 -0.0863357 -0.88462307] [ 0.14225385 0.98968204 0.01712635 -0.00923013] [ 0.08304241 -0.029174 0.99611889 0.43471282] [ 0. 0. 0. 1. ]] SLAMing on 147.529928851 meters Centerline goodness : 0.792745 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.01, Z:0.43 [[ 0.98630041 -0.14070212 -0.08610694 -0.88533133] [ 0.14262292 0.98963878 0.01654654 -0.00779438] [ 0.08288664 -0.02860069 0.99614849 0.4349271 ] [ 0. 0. 0. 1. ]] SLAMing on 147.55992885099997 meters Centerline goodness : 0.792481 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.01, Z:0.44 [[ 0.98625026 -0.14122632 -0.0858228 -0.88606827] [ 0.14309636 0.98957923 0.01601196 -0.00674802] [ 0.08266715 -0.02807272 0.99618174 0.43503463] [ 0. 0. 0. 1. ]] SLAMing on 147.58992885099997 meters Centerline goodness : 0.793038 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.01, Z:0.44 [[ 0.98619598 -0.14174984 -0.08558314 -0.88668207] [ 0.14357545 0.98951742 0.01553579 -0.00587423] [ 0.08248381 -0.02760897 0.9962099 0.43508908] [ 0. 0. 0. 1. ]] SLAMing on 147.61992885099997 meters Centerline goodness : 0.791755 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.00, Z:0.44 [[ 0.98560002 -0.14617473 -0.08500317 -0.88665874] [ 0.14760697 0.98898733 0.01078162 -0.00274496] [ 0.08249106 -0.02317343 0.99632235 0.43515572] [ 0. 0. 0. 1. ]] SLAMing on 147.64992885099997 meters Centerline goodness : 0.842691 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.00, Z:0.44 [[ 0.98550465 -0.1469913 -0.08470033 -0.88759917] [ 0.14837153 0.98887905 0.01020315 -0.00197337] [ 0.08225861 -0.02262237 0.99635423 0.43532684] [ 0. 0. 0. 1. ]] SLAMing on 147.67992885099997 meters Centerline goodness : 0.842826 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.00, Z:0.44 [[ 0.98540884 -0.14782249 -0.08436778 -0.88855612] [ 0.14914908 0.98876803 0.00960876 -0.00104119] [ 0.08199978 -0.02205194 0.99638835 0.43544508] [ 0. 0. 0. 1. ]] SLAMing on 147.70992885099997 meters Centerline goodness : 0.840583 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.00, Z:0.44 [[ 9.85328963e-01 -1.48622671e-01 -8.38935980e-02 -8.89742566e-01] [ 1.49900408e-01 9.88659155e-01 9.10736050e-03 -4.45856296e-04] [ 8.15886135e-02 -2.15494306e-02 9.96433099e-01 4.35539279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.73992885099997 meters Centerline goodness : 0.786768 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.00, Z:0.44 [[ 0.98462339 -0.15363223 -0.08314999 -0.89067075] [ 0.15449876 0.98798468 0.00405052 0.00204827] [ 0.08152863 -0.01683481 0.99652881 0.43638399] [ 0. 0. 0. 1. ]] SLAMing on 147.76992885099997 meters Centerline goodness : 0.787464 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.00, Z:0.44 [[ 0.98452644 -0.15453285 -0.08262744 -0.89210508] [ 0.15536107 0.98785101 0.00365071 0.00186838] [ 0.08105945 -0.01643131 0.99657382 0.43662586] [ 0. 0. 0. 1. ]] SLAMing on 147.79992885099998 meters Centerline goodness : 0.785747 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.00, Z:0.44 [[ 0.98440354 -0.15560925 -0.08206964 -0.89388026] [ 0.15638303 0.98769179 0.00304656 0.00200132] [ 0.08058544 -0.01583335 0.99662194 0.43716513] [ 0. 0. 0. 1. ]] SLAMing on 147.82992885099998 meters Centerline goodness : 0.785906 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.00, Z:0.44 [[ 0.98418677 -0.15733035 -0.08138526 -0.89615273] [ 0.15803284 0.98743135 0.00222293 0.00211823] [ 0.08001262 -0.01504932 0.99668024 0.43772818] [ 0. 0. 0. 1. ]] SLAMing on 147.85992885099998 meters Centerline goodness : 0.784740 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.00, Z:0.44 [[ 0.98410625 -0.15800832 -0.08104477 -0.89708823] [ 0.15868511 0.98732734 0.0019381 0.00217139] [ 0.07971148 -0.0147679 0.99670858 0.43780292] [ 0. 0. 0. 1. ]] SLAMing on 147.88992885099998 meters Centerline goodness : 0.784586 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.00, Z:0.44 [[ 0.98401832 -0.15873491 -0.08069179 -0.89808004] [ 0.15938464 0.98721521 0.00163456 0.00216233] [ 0.0794007 -0.01446947 0.99673776 0.43793757] [ 0. 0. 0. 1. ]] SLAMing on 147.91992885099998 meters Centerline goodness : 0.837945 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.00, Z:0.44 [[ 0.98394278 -0.15937997 -0.08034069 -0.89898439] [ 0.16000968 0.98711442 0.00142027 0.00177426] [ 0.07907909 -0.01425275 0.99676645 0.4380578 ] [ 0. 0. 0. 1. ]] SLAMing on 147.94992885099998 meters Centerline goodness : 0.782847 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.00, Z:0.44 [[ 9.83792086e-01 -1.60541921e-01 -7.98712884e-02 -9.00316897e-01] [ 1.61135010e-01 9.86931872e-01 9.94213797e-04 6.96221883e-04] [ 7.86679071e-02 -1.38481605e-02 9.96804689e-01 4.38362562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97992885099998 meters Centerline goodness : 0.784359 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.00, Z:0.44 [[ 9.83759895e-01 -1.60832241e-01 -7.96834975e-02 -9.00665474e-01] [ 1.61418227e-01 9.86885657e-01 9.25493448e-04 3.91384359e-04] [ 7.84896516e-02 -1.37728323e-02 9.96819785e-01 4.38273349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.00992885099998 meters Centerline goodness : 0.784584 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.00, Z:0.44 [[ 9.83724840e-01 -1.61156444e-01 -7.94609341e-02 -9.01223867e-01] [ 1.61729656e-01 9.86834787e-01 7.89000301e-04 2.64737577e-04] [ 7.82876615e-02 -1.36273487e-02 9.96837669e-01 4.38372289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03992885099998 meters Centerline goodness : 0.837102 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.00, Z:0.44 [[ 9.83689425e-01 -1.61418897e-01 -7.93665848e-02 -9.01739955e-01] [ 1.61976070e-01 9.86794510e-01 5.90498804e-04 4.46055265e-04] [ 7.82231924e-02 -1.34363549e-02 9.96845322e-01 4.38714092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.069928851 meters Centerline goodness : 0.786547 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.00, Z:0.44 [[ 9.83687237e-01 -1.61471372e-01 -7.92869151e-02 -9.02198645e-01] [ 1.62012172e-01 9.86788681e-01 3.93307581e-04 1.12016545e-03] [ 7.81759225e-02 -1.32323370e-02 9.96851759e-01 4.39077054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.099928851 meters Centerline goodness : 0.835578 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.00, Z:0.44 [[ 9.83709272e-01 -1.61328722e-01 -7.93039232e-02 -9.01976920e-01] [ 1.61875127e-01 9.86811139e-01 4.67609869e-04 1.22079434e-03] [ 7.81825559e-02 -1.32973248e-02 9.96850374e-01 4.38880246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.129928851 meters Centerline goodness : 0.786035 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.00, Z:0.44 [[ 9.83747045e-01 -1.61017841e-01 -7.94670137e-02 -9.01360422e-01] [ 1.61568300e-01 9.86861404e-01 5.03923657e-04 1.52880906e-03] [ 7.83417880e-02 -1.33350837e-02 9.96837369e-01 4.38666133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.159928851 meters Centerline goodness : 0.786395 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.00, Z:0.44 [[ 9.83779471e-01 -1.60709236e-01 -7.96899841e-02 -9.00682385e-01] [ 1.61264624e-01 9.86911054e-01 5.40911319e-04 1.94246639e-03] [ 7.85599968e-02 -1.33833128e-02 9.96819549e-01 4.38483506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.189928851 meters Centerline goodness : 0.787964 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.00, Z:0.44 [[ 9.83816129e-01 -1.60407457e-01 -7.98453010e-02 -9.00159631e-01] [ 1.60960591e-01 9.86960708e-01 4.98069252e-04 2.76200150e-03] [ 7.87242808e-02 -1.33419554e-02 9.96807143e-01 4.38306924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.219928851 meters Centerline goodness : 0.788895 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.00, Z:0.44 [[ 0.98446183 -0.15611004 -0.08040246 -0.90020522] [ 0.1569764 0.98759196 0.00453047 0.00257511] [ 0.07869757 -0.01708137 0.99675219 0.43811589] [ 0. 0. 0. 1. ]] SLAMing on 148.249928851 meters Centerline goodness : 0.788022 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.00, Z:0.44 [[ 0.98453427 -0.15549961 -0.08069786 -0.89929875] [ 0.15636171 0.98768989 0.00443709 0.00404248] [ 0.07901449 -0.01698652 0.99672873 0.43796388] [ 0. 0. 0. 1. ]] SLAMing on 148.279928851 meters Centerline goodness : 0.785308 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.44 [[ 0.98464983 -0.15458654 -0.08104143 -0.89810759] [ 0.15545491 0.98783284 0.00447897 0.00531908] [ 0.079363 -0.0170085 0.99670067 0.43776726] [ 0. 0. 0. 1. ]] SLAMing on 148.30992885099997 meters Centerline goodness : 0.787487 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.00, Z:0.44 [[ 0.98525216 -0.15046898 -0.08146944 -0.8982169 ] [ 0.15164873 0.98839827 0.00845663 0.00479796] [ 0.07925179 -0.02068665 0.99663996 0.43739873] [ 0. 0. 0. 1. ]] SLAMing on 148.33992885099997 meters Centerline goodness : 0.842394 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.44 [[ 0.98604224 -0.1447211 -0.08231956 -0.89662812] [ 0.14623356 0.98916961 0.01261844 0.00666216] [ 0.07960185 -0.0244802 0.9965261 0.43661308] [ 0. 0. 0. 1. ]] SLAMing on 148.36992885099997 meters Centerline goodness : 0.842524 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.44 [[ 0.9866435 -0.14031617 -0.08274041 -0.89661535] [ 0.14213888 0.98970857 0.01653713 0.0070614 ] [ 0.07956846 -0.02807689 0.99643392 0.43620841] [ 0. 0. 0. 1. ]] SLAMing on 148.39992885099997 meters Centerline goodness : 0.842358 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.44 [[ 0.98724054 -0.1358121 -0.0831336 -0.89663012] [ 0.13794287 0.99022965 0.02042046 0.00778402] [ 0.07954801 -0.0316276 0.99632917 0.43585487] [ 0. 0. 0. 1. ]] SLAMing on 148.42992885099997 meters Centerline goodness : 0.844993 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.43 [[ 0.98924143 -0.12382579 -0.07790106 -0.90281711] [ 0.12621563 0.99164822 0.02652222 0.00879092] [ 0.07396631 -0.03606921 0.99660825 0.4306012 ] [ 0. 0. 0. 1. ]] SLAMing on 148.45992885099997 meters Centerline goodness : 0.846805 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.43 [[ 0.98978309 -0.11913337 -0.07833696 -0.90267699] [ 0.12181262 0.99208913 0.03034524 0.01017978] [ 0.07410211 -0.03957764 0.996465 0.43041368] [ 0. 0. 0. 1. ]] SLAMing on 148.48992885099997 meters Centerline goodness : 0.789013 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.43 [[ 0.99029186 -0.11459054 -0.07868319 -0.90280893] [ 0.11755025 0.99248268 0.03405977 0.01147777] [ 0.07418877 -0.04297835 0.99631766 0.43034594] [ 0. 0. 0. 1. ]] SLAMing on 148.51992885099997 meters Centerline goodness : 0.790231 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.43 [[ 0.99077597 -0.11007701 -0.07903179 -0.90276451] [ 0.11332863 0.99283456 0.03789654 0.01199436] [ 0.07429396 -0.04650354 0.99615151 0.43019966] [ 0. 0. 0. 1. ]] SLAMing on 148.54992885099998 meters Centerline goodness : 0.791426 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.43 [[ 0.99156369 -0.10343223 -0.07812311 -0.90394375] [ 0.10700143 0.99333021 0.04296266 0.01271973] [ 0.07315832 -0.0509595 0.99601756 0.42946896] [ 0. 0. 0. 1. ]] SLAMing on 148.57992885099998 meters Centerline goodness : 0.793358 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.43 [[ 0.99162781 -0.10274148 -0.07822064 -0.90345877] [ 0.10630855 0.99340807 0.04288248 0.01392894] [ 0.07329921 -0.05083898 0.99601337 0.42956946] [ 0. 0. 0. 1. ]] SLAMing on 148.60992885099998 meters Centerline goodness : 0.793670 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.43 [[ 0.99165366 -0.10246153 -0.07826013 -0.90332696] [ 0.10601645 0.99344727 0.042697 0.01463833] [ 0.07337251 -0.0506375 0.99601823 0.42981211] [ 0. 0. 0. 1. ]] SLAMing on 148.63992885099998 meters Centerline goodness : 0.794838 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.43 [[ 0.99165238 -0.10238036 -0.07838257 -0.90330153] [ 0.10592856 0.99346409 0.04252348 0.01457847] [ 0.0735167 -0.05047146 0.99601603 0.43034032] [ 0. 0. 0. 1. ]] SLAMing on 148.66992885099998 meters Centerline goodness : 0.794479 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.43 [[ 0.99164681 -0.10248412 -0.07831737 -0.90358482] [ 0.10604965 0.99343926 0.04280083 0.01264922] [ 0.07341715 -0.05074883 0.99600928 0.43064501] [ 0. 0. 0. 1. ]] SLAMing on 148.69992885099998 meters Centerline goodness : 0.796319 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.43 [[ 0.9912886 -0.10595565 -0.0782324 -0.90256559] [ 0.10923822 0.99325284 0.03893344 0.01349769] [ 0.07357933 -0.04714025 0.99617462 0.43073861] [ 0. 0. 0. 1. ]] SLAMing on 148.72992885099998 meters Centerline goodness : 0.794715 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.43 [[ 0.99091215 -0.10943276 -0.07821495 -0.90130035] [ 0.11244416 0.99303503 0.03518144 0.0139568 ] [ 0.07382018 -0.04365653 0.99631556 0.43072492] [ 0. 0. 0. 1. ]] SLAMing on 148.75992885099998 meters Centerline goodness : 0.795113 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.43 [[ 0.99051024 -0.11302624 -0.07819545 -0.90007489] [ 0.1157629 0.99278096 0.03138338 0.01416519] [ 0.07408381 -0.04013769 0.99644395 0.43076614] [ 0. 0. 0. 1. ]] SLAMing on 148.78992885099998 meters Centerline goodness : 0.793347 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.43 [[ 0.99005396 -0.11704978 -0.07805447 -0.89913201] [ 0.11953608 0.99243595 0.02796454 0.0118227 ] [ 0.07419082 -0.03701673 0.99655681 0.43074564] [ 0. 0. 0. 1. ]] SLAMing on 148.819928851 meters Centerline goodness : 0.790358 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.43 [[ 0.98961548 -0.12074621 -0.07798437 -0.89808497] [ 0.1229603 0.99211587 0.02422511 0.01157603] [ 0.07444444 -0.03356253 0.99666021 0.430897 ] [ 0. 0. 0. 1. ]] SLAMing on 148.849928851 meters Centerline goodness : 0.789979 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.43 [[ 0.98955341 -0.1213285 -0.07786813 -0.89865574] [ 0.12354698 0.99204074 0.02431694 0.00935011] [ 0.07429802 -0.03368328 0.99666707 0.43128341] [ 0. 0. 0. 1. ]] SLAMing on 148.879928851 meters Centerline goodness : 0.845382 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.43 [[ 0.98930965 -0.12369446 -0.07724051 -0.89964653] [ 0.12572381 0.99182201 0.02196889 0.00818394] [ 0.0738914 -0.03144501 0.99677042 0.43217814] [ 0. 0. 0. 1. ]] SLAMing on 148.909928851 meters Centerline goodness : 0.789100 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.43 [[ 0.98880059 -0.12788046 -0.07694142 -0.89974181] [ 0.1296312 0.99139548 0.01818655 0.00670542] [ 0.07395367 -0.02795688 0.99686973 0.43315631] [ 0. 0. 0. 1. ]] SLAMing on 148.939928851 meters Centerline goodness : 0.846020 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.43 [[ 0.98873681 -0.12842244 -0.07685823 -0.90041501] [ 0.13016822 0.99132612 0.01813191 0.00510984] [ 0.07386303 -0.02793219 0.99687715 0.43378496] [ 0. 0. 0. 1. ]] SLAMing on 148.969928851 meters Centerline goodness : 0.789017 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.00, Z:0.43 [[ 0.98869903 -0.12878818 -0.07673216 -0.90087875] [ 0.13053908 0.99127543 0.01823622 0.00362518] [ 0.0737141 -0.02804668 0.99688496 0.43403694] [ 0. 0. 0. 1. ]] SLAMing on 148.999928851 meters Centerline goodness : 0.789958 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.00, Z:0.43 [[ 0.98866711 -0.12908097 -0.07665148 -0.9011724 ] [ 0.13083933 0.99123361 0.01835772 0.00204718] [ 0.07360989 -0.0281787 0.99688893 0.43424754] [ 0. 0. 0. 1. ]] SLAMing on 149.029928851 meters Centerline goodness : 0.845145 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.00, Z:0.43 [[ 0.98823004 -0.13240658 -0.07661523 -0.89964336] [ 0.13390931 0.9908831 0.0147981 0.00155907] [ 0.07395737 -0.02488342 0.99695091 0.43423593] [ 0. 0. 0. 1. ]] SLAMing on 149.05992885099997 meters Centerline goodness : 0.789772 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.00, Z:0.43 [[ 9.88216562e-01 -1.32592517e-01 -7.64673217e-02 -8.99937217e-01] [ 1.34100338e-01 9.90855583e-01 1.49101466e-02 5.39406901e-04] [ 7.37910988e-02 -2.49887475e-02 9.96960599e-01 4.34244122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.08992885099997 meters Centerline goodness : 0.789514 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.00, Z:0.43 [[ 9.88198180e-01 -1.32789865e-01 -7.63623476e-02 -9.00234145e-01] [ 1.34294038e-01 9.90829662e-01 1.48893649e-02 -2.87433952e-04] [ 7.36849222e-02 -2.49686513e-02 9.96968956e-01 4.34470829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11992885099997 meters Centerline goodness : 0.788294 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.00, Z:0.43 [[ 9.88156538e-01 -1.33171827e-01 -7.62359507e-02 -9.00831927e-01] [ 1.34662212e-01 9.90782047e-01 1.47317625e-02 -8.15460907e-04] [ 7.35713556e-02 -2.48233891e-02 9.96980970e-01 4.34872420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.14992885099997 meters Centerline goodness : 0.788346 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.00, Z:0.44 [[ 0.98811967 -0.13350988 -0.0761225 -0.90135535] [ 0.13498958 0.99073926 0.014613 -0.00146984] [ 0.07346657 -0.02471513 0.99699139 0.43528138] [ 0. 0. 0. 1. ]] SLAMing on 149.17992885099997 meters Centerline goodness : 0.842581 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.00, Z:0.44 [[ 0.98805158 -0.13411683 -0.07593914 -0.90234853] [ 0.13559445 0.99065648 0.01462499 -0.00366391] [ 0.07326815 -0.02474718 0.99700519 0.43607421] [ 0. 0. 0. 1. ]] SLAMing on 149.20992885099997 meters Centerline goodness : 0.843334 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.00, Z:0.44 [[ 0.98801799 -0.13448228 -0.07572956 -0.90300629] [ 0.13595745 0.99060636 0.01464956 -0.0048597 ] [ 0.07304808 -0.02477003 0.99702077 0.4363777 ] [ 0. 0. 0. 1. ]] SLAMing on 149.23992885099997 meters Centerline goodness : 0.790215 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.44 [[ 0.98796187 -0.13505188 -0.07544761 -0.90397529] [ 0.13652339 0.99052814 0.01467529 -0.00717263] [ 0.07275106 -0.02479899 0.99704177 0.43700099] [ 0. 0. 0. 1. ]] SLAMing on 149.26992885099997 meters Centerline goodness : 0.791298 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.44 [[ 0.98792368 -0.13539246 -0.07533717 -0.90434045] [ 0.13686406 0.99048073 0.01470232 -0.00826709] [ 0.07262943 -0.02483573 0.99704972 0.43716994] [ 0. 0. 0. 1. ]] SLAMing on 149.29992885099998 meters Centerline goodness : 0.790528 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.44 [[ 0.98789142 -0.13570957 -0.07518946 -0.90479948] [ 0.13717898 0.99043702 0.01471162 -0.00923672] [ 0.07247391 -0.0248479 0.99706074 0.43737501] [ 0. 0. 0. 1. ]] SLAMing on 149.32992885099998 meters Centerline goodness : 0.790528 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.44 [[ 0.98789142 -0.13570957 -0.07518946 -0.90479948] [ 0.13717898 0.99043702 0.01471162 -0.00923672] [ 0.07247391 -0.0248479 0.99706074 0.43737501] [ 0. 0. 0. 1. ]] SLAMing on 149.35992885099998 meters Centerline goodness : 0.789744 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.01, Z:0.44 [[ 0.98787094 -0.13587359 -0.07516229 -0.90488729] [ 0.13735037 0.99041171 0.01481655 -0.01012402] [ 0.07242843 -0.02496041 0.99706123 0.43743753] [ 0. 0. 0. 1. ]] SLAMing on 149.38992885099998 meters Centerline goodness : 0.790076 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.01, Z:0.44 [[ 0.98784223 -0.13618671 -0.07497274 -0.90521157] [ 0.1376792 0.99036195 0.01508815 -0.01204864] [ 0.07219534 -0.0252269 0.99707143 0.43736392] [ 0. 0. 0. 1. ]] SLAMing on 149.41992885099998 meters Centerline goodness : 0.790233 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.01, Z:0.44 [[ 0.98782389 -0.13636379 -0.07489244 -0.90530693] [ 0.13785732 0.99033662 0.01512438 -0.01297203] [ 0.07210631 -0.02526469 0.99707692 0.43737498] [ 0. 0. 0. 1. ]] SLAMing on 149.44992885099998 meters Centerline goodness : 0.790277 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.01, Z:0.44 [[ 0.98780368 -0.13658673 -0.07475259 -0.90555062] [ 0.13807636 0.99030629 0.01511173 -0.01370923] [ 0.0719639 -0.02524899 0.9970876 0.43741722] [ 0. 0. 0. 1. ]] SLAMing on 149.47992885099998 meters Centerline goodness : 0.790175 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.01, Z:0.44 [[ 0.98778375 -0.13671813 -0.07477584 -0.90550535] [ 0.13820958 0.99028752 0.01512416 -0.01431957] [ 0.07198183 -0.02527414 0.99708567 0.43749847] [ 0. 0. 0. 1. ]] SLAMing on 149.50992885099998 meters Centerline goodness : 0.789156 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.02, Z:0.44 [[ 0.98776345 -0.13686093 -0.07478273 -0.90540779] [ 0.1383595 0.99026519 0.01521538 -0.01505367] [ 0.07197234 -0.0253761 0.99708377 0.4374234 ] [ 0. 0. 0. 1. ]] SLAMing on 149.53992885099998 meters Centerline goodness : 0.839199 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.02, Z:0.44 [[ 0.98776494 -0.13682736 -0.07482448 -0.90506279] [ 0.13833486 0.99026693 0.01532545 -0.01536894] [ 0.07199927 -0.02548877 0.99707895 0.4371286 ] [ 0. 0. 0. 1. ]] SLAMing on 149.569928851 meters Centerline goodness : 0.790155 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.02, Z:0.44 [[ 0.98777753 -0.13674228 -0.07481379 -0.90491683] [ 0.13824853 0.99027915 0.01531486 -0.01537056] [ 0.07199235 -0.02547057 0.99707991 0.43704637] [ 0. 0. 0. 1. ]] SLAMing on 149.599928851 meters Centerline goodness : 0.788554 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.02, Z:0.44 [[ 0.98776095 -0.13686468 -0.07480883 -0.90510722] [ 0.13835238 0.99026863 0.01505548 -0.01510577] [ 0.07202027 -0.0252212 0.99708423 0.43737836] [ 0. 0. 0. 1. ]] SLAMing on 149.629928851 meters Centerline goodness : 0.788091 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.01, Z:0.44 [[ 0.98774781 -0.13703513 -0.07467025 -0.90542583] [ 0.13850781 0.9902494 0.01488986 -0.01498769] [ 0.07190174 -0.02504984 0.99709711 0.43742746] [ 0. 0. 0. 1. ]] SLAMing on 149.659928851 meters Centerline goodness : 0.789556 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.01, Z:0.44 [[ 0.9877248 -0.13729908 -0.07448942 -0.90586564] [ 0.13875399 0.99021782 0.01469691 -0.01476581] [ 0.07174288 -0.02485221 0.9971135 0.43746825] [ 0. 0. 0. 1. ]] SLAMing on 149.689928851 meters Centerline goodness : 0.790300 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.01, Z:0.44 [[ 0.98768503 -0.13765706 -0.07435599 -0.90631126] [ 0.13908875 0.99017511 0.01440752 -0.01456369] [ 0.07164216 -0.02457217 0.99712768 0.43765918] [ 0. 0. 0. 1. ]] SLAMing on 149.719928851 meters Centerline goodness : 0.839184 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.01, Z:0.44 [[ 0.98759484 -0.13841226 -0.07415168 -0.90718777] [ 0.13980114 0.99008268 0.01385407 -0.0143376 ] [ 0.07149873 -0.02404869 0.99715074 0.4381455 ] [ 0. 0. 0. 1. ]] SLAMing on 149.749928851 meters Centerline goodness : 0.790201 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.01, Z:0.44 [[ 0.98755389 -0.13887055 -0.07383957 -0.90794205] [ 0.14023105 0.99002614 0.01354622 -0.01409014] [ 0.07122193 -0.02373222 0.99717813 0.43823368] [ 0. 0. 0. 1. ]] SLAMing on 149.779928851 meters Centerline goodness : 0.840567 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.01, Z:0.44 [[ 0.98749782 -0.13938541 -0.07361901 -0.90862965] [ 0.14071527 0.98996248 0.01317171 -0.01386887] [ 0.07104411 -0.02336635 0.99719945 0.43848145] [ 0. 0. 0. 1. ]] SLAMing on 149.80992885099997 meters Centerline goodness : 0.789551 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.01, Z:0.44 [[ 0.98744928 -0.13980521 -0.07347398 -0.90925204] [ 0.1411094 0.98991069 0.01284397 -0.01373984] [ 0.07093703 -0.02305064 0.99721442 0.43885322] [ 0. 0. 0. 1. ]] SLAMing on 149.83992885099997 meters Centerline goodness : 0.841494 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.01, Z:0.44 [[ 0.9873774 -0.14051418 -0.07308655 -0.91043421] [ 0.14177 0.98982367 0.01226257 -0.01315472] [ 0.07061973 -0.02246926 0.99725021 0.43928809] [ 0. 0. 0. 1. ]] SLAMing on 149.86992885099997 meters Centerline goodness : 0.790312 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.01, Z:0.44 [[ 0.98734111 -0.14082845 -0.07297184 -0.91096588] [ 0.14205684 0.98978696 0.01190044 -0.01251311] [ 0.07055065 -0.02211595 0.997263 0.43964376] [ 0. 0. 0. 1. ]] SLAMing on 149.89992885099997 meters Centerline goodness : 0.790835 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.01, Z:0.44 [[ 0.98731893 -0.14107642 -0.07279261 -0.91145446] [ 0.14227989 0.98975855 0.01159507 -0.0115475 ] [ 0.07041132 -0.02180496 0.9972797 0.43968818] [ 0. 0. 0. 1. ]] SLAMing on 149.92992885099997 meters Centerline goodness : 0.790737 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.01, Z:0.44 [[ 0.98729088 -0.14128179 -0.07277476 -0.91167076] [ 0.14245894 0.98973711 0.01122062 -0.0106234 ] [ 0.07044261 -0.02144543 0.99728528 0.43990996] [ 0. 0. 0. 1. ]] SLAMing on 149.95992885099997 meters Centerline goodness : 0.791416 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.01, Z:0.44 [[ 0.98728231 -0.14137368 -0.07271266 -0.91170683] [ 0.14253076 0.98972978 0.0109521 -0.00969886] [ 0.07041754 -0.02117661 0.9972928 0.43980794] [ 0. 0. 0. 1. ]] SLAMing on 149.98992885099997 meters Centerline goodness : 0.838461 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.01, Z:0.44 [[ 0.98733729 -0.1409693 -0.07275114 -0.91099153] [ 0.14210825 0.98979331 0.01069811 -0.00719555] [ 0.07050049 -0.02090118 0.99729275 0.43904502] [ 0. 0. 0. 1. ]] SLAMing on 150.01992885099997 meters Centerline goodness : 0.840488 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.01, Z:0.44 [[ 0.98734923 -0.14080384 -0.07290938 -0.91049179] [ 0.14191495 0.98982564 0.0102643 -0.00514003] [ 0.07072232 -0.02048138 0.99728575 0.43890178] [ 0. 0. 0. 1. ]] SLAMing on 150.04992885099998 meters Centerline goodness : 0.788991 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.00, Z:0.44 [[ 0.98738096 -0.1405275 -0.07301272 -0.91007002] [ 0.14161349 0.98987261 0.00989074 -0.00300751] [ 0.07088337 -0.02010551 0.99728196 0.43871255] [ 0. 0. 0. 1. ]] SLAMing on 150.07992885099998 meters Centerline goodness : 0.839968 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.00, Z:0.44 [[ 9.87900067e-01 -1.36755245e-01 -7.31536781e-02 -9.11099483e-01] [ 1.38037758e-01 9.90344907e-01 1.27491899e-02 9.23206171e-05] [ 7.07038540e-02 -2.26928953e-02 9.97239188e-01 4.38967015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.10992885099998 meters Centerline goodness : 0.790837 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.00, Z:0.44 [[ 0.98797252 -0.13625293 -0.07311256 -0.91088698] [ 0.13749687 0.99042662 0.01223596 0.00300746] [ 0.07074544 -0.02214154 0.99724863 0.43888583] [ 0. 0. 0. 1. ]] SLAMing on 150.13992885099998 meters Centerline goodness : 0.789030 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.01, Z:0.44 [[ 0.98802439 -0.13588547 -0.07309538 -0.91091556] [ 0.13707627 0.99049367 0.01150552 0.00613598] [ 0.07083708 -0.02138738 0.99725859 0.43923238] [ 0. 0. 0. 1. ]] SLAMing on 150.16992885099998 meters Centerline goodness : 0.840095 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.01, Z:0.44 [[ 0.98808867 -0.13537962 -0.07316515 -0.91052686] [ 0.13653115 0.99057525 0.01095041 0.00914437] [ 0.07099313 -0.02080929 0.99725972 0.43921966] [ 0. 0. 0. 1. ]] SLAMing on 150.19992885099998 meters Centerline goodness : 0.790780 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.01, Z:0.44 [[ 0.98861777 -0.13144637 -0.07318986 -0.91161519] [ 0.13280025 0.99104495 0.01392842 0.01273595] [ 0.0707036 -0.02348951 0.99722076 0.43910605] [ 0. 0. 0. 1. ]] SLAMing on 150.22992885099998 meters Centerline goodness : 0.836775 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.02, Z:0.44 [[ 0.98864018 -0.13127891 -0.07318769 -0.91160376] [ 0.13258288 0.9910836 0.01323157 0.01574804] [ 0.07079809 -0.0227847 0.99723041 0.43924479] [ 0. 0. 0. 1. ]] SLAMing on 150.25992885099998 meters Centerline goodness : 0.837763 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.02, Z:0.44 [[ 0.98865039 -0.13111743 -0.07333918 -0.91129852] [ 0.13237797 0.9911195 0.01257842 0.01864039] [ 0.07103864 -0.02214416 0.99722773 0.43936935] [ 0. 0. 0. 1. ]] SLAMing on 150.28992885099998 meters Centerline goodness : 0.839967 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.02, Z:0.44 [[ 0.98865127 -0.13112069 -0.07332144 -0.91133401] [ 0.13233488 0.99113323 0.0119334 0.02113019] [ 0.0711066 -0.02150095 0.99723696 0.43949004] [ 0. 0. 0. 1. ]] SLAMing on 150.319928851 meters Centerline goodness : 0.837778 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.02, Z:0.44 [[ 0.9886399 -0.1312817 -0.07318651 -0.91154143] [ 0.13242868 0.99113122 0.01102507 0.02474867] [ 0.07109004 -0.02059181 0.99725733 0.43940233] [ 0. 0. 0. 1. ]] SLAMing on 150.349928851 meters Centerline goodness : 0.790077 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.03, Z:0.44 [[ 0.98860617 -0.13156095 -0.07314069 -0.91176318] [ 0.13267206 0.9911041 0.01052527 0.02617432] [ 0.07110533 -0.02010908 0.99726609 0.43953698] [ 0. 0. 0. 1. ]] SLAMing on 150.379928851 meters Centerline goodness : 0.790411 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.03, Z:0.44 [[ 0.98857161 -0.1319042 -0.07298942 -0.9122617 ] [ 0.13298417 0.99106651 0.01011854 0.02712162] [ 0.0710027 -0.01970934 0.99728138 0.43970294] [ 0. 0. 0. 1. ]] SLAMing on 150.409928851 meters Centerline goodness : 0.790255 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.03, Z:0.44 [[ 0.98853624 -0.13234078 -0.07267753 -0.91285639] [ 0.13339194 0.99101507 0.0097838 0.02800093] [ 0.07072973 -0.01936624 0.9973075 0.43949725] [ 0. 0. 0. 1. ]] SLAMing on 150.439928851 meters Centerline goodness : 0.789770 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.03, Z:0.44 [[ 0.98844946 -0.13316785 -0.07234635 -0.91342555] [ 0.13418023 0.99091334 0.00929663 0.02903008] [ 0.07045096 -0.0188967 0.99733624 0.43898024] [ 0. 0. 0. 1. ]] SLAMing on 150.469928851 meters Centerline goodness : 0.788040 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.03, Z:0.44 [[ 0.98840305 -0.13361299 -0.07215941 -0.9137761 ] [ 0.13460722 0.99085749 0.00907382 0.02947991] [ 0.07028731 -0.01868177 0.99735184 0.43870915] [ 0. 0. 0. 1. ]] SLAMing on 150.499928851 meters Centerline goodness : 0.789830 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.03, Z:0.44 [[ 0.98834393 -0.13419455 -0.07188946 -0.91449502] [ 0.13515454 0.99078688 0.00863789 0.03010243] [ 0.07006797 -0.0182534 0.9973752 0.43879454] [ 0. 0. 0. 1. ]] SLAMing on 150.529928851 meters Centerline goodness : 0.788812 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.03, Z:0.44 [[ 0.98828469 -0.13478313 -0.07160226 -0.91515552] [ 0.13570878 0.99071482 0.00820174 0.03081759] [ 0.06983196 -0.01782271 0.99739954 0.43876369] [ 0. 0. 0. 1. ]] SLAMing on 150.55992885099997 meters Centerline goodness : 0.787603 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.03, Z:0.44 [[ 0.98824035 -0.13517168 -0.0714816 -0.91535997] [ 0.13608265 0.99066511 0.00800907 0.03099839] [ 0.06973173 -0.01764229 0.99740976 0.43859363] [ 0. 0. 0. 1. ]] SLAMing on 150.58992885099997 meters Centerline goodness : 0.788912 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.03, Z:0.44 [[ 0.98816877 -0.13584901 -0.07118651 -0.91582477] [ 0.13673624 0.99057741 0.00771945 0.03122545] [ 0.06946707 -0.0173619 0.99743315 0.43819332] [ 0. 0. 0. 1. ]] SLAMing on 150.61992885099997 meters Centerline goodness : 0.789476 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.03, Z:0.44 [[ 0.98811834 -0.13626356 -0.07109419 -0.91627971] [ 0.13713063 0.99052504 0.00743837 0.03150922] [ 0.069407 -0.01709918 0.99744187 0.43840207] [ 0. 0. 0. 1. ]] SLAMing on 150.64992885099997 meters Centerline goodness : 0.838653 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.03, Z:0.44 [[ 0.98808212 -0.13660699 -0.07093837 -0.91674329] [ 0.13745317 0.99048236 0.00716407 0.03181552] [ 0.06928454 -0.01682939 0.99745497 0.43855729] [ 0. 0. 0. 1. ]] SLAMing on 150.67992885099997 meters Centerline goodness : 0.789497 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.03, Z:0.44 [[ 0.98801897 -0.13722534 -0.07062381 -0.91790377] [ 0.13802763 0.99040649 0.00658493 0.03335784] [ 0.06904266 -0.01625407 0.99748129 0.43894472] [ 0. 0. 0. 1. ]] SLAMing on 150.70992885099997 meters Centerline goodness : 0.788972 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.03, Z:0.44 [[ 0.98799008 -0.13748544 -0.07052205 -0.91842776] [ 0.13826405 0.99037563 0.00625745 0.03428656] [ 0.06898302 -0.01593296 0.99749059 0.43922991] [ 0. 0. 0. 1. ]] SLAMing on 150.73992885099997 meters Centerline goodness : 0.791519 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.04, Z:0.44 [[ 0.98794538 -0.13792792 -0.0702838 -0.9194228 ] [ 0.13866511 0.99032295 0.00569651 0.03529237] [ 0.06881795 -0.01537376 0.99751077 0.43987095] [ 0. 0. 0. 1. ]] SLAMing on 150.76992885099997 meters Centerline goodness : 0.788661 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.04, Z:0.44 [[ 0.98791815 -0.13822488 -0.07008292 -0.920106 ] [ 0.13894166 0.99028566 0.00543459 0.03577245] [ 0.06865092 -0.01510637 0.99752637 0.44012502] [ 0. 0. 0. 1. ]] SLAMing on 150.79992885099998 meters Centerline goodness : 0.792154 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.04, Z:0.44 [[ 0.98785627 -0.13881318 -0.06979175 -0.92102788] [ 0.13948879 0.99021163 0.00487819 0.03682418] [ 0.06843145 -0.01455411 0.99754966 0.44037569] [ 0. 0. 0. 1. ]] SLAMing on 150.82992885099998 meters Centerline goodness : 0.791148 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.04, Z:0.44 [[ 0.98782142 -0.13910129 -0.0697114 -0.92112601] [ 0.13976196 0.99017413 0.0046673 0.03720019] [ 0.06837719 -0.01435346 0.99755628 0.44023477] [ 0. 0. 0. 1. ]] SLAMing on 150.85992885099998 meters Centerline goodness : 0.790863 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.04, Z:0.44 [[ 0.98779139 -0.13936052 -0.0696191 -0.92116164] [ 0.14000928 0.99013995 0.00450377 0.03776619] [ 0.068305 -0.01419611 0.99756348 0.43991116] [ 0. 0. 0. 1. ]] SLAMing on 150.88992885099998 meters Centerline goodness : 0.791658 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.04, Z:0.44 [[ 0.98776607 -0.13957645 -0.06954566 -0.92113034] [ 0.14021952 0.99011054 0.00442837 0.0381251 ] [ 0.06823979 -0.01412585 0.99756894 0.43952146] [ 0. 0. 0. 1. ]] SLAMing on 150.91992885099998 meters Centerline goodness : 0.789425 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.04, Z:0.44 [[ 0.98769344 -0.14025952 -0.06920206 -0.92175012] [ 0.14087117 0.99001979 0.00401478 0.03894447] [ 0.0679483 -0.01371394 0.99759458 0.43911271] [ 0. 0. 0. 1. ]] SLAMing on 150.94992885099998 meters Centerline goodness : 0.790194 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.04, Z:0.44 [[ 0.98765534 -0.14067062 -0.06891087 -0.92253284] [ 0.14126267 0.98996497 0.00377064 0.03916808] [ 0.06768893 -0.01345863 0.99761569 0.43922348] [ 0. 0. 0. 1. ]] SLAMing on 150.97992885099998 meters Centerline goodness : 0.793181 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.04, Z:0.44 [[ 0.98759886 -0.1411773 -0.06868376 -0.92346253] [ 0.14173946 0.98989831 0.00335682 0.03962196] [ 0.06751604 -0.01305039 0.99763283 0.4396926 ] [ 0. 0. 0. 1. ]] SLAMing on 151.00992885099998 meters Centerline goodness : 0.793396 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.04, Z:0.44 [[ 0.98747879 -0.14231318 -0.06806318 -0.92587564] [ 0.1428266 0.98974401 0.00271262 0.04007089] [ 0.06697909 -0.01239989 0.99767733 0.44070324] [ 0. 0. 0. 1. ]] SLAMing on 151.03992885099998 meters Centerline goodness : 0.794772 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.04, Z:0.44 [[ 0.98741408 -0.14294005 -0.06768741 -0.92713339] [ 0.14342815 0.98965787 0.00238197 0.04005846] [ 0.06664689 -0.01206027 0.99770373 0.44115901] [ 0. 0. 0. 1. ]] SLAMing on 151.069928851 meters Centerline goodness : 0.795392 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.04, Z:0.44 [[ 0.98734604 -0.14356102 -0.06736497 -0.92839972] [ 0.14403109 0.98957083 0.00214841 0.03977317] [ 0.06635398 -0.01182387 0.99772609 0.44168012] [ 0. 0. 0. 1. ]] SLAMing on 151.099928851 meters Centerline goodness : 0.794313 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.04, Z:0.44 [[ 0.98720047 -0.14482266 -0.06679543 -0.9300529 ] [ 0.14527571 0.98938929 0.0019501 0.03906137] [ 0.06580427 -0.01162889 0.99776479 0.44158343] [ 0. 0. 0. 1. ]] SLAMing on 151.129928851 meters Centerline goodness : 0.793864 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.04, Z:0.44 [[ 0.98714914 -0.14524965 -0.0666267 -0.93022521] [ 0.14570302 0.98932641 0.0019706 0.0385108 ] [ 0.06562933 -0.01165299 0.99777603 0.44115556] [ 0. 0. 0. 1. ]] SLAMing on 151.159928851 meters Centerline goodness : 0.793588 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.04, Z:0.44 [[ 0.98711483 -0.14555107 -0.06647707 -0.93022451] [ 0.14601271 0.98928046 0.0021132 0.03783116] [ 0.06545689 -0.01179247 0.99778571 0.44057792] [ 0. 0. 0. 1. ]] SLAMing on 151.189928851 meters Centerline goodness : 0.791299 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.04, Z:0.44 [[ 0.98708744 -0.14580849 -0.06631941 -0.93023164] [ 0.14627147 0.98924214 0.00215363 0.03760691] [ 0.06529194 -0.01182646 0.99779612 0.44004684] [ 0. 0. 0. 1. ]] SLAMing on 151.219928851 meters Centerline goodness : 0.793358 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.04, Z:0.44 [[ 0.98706292 -0.1460385 -0.06617811 -0.93034958] [ 0.14650079 0.98920819 0.00216112 0.03770762] [ 0.06514832 -0.01182831 0.99780549 0.43964337] [ 0. 0. 0. 1. ]] SLAMing on 151.249928851 meters Centerline goodness : 0.793358 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.04, Z:0.44 [[ 0.98706292 -0.1460385 -0.06617811 -0.93034958] [ 0.14650079 0.98920819 0.00216112 0.03770762] [ 0.06514832 -0.01182831 0.99780549 0.43964337] [ 0. 0. 0. 1. ]] SLAMing on 151.279928851 meters Centerline goodness : 0.792670 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.04, Z:0.44 [[ 0.9870255 -0.146325 -0.06610343 -0.93048445] [ 0.14675728 0.98917106 0.00170525 0.03929418] [ 0.06513808 -0.01138429 0.99781132 0.43951931] [ 0. 0. 0. 1. ]] SLAMing on 151.30992885099997 meters Centerline goodness : 0.792441 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.04, Z:0.44 [[ 0.98702199 -0.14634133 -0.0661196 -0.93043375] [ 0.14675266 0.98917225 0.00138107 0.04066624] [ 0.06520157 -0.01106637 0.99781075 0.4395143 ] [ 0. 0. 0. 1. ]] SLAMing on 151.33992885099997 meters Centerline goodness : 0.794773 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.04, Z:0.44 [[ 0.98751827 -0.1429147 -0.06620471 -0.93173082] [ 0.14355138 0.98963055 0.00493694 0.04124665] [ 0.06481264 -0.01437909 0.99779385 0.43944142] [ 0. 0. 0. 1. ]] SLAMing on 151.36992885099997 meters Centerline goodness : 0.794259 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.04, Z:0.44 [[ 0.98751218 -0.14294721 -0.06622524 -0.93186106] [ 0.14355208 0.98963279 0.00444218 0.04291761] [ 0.06490367 -0.01389348 0.99779481 0.43979371] [ 0. 0. 0. 1. ]] SLAMing on 151.39992885099997 meters Centerline goodness : 0.793667 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.04, Z:0.44 [[ 0.98749935 -0.14304063 -0.06621494 -0.93225459] [ 0.14360886 0.98962693 0.00387821 0.04456386] [ 0.06497335 -0.01333878 0.99779785 0.4403986 ] [ 0. 0. 0. 1. ]] SLAMing on 151.42992885099997 meters Centerline goodness : 0.793773 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.05, Z:0.44 [[ 0.98748062 -0.1431846 -0.06618304 -0.93274863] [ 0.14372257 0.98961213 0.00341528 0.0457418 ] [ 0.06500652 -0.01288451 0.99780165 0.44101014] [ 0. 0. 0. 1. ]] SLAMing on 151.45992885099997 meters Centerline goodness : 0.792078 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.05, Z:0.44 [[ 0.9874038 -0.14388789 -0.06580275 -0.93453408] [ 0.14436187 0.98952185 0.00248076 0.04782198] [ 0.06475631 -0.01194892 0.99782957 0.44212136] [ 0. 0. 0. 1. ]] SLAMing on 151.48992885099997 meters Centerline goodness : 0.792932 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.05, Z:0.44 [[ 0.98734736 -0.14438623 -0.06555774 -0.93550901] [ 0.14483135 0.9894542 0.00206379 0.0485199 ] [ 0.0645684 -0.0115325 0.99784664 0.44256826] [ 0. 0. 0. 1. ]] SLAMing on 151.51992885099997 meters Centerline goodness : 0.793179 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.05, Z:0.44 [[ 0.98728846 -0.14493324 -0.06523691 -0.93657633] [ 0.14534928 0.98937903 0.00165176 0.04912492] [ 0.06430463 -0.0111129 0.99786844 0.4429135 ] [ 0. 0. 0. 1. ]] SLAMing on 151.54992885099998 meters Centerline goodness : 0.793185 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.05, Z:0.44 [[ 0.98723717 -0.1453953 -0.06498443 -0.93745464] [ 0.14579366 0.98931402 0.00140514 0.04954977] [ 0.06408571 -0.01086152 0.99788529 0.44315433] [ 0. 0. 0. 1. ]] SLAMing on 151.57992885099998 meters Centerline goodness : 0.791936 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.05, Z:0.44 [[ 0.9871857 -0.14585343 -0.06473932 -0.93815452] [ 0.14623711 0.98924884 0.00120259 0.04979753] [ 0.06386789 -0.01065447 0.99790149 0.44317717] [ 0. 0. 0. 1. ]] SLAMing on 151.60992885099998 meters Centerline goodness : 0.791446 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.05, Z:0.44 [[ 0.98714248 -0.14623675 -0.0645332 -0.93858398] [ 0.1466112 0.98919361 0.00107991 0.049999 ] [ 0.06367791 -0.01052732 0.99791498 0.44298238] [ 0. 0. 0. 1. ]] SLAMing on 151.63992885099998 meters Centerline goodness : 0.787341 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.05, Z:0.44 [[ 0.98709388 -0.14669213 -0.06424245 -0.93861583] [ 0.14707523 0.98912452 0.00124952 0.05001211] [ 0.06336049 -0.01068186 0.99793354 0.44177839] [ 0. 0. 0. 1. ]] SLAMing on 151.66992885099998 meters Centerline goodness : 0.786089 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.05, Z:0.44 [[ 0.98707041 -0.14693191 -0.06405482 -0.93859032] [ 0.14731862 0.98908819 0.00133067 0.05014131] [ 0.06316035 -0.01074993 0.99794549 0.44098801] [ 0. 0. 0. 1. ]] SLAMing on 151.69992885099998 meters Centerline goodness : 0.786111 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.05, Z:0.44 [[ 0.98706019 -0.14700208 -0.06405128 -0.9381899 ] [ 0.14739171 0.98907724 0.00137501 0.05031004] [ 0.06314954 -0.01079785 0.99794566 0.44041499] [ 0. 0. 0. 1. ]] SLAMing on 151.72992885099998 meters Centerline goodness : 0.785280 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.05, Z:0.44 [[ 0.98707141 -0.14690668 -0.0640973 -0.93762144] [ 0.14730497 0.98908997 0.001507 0.0506107 ] [ 0.06317661 -0.01092937 0.99794252 0.43972821] [ 0. 0. 0. 1. ]] SLAMing on 151.75992885099998 meters Centerline goodness : 0.784787 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.05, Z:0.44 [[ 0.98708021 -0.14682792 -0.06414221 -0.93704413] [ 0.14722546 0.98910184 0.00149014 0.05153364] [ 0.06322438 -0.01091425 0.99793966 0.43903308] [ 0. 0. 0. 1. ]] SLAMing on 151.78992885099998 meters Centerline goodness : 0.782928 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.05, Z:0.44 [[ 0.98707205 -0.14687923 -0.06415027 -0.93707828] [ 0.14725991 0.98909708 0.00122104 0.0524291 ] [ 0.0632715 -0.01065202 0.9979395 0.43917669] [ 0. 0. 0. 1. ]] SLAMing on 151.819928851 meters Centerline goodness : 0.783811 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.05, Z:0.44 [[ 9.87055751e-01 -1.46993825e-01 -6.41386058e-02 -9.37375343e-01] [ 1.47350633e-01 9.89083960e-01 8.42782248e-04 5.35634066e-02] [ 6.33145824e-02 -1.02827372e-02 9.97940644e-01 4.39579479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.849928851 meters Centerline goodness : 0.781773 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.06, Z:0.44 [[ 9.87032628e-01 -1.47134846e-01 -6.41710884e-02 -9.37862809e-01] [ 1.47444130e-01 9.89070382e-01 8.49073676e-05 5.57518341e-02] [ 6.34572301e-02 -9.54545663e-03 9.97938908e-01 4.40484369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.879928851 meters Centerline goodness : 0.780934 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.06, Z:0.44 [[ 9.87026057e-01 -1.47184317e-01 -6.41587046e-02 -9.37971577e-01] [ 1.47478840e-01 9.89065200e-01 -1.46950153e-04 5.64410114e-02] [ 6.34787708e-02 -9.31700773e-03 9.97939697e-01 4.40646964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.909928851 meters Centerline goodness : 0.779813 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.06, Z:0.44 [[ 9.87016826e-01 -1.47265098e-01 -6.41153328e-02 -9.38084608e-01] [ 1.47546115e-01 9.89055113e-01 -3.55612736e-04 5.70496962e-02] [ 6.34659671e-02 -9.10897252e-03 9.97942432e-01 4.40720959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.939928851 meters Centerline goodness : 0.781446 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.06, Z:0.44 [[ 9.87004809e-01 -1.47357327e-01 -6.40884202e-02 -9.38172435e-01] [ 1.47631081e-01 9.89042387e-01 -4.68970851e-04 5.73605099e-02] [ 6.34552704e-02 -8.99856627e-03 9.97944114e-01 4.40739040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.969928851 meters Centerline goodness : 0.779040 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.06, Z:0.44 [[ 9.86974443e-01 -1.47652100e-01 -6.38772770e-02 -9.38884284e-01] [ 1.47898045e-01 9.89002215e-01 -8.87055144e-04 5.81609426e-02] [ 6.33057440e-02 -8.57182364e-03 9.97957367e-01 4.41120925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.999928851 meters Centerline goodness : 0.782499 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.06, Z:0.44 [[ 0.98694886 -0.14791804 -0.06365694 -0.93966063] [ 0.14814526 0.98896493 -0.00116175 0.0585271 ] [ 0.06312632 -0.00828388 0.99797116 0.44147965] [ 0. 0. 0. 1. ]] SLAMing on 152.029928851 meters Centerline goodness : 0.780370 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.06, Z:0.44 [[ 0.98692114 -0.14822359 -0.06337528 -0.9404663 ] [ 0.14843595 0.98892107 -0.00137051 0.0587316 ] [ 0.06287629 -0.00805458 0.99798883 0.44168867] [ 0. 0. 0. 1. ]] SLAMing on 152.05992885099997 meters Centerline goodness : 0.781645 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.06, Z:0.44 [[ 0.98685166 -0.14886835 -0.06294454 -0.94185858] [ 0.14906609 0.98882599 -0.0015693 0.05845623] [ 0.06247482 -0.00783423 0.99801579 0.44204017] [ 0. 0. 0. 1. ]] SLAMing on 152.08992885099997 meters Centerline goodness : 0.780999 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.06, Z:0.44 [[ 0.98680372 -0.14926513 -0.06275616 -0.94255937] [ 0.14945638 0.98876692 -0.00166213 0.05826514] [ 0.06229931 -0.00773911 0.99802751 0.44223174] [ 0. 0. 0. 1. ]] SLAMing on 152.11992885099997 meters Centerline goodness : 0.783494 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.06, Z:0.44 [[ 0.98673707 -0.14983994 -0.06243358 -0.94365992] [ 0.15002192 0.98868105 -0.00178941 0.05793702] [ 0.06199503 -0.00760073 0.99804752 0.4425046 ] [ 0. 0. 0. 1. ]] SLAMing on 152.14992885099997 meters Centerline goodness : 0.780166 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.06, Z:0.44 [[ 0.98666929 -0.15042214 -0.06210386 -0.94478219] [ 0.15060323 0.98859268 -0.00178152 0.05709139] [ 0.0616634 -0.00759527 0.9980681 0.442719 ] [ 0. 0. 0. 1. ]] SLAMing on 152.17992885099997 meters Centerline goodness : 0.778977 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.44 [[ 0.9864669 -0.15192079 -0.06166959 -0.94633094] [ 0.15209042 0.98836464 -0.00196162 0.05499861] [ 0.06125005 -0.00744428 0.99809469 0.44294795] [ 0. 0. 0. 1. ]] SLAMing on 152.20992885099997 meters Centerline goodness : 0.781599 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.44 [[ 0.98638704 -0.15257521 -0.06133031 -0.94713975] [ 0.15275989 0.98826188 -0.00169391 0.05324828] [ 0.06086885 -0.00769796 0.99811609 0.44264003] [ 0. 0. 0. 1. ]] SLAMing on 152.23992885099997 meters Centerline goodness : 0.778935 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.44 [[ 0.98631259 -0.15320848 -0.06094786 -0.94797874] [ 0.15340226 0.98816267 -0.00151475 0.05161483] [ 0.06045847 -0.00785552 0.9981398 0.44243709] [ 0. 0. 0. 1. ]] SLAMing on 152.26992885099997 meters Centerline goodness : 0.778528 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.44 [[ 0.98566908 -0.15748153 -0.06046515 -0.94758758] [ 0.15744666 0.98751289 -0.00537071 0.05088561] [ 0.0605559 -0.00422629 0.99815586 0.44241323] [ 0. 0. 0. 1. ]] SLAMing on 152.29992885099998 meters Centerline goodness : 0.778894 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.44 [[ 0.98561187 -0.15797829 -0.06010077 -0.94838002] [ 0.15794701 0.98743336 -0.00530098 0.04985639] [ 0.06018295 -0.00426803 0.99817824 0.44228567] [ 0. 0. 0. 1. ]] SLAMing on 152.32992885099998 meters Centerline goodness : 0.778645 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.44 [[ 0.98557978 -0.1582615 -0.05988153 -0.94881023] [ 0.15823987 0.98738736 -0.00513337 0.04887625] [ 0.05993868 -0.0044163 0.99819229 0.44210969] [ 0. 0. 0. 1. ]] SLAMing on 152.35992885099998 meters Centerline goodness : 0.779437 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.44 [[ 0.9855273 -0.15870501 -0.05957058 -0.94978151] [ 0.15868205 0.98731632 -0.00514604 0.04801297] [ 0.05963171 -0.00438122 0.99821083 0.44239728] [ 0. 0. 0. 1. ]] SLAMing on 152.38992885099998 meters Centerline goodness : 0.780925 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.44 [[ 0.98552845 -0.15870003 -0.05956486 -0.95000629] [ 0.15867006 0.98731764 -0.00526272 0.04808258] [ 0.05964463 -0.0042646 0.99821056 0.44275421] [ 0. 0. 0. 1. ]] SLAMing on 152.41992885099998 meters Centerline goodness : 0.783665 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.44 [[ 0.98554059 -0.1586054 -0.05961599 -0.95016043] [ 0.15856257 0.98733373 -0.00547847 0.04854457] [ 0.05972979 -0.00405361 0.99820635 0.44328314] [ 0. 0. 0. 1. ]] SLAMing on 152.44992885099998 meters Centerline goodness : 0.782126 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.44 [[ 0.98554036 -0.15857839 -0.05969172 -0.95034767] [ 0.1585163 0.9873393 -0.00580416 0.04931094] [ 0.0598564 -0.00374188 0.99819999 0.44390643] [ 0. 0. 0. 1. ]] SLAMing on 152.47992885099998 meters Centerline goodness : 0.783471 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.44 [[ 0.98558147 -0.15824501 -0.05989731 -0.95006482] [ 0.15817712 0.98739311 -0.00590319 0.04975443] [ 0.06007634 -0.00365631 0.99818709 0.44433559] [ 0. 0. 0. 1. ]] SLAMing on 152.50992885099998 meters Centerline goodness : 0.783682 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.44 [[ 0.98618699 -0.15434394 -0.06010968 -0.9510589 ] [ 0.1545154 0.98798872 -0.00181323 0.04827034] [ 0.05966754 -0.00749969 0.99819013 0.44438867] [ 0. 0. 0. 1. ]] SLAMing on 152.53992885099998 meters Centerline goodness : 0.784348 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.44 [[ 0.98622046 -0.15405245 -0.06030793 -0.95061481] [ 0.15422158 0.98803452 -0.00186811 0.04873277] [ 0.05987411 -0.00745842 0.99817807 0.44452413] [ 0. 0. 0. 1. ]] SLAMing on 152.569928851 meters Centerline goodness : 0.785227 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.44 [[ 0.98628791 -0.15350484 -0.06060049 -0.94974634] [ 0.1536838 0.98811857 -0.00172454 0.04896532] [ 0.0601452 -0.00761242 0.99816061 0.44443841] [ 0. 0. 0. 1. ]] SLAMing on 152.599928851 meters Centerline goodness : 0.784194 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.44 [[ 0.98641197 -0.15256588 -0.06095148 -0.94823255] [ 0.15277736 0.9882599 -0.00120311 0.0488344 ] [ 0.06041946 -0.00812525 0.99814001 0.44374635] [ 0. 0. 0. 1. ]] SLAMing on 152.629928851 meters Centerline goodness : 0.786879 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.44 [[ 9.86452724e-01 -1.52253155e-01 -6.10737310e-02 -9.47630967e-01] [ 1.52480633e-01 9.88306006e-01 -9.45938757e-04 4.85912659e-02] [ 6.05035573e-02 -8.37943731e-03 9.98132809e-01 4.43361681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.659928851 meters Centerline goodness : 0.787319 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.44 [[ 9.86473045e-01 -1.52102676e-01 -6.11204402e-02 -9.47516432e-01] [ 1.52338904e-01 9.88327988e-01 -8.03482768e-04 4.83379427e-02] [ 6.05292536e-02 -8.51840677e-03 9.98130075e-01 4.43337147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.689928851 meters Centerline goodness : 0.787489 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.44 [[ 9.86491363e-01 -1.52022585e-01 -6.10239716e-02 -9.47641114e-01] [ 1.52268792e-01 9.88338923e-01 -6.22545072e-04 4.77838997e-02] [ 6.04070073e-02 -8.67791110e-03 9.98136107e-01 4.43269147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.719928851 meters Centerline goodness : 0.786123 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.44 [[ 9.86503381e-01 -1.51922082e-01 -6.10799541e-02 -9.47322379e-01] [ 1.52176659e-01 9.88353188e-01 -4.89278884e-04 4.73811962e-02] [ 6.04428997e-02 -8.81226810e-03 9.98132757e-01 4.43067789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.749928851 meters Centerline goodness : 0.786376 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.44 [[ 9.86512118e-01 -1.51884260e-01 -6.10328894e-02 -9.47156104e-01] [ 1.52149931e-01 9.88357380e-01 -2.97835966e-04 4.68288322e-02] [ 6.03675432e-02 -8.99233114e-03 9.98135711e-01 4.42691696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77992885099997 meters Centerline goodness : 0.785125 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.44 [[ 9.86506586e-01 -1.51922366e-01 -6.10274586e-02 -9.47092295e-01] [ 1.52195461e-01 9.88350399e-01 -1.75434832e-04 4.61639570e-02] [ 6.03431655e-02 -9.11503456e-03 9.98136072e-01 4.42614335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.80992885099997 meters Centerline goodness : 0.785959 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.05, Z:0.44 [[ 9.86489294e-01 -1.52074142e-01 -6.09288702e-02 -9.47377028e-01] [ 1.52351845e-01 9.88326316e-01 -8.88313040e-05 4.54518790e-02] [ 6.02311148e-02 -9.19499467e-03 9.98142107e-01 4.42684741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.83992885099997 meters Centerline goodness : 0.786233 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.04, Z:0.44 [[ 9.86437621e-01 -1.52523114e-01 -6.06425612e-02 -9.48460463e-01] [ 1.52796784e-01 9.88257622e-01 -1.25879630e-04 4.47564865e-02] [ 5.99496728e-02 -9.14181591e-03 9.98159538e-01 4.43103046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.86992885099997 meters Centerline goodness : 0.785698 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.04, Z:0.44 [[ 9.86413346e-01 -1.52728486e-01 -6.05204160e-02 -9.48966711e-01] [ 1.52999392e-01 9.88226270e-01 -1.59613848e-04 4.42334858e-02] [ 5.98322425e-02 -9.10214161e-03 9.98166947e-01 4.43417008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.89992885099997 meters Centerline goodness : 0.787292 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.04, Z:0.44 [[ 9.86293251e-01 -1.53683401e-01 -6.00586063e-02 -9.50806705e-01] [ 1.53950106e-01 9.88078605e-01 -1.88648292e-04 4.23900158e-02] [ 5.93716161e-02 -9.05996628e-03 9.98194835e-01 4.44163669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.92992885099997 meters Centerline goodness : 0.784494 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.04, Z:0.44 [[ 9.86229496e-01 -1.54223399e-01 -5.97203837e-02 -9.52008205e-01] [ 1.54487235e-01 9.87994764e-01 -2.01658766e-04 4.12282185e-02] [ 5.90345269e-02 -9.02715512e-03 9.98215125e-01 4.44656633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.95992885099997 meters Centerline goodness : 0.784245 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.04, Z:0.44 [[ 9.86174321e-01 -1.54688858e-01 -5.94269866e-02 -9.52876236e-01] [ 1.54955677e-01 9.87921416e-01 -1.19912092e-04 3.99952180e-02] [ 5.87277418e-02 -9.09029471e-03 9.98232648e-01 4.44815533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.98992885099997 meters Centerline goodness : 0.784440 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.04, Z:0.44 [[ 9.86126853e-01 -1.55121530e-01 -5.90858798e-02 -9.53777779e-01] [ 1.55397695e-01 9.87851988e-01 8.00245556e-05 3.83567963e-02] [ 5.83556903e-02 -9.26072388e-03 9.98252900e-01 4.44916556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.01992885099997 meters Centerline goodness : 0.784733 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.04, Z:0.45 [[ 0.9858357 -0.15708994 -0.05874281 -0.95494304] [ 0.1572942 0.98755111 -0.00115938 0.03574803] [ 0.05819366 -0.00809694 0.99827248 0.4459007 ] [ 0. 0. 0. 1. ]] SLAMing on 153.04992885099998 meters Centerline goodness : 0.781097 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 9.85806778e-01 -1.57324763e-01 -5.85996251e-02 -9.55179010e-01] [ 1.57541879e-01 9.87511873e-01 -9.25243968e-04 3.44294405e-02] [ 5.80133893e-02 -8.31978329e-03 9.98281137e-01 4.45728069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.07992885099998 meters Centerline goodness : 0.832683 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 9.85791597e-01 -1.57460774e-01 -5.84895800e-02 -9.55163337e-01] [ 1.57695109e-01 9.87487657e-01 -6.16482837e-04 3.31630190e-02] [ 5.78548101e-02 -8.61579708e-03 9.98287829e-01 4.45322622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.10992885099998 meters Centerline goodness : 0.831860 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.44 [[ 9.85800702e-01 -1.57430530e-01 -5.84174997e-02 -9.54915237e-01] [ 1.57690088e-01 9.87488637e-01 -1.68788334e-04 3.18262804e-02] [ 5.77131896e-02 -9.04546901e-03 9.98292225e-01 4.44739569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13992885099998 meters Centerline goodness : 0.831860 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.44 [[ 9.85800702e-01 -1.57430530e-01 -5.84174997e-02 -9.54915237e-01] [ 1.57690088e-01 9.87488637e-01 -1.68788334e-04 3.18262804e-02] [ 5.77131896e-02 -9.04546901e-03 9.98292225e-01 4.44739569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.16992885099998 meters Centerline goodness : 0.779535 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.44 [[ 9.85797848e-01 -1.57447116e-01 -5.84209567e-02 -9.54716107e-01] [ 1.57725123e-01 9.87483045e-01 1.49427789e-04 3.04835789e-02] [ 5.76661772e-02 -9.36175818e-03 9.98292026e-01 4.44502839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19992885099998 meters Centerline goodness : 0.780313 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.44 [[ 9.85801878e-01 -1.57398262e-01 -5.84845657e-02 -9.54742958e-01] [ 1.57673114e-01 9.87491358e-01 8.59724923e-05 3.05680248e-02] [ 5.77394713e-02 -9.30619543e-03 9.98288309e-01 4.44783008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.22992885099998 meters Centerline goodness : 0.780484 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.44 [[ 9.85836117e-01 -1.57106263e-01 -5.86921813e-02 -9.54312007e-01] [ 1.57384223e-01 9.87537439e-01 1.14749203e-04 3.07607117e-02] [ 5.79426986e-02 -9.35034728e-03 9.98276121e-01 4.44927705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25992885099998 meters Centerline goodness : 0.780361 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.44 [[ 9.85944690e-01 -1.56265968e-01 -5.91101997e-02 -9.53090591e-01] [ 1.56557026e-01 9.87668876e-01 2.96656319e-04 3.10299598e-02] [ 5.83349472e-02 -9.54660380e-03 9.98251419e-01 4.44956802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.28992885099998 meters Centerline goodness : 0.780626 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.44 [[ 9.86013071e-01 -1.55705304e-01 -5.94481454e-02 -9.52032588e-01] [ 1.56008441e-01 9.87755613e-01 4.63840864e-04 3.11448586e-02] [ 5.86480168e-02 -9.73176564e-03 9.98231287e-01 4.44766767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.319928851 meters Centerline goodness : 0.829557 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.44 [[ 9.86074354e-01 -1.55191119e-01 -5.97752879e-02 -9.51215852e-01] [ 1.55495510e-01 9.87836498e-01 4.46385427e-04 3.17934973e-02] [ 5.89789360e-02 -9.73495810e-03 9.98211759e-01 4.44846185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.349928851 meters Centerline goodness : 0.781991 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.44 [[ 9.86139807e-01 -1.54679613e-01 -6.00208229e-02 -9.50514354e-01] [ 1.54982607e-01 9.87917119e-01 3.97861718e-04 3.25511376e-02] [ 5.92340574e-02 -9.69453089e-03 9.98197046e-01 4.44922504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.379928851 meters Centerline goodness : 0.781001 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.44 [[ 0.98678048 -0.15030172 -0.06061083 -0.95032226] [ 0.15085706 0.98854457 0.0046667 0.03164516] [ 0.05921509 -0.01374858 0.99815056 0.44457424] [ 0. 0. 0. 1. ]] SLAMing on 153.409928851 meters Centerline goodness : 0.779591 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.44 [[ 0.98684486 -0.14977156 -0.06087442 -0.94944205] [ 0.15032451 0.98862609 0.00458161 0.03255236] [ 0.05949585 -0.01367225 0.99813492 0.44449376] [ 0. 0. 0. 1. ]] SLAMing on 153.439928851 meters Centerline goodness : 0.780484 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.44 [[ 0.98692447 -0.14912195 -0.06117783 -0.94843555] [ 0.14967464 0.98872494 0.00452731 0.03355543] [ 0.05981292 -0.01362488 0.99811661 0.44437215] [ 0. 0. 0. 1. ]] SLAMing on 153.469928851 meters Centerline goodness : 0.780828 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.44 [[ 0.98755256 -0.14471405 -0.06162621 -0.94819461] [ 0.14551302 0.98931847 0.0086565 0.03330923] [ 0.05971524 -0.01751616 0.99806176 0.44370615] [ 0. 0. 0. 1. ]] SLAMing on 153.499928851 meters Centerline goodness : 0.782241 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.44 [[ 0.98760016 -0.14427463 -0.0618931 -0.94741319] [ 0.14506515 0.98938601 0.00845111 0.03466426] [ 0.06001688 -0.01732485 0.998047 0.44364221] [ 0. 0. 0. 1. ]] SLAMing on 153.52992885099997 meters Centerline goodness : 0.782474 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.04, Z:0.44 [[ 0.98761069 -0.14414367 -0.06203012 -0.9473448 ] [ 0.14491431 0.98941117 0.00808583 0.03589369] [ 0.06020778 -0.0169747 0.99804152 0.44412226] [ 0. 0. 0. 1. ]] SLAMing on 153.55992885099997 meters Centerline goodness : 0.782914 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.04, Z:0.44 [[ 0.98759699 -0.14424733 -0.06200726 -0.94776606] [ 0.14499085 0.9894035 0.0076396 0.03696638] [ 0.0602482 -0.01653534 0.99804646 0.44471887] [ 0. 0. 0. 1. ]] SLAMing on 153.58992885099997 meters Centerline goodness : 0.784592 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.04, Z:0.44 [[ 0.98758569 -0.14438574 -0.06186492 -0.94830704] [ 0.1451233 0.98938457 0.0075758 0.03691848] [ 0.06011436 -0.01645979 0.99805578 0.44497636] [ 0. 0. 0. 1. ]] SLAMing on 153.61992885099997 meters Centerline goodness : 0.784251 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.04, Z:0.44 [[ 0.98755992 -0.14463933 -0.06168359 -0.9486917 ] [ 0.14537535 0.98934744 0.00759228 0.0364074 ] [ 0.05992836 -0.01646511 0.99806688 0.44493466] [ 0. 0. 0. 1. ]] SLAMing on 153.64992885099997 meters Centerline goodness : 0.784548 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.04, Z:0.44 [[ 0.98751512 -0.14505171 -0.06143201 -0.94934398] [ 0.14579223 0.98928507 0.00772457 0.03552556] [ 0.0596533 -0.01658444 0.99808138 0.4448502 ] [ 0. 0. 0. 1. ]] SLAMing on 153.67992885099997 meters Centerline goodness : 0.781879 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.45 [[ 0.98745468 -0.14555151 -0.06122105 -0.95000727] [ 0.14628999 0.98921151 0.00773431 0.03445185] [ 0.05943483 -0.0165933 0.99809427 0.44500836] [ 0. 0. 0. 1. ]] SLAMing on 153.70992885099997 meters Centerline goodness : 0.781545 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.45 [[ 0.98682745 -0.14997002 -0.06066782 -0.95013857] [ 0.15047388 0.98860669 0.0037977 0.03394429] [ 0.05940707 -0.0128766 0.99815079 0.44530807] [ 0. 0. 0. 1. ]] SLAMing on 153.73992885099997 meters Centerline goodness : 0.780930 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.45 [[ 0.98673027 -0.15074715 -0.06032142 -0.95112275] [ 0.15124424 0.98848937 0.00373522 0.03275421] [ 0.05906401 -0.01280892 0.99817202 0.44541019] [ 0. 0. 0. 1. ]] SLAMing on 153.76992885099997 meters Centerline goodness : 0.779090 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.45 [[ 9.86100893e-01 -1.55016408e-01 -5.97908247e-02 -9.50870418e-01] [ 1.55294044e-01 9.87868291e-01 -3.32855429e-06 3.16432854e-02] [ 5.90659758e-02 -9.28187664e-03 9.98210928e-01 4.45392743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.79992885099998 meters Centerline goodness : 0.781704 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.45 [[ 9.86006679e-01 -1.55764882e-01 -5.93980646e-02 -9.51928136e-01] [ 1.56038688e-01 9.87750944e-01 -2.89744504e-05 3.02603699e-02] [ 5.86750076e-02 -9.23982704e-03 9.98234376e-01 4.45516644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.82992885099998 meters Centerline goodness : 0.779734 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.45 [[ 9.85931573e-01 -1.56379638e-01 -5.90283183e-02 -9.52821886e-01] [ 1.56655249e-01 9.87653346e-01 4.20857640e-05 2.90360162e-02] [ 5.82929347e-02 -9.28858961e-03 9.98256308e-01 4.45442961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.85992885099998 meters Centerline goodness : 0.780301 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.45 [[ 9.85868608e-01 -1.56903600e-01 -5.86885622e-02 -9.53689143e-01] [ 1.57171699e-01 9.87571291e-01 -4.84911983e-05 2.85528980e-02] [ 5.79667476e-02 -9.17637510e-03 9.98276340e-01 4.45492765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.88992885099998 meters Centerline goodness : 0.781208 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.45 [[ 9.85836221e-01 -1.57170376e-01 -5.85185356e-02 -9.54010941e-01] [ 1.57434459e-01 9.87529433e-01 -9.87656637e-05 2.85037531e-02] [ 5.78042994e-02 -9.11546724e-03 9.98286317e-01 4.45382209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91992885099998 meters Centerline goodness : 0.783309 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.45 [[ 9.85785124e-01 -1.57568329e-01 -5.83087493e-02 -9.54483366e-01] [ 1.57826833e-01 9.87466790e-01 -1.74035374e-04 2.83129390e-02] [ 5.76053760e-02 -9.03112373e-03 9.98298582e-01 4.45252837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.94992885099998 meters Centerline goodness : 0.782202 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.45 [[ 9.85762502e-01 -1.57741788e-01 -5.82221421e-02 -9.54921291e-01] [ 1.57987439e-01 9.87441045e-01 -3.88554168e-04 2.84277243e-02] [ 5.75522240e-02 -8.81534499e-03 9.98303577e-01 4.45621792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97992885099998 meters Centerline goodness : 0.831866 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 9.85738224e-01 -1.57943727e-01 -5.80855727e-02 -9.55417194e-01] [ 1.58171986e-01 9.87411346e-01 -6.75818887e-04 2.89005657e-02] [ 5.74610948e-02 -8.52132990e-03 9.98311379e-01 4.45921232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.00992885099998 meters Centerline goodness : 0.784676 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 0.98575574 -0.15784718 -0.0580507 -0.95590458] [ 0.15804134 0.98743169 -0.00126021 0.03053108] [ 0.05752002 -0.00793215 0.99831284 0.44678044] [ 0. 0. 0. 1. ]] SLAMing on 154.03992885099998 meters Centerline goodness : 0.784325 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 0.98576394 -0.15776359 -0.05813868 -0.95590833] [ 0.15793995 0.98744746 -0.00157822 0.03149842] [ 0.05765788 -0.00762666 0.99830727 0.4471971 ] [ 0. 0. 0. 1. ]] SLAMing on 154.069928851 meters Centerline goodness : 0.785228 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 0.98633134 -0.15411656 -0.05829727 -0.95711648] [ 0.15451121 0.98798837 0.00229653 0.0309216 ] [ 0.05724309 -0.01127272 0.99829663 0.44718105] [ 0. 0. 0. 1. ]] SLAMing on 154.099928851 meters Centerline goodness : 0.785070 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 0.98635523 -0.15390134 -0.05846139 -0.95667082] [ 0.15428771 0.98802367 0.00212645 0.03178262] [ 0.05743397 -0.01111731 0.99828741 0.4471874 ] [ 0. 0. 0. 1. ]] SLAMing on 154.129928851 meters Centerline goodness : 0.785209 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 0.98644472 -0.15323874 -0.0586916 -0.95579266] [ 0.15362085 0.98812779 0.00202786 0.03293654] [ 0.05768405 -0.01101663 0.9982741 0.44712758] [ 0. 0. 0. 1. ]] SLAMing on 154.159928851 meters Centerline goodness : 0.784319 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 0.98645878 -0.15312878 -0.05874219 -0.95565053] [ 0.1534951 0.98814786 0.00174853 0.03380871] [ 0.05777822 -0.01074149 0.99827166 0.44728239] [ 0. 0. 0. 1. ]] SLAMing on 154.189928851 meters Centerline goodness : 0.787007 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.04, Z:0.45 [[ 0.98654191 -0.15261692 -0.05867833 -0.95537279] [ 0.15297182 0.98822929 0.00157821 0.03546084] [ 0.05774678 -0.0105331 0.99827569 0.44705549] [ 0. 0. 0. 1. ]] SLAMing on 154.219928851 meters Centerline goodness : 0.784203 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.04, Z:0.45 [[ 0.9865988 -0.15222325 -0.05874434 -0.95509491] [ 0.15257115 0.98829142 0.00145693 0.03670539] [ 0.05783474 -0.0104001 0.998272 0.44704132] [ 0. 0. 0. 1. ]] SLAMing on 154.249928851 meters Centerline goodness : 0.787242 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.04, Z:0.45 [[ 0.98656988 -0.15249962 -0.05851269 -0.95516003] [ 0.15286692 0.98824509 0.00182702 0.03557543] [ 0.05754626 -0.01074713 0.99828499 0.44617296] [ 0. 0. 0. 1. ]] SLAMing on 154.27992885099997 meters Centerline goodness : 0.784873 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 0.98654138 -0.15277242 -0.05828118 -0.95552571] [ 0.15315002 0.98820084 0.00204174 0.03446555] [ 0.05728159 -0.01094003 0.99829812 0.44587654] [ 0. 0. 0. 1. ]] SLAMing on 154.30992885099997 meters Centerline goodness : 0.784873 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 0.98654138 -0.15277242 -0.05828118 -0.95552571] [ 0.15315002 0.98820084 0.00204174 0.03446555] [ 0.05728159 -0.01094003 0.99829812 0.44587654] [ 0. 0. 0. 1. ]] SLAMing on 154.33992885099997 meters Centerline goodness : 0.784873 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 0.98654138 -0.15277242 -0.05828118 -0.95552571] [ 0.15315002 0.98820084 0.00204174 0.03446555] [ 0.05728159 -0.01094003 0.99829812 0.44587654] [ 0. 0. 0. 1. ]] SLAMing on 154.36992885099997 meters Centerline goodness : 0.783826 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 0.98650979 -0.15305498 -0.05807412 -0.95590823] [ 0.15344023 0.98815547 0.002207 0.03351057] [ 0.05704846 -0.01108813 0.99830983 0.44567224] [ 0. 0. 0. 1. ]] SLAMing on 154.39992885099997 meters Centerline goodness : 0.783826 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 0.98650979 -0.15305498 -0.05807412 -0.95590823] [ 0.15344023 0.98815547 0.002207 0.03351057] [ 0.05704846 -0.01108813 0.99830983 0.44567224] [ 0. 0. 0. 1. ]] SLAMing on 154.42992885099997 meters Centerline goodness : 0.784703 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 0.98645511 -0.15354126 -0.05771828 -0.95678676] [ 0.15392382 0.98808023 0.00221517 0.03280307] [ 0.05669017 -0.01106938 0.99833045 0.44566622] [ 0. 0. 0. 1. ]] SLAMing on 154.45992885099997 meters Centerline goodness : 0.833797 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 0.98639064 -0.15407622 -0.05739354 -0.95770542] [ 0.15445387 0.9879976 0.00217655 0.03192713] [ 0.05636932 -0.01101158 0.99834926 0.44584459] [ 0. 0. 0. 1. ]] SLAMing on 154.48992885099997 meters Centerline goodness : 0.830224 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 0.98573688 -0.15839694 -0.05686134 -0.95773495] [ 0.15854431 0.98734996 -0.00193866 0.03174809] [ 0.05644912 -0.00710404 0.9983802 0.44630428] [ 0. 0. 0. 1. ]] SLAMing on 154.51992885099997 meters Centerline goodness : 0.782000 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 0.98564117 -0.15916691 -0.0563683 -0.95919446] [ 0.15930493 0.98722727 -0.00206519 0.03070866] [ 0.05597704 -0.00694421 0.99840791 0.44662536] [ 0. 0. 0. 1. ]] SLAMing on 154.54992885099998 meters Centerline goodness : 0.831993 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 0.9855814 -0.1596496 -0.05604735 -0.96008983] [ 0.15978525 0.9871496 -0.00208165 0.02983231] [ 0.05565946 -0.0069039 0.99842594 0.44679271] [ 0. 0. 0. 1. ]] SLAMing on 154.57992885099998 meters Centerline goodness : 0.783115 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 0.98551397 -0.16013197 -0.05585669 -0.96055878] [ 0.16026342 0.98707195 -0.00214718 0.02934141] [ 0.0554784 -0.00683571 0.99843649 0.4466823 ] [ 0. 0. 0. 1. ]] SLAMing on 154.60992885099998 meters Centerline goodness : 0.780925 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 0.98550972 -0.16016385 -0.05584025 -0.96044312] [ 0.16028778 0.98706769 -0.00228148 0.0298251 ] [ 0.05548351 -0.00670209 0.99843711 0.44653682] [ 0. 0. 0. 1. ]] SLAMing on 154.63992885099998 meters Centerline goodness : 0.780641 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 0.98551839 -0.16009174 -0.05589405 -0.96022637] [ 0.16021003 0.98708006 -0.00238736 0.03048365] [ 0.0555541 -0.006602 0.99843385 0.44638465] [ 0. 0. 0. 1. ]] SLAMing on 154.66992885099998 meters Centerline goodness : 0.780563 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 0.98553735 -0.15995659 -0.05594652 -0.96000625] [ 0.1600596 0.98710376 -0.00266382 0.03151367] [ 0.05565111 -0.00632948 0.99843021 0.44643398] [ 0. 0. 0. 1. ]] SLAMing on 154.69992885099998 meters Centerline goodness : 0.780781 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 9.86141725e-01 -1.56110556e-01 -5.61604120e-02 -9.61056570e-01] [ 1.56407723e-01 9.87692158e-01 9.08287660e-04 3.24103773e-02] [ 5.53274052e-02 -9.67962254e-03 9.98421345e-01 4.46535179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.72992885099998 meters Centerline goodness : 0.834318 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 0.98668763 -0.15254825 -0.05636084 -0.96231845] [ 0.15304474 0.98820867 0.00457487 0.03225095] [ 0.05499839 -0.0131397 0.99839998 0.44680024] [ 0. 0. 0. 1. ]] SLAMing on 154.75992885099998 meters Centerline goodness : 0.781408 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 0.98677195 -0.15187929 -0.05669039 -0.96137192] [ 0.15236788 0.98831417 0.00437284 0.03406979] [ 0.05536377 -0.01295279 0.99838223 0.44678994] [ 0. 0. 0. 1. ]] SLAMing on 154.78992885099998 meters Centerline goodness : 0.781154 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 0.98738428 -0.1477902 -0.05683605 -0.96240983] [ 0.14847942 0.98888251 0.00807771 0.03496647] [ 0.05501037 -0.01641479 0.99835085 0.44683079] [ 0. 0. 0. 1. ]] SLAMing on 154.819928851 meters Centerline goodness : 0.782687 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.04, Z:0.45 [[ 0.98740416 -0.1476032 -0.05697656 -0.96232635] [ 0.14826616 0.98891855 0.00756593 0.03660783] [ 0.05522842 -0.01591832 0.99834685 0.4473366 ] [ 0. 0. 0. 1. ]] SLAMing on 154.849928851 meters Centerline goodness : 0.782398 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.04, Z:0.45 [[ 0.98743003 -0.14735757 -0.05716366 -0.96197177] [ 0.14800141 0.98896112 0.00717467 0.03790604] [ 0.0554754 -0.01554479 0.99833904 0.44768294] [ 0. 0. 0. 1. ]] SLAMing on 154.879928851 meters Centerline goodness : 0.785142 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.04, Z:0.45 [[ 0.98744076 -0.14723987 -0.05728148 -0.96175365] [ 0.14786398 0.98898439 0.00679096 0.03900951] [ 0.05565059 -0.01517554 0.99833497 0.44794922] [ 0. 0. 0. 1. ]] SLAMing on 154.909928851 meters Centerline goodness : 0.782946 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.04, Z:0.45 [[ 0.98749739 -0.14683629 -0.05734122 -0.96143124] [ 0.14744811 0.989048 0.00656573 0.04040289] [ 0.05574913 -0.0149385 0.99833305 0.44792678] [ 0. 0. 0. 1. ]] SLAMing on 154.939928851 meters Centerline goodness : 0.783185 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.04, Z:0.45 [[ 0.98745951 -0.14717413 -0.057127 -0.9623783 ] [ 0.14776652 0.98900243 0.00626472 0.04070081] [ 0.05557674 -0.01462762 0.99834726 0.44850675] [ 0. 0. 0. 1. ]] SLAMing on 154.969928851 meters Centerline goodness : 0.783613 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.04, Z:0.45 [[ 0.98739994 -0.14768738 -0.05683137 -0.96353027] [ 0.14826948 0.98892792 0.00614264 0.04028001] [ 0.05529494 -0.0144916 0.99836489 0.44895582] [ 0. 0. 0. 1. ]] SLAMing on 154.999928851 meters Centerline goodness : 0.783325 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.04, Z:0.45 [[ 0.98680342 -0.15177422 -0.05642335 -0.96248438] [ 0.15216957 0.98835057 0.00275261 0.03903285] [ 0.05534827 -0.01130221 0.99840314 0.44806197] [ 0. 0. 0. 1. ]] SLAMing on 155.02992885099997 meters Centerline goodness : 0.781954 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.04, Z:0.45 [[ 9.86219473e-01 -1.55576992e-01 -5.62756634e-02 -9.60985681e-01] [ 1.55772936e-01 9.87792466e-01 -9.14753015e-04 3.88669219e-02] [ 5.57309909e-02 -7.86407807e-03 9.98414850e-01 4.47533057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05992885099997 meters Centerline goodness : 0.781954 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.04, Z:0.45 [[ 9.86219473e-01 -1.55576992e-01 -5.62756634e-02 -9.60985681e-01] [ 1.55772936e-01 9.87792466e-01 -9.14753015e-04 3.88669219e-02] [ 5.57309909e-02 -7.86407807e-03 9.98414850e-01 4.47533057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.08992885099997 meters Centerline goodness : 0.781358 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.04, Z:0.45 [[ 0.9856016 -0.1595513 -0.055972 -0.95998774] [ 0.15954621 0.9871798 -0.00458837 0.03821865] [ 0.05598651 -0.00440782 0.9984218 0.44725873] [ 0. 0. 0. 1. ]] SLAMing on 155.11992885099997 meters Centerline goodness : 0.780689 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.04, Z:0.45 [[ 9.84934726e-01 -1.63792114e-01 -5.54592577e-02 -9.59703167e-01] [ 1.63577768e-01 9.86494565e-01 -8.41347863e-03 3.73509170e-02] [ 5.60883177e-02 -7.85174339e-04 9.98425503e-01 4.47400013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.14992885099997 meters Centerline goodness : 0.779879 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 0.98401259 -0.16955598 -0.05449755 -0.96107096] [ 0.16915114 0.98551718 -0.01199102 0.03329588] [ 0.05574142 0.002581 0.9984419 0.4475723 ] [ 0. 0. 0. 1. ]] SLAMing on 155.17992885099997 meters Centerline goodness : 0.779313 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 0.98381459 -0.17079143 -0.05421388 -0.96223588] [ 0.17038736 0.9853038 -0.012024 0.0305083 ] [ 0.05547074 0.00259203 0.99845695 0.44798418] [ 0. 0. 0. 1. ]] SLAMing on 155.20992885099997 meters Centerline goodness : 0.779384 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 0.98368148 -0.17166739 -0.05386136 -0.963251 ] [ 0.17127427 0.98515193 -0.01186628 0.02831961] [ 0.05509868 0.00244757 0.99847791 0.4480722 ] [ 0. 0. 0. 1. ]] SLAMing on 155.23992885099997 meters Centerline goodness : 0.779263 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.03, Z:0.45 [[ 0.98360662 -0.17216305 -0.0536461 -0.96386367] [ 0.17179076 0.98506622 -0.01151023 0.0261728 ] [ 0.0548266 0.00210564 0.99849367 0.44804233] [ 0. 0. 0. 1. ]] SLAMing on 155.26992885099997 meters Centerline goodness : 0.779471 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.02, Z:0.45 [[ 0.98347566 -0.17300268 -0.05334513 -0.96500153] [ 0.17263943 0.98491936 -0.01137907 0.02342574] [ 0.05450926 0.00198157 0.9985113 0.44855127] [ 0. 0. 0. 1. ]] SLAMing on 155.29992885099998 meters Centerline goodness : 0.780372 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.02, Z:0.45 [[ 0.98345512 -0.17315496 -0.05322957 -0.96554032] [ 0.17279553 0.9848927 -0.01131723 0.02257132] [ 0.05438505 0.00193215 0.99851817 0.44896237] [ 0. 0. 0. 1. ]] SLAMing on 155.32992885099998 meters Centerline goodness : 0.830832 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.02, Z:0.45 [[ 0.98342764 -0.17330028 -0.05326441 -0.96595062] [ 0.17292613 0.98486661 -0.01158981 0.02255906] [ 0.05446686 0.00218693 0.99851318 0.4497188 ] [ 0. 0. 0. 1. ]] SLAMing on 155.35992885099998 meters Centerline goodness : 0.782998 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.02, Z:0.45 [[ 0.98349441 -0.1728577 -0.05346934 -0.96582672] [ 0.17248084 0.98494434 -0.01161912 0.02247249] [ 0.05467278 0.0022049 0.99850189 0.4504802 ] [ 0. 0. 0. 1. ]] SLAMing on 155.38992885099998 meters Centerline goodness : 0.783048 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.02, Z:0.45 [[ 0.98353426 -0.1725713 -0.05366103 -0.96559869] [ 0.17218543 0.98499426 -0.0117678 0.02293481] [ 0.05488659 0.00233439 0.99848987 0.45094664] [ 0. 0. 0. 1. ]] SLAMing on 155.41992885099998 meters Centerline goodness : 0.781827 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.45 [[ 0.98360682 -0.17206002 -0.05397189 -0.96482016] [ 0.17167367 0.9850838 -0.01174953 0.02347177] [ 0.05518846 0.00229137 0.99847333 0.45101366] [ 0. 0. 0. 1. ]] SLAMing on 155.44992885099998 meters Centerline goodness : 0.782818 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.45 [[ 0.98369158 -0.17148849 -0.05424542 -0.96402868] [ 0.17110649 0.98518373 -0.0116444 0.02386961] [ 0.05543859 0.00217276 0.99845973 0.45097433] [ 0. 0. 0. 1. ]] SLAMing on 155.47992885099998 meters Centerline goodness : 0.831658 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.45 [[ 0.98443446 -0.16694297 -0.05494388 -0.96375584] [ 0.16679459 0.98596458 -0.00730772 0.0227499 ] [ 0.05539269 -0.00197037 0.9984627 0.45075551] [ 0. 0. 0. 1. ]] SLAMing on 155.50992885099998 meters Centerline goodness : 0.784007 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.45 [[ 0.98505886 -0.16309979 -0.05529471 -0.96446055] [ 0.1631729 0.98659223 -0.00322058 0.02129652] [ 0.0550786 -0.00585014 0.99846488 0.45069594] [ 0. 0. 0. 1. ]] SLAMing on 155.53992885099998 meters Centerline goodness : 0.833690 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.45 [[ 0.98517806 -0.16224358 -0.0556886 -0.96328428] [ 0.16232569 0.98673244 -0.00307593 0.02177688] [ 0.0554488 -0.00600935 0.99844345 0.45065123] [ 0. 0. 0. 1. ]] SLAMing on 155.569928851 meters Centerline goodness : 0.781232 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.45 [[ 0.98591783 -0.15743382 -0.056397 -0.96275396] [ 0.15776554 0.98747553 0.0014507 0.020495 ] [ 0.05546227 -0.01032777 0.99840737 0.45026381] [ 0. 0. 0. 1. ]] SLAMing on 155.599928851 meters Centerline goodness : 0.780712 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.45 [[ 0.98601215 -0.15669841 -0.05679476 -0.96163253] [ 0.15703799 0.98759136 0.00153837 0.02121758] [ 0.05584895 -0.01043578 0.99838469 0.45020714] [ 0. 0. 0. 1. ]] SLAMing on 155.629928851 meters Centerline goodness : 0.834939 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.45 [[ 0.98610929 -0.1559159 -0.05725999 -0.96024266] [ 0.15626778 0.98771328 0.0016924 0.02182829] [ 0.05629258 -0.01061678 0.99835787 0.44997221] [ 0. 0. 0. 1. ]] SLAMing on 155.659928851 meters Centerline goodness : 0.834385 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.45 [[ 0.98678168 -0.15138242 -0.05783841 -0.95987413] [ 0.15199147 0.98836202 0.00625468 0.02001025] [ 0.05621844 -0.01496295 0.99830636 0.44941921] [ 0. 0. 0. 1. ]] SLAMing on 155.689928851 meters Centerline goodness : 0.830322 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.45 [[ 0.98685144 -0.15082497 -0.05810393 -0.95894474] [ 0.15144953 0.98844379 0.00647431 0.01992492] [ 0.05645598 -0.015189 0.99828955 0.44919072] [ 0. 0. 0. 1. ]] SLAMing on 155.719928851 meters Centerline goodness : 0.833747 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.45 [[ 0.98691186 -0.1503777 -0.05823684 -0.95837067] [ 0.15101599 0.98850866 0.00669371 0.01971595] [ 0.05656103 -0.01540079 0.99828035 0.44898534] [ 0. 0. 0. 1. ]] SLAMing on 155.749928851 meters Centerline goodness : 0.831507 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.45 [[ 0.98692994 -0.15021913 -0.05833959 -0.95823301] [ 0.15085908 0.98853258 0.00669934 0.0196274 ] [ 0.05666421 -0.01541283 0.99827432 0.4492116 ] [ 0. 0. 0. 1. ]] SLAMing on 155.77992885099997 meters Centerline goodness : 0.833105 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.45 [[ 0.98697864 -0.14988123 -0.05838475 -0.95813046] [ 0.15053212 0.98858111 0.0068894 0.01903184] [ 0.05668547 -0.01558847 0.99827038 0.44943552] [ 0. 0. 0. 1. ]] SLAMing on 155.80992885099997 meters Centerline goodness : 0.834775 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.45 [[ 0.98698404 -0.14985841 -0.058352 -0.95822016] [ 0.15051497 0.98858295 0.006999 0.01845265] [ 0.05663693 -0.01569075 0.99827154 0.44952295] [ 0. 0. 0. 1. ]] SLAMing on 155.83992885099997 meters Centerline goodness : 0.780849 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.45 [[ 0.98698639 -0.14986316 -0.05830014 -0.9584154 ] [ 0.15052522 0.9885806 0.00711026 0.01782757] [ 0.05656882 -0.01579338 0.99827378 0.44966015] [ 0. 0. 0. 1. ]] SLAMing on 155.86992885099997 meters Centerline goodness : 0.836178 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.45 [[ 0.98698991 -0.1498429 -0.05829259 -0.9583569 ] [ 0.1505115 0.98858183 0.00722857 0.01733456] [ 0.05654385 -0.01590823 0.99827337 0.44959324] [ 0. 0. 0. 1. ]] SLAMing on 155.89992885099997 meters Centerline goodness : 0.835709 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.45 [[ 0.98698371 -0.14994489 -0.05813512 -0.95846044] [ 0.15063856 0.98855881 0.00771407 0.0153972 ] [ 0.0563133 -0.01637105 0.99827892 0.44929423] [ 0. 0. 0. 1. ]] SLAMing on 155.92992885099997 meters Centerline goodness : 0.838297 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.01, Z:0.45 [[ 0.98697028 -0.15003933 -0.05811944 -0.95842195] [ 0.15074288 0.98854151 0.00789128 0.01449826] [ 0.05626947 -0.01654955 0.99827845 0.44919295] [ 0. 0. 0. 1. ]] SLAMing on 155.95992885099997 meters Centerline goodness : 0.778290 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.01, Z:0.45 [[ 0.9869528 -0.15017429 -0.05806768 -0.95856339] [ 0.15088574 0.98851849 0.00804297 0.01359563] [ 0.05619313 -0.01669962 0.99828025 0.44921666] [ 0. 0. 0. 1. ]] SLAMing on 155.98992885099997 meters Centerline goodness : 0.832888 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.01, Z:0.45 [[ 0.98689903 -0.15057984 -0.05793109 -0.95900645] [ 0.15130317 0.98845269 0.00828391 0.01196137] [ 0.05601475 -0.01694054 0.99828621 0.44930115] [ 0. 0. 0. 1. ]] SLAMing on 156.01992885099997 meters Centerline goodness : 0.778971 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.01, Z:0.45 [[ 0.98687658 -0.15077266 -0.05781186 -0.95935695] [ 0.15150065 0.98842148 0.00839801 0.01094103] [ 0.0558763 -0.01704634 0.99829217 0.44943598] [ 0. 0. 0. 1. ]] SLAMing on 156.04992885099998 meters Centerline goodness : 0.778504 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.01, Z:0.45 [[ 0.98685501 -0.15094565 -0.05772865 -0.95951101] [ 0.1516847 0.98839137 0.00861661 0.00973321] [ 0.05575786 -0.0172599 0.99829513 0.4493802 ] [ 0. 0. 0. 1. ]] SLAMing on 156.07992885099998 meters Centerline goodness : 0.777650 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.01, Z:0.45 [[ 0.98684258 -0.15104935 -0.05766991 -0.95955669] [ 0.15180236 0.98837096 0.0088824 0.00847333] [ 0.05565758 -0.01751996 0.99829619 0.44924562] [ 0. 0. 0. 1. ]] SLAMing on 156.10992885099998 meters Centerline goodness : 0.777404 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.01, Z:0.45 [[ 0.9867574 -0.15167378 -0.05748818 -0.96028424] [ 0.15242524 0.98827498 0.00889454 0.00673047] [ 0.05546506 -0.01753941 0.99830656 0.44965815] [ 0. 0. 0. 1. ]] SLAMing on 156.13992885099998 meters Centerline goodness : 0.777488 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.01, Z:0.45 [[ 0.98673077 -0.15187013 -0.057427 -0.96058433] [ 0.15262679 0.9882429 0.00900233 0.0056201 ] [ 0.05538464 -0.01764778 0.99830912 0.44990744] [ 0. 0. 0. 1. ]] SLAMing on 156.16992885099998 meters Centerline goodness : 0.837061 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.00, Z:0.45 [[ 0.98670831 -0.15206534 -0.05729608 -0.96100929] [ 0.15282675 0.98821087 0.00912451 0.00445792] [ 0.05523308 -0.0177596 0.99831553 0.45015102] [ 0. 0. 0. 1. ]] SLAMing on 156.19992885099998 meters Centerline goodness : 0.838043 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.00, Z:0.45 [[ 0.98667215 -0.15234003 -0.05718892 -0.96154112] [ 0.15311054 0.98816515 0.0093164 0.0024426 ] [ 0.05509284 -0.01794846 0.9983199 0.45063521] [ 0. 0. 0. 1. ]] SLAMing on 156.22992885099998 meters Centerline goodness : 0.778042 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.00, Z:0.45 [[ 0.98666373 -0.15239334 -0.05719223 -0.96171134] [ 0.15316943 0.98815509 0.00941498 0.00153474] [ 0.05508002 -0.01804952 0.99831879 0.45093979] [ 0. 0. 0. 1. ]] SLAMing on 156.25992885099998 meters Centerline goodness : 0.835810 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.00, Z:0.45 [[ 9.86662298e-01 -1.52434942e-01 -5.71060305e-02 -9.62049995e-01] [ 1.53220475e-01 9.88145264e-01 9.61370079e-03 4.41621397e-04] [ 5.49635897e-02 -1.82352892e-02 9.98321831e-01 4.51176078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.28992885099998 meters Centerline goodness : 0.836136 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.00, Z:0.45 [[ 9.86664799e-01 -1.52418979e-01 -5.71054175e-02 -9.62208316e-01] [ 1.53217968e-01 9.88143238e-01 9.85881736e-03 -8.13928543e-04] [ 5.49256612e-02 -1.84769241e-02 9.98319475e-01 4.51435537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.319928851 meters Centerline goodness : 0.835969 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.00, Z:0.45 [[ 0.98667382 -0.15240337 -0.05699113 -0.96294098] [ 0.15322232 0.98813846 0.01026149 -0.00316137] [ 0.05475124 -0.01885706 0.99832195 0.45223289] [ 0. 0. 0. 1. ]] SLAMing on 156.349928851 meters Centerline goodness : 0.835976 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.00, Z:0.45 [[ 0.98668563 -0.15236342 -0.05689338 -0.96328845] [ 0.1531978 0.98813892 0.01057831 -0.00471834] [ 0.05460682 -0.0191534 0.99832422 0.45254309] [ 0. 0. 0. 1. ]] SLAMing on 156.379928851 meters Centerline goodness : 0.834949 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.01, Z:0.45 [[ 0.98670348 -0.15227471 -0.05682131 -0.9634799 ] [ 0.15313516 0.98814309 0.01108374 -0.00657777] [ 0.05445982 -0.0196377 0.99832284 0.4526225 ] [ 0. 0. 0. 1. ]] SLAMing on 156.409928851 meters Centerline goodness : 0.779171 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.01, Z:0.45 [[ 0.98670014 -0.1523018 -0.05680664 -0.9635248 ] [ 0.15320489 0.98812314 0.01187099 -0.01045511] [ 0.05432399 -0.02041616 0.99831462 0.4528172 ] [ 0. 0. 0. 1. ]] SLAMing on 156.439928851 meters Centerline goodness : 0.833835 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.01, Z:0.45 [[ 0.98670168 -0.15231641 -0.05674072 -0.96358925] [ 0.15324616 0.98811041 0.01238638 -0.01264214] [ 0.05417945 -0.02091696 0.99831211 0.45280214] [ 0. 0. 0. 1. ]] SLAMing on 156.469928851 meters Centerline goodness : 0.832411 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.45 [[ 0.98670543 -0.15235236 -0.05657873 -0.96369349] [ 0.15331102 0.98809269 0.01298312 -0.01514624] [ 0.05392702 -0.02148466 0.99831372 0.45259676] [ 0. 0. 0. 1. ]] SLAMing on 156.499928851 meters Centerline goodness : 0.780360 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.45 [[ 0.98669214 -0.15248368 -0.05645653 -0.96397284] [ 0.15346433 0.98806283 0.0134368 -0.01777353] [ 0.05373371 -0.02192205 0.99831464 0.45278379] [ 0. 0. 0. 1. ]] SLAMing on 156.52992885099997 meters Centerline goodness : 0.833944 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.45 [[ 0.98669655 -0.15242312 -0.05654292 -0.96352315] [ 0.15343971 0.98805783 0.01407022 -0.02046059] [ 0.05372305 -0.02255897 0.99830102 0.4525842 ] [ 0. 0. 0. 1. ]] SLAMing on 156.55992885099997 meters Centerline goodness : 0.832680 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.45 [[ 0.98622354 -0.15545624 -0.05653751 -0.96154046] [ 0.1563235 0.98764209 0.01122771 -0.02271493] [ 0.0540934 -0.01991117 0.99833734 0.45208194] [ 0. 0. 0. 1. ]] SLAMing on 156.58992885099997 meters Centerline goodness : 0.831960 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.45 [[ 0.98624585 -0.1552968 -0.05658637 -0.9611844 ] [ 0.15619632 0.98765543 0.01180925 -0.02465901] [ 0.0540539 -0.0204854 0.99832786 0.45184594] [ 0. 0. 0. 1. ]] SLAMing on 156.61992885099997 meters Centerline goodness : 0.833696 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.03, Z:0.45 [[ 0.98626837 -0.1551606 -0.05656755 -0.96092081] [ 0.15608804 0.98766611 0.01233627 -0.02653931] [ 0.05395575 -0.02099639 0.99832256 0.45157619] [ 0. 0. 0. 1. ]] SLAMing on 156.64992885099997 meters Centerline goodness : 0.833553 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.03, Z:0.45 [[ 0.98583697 -0.15824879 -0.0555229 -0.96147854] [ 0.15897024 0.98724417 0.00879887 -0.0276616 ] [ 0.05342225 -0.01750074 0.99841864 0.4515216 ] [ 0. 0. 0. 1. ]] SLAMing on 156.67992885099997 meters Centerline goodness : 0.778392 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.03, Z:0.46 [[ 0.98603474 -0.15224352 -0.06750854 -0.96234883] [ 0.15350374 0.98805086 0.01386028 -0.03493326] [ 0.06459173 -0.02402953 0.99762242 0.4553544 ] [ 0. 0. 0. 1. ]] SLAMing on 156.70992885099997 meters Centerline goodness : 0.829738 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:0.46 [[ 0.98607796 -0.15203879 -0.06733844 -0.96218882] [ 0.15331479 0.98807574 0.01417453 -0.03657922] [ 0.0643804 -0.02430117 0.9976295 0.45502529] [ 0. 0. 0. 1. ]] SLAMing on 156.73992885099997 meters Centerline goodness : 0.831671 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:0.45 [[ 0.98607341 -0.1521319 -0.06719458 -0.96221619] [ 0.15341743 0.98805692 0.01437422 -0.03768055] [ 0.06420529 -0.02448286 0.99763634 0.45493448] [ 0. 0. 0. 1. ]] SLAMing on 156.76992885099997 meters Centerline goodness : 0.781377 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:0.46 [[ 0.98615657 -0.15163298 -0.06710184 -0.96238685] [ 0.15297589 0.98811118 0.01531912 -0.0402682 ] [ 0.06398119 -0.02537202 0.99762852 0.45529013] [ 0. 0. 0. 1. ]] SLAMing on 156.79992885099998 meters Centerline goodness : 0.830985 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:0.46 [[ 0.98620216 -0.15141259 -0.06692926 -0.96298951] [ 0.15277238 0.98813734 0.01565858 -0.04111364] [ 0.0637644 -0.02566747 0.99763484 0.45573951] [ 0. 0. 0. 1. ]] SLAMing on 156.82992885099998 meters Centerline goodness : 0.830511 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:0.46 [[ 0.9862687 -0.15116924 -0.0664974 -0.96385679] [ 0.15252953 0.98817183 0.0158489 -0.04224627] [ 0.06331499 -0.02577409 0.99766072 0.45597056] [ 0. 0. 0. 1. ]] SLAMing on 156.85992885099998 meters Centerline goodness : 0.832218 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.05, Z:0.46 [[ 0.98646505 -0.14996206 -0.06631813 -0.96394968] [ 0.15140052 0.98832292 0.01719559 -0.04523835] [ 0.06296504 -0.02700344 0.99765035 0.45588449] [ 0. 0. 0. 1. ]] SLAMing on 156.88992885099998 meters Centerline goodness : 0.833689 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.05, Z:0.46 [[ 0.98653846 -0.14959328 -0.0660585 -0.96449027] [ 0.1510458 0.9883711 0.01754218 -0.04662511] [ 0.06266612 -0.02728389 0.99766154 0.4561617 ] [ 0. 0. 0. 1. ]] SLAMing on 156.91992885099998 meters Centerline goodness : 0.834867 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.05, Z:0.46 [[ 0.98662683 -0.14899517 -0.06609037 -0.96404491] [ 0.15047741 0.98844922 0.01801915 -0.04777196] [ 0.06264221 -0.02772329 0.99765093 0.45578962] [ 0. 0. 0. 1. ]] SLAMing on 156.94992885099998 meters Centerline goodness : 0.834867 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.05, Z:0.46 [[ 0.98662683 -0.14899517 -0.06609037 -0.96404491] [ 0.15047741 0.98844922 0.01801915 -0.04777196] [ 0.06264221 -0.02772329 0.99765093 0.45578962] [ 0. 0. 0. 1. ]] SLAMing on 156.97992885099998 meters Centerline goodness : 0.832841 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.05, Z:0.46 [[ 0.9866827 -0.14878236 -0.06573478 -0.96438985] [ 0.15026266 0.98847944 0.01815273 -0.04889019] [ 0.06227667 -0.02778846 0.997672 0.45543718] [ 0. 0. 0. 1. ]] SLAMing on 157.00992885099998 meters Centerline goodness : 0.835618 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.05, Z:0.45 [[ 0.98690405 -0.14763327 -0.06499865 -0.96501469] [ 0.14911448 0.98864625 0.01853287 -0.05102902] [ 0.0615246 -0.0279824 0.99771324 0.45444407] [ 0. 0. 0. 1. ]] SLAMing on 157.03992885099998 meters Centerline goodness : 0.825816 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.05, Z:0.45 [[ 0.98705409 -0.14665362 -0.06493797 -0.96457297] [ 0.14818215 0.98877063 0.01935713 -0.05245127] [ 0.06136996 -0.02872918 0.99770154 0.45371141] [ 0. 0. 0. 1. ]] SLAMing on 157.069928851 meters Centerline goodness : 0.833812 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.05, Z:0.45 [[ 0.98717298 -0.14604895 -0.06449201 -0.96539532] [ 0.14757499 0.98885776 0.01954346 -0.05358435] [ 0.06091912 -0.02881018 0.99772683 0.45372218] [ 0. 0. 0. 1. ]] SLAMing on 157.099928851 meters Centerline goodness : 0.837064 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.06, Z:0.45 [[ 0.98747856 -0.14415635 -0.06407059 -0.96557429] [ 0.14573141 0.98910958 0.02060579 -0.05571039] [ 0.06040238 -0.02968487 0.99773261 0.45279891] [ 0. 0. 0. 1. ]] SLAMing on 157.129928851 meters Centerline goodness : 0.830302 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.06, Z:0.45 [[ 0.98760277 -0.1435417 -0.06353377 -0.96642161] [ 0.14510291 0.98920089 0.0206576 -0.05664141] [ 0.05988243 -0.02962044 0.99776587 0.45254378] [ 0. 0. 0. 1. ]] SLAMing on 157.159928851 meters Centerline goodness : 0.832507 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.06, Z:0.45 [[ 0.98773822 -0.14267739 -0.0633748 -0.96621746] [ 0.14426242 0.98931325 0.02115787 -0.05806057] [ 0.05967878 -0.03004104 0.99776549 0.45193014] [ 0. 0. 0. 1. ]] SLAMing on 157.189928851 meters Centerline goodness : 0.829336 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.06, Z:0.45 [[ 0.98782386 -0.14225745 -0.06298287 -0.96682687] [ 0.14383769 0.98937232 0.02128698 -0.05911275] [ 0.05928528 -0.0300871 0.99778756 0.45181463] [ 0. 0. 0. 1. ]] SLAMing on 157.219928851 meters Centerline goodness : 0.829267 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.06, Z:0.45 [[ 0.98801353 -0.14115497 -0.06248636 -0.96733324] [ 0.14276001 0.989513 0.02199114 -0.06170464] [ 0.05872691 -0.0306481 0.99780351 0.4514198 ] [ 0. 0. 0. 1. ]] SLAMing on 157.249928851 meters Centerline goodness : 0.826448 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.06, Z:0.45 [[ 0.98810487 -0.14049438 -0.06253079 -0.96687205] [ 0.1421438 0.98958481 0.02273872 -0.06306938] [ 0.05868486 -0.0313566 0.99778397 0.45108535] [ 0. 0. 0. 1. ]] SLAMing on 157.27992885099997 meters Centerline goodness : 0.828792 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.06, Z:0.45 [[ 0.98817014 -0.14021654 -0.06212165 -0.96770249] [ 0.14185176 0.98962707 0.02272296 -0.06401461] [ 0.05829113 -0.03126622 0.99780989 0.45120938] [ 0. 0. 0. 1. ]] SLAMing on 157.30992885099997 meters Centerline goodness : 0.825987 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.07, Z:0.45 [[ 0.98830112 -0.13936239 -0.06195981 -0.9675644 ] [ 0.14103264 0.98972758 0.02343325 -0.06639963] [ 0.05805762 -0.03189746 0.99780352 0.4507643 ] [ 0. 0. 0. 1. ]] SLAMing on 157.33992885099997 meters Centerline goodness : 0.826040 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.07, Z:0.45 [[ 0.98833168 -0.13910456 -0.06205164 -0.96715922] [ 0.14078989 0.98975703 0.02364787 -0.06721149] [ 0.05812652 -0.03210818 0.99779275 0.45059063] [ 0. 0. 0. 1. ]] SLAMing on 157.36992885099997 meters Centerline goodness : 0.825699 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.07, Z:0.45 [[ 0.98837358 -0.13892802 -0.06177919 -0.96742513] [ 0.14059047 0.98979105 0.0234092 -0.06763839] [ 0.0578963 -0.0318226 0.99781528 0.45026769] [ 0. 0. 0. 1. ]] SLAMing on 157.39992885099997 meters Centerline goodness : 0.827545 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.07, Z:0.45 [[ 0.98842606 -0.13860782 -0.06165867 -0.96694688] [ 0.14023182 0.98985569 0.02282 -0.06734978] [ 0.05787015 -0.03120239 0.99783639 0.44913188] [ 0. 0. 0. 1. ]] SLAMing on 157.42992885099997 meters Centerline goodness : 0.824149 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.07, Z:0.45 [[ 0.98855243 -0.13774856 -0.0615583 -0.96664428] [ 0.13935545 0.98998449 0.02260017 -0.06685424] [ 0.05782862 -0.03091994 0.99784759 0.44806822] [ 0. 0. 0. 1. ]] SLAMing on 157.45992885099997 meters Centerline goodness : 0.824894 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.07, Z:0.45 [[ 0.98870535 -0.13682286 -0.06116557 -0.96733844] [ 0.1383874 0.99013158 0.02209943 -0.06628808] [ 0.05753826 -0.03031437 0.99788295 0.44754949] [ 0. 0. 0. 1. ]] SLAMing on 157.48992885099997 meters Centerline goodness : 0.824243 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.07, Z:0.45 [[ 0.98891793 -0.13541898 -0.06085257 -0.96763702] [ 0.13695141 0.99033916 0.02174078 -0.06549399] [ 0.05732057 -0.02983369 0.99790997 0.44650021] [ 0. 0. 0. 1. ]] SLAMing on 157.51992885099997 meters Centerline goodness : 0.826642 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.07, Z:0.45 [[ 0.98958739 -0.13066416 -0.0603629 -0.96947227] [ 0.13233404 0.99090157 0.02453125 -0.06570481] [ 0.05660834 -0.03226389 0.99787501 0.44595132] [ 0. 0. 0. 1. ]] SLAMing on 157.54992885099998 meters Centerline goodness : 0.828106 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.07, Z:0.45 [[ 0.98982365 -0.12900442 -0.06005839 -0.97045225] [ 0.13066334 0.99112279 0.02455011 -0.06505072] [ 0.05635817 -0.03214771 0.99789292 0.44583195] [ 0. 0. 0. 1. ]] SLAMing on 157.57992885099998 meters Centerline goodness : 0.828838 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.06, Z:0.45 [[ 0.99002693 -0.12752007 -0.05987749 -0.97099741] [ 0.12916969 0.99131923 0.02452295 -0.0639357 ] [ 0.05623053 -0.03201274 0.99790446 0.44544246] [ 0. 0. 0. 1. ]] SLAMing on 157.60992885099998 meters Centerline goodness : 0.826995 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.06, Z:0.45 [[ 0.99020461 -0.12629644 -0.05953178 -0.97169997] [ 0.12793233 0.99148014 0.02450399 -0.0636279 ] [ 0.05592981 -0.03188 0.99792561 0.44506796] [ 0. 0. 0. 1. ]] SLAMing on 157.63992885099998 meters Centerline goodness : 0.826353 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.06, Z:0.44 [[ 0.99050557 -0.12434849 -0.05861888 -0.97336406] [ 0.12591599 0.99175448 0.02383725 -0.06253574] [ 0.05517141 -0.03099199 0.9979958 0.44404138] [ 0. 0. 0. 1. ]] SLAMing on 157.66992885099998 meters Centerline goodness : 0.828863 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.06, Z:0.44 [[ 0.99064882 -0.12331315 -0.0583847 -0.9735607 ] [ 0.1248722 0.99188639 0.02383947 -0.06238642] [ 0.05497127 -0.03090717 0.99800947 0.44336922] [ 0. 0. 0. 1. ]] SLAMing on 157.69992885099998 meters Centerline goodness : 0.828420 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.06, Z:0.44 [[ 0.9907104 -0.12287735 -0.05825862 -0.97358269] [ 0.12442424 0.99194604 0.02369928 -0.06203685] [ 0.0548773 -0.0307279 0.99802018 0.44284512] [ 0. 0. 0. 1. ]] SLAMing on 157.72992885099998 meters Centerline goodness : 0.828420 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.06, Z:0.44 [[ 0.99070001 -0.12304874 -0.05807328 -0.97324467] [ 0.12455677 0.99194376 0.02309091 -0.06196183] [ 0.05476412 -0.03010959 0.99804524 0.44205509] [ 0. 0. 0. 1. ]] SLAMing on 157.75992885099998 meters Centerline goodness : 0.826303 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.06, Z:0.44 [[ 0.99060601 -0.12350597 -0.05870265 -0.97156276] [ 0.12505839 0.99187015 0.02353746 -0.06250297] [ 0.05531839 -0.03065761 0.99799799 0.44180926] [ 0. 0. 0. 1. ]] SLAMing on 157.78992885099998 meters Centerline goodness : 0.828014 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.06, Z:0.44 [[ 0.9904895 -0.12415221 -0.05930245 -0.9700319 ] [ 0.12575433 0.99176913 0.0240801 -0.06358203] [ 0.05582474 -0.03130863 0.99794958 0.44189929] [ 0. 0. 0. 1. ]] SLAMing on 157.819928851 meters Centerline goodness : 0.827522 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.06, Z:0.44 [[ 0.9902705 -0.12569217 -0.05971447 -0.96900553] [ 0.12731032 0.99157013 0.02409895 -0.06411721] [ 0.05618203 -0.03146675 0.99792456 0.44233677] [ 0. 0. 0. 1. ]] SLAMing on 157.849928851 meters Centerline goodness : 0.824668 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.07, Z:0.44 [[ 0.98956904 -0.13084928 -0.06026268 -0.96639723] [ 0.13236258 0.990961 0.02182746 -0.06586955] [ 0.05686186 -0.0295763 0.99794387 0.44263794] [ 0. 0. 0. 1. ]] SLAMing on 157.879928851 meters Centerline goodness : 0.826308 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.07, Z:0.44 [[ 0.98916588 -0.13352587 -0.06100571 -0.96421171] [ 0.13506543 0.99059612 0.02183244 -0.06740566] [ 0.05751683 -0.02983567 0.99789862 0.44303928] [ 0. 0. 0. 1. ]] SLAMing on 157.909928851 meters Centerline goodness : 0.812967 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.06, Z:0.45 [[ 0.98855445 -0.14199201 -0.05097423 -0.93385408] [ 0.14224158 0.98983114 0.00128371 -0.06074922] [ 0.05027361 -0.00851967 0.99869914 0.45365625] [ 0. 0. 0. 1. ]] SLAMing on 157.939928851 meters Centerline goodness : 0.825771 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.11, Z:0.45 [[ 0.9863558 -0.16189199 -0.02988686 -0.88941914] [ 0.16461311 0.96747295 0.19209014 -0.11275289] [-0.00218313 -0.194389 0.98092209 0.4507764 ] [ 0. 0. 0. 1. ]] SLAMing on 157.969928851 meters Centerline goodness : 0.825083 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.11, Z:0.45 [[ 0.98568765 -0.16600319 -0.02937353 -0.8894805 ] [ 0.16855754 0.9675068 0.18846473 -0.11230437] [-0.00286665 -0.19071848 0.98164059 0.45135513] [ 0. 0. 0. 1. ]] SLAMing on 157.999928851 meters Centerline goodness : 0.822093 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.11, Z:0.45 [[ 0.98476282 -0.17140553 -0.02936552 -0.88816571] [ 0.17387282 0.9673177 0.18456625 -0.11122249] [-0.00322989 -0.18685985 0.98238127 0.45160483] [ 0. 0. 0. 1. ]] SLAMing on 158.02992885099997 meters Centerline goodness : 0.823125 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.11, Z:0.45 [[ 0.98425218 -0.17444113 -0.02859959 -0.88892422] [ 0.17672852 0.96755072 0.18058969 -0.10963601] [-0.00383072 -0.18280016 0.98314263 0.45169881] [ 0. 0. 0. 1. ]] SLAMing on 158.05992885099997 meters Centerline goodness : 0.820840 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.11, Z:0.45 [[ 0.98381092 -0.17705108 -0.02773057 -0.88987518] [ 0.17915489 0.96784267 0.17659019 -0.10754714] [-0.00442665 -0.17869943 0.98389375 0.45133541] [ 0. 0. 0. 1. ]] SLAMing on 158.08992885099997 meters Centerline goodness : 0.825347 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.11, Z:0.45 [[ 0.98370979 -0.17762292 -0.02766116 -0.89005941] [ 0.17970824 0.96786614 0.17589793 -0.10671079] [-0.0044712 -0.17800345 0.9840197 0.45139369] [ 0. 0. 0. 1. ]] SLAMing on 158.11992885099997 meters Centerline goodness : 0.819285 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.45 [[ 0.98374849 -0.17747117 -0.02725615 -0.89119402] [ 0.1794922 0.96810723 0.17478829 -0.10446514] [-0.00463301 -0.17683998 0.98422871 0.45102568] [ 0. 0. 0. 1. ]] SLAMing on 158.14992885099997 meters Centerline goodness : 0.822211 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.45 [[ 0.98375194 -0.17749254 -0.02699103 -0.89215358] [ 0.17947084 0.96827629 0.17387132 -0.10255059] [-0.00472609 -0.17589035 0.98439842 0.45101038] [ 0. 0. 0. 1. ]] SLAMing on 158.17992885099997 meters Centerline goodness : 0.820842 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.45 [[ 0.98382135 -0.17716863 -0.0265863 -0.89322337] [ 0.17908477 0.96848609 0.17309921 -0.10098868] [-0.00491929 -0.1750599 0.9845455 0.45073797] [ 0. 0. 0. 1. ]] SLAMing on 158.20992885099997 meters Centerline goodness : 0.820003 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.10, Z:0.45 [[ 0.98385624 -0.17701991 -0.02628389 -0.89407158] [ 0.17889067 0.9687017 0.17209053 -0.09915406] [-0.0050022 -0.17401428 0.98473042 0.45044249] [ 0. 0. 0. 1. ]] SLAMing on 158.23992885099997 meters Centerline goodness : 0.818008 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.10, Z:0.45 [[ 0.98394705 -0.1765819 -0.02582722 -0.89535782] [ 0.17838648 0.96901085 0.17086909 -0.09700526] [-0.00514553 -0.17273336 0.98495518 0.45015601] [ 0. 0. 0. 1. ]] SLAMing on 158.26992885099997 meters Centerline goodness : 0.818982 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.10, Z:0.45 [[ 0.98386346 -0.17706282 -0.02571872 -0.89580213] [ 0.1788453 0.96905583 0.17013279 -0.09565677] [-0.00520131 -0.17198711 0.98508547 0.45023547] [ 0. 0. 0. 1. ]] SLAMing on 158.29992885099998 meters Centerline goodness : 0.820623 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.09, Z:0.45 [[ 0.98374448 -0.17771785 -0.02575205 -0.89604637] [ 0.17949988 0.96905634 0.1694391 -0.09427174] [-0.00515716 -0.17130726 0.98520415 0.45046887] [ 0. 0. 0. 1. ]] SLAMing on 158.32992885099998 meters Centerline goodness : 0.818667 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.09, Z:0.45 [[ 0.98304001 -0.18162769 -0.02537162 -0.89674204] [ 0.18331052 0.96905522 0.16531556 -0.09071423] [-0.00543938 -0.16716269 0.98591432 0.45107697] [ 0. 0. 0. 1. ]] SLAMing on 158.35992885099998 meters Centerline goodness : 0.818058 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.09, Z:0.45 [[ 0.98244331 -0.18491415 -0.02473647 -0.89736435] [ 0.18646943 0.9691277 0.16130918 -0.08823335] [-0.00585556 -0.16308972 0.98659387 0.45118442] [ 0. 0. 0. 1. ]] SLAMing on 158.38992885099998 meters Centerline goodness : 0.817176 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.09, Z:0.45 [[ 0.98188899 -0.18792885 -0.024016 -0.89823071] [ 0.18935084 0.96917511 0.1576257 -0.08651109] [-0.0063467 -0.15931839 0.98720685 0.45168975] [ 0. 0. 0. 1. ]] SLAMing on 158.41992885099998 meters Centerline goodness : 0.816910 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.08, Z:0.45 [[ 0.98108537 -0.19215348 -0.0234208 -0.89920557] [ 0.19345406 0.96898079 0.15379128 -0.08461562] [-0.00685722 -0.15541322 0.98782575 0.45310896] [ 0. 0. 0. 1. ]] SLAMing on 158.44992885099998 meters Centerline goodness : 0.817323 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.08, Z:0.45 [[ 0.98044638 -0.19549815 -0.02248029 -0.90039581] [ 0.19664379 0.96897364 0.14973743 -0.08271258] [-0.00749058 -0.15123013 0.9884702 0.45358724] [ 0. 0. 0. 1. ]] SLAMing on 158.47992885099998 meters Centerline goodness : 0.770626 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.08, Z:0.45 [[ 0.97981304 -0.19873645 -0.02168478 -0.90113239] [ 0.19975762 0.96894362 0.14575717 -0.08095613] [-0.00795593 -0.14714648 0.98908271 0.45387393] [ 0. 0. 0. 1. ]] SLAMing on 158.50992885099998 meters Centerline goodness : 0.771661 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.08, Z:0.45 [[ 0.97916475 -0.20198753 -0.02091467 -0.90186319] [ 0.20289571 0.96889907 0.14166131 -0.07913538] [-0.00834962 -0.14295326 0.98969422 0.45427327] [ 0. 0. 0. 1. ]] SLAMing on 158.53992885099998 meters Centerline goodness : 0.770134 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.08, Z:0.45 [[ 0.97847572 -0.20538441 -0.02006252 -0.90259193] [ 0.20617481 0.96881777 0.13741931 -0.07687151] [-0.00878686 -0.13859784 0.99030976 0.45437618] [ 0. 0. 0. 1. ]] SLAMing on 158.569928851 meters Centerline goodness : 0.816882 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.45 [[ 0.97760975 -0.20950364 -0.01968248 -0.90222421] [ 0.21023913 0.96851575 0.13332947 -0.07446525] [-0.00887022 -0.13448222 0.99087631 0.45433022] [ 0. 0. 0. 1. ]] SLAMing on 158.599928851 meters Centerline goodness : 0.817473 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.45 [[ 0.97693979 -0.21267524 -0.01891793 -0.90287462] [ 0.21331731 0.9683851 0.1293291 -0.0721603 ] [-0.00918526 -0.13038227 0.99142125 0.45447184] [ 0. 0. 0. 1. ]] SLAMing on 158.629928851 meters Centerline goodness : 0.818208 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.45 [[ 0.97619551 -0.21615348 -0.01788835 -0.90355261] [ 0.21667974 0.96826416 0.12455684 -0.06920362] [-0.00960274 -0.12546787 0.99205121 0.45401616] [ 0. 0. 0. 1. ]] SLAMing on 158.659928851 meters Centerline goodness : 0.819549 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.45 [[ 0.97605456 -0.2167851 -0.01793652 -0.90367415] [ 0.21732016 0.96822577 0.12373684 -0.06777993] [-0.0094577 -0.12467188 0.99215295 0.45418173] [ 0. 0. 0. 1. ]] SLAMing on 158.689928851 meters Centerline goodness : 0.771144 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.07, Z:0.45 [[ 0.97593981 -0.21729738 -0.01798129 -0.90394628] [ 0.21784122 0.96820703 0.1229648 -0.0659363 ] [-0.00931032 -0.12392331 0.99224812 0.45433404] [ 0. 0. 0. 1. ]] SLAMing on 158.719928851 meters Centerline goodness : 0.770528 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.06, Z:0.45 [[ 0.97588826 -0.21753807 -0.01786866 -0.90469855] [ 0.21807502 0.96827488 0.12201244 -0.0636706 ] [-0.00924057 -0.12296722 0.99236771 0.45452069] [ 0. 0. 0. 1. ]] SLAMing on 158.749928851 meters Centerline goodness : 0.772147 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.46 [[ 0.97588194 -0.21760062 -0.01744745 -0.90689352] [ 0.21810268 0.96849653 0.12019024 -0.05864195] [-0.00925568 -0.12109682 0.99259755 0.45501398] [ 0. 0. 0. 1. ]] SLAMing on 158.77992885099997 meters Centerline goodness : 0.768548 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:0.45 [[ 0.97587179 -0.21767562 -0.01707554 -0.90795739] [ 0.21814615 0.9686686 0.11871563 -0.05534932] [-0.00930095 -0.1195762 0.99278146 0.45459435] [ 0. 0. 0. 1. ]] SLAMing on 158.80992885099997 meters Centerline goodness : 0.768583 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.05, Z:0.45 [[ 0.97589592 -0.21760669 -0.01656749 -0.90929897] [ 0.21803374 0.96890452 0.11698427 -0.05175303] [-0.00940425 -0.11777674 0.99299557 0.45407163] [ 0. 0. 0. 1. ]] SLAMing on 158.83992885099997 meters Centerline goodness : 0.769389 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.05, Z:0.45 [[ 0.97597093 -0.21730499 -0.01610237 -0.9106798 ] [ 0.21769595 0.96918421 0.1152842 -0.04807877] [-0.00944567 -0.11601945 0.99320203 0.45365951] [ 0. 0. 0. 1. ]] SLAMing on 158.86992885099997 meters Centerline goodness : 0.769389 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.05, Z:0.45 [[ 0.97597093 -0.21730499 -0.01610237 -0.9106798 ] [ 0.21769595 0.96918421 0.1152842 -0.04807877] [-0.00944567 -0.11601945 0.99320203 0.45365951] [ 0. 0. 0. 1. ]] SLAMing on 158.89992885099997 meters Centerline goodness : 0.768468 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.04, Z:0.46 [[ 0.97735701 -0.21072014 -0.01924333 -0.91831676] [ 0.21156419 0.97155518 0.10640076 -0.04326311] [-0.00372483 -0.10806273 0.9941371 0.45774603] [ 0. 0. 0. 1. ]] SLAMing on 158.92992885099997 meters Centerline goodness : 0.767111 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.04, Z:0.46 [[ 0.9784285 -0.2051595 -0.02423307 -0.92483738] [ 0.20656296 0.97330811 0.10001529 -0.04215822] [ 0.00306716 -0.10286346 0.99469076 0.46330006] [ 0. 0. 0. 1. ]] SLAMing on 158.95992885099997 meters Centerline goodness : 0.768318 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.04, Z:0.46 [[ 0.9784469 -0.20512566 -0.02377253 -0.92631941] [ 0.20647714 0.97350006 0.09830988 -0.0382509 ] [ 0.00297668 -0.10109948 0.99487187 0.46312357] [ 0. 0. 0. 1. ]] SLAMing on 158.98992885099997 meters Centerline goodness : 0.767178 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.03, Z:0.46 [[ 0.97894326 -0.20267106 -0.02438299 -0.9275021 ] [ 0.20410253 0.97383929 0.09989591 -0.03367979] [ 0.0034991 -0.10276906 0.99469909 0.46334358] [ 0. 0. 0. 1. ]] SLAMing on 159.01992885099997 meters Centerline goodness : 0.765786 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.03, Z:0.46 [[ 0.9788823 -0.20297822 -0.02427508 -0.9281667 ] [ 0.20439382 0.97387185 0.09897872 -0.03129235] [ 0.00355029 -0.10185019 0.99479341 0.46338886] [ 0. 0. 0. 1. ]] SLAMing on 159.04992885099998 meters Centerline goodness : 0.766375 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.03, Z:0.46 [[ 0.97880156 -0.20337705 -0.02419258 -0.9286339 ] [ 0.20477891 0.97388486 0.09805039 -0.02938687] [ 0.00361959 -0.100926 0.99488735 0.46350187] [ 0. 0. 0. 1. ]] SLAMing on 159.07992885099998 meters Centerline goodness : 0.766394 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.03, Z:0.46 [[ 0.97868366 -0.20396495 -0.02401242 -0.92939378] [ 0.20534285 0.97384757 0.09723797 -0.02765509] [ 0.0035513 -0.10009599 0.99497145 0.46377109] [ 0. 0. 0. 1. ]] SLAMing on 159.10992885099998 meters Centerline goodness : 0.765132 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.02, Z:0.46 [[ 0.97846141 -0.20509172 -0.02346615 -0.9312088 ] [ 0.20640502 0.97376427 0.09581287 -0.02435931] [ 0.00320007 -0.09859272 0.99512272 0.46424106] [ 0. 0. 0. 1. ]] SLAMing on 159.13992885099998 meters Centerline goodness : 0.765197 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.02, Z:0.46 [[ 0.9783452 -0.20567507 -0.02320415 -0.93201492] [ 0.20695775 0.97371288 0.09514054 -0.02320411] [ 0.00302614 -0.09788257 0.99519337 0.46448758] [ 0. 0. 0. 1. ]] SLAMing on 159.16992885099998 meters Centerline goodness : 0.764807 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.02, Z:0.46 [[ 0.97823918 -0.20621259 -0.0229013 -0.93278681] [ 0.20746164 0.9736567 0.09461654 -0.02225165] [ 0.00278688 -0.09730875 0.99525034 0.46456603] [ 0. 0. 0. 1. ]] SLAMing on 159.19992885099998 meters Centerline goodness : 0.764541 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.02, Z:0.46 [[ 0.97810485 -0.2068824 -0.02259607 -0.93365996] [ 0.20809693 0.97358647 0.09394178 -0.02114172] [ 0.00256432 -0.09658709 0.99532123 0.46478348] [ 0. 0. 0. 1. ]] SLAMing on 159.22992885099998 meters Centerline goodness : 0.763695 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.02, Z:0.46 [[ 0.97794261 -0.20768341 -0.02226794 -0.93437335] [ 0.20886103 0.97348816 0.09326236 -0.0194828 ] [ 0.00230853 -0.09585614 0.99539252 0.46437921] [ 0. 0. 0. 1. ]] SLAMing on 159.25992885099998 meters Centerline goodness : 0.762000 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.02, Z:0.46 [[ 0.97788731 -0.20795577 -0.02215403 -0.93448045] [ 0.20912057 0.97346106 0.0929632 -0.0187772 ] [ 0.00223385 -0.09554039 0.99542305 0.46407042] [ 0. 0. 0. 1. ]] SLAMing on 159.28992885099998 meters Centerline goodness : 0.762963 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.46 [[ 0.97778833 -0.20844916 -0.02188451 -0.93516376] [ 0.20958408 0.97345041 0.09202615 -0.01602499] [ 0.00212071 -0.09456874 0.99551608 0.46386743] [ 0. 0. 0. 1. ]] SLAMing on 159.319928851 meters Centerline goodness : 0.763227 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.46 [[ 0.97773817 -0.20870219 -0.02171321 -0.93587809] [ 0.20981835 0.97346715 0.09131242 -0.01393313] [ 0.00207999 -0.09383547 0.99558555 0.46418224] [ 0. 0. 0. 1. ]] SLAMing on 159.349928851 meters Centerline goodness : 0.762435 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.46 [[ 0.97768356 -0.20897261 -0.02157085 -0.9365874 ] [ 0.21007261 0.97348792 0.09050284 -0.01140357] [ 0.00208634 -0.09301459 0.99566256 0.4644354 ] [ 0. 0. 0. 1. ]] SLAMing on 159.379928851 meters Centerline goodness : 0.762764 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.46 [[ 0.97767161 -0.20902226 -0.02163136 -0.93666997] [ 0.21012615 0.97354008 0.08981488 -0.00905449] [ 0.00228569 -0.09235477 0.99572354 0.46449957] [ 0. 0. 0. 1. ]] SLAMing on 159.409928851 meters Centerline goodness : 0.760706 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.46 [[ 0.97849118 -0.20565035 -0.01621526 -0.94361684] [ 0.20627316 0.97442746 0.08912078 -0.006963 ] [-0.00252713 -0.09054867 0.99588883 0.46125992] [ 0. 0. 0. 1. ]] SLAMing on 159.439928851 meters Centerline goodness : 0.761132 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.00, Z:0.46 [[ 0.9785031 -0.20558987 -0.01626308 -0.94364487] [ 0.20621892 0.97450153 0.0884337 -0.00415719] [-0.00233268 -0.0898864 0.99594929 0.46110408] [ 0. 0. 0. 1. ]] SLAMing on 159.469928851 meters Centerline goodness : 0.760725 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.00, Z:0.46 [[ 0.97854443 -0.20537841 -0.01644691 -0.94338778] [ 0.20602625 0.97460311 0.08776086 -0.00118165] [-0.00199498 -0.08926639 0.99600579 0.46097094] [ 0. 0. 0. 1. ]] SLAMing on 159.499928851 meters Centerline goodness : 0.760128 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.00, Z:0.46 [[ 0.97856513 -0.20527447 -0.01651281 -0.94343168] [ 0.20593001 0.97469157 0.08700097 0.00195731] [-0.00176418 -0.0885366 0.99607136 0.46088241] [ 0. 0. 0. 1. ]] SLAMing on 159.52992885099997 meters Centerline goodness : 0.759424 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.01, Z:0.46 [[ 0.97924123 -0.20200043 -0.01680592 -0.94503377] [ 0.20269108 0.97513308 0.08962031 0.00544328] [-0.00171533 -0.09116631 0.9958342 0.46114025] [ 0. 0. 0. 1. ]] SLAMing on 159.55992885099997 meters Centerline goodness : 0.760712 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.01, Z:0.46 [[ 0.97926027 -0.20192687 -0.01657912 -0.94554025] [ 0.20259828 0.97520778 0.08901524 0.00831667] [-0.00180648 -0.09052799 0.99589227 0.46089146] [ 0. 0. 0. 1. ]] SLAMing on 159.58992885099997 meters Centerline goodness : 0.760134 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.01, Z:0.46 [[ 0.97926428 -0.20189742 -0.0167001 -0.94536555] [ 0.20258096 0.97527011 0.08836949 0.01098233] [-0.00155446 -0.08992021 0.99594776 0.46063563] [ 0. 0. 0. 1. ]] SLAMing on 159.61992885099997 meters Centerline goodness : 0.761783 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.01, Z:0.46 [[ 0.97924286 -0.20200274 -0.01668298 -0.94549641] [ 0.20268539 0.97531262 0.08765802 0.01341097] [-0.00143604 -0.08921989 0.99601092 0.46050651] [ 0. 0. 0. 1. ]] SLAMing on 159.64992885099997 meters Centerline goodness : 0.759905 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.02, Z:0.46 [[ 0.97918331 -0.20229808 -0.01659931 -0.94580827] [ 0.20297306 0.97531165 0.08700067 0.01538022] [-0.00141057 -0.08855882 0.99606995 0.46040711] [ 0. 0. 0. 1. ]] SLAMing on 159.67992885099997 meters Centerline goodness : 0.759527 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.02, Z:0.46 [[ 0.97910027 -0.20271804 -0.01637259 -0.94628091] [ 0.20337274 0.97531014 0.08607939 0.01871743] [-0.00148149 -0.08761009 0.99615374 0.45986192] [ 0. 0. 0. 1. ]] SLAMing on 159.70992885099997 meters Centerline goodness : 0.760695 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.02, Z:0.46 [[ 0.97898956 -0.20326734 -0.01618111 -0.94711144] [ 0.20390453 0.97527314 0.08523641 0.02059997] [-0.00154478 -0.08674496 0.99622935 0.46030086] [ 0. 0. 0. 1. ]] SLAMing on 159.73992885099997 meters Centerline goodness : 0.759463 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.02, Z:0.46 [[ 0.9788992 -0.20371892 -0.0159674 -0.94777062] [ 0.20433672 0.97522581 0.08474152 0.0217487 ] [-0.00169163 -0.08621613 0.99627502 0.46039342] [ 0. 0. 0. 1. ]] SLAMing on 159.76992885099997 meters Centerline goodness : 0.758971 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.02, Z:0.46 [[ 0.97816412 -0.20727442 -0.01524044 -0.94728754] [ 0.20782599 0.97485083 0.08046247 0.02442884] [-0.00182065 -0.08187286 0.99664112 0.45990056] [ 0. 0. 0. 1. ]] SLAMing on 159.79992885099998 meters Centerline goodness : 0.759755 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.02, Z:0.46 [[ 0.9780407 -0.20787858 -0.01492941 -0.94826362] [ 0.2084037 0.97476795 0.07997085 0.0248209 ] [-0.00207152 -0.08132609 0.99668539 0.46034615] [ 0. 0. 0. 1. ]] SLAMing on 159.82992885099998 meters Centerline goodness : 0.760461 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.46 [[ 0.97788217 -0.20865132 -0.01452921 -0.94971591] [ 0.20914277 0.97465777 0.07938225 0.02510833] [-0.0024022 -0.08066516 0.99673836 0.46122077] [ 0. 0. 0. 1. ]] SLAMing on 159.85992885099998 meters Centerline goodness : 0.761443 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.02, Z:0.46 [[ 0.97774553 -0.20931897 -0.01411538 -0.95105681] [ 0.20977583 0.9745494 0.07904156 0.02490151] [-0.00278877 -0.0802436 0.99677138 0.4619028 ] [ 0. 0. 0. 1. ]] SLAMing on 159.88992885099998 meters Centerline goodness : 0.760085 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.03, Z:0.46 [[ 0.9768378 -0.21356988 -0.01325977 -0.95147458] [ 0.2139595 0.97398152 0.07470836 0.02586208] [-0.00304068 -0.07581501 0.99711726 0.46248551] [ 0. 0. 0. 1. ]] SLAMing on 159.91992885099998 meters Centerline goodness : 0.760171 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.02, Z:0.46 [[ 0.97666121 -0.21440105 -0.01284784 -0.95280792] [ 0.21475789 0.97382444 0.07446477 0.02493475] [-0.00345379 -0.07548603 0.99714088 0.46320562] [ 0. 0. 0. 1. ]] SLAMing on 159.94992885099998 meters Centerline goodness : 0.761953 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.02, Z:0.46 [[ 0.97650764 -0.21512421 -0.01242609 -0.9539975 ] [ 0.21544768 0.97368284 0.07432375 0.02385082] [-0.00388977 -0.07525488 0.99715674 0.4637597 ] [ 0. 0. 0. 1. ]] SLAMing on 159.97992885099998 meters Centerline goodness : 0.762940 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.46 [[ 0.97634256 -0.21589493 -0.01202403 -0.95511612] [ 0.21618681 0.97353448 0.07412074 0.02268555] [-0.00429649 -0.07496667 0.99717678 0.46436987] [ 0. 0. 0. 1. ]] SLAMing on 160.00992885099998 meters Centerline goodness : 0.760939 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.02, Z:0.46 [[ 0.97547978 -0.21979649 -0.01134508 -0.95451795] [ 0.22004459 0.97294938 0.07035538 0.02205743] [-0.00442567 -0.07112668 0.99745747 0.46435068] [ 0. 0. 0. 1. ]] SLAMing on 160.03992885099998 meters Centerline goodness : 0.762875 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.02, Z:0.46 [[ 0.97539207 -0.22019498 -0.0111576 -0.95493235] [ 0.22042836 0.9728571 0.07043011 0.0209788 ] [-0.00465361 -0.07115642 0.99745431 0.46448876] [ 0. 0. 0. 1. ]] SLAMing on 160.069928851 meters Centerline goodness : 0.761983 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.46 [[ 0.97530615 -0.22058442 -0.0109743 -0.95540303] [ 0.22080425 0.97277911 0.07032989 0.02025221] [-0.0048381 -0.07101634 0.99746342 0.46481523] [ 0. 0. 0. 1. ]] SLAMing on 160.099928851 meters Centerline goodness : 0.760785 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.46 [[ 0.97525077 -0.22083218 -0.01091222 -0.95541547] [ 0.22104607 0.97271115 0.07050995 0.01854253] [-0.00495643 -0.07117698 0.99745139 0.46495594] [ 0. 0. 0. 1. ]] SLAMing on 160.129928851 meters Centerline goodness : 0.760688 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.46 [[ 0.97525822 -0.22079765 -0.01094512 -0.95517959] [ 0.22101395 0.97271829 0.07051219 0.01818952] [-0.00492241 -0.07118661 0.99745087 0.46491472] [ 0. 0. 0. 1. ]] SLAMing on 160.159928851 meters Centerline goodness : 0.763479 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.02, Z:0.46 [[ 0.9753488 -0.22038758 -0.01113659 -0.95459338] [ 0.22061834 0.97280424 0.07056534 0.01900259] [-0.004718 -0.07128276 0.99744499 0.46458073] [ 0. 0. 0. 1. ]] SLAMing on 160.189928851 meters Centerline goodness : 0.763993 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.02, Z:0.46 [[ 0.97536774 -0.22029602 -0.01128875 -0.95445196] [ 0.22053902 0.97284072 0.07030978 0.02008195] [-0.00450681 -0.0710675 0.99746133 0.46471162] [ 0. 0. 0. 1. ]] SLAMing on 160.219928851 meters Centerline goodness : 0.763666 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.02, Z:0.46 [[ 0.97541874 -0.22006342 -0.01141837 -0.95422574] [ 0.2203169 0.97290198 0.07015836 0.02103754] [-0.00433033 -0.07094944 0.99747051 0.46472617] [ 0. 0. 0. 1. ]] SLAMing on 160.24992885099996 meters Centerline goodness : 0.762265 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.02, Z:0.46 [[ 0.97548104 -0.21977477 -0.01165314 -0.95377845] [ 0.22004668 0.97298124 0.06990685 0.02206567] [-0.00402548 -0.07075704 0.99748546 0.46486177] [ 0. 0. 0. 1. ]] SLAMing on 160.27992885099997 meters Centerline goodness : 0.760197 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.02, Z:0.46 [[ 0.9755422 -0.21949271 -0.01184744 -0.95340371] [ 0.2197801 0.9730604 0.06964312 0.02323038] [-0.00375788 -0.07054363 0.99750162 0.46492784] [ 0. 0. 0. 1. ]] SLAMing on 160.30992885099997 meters Centerline goodness : 0.762181 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.46 [[ 0.97622883 -0.21659557 -0.00797687 -0.95840221] [ 0.21661311 0.97371447 0.07041937 0.02262444] [-0.00748533 -0.07047332 0.99748558 0.46333973] [ 0. 0. 0. 1. ]] SLAMing on 160.33992885099997 meters Centerline goodness : 0.762463 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.46 [[ 0.97626589 -0.21642346 -0.00811139 -0.958148 ] [ 0.21645176 0.97375857 0.07030557 0.02325407] [-0.00731723 -0.07039265 0.99749252 0.4633119 ] [ 0. 0. 0. 1. ]] SLAMing on 160.36992885099997 meters Centerline goodness : 0.763544 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.46 [[ 0.97636009 -0.21598931 -0.00834241 -0.95762798] [ 0.21603363 0.97383746 0.07049881 0.02295055] [-0.00710284 -0.07063447 0.99747698 0.46344549] [ 0. 0. 0. 1. ]] SLAMing on 160.39992885099997 meters Centerline goodness : 0.764053 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.46 [[ 0.97634525 -0.2160577 -0.00830834 -0.95783274] [ 0.21609988 0.97382733 0.07043558 0.02248144] [-0.00712726 -0.07056487 0.99748173 0.46388422] [ 0. 0. 0. 1. ]] SLAMing on 160.42992885099997 meters Centerline goodness : 0.763288 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.46 [[ 0.97635347 -0.21601812 -0.00837088 -0.95776056] [ 0.21606421 0.97382903 0.07052151 0.0218672 ] [-0.00708212 -0.07066256 0.99747514 0.46412637] [ 0. 0. 0. 1. ]] SLAMing on 160.45992885099997 meters Centerline goodness : 0.764846 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.46 [[ 0.97636358 -0.21597473 -0.00831111 -0.9577739 ] [ 0.21601508 0.97382345 0.07074871 0.02070537] [-0.00718638 -0.07087179 0.99745955 0.46423562] [ 0. 0. 0. 1. ]] SLAMing on 160.48992885099997 meters Centerline goodness : 0.761838 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.46 [[ 0.97634967 -0.216044 -0.00814382 -0.95796369] [ 0.21607068 0.97379502 0.07096986 0.01928678] [-0.0074022 -0.07105104 0.99744522 0.46435132] [ 0. 0. 0. 1. ]] SLAMing on 160.51992885099997 meters Centerline goodness : 0.763433 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.02, Z:0.46 [[ 0.97631011 -0.21622343 -0.00812336 -0.95777345] [ 0.21624342 0.97371029 0.07160346 0.01580021] [-0.00757255 -0.07166381 0.9974001 0.464556 ] [ 0. 0. 0. 1. ]] SLAMing on 160.54992885099998 meters Centerline goodness : 0.762622 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.01, Z:0.46 [[ 0.97630581 -0.2162452 -0.00806108 -0.95771156] [ 0.21625805 0.9736819 0.0719446 0.01383981] [-0.00770874 -0.0719832 0.99737605 0.46474838] [ 0. 0. 0. 1. ]] SLAMing on 160.57992885099998 meters Centerline goodness : 0.761248 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.01, Z:0.46 [[ 0.97629951 -0.21627462 -0.00803449 -0.95767019] [ 0.21628265 0.97364957 0.07230723 0.01201711] [-0.00781544 -0.07233123 0.99735004 0.46494208] [ 0. 0. 0. 1. ]] SLAMing on 160.60992885099998 meters Centerline goodness : 0.760081 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.01, Z:0.47 [[ 0.97621632 -0.21665226 -0.00796884 -0.95785059] [ 0.21665044 0.97352982 0.07281675 0.00856025] [-0.00801801 -0.07281136 0.9973135 0.46554097] [ 0. 0. 0. 1. ]] SLAMing on 160.63992885099998 meters Centerline goodness : 0.761402 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.01, Z:0.47 [[ 0.97620068 -0.21672563 -0.00788821 -0.95777162] [ 0.21671601 0.97349922 0.07303047 0.00695608] [-0.00814841 -0.0730019 0.99729851 0.46560238] [ 0. 0. 0. 1. ]] SLAMing on 160.66992885099998 meters Centerline goodness : 0.760579 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.01, Z:0.47 [[ 0.97623502 -0.21656545 -0.00803731 -0.95714137] [ 0.2165645 0.97350813 0.07336031 0.00560153] [-0.00806293 -0.07335749 0.99727312 0.46542742] [ 0. 0. 0. 1. ]] SLAMing on 160.69992885099998 meters Centerline goodness : 0.759547 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.01, Z:0.47 [[ 0.97697863 -0.21306475 -0.01077778 -0.96167487] [ 0.21332082 0.97503095 0.06171612 0.00621436] [-0.00264086 -0.06259446 0.99803555 0.46662039] [ 0. 0. 0. 1. ]] SLAMing on 160.72992885099998 meters Centerline goodness : 0.759946 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.01, Z:0.47 [[ 0.977102 -0.2124746 -0.01123452 -0.96038971] [ 0.21276019 0.97514549 0.06184158 0.00689895] [-0.00218447 -0.06281579 0.99802275 0.46610774] [ 0. 0. 0. 1. ]] SLAMing on 160.75992885099998 meters Centerline goodness : 0.759946 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.01, Z:0.47 [[ 0.977102 -0.2124746 -0.01123452 -0.96038971] [ 0.21276019 0.97514549 0.06184158 0.00689895] [-0.00218447 -0.06281579 0.99802275 0.46610774] [ 0. 0. 0. 1. ]] SLAMing on 160.78992885099998 meters Centerline goodness : 0.757677 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.01, Z:0.47 [[ 0.97727795 -0.21164087 -0.01165989 -0.95910233] [ 0.21195467 0.97531347 0.06195843 0.00815833] [-0.00174088 -0.06302198 0.99801062 0.46550243] [ 0. 0. 0. 1. ]] SLAMing on 160.819928851 meters Centerline goodness : 0.761440 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.01, Z:0.46 [[ 0.97751466 -0.21052381 -0.01203372 -0.95787576] [ 0.21086326 0.97554193 0.06208571 0.00978492] [-0.00133112 -0.06322716 0.99799827 0.46498152] [ 0. 0. 0. 1. ]] SLAMing on 160.849928851 meters Centerline goodness : 0.759655 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.01, Z:0.46 [[ 0.97955679 -0.20108094 -0.00591168 -0.9667528 ] [ 0.2010396 0.97746059 0.06445063 0.00930784] [-0.00718136 -0.06432153 0.99790339 0.46158911] [ 0. 0. 0. 1. ]] SLAMing on 160.879928851 meters Centerline goodness : 0.758144 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.01, Z:0.46 [[ 0.9803507 -0.19715803 -0.00642055 -0.96761405] [ 0.19713445 0.97802219 0.06790139 0.01061396] [-0.00710786 -0.06783289 0.99767138 0.46196566] [ 0. 0. 0. 1. ]] SLAMing on 160.909928851 meters Centerline goodness : 0.757762 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.01, Z:0.46 [[ 0.98115836 -0.19307307 -0.00714528 -0.96810971] [ 0.19308616 0.97858455 0.07134436 0.01215954] [-0.00678242 -0.07137977 0.99742615 0.46243444] [ 0. 0. 0. 1. ]] SLAMing on 160.939928851 meters Centerline goodness : 0.759157 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.01, Z:0.46 [[ 0.98196085 -0.18892503 -0.00776064 -0.96854229] [ 0.18897109 0.97912531 0.07485685 0.01366289] [-0.00654369 -0.07497304 0.99716409 0.46259967] [ 0. 0. 0. 1. ]] SLAMing on 160.969928851 meters Centerline goodness : 0.758864 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.01, Z:0.46 [[ 0.9830644 -0.18323595 -0.00299398 -0.97450347] [ 0.18291924 0.98010693 0.07701264 0.0135622 ] [-0.01117706 -0.07625604 0.99702562 0.45914014] [ 0. 0. 0. 1. ]] SLAMing on 160.99992885099996 meters Centerline goodness : 0.759834 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.02, Z:0.46 [[ 0.98508921 -0.17202564 0.00253428 -0.98326609] [ 0.17136227 0.98238792 0.0744912 0.01622447] [-0.01530405 -0.07294619 0.99721845 0.45654809] [ 0. 0. 0. 1. ]] SLAMing on 161.02992885099997 meters Centerline goodness : 0.759503 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.02, Z:0.46 [[ 0.98575183 -0.16819318 0.0020947 -0.98365407] [ 0.16751687 0.98276212 0.0782094 0.01673749] [-0.01521288 -0.07674416 0.99693475 0.45629929] [ 0. 0. 0. 1. ]] SLAMing on 161.05992885099997 meters Centerline goodness : 0.759575 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.02, Z:0.46 [[ 0.98588447 -0.16741511 0.00199603 -0.98300273] [ 0.16675125 0.98290555 0.078043 0.01902138] [-0.01502749 -0.07660854 0.996948 0.45569602] [ 0. 0. 0. 1. ]] SLAMing on 161.08992885099997 meters Centerline goodness : 0.761936 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.02, Z:0.46 [[ 0.98595597 -0.16699514 0.00185804 -0.98261574] [ 0.16634771 0.98299834 0.07773481 0.02071032] [-0.01480778 -0.07633402 0.99697234 0.45563997] [ 0. 0. 0. 1. ]] SLAMing on 161.11992885099997 meters Centerline goodness : 0.761292 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.02, Z:0.46 [[ 0.98596466 -0.16694323 0.00190985 -0.98262956] [ 0.1662979 0.98303811 0.0773375 0.02228466] [-0.01478843 -0.07593443 0.99700314 0.45542327] [ 0. 0. 0. 1. ]] SLAMing on 161.14992885099997 meters Centerline goodness : 0.761169 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.02, Z:0.46 [[ 0.98589859 -0.16733019 0.00214208 -0.98334324] [ 0.16666965 0.98299374 0.07710078 0.02219118] [-0.01500694 -0.07565653 0.997021 0.455781 ] [ 0. 0. 0. 1. ]] SLAMing on 161.17992885099997 meters Centerline goodness : 0.761816 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.02, Z:0.46 [[ 0.98580091 -0.16790066 0.00243711 -0.98431763] [ 0.16721876 0.98291389 0.07692962 0.02141029] [-0.015312 -0.07542976 0.99703355 0.45633785] [ 0. 0. 0. 1. ]] SLAMing on 161.20992885099997 meters Centerline goodness : 0.762068 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.02, Z:0.46 [[ 0.98494807 -0.17281447 0.00352819 -0.98617055] [ 0.17211185 0.98241979 0.07231086 0.02123144] [-0.01596252 -0.0706152 0.9973759 0.45800774] [ 0. 0. 0. 1. ]] SLAMing on 161.23992885099997 meters Centerline goodness : 0.761641 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.02, Z:0.46 [[ 0.9842078 -0.17696657 0.00422403 -0.98652236] [ 0.17627632 0.98199128 0.06796902 0.02186935] [-0.01617621 -0.06615104 0.99767849 0.45871372] [ 0. 0. 0. 1. ]] SLAMing on 161.26992885099997 meters Centerline goodness : 0.760712 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.02, Z:0.46 [[ 0.9834721 -0.18099449 0.00486068 -0.98659903] [ 0.18032349 0.98153845 0.06376298 0.02209409] [-0.01631169 -0.06183262 0.99795323 0.45933121] [ 0. 0. 0. 1. ]] SLAMing on 161.29992885099998 meters Centerline goodness : 0.819694 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.02, Z:0.46 [[ 0.98270961 -0.18507073 0.0055358 -0.98669577] [ 0.18441965 0.98103639 0.05964059 0.02220581] [-0.01646855 -0.05758847 0.99820457 0.4598187 ] [ 0. 0. 0. 1. ]] SLAMing on 161.32992885099998 meters Centerline goodness : 0.761091 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.02, Z:0.46 [[ 0.98168434 -0.19039316 0.00680475 -0.98867645] [ 0.18973674 0.98027628 0.05530275 0.02051871] [-0.0171998 -0.05299873 0.99844644 0.46123904] [ 0. 0. 0. 1. ]] SLAMing on 161.35992885099998 meters Centerline goodness : 0.820246 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.02, Z:0.46 [[ 0.98090176 -0.19435901 0.00750388 -0.98873907] [ 0.19373398 0.97972114 0.05112366 0.02105396] [-0.01728805 -0.04869354 0.99866414 0.46171996] [ 0. 0. 0. 1. ]] SLAMing on 161.38992885099998 meters Centerline goodness : 0.820739 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.02, Z:0.46 [[ 0.98013867 -0.19815135 0.00801475 -0.98830701] [ 0.19756952 0.97916164 0.04699744 0.02161557] [-0.01716034 -0.04448054 0.99886286 0.46210031] [ 0. 0. 0. 1. ]] SLAMing on 161.41992885099998 meters Centerline goodness : 0.760911 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.02, Z:0.46 [[ 0.97927488 -0.20233881 0.00892878 -0.9884233 ] [ 0.20177964 0.97847636 0.04323192 0.02020554] [-0.0174841 -0.04053428 0.99902516 0.46225806] [ 0. 0. 0. 1. ]] SLAMing on 161.44992885099998 meters Centerline goodness : 0.760551 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.02, Z:0.46 [[ 0.97911186 -0.20310966 0.00929665 -0.98932114] [ 0.20253604 0.97832271 0.04317209 0.01851096] [-0.0178638 -0.0403874 0.9990244 0.46265255] [ 0. 0. 0. 1. ]] SLAMing on 161.47992885099998 meters Centerline goodness : 0.760686 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.02, Z:0.46 [[ 0.97898432 -0.20371162 0.00955386 -0.98988997] [ 0.20312592 0.97819745 0.043239 0.01668556] [-0.01815384 -0.04038966 0.99901908 0.46288098] [ 0. 0. 0. 1. ]] SLAMing on 161.50992885099998 meters Centerline goodness : 0.759073 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.02, Z:0.46 [[ 0.97888253 -0.20419045 0.00976007 -0.99021736] [ 0.20359428 0.97809586 0.04333418 0.01507861] [-0.01839471 -0.04043198 0.99901296 0.46292258] [ 0. 0. 0. 1. ]] SLAMing on 161.53992885099998 meters Centerline goodness : 0.759519 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.46 [[ 0.97809622 -0.20789722 0.01032145 -0.98931904] [ 0.2073459 0.97746702 0.03957154 0.01485949] [-0.01831569 -0.03656467 0.99916343 0.46254546] [ 0. 0. 0. 1. ]] SLAMing on 161.569928851 meters Centerline goodness : 0.759689 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.46 [[ 0.9780294 -0.20820757 0.01039705 -0.98952929] [ 0.20765419 0.97740356 0.03952233 0.01406548] [-0.01839096 -0.03649501 0.99916459 0.46278718] [ 0. 0. 0. 1. ]] SLAMing on 161.599928851 meters Centerline goodness : 0.759442 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.46 [[ 0.97800967 -0.20830101 0.01038157 -0.98947611] [ 0.20774768 0.97738269 0.03954713 0.01338985] [-0.01838448 -0.03652072 0.99916377 0.46293985] [ 0. 0. 0. 1. ]] SLAMing on 161.629928851 meters Centerline goodness : 0.758775 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.46 [[ 0.97800238 -0.20833762 0.01033313 -0.98932248] [ 0.20778574 0.97737394 0.03956342 0.0131051 ] [-0.01834188 -0.03654604 0.99916363 0.46292438] [ 0. 0. 0. 1. ]] SLAMing on 161.659928851 meters Centerline goodness : 0.756441 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.46 [[ 0.97806918 -0.20803332 0.01014036 -0.98893918] [ 0.2074868 0.97743326 0.03966678 0.0129147 ] [-0.01816354 -0.03669287 0.99916151 0.46310119] [ 0. 0. 0. 1. ]] SLAMing on 161.689928851 meters Centerline goodness : 0.759252 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.46 [[ 0.97809151 -0.20793287 0.01004619 -0.98899896] [ 0.20739377 0.97746171 0.03945165 0.01346699] [-0.01802306 -0.03650381 0.99917098 0.46354156] [ 0. 0. 0. 1. ]] SLAMing on 161.719928851 meters Centerline goodness : 0.759678 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.46 [[ 0.97816968 -0.20757598 0.00981257 -0.98870255] [ 0.20704842 0.97754123 0.03929488 0.01412981] [-0.01774887 -0.03640539 0.99917948 0.46399424] [ 0. 0. 0. 1. ]] SLAMing on 161.74992885099996 meters Centerline goodness : 0.761643 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.46 [[ 0.97826133 -0.20715294 0.00961407 -0.98844844] [ 0.2066347 0.9776329 0.03919189 0.01487157] [-0.01751774 -0.03635331 0.99918545 0.4643471 ] [ 0. 0. 0. 1. ]] SLAMing on 161.77992885099997 meters Centerline goodness : 0.760051 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.47 [[ 0.97905072 -0.20341143 0.00913634 -0.98982659] [ 0.20284926 0.97827079 0.04287699 0.01387903] [-0.01765948 -0.04012545 0.99903858 0.46577506] [ 0. 0. 0. 1. ]] SLAMing on 161.80992885099997 meters Centerline goodness : 0.819180 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.47 [[ 0.97915397 -0.2029239 0.00891031 -0.98946538] [ 0.20237222 0.97837212 0.04281905 0.01442672] [-0.01740661 -0.04012324 0.99904311 0.46610817] [ 0. 0. 0. 1. ]] SLAMing on 161.83992885099997 meters Centerline goodness : 0.759398 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.47 [[ 0.9792457 -0.20248845 0.00873388 -0.9891089 ] [ 0.20194537 0.97846331 0.04275058 0.01498253] [-0.01720228 -0.04009955 0.9990476 0.46630251] [ 0. 0. 0. 1. ]] SLAMing on 161.86992885099997 meters Centerline goodness : 0.758548 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.47 [[ 0.98001068 -0.19877468 0.00822741 -0.99006253] [ 0.19818662 0.97904751 0.04677655 0.01306549] [-0.01735302 -0.04421096 0.9988715 0.46716741] [ 0. 0. 0. 1. ]] SLAMing on 161.89992885099997 meters Centerline goodness : 0.759263 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.47 [[ 0.98004825 -0.19859184 0.00816788 -0.99013849] [ 0.19800668 0.97908413 0.04677201 0.01318899] [-0.01728558 -0.04422153 0.9988722 0.46755768] [ 0. 0. 0. 1. ]] SLAMing on 161.92992885099997 meters Centerline goodness : 0.759404 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.47 [[ 0.98008306 -0.19842204 0.00811696 -0.99001306] [ 0.19783881 0.97911675 0.0467996 0.01316004] [-0.01723353 -0.04426164 0.99887132 0.46764997] [ 0. 0. 0. 1. ]] SLAMing on 161.95992885099997 meters Centerline goodness : 0.757746 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.47 [[ 0.98012253 -0.19822835 0.00808328 -0.98992757] [ 0.19764305 0.97914584 0.04701758 0.01242312] [-0.01723493 -0.04448539 0.99886136 0.4678256 ] [ 0. 0. 0. 1. ]] SLAMing on 161.98992885099997 meters Centerline goodness : 0.759004 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.47 [[ 0.98017721 -0.19795957 0.00803996 -0.98955315] [ 0.1973658 0.9791719 0.04763547 0.01024219] [-0.0173024 -0.04510439 0.99883243 0.46774285] [ 0. 0. 0. 1. ]] SLAMing on 162.01992885099997 meters Centerline goodness : 0.758587 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.47 [[ 0.9802022 -0.1978408 0.00791629 -0.98920934] [ 0.19724837 0.97918322 0.04788848 0.00934357] [-0.01722579 -0.04537891 0.99882132 0.46774896] [ 0. 0. 0. 1. ]] SLAMing on 162.04992885099998 meters Centerline goodness : 0.757946 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.47 [[ 0.98022127 -0.19774914 0.00784477 -0.98894383] [ 0.1971565 0.97919158 0.04809534 0.00877858] [-0.01719234 -0.04559743 0.99881194 0.46760484] [ 0. 0. 0. 1. ]] SLAMing on 162.07992885099998 meters Centerline goodness : 0.758718 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.47 [[ 0.98025672 -0.19757919 0.00769565 -0.98841509] [ 0.19699019 0.97921543 0.04829093 0.00857816] [-0.01707698 -0.04582154 0.99880367 0.4672525 ] [ 0. 0. 0. 1. ]] SLAMing on 162.10992885099998 meters Centerline goodness : 0.759246 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.47 [[ 0.98039135 -0.19692155 0.00739693 -0.98719067] [ 0.19634048 0.97932686 0.04867569 0.00881623] [-0.0168293 -0.04626891 0.99878725 0.46629775] [ 0. 0. 0. 1. ]] SLAMing on 162.13992885099998 meters Centerline goodness : 0.757467 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.47 [[ 0.98046634 -0.19655689 0.00715114 -0.98645045] [ 0.19598904 0.97940154 0.04858925 0.0095214 ] [-0.01655439 -0.04623858 0.99879324 0.46604894] [ 0. 0. 0. 1. ]] SLAMing on 162.16992885099998 meters Centerline goodness : 0.755418 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.47 [[ 0.98056946 -0.19605035 0.00691386 -0.98564875] [ 0.19549445 0.97950165 0.0485637 0.01037088] [-0.01629306 -0.04626846 0.99879616 0.46566409] [ 0. 0. 0. 1. ]] SLAMing on 162.19992885099998 meters Centerline goodness : 0.756663 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.47 [[ 0.98138031 -0.19197535 0.00617653 -0.98569115] [ 0.1914005 0.9801218 0.05222163 0.01106663] [-0.01607902 -0.05006708 0.99861642 0.46568852] [ 0. 0. 0. 1. ]] SLAMing on 162.22992885099998 meters Centerline goodness : 0.753964 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.01, Z:0.47 [[ 0.98154291 -0.19115086 0.00590504 -0.98488402] [ 0.19059344 0.98028843 0.05204541 0.01325972] [-0.01573717 -0.04995934 0.99862726 0.46539171] [ 0. 0. 0. 1. ]] SLAMing on 162.25992885099998 meters Centerline goodness : 0.816494 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.02, Z:0.47 [[ 0.98169436 -0.19037824 0.00568448 -0.98427218] [ 0.18983662 0.98044822 0.05180105 0.01529793] [-0.01543514 -0.04977367 0.99864125 0.46531367] [ 0. 0. 0. 1. ]] SLAMing on 162.28992885099998 meters Centerline goodness : 0.813952 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.02, Z:0.47 [[ 0.98186642 -0.18949671 0.00541517 -0.98347932] [ 0.18897181 0.98062287 0.05165699 0.01720407] [-0.01509906 -0.04969695 0.9986502 0.46513574] [ 0. 0. 0. 1. ]] SLAMing on 162.319928851 meters Centerline goodness : 0.756029 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.02, Z:0.47 [[ 0.98268408 -0.18522815 0.00474715 -0.98367529] [ 0.18468673 0.98123254 0.05543935 0.01781625] [-0.01492699 -0.05360263 0.99845077 0.46535115] [ 0. 0. 0. 1. ]] SLAMing on 162.349928851 meters Centerline goodness : 0.755081 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.02, Z:0.47 [[ 0.98279898 -0.18462517 0.00443869 -0.98296976] [ 0.18410262 0.98134782 0.05534149 0.0190392 ] [-0.01457333 -0.05357239 0.99845762 0.46533566] [ 0. 0. 0. 1. ]] SLAMing on 162.379928851 meters Centerline goodness : 0.754615 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.02, Z:0.47 [[ 0.98287776 -0.18420958 0.00425845 -0.98257425] [ 0.18369901 0.98143013 0.05522296 0.01991176] [-0.01435197 -0.05349514 0.99846497 0.46542456] [ 0. 0. 0. 1. ]] SLAMing on 162.409928851 meters Centerline goodness : 0.754108 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.02, Z:0.47 [[ 0.98291318 -0.18402204 0.00419228 -0.98247879] [ 0.183518 0.98147469 0.05503252 0.02074194] [-0.01424182 -0.05332283 0.99847576 0.46554922] [ 0. 0. 0. 1. ]] SLAMing on 162.439928851 meters Centerline goodness : 0.754374 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.02, Z:0.47 [[ 0.98299556 -0.18358489 0.00403928 -0.98233181] [ 0.18308887 0.9815517 0.05508837 0.02100692] [-0.01407816 -0.05341207 0.99847331 0.46599273] [ 0. 0. 0. 1. ]] SLAMing on 162.469928851 meters Centerline goodness : 0.753578 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.02, Z:0.47 [[ 0.98297846 -0.18367492 0.0041073 -0.98263281] [ 0.18317598 0.98153881 0.05502841 0.0206118 ] [-0.01413881 -0.05333938 0.99847634 0.46640596] [ 0. 0. 0. 1. ]] SLAMing on 162.49992885099996 meters Centerline goodness : 0.753563 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.02, Z:0.47 [[ 0.98292618 -0.18395001 0.00430416 -0.98319268] [ 0.18343958 0.98148727 0.05506965 0.0194313 ] [-0.01435454 -0.05333984 0.99847324 0.4668347 ] [ 0. 0. 0. 1. ]] SLAMing on 162.52992885099997 meters Centerline goodness : 0.754179 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.02, Z:0.47 [[ 0.98288018 -0.18419399 0.00437381 -0.98337629] [ 0.18367656 0.98143158 0.05527177 0.01780508] [-0.01447332 -0.05352216 0.99846177 0.46707838] [ 0. 0. 0. 1. ]] SLAMing on 162.55992885099997 meters Centerline goodness : 0.754340 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.02, Z:0.47 [[ 0.98281369 -0.18454457 0.00453402 -0.9836825 ] [ 0.1840146 0.98135502 0.05550637 0.01561283] [-0.01469289 -0.0537181 0.99844804 0.46733552] [ 0. 0. 0. 1. ]] SLAMing on 162.58992885099997 meters Centerline goodness : 0.753740 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.01, Z:0.47 [[ 0.98206537 -0.18846862 0.00521517 -0.98338714] [ 0.18795036 0.98080281 0.05196651 0.01373932] [-0.01490911 -0.05005432 0.99863521 0.46750317] [ 0. 0. 0. 1. ]] SLAMing on 162.61992885099997 meters Centerline goodness : 0.753540 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.01, Z:0.47 [[ 0.98136272 -0.1920766 0.00581308 -0.98297596] [ 0.19158441 0.98030109 0.04801244 0.01436014] [-0.01492064 -0.04600392 0.99882982 0.46760432] [ 0. 0. 0. 1. ]] SLAMing on 162.64992885099997 meters Centerline goodness : 0.752441 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.01, Z:0.47 [[ 0.98049252 -0.19644499 0.00661755 -0.98317387] [ 0.19596974 0.97961106 0.04424977 0.0127391 ] [-0.01517527 -0.04208973 0.99899858 0.46797054] [ 0. 0. 0. 1. ]] SLAMing on 162.67992885099997 meters Centerline goodness : 0.752441 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.01, Z:0.47 [[ 0.98049252 -0.19644499 0.00661755 -0.98317387] [ 0.19596974 0.97961106 0.04424977 0.0127391 ] [-0.01517527 -0.04208973 0.99899858 0.46797054] [ 0. 0. 0. 1. ]] SLAMing on 162.70992885099997 meters Centerline goodness : 0.755051 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.01, Z:0.47 [[ 0.97975682 -0.20006274 0.0071744 -0.98251434] [ 0.19962081 0.97904074 0.04038279 0.01317662] [-0.01510312 -0.03813315 0.99915853 0.46782016] [ 0. 0. 0. 1. ]] SLAMing on 162.73992885099997 meters Centerline goodness : 0.753064 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.01, Z:0.47 [[ 0.9789809 -0.20380714 0.00768402 -0.98188724] [ 0.20340534 0.9784205 0.0363263 0.01377446] [-0.01492177 -0.03399979 0.99931044 0.46791852] [ 0. 0. 0. 1. ]] SLAMing on 162.76992885099997 meters Centerline goodness : 0.754168 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.01, Z:0.47 [[ 0.97881434 -0.20459751 0.00789635 -0.98270639] [ 0.20419054 0.97826302 0.03616183 0.01206264] [-0.01512332 -0.03378336 0.99931475 0.46871026] [ 0. 0. 0. 1. ]] SLAMing on 162.79992885099998 meters Centerline goodness : 0.753402 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.01, Z:0.47 [[ 0.97820413 -0.20747429 0.00843241 -0.98423041] [ 0.20708852 0.97774774 0.03352177 0.01136814] [-0.01519968 -0.03104488 0.99940241 0.47063979] [ 0. 0. 0. 1. ]] SLAMing on 162.82992885099998 meters Centerline goodness : 0.755931 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.47 [[ 0.97805564 -0.20815715 0.00881828 -0.98546731] [ 0.20776436 0.97761587 0.03318413 0.01106557] [-0.0155284 -0.0306238 0.99941035 0.47131731] [ 0. 0. 0. 1. ]] SLAMing on 162.85992885099998 meters Centerline goodness : 0.753886 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.47 [[ 0.97794572 -0.20865967 0.00912767 -0.98638013] [ 0.20826131 0.97751892 0.03292387 0.01073206] [-0.01579236 -0.03029682 0.99941618 0.47186742] [ 0. 0. 0. 1. ]] SLAMing on 162.88992885099998 meters Centerline goodness : 0.755610 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.47 [[ 0.97785448 -0.20907713 0.00934769 -0.98697759] [ 0.20867408 0.9774354 0.03278976 0.01034161] [-0.01599236 -0.03011299 0.99941856 0.47211122] [ 0. 0. 0. 1. ]] SLAMing on 162.91992885099998 meters Centerline goodness : 0.754439 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.47 [[ 0.97763441 -0.21007929 0.00988199 -0.988282 ] [ 0.2096671 0.9772377 0.03234488 0.00935057] [-0.01645205 -0.02954954 0.99942791 0.47264268] [ 0. 0. 0. 1. ]] SLAMing on 162.94992885099998 meters Centerline goodness : 0.755610 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.47 [[ 0.97756275 -0.21040053 0.01013364 -0.98888274] [ 0.20998385 0.97717576 0.03216073 0.00898835] [-0.01666898 -0.02931124 0.99943134 0.4729285 ] [ 0. 0. 0. 1. ]] SLAMing on 162.97992885099998 meters Centerline goodness : 0.755889 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.47 [[ 0.97748393 -0.21075415 0.01038496 -0.98956745] [ 0.21033569 0.97711117 0.03182223 0.00909492] [-0.01685393 -0.0289214 0.99943959 0.47331971] [ 0. 0. 0. 1. ]] SLAMing on 163.00992885099998 meters Centerline goodness : 0.756807 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.47 [[ 0.97740014 -0.2111319 0.01059637 -0.99022733] [ 0.21071657 0.97704689 0.03127139 0.01030872] [-0.01695554 -0.02833183 0.99945476 0.47360215] [ 0. 0. 0. 1. ]] SLAMing on 163.03992885099998 meters Centerline goodness : 0.756215 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.47 [[ 0.97735066 -0.21135137 0.0107837 -0.99078268] [ 0.21093591 0.97700933 0.03096465 0.01121089] [-0.0170802 -0.02798865 0.99946231 0.47372549] [ 0. 0. 0. 1. ]] SLAMing on 163.069928851 meters Centerline goodness : 0.756703 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.47 [[ 0.97729652 -0.21159197 0.01097025 -0.99138096] [ 0.2111788 0.97697072 0.03052417 0.01239167] [-0.01717628 -0.02751449 0.99947383 0.47400148] [ 0. 0. 0. 1. ]] SLAMing on 163.099928851 meters Centerline goodness : 0.817873 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:0.47 [[ 0.97726413 -0.21173746 0.01104886 -0.99166084] [ 0.21132711 0.97694774 0.03023188 0.01343318] [-0.01719538 -0.02720961 0.99948184 0.47401919] [ 0. 0. 0. 1. ]] SLAMing on 163.129928851 meters Centerline goodness : 0.814121 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.02, Z:0.47 [[ 0.97715517 -0.21222815 0.01126851 -0.99241658] [ 0.21182305 0.97686039 0.02957666 0.01521977] [-0.01728476 -0.02651406 0.999499 0.47419633] [ 0. 0. 0. 1. ]] SLAMing on 163.159928851 meters Centerline goodness : 0.815611 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.02, Z:0.47 [[ 0.97706673 -0.21262077 0.01153284 -0.99312282] [ 0.21221546 0.97678708 0.02918219 0.01606515] [-0.01746987 -0.0260655 0.99950758 0.47434652] [ 0. 0. 0. 1. ]] SLAMing on 163.189928851 meters Centerline goodness : 0.814474 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.02, Z:0.47 [[ 0.97693781 -0.21319336 0.01187877 -0.99416255] [ 0.21278931 0.97667959 0.02859535 0.01709579] [-0.01769809 -0.0254082 0.99952049 0.47476316] [ 0. 0. 0. 1. ]] SLAMing on 163.219928851 meters Centerline goodness : 0.816316 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.02, Z:0.48 [[ 0.97677702 -0.21390096 0.01237044 -0.99550642] [ 0.21349671 0.97654505 0.02790902 0.01813883] [-0.01805006 -0.02461984 0.99953392 0.47526186] [ 0. 0. 0. 1. ]] SLAMing on 163.24992885099996 meters Centerline goodness : 0.811368 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.02, Z:0.48 [[ 0.97645533 -0.21532013 0.01312395 -0.99765811] [ 0.2149164 0.97626257 0.02687639 0.01967083] [-0.01859944 -0.02342304 0.99955261 0.47580635] [ 0. 0. 0. 1. ]] SLAMing on 163.27992885099997 meters Centerline goodness : 0.812347 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.02, Z:0.48 [[ 0.97624987 -0.21621315 0.01371343 -0.99919264] [ 0.2158085 0.97608426 0.02619539 0.02045595] [-0.01904925 -0.02261377 0.99956278 0.47624077] [ 0. 0. 0. 1. ]] SLAMing on 163.30992885099997 meters Centerline goodness : 0.812375 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.02, Z:0.48 [[ 0.97604509 -0.21710201 0.01423753 -1.00054104] [ 0.2166985 0.97590486 0.02552357 0.02141505] [-0.0194357 -0.02182691 0.99957283 0.47647555] [ 0. 0. 0. 1. ]] SLAMing on 163.33992885099997 meters Centerline goodness : 0.755088 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.02, Z:0.48 [[ 0.97585197 -0.21793237 0.01477864 -1.00190755] [ 0.217531 0.97573781 0.0248192 0.02249586] [-0.01982899 -0.02100505 0.99958271 0.47677744] [ 0. 0. 0. 1. ]] SLAMing on 163.36992885099997 meters Centerline goodness : 0.756121 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.03, Z:0.48 [[ 0.97548673 -0.21949779 0.01569585 -1.0044328 ] [ 0.21910793 0.97542185 0.02332233 0.02592271] [-0.02042927 -0.01931154 0.99960478 0.47713538] [ 0. 0. 0. 1. ]] SLAMing on 163.39992885099997 meters Centerline goodness : 0.753204 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.03, Z:0.48 [[ 0.97533485 -0.2201392 0.01614486 -1.00559192] [ 0.21975449 0.97529206 0.02265765 0.02782202] [-0.02073379 -0.01855089 0.99961291 0.47716214] [ 0. 0. 0. 1. ]] SLAMing on 163.42992885099997 meters Centerline goodness : 0.754977 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.03, Z:0.48 [[ 0.97517631 -0.22081405 0.01650232 -1.00669582] [ 0.22044073 0.97515675 0.02179899 0.02994218] [-0.02090588 -0.01762008 0.99962617 0.47747693] [ 0. 0. 0. 1. ]] SLAMing on 163.45992885099997 meters Centerline goodness : 0.754514 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.03, Z:0.48 [[ 0.97502175 -0.22146692 0.01688196 -1.0078331 ] [ 0.22110575 0.97502564 0.02091034 0.03219491] [-0.02109129 -0.01665534 0.99963881 0.47779676] [ 0. 0. 0. 1. ]] SLAMing on 163.48992885099997 meters Centerline goodness : 0.756670 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.04, Z:0.48 [[ 0.97472041 -0.22273029 0.01764502 -1.01042257] [ 0.22239645 0.97476987 0.01906594 0.03778134] [-0.0214464 -0.01465977 0.99966251 0.47855237] [ 0. 0. 0. 1. ]] SLAMing on 163.51992885099997 meters Centerline goodness : 0.758204 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.04, Z:0.48 [[ 0.97454921 -0.22344676 0.01803854 -1.01194912] [ 0.22313088 0.97462273 0.0179764 0.04086277] [-0.02159754 -0.01349393 0.99967568 0.47922945] [ 0. 0. 0. 1. ]] SLAMing on 163.54992885099998 meters Centerline goodness : 0.758021 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.04, Z:0.48 [[ 0.9744332 -0.22393177 0.01828933 -1.0129032 ] [ 0.22363153 0.97452367 0.01710406 0.04340418] [-0.02165353 -0.01257669 0.99968643 0.47961157] [ 0. 0. 0. 1. ]] SLAMing on 163.57992885099998 meters Centerline goodness : 0.757069 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.05, Z:0.48 [[ 0.97429902 -0.22448501 0.01865207 -1.01384688] [ 0.22419769 0.97440719 0.01631005 0.0457774 ] [-0.02183607 -0.01170912 0.99969299 0.47959462] [ 0. 0. 0. 1. ]] SLAMing on 163.60992885099998 meters Centerline goodness : 0.758028 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.05, Z:0.48 [[ 0.97419577 -0.22491335 0.01888366 -1.01444449] [ 0.22464037 0.97431786 0.0155373 0.04814305] [-0.02189324 -0.01089434 0.99970096 0.47953092] [ 0. 0. 0. 1. ]] SLAMing on 163.63992885099998 meters Centerline goodness : 0.760515 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.05, Z:0.48 [[ 0.97393451 -0.22598399 0.01956559 -1.01645629] [ 0.22574263 0.97408921 0.01380131 0.05368566] [-0.0221775 -0.00902479 0.99971331 0.47972406] [ 0. 0. 0. 1. ]] SLAMing on 163.66992885099998 meters Centerline goodness : 0.760370 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.06, Z:0.48 [[ 0.97379348 -0.22656305 0.0198857 -1.01760978] [ 0.22633992 0.97396344 0.01286305 0.05655341] [-0.02228223 -0.00802503 0.99971951 0.48006367] [ 0. 0. 0. 1. ]] SLAMing on 163.69992885099998 meters Centerline goodness : 0.759432 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.06, Z:0.48 [[ 0.9736843 -0.2270067 0.02017022 -1.01857257] [ 0.2268005 0.97386716 0.01201214 0.05922254] [-0.02236995 -0.00712141 0.9997244 0.48035004] [ 0. 0. 0. 1. ]] SLAMing on 163.72992885099998 meters Centerline goodness : 0.761803 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.06, Z:0.48 [[ 0.97351503 -0.22768855 0.02064989 -1.01994754] [ 0.22751121 0.97371781 0.01059638 0.06402816] [-0.02251984 -0.00561765 0.99973061 0.48042615] [ 0. 0. 0. 1. ]] SLAMing on 163.75992885099998 meters Centerline goodness : 0.761127 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.07, Z:0.48 [[ 0.97347426 -0.22785123 0.02077673 -1.02025934] [ 0.22768603 0.97368295 0.01002909 0.06630438] [-0.02251509 -0.00503249 0.99973384 0.48028524] [ 0. 0. 0. 1. ]] SLAMing on 163.78992885099998 meters Centerline goodness : 0.763026 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.07, Z:0.48 [[ 0.97341217 -0.22810882 0.02085953 -1.02067202] [ 0.22795988 0.9736262 0.00929073 0.06877597] [-0.02242869 -0.00428857 0.99973925 0.48041007] [ 0. 0. 0. 1. ]] SLAMing on 163.819928851 meters Centerline goodness : 0.764868 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.07, Z:0.48 [[ 0.97332104 -0.22846276 0.02123477 -1.02174495] [ 0.22833903 0.97354788 0.00811218 0.07360205] [-0.02252639 -0.00304703 0.99974161 0.48039508] [ 0. 0. 0. 1. ]] SLAMing on 163.849928851 meters Centerline goodness : 0.765657 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:0.48 [[ 0.97324214 -0.22877922 0.02144281 -1.02246167] [ 0.22867121 0.97347563 0.00739369 0.07586157] [-0.02256557 -0.0022925 0.99974274 0.4806862 ] [ 0. 0. 0. 1. ]] SLAMing on 163.879928851 meters Centerline goodness : 0.766959 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:0.48 [[ 0.9731556 -0.22913305 0.02159227 -1.02314411] [ 0.22903987 0.9733938 0.00672738 0.07783855] [-0.02255924 -0.00160129 0.99974423 0.48105882] [ 0. 0. 0. 1. ]] SLAMing on 163.909928851 meters Centerline goodness : 0.766234 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:0.48 [[ 9.73054683e-01 -2.29538714e-01 2.18303266e-02 -1.02395528e+00] [ 2.29458142e-01 9.73299033e-01 6.16064474e-03 7.95484364e-02] [-2.26615422e-02 -9.85498032e-04 9.99742709e-01 4.81271578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.939928851 meters Centerline goodness : 0.766247 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:0.48 [[ 9.72947358e-01 -2.29965343e-01 2.21219438e-02 -1.02471761e+00] [ 2.29903263e-01 9.73198812e-01 5.34429299e-03 8.24862111e-02] [-2.27580516e-02 -1.13808673e-04 9.99740996e-01 4.81157461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.969928851 meters Centerline goodness : 0.770004 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.08, Z:0.48 [[ 9.72868970e-01 -2.30276752e-01 2.23290102e-02 -1.02529595e+00] [ 2.30224263e-01 9.73125119e-01 4.92857641e-03 8.38941691e-02] [-2.28638573e-02 3.45820860e-04 9.99738528e-01 4.81150369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.99992885099996 meters Centerline goodness : 0.766279 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.09, Z:0.48 [[ 9.72815760e-01 -2.30491516e-01 2.24311815e-02 -1.02566736e+00] [ 2.30450767e-01 9.73073947e-01 4.42021355e-03 8.54963014e-02] [-2.28460201e-02 8.69229587e-04 9.99738618e-01 4.81319508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.02992885099997 meters Centerline goodness : 0.769307 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.09, Z:0.48 [[ 0.97273123 -0.23082504 0.02266601 -1.02640688] [ 0.23079764 0.97299414 0.00385304 0.08724243] [-0.02294327 0.00148329 0.99973567 0.48149695] [ 0. 0. 0. 1. ]] SLAMing on 164.05992885099997 meters Centerline goodness : 0.768813 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.09, Z:0.48 [[ 0.97261434 -0.23128807 0.02296018 -1.02722771] [ 0.23128033 0.97288244 0.00302834 0.09007849] [-0.02303798 0.00236483 0.99973179 0.48146608] [ 0. 0. 0. 1. ]] SLAMing on 164.08992885099997 meters Centerline goodness : 0.770155 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.09, Z:0.48 [[ 0.97253073 -0.23161203 0.02323476 -1.02796262] [ 0.2316149 0.97280407 0.00260472 0.09136513] [-0.02320616 0.00284835 0.99972664 0.48154888] [ 0. 0. 0. 1. ]] SLAMing on 164.11992885099997 meters Centerline goodness : 0.770687 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.09, Z:0.48 [[ 0.9724421 -0.23196205 0.02345129 -1.02864055] [ 0.23197715 0.97271894 0.00211229 0.09279519] [-0.02330149 0.00338608 0.99972275 0.48172994] [ 0. 0. 0. 1. ]] SLAMing on 164.14992885099997 meters Centerline goodness : 0.772769 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.10, Z:0.48 [[ 0.97229434 -0.23254357 0.02381599 -1.02996082] [ 0.23258387 0.97257572 0.00110183 0.09577317] [-0.02341907 0.00446791 0.99971575 0.48230095] [ 0. 0. 0. 1. ]] SLAMing on 164.17992885099997 meters Centerline goodness : 0.771549 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.10, Z:0.48 [[ 9.72233598e-01 -2.32785534e-01 2.39316794e-02 -1.03054287e+00] [ 2.32838983e-01 9.72515134e-01 5.67137214e-04 9.72786733e-02] [-2.34059418e-02 5.02083804e-03 9.99713435e-01 4.82736074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.20992885099997 meters Centerline goodness : 0.772782 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.10, Z:0.48 [[ 9.72166594e-01 -2.33050375e-01 2.40756388e-02 -1.03124084e+00] [ 2.33117799e-01 9.72448503e-01 6.30513002e-06 9.87632123e-02] [-2.34137883e-02 5.60633028e-03 9.99710140e-01 4.83307004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.23992885099997 meters Centerline goodness : 0.773692 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.10, Z:0.48 [[ 9.72128172e-01 -2.33203391e-01 2.41453163e-02 -1.03159100e+00] [ 2.33280540e-01 9.72409398e-01 -3.89982525e-04 1.00078539e-01] [-2.33881872e-02 6.01174543e-03 9.99708383e-01 4.83502141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.26992885099997 meters Centerline goodness : 0.772628 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.10, Z:0.48 [[ 9.72060387e-01 -2.33469982e-01 2.42975451e-02 -1.03213483e+00] [ 2.33561789e-01 9.72341476e-01 -9.71948675e-04 1.01867670e-01] [-2.33985900e-02 6.61977089e-03 9.99704299e-01 4.83705696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.29992885099998 meters Centerline goodness : 0.772795 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.10, Z:0.48 [[ 0.97201937 -0.23363391 0.02436274 -1.03247592] [ 0.23373263 0.97230011 -0.00124603 0.10268845] [-0.02339678 0.00690553 0.99970241 0.48390581] [ 0. 0. 0. 1. ]] SLAMing on 164.32992885099998 meters Centerline goodness : 0.774557 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.10, Z:0.48 [[ 0.97194166 -0.23393665 0.02455703 -1.03321002] [ 0.23404672 0.97222392 -0.00166742 0.10376008] [-0.02348486 0.00736813 0.99969704 0.48429759] [ 0. 0. 0. 1. ]] SLAMing on 164.35992885099998 meters Centerline goodness : 0.772805 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.10, Z:0.48 [[ 0.97185677 -0.23427235 0.02471603 -1.03398151] [ 0.23439241 0.97213993 -0.00203697 0.10463091] [-0.02355023 0.00777289 0.99969244 0.48477783] [ 0. 0. 0. 1. ]] SLAMing on 164.38992885099998 meters Centerline goodness : 0.771577 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.11, Z:0.48 [[ 0.97181976 -0.23441696 0.02480019 -1.03425414] [ 0.23454137 0.97210367 -0.00219141 0.10518104] [-0.02359465 0.00794633 0.99969003 0.48483546] [ 0. 0. 0. 1. ]] SLAMing on 164.41992885099998 meters Centerline goodness : 0.771811 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.11, Z:0.48 [[ 0.97181891 -0.23442116 0.02479355 -1.03396713] [ 0.23454762 0.97210196 -0.00228039 0.10573347] [-0.02356728 0.00803139 0.99968999 0.48432941] [ 0. 0. 0. 1. ]] SLAMing on 164.44992885099998 meters Centerline goodness : 0.772934 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.11, Z:0.48 [[ 0.97183465 -0.23436373 0.0247197 -1.03366927] [ 0.23449075 0.97211556 -0.00233026 0.10606507] [-0.02348428 0.00806117 0.99969171 0.48412192] [ 0. 0. 0. 1. ]] SLAMing on 164.47992885099998 meters Centerline goodness : 0.772387 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.11, Z:0.48 [[ 0.97185539 -0.23428488 0.02465152 -1.03335819] [ 0.23441319 0.97213407 -0.00241009 0.10661125] [-0.02339993 0.0081209 0.9996932 0.48388224] [ 0. 0. 0. 1. ]] SLAMing on 164.50992885099998 meters Centerline goodness : 0.772882 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.11, Z:0.48 [[ 0.97188117 -0.23419175 0.02451951 -1.0330398 ] [ 0.23432301 0.97215536 -0.00258372 0.1074933 ] [-0.02323168 0.00825655 0.99969601 0.4838023 ] [ 0. 0. 0. 1. ]] SLAMing on 164.53992885099998 meters Centerline goodness : 0.773881 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.11, Z:0.48 [[ 0.97256595 -0.23135231 0.02432223 -1.03491485] [ 0.23139489 0.9728593 0.00108797 0.10698257] [-0.02391382 0.00456992 0.99970358 0.48393557] [ 0. 0. 0. 1. ]] SLAMing on 164.569928851 meters Centerline goodness : 0.773881 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.11, Z:0.48 [[ 0.97256595 -0.23135231 0.02432223 -1.03491485] [ 0.23139489 0.9728593 0.00108797 0.10698257] [-0.02391382 0.00456992 0.99970358 0.48393557] [ 0. 0. 0. 1. ]] SLAMing on 164.599928851 meters Centerline goodness : 0.774188 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.11, Z:0.48 [[ 9.72571758e-01 -2.31330819e-01 2.42945885e-02 -1.03505805e+00] [ 2.31382070e-01 9.72862694e-01 7.18562256e-04 1.07863053e-01] [-2.38015244e-02 4.92247884e-03 9.99704585e-01 4.84449134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.629928851 meters Centerline goodness : 0.773874 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.11, Z:0.48 [[ 9.72568763e-01 -2.31347921e-01 2.42516256e-02 -1.03518543e+00] [ 2.31406153e-01 9.72857142e-01 4.15711982e-04 1.08523079e-01] [-2.36895413e-02 5.20766690e-03 9.99705800e-01 4.84898370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.659928851 meters Centerline goodness : 0.772332 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.11, Z:0.49 [[ 9.72568853e-01 -2.31342783e-01 2.42969683e-02 -1.03541276e+00] [ 2.31403360e-01 9.72857841e-01 3.26798190e-04 1.08470620e-01] [-2.37130986e-02 5.30456637e-03 9.99704732e-01 4.85221772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.689928851 meters Centerline goodness : 0.775450 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.11, Z:0.49 [[ 9.72543337e-01 -2.31440861e-01 2.43841339e-02 -1.03601333e+00] [ 2.31510663e-01 9.72832365e-01 -4.07044922e-05 1.09257287e-01] [-2.37122539e-02 5.68477388e-03 9.99702662e-01 4.85959435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.719928851 meters Centerline goodness : 0.773989 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.11, Z:0.49 [[ 9.72530818e-01 -2.31491459e-01 2.44031074e-02 -1.03622445e+00] [ 2.31565205e-01 9.72819364e-01 -2.01791179e-04 1.09654300e-01] [-2.36931025e-02 5.84715871e-03 9.99702179e-01 4.86251034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.74992885099996 meters Centerline goodness : 0.774470 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.11, Z:0.49 [[ 9.72504199e-01 -2.31595178e-01 2.44797352e-02 -1.03661882e+00] [ 2.31671943e-01 9.72793923e-01 -3.08643253e-04 1.09878550e-01] [-2.37422573e-02 5.97142467e-03 9.99700279e-01 4.86567818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.77992885099997 meters Centerline goodness : 0.773329 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.11, Z:0.49 [[ 9.72478509e-01 -2.31697118e-01 2.45355858e-02 -1.03689765e+00] [ 2.31776365e-01 9.72769016e-01 -3.97655161e-04 1.09859198e-01] [-2.37753221e-02 6.07348000e-03 9.99698878e-01 4.86823776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.80992885099997 meters Centerline goodness : 0.775610 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.11, Z:0.49 [[ 9.72461728e-01 -2.31759850e-01 2.46081300e-02 -1.03699608e+00] [ 2.31838614e-01 9.72754197e-01 -3.58129837e-04 1.09403189e-01] [-2.38546617e-02 6.05338233e-03 9.99697110e-01 4.86877529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.83992885099997 meters Centerline goodness : 0.775519 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.11, Z:0.49 [[ 9.72352397e-01 -2.32187929e-01 2.48914066e-02 -1.03733772e+00] [ 2.32261511e-01 9.72653374e-01 -6.68654521e-05 1.07306813e-01] [-2.41951852e-02 5.84633249e-03 9.99690159e-01 4.86585121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.86992885099997 meters Centerline goodness : 0.774949 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.11, Z:0.49 [[ 9.72291934e-01 -2.32420264e-01 2.50841761e-02 -1.03756825e+00] [ 2.32489204e-01 9.72598962e-01 1.72594432e-04 1.05912275e-01] [-2.44369581e-02 5.66398796e-03 9.99685328e-01 4.86376309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.89992885099997 meters Centerline goodness : 0.773457 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.10, Z:0.49 [[ 9.72208622e-01 -2.32741712e-01 2.53316167e-02 -1.03796516e+00] [ 2.32807558e-01 9.72522757e-01 3.59095509e-04 1.04690030e-01] [-2.47191503e-02 5.54827608e-03 9.99679039e-01 4.86222758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.92992885099997 meters Centerline goodness : 0.774715 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.10, Z:0.49 [[ 9.72073207e-01 -2.33280331e-01 2.55727768e-02 -1.03854384e+00] [ 2.33340965e-01 9.72394775e-01 6.28566692e-04 1.03139158e-01] [-2.50134668e-02 5.35616359e-03 9.99672765e-01 4.86063275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.95992885099997 meters Centerline goodness : 0.777338 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.10, Z:0.49 [[ 9.72003712e-01 -2.33549044e-01 2.57609891e-02 -1.03893195e+00] [ 2.33608606e-01 9.72330452e-01 7.14827497e-04 1.02346650e-01] [-2.52151415e-02 5.32317379e-03 9.99667875e-01 4.86073466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.98992885099997 meters Centerline goodness : 0.775942 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.10, Z:0.49 [[ 9.71935899e-01 -2.33809379e-01 2.59573054e-02 -1.03939287e+00] [ 2.33867795e-01 9.72268073e-01 8.04711857e-04 1.01295389e-01] [-2.54256085e-02 5.28844945e-03 9.99662728e-01 4.86237862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.01992885099997 meters Centerline goodness : 0.772803 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.10, Z:0.49 [[ 9.71857208e-01 -2.34110422e-01 2.61892740e-02 -1.03998484e+00] [ 2.34166636e-01 9.72196018e-01 9.42638435e-04 9.98265426e-02] [-2.56817894e-02 5.21654425e-03 9.99656558e-01 4.86532771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.04992885099998 meters Centerline goodness : 0.773829 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.10, Z:0.49 [[ 9.71743725e-01 -2.34549516e-01 2.64699423e-02 -1.04088293e+00] [ 2.34605415e-01 9.72090152e-01 1.01754738e-03 9.82307775e-02] [-2.59698354e-02 5.22119652e-03 9.99649092e-01 4.87132926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.07992885099998 meters Centerline goodness : 0.776113 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.10, Z:0.49 [[ 9.71600993e-01 -2.35102294e-01 2.68034066e-02 -1.04201586e+00] [ 2.35161250e-01 9.71955881e-01 9.75728845e-04 9.70167082e-02] [-2.62811248e-02 5.35510350e-03 9.99640248e-01 4.87815025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.10992885099998 meters Centerline goodness : 0.775175 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.09, Z:0.49 [[ 9.71352334e-01 -2.36077625e-01 2.72396525e-02 -1.04366755e+00] [ 2.36138642e-01 9.71718859e-01 1.00071843e-03 9.45845454e-02] [-2.67055312e-02 5.46028438e-03 9.99628431e-01 4.88860545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13992885099998 meters Centerline goodness : 0.775200 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.09, Z:0.49 [[ 0.97122909 -0.23654709 0.02755974 -1.04459321] [ 0.23660823 0.97160455 0.00106803 0.09326457] [-0.02702981 0.00548356 0.99961959 0.48930914] [ 0. 0. 0. 1. ]] SLAMing on 165.16992885099998 meters Centerline goodness : 0.773326 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.09, Z:0.49 [[ 0.97110179 -0.23703464 0.02785493 -1.04539768] [ 0.23709526 0.97148572 0.00115393 0.09167561] [-0.02733418 0.00548369 0.99961131 0.48974529] [ 0. 0. 0. 1. ]] SLAMing on 165.19992885099998 meters Centerline goodness : 0.774691 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.09, Z:0.49 [[ 0.97099315 -0.23744634 0.02813414 -1.04611203] [ 0.23750353 0.97138575 0.00133986 0.08976405] [-0.02764725 0.00538096 0.99960326 0.49011982] [ 0. 0. 0. 1. ]] SLAMing on 165.22992885099998 meters Centerline goodness : 0.773521 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.09, Z:0.49 [[ 0.97015442 -0.24078664 0.02867404 -1.04501199] [ 0.24094486 0.97053644 -0.00214528 0.08754844] [-0.02731265 0.00899011 0.99958651 0.4905249 ] [ 0. 0. 0. 1. ]] SLAMing on 165.25992885099998 meters Centerline goodness : 0.773712 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.09, Z:0.49 [[ 0.97005074 -0.24116911 0.02896581 -1.04563369] [ 0.24132224 0.97044326 -0.00186025 0.08521601] [-0.02766104 0.00879463 0.99957867 0.49081981] [ 0. 0. 0. 1. ]] SLAMing on 165.28992885099998 meters Centerline goodness : 0.772146 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.08, Z:0.49 [[ 0.96997132 -0.24145639 0.02923108 -1.04619187] [ 0.24160295 0.97037398 -0.00153715 0.08323857] [-0.02799392 0.0085533 0.9995715 0.49099023] [ 0. 0. 0. 1. ]] SLAMing on 165.319928851 meters Centerline goodness : 0.773024 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.08, Z:0.49 [[ 0.96992778 -0.24162107 0.02931493 -1.04644043] [ 0.24176041 0.97033517 -0.00125241 0.08155266] [-0.0281427 0.00830194 0.99956944 0.49125908] [ 0. 0. 0. 1. ]] SLAMing on 165.349928851 meters Centerline goodness : 0.771086 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.08, Z:0.49 [[ 9.69875237e-01 -2.41815661e-01 2.94484517e-02 -1.04665685e+00] [ 2.41938390e-01 9.70291413e-01 -6.24589433e-04 7.82408981e-02] [-2.84225443e-02 7.73048479e-03 9.99566105e-01 4.91476682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.379928851 meters Centerline goodness : 0.773125 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.08, Z:0.49 [[ 9.69890915e-01 -2.41758389e-01 2.94022749e-02 -1.04631131e+00] [ 2.41863195e-01 9.70310360e-01 -8.36280156e-06 7.57713328e-02] [-2.85273102e-02 7.11943916e-03 9.99567660e-01 4.91323014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.409928851 meters Centerline goodness : 0.770169 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.07, Z:0.49 [[ 9.69857402e-01 -2.41874790e-01 2.95500555e-02 -1.04635982e+00] [ 2.41965057e-01 9.70284816e-01 5.35867841e-04 7.29738914e-02] [-2.88015831e-02 6.63036545e-03 9.99563158e-01 4.91259439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.439928851 meters Centerline goodness : 0.769110 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.07, Z:0.49 [[ 0.96976813 -0.24223341 0.02954217 -1.04609308] [ 0.24230812 0.97019875 0.00107847 0.06834343] [-0.02892302 0.00611245 0.99956295 0.49165878] [ 0. 0. 0. 1. ]] SLAMing on 165.469928851 meters Centerline goodness : 0.768203 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.07, Z:0.49 [[ 0.96977137 -0.24222384 0.0295144 -1.04599916] [ 0.24228749 0.97020341 0.00145426 0.06643455] [-0.02898723 0.00574066 0.9995633 0.49189389] [ 0. 0. 0. 1. ]] SLAMing on 165.49992885099996 meters Centerline goodness : 0.766691 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.07, Z:0.49 [[ 0.96978293 -0.24218309 0.02946893 -1.04587111] [ 0.24223702 0.97021547 0.00178008 0.06501733] [-0.02902232 0.00541218 0.99956411 0.49200122] [ 0. 0. 0. 1. ]] SLAMing on 165.52992885099997 meters Centerline goodness : 0.769024 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.06, Z:0.49 [[ 0.96984305 -0.24196539 0.02927798 -1.04524985] [ 0.24200612 0.97027223 0.00219771 0.06357397] [-0.02893938 0.00495402 0.99956889 0.49187985] [ 0. 0. 0. 1. ]] SLAMing on 165.55992885099997 meters Centerline goodness : 0.766531 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.06, Z:0.49 [[ 0.96998485 -0.24143984 0.02891701 -1.04391332] [ 0.24145386 0.97040748 0.00305831 0.06068256] [-0.02879968 0.00401561 0.99957714 0.49141813] [ 0. 0. 0. 1. ]] SLAMing on 165.58992885099997 meters Centerline goodness : 0.765841 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.06, Z:0.49 [[ 0.97004322 -0.24121702 0.02881834 -1.04341802] [ 0.24122068 0.97046433 0.00340162 0.05913544] [-0.0287877 0.00365187 0.99957888 0.49135207] [ 0. 0. 0. 1. ]] SLAMing on 165.61992885099997 meters Centerline goodness : 0.765655 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.06, Z:0.49 [[ 0.97007073 -0.24112451 0.0286661 -1.04304964] [ 0.24112313 0.97048802 0.00355653 0.05801868] [-0.02867768 0.00346197 0.99958272 0.49158052] [ 0. 0. 0. 1. ]] SLAMing on 165.64992885099997 meters Centerline goodness : 0.764526 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.06, Z:0.49 [[ 0.97011192 -0.24097314 0.02854492 -1.04273285] [ 0.24096862 0.97052605 0.0036499 0.05726732] [-0.02858311 0.00333761 0.99958585 0.49182464] [ 0. 0. 0. 1. ]] SLAMing on 165.67992885099997 meters Centerline goodness : 0.766089 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.06, Z:0.49 [[ 0.97018968 -0.24068504 0.02833199 -1.04224374] [ 0.24067487 0.97059828 0.00381932 0.05678653] [-0.02841823 0.00311333 0.99959127 0.49193359] [ 0. 0. 0. 1. ]] SLAMing on 165.70992885099997 meters Centerline goodness : 0.765498 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.06, Z:0.49 [[ 0.97039631 -0.23991551 0.02777686 -1.04093711] [ 0.23989069 0.97079051 0.00427188 0.05565832] [-0.02799041 0.00251799 0.99960502 0.49213014] [ 0. 0. 0. 1. ]] SLAMing on 165.73992885099997 meters Centerline goodness : 0.764506 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.05, Z:0.49 [[ 0.97048506 -0.23957834 0.02758545 -1.04036714] [ 0.23954556 0.97087453 0.00453592 0.05491671] [-0.02786872 0.00220592 0.99960916 0.49208602] [ 0. 0. 0. 1. ]] SLAMing on 165.76992885099997 meters Centerline goodness : 0.763748 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.05, Z:0.49 [[ 0.97056328 -0.23928765 0.02735578 -1.03986719] [ 0.2392472 0.97094687 0.00479028 0.05395386] [-0.02770727 0.00189553 0.99961428 0.49228289] [ 0. 0. 0. 1. ]] SLAMing on 165.79992885099998 meters Centerline goodness : 0.763965 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.05, Z:0.49 [[ 0.97065831 -0.23891842 0.02721092 -1.03938712] [ 0.2388687 0.97103842 0.00511086 0.05306478] [-0.02764393 0.00153894 0.99961665 0.49226076] [ 0. 0. 0. 1. ]] SLAMing on 165.82992885099998 meters Centerline goodness : 0.764786 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.05, Z:0.49 [[ 9.70807159e-01 -2.38353370e-01 2.68538918e-02 -1.03856790e+00] [ 2.38287522e-01 9.71178087e-01 5.67283597e-03 5.11279889e-02] [-2.74320509e-02 8.91717558e-04 9.99623273e-01 4.92596363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.85992885099998 meters Centerline goodness : 0.762274 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.05, Z:0.49 [[ 9.70870307e-01 -2.38112147e-01 2.67105157e-02 -1.03826501e+00] [ 2.38037779e-01 9.71237508e-01 5.97656815e-03 5.01161672e-02] [-2.73653482e-02 5.55639261e-04 9.99625344e-01 4.92797016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.88992885099998 meters Centerline goodness : 0.762835 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.05, Z:0.49 [[ 9.70907582e-01 -2.37968696e-01 2.66339508e-02 -1.03810583e+00] [ 2.37887355e-01 9.71272782e-01 6.22814159e-03 4.91507798e-02] [-2.73509342e-02 2.88930225e-04 9.99625851e-01 4.92969176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.91992885099998 meters Centerline goodness : 0.761320 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.05, Z:0.49 [[ 9.70985634e-01 -2.37668028e-01 2.64727620e-02 -1.03754518e+00] [ 2.37573870e-01 9.71346419e-01 6.69264329e-03 4.76849162e-02] [-2.73048499e-02 -2.09223974e-04 9.99627131e-01 4.92863309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.94992885099998 meters Centerline goodness : 0.817132 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.04, Z:0.49 [[ 0.97109271 -0.23726258 0.0261805 -1.03649259] [ 0.23714536 0.97144492 0.00753978 0.04445947] [-0.02722182 -0.00111324 0.9996288 0.49268235] [ 0. 0. 0. 1. ]] SLAMing on 165.97992885099998 meters Centerline goodness : 0.816523 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.04, Z:0.49 [[ 0.97115316 -0.23702851 0.02605804 -1.03577004] [ 0.23689893 0.97150139 0.00799658 0.04290141] [-0.02721084 -0.00159278 0.99962845 0.49226263] [ 0. 0. 0. 1. ]] SLAMing on 166.00992885099998 meters Centerline goodness : 0.758368 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.04, Z:0.49 [[ 0.97121661 -0.23678191 0.02593488 -1.03508523] [ 0.23664118 0.9715607 0.00841178 0.04160244] [-0.02718907 -0.0020324 0.99962824 0.49183693] [ 0. 0. 0. 1. ]] SLAMing on 166.03992885099998 meters Centerline goodness : 0.759441 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.04, Z:0.49 [[ 0.97125331 -0.23664172 0.02584013 -1.0346268 ] [ 0.23649098 0.97159396 0.00878573 0.04039101] [-0.02718518 -0.00242222 0.99962748 0.49159349] [ 0. 0. 0. 1. ]] SLAMing on 166.069928851 meters Centerline goodness : 0.757279 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.04, Z:0.49 [[ 0.97125911 -0.23661832 0.02583607 -1.0345586 ] [ 0.23646543 0.97159946 0.00886495 0.0398559 ] [-0.02719992 -0.00250083 0.99962689 0.49167202] [ 0. 0. 0. 1. ]] SLAMing on 166.099928851 meters Centerline goodness : 0.758801 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.04, Z:0.49 [[ 0.97131041 -0.23642427 0.02568346 -1.03410057] [ 0.23626363 0.97164579 0.00916244 0.03893815] [-0.02712145 -0.00283151 0.99962814 0.49158273] [ 0. 0. 0. 1. ]] SLAMing on 166.129928851 meters Centerline goodness : 0.758049 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.04, Z:0.49 [[ 0.9713524 -0.23626424 0.02556803 -1.03366579] [ 0.23609164 0.97168323 0.00961434 0.03710166] [-0.02711555 -0.00330251 0.99962685 0.49156802] [ 0. 0. 0. 1. ]] SLAMing on 166.159928851 meters Centerline goodness : 0.756470 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.04, Z:0.49 [[ 0.97136884 -0.23619747 0.02556016 -1.03347179] [ 0.23601777 0.97169855 0.00987628 0.03591427] [-0.02716953 -0.00356086 0.9996245 0.49153099] [ 0. 0. 0. 1. ]] SLAMing on 166.189928851 meters Centerline goodness : 0.757342 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.03, Z:0.49 [[ 0.97138247 -0.23614009 0.02557269 -1.03342312] [ 0.23595395 0.97171164 0.01011032 0.03473505] [-0.02723673 -0.00378701 0.99962184 0.49166177] [ 0. 0. 0. 1. ]] SLAMing on 166.219928851 meters Centerline goodness : 0.814097 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.03, Z:0.49 [[ 0.97140349 -0.2360581 0.02553093 -1.03337138] [ 0.2358633 0.97173024 0.01043278 0.03304728] [-0.02727192 -0.00411263 0.99961959 0.49203684] [ 0. 0. 0. 1. ]] SLAMing on 166.24992885099996 meters Centerline goodness : 0.758532 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.03, Z:0.49 [[ 0.97138719 -0.23611702 0.02560609 -1.03355471] [ 0.23591732 0.9717153 0.01060141 0.03212813] [-0.027385 -0.00425715 0.9996159 0.49218587] [ 0. 0. 0. 1. ]] SLAMing on 166.27992885099997 meters Centerline goodness : 0.814965 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.03, Z:0.49 [[ 0.97138993 -0.23610184 0.02564217 -1.03360008] [ 0.23589767 0.97171835 0.01075818 0.03109748] [-0.027457 -0.00440146 0.9996133 0.49242386] [ 0. 0. 0. 1. ]] SLAMing on 166.30992885099997 meters Centerline goodness : 0.759376 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.03, Z:0.49 [[ 0.97135564 -0.23623282 0.02573471 -1.03387592] [ 0.23602421 0.97168597 0.0109061 0.02984912] [-0.02758244 -0.00451969 0.99960931 0.49279076] [ 0. 0. 0. 1. ]] SLAMing on 166.33992885099997 meters Centerline goodness : 0.759217 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.03, Z:0.49 [[ 0.97126524 -0.23657635 0.02598983 -1.03439712] [ 0.23635722 0.97160114 0.01124677 0.02709161] [-0.02791247 -0.00478072 0.99959894 0.49324536] [ 0. 0. 0. 1. ]] SLAMing on 166.36992885099997 meters Centerline goodness : 0.758883 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.03, Z:0.49 [[ 0.97122845 -0.23671693 0.02608446 -1.03448594] [ 0.2364907 0.97156587 0.01148552 0.02543851] [-0.02806159 -0.00498633 0.99959376 0.49337173] [ 0. 0. 0. 1. ]] SLAMing on 166.39992885099997 meters Centerline goodness : 0.758530 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.02, Z:0.49 [[ 0.97118356 -0.2368935 0.02615259 -1.03452332] [ 0.23666027 0.97152173 0.01172408 0.02363818] [-0.02818516 -0.00519695 0.99958921 0.4935382 ] [ 0. 0. 0. 1. ]] SLAMing on 166.42992885099997 meters Centerline goodness : 0.816478 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.02, Z:0.49 [[ 0.97112379 -0.23712369 0.02628562 -1.03464747] [ 0.23688212 0.97146433 0.01199696 0.02170011] [-0.02838031 -0.00542394 0.99958248 0.49362551] [ 0. 0. 0. 1. ]] SLAMing on 166.45992885099997 meters Centerline goodness : 0.758253 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.02, Z:0.49 [[ 0.97105288 -0.23739497 0.02645631 -1.03489327] [ 0.23714411 0.9713967 0.01229295 0.01982471] [-0.02861786 -0.00566315 0.99957438 0.49369632] [ 0. 0. 0. 1. ]] SLAMing on 166.48992885099997 meters Centerline goodness : 0.758253 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.02, Z:0.49 [[ 0.97105288 -0.23739497 0.02645631 -1.03489327] [ 0.23714411 0.9713967 0.01229295 0.01982471] [-0.02861786 -0.00566315 0.99957438 0.49369632] [ 0. 0. 0. 1. ]] SLAMing on 166.51992885099997 meters Centerline goodness : 0.757844 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.02, Z:0.49 [[ 0.97099607 -0.23761533 0.02656296 -1.03505092] [ 0.23735533 0.97134128 0.0125922 0.01799994] [-0.0287938 -0.00592212 0.99956783 0.49384604] [ 0. 0. 0. 1. ]] SLAMing on 166.54992885099998 meters Centerline goodness : 0.757566 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.02, Z:0.49 [[ 0.97031417 -0.24036596 0.02673229 -1.03271616] [ 0.24018523 0.97067735 0.00982562 0.01574489] [-0.02831017 -0.00311323 0.99959434 0.49301209] [ 0. 0. 0. 1. ]] SLAMing on 166.57992885099998 meters Centerline goodness : 0.757095 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.01, Z:0.49 [[ 0.97029628 -0.24043092 0.02679743 -1.03255516] [ 0.24023628 0.97065971 0.01030831 0.01326731] [-0.02848963 -0.0035644 0.99958773 0.49298455] [ 0. 0. 0. 1. ]] SLAMing on 166.60992885099998 meters Centerline goodness : 0.758754 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.01, Z:0.49 [[ 0.97023591 -0.24065842 0.02694058 -1.03284212] [ 0.24045493 0.9706024 0.01060221 0.01117564] [-0.0287001 -0.00380865 0.99958081 0.49333419] [ 0. 0. 0. 1. ]] SLAMing on 166.63992885099998 meters Centerline goodness : 0.756841 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.01, Z:0.49 [[ 0.97018358 -0.24085499 0.02706848 -1.03322299] [ 0.24064291 0.97055267 0.01088551 0.00901324] [-0.02889321 -0.0040471 0.99957431 0.4939064 ] [ 0. 0. 0. 1. ]] SLAMing on 166.66992885099998 meters Centerline goodness : 0.814103 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.00, Z:0.50 [[ 0.97000943 -0.24152429 0.02734454 -1.03404809] [ 0.24130508 0.97038582 0.01110066 0.00462578] [-0.02921583 -0.00416936 0.99956443 0.49533326] [ 0. 0. 0. 1. ]] SLAMing on 166.69992885099998 meters Centerline goodness : 0.759587 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.00, Z:0.50 [[ 0.96995518 -0.24173038 0.02744756 -1.03431647] [ 0.24150187 0.97033332 0.01140546 0.00248212] [-0.02939033 -0.00443415 0.99955818 0.49579056] [ 0. 0. 0. 1. ]] SLAMing on 166.72992885099998 meters Centerline goodness : 0.761869 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.00, Z:0.50 [[ 0.96982212 -0.24224413 0.02761965 -1.03460202] [ 0.24199973 0.97020306 0.01192292 -0.00213159] [-0.02968493 -0.00487917 0.9995474 0.49656297] [ 0. 0. 0. 1. ]] SLAMing on 166.75992885099998 meters Centerline goodness : 0.761459 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.00, Z:0.50 [[ 0.96977522 -0.24241905 0.02773129 -1.03471276] [ 0.24216309 0.97015766 0.01229421 -0.00459249] [-0.02988408 -0.00520712 0.99953981 0.49684051] [ 0. 0. 0. 1. ]] SLAMing on 166.78992885099998 meters Centerline goodness : 0.761583 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.01, Z:0.50 [[ 0.96973683 -0.24255947 0.02784558 -1.03481237] [ 0.24228942 0.9701203 0.01274484 -0.00721725] [-0.03010495 -0.00561245 0.99953099 0.49707196] [ 0. 0. 0. 1. ]] SLAMing on 166.819928851 meters Centerline goodness : 0.761539 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.01, Z:0.50 [[ 0.96971132 -0.24265405 0.02790994 -1.03484778] [ 0.24237184 0.97009449 0.01313658 -0.00950221] [-0.03026292 -0.0059741 0.99952412 0.49735028] [ 0. 0. 0. 1. ]] SLAMing on 166.849928851 meters Centerline goodness : 0.762589 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.01, Z:0.50 [[ 0.96973374 -0.24256765 0.02788216 -1.034592 ] [ 0.24226496 0.97011175 0.01381615 -0.01295083] [-0.03040016 -0.00664312 0.99951573 0.49769323] [ 0. 0. 0. 1. ]] SLAMing on 166.879928851 meters Centerline goodness : 0.761842 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.02, Z:0.50 [[ 0.9697495 -0.24227779 0.0297891 -1.03762293] [ 0.24202061 0.97019678 0.01200999 -0.01511616] [-0.03181104 -0.00443711 0.99948405 0.4988574 ] [ 0. 0. 0. 1. ]] SLAMing on 166.909928851 meters Centerline goodness : 0.761356 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.02, Z:0.50 [[ 0.97134447 -0.23697774 0.01820621 -1.03957383] [ 0.23675243 0.97147342 0.01369955 -0.02139647] [-0.02093333 -0.00899662 0.99974039 0.50447957] [ 0. 0. 0. 1. ]] SLAMing on 166.939928851 meters Centerline goodness : 0.764004 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.02, Z:0.50 [[ 0.97139518 -0.23674141 0.01857201 -1.03999957] [ 0.23651118 0.97153112 0.01377482 -0.02257566] [-0.02130436 -0.0089883 0.99973263 0.50452219] [ 0. 0. 0. 1. ]] SLAMing on 166.969928851 meters Centerline goodness : 0.762560 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.51 [[ 0.97285875 -0.23128596 0.00725728 -1.04277985] [ 0.2311677 0.97280921 0.01427388 -0.02795654] [-0.0103613 -0.01220882 0.99987179 0.51054746] [ 0. 0. 0. 1. ]] SLAMing on 166.99992885099996 meters Centerline goodness : 0.763943 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.04, Z:0.52 [[ 9.74357020e-01 -2.24970624e-01 -4.07623521e-03 -1.04501286e+00] [ 2.25007381e-01 9.74218561e-01 1.64278205e-02 -3.52435226e-02] [ 2.75366970e-04 -1.69237453e-02 9.99856745e-01 5.15145244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.02992885099997 meters Centerline goodness : 0.818734 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.04, Z:0.52 [[ 9.74394232e-01 -2.24828828e-01 -2.80698671e-03 -1.04717555e+00] [ 2.24845284e-01 9.74275238e-01 1.52433238e-02 -3.65809193e-02] [-6.92360976e-04 -1.54841445e-02 9.99879874e-01 5.15754968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.05992885099997 meters Centerline goodness : 0.762657 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.04, Z:0.52 [[ 0.9756435 -0.21898042 -0.0129356 -1.05090558] [ 0.21916193 0.97557566 0.01483862 -0.04146624] [ 0.00937029 -0.01731219 0.99980622 0.52153103] [ 0. 0. 0. 1. ]] SLAMing on 167.08992885099997 meters Centerline goodness : 0.764032 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.05, Z:0.53 [[ 0.97670921 -0.21308993 -0.02513584 -1.05208674] [ 0.21354022 0.97678953 0.01681636 -0.04680258] [ 0.02096903 -0.02179221 0.9995426 0.52715598] [ 0. 0. 0. 1. ]] SLAMing on 167.11992885099997 meters Centerline goodness : 0.765387 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.05, Z:0.53 [[ 0.97773768 -0.20658746 -0.03675119 -1.05422986] [ 0.20738556 0.97806731 0.01937973 -0.05390094] [ 0.03194153 -0.02656996 0.99913652 0.53288133] [ 0. 0. 0. 1. ]] SLAMing on 167.14992885099997 meters Centerline goodness : 0.765001 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.06, Z:0.54 [[ 0.97851576 -0.20024936 -0.04906225 -1.05538551] [ 0.2015063 0.97923733 0.02212374 -0.06030651] [ 0.04361332 -0.03153478 0.99855067 0.53837003] [ 0. 0. 0. 1. ]] SLAMing on 167.17992885099997 meters Centerline goodness : 0.765916 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.07, Z:0.54 [[ 0.97925028 -0.19404793 -0.058432 -1.05884197] [ 0.19557885 0.98044836 0.02167775 -0.06535662] [ 0.05308303 -0.03265601 0.998056 0.54352399] [ 0. 0. 0. 1. ]] SLAMing on 167.20992885099997 meters Centerline goodness : 0.765836 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.07, Z:0.54 [[ 0.97931048 -0.19387547 -0.05799388 -1.05950166] [ 0.1953892 0.98048728 0.02162752 -0.06631008] [ 0.05266922 -0.03251144 0.99808264 0.54350483] [ 0. 0. 0. 1. ]] SLAMing on 167.23992885099997 meters Centerline goodness : 0.765435 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.07, Z:0.54 [[ 0.97942113 -0.19348432 -0.05742874 -1.06038609] [ 0.19500745 0.98055119 0.02216904 -0.0688134 ] [ 0.05202246 -0.03291186 0.99810344 0.54374626] [ 0. 0. 0. 1. ]] SLAMing on 167.26992885099997 meters Centerline goodness : 0.765013 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.07, Z:0.55 [[ 0.97983393 -0.18733222 -0.06951341 -1.06157984] [ 0.18943015 0.98157923 0.02486815 -0.0747669 ] [ 0.06357432 -0.03753459 0.99727101 0.54905745] [ 0. 0. 0. 1. ]] SLAMing on 167.29992885099998 meters Centerline goodness : 0.766615 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.55 [[ 0.97982383 -0.18745941 -0.06931259 -1.06173243] [ 0.18955544 0.98155287 0.02495384 -0.07605932] [ 0.06335614 -0.03758895 0.99728284 0.54912738] [ 0. 0. 0. 1. ]] SLAMing on 167.32992885099998 meters Centerline goodness : 0.766766 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.55 [[ 0.97980293 -0.18757397 -0.06929805 -1.06152688] [ 0.18967672 0.98152661 0.02506516 -0.07720388] [ 0.06331631 -0.03770314 0.99728106 0.54921921] [ 0. 0. 0. 1. ]] SLAMing on 167.35992885099998 meters Centerline goodness : 0.766445 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.09, Z:0.55 [[ 0.97981406 -0.18233211 -0.08197205 -1.06134427] [ 0.18522303 0.98226548 0.02910256 -0.08564791] [ 0.07521198 -0.04369821 0.99620963 0.55331415] [ 0. 0. 0. 1. ]] SLAMing on 167.38992885099998 meters Centerline goodness : 0.766407 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.09, Z:0.56 [[ 0.97976342 -0.17724421 -0.09299529 -1.06304384] [ 0.18057452 0.98314414 0.02864336 -0.09073316] [ 0.0863509 -0.04485629 0.99525446 0.55853262] [ 0. 0. 0. 1. ]] SLAMing on 167.41992885099998 meters Centerline goodness : 0.765965 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.09, Z:0.56 [[ 0.97966541 -0.17774024 -0.09308116 -1.06248205] [ 0.18108833 0.98304553 0.02878376 -0.09214889] [ 0.08638698 -0.04505437 0.99524238 0.55860419] [ 0. 0. 0. 1. ]] SLAMing on 167.44992885099998 meters Centerline goodness : 0.765959 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.09, Z:0.56 [[ 0.97955609 -0.17817858 -0.09339303 -1.06165027] [ 0.18156763 0.98294858 0.02907379 -0.09343377] [ 0.08662022 -0.04543656 0.99520473 0.55881564] [ 0. 0. 0. 1. ]] SLAMing on 167.47992885099998 meters Centerline goodness : 0.767109 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.10, Z:0.56 [[ 0.9794786 -0.17831431 -0.09394508 -1.06099423] [ 0.18184837 0.98285541 0.03043697 -0.09602878] [ 0.08690708 -0.04689612 0.99511201 0.55992008] [ 0. 0. 0. 1. ]] SLAMing on 167.50992885099998 meters Centerline goodness : 0.814823 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.10, Z:0.56 [[ 0.97940821 -0.17869158 -0.09396209 -1.06125604] [ 0.18222144 0.98278855 0.03036474 -0.09637833] [ 0.08691894 -0.04686138 0.99511261 0.56053915] [ 0. 0. 0. 1. ]] SLAMing on 167.53992885099998 meters Centerline goodness : 0.767166 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.10, Z:0.56 [[ 0.9794068 -0.17845261 -0.09442983 -1.0604665 ] [ 0.1820737 0.98279098 0.03116175 -0.09722578] [ 0.08724389 -0.04771322 0.99504369 0.56081637] [ 0. 0. 0. 1. ]] SLAMing on 167.569928851 meters Centerline goodness : 0.745682 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.10, Z:0.56 [[ 0.97945883 -0.17795975 -0.09481944 -1.05958866] [ 0.18167315 0.98283761 0.03201702 -0.09844572] [ 0.08749437 -0.0485855 0.99497949 0.56078555] [ 0. 0. 0. 1. ]] SLAMing on 167.599928851 meters Centerline goodness : 0.815689 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.10, Z:0.56 [[ 0.97945962 -0.17787982 -0.09496115 -1.05935343] [ 0.18162226 0.98283871 0.03227114 -0.09867695] [ 0.08759111 -0.04885534 0.99495776 0.56087155] [ 0. 0. 0. 1. ]] SLAMing on 167.629928851 meters Centerline goodness : 0.815328 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.10, Z:0.56 [[ 0.97944745 -0.1780715 -0.09472711 -1.06009157] [ 0.18175774 0.98283048 0.03175499 -0.09837006] [ 0.08744603 -0.04831973 0.99499668 0.56125874] [ 0. 0. 0. 1. ]] SLAMing on 167.659928851 meters Centerline goodness : 0.814917 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.10, Z:0.56 [[ 0.97951949 -0.17763522 -0.09480131 -1.05993911] [ 0.18133635 0.98290361 0.03190026 -0.09800531] [ 0.08751394 -0.04843785 0.99498497 0.56109191] [ 0. 0. 0. 1. ]] SLAMing on 167.689928851 meters Centerline goodness : 0.767190 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.10, Z:0.56 [[ 0.97963781 -0.17698382 -0.09479714 -1.0598401 ] [ 0.1806922 0.98301864 0.03201061 -0.09770796] [ 0.08752199 -0.04848791 0.99498182 0.56069237] [ 0. 0. 0. 1. ]] SLAMing on 167.71992885099996 meters Centerline goodness : 0.817887 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.10, Z:0.56 [[ 0.98015732 -0.17348905 -0.09588104 -1.05888483] [ 0.17761937 0.98342947 0.0363021 -0.09910852] [ 0.08799422 -0.0526121 0.99473061 0.56077697] [ 0. 0. 0. 1. ]] SLAMing on 167.74992885099996 meters Centerline goodness : 0.817960 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.10, Z:0.56 [[ 0.98020866 -0.17322962 -0.09582523 -1.059274 ] [ 0.17734645 0.98348275 0.03619286 -0.09850626] [ 0.08797279 -0.05247082 0.99473997 0.56095609] [ 0. 0. 0. 1. ]] SLAMing on 167.77992885099997 meters Centerline goodness : 0.745372 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.10, Z:0.56 [[ 0.98024988 -0.17292269 -0.0959579 -1.05911329] [ 0.17705563 0.98353094 0.03630693 -0.09801792] [ 0.08809927 -0.05257975 0.99472302 0.56088216] [ 0. 0. 0. 1. ]] SLAMing on 167.80992885099997 meters Centerline goodness : 0.767501 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.10, Z:0.56 [[ 0.98023604 -0.17287203 -0.09619024 -1.05869036] [ 0.1770287 0.98353096 0.03643743 -0.09767203] [ 0.08830706 -0.05274572 0.99469581 0.56089221] [ 0. 0. 0. 1. ]] SLAMing on 167.83992885099997 meters Centerline goodness : 0.767345 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.10, Z:0.56 [[ 0.98018906 -0.17315907 -0.09615273 -1.05883762] [ 0.17730666 0.98348425 0.03634673 -0.09801277] [ 0.08827093 -0.05267519 0.99470275 0.56121872] [ 0. 0. 0. 1. ]] SLAMing on 167.86992885099997 meters Centerline goodness : 0.822319 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.10, Z:0.56 [[ 0.98010149 -0.17340383 -0.09660325 -1.05767897] [ 0.17759708 0.98342317 0.03658074 -0.09835227] [ 0.08865863 -0.05300929 0.99465052 0.56102183] [ 0. 0. 0. 1. ]] SLAMing on 167.89992885099997 meters Centerline goodness : 0.823372 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.10, Z:0.56 [[ 0.98004848 -0.17363559 -0.09672469 -1.0573371 ] [ 0.17784259 0.9833761 0.03665322 -0.09886418] [ 0.08875244 -0.0531237 0.99463605 0.56115506] [ 0. 0. 0. 1. ]] SLAMing on 167.92992885099997 meters Centerline goodness : 0.824142 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.10, Z:0.56 [[ 0.97999368 -0.17375136 -0.09707139 -1.0564633 ] [ 0.17799815 0.98333927 0.0368855 -0.09906894] [ 0.0890452 -0.05342608 0.99459369 0.56102013] [ 0. 0. 0. 1. ]] SLAMing on 167.95992885099997 meters Centerline goodness : 0.824387 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.10, Z:0.56 [[ 0.97988355 -0.17439642 -0.09702639 -1.05702074] [ 0.17862691 0.98323197 0.03670585 -0.09900887] [ 0.08899808 -0.05329899 0.99460473 0.5618001 ] [ 0. 0. 0. 1. ]] SLAMing on 167.98992885099997 meters Centerline goodness : 0.768167 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.10, Z:0.56 [[ 0.97981965 -0.17460737 -0.09729196 -1.05661584] [ 0.17886374 0.98318439 0.03682691 -0.09882013] [ 0.08922569 -0.05348573 0.99457431 0.56199541] [ 0. 0. 0. 1. ]] SLAMing on 168.01992885099997 meters Centerline goodness : 0.769472 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.10, Z:0.56 [[ 0.97978292 -0.1746215 -0.0976359 -1.05604538] [ 0.17892463 0.98316155 0.03713956 -0.09865088] [ 0.08950649 -0.05385818 0.99452898 0.56207114] [ 0. 0. 0. 1. ]] SLAMing on 168.04992885099998 meters Centerline goodness : 0.767807 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.10, Z:0.56 [[ 0.97974958 -0.17473409 -0.09776893 -1.05554928] [ 0.17904074 0.98314213 0.03709395 -0.09865993] [ 0.08963917 -0.0538474 0.99451761 0.56186499] [ 0. 0. 0. 1. ]] SLAMing on 168.07992885099998 meters Centerline goodness : 0.829549 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.10, Z:0.56 [[ 0.97968297 -0.17502071 -0.09792354 -1.05502285] [ 0.17932053 0.9830979 0.0369142 -0.09861257] [ 0.08980768 -0.05372392 0.99450909 0.56168079] [ 0. 0. 0. 1. ]] SLAMing on 168.10992885099998 meters Centerline goodness : 0.830356 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.10, Z:0.56 [[ 0.97956676 -0.17540772 -0.09839255 -1.05382871] [ 0.17972349 0.9830288 0.03679456 -0.09777846] [ 0.09026866 -0.05372618 0.99446723 0.56131226] [ 0. 0. 0. 1. ]] SLAMing on 168.13992885099998 meters Centerline goodness : 0.767200 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.10, Z:0.56 [[ 0.97955096 -0.17546241 -0.0984523 -1.05406427] [ 0.179742 0.98304164 0.03635866 -0.09646726] [ 0.09040313 -0.05331117 0.99447735 0.56159431] [ 0. 0. 0. 1. ]] SLAMing on 168.16992885099998 meters Centerline goodness : 0.768977 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.10, Z:0.56 [[ 0.97985008 -0.17328276 -0.0993323 -1.05381282] [ 0.17787224 0.98326813 0.03930963 -0.09635681] [ 0.09085861 -0.056186 0.99427755 0.56228642] [ 0. 0. 0. 1. ]] SLAMing on 168.19992885099998 meters Centerline goodness : 0.768145 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.56 [[ 0.97995739 -0.17266479 -0.09934978 -1.053872 ] [ 0.17723232 0.98339274 0.03908233 -0.09469196] [ 0.0909517 -0.05590701 0.99428476 0.56188459] [ 0. 0. 0. 1. ]] SLAMing on 168.22992885099998 meters Centerline goodness : 0.768155 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.56 [[ 0.98001723 -0.17219563 -0.09957361 -1.05359735] [ 0.17672693 0.98350399 0.03856795 -0.0921123 ] [ 0.09128981 -0.05539459 0.99428246 0.5614587 ] [ 0. 0. 0. 1. ]] SLAMing on 168.25992885099998 meters Centerline goodness : 0.768173 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.09, Z:0.56 [[ 0.98062053 -0.16866293 -0.09968042 -1.05504569] [ 0.17337949 0.98401561 0.04065517 -0.08923008] [ 0.09123007 -0.05714983 0.9941886 0.56141687] [ 0. 0. 0. 1. ]] SLAMing on 168.28992885099998 meters Centerline goodness : 0.766432 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.56 [[ 0.9810831 -0.16562794 -0.1002164 -1.05498863] [ 0.17061624 0.98438212 0.04338136 -0.0886951 ] [ 0.09146607 -0.05965926 0.99401948 0.56118469] [ 0. 0. 0. 1. ]] SLAMing on 168.319928851 meters Centerline goodness : 0.765882 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.09, Z:0.56 [[ 0.98175075 -0.16157753 -0.10029036 -1.05582295] [ 0.16672094 0.98496921 0.04516403 -0.08534832] [ 0.09148543 -0.06106033 0.99393262 0.56012769] [ 0. 0. 0. 1. ]] SLAMing on 168.349928851 meters Centerline goodness : 0.767403 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.56 [[ 0.98194931 -0.16038173 -0.10026591 -1.05613855] [ 0.16547564 0.985201 0.04468568 -0.08270985] [ 0.0916153 -0.06047064 0.99395671 0.55952421] [ 0. 0. 0. 1. ]] SLAMing on 168.379928851 meters Centerline goodness : 0.767403 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.56 [[ 0.98194931 -0.16038173 -0.10026591 -1.05613855] [ 0.16547564 0.985201 0.04468568 -0.08270985] [ 0.0916153 -0.06047064 0.99395671 0.55952421] [ 0. 0. 0. 1. ]] SLAMing on 168.409928851 meters Centerline goodness : 0.768536 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.56 [[ 0.98215141 -0.15922257 -0.10013377 -1.0568439 ] [ 0.16424808 0.98543401 0.04407253 -0.0800236 ] [ 0.09165788 -0.05973268 0.9939974 0.55919302] [ 0. 0. 0. 1. ]] SLAMing on 168.439928851 meters Centerline goodness : 0.768722 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.56 [[ 0.98233194 -0.15817903 -0.10001677 -1.0572138 ] [ 0.16314774 0.98563909 0.04357073 -0.0776849 ] [ 0.09168847 -0.05911843 0.99403131 0.55860148] [ 0. 0. 0. 1. ]] SLAMing on 168.46992885099996 meters Centerline goodness : 0.769666 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.56 [[ 0.98285205 -0.15435939 -0.10087131 -1.05721839] [ 0.15965697 0.98606745 0.04669726 -0.07549863] [ 0.09225775 -0.06200131 0.99380297 0.55876403] [ 0. 0. 0. 1. ]] SLAMing on 168.49992885099996 meters Centerline goodness : 0.771726 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.07, Z:0.56 [[ 0.9828983 -0.15419248 -0.10067581 -1.05819267] [ 0.15943322 0.98612606 0.04622175 -0.07392131] [ 0.09215199 -0.06148234 0.99384502 0.55905497] [ 0. 0. 0. 1. ]] SLAMing on 168.52992885099997 meters Centerline goodness : 0.770036 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.07, Z:0.56 [[ 0.98289405 -0.15429571 -0.10055907 -1.058939 ] [ 0.15947785 0.98614484 0.04566377 -0.07265895] [ 0.09212008 -0.0609196 0.99388264 0.55951666] [ 0. 0. 0. 1. ]] SLAMing on 168.55992885099997 meters Centerline goodness : 0.771718 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.07, Z:0.56 [[ 0.98282853 -0.1546833 -0.10060393 -1.0591106 ] [ 0.15983731 0.98610264 0.04531693 -0.07223281] [ 0.09219603 -0.06061903 0.99389397 0.55990847] [ 0. 0. 0. 1. ]] SLAMing on 168.58992885099997 meters Centerline goodness : 0.771863 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.07, Z:0.56 [[ 0.98258727 -0.15581589 -0.10121099 -1.05806222] [ 0.1610265 0.98590145 0.04548403 -0.07278146] [ 0.09269693 -0.06098968 0.9938247 0.56050947] [ 0. 0. 0. 1. ]] SLAMing on 168.61992885099997 meters Centerline goodness : 0.772478 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.07, Z:0.56 [[ 0.98214251 -0.15904155 -0.10050807 -1.05884908] [ 0.1638609 0.98560533 0.04161418 -0.07137596] [ 0.09244291 -0.0573404 0.99406558 0.56089619] [ 0. 0. 0. 1. ]] SLAMing on 168.64992885099997 meters Centerline goodness : 0.829811 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.07, Z:0.56 [[ 0.98198095 -0.15958857 -0.10121706 -1.05744285] [ 0.16450428 0.98547394 0.0421836 -0.07214662] [ 0.09301476 -0.05807413 0.99396964 0.5611885 ] [ 0. 0. 0. 1. ]] SLAMing on 168.67992885099997 meters Centerline goodness : 0.830038 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.07, Z:0.56 [[ 0.98166109 -0.16129385 -0.10161593 -1.05655349] [ 0.16622854 0.98518936 0.0420712 -0.07324548] [ 0.09332511 -0.05819113 0.99393371 0.56180667] [ 0. 0. 0. 1. ]] SLAMing on 168.70992885099997 meters Centerline goodness : 0.773340 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.07, Z:0.56 [[ 0.9814816 -0.16217297 -0.10195001 -1.05583102] [ 0.16713252 0.98503549 0.04209282 -0.07385022] [ 0.09359806 -0.05835249 0.99389858 0.5620936 ] [ 0. 0. 0. 1. ]] SLAMing on 168.73992885099997 meters Centerline goodness : 0.772201 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.07, Z:0.56 [[ 0.98131559 -0.16301505 -0.10220468 -1.05511389] [ 0.16798593 0.98489337 0.04202124 -0.07457251] [ 0.09381061 -0.05840504 0.99387545 0.56225495] [ 0. 0. 0. 1. ]] SLAMing on 168.76992885099997 meters Centerline goodness : 0.828642 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.56 [[ 0.98118523 -0.1637868 -0.10222242 -1.0551322 ] [ 0.16875681 0.98476371 0.04197106 -0.0752491 ] [ 0.09379062 -0.05843211 0.99387575 0.56267355] [ 0. 0. 0. 1. ]] SLAMing on 168.79992885099998 meters Centerline goodness : 0.829389 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:0.56 [[ 0.98103363 -0.16435078 -0.10277082 -1.05400833] [ 0.1693834 0.98464344 0.04226777 -0.07594537] [ 0.09424587 -0.05887378 0.99380662 0.56292566] [ 0. 0. 0. 1. ]] SLAMing on 168.82992885099998 meters Centerline goodness : 0.829208 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:0.56 [[ 0.98092295 -0.16493576 -0.10289005 -1.05400795] [ 0.16994937 0.98455864 0.04197015 -0.07579103] [ 0.0943789 -0.05865558 0.9938069 0.56333676] [ 0. 0. 0. 1. ]] SLAMing on 168.85992885099998 meters Centerline goodness : 0.828309 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:0.56 [[ 0.98083802 -0.16537917 -0.10298793 -1.05393814] [ 0.17037865 0.9844941 0.04174316 -0.07547573] [ 0.09448756 -0.05849022 0.99380632 0.56357002] [ 0. 0. 0. 1. ]] SLAMing on 168.88992885099998 meters Centerline goodness : 0.828389 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:0.56 [[ 0.98078508 -0.16544173 -0.1033908 -1.05303249] [ 0.17050044 0.98445731 0.04211179 -0.07541232] [ 0.09481678 -0.05893079 0.99374893 0.5633976 ] [ 0. 0. 0. 1. ]] SLAMing on 168.91992885099998 meters Centerline goodness : 0.827984 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:0.56 [[ 0.98070192 -0.16586857 -0.10349568 -1.05283474] [ 0.17091197 0.98439629 0.04186928 -0.07528409] [ 0.09493597 -0.05874993 0.99374826 0.56358664] [ 0. 0. 0. 1. ]] SLAMing on 168.94992885099998 meters Centerline goodness : 0.779127 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:0.56 [[ 0.98062041 -0.16631333 -0.1035543 -1.0531252 ] [ 0.17135551 0.98432202 0.0418026 -0.07548995] [ 0.09497845 -0.05873708 0.99374496 0.56424579] [ 0. 0. 0. 1. ]] SLAMing on 168.97992885099998 meters Centerline goodness : 0.835724 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:0.56 [[ 0.98065757 -0.16608116 -0.10357502 -1.05338726] [ 0.17114076 0.98435178 0.04198108 -0.07602024] [ 0.09498199 -0.05889497 0.99373528 0.56473903] [ 0. 0. 0. 1. ]] SLAMing on 169.00992885099998 meters Centerline goodness : 0.833494 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:0.57 [[ 0.98067743 -0.1659734 -0.10355965 -1.05382495] [ 0.17104457 0.98436273 0.04211608 -0.07635363] [ 0.09495011 -0.0590156 0.99373117 0.5653387 ] [ 0. 0. 0. 1. ]] SLAMing on 169.03992885099998 meters Centerline goodness : 0.835358 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:0.57 [[ 0.98066398 -0.16604607 -0.10357061 -1.054189 ] [ 0.17111408 0.98435249 0.04207323 -0.07645797] [ 0.09496389 -0.05898209 0.99373184 0.56588033] [ 0. 0. 0. 1. ]] SLAMing on 169.069928851 meters Centerline goodness : 0.836732 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:0.57 [[ 0.98069155 -0.16575384 -0.10377744 -1.05421902] [ 0.17091683 0.98434896 0.04294838 -0.07755815] [ 0.09503435 -0.05985643 0.99367282 0.56663777] [ 0. 0. 0. 1. ]] SLAMing on 169.099928851 meters Centerline goodness : 0.836695 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:0.57 [[ 0.98068319 -0.16583547 -0.10372599 -1.05447454] [ 0.17098461 0.98434222 0.04283281 -0.07764143] [ 0.09499867 -0.05974097 0.99368318 0.5669082 ] [ 0. 0. 0. 1. ]] SLAMing on 169.129928851 meters Centerline goodness : 0.838832 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:0.57 [[ 0.98074174 -0.16536365 -0.10392546 -1.05394856] [ 0.17056562 0.98439548 0.04327704 -0.07799044] [ 0.0951473 -0.06016971 0.99364309 0.56667792] [ 0. 0. 0. 1. ]] SLAMing on 169.159928851 meters Centerline goodness : 0.838377 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:0.57 [[ 0.98078316 -0.16517688 -0.10383158 -1.05412404] [ 0.17036458 0.9844339 0.04319488 -0.07810166] [ 0.09508053 -0.06005404 0.99365648 0.56677362] [ 0. 0. 0. 1. ]] SLAMing on 169.189928851 meters Centerline goodness : 0.835885 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:0.57 [[ 0.98080019 -0.16515577 -0.10370421 -1.05429574] [ 0.17033106 0.98444182 0.0431466 -0.07859032] [ 0.09496486 -0.05998224 0.99367188 0.56681616] [ 0. 0. 0. 1. ]] SLAMing on 169.21992885099996 meters Centerline goodness : 0.836907 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:0.57 [[ 0.98081918 -0.16502739 -0.10372896 -1.05391585] [ 0.17021199 0.98445861 0.04323337 -0.07937301] [ 0.09498218 -0.06006003 0.99366553 0.566618 ] [ 0. 0. 0. 1. ]] SLAMing on 169.24992885099996 meters Centerline goodness : 0.790066 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:0.57 [[ 0.98084549 -0.16484798 -0.10376544 -1.05344158] [ 0.17005608 0.98447545 0.04346292 -0.08043969] [ 0.09498975 -0.06027635 0.9936517 0.56637764] [ 0. 0. 0. 1. ]] SLAMing on 169.27992885099997 meters Centerline goodness : 0.839788 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:0.57 [[ 0.98085108 -0.16483736 -0.10372949 -1.05293646] [ 0.17005589 0.98446962 0.04359545 -0.08175883] [ 0.09493237 -0.06040045 0.99364965 0.56605049] [ 0. 0. 0. 1. ]] SLAMing on 169.30992885099997 meters Centerline goodness : 0.790508 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:0.57 [[ 0.98087345 -0.16478835 -0.1035957 -1.05314279] [ 0.17000747 0.98447384 0.04368896 -0.08254257] [ 0.09478782 -0.06046539 0.9936595 0.56620422] [ 0. 0. 0. 1. ]] SLAMing on 169.33992885099997 meters Centerline goodness : 0.792433 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:0.57 [[ 0.98084898 -0.16491244 -0.10362995 -1.05308913] [ 0.17014516 0.9844449 0.04380486 -0.08334515] [ 0.09479401 -0.06059809 0.99365083 0.56645748] [ 0. 0. 0. 1. ]] SLAMing on 169.36992885099997 meters Centerline goodness : 0.839333 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.57 [[ 0.98082838 -0.16494701 -0.10376985 -1.0521545 ] [ 0.17023684 0.98440635 0.04431191 -0.08537964] [ 0.09484258 -0.06112783 0.99361374 0.56621766] [ 0. 0. 0. 1. ]] SLAMing on 169.39992885099997 meters Centerline goodness : 0.839778 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.57 [[ 0.98083081 -0.16478348 -0.10400634 -1.05120638] [ 0.17013716 0.98439999 0.04483302 -0.08667996] [ 0.0949961 -0.06166895 0.99356564 0.56592663] [ 0. 0. 0. 1. ]] SLAMing on 169.42992885099997 meters Centerline goodness : 0.840018 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.57 [[ 0.98079537 -0.16496573 -0.10405164 -1.05108956] [ 0.17032635 0.98436563 0.04486905 -0.08740078] [ 0.095023 -0.06173009 0.99355927 0.56615886] [ 0. 0. 0. 1. ]] SLAMing on 169.45992885099997 meters Centerline goodness : 0.832479 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.57 [[ 0.98082447 -0.16460233 -0.10435242 -1.0504447 ] [ 0.17003254 0.98439149 0.04541288 -0.08846419] [ 0.09524857 -0.06228537 0.99350302 0.5663652 ] [ 0. 0. 0. 1. ]] SLAMing on 169.48992885099997 meters Centerline goodness : 0.840251 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.57 [[ 0.98084381 -0.16451402 -0.10430989 -1.05052837] [ 0.16993601 0.98441067 0.04535839 -0.0884624 ] [ 0.09522168 -0.0622155 0.99350997 0.56640494] [ 0. 0. 0. 1. ]] SLAMing on 169.51992885099997 meters Centerline goodness : 0.839468 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.57 [[ 0.98090036 -0.16414433 -0.10436052 -1.05048313] [ 0.16958717 0.98446167 0.04555662 -0.08890208] [ 0.09526107 -0.06238471 0.99349558 0.56649845] [ 0. 0. 0. 1. ]] SLAMing on 169.54992885099998 meters Centerline goodness : 0.789097 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.57 [[ 0.98100061 -0.16372573 -0.1040754 -1.05101355] [ 0.16914911 0.98453703 0.0455567 -0.08924433] [ 0.09500728 -0.06229541 0.99352549 0.56640341] [ 0. 0. 0. 1. ]] SLAMing on 169.57992885099998 meters Centerline goodness : 0.836030 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.57 [[ 0.98109472 -0.16321508 -0.10399031 -1.05103854] [ 0.16863073 0.98462621 0.04555115 -0.08904812] [ 0.09495695 -0.06222596 0.99353465 0.56608851] [ 0. 0. 0. 1. ]] SLAMing on 169.60992885099998 meters Centerline goodness : 0.838833 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.57 [[ 0.98122455 -0.16254799 -0.10381011 -1.05137209] [ 0.16793806 0.98475033 0.04542674 -0.0886051 ] [ 0.09484301 -0.0620075 0.99355919 0.56589255] [ 0. 0. 0. 1. ]] SLAMing on 169.63992885099998 meters Centerline goodness : 0.790772 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.57 [[ 0.98130251 -0.16215593 -0.10368622 -1.05154159] [ 0.16751995 0.9848297 0.04524971 -0.08848408] [ 0.09477576 -0.06177316 0.99358021 0.56568739] [ 0. 0. 0. 1. ]] SLAMing on 169.66992885099998 meters Centerline goodness : 0.838746 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.57 [[ 0.98133146 -0.16210274 -0.10349526 -1.05194974] [ 0.16742857 0.98485778 0.04497582 -0.08828752] [ 0.09463741 -0.06146425 0.99361255 0.56571113] [ 0. 0. 0. 1. ]] SLAMing on 169.69992885099998 meters Centerline goodness : 0.835859 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.57 [[ 0.98129765 -0.16198614 -0.10399716 -1.05073044] [ 0.16743118 0.98481469 0.0459002 -0.08981553] [ 0.09498274 -0.06245412 0.99351787 0.56578459] [ 0. 0. 0. 1. ]] SLAMing on 169.72992885099998 meters Centerline goodness : 0.836652 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.57 [[ 0.98119861 -0.16249514 -0.10413752 -1.05070346] [ 0.16795808 0.98472145 0.04597556 -0.09046814] [ 0.09507564 -0.06260189 0.99349969 0.56641884] [ 0. 0. 0. 1. ]] SLAMing on 169.75992885099998 meters Centerline goodness : 0.831982 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.57 [[ 0.98105064 -0.16326429 -0.10432842 -1.0506135 ] [ 0.16874697 0.98458418 0.04602662 -0.09103568] [ 0.09520561 -0.06275955 0.99347729 0.56715031] [ 0. 0. 0. 1. ]] SLAMing on 169.78992885099998 meters Centerline goodness : 0.831067 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.57 [[ 0.98093698 -0.16372754 -0.10467063 -1.0500446 ] [ 0.16927341 0.98447436 0.04644078 -0.0922072 ] [ 0.09544192 -0.06327344 0.99342202 0.56769912] [ 0. 0. 0. 1. ]] SLAMing on 169.819928851 meters Centerline goodness : 0.829510 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.57 [[ 0.98081423 -0.16416263 -0.10513837 -1.04899842] [ 0.16979813 0.98435538 0.04704331 -0.09374793] [ 0.09577076 -0.06399304 0.99334428 0.56801681] [ 0. 0. 0. 1. ]] SLAMing on 169.849928851 meters Centerline goodness : 0.840135 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.57 [[ 0.98023292 -0.16782746 -0.10477292 -1.04826561] [ 0.17316027 0.98391022 0.04400221 -0.09479389] [ 0.09570237 -0.06127493 0.99352224 0.56808867] [ 0. 0. 0. 1. ]] SLAMing on 169.879928851 meters Centerline goodness : 0.788616 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.10, Z:0.57 [[ 0.98006066 -0.16867629 -0.105021 -1.04776699] [ 0.17405626 0.98373882 0.04429847 -0.0962767 ] [ 0.09584113 -0.06169475 0.99348288 0.56862281] [ 0. 0. 0. 1. ]] SLAMing on 169.909928851 meters Centerline goodness : 0.790348 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.10, Z:0.57 [[ 0.97985636 -0.16947067 -0.10564665 -1.04648756] [ 0.1749459 0.98355614 0.04484706 -0.09791861] [ 0.09630915 -0.06242613 0.99339193 0.56915163] [ 0. 0. 0. 1. ]] SLAMing on 169.939928851 meters Centerline goodness : 0.834928 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.10, Z:0.57 [[ 0.97969264 -0.17022601 -0.10595019 -1.04540997] [ 0.17577209 0.98338578 0.04534948 -0.09981565] [ 0.09647025 -0.06305163 0.99333679 0.56921382] [ 0. 0. 0. 1. ]] SLAMing on 169.96992885099996 meters Centerline goodness : 0.832055 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.10, Z:0.57 [[ 0.97907778 -0.17388099 -0.10569812 -1.04401176] [ 0.1791498 0.98290288 0.04251219 -0.1016606 ] [ 0.09649892 -0.06055854 0.99348912 0.56899864] [ 0. 0. 0. 1. ]] SLAMing on 169.99992885099996 meters Centerline goodness : 0.835685 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.10, Z:0.57 [[ 0.97895833 -0.17437311 -0.10599342 -1.04339646] [ 0.17969745 0.98278705 0.04287704 -0.10297712] [ 0.09669235 -0.06102158 0.99344197 0.56939281] [ 0. 0. 0. 1. ]] SLAMing on 170.02992885099997 meters Centerline goodness : 0.833604 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.10, Z:0.57 [[ 0.97885484 -0.17477942 -0.10627958 -1.04295355] [ 0.18015065 0.98269168 0.04316024 -0.10389138] [ 0.09689653 -0.06139395 0.99339914 0.56992314] [ 0. 0. 0. 1. ]] SLAMing on 170.05992885099997 meters Centerline goodness : 0.831197 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.11, Z:0.57 [[ 0.97879937 -0.17480183 -0.10675255 -1.04191116] [ 0.18029057 0.98262612 0.04405937 -0.10538606] [ 0.09719618 -0.06237176 0.99330895 0.5700707 ] [ 0. 0. 0. 1. ]] SLAMing on 170.08992885099997 meters Centerline goodness : 0.836486 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.10, Z:0.57 [[ 0.97842567 -0.17755517 -0.10562845 -1.04268162] [ 0.18262507 0.98235393 0.04035879 -0.104993 ] [ 0.09659861 -0.05877848 0.99358633 0.56972373] [ 0. 0. 0. 1. ]] SLAMing on 170.11992885099997 meters Centerline goodness : 0.834568 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.11, Z:0.57 [[ 0.97851764 -0.17710908 -0.10552537 -1.04245418] [ 0.18217045 0.9824386 0.0403524 -0.10527965] [ 0.09652542 -0.05870914 0.99359754 0.56923993] [ 0. 0. 0. 1. ]] SLAMing on 170.14992885099997 meters Centerline goodness : 0.836649 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.11, Z:0.57 [[ 0.97859402 -0.1767693 -0.10538668 -1.04278222] [ 0.18180194 0.98251495 0.04015507 -0.10503906] [ 0.0964458 -0.05845501 0.99362026 0.56920568] [ 0. 0. 0. 1. ]] SLAMing on 170.17992885099997 meters Centerline goodness : 0.835557 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.11, Z:0.57 [[ 0.9788115 -0.17576917 -0.10503927 -1.04338868] [ 0.18079155 0.98269535 0.0403021 -0.10514115] [ 0.09613774 -0.05843838 0.99365109 0.56892212] [ 0. 0. 0. 1. ]] SLAMing on 170.20992885099997 meters Centerline goodness : 0.836247 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.11, Z:0.57 [[ 0.97961984 -0.17086916 -0.1055874 -1.04277933] [ 0.17633616 0.98331243 0.04474612 -0.10676746] [ 0.09617968 -0.06245306 0.99340278 0.56790274] [ 0. 0. 0. 1. ]] SLAMing on 170.23992885099997 meters Centerline goodness : 0.829690 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.11, Z:0.57 [[ 0.97979851 -0.17022249 -0.10497229 -1.04406144] [ 0.17556349 0.98349035 0.04386558 -0.10517567] [ 0.09577233 -0.06140873 0.99350724 0.56755097] [ 0. 0. 0. 1. ]] SLAMing on 170.26992885099997 meters Centerline goodness : 0.832710 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.11, Z:0.57 [[ 0.9804361 -0.16598506 -0.10580175 -1.04323473] [ 0.17176754 0.98396508 0.04804823 -0.1060479 ] [ 0.09612994 -0.06528153 0.99322573 0.56695563] [ 0. 0. 0. 1. ]] SLAMing on 170.29992885099998 meters Centerline goodness : 0.832710 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.11, Z:0.57 [[ 0.9804361 -0.16598506 -0.10580175 -1.04323473] [ 0.17176754 0.98396508 0.04804823 -0.1060479 ] [ 0.09612994 -0.06528153 0.99322573 0.56695563] [ 0. 0. 0. 1. ]] SLAMing on 170.32992885099998 meters Centerline goodness : 0.783450 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.11, Z:0.57 [[ 0.98129302 -0.16111556 -0.10538401 -1.04448836] [ 0.16708385 0.98465164 0.0504395 -0.10501367] [ 0.09563995 -0.06710389 0.99315158 0.56552706] [ 0. 0. 0. 1. ]] SLAMing on 170.35992885099998 meters Centerline goodness : 0.783432 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.10, Z:0.56 [[ 0.98156195 -0.15991105 -0.10471199 -1.04555252] [ 0.16576856 0.98490645 0.04980028 -0.10411905] [ 0.0951679 -0.06624001 0.99325492 0.56465458] [ 0. 0. 0. 1. ]] SLAMing on 170.38992885099998 meters Centerline goodness : 0.784481 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.10, Z:0.56 [[ 0.98190292 -0.15822933 -0.10406793 -1.04646558] [ 0.16401841 0.98520986 0.04959323 -0.10372168] [ 0.09468165 -0.06576479 0.99333296 0.56362744] [ 0. 0. 0. 1. ]] SLAMing on 170.41992885099998 meters Centerline goodness : 0.782266 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.10, Z:0.56 [[ 0.98262373 -0.15375497 -0.10397127 -1.04786344] [ 0.15983055 0.98572998 0.05282622 -0.10360564] [ 0.0943653 -0.06852608 0.9931764 0.56337439] [ 0. 0. 0. 1. ]] SLAMing on 170.44992885099998 meters Centerline goodness : 0.830970 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.10, Z:0.56 [[ 0.98274759 -0.15331164 -0.10345394 -1.04902672] [ 0.15928233 0.98585682 0.05211012 -0.10269605] [ 0.09400169 -0.06768948 0.99326825 0.56322236] [ 0. 0. 0. 1. ]] SLAMing on 170.47992885099998 meters Centerline goodness : 0.831509 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.10, Z:0.56 [[ 0.98280682 -0.15319494 -0.10306339 -1.04977828] [ 0.15909893 0.98590857 0.05168966 -0.10254712] [ 0.09369249 -0.06719822 0.99333082 0.56311239] [ 0. 0. 0. 1. ]] SLAMing on 170.50992885099998 meters Centerline goodness : 0.829716 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.10, Z:0.56 [[ 0.98281855 -0.1532479 -0.1028726 -1.04977813] [ 0.15911884 0.98591663 0.05147425 -0.10302721] [ 0.09353549 -0.06695881 0.99336178 0.5627938 ] [ 0. 0. 0. 1. ]] SLAMing on 170.53992885099998 meters Centerline goodness : 0.830416 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.10, Z:0.56 [[ 0.98279721 -0.15342058 -0.10281916 -1.04979233] [ 0.15929066 0.98588765 0.05149788 -0.10350047] [ 0.0934673 -0.0669901 0.99336609 0.56286863] [ 0. 0. 0. 1. ]] SLAMing on 170.569928851 meters Centerline goodness : 0.830111 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.10, Z:0.56 [[ 0.98269828 -0.15396695 -0.10294787 -1.0496245 ] [ 0.15984854 0.98579675 0.05150931 -0.10394108] [ 0.09355495 -0.06707418 0.99335217 0.56324198] [ 0. 0. 0. 1. ]] SLAMing on 170.599928851 meters Centerline goodness : 0.824452 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.10, Z:0.56 [[ 0.98230461 -0.15696409 -0.10217594 -1.05008248] [ 0.16243997 0.98556814 0.04763085 -0.10299535] [ 0.09322502 -0.06338546 0.99362537 0.56309662] [ 0. 0. 0. 1. ]] SLAMing on 170.629928851 meters Centerline goodness : 0.825892 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.10, Z:0.56 [[ 0.98213654 -0.15783731 -0.10244607 -1.04950626] [ 0.16334307 0.9854139 0.04773357 -0.10360856] [ 0.09341765 -0.06361474 0.99359263 0.56348066] [ 0. 0. 0. 1. ]] SLAMing on 170.659928851 meters Centerline goodness : 0.832070 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.10, Z:0.56 [[ 0.98147761 -0.16195927 -0.10232739 -1.04879518] [ 0.1671629 0.9849267 0.04445182 -0.10360439] [ 0.09358559 -0.06073381 0.99375708 0.56403741] [ 0. 0. 0. 1. ]] SLAMing on 170.689928851 meters Centerline goodness : 0.830498 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.10, Z:0.56 [[ 0.98100524 -0.16513754 -0.10177583 -1.048572 ] [ 0.17000879 0.98458308 0.04114819 -0.10371785] [ 0.09341165 -0.05766937 0.99395599 0.56391893] [ 0. 0. 0. 1. ]] SLAMing on 170.71992885099996 meters Centerline goodness : 0.829404 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.11, Z:0.56 [[ 0.98074629 -0.16616556 -0.10259492 -1.04652657] [ 0.17115437 0.98435521 0.04184494 -0.10552431] [ 0.09403666 -0.05859884 0.99384269 0.56413563] [ 0. 0. 0. 1. ]] SLAMing on 170.74992885099996 meters Centerline goodness : 0.830132 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.11, Z:0.56 [[ 0.97998587 -0.17057887 -0.10261847 -1.04482892] [ 0.17532404 0.98373469 0.0390839 -0.10694348] [ 0.09428246 -0.05629315 0.99395266 0.5643067 ] [ 0. 0. 0. 1. ]] SLAMing on 170.77992885099997 meters Centerline goodness : 0.829432 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.11, Z:0.56 [[ 0.97977081 -0.17140013 -0.10330133 -1.04309141] [ 0.17621928 0.98356137 0.03941824 -0.10756825] [ 0.0948469 -0.05682453 0.99386872 0.56425657] [ 0. 0. 0. 1. ]] SLAMing on 170.80992885099997 meters Centerline goodness : 0.824412 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.11, Z:0.56 [[ 0.97956816 -0.17236492 -0.10361732 -1.04219443] [ 0.17718258 0.98339806 0.03917374 -0.10764911] [ 0.09514489 -0.05673253 0.9938455 0.56429622] [ 0. 0. 0. 1. ]] SLAMing on 170.83992885099997 meters Centerline goodness : 0.828631 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.11, Z:0.56 [[ 0.97940081 -0.17291838 -0.10427506 -1.04034017] [ 0.17777712 0.98329028 0.03918569 -0.10757987] [ 0.09575673 -0.05691622 0.99377623 0.56373713] [ 0. 0. 0. 1. ]] SLAMing on 170.86992885099997 meters Centerline goodness : 0.822493 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.11, Z:0.56 [[ 0.97946383 -0.17249306 -0.10438751 -1.04002083] [ 0.17734826 0.98337115 0.03909955 -0.10675048] [ 0.09590726 -0.05680954 0.99376782 0.56339176] [ 0. 0. 0. 1. ]] SLAMing on 170.89992885099997 meters Centerline goodness : 0.828478 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.11, Z:0.56 [[ 0.98007495 -0.168761 -0.10475118 -1.04068053] [ 0.17387094 0.98388647 0.0416691 -0.10516935] [ 0.09603115 -0.05905203 0.99362512 0.56313439] [ 0. 0. 0. 1. ]] SLAMing on 170.92992885099997 meters Centerline goodness : 0.827630 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.10, Z:0.56 [[ 0.98031455 -0.16774987 -0.10413144 -1.04194497] [ 0.17271779 0.98413355 0.04061677 -0.10312437] [ 0.09566579 -0.05780256 0.99373383 0.56249352] [ 0. 0. 0. 1. ]] SLAMing on 170.95992885099997 meters Centerline goodness : 0.826679 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.10, Z:0.56 [[ 0.9809459 -0.16374879 -0.10455366 -1.04233125] [ 0.16902999 0.98463872 0.04376582 -0.10270188] [ 0.09578098 -0.06060461 0.99355578 0.56226912] [ 0. 0. 0. 1. ]] SLAMing on 170.98992885099997 meters Centerline goodness : 0.827780 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.10, Z:0.56 [[ 0.98161417 -0.15948721 -0.1048687 -1.04308741] [ 0.16508736 0.98515693 0.04703177 -0.10208636] [ 0.09581116 -0.06347955 0.99337333 0.56214158] [ 0. 0. 0. 1. ]] SLAMing on 171.01992885099997 meters Centerline goodness : 0.827762 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.10, Z:0.56 [[ 0.98227274 -0.15525787 -0.1050488 -1.04418896] [ 0.16113192 0.98567035 0.04990458 -0.10084713] [ 0.09579541 -0.06594662 0.99321412 0.56204605] [ 0. 0. 0. 1. ]] SLAMing on 171.04992885099998 meters Centerline goodness : 0.780333 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.10, Z:0.56 [[ 0.98289037 -0.15122815 -0.10515024 -1.04547265] [ 0.15734466 0.98614784 0.05248905 -0.09902827] [ 0.09575586 -0.06813581 0.99307015 0.56190055] [ 0. 0. 0. 1. ]] SLAMing on 171.07992885099998 meters Centerline goodness : 0.781386 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.56 [[ 0.98393093 -0.14515647 -0.10396881 -1.0493031 ] [ 0.15126918 0.98704359 0.05350312 -0.09385451] [ 0.09485543 -0.06837065 0.99314042 0.56070012] [ 0. 0. 0. 1. ]] SLAMing on 171.10992885099998 meters Centerline goodness : 0.777928 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.56 [[ 0.98427787 -0.14350769 -0.102969 -1.05150381] [ 0.1494013 0.98740984 0.05197182 -0.09093024] [ 0.09421424 -0.06653841 0.99332589 0.55986157] [ 0. 0. 0. 1. ]] SLAMing on 171.13992885099998 meters Centerline goodness : 0.777059 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.56 [[ 0.98461771 -0.1418876 -0.10196012 -1.05350403] [ 0.1475724 0.9877599 0.05052482 -0.08826498] [ 0.09354327 -0.06479413 0.99350459 0.55873356] [ 0. 0. 0. 1. ]] SLAMing on 171.16992885099998 meters Centerline goodness : 0.778161 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.09, Z:0.56 [[ 0.98490805 -0.14051251 -0.10105624 -1.05521211] [ 0.14599375 0.98807006 0.04902436 -0.08561723] [ 0.09296211 -0.06303806 0.9936721 0.55754592] [ 0. 0. 0. 1. ]] SLAMing on 171.19992885099998 meters Centerline goodness : 0.778136 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.56 [[ 0.98535753 -0.13801367 -0.10011377 -1.0569932 ] [ 0.14325108 0.98856361 0.04712881 -0.08087852] [ 0.09246441 -0.06078014 0.9938592 0.55577122] [ 0. 0. 0. 1. ]] SLAMing on 171.22992885099998 meters Centerline goodness : 0.830559 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.56 [[ 0.98541608 -0.13782214 -0.09980088 -1.05796543] [ 0.1429279 0.98866709 0.04592382 -0.07835843] [ 0.09234052 -0.0595184 0.99394707 0.55564771] [ 0. 0. 0. 1. ]] SLAMing on 171.25992885099998 meters Centerline goodness : 0.778967 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.56 [[ 0.9854189 -0.13789743 -0.09966892 -1.05856703] [ 0.14290117 0.98871764 0.04490761 -0.07610565] [ 0.09235177 -0.05849561 0.99400675 0.55561992] [ 0. 0. 0. 1. ]] SLAMing on 171.28992885099998 meters Centerline goodness : 0.777918 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.07, Z:0.56 [[ 0.98527143 -0.13879275 -0.09988387 -1.05847677] [ 0.14372917 0.9886377 0.0440161 -0.07357 ] [ 0.09263984 -0.05772403 0.99402505 0.55580264] [ 0. 0. 0. 1. ]] SLAMing on 171.319928851 meters Centerline goodness : 0.780463 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.07, Z:0.56 [[ 0.98510956 -0.13972923 -0.10017436 -1.05827296] [ 0.14464321 0.98852458 0.0435603 -0.0727168 ] [ 0.09293817 -0.05740121 0.99401589 0.5563634 ] [ 0. 0. 0. 1. ]] SLAMing on 171.349928851 meters Centerline goodness : 0.776906 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.07, Z:0.56 [[ 0.98476245 -0.14257355 -0.0995776 -1.05898434] [ 0.14713563 0.98830543 0.04004349 -0.07097821] [ 0.09270394 -0.05408474 0.99422373 0.55654399] [ 0. 0. 0. 1. ]] SLAMing on 171.379928851 meters Centerline goodness : 0.830356 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.07, Z:0.56 [[ 0.98448357 -0.14404211 -0.10021959 -1.05799547] [ 0.14862943 0.98808844 0.0398813 -0.07059093] [ 0.09328123 -0.05415806 0.99416574 0.5572286 ] [ 0. 0. 0. 1. ]] SLAMing on 171.409928851 meters Centerline goodness : 0.779131 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.07, Z:0.56 [[ 0.98396206 -0.14782411 -0.0998334 -1.05813341] [ 0.15203237 0.98772303 0.03590787 -0.06867937] [ 0.0932997 -0.05050989 0.99435603 0.55749678] [ 0. 0. 0. 1. ]] SLAMing on 171.439928851 meters Centerline goodness : 0.778889 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.07, Z:0.56 [[ 0.98340655 -0.15152056 -0.09976515 -1.05754367] [ 0.15538161 0.98733298 0.03209581 -0.06680011] [ 0.09363825 -0.0470649 0.99449322 0.55767208] [ 0. 0. 0. 1. ]] SLAMing on 171.46992885099996 meters Centerline goodness : 0.778202 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.06, Z:0.56 [[ 0.98256368 -0.15658754 -0.10024451 -1.0562045 ] [ 0.1601515 0.98668088 0.02850141 -0.06456318] [ 0.09444638 -0.04405876 0.99455453 0.5585843 ] [ 0. 0. 0. 1. ]] SLAMing on 171.49992885099996 meters Centerline goodness : 0.776680 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.06, Z:0.56 [[ 0.98230545 -0.15759765 -0.10118783 -1.05440496] [ 0.16124489 0.98649159 0.02888664 -0.0643376 ] [ 0.09526848 -0.04469152 0.99444788 0.55892622] [ 0. 0. 0. 1. ]] SLAMing on 171.52992885099997 meters Centerline goodness : 0.777061 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.06, Z:0.56 [[ 0.98201014 -0.15895545 -0.10192772 -1.05354386] [ 0.16260961 0.98627732 0.02855091 -0.06349372] [ 0.09599068 -0.04461171 0.99438201 0.55995571] [ 0. 0. 0. 1. ]] SLAMing on 171.55992885099997 meters Centerline goodness : 0.777906 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.06, Z:0.56 [[ 0.98162672 -0.16052942 -0.10314693 -1.05102224] [ 0.16422585 0.98601534 0.02834803 -0.06265229] [ 0.09715376 -0.04476658 0.99426209 0.56018925] [ 0. 0. 0. 1. ]] SLAMing on 171.58992885099997 meters Centerline goodness : 0.775722 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.06, Z:0.56 [[ 0.98144316 -0.16114274 -0.10393435 -1.04941675] [ 0.16489028 0.98590075 0.02847656 -0.06233058] [ 0.09788017 -0.04508589 0.99417641 0.56030089] [ 0. 0. 0. 1. ]] SLAMing on 171.61992885099997 meters Centerline goodness : 0.776955 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.06, Z:0.56 [[ 0.98128158 -0.16174289 -0.10452604 -1.0484967 ] [ 0.16551105 0.98579938 0.02838434 -0.06175233] [ 0.09845074 -0.04515324 0.99411701 0.56073676] [ 0. 0. 0. 1. ]] SLAMing on 171.64992885099997 meters Centerline goodness : 0.776043 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.06, Z:0.56 [[ 0.9811574 -0.16211636 -0.10511157 -1.04754456] [ 0.16592496 0.98572634 0.02850434 -0.06113083] [ 0.09899022 -0.04540788 0.99405184 0.56099321] [ 0. 0. 0. 1. ]] SLAMing on 171.67992885099997 meters Centerline goodness : 0.777727 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.06, Z:0.56 [[ 0.98093409 -0.16291573 -0.10595651 -1.04628237] [ 0.16677124 0.98558227 0.02854705 -0.06028148] [ 0.09977809 -0.04567327 0.99396091 0.5615049 ] [ 0. 0. 0. 1. ]] SLAMing on 171.70992885099997 meters Centerline goodness : 0.777567 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.06, Z:0.56 [[ 0.98086916 -0.16297526 -0.10646482 -1.04545198] [ 0.1668509 0.98556984 0.02851078 -0.05951202] [ 0.10028196 -0.0457291 0.99390763 0.56168637] [ 0. 0. 0. 1. ]] SLAMing on 171.73992885099997 meters Centerline goodness : 0.776177 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.06, Z:0.56 [[ 0.98087383 -0.1628012 -0.10668785 -1.04516626] [ 0.16668021 0.98560046 0.02845052 -0.05872661] [ 0.10051982 -0.04568912 0.99388544 0.56173553] [ 0. 0. 0. 1. ]] SLAMing on 171.76992885099997 meters Centerline goodness : 0.777620 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.06, Z:0.56 [[ 0.98091 -0.16248016 -0.10684464 -1.04494627] [ 0.16633344 0.98566795 0.02814039 -0.05718668] [ 0.10074109 -0.04537503 0.99387743 0.56156055] [ 0. 0. 0. 1. ]] SLAMing on 171.79992885099998 meters Centerline goodness : 0.777137 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.05, Z:0.56 [[ 0.98109554 -0.16138676 -0.1067982 -1.04472505] [ 0.16521362 0.9858616 0.02795306 -0.05378181] [ 0.10077699 -0.04506914 0.99388771 0.561357 ] [ 0. 0. 0. 1. ]] SLAMing on 171.82992885099998 meters Centerline goodness : 0.773930 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.05, Z:0.56 [[ 0.98113798 -0.16106138 -0.10689943 -1.04461794] [ 0.16483057 0.98594248 0.02735539 -0.05125767] [ 0.10099079 -0.04445971 0.99389345 0.56164317] [ 0. 0. 0. 1. ]] SLAMing on 171.85992885099998 meters Centerline goodness : 0.777135 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.05, Z:0.56 [[ 0.98121495 -0.1604974 -0.1070411 -1.04429848] [ 0.16421285 0.98606101 0.02679227 -0.04854139] [ 0.10124897 -0.0438665 0.99389354 0.56189409] [ 0. 0. 0. 1. ]] SLAMing on 171.88992885099998 meters Centerline goodness : 0.776095 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.05, Z:0.56 [[ 0.98135496 -0.15966171 -0.10700742 -1.04407442] [ 0.16333726 0.98621551 0.02645582 -0.0457277 ] [ 0.10130839 -0.04344085 0.99390618 0.56183246] [ 0. 0. 0. 1. ]] SLAMing on 171.91992885099998 meters Centerline goodness : 0.834666 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.04, Z:0.56 [[ 0.98205059 -0.15507426 -0.10737136 -1.04487809] [ 0.15903591 0.9868373 0.02932116 -0.041588 ] [ 0.1014111 -0.04587076 0.99378653 0.56223013] [ 0. 0. 0. 1. ]] SLAMing on 171.94992885099998 meters Centerline goodness : 0.834834 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.04, Z:0.56 [[ 0.98217719 -0.1542431 -0.10741057 -1.04447446] [ 0.15816523 0.98698799 0.02895615 -0.03861062] [ 0.10154665 -0.04542869 0.99379299 0.5621104 ] [ 0. 0. 0. 1. ]] SLAMing on 171.97992885099998 meters Centerline goodness : 0.835597 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.04, Z:0.56 [[ 0.98230822 -0.15340403 -0.10741401 -1.04416034] [ 0.15729198 0.98713617 0.02866049 -0.03576964] [ 0.10163562 -0.0450488 0.99380119 0.56195476] [ 0. 0. 0. 1. ]] SLAMing on 172.00992885099998 meters Centerline goodness : 0.776977 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.56 [[ 0.98295381 -0.14901818 -0.10768192 -1.0449993 ] [ 0.15320715 0.98768585 0.03168962 -0.03250503] [ 0.10163358 -0.04764708 0.99368022 0.56214723] [ 0. 0. 0. 1. ]] SLAMing on 172.03992885099998 meters Centerline goodness : 0.835601 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.56 [[ 0.98302232 -0.1484154 -0.10788882 -1.04430333] [ 0.15257818 0.98779355 0.03136548 -0.03023081] [ 0.10191676 -0.04729445 0.99366806 0.56204825] [ 0. 0. 0. 1. ]] SLAMing on 172.069928851 meters Centerline goodness : 0.834629 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.56 [[ 0.98308955 -0.14781561 -0.10809936 -1.0435245 ] [ 0.15195943 0.98789696 0.03111155 -0.02820306] [ 0.10219226 -0.04701216 0.99365316 0.56185522] [ 0. 0. 0. 1. ]] SLAMing on 172.099928851 meters Centerline goodness : 0.775780 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.56 [[ 0.98314826 -0.14731467 -0.10824917 -1.04269753] [ 0.15144329 0.98798227 0.03091869 -0.02642998] [ 0.10239348 -0.04679126 0.99364287 0.56140634] [ 0. 0. 0. 1. ]] SLAMing on 172.129928851 meters Centerline goodness : 0.830133 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.02, Z:0.56 [[ 0.98343 -0.14533601 -0.10836455 -1.04132739] [ 0.14955292 0.98824171 0.03181588 -0.02363591] [ 0.10246637 -0.04749493 0.99360197 0.56009203] [ 0. 0. 0. 1. ]] SLAMing on 172.159928851 meters Centerline goodness : 0.830570 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.02, Z:0.56 [[ 0.98343545 -0.14528821 -0.10837924 -1.04128909] [ 0.14946271 0.98826865 0.03140034 -0.02187034] [ 0.10254571 -0.04707886 0.99361359 0.56012615] [ 0. 0. 0. 1. ]] SLAMing on 172.189928851 meters Centerline goodness : 0.830570 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.02, Z:0.56 [[ 0.98343545 -0.14528821 -0.10837924 -1.04128909] [ 0.14946271 0.98826865 0.03140034 -0.02187034] [ 0.10254571 -0.04707886 0.99361359 0.56012615] [ 0. 0. 0. 1. ]] SLAMing on 172.21992885099996 meters Centerline goodness : 0.829414 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.02, Z:0.56 [[ 0.98347267 -0.14510931 -0.10828105 -1.04145895] [ 0.14922719 0.98831984 0.03090526 -0.01984724] [ 0.10253167 -0.04655295 0.99363981 0.56029096] [ 0. 0. 0. 1. ]] SLAMing on 172.24992885099996 meters Centerline goodness : 0.831470 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.02, Z:0.56 [[ 0.98344338 -0.14540572 -0.10814936 -1.04198108] [ 0.14946633 0.98829951 0.03039561 -0.01899042] [ 0.10246427 -0.04605705 0.99366988 0.56064236] [ 0. 0. 0. 1. ]] SLAMing on 172.27992885099997 meters Centerline goodness : 0.771277 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.02, Z:0.56 [[ 0.98341303 -0.14574708 -0.10796578 -1.04260922] [ 0.14974657 0.98827315 0.02986876 -0.01809972] [ 0.1023464 -0.04554083 0.99370582 0.56100043] [ 0. 0. 0. 1. ]] SLAMing on 172.30992885099997 meters Centerline goodness : 0.772573 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.02, Z:0.56 [[ 0.98338149 -0.14604903 -0.10784489 -1.04330115] [ 0.14999696 0.98824902 0.02940727 -0.01740087] [ 0.1022827 -0.04509498 0.99373271 0.56153649] [ 0. 0. 0. 1. ]] SLAMing on 172.33992885099997 meters Centerline goodness : 0.829191 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.02, Z:0.56 [[ 0.98334624 -0.1463898 -0.10770421 -1.04403399] [ 0.15026609 0.98822728 0.02875651 -0.01574249] [ 0.10222658 -0.0444619 0.99376701 0.56205939] [ 0. 0. 0. 1. ]] SLAMing on 172.36992885099997 meters Centerline goodness : 0.828816 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.01, Z:0.56 [[ 0.98330952 -0.1467151 -0.10759676 -1.04468979] [ 0.15053875 0.98819966 0.02827575 -0.01483957] [ 0.1021786 -0.0440013 0.99379244 0.56254992] [ 0. 0. 0. 1. ]] SLAMing on 172.39992885099997 meters Centerline goodness : 0.772835 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.01, Z:0.56 [[ 0.9832907 -0.14689943 -0.10751721 -1.04508275] [ 0.15069196 0.98818421 0.02799828 -0.01444569] [ 0.10213388 -0.04373243 0.99380891 0.56284498] [ 0. 0. 0. 1. ]] SLAMing on 172.42992885099997 meters Centerline goodness : 0.827144 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.01, Z:0.56 [[ 0.98326539 -0.14719149 -0.10734914 -1.04575682] [ 0.15094917 0.98815288 0.02771707 -0.01433192] [ 0.10199765 -0.0434575 0.99383496 0.56323828] [ 0. 0. 0. 1. ]] SLAMing on 172.45992885099997 meters Centerline goodness : 0.829029 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.01, Z:0.56 [[ 0.98320951 -0.14768119 -0.10718824 -1.04649514] [ 0.15140768 0.98808996 0.02745796 -0.0147984 ] [ 0.1018566 -0.04322605 0.99385952 0.56372487] [ 0. 0. 0. 1. ]] SLAMing on 172.48992885099997 meters Centerline goodness : 0.827866 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.56 [[ 0.98316203 -0.14808989 -0.10705979 -1.04695507] [ 0.15180532 0.98803098 0.02738493 -0.01551165] [ 0.10172296 -0.04317607 0.99387538 0.56391777] [ 0. 0. 0. 1. ]] SLAMing on 172.51992885099997 meters Centerline goodness : 0.775031 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.56 [[ 0.98311375 -0.14857847 -0.10682603 -1.0475617 ] [ 0.15228769 0.98795631 0.02740044 -0.0165521 ] [ 0.10146834 -0.04320604 0.9939001 0.56400131] [ 0. 0. 0. 1. ]] SLAMing on 172.54992885099998 meters Centerline goodness : 0.773198 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.56 [[ 0.98247087 -0.15320003 -0.10621083 -1.04789455] [ 0.15647762 0.9874091 0.0231953 -0.01642484] [ 0.10132002 -0.03940832 0.99407305 0.56451331] [ 0. 0. 0. 1. ]] SLAMing on 172.57992885099998 meters Centerline goodness : 0.771538 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.56 [[ 0.98240703 -0.15377242 -0.10597392 -1.04858555] [ 0.15704145 0.98732004 0.02317588 -0.01761982] [ 0.10106637 -0.03941044 0.99409879 0.5646904 ] [ 0. 0. 0. 1. ]] SLAMing on 172.60992885099998 meters Centerline goodness : 0.771353 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.56 [[ 0.98234953 -0.1542452 -0.10581976 -1.04900166] [ 0.1575156 0.98724332 0.02322651 -0.01891556] [ 0.10088728 -0.03948481 0.99411403 0.56475212] [ 0. 0. 0. 1. ]] SLAMing on 172.63992885099998 meters Centerline goodness : 0.770389 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.56 [[ 0.98230557 -0.15464368 -0.10564611 -1.04933022] [ 0.15791793 0.98717699 0.02331351 -0.02016576] [ 0.10068613 -0.0395844 0.99413046 0.56466823] [ 0. 0. 0. 1. ]] SLAMing on 172.66992885099998 meters Centerline goodness : 0.831192 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.56 [[ 0.98226629 -0.15501339 -0.10546939 -1.04961387] [ 0.15828584 0.98711726 0.02334755 -0.021161 ] [ 0.10049148 -0.03962782 0.99414843 0.5645585 ] [ 0. 0. 0. 1. ]] SLAMing on 172.69992885099998 meters Centerline goodness : 0.828402 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.56 [[ 0.98168979 -0.15884593 -0.10513385 -1.04847765] [ 0.16173578 0.98664136 0.01950274 -0.02059968] [ 0.10063148 -0.03614954 0.99426682 0.56423317] [ 0. 0. 0. 1. ]] SLAMing on 172.72992885099998 meters Centerline goodness : 0.830449 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.56 [[ 0.98165799 -0.15914801 -0.10497381 -1.04895159] [ 0.16203126 0.98659332 0.01948033 -0.02102393] [ 0.10046621 -0.03613206 0.99428417 0.56431789] [ 0. 0. 0. 1. ]] SLAMing on 172.75992885099998 meters Centerline goodness : 0.769179 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.56 [[ 0.98160349 -0.15959721 -0.10480133 -1.0496876 ] [ 0.16244921 0.98652988 0.01921049 -0.02110214] [ 0.1003237 -0.03588198 0.99430762 0.56471248] [ 0. 0. 0. 1. ]] SLAMing on 172.78992885099998 meters Centerline goodness : 0.829800 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.57 [[ 0.9815446 -0.16012384 -0.10454925 -1.0506344 ] [ 0.16293767 0.9864554 0.018896 -0.02122483] [ 0.10010747 -0.03558228 0.99434018 0.56521701] [ 0. 0. 0. 1. ]] SLAMing on 172.819928851 meters Centerline goodness : 0.829369 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.57 [[ 0.98150895 -0.16044307 -0.10439448 -1.05110751] [ 0.16324854 0.98640484 0.01885233 -0.02184184] [ 0.0999505 -0.03554598 0.99435727 0.56534942] [ 0. 0. 0. 1. ]] SLAMing on 172.849928851 meters Centerline goodness : 0.765605 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.57 [[ 0.98141456 -0.16126899 -0.10400854 -1.05233315] [ 0.16404844 0.98627521 0.01868997 -0.02319182] [ 0.09956693 -0.03540505 0.99440078 0.56577802] [ 0. 0. 0. 1. ]] SLAMing on 172.879928851 meters Centerline goodness : 0.765715 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.57 [[ 0.98135156 -0.16180669 -0.10376758 -1.05319259] [ 0.1645554 0.98619543 0.01844195 -0.02362362] [ 0.09935108 -0.03517355 0.99443058 0.56616522] [ 0. 0. 0. 1. ]] SLAMing on 172.909928851 meters Centerline goodness : 0.827164 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.57 [[ 0.98129769 -0.16227303 -0.10354853 -1.05387847] [ 0.16500009 0.98612414 0.01827988 -0.02417947] [ 0.09914538 -0.03502352 0.99445641 0.56645173] [ 0. 0. 0. 1. ]] SLAMing on 172.939928851 meters Centerline goodness : 0.827115 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.57 [[ 0.98123913 -0.16279447 -0.10328474 -1.05480429] [ 0.16549371 0.98604532 0.01806832 -0.02450746] [ 0.09890201 -0.03482231 0.99448771 0.56682409] [ 0. 0. 0. 1. ]] SLAMing on 172.96992885099996 meters Centerline goodness : 0.767755 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.03, Z:0.57 [[ 0.98114783 -0.16360081 -0.10287713 -1.05623336] [ 0.16625884 0.98592225 0.0177573 -0.02506868] [ 0.09852374 -0.03452677 0.99453556 0.56740353] [ 0. 0. 0. 1. ]] SLAMing on 172.99992885099996 meters Centerline goodness : 0.766087 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.03, Z:0.57 [[ 0.98111935 -0.16386034 -0.10273562 -1.05657384] [ 0.16651287 0.98587971 0.01773882 -0.0255651 ] [ 0.09837827 -0.0345107 0.99455052 0.56742795] [ 0. 0. 0. 1. ]] SLAMing on 173.02992885099997 meters Centerline goodness : 0.829260 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.03, Z:0.57 [[ 0.98106277 -0.16431377 -0.10255162 -1.05708611] [ 0.16694382 0.98581013 0.01755399 -0.02591469] [ 0.09821206 -0.03434192 0.99457278 0.56755543] [ 0. 0. 0. 1. ]] SLAMing on 173.05992885099997 meters Centerline goodness : 0.827862 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.02, Z:0.57 [[ 0.98040505 -0.16843654 -0.10215218 -1.05634718] [ 0.17065342 0.98524132 0.01330213 -0.02449116] [ 0.09840399 -0.03047409 0.99467984 0.56755554] [ 0. 0. 0. 1. ]] SLAMing on 173.08992885099997 meters Centerline goodness : 0.826916 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.02, Z:0.57 [[ 0.98032614 -0.16908799 -0.10183273 -1.05718029] [ 0.17126991 0.98513818 0.01301491 -0.0246136 ] [ 0.09811864 -0.03019974 0.9947164 0.56763681] [ 0. 0. 0. 1. ]] SLAMing on 173.11992885099997 meters Centerline goodness : 0.824746 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.02, Z:0.57 [[ 0.9802561 -0.16963551 -0.10159612 -1.05788473] [ 0.17178348 0.98505266 0.01271599 -0.02455607] [ 0.09792045 -0.02991747 0.99474446 0.56781085] [ 0. 0. 0. 1. ]] SLAMing on 173.14992885099997 meters Centerline goodness : 0.828345 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.02, Z:0.57 [[ 0.9801754 -0.17028001 -0.10129615 -1.05882834] [ 0.17238004 0.98495387 0.01228788 -0.02421288] [ 0.09767965 -0.02950571 0.99478043 0.56810221] [ 0. 0. 0. 1. ]] SLAMing on 173.17992885099997 meters Centerline goodness : 0.825016 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.02, Z:0.57 [[ 0.98000277 -0.17157014 -0.10078817 -1.06052606] [ 0.17358257 0.98475238 0.01148246 -0.02368926] [ 0.09728134 -0.02874791 0.99484164 0.56863508] [ 0. 0. 0. 1. ]] SLAMing on 173.20992885099997 meters Centerline goodness : 0.763690 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.02, Z:0.57 [[ 0.9799392 -0.17210702 -0.10049045 -1.06132582] [ 0.17408463 0.98466714 0.01118749 -0.0236166 ] [ 0.0970242 -0.0284569 0.99487512 0.56875808] [ 0. 0. 0. 1. ]] SLAMing on 173.23992885099997 meters Centerline goodness : 0.825673 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.02, Z:0.57 [[ 0.97987979 -0.17253736 -0.10033178 -1.06190976] [ 0.17448014 0.98460086 0.01085528 -0.02339228] [ 0.09691381 -0.02814278 0.99489482 0.56906028] [ 0. 0. 0. 1. ]] SLAMing on 173.26992885099997 meters Centerline goodness : 0.826078 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.02, Z:0.57 [[ 0.97979531 -0.17321529 -0.09998807 -1.06323155] [ 0.1750723 0.98450439 0.01003927 -0.02171464] [ 0.09669974 -0.02734157 0.99493799 0.56972045] [ 0. 0. 0. 1. ]] SLAMing on 173.29992885099998 meters Centerline goodness : 0.826179 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.02, Z:0.57 [[ 0.97975653 -0.17351043 -0.09985623 -1.06390495] [ 0.1753099 0.98446776 0.00946958 -0.02032948] [ 0.09666216 -0.02678367 0.99495681 0.57019005] [ 0. 0. 0. 1. ]] SLAMing on 173.32992885099998 meters Centerline goodness : 0.762289 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.02, Z:0.57 [[ 0.97973121 -0.17369549 -0.0997829 -1.06446735] [ 0.17544977 0.9844471 0.00901546 -0.01906396] [ 0.09666504 -0.02633962 0.99496839 0.57066509] [ 0. 0. 0. 1. ]] SLAMing on 173.35992885099998 meters Centerline goodness : 0.826399 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.02, Z:0.57 [[ 0.97969099 -0.174011 -0.09962797 -1.06514844] [ 0.17570428 0.98440704 0.00841376 -0.01752292] [ 0.09661039 -0.02574794 0.99498918 0.57106361] [ 0. 0. 0. 1. ]] SLAMing on 173.38992885099998 meters Centerline goodness : 0.762674 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.02, Z:0.57 [[ 0.97968407 -0.17412766 -0.0994921 -1.0654696 ] [ 0.17575731 0.98440272 0.00778846 -0.01514027] [ 0.0965841 -0.0251167 0.99500787 0.57106264] [ 0. 0. 0. 1. ]] SLAMing on 173.41992885099998 meters Centerline goodness : 0.760725 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.01, Z:0.57 [[ 0.97966466 -0.17429579 -0.09938882 -1.06559373] [ 0.17589524 0.98438035 0.00749578 -0.01420327] [ 0.09652992 -0.02482537 0.99502044 0.57089998] [ 0. 0. 0. 1. ]] SLAMing on 173.44992885099998 meters Centerline goodness : 0.759650 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.01, Z:0.57 [[ 0.97964801 -0.17440248 -0.09936572 -1.0655797 ] [ 0.17597817 0.98436736 0.00725153 -0.01335144] [ 0.09654769 -0.02459014 0.99502456 0.57078417] [ 0. 0. 0. 1. ]] SLAMing on 173.47992885099998 meters Centerline goodness : 0.827536 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.01, Z:0.57 [[ 0.97960915 -0.17476414 -0.09911312 -1.06604755] [ 0.17628156 0.98431701 0.00669655 -0.0115664 ] [ 0.09638842 -0.02403182 0.99505364 0.57063052] [ 0. 0. 0. 1. ]] SLAMing on 173.50992885099998 meters Centerline goodness : 0.826698 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.01, Z:0.57 [[ 0.97956847 -0.17508349 -0.09895145 -1.06649249] [ 0.17656225 0.98426918 0.00632156 -0.01060596] [ 0.09628806 -0.02366349 0.99507218 0.57068573] [ 0. 0. 0. 1. ]] SLAMing on 173.53992885099998 meters Centerline goodness : 0.758779 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.01, Z:0.57 [[ 0.97953295 -0.17539871 -0.09874454 -1.06696957] [ 0.17684219 0.98422098 0.00599181 -0.00977822] [ 0.09613549 -0.02333137 0.99509478 0.57064873] [ 0. 0. 0. 1. ]] SLAMing on 173.569928851 meters Centerline goodness : 0.821329 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.01, Z:0.57 [[ 0.97949186 -0.17572998 -0.09856301 -1.06747841] [ 0.17713895 0.98416957 0.00566204 -0.00895459] [ 0.09600772 -0.02300527 0.9951147 0.57072094] [ 0. 0. 0. 1. ]] SLAMing on 173.599928851 meters Centerline goodness : 0.757877 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.01, Z:0.57 [[ 0.97939683 -0.17638166 -0.09834305 -1.06833862] [ 0.17771627 0.98406952 0.00491068 -0.0068061 ] [ 0.09591024 -0.02228667 0.99514046 0.57096062] [ 0. 0. 0. 1. ]] SLAMing on 173.629928851 meters Centerline goodness : 0.756683 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.01, Z:0.57 [[ 0.97933216 -0.17685012 -0.09814557 -1.06899178] [ 0.17814025 0.98399495 0.00447153 -0.00576588] [ 0.09578396 -0.02186279 0.99516202 0.57109449] [ 0. 0. 0. 1. ]] SLAMing on 173.659928851 meters Centerline goodness : 0.824870 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.01, Z:0.57 [[ 0.97927828 -0.17727928 -0.09790865 -1.06963112] [ 0.17853266 0.98392535 0.00412207 -0.00519264] [ 0.09560404 -0.02151654 0.99518687 0.57119578] [ 0. 0. 0. 1. ]] SLAMing on 173.689928851 meters Centerline goodness : 0.823131 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.01, Z:0.57 [[ 0.97921314 -0.17785211 -0.09752053 -1.07062377] [ 0.17907094 0.98382875 0.00382073 -0.00500484] [ 0.09526397 -0.0212044 0.99522618 0.5712767 ] [ 0. 0. 0. 1. ]] SLAMing on 173.71992885099996 meters Centerline goodness : 0.821187 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.00, Z:0.57 [[ 0.97898698 -0.17951289 -0.0967451 -1.07299616] [ 0.18064676 0.98354341 0.0030193 -0.00479871] [ 0.094611 -0.02043254 0.99530461 0.57168974] [ 0. 0. 0. 1. ]] SLAMing on 173.74992885099996 meters Centerline goodness : 0.759387 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.00, Z:0.57 [[ 0.9788929 -0.18021922 -0.09638321 -1.07395888] [ 0.1813149 0.98342149 0.00266039 -0.00458713] [ 0.09430586 -0.02007994 0.99534075 0.57179044] [ 0. 0. 0. 1. ]] SLAMing on 173.77992885099997 meters Centerline goodness : 0.758611 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.00, Z:0.57 [[ 0.97879109 -0.1809743 -0.09600162 -1.07500158] [ 0.1820237 0.98329165 0.00221509 -0.00407587] [ 0.09399672 -0.01964268 0.99537871 0.57186937] [ 0. 0. 0. 1. ]] SLAMing on 173.80992885099997 meters Centerline goodness : 0.759604 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.00, Z:0.57 [[ 0.97859616 -0.18236665 -0.09535173 -1.07697072] [ 0.18333434 0.9830496 0.00141392 -0.00322635] [ 0.09347762 -0.0188649 0.99544264 0.57220081] [ 0. 0. 0. 1. ]] SLAMing on 173.83992885099997 meters Centerline goodness : 0.759294 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.00, Z:0.57 [[ 0.97853669 -0.18287682 -0.09498428 -1.07783164] [ 0.18381767 0.98295965 0.00117701 -0.00302529] [ 0.09315047 -0.01861153 0.99547808 0.57216222] [ 0. 0. 0. 1. ]] SLAMing on 173.86992885099997 meters Centerline goodness : 0.762627 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.00, Z:0.57 [[ 9.78481296e-01 -1.83330473e-01 -9.46799406e-02 -1.07857369e+00] [ 1.84240964e-01 9.82880702e-01 8.90924175e-04 -2.59409498e-03] [ 9.28957529e-02 -1.83156761e-02 9.95507366e-01 5.72190638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.89992885099997 meters Centerline goodness : 0.761683 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.00, Z:0.57 [[ 9.78425455e-01 -1.83767374e-01 -9.44096461e-02 -1.07928914e+00] [ 1.84645420e-01 9.82805036e-01 5.74932545e-04 -1.90425752e-03] [ 9.26806218e-02 -1.79948374e-02 9.95533268e-01 5.72200361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.92992885099997 meters Centerline goodness : 0.763250 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.00, Z:0.57 [[ 9.78354661e-01 -1.84284847e-01 -9.41342240e-02 -1.08036689e+00] [ 1.85085831e-01 9.82722333e-01 -2.25731292e-04 3.22698247e-04] [ 9.25494031e-02 -1.72020658e-02 9.95559489e-01 5.72681100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.95992885099997 meters Centerline goodness : 0.826527 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.00, Z:0.57 [[ 9.78324453e-01 -1.84467748e-01 -9.40899290e-02 -1.08083383e+00] [ 1.85221249e-01 9.82696568e-01 -7.37013234e-04 1.86492984e-03] [ 9.25978055e-02 -1.67064161e-02 9.95563429e-01 5.73103619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.98992885099997 meters Centerline goodness : 0.827998 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.00, Z:0.57 [[ 0.97829849 -0.18461226 -0.0940765 -1.0812538 ] [ 0.18530981 0.98267923 -0.00134282 0.00371608] [ 0.09269492 -0.01611962 0.99556407 0.57359997] [ 0. 0. 0. 1. ]] SLAMing on 174.01992885099997 meters Centerline goodness : 0.827912 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.01, Z:0.57 [[ 0.9782969 -0.18459954 -0.0941179 -1.08136134] [ 0.18524306 0.98269084 -0.00192917 0.00561081] [ 0.09284493 -0.01554739 0.99555919 0.57398266] [ 0. 0. 0. 1. ]] SLAMing on 174.04992885099998 meters Centerline goodness : 0.828343 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.01, Z:0.57 [[ 0.97829019 -0.18459878 -0.09418909 -1.0814694 ] [ 0.18518005 0.98270115 -0.00260764 0.00773865] [ 0.09304109 -0.01489091 0.99555091 0.57446873] [ 0. 0. 0. 1. ]] SLAMing on 174.07992885099998 meters Centerline goodness : 0.767076 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.01, Z:0.57 [[ 9.78971841e-01 -1.80891074e-01 -9.43003397e-02 -1.08292945e+00] [ 1.81771150e-01 9.83340570e-01 7.56157704e-04 9.67779259e-03] [ 9.25925676e-02 -1.78813383e-02 9.95543507e-01 5.74251769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.10992885099998 meters Centerline goodness : 0.767076 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.01, Z:0.57 [[ 9.78971841e-01 -1.80891074e-01 -9.43003397e-02 -1.08292945e+00] [ 1.81771150e-01 9.83340570e-01 7.56157704e-04 9.67779259e-03] [ 9.25925676e-02 -1.78813383e-02 9.95543507e-01 5.74251769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13992885099998 meters Centerline goodness : 0.826716 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.01, Z:0.57 [[ 9.78986765e-01 -1.80725919e-01 -9.44619325e-02 -1.08265538e+00] [ 1.81563039e-01 9.83379270e-01 2.71962896e-04 1.17001865e-02] [ 9.28427555e-02 -1.74170437e-02 9.95528437e-01 5.74433236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.16992885099998 meters Centerline goodness : 0.826439 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.01, Z:0.57 [[ 9.78989862e-01 -1.80677251e-01 -9.45229155e-02 -1.08255367e+00] [ 1.81472429e-01 9.83396015e-01 -1.86418484e-04 1.33991225e-02] [ 9.29871400e-02 -1.69708012e-02 9.95522669e-01 5.74573918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19992885099998 meters Centerline goodness : 0.828420 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.01, Z:0.57 [[ 9.78996781e-01 -1.80555689e-01 -9.46833930e-02 -1.08222680e+00] [ 1.81316200e-01 9.83424679e-01 -5.80297815e-04 1.49301934e-02] [ 9.32187614e-02 -1.65995233e-02 9.95507267e-01 5.74728502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.22992885099998 meters Centerline goodness : 0.767622 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.02, Z:0.57 [[ 0.97903518 -0.18033224 -0.09471217 -1.08197808] [ 0.18103758 0.98347549 -0.00116328 0.01789594] [ 0.09335687 -0.01600757 0.99550402 0.57461348] [ 0. 0. 0. 1. ]] SLAMing on 174.25992885099998 meters Centerline goodness : 0.768083 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.02, Z:0.57 [[ 0.97903306 -0.18031685 -0.09476335 -1.08183402] [ 0.18100227 0.9834817 -0.00138359 0.01898216] [ 0.09344751 -0.0157978 0.99549887 0.57454549] [ 0. 0. 0. 1. ]] SLAMing on 174.28992885099998 meters Centerline goodness : 0.768196 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.02, Z:0.57 [[ 0.97900627 -0.18049527 -0.09470046 -1.08197384] [ 0.18115173 0.98345371 -0.00169024 0.01982363] [ 0.0934386 -0.01550039 0.99550438 0.57452815] [ 0. 0. 0. 1. ]] SLAMing on 174.319928851 meters Centerline goodness : 0.769044 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.02, Z:0.57 [[ 0.97893913 -0.1810374 -0.09435913 -1.08263654] [ 0.18166167 0.98335905 -0.00200345 0.02047737] [ 0.0931516 -0.01518018 0.99553621 0.57422206] [ 0. 0. 0. 1. ]] SLAMing on 174.349928851 meters Centerline goodness : 0.770035 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.02, Z:0.57 [[ 0.97890535 -0.18133632 -0.09413524 -1.08306856] [ 0.18194774 0.98330592 -0.00211889 0.02069825] [ 0.09294797 -0.01505351 0.99555716 0.57402884] [ 0. 0. 0. 1. ]] SLAMing on 174.379928851 meters Centerline goodness : 0.768865 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.02, Z:0.57 [[ 0.97883395 -0.18188759 -0.0938137 -1.08393146] [ 0.18246894 0.98320865 -0.00241606 0.02107974] [ 0.09267789 -0.01475316 0.99558684 0.57407896] [ 0. 0. 0. 1. ]] SLAMing on 174.409928851 meters Centerline goodness : 0.770583 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.02, Z:0.57 [[ 0.97875125 -0.18249758 -0.09349129 -1.08503107] [ 0.18304197 0.98310114 -0.00279192 0.02145572] [ 0.09242091 -0.01438023 0.99561618 0.57439473] [ 0. 0. 0. 1. ]] SLAMing on 174.439928851 meters Centerline goodness : 0.770525 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.02, Z:0.57 [[ 0.97859254 -0.18371836 -0.09275881 -1.08729791] [ 0.18421874 0.98288002 -0.0032129 0.02114302] [ 0.09176105 -0.01394379 0.99568342 0.57483866] [ 0. 0. 0. 1. ]] SLAMing on 174.46992885099996 meters Centerline goodness : 0.772777 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.02, Z:0.58 [[ 0.97850347 -0.18444657 -0.09225196 -1.08874964] [ 0.18492138 0.98274727 -0.00344866 0.0207816 ] [ 0.09129645 -0.01368484 0.99572972 0.57510554] [ 0. 0. 0. 1. ]] SLAMing on 174.49992885099996 meters Centerline goodness : 0.770431 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.02, Z:0.58 [[ 0.97842206 -0.18503924 -0.09192796 -1.08978121] [ 0.18549594 0.98263834 -0.00362598 0.02023278] [ 0.09100289 -0.01350452 0.99575906 0.57539818] [ 0. 0. 0. 1. ]] SLAMing on 174.52992885099997 meters Centerline goodness : 0.770256 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.02, Z:0.58 [[ 0.97835337 -0.18556494 -0.09159877 -1.09063182] [ 0.18601353 0.98254025 -0.00369068 0.01954956] [ 0.09068434 -0.01342782 0.99578916 0.57544229] [ 0. 0. 0. 1. ]] SLAMing on 174.55992885099997 meters Centerline goodness : 0.825539 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.02, Z:0.58 [[ 0.97829838 -0.18597318 -0.09135785 -1.09127549] [ 0.1864099 0.98246469 -0.00380462 0.01911306] [ 0.09046342 -0.01330795 0.99581086 0.57556996] [ 0. 0. 0. 1. ]] SLAMing on 174.58992885099997 meters Centerline goodness : 0.772105 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.02, Z:0.58 [[ 0.97819001 -0.18676249 -0.09090695 -1.09264036] [ 0.1871646 0.98231977 -0.00415749 0.01912439] [ 0.09007615 -0.01294775 0.99585071 0.57582392] [ 0. 0. 0. 1. ]] SLAMing on 174.61992885099997 meters Centerline goodness : 0.771107 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.02, Z:0.58 [[ 0.97816334 -0.18696323 -0.09078125 -1.09298254] [ 0.18734682 0.98228418 -0.00435375 0.01936465] [ 0.08998698 -0.0127489 0.99586134 0.57594532] [ 0. 0. 0. 1. ]] SLAMing on 174.64992885099997 meters Centerline goodness : 0.772238 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.02, Z:0.58 [[ 0.97816132 -0.18697362 -0.09078157 -1.09303628] [ 0.18734954 0.98228328 -0.00443907 0.01978312] [ 0.09000321 -0.01266576 0.99586093 0.5759929 ] [ 0. 0. 0. 1. ]] SLAMing on 174.67992885099997 meters Centerline goodness : 0.771929 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.02, Z:0.58 [[ 0.97816365 -0.1869749 -0.09075383 -1.09311464] [ 0.18734243 0.98228423 -0.00452806 0.02023603] [ 0.08999269 -0.01257286 0.99586306 0.57601307] [ 0. 0. 0. 1. ]] SLAMing on 174.70992885099997 meters Centerline goodness : 0.772652 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.02, Z:0.58 [[ 0.97819514 -0.1867754 -0.0908252 -1.09291274] [ 0.1871393 0.98232276 -0.00456886 0.02062969] [ 0.09007302 -0.01252773 0.99585637 0.57608509] [ 0. 0. 0. 1. ]] SLAMing on 174.73992885099997 meters Centerline goodness : 0.770736 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.02, Z:0.58 [[ 0.97820528 -0.18672447 -0.09082066 -1.09294845] [ 0.18708642 0.98233275 -0.00458745 0.02067668] [ 0.0900727 -0.01250384 0.9958567 0.57616555] [ 0. 0. 0. 1. ]] SLAMing on 174.76992885099997 meters Centerline goodness : 0.771594 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.02, Z:0.58 [[ 0.9782153 -0.18664003 -0.09088635 -1.09282072] [ 0.18698748 0.9823508 -0.00475282 0.02118801] [ 0.09016934 -0.01234533 0.99584993 0.576297 ] [ 0. 0. 0. 1. ]] SLAMing on 174.79992885099998 meters Centerline goodness : 0.773929 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.02, Z:0.58 [[ 9.78881748e-01 -1.83032270e-01 -9.10478564e-02 -1.09435191e+00] [ 1.83706056e-01 9.82980719e-01 -9.96040779e-04 2.05414653e-02] [ 8.96805949e-02 -1.57510365e-02 9.95846020e-01 5.76432868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.82992885099998 meters Centerline goodness : 0.772422 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.02, Z:0.58 [[ 0.97890727 -0.18282325 -0.09119326 -1.09400477] [ 0.18348502 0.98302184 -0.00114512 0.02139904] [ 0.08985432 -0.01561163 0.99583256 0.57649168] [ 0. 0. 0. 1. ]] SLAMing on 174.85992885099998 meters Centerline goodness : 0.771917 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.02, Z:0.58 [[ 0.97895794 -0.18247897 -0.09133874 -1.09342595] [ 0.18313908 0.98308631 -0.00117281 0.02219517] [ 0.09000788 -0.01557956 0.99581919 0.57629184] [ 0. 0. 0. 1. ]] SLAMing on 174.88992885099998 meters Centerline goodness : 0.832935 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.02, Z:0.58 [[ 0.97900838 -0.18211221 -0.09152995 -1.09272489] [ 0.18276959 0.98315502 -0.001219 0.0229197 ] [ 0.09021012 -0.01553548 0.99580158 0.57609887] [ 0. 0. 0. 1. ]] SLAMing on 174.91992885099998 meters Centerline goodness : 0.773279 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.02, Z:0.58 [[ 0.97908218 -0.18166975 -0.09161977 -1.09220159] [ 0.18232534 0.98323748 -0.00123358 0.02370554] [ 0.0903081 -0.01549682 0.9957933 0.57591608] [ 0. 0. 0. 1. ]] SLAMing on 174.94992885099998 meters Centerline goodness : 0.833102 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.02, Z:0.58 [[ 0.97910285 -0.1815751 -0.0915865 -1.09211649] [ 0.18223501 0.9832543 -0.00117569 0.02370163] [ 0.09026629 -0.01553914 0.99579643 0.5757661 ] [ 0. 0. 0. 1. ]] SLAMing on 174.97992885099998 meters Centerline goodness : 0.774996 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.02, Z:0.58 [[ 0.97909638 -0.18164414 -0.09151873 -1.09231957] [ 0.18229806 0.98324254 -0.00123332 0.02382301] [ 0.09020914 -0.01547615 0.99580259 0.57581804] [ 0. 0. 0. 1. ]] SLAMing on 175.00992885099998 meters Centerline goodness : 0.770606 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.02, Z:0.58 [[ 0.97909977 -0.18170596 -0.09135968 -1.09259392] [ 0.18236741 0.98322981 -0.00112561 0.02336791] [ 0.09003209 -0.01555894 0.99581732 0.57571952] [ 0. 0. 0. 1. ]] SLAMing on 175.03992885099998 meters Centerline goodness : 0.770456 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.02, Z:0.58 [[ 9.79078516e-01 -1.81918692e-01 -9.11638546e-02 -1.09284508e+00] [ 1.82609255e-01 9.83185259e-01 -7.78568712e-04 2.18610473e-02] [ 8.97725942e-02 -1.58850837e-02 9.95835602e-01 5.75419775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.069928851 meters Centerline goodness : 0.768970 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.02, Z:0.58 [[ 9.79063199e-01 -1.82108813e-01 -9.09485210e-02 -1.09312604e+00] [ 1.82812534e-01 9.83147605e-01 -6.02747401e-04 2.07823360e-02] [ 8.95255862e-02 -1.60364018e-02 9.95855413e-01 5.75238147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.099928851 meters Centerline goodness : 0.767686 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.02, Z:0.57 [[ 9.79045096e-01 -1.82278631e-01 -9.08030866e-02 -1.09322567e+00] [ 1.83007653e-01 9.83111442e-01 -3.02444639e-04 1.94872710e-02] [ 8.93246826e-02 -1.63215528e-02 9.95868821e-01 5.74870962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.129928851 meters Centerline goodness : 0.768709 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.02, Z:0.57 [[ 9.78959132e-01 -1.82956924e-01 -9.03647193e-02 -1.09428703e+00] [ 1.83693015e-01 9.82983645e-01 -1.73837996e-04 1.74091478e-02] [ 8.88588460e-02 -1.64291875e-02 9.95908724e-01 5.74946345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.159928851 meters Centerline goodness : 0.828800 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.02, Z:0.58 [[ 9.78908076e-01 -1.83370753e-01 -9.00785548e-02 -1.09507945e+00] [ 1.84108866e-01 9.82905851e-01 -1.16894584e-04 1.61710325e-02] [ 8.85601736e-02 -1.64698315e-02 9.95934657e-01 5.75139464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.18992885099996 meters Centerline goodness : 0.768481 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.01, Z:0.58 [[ 9.78866485e-01 -1.83730957e-01 -8.97961053e-02 -1.09568004e+00] [ 1.84486337e-01 9.82835072e-01 1.14291921e-04 1.44864272e-02] [ 8.82337626e-02 -1.66780310e-02 9.95960163e-01 5.75110029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.21992885099996 meters Centerline goodness : 0.767290 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.01, Z:0.58 [[ 9.78810054e-01 -1.84142531e-01 -8.95678859e-02 -1.09628223e+00] [ 1.84916276e-01 9.82754217e-01 3.46788771e-04 1.26457345e-02] [ 8.79593590e-02 -1.69020003e-02 9.95980659e-01 5.75187459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.24992885099996 meters Centerline goodness : 0.825109 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.01, Z:0.58 [[ 0.97806962 -0.18831027 -0.08898907 -1.09598538] [ 0.1887726 0.98201539 -0.00326826 0.01120206] [ 0.08800408 -0.01360212 0.99602724 0.57548399] [ 0. 0. 0. 1. ]] SLAMing on 175.27992885099997 meters Centerline goodness : 0.765234 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.01, Z:0.58 [[ 0.97800442 -0.18878045 -0.08870909 -1.0966597 ] [ 0.18926302 0.9819218 -0.0030162 0.0093507 ] [ 0.08767479 -0.0138395 0.99605301 0.57549063] [ 0. 0. 0. 1. ]] SLAMing on 175.30992885099997 meters Centerline goodness : 0.763775 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.01, Z:0.58 [[ 0.97797008 -0.18908096 -0.08844721 -1.09715848] [ 0.1895889 0.98185985 -0.00269917 0.00736118] [ 0.08735313 -0.0141289 0.99607721 0.57544945] [ 0. 0. 0. 1. ]] SLAMing on 175.33992885099997 meters Centerline goodness : 0.764198 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.01, Z:0.58 [[ 0.97794329 -0.18930509 -0.08826381 -1.0975002 ] [ 0.18983477 0.98181304 -0.00243107 0.00540865] [ 0.08711877 -0.0143781 0.99609417 0.57548636] [ 0. 0. 0. 1. ]] SLAMing on 175.36992885099997 meters Centerline goodness : 0.821315 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.00, Z:0.58 [[ 0.97793294 -0.18944774 -0.08807223 -1.09793807] [ 0.19001935 0.98177846 -0.00192489 0.0023088 ] [ 0.08683208 -0.01485302 0.99611223 0.57571802] [ 0. 0. 0. 1. ]] SLAMing on 175.39992885099997 meters Centerline goodness : 0.764165 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.00, Z:0.58 [[ 0.97794706 -0.18939579 -0.08802711 -1.09809962] [ 0.18998219 0.98178599 -0.00174505 0.00142619] [ 0.08675429 -0.01501702 0.99611655 0.57589 ] [ 0. 0. 0. 1. ]] SLAMing on 175.42992885099997 meters Centerline goodness : 0.765314 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.00, Z:0.58 [[ 9.77973685e-01 -1.89241554e-01 -8.80630729e-02 -1.09797443e+00] [ 1.89847045e-01 9.81812494e-01 -1.52513829e-03 8.34187072e-04] [ 8.67500448e-02 -1.52269690e-02 9.96113733e-01 5.75856395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.45992885099997 meters Centerline goodness : 0.763375 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.00, Z:0.58 [[ 9.78036688e-01 -1.88799749e-01 -8.83113331e-02 -1.09729256e+00] [ 1.89432290e-01 9.81893004e-01 -1.23906022e-03 8.75700293e-05] [ 8.69462144e-02 -1.55171717e-02 9.96092151e-01 5.75911626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.48992885099997 meters Centerline goodness : 0.761509 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.00, Z:0.58 [[ 9.78115794e-01 -1.88289933e-01 -8.85234131e-02 -1.09643893e+00] [ 1.88958663e-01 9.81984683e-01 -8.40202371e-04 -4.84603532e-04] [ 8.70868374e-02 -1.59054506e-02 9.96073742e-01 5.75539716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.51992885099997 meters Centerline goodness : 0.759314 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.00, Z:0.58 [[ 9.78290273e-01 -1.87130913e-01 -8.90514666e-02 -1.09462302e+00] [ 1.87872728e-01 9.82193380e-01 -5.25776980e-05 -1.77851281e-03] [ 8.74755999e-02 -1.66789057e-02 9.96027024e-01 5.75107207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.54992885099998 meters Centerline goodness : 0.758235 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.00, Z:0.58 [[ 9.78344471e-01 -1.86725507e-01 -8.93066698e-02 -1.09390814e+00] [ 1.87489624e-01 9.82266569e-01 1.70346015e-04 -2.39746045e-03] [ 8.76911482e-02 -1.69107310e-02 9.96004161e-01 5.75130166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.57992885099998 meters Centerline goodness : 0.759592 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.00, Z:0.58 [[ 9.78404545e-01 -1.86340191e-01 -8.94532290e-02 -1.09339737e+00] [ 1.87134822e-01 9.82334110e-01 5.05680105e-04 -3.20486205e-03] [ 8.77787295e-02 -1.72345738e-02 9.95990896e-01 5.75032426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.60992885099998 meters Centerline goodness : 0.757854 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.00, Z:0.57 [[ 9.78461180e-01 -1.85921592e-01 -8.97044071e-02 -1.09267674e+00] [ 1.86741231e-01 9.82408844e-01 7.58368474e-04 -3.85616552e-03] [ 8.79854059e-02 -1.74935455e-02 9.95968144e-01 5.74989532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.63992885099998 meters Centerline goodness : 0.758367 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.01, Z:0.58 [[ 0.97857314 -0.18516628 -0.0900448 -1.09175337] [ 0.1860346 0.98254237 0.00127435 -0.00517491] [ 0.08823686 -0.0179985 0.9959369 0.57510224] [ 0. 0. 0. 1. ]] SLAMing on 175.66992885099998 meters Centerline goodness : 0.813750 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.01, Z:0.58 [[ 0.97861313 -0.18487628 -0.09020585 -1.091374 ] [ 0.18576351 0.98259339 0.00146771 -0.00561845] [ 0.08836432 -0.01819328 0.99592206 0.57517787] [ 0. 0. 0. 1. ]] SLAMing on 175.69992885099998 meters Centerline goodness : 0.813324 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.01, Z:0.58 [[ 0.97866641 -0.18454902 -0.09029799 -1.09093219] [ 0.18546237 0.9826498 0.00175788 -0.00622767] [ 0.08840689 -0.01846726 0.99591324 0.57500064] [ 0. 0. 0. 1. ]] SLAMing on 175.72992885099998 meters Centerline goodness : 0.813999 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.01, Z:0.57 [[ 0.97875793 -0.18389962 -0.09063026 -1.08999582] [ 0.1848662 0.98276097 0.00231596 -0.00761691] [ 0.08864198 -0.01902124 0.99588192 0.57495444] [ 0. 0. 0. 1. ]] SLAMing on 175.75992885099998 meters Centerline goodness : 0.755747 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.01, Z:0.57 [[ 0.97880008 -0.18361099 -0.09076011 -1.08949251] [ 0.18461464 0.98280723 0.00271725 -0.0089359 ] [ 0.08870077 -0.01941528 0.99586908 0.5748345 ] [ 0. 0. 0. 1. ]] SLAMing on 175.78992885099998 meters Centerline goodness : 0.754572 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.01, Z:0.57 [[ 0.97882544 -0.18347426 -0.0907632 -1.08923235] [ 0.18451064 0.98282566 0.00309048 -0.01021952] [ 0.08863738 -0.01977181 0.99586771 0.57460693] [ 0. 0. 0. 1. ]] SLAMing on 175.819928851 meters Centerline goodness : 0.813049 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.01, Z:0.57 [[ 0.97883507 -0.18340478 -0.09079971 -1.08906093] [ 0.18447052 0.98283211 0.00341529 -0.01172929] [ 0.08861449 -0.02009287 0.99586332 0.57463113] [ 0. 0. 0. 1. ]] SLAMing on 175.849928851 meters Centerline goodness : 0.755434 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.01, Z:0.57 [[ 0.9788275 -0.18347313 -0.09074328 -1.0890298 ] [ 0.18456068 0.98281427 0.00367039 -0.01312515] [ 0.08851037 -0.02034032 0.99586755 0.5745555 ] [ 0. 0. 0. 1. ]] SLAMing on 175.879928851 meters Centerline goodness : 0.755566 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.02, Z:0.58 [[ 0.97874773 -0.18397938 -0.09057849 -1.08984249] [ 0.18508187 0.98271555 0.0038538 -0.0158192 ] [ 0.08830387 -0.02053634 0.99588186 0.57525077] [ 0. 0. 0. 1. ]] SLAMing on 175.909928851 meters Centerline goodness : 0.755202 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.02, Z:0.58 [[ 0.97871308 -0.1842613 -0.09037963 -1.09042774] [ 0.18537278 0.98266018 0.00398899 -0.01732294] [ 0.08807744 -0.020658 0.9958994 0.57554148] [ 0. 0. 0. 1. ]] SLAMing on 175.93992885099996 meters Centerline goodness : 0.754743 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.02, Z:0.58 [[ 0.97867786 -0.18454925 -0.09017331 -1.0910012 ] [ 0.18567239 0.98260291 0.00415672 -0.01905802] [ 0.08783743 -0.02081078 0.99591741 0.57584511] [ 0. 0. 0. 1. ]] SLAMing on 175.96992885099996 meters Centerline goodness : 0.755921 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.02, Z:0.58 [[ 0.97862669 -0.18492546 -0.08995758 -1.09172566] [ 0.18605442 0.98253022 0.00425721 -0.02072661] [ 0.08759878 -0.02090322 0.9959365 0.57627057] [ 0. 0. 0. 1. ]] SLAMing on 175.99992885099996 meters Centerline goodness : 0.755921 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.02, Z:0.58 [[ 0.97862669 -0.18492546 -0.08995758 -1.09172566] [ 0.18605442 0.98253022 0.00425721 -0.02072661] [ 0.08759878 -0.02090322 0.9959365 0.57627057] [ 0. 0. 0. 1. ]] SLAMing on 176.02992885099997 meters Centerline goodness : 0.755847 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.02, Z:0.58 [[ 0.97858885 -0.1852317 -0.08973899 -1.09224795] [ 0.18636459 0.98247107 0.00434061 -0.02209978] [ 0.08736194 -0.02097185 0.99595586 0.57647249] [ 0. 0. 0. 1. ]] SLAMing on 176.05992885099997 meters Centerline goodness : 0.755918 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.03, Z:0.58 [[ 0.97851113 -0.18566073 -0.0896998 -1.09241387] [ 0.18682815 0.98238125 0.00472473 -0.02536906] [ 0.08724221 -0.02138165 0.99595764 0.57671972] [ 0. 0. 0. 1. ]] SLAMing on 176.08992885099997 meters Centerline goodness : 0.756713 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.03, Z:0.58 [[ 0.97847874 -0.18590995 -0.08953683 -1.09281542] [ 0.18709278 0.98232988 0.00492999 -0.02732146] [ 0.08703817 -0.02157558 0.99597131 0.5769632 ] [ 0. 0. 0. 1. ]] SLAMing on 176.11992885099997 meters Centerline goodness : 0.756801 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.03, Z:0.58 [[ 0.97845533 -0.18609608 -0.08940591 -1.09303254] [ 0.18729847 0.9822894 0.00517842 -0.0292444 ] [ 0.0868588 -0.02181244 0.99598181 0.57708471] [ 0. 0. 0. 1. ]] SLAMing on 176.14992885099997 meters Centerline goodness : 0.813266 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.03, Z:0.58 [[ 0.97842944 -0.18630915 -0.08924532 -1.09345222] [ 0.18752799 0.98224442 0.00539849 -0.0309799 ] [ 0.08665493 -0.02201804 0.99599504 0.57729305] [ 0. 0. 0. 1. ]] SLAMing on 176.17992885099997 meters Centerline goodness : 0.815707 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.03, Z:0.58 [[ 0.97838421 -0.18663427 -0.08906169 -1.09416229] [ 0.18787491 0.98217653 0.00568192 -0.0340202 ] [ 0.08641386 -0.02229155 0.99600991 0.57798291] [ 0. 0. 0. 1. ]] SLAMing on 176.20992885099997 meters Centerline goodness : 0.814793 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.04, Z:0.58 [[ 0.97837939 -0.18665735 -0.08906623 -1.09429531] [ 0.18791377 0.98216804 0.00586171 -0.03532907] [ 0.08638388 -0.02247175 0.99600846 0.578314 ] [ 0. 0. 0. 1. ]] SLAMing on 176.23992885099997 meters Centerline goodness : 0.759726 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.04, Z:0.58 [[ 0.97839748 -0.1865826 -0.08902414 -1.0944297 ] [ 0.18786364 0.9821758 0.00616006 -0.03651893] [ 0.086288 -0.02275139 0.99601042 0.57844348] [ 0. 0. 0. 1. ]] SLAMing on 176.26992885099997 meters Centerline goodness : 0.815170 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.04, Z:0.58 [[ 0.97841576 -0.18646147 -0.08907706 -1.09451151] [ 0.18775427 0.98219591 0.00628726 -0.03738477] [ 0.08631879 -0.02287615 0.99600489 0.57885979] [ 0. 0. 0. 1. ]] SLAMing on 176.29992885099998 meters Centerline goodness : 0.762843 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.04, Z:0.58 [[ 0.97846278 -0.18616147 -0.08918796 -1.09444172] [ 0.18750295 0.98224028 0.00683235 -0.03953385] [ 0.08633208 -0.0234082 0.99599138 0.57929437] [ 0. 0. 0. 1. ]] SLAMing on 176.32992885099998 meters Centerline goodness : 0.760916 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.04, Z:0.58 [[ 0.9784967 -0.18595037 -0.0892562 -1.09418094] [ 0.18732857 0.98227058 0.00724672 -0.04097418] [ 0.08632621 -0.02381113 0.99598234 0.5792763 ] [ 0. 0. 0. 1. ]] SLAMing on 176.35992885099998 meters Centerline goodness : 0.762567 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.04, Z:0.58 [[ 0.97852781 -0.18575295 -0.08932621 -1.09387204] [ 0.18716924 0.9822977 0.00767542 -0.04255522] [ 0.08631919 -0.02422973 0.99597285 0.57921121] [ 0. 0. 0. 1. ]] SLAMing on 176.38992885099998 meters Centerline goodness : 0.760084 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.04, Z:0.58 [[ 0.97856123 -0.18555292 -0.08937576 -1.09352013] [ 0.18700803 0.98232484 0.00811816 -0.04446102] [ 0.08628968 -0.0246581 0.99596489 0.57913295] [ 0. 0. 0. 1. ]] SLAMing on 176.41992885099998 meters Centerline goodness : 0.761706 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.05, Z:0.58 [[ 0.97860759 -0.18521945 -0.08955968 -1.09272665] [ 0.18674947 0.98236686 0.00894381 -0.04819817] [ 0.08632389 -0.02547771 0.9959413 0.5790536 ] [ 0. 0. 0. 1. ]] SLAMing on 176.44992885099998 meters Centerline goodness : 0.762096 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.05, Z:0.58 [[ 0.97863675 -0.18504158 -0.08960872 -1.09243083] [ 0.18660439 0.98239097 0.00931533 -0.04960807] [ 0.08630707 -0.0258377 0.99593348 0.57898559] [ 0. 0. 0. 1. ]] SLAMing on 176.47992885099998 meters Centerline goodness : 0.762538 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.05, Z:0.58 [[ 0.97865405 -0.18498487 -0.08953685 -1.09253951] [ 0.18656808 0.98239537 0.00957504 -0.05071037] [ 0.08618935 -0.02607537 0.99593748 0.57905913] [ 0. 0. 0. 1. ]] SLAMing on 176.50992885099998 meters Centerline goodness : 0.762508 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.05, Z:0.58 [[ 0.97863288 -0.18509038 -0.08955021 -1.09241769] [ 0.18669396 0.98236922 0.00980179 -0.05185901] [ 0.08615715 -0.02631084 0.99593408 0.57925565] [ 0. 0. 0. 1. ]] SLAMing on 176.53992885099998 meters Centerline goodness : 0.765808 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.06, Z:0.58 [[ 0.97870931 -0.17853155 -0.10126486 -1.09413229] [ 0.18080777 0.98342319 0.01368864 -0.06029599] [ 0.09714236 -0.03170667 0.99476532 0.58414191] [ 0. 0. 0. 1. ]] SLAMing on 176.569928851 meters Centerline goodness : 0.763845 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.06, Z:0.58 [[ 0.97878695 -0.17797348 -0.10149652 -1.09338349] [ 0.18034897 0.9834935 0.01465527 -0.0624977 ] [ 0.09721292 -0.03264918 0.99472794 0.58411441] [ 0. 0. 0. 1. ]] SLAMing on 176.599928851 meters Centerline goodness : 0.762864 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.06, Z:0.58 [[ 0.97876341 -0.17807941 -0.10153778 -1.09318959] [ 0.18047641 0.98346711 0.01485615 -0.06367901] [ 0.09721349 -0.03286583 0.99472075 0.58431457] [ 0. 0. 0. 1. ]] SLAMing on 176.629928851 meters Centerline goodness : 0.764142 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.07, Z:0.58 [[ 0.97877827 -0.17789217 -0.10172253 -1.09253666] [ 0.18034669 0.98348269 0.01539047 -0.065363 ] [ 0.09730451 -0.03340918 0.99469375 0.58428393] [ 0. 0. 0. 1. ]] SLAMing on 176.659928851 meters Centerline goodness : 0.763461 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.07, Z:0.58 [[ 0.97870332 -0.17816979 -0.10195751 -1.09181341] [ 0.18070591 0.98340492 0.0161285 -0.06817858] [ 0.0973919 -0.03420934 0.994658 0.58461062] [ 0. 0. 0. 1. ]] SLAMing on 176.68992885099996 meters Centerline goodness : 0.765568 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.07, Z:0.58 [[ 0.97864828 -0.178021 -0.10274272 -1.09013559] [ 0.1807039 0.98338452 0.01734875 -0.07001869] [ 0.09794716 -0.03554434 0.99455666 0.58477374] [ 0. 0. 0. 1. ]] SLAMing on 176.71992885099996 meters Centerline goodness : 0.825966 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.07, Z:0.59 [[ 0.97862957 -0.17817059 -0.10266163 -1.09012361] [ 0.1808873 0.98334428 0.01771484 -0.0720037 ] [ 0.09779546 -0.03590645 0.99455858 0.58505262] [ 0. 0. 0. 1. ]] SLAMing on 176.74992885099996 meters Centerline goodness : 0.768317 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.08, Z:0.59 [[ 0.97850766 -0.17831421 -0.10357027 -1.08769286] [ 0.18124806 0.98324275 0.01956605 -0.07681652] [ 0.09834581 -0.03791744 0.99442967 0.58519956] [ 0. 0. 0. 1. ]] SLAMing on 176.77992885099997 meters Centerline goodness : 0.822978 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.08, Z:0.59 [[ 0.97843899 -0.17832693 -0.10419526 -1.0860147 ] [ 0.18138127 0.98319841 0.02053599 -0.07912967] [ 0.09878249 -0.03899228 0.99434482 0.5851514 ] [ 0. 0. 0. 1. ]] SLAMing on 176.80992885099997 meters Centerline goodness : 0.823165 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.08, Z:0.59 [[ 0.97835934 -0.17875538 -0.104209 -1.08561994] [ 0.18184421 0.98310614 0.02085679 -0.08115206] [ 0.09872025 -0.03935524 0.9943367 0.58528211] [ 0. 0. 0. 1. ]] SLAMing on 176.83992885099997 meters Centerline goodness : 0.819534 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.08, Z:0.59 [[ 0.97824457 -0.17927947 -0.10438601 -1.08522857] [ 0.18241919 0.98299071 0.02127219 -0.08312307] [ 0.09879681 -0.03985142 0.99430934 0.58579048] [ 0. 0. 0. 1. ]] SLAMing on 176.86992885099997 meters Centerline goodness : 0.819411 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.09, Z:0.59 [[ 0.97815572 -0.1793114 -0.10516091 -1.08332996] [ 0.1827064 0.98288633 0.02351235 -0.08786011] [ 0.09914519 -0.04221231 0.99417722 0.58621852] [ 0. 0. 0. 1. ]] SLAMing on 176.89992885099997 meters Centerline goodness : 0.827135 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.09, Z:0.59 [[ 0.97817586 -0.17902875 -0.1054547 -1.08248323] [ 0.18251534 0.98290225 0.02431696 -0.09003583] [ 0.09929822 -0.04303337 0.99412675 0.58636479] [ 0. 0. 0. 1. ]] SLAMing on 176.92992885099997 meters Centerline goodness : 0.821472 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.09, Z:0.59 [[ 0.97825716 -0.17833883 -0.10586879 -1.08153872] [ 0.1819834 0.98296445 0.02574729 -0.09250542] [ 0.09947351 -0.04445383 0.99404672 0.58650211] [ 0. 0. 0. 1. ]] SLAMing on 176.95992885099997 meters Centerline goodness : 0.824661 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.09, Z:0.59 [[ 0.97835843 -0.17770995 -0.10599037 -1.08082369] [ 0.18144911 0.98303869 0.0266676 -0.09444414] [ 0.09945354 -0.04532233 0.9940095 0.58621892] [ 0. 0. 0. 1. ]] SLAMing on 176.98992885099997 meters Centerline goodness : 0.826452 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.10, Z:0.59 [[ 0.97843526 -0.17739642 -0.10580622 -1.08124194] [ 0.18115467 0.98308506 0.02695823 -0.0959546 ] [ 0.09923422 -0.04554417 0.99402128 0.58655569] [ 0. 0. 0. 1. ]] SLAMing on 177.01992885099997 meters Centerline goodness : 0.823797 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.10, Z:0.59 [[ 0.97868708 -0.1759149 -0.1059507 -1.08064518] [ 0.17986346 0.98326791 0.02886781 -0.09944387] [ 0.09909965 -0.04730921 0.99395226 0.58650999] [ 0. 0. 0. 1. ]] SLAMing on 177.04992885099998 meters Centerline goodness : 0.826282 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.10, Z:0.59 [[ 0.97878087 -0.17515618 -0.10634059 -1.07959524] [ 0.17924 0.98334575 0.03006936 -0.10138348] [ 0.09930273 -0.0484918 0.993875 0.58645512] [ 0. 0. 0. 1. ]] SLAMing on 177.07992885099998 meters Centerline goodness : 0.824339 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.10, Z:0.59 [[ 0.97891359 -0.17446998 -0.10624689 -1.07927169] [ 0.17863311 0.98342909 0.03094239 -0.10370265] [ 0.09908776 -0.04926914 0.99385822 0.58615826] [ 0. 0. 0. 1. ]] SLAMing on 177.10992885099998 meters Centerline goodness : 0.817756 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.11, Z:0.59 [[ 0.97896611 -0.17427445 -0.10608375 -1.07926252] [ 0.17846722 0.98344692 0.03133074 -0.10562265] [ 0.09886759 -0.04960421 0.99386348 0.58619371] [ 0. 0. 0. 1. ]] SLAMing on 177.13992885099998 meters Centerline goodness : 0.826906 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.11, Z:0.59 [[ 0.97920413 -0.17314636 -0.10573369 -1.07942472] [ 0.17744039 0.98359206 0.03258158 -0.10976986] [ 0.09835744 -0.05066544 0.99386057 0.58621242] [ 0. 0. 0. 1. ]] SLAMing on 177.16992885099998 meters Centerline goodness : 0.828609 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.11, Z:0.59 [[ 0.97934892 -0.17232981 -0.10572672 -1.07901171] [ 0.17670477 0.98369567 0.03344038 -0.11161593] [ 0.09824014 -0.05143221 0.99383278 0.5858647 ] [ 0. 0. 0. 1. ]] SLAMing on 177.19992885099998 meters Centerline goodness : 0.823215 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.11, Z:0.59 [[ 0.97951292 -0.17141057 -0.10570173 -1.07865568] [ 0.17585415 0.98382235 0.03418921 -0.11318459] [ 0.09813133 -0.05207687 0.99380996 0.58547829] [ 0. 0. 0. 1. ]] SLAMing on 177.22992885099998 meters Centerline goodness : 0.829489 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.11, Z:0.59 [[ 0.97961792 -0.17103594 -0.10533485 -1.0793988 ] [ 0.17545988 0.98389228 0.03420244 -0.11390903] [ 0.0977883 -0.05198737 0.99384846 0.58559551] [ 0. 0. 0. 1. ]] SLAMing on 177.25992885099998 meters Centerline goodness : 0.826461 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.12, Z:0.58 [[ 0.97980895 -0.16988328 -0.10542339 -1.07877188] [ 0.174389 0.9840533 0.03503685 -0.11513651] [ 0.09779006 -0.0527141 0.99381001 0.58497175] [ 0. 0. 0. 1. ]] SLAMing on 177.28992885099998 meters Centerline goodness : 0.824887 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.12, Z:0.58 [[ 0.9798479 -0.16973968 -0.1052926 -1.07866935] [ 0.17421967 0.98408985 0.03485224 -0.11541027] [ 0.09770157 -0.05249393 0.99383036 0.58453485] [ 0. 0. 0. 1. ]] SLAMing on 177.319928851 meters Centerline goodness : 0.816431 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.12, Z:0.58 [[ 0.97990714 -0.16938922 -0.10530574 -1.07792225] [ 0.17386043 0.98415624 0.03477136 -0.11564157] [ 0.09774741 -0.05238121 0.9938318 0.58361363] [ 0. 0. 0. 1. ]] SLAMing on 177.349928851 meters Centerline goodness : 0.824531 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.12, Z:0.58 [[ 0.98008869 -0.16843702 -0.10514335 -1.07716153] [ 0.17291062 0.98431812 0.03492507 -0.11701411] [ 0.09761183 -0.05241007 0.99384361 0.58236888] [ 0. 0. 0. 1. ]] SLAMing on 177.379928851 meters Centerline goodness : 0.823348 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.12, Z:0.58 [[ 0.98018848 -0.1678497 -0.10515239 -1.07696129] [ 0.17236159 0.98439975 0.03533575 -0.11767395] [ 0.09758089 -0.05275993 0.99382813 0.58212889] [ 0. 0. 0. 1. ]] SLAMing on 177.409928851 meters Centerline goodness : 0.818867 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.12, Z:0.58 [[ 0.98024425 -0.16771753 -0.10484297 -1.0775064 ] [ 0.17218202 0.98444225 0.03502592 -0.11770111] [ 0.09733739 -0.05238603 0.99387179 0.58206083] [ 0. 0. 0. 1. ]] SLAMing on 177.43992885099996 meters Centerline goodness : 0.823430 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.12, Z:0.58 [[ 0.98031263 -0.16716135 -0.10509154 -1.07683924] [ 0.17170287 0.98450169 0.03570086 -0.11826105] [ 0.09749499 -0.05304252 0.99382152 0.58183788] [ 0. 0. 0. 1. ]] SLAMing on 177.46992885099996 meters Centerline goodness : 0.822750 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.12, Z:0.58 [[ 0.98030172 -0.16731079 -0.10495537 -1.07730265] [ 0.1718303 0.98448512 0.03554423 -0.11855224] [ 0.09738007 -0.05287859 0.99384153 0.58221144] [ 0. 0. 0. 1. ]] SLAMing on 177.49992885099996 meters Centerline goodness : 0.822050 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.12, Z:0.58 [[ 0.98035014 -0.16692682 -0.10511446 -1.07669012] [ 0.17148886 0.98453146 0.03590776 -0.11898339] [ 0.09749453 -0.05322814 0.99381164 0.58189693] [ 0. 0. 0. 1. ]] SLAMing on 177.52992885099997 meters Centerline goodness : 0.824505 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.12, Z:0.58 [[ 0.98045556 -0.16645255 -0.104883 -1.07683864] [ 0.17099811 0.98461757 0.03588712 -0.11937181] [ 0.09729614 -0.05312052 0.99383684 0.58147593] [ 0. 0. 0. 1. ]] SLAMing on 177.55992885099997 meters Centerline goodness : 0.825396 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.12, Z:0.58 [[ 0.98046551 -0.16620735 -0.10517841 -1.07600033] [ 0.17081248 0.98463307 0.03634288 -0.11979941] [ 0.09752168 -0.05359872 0.99378906 0.58125098] [ 0. 0. 0. 1. ]] SLAMing on 177.58992885099997 meters Centerline goodness : 0.822771 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.12, Z:0.58 [[ 0.98045194 -0.16617582 -0.10535456 -1.07535303] [ 0.17079787 0.98463279 0.0364193 -0.12006887] [ 0.09768354 -0.0537017 0.9937676 0.5810207 ] [ 0. 0. 0. 1. ]] SLAMing on 177.61992885099997 meters Centerline goodness : 0.821189 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.58 [[ 0.9804698 -0.16587166 -0.10566722 -1.07442107] [ 0.17053977 0.98466607 0.03672755 -0.12018528] [ 0.09795487 -0.05403072 0.99372306 0.58064356] [ 0. 0. 0. 1. ]] SLAMing on 177.64992885099997 meters Centerline goodness : 0.822595 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.58 [[ 0.98049277 -0.16561315 -0.10585941 -1.07395579] [ 0.17032677 0.98468922 0.03709341 -0.12056077] [ 0.09809546 -0.05440051 0.99368902 0.5806214 ] [ 0. 0. 0. 1. ]] SLAMing on 177.67992885099997 meters Centerline goodness : 0.820466 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.58 [[ 0.9805039 -0.16535891 -0.10615331 -1.07351081] [ 0.17013406 0.98470475 0.03756272 -0.12082988] [ 0.09831834 -0.05489069 0.99364003 0.58078662] [ 0. 0. 0. 1. ]] SLAMing on 177.70992885099997 meters Centerline goodness : 0.826983 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.58 [[ 0.98054074 -0.16514302 -0.10614912 -1.07367281] [ 0.169925 0.98473777 0.03764338 -0.12075803] [ 0.09831251 -0.05494826 0.99363743 0.58095255] [ 0. 0. 0. 1. ]] SLAMing on 177.73992885099997 meters Centerline goodness : 0.823027 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.58 [[ 0.98055415 -0.16492084 -0.10637043 -1.07328827] [ 0.16973876 0.98476037 0.03789152 -0.12025716] [ 0.09850028 -0.05520987 0.99360433 0.58089622] [ 0. 0. 0. 1. ]] SLAMing on 177.76992885099997 meters Centerline goodness : 0.807453 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.58 [[ 0.9805703 -0.16452268 -0.10683716 -1.07255951] [ 0.16942488 0.98479107 0.03849353 -0.11996626] [ 0.09887922 -0.05584648 0.99353111 0.58100771] [ 0. 0. 0. 1. ]] SLAMing on 177.79992885099998 meters Centerline goodness : 0.821688 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.58 [[ 0.98048612 -0.16494741 -0.10695477 -1.07253687] [ 0.16983493 0.9847295 0.03826117 -0.11980238] [ 0.09901044 -0.0556792 0.99352743 0.58139065] [ 0. 0. 0. 1. ]] SLAMing on 177.82992885099998 meters Centerline goodness : 0.829275 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.58 [[ 0.98040118 -0.16535646 -0.10710168 -1.07221263] [ 0.17022265 0.98467471 0.03794677 -0.11934172] [ 0.09918558 -0.05543419 0.99352366 0.58142253] [ 0. 0. 0. 1. ]] SLAMing on 177.85992885099998 meters Centerline goodness : 0.827254 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.58 [[ 0.98021907 -0.16614828 -0.10754223 -1.07126843] [ 0.1710004 0.9845561 0.03752527 -0.11794264] [ 0.0996466 -0.05517275 0.99349208 0.58139683] [ 0. 0. 0. 1. ]] SLAMing on 177.88992885099998 meters Centerline goodness : 0.826892 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.58 [[ 0.98006998 -0.16663401 -0.10814779 -1.0700923 ] [ 0.17151681 0.98446828 0.03747259 -0.11692209] [ 0.10022386 -0.05527492 0.99342834 0.58140529] [ 0. 0. 0. 1. ]] SLAMing on 177.91992885099998 meters Centerline goodness : 0.826892 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.58 [[ 0.98006998 -0.16663401 -0.10814779 -1.0700923 ] [ 0.17151681 0.98446828 0.03747259 -0.11692209] [ 0.10022386 -0.05527492 0.99342834 0.58140529] [ 0. 0. 0. 1. ]] SLAMing on 177.94992885099998 meters Centerline goodness : 0.822403 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.58 [[ 0.97999599 -0.16680983 -0.1085465 -1.06896022] [ 0.17171542 0.98443377 0.03746965 -0.11628819] [ 0.10060653 -0.05535922 0.99338496 0.5809616 ] [ 0. 0. 0. 1. ]] SLAMing on 177.97992885099998 meters Centerline goodness : 0.823307 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.11, Z:0.58 [[ 0.97975733 -0.16795099 -0.10894049 -1.06823699] [ 0.17280155 0.98427418 0.03666 -0.11497778] [ 0.10107023 -0.05474299 0.99337204 0.58108485] [ 0. 0. 0. 1. ]] SLAMing on 178.00992885099998 meters Centerline goodness : 0.828432 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.11, Z:0.58 [[ 0.97962735 -0.16845687 -0.10932766 -1.06761228] [ 0.17330083 0.98419744 0.03636245 -0.11403672] [ 0.1014745 -0.05456822 0.99334044 0.58128665] [ 0. 0. 0. 1. ]] SLAMing on 178.03992885099998 meters Centerline goodness : 0.827254 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.11, Z:0.58 [[ 0.97939859 -0.16943679 -0.10986159 -1.06749036] [ 0.17424483 0.98405572 0.03568029 -0.11150728] [ 0.10206437 -0.05408804 0.99330627 0.58221209] [ 0. 0. 0. 1. ]] SLAMing on 178.069928851 meters Centerline goodness : 0.824489 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.11, Z:0.58 [[ 0.9793733 -0.16939388 -0.11015289 -1.06684005] [ 0.17420183 0.98406889 0.03552675 -0.11038787] [ 0.10238002 -0.05398278 0.99327951 0.58190537] [ 0. 0. 0. 1. ]] SLAMing on 178.099928851 meters Centerline goodness : 0.821831 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.11, Z:0.58 [[ 0.97961629 -0.1668923 -0.11179838 -1.06605447] [ 0.1720165 0.98436834 0.03780615 -0.10510427] [ 0.10374123 -0.05626668 0.99301149 0.58256719] [ 0. 0. 0. 1. ]] SLAMing on 178.129928851 meters Centerline goodness : 0.824610 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.10, Z:0.58 [[ 0.9795914 -0.16702997 -0.11181093 -1.06670991] [ 0.17207304 0.98438845 0.03701693 -0.10329953] [ 0.10388245 -0.05550112 0.99303981 0.58307113] [ 0. 0. 0. 1. ]] SLAMing on 178.159928851 meters Centerline goodness : 0.821574 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.10, Z:0.58 [[ 0.97963985 -0.16667216 -0.11192034 -1.06702213] [ 0.17172145 0.98444918 0.03703441 -0.10237093] [ 0.10400728 -0.0554995 0.99302683 0.58344601] [ 0. 0. 0. 1. ]] SLAMing on 178.18992885099996 meters Centerline goodness : 0.821574 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.10, Z:0.58 [[ 0.97963985 -0.16667216 -0.11192034 -1.06702213] [ 0.17172145 0.98444918 0.03703441 -0.10237093] [ 0.10400728 -0.0554995 0.99302683 0.58344601] [ 0. 0. 0. 1. ]] SLAMing on 178.21992885099996 meters Centerline goodness : 0.821574 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.10, Z:0.58 [[ 0.97963985 -0.16667216 -0.11192034 -1.06702213] [ 0.17172145 0.98444918 0.03703441 -0.10237093] [ 0.10400728 -0.0554995 0.99302683 0.58344601] [ 0. 0. 0. 1. ]] SLAMing on 178.24992885099996 meters Centerline goodness : 0.822379 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.10, Z:0.58 [[ 0.97970184 -0.1662273 -0.11203919 -1.0671632 ] [ 0.17128294 0.98452491 0.03705218 -0.10099882] [ 0.10414629 -0.05549049 0.99301277 0.58348616] [ 0. 0. 0. 1. ]] SLAMing on 178.27992885099997 meters Centerline goodness : 0.829223 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.10, Z:0.58 [[ 0.98002877 -0.16364551 -0.11297675 -1.0667846 ] [ 0.16909458 0.98477153 0.0403987 -0.10130477] [ 0.10464522 -0.05869565 0.99277601 0.58422955] [ 0. 0. 0. 1. ]] SLAMing on 178.30992885099997 meters Centerline goodness : 0.821556 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.10, Z:0.58 [[ 0.9801 -0.16316696 -0.11305105 -1.06761488] [ 0.16857766 0.9848758 0.04001537 -0.09883964] [ 0.10481205 -0.05827695 0.99278307 0.58492208] [ 0. 0. 0. 1. ]] SLAMing on 178.33992885099997 meters Centerline goodness : 0.824404 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.10, Z:0.59 [[ 0.98012535 -0.16281814 -0.11333382 -1.0675078 ] [ 0.16827979 0.98491288 0.04035517 -0.09802046] [ 0.10505339 -0.05862492 0.99273708 0.58528932] [ 0. 0. 0. 1. ]] SLAMing on 178.36992885099997 meters Centerline goodness : 0.828137 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.10, Z:0.59 [[ 0.98012267 -0.16281418 -0.1133627 -1.06795933] [ 0.16824699 0.98493026 0.04006673 -0.0966659 ] [ 0.10513092 -0.05834324 0.99274546 0.58562568] [ 0. 0. 0. 1. ]] SLAMing on 178.39992885099997 meters Centerline goodness : 0.825652 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.10, Z:0.59 [[ 0.98013293 -0.16255295 -0.11364846 -1.06735349] [ 0.16799447 0.98497599 0.04000191 -0.09563432] [ 0.10543858 -0.0582995 0.9927154 0.58533428] [ 0. 0. 0. 1. ]] SLAMing on 178.42992885099997 meters Centerline goodness : 0.827738 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.09, Z:0.59 [[ 0.98007515 -0.16300371 -0.11350108 -1.06765337] [ 0.16831665 0.98496704 0.03885145 -0.09326207] [ 0.10546189 -0.05718146 0.99277796 0.58514367] [ 0. 0. 0. 1. ]] SLAMing on 178.45992885099997 meters Centerline goodness : 0.827231 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.09, Z:0.59 [[ 0.98000484 -0.16339392 -0.11354711 -1.06760742] [ 0.16864498 0.98493535 0.038226 -0.09214441] [ 0.10559067 -0.05661082 0.99279697 0.58516377] [ 0. 0. 0. 1. ]] SLAMing on 178.48992885099997 meters Centerline goodness : 0.826484 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.09, Z:0.58 [[ 0.97992724 -0.16346823 -0.11410851 -1.06615636] [ 0.16876485 0.9849101 0.03834746 -0.09136898] [ 0.10611803 -0.05683522 0.99272792 0.58473118] [ 0. 0. 0. 1. ]] SLAMing on 178.51992885099997 meters Centerline goodness : 0.827022 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.09, Z:0.58 [[ 0.97987448 -0.16365972 -0.11428696 -1.06539299] [ 0.16894961 0.98488495 0.03817948 -0.09076674] [ 0.10631107 -0.05671983 0.99271387 0.58431228] [ 0. 0. 0. 1. ]] SLAMing on 178.54992885099998 meters Centerline goodness : 0.827674 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.09, Z:0.58 [[ 0.97964736 -0.16470445 -0.11473228 -1.06463514] [ 0.16994078 0.98474457 0.03739337 -0.08864032] [ 0.10682314 -0.05613001 0.99269242 0.58450002] [ 0. 0. 0. 1. ]] SLAMing on 178.57992885099998 meters Centerline goodness : 0.828751 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.09, Z:0.58 [[ 0.97954137 -0.16507018 -0.11511103 -1.06397414] [ 0.17032307 0.98468095 0.03732945 -0.08817092] [ 0.10718566 -0.05617181 0.99265098 0.58466926] [ 0. 0. 0. 1. ]] SLAMing on 178.60992885099998 meters Centerline goodness : 0.830023 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.09, Z:0.58 [[ 0.97936541 -0.16598455 -0.11529321 -1.06375167] [ 0.17117768 0.98455876 0.03663668 -0.0871532 ] [ 0.10743181 -0.05561633 0.99265565 0.58497671] [ 0. 0. 0. 1. ]] SLAMing on 178.63992885099998 meters Centerline goodness : 0.830570 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.09, Z:0.58 [[ 0.97927355 -0.16617154 -0.11580298 -1.06251201] [ 0.1714296 0.98450283 0.03696035 -0.08688361] [ 0.10786661 -0.05604635 0.9925843 0.58475096] [ 0. 0. 0. 1. ]] SLAMing on 178.66992885099998 meters Centerline goodness : 0.832948 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.09, Z:0.58 [[ 0.97917178 -0.16661002 -0.11603328 -1.06178025] [ 0.17184561 0.9844433 0.03661241 -0.08648177] [ 0.1081282 -0.05578965 0.9925703 0.58458883] [ 0. 0. 0. 1. ]] SLAMing on 178.69992885099998 meters Centerline goodness : 0.830624 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.58 [[ 0.97902889 -0.16752287 -0.1159246 -1.06205086] [ 0.17264743 0.98434 0.03560385 -0.08462819] [ 0.10814476 -0.05487128 0.99261969 0.58469575] [ 0. 0. 0. 1. ]] SLAMing on 178.72992885099998 meters Centerline goodness : 0.834169 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.58 [[ 0.9790009 -0.16748962 -0.11620868 -1.06156953] [ 0.17260076 0.98435776 0.03533812 -0.08330189] [ 0.10847214 -0.05465376 0.99259597 0.58460848] [ 0. 0. 0. 1. ]] SLAMing on 178.75992885099998 meters Centerline goodness : 0.836087 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.58 [[ 0.97900747 -0.16762933 -0.11595163 -1.06253649] [ 0.17263932 0.98437952 0.0345343 -0.08171988] [ 0.10835144 -0.05382715 0.99265432 0.58495179] [ 0. 0. 0. 1. ]] SLAMing on 178.78992885099998 meters Centerline goodness : 0.832086 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.59 [[ 0.97905443 -0.16731142 -0.11601431 -1.0627148 ] [ 0.17231786 0.98443753 0.03448641 -0.08040962] [ 0.10843887 -0.05375541 0.99264866 0.58502988] [ 0. 0. 0. 1. ]] SLAMing on 178.819928851 meters Centerline goodness : 0.834269 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.59 [[ 0.97923628 -0.1655666 -0.1169787 -1.0633753 ] [ 0.1709471 0.98456646 0.03749639 -0.07938092] [ 0.10896515 -0.056715 0.99242632 0.58706537] [ 0. 0. 0. 1. ]] SLAMing on 178.849928851 meters Centerline goodness : 0.833725 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.59 [[ 0.97908879 -0.16617285 -0.11735301 -1.06288873] [ 0.17155759 0.98446737 0.03730932 -0.07879184] [ 0.10933042 -0.05666194 0.99238918 0.58756386] [ 0. 0. 0. 1. ]] SLAMing on 178.879928851 meters Centerline goodness : 0.834572 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.59 [[ 0.97893952 -0.1667996 -0.11770854 -1.06176812] [ 0.17216998 0.98437352 0.03696322 -0.07841092] [ 0.10970372 -0.05645063 0.99236003 0.58731833] [ 0. 0. 0. 1. ]] SLAMing on 178.909928851 meters Centerline goodness : 0.836114 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.59 [[ 0.97839105 -0.16981919 -0.11795086 -1.0605818 ] [ 0.17502914 0.98393246 0.03523784 -0.07726701] [ 0.11007162 -0.05512123 0.99239402 0.58736957] [ 0. 0. 0. 1. ]] SLAMing on 178.93992885099996 meters Centerline goodness : 0.837264 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.59 [[ 0.97814849 -0.17109638 -0.11811671 -1.06047181] [ 0.17629919 0.9837133 0.03502472 -0.07750436] [ 0.11020038 -0.05508326 0.99238184 0.5880718 ] [ 0. 0. 0. 1. ]] SLAMing on 178.96992885099996 meters Centerline goodness : 0.835642 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.59 [[ 0.97801655 -0.17158143 -0.11850501 -1.05977564] [ 0.17685573 0.98359828 0.03544684 -0.07845535] [ 0.11047931 -0.05562589 0.99232055 0.58849768] [ 0. 0. 0. 1. ]] SLAMing on 178.99992885099996 meters Centerline goodness : 0.839059 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.59 [[ 0.97790981 -0.17243401 -0.11814788 -1.06087082] [ 0.17763272 0.98347769 0.03490352 -0.07847527] [ 0.11017725 -0.05511942 0.9923824 0.58887858] [ 0. 0. 0. 1. ]] SLAMing on 179.02992885099997 meters Centerline goodness : 0.832908 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.59 [[ 0.97785823 -0.17241973 -0.11859479 -1.05991419] [ 0.17772337 0.98343555 0.03562191 -0.07913259] [ 0.11048842 -0.05591024 0.99230356 0.58892756] [ 0. 0. 0. 1. ]] SLAMing on 179.05992885099997 meters Centerline goodness : 0.837013 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.59 [[ 0.97778787 -0.17310261 -0.11817937 -1.06086765] [ 0.17830743 0.98335541 0.03490838 -0.07860961] [ 0.11016959 -0.05520525 0.99237848 0.58932696] [ 0. 0. 0. 1. ]] SLAMing on 179.08992885099997 meters Centerline goodness : 0.837999 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.59 [[ 0.97775606 -0.17339503 -0.11801378 -1.06128926] [ 0.17855791 0.98332091 0.03459867 -0.07821655] [ 0.11004617 -0.05490136 0.99240903 0.58943765] [ 0. 0. 0. 1. ]] SLAMing on 179.11992885099997 meters Centerline goodness : 0.834816 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.59 [[ 0.97775473 -0.17310463 -0.11845031 -1.06028272] [ 0.17836048 0.9833343 0.03523065 -0.07832761] [ 0.11037766 -0.05557378 0.99233479 0.58917613] [ 0. 0. 0. 1. ]] SLAMing on 179.14992885099997 meters Centerline goodness : 0.830151 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.59 [[ 0.97775608 -0.17304576 -0.1185252 -1.05999927] [ 0.17829153 0.98335129 0.03510521 -0.07785586] [ 0.11047709 -0.05545637 0.99233029 0.58896223] [ 0. 0. 0. 1. ]] SLAMing on 179.17992885099997 meters Centerline goodness : 0.788825 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.59 [[ 0.9777439 -0.17299336 -0.11870197 -1.05950549] [ 0.1782398 0.98336353 0.03502479 -0.07794799] [ 0.11066814 -0.05540269 0.992312 0.58898714] [ 0. 0. 0. 1. ]] SLAMing on 179.20992885099997 meters Centerline goodness : 0.789477 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.59 [[ 0.97773731 -0.17314395 -0.11853661 -1.05936707] [ 0.17837942 0.98333903 0.03500194 -0.07863091] [ 0.1105013 -0.0553672 0.99233257 0.58869588] [ 0. 0. 0. 1. ]] SLAMing on 179.23992885099997 meters Centerline goodness : 0.827424 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.59 [[ 0.9776504 -0.17329623 -0.11902988 -1.05853221] [ 0.17861409 0.98327918 0.03548319 -0.07910096] [ 0.1108905 -0.05595057 0.99225643 0.58898501] [ 0. 0. 0. 1. ]] SLAMing on 179.26992885099997 meters Centerline goodness : 0.788083 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.59 [[ 0.97759363 -0.17372944 -0.11886452 -1.05893027] [ 0.17901868 0.98321261 0.03528845 -0.07939788] [ 0.11073845 -0.05577673 0.9922832 0.58926451] [ 0. 0. 0. 1. ]] SLAMing on 179.29992885099998 meters Centerline goodness : 0.827564 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.59 [[ 0.97755834 -0.17374962 -0.11912501 -1.05805027] [ 0.17911081 0.98317737 0.03579912 -0.08052047] [ 0.11090093 -0.05633231 0.99223367 0.58920041] [ 0. 0. 0. 1. ]] SLAMing on 179.32992885099998 meters Centerline goodness : 0.788713 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.59 [[ 0.97749887 -0.17387 -0.11943697 -1.05732387] [ 0.17928732 0.98313292 0.03613479 -0.08146797] [ 0.11113966 -0.05673525 0.992184 0.58938794] [ 0. 0. 0. 1. ]] SLAMing on 179.35992885099998 meters Centerline goodness : 0.788231 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.59 [[ 0.97740224 -0.17434069 -0.11954158 -1.05711324] [ 0.17974898 0.98305443 0.03597634 -0.08167825] [ 0.11124374 -0.05665083 0.99217716 0.58958053] [ 0. 0. 0. 1. ]] SLAMing on 179.38992885099998 meters Centerline goodness : 0.788378 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.59 [[ 0.97727755 -0.1745973 -0.12018473 -1.05558559] [ 0.18012389 0.98295962 0.03668465 -0.08310316] [ 0.11173169 -0.05749922 0.99207352 0.58970004] [ 0. 0. 0. 1. ]] SLAMing on 179.41992885099998 meters Centerline goodness : 0.823240 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:0.59 [[ 0.97721459 -0.17473698 -0.12049332 -1.05468967] [ 0.18032688 0.98290761 0.03707881 -0.0844867 ] [ 0.11195476 -0.05796214 0.99202143 0.58973326] [ 0. 0. 0. 1. ]] SLAMing on 179.44992885099998 meters Centerline goodness : 0.822651 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.59 [[ 0.97718132 -0.17481303 -0.12065266 -1.05385214] [ 0.18044537 0.98287493 0.03736757 -0.08578387] [ 0.11205414 -0.05828611 0.99199123 0.58943797] [ 0. 0. 0. 1. ]] SLAMing on 179.47992885099998 meters Centerline goodness : 0.786306 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.59 [[ 0.97709947 -0.1753365 -0.12055595 -1.05389235] [ 0.18093102 0.98279744 0.03705616 -0.08625406] [ 0.11198478 -0.05801986 0.99201467 0.58952296] [ 0. 0. 0. 1. ]] SLAMing on 179.50992885099998 meters Centerline goodness : 0.786533 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.59 [[ 0.97711762 -0.17494036 -0.12098356 -1.05281485] [ 0.18065769 0.98281404 0.03793883 -0.08727571] [ 0.11226731 -0.05892731 0.99192924 0.58934509] [ 0. 0. 0. 1. ]] SLAMing on 179.53992885099998 meters Centerline goodness : 0.786055 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.59 [[ 0.97721992 -0.17441655 -0.12091359 -1.05270755] [ 0.18015383 0.98289722 0.0381791 -0.08760566] [ 0.11218657 -0.05909243 0.99192856 0.58907228] [ 0. 0. 0. 1. ]] SLAMing on 179.569928851 meters Centerline goodness : 0.785596 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.59 [[ 0.97721314 -0.17457563 -0.12073871 -1.05297418] [ 0.18021466 0.98291625 0.03739405 -0.08636485] [ 0.11214795 -0.05830084 0.99197976 0.58891735] [ 0. 0. 0. 1. ]] SLAMing on 179.599928851 meters Centerline goodness : 0.824031 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.59 [[ 0.97733636 -0.1738232 -0.12082689 -1.05238834] [ 0.17948884 0.98304036 0.03762201 -0.08609589] [ 0.11223813 -0.05845643 0.99196041 0.58829892] [ 0. 0. 0. 1. ]] SLAMing on 179.629928851 meters Centerline goodness : 0.783835 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.59 [[ 0.97747571 -0.17315296 -0.12066185 -1.05231475] [ 0.1787905 0.98317248 0.03749445 -0.08561611] [ 0.11213914 -0.05822311 0.99198532 0.58766197] [ 0. 0. 0. 1. ]] SLAMing on 179.659928851 meters Centerline goodness : 0.782773 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.59 [[ 0.97818768 -0.16937152 -0.1202587 -1.05275646] [ 0.17515936 0.98375808 0.03923312 -0.08549414] [ 0.11166049 -0.05944179 0.99196704 0.58627892] [ 0. 0. 0. 1. ]] SLAMing on 179.68992885099996 meters Centerline goodness : 0.822687 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.59 [[ 0.97873632 -0.16554935 -0.12111415 -1.05199448] [ 0.17183538 0.98417053 0.04337015 -0.08704943] [ 0.11201708 -0.06325964 0.99169067 0.58618625] [ 0. 0. 0. 1. ]] SLAMing on 179.71992885099996 meters Centerline goodness : 0.782135 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.59 [[ 0.97890988 -0.16501058 -0.12044479 -1.05341993] [ 0.17117508 0.98431504 0.04269659 -0.08585506] [ 0.11151023 -0.06241326 0.99180142 0.58598384] [ 0. 0. 0. 1. ]] SLAMing on 179.74992885099996 meters Centerline goodness : 0.779711 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.59 [[ 0.97915727 -0.16369829 -0.12022441 -1.05356927] [ 0.16988174 0.98452352 0.04305378 -0.08539606] [ 0.11131592 -0.06258036 0.99181272 0.58521667] [ 0. 0. 0. 1. ]] SLAMing on 179.77992885099997 meters Centerline goodness : 0.779154 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:0.58 [[ 0.97967728 -0.16105869 -0.11955131 -1.05449666] [ 0.16721365 0.98496902 0.04330857 -0.08465604] [ 0.11077911 -0.06241904 0.99188298 0.58397621] [ 0. 0. 0. 1. ]] SLAMing on 179.80992885099997 meters Centerline goodness : 0.779154 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:0.58 [[ 0.97967728 -0.16105869 -0.11955131 -1.05449666] [ 0.16721365 0.98496902 0.04330857 -0.08465604] [ 0.11077911 -0.06241904 0.99188298 0.58397621] [ 0. 0. 0. 1. ]] SLAMing on 179.83992885099997 meters Centerline goodness : 0.780397 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.58 [[ 0.97985103 -0.16033935 -0.11909346 -1.05526039] [ 0.16642493 0.98511698 0.04297989 -0.08399653] [ 0.11042963 -0.06193401 0.99195236 0.58353018] [ 0. 0. 0. 1. ]] SLAMing on 179.86992885099997 meters Centerline goodness : 0.779595 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.58 [[ 0.97997451 -0.15998643 -0.11855082 -1.05630571] [ 0.16596413 0.98522283 0.04233068 -0.08332553] [ 0.11002664 -0.06115817 0.99204527 0.58333393] [ 0. 0. 0. 1. ]] SLAMing on 179.89992885099997 meters Centerline goodness : 0.779576 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.58 [[ 0.980063 -0.15986023 -0.11798825 -1.05736111] [ 0.16571954 0.98529597 0.04157993 -0.08255127] [ 0.10960637 -0.06030391 0.99214408 0.58312045] [ 0. 0. 0. 1. ]] SLAMing on 179.92992885099997 meters Centerline goodness : 0.777950 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.58 [[ 0.98000485 -0.16013711 -0.11809573 -1.05705648] [ 0.16598983 0.98525604 0.04144758 -0.08268437] [ 0.10971723 -0.06022152 0.99213683 0.58315315] [ 0. 0. 0. 1. ]] SLAMing on 179.95992885099997 meters Centerline goodness : 0.776115 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.58 [[ 0.97999255 -0.16017936 -0.11814048 -1.05642412] [ 0.16605088 0.98523973 0.04159074 -0.08338615] [ 0.10973471 -0.06037594 0.99212552 0.58270638] [ 0. 0. 0. 1. ]] SLAMing on 179.98992885099997 meters Centerline goodness : 0.824643 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.58 [[ 0.97989912 -0.16072762 -0.1181708 -1.0560092 ] [ 0.16657036 0.98516479 0.04128733 -0.08382205] [ 0.1097817 -0.06014117 0.99213458 0.58259229] [ 0. 0. 0. 1. ]] SLAMing on 180.01992885099997 meters Centerline goodness : 0.775768 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.58 [[ 0.97943125 -0.16382152 -0.11780037 -1.05511948] [ 0.16930797 0.98482595 0.03811387 -0.0842377 ] [ 0.10976898 -0.05727446 0.9923056 0.58223948] [ 0. 0. 0. 1. ]] SLAMing on 180.04992885099998 meters Centerline goodness : 0.776803 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:0.58 [[ 0.97926337 -0.16467371 -0.11800768 -1.05470636] [ 0.17015909 0.98468546 0.03795308 -0.0846456 ] [ 0.10995057 -0.05724614 0.99228713 0.58260501] [ 0. 0. 0. 1. ]] SLAMing on 180.07992885099998 meters Centerline goodness : 0.774412 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.58 [[ 0.97915443 -0.1650801 -0.11834343 -1.05400235] [ 0.17065777 0.98457446 0.0385882 -0.08585734] [ 0.11014777 -0.05798003 0.99222265 0.58289501] [ 0. 0. 0. 1. ]] SLAMing on 180.10992885099998 meters Centerline goodness : 0.822999 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:0.58 [[ 0.97872558 -0.16815358 -0.11756108 -1.05465705] [ 0.17328523 0.98425626 0.03481143 -0.08472988] [ 0.10985656 -0.05444244 0.99245532 0.5830136 ] [ 0. 0. 0. 1. ]] SLAMing on 180.13992885099998 meters Centerline goodness : 0.774976 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.58 [[ 0.97847492 -0.16894608 -0.11850757 -1.05201409] [ 0.17422774 0.98405996 0.03564665 -0.08681347] [ 0.11059619 -0.05552666 0.99231309 0.58277927] [ 0. 0. 0. 1. ]] SLAMing on 180.16992885099998 meters Centerline goodness : 0.773716 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.58 [[ 0.97835475 -0.16956359 -0.11861777 -1.0517641 ] [ 0.17484507 0.98395368 0.03555777 -0.08745243] [ 0.11068509 -0.05552784 0.99230311 0.58304322] [ 0. 0. 0. 1. ]] SLAMing on 180.19992885099998 meters Centerline goodness : 0.773667 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.58 [[ 0.97820201 -0.17025753 -0.1188831 -1.05152611] [ 0.17554648 0.98383248 0.03545529 -0.08787647] [ 0.11092453 -0.05555195 0.99227503 0.58376045] [ 0. 0. 0. 1. ]] SLAMing on 180.22992885099998 meters Centerline goodness : 0.826153 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.58 [[ 0.97809736 -0.17034954 -0.11961018 -1.05007971] [ 0.17578077 0.98375795 0.0363514 -0.0888538 ] [ 0.11147502 -0.05658038 0.99215522 0.58397062] [ 0. 0. 0. 1. ]] SLAMing on 180.25992885099998 meters Centerline goodness : 0.774058 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.58 [[ 0.97784991 -0.17168083 -0.11972992 -1.05004423] [ 0.17710803 0.98352597 0.03618575 -0.09007149] [ 0.11154508 -0.05658936 0.99214683 0.58488005] [ 0. 0. 0. 1. ]] SLAMing on 180.28992885099998 meters Centerline goodness : 0.826137 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.59 [[ 0.97779395 -0.17166168 -0.12021343 -1.04899067] [ 0.17718717 0.98348849 0.03681168 -0.09112861] [ 0.11190937 -0.05729451 0.99206534 0.58506714] [ 0. 0. 0. 1. ]] SLAMing on 180.319928851 meters Centerline goodness : 0.825473 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.59 [[ 0.97771915 -0.17194765 -0.12041295 -1.04890877] [ 0.17750246 0.9834263 0.03695378 -0.09175798] [ 0.11206315 -0.05750401 0.99203586 0.58576104] [ 0. 0. 0. 1. ]] SLAMing on 180.349928851 meters Centerline goodness : 0.774256 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.59 [[ 0.97770392 -0.17168416 -0.12091149 -1.04770062] [ 0.17733356 0.98343438 0.03754493 -0.0925899 ] [ 0.11246265 -0.05814949 0.99195302 0.58570298] [ 0. 0. 0. 1. ]] SLAMing on 180.379928851 meters Centerline goodness : 0.828269 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.59 [[ 0.9777277 -0.17145303 -0.12104715 -1.0472541 ] [ 0.17715553 0.98345076 0.03795428 -0.09351596] [ 0.11253653 -0.05855313 0.99192089 0.58569581] [ 0. 0. 0. 1. ]] SLAMing on 180.409928851 meters Centerline goodness : 0.825590 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.59 [[ 0.97770627 -0.17159306 -0.12102176 -1.04747315] [ 0.17728434 0.98343112 0.03786147 -0.09383475] [ 0.1125198 -0.05847266 0.99192754 0.58604036] [ 0. 0. 0. 1. ]] SLAMing on 180.43992885099996 meters Centerline goodness : 0.827336 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.59 [[ 0.97768322 -0.1713352 -0.12157211 -1.0464774 ] [ 0.17712313 0.98343787 0.0384363 -0.09410143] [ 0.11297312 -0.05911176 0.99183813 0.58620709] [ 0. 0. 0. 1. ]] SLAMing on 180.46992885099996 meters Centerline goodness : 0.829169 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.10, Z:0.59 [[ 0.97765097 -0.17126608 -0.12192831 -1.04610626] [ 0.17715099 0.98340661 0.03910197 -0.0950782 ] [ 0.11320827 -0.0598278 0.99176838 0.5868728 ] [ 0. 0. 0. 1. ]] SLAMing on 180.49992885099996 meters Centerline goodness : 0.828521 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.10, Z:0.59 [[ 0.97760943 -0.17104755 -0.1225665 -1.0445736 ] [ 0.17708812 0.98337642 0.0401324 -0.09619581] [ 0.11366446 -0.06093889 0.99164855 0.58679581] [ 0. 0. 0. 1. ]] SLAMing on 180.52992885099997 meters Centerline goodness : 0.810799 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.10, Z:0.59 [[ 0.97750502 -0.17153575 -0.12271681 -1.0439198 ] [ 0.17756785 0.98329724 0.03995246 -0.09691313] [ 0.11381382 -0.06084429 0.99163723 0.58675108] [ 0. 0. 0. 1. ]] SLAMing on 180.55992885099997 meters Centerline goodness : 0.815060 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.10, Z:0.59 [[ 0.97743729 -0.17147263 -0.12334293 -1.04160157] [ 0.17768031 0.98322783 0.04114297 -0.09974413] [ 0.11421931 -0.06213029 0.99151086 0.58607552] [ 0. 0. 0. 1. ]] SLAMing on 180.58992885099997 meters Centerline goodness : 0.827223 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.10, Z:0.59 [[ 0.9770403 -0.17446397 -0.12228894 -1.0425433 ] [ 0.18017205 0.9829314 0.03720073 -0.0985888 ] [ 0.11371145 -0.05837966 0.99179712 0.58587352] [ 0. 0. 0. 1. ]] SLAMing on 180.61992885099997 meters Centerline goodness : 0.828156 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.10, Z:0.59 [[ 0.97700006 -0.17431289 -0.1228247 -1.04125891] [ 0.18014174 0.98290708 0.03798187 -0.09953661] [ 0.11410453 -0.05923415 0.9917013 0.58582125] [ 0. 0. 0. 1. ]] SLAMing on 180.64992885099997 meters Centerline goodness : 0.828359 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.10, Z:0.59 [[ 0.97690534 -0.17422297 -0.12370249 -1.03948046] [ 0.18019999 0.98286407 0.03880959 -0.09998789] [ 0.11482121 -0.06020448 0.99156014 0.58589572] [ 0. 0. 0. 1. ]] SLAMing on 180.67992885099997 meters Centerline goodness : 0.827268 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.10, Z:0.59 [[ 0.97683554 -0.17531099 -0.12271258 -1.03983983] [ 0.18098027 0.98280544 0.03660073 -0.10112986] [ 0.11418608 -0.05796145 0.99176711 0.58511616] [ 0. 0. 0. 1. ]] SLAMing on 180.70992885099997 meters Centerline goodness : 0.826227 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.10, Z:0.58 [[ 0.97684548 -0.17517285 -0.12283067 -1.03896213] [ 0.18089578 0.98280554 0.03701344 -0.10289168] [ 0.11423491 -0.05837596 0.99173718 0.5847671 ] [ 0. 0. 0. 1. ]] SLAMing on 180.73992885099997 meters Centerline goodness : 0.826426 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.10, Z:0.58 [[ 0.97689719 -0.17462407 -0.12320027 -1.03775043] [ 0.18048936 0.98283929 0.03808557 -0.10481922] [ 0.1144354 -0.05944203 0.99165074 0.58443696] [ 0. 0. 0. 1. ]] SLAMing on 180.76992885099997 meters Centerline goodness : 0.824662 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.10, Z:0.58 [[ 0.97655347 -0.17720687 -0.12223359 -1.03888127] [ 0.18261489 0.98258012 0.03446886 -0.10354346] [ 0.11399618 -0.05598236 0.99190264 0.58449223] [ 0. 0. 0. 1. ]] SLAMing on 180.79992885099998 meters Centerline goodness : 0.825507 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.11, Z:0.59 [[ 0.97686205 -0.17447681 -0.12368661 -1.03729918] [ 0.18049079 0.98279825 0.03912394 -0.10623744] [ 0.11473277 -0.06054299 0.99154977 0.58534462] [ 0. 0. 0. 1. ]] SLAMing on 180.82992885099998 meters Centerline goodness : 0.824545 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.11, Z:0.59 [[ 0.97694445 -0.174076 -0.12360049 -1.03821101] [ 0.18014804 0.98283832 0.03969291 -0.1074689 ] [ 0.11456972 -0.06104415 0.99153789 0.58644815] [ 0. 0. 0. 1. ]] SLAMing on 180.85992885099998 meters Centerline goodness : 0.819971 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.11, Z:0.59 [[ 0.9770054 -0.1736505 -0.12371724 -1.03800423] [ 0.17980489 0.98287379 0.04036478 -0.10870896] [ 0.11458906 -0.06168158 0.99149621 0.58661048] [ 0. 0. 0. 1. ]] SLAMing on 180.88992885099998 meters Centerline goodness : 0.819228 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.11, Z:0.59 [[ 0.97699928 -0.17363745 -0.12378385 -1.03785456] [ 0.17981134 0.98286713 0.0404981 -0.10981459] [ 0.11463109 -0.06182436 0.99148246 0.58693444] [ 0. 0. 0. 1. ]] SLAMing on 180.91992885099998 meters Centerline goodness : 0.807901 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.11, Z:0.59 [[ 0.97696242 -0.17377335 -0.12388402 -1.0372697 ] [ 0.17998088 0.98282661 0.0407275 -0.11118342] [ 0.11467916 -0.06208599 0.99146055 0.58684939] [ 0. 0. 0. 1. ]] SLAMing on 180.94992885099998 meters Centerline goodness : 0.823718 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.11, Z:0.59 [[ 0.97695412 -0.17383499 -0.12386303 -1.03649798] [ 0.18006351 0.9828036 0.04091719 -0.11272205] [ 0.1146202 -0.06227743 0.99145536 0.58630313] [ 0. 0. 0. 1. ]] SLAMing on 180.97992885099998 meters Centerline goodness : 0.820627 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.11, Z:0.59 [[ 0.97685408 -0.17433417 -0.12395044 -1.03556156] [ 0.18059047 0.98269996 0.0410838 -0.11481577] [ 0.11464378 -0.06251714 0.99143755 0.58608159] [ 0. 0. 0. 1. ]] SLAMing on 181.00992885099998 meters Centerline goodness : 0.823504 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.12, Z:0.59 [[ 0.97683421 -0.17417588 -0.12432897 -1.03458908] [ 0.18055922 0.9826678 0.04198051 -0.11640505] [ 0.11486208 -0.06345674 0.99135258 0.58614913] [ 0. 0. 0. 1. ]] SLAMing on 181.03992885099998 meters Centerline goodness : 0.824325 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.12, Z:0.59 [[ 0.97676539 -0.17460344 -0.12426993 -1.03462489] [ 0.18097657 0.98259432 0.04190318 -0.11728099] [ 0.11479049 -0.06341952 0.99136326 0.58641057] [ 0. 0. 0. 1. ]] SLAMing on 181.069928851 meters Centerline goodness : 0.824359 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.12, Z:0.59 [[ 0.97654781 -0.17659438 -0.12316169 -1.03581813] [ 0.18263199 0.9823876 0.03949884 -0.11865024] [ 0.11401724 -0.06106577 0.99160024 0.58656371] [ 0. 0. 0. 1. ]] SLAMing on 181.099928851 meters Centerline goodness : 0.822017 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.12, Z:0.59 [[ 0.97654821 -0.17629857 -0.12358159 -1.03478019] [ 0.18249071 0.98236778 0.04062855 -0.12062426] [ 0.11423981 -0.06222823 0.99150235 0.58671083] [ 0. 0. 0. 1. ]] SLAMing on 181.129928851 meters Centerline goodness : 0.817169 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.12, Z:0.59 [[ 0.97642851 -0.17675694 -0.12387232 -1.03408101] [ 0.18301727 0.98225287 0.04103639 -0.12226124] [ 0.11442047 -0.06273988 0.99144927 0.58715465] [ 0. 0. 0. 1. ]] SLAMing on 181.159928851 meters Centerline goodness : 0.821570 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.12, Z:0.59 [[ 0.97597309 -0.17968227 -0.12325103 -1.03380598] [ 0.18566646 0.98184549 0.03882516 -0.12498478] [ 0.11403727 -0.0607759 0.99161575 0.58732232] [ 0. 0. 0. 1. ]] SLAMing on 181.18992885099996 meters Centerline goodness : 0.823380 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.13, Z:0.59 [[ 0.97588461 -0.17995133 -0.12355866 -1.03303679] [ 0.18605948 0.9817352 0.0397223 -0.12740912] [ 0.11415381 -0.06175365 0.99154193 0.58785327] [ 0. 0. 0. 1. ]] SLAMing on 181.21992885099996 meters Centerline goodness : 0.823294 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.13, Z:0.59 [[ 0.97574409 -0.18023446 -0.1242538 -1.03135971] [ 0.18651795 0.98160209 0.04084592 -0.12970571] [ 0.11460595 -0.06303073 0.9914094 0.58817261] [ 0. 0. 0. 1. ]] SLAMing on 181.24992885099996 meters Centerline goodness : 0.823450 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.13, Z:0.59 [[ 0.97556911 -0.1809858 -0.12453533 -1.03075152] [ 0.18734516 0.98142527 0.04130647 -0.13154133] [ 0.11474623 -0.06362841 0.991355 0.58882813] [ 0. 0. 0. 1. ]] SLAMing on 181.27992885099997 meters Centerline goodness : 0.821220 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.13, Z:0.59 [[ 0.97492864 -0.18444253 -0.12447933 -1.02893613] [ 0.19057791 0.98088821 0.03922229 -0.13444048] [ 0.11486605 -0.06196194 0.99144667 0.58879688] [ 0. 0. 0. 1. ]] SLAMing on 181.30992885099997 meters Centerline goodness : 0.827156 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.14, Z:0.59 [[ 0.97486665 -0.1844589 -0.1249397 -1.02754005] [ 0.1907744 0.98079716 0.04052223 -0.13765683] [ 0.11506582 -0.06333907 0.99133648 0.58902134] [ 0. 0. 0. 1. ]] SLAMing on 181.33992885099997 meters Centerline goodness : 0.787632 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.14, Z:0.59 [[ 0.97440493 -0.18734963 -0.12423831 -1.02735427] [ 0.19330288 0.98041745 0.03762474 -0.13853447] [ 0.11475643 -0.06067736 0.99153881 0.5887691 ] [ 0. 0. 0. 1. ]] SLAMing on 181.36992885099997 meters Centerline goodness : 0.829097 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.14, Z:0.59 [[ 0.97387346 -0.19042501 -0.12372873 -1.02641838] [ 0.19610335 0.97994589 0.03534865 -0.14119341] [ 0.11451619 -0.05868873 0.99168628 0.58860807] [ 0. 0. 0. 1. ]] SLAMing on 181.39992885099997 meters Centerline goodness : 0.830265 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.14, Z:0.59 [[ 0.9738238 -0.19039218 -0.1241693 -1.02520094] [ 0.19619488 0.97989659 0.03619735 -0.14322887] [ 0.11478138 -0.05961123 0.99160059 0.58870514] [ 0. 0. 0. 1. ]] SLAMing on 181.42992885099997 meters Centerline goodness : 0.832514 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.14, Z:0.59 [[ 0.97377979 -0.19024054 -0.12474554 -1.02365873] [ 0.19618271 0.97986507 0.03710512 -0.14498273] [ 0.1151749 -0.06060514 0.99149471 0.58860213] [ 0. 0. 0. 1. ]] SLAMing on 181.45992885099997 meters Centerline goodness : 0.830101 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.15, Z:0.59 [[ 0.97382685 -0.1897401 -0.12513978 -1.02243573] [ 0.19582068 0.97989884 0.03811201 -0.14687897] [ 0.11539295 -0.06161945 0.99140683 0.58835789] [ 0. 0. 0. 1. ]] SLAMing on 181.48992885099997 meters Centerline goodness : 0.831557 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.15, Z:0.59 [[ 0.97399174 -0.18896486 -0.12502952 -1.0221333 ] [ 0.19512903 0.98000458 0.03893189 -0.14904216] [ 0.11517274 -0.06231622 0.99138889 0.58801668] [ 0. 0. 0. 1. ]] SLAMing on 181.51992885099997 meters Centerline goodness : 0.829892 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.15, Z:0.59 [[ 0.97416226 -0.18806271 -0.12506121 -1.02164395] [ 0.19430656 0.98013926 0.03964841 -0.15010441] [ 0.11512102 -0.0629242 0.99135649 0.58749849] [ 0. 0. 0. 1. ]] SLAMing on 181.54992885099998 meters Centerline goodness : 0.829721 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.15, Z:0.59 [[ 0.97425826 -0.1876247 -0.12497129 -1.02175414] [ 0.19387952 0.98021705 0.03981551 -0.15079805] [ 0.11502862 -0.06301996 0.99136114 0.58749053] [ 0. 0. 0. 1. ]] SLAMing on 181.57992885099998 meters Centerline goodness : 0.830032 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.15, Z:0.59 [[ 0.97444225 -0.18664559 -0.12500289 -1.02129991] [ 0.1929685 0.98037139 0.04043637 -0.15146266] [ 0.11500199 -0.06352452 0.99133202 0.58689172] [ 0. 0. 0. 1. ]] SLAMing on 181.60992885099998 meters Centerline goodness : 0.830411 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.15, Z:0.59 [[ 0.97487647 -0.18460961 -0.12464015 -1.02201066] [ 0.19100083 0.98071917 0.04133519 -0.15240125] [ 0.11460611 -0.06410307 0.99134063 0.58643566] [ 0. 0. 0. 1. ]] SLAMing on 181.63992885099998 meters Centerline goodness : 0.829652 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.15, Z:0.59 [[ 0.97502869 -0.18376826 -0.12469277 -1.02187415] [ 0.19022679 0.9808443 0.04193125 -0.1530748 ] [ 0.11459856 -0.06460407 0.99130897 0.58633093] [ 0. 0. 0. 1. ]] SLAMing on 181.66992885099998 meters Centerline goodness : 0.822039 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.15, Z:0.59 [[ 0.9751892 -0.18297116 -0.12460972 -1.02172574] [ 0.18947881 0.98096699 0.0424447 -0.15416141] [ 0.11447187 -0.06500251 0.99129757 0.58597845] [ 0. 0. 0. 1. ]] SLAMing on 181.69992885099998 meters Centerline goodness : 0.828854 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.16, Z:0.59 [[ 0.97530808 -0.18222799 -0.12476824 -1.02111178] [ 0.18884091 0.98105247 0.04330304 -0.15562248] [ 0.11451316 -0.06579515 0.9912405 0.58573385] [ 0. 0. 0. 1. ]] SLAMing on 181.72992885099998 meters Centerline goodness : 0.828854 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.16, Z:0.59 [[ 0.97530808 -0.18222799 -0.12476824 -1.02111178] [ 0.18884091 0.98105247 0.04330304 -0.15562248] [ 0.11451316 -0.06579515 0.9912405 0.58573385] [ 0. 0. 0. 1. ]] SLAMing on 181.75992885099998 meters Centerline goodness : 0.830251 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.16, Z:0.59 [[ 0.97554204 -0.18122178 -0.12440414 -1.02101186] [ 0.18786954 0.98121387 0.04386765 -0.15796258] [ 0.1141173 -0.06616648 0.99126144 0.58500257] [ 0. 0. 0. 1. ]] SLAMing on 181.78992885099998 meters Centerline goodness : 0.819293 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.16, Z:0.58 [[ 0.97560254 -0.1809638 -0.12430523 -1.02079499] [ 0.18762159 0.98125424 0.04402557 -0.15889387] [ 0.114008 -0.0662738 0.99126685 0.58468058] [ 0. 0. 0. 1. ]] SLAMing on 181.819928851 meters Centerline goodness : 0.826148 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.16, Z:0.58 [[ 0.97569351 -0.18034176 -0.12449511 -1.01977237] [ 0.18708375 0.98132748 0.04467707 -0.16021933] [ 0.11411333 -0.06688214 0.99121387 0.58409703] [ 0. 0. 0. 1. ]] SLAMing on 181.849928851 meters Centerline goodness : 0.831707 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.16, Z:0.58 [[ 0.97571973 -0.18012001 -0.12461058 -1.01918116] [ 0.18690163 0.98134908 0.04496413 -0.16084487] [ 0.11418754 -0.06716231 0.99118637 0.58376394] [ 0. 0. 0. 1. ]] SLAMing on 181.879928851 meters Centerline goodness : 0.830805 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.16, Z:0.58 [[ 0.97579418 -0.17949593 -0.12492772 -1.01830845] [ 0.18638252 0.98141301 0.04571708 -0.161771 ] [ 0.11439966 -0.0678948 0.99111201 0.58356141] [ 0. 0. 0. 1. ]] SLAMing on 181.909928851 meters Centerline goodness : 0.829579 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.16, Z:0.58 [[ 0.97594708 -0.17857431 -0.12505405 -1.01771931] [ 0.18555209 0.98153467 0.04647704 -0.16234889] [ 0.11444528 -0.06856317 0.99106073 0.58303579] [ 0. 0. 0. 1. ]] SLAMing on 181.93992885099996 meters Centerline goodness : 0.828740 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.16, Z:0.58 [[ 0.97600926 -0.17817779 -0.12513432 -1.0176538 ] [ 0.18519284 0.98158856 0.04677092 -0.16294936] [ 0.11449687 -0.06882283 0.99103677 0.58322338] [ 0. 0. 0. 1. ]] SLAMing on 181.96992885099996 meters Centerline goodness : 0.828370 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.16, Z:0.58 [[ 0.9760666 -0.1777628 -0.12527723 -1.01724561] [ 0.18483102 0.9816379 0.04716489 -0.16354458] [ 0.11459271 -0.0691912 0.99100005 0.58313413] [ 0. 0. 0. 1. ]] SLAMing on 181.99992885099996 meters Centerline goodness : 0.829364 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.16, Z:0.58 [[ 0.9760208 -0.17808931 -0.12517026 -1.01758694] [ 0.18513594 0.98158706 0.04702682 -0.16397153] [ 0.11449054 -0.06907267 0.99102012 0.58347972] [ 0. 0. 0. 1. ]] SLAMing on 182.02992885099997 meters Centerline goodness : 0.829187 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.17, Z:0.58 [[ 0.97604223 -0.17795438 -0.12519506 -1.01769292] [ 0.18507613 0.98156737 0.04766888 -0.16598789] [ 0.1144045 -0.06969746 0.99098631 0.58419991] [ 0. 0. 0. 1. ]] SLAMing on 182.05992885099997 meters Centerline goodness : 0.822754 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.17, Z:0.58 [[ 0.97605475 -0.17774876 -0.1253894 -1.01723809] [ 0.18492555 0.98157785 0.04803609 -0.16632988] [ 0.1145411 -0.07007356 0.99094401 0.58415656] [ 0. 0. 0. 1. ]] SLAMing on 182.08992885099997 meters Centerline goodness : 0.826535 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.17, Z:0.58 [[ 0.97608535 -0.17748481 -0.12552504 -1.01678349] [ 0.18473837 0.98158389 0.0486292 -0.16730484] [ 0.11458241 -0.07065555 0.99089791 0.58416477] [ 0. 0. 0. 1. ]] SLAMing on 182.11992885099997 meters Centerline goodness : 0.831215 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.17, Z:0.58 [[ 0.97610326 -0.1772414 -0.12572954 -1.01610829] [ 0.18453446 0.98161101 0.0488555 -0.16759888] [ 0.11475828 -0.07088945 0.99086085 0.58389088] [ 0. 0. 0. 1. ]] SLAMing on 182.14992885099997 meters Centerline goodness : 0.831157 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.17, Z:0.58 [[ 0.9761084 -0.17717175 -0.12578774 -1.01591735] [ 0.18446493 0.98162565 0.04882382 -0.16769735] [ 0.11482627 -0.07086077 0.99085502 0.58388696] [ 0. 0. 0. 1. ]] SLAMing on 182.17992885099997 meters Centerline goodness : 0.826509 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.17, Z:0.58 [[ 0.97607532 -0.17745679 -0.12564255 -1.01606641] [ 0.18468476 0.98160842 0.04833678 -0.16733177] [ 0.11475409 -0.0703846 0.99089732 0.58374535] [ 0. 0. 0. 1. ]] SLAMing on 182.20992885099997 meters Centerline goodness : 0.830382 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.17, Z:0.58 [[ 0.97608225 -0.1771886 -0.12596684 -1.01540859] [ 0.18449022 0.98162285 0.04878463 -0.1674365 ] [ 0.11500785 -0.07085746 0.9908342 0.58366059] [ 0. 0. 0. 1. ]] SLAMing on 182.23992885099997 meters Centerline goodness : 0.834287 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.17, Z:0.58 [[ 0.97609583 -0.17705471 -0.12604986 -1.01525906] [ 0.1843768 0.98163762 0.04891604 -0.1674075 ] [ 0.11507447 -0.07098741 0.99081717 0.58371077] [ 0. 0. 0. 1. ]] SLAMing on 182.26992885099997 meters Centerline goodness : 0.831150 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.17, Z:0.58 [[ 0.97602219 -0.17742734 -0.12609611 -1.0154204 ] [ 0.18472644 0.98158405 0.04867122 -0.16700278] [ 0.11513832 -0.07079748 0.99082334 0.58410006] [ 0. 0. 0. 1. ]] SLAMing on 182.29992885099998 meters Centerline goodness : 0.833379 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.17, Z:0.58 [[ 0.97597318 -0.17748926 -0.12638792 -1.01528488] [ 0.18487041 0.98153095 0.0491927 -0.16757718] [ 0.11532248 -0.07137615 0.9907604 0.5848799 ] [ 0. 0. 0. 1. ]] SLAMing on 182.32992885099998 meters Centerline goodness : 0.836966 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.17, Z:0.59 [[ 0.97587398 -0.17799307 -0.12644538 -1.01525862] [ 0.18535138 0.98145307 0.04893609 -0.16748002] [ 0.11538992 -0.07119228 0.99076578 0.58521425] [ 0. 0. 0. 1. ]] SLAMing on 182.35992885099998 meters Centerline goodness : 0.831106 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.17, Z:0.59 [[ 0.97574273 -0.17849016 -0.12675721 -1.01473571] [ 0.1859084 0.98133291 0.0492319 -0.16843917] [ 0.11560361 -0.07160289 0.99071128 0.58583475] [ 0. 0. 0. 1. ]] SLAMing on 182.38992885099998 meters Centerline goodness : 0.836498 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.17, Z:0.59 [[ 0.97570681 -0.17847855 -0.1270497 -1.01406962] [ 0.18594835 0.98131229 0.04949145 -0.16886523] [ 0.11584227 -0.07191383 0.99066088 0.58592701] [ 0. 0. 0. 1. ]] SLAMing on 182.41992885099998 meters Centerline goodness : 0.838986 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.17, Z:0.59 [[ 0.97571559 -0.17814979 -0.12744306 -1.01314713] [ 0.18572825 0.98131854 0.05018912 -0.16920288] [ 0.11612106 -0.07264009 0.99057525 0.58582361] [ 0. 0. 0. 1. ]] SLAMing on 182.44992885099998 meters Centerline goodness : 0.840481 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.17, Z:0.59 [[ 0.97566449 -0.17857638 -0.12723711 -1.01364549] [ 0.18603431 0.98130721 0.04926851 -0.16761061] [ 0.1160605 -0.07174 0.99064794 0.5857194 ] [ 0. 0. 0. 1. ]] SLAMing on 182.47992885099998 meters Centerline goodness : 0.841293 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.17, Z:0.59 [[ 0.97601389 -0.17601414 -0.12812459 -1.0128659 ] [ 0.18385553 0.98157166 0.05209816 -0.16713378] [ 0.11659345 -0.07440494 0.99038875 0.58564772] [ 0. 0. 0. 1. ]] SLAMing on 182.50992885099998 meters Centerline goodness : 0.831542 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.17, Z:0.59 [[ 0.97608577 -0.17588092 -0.12775944 -1.01351497] [ 0.18358863 0.98166881 0.05120121 -0.16559437] [ 0.11641214 -0.07343195 0.99048269 0.58521233] [ 0. 0. 0. 1. ]] SLAMing on 182.53992885099998 meters Centerline goodness : 0.840320 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.16, Z:0.58 [[ 0.97613888 -0.17544595 -0.12795156 -1.01319908] [ 0.18316251 0.98174972 0.05117593 -0.1643858 ] [ 0.1166378 -0.07339074 0.9904592 0.58492421] [ 0. 0. 0. 1. ]] SLAMing on 182.569928851 meters Centerline goodness : 0.840146 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.16, Z:0.59 [[ 0.97611283 -0.17563419 -0.12789201 -1.01373566] [ 0.18327036 0.98176348 0.05052171 -0.16292507] [ 0.11668636 -0.0727537 0.99050048 0.58516349] [ 0. 0. 0. 1. ]] SLAMing on 182.599928851 meters Centerline goodness : 0.836620 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.16, Z:0.59 [[ 0.97625504 -0.17460385 -0.12821695 -1.0143085 ] [ 0.18229979 0.98192592 0.05087507 -0.16014936] [ 0.11701656 -0.07304096 0.99044038 0.58557827] [ 0. 0. 0. 1. ]] SLAMing on 182.629928851 meters Centerline goodness : 0.838308 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.16, Z:0.59 [[ 0.97624881 -0.17456159 -0.12832194 -1.01438823] [ 0.18219865 0.98197363 0.05031354 -0.15790715] [ 0.11722595 -0.07249861 0.99045546 0.58544837] [ 0. 0. 0. 1. ]] SLAMing on 182.65992885099996 meters Centerline goodness : 0.838536 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.16, Z:0.59 [[ 0.97625281 -0.17475157 -0.12803258 -1.01537868] [ 0.18223635 0.98202327 0.04919561 -0.15552548] [ 0.11713396 -0.07135954 0.99054907 0.58544529] [ 0. 0. 0. 1. ]] SLAMing on 182.68992885099996 meters Centerline goodness : 0.837643 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.15, Z:0.59 [[ 0.97624053 -0.17496652 -0.1278325 -1.01611417] [ 0.18231727 0.98205895 0.04817302 -0.15322842] [ 0.11711038 -0.07033453 0.99062516 0.58540701] [ 0. 0. 0. 1. ]] SLAMing on 182.71992885099996 meters Centerline goodness : 0.836023 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.15, Z:0.59 [[ 0.97626363 -0.17472318 -0.12798879 -1.01645421] [ 0.18196021 0.98217571 0.04713127 -0.14866322] [ 0.11747256 -0.06930141 0.99065509 0.58506555] [ 0. 0. 0. 1. ]] SLAMing on 182.74992885099996 meters Centerline goodness : 0.834772 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.15, Z:0.58 [[ 0.97616395 -0.17501066 -0.12835577 -1.01592872] [ 0.1821921 0.98216602 0.04643214 -0.14609285] [ 0.11794056 -0.06871079 0.99064063 0.58482912] [ 0. 0. 0. 1. ]] SLAMing on 182.77992885099997 meters Centerline goodness : 0.835896 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.14, Z:0.58 [[ 0.97618823 -0.17493866 -0.12826927 -1.01607733] [ 0.18199919 0.98224675 0.04547101 -0.14371848] [ 0.11803743 -0.06773317 0.99069641 0.58426063] [ 0. 0. 0. 1. ]] SLAMing on 182.80992885099997 meters Centerline goodness : 0.826994 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.14, Z:0.58 [[ 0.97613257 -0.17494167 -0.12868803 -1.01537214] [ 0.18195394 0.98228476 0.04482651 -0.14079041] [ 0.11856626 -0.06717191 0.99067148 0.58382844] [ 0. 0. 0. 1. ]] SLAMing on 182.83992885099997 meters Centerline goodness : 0.790829 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.13, Z:0.58 [[ 0.97615737 -0.17502373 -0.12838803 -1.01689288] [ 0.18170483 0.98244615 0.0422245 -0.13395094] [ 0.11874404 -0.06454648 0.99082471 0.5835422 ] [ 0. 0. 0. 1. ]] SLAMing on 182.86992885099997 meters Centerline goodness : 0.826656 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.13, Z:0.58 [[ 0.97619827 -0.17468116 -0.12854348 -1.01690339] [ 0.18129169 0.98255037 0.04157036 -0.13094606] [ 0.11903888 -0.06388478 0.99083222 0.5831455 ] [ 0. 0. 0. 1. ]] SLAMing on 182.89992885099997 meters Centerline goodness : 0.822215 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.13, Z:0.58 [[ 0.9762068 -0.17438853 -0.12887558 -1.01690155] [ 0.18096221 0.98263082 0.04110167 -0.12809943] [ 0.11946946 -0.06344534 0.99080863 0.58323112] [ 0. 0. 0. 1. ]] SLAMing on 182.92992885099997 meters Centerline goodness : 0.828357 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.12, Z:0.58 [[ 0.97620624 -0.17455111 -0.12865958 -1.01861237] [ 0.18083604 0.9827471 0.03881306 -0.12168295] [ 0.11966496 -0.06115584 0.99092899 0.58358215] [ 0. 0. 0. 1. ]] SLAMing on 182.95992885099997 meters Centerline goodness : 0.822913 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.12, Z:0.58 [[ 0.97615434 -0.17446502 -0.1291691 -1.01761986] [ 0.18075306 0.98277146 0.0385823 -0.1194967 ] [ 0.12021244 -0.06100999 0.99087171 0.5831663 ] [ 0. 0. 0. 1. ]] SLAMing on 182.98992885099997 meters Centerline goodness : 0.826188 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.12, Z:0.58 [[ 0.97603299 -0.17484544 -0.12957113 -1.01676757] [ 0.18109156 0.98273137 0.03801184 -0.1177561 ] [ 0.12068742 -0.06056505 0.99084127 0.58296928] [ 0. 0. 0. 1. ]] SLAMing on 183.01992885099997 meters Centerline goodness : 0.832741 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.12, Z:0.58 [[ 0.9758431 -0.17576993 -0.12975043 -1.01695146] [ 0.18194288 0.98260255 0.03726941 -0.11519612] [ 0.12094227 -0.05997627 0.99084601 0.58335976] [ 0. 0. 0. 1. ]] SLAMing on 183.04992885099998 meters Centerline goodness : 0.832470 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.11, Z:0.58 [[ 0.97570774 -0.17605013 -0.13038699 -1.01608918] [ 0.18226541 0.9825423 0.03728189 -0.1137204 ] [ 0.12154725 -0.06014126 0.99076198 0.58366248] [ 0. 0. 0. 1. ]] SLAMing on 183.07992885099998 meters Centerline goodness : 0.831338 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.11, Z:0.58 [[ 0.97565697 -0.17621191 -0.13054826 -1.01593925] [ 0.18241604 0.98252118 0.03710157 -0.11261966] [ 0.12172869 -0.0600125 0.99074751 0.58377591] [ 0. 0. 0. 1. ]] SLAMing on 183.10992885099998 meters Centerline goodness : 0.822417 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.11, Z:0.58 [[ 0.97554368 -0.17649787 -0.13100774 -1.01539969] [ 0.1827317 0.98246263 0.03709856 -0.11143676] [ 0.12216239 -0.06013053 0.99068697 0.58407452] [ 0. 0. 0. 1. ]] SLAMing on 183.13992885099998 meters Centerline goodness : 0.834737 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.11, Z:0.58 [[ 0.97532015 -0.17751378 -0.13129914 -1.01573221] [ 0.18365439 0.98232624 0.03614174 -0.10821863] [ 0.12256293 -0.05936343 0.99068376 0.5849003 ] [ 0. 0. 0. 1. ]] SLAMing on 183.16992885099998 meters Centerline goodness : 0.822279 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.11, Z:0.58 [[ 0.97520749 -0.17775061 -0.13181452 -1.01452394] [ 0.18388121 0.98229644 0.0357968 -0.1066497 ] [ 0.12311803 -0.05914752 0.99062784 0.58454574] [ 0. 0. 0. 1. ]] SLAMing on 183.19992885099998 meters Centerline goodness : 0.825157 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.11, Z:0.58 [[ 0.97514515 -0.17780006 -0.13220845 -1.01350115] [ 0.18392442 0.98229717 0.03555376 -0.10542532] [ 0.12354653 -0.05898644 0.9905841 0.5841581 ] [ 0. 0. 0. 1. ]] SLAMing on 183.22992885099998 meters Centerline goodness : 0.832224 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.10, Z:0.58 [[ 0.97500679 -0.17844095 -0.13236534 -1.01311887] [ 0.1844682 0.98222703 0.03466335 -0.10365123] [ 0.12382745 -0.0582142 0.9905947 0.58396874] [ 0. 0. 0. 1. ]] SLAMing on 183.25992885099998 meters Centerline goodness : 0.835505 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.10, Z:0.58 [[ 0.97515362 -0.17638959 -0.13402285 -1.01132447] [ 0.18289272 0.98240706 0.03777062 -0.10190759] [ 0.12500265 -0.06134396 0.99025818 0.58434018] [ 0. 0. 0. 1. ]] SLAMing on 183.28992885099998 meters Centerline goodness : 0.835267 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.10, Z:0.58 [[ 0.97512882 -0.17629889 -0.13432232 -1.01103643] [ 0.18277132 0.98244438 0.03738565 -0.09985069] [ 0.12537316 -0.06100609 0.99023221 0.58429231] [ 0. 0. 0. 1. ]] SLAMing on 183.319928851 meters Centerline goodness : 0.830955 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.10, Z:0.58 [[ 0.97508435 -0.17627235 -0.13467947 -1.01062043] [ 0.18270757 0.98247386 0.03691964 -0.09753477] [ 0.12581115 -0.06060672 0.99020118 0.58420196] [ 0. 0. 0. 1. ]] SLAMing on 183.349928851 meters Centerline goodness : 0.831642 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.09, Z:0.58 [[ 0.97498691 -0.17655341 -0.13501639 -1.01029936] [ 0.18284105 0.98249837 0.03558235 -0.09347543] [ 0.1263712 -0.05937886 0.99020426 0.58395689] [ 0. 0. 0. 1. ]] SLAMing on 183.379928851 meters Centerline goodness : 0.830573 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.09, Z:0.58 [[ 0.97488882 -0.17700922 -0.13512779 -1.01060124] [ 0.1832065 0.9824585 0.03479484 -0.09151169] [ 0.12659844 -0.05867739 0.99021705 0.58429698] [ 0. 0. 0. 1. ]] SLAMing on 183.40992885099996 meters Centerline goodness : 0.830735 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.09, Z:0.58 [[ 0.97486785 -0.17700044 -0.13529047 -1.01032099] [ 0.18316048 0.98247998 0.03442868 -0.09010579] [ 0.12682628 -0.05834328 0.99020763 0.58420016] [ 0. 0. 0. 1. ]] SLAMing on 183.43992885099996 meters Centerline goodness : 0.830720 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.09, Z:0.58 [[ 0.97482054 -0.17701318 -0.13561431 -1.00991967] [ 0.18316072 0.98248859 0.03418077 -0.08834941] [ 0.12718906 -0.05815933 0.99017192 0.58414799] [ 0. 0. 0. 1. ]] SLAMing on 183.46992885099996 meters Centerline goodness : 0.833098 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.09, Z:0.58 [[ 0.97480099 -0.17689916 -0.13590335 -1.00944157] [ 0.18304344 0.9825157 0.0340295 -0.08702388] [ 0.12750738 -0.05804821 0.9901375 0.58405932] [ 0. 0. 0. 1. ]] SLAMing on 183.49992885099996 meters Centerline goodness : 0.831493 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.08, Z:0.58 [[ 0.97475661 -0.17701014 -0.13607706 -1.00950924] [ 0.18305987 0.98254067 0.03321028 -0.08411865] [ 0.12782268 -0.05728219 0.99014146 0.58411288] [ 0. 0. 0. 1. ]] SLAMing on 183.52992885099997 meters Centerline goodness : 0.830689 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.08, Z:0.58 [[ 0.97474275 -0.17719236 -0.13593914 -1.00998384] [ 0.18314845 0.98254673 0.03253552 -0.08249635] [ 0.12780151 -0.0566108 0.99018281 0.58410066] [ 0. 0. 0. 1. ]] SLAMing on 183.55992885099997 meters Centerline goodness : 0.833244 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.08, Z:0.58 [[ 0.9750617 -0.17457808 -0.1370298 -1.00862763] [ 0.18101644 0.98282373 0.03592444 -0.08303818] [ 0.12840452 -0.0598332 0.98991528 0.58401223] [ 0. 0. 0. 1. ]] SLAMing on 183.58992885099997 meters Centerline goodness : 0.831512 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.08, Z:0.58 [[ 0.97499965 -0.17474216 -0.13726202 -1.00830536] [ 0.18113563 0.98281863 0.03546009 -0.08169783] [ 0.1287073 -0.05943661 0.98989985 0.58407025] [ 0. 0. 0. 1. ]] SLAMing on 183.61992885099997 meters Centerline goodness : 0.831512 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.08, Z:0.58 [[ 0.97499965 -0.17474216 -0.13726202 -1.00830536] [ 0.18113563 0.98281863 0.03546009 -0.08169783] [ 0.1287073 -0.05943661 0.98989985 0.58407025] [ 0. 0. 0. 1. ]] SLAMing on 183.64992885099997 meters Centerline goodness : 0.831308 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.08, Z:0.58 [[ 0.97515098 -0.17295811 -0.1384415 -1.00729879] [ 0.17980727 0.98294805 0.03850288 -0.0809534 ] [ 0.12942142 -0.06243891 0.98962189 0.58439931] [ 0. 0. 0. 1. ]] SLAMing on 183.67992885099997 meters Centerline goodness : 0.832626 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.08, Z:0.58 [[ 0.9750612 -0.17338809 -0.13853597 -1.00746923] [ 0.18015993 0.98290922 0.03784002 -0.07948242] [ 0.12960728 -0.06185497 0.98963423 0.5847637 ] [ 0. 0. 0. 1. ]] SLAMing on 183.70992885099997 meters Centerline goodness : 0.833501 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.08, Z:0.59 [[ 0.97499777 -0.17350093 -0.13884081 -1.00725666] [ 0.18028227 0.9828899 0.03775904 -0.07845004] [ 0.129914 -0.06184552 0.98959461 0.58509839] [ 0. 0. 0. 1. ]] SLAMing on 183.73992885099997 meters Centerline goodness : 0.832736 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.08, Z:0.59 [[ 0.9749922 -0.17331897 -0.13910693 -1.00703275] [ 0.18013224 0.98291254 0.03788556 -0.07773083] [ 0.13016366 -0.06199576 0.9895524 0.58533068] [ 0. 0. 0. 1. ]] SLAMing on 183.76992885099997 meters Centerline goodness : 0.787099 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.08, Z:0.59 [[ 0.97491987 -0.17361546 -0.13924406 -1.00701955] [ 0.18035356 0.98289698 0.0372307 -0.07567681] [ 0.13039874 -0.06141011 0.98955797 0.58536445] [ 0. 0. 0. 1. ]] SLAMing on 183.79992885099998 meters Centerline goodness : 0.786607 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.59 [[ 0.97484083 -0.17415194 -0.13912747 -1.00733264] [ 0.18075682 0.98285987 0.0362414 -0.07378337] [ 0.1304313 -0.06047784 0.98961109 0.58529029] [ 0. 0. 0. 1. ]] SLAMing on 183.82992885099998 meters Centerline goodness : 0.832008 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.58 [[ 0.97487085 -0.17372333 -0.13945264 -1.00651643] [ 0.18034828 0.98293393 0.03626838 -0.07266355] [ 0.13077207 -0.06050703 0.98956433 0.58492406] [ 0. 0. 0. 1. ]] SLAMing on 183.85992885099998 meters Centerline goodness : 0.786509 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.58 [[ 0.97496505 -0.17325919 -0.13937143 -1.00660968] [ 0.17973716 0.98308385 0.03522341 -0.06946914] [ 0.13091103 -0.05939182 0.98961352 0.58426166] [ 0. 0. 0. 1. ]] SLAMing on 183.88992885099998 meters Centerline goodness : 0.784495 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.58 [[ 0.97502472 -0.17283433 -0.1394815 -1.00614541] [ 0.1792391 0.98319525 0.03464733 -0.06759605] [ 0.1311493 -0.05878254 0.98961835 0.58361178] [ 0. 0. 0. 1. ]] SLAMing on 183.91992885099998 meters Centerline goodness : 0.785117 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.58 [[ 0.97512517 -0.17249769 -0.13919573 -1.00657635] [ 0.17877458 0.98330823 0.03383145 -0.06555972] [ 0.13103646 -0.05787456 0.98968681 0.58307402] [ 0. 0. 0. 1. ]] SLAMing on 183.94992885099998 meters Centerline goodness : 0.786099 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.58 [[ 0.97524544 -0.17172464 -0.13930894 -1.0061244 ] [ 0.17796811 0.9834632 0.03357806 -0.0638783 ] [ 0.13123904 -0.0575394 0.98967951 0.58236385] [ 0. 0. 0. 1. ]] SLAMing on 183.97992885099998 meters Centerline goodness : 0.786496 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.58 [[ 0.97537862 -0.17089145 -0.13940104 -1.00565341] [ 0.17708806 0.98363362 0.03323742 -0.06008305] [ 0.13143956 -0.05710533 0.98967804 0.58203147] [ 0. 0. 0. 1. ]] SLAMing on 184.00992885099998 meters Centerline goodness : 0.785023 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.58 [[ 0.9753489 -0.17097879 -0.13950191 -1.00567929] [ 0.17709503 0.98365425 0.03258331 -0.05794863] [ 0.13165059 -0.05648519 0.98968558 0.58233724] [ 0. 0. 0. 1. ]] SLAMing on 184.03992885099998 meters Centerline goodness : 0.784877 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.58 [[ 0.97532479 -0.17100322 -0.13964046 -1.00543253] [ 0.17705439 0.98367963 0.03203333 -0.05618452] [ 0.13188368 -0.05596686 0.98968399 0.58247198] [ 0. 0. 0. 1. ]] SLAMing on 184.069928851 meters Centerline goodness : 0.785884 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:0.58 [[ 0.97529448 -0.17111206 -0.13971881 -1.00550351] [ 0.17709606 0.98368969 0.03148923 -0.05444972] [ 0.13205177 -0.05545493 0.9896904 0.58271449] [ 0. 0. 0. 1. ]] SLAMing on 184.099928851 meters Centerline goodness : 0.784541 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:0.58 [[ 0.97524112 -0.17139498 -0.13974447 -1.00582612] [ 0.17726538 0.98368697 0.03060932 -0.05160942] [ 0.13221853 -0.05462332 0.98971438 0.58306714] [ 0. 0. 0. 1. ]] SLAMing on 184.129928851 meters Centerline goodness : 0.784348 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:0.58 [[ 0.97518377 -0.17176191 -0.1396942 -1.00633684] [ 0.17755415 0.98365301 0.03002131 -0.05057683] [ 0.13225411 -0.05407958 0.98973949 0.58357521] [ 0. 0. 0. 1. ]] SLAMing on 184.15992885099996 meters Centerline goodness : 0.835912 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:0.58 [[ 0.97512704 -0.1722748 -0.13945841 -1.00703209] [ 0.17797941 0.98359407 0.0294286 -0.04963137] [ 0.13210066 -0.05351735 0.98979054 0.58380021] [ 0. 0. 0. 1. ]] SLAMing on 184.18992885099996 meters Centerline goodness : 0.783568 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:0.58 [[ 0.97504395 -0.17291512 -0.13924671 -1.00783145] [ 0.17851673 0.9835182 0.02870079 -0.04850935] [ 0.13198887 -0.0528424 0.98984171 0.58424487] [ 0. 0. 0. 1. ]] SLAMing on 184.21992885099996 meters Centerline goodness : 0.782789 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:0.58 [[ 0.97497666 -0.17345536 -0.13904586 -1.00855171] [ 0.17898255 0.98344837 0.02818794 -0.04795971] [ 0.13185508 -0.05236937 0.98988468 0.58459135] [ 0. 0. 0. 1. ]] SLAMing on 184.24992885099996 meters Centerline goodness : 0.782188 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:0.58 [[ 0.97490451 -0.17399413 -0.13887848 -1.00917718] [ 0.17945763 0.98337449 0.02774129 -0.04758522] [ 0.13174274 -0.05196791 0.9899208 0.58488284] [ 0. 0. 0. 1. ]] SLAMing on 184.27992885099997 meters Centerline goodness : 0.781814 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:0.59 [[ 0.97485207 -0.17446848 -0.13865135 -1.00976121] [ 0.17988234 0.9833057 0.02742721 -0.04753187] [ 0.13155148 -0.0516784 0.98996139 0.58501009] [ 0. 0. 0. 1. ]] SLAMing on 184.30992885099997 meters Centerline goodness : 0.781160 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:0.59 [[ 0.97478292 -0.17494308 -0.13853944 -1.01019665] [ 0.18031908 0.98323324 0.02715548 -0.04755524] [ 0.13146592 -0.051452 0.98998455 0.58517418] [ 0. 0. 0. 1. ]] SLAMing on 184.33992885099997 meters Centerline goodness : 0.778987 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:0.59 [[ 0.97408627 -0.17917851 -0.13802537 -1.00971114] [ 0.18400948 0.98265607 0.02296869 -0.04590125] [ 0.13151597 -0.04777146 0.99016233 0.58522307] [ 0. 0. 0. 1. ]] SLAMing on 184.36992885099997 meters Centerline goodness : 0.780492 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:0.59 [[ 0.97400971 -0.17972359 -0.13785685 -1.01015199] [ 0.18450863 0.98256991 0.02264818 -0.0460699 ] [ 0.13138358 -0.04749533 0.99019319 0.5853544 ] [ 0. 0. 0. 1. ]] SLAMing on 184.39992885099997 meters Centerline goodness : 0.778018 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:0.59 [[ 0.97391137 -0.18043673 -0.1376199 -1.0110219 ] [ 0.18516288 0.98245609 0.02224294 -0.04615137] [ 0.13119206 -0.04714474 0.99023533 0.58570806] [ 0. 0. 0. 1. ]] SLAMing on 184.42992885099997 meters Centerline goodness : 0.780218 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:0.59 [[ 0.97382946 -0.18100739 -0.13744999 -1.01160149] [ 0.18567845 0.98236758 0.0218505 -0.04623708] [ 0.13107131 -0.04680016 0.99026767 0.58600439] [ 0. 0. 0. 1. ]] SLAMing on 184.45992885099997 meters Centerline goodness : 0.780527 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:0.59 [[ 0.97369595 -0.18187862 -0.1372456 -1.01227903] [ 0.18646738 0.98223144 0.02124392 -0.04583952] [ 0.13094313 -0.04627695 0.99030921 0.58620584] [ 0. 0. 0. 1. ]] SLAMing on 184.48992885099997 meters Centerline goodness : 0.779619 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:0.59 [[ 0.97365472 -0.18220155 -0.13710976 -1.01256389] [ 0.18674196 0.98218655 0.02090503 -0.04527393] [ 0.13085843 -0.04595843 0.99033524 0.58621138] [ 0. 0. 0. 1. ]] SLAMing on 184.51992885099997 meters Centerline goodness : 0.782161 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.04, Z:0.59 [[ 0.97358374 -0.18261719 -0.13706082 -1.01298024] [ 0.18708346 0.98213356 0.02033363 -0.04427084] [ 0.13089876 -0.04543831 0.99035391 0.58657832] [ 0. 0. 0. 1. ]] SLAMing on 184.54992885099998 meters Centerline goodness : 0.783152 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.04, Z:0.59 [[ 0.97350905 -0.18304625 -0.13701899 -1.01371327] [ 0.18739412 0.98209274 0.01942417 -0.04175676] [ 0.13100983 -0.04458616 0.99037796 0.58723492] [ 0. 0. 0. 1. ]] SLAMing on 184.57992885099998 meters Centerline goodness : 0.780630 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.04, Z:0.59 [[ 0.97347739 -0.1832066 -0.13702962 -1.01398701] [ 0.18749594 0.98208223 0.01896748 -0.04033811] [ 0.13109938 -0.04415691 0.99038534 0.58749533] [ 0. 0. 0. 1. ]] SLAMing on 184.60992885099998 meters Centerline goodness : 0.778093 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.04, Z:0.59 [[ 0.97344419 -0.18335238 -0.13707046 -1.01414998] [ 0.18757933 0.98207574 0.01847286 -0.03890707] [ 0.13122653 -0.04369388 0.99038904 0.58779224] [ 0. 0. 0. 1. ]] SLAMing on 184.63992885099998 meters Centerline goodness : 0.779977 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.04, Z:0.59 [[ 0.97342203 -0.1834541 -0.13709173 -1.01428723] [ 0.18762952 0.98207364 0.01807022 -0.03752617] [ 0.13131911 -0.04331241 0.99039352 0.58794553] [ 0. 0. 0. 1. ]] SLAMing on 184.66992885099998 meters Centerline goodness : 0.776417 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.04, Z:0.59 [[ 0.97342561 -0.18342348 -0.13710731 -1.01437954] [ 0.18752529 0.98210366 0.01751214 -0.03525719] [ 0.13144145 -0.04275785 0.99040139 0.5880826 ] [ 0. 0. 0. 1. ]] SLAMing on 184.69992885099998 meters Centerline goodness : 0.778523 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.03, Z:0.59 [[ 0.97339719 -0.18363211 -0.13702976 -1.01469656] [ 0.18769118 0.98207746 0.01720143 -0.03431691] [ 0.1314151 -0.0424631 0.99041757 0.58819054] [ 0. 0. 0. 1. ]] SLAMing on 184.72992885099998 meters Centerline goodness : 0.777882 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.03, Z:0.59 [[ 0.97335956 -0.18383987 -0.13701849 -1.01495578] [ 0.18785543 0.98205192 0.01686331 -0.03354221] [ 0.13145912 -0.04215373 0.99042494 0.58842789] [ 0. 0. 0. 1. ]] SLAMing on 184.75992885099998 meters Centerline goodness : 0.776998 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.03, Z:0.59 [[ 0.9733066 -0.18417141 -0.13694945 -1.01532346] [ 0.18813297 0.98200569 0.0164564 -0.03290164] [ 0.13145434 -0.04178183 0.99044133 0.58871114] [ 0. 0. 0. 1. ]] SLAMing on 184.78992885099998 meters Centerline goodness : 0.777019 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.03, Z:0.59 [[ 0.97325444 -0.18460812 -0.13673201 -1.01573818] [ 0.18851773 0.98193773 0.01610481 -0.03262206] [ 0.13128924 -0.04145049 0.99047715 0.58870189] [ 0. 0. 0. 1. ]] SLAMing on 184.819928851 meters Centerline goodness : 0.777164 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.03, Z:0.59 [[ 0.97322926 -0.18482083 -0.13662382 -1.01590298] [ 0.1887088 0.98190337 0.01596154 -0.03264748] [ 0.13120137 -0.04131636 0.9904944 0.58869854] [ 0. 0. 0. 1. ]] SLAMing on 184.849928851 meters Centerline goodness : 0.777549 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.03, Z:0.59 [[ 0.9731624 -0.18529601 -0.13645636 -1.01654215] [ 0.189134 0.98182728 0.01560513 -0.03272061] [ 0.13108501 -0.04099487 0.99052317 0.58908183] [ 0. 0. 0. 1. ]] SLAMing on 184.879928851 meters Centerline goodness : 0.775469 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.03, Z:0.59 [[ 0.97312189 -0.18568607 -0.13621482 -1.01716945] [ 0.18948712 0.98176281 0.01537561 -0.03307161] [ 0.13087561 -0.04077329 0.99056 0.58930957] [ 0. 0. 0. 1. ]] SLAMing on 184.90992885099996 meters Centerline goodness : 0.778146 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.03, Z:0.59 [[ 0.97302588 -0.18638631 -0.13594406 -1.01809628] [ 0.19013657 0.98164262 0.01502866 -0.03414813] [ 0.13064735 -0.04047121 0.99060252 0.58987916] [ 0. 0. 0. 1. ]] SLAMing on 184.93992885099996 meters Centerline goodness : 0.779149 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.03, Z:0.59 [[ 0.97299739 -0.18658682 -0.13587287 -1.01829122] [ 0.19032691 0.98160677 0.01496028 -0.034637 ] [ 0.13058234 -0.04041658 0.99061332 0.59000599] [ 0. 0. 0. 1. ]] SLAMing on 184.96992885099996 meters Centerline goodness : 0.777488 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.03, Z:0.59 [[ 0.97296039 -0.18682101 -0.135816 -1.01860844] [ 0.19053323 0.98156992 0.01475086 -0.03487366] [ 0.13055713 -0.04022946 0.99062426 0.59037127] [ 0. 0. 0. 1. ]] SLAMing on 184.99992885099996 meters Centerline goodness : 0.778965 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.59 [[ 0.97292303 -0.1871964 -0.13556654 -1.01943689] [ 0.19088655 0.98150299 0.01463559 -0.03554935] [ 0.13031923 -0.04011713 0.99066014 0.59074267] [ 0. 0. 0. 1. ]] SLAMing on 185.02992885099997 meters Centerline goodness : 0.779853 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.59 [[ 0.97289425 -0.18737145 -0.13553126 -1.01957902] [ 0.19104669 0.98147353 0.01452142 -0.03602477] [ 0.13029944 -0.04002061 0.99066665 0.5909839 ] [ 0. 0. 0. 1. ]] SLAMing on 185.05992885099997 meters Centerline goodness : 0.778202 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.59 [[ 0.97288589 -0.1874871 -0.13543125 -1.0197187 ] [ 0.19115732 0.98145221 0.01450647 -0.03655519] [ 0.13019952 -0.04000182 0.99068054 0.59104783] [ 0. 0. 0. 1. ]] SLAMing on 185.08992885099997 meters Centerline goodness : 0.780722 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.59 [[ 0.97287659 -0.18757076 -0.13538226 -1.01977251] [ 0.19124332 0.98143505 0.01453388 -0.03727063] [ 0.13014276 -0.04003062 0.99068684 0.59111488] [ 0. 0. 0. 1. ]] SLAMing on 185.11992885099997 meters Centerline goodness : 0.777338 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.59 [[ 0.97279968 -0.18804245 -0.13528049 -1.02035429] [ 0.19170263 0.98134683 0.01443956 -0.03901192] [ 0.13004183 -0.03998043 0.99070212 0.59176214] [ 0. 0. 0. 1. ]] SLAMing on 185.14992885099997 meters Centerline goodness : 0.778254 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.59 [[ 0.97276072 -0.18832137 -0.13517262 -1.02078083] [ 0.19196921 0.98129588 0.01436028 -0.03984911] [ 0.12993998 -0.0399181 0.990718 0.59208933] [ 0. 0. 0. 1. ]] SLAMing on 185.17992885099997 meters Centerline goodness : 0.776875 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.59 [[ 0.97272983 -0.18849891 -0.1351475 -1.02100409] [ 0.19213256 0.98126555 0.014248 -0.04055743] [ 0.12992985 -0.03982569 0.99072304 0.5924888 ] [ 0. 0. 0. 1. ]] SLAMing on 185.20992885099997 meters Centerline goodness : 0.778733 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.59 [[ 0.9726626 -0.18887148 -0.13511116 -1.02145782] [ 0.19249649 0.98119537 0.01416841 -0.0420768 ] [ 0.12989443 -0.03978951 0.99072914 0.59308983] [ 0. 0. 0. 1. ]] SLAMing on 185.23992885099997 meters Centerline goodness : 0.779087 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.59 [[ 0.97264465 -0.18908408 -0.13494296 -1.02183063] [ 0.19270255 0.9811551 0.01415634 -0.04286598] [ 0.12972323 -0.03977294 0.99075224 0.59321878] [ 0. 0. 0. 1. ]] SLAMing on 185.26992885099997 meters Centerline goodness : 0.777793 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.59 [[ 0.97260741 -0.1893436 -0.13484743 -1.02227631] [ 0.19294107 0.98111035 0.01400806 -0.04369406] [ 0.12964787 -0.03964195 0.99076735 0.59372345] [ 0. 0. 0. 1. ]] SLAMing on 185.29992885099998 meters Centerline goodness : 0.776730 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.59 [[ 0.97256732 -0.18966098 -0.13469043 -1.02285064] [ 0.1932362 0.9810543 0.01386505 -0.04426235] [ 0.12950897 -0.03951176 0.99079072 0.59409606] [ 0. 0. 0. 1. ]] SLAMing on 185.32992885099998 meters Centerline goodness : 0.776641 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.59 [[ 0.97254636 -0.18980961 -0.13463239 -1.0233478 ] [ 0.19339689 0.98102121 0.01396536 -0.04607688] [ 0.12942647 -0.03961944 0.9907972 0.59484176] [ 0. 0. 0. 1. ]] SLAMing on 185.35992885099998 meters Centerline goodness : 0.777354 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.60 [[ 0.97251319 -0.19003987 -0.13454716 -1.02372811] [ 0.19361429 0.98097957 0.01387785 -0.04700725] [ 0.12935067 -0.03954664 0.99081001 0.59525177] [ 0. 0. 0. 1. ]] SLAMing on 185.38992885099998 meters Centerline goodness : 0.777206 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.60 [[ 0.97250293 -0.19011003 -0.13452221 -1.023774 ] [ 0.19370457 0.98095951 0.01403507 -0.04841083] [ 0.12929264 -0.03970671 0.99081118 0.59545253] [ 0. 0. 0. 1. ]] SLAMing on 185.41992885099998 meters Centerline goodness : 0.778147 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.60 [[ 0.97185572 -0.19352989 -0.13432287 -1.02221328] [ 0.19674046 0.98039472 0.01092639 -0.04997435] [ 0.12957485 -0.03704562 0.99087738 0.59544067] [ 0. 0. 0. 1. ]] SLAMing on 185.44992885099998 meters Centerline goodness : 0.778347 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.60 [[ 0.9718458 -0.1936444 -0.13422958 -1.02232201] [ 0.19688592 0.98036263 0.01118248 -0.05160805] [ 0.12942824 -0.03729556 0.99088716 0.59548838] [ 0. 0. 0. 1. ]] SLAMing on 185.47992885099998 meters Centerline goodness : 0.779065 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.60 [[ 0.97183204 -0.19381888 -0.13407729 -1.02261415] [ 0.19706932 0.98032462 0.01128345 -0.05289086] [ 0.12925233 -0.03738814 0.99090664 0.59562287] [ 0. 0. 0. 1. ]] SLAMing on 185.50992885099998 meters Centerline goodness : 0.781031 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.60 [[ 0.97181966 -0.19385757 -0.1341111 -1.02259326] [ 0.19712167 0.98031303 0.01137571 -0.05407053] [ 0.12926559 -0.03749134 0.99090101 0.59591243] [ 0. 0. 0. 1. ]] SLAMing on 185.53992885099998 meters Centerline goodness : 0.781031 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.60 [[ 0.97181966 -0.19385757 -0.1341111 -1.02259326] [ 0.19712167 0.98031303 0.01137571 -0.05407053] [ 0.12926559 -0.03749134 0.99090101 0.59591243] [ 0. 0. 0. 1. ]] SLAMing on 185.569928851 meters Centerline goodness : 0.782427 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.60 [[ 0.97182487 -0.1937732 -0.13419529 -1.02252744] [ 0.19708736 0.98031563 0.01174035 -0.05638586] [ 0.12927878 -0.03785776 0.99088536 0.59635456] [ 0. 0. 0. 1. ]] SLAMing on 185.599928851 meters Centerline goodness : 0.781425 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.60 [[ 0.97183905 -0.19363232 -0.13429589 -1.02222492] [ 0.19696272 0.98033943 0.01184453 -0.0570308 ] [ 0.12936207 -0.03796226 0.99087049 0.59646032] [ 0. 0. 0. 1. ]] SLAMing on 185.629928851 meters Centerline goodness : 0.780724 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.60 [[ 0.97186239 -0.19342468 -0.13442616 -1.02187201] [ 0.19677824 0.98037462 0.01199716 -0.05714299] [ 0.12946745 -0.03811173 0.99085099 0.59643023] [ 0. 0. 0. 1. ]] SLAMing on 185.65992885099996 meters Centerline goodness : 0.780938 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.60 [[ 0.97189214 -0.19313538 -0.13462689 -1.0215016 ] [ 0.19649891 0.9804302 0.0120332 -0.05715116] [ 0.12966823 -0.03814901 0.9908233 0.59664436] [ 0. 0. 0. 1. ]] SLAMing on 185.68992885099996 meters Centerline goodness : 0.781632 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.60 [[ 0.97196871 -0.19260118 -0.1348392 -1.02110139] [ 0.19600192 0.98052649 0.01229004 -0.05735439] [ 0.12984633 -0.03837428 0.99079127 0.59682479] [ 0. 0. 0. 1. ]] SLAMing on 185.71992885099996 meters Centerline goodness : 0.780954 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.60 [[ 0.97198111 -0.19248611 -0.13491413 -1.02109287] [ 0.1958757 0.98055296 0.01219038 -0.05715907] [ 0.12994397 -0.03827522 0.9907823 0.59712457] [ 0. 0. 0. 1. ]] SLAMing on 185.74992885099996 meters Centerline goodness : 0.782772 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.60 [[ 0.97200937 -0.19228044 -0.13500373 -1.02069935] [ 0.19567829 0.98059175 0.01224054 -0.05720118] [ 0.13002993 -0.03831522 0.99076948 0.59704212] [ 0. 0. 0. 1. ]] SLAMing on 185.77992885099997 meters Centerline goodness : 0.783461 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.60 [[ 0.97204313 -0.19186683 -0.13534872 -1.01943467] [ 0.19533007 0.98065581 0.01266305 -0.05772769] [ 0.13030089 -0.03874671 0.9907171 0.59644482] [ 0. 0. 0. 1. ]] SLAMing on 185.80992885099997 meters Centerline goodness : 0.781429 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.60 [[ 0.9721767 -0.19126673 -0.13523867 -1.01855959] [ 0.19473533 0.9807726 0.01277728 -0.05803258] [ 0.13019451 -0.03875752 0.99073066 0.59512686] [ 0. 0. 0. 1. ]] SLAMing on 185.83992885099997 meters Centerline goodness : 0.780859 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.59 [[ 0.97256512 -0.18837745 -0.13649553 -1.0167928 ] [ 0.19236617 0.98118406 0.01652566 -0.05942171] [ 0.13081417 -0.0423294 0.99050284 0.59492312] [ 0. 0. 0. 1. ]] SLAMing on 185.86992885099997 meters Centerline goodness : 0.836765 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.59 [[ 0.97270526 -0.18773333 -0.13638427 -1.01686936] [ 0.19171494 0.98131108 0.01655128 -0.05893818] [ 0.13072817 -0.04224642 0.99051774 0.59459802] [ 0. 0. 0. 1. ]] SLAMing on 185.89992885099997 meters Centerline goodness : 0.778008 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.59 [[ 0.97315526 -0.18443353 -0.13767029 -1.01539508] [ 0.18899817 0.98175837 0.02074087 -0.06022773] [ 0.13133365 -0.04620352 0.99026093 0.59461319] [ 0. 0. 0. 1. ]] SLAMing on 185.92992885099997 meters Centerline goodness : 0.779118 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.59 [[ 0.97388103 -0.18036025 -0.13793444 -1.0153141 ] [ 0.18527369 0.98240484 0.02354557 -0.06030973] [ 0.13126078 -0.04848621 0.99016145 0.59374355] [ 0. 0. 0. 1. ]] SLAMing on 185.95992885099997 meters Centerline goodness : 0.835327 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.59 [[ 0.97401186 -0.17956653 -0.13804619 -1.01503473] [ 0.18450901 0.98254321 0.02377531 -0.05981327] [ 0.1313671 -0.0486282 0.99014039 0.59344942] [ 0. 0. 0. 1. ]] SLAMing on 185.98992885099997 meters Centerline goodness : 0.779903 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.59 [[ 0.9740903 -0.17928671 -0.13785632 -1.01555701] [ 0.18420155 0.98260378 0.02365607 -0.05952455] [ 0.13121692 -0.04843649 0.9901697 0.59357037] [ 0. 0. 0. 1. ]] SLAMing on 186.01992885099997 meters Centerline goodness : 0.780454 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.59 [[ 0.97412556 -0.17876217 -0.13828766 -1.01485676] [ 0.1837985 0.98265995 0.02444468 -0.05979705] [ 0.13151996 -0.04922925 0.99009039 0.59371121] [ 0. 0. 0. 1. ]] SLAMing on 186.04992885099998 meters Centerline goodness : 0.837210 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.59 [[ 0.97410551 -0.17888359 -0.13827193 -1.0150939 ] [ 0.18397313 0.98261727 0.02484335 -0.06137164] [ 0.13142432 -0.04963836 0.99008266 0.59435905] [ 0. 0. 0. 1. ]] SLAMing on 186.07992885099998 meters Centerline goodness : 0.780943 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.59 [[ 0.97399961 -0.17938839 -0.13836389 -1.01456535] [ 0.18450291 0.9825149 0.02496313 -0.06264356] [ 0.13146649 -0.04984261 0.9900668 0.59450613] [ 0. 0. 0. 1. ]] SLAMing on 186.10992885099998 meters Centerline goodness : 0.782473 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.59 [[ 0.97388569 -0.17977807 -0.13865966 -1.01356445] [ 0.18496449 0.98241781 0.02536491 -0.06419926] [ 0.13166167 -0.05034964 0.99001521 0.59454992] [ 0. 0. 0. 1. ]] SLAMing on 186.13992885099998 meters Centerline goodness : 0.784635 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.59 [[ 0.97367945 -0.18042823 -0.13926228 -1.01181502] [ 0.18580842 0.98222745 0.02654192 -0.0673761 ] [ 0.13199832 -0.05171943 0.98989976 0.59470795] [ 0. 0. 0. 1. ]] SLAMing on 186.16992885099998 meters Centerline goodness : 0.782697 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.60 [[ 0.9734941 -0.18096387 -0.13986177 -1.01058226] [ 0.18644416 0.98209399 0.02701786 -0.06855702] [ 0.13246814 -0.05237814 0.98980236 0.59513599] [ 0. 0. 0. 1. ]] SLAMing on 186.19992885099998 meters Centerline goodness : 0.784013 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.60 [[ 0.97331039 -0.18181098 -0.14004164 -1.01023678] [ 0.18731341 0.98192754 0.02705537 -0.06947045] [ 0.13259177 -0.05256495 0.98977591 0.59559896] [ 0. 0. 0. 1. ]] SLAMing on 186.22992885099998 meters Centerline goodness : 0.836826 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.60 [[ 0.97318 -0.18213573 -0.14052497 -1.0089979 ] [ 0.18774213 0.98183009 0.02761466 -0.07105577] [ 0.13294203 -0.05325649 0.98969195 0.5958273 ] [ 0. 0. 0. 1. ]] SLAMing on 186.25992885099998 meters Centerline goodness : 0.836705 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.60 [[ 0.97288518 -0.18355196 -0.14072348 -1.00859896] [ 0.18918235 0.98155348 0.02761896 -0.07389235] [ 0.13305811 -0.05349247 0.98966363 0.59691625] [ 0. 0. 0. 1. ]] SLAMing on 186.28992885099998 meters Centerline goodness : 0.784607 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.08, Z:0.60 [[ 0.9728084 -0.18392357 -0.14076908 -1.0083812 ] [ 0.18961854 0.9814569 0.02805626 -0.07591788] [ 0.13299858 -0.05398579 0.98964484 0.59734155] [ 0. 0. 0. 1. ]] SLAMing on 186.319928851 meters Centerline goodness : 0.838175 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.08, Z:0.60 [[ 0.97269171 -0.18439884 -0.14095356 -1.0079463 ] [ 0.19014659 0.98134654 0.02834159 -0.07752991] [ 0.13309813 -0.05436947 0.98961045 0.59781007] [ 0. 0. 0. 1. ]] SLAMing on 186.349928851 meters Centerline goodness : 0.838045 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.08, Z:0.60 [[ 0.97261338 -0.18440422 -0.141486 -1.00669066] [ 0.19031053 0.98128669 0.02929736 -0.07994136] [ 0.13343577 -0.05542128 0.98950663 0.59814491] [ 0. 0. 0. 1. ]] SLAMing on 186.379928851 meters Centerline goodness : 0.836646 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.08, Z:0.60 [[ 0.97237876 -0.18526519 -0.14197309 -1.00545772] [ 0.19131487 0.98106718 0.03009666 -0.08291896] [ 0.13370927 -0.05642692 0.98941287 0.59875706] [ 0. 0. 0. 1. ]] SLAMing on 186.40992885099996 meters Centerline goodness : 0.837229 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.08, Z:0.60 [[ 0.97224659 -0.18588118 -0.14207305 -1.00505827] [ 0.19194255 0.98094447 0.03009977 -0.08408739] [ 0.1337708 -0.05653427 0.98939843 0.59903319] [ 0. 0. 0. 1. ]] SLAMing on 186.43992885099996 meters Centerline goodness : 0.839839 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.60 [[ 0.97215748 -0.1860198 -0.14250074 -1.00363627] [ 0.1921862 0.98087869 0.03068332 -0.08575518] [ 0.13406823 -0.0572157 0.98931899 0.59886164] [ 0. 0. 0. 1. ]] SLAMing on 186.46992885099996 meters Centerline goodness : 0.836990 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.60 [[ 0.97211707 -0.18605719 -0.14272748 -1.00277331] [ 0.19230352 0.98084027 0.03117239 -0.087423 ] [ 0.13419301 -0.05775021 0.98927102 0.59880075] [ 0. 0. 0. 1. ]] SLAMing on 186.49992885099996 meters Centerline goodness : 0.836642 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.60 [[ 0.97200754 -0.18602056 -0.14351899 -1.000802 ] [ 0.19247122 0.98076987 0.03233101 -0.08917988] [ 0.13474487 -0.05904926 0.98911931 0.59871456] [ 0. 0. 0. 1. ]] SLAMing on 186.52992885099997 meters Centerline goodness : 0.836035 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.60 [[ 0.97198162 -0.18596811 -0.14376226 -1.00020138] [ 0.19245749 0.98076662 0.03251083 -0.08960039] [ 0.13495125 -0.05926806 0.98907808 0.59880017] [ 0. 0. 0. 1. ]] SLAMing on 186.55992885099997 meters Centerline goodness : 0.836632 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.60 [[ 0.9720511 -0.18552667 -0.14386285 -0.99994337] [ 0.19209577 0.98081852 0.03307948 -0.09041458] [ 0.13496622 -0.05979039 0.9890446 0.59876385] [ 0. 0. 0. 1. ]] SLAMing on 186.58992885099997 meters Centerline goodness : 0.836972 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.60 [[ 0.97226511 -0.18458059 -0.14363345 -1.0003241 ] [ 0.19119172 0.98097906 0.03355307 -0.0911313 ] [ 0.13470816 -0.06008401 0.98906199 0.59867502] [ 0. 0. 0. 1. ]] SLAMing on 186.61992885099997 meters Centerline goodness : 0.837658 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.60 [[ 0.97235075 -0.1842867 -0.14343094 -1.00059496] [ 0.19086832 0.98104567 0.03344664 -0.09107783] [ 0.13454853 -0.05989829 0.98909498 0.59851893] [ 0. 0. 0. 1. ]] SLAMing on 186.64992885099997 meters Centerline goodness : 0.834018 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.60 [[ 0.97245022 -0.18381946 -0.14335611 -1.00048084] [ 0.19041447 0.9811283 0.03360944 -0.09114642] [ 0.13447267 -0.05998059 0.98910031 0.59817923] [ 0. 0. 0. 1. ]] SLAMing on 186.67992885099997 meters Centerline goodness : 0.832648 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.60 [[ 0.97256696 -0.18339774 -0.14310411 -1.00070115] [ 0.18996623 0.98121704 0.0335552 -0.09141292] [ 0.13426224 -0.05981963 0.98913865 0.59787375] [ 0. 0. 0. 1. ]] SLAMing on 186.70992885099997 meters Centerline goodness : 0.831609 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.60 [[ 0.97278744 -0.18220219 -0.14313265 -1.0000283 ] [ 0.18881991 0.98142355 0.03398322 -0.09148446] [ 0.13428194 -0.06008475 0.9891199 0.59697726] [ 0. 0. 0. 1. ]] SLAMing on 186.73992885099997 meters Centerline goodness : 0.833396 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.60 [[ 0.97288799 -0.18182075 -0.14293413 -0.99999441] [ 0.18841626 0.98150282 0.03393411 -0.09150768] [ 0.13412033 -0.0599452 0.9891503 0.59647517] [ 0. 0. 0. 1. ]] SLAMing on 186.76992885099997 meters Centerline goodness : 0.833679 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.60 [[ 0.9730128 -0.18107018 -0.14303736 -0.99936274] [ 0.18773829 0.981614 0.03447165 -0.09199881] [ 0.13416569 -0.06039495 0.98911679 0.59591696] [ 0. 0. 0. 1. ]] SLAMing on 186.79992885099998 meters Centerline goodness : 0.827519 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.60 [[ 0.97329326 -0.18015069 -0.14228832 -1.00019871] [ 0.18671444 0.98182226 0.03409937 -0.09231243] [ 0.13355881 -0.05975597 0.98923772 0.59510734] [ 0. 0. 0. 1. ]] SLAMing on 186.82992885099998 meters Centerline goodness : 0.832252 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.60 [[ 0.97366691 -0.17711383 -0.143539 -0.99848523] [ 0.18431162 0.98211754 0.03839742 -0.09481215] [ 0.13417145 -0.0638422 0.98889949 0.59524227] [ 0. 0. 0. 1. ]] SLAMing on 186.85992885099998 meters Centerline goodness : 0.827224 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.60 [[ 0.97370284 -0.17715888 -0.14323938 -0.99894534] [ 0.18427092 0.98214429 0.03790538 -0.09472727] [ 0.13396647 -0.06330343 0.98896191 0.59515926] [ 0. 0. 0. 1. ]] SLAMing on 186.88992885099998 meters Centerline goodness : 0.827418 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.60 [[ 0.97373249 -0.177173 -0.14302018 -0.99929155] [ 0.18423387 0.9821618 0.03763071 -0.09487767] [ 0.13380181 -0.06299141 0.98900412 0.59517921] [ 0. 0. 0. 1. ]] SLAMing on 186.91992885099998 meters Centerline goodness : 0.823399 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.59 [[ 0.97385166 -0.17665273 -0.14285219 -0.99926263] [ 0.18376707 0.98222963 0.03813956 -0.09633393] [ 0.1335762 -0.0633938 0.98900891 0.5949893 ] [ 0. 0. 0. 1. ]] SLAMing on 186.94992885099998 meters Centerline goodness : 0.825949 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.59 [[ 0.97383306 -0.17645954 -0.14321732 -0.99831234] [ 0.18369021 0.98221668 0.03883678 -0.09714691] [ 0.13381732 -0.06412816 0.98892897 0.59491708] [ 0. 0. 0. 1. ]] SLAMing on 186.97992885099998 meters Centerline goodness : 0.826220 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.59 [[ 0.97376329 -0.17685211 -0.14320748 -0.9979396 ] [ 0.18404583 0.98216166 0.03854348 -0.09753089] [ 0.1338364 -0.06388897 0.98894187 0.59473193] [ 0. 0. 0. 1. ]] SLAMing on 187.00992885099998 meters Centerline goodness : 0.825135 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.59 [[ 0.97359463 -0.17764712 -0.14337017 -0.99720825] [ 0.18484275 0.9820165 0.03842852 -0.09863408] [ 0.13396515 -0.06391474 0.98892277 0.59485561] [ 0. 0. 0. 1. ]] SLAMing on 187.03992885099998 meters Centerline goodness : 0.825341 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.59 [[ 0.97354884 -0.17795177 -0.14330327 -0.99700905] [ 0.18511409 0.98197449 0.03819527 -0.09917264] [ 0.13392324 -0.06371242 0.9889415 0.59479427] [ 0. 0. 0. 1. ]] SLAMing on 187.069928851 meters Centerline goodness : 0.825837 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.59 [[ 0.97349321 -0.17837664 -0.14315286 -0.99717314] [ 0.18548854 0.98191652 0.03786766 -0.09926242] [ 0.13380945 -0.06341713 0.98897588 0.5948073 ] [ 0. 0. 0. 1. ]] SLAMing on 187.099928851 meters Centerline goodness : 0.832793 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.60 [[ 0.97352492 -0.17806721 -0.14332238 -0.99692299] [ 0.18528392 0.9819274 0.03858046 -0.10033195] [ 0.13386225 -0.06411437 0.98892378 0.59501557] [ 0. 0. 0. 1. ]] SLAMing on 187.129928851 meters Centerline goodness : 0.826757 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.60 [[ 0.9734647 -0.17856468 -0.14311228 -0.99794742] [ 0.18576511 0.98183847 0.0385299 -0.10100059] [ 0.13363306 -0.06409276 0.98895618 0.59603246] [ 0. 0. 0. 1. ]] SLAMing on 187.15992885099996 meters Centerline goodness : 0.829123 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.60 [[ 0.97341364 -0.17881463 -0.1431475 -0.99788332] [ 0.18600281 0.9817983 0.03840636 -0.10154545] [ 0.13367436 -0.06401111 0.98895589 0.59633844] [ 0. 0. 0. 1. ]] SLAMing on 187.18992885099996 meters Centerline goodness : 0.825312 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.60 [[ 0.97338325 -0.17896486 -0.14316646 -0.99760373] [ 0.18615353 0.98177033 0.03839123 -0.10221073] [ 0.1336859 -0.06402032 0.98895373 0.59638123] [ 0. 0. 0. 1. ]] SLAMing on 187.21992885099996 meters Centerline goodness : 0.826682 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.60 [[ 0.97344889 -0.17851747 -0.14327863 -0.99706848] [ 0.18580497 0.98180853 0.03909627 -0.10340556] [ 0.13369282 -0.0646801 0.98890986 0.5961591 ] [ 0. 0. 0. 1. ]] SLAMing on 187.24992885099996 meters Centerline goodness : 0.826858 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.60 [[ 0.97347806 -0.17848787 -0.14311727 -0.99736684] [ 0.18576387 0.98181649 0.03909184 -0.10402871] [ 0.13353748 -0.06464106 0.9889334 0.59635553] [ 0. 0. 0. 1. ]] SLAMing on 187.27992885099997 meters Centerline goodness : 0.834613 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.60 [[ 0.97351782 -0.1782635 -0.14312644 -0.99725801] [ 0.18552772 0.98186422 0.03901439 -0.10398309] [ 0.13357589 -0.06453513 0.98893513 0.59628742] [ 0. 0. 0. 1. ]] SLAMing on 187.30992885099997 meters Centerline goodness : 0.827054 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.60 [[ 0.97361525 -0.17798588 -0.14280887 -0.99758045] [ 0.18521555 0.98192648 0.03893059 -0.10426821] [ 0.13329872 -0.06435384 0.98898434 0.59596065] [ 0. 0. 0. 1. ]] SLAMing on 187.33992885099997 meters Centerline goodness : 0.829962 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.60 [[ 0.97376822 -0.17749013 -0.14238226 -0.99857445] [ 0.18465165 0.98204325 0.038663 -0.1041473 ] [ 0.13296323 -0.06393992 0.98905635 0.59608993] [ 0. 0. 0. 1. ]] SLAMing on 187.36992885099997 meters Centerline goodness : 0.835977 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.60 [[ 0.97383433 -0.17727826 -0.14219394 -0.99890515] [ 0.18443303 0.98208218 0.03871751 -0.10458738] [ 0.13278237 -0.0639297 0.98908131 0.59614718] [ 0. 0. 0. 1. ]] SLAMing on 187.39992885099997 meters Centerline goodness : 0.829444 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.60 [[ 0.97385081 -0.17727047 -0.14209073 -0.99889764] [ 0.184387 0.98210004 0.03848308 -0.10485051] [ 0.1327254 -0.06367646 0.98910529 0.5960315 ] [ 0. 0. 0. 1. ]] SLAMing on 187.42992885099997 meters Centerline goodness : 0.829444 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.60 [[ 0.97385081 -0.17727047 -0.14209073 -0.99889764] [ 0.184387 0.98210004 0.03848308 -0.10485051] [ 0.1327254 -0.06367646 0.98910529 0.5960315 ] [ 0. 0. 0. 1. ]] SLAMing on 187.45992885099997 meters Centerline goodness : 0.831459 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.11, Z:0.60 [[ 0.97392803 -0.17677048 -0.14218433 -0.99840963] [ 0.18396675 0.98215594 0.03906339 -0.10567659] [ 0.13274193 -0.06420212 0.98906909 0.59576156] [ 0. 0. 0. 1. ]] SLAMing on 187.48992885099997 meters Centerline goodness : 0.829817 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.11, Z:0.60 [[ 0.97403803 -0.17637748 -0.14191863 -0.99886691] [ 0.18358325 0.9822187 0.03928878 -0.10608446] [ 0.13246547 -0.06432264 0.98909832 0.59570005] [ 0. 0. 0. 1. ]] SLAMing on 187.51992885099997 meters Centerline goodness : 0.836687 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.11, Z:0.60 [[ 0.97404684 -0.17654106 -0.14165454 -0.99942039] [ 0.18367296 0.98221917 0.03885549 -0.10580566] [ 0.13227622 -0.06386517 0.9891533 0.59575716] [ 0. 0. 0. 1. ]] SLAMing on 187.54992885099998 meters Centerline goodness : 0.829171 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.11, Z:0.60 [[ 0.97399067 -0.17690504 -0.14158669 -0.99963539] [ 0.18396414 0.98218567 0.03832115 -0.10517261] [ 0.13228521 -0.06337131 0.98918386 0.59592102] [ 0. 0. 0. 1. ]] SLAMing on 187.57992885099998 meters Centerline goodness : 0.836012 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.11, Z:0.60 [[ 0.97399586 -0.17699222 -0.14144195 -0.99997013] [ 0.18399322 0.9821946 0.03795074 -0.10508682] [ 0.13220654 -0.06298823 0.98921884 0.59601127] [ 0. 0. 0. 1. ]] SLAMing on 187.60992885099998 meters Centerline goodness : 0.832891 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.60 [[ 0.97390708 -0.17715534 -0.14184847 -0.99863356] [ 0.18418199 0.98215976 0.0379369 -0.1047351 ] [ 0.13259714 -0.06307295 0.98916116 0.59540136] [ 0. 0. 0. 1. ]] SLAMing on 187.63992885099998 meters Centerline goodness : 0.834720 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.60 [[ 0.97379001 -0.17763329 -0.14205432 -0.99814921] [ 0.18464205 0.98208346 0.03767482 -0.10455084] [ 0.13281689 -0.06291657 0.98914164 0.59552475] [ 0. 0. 0. 1. ]] SLAMing on 187.66992885099998 meters Centerline goodness : 0.828598 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.60 [[ 0.97373952 -0.17795468 -0.14199819 -0.99822332] [ 0.18494546 0.98203125 0.03754726 -0.10447586] [ 0.13276495 -0.06282317 0.98915455 0.59556602] [ 0. 0. 0. 1. ]] SLAMing on 187.69992885099998 meters Centerline goodness : 0.831496 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.60 [[ 0.97356439 -0.17872328 -0.14223348 -0.99798923] [ 0.18569127 0.98190308 0.03721678 -0.1040288 ] [ 0.13300799 -0.06264445 0.98913323 0.59609549] [ 0. 0. 0. 1. ]] SLAMing on 187.72992885099998 meters Centerline goodness : 0.824843 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.60 [[ 0.97337057 -0.17968283 -0.14235099 -0.99824731] [ 0.18662661 0.98173695 0.03691982 -0.10390193] [ 0.13311737 -0.06250315 0.98912746 0.59700744] [ 0. 0. 0. 1. ]] SLAMing on 187.75992885099998 meters Centerline goodness : 0.828096 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.60 [[ 0.97330848 -0.17997665 -0.14240439 -0.99791293] [ 0.18694064 0.9816732 0.03702593 -0.10432744] [ 0.13313077 -0.06265882 0.9891158 0.59698673] [ 0. 0. 0. 1. ]] SLAMing on 187.78992885099998 meters Centerline goodness : 0.834431 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.60 [[ 0.97320439 -0.18040116 -0.14257851 -0.99719081] [ 0.18734591 0.98160543 0.03677348 -0.10438442] [ 0.13332187 -0.06249962 0.98910014 0.59682725] [ 0. 0. 0. 1. ]] SLAMing on 187.819928851 meters Centerline goodness : 0.829109 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.60 [[ 0.97311391 -0.18092456 -0.14253285 -0.99708108] [ 0.1877979 0.98153921 0.0362316 -0.10401548] [ 0.1333464 -0.06202484 0.98912671 0.59673683] [ 0. 0. 0. 1. ]] SLAMing on 187.849928851 meters Centerline goodness : 0.834756 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.60 [[ 0.97294474 -0.18174659 -0.14264189 -0.99682583] [ 0.18854753 0.98141892 0.03559111 -0.10304727] [ 0.13352288 -0.06152296 0.98913425 0.59681659] [ 0. 0. 0. 1. ]] SLAMing on 187.879928851 meters Centerline goodness : 0.840482 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.60 [[ 0.97292483 -0.18180224 -0.14270675 -0.99673944] [ 0.18858817 0.98141635 0.0354463 -0.10239825] [ 0.13361052 -0.06139939 0.98913009 0.59678561] [ 0. 0. 0. 1. ]] SLAMing on 187.90992885099996 meters Centerline goodness : 0.833279 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.60 [[ 0.97289701 -0.18163526 -0.14310851 -0.99598008] [ 0.18848746 0.98142431 0.03576043 -0.10181824] [ 0.13395481 -0.06176538 0.98906074 0.5966943 ] [ 0. 0. 0. 1. ]] SLAMing on 187.93992885099996 meters Centerline goodness : 0.837058 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.60 [[ 0.97295677 -0.18145103 -0.14293584 -0.99633463] [ 0.18827995 0.98146704 0.03568065 -0.10176752] [ 0.13381252 -0.06162768 0.98908859 0.59673068] [ 0. 0. 0. 1. ]] SLAMing on 187.96992885099996 meters Centerline goodness : 0.836779 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.60 [[ 0.97294504 -0.18111664 -0.14343886 -0.99546943] [ 0.188077 0.98147814 0.03643758 -0.10202895] [ 0.13418266 -0.06242931 0.98898817 0.59689255] [ 0. 0. 0. 1. ]] SLAMing on 187.99992885099996 meters Centerline goodness : 0.830181 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.60 [[ 0.97284591 -0.18159673 -0.14350423 -0.99539183] [ 0.18851252 0.98140899 0.03604757 -0.10184731] [ 0.13429022 -0.06212107 0.98899298 0.59716947] [ 0. 0. 0. 1. ]] SLAMing on 188.02992885099997 meters Centerline goodness : 0.832405 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.10, Z:0.60 [[ 0.97278041 -0.18184392 -0.14363516 -0.99475883] [ 0.1887597 0.98136431 0.03597032 -0.10179596] [ 0.13441744 -0.06210375 0.98897678 0.59695379] [ 0. 0. 0. 1. ]] SLAMing on 188.05992885099997 meters Centerline goodness : 0.834844 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.10, Z:0.60 [[ 0.9727051 -0.18208814 -0.14383565 -0.99414569] [ 0.18901677 0.98131537 0.03595554 -0.10182454] [ 0.13460105 -0.06216148 0.98894818 0.59681023] [ 0. 0. 0. 1. ]] SLAMing on 188.08992885099997 meters Centerline goodness : 0.835440 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.10, Z:0.60 [[ 0.97266235 -0.18222221 -0.14395494 -0.9939026 ] [ 0.1891587 0.98128827 0.03594894 -0.1019931 ] [ 0.13471059 -0.06219651 0.98893106 0.59697308] [ 0. 0. 0. 1. ]] SLAMing on 188.11992885099997 meters Centerline goodness : 0.835643 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.10, Z:0.60 [[ 0.97265636 -0.18236952 -0.14380875 -0.99402132] [ 0.18923311 0.98129128 0.03547186 -0.10134281] [ 0.13464929 -0.0617153 0.98896956 0.59671078] [ 0. 0. 0. 1. ]] SLAMing on 188.14992885099997 meters Centerline goodness : 0.835246 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.10, Z:0.60 [[ 0.9727483 -0.18205773 -0.14358179 -0.99432994] [ 0.1888698 0.98137041 0.03521827 -0.1009984 ] [ 0.13449516 -0.06137677 0.9890116 0.59647297] [ 0. 0. 0. 1. ]] SLAMing on 188.17992885099997 meters Centerline goodness : 0.835077 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.10, Z:0.60 [[ 0.97329459 -0.17865798 -0.14414914 -0.99434637] [ 0.18591238 0.98181483 0.03842173 -0.100766 ] [ 0.13466341 -0.06419477 0.98880979 0.59625134] [ 0. 0. 0. 1. ]] SLAMing on 188.20992885099997 meters Centerline goodness : 0.835106 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.60 [[ 0.97334666 -0.17860836 -0.14385875 -0.99509751] [ 0.18571869 0.98188692 0.03750524 -0.0990093 ] [ 0.13455428 -0.06322286 0.98888726 0.59609777] [ 0. 0. 0. 1. ]] SLAMing on 188.23992885099997 meters Centerline goodness : 0.833592 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.10, Z:0.60 [[ 0.97342623 -0.17790272 -0.14419428 -0.99439084] [ 0.18503604 0.98201368 0.03756063 -0.09750942] [ 0.13491861 -0.06324364 0.98883629 0.59555931] [ 0. 0. 0. 1. ]] SLAMing on 188.26992885099997 meters Centerline goodness : 0.834098 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.10, Z:0.60 [[ 0.97354166 -0.17753896 -0.14386296 -0.99513543] [ 0.18453316 0.9821401 0.03671958 -0.09577351] [ 0.13477443 -0.06229553 0.98891613 0.59521109] [ 0. 0. 0. 1. ]] SLAMing on 188.29992885099998 meters Centerline goodness : 0.829926 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.59 [[ 0.9738334 -0.17597854 -0.14380562 -0.99593567] [ 0.18294876 0.98243827 0.03667149 -0.0929965 ] [ 0.13482675 -0.06202098 0.98892626 0.59488172] [ 0. 0. 0. 1. ]] SLAMing on 188.32992885099998 meters Centerline goodness : 0.829044 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.60 [[ 0.97385168 -0.17603332 -0.14361469 -0.99683814] [ 0.18287895 0.98248188 0.03584191 -0.09108559] [ 0.13478946 -0.06116881 0.98898442 0.59512671] [ 0. 0. 0. 1. ]] SLAMing on 188.35992885099998 meters Centerline goodness : 0.827702 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.59 [[ 0.97393586 -0.17572807 -0.14341754 -0.997425 ] [ 0.18250281 0.98256671 0.03543139 -0.08970488] [ 0.13469102 -0.060682 0.98902782 0.59499513] [ 0. 0. 0. 1. ]] SLAMing on 188.38992885099998 meters Centerline goodness : 0.831961 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.60 [[ 0.97387605 -0.17603334 -0.14344933 -0.99781317] [ 0.18271246 0.98255401 0.03469534 -0.08773637] [ 0.13483918 -0.05999894 0.9890493 0.59525149] [ 0. 0. 0. 1. ]] SLAMing on 188.41992885099998 meters Centerline goodness : 0.828415 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.60 [[ 0.97382721 -0.17627538 -0.14348364 -0.99756474] [ 0.1829054 0.98253185 0.03430414 -0.08706473] [ 0.13493027 -0.05965024 0.98905797 0.59506366] [ 0. 0. 0. 1. ]] SLAMing on 188.44992885099998 meters Centerline goodness : 0.834909 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.60 [[ 0.97364209 -0.1772043 -0.1435957 -0.99759961] [ 0.18375561 0.98239696 0.03361683 -0.08604033] [ 0.13511094 -0.05911728 0.98906531 0.59551153] [ 0. 0. 0. 1. ]] SLAMing on 188.47992885099998 meters Centerline goodness : 0.835074 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.09, Z:0.60 [[ 0.97349624 -0.17771914 -0.14394785 -0.99682453] [ 0.18426368 0.98230993 0.03337819 -0.08548781] [ 0.13546945 -0.0590179 0.9890222 0.59554192] [ 0. 0. 0. 1. ]] SLAMing on 188.50992885099998 meters Centerline goodness : 0.832080 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.60 [[ 0.97331878 -0.17834074 -0.1443784 -0.99633209] [ 0.1848801 0.98220316 0.03311043 -0.08370885] [ 0.13590398 -0.0589197 0.98896844 0.59580527] [ 0. 0. 0. 1. ]] SLAMing on 188.53992885099998 meters Centerline goodness : 0.835699 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.60 [[ 0.97311599 -0.17919346 -0.14468926 -0.9966444 ] [ 0.18567939 0.98207177 0.03253002 -0.08230032] [ 0.13626607 -0.0585213 0.98894227 0.59687312] [ 0. 0. 0. 1. ]] SLAMing on 188.569928851 meters Centerline goodness : 0.835460 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.60 [[ 0.97303738 -0.17923771 -0.14516233 -0.99593053] [ 0.18578731 0.98204294 0.03278312 -0.08144688] [ 0.13667968 -0.05886852 0.98886458 0.59701905] [ 0. 0. 0. 1. ]] SLAMing on 188.599928851 meters Centerline goodness : 0.833761 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.60 [[ 0.9728958 -0.17996152 -0.14521574 -0.99646552] [ 0.18641895 0.9819476 0.03204497 -0.07963732] [ 0.13682739 -0.05824738 0.98888094 0.59757118] [ 0. 0. 0. 1. ]] SLAMing on 188.629928851 meters Centerline goodness : 0.833134 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.60 [[ 0.97282968 -0.18032896 -0.14520288 -0.99657082] [ 0.1867199 0.9819066 0.03154526 -0.07851144] [ 0.13688714 -0.05780043 0.98889889 0.59761082] [ 0. 0. 0. 1. ]] SLAMing on 188.65992885099996 meters Centerline goodness : 0.833533 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.60 [[ 0.97277082 -0.1803821 -0.14553083 -0.99619489] [ 0.1868087 0.98188605 0.03165917 -0.07782913] [ 0.13718395 -0.05798354 0.98884704 0.59785077] [ 0. 0. 0. 1. ]] SLAMing on 188.68992885099996 meters Centerline goodness : 0.831504 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:0.60 [[ 0.97275288 -0.18017318 -0.1459091 -0.9956153 ] [ 0.18665 0.9819093 0.03187323 -0.07697033] [ 0.1375268 -0.05823871 0.98878442 0.59791495] [ 0. 0. 0. 1. ]] SLAMing on 188.71992885099996 meters Centerline goodness : 0.832841 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.07, Z:0.60 [[ 0.97258136 -0.18107415 -0.14593712 -0.99637914] [ 0.18739078 0.98180717 0.0306494 -0.07385186] [ 0.1377323 -0.05715631 0.98881898 0.59847769] [ 0. 0. 0. 1. ]] SLAMing on 188.74992885099996 meters Centerline goodness : 0.784567 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.07, Z:0.60 [[ 0.97247771 -0.18118444 -0.14648991 -0.99547818] [ 0.18755438 0.98177146 0.03079211 -0.07259256] [ 0.13824057 -0.05741946 0.9887328 0.59852814] [ 0. 0. 0. 1. ]] SLAMing on 188.77992885099997 meters Centerline goodness : 0.832612 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.07, Z:0.60 [[ 0.97248558 -0.18097636 -0.14669478 -0.99503525] [ 0.18734993 0.98181193 0.0307465 -0.07181138] [ 0.13846229 -0.05738378 0.98870385 0.5983494 ] [ 0. 0. 0. 1. ]] SLAMing on 188.80992885099997 meters Centerline goodness : 0.834958 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.07, Z:0.60 [[ 0.97248364 -0.18088445 -0.14682091 -0.99497209] [ 0.18724166 0.98183767 0.03058337 -0.07079728] [ 0.13862224 -0.05723282 0.98869018 0.59832258] [ 0. 0. 0. 1. ]] SLAMing on 188.83992885099997 meters Centerline goodness : 0.784677 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.07, Z:0.60 [[ 0.97252658 -0.18071365 -0.14674683 -0.99496696] [ 0.18694019 0.98192241 0.02969412 -0.06816492] [ 0.13872787 -0.05631121 0.98872829 0.59763386] [ 0. 0. 0. 1. ]] SLAMing on 188.86992885099997 meters Centerline goodness : 0.782667 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.07, Z:0.60 [[ 0.9725728 -0.1804501 -0.14676478 -0.99452485] [ 0.18663478 0.98198916 0.02940667 -0.06704616] [ 0.13881498 -0.05599154 0.98873421 0.59697134] [ 0. 0. 0. 1. ]] SLAMing on 188.89992885099997 meters Centerline goodness : 0.785038 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.07, Z:0.60 [[ 0.97262138 -0.18020226 -0.14674737 -0.99455666] [ 0.18635664 0.9820477 0.02921509 -0.06608741] [ 0.13884829 -0.05576257 0.98874248 0.5967278 ] [ 0. 0. 0. 1. ]] SLAMing on 188.92992885099997 meters Centerline goodness : 0.834452 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.06, Z:0.60 [[ 0.97265397 -0.18027253 -0.14644479 -0.99519136] [ 0.18630164 0.9820809 0.02843948 -0.06447236] [ 0.13869378 -0.05494468 0.98880995 0.59650283] [ 0. 0. 0. 1. ]] SLAMing on 188.95992885099997 meters Centerline goodness : 0.835068 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.06, Z:0.60 [[ 0.97302532 -0.17762367 -0.14721259 -0.99535987] [ 0.18401766 0.98243692 0.03090625 -0.06272704] [ 0.13913741 -0.05716229 0.9886219 0.59697697] [ 0. 0. 0. 1. ]] SLAMing on 188.98992885099997 meters Centerline goodness : 0.832981 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.06, Z:0.60 [[ 0.97312195 -0.17725663 -0.14701616 -0.99581383] [ 0.18358742 0.98252813 0.03056344 -0.06154252] [ 0.13902995 -0.05673227 0.98866178 0.59677672] [ 0. 0. 0. 1. ]] SLAMing on 189.01992885099997 meters Centerline goodness : 0.834784 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.06, Z:0.60 [[ 0.97322613 -0.17662975 -0.14708106 -0.99578805] [ 0.18298324 0.98263529 0.03074116 -0.06070117] [ 0.13909724 -0.05683147 0.98864662 0.5964709 ] [ 0. 0. 0. 1. ]] SLAMing on 189.04992885099998 meters Centerline goodness : 0.832074 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.06, Z:0.60 [[ 0.97347064 -0.17574652 -0.14651988 -0.99716689] [ 0.181983 0.98283783 0.03019917 -0.05870239] [ 0.13869788 -0.05606214 0.98874665 0.59620775] [ 0. 0. 0. 1. ]] SLAMing on 189.07992885099998 meters Centerline goodness : 0.836418 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.06, Z:0.60 [[ 0.97348408 -0.17604922 -0.1460665 -0.99825972] [ 0.18210356 0.98284979 0.02906191 -0.05690512] [ 0.13844511 -0.05489054 0.98884781 0.59628514] [ 0. 0. 0. 1. ]] SLAMing on 189.10992885099998 meters Centerline goodness : 0.834955 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.06, Z:0.60 [[ 0.97344578 -0.17636751 -0.14593774 -0.99873852] [ 0.18234568 0.98281998 0.02854726 -0.05540928] [ 0.13839572 -0.05440032 0.98888181 0.59640233] [ 0. 0. 0. 1. ]] SLAMing on 189.13992885099998 meters Centerline goodness : 0.835554 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.05, Z:0.60 [[ 0.97350302 -0.17595407 -0.14605492 -0.99854418] [ 0.1819601 0.98288617 0.02872813 -0.0546014 ] [ 0.13850053 -0.05454309 0.98885927 0.59620455] [ 0. 0. 0. 1. ]] SLAMing on 189.16992885099998 meters Centerline goodness : 0.835567 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.05, Z:0.60 [[ 0.97357899 -0.17549903 -0.14609601 -0.99837274] [ 0.18151166 0.98296726 0.02879021 -0.05357892] [ 0.13855494 -0.05454768 0.98885139 0.59584477] [ 0. 0. 0. 1. ]] SLAMing on 189.19992885099998 meters Centerline goodness : 0.835150 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.05, Z:0.60 [[ 0.97361535 -0.17544771 -0.14591524 -0.99895128] [ 0.18136924 0.98301023 0.02821487 -0.05188519] [ 0.13848594 -0.05393497 0.98889467 0.59577347] [ 0. 0. 0. 1. ]] SLAMing on 189.22992885099998 meters Centerline goodness : 0.780121 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.05, Z:0.60 [[ 0.97356434 -0.17574526 -0.14589751 -0.9990862 ] [ 0.18159706 0.98298272 0.02770345 -0.05111184] [ 0.13854598 -0.05346565 0.98891174 0.59600174] [ 0. 0. 0. 1. ]] SLAMing on 189.25992885099998 meters Centerline goodness : 0.835265 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.05, Z:0.60 [[ 0.97351804 -0.1760259 -0.1458681 -0.99921845] [ 0.18181159 0.98295647 0.02722369 -0.0504307 ] [ 0.13858992 -0.05302326 0.9889294 0.59623459] [ 0. 0. 0. 1. ]] SLAMing on 189.28992885099998 meters Centerline goodness : 0.781561 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.05, Z:0.60 [[ 0.97346972 -0.176345 -0.14580514 -0.9994878 ] [ 0.18207152 0.9829199 0.02680361 -0.04951074] [ 0.13858809 -0.05263947 0.98895016 0.59637654] [ 0. 0. 0. 1. ]] SLAMing on 189.319928851 meters Centerline goodness : 0.781508 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.05, Z:0.60 [[ 0.97337564 -0.17694926 -0.14570114 -1.00017221] [ 0.18256463 0.9828498 0.0260081 -0.04750053] [ 0.13860022 -0.05191552 0.98898673 0.59670896] [ 0. 0. 0. 1. ]] SLAMing on 189.349928851 meters Centerline goodness : 0.781508 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.05, Z:0.60 [[ 0.97337564 -0.17694926 -0.14570114 -1.00017221] [ 0.18256463 0.9828498 0.0260081 -0.04750053] [ 0.13860022 -0.05191552 0.98898673 0.59670896] [ 0. 0. 0. 1. ]] SLAMing on 189.379928851 meters Centerline goodness : 0.782466 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.05, Z:0.60 [[ 0.97332367 -0.17733572 -0.1455784 -1.00073743] [ 0.18287874 0.98280443 0.02551121 -0.04658394] [ 0.13855105 -0.05145385 0.98901775 0.59705008] [ 0. 0. 0. 1. ]] SLAMing on 189.40992885099996 meters Centerline goodness : 0.781210 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.05, Z:0.60 [[ 0.9732664 -0.17779413 -0.14540208 -1.00121472] [ 0.18326251 0.98274577 0.02501213 -0.04569397] [ 0.13844627 -0.05099021 0.98905643 0.59715766] [ 0. 0. 0. 1. ]] SLAMing on 189.43992885099996 meters Centerline goodness : 0.834483 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.04, Z:0.60 [[ 0.97318255 -0.17843561 -0.14517733 -1.00184791] [ 0.18378921 0.982667 0.02423014 -0.04410555] [ 0.13833745 -0.05026238 0.98910891 0.59730076] [ 0. 0. 0. 1. ]] SLAMing on 189.46992885099996 meters Centerline goodness : 0.778418 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.04, Z:0.60 [[ 0.97311463 -0.17889099 -0.14507218 -1.00228094] [ 0.1841607 0.98261189 0.0236369 -0.04323907] [ 0.13832122 -0.049718 0.9891387 0.59758982] [ 0. 0. 0. 1. ]] SLAMing on 189.49992885099996 meters Centerline goodness : 0.781085 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.04, Z:0.60 [[ 0.97306336 -0.17930385 -0.14490628 -1.00270693] [ 0.18450398 0.98255861 0.0231703 -0.04236377] [ 0.13822439 -0.04928196 0.98917405 0.59765122] [ 0. 0. 0. 1. ]] SLAMing on 189.52992885099997 meters Centerline goodness : 0.777960 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.04, Z:0.60 [[ 0.97299091 -0.17976951 -0.14481576 -1.00332222] [ 0.18488064 0.98250262 0.0225332 -0.04112125] [ 0.13823108 -0.04869823 0.98920203 0.59807982] [ 0. 0. 0. 1. ]] SLAMing on 189.55992885099997 meters Centerline goodness : 0.781264 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.04, Z:0.60 [[ 0.9728968 -0.18053598 -0.14449424 -1.00465701] [ 0.18547855 0.98241557 0.02138584 -0.03799154] [ 0.13809248 -0.0476068 0.98927451 0.5985788 ] [ 0. 0. 0. 1. ]] SLAMing on 189.58992885099997 meters Centerline goodness : 0.778966 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.04, Z:0.60 [[ 0.97283814 -0.18096442 -0.14435314 -1.0053767 ] [ 0.18581539 0.98236559 0.02074827 -0.03611898] [ 0.13805286 -0.04700774 0.98930869 0.59886622] [ 0. 0. 0. 1. ]] SLAMing on 189.61992885099997 meters Centerline goodness : 0.833454 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.03, Z:0.60 [[ 0.97278068 -0.18124997 -0.14438213 -1.0057084 ] [ 0.18601801 0.98234022 0.02012436 -0.03444135] [ 0.13818483 -0.04643426 0.98931735 0.59928268] [ 0. 0. 0. 1. ]] SLAMing on 189.64992885099997 meters Centerline goodness : 0.781322 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.03, Z:0.60 [[ 0.97272911 -0.18157449 -0.14432177 -1.00615948] [ 0.18621112 0.9823225 0.01918126 -0.03128923] [ 0.1382877 -0.04553249 0.98934489 0.59953342] [ 0. 0. 0. 1. ]] SLAMing on 189.67992885099997 meters Centerline goodness : 0.779138 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.03, Z:0.60 [[ 0.97267631 -0.18191783 -0.14424526 -1.00651901] [ 0.18647838 0.98228226 0.01863801 -0.02961175] [ 0.13829897 -0.04502737 0.98936643 0.59959229] [ 0. 0. 0. 1. ]] SLAMing on 189.70992885099997 meters Centerline goodness : 0.832704 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.03, Z:0.60 [[ 0.97262396 -0.18218873 -0.14425638 -1.00676258] [ 0.18668058 0.98225347 0.01812395 -0.02810243] [ 0.13839435 -0.04455765 0.98937436 0.59982163] [ 0. 0. 0. 1. ]] SLAMing on 189.73992885099997 meters Centerline goodness : 0.782426 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.03, Z:0.60 [[ 0.97254946 -0.18266684 -0.14415401 -1.00744571] [ 0.18706673 0.98219193 0.01746571 -0.02659679] [ 0.1383965 -0.04395268 0.98940112 0.60025339] [ 0. 0. 0. 1. ]] SLAMing on 189.76992885099997 meters Centerline goodness : 0.834802 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.02, Z:0.60 [[ 0.97245663 -0.18332436 -0.1439454 -1.00836337] [ 0.18759593 0.98210655 0.01656778 -0.02416026] [ 0.13833245 -0.04311502 0.98944693 0.60063038] [ 0. 0. 0. 1. ]] SLAMing on 189.79992885099998 meters Centerline goodness : 0.780119 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.02, Z:0.60 [[ 0.9724133 -0.18365929 -0.14381113 -1.00883505] [ 0.18787694 0.98205896 0.01620033 -0.02307907] [ 0.13825567 -0.04277222 0.98947254 0.60068563] [ 0. 0. 0. 1. ]] SLAMing on 189.82992885099998 meters Centerline goodness : 0.780468 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.02, Z:0.60 [[ 0.9723411 -0.18410602 -0.14372808 -1.00927199] [ 0.18824669 0.98199718 0.01564341 -0.02203209] [ 0.13826052 -0.04226706 0.98949357 0.60096995] [ 0. 0. 0. 1. ]] SLAMing on 189.85992885099998 meters Centerline goodness : 0.780125 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.02, Z:0.60 [[ 0.97226645 -0.18460993 -0.14358665 -1.00982143] [ 0.18867251 0.98192409 0.015092 -0.02122542] [ 0.13820506 -0.0417643 0.98952267 0.60126431] [ 0. 0. 0. 1. ]] SLAMing on 189.88992885099998 meters Centerline goodness : 0.781244 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.02, Z:0.60 [[ 0.97215761 -0.1854492 -0.14324167 -1.01098679] [ 0.18939148 0.98179789 0.01427473 -0.02004191] [ 0.13798714 -0.04100604 0.98958479 0.60168856] [ 0. 0. 0. 1. ]] SLAMing on 189.91992885099998 meters Centerline goodness : 0.783854 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.02, Z:0.60 [[ 0.97210479 -0.18585871 -0.1430693 -1.01138538] [ 0.18974917 0.98173384 0.01392542 -0.01954699] [ 0.13786781 -0.04068425 0.9896147 0.60168486] [ 0. 0. 0. 1. ]] SLAMing on 189.94992885099998 meters Centerline goodness : 0.781983 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.02, Z:0.60 [[ 0.97206425 -0.18613216 -0.14298919 -1.0115048 ] [ 0.1899852 0.98169191 0.01366108 -0.01898968] [ 0.13782856 -0.04044528 0.98962996 0.6016109 ] [ 0. 0. 0. 1. ]] SLAMing on 189.97992885099998 meters Centerline goodness : 0.784291 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.02, Z:0.60 [[ 0.97200364 -0.18655834 -0.14284573 -1.01193334] [ 0.19032993 0.98163294 0.01308803 -0.01718028] [ 0.13778039 -0.03990943 0.98965843 0.60160847] [ 0. 0. 0. 1. ]] SLAMing on 190.00992885099998 meters Centerline goodness : 0.782567 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.02, Z:0.60 [[ 0.97196766 -0.18679044 -0.14278723 -1.01219192] [ 0.19050508 0.98160432 0.01267951 -0.01594735] [ 0.13779215 -0.03952577 0.98967219 0.6017345 ] [ 0. 0. 0. 1. ]] SLAMing on 190.03992885099998 meters Centerline goodness : 0.783279 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.01, Z:0.60 [[ 0.97192254 -0.18707485 -0.14272203 -1.01257957] [ 0.19073069 0.98156589 0.01225577 -0.01473673] [ 0.13779833 -0.03913313 0.98968693 0.6019561 ] [ 0. 0. 0. 1. ]] SLAMing on 190.069928851 meters Centerline goodness : 0.783258 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.01, Z:0.60 [[ 0.97188814 -0.18725343 -0.1427221 -1.01275489] [ 0.19086346 0.98154429 0.011914 -0.01351668] [ 0.13785712 -0.03881951 0.98969109 0.6020277 ] [ 0. 0. 0. 1. ]] SLAMing on 190.099928851 meters Centerline goodness : 0.784876 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.01, Z:0.60 [[ 0.97183421 -0.18762047 -0.14260726 -1.01336813] [ 0.19113402 0.98149973 0.0112276 -0.01152869] [ 0.13786246 -0.03816847 0.98971567 0.60236247] [ 0. 0. 0. 1. ]] SLAMing on 190.12992885099996 meters Centerline goodness : 0.783825 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.01, Z:0.60 [[ 0.97180224 -0.18794796 -0.14239372 -1.01398925] [ 0.19140638 0.98145071 0.01086768 -0.01067079] [ 0.13770986 -0.0378163 0.98975043 0.60248202] [ 0. 0. 0. 1. ]] SLAMing on 190.15992885099996 meters Centerline goodness : 0.785371 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.01, Z:0.60 [[ 0.97174707 -0.18831293 -0.14228799 -1.0145355 ] [ 0.19170075 0.98139871 0.01036327 -0.00947228] [ 0.13768971 -0.0373472 0.98977105 0.60277718] [ 0. 0. 0. 1. ]] SLAMing on 190.18992885099996 meters Centerline goodness : 0.784330 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.01, Z:0.60 [[ 0.97170458 -0.18862587 -0.14216363 -1.01500112] [ 0.19195521 0.9813532 0.00995441 -0.00839922] [ 0.13763507 -0.0369618 0.98979312 0.6029154 ] [ 0. 0. 0. 1. ]] SLAMing on 190.21992885099996 meters Centerline goodness : 0.786720 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.01, Z:0.60 [[ 0.97165507 -0.18904802 -0.14194109 -1.01559909] [ 0.19230007 0.98129088 0.00942818 -0.00720002] [ 0.13750312 -0.03645622 0.98983021 0.60300204] [ 0. 0. 0. 1. ]] SLAMing on 190.24992885099996 meters Centerline goodness : 0.784346 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.01, Z:0.60 [[ 0.97161951 -0.1893103 -0.1418349 -1.01596852] [ 0.19251871 0.98125089 0.0091235 -0.0066057 ] [ 0.13744845 -0.03617045 0.98984828 0.60314595] [ 0. 0. 0. 1. ]] SLAMing on 190.27992885099997 meters Centerline goodness : 0.786599 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.01, Z:0.60 [[ 0.97159263 -0.18950068 -0.1417648 -1.01621339] [ 0.19265683 0.98122716 0.00875204 -0.00537915] [ 0.13744496 -0.03581538 0.98986168 0.60319747] [ 0. 0. 0. 1. ]] SLAMing on 190.30992885099997 meters Centerline goodness : 0.785995 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.00, Z:0.60 [[ 0.97156925 -0.18962009 -0.14176533 -1.0164588 ] [ 0.19272827 0.98121623 0.00839805 -0.00420044] [ 0.13751001 -0.03548147 0.98986467 0.60348767] [ 0. 0. 0. 1. ]] SLAMing on 190.33992885099997 meters Centerline goodness : 0.785676 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.00, Z:0.60 [[ 0.97151356 -0.19004548 -0.14157723 -1.01742536] [ 0.19304432 0.98116038 0.00762894 -0.00201483] [ 0.13746013 -0.0347423 0.98989782 0.60404134] [ 0. 0. 0. 1. ]] SLAMing on 190.36992885099997 meters Centerline goodness : 0.785669 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.00, Z:0.60 [[ 0.97149039 -0.19017199 -0.14156639 -1.01755997] [ 0.19314659 0.98114164 0.00744808 -0.00154374] [ 0.13748027 -0.0345788 0.98990074 0.60413902] [ 0. 0. 0. 1. ]] SLAMing on 190.39992885099997 meters Centerline goodness : 0.786124 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.00, Z:0.60 [[ 0.97146059 -0.19042737 -0.14142752 -1.01814149] [ 0.19334604 0.98110521 0.00706207 -0.00104901] [ 0.13741046 -0.03420497 0.98992342 0.60457856] [ 0. 0. 0. 1. ]] SLAMing on 190.42992885099997 meters Centerline goodness : 0.786559 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.00, Z:0.60 [[ 9.71428621e-01 -1.90744062e-01 -1.41220176e-01 -1.01893519e+00] [ 1.93609082e-01 9.81055845e-01 6.70461493e-03 -5.48336343e-04] [ 1.37266014e-01 -3.38545635e-02 9.89955509e-01 6.04988013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.45992885099997 meters Centerline goodness : 0.786711 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.00, Z:0.61 [[ 9.71355623e-01 -1.91382830e-01 -1.40857613e-01 -1.02009129e+00] [ 1.94174448e-01 9.80947302e-01 6.21884726e-03 -1.05494276e-04] [ 1.36983715e-01 -3.33916615e-02 9.90010333e-01 6.05336659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.48992885099997 meters Centerline goodness : 0.787186 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.00, Z:0.61 [[ 9.71276229e-01 -1.91983340e-01 -1.40587637e-01 -1.02085421e+00] [ 1.94705026e-01 9.80845068e-01 5.73628531e-03 -1.22501858e-04] [ 1.36793419e-01 -3.29446370e-02 9.90051621e-01 6.05670389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.51992885099997 meters Centerline goodness : 0.788293 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.00, Z:0.61 [[ 9.71250674e-01 -1.92226495e-01 -1.40431845e-01 -1.02112996e+00] [ 1.94927973e-01 9.80801513e-01 5.61046310e-03 -6.82838499e-04] [ 1.36657287e-01 -3.28232610e-02 9.90074452e-01 6.05783648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.54992885099998 meters Centerline goodness : 0.791175 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.00, Z:0.61 [[ 9.71142175e-01 -1.93026606e-01 -1.40084281e-01 -1.02188781e+00] [ 1.95669630e-01 9.80656013e-01 5.21348997e-03 -6.66346499e-04] [ 1.36368150e-01 -3.24732794e-02 9.90125858e-01 6.05745436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.57992885099998 meters Centerline goodness : 0.787689 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.00, Z:0.61 [[ 9.71076280e-01 -1.93527804e-01 -1.39849378e-01 -1.02244955e+00] [ 1.96128837e-01 9.80565747e-01 4.92905841e-03 -7.00914889e-04] [ 1.36177600e-01 -3.22149875e-02 9.90160520e-01 6.05801743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.60992885099998 meters Centerline goodness : 0.787302 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.00, Z:0.61 [[ 0.97101766 -0.19405185 -0.13952989 -1.02307294] [ 0.19661829 0.98046877 0.00471627 -0.00110232] [ 0.1358895 -0.03201371 0.99020663 0.60576378] [ 0. 0. 0. 1. ]] SLAMing on 190.63992885099998 meters Centerline goodness : 0.788827 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.00, Z:0.61 [[ 9.70252493e-01 -1.98171025e-01 -1.39062375e-01 -1.02246630e+00] [ 2.00198410e-01 9.79755190e-01 6.03446878e-04 -6.35545441e-05] [ 1.36127498e-01 -2.84255623e-02 9.90283440e-01 6.06113172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.66992885099998 meters Centerline goodness : 0.786363 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.00, Z:0.61 [[ 9.70172883e-01 -1.98765519e-01 -1.38769035e-01 -1.02337330e+00] [ 2.00747407e-01 9.79642993e-01 2.91443993e-04 -5.05334279e-04] [ 1.35886184e-01 -2.81402751e-02 9.90324730e-01 6.06467706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69992885099998 meters Centerline goodness : 0.788221 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.00, Z:0.61 [[ 9.70122422e-01 -1.99210895e-01 -1.38482873e-01 -1.02406485e+00] [ 2.01154251e-01 9.79559577e-01 3.83381545e-05 -6.51445784e-04] [ 1.35644587e-01 -2.78936114e-02 9.90364828e-01 6.06600971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.72992885099998 meters Centerline goodness : 0.788699 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.00, Z:0.61 [[ 9.70095890e-01 -1.99420819e-01 -1.38366549e-01 -1.02435501e+00] [ 2.01332660e-01 9.79522908e-01 -1.82663846e-04 -7.24785847e-04] [ 1.35569632e-01 -2.76805040e-02 9.90381070e-01 6.06799658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.75992885099998 meters Centerline goodness : 0.786004 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.00, Z:0.61 [[ 9.70093222e-01 -1.99499996e-01 -1.38271081e-01 -1.02465330e+00] [ 2.01394953e-01 9.79510075e-01 -2.92014686e-04 -2.56895732e-04] [ 1.35496174e-01 -2.75638164e-02 9.90394377e-01 6.06858344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.78992885099998 meters Centerline goodness : 0.837114 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.00, Z:0.61 [[ 9.70105755e-01 -1.99440609e-01 -1.38268820e-01 -1.02495116e+00] [ 2.01300746e-01 9.79529334e-01 -5.41803445e-04 7.79582056e-04] [ 1.35546423e-01 -2.73080100e-02 9.90394588e-01 6.07235116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.819928851 meters Centerline goodness : 0.786312 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.00, Z:0.61 [[ 9.70084726e-01 -1.99595270e-01 -1.38193172e-01 -1.02526245e+00] [ 2.01429367e-01 9.79502772e-01 -7.27735983e-04 9.50479122e-04] [ 1.35505848e-01 -2.71301977e-02 9.90405027e-01 6.07445547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.849928851 meters Centerline goodness : 0.788278 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.00, Z:0.61 [[ 9.70078052e-01 -1.99646111e-01 -1.38166576e-01 -1.02525867e+00] [ 2.01471664e-01 9.79494026e-01 -7.88424549e-04 6.48484185e-04] [ 1.35490741e-01 -2.70718165e-02 9.90408691e-01 6.07550821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.87992885099996 meters Centerline goodness : 0.836644 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.00, Z:0.61 [[ 9.70016207e-01 -2.00118452e-01 -1.37917233e-01 -1.02589768e+00] [ 2.01934262e-01 9.79398715e-01 -8.42883824e-04 -7.29880892e-04] [ 1.35244638e-01 -2.70326037e-02 9.90443399e-01 6.07763269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.90992885099996 meters Centerline goodness : 0.785725 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.00, Z:0.61 [[ 9.69973683e-01 -2.00435812e-01 -1.37755360e-01 -1.02645094e+00] [ 2.02234575e-01 9.79336643e-01 -9.57634523e-04 -1.54914431e-03] [ 1.35100816e-01 -2.69300165e-02 9.90465822e-01 6.08129184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.93992885099996 meters Centerline goodness : 0.785607 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.00, Z:0.61 [[ 0.9699377 -0.20075997 -0.13753651 -1.02703073] [ 0.20254513 0.97927238 -0.00103639 -0.00233538] [ 0.13489377 -0.02685212 0.99049616 0.60835366] [ 0. 0. 0. 1. ]] SLAMing on 190.96992885099996 meters Centerline goodness : 0.787103 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.00, Z:0.61 [[ 0.9698938 -0.20110445 -0.13734267 -1.02752082] [ 0.20287583 0.97920383 -0.00112307 -0.003242 ] [ 0.13471232 -0.02677425 0.99052296 0.60859171] [ 0. 0. 0. 1. ]] SLAMing on 190.99992885099996 meters Centerline goodness : 0.787532 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.01, Z:0.61 [[ 0.96981238 -0.2016383 -0.13713475 -1.0282189 ] [ 0.20342003 0.97909101 -0.00104261 -0.00560464] [ 0.13447763 -0.02688482 0.99055185 0.60906767] [ 0. 0. 0. 1. ]] SLAMing on 191.02992885099997 meters Centerline goodness : 0.835498 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.01, Z:0.61 [[ 9.69819838e-01 -2.01704509e-01 -1.36984570e-01 -1.02829661e+00] [ 2.03512763e-01 9.79071949e-01 -8.21348023e-04 -7.11816982e-03] [ 1.34283419e-01 -2.70815486e-02 9.90572841e-01 6.08965818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.05992885099997 meters Centerline goodness : 0.788293 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.01, Z:0.61 [[ 9.69815104e-01 -2.01751423e-01 -1.36948998e-01 -1.02815343e+00] [ 2.03596134e-01 9.79054806e-01 -5.48337873e-04 -8.85237994e-03] [ 1.34191203e-01 -2.73505003e-02 9.90577948e-01 6.08894748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.08992885099997 meters Centerline goodness : 0.835116 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.01, Z:0.61 [[ 9.69817308e-01 -2.01829826e-01 -1.36817802e-01 -1.02811150e+00] [ 2.03707517e-01 9.79031750e-01 -2.83088112e-04 -1.05885548e-02] [ 1.34006108e-01 -2.75962710e-02 9.90596189e-01 6.08744107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.11992885099997 meters Centerline goodness : 0.835354 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.01, Z:0.61 [[ 9.69764223e-01 -2.02149179e-01 -1.36722569e-01 -1.02846863e+00] [ 2.04079045e-01 9.78954408e-01 1.00403147e-04 -1.37765501e-02] [ 1.33824865e-01 -2.79995787e-02 9.90609373e-01 6.09121819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.14992885099997 meters Centerline goodness : 0.787791 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.02, Z:0.61 [[ 9.69742655e-01 -2.02333383e-01 -1.36603019e-01 -1.02891695e+00] [ 2.04268453e-01 9.78914897e-01 1.51309742e-04 -1.50928215e-02] [ 1.33692115e-01 -2.80504188e-02 9.90625859e-01 6.09562411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.17992885099997 meters Centerline goodness : 0.787558 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.02, Z:0.61 [[ 9.69715450e-01 -2.02526028e-01 -1.36510637e-01 -1.02957137e+00] [ 2.04490860e-01 9.78868400e-01 3.78122468e-04 -1.78264927e-02] [ 1.33549370e-01 -2.82818489e-02 9.90638533e-01 6.10401931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.20992885099997 meters Centerline goodness : 0.836074 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.02, Z:0.61 [[ 9.69731636e-01 -2.02398436e-01 -1.36584873e-01 -1.02933067e+00] [ 2.04406448e-01 9.78885860e-01 6.91384916e-04 -1.95161034e-02] [ 1.33561066e-01 -2.85892866e-02 9.90628131e-01 6.10563987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.23992885099997 meters Centerline goodness : 0.836074 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.02, Z:0.61 [[ 9.69731636e-01 -2.02398436e-01 -1.36584873e-01 -1.02933067e+00] [ 2.04406448e-01 9.78885860e-01 6.91384916e-04 -1.95161034e-02] [ 1.33561066e-01 -2.85892866e-02 9.90628131e-01 6.10563987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.26992885099997 meters Centerline goodness : 0.786621 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.02, Z:0.61 [[ 9.69757225e-01 -2.02277497e-01 -1.36582355e-01 -1.02925080e+00] [ 2.04324318e-01 9.78902751e-01 9.88307529e-04 -2.12175917e-02] [ 1.33500931e-01 -2.88655149e-02 9.90628227e-01 6.10747069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.29992885099998 meters Centerline goodness : 0.836093 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.02, Z:0.61 [[ 0.96976279 -0.20232917 -0.13646623 -1.02936987] [ 0.20440071 0.97888658 0.0011936 -0.02281983] [ 0.13334346 -0.0290513 0.990644 0.61083035] [ 0. 0. 0. 1. ]] SLAMing on 191.32992885099998 meters Centerline goodness : 0.785317 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.02, Z:0.61 [[ 0.96980007 -0.20210976 -0.13652647 -1.02904872] [ 0.20423033 0.97892162 0.00155992 -0.02444028] [ 0.13333344 -0.02939566 0.99063519 0.61085897] [ 0. 0. 0. 1. ]] SLAMing on 191.35992885099998 meters Centerline goodness : 0.784243 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.03, Z:0.61 [[ 0.9698718 -0.20155645 -0.13683456 -1.02820646] [ 0.20376383 0.97901766 0.00217394 -0.02690019] [ 0.13352528 -0.02999037 0.99059153 0.61106446] [ 0. 0. 0. 1. ]] SLAMing on 191.38992885099998 meters Centerline goodness : 0.838829 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.03, Z:0.61 [[ 0.969925 -0.20118225 -0.13700798 -1.02768979] [ 0.20342953 0.97908651 0.00245647 -0.02798289] [ 0.13364847 -0.03025406 0.9905669 0.61115892] [ 0. 0. 0. 1. ]] SLAMing on 191.41992885099998 meters Centerline goodness : 0.838216 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.03, Z:0.61 [[ 0.96996819 -0.20081105 -0.13724659 -1.02714451] [ 0.20309635 0.97915501 0.00270943 -0.0288829 ] [ 0.1338416 -0.03050234 0.99053321 0.61136366] [ 0. 0. 0. 1. ]] SLAMing on 191.44992885099998 meters Centerline goodness : 0.786629 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.03, Z:0.61 [[ 0.97004908 -0.20033291 -0.13737358 -1.02667153] [ 0.20267373 0.97924134 0.00312426 -0.02997831] [ 0.133896 -0.0308727 0.99051438 0.61137387] [ 0. 0. 0. 1. ]] SLAMing on 191.47992885099998 meters Centerline goodness : 0.786662 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.03, Z:0.61 [[ 0.97020706 -0.1992102 -0.13788964 -1.02520775] [ 0.20167364 0.97944466 0.00398739 -0.03189981] [ 0.13426094 -0.0316773 0.99043957 0.6113775 ] [ 0. 0. 0. 1. ]] SLAMing on 191.50992885099998 meters Centerline goodness : 0.787842 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.03, Z:0.61 [[ 0.97027246 -0.19868415 -0.13818815 -1.02440468] [ 0.20119343 0.97954213 0.00429084 -0.03263319] [ 0.13450859 -0.03196583 0.9903967 0.61147045] [ 0. 0. 0. 1. ]] SLAMing on 191.53992885099998 meters Centerline goodness : 0.784978 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.03, Z:0.61 [[ 0.97033274 -0.19823474 -0.1384101 -1.02392197] [ 0.20078554 0.97962454 0.00457452 -0.03308791] [ 0.1346831 -0.03222955 0.99036444 0.61158898] [ 0. 0. 0. 1. ]] SLAMing on 191.569928851 meters Centerline goodness : 0.786530 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.03, Z:0.61 [[ 0.97046207 -0.1973309 -0.13879437 -1.02309702] [ 0.19997145 0.9797879 0.00520399 -0.03435354] [ 0.13496214 -0.03280519 0.99030755 0.61185898] [ 0. 0. 0. 1. ]] SLAMing on 191.599928851 meters Centerline goodness : 0.788724 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.61 [[ 0.97050711 -0.19692909 -0.13904993 -1.02257663] [ 0.19960642 0.97986106 0.00543906 -0.03527649] [ 0.1351785 -0.0330339 0.99027043 0.61219542] [ 0. 0. 0. 1. ]] SLAMing on 191.62992885099996 meters Centerline goodness : 0.788562 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.61 [[ 0.97054911 -0.19666722 -0.13912735 -1.02230092] [ 0.19936648 0.97990901 0.00559901 -0.036021 ] [ 0.135231 -0.03317144 0.99025867 0.61232915] [ 0. 0. 0. 1. ]] SLAMing on 191.65992885099996 meters Centerline goodness : 0.788150 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.61 [[ 0.97058784 -0.19641244 -0.1392171 -1.02205852] [ 0.19915058 0.97995126 0.00587938 -0.03705947] [ 0.13527119 -0.03343162 0.99024443 0.6124246 ] [ 0. 0. 0. 1. ]] SLAMing on 191.68992885099996 meters Centerline goodness : 0.785390 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.61 [[ 0.97066133 -0.19584179 -0.1395083 -1.02122632] [ 0.19865354 0.98004898 0.00638502 -0.03885073] [ 0.13547451 -0.03391151 0.99020032 0.61253532] [ 0. 0. 0. 1. ]] SLAMing on 191.71992885099996 meters Centerline goodness : 0.787563 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.61 [[ 0.97068713 -0.19573491 -0.1394788 -1.0210091 ] [ 0.19857346 0.98006381 0.00659598 -0.03970535] [ 0.13540706 -0.03409942 0.99020309 0.61236694] [ 0. 0. 0. 1. ]] SLAMing on 191.74992885099996 meters Centerline goodness : 0.787175 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.61 [[ 0.97070549 -0.19568922 -0.13941518 -1.02097051] [ 0.19855212 0.98006678 0.0067936 -0.04063628] [ 0.13530675 -0.03427576 0.99021071 0.61231066] [ 0. 0. 0. 1. ]] SLAMing on 191.77992885099997 meters Centerline goodness : 0.784534 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.61 [[ 0.97071222 -0.1956148 -0.13947274 -1.02087042] [ 0.19849374 0.98007786 0.00690146 -0.04138504] [ 0.13534412 -0.0343838 0.99020186 0.61249066] [ 0. 0. 0. 1. ]] SLAMing on 191.80992885099997 meters Centerline goodness : 0.836788 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.61 [[ 0.97072227 -0.19558751 -0.13944106 -1.02088064] [ 0.19849196 0.98007681 0.00709821 -0.04283857] [ 0.13527463 -0.03456832 0.99020493 0.6126905 ] [ 0. 0. 0. 1. ]] SLAMing on 191.83992885099997 meters Centerline goodness : 0.836977 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.04, Z:0.61 [[ 0.97070208 -0.19574785 -0.13935656 -1.02112016] [ 0.19865505 0.98004355 0.00712886 -0.04383123] [ 0.13518004 -0.03460389 0.99021661 0.61291813] [ 0. 0. 0. 1. ]] SLAMing on 191.86992885099997 meters Centerline goodness : 0.836079 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.61 [[ 0.97058459 -0.19657773 -0.1390063 -1.02237837] [ 0.19945121 0.97988337 0.00691352 -0.045584 ] [ 0.13485092 -0.03443513 0.99026736 0.61362617] [ 0. 0. 0. 1. ]] SLAMing on 191.89992885099997 meters Centerline goodness : 0.836408 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.61 [[ 0.97051592 -0.1970398 -0.13883141 -1.02293953] [ 0.19987628 0.97979855 0.00665414 -0.04622045] [ 0.13471568 -0.03420706 0.99029367 0.61400003] [ 0. 0. 0. 1. ]] SLAMing on 191.92992885099997 meters Centerline goodness : 0.781958 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.61 [[ 0.97048813 -0.19722329 -0.13876513 -1.02304641] [ 0.20005081 0.97976335 0.00659233 -0.04683903] [ 0.13465683 -0.03415786 0.99030338 0.61410954] [ 0. 0. 0. 1. ]] SLAMing on 191.95992885099997 meters Centerline goodness : 0.839124 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.61 [[ 0.97046137 -0.19742603 -0.13866395 -1.02316453] [ 0.20023776 0.97972585 0.00648776 -0.04713579] [ 0.13457181 -0.03406188 0.99031824 0.61411192] [ 0. 0. 0. 1. ]] SLAMing on 191.98992885099997 meters Centerline goodness : 0.839833 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.61 [[ 0.97043317 -0.19769633 -0.1384761 -1.02356049] [ 0.20048677 0.97967576 0.00636 -0.04735802] [ 0.13440433 -0.03393459 0.99034535 0.61415216] [ 0. 0. 0. 1. ]] SLAMing on 192.01992885099997 meters Centerline goodness : 0.839567 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.61 [[ 0.97039183 -0.19791058 -0.1384597 -1.02366011] [ 0.20067652 0.97963814 0.00616859 -0.04749634] [ 0.13441958 -0.03377156 0.99034886 0.61434198] [ 0. 0. 0. 1. ]] SLAMing on 192.04992885099998 meters Centerline goodness : 0.784088 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.61 [[ 0.97035905 -0.19812512 -0.13838261 -1.02378827] [ 0.20086887 0.97959971 0.00600952 -0.04764768] [ 0.13436892 -0.03362815 0.99036061 0.61441965] [ 0. 0. 0. 1. ]] SLAMing on 192.07992885099998 meters Centerline goodness : 0.838749 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.61 [[ 0.97034915 -0.19820351 -0.13833978 -1.02369361] [ 0.20093806 0.9795859 0.00594706 -0.0478526 ] [ 0.13433697 -0.03356845 0.99036697 0.61433508] [ 0. 0. 0. 1. ]] SLAMing on 192.10992885099998 meters Centerline goodness : 0.837348 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.61 [[ 0.97029681 -0.19859896 -0.13813958 -1.02421208] [ 0.20128281 0.97951719 0.0055956 -0.04808563] [ 0.13419881 -0.03323452 0.99039696 0.61464333] [ 0. 0. 0. 1. ]] SLAMing on 192.13992885099998 meters Centerline goodness : 0.837715 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.61 [[ 0.97026989 -0.1988314 -0.13799429 -1.02463416] [ 0.2014898 0.97947558 0.00542764 -0.04823037] [ 0.13408285 -0.03307072 0.99041815 0.61482299] [ 0. 0. 0. 1. ]] SLAMing on 192.16992885099998 meters Centerline goodness : 0.839644 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.62 [[ 0.97024404 -0.19903958 -0.13787583 -1.02496112] [ 0.20166982 0.97943958 0.00523436 -0.04821516] [ 0.1339992 -0.032884 0.99043569 0.61500071] [ 0. 0. 0. 1. ]] SLAMing on 192.19992885099998 meters Centerline goodness : 0.783039 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.97017559 -0.19942592 -0.13779925 -1.02523034] [ 0.20202057 0.9793687 0.00496316 -0.04822099] [ 0.13396649 -0.03265342 0.99044774 0.61517691] [ 0. 0. 0. 1. ]] SLAMing on 192.22992885099998 meters Centerline goodness : 0.837160 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.97014502 -0.19961788 -0.13773651 -1.02526917] [ 0.20219364 0.97933368 0.00482544 -0.04826685] [ 0.13392676 -0.03253082 0.99045715 0.61516523] [ 0. 0. 0. 1. ]] SLAMing on 192.25992885099998 meters Centerline goodness : 0.834916 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.97010539 -0.19983915 -0.13769477 -1.02541851] [ 0.20239601 0.97929258 0.0046804 -0.04852122] [ 0.13390814 -0.03240935 0.99046365 0.61532839] [ 0. 0. 0. 1. ]] SLAMing on 192.28992885099998 meters Centerline goodness : 0.781818 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.97009564 -0.19998913 -0.13754566 -1.02552671] [ 0.20253966 0.97926297 0.00465953 -0.04910427] [ 0.13376151 -0.03237864 0.99048447 0.61524448] [ 0. 0. 0. 1. ]] SLAMing on 192.319928851 meters Centerline goodness : 0.836023 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.97006082 -0.2002473 -0.13741554 -1.02582079] [ 0.20277037 0.97921611 0.00446969 -0.04956639] [ 0.13366447 -0.03219967 0.9905034 0.6154602 ] [ 0. 0. 0. 1. ]] SLAMing on 192.349928851 meters Centerline goodness : 0.780548 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.97003673 -0.20044573 -0.13729624 -1.02628114] [ 0.20294146 0.97918151 0.00428206 -0.04949017] [ 0.13357962 -0.03201685 0.99052077 0.6157459 ] [ 0. 0. 0. 1. ]] SLAMing on 192.37992885099996 meters Centerline goodness : 0.781048 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.96999763 -0.20069809 -0.13720379 -1.02683059] [ 0.20316348 0.97913641 0.00406174 -0.04929977] [ 0.13352605 -0.03181467 0.99053451 0.61612848] [ 0. 0. 0. 1. ]] SLAMing on 192.40992885099996 meters Centerline goodness : 0.837142 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.96997062 -0.20089917 -0.13710043 -1.02722964] [ 0.20334507 0.97909926 0.00392789 -0.04965685] [ 0.13344582 -0.03168864 0.99054937 0.61643351] [ 0. 0. 0. 1. ]] SLAMing on 192.43992885099996 meters Centerline goodness : 0.781011 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.96985387 -0.20166262 -0.1368052 -1.02809072] [ 0.20407713 0.97894777 0.00371202 -0.05111507] [ 0.13317657 -0.03151893 0.99059101 0.61684856] [ 0. 0. 0. 1. ]] SLAMing on 192.46992885099996 meters Centerline goodness : 0.833705 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.96979342 -0.20208902 -0.13660435 -1.0286384 ] [ 0.20448381 0.97886339 0.00358344 -0.05208546] [ 0.13299282 -0.03140858 0.99061921 0.61713858] [ 0. 0. 0. 1. ]] SLAMing on 192.49992885099996 meters Centerline goodness : 0.781935 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.969749 -0.20246051 -0.13636939 -1.02919397] [ 0.20484013 0.97878918 0.00350047 -0.05306011] [ 0.13276818 -0.0313285 0.99065187 0.61739254] [ 0. 0. 0. 1. ]] SLAMing on 192.52992885099997 meters Centerline goodness : 0.834805 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.96967917 -0.20298508 -0.13608586 -1.02988109] [ 0.20533839 0.97868536 0.00333487 -0.05392634] [ 0.13250831 -0.0311774 0.99069143 0.61760373] [ 0. 0. 0. 1. ]] SLAMing on 192.55992885099997 meters Centerline goodness : 0.780486 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.96962007 -0.20338617 -0.13590799 -1.03024149] [ 0.20572668 0.97860408 0.00325356 -0.05474183] [ 0.13233838 -0.03111462 0.99071612 0.61769127] [ 0. 0. 0. 1. ]] SLAMing on 192.58992885099997 meters Centerline goodness : 0.831892 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.06, Z:0.62 [[ 0.96947232 -0.20426236 -0.13564775 -1.03095723] [ 0.20655814 0.97842997 0.00291922 -0.05633891] [ 0.13212554 -0.03084925 0.99075283 0.6181457 ] [ 0. 0. 0. 1. ]] SLAMing on 192.61992885099997 meters Centerline goodness : 0.780886 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.06, Z:0.62 [[ 0.96942824 -0.20457139 -0.13549699 -1.03125945] [ 0.20684565 0.97836966 0.00277182 -0.05667884] [ 0.13199911 -0.03071405 0.99077388 0.61821095] [ 0. 0. 0. 1. ]] SLAMing on 192.64992885099997 meters Centerline goodness : 0.781892 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.06, Z:0.62 [[ 0.96937605 -0.20483052 -0.13547887 -1.0314008 ] [ 0.20708316 0.9783199 0.0025959 -0.05667994] [ 0.13200996 -0.0305718 0.99077683 0.61835561] [ 0. 0. 0. 1. ]] SLAMing on 192.67992885099997 meters Centerline goodness : 0.833524 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.06, Z:0.62 [[ 0.96934491 -0.20506474 -0.13534732 -1.03174704] [ 0.20728837 0.97827696 0.00239251 -0.05644086] [ 0.13191654 -0.03037509 0.99079533 0.61844162] [ 0. 0. 0. 1. ]] SLAMing on 192.70992885099997 meters Centerline goodness : 0.779674 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.06, Z:0.62 [[ 0.96934192 -0.205086 -0.13533655 -1.03180279] [ 0.20729346 0.97827617 0.002272 -0.05617437] [ 0.13193057 -0.03025672 0.99079708 0.61853644] [ 0. 0. 0. 1. ]] SLAMing on 192.73992885099997 meters Centerline goodness : 0.781500 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.06, Z:0.62 [[ 0.96933382 -0.20514723 -0.13530171 -1.03197001] [ 0.20732904 0.97826905 0.00208325 -0.05590686] [ 0.1319341 -0.03007133 0.99080225 0.61874344] [ 0. 0. 0. 1. ]] SLAMing on 192.76992885099997 meters Centerline goodness : 0.779117 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.06, Z:0.62 [[ 0.96934899 -0.20510511 -0.13525693 -1.03213291] [ 0.20726529 0.97828286 0.00193401 -0.0553188 ] [ 0.13192286 -0.0299088 0.99080867 0.61880502] [ 0. 0. 0. 1. ]] SLAMing on 192.79992885099998 meters Centerline goodness : 0.778381 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.96941791 -0.20473137 -0.13532915 -1.03212673] [ 0.20686241 0.97836852 0.00172465 -0.05402127] [ 0.13204869 -0.02966642 0.9907992 0.61906044] [ 0. 0. 0. 1. ]] SLAMing on 192.82992885099998 meters Centerline goodness : 0.778897 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.9694461 -0.20453929 -0.13541766 -1.03199067] [ 0.20666056 0.97841132 0.00164467 -0.05324311] [ 0.13215777 -0.02957991 0.99078724 0.61909924] [ 0. 0. 0. 1. ]] SLAMing on 192.85992885099998 meters Centerline goodness : 0.835427 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.96948482 -0.2042042 -0.135646 -1.03147041] [ 0.20633311 0.97848038 0.00167358 -0.05271867] [ 0.1323852 -0.02961077 0.99075595 0.61910274] [ 0. 0. 0. 1. ]] SLAMing on 192.88992885099998 meters Centerline goodness : 0.778123 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.96951855 -0.20392856 -0.13581947 -1.03102029] [ 0.20606565 0.97853667 0.00171479 -0.0520722 ] [ 0.13255464 -0.02965025 0.99073212 0.61895336] [ 0. 0. 0. 1. ]] SLAMing on 192.91992885099998 meters Centerline goodness : 0.777161 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.96958594 -0.20343052 -0.136085 -1.03026402] [ 0.20559196 0.97863601 0.00187116 -0.05138421] [ 0.13279703 -0.02979223 0.9906954 0.61869722] [ 0. 0. 0. 1. ]] SLAMing on 192.94992885099998 meters Centerline goodness : 0.832058 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.96958397 -0.20331062 -0.13627806 -1.02993102] [ 0.2054613 0.97866367 0.00175569 -0.05094595] [ 0.13301344 -0.02970216 0.99066907 0.61885636] [ 0. 0. 0. 1. ]] SLAMing on 192.97992885099998 meters Centerline goodness : 0.833419 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.96963541 -0.20288572 -0.13654505 -1.02919059] [ 0.20506925 0.97874548 0.00196951 -0.05071023] [ 0.13324327 -0.02991089 0.9906319 0.61856773] [ 0. 0. 0. 1. ]] SLAMing on 193.00992885099998 meters Centerline goodness : 0.777199 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.96964401 -0.20277373 -0.1366503 -1.02893132] [ 0.20494159 0.97877248 0.0018371 -0.05017649] [ 0.13337704 -0.02978666 0.99061765 0.61860368] [ 0. 0. 0. 1. ]] SLAMing on 193.03992885099998 meters Centerline goodness : 0.776975 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.9697042 -0.20241879 -0.13674943 -1.02857398] [ 0.20458956 0.97884608 0.00186119 -0.04935546] [ 0.1334799 -0.0297823 0.99060392 0.61843165] [ 0. 0. 0. 1. ]] SLAMing on 193.069928851 meters Centerline goodness : 0.775523 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.96978045 -0.20187701 -0.13700929 -1.02777854] [ 0.20409179 0.97894936 0.00216674 -0.04904559] [ 0.13368774 -0.03006373 0.99056739 0.61791641] [ 0. 0. 0. 1. ]] SLAMing on 193.099928851 meters Centerline goodness : 0.833641 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.96983167 -0.20151749 -0.13717589 -1.02729561] [ 0.20376842 0.97901612 0.00242165 -0.04865835] [ 0.1338094 -0.03030071 0.99054375 0.61757261] [ 0. 0. 0. 1. ]] SLAMing on 193.12992885099996 meters Centerline goodness : 0.832008 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.96971609 -0.20169422 -0.13773212 -1.02653865] [ 0.20397751 0.97897233 0.0025209 -0.04758095] [ 0.13432749 -0.03053881 0.99046631 0.61778996] [ 0. 0. 0. 1. ]] SLAMing on 193.15992885099996 meters Centerline goodness : 0.832008 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.96971609 -0.20169422 -0.13773212 -1.02653865] [ 0.20397751 0.97897233 0.0025209 -0.04758095] [ 0.13432749 -0.03053881 0.99046631 0.61778996] [ 0. 0. 0. 1. ]] SLAMing on 193.18992885099996 meters Centerline goodness : 0.834721 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.96962384 -0.20180378 -0.13822028 -1.02543049] [ 0.20414093 0.97893751 0.00279716 -0.04746568] [ 0.13474454 -0.03092861 0.99039756 0.61766514] [ 0. 0. 0. 1. ]] SLAMing on 193.21992885099996 meters Centerline goodness : 0.832943 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.96954774 -0.20231177 -0.13801136 -1.02600279] [ 0.20460775 0.97884084 0.00250677 -0.04759777] [ 0.13458401 -0.03066862 0.99042747 0.61785179] [ 0. 0. 0. 1. ]] SLAMing on 193.24992885099996 meters Centerline goodness : 0.831072 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.96937665 -0.20339315 -0.1376232 -1.02699258] [ 0.20561173 0.97863171 0.00194895 -0.04798307] [ 0.13428602 -0.03018621 0.99048274 0.61805209] [ 0. 0. 0. 1. ]] SLAMing on 193.27992885099997 meters Centerline goodness : 0.830917 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.96930721 -0.20394368 -0.13729717 -1.02778745] [ 0.2061166 0.97852605 0.00164682 -0.04809972] [ 0.134013 -0.02989551 0.99052853 0.61817516] [ 0. 0. 0. 1. ]] SLAMing on 193.30992885099997 meters Centerline goodness : 0.832238 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 0.96920145 -0.20460947 -0.13705294 -1.02854619] [ 0.20671257 0.97840105 0.0011383 -0.04793688] [ 0.13385983 -0.0294338 0.99056307 0.61852944] [ 0. 0. 0. 1. ]] SLAMing on 193.33992885099997 meters Centerline goodness : 0.828395 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 9.69119877e-01 -2.05175789e-01 -1.36782889e-01 -1.02935734e+00] [ 2.07219700e-01 9.78294167e-01 7.19772457e-04 -4.76980505e-02] [ 1.33666223e-01 -2.90416551e-02 9.90600789e-01 6.18849206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.36992885099997 meters Centerline goodness : 0.830350 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 9.69035001e-01 -2.05712786e-01 -1.36577508e-01 -1.03006362e+00] [ 2.07695993e-01 9.78193385e-01 2.76769248e-04 -4.73196502e-02] [ 1.33542279e-01 -2.86348002e-02 9.90629349e-01 6.19175201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.39992885099997 meters Centerline goodness : 0.829280 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 9.68902166e-01 -2.06489665e-01 -1.36347390e-01 -1.03111404e+00] [ 2.08373198e-01 9.78049278e-01 -4.68101051e-04 -4.61849430e-02] [ 1.33451124e-01 -2.79575975e-02 9.90660976e-01 6.19722657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.42992885099997 meters Centerline goodness : 0.829425 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.62 [[ 9.68843540e-01 -2.06839273e-01 -1.36234030e-01 -1.03144903e+00] [ 2.08671799e-01 9.77985359e-01 -8.47485984e-04 -4.54977975e-02] [ 1.33410180e-01 -2.76071187e-02 9.90676320e-01 6.19823870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.45992885099997 meters Centerline goodness : 0.829134 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.04, Z:0.62 [[ 0.96876604 -0.20730218 -0.13608145 -1.03192542] [ 0.20905574 0.97790267 -0.00143483 -0.04378135] [ 0.13337186 -0.02705859 0.99069661 0.61986154] [ 0. 0. 0. 1. ]] SLAMing on 193.48992885099997 meters Centerline goodness : 0.777002 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.04, Z:0.62 [[ 0.96874074 -0.20743688 -0.13605632 -1.03203718] [ 0.20914922 0.97788218 -0.00174532 -0.04287912] [ 0.13340909 -0.02676531 0.99069957 0.61994007] [ 0. 0. 0. 1. ]] SLAMing on 193.51992885099997 meters Centerline goodness : 0.831143 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.04, Z:0.62 [[ 0.96871531 -0.20754589 -0.13607116 -1.03201444] [ 0.2092263 0.97786522 -0.001993 -0.04194708] [ 0.13347289 -0.02653902 0.99069706 0.61987595] [ 0. 0. 0. 1. ]] SLAMing on 193.54992885099998 meters Centerline goodness : 0.774686 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.04, Z:0.62 [[ 0.96869711 -0.20770297 -0.13596098 -1.03229309] [ 0.20934488 0.97783924 -0.00226782 -0.04118358] [ 0.13341901 -0.02626591 0.9907116 0.61991686] [ 0. 0. 0. 1. ]] SLAMing on 193.57992885099998 meters Centerline goodness : 0.829348 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.04, Z:0.62 [[ 0.96865363 -0.20800208 -0.13581341 -1.03287194] [ 0.20959256 0.97778524 -0.00264162 -0.04025324] [ 0.13334581 -0.02590666 0.99073091 0.6201652 ] [ 0. 0. 0. 1. ]] SLAMing on 193.60992885099998 meters Centerline goodness : 0.774562 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.04, Z:0.62 [[ 0.96864218 -0.20803064 -0.13585133 -1.0333475 ] [ 0.20955016 0.97779273 -0.0031779 -0.0384523 ] [ 0.13349555 -0.02538942 0.99072414 0.62078178] [ 0. 0. 0. 1. ]] SLAMing on 193.63992885099998 meters Centerline goodness : 0.773998 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.04, Z:0.62 [[ 0.96863946 -0.20799872 -0.13591958 -1.03329254] [ 0.20947778 0.97780718 -0.00348882 -0.03718074] [ 0.13362881 -0.02509272 0.99071373 0.62087436] [ 0. 0. 0. 1. ]] SLAMing on 193.66992885099998 meters Centerline goodness : 0.774481 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.04, Z:0.62 [[ 0.96863857 -0.20795996 -0.13598517 -1.0330334 ] [ 0.20941019 0.97782084 -0.00371212 -0.03596174] [ 0.13374111 -0.02488097 0.99070392 0.62068917] [ 0. 0. 0. 1. ]] SLAMing on 193.69992885099998 meters Centerline goodness : 0.829639 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.04, Z:0.62 [[ 0.96863278 -0.20790609 -0.13610876 -1.03273315] [ 0.20934152 0.97783505 -0.00384109 -0.0351158 ] [ 0.1338905 -0.02477261 0.99068645 0.62058412] [ 0. 0. 0. 1. ]] SLAMing on 193.72992885099998 meters Centerline goodness : 0.773168 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.03, Z:0.62 [[ 0.96861711 -0.20793989 -0.13616862 -1.0325425 ] [ 0.20935365 0.97783175 -0.0040149 -0.03435661] [ 0.13398486 -0.0246185 0.99067754 0.62048335] [ 0. 0. 0. 1. ]] SLAMing on 193.75992885099998 meters Centerline goodness : 0.829853 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.03, Z:0.62 [[ 0.96856976 -0.20822339 -0.13607216 -1.03288184] [ 0.20959099 0.97777943 -0.00435834 -0.03354874] [ 0.13395607 -0.02429814 0.99068934 0.620606 ] [ 0. 0. 0. 1. ]] SLAMing on 193.78992885099998 meters Centerline goodness : 0.832769 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.03, Z:0.62 [[ 0.968517 -0.2085977 -0.13587426 -1.03346625] [ 0.20992048 0.97770726 -0.00468028 -0.03327167] [ 0.13382155 -0.02398986 0.99071503 0.62082985] [ 0. 0. 0. 1. ]] SLAMing on 193.819928851 meters Centerline goodness : 0.830442 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.03, Z:0.62 [[ 0.9684496 -0.20902596 -0.13569644 -1.03411042] [ 0.21029439 0.9776249 -0.00508089 -0.03288977] [ 0.13372225 -0.02361562 0.99073743 0.62114764] [ 0. 0. 0. 1. ]] SLAMing on 193.849928851 meters Centerline goodness : 0.831787 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.03, Z:0.62 [[ 0.96840475 -0.20931906 -0.13556463 -1.03455245] [ 0.21054542 0.97756922 -0.00538994 -0.03269884] [ 0.13365203 -0.02332287 0.99075384 0.6214184 ] [ 0. 0. 0. 1. ]] SLAMing on 193.87992885099996 meters Centerline goodness : 0.830416 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.62 [[ 0.96831745 -0.20989178 -0.13530245 -1.03565143] [ 0.21102752 0.97746136 -0.00605661 -0.03142445] [ 0.13352415 -0.02268782 0.99078583 0.62197879] [ 0. 0. 0. 1. ]] SLAMing on 193.90992885099996 meters Centerline goodness : 0.831793 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.62 [[ 0.96827676 -0.21012191 -0.13523648 -1.03602565] [ 0.21121065 0.97741955 -0.00641024 -0.03047336] [ 0.13352971 -0.0223565 0.99079261 0.62219232] [ 0. 0. 0. 1. ]] SLAMing on 193.93992885099996 meters Centerline goodness : 0.831508 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.62 [[ 0.96823454 -0.210342 -0.13519662 -1.03625196] [ 0.21138562 0.97737941 -0.00675377 -0.02936798] [ 0.13355899 -0.02203939 0.99079577 0.62225708] [ 0. 0. 0. 1. ]] SLAMing on 193.96992885099996 meters Centerline goodness : 0.832291 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.62 [[ 0.96824076 -0.21029987 -0.13521758 -1.03609713] [ 0.21130642 0.97739459 -0.00702914 -0.02792049] [ 0.13363915 -0.02176645 0.990791 0.62206617] [ 0. 0. 0. 1. ]] SLAMing on 193.99992885099996 meters Centerline goodness : 0.828863 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.62 [[ 0.96823497 -0.21035961 -0.13516611 -1.03618003] [ 0.21134043 0.97738588 -0.00721573 -0.02730425] [ 0.13362735 -0.02157954 0.99079668 0.62205715] [ 0. 0. 0. 1. ]] SLAMing on 194.02992885099997 meters Centerline goodness : 0.828472 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.62 [[ 0.96822083 -0.210379 -0.13523723 -1.03614542] [ 0.21133734 0.97738521 -0.00739526 -0.0267571 ] [ 0.13373467 -0.02142043 0.99078565 0.62220214] [ 0. 0. 0. 1. ]] SLAMing on 194.05992885099997 meters Centerline goodness : 0.827680 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.62 [[ 0.96821652 -0.21040599 -0.13522609 -1.03628788] [ 0.21133763 0.97738362 -0.0075931 -0.02611679] [ 0.1337654 -0.0212266 0.99078567 0.62235395] [ 0. 0. 0. 1. ]] SLAMing on 194.08992885099997 meters Centerline goodness : 0.827530 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.62 [[ 0.96816938 -0.21073188 -0.13505603 -1.03715988] [ 0.21160827 0.97732183 -0.00799832 -0.02512204] [ 0.13367871 -0.02083525 0.99080568 0.62282972] [ 0. 0. 0. 1. ]] SLAMing on 194.11992885099997 meters Centerline goodness : 0.830006 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.02, Z:0.62 [[ 0.96814746 -0.21087452 -0.13499051 -1.03745772] [ 0.21174 0.97729264 -0.0080789 -0.02499144] [ 0.13362887 -0.02076132 0.99081396 0.62295534] [ 0. 0. 0. 1. ]] SLAMing on 194.14992885099997 meters Centerline goodness : 0.829528 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.02, Z:0.62 [[ 0.96812329 -0.21098367 -0.1349933 -1.03760116] [ 0.21183179 0.97727161 -0.00821567 -0.02492941] [ 0.1336585 -0.02064209 0.99081245 0.62318077] [ 0. 0. 0. 1. ]] SLAMing on 194.17992885099997 meters Centerline goodness : 0.773709 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.62 [[ 0.96810832 -0.2111289 -0.1348735 -1.03780679] [ 0.21196969 0.97724132 -0.00826156 -0.02530283] [ 0.13354821 -0.02059101 0.99082838 0.62323764] [ 0. 0. 0. 1. ]] SLAMing on 194.20992885099997 meters Centerline goodness : 0.829114 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.62 [[ 0.9680544 -0.21161895 -0.13449199 -1.03870831] [ 0.21245117 0.97713643 -0.0083001 -0.0268263 ] [ 0.13317348 -0.02053803 0.99087992 0.62351848] [ 0. 0. 0. 1. ]] SLAMing on 194.23992885099997 meters Centerline goodness : 0.834570 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.62 [[ 0.96802976 -0.21178012 -0.13441561 -1.03882334] [ 0.21261723 0.97710063 -0.00826308 -0.02763211] [ 0.13308753 -0.02058017 0.99089059 0.6235909 ] [ 0. 0. 0. 1. ]] SLAMing on 194.26992885099997 meters Centerline goodness : 0.837200 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.62 [[ 0.96800587 -0.21194178 -0.13433284 -1.03908752] [ 0.21277721 0.97706571 -0.0082739 -0.02821942] [ 0.1330056 -0.02057378 0.99090173 0.62377569] [ 0. 0. 0. 1. ]] SLAMing on 194.29992885099998 meters Centerline goodness : 0.833901 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.62 [[ 0.96803112 -0.21181553 -0.13435006 -1.03876154] [ 0.21269023 0.97708713 -0.00797524 -0.02900919] [ 0.13296099 -0.02085467 0.99090184 0.62344808] [ 0. 0. 0. 1. ]] SLAMing on 194.32992885099998 meters Centerline goodness : 0.835354 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.62 [[ 0.96802593 -0.2118647 -0.13430989 -1.03879866] [ 0.21273333 0.9770774 -0.0080175 -0.02914443] [ 0.13292978 -0.02081104 0.99090694 0.62348076] [ 0. 0. 0. 1. ]] SLAMing on 194.35992885099998 meters Centerline goodness : 0.832941 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.62 [[ 0.96804239 -0.21175863 -0.13435855 -1.03851923] [ 0.21263586 0.97709914 -0.00795375 -0.02925475] [ 0.13296589 -0.02086988 0.99090086 0.62336487] [ 0. 0. 0. 1. ]] SLAMing on 194.38992885099998 meters Centerline goodness : 0.832592 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.62 [[ 0.96804252 -0.21169649 -0.13445551 -1.03818055] [ 0.21256706 0.97711361 -0.00801434 -0.02917559] [ 0.13307491 -0.02082259 0.99088722 0.62332783] [ 0. 0. 0. 1. ]] SLAMing on 194.41992885099998 meters Centerline goodness : 0.832122 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.62 [[ 0.96802094 -0.2118304 -0.13439992 -1.03828087] [ 0.21267917 0.97708787 -0.00817723 -0.02875605] [ 0.13305272 -0.02066833 0.99089343 0.62329853] [ 0. 0. 0. 1. ]] SLAMing on 194.44992885099998 meters Centerline goodness : 0.834907 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.62 [[ 0.96802337 -0.21176081 -0.13449204 -1.03813026] [ 0.21258922 0.97710608 -0.00833837 -0.02795375] [ 0.13317873 -0.02051982 0.99087959 0.62336851] [ 0. 0. 0. 1. ]] SLAMing on 194.47992885099998 meters Centerline goodness : 0.829627 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.62 [[ 0.96798896 -0.21196149 -0.13442358 -1.03851242] [ 0.21275204 0.97706817 -0.00862348 -0.02726496] [ 0.13316884 -0.02025146 0.99088644 0.6236114 ] [ 0. 0. 0. 1. ]] SLAMing on 194.50992885099998 meters Centerline goodness : 0.832224 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.62 [[ 0.96796043 -0.21216304 -0.13431103 -1.03896102] [ 0.21292466 0.97702867 -0.00883567 -0.02672431] [ 0.13310033 -0.02004555 0.99089983 0.62376108] [ 0. 0. 0. 1. ]] SLAMing on 194.53992885099998 meters Centerline goodness : 0.832526 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.62 [[ 0.96792168 -0.21243308 -0.13416338 -1.03960474] [ 0.21314622 0.97697706 -0.00919326 -0.02600707] [ 0.1330275 -0.01969806 0.99091658 0.62409699] [ 0. 0. 0. 1. ]] SLAMing on 194.569928851 meters Centerline goodness : 0.833165 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.02, Z:0.62 [[ 0.96787718 -0.21275157 -0.1339796 -1.0403462 ] [ 0.2134137 0.97691506 -0.00956831 -0.0249753 ] [ 0.13292237 -0.01933213 0.9909379 0.62434656] [ 0. 0. 0. 1. ]] SLAMing on 194.599928851 meters Centerline goodness : 0.834250 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.02, Z:0.62 [[ 0.96785856 -0.21291024 -0.13386201 -1.04059912] [ 0.21354291 0.97688471 -0.0097819 -0.02429306] [ 0.13285042 -0.01911779 0.9909517 0.62431054] [ 0. 0. 0. 1. ]] SLAMing on 194.62992885099996 meters Centerline goodness : 0.835015 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.02, Z:0.62 [[ 0.96783612 -0.21307082 -0.13376874 -1.04084905] [ 0.21368104 0.97685284 -0.00994711 -0.02371027] [ 0.13279181 -0.01895667 0.99096265 0.62427486] [ 0. 0. 0. 1. ]] SLAMing on 194.65992885099996 meters Centerline goodness : 0.833054 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.02, Z:0.62 [[ 0.96776919 -0.21355774 -0.13347614 -1.04184154] [ 0.21410152 0.97675567 -0.01043543 -0.02303218] [ 0.13260215 -0.01847836 0.99099708 0.62467817] [ 0. 0. 0. 1. ]] SLAMing on 194.68992885099996 meters Centerline goodness : 0.836505 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.02, Z:0.62 [[ 0.96775999 -0.21367977 -0.13334749 -1.04224916] [ 0.21420682 0.97673134 -0.01055088 -0.0228661 ] [ 0.13249918 -0.01835322 0.99101318 0.62482433] [ 0. 0. 0. 1. ]] SLAMing on 194.71992885099996 meters Centerline goodness : 0.834079 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.02, Z:0.62 [[ 0.96777071 -0.21365501 -0.13330941 -1.04223217] [ 0.21418956 0.97673581 -0.01048772 -0.02291813] [ 0.13244882 -0.01840378 0.99101898 0.62468573] [ 0. 0. 0. 1. ]] SLAMing on 194.74992885099996 meters Centerline goodness : 0.834581 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.02, Z:0.62 [[ 0.9677622 -0.21376706 -0.13319148 -1.04231027] [ 0.21429073 0.97671283 -0.01056042 -0.02283588] [ 0.1323473 -0.01832173 0.99103406 0.62451429] [ 0. 0. 0. 1. ]] SLAMing on 194.77992885099997 meters Centerline goodness : 0.836320 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.02, Z:0.62 [[ 0.96774046 -0.21386654 -0.13318975 -1.04236572] [ 0.21437804 0.97669261 -0.01065823 -0.02290468] [ 0.13236488 -0.01823855 0.99103324 0.62466864] [ 0. 0. 0. 1. ]] SLAMing on 194.80992885099997 meters Centerline goodness : 0.835476 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.02, Z:0.62 [[ 0.96773077 -0.21395107 -0.13312435 -1.04262257] [ 0.21446558 0.97667368 -0.01063246 -0.02282953] [ 0.13229388 -0.01826123 0.99104231 0.62472887] [ 0. 0. 0. 1. ]] SLAMing on 194.83992885099997 meters Centerline goodness : 0.784382 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.02, Z:0.62 [[ 0.96774867 -0.21384665 -0.13316198 -1.04250503] [ 0.21437492 0.97669472 -0.01052741 -0.02277276] [ 0.13230986 -0.0183587 0.99103837 0.62463951] [ 0. 0. 0. 1. ]] SLAMing on 194.86992885099997 meters Centerline goodness : 0.836811 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.02, Z:0.62 [[ 0.96776171 -0.213762 -0.13320319 -1.04252617] [ 0.21429634 0.97671245 -0.01048184 -0.02280706] [ 0.13234183 -0.01840103 0.99103332 0.62476696] [ 0. 0. 0. 1. ]] SLAMing on 194.89992885099997 meters Centerline goodness : 0.836929 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.02, Z:0.62 [[ 0.96778707 -0.21371615 -0.13309239 -1.04275005] [ 0.21426321 0.97672093 -0.01036779 -0.02307781] [ 0.13220989 -0.01848299 0.99104941 0.62475191] [ 0. 0. 0. 1. ]] SLAMing on 194.92992885099997 meters Centerline goodness : 0.839090 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.02, Z:0.63 [[ 0.96773264 -0.21398078 -0.133063 -1.0430238 ] [ 0.21450445 0.97666595 -0.01055725 -0.02337889] [ 0.13221715 -0.01832601 0.99105135 0.62508984] [ 0. 0. 0. 1. ]] SLAMing on 194.95992885099997 meters Centerline goodness : 0.836717 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.02, Z:0.63 [[ 0.96770958 -0.21414279 -0.13297007 -1.04322401] [ 0.21467785 0.97662879 -0.01047006 -0.0240751 ] [ 0.13210448 -0.01841375 0.99106475 0.62510516] [ 0. 0. 0. 1. ]] SLAMing on 194.98992885099997 meters Centerline goodness : 0.784152 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.02, Z:0.63 [[ 0.96767222 -0.21441517 -0.13280288 -1.04353872] [ 0.21493556 0.97657097 -0.01057556 -0.02474379] [ 0.13195899 -0.01831039 0.99108605 0.62525709] [ 0. 0. 0. 1. ]] SLAMing on 195.01992885099997 meters Centerline goodness : 0.836430 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.63 [[ 0.96755069 -0.21510988 -0.13256469 -1.04429511] [ 0.21562543 0.97641833 -0.01062646 -0.02650949] [ 0.13172445 -0.01830268 0.99111739 0.62560544] [ 0. 0. 0. 1. ]] SLAMing on 195.04992885099998 meters Centerline goodness : 0.836430 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.63 [[ 0.96755069 -0.21510988 -0.13256469 -1.04429511] [ 0.21562543 0.97641833 -0.01062646 -0.02650949] [ 0.13172445 -0.01830268 0.99111739 0.62560544] [ 0. 0. 0. 1. ]] SLAMing on 195.07992885099998 meters Centerline goodness : 0.836009 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.63 [[ 0.96751815 -0.21533357 -0.13243895 -1.0445656 ] [ 0.21584944 0.97636888 -0.01062184 -0.02740434] [ 0.13159651 -0.01831005 0.99113425 0.62576651] [ 0. 0. 0. 1. ]] SLAMing on 195.10992885099998 meters Centerline goodness : 0.786316 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.03, Z:0.63 [[ 0.96748263 -0.21558333 -0.13229208 -1.0448752 ] [ 0.21610457 0.97631292 -0.01057793 -0.02844615] [ 0.13143889 -0.01835496 0.99115433 0.62588062] [ 0. 0. 0. 1. ]] SLAMing on 195.13992885099998 meters Centerline goodness : 0.836341 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96743919 -0.2158672 -0.13214674 -1.04523333] [ 0.2163901 0.97624982 -0.01056441 -0.02939597] [ 0.13128874 -0.01837482 0.99117387 0.62603261] [ 0. 0. 0. 1. ]] SLAMing on 195.16992885099998 meters Centerline goodness : 0.836515 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96735126 -0.21657649 -0.13162885 -1.04647552] [ 0.2170734 0.97609624 -0.01073682 -0.03090934] [ 0.13080777 -0.01818684 0.99124092 0.62638953] [ 0. 0. 0. 1. ]] SLAMing on 195.19992885099998 meters Centerline goodness : 0.789169 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96730687 -0.21686597 -0.13147841 -1.04707957] [ 0.21733659 0.97603547 -0.01093488 -0.03113223] [ 0.13069899 -0.01799769 0.99125872 0.62676564] [ 0. 0. 0. 1. ]] SLAMing on 195.22992885099998 meters Centerline goodness : 0.789152 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96723833 -0.21729479 -0.1312745 -1.04789922] [ 0.21773371 0.97594422 -0.01117661 -0.03140885] [ 0.1305452 -0.01777244 0.99128305 0.62725919] [ 0. 0. 0. 1. ]] SLAMing on 195.25992885099998 meters Centerline goodness : 0.789152 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96723833 -0.21729479 -0.1312745 -1.04789922] [ 0.21773371 0.97594422 -0.01117661 -0.03140885] [ 0.1305452 -0.01777244 0.99128305 0.62725919] [ 0. 0. 0. 1. ]] SLAMing on 195.28992885099998 meters Centerline goodness : 0.836892 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96722681 -0.21739495 -0.13119346 -1.04805501] [ 0.2178294 0.97592252 -0.01120633 -0.03192979] [ 0.13047085 -0.01773873 0.99129345 0.62738834] [ 0. 0. 0. 1. ]] SLAMing on 195.319928851 meters Centerline goodness : 0.788374 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96721037 -0.21756582 -0.13103139 -1.04833664] [ 0.2179965 0.975885 -0.01122438 -0.03255307] [ 0.13031361 -0.01770805 0.99131468 0.62744151] [ 0. 0. 0. 1. ]] SLAMing on 195.349928851 meters Centerline goodness : 0.834873 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.9672275 -0.21750478 -0.13100623 -1.0484146 ] [ 0.21795697 0.97589579 -0.01105307 -0.03374211] [ 0.13025252 -0.01786289 0.99131993 0.6276795 ] [ 0. 0. 0. 1. ]] SLAMing on 195.37992885099996 meters Centerline goodness : 0.835408 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.9672277 -0.21750777 -0.13099982 -1.04852919] [ 0.21795547 0.97589574 -0.0110866 -0.03386028] [ 0.13025359 -0.01782886 0.9913204 0.62785928] [ 0. 0. 0. 1. ]] SLAMing on 195.40992885099996 meters Centerline goodness : 0.835577 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96729868 -0.21708733 -0.13117298 -1.04828142] [ 0.21757236 0.97598446 -0.01079798 -0.03421865] [ 0.1303669 -0.01809474 0.99130069 0.62805393] [ 0. 0. 0. 1. ]] SLAMing on 195.43992885099996 meters Centerline goodness : 0.837168 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96732999 -0.21684767 -0.13133838 -1.04803711] [ 0.21734466 0.97603612 -0.01071396 -0.03439295] [ 0.1305143 -0.01818176 0.9912797 0.62825192] [ 0. 0. 0. 1. ]] SLAMing on 195.46992885099996 meters Centerline goodness : 0.786020 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96736636 -0.21659379 -0.13148938 -1.04753226] [ 0.21710689 0.97609033 -0.01059553 -0.03456745] [ 0.13064044 -0.0182975 0.99126095 0.62817078] [ 0. 0. 0. 1. ]] SLAMing on 195.49992885099996 meters Centerline goodness : 0.785894 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96739425 -0.21645934 -0.13150556 -1.04739518] [ 0.21698649 0.97611833 -0.010482 -0.03473349] [ 0.13063392 -0.0183947 0.99126001 0.62808344] [ 0. 0. 0. 1. ]] SLAMing on 195.52992885099997 meters Centerline goodness : 0.787354 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.04, Z:0.63 [[ 0.96745012 -0.21616499 -0.13157874 -1.04717399] [ 0.21672515 0.97617915 -0.0102219 -0.03541757] [ 0.13065404 -0.01862724 0.99125302 0.62813338] [ 0. 0. 0. 1. ]] SLAMing on 195.55992885099997 meters Centerline goodness : 0.786616 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.04, Z:0.63 [[ 0.96747745 -0.21600243 -0.1316447 -1.04685212] [ 0.21658065 0.97621266 -0.01008327 -0.0356798 ] [ 0.13069123 -0.01875636 0.99124568 0.62798921] [ 0. 0. 0. 1. ]] SLAMing on 195.58992885099997 meters Centerline goodness : 0.787291 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.04, Z:0.63 [[ 0.96748745 -0.21592138 -0.13170415 -1.0466705 ] [ 0.21650816 0.97622937 -0.01002146 -0.03578069] [ 0.13073731 -0.01881938 0.99123841 0.62797041] [ 0. 0. 0. 1. ]] SLAMing on 195.61992885099997 meters Centerline goodness : 0.787714 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.04, Z:0.63 [[ 0.96748086 -0.21594887 -0.13170756 -1.04675127] [ 0.21652059 0.97622541 -0.01013799 -0.03550006] [ 0.13076556 -0.01870909 0.99123677 0.6280952 ] [ 0. 0. 0. 1. ]] SLAMing on 195.64992885099997 meters Centerline goodness : 0.838281 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.04, Z:0.63 [[ 0.9675279 -0.21573078 -0.13171936 -1.04660379] [ 0.21631979 0.97627141 -0.00999368 -0.0353529 ] [ 0.13074979 -0.01882434 0.99123667 0.62794426] [ 0. 0. 0. 1. ]] SLAMing on 195.67992885099997 meters Centerline goodness : 0.786913 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.04, Z:0.63 [[ 0.96753443 -0.215633 -0.13183145 -1.04633014] [ 0.2162198 0.97629329 -0.01002004 -0.0352267 ] [ 0.13086681 -0.01880983 0.9912215 0.62797527] [ 0. 0. 0. 1. ]] SLAMing on 195.70992885099997 meters Centerline goodness : 0.838356 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96754509 -0.21561746 -0.13177861 -1.04632571] [ 0.21619283 0.97629847 -0.01009788 -0.03482056] [ 0.13083253 -0.01871943 0.99122774 0.62784144] [ 0. 0. 0. 1. ]] SLAMing on 195.73992885099997 meters Centerline goodness : 0.785279 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96757124 -0.21545924 -0.1318454 -1.046247 ] [ 0.21600565 0.97633762 -0.01031592 -0.03368632] [ 0.13094829 -0.01849796 0.99121661 0.62791425] [ 0. 0. 0. 1. ]] SLAMing on 195.76992885099997 meters Centerline goodness : 0.838236 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96758006 -0.21535998 -0.13194281 -1.04606968] [ 0.21589226 0.97636149 -0.01042985 -0.03291926] [ 0.13107005 -0.01839371 0.99120246 0.62789662] [ 0. 0. 0. 1. ]] SLAMing on 195.79992885099998 meters Centerline goodness : 0.788114 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96758184 -0.21528358 -0.13205441 -1.04583825] [ 0.21579491 0.97638119 -0.01059872 -0.0320888 ] [ 0.13121717 -0.01824154 0.99118581 0.62790959] [ 0. 0. 0. 1. ]] SLAMing on 195.82992885099998 meters Centerline goodness : 0.785923 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96754437 -0.21552201 -0.13193995 -1.04639749] [ 0.21599207 0.97633415 -0.01091093 -0.03137814] [ 0.13116903 -0.01794118 0.99119766 0.62822749] [ 0. 0. 0. 1. ]] SLAMing on 195.85992885099998 meters Centerline goodness : 0.837674 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96753171 -0.21556108 -0.13196899 -1.04646878] [ 0.21601782 0.97632725 -0.01101827 -0.03096778] [ 0.13122003 -0.01784713 0.99119261 0.62834662] [ 0. 0. 0. 1. ]] SLAMing on 195.88992885099998 meters Centerline goodness : 0.787086 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96750803 -0.21569638 -0.13192149 -1.04672064] [ 0.21612761 0.97630073 -0.01121373 -0.03060767] [ 0.1312138 -0.0176625 0.99119674 0.62852479] [ 0. 0. 0. 1. ]] SLAMing on 195.91992885099998 meters Centerline goodness : 0.836310 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96748693 -0.21577674 -0.13194484 -1.04658624] [ 0.21619679 0.97628433 -0.01130684 -0.03070531] [ 0.13125543 -0.01758683 0.99119257 0.62851651] [ 0. 0. 0. 1. ]] SLAMing on 195.94992885099998 meters Centerline goodness : 0.834810 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96745907 -0.21599904 -0.13178531 -1.04691136] [ 0.21639662 0.97623815 -0.0114704 -0.03066552] [ 0.13113145 -0.01742075 0.99121192 0.6285727 ] [ 0. 0. 0. 1. ]] SLAMing on 195.97992885099998 meters Centerline goodness : 0.789364 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96744143 -0.21612472 -0.1317087 -1.04709877] [ 0.21650922 0.97621204 -0.01156775 -0.03068395] [ 0.1310757 -0.01732503 0.99122097 0.62864804] [ 0. 0. 0. 1. ]] SLAMing on 196.00992885099998 meters Centerline goodness : 0.836897 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96742119 -0.21625186 -0.1316487 -1.04731409] [ 0.21661694 0.97618638 -0.01171534 -0.03033635] [ 0.13104713 -0.01718367 0.9912272 0.62870466] [ 0. 0. 0. 1. ]] SLAMing on 196.03992885099998 meters Centerline goodness : 0.835161 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96742831 -0.21623326 -0.13162692 -1.0472057 ] [ 0.2166018 0.97619011 -0.01168492 -0.03006033] [ 0.13101956 -0.0172063 0.99123046 0.62845742] [ 0. 0. 0. 1. ]] SLAMing on 196.069928851 meters Centerline goodness : 0.834894 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96744279 -0.21611986 -0.13170668 -1.0469507 ] [ 0.21649518 0.97621433 -0.0116365 -0.02983995] [ 0.13108883 -0.01725622 0.99122043 0.62833734] [ 0. 0. 0. 1. ]] SLAMing on 196.099928851 meters Centerline goodness : 0.830573 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96747576 -0.21585829 -0.13189331 -1.04642484] [ 0.2162411 0.97627124 -0.01158678 -0.02947644] [ 0.13126475 -0.01731083 0.9911962 0.62823266] [ 0. 0. 0. 1. ]] SLAMing on 196.12992885099996 meters Centerline goodness : 0.833862 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96749247 -0.21571678 -0.13200221 -1.04618187] [ 0.21609122 0.97630362 -0.01165463 -0.02904345] [ 0.13138834 -0.01724875 0.9911809 0.62830933] [ 0. 0. 0. 1. ]] SLAMing on 196.15992885099996 meters Centerline goodness : 0.789078 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96747899 -0.21582204 -0.13192898 -1.04650837] [ 0.21617421 0.97628325 -0.01182029 -0.02866817] [ 0.13135113 -0.01708376 0.99118869 0.62849143] [ 0. 0. 0. 1. ]] SLAMing on 196.18992885099996 meters Centerline goodness : 0.835899 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96745956 -0.21594158 -0.13187586 -1.04677883] [ 0.21627311 0.97625944 -0.01197731 -0.02838996] [ 0.13133145 -0.01693364 0.99119388 0.62869339] [ 0. 0. 0. 1. ]] SLAMing on 196.21992885099996 meters Centerline goodness : 0.789581 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96740763 -0.21628657 -0.13169126 -1.04735556] [ 0.21658907 0.97618668 -0.01219631 -0.02836587] [ 0.13119315 -0.01672408 0.99121575 0.62889163] [ 0. 0. 0. 1. ]] SLAMing on 196.24992885099996 meters Centerline goodness : 0.790329 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.9673788 -0.21649099 -0.13156709 -1.04777019] [ 0.21676665 0.97614473 -0.01239731 -0.02838447] [ 0.13111243 -0.01652646 0.99122974 0.62918226] [ 0. 0. 0. 1. ]] SLAMing on 196.27992885099997 meters Centerline goodness : 0.837195 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96733476 -0.21674676 -0.13146982 -1.04792428] [ 0.21699276 0.97609155 -0.01262678 -0.02809799] [ 0.13106339 -0.01631368 0.99123976 0.62918347] [ 0. 0. 0. 1. ]] SLAMing on 196.30992885099997 meters Centerline goodness : 0.838121 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.9672921 -0.21697502 -0.13140714 -1.04806697] [ 0.21719966 0.97604332 -0.01279615 -0.02797692] [ 0.13103551 -0.01616397 0.99124589 0.62920631] [ 0. 0. 0. 1. ]] SLAMing on 196.33992885099997 meters Centerline goodness : 0.788199 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96725737 -0.21716631 -0.13134677 -1.04787673] [ 0.21737342 0.97600282 -0.01293433 -0.02746977] [ 0.13100371 -0.01604047 0.9912521 0.62878095] [ 0. 0. 0. 1. ]] SLAMing on 196.36992885099997 meters Centerline goodness : 0.788386 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96723004 -0.21727961 -0.13136068 -1.04788975] [ 0.21745505 0.9759813 -0.01318339 -0.02672007] [ 0.13107005 -0.01581368 0.99124698 0.62881562] [ 0. 0. 0. 1. ]] SLAMing on 196.39992885099997 meters Centerline goodness : 0.838002 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.9672146 -0.21738056 -0.13130729 -1.04806243] [ 0.21752698 0.97596228 -0.01340336 -0.02572074] [ 0.13106459 -0.01559895 0.9912511 0.62879936] [ 0. 0. 0. 1. ]] SLAMing on 196.42992885099997 meters Centerline goodness : 0.827429 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96720143 -0.21738469 -0.13139746 -1.04792593] [ 0.21750717 0.97596404 -0.01359533 -0.02480728] [ 0.13119461 -0.01543046 0.99123654 0.628803 ] [ 0. 0. 0. 1. ]] SLAMing on 196.45992885099997 meters Centerline goodness : 0.788941 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96715848 -0.21761497 -0.13133236 -1.04814991] [ 0.21769209 0.97591785 -0.01394616 -0.02392375] [ 0.13120449 -0.01510187 0.99124029 0.62887613] [ 0. 0. 0. 1. ]] SLAMing on 196.48992885099997 meters Centerline goodness : 0.836264 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96711509 -0.21786653 -0.13123479 -1.04841541] [ 0.21790166 0.97586641 -0.0142694 -0.02333165] [ 0.13117645 -0.01479613 0.99124861 0.62899818] [ 0. 0. 0. 1. ]] SLAMing on 196.51992885099997 meters Centerline goodness : 0.787998 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96707419 -0.21816164 -0.1310458 -1.04894175] [ 0.21816007 0.97580459 -0.01454573 -0.02285684] [ 0.13104842 -0.01452216 0.9912696 0.62914971] [ 0. 0. 0. 1. ]] SLAMing on 196.54992885099998 meters Centerline goodness : 0.786316 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96701288 -0.21849085 -0.13094976 -1.04941232] [ 0.21845149 0.97573491 -0.01484342 -0.02238626] [ 0.1310154 -0.01425239 0.99127788 0.62940424] [ 0. 0. 0. 1. ]] SLAMing on 196.57992885099998 meters Centerline goodness : 0.787568 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96697251 -0.2187141 -0.13087515 -1.04970871] [ 0.21864823 0.97568766 -0.01505113 -0.02190058] [ 0.13098516 -0.01406159 0.9912846 0.62951521] [ 0. 0. 0. 1. ]] SLAMing on 196.60992885099998 meters Centerline goodness : 0.837677 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.9669384 -0.21908537 -0.13050567 -1.05076754] [ 0.21895208 0.97561173 -0.01554783 -0.02085506] [ 0.13072917 -0.01354069 0.99132564 0.62988028] [ 0. 0. 0. 1. ]] SLAMing on 196.63992885099998 meters Centerline goodness : 0.836855 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96688383 -0.21933447 -0.13049158 -1.05108363] [ 0.21916393 0.97555937 -0.01584574 -0.02034025] [ 0.1307778 -0.01327806 0.99132278 0.63017633] [ 0. 0. 0. 1. ]] SLAMing on 196.66992885099998 meters Centerline goodness : 0.786909 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96687543 -0.21939464 -0.13045263 -1.05126083] [ 0.21920839 0.97554744 -0.01596498 -0.02000294] [ 0.13076535 -0.01316017 0.991326 0.63028617] [ 0. 0. 0. 1. ]] SLAMing on 196.69992885099998 meters Centerline goodness : 0.788042 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96686705 -0.21941325 -0.13048344 -1.05124991] [ 0.21921434 0.97554445 -0.01606533 -0.01953601] [ 0.13081735 -0.01307081 0.99132032 0.63031396] [ 0. 0. 0. 1. ]] SLAMing on 196.72992885099998 meters Centerline goodness : 0.841231 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96689863 -0.2192915 -0.1304541 -1.05104377] [ 0.21907463 0.97557377 -0.01619017 -0.01802282] [ 0.13081796 -0.01292493 0.99132215 0.62988888] [ 0. 0. 0. 1. ]] SLAMing on 196.75992885099998 meters Centerline goodness : 0.790613 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96692067 -0.21913828 -0.13054819 -1.05063499] [ 0.21892776 0.97560756 -0.01614103 -0.01749595] [ 0.13090091 -0.01297353 0.99131057 0.62961819] [ 0. 0. 0. 1. ]] SLAMing on 196.78992885099998 meters Centerline goodness : 0.790282 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96692372 -0.21906985 -0.13064042 -1.05029182] [ 0.21885477 0.97562328 -0.01618006 -0.01704018] [ 0.1310004 -0.0129464 0.99129778 0.62945175] [ 0. 0. 0. 1. ]] SLAMing on 196.819928851 meters Centerline goodness : 0.840142 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96696935 -0.21887956 -0.13062163 -1.04997783] [ 0.21866119 0.97566652 -0.01619018 -0.01626119] [ 0.13098685 -0.01290648 0.99130009 0.62905381] [ 0. 0. 0. 1. ]] SLAMing on 196.849928851 meters Centerline goodness : 0.839562 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96696191 -0.21887172 -0.13068989 -1.04991482] [ 0.21864614 0.97566888 -0.01625092 -0.01578534] [ 0.13106692 -0.01286081 0.9912901 0.6291044 ] [ 0. 0. 0. 1. ]] SLAMing on 196.87992885099996 meters Centerline goodness : 0.793434 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96694087 -0.21896133 -0.13069541 -1.04999283] [ 0.21871958 0.97565027 -0.0163799 -0.01517879] [ 0.13109958 -0.01274725 0.99128725 0.62910276] [ 0. 0. 0. 1. ]] SLAMing on 196.90992885099996 meters Centerline goodness : 0.839819 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.01, Z:0.63 [[ 0.96690718 -0.2191951 -0.13055269 -1.05036225] [ 0.21893102 0.97559996 -0.0165508 -0.01481278] [ 0.13099506 -0.01257895 0.99130322 0.62916399] [ 0. 0. 0. 1. ]] SLAMing on 196.93992885099996 meters Centerline goodness : 0.838626 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.01, Z:0.63 [[ 0.96685829 -0.21952337 -0.13036309 -1.05095359] [ 0.21922686 0.97552925 -0.01680046 -0.01436189] [ 0.1308611 -0.01233543 0.99132397 0.62932974] [ 0. 0. 0. 1. ]] SLAMing on 196.96992885099996 meters Centerline goodness : 0.838626 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.01, Z:0.63 [[ 0.96685829 -0.21952337 -0.13036309 -1.05095359] [ 0.21922686 0.97552925 -0.01680046 -0.01436189] [ 0.1308611 -0.01233543 0.99132397 0.62932974] [ 0. 0. 0. 1. ]] SLAMing on 196.99992885099996 meters Centerline goodness : 0.794014 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.01, Z:0.63 [[ 0.96677428 -0.22000283 -0.13017771 -1.05153868] [ 0.21965474 0.97542592 -0.01720656 -0.01404798] [ 0.1307642 -0.0119593 0.99134136 0.62962168] [ 0. 0. 0. 1. ]] SLAMing on 197.02992885099997 meters Centerline goodness : 0.836363 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.01, Z:0.63 [[ 0.96674389 -0.22016442 -0.1301302 -1.0517036 ] [ 0.21979514 0.97539133 -0.01737384 -0.01381471] [ 0.13075297 -0.01180593 0.99134468 0.62969906] [ 0. 0. 0. 1. ]] SLAMing on 197.05992885099997 meters Centerline goodness : 0.793734 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.01, Z:0.63 [[ 0.96671079 -0.22037673 -0.13001669 -1.05182577] [ 0.21998631 0.97534529 -0.0175382 -0.01347798] [ 0.13067618 -0.01164753 0.99135668 0.62958733] [ 0. 0. 0. 1. ]] SLAMing on 197.08992885099997 meters Centerline goodness : 0.790573 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.01, Z:0.63 [[ 0.96667993 -0.22052452 -0.12999557 -1.05202618] [ 0.22010831 0.97531408 -0.01774204 -0.01301943] [ 0.13069906 -0.01146223 0.99135583 0.62974799] [ 0. 0. 0. 1. ]] SLAMing on 197.11992885099997 meters Centerline goodness : 0.792763 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.01, Z:0.63 [[ 0.96661773 -0.22088939 -0.12983851 -1.05269573] [ 0.22041824 0.9752362 -0.01816987 -0.01192022] [ 0.13063675 -0.01105546 0.99136866 0.63002118] [ 0. 0. 0. 1. ]] SLAMing on 197.14992885099997 meters Centerline goodness : 0.835891 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.01, Z:0.63 [[ 0.9665988 -0.22098904 -0.12980988 -1.05291901] [ 0.22050339 0.97521482 -0.01828421 -0.01162004] [ 0.13063313 -0.01095002 0.99137031 0.63016663] [ 0. 0. 0. 1. ]] SLAMing on 197.17992885099997 meters Centerline goodness : 0.791856 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.01, Z:0.63 [[ 0.96658495 -0.22108993 -0.1297412 -1.05299249] [ 0.22059269 0.97519295 -0.01837324 -0.01131986] [ 0.13058484 -0.01086066 0.99137765 0.6300479 ] [ 0. 0. 0. 1. ]] SLAMing on 197.20992885099997 meters Centerline goodness : 0.792653 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.01, Z:0.63 [[ 0.96659635 -0.22098995 -0.12982655 -1.05272003] [ 0.22049602 0.97521528 -0.01834857 -0.01130789] [ 0.13066369 -0.01089057 0.99136693 0.6300027 ] [ 0. 0. 0. 1. ]] SLAMing on 197.23992885099997 meters Centerline goodness : 0.791060 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.01, Z:0.63 [[ 0.96660155 -0.22094161 -0.12987012 -1.05274959] [ 0.22044037 0.97522681 -0.01840436 -0.01107649] [ 0.13071911 -0.01083894 0.99136019 0.63015598] [ 0. 0. 0. 1. ]] SLAMing on 197.26992885099997 meters Centerline goodness : 0.787287 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.01, Z:0.63 [[ 0.96657858 -0.22100239 -0.12993765 -1.05266924] [ 0.22049398 0.97521347 -0.01846847 -0.01096329] [ 0.13079852 -0.01079924 0.99135015 0.63024425] [ 0. 0. 0. 1. ]] SLAMing on 197.29992885099998 meters Centerline goodness : 0.788326 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.01, Z:0.63 [[ 0.96657459 -0.22097022 -0.13002199 -1.05233791] [ 0.22047565 0.97521951 -0.01836847 -0.01112786] [ 0.13085887 -0.01091219 0.99134095 0.6300861 ] [ 0. 0. 0. 1. ]] SLAMing on 197.32992885099998 meters Centerline goodness : 0.788462 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.01, Z:0.63 [[ 0.96656055 -0.22104804 -0.12999411 -1.05246417] [ 0.22055616 0.97520163 -0.018351 -0.01122896] [ 0.13082692 -0.01093365 0.99134493 0.63010784] [ 0. 0. 0. 1. ]] SLAMing on 197.35992885099998 meters Centerline goodness : 0.837625 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.01, Z:0.63 [[ 0.96656015 -0.22115791 -0.12981008 -1.05291112] [ 0.22066725 0.97517683 -0.01833369 -0.01200101] [ 0.13064242 -0.01092422 0.99136937 0.6303341 ] [ 0. 0. 0. 1. ]] SLAMing on 197.38992885099998 meters Centerline goodness : 0.788236 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.01, Z:0.63 [[ 0.9665649 -0.22109938 -0.12987437 -1.05275521] [ 0.22062041 0.97518906 -0.01824646 -0.01256603] [ 0.13068635 -0.01101654 0.99136255 0.63043352] [ 0. 0. 0. 1. ]] SLAMing on 197.41992885099998 meters Centerline goodness : 0.786281 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.01, Z:0.63 [[ 0.96660531 -0.22093917 -0.12984627 -1.05268569] [ 0.22048916 0.97522307 -0.01801348 -0.0135216 ] [ 0.13060897 -0.01121777 0.9913705 0.63044055] [ 0. 0. 0. 1. ]] SLAMing on 197.44992885099998 meters Centerline goodness : 0.789353 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.01, Z:0.63 [[ 0.96659609 -0.22093173 -0.12992753 -1.05262876] [ 0.22048106 0.97522469 -0.01802504 -0.01375874] [ 0.13069084 -0.01122363 0.99135964 0.63065146] [ 0. 0. 0. 1. ]] SLAMing on 197.47992885099998 meters Centerline goodness : 0.788606 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.01, Z:0.63 [[ 0.96660759 -0.22087808 -0.12993321 -1.05267208] [ 0.22043276 0.97523642 -0.01798132 -0.01396322] [ 0.13068728 -0.01126066 0.99135969 0.63076959] [ 0. 0. 0. 1. ]] SLAMing on 197.50992885099998 meters Centerline goodness : 0.837505 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.01, Z:0.63 [[ 0.9666234 -0.22073848 -0.13005275 -1.05235557] [ 0.22030962 0.97526652 -0.01785745 -0.01444745] [ 0.13077792 -0.01139044 0.99134625 0.63082415] [ 0. 0. 0. 1. ]] SLAMing on 197.53992885099998 meters Centerline goodness : 0.836456 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96668046 -0.22039749 -0.1302069 -1.0519016 ] [ 0.22002429 0.97533873 -0.01742631 -0.01579303] [ 0.13083655 -0.01180301 0.99133369 0.63083683] [ 0. 0. 0. 1. ]] SLAMing on 197.569928851 meters Centerline goodness : 0.834734 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96671364 -0.22021265 -0.13027331 -1.05153258] [ 0.21986375 0.97537832 -0.01723574 -0.01655371] [ 0.13086128 -0.01198035 0.9913283 0.63076901] [ 0. 0. 0. 1. ]] SLAMing on 197.59992885099996 meters Centerline goodness : 0.835597 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96674124 -0.21999857 -0.1304301 -1.05107759] [ 0.21966898 0.97542477 -0.01708957 -0.01717544] [ 0.13098443 -0.01213025 0.99131021 0.63082855] [ 0. 0. 0. 1. ]] SLAMing on 197.62992885099996 meters Centerline goodness : 0.833410 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96676629 -0.21982751 -0.13053276 -1.05079036] [ 0.21951925 0.97546133 -0.01692619 -0.01757089] [ 0.1310505 -0.01229078 0.9912995 0.63082199] [ 0. 0. 0. 1. ]] SLAMing on 197.65992885099996 meters Centerline goodness : 0.787408 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96681825 -0.21951902 -0.13066706 -1.0504333 ] [ 0.21924537 0.97552757 -0.01665628 -0.01807989] [ 0.13112569 -0.01254455 0.99128638 0.63076798] [ 0. 0. 0. 1. ]] SLAMing on 197.68992885099996 meters Centerline goodness : 0.832209 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96684279 -0.21937637 -0.130725 -1.05016114] [ 0.21912236 0.9755578 -0.01650375 -0.0187579 ] [ 0.13115032 -0.01268824 0.99128129 0.63075712] [ 0. 0. 0. 1. ]] SLAMing on 197.71992885099996 meters Centerline goodness : 0.831857 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96684365 -0.21934291 -0.13077479 -1.04996096] [ 0.21909527 0.97556465 -0.01645821 -0.01921454] [ 0.13118925 -0.01273962 0.99127548 0.63076776] [ 0. 0. 0. 1. ]] SLAMing on 197.74992885099996 meters Centerline goodness : 0.836449 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96685246 -0.21928237 -0.1308112 -1.04974157] [ 0.21903332 0.97557839 -0.01646832 -0.01957313] [ 0.1312278 -0.01272957 0.99127051 0.6308112 ] [ 0. 0. 0. 1. ]] SLAMing on 197.77992885099997 meters Centerline goodness : 0.834851 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96687731 -0.21916994 -0.13081589 -1.04970748] [ 0.21893673 0.97560221 -0.01634147 -0.01995519] [ 0.13120583 -0.01284021 0.99127199 0.63082618] [ 0. 0. 0. 1. ]] SLAMing on 197.80992885099997 meters Centerline goodness : 0.834927 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96686425 -0.2192264 -0.13081787 -1.04983492] [ 0.2189917 0.97558961 -0.01635674 -0.02014316] [ 0.13121039 -0.01283328 0.99127148 0.63100273] [ 0. 0. 0. 1. ]] SLAMing on 197.83992885099997 meters Centerline goodness : 0.834605 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96685143 -0.21929904 -0.13079083 -1.04986038] [ 0.21906729 0.97557298 -0.01633673 -0.0204807 ] [ 0.13117863 -0.0128568 0.99127538 0.63104023] [ 0. 0. 0. 1. ]] SLAMing on 197.86992885099997 meters Centerline goodness : 0.782202 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.9668206 -0.21951047 -0.13066401 -1.05012876] [ 0.21929101 0.97552424 -0.01624564 -0.02151568] [ 0.13103199 -0.01294683 0.9912936 0.63109495] [ 0. 0. 0. 1. ]] SLAMing on 197.89992885099997 meters Centerline goodness : 0.837259 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96679262 -0.21973849 -0.13048763 -1.05049259] [ 0.2195091 0.97547396 -0.01631875 -0.02213619] [ 0.13087314 -0.01286638 0.99131563 0.6312169 ] [ 0. 0. 0. 1. ]] SLAMing on 197.92992885099997 meters Centerline goodness : 0.784139 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96676923 -0.21991788 -0.13035869 -1.05080927] [ 0.21967898 0.97543452 -0.01639028 -0.0225689 ] [ 0.13076089 -0.01279144 0.99133141 0.63138514] [ 0. 0. 0. 1. ]] SLAMing on 197.95992885099997 meters Centerline goodness : 0.784190 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96673523 -0.22012842 -0.13025544 -1.05117095] [ 0.2198675 0.97538915 -0.01656139 -0.02267646] [ 0.13069538 -0.01262846 0.99134214 0.63165427] [ 0. 0. 0. 1. ]] SLAMing on 197.98992885099997 meters Centerline goodness : 0.783561 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96673085 -0.22014189 -0.13026515 -1.05108111] [ 0.21987905 0.97538627 -0.01657786 -0.02252012] [ 0.13070832 -0.01261625 0.99134059 0.63157083] [ 0. 0. 0. 1. ]] SLAMing on 198.01992885099997 meters Centerline goodness : 0.837401 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96673756 -0.22012664 -0.1302411 -1.05103952] [ 0.21987437 0.97538874 -0.01649432 -0.02260249] [ 0.13066654 -0.01269101 0.99134514 0.63144495] [ 0. 0. 0. 1. ]] SLAMing on 198.04992885099998 meters Centerline goodness : 0.837598 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96673657 -0.22013872 -0.13022807 -1.05101277] [ 0.21988731 0.97538594 -0.01648734 -0.02263394] [ 0.13065213 -0.01269659 0.99134697 0.63139788] [ 0. 0. 0. 1. ]] SLAMing on 198.07992885099998 meters Centerline goodness : 0.784733 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96671619 -0.22023596 -0.13021494 -1.05107182] [ 0.21996984 0.97536535 -0.01660427 -0.02227524] [ 0.130664 -0.01259175 0.99134674 0.63140787] [ 0. 0. 0. 1. ]] SLAMing on 198.10992885099998 meters Centerline goodness : 0.783223 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96673323 -0.22013687 -0.13025598 -1.05072581] [ 0.21987795 0.97538704 -0.01654687 -0.02215927] [ 0.13069258 -0.01264401 0.99134231 0.63113724] [ 0. 0. 0. 1. ]] SLAMing on 198.13992885099998 meters Centerline goodness : 0.784216 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96672832 -0.22016167 -0.13025051 -1.05053583] [ 0.21990174 0.97538153 -0.0165557 -0.02227373] [ 0.13068887 -0.01263745 0.99134288 0.63098189] [ 0. 0. 0. 1. ]] SLAMing on 198.16992885099998 meters Centerline goodness : 0.783995 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.9666971 -0.22037458 -0.13012214 -1.05080477] [ 0.22009727 0.97533515 -0.01668955 -0.0222719 ] [ 0.13059065 -0.01250579 0.9913575 0.63103832] [ 0. 0. 0. 1. ]] SLAMing on 198.19992885099998 meters Centerline goodness : 0.836823 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96658513 -0.22107865 -0.12975905 -1.05176175] [ 0.22076356 0.97517937 -0.01698972 -0.02235956] [ 0.13029441 -0.01222406 0.99139999 0.63116523] [ 0. 0. 0. 1. ]] SLAMing on 198.22992885099998 meters Centerline goodness : 0.837285 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96653263 -0.22139705 -0.12960715 -1.05203879] [ 0.2210702 0.97510821 -0.01708633 -0.0229024 ] [ 0.13016386 -0.01213778 0.9914182 0.63124194] [ 0. 0. 0. 1. ]] SLAMing on 198.25992885099998 meters Centerline goodness : 0.837967 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96644834 -0.22191534 -0.12934907 -1.05264144] [ 0.22157526 0.97499161 -0.01719799 -0.02372378] [ 0.12993075 -0.01203958 0.99144997 0.63136813] [ 0. 0. 0. 1. ]] SLAMing on 198.28992885099998 meters Centerline goodness : 0.837741 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96635839 -0.22242008 -0.12915406 -1.05295874] [ 0.22207289 0.97487714 -0.01726811 -0.02466938] [ 0.12975012 -0.01199443 0.99147418 0.63136402] [ 0. 0. 0. 1. ]] SLAMing on 198.319928851 meters Centerline goodness : 0.838179 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96629602 -0.22282773 -0.12891784 -1.05321409] [ 0.22248807 0.9747834 -0.01721591 -0.02597916] [ 0.12950315 -0.01204702 0.99150583 0.63120688] [ 0. 0. 0. 1. ]] SLAMing on 198.34992885099996 meters Centerline goodness : 0.838377 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96605621 -0.22413658 -0.12844533 -1.05451899] [ 0.22374186 0.97448803 -0.01768229 -0.02785143] [ 0.12913168 -0.01165651 0.99155894 0.63176143] [ 0. 0. 0. 1. ]] SLAMing on 198.37992885099996 meters Centerline goodness : 0.837221 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96597395 -0.224584 -0.1282823 -1.05494994] [ 0.22417457 0.97438624 -0.01781048 -0.02857081] [ 0.12899645 -0.01155317 0.99157775 0.63195255] [ 0. 0. 0. 1. ]] SLAMing on 198.40992885099996 meters Centerline goodness : 0.784176 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.03, Z:0.63 [[ 0.96591015 -0.22492583 -0.12816377 -1.05525234] [ 0.2244978 0.97430897 -0.0179657 -0.02905015] [ 0.12891206 -0.01141924 0.99159028 0.63214868] [ 0. 0. 0. 1. ]] SLAMing on 198.43992885099996 meters Centerline goodness : 0.785019 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.03, Z:0.63 [[ 0.96587563 -0.22520057 -0.12794129 -1.05543095] [ 0.22476804 0.97424605 -0.01799881 -0.02959325] [ 0.12869964 -0.0113725 0.99161841 0.63195092] [ 0. 0. 0. 1. ]] SLAMing on 198.46992885099996 meters Centerline goodness : 0.783234 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.03, Z:0.63 [[ 0.96585218 -0.22530688 -0.12793112 -1.05510875] [ 0.22488845 0.97422015 -0.01789636 -0.02991395] [ 0.12866525 -0.011485 0.99162158 0.63155893] [ 0. 0. 0. 1. ]] SLAMing on 198.49992885099996 meters Centerline goodness : 0.836305 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.03, Z:0.63 [[ 0.96580164 -0.22552794 -0.12792316 -1.05518041] [ 0.22508861 0.97417069 -0.01807146 -0.02953556] [ 0.12869461 -0.0113406 0.99161943 0.63154975] [ 0. 0. 0. 1. ]] SLAMing on 198.52992885099997 meters Centerline goodness : 0.835009 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96581298 -0.22545247 -0.12797059 -1.05496279] [ 0.22499707 0.97418955 -0.01819439 -0.02920775] [ 0.12876958 -0.01122063 0.99161106 0.6315733 ] [ 0. 0. 0. 1. ]] SLAMing on 198.55992885099997 meters Centerline goodness : 0.836283 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.03, Z:0.63 [[ 0.96581426 -0.22546559 -0.12793781 -1.05513484] [ 0.22500082 0.97418737 -0.01826458 -0.02876446] [ 0.12875344 -0.01114592 0.991614 0.63165278] [ 0. 0. 0. 1. ]] SLAMing on 198.58992885099997 meters Centerline goodness : 0.782513 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.03, Z:0.63 [[ 0.96643067 -0.22273538 -0.12806525 -1.05746775] [ 0.22260598 0.97478516 -0.01550697 -0.02886693] [ 0.12829006 -0.01352168 0.99164451 0.63255063] [ 0. 0. 0. 1. ]] SLAMing on 198.61992885099997 meters Centerline goodness : 0.835763 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.03, Z:0.63 [[ 0.96647091 -0.2225021 -0.12816709 -1.05743439] [ 0.22235801 0.97484002 -0.01561559 -0.0276508 ] [ 0.12841691 -0.01340697 0.99162964 0.63269944] [ 0. 0. 0. 1. ]] SLAMing on 198.64992885099997 meters Centerline goodness : 0.781693 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.03, Z:0.63 [[ 0.96648938 -0.22234628 -0.12829811 -1.05743917] [ 0.22217164 0.97487866 -0.01585458 -0.02628556] [ 0.12860029 -0.01318092 0.99160891 0.6329884 ] [ 0. 0. 0. 1. ]] SLAMing on 198.67992885099997 meters Centerline goodness : 0.838347 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.03, Z:0.63 [[ 0.96650384 -0.2222683 -0.12832431 -1.05756278] [ 0.22205767 0.97490011 -0.01612944 -0.0251969 ] [ 0.12868844 -0.01290623 0.99160109 0.63322702] [ 0. 0. 0. 1. ]] SLAMing on 198.70992885099997 meters Centerline goodness : 0.780125 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.02, Z:0.63 [[ 0.96662701 -0.2216018 -0.12854905 -1.05674302] [ 0.22140418 0.97505074 -0.01600739 -0.02428608] [ 0.12888911 -0.01298812 0.99157395 0.6329804 ] [ 0. 0. 0. 1. ]] SLAMing on 198.73992885099997 meters Centerline goodness : 0.780839 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.02, Z:0.63 [[ 0.96665445 -0.22143156 -0.12863611 -1.05619704] [ 0.22122537 0.97509029 -0.01607072 -0.02374053] [ 0.12899039 -0.01292274 0.99156164 0.63266547] [ 0. 0. 0. 1. ]] SLAMing on 198.76992885099997 meters Centerline goodness : 0.780556 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.02, Z:0.63 [[ 0.96667842 -0.22124689 -0.1287736 -1.05569425] [ 0.22104564 0.97513165 -0.01603431 -0.02341035] [ 0.12911875 -0.01296482 0.99154438 0.63244864] [ 0. 0. 0. 1. ]] SLAMing on 198.79992885099998 meters Centerline goodness : 0.837471 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96673644 -0.22092714 -0.12888697 -1.05491214] [ 0.22074791 0.97520202 -0.01585532 -0.02310372] [ 0.1291937 -0.01312362 0.99153253 0.63187209] [ 0. 0. 0. 1. ]] SLAMing on 198.82992885099998 meters Centerline goodness : 0.836847 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.9667563 -0.22084319 -0.12888187 -1.05464525] [ 0.22066701 0.9752208 -0.01582572 -0.02291547] [ 0.12918328 -0.01314036 0.99153367 0.63163002] [ 0. 0. 0. 1. ]] SLAMing on 198.85992885099998 meters Centerline goodness : 0.836847 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.9667563 -0.22084319 -0.12888187 -1.05464525] [ 0.22066701 0.9752208 -0.01582572 -0.02291547] [ 0.12918328 -0.01314036 0.99153367 0.63163002] [ 0. 0. 0. 1. ]] SLAMing on 198.88992885099998 meters Centerline goodness : 0.781528 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96675275 -0.22081839 -0.12895097 -1.0545388 ] [ 0.22063437 0.97522712 -0.01589128 -0.02255229] [ 0.12926558 -0.01308808 0.99152363 0.63168654] [ 0. 0. 0. 1. ]] SLAMing on 198.91992885099998 meters Centerline goodness : 0.837292 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96673106 -0.2209185 -0.12894211 -1.05451221] [ 0.22072213 0.97520562 -0.01599185 -0.0223094 ] [ 0.12927796 -0.01300056 0.99152317 0.63165148] [ 0. 0. 0. 1. ]] SLAMing on 198.94992885099998 meters Centerline goodness : 0.834549 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96667546 -0.22122974 -0.12882528 -1.0546946 ] [ 0.2210214 0.97513618 -0.01609279 -0.02281399] [ 0.1291824 -0.01291664 0.99153672 0.63169352] [ 0. 0. 0. 1. ]] SLAMing on 198.97992885099998 meters Centerline goodness : 0.781788 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.02, Z:0.63 [[ 0.96662327 -0.2215404 -0.12868299 -1.05484201] [ 0.22132215 0.97506659 -0.01617545 -0.02343879] [ 0.12905801 -0.01284483 0.99155385 0.63168144] [ 0. 0. 0. 1. ]] SLAMing on 199.00992885099998 meters Centerline goodness : 0.779305 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.02, Z:0.63 [[ 0.96655934 -0.2220266 -0.12832469 -1.0555224 ] [ 0.22180014 0.97495698 -0.01623522 -0.02426049] [ 0.1287157 -0.01277013 0.99159931 0.63165082] [ 0. 0. 0. 1. ]] SLAMing on 199.03992885099998 meters Centerline goodness : 0.836933 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.03, Z:0.63 [[ 0.96650738 -0.22236116 -0.12813666 -1.05596966] [ 0.22212818 0.9748814 -0.01628914 -0.02517726] [ 0.12854012 -0.01271919 0.99162274 0.63185486] [ 0. 0. 0. 1. ]] SLAMing on 199.069928851 meters Centerline goodness : 0.779204 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.03, Z:0.63 [[ 0.96635129 -0.22327753 -0.12771971 -1.05716742] [ 0.22299778 0.9746764 -0.01667047 -0.02630114] [ 0.12820752 -0.01237168 0.99167019 0.63237634] [ 0. 0. 0. 1. ]] SLAMing on 199.09992885099996 meters Centerline goodness : 0.780277 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.03, Z:0.63 [[ 0.96632578 -0.22341942 -0.12766459 -1.05734804] [ 0.22314118 0.97464371 -0.01666285 -0.02691016] [ 0.1281503 -0.01238548 0.99167742 0.63255163] [ 0. 0. 0. 1. ]] SLAMing on 199.12992885099996 meters Centerline goodness : 0.835476 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.03, Z:0.63 [[ 0.96629758 -0.2235055 -0.12772735 -1.0573799 ] [ 0.22322607 0.97462391 -0.01668396 -0.02766589] [ 0.12821509 -0.0123904 0.99166898 0.63291789] [ 0. 0. 0. 1. ]] SLAMing on 199.15992885099996 meters Centerline goodness : 0.780364 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.03, Z:0.63 [[ 0.96631432 -0.22336201 -0.12785162 -1.05683221] [ 0.22309298 0.97465571 -0.01660608 -0.02766692] [ 0.12832048 -0.01247611 0.99165427 0.63269774] [ 0. 0. 0. 1. ]] SLAMing on 199.18992885099996 meters Centerline goodness : 0.834031 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.03, Z:0.63 [[ 0.96634817 -0.22312869 -0.12800316 -1.05633249] [ 0.22287193 0.97470791 -0.01651071 -0.0276691 ] [ 0.12844971 -0.01257322 0.99163632 0.6326082 ] [ 0. 0. 0. 1. ]] SLAMing on 199.21992885099996 meters Centerline goodness : 0.780523 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.03, Z:0.63 [[ 0.96638592 -0.22287045 -0.12816791 -1.05578979] [ 0.22263373 0.97476496 -0.01635514 -0.02758412] [ 0.12857867 -0.01272912 0.99161762 0.63240448] [ 0. 0. 0. 1. ]] SLAMing on 199.24992885099996 meters Centerline goodness : 0.779160 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.03, Z:0.63 [[ 0.96646964 -0.22235637 -0.12842925 -1.05543154] [ 0.22214297 0.97488005 -0.01616723 -0.02759305] [ 0.128798 -0.01290452 0.99158688 0.63272959] [ 0. 0. 0. 1. ]] SLAMing on 199.27992885099997 meters Centerline goodness : 0.779518 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.03, Z:0.63 [[ 0.96650754 -0.22214686 -0.1285066 -1.05523737] [ 0.22194079 0.97492714 -0.01610471 -0.02757267] [ 0.12886218 -0.01295553 0.99157788 0.63277771] [ 0. 0. 0. 1. ]] SLAMing on 199.30992885099997 meters Centerline goodness : 0.832921 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96655976 -0.22177752 -0.12875151 -1.05465503] [ 0.22159123 0.97500915 -0.01595279 -0.0274936 ] [ 0.12907187 -0.01311088 0.99154856 0.63278315] [ 0. 0. 0. 1. ]] SLAMing on 199.33992885099997 meters Centerline goodness : 0.836908 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96664727 -0.22128088 -0.12894891 -1.05397393] [ 0.22111503 0.97512002 -0.01578276 -0.0273723 ] [ 0.12923309 -0.01325618 0.99152563 0.63267317] [ 0. 0. 0. 1. ]] SLAMing on 199.36992885099997 meters Centerline goodness : 0.837871 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96745072 -0.21740147 -0.12952105 -1.05464533] [ 0.2176876 0.97594327 -0.01211754 -0.0289113 ] [ 0.12903957 -0.016472 0.99150263 0.63298185] [ 0. 0. 0. 1. ]] SLAMing on 199.39992885099997 meters Centerline goodness : 0.834173 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.9675184 -0.21696332 -0.12975001 -1.05398551] [ 0.21726845 0.97603847 -0.01197173 -0.02871893] [ 0.12923843 -0.01660771 0.99147446 0.63292037] [ 0. 0. 0. 1. ]] SLAMing on 199.42992885099997 meters Centerline goodness : 0.834857 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.63 [[ 0.96754748 -0.21669405 -0.12998291 -1.05357736] [ 0.2170011 0.97609798 -0.01196891 -0.02837058] [ 0.12946965 -0.01662594 0.99144399 0.63308763] [ 0. 0. 0. 1. ]] SLAMing on 199.45992885099997 meters Centerline goodness : 0.836178 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.03, Z:0.64 [[ 0.96757849 -0.20923545 -0.14146517 -1.05662153] [ 0.20995173 0.97766048 -0.01001275 -0.033118 ] [ 0.14039993 -0.02001273 0.9898926 0.63725054] [ 0. 0. 0. 1. ]] SLAMing on 199.48992885099997 meters Centerline goodness : 0.835976 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.03, Z:0.64 [[ 0.96763728 -0.20879818 -0.14170891 -1.05589047] [ 0.2095499 0.97774918 -0.00976615 -0.03308988] [ 0.14059492 -0.020245 0.9898602 0.6370423 ] [ 0. 0. 0. 1. ]] SLAMing on 199.51992885099997 meters Centerline goodness : 0.838070 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.03, Z:0.64 [[ 0.96768963 -0.20837219 -0.14197823 -1.05515611] [ 0.20914278 0.97783758 -0.00964135 -0.03306485] [ 0.14084064 -0.02036389 0.98982283 0.63702737] [ 0. 0. 0. 1. ]] SLAMing on 199.54992885099998 meters Centerline goodness : 0.836019 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.64 [[ 0.96812672 -0.20546329 -0.14323226 -1.05326779] [ 0.20675964 0.97837375 -0.00593693 -0.03467273] [ 0.14135451 -0.02386695 0.98967129 0.6366262 ] [ 0. 0. 0. 1. ]] SLAMing on 199.57992885099998 meters Centerline goodness : 0.840379 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.64 [[ 0.96818955 -0.20488002 -0.1436425 -1.0522346 ] [ 0.20625915 0.97848258 -0.00538541 -0.03480591] [ 0.14165504 -0.02441348 0.98961499 0.63632303] [ 0. 0. 0. 1. ]] SLAMing on 199.60992885099998 meters Centerline goodness : 0.836176 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.04, Z:0.64 [[ 0.96816219 -0.20441846 -0.14448209 -1.05023388] [ 0.20595446 0.97855166 -0.00440682 -0.03540741] [ 0.14228402 -0.02549022 0.9894976 0.63603088] [ 0. 0. 0. 1. ]] SLAMing on 199.63992885099998 meters Centerline goodness : 0.837744 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.04, Z:0.64 [[ 0.9680528 -0.20442209 -0.14520807 -1.0483948 ] [ 0.20602115 0.97853894 -0.00410186 -0.03551543] [ 0.14293027 -0.02594512 0.98939264 0.63577863] [ 0. 0. 0. 1. ]] SLAMing on 199.66992885099998 meters Centerline goodness : 0.838124 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.04, Z:0.64 [[ 0.96794156 -0.2044116 -0.14596243 -1.04654308] [ 0.20612074 0.97852037 -0.00348093 -0.03620191] [ 0.14353875 -0.02671655 0.98928401 0.63561933] [ 0. 0. 0. 1. ]] SLAMing on 199.69992885099998 meters Centerline goodness : 0.781933 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.04, Z:0.64 [[ 0.9678302 -0.20458226 -0.1464609 -1.04496446] [ 0.20640059 0.97846346 -0.00283726 -0.03755695] [ 0.14388709 -0.02748363 0.98921239 0.63524265] [ 0. 0. 0. 1. ]] SLAMing on 199.72992885099998 meters Centerline goodness : 0.831902 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.04, Z:0.64 [[ 0.96775109 -0.20441433 -0.14721618 -1.0433073 ] [ 0.20635425 0.97847501 -0.00213812 -0.03817485] [ 0.14448441 -0.02830951 0.98910203 0.63524709] [ 0. 0. 0. 1. ]] SLAMing on 199.75992885099998 meters Centerline goodness : 0.782133 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.04, Z:0.64 [[ 0.96779544 -0.20397621 -0.147532 -1.04242685] [ 0.20602843 0.97854501 -0.00139986 -0.03887162] [ 0.14465224 -0.02904101 0.98905629 0.63502424] [ 0. 0. 0. 1. ]] SLAMing on 199.78992885099998 meters Centerline goodness : 0.782041 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.04, Z:0.64 [[ 9.67795936e-01 -2.03627848e-01 -1.48009211e-01 -1.04156791e+00] [ 2.05780619e-01 9.78597834e-01 -7.84578572e-04 -3.91819566e-02] [ 1.45001255e-01 -2.96981151e-02 9.88985671e-01 6.35071714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.819928851 meters Centerline goodness : 0.837900 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.04, Z:0.63 [[ 9.67942297e-01 -2.02686779e-01 -1.48343453e-01 -1.04076484e+00] [ 2.04957071e-01 9.78770963e-01 1.80983839e-05 -3.95326328e-02] [ 1.45190597e-01 -3.04215580e-02 9.88935903e-01 6.34799528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.84992885099996 meters Centerline goodness : 0.781596 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.04, Z:0.63 [[ 9.68043402e-01 -2.01941082e-01 -1.48700273e-01 -1.03969616e+00] [ 2.04295052e-01 9.78909193e-01 5.68230893e-04 -3.94932376e-02] [ 1.45449315e-01 -3.09288022e-02 9.88882150e-01 6.34215391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.87992885099996 meters Centerline goodness : 0.830301 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.04, Z:0.63 [[ 9.68101630e-01 -2.01490746e-01 -1.48931906e-01 -1.03893703e+00] [ 2.03874391e-01 9.78996764e-01 7.54315713e-04 -3.92308313e-02] [ 1.45651866e-01 -3.10936558e-02 9.88847166e-01 6.33988382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.90992885099996 meters Centerline goodness : 0.835615 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.04, Z:0.63 [[ 0.96853163 -0.19841857 -0.15025499 -1.03682 ] [ 0.20135447 0.97950843 0.00442921 -0.04051502] [ 0.14629719 -0.03454434 0.98863736 0.63346645] [ 0. 0. 0. 1. ]] SLAMing on 199.93992885099996 meters Centerline goodness : 0.838308 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.04, Z:0.63 [[ 0.96913259 -0.19463584 -0.15132389 -1.03510015] [ 0.19812724 0.98014201 0.00819965 -0.04136963] [ 0.14672295 -0.03792794 0.98845022 0.63245404] [ 0. 0. 0. 1. ]] SLAMing on 199.96992885099996 meters Centerline goodness : 0.836951 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.04, Z:0.63 [[ 0.96956724 -0.19172042 -0.15225852 -1.03344606] [ 0.19569542 0.9805982 0.01142248 -0.04239575] [ 0.1471145 -0.04087115 0.98827469 0.63174016] [ 0. 0. 0. 1. ]] SLAMing on 199.99992885099996 meters Centerline goodness : 0.832142 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.04, Z:0.63 [[ 0.9695855 -0.19147672 -0.15244876 -1.03298949] [ 0.19546082 0.98064468 0.01144876 -0.0420333 ] [ 0.1473059 -0.04089831 0.98824506 0.6317194 ] [ 0. 0. 0. 1. ]] SLAMing on 200.02992885099997 meters Centerline goodness : 0.832609 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.04, Z:0.63 [[ 0.96960984 -0.19122628 -0.1526082 -1.03252152] [ 0.19523045 0.98068929 0.01155767 -0.04187497] [ 0.1474511 -0.04100019 0.98821918 0.63161327] [ 0. 0. 0. 1. ]] SLAMing on 200.05992885099997 meters Centerline goodness : 0.839257 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.04, Z:0.63 [[ 0.96986797 -0.19019137 -0.15226082 -1.03266116] [ 0.19419601 0.98089252 0.01173769 -0.04179132] [ 0.14711909 -0.04095245 0.98827065 0.63075367] [ 0. 0. 0. 1. ]] SLAMing on 200.08992885099997 meters Centerline goodness : 0.839922 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.04, Z:0.63 [[ 0.9699285 -0.18953909 -0.15268806 -1.03173609] [ 0.19362023 0.98100095 0.01218006 -0.04150498] [ 0.14747854 -0.04137728 0.98819937 0.63048229] [ 0. 0. 0. 1. ]] SLAMing on 200.11992885099997 meters Centerline goodness : 0.829710 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.04, Z:0.63 [[ 0.96998408 -0.18900245 -0.1529999 -1.03099324] [ 0.19314194 0.98109091 0.012523 -0.0413788 ] [ 0.14773993 -0.0416978 0.98814685 0.63029518] [ 0. 0. 0. 1. ]] SLAMing on 200.14992885099997 meters Centerline goodness : 0.838884 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.04, Z:0.63 [[ 0.97008411 -0.18819672 -0.15335846 -1.02977615] [ 0.19246453 0.98121327 0.01333912 -0.04171609] [ 0.14796698 -0.04245613 0.98808059 0.62964308] [ 0. 0. 0. 1. ]] SLAMing on 200.17992885099997 meters Centerline goodness : 0.838939 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.04, Z:0.63 [[ 0.97017105 -0.18743847 -0.15373665 -1.02873886] [ 0.19185727 0.98131874 0.01429384 -0.04239418] [ 0.14818544 -0.04336296 0.98800847 0.62918279] [ 0. 0. 0. 1. ]] SLAMing on 200.20992885099997 meters Centerline goodness : 0.838888 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.04, Z:0.63 [[ 0.97029351 -0.18698831 -0.15351181 -1.02868244] [ 0.19140439 0.98140596 0.01437671 -0.0428132 ] [ 0.14796913 -0.04333247 0.98804222 0.62869301] [ 0. 0. 0. 1. ]] SLAMing on 200.23992885099997 meters Centerline goodness : 0.837277 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.04, Z:0.63 [[ 0.97030895 -0.18669596 -0.15376984 -1.02785356] [ 0.19120319 0.98143691 0.01493051 -0.04349048] [ 0.14812793 -0.0438885 0.98799388 0.62849496] [ 0. 0. 0. 1. ]] SLAMing on 200.26992885099997 meters Centerline goodness : 0.833153 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.63 [[ 0.97026393 -0.18682464 -0.15389758 -1.02708695] [ 0.19139902 0.98139259 0.01532995 -0.04505496] [ 0.14816994 -0.04432995 0.98796788 0.62831423] [ 0. 0. 0. 1. ]] SLAMing on 200.29992885099998 meters Centerline goodness : 0.831895 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.63 [[ 0.9702576 -0.18670508 -0.15408246 -1.02651922] [ 0.19138068 0.98138616 0.01595757 -0.04617387] [ 0.14823503 -0.04497136 0.98792912 0.62833591] [ 0. 0. 0. 1. ]] SLAMing on 200.32992885099998 meters Centerline goodness : 0.829873 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.63 [[ 0.97018244 -0.18698282 -0.15421886 -1.02626069] [ 0.191699 0.98132064 0.01616472 -0.04685594] [ 0.14831563 -0.04524633 0.98790447 0.62861138] [ 0. 0. 0. 1. ]] SLAMing on 200.35992885099998 meters Centerline goodness : 0.833854 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.63 [[ 0.97011472 -0.1872088 -0.15437066 -1.02572639] [ 0.19197484 0.98126227 0.01643247 -0.04760556] [ 0.1484018 -0.04557667 0.98787634 0.62857949] [ 0. 0. 0. 1. ]] SLAMing on 200.38992885099998 meters Centerline goodness : 0.831090 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:0.63 [[ 0.97017565 -0.18718524 -0.15401587 -1.02534004] [ 0.19189865 0.98128114 0.01619351 -0.04887215] [ 0.14810168 -0.04526599 0.98793567 0.62781361] [ 0. 0. 0. 1. ]] SLAMing on 200.41992885099998 meters Centerline goodness : 0.832887 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.63 [[ 0.97020011 -0.18716331 -0.15388844 -1.02499031] [ 0.19186554 0.98128817 0.01615997 -0.04947224] [ 0.14798435 -0.04520429 0.98795607 0.62733042] [ 0. 0. 0. 1. ]] SLAMing on 200.44992885099998 meters Centerline goodness : 0.829525 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.63 [[ 0.97018627 -0.18701501 -0.15415572 -1.02411503] [ 0.19179193 0.98129544 0.01658659 -0.04984427] [ 0.14817036 -0.04565791 0.98790733 0.62701415] [ 0. 0. 0. 1. ]] SLAMing on 200.47992885099998 meters Centerline goodness : 0.830982 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.63 [[ 0.97016569 -0.1866322 -0.15474802 -1.02262858] [ 0.19154367 0.98133116 0.01732561 -0.05005205] [ 0.14862553 -0.04644972 0.98780204 0.62673122] [ 0. 0. 0. 1. ]] SLAMing on 200.50992885099998 meters Centerline goodness : 0.832846 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.63 [[ 0.97020341 -0.18660467 -0.15454461 -1.02370393] [ 0.19147588 0.98134793 0.01712413 -0.04958093] [ 0.14846659 -0.04620545 0.9878374 0.62738406] [ 0. 0. 0. 1. ]] SLAMing on 200.53992885099998 meters Centerline goodness : 0.831593 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.63 [[ 0.97052122 -0.184134 -0.15550959 -1.02236225] [ 0.18953982 0.98165795 0.02055061 -0.05099392] [ 0.14887316 -0.04942006 0.98762059 0.62730537] [ 0. 0. 0. 1. ]] SLAMing on 200.569928851 meters Centerline goodness : 0.831616 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.63 [[ 0.97059362 -0.18400166 -0.1552141 -1.0230902 ] [ 0.18933568 0.98170497 0.02018283 -0.0510032 ] [ 0.14866078 -0.0489769 0.98767466 0.6275346 ] [ 0. 0. 0. 1. ]] SLAMing on 200.59992885099996 meters Centerline goodness : 0.831361 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.63 [[ 0.97082082 -0.18347358 -0.15441627 -1.02469889] [ 0.18873235 0.98182515 0.01998698 -0.05197768] [ 0.14794269 -0.04854712 0.98780369 0.62759321] [ 0. 0. 0. 1. ]] SLAMing on 200.62992885099996 meters Centerline goodness : 0.829199 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.63 [[ 0.97087293 -0.18300491 -0.15464463 -1.02394562] [ 0.18836091 0.98188391 0.02059515 -0.05254124] [ 0.14807406 -0.04912427 0.98775548 0.6272562 ] [ 0. 0. 0. 1. ]] SLAMing on 200.65992885099996 meters Centerline goodness : 0.832492 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.63 [[ 0.97087536 -0.18324069 -0.15434984 -1.02444708] [ 0.18850266 0.98186803 0.02004803 -0.05228064] [ 0.14787756 -0.04855949 0.98781284 0.62726514] [ 0. 0. 0. 1. ]] SLAMing on 200.68992885099996 meters Centerline goodness : 0.830701 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.63 [[ 0.97088182 -0.18330123 -0.15423732 -1.02445405] [ 0.18851341 0.98187204 0.01974807 -0.0522395 ] [ 0.14782147 -0.04824885 0.98783646 0.62713247] [ 0. 0. 0. 1. ]] SLAMing on 200.71992885099996 meters Centerline goodness : 0.831894 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.63 [[ 0.97092385 -0.18291546 -0.15443059 -1.02321524] [ 0.18819636 0.98192424 0.02017226 -0.05288343] [ 0.14794932 -0.048649 0.98779769 0.62620092] [ 0. 0. 0. 1. ]] SLAMing on 200.74992885099996 meters Centerline goodness : 0.832650 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.63 [[ 0.97093051 -0.18289509 -0.15441287 -1.02242032] [ 0.18817827 0.98192724 0.02019492 -0.05353856] [ 0.14792865 -0.04866501 0.9878 0.62550099] [ 0. 0. 0. 1. ]] SLAMing on 200.77992885099997 meters Centerline goodness : 0.832650 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.63 [[ 0.97093051 -0.18289509 -0.15441287 -1.02242032] [ 0.18817827 0.98192724 0.02019492 -0.05353856] [ 0.14792865 -0.04866501 0.9878 0.62550099] [ 0. 0. 0. 1. ]] SLAMing on 200.80992885099997 meters Centerline goodness : 0.830646 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.62 [[ 0.97092046 -0.18268315 -0.15472662 -1.02071983] [ 0.18806317 0.98193767 0.02075215 -0.05455404] [ 0.14814083 -0.04924707 0.98773935 0.62452625] [ 0. 0. 0. 1. ]] SLAMing on 200.83992885099997 meters Centerline goodness : 0.832372 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.62 [[ 0.9708331 -0.18333621 -0.15450222 -1.02030653] [ 0.18862401 0.98184238 0.0201626 -0.05509505] [ 0.14800029 -0.04871735 0.98778668 0.62402861] [ 0. 0. 0. 1. ]] SLAMing on 200.86992885099997 meters Centerline goodness : 0.832068 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.62 [[ 0.97088487 -0.18293365 -0.15465397 -1.01999352] [ 0.18830997 0.98189078 0.02073297 -0.05559247] [ 0.14806055 -0.04925221 0.98775113 0.62401774] [ 0. 0. 0. 1. ]] SLAMing on 200.89992885099997 meters Centerline goodness : 0.831854 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.62 [[ 0.97085516 -0.1830646 -0.15468555 -1.02029443] [ 0.1884401 0.98186636 0.020707 -0.05534667] [ 0.14808981 -0.04925246 0.98774673 0.62443976] [ 0. 0. 0. 1. ]] SLAMing on 200.92992885099997 meters Centerline goodness : 0.830289 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.62 [[ 0.97087847 -0.18266963 -0.15500579 -1.01979101] [ 0.18816034 0.98190523 0.02139636 -0.05581457] [ 0.14829253 -0.04993921 0.98768183 0.62456025] [ 0. 0. 0. 1. ]] SLAMing on 200.95992885099997 meters Centerline goodness : 0.834856 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.62 [[ 0.9710113 -0.18231571 -0.15458993 -1.02011544] [ 0.18778091 0.9819779 0.02139454 -0.05722268] [ 0.14790333 -0.04980337 0.98774705 0.62428754] [ 0. 0. 0. 1. ]] SLAMing on 200.98992885099997 meters Centerline goodness : 0.833009 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.62 [[ 0.97105238 -0.18218027 -0.15449153 -1.01984281] [ 0.18767812 0.98199181 0.02165654 -0.05817023] [ 0.14776402 -0.05002432 0.98775673 0.6239449 ] [ 0. 0. 0. 1. ]] SLAMing on 201.01992885099997 meters Centerline goodness : 0.833145 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.62 [[ 0.97105774 -0.18237747 -0.15422489 -1.02034544] [ 0.18782173 0.98197054 0.02137428 -0.05882029] [ 0.14754611 -0.04972245 0.98780455 0.62412967] [ 0. 0. 0. 1. ]] SLAMing on 201.04992885099998 meters Centerline goodness : 0.831664 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.62 [[ 0.97146088 -0.18825712 -0.14430183 -1.01664348] [ 0.1932929 0.98090369 0.02158246 -0.05573264] [ 0.13748315 -0.04885903 0.98929833 0.61943585] [ 0. 0. 0. 1. ]] SLAMing on 201.07992885099998 meters Centerline goodness : 0.835329 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.62 [[ 0.97147066 -0.18795254 -0.14463265 -1.01595079] [ 0.19311384 0.98092094 0.02238668 -0.05650785] [ 0.13766556 -0.04967857 0.98923214 0.61946484] [ 0. 0. 0. 1. ]] SLAMing on 201.10992885099998 meters Centerline goodness : 0.834026 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.62 [[ 0.9714598 -0.18819051 -0.14439593 -1.01674453] [ 0.19331388 0.98088615 0.02218344 -0.05688478] [ 0.13746126 -0.04946406 0.9892713 0.62009641] [ 0. 0. 0. 1. ]] SLAMing on 201.13992885099998 meters Centerline goodness : 0.837189 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.62 [[ 0.97153155 -0.18750031 -0.14481048 -1.01558463] [ 0.19275735 0.9809759 0.02304089 -0.05752562] [ 0.13773542 -0.05029824 0.9891911 0.61962937] [ 0. 0. 0. 1. ]] SLAMing on 201.16992885099998 meters Centerline goodness : 0.836650 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.62 [[ 0.97160992 -0.18731189 -0.14452828 -1.01570626] [ 0.19254031 0.9810206 0.02295232 -0.05792679] [ 0.13748598 -0.05012822 0.98923443 0.61917078] [ 0. 0. 0. 1. ]] SLAMing on 201.19992885099998 meters Centerline goodness : 0.839813 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.62 [[ 0.97167348 -0.18699174 -0.14451551 -1.01502857] [ 0.19219791 0.98109085 0.02281921 -0.05842138] [ 0.13751584 -0.0499484 0.98923938 0.6185207 ] [ 0. 0. 0. 1. ]] SLAMing on 201.22992885099998 meters Centerline goodness : 0.842632 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.62 [[ 0.97188778 -0.18596246 -0.14440256 -1.01488142] [ 0.19127737 0.98124948 0.0237155 -0.05984297] [ 0.13728475 -0.05066975 0.98923479 0.61799606] [ 0. 0. 0. 1. ]] SLAMing on 201.25992885099998 meters Centerline goodness : 0.855261 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.62 [[ 0.97193736 -0.18573217 -0.14436524 -1.01524613] [ 0.19108099 0.98128107 0.02398977 -0.06025299] [ 0.1372072 -0.05090201 0.98923363 0.61841049] [ 0. 0. 0. 1. ]] SLAMing on 201.28992885099998 meters Centerline goodness : 0.856735 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.62 [[ 0.97199578 -0.18542222 -0.14437035 -1.01515792] [ 0.19080277 0.98132911 0.0242381 -0.06053104] [ 0.13718054 -0.0511056 0.98922683 0.61830459] [ 0. 0. 0. 1. ]] SLAMing on 201.319928851 meters Centerline goodness : 0.860347 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.62 [[ 0.97200333 -0.1853784 -0.14437581 -1.01537452] [ 0.19076208 0.98133643 0.02426173 -0.06091173] [ 0.13718364 -0.05112391 0.98922545 0.61864149] [ 0. 0. 0. 1. ]] SLAMing on 201.34992885099996 meters Centerline goodness : 0.868094 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.62 [[ 0.97203287 -0.18504607 -0.14460306 -1.01488978] [ 0.19051907 0.98136911 0.02484247 -0.06195953] [ 0.13731197 -0.05169734 0.98917784 0.61877785] [ 0. 0. 0. 1. ]] SLAMing on 201.37992885099996 meters Centerline goodness : 0.867475 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.62 [[ 0.97202962 -0.18515584 -0.14448435 -1.01501425] [ 0.19063183 0.98134572 0.0249016 -0.06289282] [ 0.13717842 -0.05174841 0.9891937 0.61896516] [ 0. 0. 0. 1. ]] SLAMing on 201.40992885099996 meters Centerline goodness : 0.854548 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.62 [[ 0.97192612 -0.1854937 -0.14474702 -1.01460093] [ 0.19101237 0.98126703 0.02508559 -0.06335512] [ 0.13738226 -0.05202981 0.98915065 0.61936681] [ 0. 0. 0. 1. ]] SLAMing on 201.43992885099996 meters Centerline goodness : 0.871366 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.06, Z:0.62 [[ 0.97178544 -0.18623258 -0.14474283 -1.01480045] [ 0.1917322 0.98113139 0.02489886 -0.06378953] [ 0.13737475 -0.05194821 0.98915598 0.6199443 ] [ 0. 0. 0. 1. ]] SLAMing on 201.46992885099996 meters Centerline goodness : 0.879038 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.62 [[ 0.97159196 -0.18669486 -0.14544446 -1.01351278] [ 0.19236397 0.98098405 0.0258147 -0.06515767] [ 0.13785923 -0.05305963 0.98902958 0.62044173] [ 0. 0. 0. 1. ]] SLAMing on 201.49992885099996 meters Centerline goodness : 0.880587 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.62 [[ 0.97147389 -0.1872241 -0.14555279 -1.01306985] [ 0.19290649 0.98087708 0.02583109 -0.06576095] [ 0.13793319 -0.05317231 0.98901322 0.62049778] [ 0. 0. 0. 1. ]] SLAMing on 201.52992885099997 meters Centerline goodness : 0.888634 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.62 [[ 0.97109056 -0.18963355 -0.14499048 -1.0124558 ] [ 0.19490151 0.98055536 0.02290378 -0.0661014 ] [ 0.13782787 -0.05050051 0.98916792 0.61974615] [ 0. 0. 0. 1. ]] SLAMing on 201.55992885099997 meters Centerline goodness : 0.888759 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.62 [[ 0.97111092 -0.18922096 -0.14539262 -1.01117134] [ 0.19459989 0.98059927 0.02357848 -0.06705182] [ 0.13811035 -0.05119071 0.98909304 0.61937363] [ 0. 0. 0. 1. ]] SLAMing on 201.58992885099997 meters Centerline goodness : 0.894505 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.62 [[ 0.97119452 -0.18880034 -0.14538098 -1.01094621] [ 0.19423109 0.98066257 0.02398348 -0.06791763] [ 0.1380416 -0.05153014 0.98908501 0.61920762] [ 0. 0. 0. 1. ]] SLAMing on 201.61992885099997 meters Centerline goodness : 0.890014 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.62 [[ 0.97130353 -0.18831071 -0.14528777 -1.01104894] [ 0.19380259 0.9807348 0.02449119 -0.06844958] [ 0.13787681 -0.05194552 0.98908627 0.61908195] [ 0. 0. 0. 1. ]] SLAMing on 201.64992885099997 meters Centerline goodness : 0.902609 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.62 [[ 0.97147307 -0.18748176 -0.14522625 -1.01156741] [ 0.19304329 0.98086985 0.02507231 -0.06886623] [ 0.13774745 -0.05239202 0.98908074 0.61935835] [ 0. 0. 0. 1. ]] SLAMing on 201.67992885099997 meters Centerline goodness : 0.903675 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.62 [[ 0.97183689 -0.1863062 -0.14430195 -1.01410283] [ 0.19179319 0.98111763 0.0249712 -0.06954599] [ 0.1369249 -0.05194406 0.98921857 0.61998832] [ 0. 0. 0. 1. ]] SLAMing on 201.70992885099997 meters Centerline goodness : 0.896022 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.62 [[ 0.97206571 -0.18494693 -0.14450914 -1.01352499] [ 0.19055745 0.98133492 0.02587709 -0.07006267] [ 0.13702598 -0.05269153 0.98916504 0.61953588] [ 0. 0. 0. 1. ]] SLAMing on 201.73992885099997 meters Centerline goodness : 0.905616 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.62 [[ 0.97228033 -0.18433215 -0.14384929 -1.01477413] [ 0.18985089 0.98148145 0.02551071 -0.07035003] [ 0.13648297 -0.05211348 0.98927073 0.61927276] [ 0. 0. 0. 1. ]] SLAMing on 201.76992885099997 meters Centerline goodness : 0.901208 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.62 [[ 0.97246225 -0.1832342 -0.14402226 -1.01398982] [ 0.18884219 0.98165879 0.02616569 -0.07092451] [ 0.13658627 -0.05264263 0.98922846 0.61860396] [ 0. 0. 0. 1. ]] SLAMing on 201.79992885099998 meters Centerline goodness : 0.916890 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.07, Z:0.62 [[ 0.97275304 -0.18231504 -0.14322271 -1.01515507] [ 0.18780431 0.9818708 0.02567611 -0.07121983] [ 0.13594505 -0.05187436 0.98935736 0.61789716] [ 0. 0. 0. 1. ]] SLAMing on 201.82992885099998 meters Centerline goodness : 0.920215 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.07, Z:0.62 [[ 0.97282814 -0.18215691 -0.14291352 -1.01556154] [ 0.1875876 0.98191996 0.02537894 -0.07132454] [ 0.13570669 -0.05149815 0.98940974 0.61767446] [ 0. 0. 0. 1. ]] SLAMing on 201.85992885099998 meters Centerline goodness : 0.919865 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.07, Z:0.62 [[ 0.97287912 -0.18183792 -0.14297267 -1.01516544] [ 0.18728516 0.98197459 0.02549863 -0.07167008] [ 0.13575891 -0.05158375 0.98939812 0.61739667] [ 0. 0. 0. 1. ]] SLAMing on 201.88992885099998 meters Centerline goodness : 0.923950 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.07, Z:0.62 [[ 0.97291659 -0.18165248 -0.1429534 -1.01501754] [ 0.18711091 0.98200516 0.02560016 -0.0723359 ] [ 0.13573065 -0.05165496 0.98939828 0.61734212] [ 0. 0. 0. 1. ]] SLAMing on 201.91992885099998 meters Centerline goodness : 0.932962 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.62 [[ 0.97298817 -0.1811347 -0.14312315 -1.01424045] [ 0.18670428 0.98206192 0.02637987 -0.07392947] [ 0.13577748 -0.05238901 0.98935326 0.61715476] [ 0. 0. 0. 1. ]] SLAMing on 201.94992885099998 meters Centerline goodness : 0.936123 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.62 [[ 0.97291472 -0.18155515 -0.14308975 -1.01453272] [ 0.18708788 0.98199651 0.02609565 -0.07435215] [ 0.13577584 -0.0521592 0.98936563 0.61766755] [ 0. 0. 0. 1. ]] SLAMing on 201.97992885099998 meters Centerline goodness : 0.937309 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.08, Z:0.62 [[ 0.97292191 -0.18140568 -0.14323032 -1.0141095 ] [ 0.18700799 0.98199933 0.02655801 -0.07512254] [ 0.13583431 -0.05262409 0.98933298 0.61763926] [ 0. 0. 0. 1. ]] SLAMing on 202.00992885099998 meters Centerline goodness : 0.939320 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.08, Z:0.62 [[ 0.97288106 -0.18160516 -0.14325507 -1.01442436] [ 0.18722676 0.98195447 0.02667527 -0.07562644] [ 0.13582559 -0.05277305 0.98932624 0.6181752 ] [ 0. 0. 0. 1. ]] SLAMing on 202.03992885099998 meters Centerline goodness : 0.944244 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.08, Z:0.62 [[ 0.9729369 -0.18144319 -0.14308097 -1.01478908] [ 0.18708648 0.98197472 0.0269129 -0.07678827] [ 0.13561873 -0.05295307 0.989345 0.61844643] [ 0. 0. 0. 1. ]] SLAMing on 202.069928851 meters Centerline goodness : 0.946083 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.08, Z:0.62 [[ 0.97290728 -0.18164765 -0.14302291 -1.01500732] [ 0.18722839 0.98195983 0.02646545 -0.07687972] [ 0.13563536 -0.05252638 0.98936547 0.61870058] [ 0. 0. 0. 1. ]] SLAMing on 202.09992885099996 meters Centerline goodness : 0.945325 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.08, Z:0.62 [[ 0.97292289 -0.18132929 -0.1433204 -1.01412846] [ 0.18697349 0.98199842 0.026833 -0.07694826] [ 0.1358748 -0.05290356 0.98931252 0.61832086] [ 0. 0. 0. 1. ]] SLAMing on 202.12992885099996 meters Centerline goodness : 0.946109 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.08, Z:0.62 [[ 0.97299691 -0.18119935 -0.14298187 -1.01482105] [ 0.18679638 0.98203764 0.02663073 -0.07726466] [ 0.13558811 -0.05262012 0.98936696 0.61835236] [ 0. 0. 0. 1. ]] SLAMing on 202.15992885099996 meters Centerline goodness : 0.949723 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.08, Z:0.62 [[ 0.97321231 -0.18030135 -0.14265067 -1.01556173] [ 0.18590562 0.98220002 0.02687435 -0.07780617] [ 0.13526601 -0.05267401 0.98940818 0.6182876 ] [ 0. 0. 0. 1. ]] SLAMing on 202.18992885099996 meters Centerline goodness : 0.952678 Centerline is valid? [False, True] Translation: X:-1.02, Y:-0.08, Z:0.62 [[ 0.97332943 -0.17976763 -0.14252513 -1.01610494] [ 0.18539712 0.9822887 0.0271444 -0.07829077] [ 0.13512114 -0.05284419 0.9894189 0.61854245] [ 0. 0. 0. 1. ]] SLAMing on 202.21992885099996 meters Centerline goodness : 0.953941 Centerline is valid? [True, True] Translation: X:-0.99, Y:-0.06, Z:0.64 [[ 0.97175787 -0.1849151 -0.14660506 -0.99370909] [ 0.18866762 0.98196774 0.01199541 -0.0633719 ] [ 0.14174331 -0.03931626 0.98912237 0.63840627] [ 0. 0. 0. 1. ]] SLAMing on 202.24992885099996 meters Centerline goodness : 0.956849 Centerline is valid? [True, True] Translation: X:-0.97, Y:-0.05, Z:0.65 [[ 0.97212944 -0.18786086 -0.1402592 -0.96775723] [ 0.18698896 0.98216867 -0.01948944 -0.04585194] [ 0.1414195 -0.00728066 0.98992299 0.64915504] [ 0. 0. 0. 1. ]] SLAMing on 202.27992885099997 meters Centerline goodness : 0.958339 Centerline is valid? [True, True] Translation: X:-0.94, Y:-0.04, Z:0.65 [[ 0.97369242 -0.18704742 -0.1301397 -0.93805531] [ 0.18350671 0.98225265 -0.0387947 -0.03767193] [ 0.13508651 0.0138926 0.99073641 0.64753491] [ 0. 0. 0. 1. ]] SLAMing on 202.30992885099997 meters Centerline goodness : 0.933849 Centerline is valid? [True, False] Translation: X:-0.94, Y:-0.04, Z:0.65 [[ 0.97366349 -0.18676595 -0.1307589 -0.93657659] [ 0.18330351 0.98231618 -0.03814104 -0.03807254] [ 0.13557003 0.01316797 0.99068026 0.64728933] [ 0. 0. 0. 1. ]] SLAMing on 202.33992885099997 meters Centerline goodness : 0.933150 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.04, Z:0.65 [[ 0.97364339 -0.18650431 -0.13128094 -0.93521609] [ 0.18310915 0.98237393 -0.03758316 -0.03842746] [ 0.1359764 0.01255386 0.99063254 0.64690195] [ 0. 0. 0. 1. ]] SLAMing on 202.36992885099997 meters Centerline goodness : 0.953291 Centerline is valid? [False, True] Translation: X:-0.93, Y:-0.04, Z:0.65 [[ 0.97358249 -0.18640923 -0.13186634 -0.93353021] [ 0.18305904 0.98239799 -0.03719658 -0.03891586] [ 0.13647901 0.01207462 0.99056937 0.64636154] [ 0. 0. 0. 1. ]] SLAMing on 202.39992885099997 meters Centerline goodness : 0.956098 Centerline is valid? [True, True] Translation: X:-0.90, Y:-0.05, Z:0.64 [[ 0.9745321 -0.18111731 -0.13222598 -0.90329822] [ 0.18133388 0.9833655 -0.01050344 -0.04946276] [ 0.13192882 -0.01374111 0.99116395 0.63824524] [ 0. 0. 0. 1. ]] SLAMing on 202.42992885099997 meters Centerline goodness : 0.954606 Centerline is valid? [True, True] Translation: X:-0.88, Y:-0.04, Z:0.64 [[ 0.97480173 -0.18164199 -0.12949046 -0.87743289] [ 0.18123611 0.98332504 -0.01501152 -0.04395511] [ 0.13005793 -0.00883509 0.99146703 0.64096833] [ 0. 0. 0. 1. ]] SLAMing on 202.45992885099997 meters Centerline goodness : 0.961256 Centerline is valid? [True, True] Translation: X:-0.85, Y:-0.03, Z:0.65 [[ 0.97575119 -0.18169102 -0.12205735 -0.84515751] [ 0.17617782 0.98284137 -0.05462793 -0.02879291] [ 0.12988842 0.03179947 0.99101856 0.65339708] [ 0. 0. 0. 1. ]] SLAMing on 202.48992885099997 meters Centerline goodness : 0.961875 Centerline is valid? [True, True] Translation: X:-0.82, Y:-0.04, Z:0.64 [[ 0.97485647 -0.18018313 -0.13110644 -0.81825335] [ 0.18118995 0.98343868 -0.00430842 -0.04253866] [ 0.12971145 -0.01955508 0.99135894 0.64133556] [ 0. 0. 0. 1. ]] SLAMing on 202.51992885099997 meters Centerline goodness : 0.962506 Centerline is valid? [True, True] Translation: X:-0.79, Y:-0.04, Z:0.64 [[ 0.97570493 -0.1787393 -0.12669712 -0.79008942] [ 0.17945037 0.9837495 -0.00587295 -0.04052919] [ 0.12568795 -0.01700558 0.99192406 0.64311234] [ 0. 0. 0. 1. ]] SLAMing on 202.54992885099998 meters Centerline goodness : 0.962283 Centerline is valid? [True, True] Translation: X:-0.76, Y:-0.02, Z:0.66 [[ 0.97820496 -0.17599525 -0.11018496 -0.75903724] [ 0.16914014 0.98318666 -0.06881575 -0.02161785] [ 0.12044363 0.0486792 0.99152593 0.65860918] [ 0. 0. 0. 1. ]] SLAMing on 202.57992885099998 meters Centerline goodness : 0.968111 Centerline is valid? [True, True] Translation: X:-0.73, Y:-0.05, Z:0.64 [[ 0.97685298 -0.17316247 -0.12559067 -0.72930483] [ 0.1767141 0.98410438 0.01762675 -0.04757919] [ 0.12054204 -0.03941239 0.99192554 0.63758954] [ 0. 0. 0. 1. ]] SLAMing on 202.60992885099998 meters Centerline goodness : 0.969284 Centerline is valid? [True, True] Translation: X:-0.70, Y:-0.03, Z:0.65 [[ 0.97696378 -0.17561041 -0.12125493 -0.70368263] [ 0.17566127 0.98439621 -0.01035444 -0.03264897] [ 0.12118124 -0.01118388 0.99256739 0.65046083] [ 0. 0. 0. 1. ]] SLAMing on 202.63992885099998 meters Centerline goodness : 0.970018 Centerline is valid? [True, True] Translation: X:-0.67, Y:-0.02, Z:0.66 [[ 0.97843431 -0.17415747 -0.11106518 -0.6738549 ] [ 0.1698067 0.98432855 -0.04757091 -0.01987534] [ 0.11760946 0.0276854 0.99267393 0.65993282] [ 0. 0. 0. 1. ]] SLAMing on 202.66992885099998 meters Centerline goodness : 0.970018 Centerline is valid? [True, True] Translation: X:-0.64, Y:-0.03, Z:0.65 [[ 0.9785804 -0.17080085 -0.11492373 -0.64276653] [ 0.17051362 0.98527731 -0.01239883 -0.03192366] [ 0.11534947 -0.00746281 0.99329694 0.64982125] [ 0. 0. 0. 1. ]] SLAMing on 202.69992885099998 meters Centerline goodness : 0.973129 Centerline is valid? [True, True] Translation: X:-0.62, Y:-0.04, Z:0.65 [[ 0.97664534 -0.1732632 -0.12705803 -0.61984542] [ 0.17837685 0.98350631 0.02995063 -0.03808657] [ 0.11977303 -0.05191536 0.991443 0.64788438] [ 0. 0. 0. 1. ]] SLAMing on 202.72992885099998 meters Centerline goodness : 0.975075 Centerline is valid? [True, True] Translation: X:-0.59, Y:-0.01, Z:0.67 [[ 0.97720971 -0.17724825 -0.11680855 -0.59209484] [ 0.17494806 0.98412835 -0.02974165 -0.01149182] [ 0.12022626 0.0086284 0.99270902 0.66851752] [ 0. 0. 0. 1. ]] SLAMing on 202.75992885099998 meters Centerline goodness : 0.974242 Centerline is valid? [True, True] Translation: X:-0.56, Y:-0.01, Z:0.67 [[ 0.97894268 -0.17331882 -0.10785087 -0.55942807] [ 0.1698349 0.98462918 -0.0407612 -0.00957172] [ 0.1132578 0.02158604 0.99333112 0.66714449] [ 0. 0. 0. 1. ]] SLAMing on 202.78992885099998 meters Centerline goodness : 0.977619 Centerline is valid? [True, True] Translation: X:-0.53, Y:-0.03, Z:0.66 [[ 0.97758973 -0.17118121 -0.12253698 -0.53001364] [ 0.17481618 0.98440849 0.01947382 -0.02842421] [ 0.11729289 -0.04045886 0.99227287 0.6574814 ] [ 0. 0. 0. 1. ]] SLAMing on 202.819928851 meters Centerline goodness : 0.978852 Centerline is valid? [True, True] Translation: X:-0.51, Y:-0.01, Z:0.67 [[ 0.97724271 -0.17494302 -0.11996507 -0.50509609] [ 0.17388819 0.9845765 -0.01928746 -0.00828552] [ 0.12148899 -0.00201198 0.99259074 0.67479751] [ 0. 0. 0. 1. ]] SLAMing on 202.84992885099996 meters Centerline goodness : 0.979534 Centerline is valid? [True, True] Translation: X:-0.48, Y:-0.01, Z:0.68 [[ 0.97733044 -0.174077 -0.12050894 -0.47736662] [ 0.17368067 0.9847044 -0.01386598 -0.00787812] [ 0.12107943 -0.00737843 0.9926154 0.67531194] [ 0. 0. 0. 1. ]] SLAMing on 202.87992885099996 meters Centerline goodness : 0.978334 Centerline is valid? [True, True] Translation: X:-0.45, Y:0.00, Z:0.68 [[ 0.97855543 -0.17372595 -0.11067323 -0.44697294] [ 0.16994628 0.98452396 -0.04278824 0.00427004] [ 0.11639387 0.02306216 0.99293535 0.68041954] [ 0. 0. 0. 1. ]] SLAMing on 202.90992885099996 meters Centerline goodness : 0.978487 Centerline is valid? [True, True] Translation: X:-0.42, Y:-0.00, Z:0.67 [[ 0.97840126 -0.17201298 -0.11464075 -0.41747879] [ 0.1717184 0.98506658 -0.01251506 -0.00396729] [ 0.11508152 -0.00744118 0.99332818 0.67229318] [ 0. 0. 0. 1. ]] SLAMing on 202.93992885099996 meters Centerline goodness : 0.980467 Centerline is valid? [True, True] Translation: X:-0.39, Y:-0.01, Z:0.68 [[ 0.97872302 -0.16909924 -0.11621834 -0.38983606] [ 0.16877417 0.98557287 -0.01270415 -0.00911955] [ 0.1166899 -0.00718081 0.99314244 0.67830537] [ 0. 0. 0. 1. ]] SLAMing on 202.96992885099996 meters Centerline goodness : 0.982491 Centerline is valid? [True, True] Translation: X:-0.36, Y:-0.00, Z:0.68 [[ 0.97823613 -0.17305159 -0.11448674 -0.36273335] [ 0.17275919 0.98488417 -0.01254721 -0.00196308] [ 0.1149275 -0.0075045 0.99334554 0.68003504] [ 0. 0. 0. 1. ]] SLAMing on 202.99992885099996 meters Centerline goodness : 0.983225 Centerline is valid? [True, True] Translation: X:-0.34, Y:0.00, Z:0.68 [[ 0.97799414 -0.17526462 -0.11318025 -0.3364514 ] [ 0.17498973 0.9844917 -0.01243714 0.00273834] [ 0.11360481 -0.00764193 0.99349663 0.68153979] [ 0. 0. 0. 1. ]] SLAMing on 203.02992885099997 meters Centerline goodness : 0.982811 Centerline is valid? [True, True] Translation: X:-0.31, Y:0.00, Z:0.69 [[ 0.97793405 -0.17384499 -0.1158573 -0.309201 ] [ 0.173545 0.98474341 -0.01274974 0.00120393] [ 0.11630619 -0.00763805 0.99318404 0.68760974] [ 0. 0. 0. 1. ]] SLAMing on 203.05992885099997 meters Centerline goodness : 0.983818 Centerline is valid? [True, True] Translation: X:-0.28, Y:0.01, Z:0.69 [[ 0.97758481 -0.17666107 -0.11453737 -0.28287618] [ 0.17638307 0.98424046 -0.01263841 0.00634254] [ 0.11496503 -0.00784734 0.99333854 0.68978926] [ 0. 0. 0. 1. ]] SLAMing on 203.08992885099997 meters Centerline goodness : 0.980162 Centerline is valid? [True, True] Translation: X:-0.26, Y:0.01, Z:0.69 [[ 0.97694708 -0.18038338 -0.11417636 -0.26250275] [ 0.1800775 0.98356554 -0.01307349 0.0141914 ] [ 0.11465818 -0.00778849 0.99337447 0.68847987] [ 0. 0. 0. 1. ]] SLAMing on 203.11992885099997 meters Centerline goodness : 0.984146 Centerline is valid? [True, True] Translation: X:-0.23, Y:0.02, Z:0.70 [[ 0.97668841 -0.17939587 -0.11788499 -0.22816065] [ 0.17887147 0.98375655 -0.01510087 0.01503485] [ 0.11867916 -0.00633741 0.99291243 0.6978666 ] [ 0. 0. 0. 1. ]] SLAMing on 203.14992885099997 meters Centerline goodness : 0.984555 Centerline is valid? [True, True] Translation: X:-0.20, Y:0.01, Z:0.70 [[ 0.97715418 -0.17753152 -0.11684288 -0.20146773] [ 0.17724408 0.98408198 -0.01292996 0.01424748] [ 0.11727845 -0.00807514 0.99306624 0.70062327] [ 0. 0. 0. 1. ]] SLAMing on 203.17992885099997 meters Centerline goodness : 0.984239 Centerline is valid? [True, True] Translation: X:-0.17, Y:0.02, Z:0.70 [[ 0.97674373 -0.1787991 -0.11833242 -0.1735117 ] [ 0.17851131 0.98385047 -0.01311365 0.01700592] [ 0.11876612 -0.008315 0.99288744 0.70400689] [ 0. 0. 0. 1. ]] SLAMing on 203.20992885099997 meters Centerline goodness : 0.989418 Centerline is valid? [True, True] Translation: X:-0.15, Y:0.03, Z:0.71 [[ 0.97548168 -0.18462023 -0.11979505 -0.14689398] [ 0.18436431 0.98276781 -0.01331284 0.02587258] [ 0.12018854 -0.0090995 0.99270938 0.70694269] [ 0. 0. 0. 1. ]] SLAMing on 203.23992885099997 meters Centerline goodness : 0.983326 Centerline is valid? [True, True] Translation: X:-0.12, Y:0.02, Z:0.72 [[ 0.97514463 -0.18179395 -0.12666454 -0.11965397] [ 0.18147943 0.98329341 -0.01411682 0.02343331] [ 0.12711476 -0.00922107 0.99184515 0.72146954] [ 0. 0. 0. 1. ]] SLAMing on 203.26992885099997 meters Centerline goodness : 0.984906 Centerline is valid? [True, True] Translation: X:-0.09, Y:0.03, Z:0.71 [[ 0.97643466 -0.18334813 -0.11383677 -0.09138368] [ 0.18310042 0.98301194 -0.01271829 0.02799993] [ 0.11423478 -0.00842498 0.99341806 0.71296133] [ 0. 0. 0. 1. ]] SLAMing on 203.29992885099998 meters Centerline goodness : 0.984358 Centerline is valid? [True, True] Translation: X:-0.06, Y:0.03, Z:0.72 [[ 0.97603628 -0.18488976 -0.11475603 -0.06380599] [ 0.18484165 0.98270502 -0.01115355 0.03196451] [ 0.11483351 -0.01032543 0.99333109 0.71533495] [ 0. 0. 0. 1. ]] SLAMing on 203.32992885099998 meters Centerline goodness : 0.981370 Centerline is valid? [True, True] Translation: X:-0.04, Y:0.04, Z:0.72 [[ 9.75705346e-01 -1.89854952e-01 -1.09335154e-01 -4.26584324e-02] [ 1.88733801e-01 9.81812008e-01 -2.06090467e-02 4.30150972e-02] [ 1.11259297e-01 -5.26882177e-04 9.93791271e-01 7.16258466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.35992885099998 meters Centerline goodness : 0.984072 Centerline is valid? [True, True] Translation: X:-0.01, Y:0.03, Z:0.72 [[ 0.97508181 -0.18554772 -0.12160391 -0.00739307] [ 0.18816115 0.98208446 0.0102709 0.03022699] [ 0.11751957 -0.03289609 0.99252557 0.71609412] [ 0. 0. 0. 1. ]] SLAMing on 203.38992885099998 meters Centerline goodness : 0.981323 Centerline is valid? [True, True] Translation: X:0.01, Y:0.06, Z:0.73 [[ 0.97523947 -0.19441101 -0.10541504 0.01071145] [ 0.19154097 0.9807946 -0.03679693 0.05826905] [ 0.11054423 0.01569452 0.99374728 0.7268137 ] [ 0. 0. 0. 1. ]] SLAMing on 203.41992885099998 meters Centerline goodness : 0.981077 Centerline is valid? [True, True] Translation: X:0.04, Y:0.05, Z:0.72 [[ 0.97516914 -0.19362063 -0.10749973 0.04007865] [ 0.19281665 0.98107109 -0.01792335 0.05392158] [ 0.10893521 -0.00324944 0.99404354 0.7237185 ] [ 0. 0. 0. 1. ]] SLAMing on 203.44992885099998 meters Centerline goodness : 0.981324 Centerline is valid? [True, True] Translation: X:0.07, Y:0.06, Z:0.73 [[ 0.97521175 -0.19336556 -0.10757228 0.06742875] [ 0.19288284 0.98110753 -0.014974 0.05601324] [ 0.10843543 -0.00614602 0.9940845 0.72565097] [ 0. 0. 0. 1. ]] SLAMing on 203.47992885099998 meters Centerline goodness : 0.981209 Centerline is valid? [True, True] Translation: X:0.10, Y:0.06, Z:0.73 [[ 0.97533041 -0.19250219 -0.10804394 0.09533858] [ 0.19211018 0.98127172 -0.01412441 0.05944718] [ 0.10873945 -0.00698038 0.99404578 0.72925625] [ 0. 0. 0. 1. ]] SLAMing on 203.50992885099998 meters Centerline goodness : 0.981293 Centerline is valid? [True, True] Translation: X:0.12, Y:0.06, Z:0.73 [[ 0.97518772 -0.19276929 -0.10885268 0.12267764] [ 0.19204203 0.98123552 -0.0172256 0.06485097] [ 0.11013068 -0.00410609 0.99390863 0.73370762] [ 0. 0. 0. 1. ]] SLAMing on 203.53992885099998 meters Centerline goodness : 0.980749 Centerline is valid? [True, True] Translation: X:0.15, Y:0.07, Z:0.74 [[ 0.97521793 -0.19235554 -0.10931305 0.15126664] [ 0.19204655 0.98129367 -0.01344792 0.06747851] [ 0.10985499 -0.00787854 0.9939164 0.73639288] [ 0. 0. 0. 1. ]] SLAMing on 203.569928851 meters Centerline goodness : 0.981010 Centerline is valid? [True, True] Translation: X:0.18, Y:0.07, Z:0.74 [[ 0.97545713 -0.19114861 -0.10929589 0.1795579 ] [ 0.19050385 0.9815493 -0.0164091 0.07240895] [ 0.11041588 -0.00481491 0.99387381 0.74110729] [ 0. 0. 0. 1. ]] SLAMing on 203.59992885099996 meters Centerline goodness : 0.980462 Centerline is valid? [True, True] Translation: X:0.21, Y:0.08, Z:0.74 [[ 0.9760074 -0.18884063 -0.10839175 0.20874502] [ 0.18861935 0.98197218 -0.01238438 0.07501115] [ 0.10877636 -0.00835754 0.99403111 0.74369183] [ 0. 0. 0. 1. ]] SLAMing on 203.62992885099996 meters Centerline goodness : 0.990474 Centerline is valid? [True, True] Translation: X:0.24, Y:0.08, Z:0.75 [[ 0.97517503 -0.18825109 -0.11659836 0.24162086] [ 0.18871819 0.98200546 -0.00712127 0.07678204] [ 0.11584082 -0.01505975 0.99315362 0.75239676] [ 0. 0. 0. 1. ]] SLAMing on 203.65992885099996 meters Centerline goodness : 0.987314 Centerline is valid? [True, True] Translation: X:0.29, Y:0.08, Z:0.76 [[ 0.97880175 -0.17907916 -0.09938709 0.294179 ] [ 0.17372071 0.98295035 -0.06024714 0.08297121] [ 0.10848158 0.04170441 0.99322328 0.76146123] [ 0. 0. 0. 1. ]] SLAMing on 203.68992885099996 meters Centerline goodness : 0.991319 Centerline is valid? [True, True] Translation: X:0.30, Y:0.06, Z:0.74 [[ 0.97588187 -0.18144805 -0.12137204 0.30356937] [ 0.18773925 0.98129968 0.04248437 0.06159353] [ 0.11139363 -0.06424602 0.99169749 0.73968564] [ 0. 0. 0. 1. ]] SLAMing on 203.71992885099996 meters Centerline goodness : 0.980637 Centerline is valid? [True, True] Translation: X:0.32, Y:0.09, Z:0.76 [[ 0.9762881 -0.18802293 -0.10727968 0.32085099] [ 0.1864695 0.98215713 -0.02442321 0.09388797] [ 0.10995762 0.0038397 0.99392886 0.76125066] [ 0. 0. 0. 1. ]] SLAMing on 203.74992885099996 meters Centerline goodness : 0.991034 Centerline is valid? [True, True] Translation: X:0.36, Y:0.09, Z:0.76 [[ 0.97558825 -0.18629261 -0.11628685 0.35570811] [ 0.1871723 0.98232119 -0.00340609 0.08913608] [ 0.11486556 -0.01844274 0.99320983 0.76322236] [ 0. 0. 0. 1. ]] SLAMing on 203.77992885099997 meters Centerline goodness : 0.981324 Centerline is valid? [True, True] Translation: X:0.38, Y:0.10, Z:0.77 [[ 0.97646755 -0.18716634 -0.10714423 0.37719622] [ 0.18579984 0.98232567 -0.02268699 0.09976279] [ 0.10949677 0.00224573 0.99398461 0.7663048 ] [ 0. 0. 0. 1. ]] SLAMing on 203.80992885099997 meters Centerline goodness : 0.987427 Centerline is valid? [True, True] Translation: X:0.42, Y:0.10, Z:0.78 [[ 0.97693447 -0.18151115 -0.11248441 0.41735312] [ 0.17870541 0.98329306 -0.03462861 0.1016712 ] [ 0.11689062 0.01372831 0.99304991 0.78316579] [ 0. 0. 0. 1. ]] SLAMing on 203.83992885099997 meters Centerline goodness : 0.980337 Centerline is valid? [True, True] Translation: X:0.43, Y:0.09, Z:0.76 [[ 0.97685941 -0.18200283 -0.11234169 0.43456644] [ 0.18439089 0.98278965 0.01115777 0.09127918] [ 0.1083775 -0.03161436 0.99360699 0.76044051] [ 0. 0. 0. 1. ]] SLAMing on 203.86992885099997 meters Centerline goodness : 0.991671 Centerline is valid? [True, True] Translation: X:0.47, Y:0.10, Z:0.78 [[ 0.97588177 -0.18392593 -0.11758413 0.46647514] [ 0.18460228 0.98279951 -0.00520753 0.10288309] [ 0.11651942 -0.01662437 0.99304927 0.7758707 ] [ 0. 0. 0. 1. ]] SLAMing on 203.89992885099997 meters Centerline goodness : 0.981365 Centerline is valid? [True, True] Translation: X:0.49, Y:0.11, Z:0.78 [[ 9.76723562e-01 -1.84009228e-01 -1.10234689e-01 4.88661070e-01] [ 1.82797008e-01 9.82924413e-01 -2.10915265e-02 1.12170118e-01] [ 1.12233402e-01 4.50019659e-04 9.93681770e-01 7.78868750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.92992885099997 meters Centerline goodness : 0.980681 Centerline is valid? [True, True] Translation: X:0.52, Y:0.11, Z:0.78 [[ 0.97742553 -0.18011752 -0.11044013 0.51777752] [ 0.17985056 0.98361506 -0.01245722 0.11196222] [ 0.11087434 -0.00768671 0.99380471 0.77899038] [ 0. 0. 0. 1. ]] SLAMing on 203.95992885099997 meters Centerline goodness : 0.988790 Centerline is valid? [True, True] Translation: X:0.56, Y:0.12, Z:0.80 [[ 0.97780301 -0.17681121 -0.11242363 0.55516233] [ 0.17469292 0.98421039 -0.0285008 0.12020306] [ 0.11568776 0.00822856 0.99325155 0.7956912 ] [ 0. 0. 0. 1. ]] SLAMing on 203.98992885099997 meters Centerline goodness : 0.985750 Centerline is valid? [True, True] Translation: X:0.57, Y:0.11, Z:0.79 [[ 0.97661859 -0.17717045 -0.12176516 0.57414475] [ 0.18122199 0.98317423 0.02295685 0.11044114] [ 0.11564909 -0.04448661 0.99229342 0.78658432] [ 0. 0. 0. 1. ]] SLAMing on 204.01992885099997 meters Centerline goodness : 0.985413 Centerline is valid? [True, True] Translation: X:0.60, Y:0.13, Z:0.80 [[ 0.97693949 -0.17915992 -0.11615053 0.59844164] [ 0.17875021 0.98379459 -0.01401991 0.13073573] [ 0.11678007 -0.00706532 0.99313267 0.80349215] [ 0. 0. 0. 1. ]] SLAMing on 204.04992885099998 meters Centerline goodness : 0.987999 Centerline is valid? [True, True] Translation: X:0.64, Y:0.15, Z:0.82 [[ 0.97928826 -0.17215264 -0.10657375 0.63790115] [ 0.16555411 0.98385311 -0.0680065 0.14868498] [ 0.11656041 0.04895424 0.99197639 0.82313874] [ 0. 0. 0. 1. ]] SLAMing on 204.07992885099998 meters Centerline goodness : 0.989017 Centerline is valid? [True, True] Translation: X:0.67, Y:0.13, Z:0.80 [[ 0.98016441 -0.16314114 -0.11252865 0.67447064] [ 0.16390386 0.98647314 -0.00250264 0.12568322] [ 0.11141478 -0.01599088 0.99364533 0.80289044] [ 0. 0. 0. 1. ]] SLAMing on 204.10992885099998 meters Centerline goodness : 0.981733 Centerline is valid? [True, True] Translation: X:0.69, Y:0.13, Z:0.80 [[ 0.97999274 -0.16302235 -0.11418386 0.68948833] [ 0.16546137 0.98614137 0.01215464 0.12578427] [ 0.11061995 -0.03080447 0.99338528 0.79681316] [ 0. 0. 0. 1. ]] SLAMing on 204.13992885099998 meters Centerline goodness : 0.989186 Centerline is valid? [True, True] Translation: X:0.72, Y:0.14, Z:0.82 [[ 9.80593108e-01 -1.61029382e-01 -1.11833334e-01 7.24300188e-01] [ 1.59953912e-01 9.86949556e-01 -1.85827667e-02 1.38720574e-01] [ 1.13366231e-01 3.33953615e-04 9.93553213e-01 8.15025458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.16992885099998 meters Centerline goodness : 0.981917 Centerline is valid? [True, True] Translation: X:0.74, Y:0.14, Z:0.81 [[ 0.97989147 -0.16340365 -0.11450746 0.74321528] [ 0.16333242 0.98651972 -0.01006815 0.14280257] [ 0.11460904 -0.00883709 0.99337137 0.81346816] [ 0. 0. 0. 1. ]] SLAMing on 204.19992885099998 meters Centerline goodness : 0.989167 Centerline is valid? [True, True] Translation: X:0.78, Y:0.15, Z:0.83 [[ 0.97964023 -0.16313581 -0.11701164 0.78193407] [ 0.16066562 0.98654354 -0.03030529 0.15161027] [ 0.12038095 0.01088853 0.99266805 0.82928616] [ 0. 0. 0. 1. ]] SLAMing on 204.22992885099998 meters Centerline goodness : 0.981848 Centerline is valid? [True, True] Translation: X:0.80, Y:0.15, Z:0.82 [[ 9.78766046e-01 -1.66562817e-01 -1.19473237e-01 8.01102877e-01] [ 1.67858963e-01 9.85810698e-01 7.97220664e-04 1.47274718e-01] [ 1.17645208e-01 -2.08349462e-02 9.92837101e-01 8.17837483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.25992885099998 meters Centerline goodness : 0.988946 Centerline is valid? [True, True] Translation: X:0.84, Y:0.16, Z:0.84 [[ 0.97941523 -0.16514588 -0.11607169 0.83745508] [ 0.16203292 0.98613473 -0.03582767 0.16120172] [ 0.12037911 0.01628273 0.99259445 0.84020895] [ 0. 0. 0. 1. ]] SLAMing on 204.28992885099998 meters Centerline goodness : 0.989243 Centerline is valid? [True, True] Translation: X:0.87, Y:0.15, Z:0.83 [[ 0.9792565 -0.1631478 -0.12016446 0.86762602] [ 0.16329136 0.98653937 -0.00871806 0.15351495] [ 0.1199693 -0.0110846 0.99271572 0.83403902] [ 0. 0. 0. 1. ]] SLAMing on 204.319928851 meters Centerline goodness : 0.989240 Centerline is valid? [True, True] Translation: X:0.89, Y:0.16, Z:0.84 [[ 0.97887531 -0.16420998 -0.12181222 0.89446102] [ 0.16492212 0.98629729 -0.00428251 0.15589869] [ 0.1208463 -0.01589749 0.99254392 0.837937 ] [ 0. 0. 0. 1. ]] SLAMing on 204.34992885099996 meters Centerline goodness : 0.982195 Centerline is valid? [True, True] Translation: X:0.91, Y:0.16, Z:0.83 [[ 0.97829267 -0.16627746 -0.12367401 0.91007562] [ 0.16832872 0.98571109 0.00625207 0.15777166] [ 0.12086727 -0.02693424 0.99230321 0.83428984] [ 0. 0. 0. 1. ]] SLAMing on 204.37992885099996 meters Centerline goodness : 0.983099 Centerline is valid? [True, True] Translation: X:0.94, Y:0.17, Z:0.85 [[ 0.97794603 -0.1702999 -0.12091111 0.93622036] [ 0.16971999 0.98537579 -0.01515503 0.1711517 ] [ 0.12172378 -0.00570023 0.99254765 0.8472076 ] [ 0. 0. 0. 1. ]] SLAMing on 204.40992885099996 meters Centerline goodness : 0.986590 Centerline is valid? [True, True] Translation: X:0.97, Y:0.17, Z:0.85 [[ 0.97760272 -0.17092613 -0.12278913 0.96752358] [ 0.17055519 0.9852542 -0.01360439 0.17369253] [ 0.12330385 -0.00764263 0.99233953 0.85427013] [ 0. 0. 0. 1. ]] SLAMing on 204.43992885099996 meters Centerline goodness : 0.982359 Centerline is valid? [True, True] Translation: X:0.99, Y:0.18, Z:0.86 [[ 0.97726565 -0.17444331 -0.12050473 0.99146261] [ 0.17268552 0.9846607 -0.02496038 0.18310763] [ 0.12301045 0.00358349 0.99239891 0.86038777] [ 0. 0. 0. 1. ]] SLAMing on 204.46992885099996 meters Centerline goodness : 0.987769 Centerline is valid? [True, True] Translation: X:1.02, Y:0.18, Z:0.86 [[ 0.97690307 -0.17496375 -0.12267058 1.0247296 ] [ 0.17485771 0.98452403 -0.01171421 0.17949432] [ 0.12282169 -0.01000625 0.99237831 0.86340746] [ 0. 0. 0. 1. ]] SLAMing on 204.49992885099996 meters Centerline goodness : 0.990660 Centerline is valid? [True, True] Translation: X:1.06, Y:0.17, Z:0.87 [[ 0.97698358 -0.17111875 -0.12736347 1.05703499] [ 0.1727595 0.98496227 0.00186621 0.17105794] [ 0.12512887 -0.0238265 0.99185436 0.86504065] [ 0. 0. 0. 1. ]] SLAMing on 204.52992885099997 meters Centerline goodness : 0.990100 Centerline is valid? [True, True] Translation: X:1.08, Y:0.19, Z:0.88 [[ 0.97692499 -0.17567491 -0.12147384 1.08499699] [ 0.17321155 0.98440813 -0.03063307 0.1861717 ] [ 0.1249613 0.00888554 0.99212183 0.87536688] [ 0. 0. 0. 1. ]] SLAMing on 204.55992885099997 meters Centerline goodness : 0.989484 Centerline is valid? [True, True] Translation: X:1.11, Y:0.18, Z:0.87 [[ 0.97668483 -0.1769641 -0.12153375 1.11320012] [ 0.17692002 0.98416104 -0.01124027 0.18090324] [ 0.12159791 -0.01052355 0.99252365 0.87014084] [ 0. 0. 0. 1. ]] SLAMing on 204.58992885099997 meters Centerline goodness : 0.989484 Centerline is valid? [True, True] Translation: X:1.14, Y:0.18, Z:0.87 [[ 0.97658739 -0.17742114 -0.12165036 1.1401722 ] [ 0.17729397 0.98408531 -0.01195628 0.18463979] [ 0.12183563 -0.00989153 0.992501 0.87356713] [ 0. 0. 0. 1. ]] SLAMing on 204.61992885099997 meters Centerline goodness : 0.989643 Centerline is valid? [True, True] Translation: X:1.17, Y:0.19, Z:0.88 [[ 0.97608064 -0.18059205 -0.12104999 1.16893759] [ 0.17960404 0.98355325 -0.01911499 0.19196336] [ 0.12251112 -0.0030833 0.99246235 0.8786329 ] [ 0. 0. 0. 1. ]] SLAMing on 204.64992885099997 meters Centerline goodness : 0.989767 Centerline is valid? [True, True] Translation: X:1.20, Y:0.19, Z:0.88 [[ 0.97582424 -0.1813534 -0.12197543 1.19648996] [ 0.18121702 0.98336615 -0.01230438 0.19370602] [ 0.12217795 -0.01009711 0.99245685 0.87953056] [ 0. 0. 0. 1. ]] SLAMing on 204.67992885099997 meters Centerline goodness : 0.989944 Centerline is valid? [True, True] Translation: X:1.22, Y:0.20, Z:0.88 [[ 0.97562303 -0.18175121 -0.12298865 1.22271517] [ 0.18197624 0.98325707 -0.00949644 0.19663409] [ 0.12265545 -0.01311606 0.99236264 0.88238632] [ 0. 0. 0. 1. ]] SLAMing on 204.70992885099997 meters Centerline goodness : 0.989300 Centerline is valid? [True, True] Translation: X:1.24, Y:0.20, Z:0.88 [[ 9.74489878e-01 -1.85884410e-01 -1.25763522e-01 1.24365456e+00] [ 1.87511960e-01 9.82261676e-01 1.12413797e-03 2.03080008e-01] [ 1.23323729e-01 -2.46776257e-02 9.92059611e-01 8.84582542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.73992885099997 meters Centerline goodness : 0.988447 Centerline is valid? [True, True] Translation: X:1.27, Y:0.22, Z:0.89 [[ 0.9743351 -0.18875869 -0.12264289 1.26903796] [ 0.18813504 0.98200029 -0.01675202 0.21590326] [ 0.12359744 -0.00675134 0.99230947 0.89447412] [ 0. 0. 0. 1. ]] SLAMing on 204.76992885099997 meters Centerline goodness : 0.990153 Centerline is valid? [True, True] Translation: X:1.31, Y:0.22, Z:0.90 [[ 0.97569878 -0.18543902 -0.11672299 1.30529641] [ 0.18250601 0.98256625 -0.03542771 0.2220666 ] [ 0.12125774 0.01326412 0.99253243 0.90096971] [ 0. 0. 0. 1. ]] SLAMing on 204.79992885099998 meters Centerline goodness : 0.990952 Centerline is valid? [True, True] Translation: X:1.33, Y:0.21, Z:0.90 [[ 0.97472132 -0.18290081 -0.12831849 1.33389614] [ 0.18606272 0.98245187 0.01299931 0.21023065] [ 0.12368916 -0.03654599 0.99164781 0.89642834] [ 0. 0. 0. 1. ]] SLAMing on 204.82992885099998 meters Centerline goodness : 0.989773 Centerline is valid? [True, True] Translation: X:1.35, Y:0.23, Z:0.91 [[ 0.97428788 -0.18836831 -0.12361437 1.3542235 ] [ 0.18741375 0.98208924 -0.01941155 0.23429777] [ 0.12505687 -0.0042546 0.99214045 0.91199495] [ 0. 0. 0. 1. ]] SLAMing on 204.85992885099998 meters Centerline goodness : 0.989100 Centerline is valid? [True, True] Translation: X:1.38, Y:0.24, Z:0.92 [[ 0.97409071 -0.18838751 -0.12512967 1.38181091] [ 0.18776996 0.98206902 -0.01681905 0.23867261] [ 0.12605447 -0.00711231 0.99199782 0.91543641] [ 0. 0. 0. 1. ]] SLAMing on 204.88992885099998 meters Centerline goodness : 0.989306 Centerline is valid? [True, True] Translation: X:1.41, Y:0.24, Z:0.92 [[ 0.97426493 -0.18774245 -0.1247422 1.40889409] [ 0.18733559 0.98218006 -0.01509025 0.24314331] [ 0.12535238 -0.00866675 0.99207443 0.91820927] [ 0. 0. 0. 1. ]] SLAMing on 204.91992885099998 meters Centerline goodness : 0.982606 Centerline is valid? [True, True] Translation: X:1.43, Y:0.25, Z:0.92 [[ 0.97470028 -0.18712269 -0.12224758 1.43175527] [ 0.18756746 0.98221944 -0.00796323 0.24766978] [ 0.12156405 -0.01516791 0.99246769 0.91666645] [ 0. 0. 0. 1. ]] SLAMing on 204.94992885099998 meters Centerline goodness : 0.990306 Centerline is valid? [True, True] Translation: X:1.46, Y:0.26, Z:0.93 [[ 0.97450321 -0.18789477 -0.12263377 1.46337359] [ 0.18669448 0.98218686 -0.02131066 0.256215 ] [ 0.12445344 -0.00212774 0.99222317 0.92796655] [ 0. 0. 0. 1. ]] SLAMing on 204.97992885099998 meters Centerline goodness : 0.990552 Centerline is valid? [True, True] Translation: X:1.49, Y:0.26, Z:0.93 [[ 0.97461654 -0.1863474 -0.12408568 1.49315223] [ 0.18533392 0.98247682 -0.01976448 0.25839341] [ 0.12559437 -0.0037345 0.99207465 0.93122229] [ 0. 0. 0. 1. ]] SLAMing on 205.00992885099998 meters Centerline goodness : 0.990949 Centerline is valid? [True, True] Translation: X:1.52, Y:0.26, Z:0.93 [[ 9.75295838e-01 -1.84625899e-01 -1.21290169e-01 1.52441563e+00] [ 1.83239866e-01 9.82808851e-01 -2.25812908e-02 2.61491944e-01] [ 1.23374143e-01 -2.01755459e-04 9.92360207e-01 9.32117360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.03992885099998 meters Centerline goodness : 0.989710 Centerline is valid? [True, True] Translation: X:1.55, Y:0.26, Z:0.93 [[ 0.97445388 -0.18554683 -0.12653854 1.54561118] [ 0.1872876 0.98230329 0.0018956 0.26154801] [ 0.1239475 -0.02554627 0.99195988 0.92698068] [ 0. 0. 0. 1. ]] SLAMing on 205.06992885099996 meters Centerline goodness : 0.990817 Centerline is valid? [True, True] Translation: X:1.57, Y:0.28, Z:0.94 [[ 0.97405615 -0.18829069 -0.12554371 1.57280296] [ 0.18615666 0.98210297 -0.02862601 0.27685155] [ 0.12868686 0.00451254 0.99167501 0.94290827] [ 0. 0. 0. 1. ]] SLAMing on 205.09992885099996 meters Centerline goodness : 0.989627 Centerline is valid? [True, True] Translation: X:1.60, Y:0.27, Z:0.94 [[ 0.97409627 -0.18646293 -0.12793761 1.60150081] [ 0.18646068 0.98238789 -0.01210175 0.27380035] [ 0.12794088 -0.01206706 0.99170838 0.93930258] [ 0. 0. 0. 1. ]] SLAMing on 205.12992885099996 meters Centerline goodness : 0.990296 Centerline is valid? [True, True] Translation: X:1.63, Y:0.28, Z:0.95 [[ 0.9738715 -0.18754849 -0.12806193 1.62932013] [ 0.18679675 0.98223432 -0.01796417 0.28131635] [ 0.12915598 -0.00642676 0.99160346 0.94574798] [ 0. 0. 0. 1. ]] Total time of SLAM: 17384.92 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%| | 0/6838 [00:00